+ python -m lidar_slam --no-model /working/84283bf0-e279-4586-a2c6-074052c145ce Lidar SLAM 0.0.12 ===================================================== The recording path: /working/84283bf0-e279-4586-a2c6-074052c145ce 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 0.019928851 Adjusted end_distance from 9.223372036854776e+18 to 205.149928851 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019928851 meters 0.1459135088024604 Centerline is valid? [0, False] SLAMing on 0.049928850999999996 meters 0.1463088263983481 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999990e-01 -1.33544318e-04 4.22720288e-05 -2.16415813e-04] [ 1.33554309e-04 9.99999963e-01 -2.36441781e-04 5.56078601e-04] [-4.22404518e-05 2.36447424e-04 9.99999971e-01 2.02257370e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079928851 meters 0.1505770982469567 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999999e-01 -3.02341464e-05 2.62465908e-05 -8.76894961e-05] [ 3.02379561e-05 9.99999989e-01 -1.45163393e-04 2.71053838e-04] [-2.62422016e-05 1.45164186e-04 9.99999989e-01 1.30549391e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10992885099999998 meters 0.15552702920806868 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 9.99999962e-01 -8.28349305e-05 2.62160148e-04 -5.30732400e-04] [ 8.28308948e-05 9.99999996e-01 1.54050501e-05 -1.60546457e-04] [-2.62161423e-04 -1.53833345e-05 9.99999966e-01 -1.28312498e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139928851 meters 0.16470523842073648 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 9.99999858e-01 2.82825129e-04 4.50571612e-04 -5.30199273e-04] [-2.83129182e-04 9.99999732e-01 6.74894523e-04 -2.03458283e-03] [-4.50380614e-04 -6.75021998e-04 9.99999671e-01 -7.30562791e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16992885099999996 meters 0.1693153357311307 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 9.99999725e-01 2.81433637e-04 6.85679174e-04 -1.01646646e-03] [-2.82059683e-04 9.99999543e-01 9.13104916e-04 -2.94151189e-03] [-6.85421882e-04 -9.13298067e-04 9.99999348e-01 -8.94448691e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19992885099999996 meters 0.16771061318384164 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99992170e-01 -3.95278772e-03 1.87070930e-04 4.47688150e-06] [ 3.95347127e-03 9.99984939e-01 -3.80673015e-03 -1.26558370e-03] [-1.72020917e-04 3.80743993e-03 9.99992737e-01 -5.12926061e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22992885099999996 meters 0.17182904588600637 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 9.99993090e-01 -3.69330528e-03 4.24303456e-04 -2.70767890e-05] [ 3.69463384e-03 9.99988137e-01 -3.17425281e-03 -2.73800868e-03] [-4.12574938e-04 3.17579853e-03 9.99994872e-01 -1.33264805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25992885099999996 meters 0.1767632498861282 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:-0.00 [[ 0.99999326 -0.00348293 0.00116066 -0.00116407] [ 0.00348545 0.99999156 -0.00217628 -0.00596289] [-0.00115307 0.00218032 0.99999696 -0.00223251] [ 0. 0. 0. 1. ]] SLAMing on 0.289928851 meters 0.18558360546467026 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:-0.00 [[ 9.99994367e-01 -3.08295250e-03 1.32726951e-03 -7.68828041e-04] [ 3.08474254e-03 9.99994333e-01 -1.34872850e-03 -7.49031745e-03] [-1.32310392e-03 1.35281519e-03 9.99998210e-01 -3.48777730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31992885099999996 meters 0.18468999776722111 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:-0.00 [[ 9.99995777e-01 -2.59657207e-03 1.30512050e-03 -8.57626733e-05] [ 2.59744913e-03 9.99996402e-01 -6.70773381e-04 -8.93208169e-03] [-1.30337409e-03 6.74160532e-04 9.99998923e-01 -4.34221161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.349928851 meters 0.19358364620805085 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99997017e-01 -1.91221436e-03 1.51964363e-03 1.61332758e-04] [ 1.91177813e-03 9.99998131e-01 2.88461002e-04 -1.22559428e-02] [-1.52019239e-03 -2.85554920e-04 9.99998804e-01 -5.20476145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.37992885099999996 meters 0.19364954783969987 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99997768e-01 -1.38955321e-03 1.59142165e-03 6.23052497e-04] [ 1.38799708e-03 9.99998558e-01 9.78512338e-04 -1.43224320e-02] [-1.59277905e-03 -9.76301266e-04 9.99998255e-01 -5.95434999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.409928851 meters 0.19664085924747085 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99998731e-01 -9.81935331e-04 1.25466148e-03 1.86657701e-03] [ 9.80558647e-04 9.99998917e-01 1.09740008e-03 -1.45473551e-02] [-1.25573770e-03 -1.09616842e-03 9.99998611e-01 -6.28389536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43992885099999995 meters 0.19908183535662 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99999371e-01 -8.60912533e-04 7.18785260e-04 3.04766005e-03] [ 8.60498122e-04 9.99999464e-01 5.76652980e-04 -1.30376709e-02] [-7.19281322e-04 -5.76034104e-04 9.99999575e-01 -5.81717633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.469928851 meters 0.20316041543581534 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999994e-01 -1.01675438e-04 3.69367016e-05 5.22250256e-03] [ 1.01648865e-04 9.99999737e-01 7.18720617e-04 -1.32337906e-02] [-3.70097681e-05 -7.18716859e-04 9.99999741e-01 -6.05870686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49992885099999995 meters 0.2045051785962322 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999864e-01 4.81003758e-04 -2.03129963e-04 6.45252223e-03] [-4.80767270e-04 9.99999209e-01 1.16266865e-03 -1.44685517e-02] [ 2.03689050e-04 -1.16257084e-03 9.99999303e-01 -6.69496545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5299288509999999 meters 0.20653096907044097 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99999130e-01 1.24484956e-03 -4.36145920e-04 7.88797164e-03] [-1.24405529e-03 9.99997576e-01 1.81668536e-03 -1.63229439e-02] [ 4.38406363e-04 -1.81614119e-03 9.99998255e-01 -7.57382346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5599288509999999 meters 0.20665784330437412 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99998466e-01 1.69578020e-03 -4.39011519e-04 8.55827729e-03] [-1.69479492e-03 9.99996066e-01 2.23505721e-03 -1.79284259e-02] [ 4.42799958e-04 -2.23430975e-03 9.99997406e-01 -8.19701948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5899288509999999 meters 0.2012545105718128 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 0.99999759 -0.00186933 -0.00115071 0.01049217] [ 0.0018675 0.999997 -0.00158771 -0.0186438 ] [ 0.00115368 0.00158556 0.99999808 -0.00838848] [ 0. 0. 0. 1. ]] SLAMing on 0.6199288509999998 meters 0.20945832069018047 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99998416e-01 -1.43581172e-03 -1.05149903e-03 1.05685859e-02] [ 1.43479886e-03 9.99998507e-01 -9.63383352e-04 -2.10372703e-02] [ 1.05288070e-03 9.61873137e-04 9.99998983e-01 -8.72627356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6499288509999999 meters 0.21185499949964232 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99999076e-01 -9.38375081e-04 -9.83206832e-04 1.08296916e-02] [ 9.38199710e-04 9.99999544e-01 -1.78812740e-04 -2.36053691e-02] [ 9.83374177e-04 1.77890131e-04 9.99999501e-01 -9.27605400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6799288509999999 meters 0.20194018686976384 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99999471e-01 -6.48522212e-04 -7.98418936e-04 1.02961129e-02] [ 6.48860732e-04 9.99999700e-01 4.23800995e-04 -2.63800144e-02] [ 7.98143852e-04 -4.24318834e-04 9.99999591e-01 -9.18258182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7099288509999999 meters 0.2026456506518644 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 0.99998974 -0.00433574 -0.00131448 0.0108316 ] [ 0.00433188 0.99998635 -0.00292236 -0.02893534] [ 0.00132713 0.00291664 0.99999487 -0.00866765] [ 0. 0. 0. 1. ]] SLAMing on 0.7399288509999998 meters 0.2026456506518644 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 0.99998974 -0.00433574 -0.00131448 0.0108316 ] [ 0.00433188 0.99998635 -0.00292236 -0.02893534] [ 0.00132713 0.00291664 0.99999487 -0.00866765] [ 0. 0. 0. 1. ]] SLAMing on 0.7699288509999999 meters 0.20458954381698163 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 0.99999305 -0.00353326 -0.00119404 0.01161051] [ 0.00353144 0.9999926 -0.00152605 -0.03276404] [ 0.00119942 0.00152183 0.99999812 -0.01021704] [ 0. 0. 0. 1. ]] SLAMing on 0.7999288509999999 meters 0.20957227105353896 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99995738e-01 -2.72848369e-03 -1.03844649e-03 1.23658175e-02] [ 2.72833675e-03 9.99996268e-01 -1.42894128e-04 -3.66570373e-02] [ 1.03883250e-03 1.40060287e-04 9.99999451e-01 -1.18011546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8299288509999998 meters 0.20583971821562574 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99997957e-01 -1.86606853e-03 -7.76593015e-04 1.28280078e-02] [ 1.86712709e-03 9.99997326e-01 1.36459186e-03 -4.30540245e-02] [ 7.74044517e-04 -1.36603907e-03 9.99998767e-01 -1.32619403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8599288509999998 meters 0.20495362751573887 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99998838e-01 -1.28524840e-03 -8.19579816e-04 1.36286757e-02] [ 1.28703433e-03 9.99996791e-01 2.18228211e-03 -4.57446846e-02] [ 8.16772411e-04 -2.18333440e-03 9.99997283e-01 -1.41121443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8899288509999999 meters 0.20146976623760085 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99999279e-01 -8.58654683e-04 -8.39477681e-04 1.39627015e-02] [ 8.60935703e-04 9.99995929e-01 2.72061474e-03 -4.82478648e-02] [ 8.37138194e-04 -2.72133551e-03 9.99995947e-01 -1.43385508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9199288509999999 meters 0.20287134773006038 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99999622e-01 -4.18955916e-04 -7.62450712e-04 1.42434758e-02] [ 4.21551416e-04 9.99994107e-01 3.40718367e-03 -5.07941164e-02] [ 7.61018758e-04 -3.40750379e-03 9.99993905e-01 -1.48678521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9499288509999998 meters 0.20215351447133445 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.02 [[ 9.99992098e-01 -3.62303815e-03 -1.63651755e-03 1.66873767e-02] [ 3.62360216e-03 9.99993376e-01 3.41802392e-04 -5.26347795e-02] [ 1.63526835e-03 -3.47729779e-04 9.99998602e-01 -1.54727815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9799288509999998 meters 0.2035815183071605 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.02 [[ 0.99999387 -0.00302122 -0.00177169 0.01794065] [ 0.00302358 0.99999454 0.00132991 -0.05474219] [ 0.00176766 -0.00133526 0.99999755 -0.01681348] [ 0. 0. 0. 1. ]] SLAMing on 1.009928851 meters 0.20109288213483228 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.02 [[ 0.99999528 -0.00251444 -0.00176517 0.01883751] [ 0.00251848 0.9999942 0.00229103 -0.05691374] [ 0.0017594 -0.00229547 0.99999582 -0.01816116] [ 0. 0. 0. 1. ]] SLAMing on 1.0399288509999998 meters 0.20391533561720399 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.02 [[ 0.9999965 -0.00196821 -0.00177044 0.01984876] [ 0.00197397 0.99999275 0.00325773 -0.05919045] [ 0.00176402 -0.00326121 0.99999313 -0.01958143] [ 0. 0. 0. 1. ]] SLAMing on 1.0699288509999998 meters 0.19717487448274393 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.02 [[ 0.99999729 -0.00145782 -0.00181708 0.02055937] [ 0.00146535 0.9999903 0.00415388 -0.06177424] [ 0.00181101 -0.00415653 0.99998972 -0.02043424] [ 0. 0. 0. 1. ]] SLAMing on 1.0999288509999998 meters 0.19659015197866558 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.02 [[ 9.99998113e-01 -8.97726527e-04 -1.72296200e-03 2.11634171e-02] [ 9.07775453e-04 9.99982532e-01 5.84046233e-03 -6.68971788e-02] [ 1.71768876e-03 -5.84201537e-03 9.99981460e-01 -2.21564927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1299288509999998 meters 0.19520746151420054 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.02 [[ 9.99998292e-01 -6.34434265e-04 -1.73616916e-03 2.15425031e-02] [ 6.45606601e-04 9.99979041e-01 6.44207337e-03 -6.89797134e-02] [ 1.73204570e-03 -6.44318325e-03 9.99977742e-01 -2.26766259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1599288509999999 meters 0.2010768253365788 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.02 [[ 9.99998580e-01 -6.07561721e-04 -1.57165742e-03 2.12558431e-02] [ 6.18188471e-04 9.99976893e-01 6.76986705e-03 -7.06475416e-02] [ 1.56750799e-03 -6.77082902e-03 9.99975849e-01 -2.28281725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.189928851 meters 0.19333243680297646 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.02 [[ 0.99998833 -0.00427089 -0.00225648 0.02276603] [ 0.0042781 0.99998573 0.0032003 -0.072968 ] [ 0.00224278 -0.00320992 0.99999233 -0.02257955] [ 0. 0. 0. 1. ]] SLAMing on 1.2199288509999997 meters 0.19251248264689885 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.02 [[ 0.99998976 -0.00397404 -0.00216386 0.02274572] [ 0.00398259 0.99998423 0.00396027 -0.07582783] [ 0.00214808 -0.00396885 0.99998982 -0.02291102] [ 0. 0. 0. 1. ]] SLAMing on 1.2499288509999997 meters 0.19286394452619302 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.02 [[ 9.99966227e-01 -7.63512830e-03 -3.04132592e-03 2.49551333e-02] [ 7.63527040e-03 9.99970850e-01 3.51148259e-05 -7.60328238e-02] [ 3.04096916e-03 -5.83349858e-05 9.99995375e-01 -2.29206490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2799288509999998 meters 0.19129680410216132 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.02 [[ 9.99968350e-01 -7.37494100e-03 -2.98485797e-03 2.49663549e-02] [ 7.37711525e-03 9.99972531e-01 7.18074510e-04 -7.84622141e-02] [ 2.97948023e-03 -7.40071424e-04 9.99995287e-01 -2.32076196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3099288509999998 meters 0.18897340294262688 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.02 [[ 0.99993404 -0.01093233 -0.00352072 0.02612895] [ 0.01092381 0.99993738 -0.00243153 -0.08165326] [ 0.00354708 0.00239291 0.99999085 -0.02307359] [ 0. 0. 0. 1. ]] SLAMing on 1.3399288509999998 meters 0.18852970586571738 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.02 [[ 0.99993982 -0.01039486 -0.00350885 0.02677852] [ 0.01039082 0.99994533 -0.00116631 -0.08493837] [ 0.00352078 0.00112978 0.99999316 -0.02426923] [ 0. 0. 0. 1. ]] SLAMing on 1.3699288509999998 meters 0.18767981118578467 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.03 [[ 9.99945182e-01 -9.83218057e-03 -3.60022588e-03 2.74729962e-02] [ 9.83215364e-03 9.99951663e-01 -2.51790853e-05 -8.82043883e-02] [ 3.60029942e-03 -1.02202689e-05 9.99993519e-01 -2.51067405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3999288509999999 meters 0.18243105416560068 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.03 [[ 9.99947133e-01 -9.55018829e-03 -3.81125057e-03 2.80106838e-02] [ 9.55395271e-03 9.99953889e-01 9.70730182e-04 -9.31229909e-02] [ 3.80180418e-03 -1.00709137e-03 9.99992266e-01 -2.54242863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4299288509999997 meters 0.18413180289891462 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.03 [[ 0.99995056 -0.00911005 -0.00398562 0.0287802 ] [ 0.00911708 0.99995691 0.00174926 -0.09521092] [ 0.00396951 -0.00178551 0.99999053 -0.02602461] [ 0. 0. 0. 1. ]] SLAMing on 1.4599288509999997 meters 0.17928656817016259 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.03 [[ 0.99995375 -0.00858271 -0.00433919 0.03005297] [ 0.00859324 0.99996016 0.00241421 -0.09690452] [ 0.00431829 -0.00245139 0.99998767 -0.02658312] [ 0. 0. 0. 1. ]] SLAMing on 1.4899288509999997 meters 0.1796646571415732 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.03 [[ 0.99995475 -0.00834329 -0.00456946 0.03064599] [ 0.00835581 0.99996137 0.00272704 -0.09778809] [ 0.00454653 -0.0027651 0.99998584 -0.02667964] [ 0. 0. 0. 1. ]] SLAMing on 1.5199288509999997 meters 0.17021567097132836 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.03 [[ 0.99995604 -0.00772254 -0.00531811 0.03232121] [ 0.00773877 0.99996544 0.00303694 -0.09884518] [ 0.00529447 -0.00307796 0.99998125 -0.02635931] [ 0. 0. 0. 1. ]] SLAMing on 1.5499288509999998 meters 0.16780849374056064 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.03 [[ 0.99995482 -0.00761429 -0.00569021 0.032901 ] [ 0.00763109 0.99996657 0.0029367 -0.0986393 ] [ 0.00566765 -0.00297999 0.9999795 -0.02590609] [ 0. 0. 0. 1. ]] SLAMing on 1.5799288509999998 meters 0.1650812813733645 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.03 [[ 0.99995393 -0.00731991 -0.00620926 0.03401184] [ 0.00733836 0.99996871 0.00295393 -0.09838444] [ 0.00618745 -0.00299936 0.99997636 -0.02572778] [ 0. 0. 0. 1. ]] SLAMing on 1.6099288509999998 meters 0.1621410887602756 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.03 [[ 0.99995364 -0.00638173 -0.00720997 0.03672004] [ 0.00640413 0.99997472 0.00308917 -0.09741674] [ 0.00719007 -0.0031352 0.99996924 -0.026008 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6399288509999996 meters 0.15786605854081703 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.03 [[ 9.99999914e-01 -3.42323946e-04 -2.33505244e-04 2.74936382e-02] [ 3.42506199e-04 9.99999636e-01 7.80916537e-04 -9.75465937e-02] [ 2.33237833e-04 -7.80996447e-04 9.99999668e-01 -2.99525398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6699288509999997 meters 0.1574669182752125 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.03 [[ 9.99999738e-01 -3.06627558e-04 -6.55128732e-04 2.82748897e-02] [ 3.06841929e-04 9.99999899e-01 3.27143260e-04 -9.64051266e-02] [ 6.55028355e-04 -3.27344195e-04 9.99999732e-01 -2.95971587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6999288509999997 meters 0.15231041897896413 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.03 [[ 9.99999048e-01 5.87823827e-04 -1.24850403e-03 3.02755615e-02] [-5.87876786e-04 9.99999826e-01 -4.20515772e-05 -9.38228957e-02] [ 1.24847909e-03 4.27855037e-05 9.99999220e-01 -3.00111490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7299288509999997 meters 0.15086613270839114 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.03 [[ 9.99998440e-01 5.83831758e-04 -1.66679890e-03 3.11372119e-02] [-5.85014037e-04 9.99999578e-01 -7.08911756e-04 -9.13443826e-02] [ 1.66638431e-03 7.09885752e-04 9.99998360e-01 -2.98871756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7599288509999997 meters 0.1476315419764264 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.03 [[ 9.99997358e-01 6.74273536e-04 -2.19745706e-03 3.21792136e-02] [-6.77232617e-04 9.99998865e-01 -1.34612759e-03 -8.88447802e-02] [ 2.19654691e-03 1.34761222e-03 9.99996680e-01 -2.96404789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7899288509999998 meters 0.14495401676323494 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.03 [[ 9.99996450e-01 6.19274555e-04 -2.59161358e-03 3.27040421e-02] [-6.24974315e-04 9.99997387e-01 -2.19907775e-03 -8.60194150e-02] [ 2.59024498e-03 2.20068964e-03 9.99994224e-01 -2.90316146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8199288509999998 meters 0.138600505248149 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.03 [[ 9.99994477e-01 8.79270520e-04 -3.20512699e-03 3.41658871e-02] [-8.88098989e-04 9.99995813e-01 -2.75410157e-03 -8.29356676e-02] [ 3.20269197e-03 2.75693283e-03 9.99991071e-01 -2.91924219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8499288509999996 meters 0.1350947964029876 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.03 [[ 9.99980384e-01 5.18646669e-03 -3.51176411e-03 3.52757152e-02] [-5.18570607e-03 9.99986529e-01 2.25662000e-04 -7.79730397e-02] [ 3.51288719e-03 -2.07446597e-04 9.99993808e-01 -2.96724658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8799288509999996 meters 0.13218111249725414 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.03 [[ 0.9999795 0.00504381 -0.00394472 0.03591996] [-0.0050482 0.99998665 -0.00110535 -0.07356224] [ 0.00393909 0.00112524 0.99999161 -0.02913305] [ 0. 0. 0. 1. ]] SLAMing on 1.9099288509999996 meters 0.13133756588860604 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.03 [[ 0.99997851 0.00496617 -0.00427938 0.03650337] [-0.0049762 0.99998489 -0.00233654 -0.06886582] [ 0.00426771 0.00235778 0.99998811 -0.02885028] [ 0. 0. 0. 1. ]] SLAMing on 1.9399288509999997 meters 0.12541223939219467 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.06, Z:-0.03 [[ 9.99947080e-01 9.07691868e-03 -4.84224442e-03 3.79319763e-02] [-9.07890796e-03 9.99958710e-01 -3.88993774e-04 -6.09214425e-02] [ 4.83851362e-03 4.32935480e-04 9.99988201e-01 -2.89584847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9699288509999997 meters 0.12417546467276772 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.03 [[ 0.99994569 0.00888512 -0.00544726 0.03876683] [-0.00889727 0.99995798 -0.00221031 -0.05493468] [ 0.00542739 0.00225866 0.99998272 -0.02809273] [ 0. 0. 0. 1. ]] SLAMing on 1.9999288509999997 meters 0.12296461351468899 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.03 [[ 0.99994682 0.0085531 -0.00576146 0.03913515] [-0.00857546 0.99995576 -0.00386631 -0.04909031] [ 0.00572814 0.00391552 0.99997593 -0.02753612] [ 0. 0. 0. 1. ]] SLAMing on 2.0299288509999998 meters 0.12457589009366758 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.03 [[ 0.99994188 0.00868264 -0.00639106 0.040705 ] [-0.00871425 0.99994985 -0.00493505 -0.04398971] [ 0.00634789 0.00499045 0.9999674 -0.02777272] [ 0. 0. 0. 1. ]] SLAMing on 2.0599288509999996 meters 0.1173961763012439 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.03 [[ 0.99994342 0.00822419 -0.00674645 0.04098029] [-0.00826857 0.99994419 -0.006577 -0.03892968] [ 0.00669198 0.00663241 0.99995561 -0.02690788] [ 0. 0. 0. 1. ]] SLAMing on 2.089928851 meters 0.12049137024054024 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99994136 0.00813703 -0.00714628 0.04211348] [-0.00819096 0.99993795 -0.00755029 -0.03433065] [ 0.0070844 0.00760838 0.99994596 -0.02729828] [ 0. 0. 0. 1. ]] SLAMing on 2.1199288509999996 meters 0.1110133711105161 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99991727 0.01108847 -0.00651977 0.0406954 ] [-0.01112338 0.99992386 -0.00534304 -0.02736266] [ 0.00646002 0.00541512 0.99996447 -0.0274073 ] [ 0. 0. 0. 1. ]] SLAMing on 2.149928851 meters 0.10563171726735864 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99987724 0.0145747 -0.005751 0.03942866] [-0.01458497 0.9998921 -0.0017493 -0.02508625] [ 0.00572488 0.00183296 0.99998193 -0.02811822] [ 0. 0. 0. 1. ]] SLAMing on 2.1799288509999997 meters 0.10463512301206734 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.03 [[ 0.99988713 0.01386672 -0.00578236 0.03912512] [-0.01388553 0.99989839 -0.00322631 -0.02059974] [ 0.00573704 0.00330624 0.99997808 -0.02758894] [ 0. 0. 0. 1. ]] SLAMing on 2.2099288509999995 meters 0.1067548737380353 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.03 [[ 0.9998965 0.01319805 -0.00572757 0.03879612] [-0.01322374 0.99990257 -0.00447083 -0.01636769] [ 0.00566801 0.00454611 0.9999736 -0.02741635] [ 0. 0. 0. 1. ]] SLAMing on 2.2399288509999997 meters 0.10512531417338643 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 0.99991422 0.01182341 -0.00563638 0.03781339] [-0.01186349 0.9999042 -0.00713101 -0.00756971] [ 0.00555153 0.00719727 0.99995869 -0.0265577 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2699288509999995 meters 0.10648557566651976 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 0.99997824 0.00645277 0.00137302 0.04128691] [-0.00645682 0.99997475 0.00296653 -0.00508852] [-0.00135384 -0.00297533 0.99999466 -0.03188901] [ 0. 0. 0. 1. ]] SLAMing on 2.2999288509999998 meters 0.10530284001084787 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.03 [[ 9.99983270e-01 5.59632834e-03 1.46341587e-03 4.05408715e-02] [-5.59836011e-03 9.99983366e-01 1.38798493e-03 -3.14872017e-04] [-1.45562391e-03 -1.39615444e-03 9.99997966e-01 -3.11824712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3299288509999996 meters 0.10076282335876 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 0.9999652 0.0079658 0.00248085 0.03779833] [-0.00797441 0.99996216 0.00347733 0.00660213] [-0.00245305 -0.00349699 0.99999088 -0.03098649] [ 0. 0. 0. 1. ]] SLAMing on 2.359928851 meters 0.10070930804595983 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 0.99997018 0.00734473 0.00238747 0.0376715 ] [-0.00734978 0.99997075 0.00211603 0.01126269] [-0.00237186 -0.00213351 0.99999491 -0.03061552] [ 0. 0. 0. 1. ]] SLAMing on 2.3899288509999996 meters 0.0990517380507823 Centerline is valid? [False, True] Translation: X:0.04, Y:0.02, Z:-0.03 [[ 9.99976303e-01 6.47368808e-03 2.34193107e-03 3.70984566e-02] [-6.47462378e-03 9.99978962e-01 3.92181823e-04 1.65244893e-02] [-2.33934293e-03 -4.07335652e-04 9.99997181e-01 -2.97643292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4199288509999994 meters 0.10188314828530337 Centerline is valid? [True, False] Translation: X:0.03, Y:0.02, Z:-0.03 [[ 9.99983233e-01 4.76866314e-03 3.28539080e-03 3.38621039e-02] [-4.76611789e-03 9.99988336e-01 -7.82110854e-04 2.03062257e-02] [-3.28908210e-03 7.66439180e-04 9.99994297e-01 -2.89140556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4499288509999997 meters 0.10390040639576496 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.03 [[ 0.99998479 0.00430178 0.00345124 0.0332192 ] [-0.00429772 0.99999007 -0.00118107 0.02147158] [-0.00345629 0.00116622 0.99999335 -0.02869355] [ 0. 0. 0. 1. ]] SLAMing on 2.4799288509999995 meters 0.10447297346551845 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.03 [[ 0.99998508 0.00419464 0.00350039 0.03313237] [-0.0041906 0.99999055 -0.00116116 0.02172803] [-0.00350522 0.00114648 0.9999932 -0.02884035] [ 0. 0. 0. 1. ]] SLAMing on 2.5099288509999997 meters 0.10173724335835903 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.03 [[ 0.99998558 0.00410433 0.00346392 0.03309084] [-0.00409972 0.9999907 -0.00133662 0.02231231] [-0.00346937 0.0013224 0.99999311 -0.02871285] [ 0. 0. 0. 1. ]] SLAMing on 2.5399288509999995 meters 0.10138137319840579 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.03 [[ 9.99984072e-01 4.62481476e-03 3.23537472e-03 3.41493398e-02] [-4.62172276e-03 9.99988857e-01 -9.62511147e-04 2.10887616e-02] [-3.23979010e-03 9.47542811e-04 9.99994303e-01 -2.92451399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.569928851 meters 0.13812646141244667 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.03 [[ 0.99998997 0.00237442 0.00379814 0.15899338] [-0.00235631 0.99998587 -0.00476455 0.01771488] [-0.0038094 0.00475555 0.99998144 -0.03080424] [ 0. 0. 0. 1. ]] SLAMing on 2.5999288509999996 meters 0.09507831112056889 Centerline is valid? [False, True] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 0.9999523 0.00866435 0.00450874 0.04629905] [-0.00864509 0.9999535 -0.00427208 0.01934743] [-0.00454554 0.0042329 0.99998071 -0.02993498] [ 0. 0. 0. 1. ]] SLAMing on 2.6299288509999994 meters 0.09499258702098858 Centerline is valid? [True, True] Translation: X:0.07, Y:0.02, Z:-0.04 [[ 9.99935960e-01 1.04126510e-02 4.43316254e-03 7.35935495e-02] [-1.04118653e-02 9.99945775e-01 -2.00277221e-04 1.70598541e-02] [-4.43500757e-03 1.54106904e-04 9.99990153e-01 -3.62020644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6599288509999996 meters 0.09499258702098858 Centerline is valid? [True, True] Translation: X:0.10, Y:0.02, Z:-0.04 [[ 9.99936608e-01 1.03502098e-02 4.43322889e-03 1.01863829e-01] [-1.03494302e-02 9.99946423e-01 -1.98763597e-04 1.59143953e-02] [-4.43504861e-03 1.52869604e-04 9.99990153e-01 -3.85658530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6899288509999995 meters 0.08936396614244244 Centerline is valid? [True, True] Translation: X:0.13, Y:0.02, Z:-0.03 [[ 9.99774018e-01 1.52145557e-02 1.48468746e-02 1.32992518e-01] [-1.52065976e-02 9.99884163e-01 -6.48765353e-04 1.99779326e-02] [-1.48550254e-02 4.22848296e-04 9.99889569e-01 -3.25915944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7199288509999997 meters 0.08577703226210305 Centerline is valid? [True, True] Translation: X:0.16, Y:0.03, Z:-0.02 [[ 9.99783530e-01 1.60526486e-02 1.32365491e-02 1.63387955e-01] [-1.60463549e-02 9.99871080e-01 -5.81552071e-04 2.59439586e-02] [-1.32441781e-02 3.69027816e-04 9.99912224e-01 -2.04018105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7499288509999995 meters 0.0857996146755315 Centerline is valid? [True, True] Translation: X:0.19, Y:0.03, Z:-0.03 [[ 9.99704448e-01 1.93411721e-02 1.47287290e-02 1.92259033e-01] [-1.93337722e-02 9.99812877e-01 -6.44651664e-04 2.57765933e-02] [-1.47384412e-02 3.59699245e-04 9.99891319e-01 -2.70786662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7799288509999998 meters 0.08158943423140332 Centerline is valid? [True, True] Translation: X:0.22, Y:0.03, Z:-0.03 [[ 9.99381905e-01 2.43275779e-02 2.53766854e-02 2.22342975e-01] [-2.43073069e-02 9.99703921e-01 -1.10701282e-03 2.80127964e-02] [-2.53961028e-02 4.89489696e-04 9.99677347e-01 -2.52858809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8099288509999996 meters 0.07988337349059899 Centerline is valid? [True, True] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 9.99322640e-01 2.61666996e-02 2.58759478e-02 2.52345541e-01] [-2.61462086e-02 9.99657491e-01 -1.12996914e-03 2.92757660e-02] [-2.58966526e-02 4.52645812e-04 9.99664523e-01 -1.96835254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8399288509999994 meters 0.07910381081495478 Centerline is valid? [True, True] Translation: X:0.28, Y:0.03, Z:-0.02 [[ 9.99179893e-01 2.99143052e-02 2.72887506e-02 2.81284090e-01] [-2.98929823e-02 9.99552398e-01 -1.18908316e-03 3.08090261e-02] [-2.73121067e-02 3.72365841e-04 9.99626885e-01 -2.29837408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8699288509999996 meters 0.07794984828566948 Centerline is valid? [True, True] Translation: X:0.31, Y:0.03, Z:-0.02 [[ 9.98907351e-01 3.46234162e-02 3.13898656e-02 3.12313959e-01] [-3.45976207e-02 9.99400391e-01 -1.36471049e-03 3.39833684e-02] [-3.14182949e-02 2.77204675e-04 9.99506285e-01 -2.25321397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8999288509999994 meters 0.0793065551655026 Centerline is valid? [True, True] Translation: X:0.34, Y:0.04, Z:-0.03 [[ 9.98750337e-01 4.25944857e-02 2.61433408e-02 3.41641167e-01] [-4.25792981e-02 9.99092443e-01 -1.13758992e-03 3.93403038e-02] [-2.61680693e-02 2.30032161e-05 9.99657557e-01 -2.77268785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9299288509999997 meters 0.07785215772784725 Centerline is valid? [True, True] Translation: X:0.37, Y:0.04, Z:-0.03 [[ 9.98492355e-01 4.56955155e-02 3.04127617e-02 3.72333853e-01] [-4.56764543e-02 9.98955412e-01 -1.32155449e-03 4.12822343e-02] [-3.04413820e-02 -6.95850631e-05 9.99536551e-01 -2.64554820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9599288509999995 meters 0.07637304750354414 Centerline is valid? [True, True] Translation: X:0.40, Y:0.04, Z:-0.03 [[ 9.98237620e-01 4.73235391e-02 3.58069258e-02 4.01698163e-01] [-4.72981428e-02 9.98879604e-01 -1.55647103e-03 4.14828409e-02] [-3.58404656e-02 -1.39873154e-04 9.99357514e-01 -2.67803620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9899288509999997 meters 0.07600243532716291 Centerline is valid? [True, True] Translation: X:0.43, Y:0.04, Z:-0.03 [[ 9.97991551e-01 5.13997335e-02 3.70260836e-02 4.30550063e-01] [-5.13753328e-02 9.98678117e-01 -1.61078270e-03 4.35016313e-02] [-3.70599332e-02 -2.94679842e-04 9.99313001e-01 -2.62229407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0199288509999995 meters 0.07673055245311731 Centerline is valid? [True, True] Translation: X:0.46, Y:0.04, Z:-0.03 [[ 9.97962015e-01 5.35902121e-02 3.46396696e-02 4.59878024e-01] [-5.35702946e-02 9.98562949e-01 -1.50351053e-03 4.44075632e-02] [-3.46704640e-02 -3.55210910e-04 9.99398736e-01 -3.10825961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0499288509999993 meters 0.07546442315315068 Centerline is valid? [True, True] Translation: X:0.49, Y:0.04, Z:-0.03 [[ 9.97599191e-01 5.48956842e-02 4.22175151e-02 4.90254833e-01] [-5.48673868e-02 9.98491974e-01 -1.82956039e-03 4.42021987e-02] [-4.22542849e-02 -4.91196762e-04 9.99106768e-01 -3.09595202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0799288509999996 meters 0.07581888423275643 Centerline is valid? [True, True] Translation: X:0.52, Y:0.04, Z:-0.03 [[ 9.97549267e-01 5.66763378e-02 4.10274731e-02 5.18302367e-01] [-5.66510122e-02 9.98392454e-01 -1.78057037e-03 4.39757663e-02] [-4.10624357e-02 -5.48041215e-04 9.99156432e-01 -3.46111510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1099288509999994 meters 0.0750426502147056 Centerline is valid? [True, True] Translation: X:0.55, Y:0.04, Z:-0.04 [[ 9.97336475e-01 5.68560276e-02 4.56875054e-02 5.48252351e-01] [-5.68250850e-02 9.98382192e-01 -1.97680879e-03 4.26328878e-02] [-4.57259853e-02 -6.24652867e-04 9.98953825e-01 -3.52919032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1399288509999996 meters 0.07477898331813909 Centerline is valid? [True, True] Translation: X:0.58, Y:0.04, Z:-0.04 [[ 9.97107146e-01 5.77275277e-02 4.94456520e-02 5.76685241e-01] [-5.76924198e-02 9.98332116e-01 -2.13812165e-03 4.21479813e-02] [-4.94866109e-02 -7.20702938e-04 9.98774527e-01 -3.59181582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1699288509999994 meters 0.07474188934809807 Centerline is valid? [True, True] Translation: X:0.60, Y:0.04, Z:-0.04 [[ 9.97063974e-01 5.73050709e-02 5.07893763e-02 6.04267719e-01] [-5.72675571e-02 9.98356454e-01 -2.19473882e-03 4.14345650e-02] [-5.08316713e-02 -7.20288501e-04 9.98706975e-01 -3.77535297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1999288509999997 meters 0.07463802756297032 Centerline is valid? [True, True] Translation: X:0.63, Y:0.04, Z:-0.04 [[ 9.97214766e-01 5.58657036e-02 4.94139103e-02 6.32873735e-01] [-5.58286317e-02 9.98438091e-01 -2.13119192e-03 3.96248433e-02] [-4.94557908e-02 -6.33454949e-04 9.98776113e-01 -3.96879893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2299288509999995 meters 0.07430695230608253 Centerline is valid? [True, True] Translation: X:0.66, Y:0.04, Z:-0.04 [[ 9.97231262e-01 5.44375346e-02 5.06593065e-02 6.60663395e-01] [-5.43968148e-02 9.98517010e-01 -2.18321124e-03 3.74604518e-02] [-5.07030279e-02 -5.78538420e-04 9.98713607e-01 -4.19713621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2599288509999993 meters 0.07390254803528094 Centerline is valid? [True, True] Translation: X:0.69, Y:0.04, Z:-0.04 [[ 9.97259548e-01 5.26092924e-02 5.20159249e-02 6.89490239e-01] [-5.25642609e-02 9.98615044e-01 -2.23431142e-03 3.50091957e-02] [-5.20614307e-02 -5.05990251e-04 9.98643756e-01 -4.37327523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2899288509999995 meters 0.07409959308275062 Centerline is valid? [True, True] Translation: X:0.72, Y:0.03, Z:-0.05 [[ 9.97459085e-01 5.04680634e-02 5.02826796e-02 7.17132554e-01] [-5.04233844e-02 9.98725602e-01 -2.15748424e-03 3.29133365e-02] [-5.03274835e-02 -3.83420631e-04 9.98732696e-01 -4.87883335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3199288509999993 meters 0.07362241974244746 Centerline is valid? [True, True] Translation: X:0.75, Y:0.03, Z:-0.05 [[ 9.97464276e-01 4.80955633e-02 5.24579287e-02 7.45615937e-01] [-4.80439003e-02 9.98842700e-01 -2.24614450e-03 2.90978597e-02] [-5.25052487e-02 -2.79834595e-04 9.98620609e-01 -5.04464599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3499288509999996 meters 0.07339947022212497 Centerline is valid? [True, True] Translation: X:0.77, Y:0.03, Z:-0.05 [[ 9.97550583e-01 4.56544012e-02 5.29953776e-02 7.74565864e-01] [-4.55984270e-02 9.98957282e-01 -2.26546228e-03 2.56842614e-02] [-5.30435467e-02 -1.56592644e-04 9.98592188e-01 -5.35998594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3799288509999994 meters 0.07338802378956309 Centerline is valid? [True, True] Translation: X:0.80, Y:0.02, Z:-0.06 [[ 9.97763005e-01 3.98859984e-02 5.36478623e-02 8.01638343e-01] [-3.98203875e-02 9.99204226e-01 -2.29177150e-03 1.81174081e-02] [-5.36965803e-02 1.50366154e-04 9.98557287e-01 -5.76293176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4099288509999996 meters 0.07357392832347855 Centerline is valid? [True, True] Translation: X:0.83, Y:0.01, Z:-0.06 [[ 9.97878761e-01 3.70489004e-02 5.35290262e-02 8.31087345e-01] [-3.69797878e-02 9.99313410e-01 -2.28134482e-03 1.39133142e-02] [-5.35767950e-02 2.97013514e-04 9.98563688e-01 -6.09826098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4399288509999995 meters 0.07352139460052354 Centerline is valid? [True, True] Translation: X:0.86, Y:0.01, Z:-0.06 [[ 9.97844575e-01 3.49024726e-02 5.55699711e-02 8.60971497e-01] [-3.48248020e-02 9.99390633e-01 -2.36574554e-03 1.00335053e-02] [-5.56186789e-02 4.25433113e-04 9.98451993e-01 -6.34171676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4699288509999993 meters 0.07383793414396823 Centerline is valid? [True, True] Translation: X:0.89, Y:0.00, Z:-0.07 [[ 9.97962423e-01 3.15401508e-02 5.54637010e-02 8.93124172e-01] [-3.14579064e-02 9.99502302e-01 -2.35550236e-03 4.85437956e-03] [-5.55103897e-02 6.05930931e-04 9.98457926e-01 -6.68653162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4999288509999995 meters 0.07381891134391393 Centerline is valid? [True, True] Translation: X:0.93, Y:0.00, Z:-0.07 [[ 9.97923912e-01 3.03269275e-02 5.68167535e-02 9.25676254e-01] [-3.02377574e-02 9.99539784e-01 -2.42867521e-03 1.96785773e-03] [-5.68642597e-02 7.05621857e-04 9.98381670e-01 -6.86687079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5299288509999993 meters 0.07403967521666725 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.00, Z:-0.07 [[ 9.97927821e-01 2.89984078e-02 5.74382834e-02 9.58710645e-01] [-2.89050636e-02 9.99579145e-01 -2.45544523e-03 -7.69168835e-04] [-5.74853142e-02 7.90099880e-04 9.98346039e-01 -7.09292680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5599288509999996 meters 0.07443526827266485 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.00, Z:-0.07 [[ 9.97953229e-01 2.67415035e-02 5.80882480e-02 9.89293329e-01] [-2.66412063e-02 9.99641933e-01 -2.50051232e-03 -3.88566727e-03] [-5.81343160e-02 9.47853347e-04 9.98308321e-01 -7.25567504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5899288509999994 meters 0.07443526827266485 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.01, Z:-0.08 [[ 9.97946955e-01 2.69748909e-02 5.80881318e-02 1.02183369e+00] [-2.68748312e-02 9.99635672e-01 -2.50321832e-03 -5.50438839e-03] [-5.81344927e-02 9.36970366e-04 9.98308321e-01 -7.52678490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6199288509999996 meters 0.07484865757589985 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.01, Z:-0.08 [[ 0.9979145 0.02419293 0.05984433 1.05257609] [-0.02408078 0.99970665 -0.00259459 -0.00997397] [-0.05988954 0.00114808 0.99820435 -0.07595432] [ 0. 0. 0. 1. ]] SLAMing on 3.6499288509999994 meters 0.07532038039821128 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.01, Z:-0.08 [[ 0.99790759 0.02211099 0.06075805 1.08491124] [-0.02199083 0.99975467 -0.00264564 -0.01398632] [-0.06080164 0.00130398 0.99814902 -0.0783461 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6799288509999992 meters 0.07601710674340094 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.02, Z:-0.08 [[ 0.99794542 0.02037287 0.06074435 1.11618503] [-0.02024878 0.99979144 -0.00265775 -0.01899322] [-0.06078583 0.00142229 0.99814982 -0.08138048] [ 0. 0. 0. 1. ]] SLAMing on 3.7099288509999995 meters 0.07663771282454399 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.02, Z:-0.08 [[ 0.99788743 0.01887878 0.06216323 1.14704854] [-0.01874516 0.99982056 -0.0027319 -0.02372726] [-0.06220365 0.00156087 0.99806226 -0.08322425] [ 0. 0. 0. 1. ]] SLAMing on 3.7399288509999993 meters 0.07656736849643986 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.02, Z:-0.09 [[ 0.99786774 0.01930869 0.062347 1.17791328] [-0.01917439 0.99981237 -0.00275172 -0.02473249] [-0.06238843 0.00155038 0.99805074 -0.08559005] [ 0. 0. 0. 1. ]] SLAMing on 3.7699288509999995 meters 0.07648359737391631 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.03, Z:-0.09 [[ 0.99794473 0.02010187 0.06084597 1.20949632] [-0.01997477 0.99979685 -0.00269642 -0.02579247] [-0.06088781 0.0014755 0.99814353 -0.08955365] [ 0. 0. 0. 1. ]] SLAMing on 3.7999288509999993 meters 0.07691181517775085 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.03, Z:-0.10 [[ 0.99806622 0.02041159 0.05871282 1.24012097] [-0.02029318 0.99979066 -0.0026123 -0.0298015 ] [-0.05875385 0.00141578 0.9982715 -0.09580423] [ 0. 0. 0. 1. ]] SLAMing on 3.8299288509999996 meters 0.07669052079645208 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.03, Z:-0.10 [[ 0.99799302 0.0212326 0.0596583 1.27263307] [-0.02111098 0.99977358 -0.00266826 -0.03164018] [-0.05970145 0.00140346 0.99821529 -0.09803405] [ 0. 0. 0. 1. ]] SLAMing on 3.8599288509999994 meters 0.07657066128636704 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.03, Z:-0.10 [[ 0.9980275 0.02169842 0.05890909 1.30454 ] [-0.02158059 0.99976364 -0.00263576 -0.03373644] [-0.05895236 0.00135927 0.99825987 -0.10125123] [ 0. 0. 0. 1. ]] SLAMing on 3.889928850999999 meters 0.07629205918915283 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.04, Z:-0.10 [[ 0.9979328 0.02265726 0.06013965 1.33537359] [-0.02253543 0.99974239 -0.00270341 -0.0362783 ] [-0.06018541 0.00134255 0.99818631 -0.10360779] [ 0. 0. 0. 1. ]] SLAMing on 3.9199288509999994 meters 0.07669389417228063 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.04, Z:-0.10 [[ 0.99786724 0.02159975 0.06159882 1.36609702] [-0.0214691 0.99976564 -0.00278213 -0.04205599] [-0.06164448 0.00145372 0.99809711 -0.10428486] [ 0. 0. 0. 1. ]] SLAMing on 3.9499288509999992 meters 0.07685361545191317 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.05, Z:-0.10 [[ 0.99782097 0.02077408 0.06262382 1.39888556] [-0.02063712 0.99978302 -0.00283308 -0.04568721] [-0.06266909 0.00153453 0.99803318 -0.10443718] [ 0. 0. 0. 1. ]] SLAMing on 3.9799288509999995 meters 0.07582966294835626 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.05, Z:-0.10 [[ 0.99782019 0.01995485 0.06290203 1.43142703] [-0.01981414 0.99979959 -0.00285995 -0.04589014] [-0.06294649 0.00160736 0.99801561 -0.10272415] [ 0. 0. 0. 1. ]] SLAMing on 4.009928851 meters 0.0762680603828809 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.05, Z:-0.10 [[ 0.99778216 0.0188907 0.06382712 1.46312845] [-0.01874278 0.99982009 -0.0029155 -0.05073805] [-0.06387071 0.00171274 0.99795671 -0.10471133] [ 0. 0. 0. 1. ]] SLAMing on 4.039928851 meters 0.0773298690057834 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.06, Z:-0.11 [[ 0.99781467 0.01655099 0.06396838 1.49339377] [-0.01639664 0.99986125 -0.00293713 -0.05953327] [-0.06400812 0.00188185 0.9979476 -0.1074025 ] [ 0. 0. 0. 1. ]] SLAMing on 4.069928851 meters 0.07804143821794897 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.07, Z:-0.11 [[ 0.99782003 0.01556011 0.06413318 1.52516651] [-0.01540262 0.99987702 -0.00294938 -0.0651071 ] [-0.06417118 0.00195514 0.99793699 -0.11093124] [ 0. 0. 0. 1. ]] SLAMing on 4.099928851 meters 0.07914689757323586 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.07, Z:-0.12 [[ 0.99788539 0.01427833 0.06341033 1.55706827] [-0.01412098 0.999896 -0.00292895 -0.07128895] [-0.06344556 0.00202734 0.99798324 -0.11579243] [ 0. 0. 0. 1. ]] SLAMing on 4.129928851 meters 0.07994997779408704 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.08, Z:-0.12 [[ 0.99796065 0.01263552 0.06256902 1.58885487] [-0.01247816 0.99991792 -0.00290507 -0.07692919] [-0.06260059 0.0021184 0.99803641 -0.11889569] [ 0. 0. 0. 1. ]] SLAMing on 4.159928851 meters 0.08055283603177726 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.08, Z:-0.12 [[ 0.99796659 0.01191092 0.06261646 1.61944932] [-0.01175174 0.99992671 -0.00290988 -0.08137326] [-0.06264653 0.00216811 0.99803342 -0.1217651 ] [ 0. 0. 0. 1. ]] SLAMing on 4.1899288509999995 meters 0.08161891482872256 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.09, Z:-0.12 [[ 0.99788743 0.00996841 0.06419739 1.65046333] [-0.00979669 0.99994754 -0.0029891 -0.08931077] [-0.06422382 0.00235387 0.99793274 -0.12207509] [ 0. 0. 0. 1. ]] SLAMing on 4.219928851 meters 0.08253756109823768 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.09, Z:-0.12 [[ 0.99788022 0.00886965 0.06447009 1.68269982] [-0.00869341 0.99995767 -0.00301354 -0.09495369] [-0.0644941 0.00244669 0.99791509 -0.12438838] [ 0. 0. 0. 1. ]] SLAMing on 4.249928851 meters 0.08540184303307533 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.11, Z:-0.13 [[ 0.99788598 0.00482239 0.06480978 1.71225815] [-0.0046347 0.99998462 -0.00304593 -0.10691727] [-0.06482347 0.00273911 0.99789299 -0.1269304 ] [ 0. 0. 0. 1. ]] SLAMing on 4.279928851 meters 0.08642076599852945 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.11, Z:-0.13 [[ 0.99787124 0.00368345 0.06511083 1.74358015] [-0.00349182 0.99998923 -0.00305683 -0.11332829] [-0.06512139 0.00282297 0.99787336 -0.12976576] [ 0. 0. 0. 1. ]] SLAMing on 4.309928851 meters 0.0872216600432524 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.12, Z:-0.13 [[ 0.99792796 0.00238094 0.06429715 1.77514347] [-0.00219048 0.999993 -0.00303246 -0.11881964] [-0.06430392 0.00288533 0.99792619 -0.13328277] [ 0. 0. 0. 1. ]] SLAMing on 4.339928851 meters 0.08866143213306103 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.13, Z:-0.14 [[ 9.97960936e-01 1.32980177e-03 6.38138104e-02 1.80636179e+00] [-1.13998847e-03 9.99994818e-01 -3.01080466e-03 -1.25293796e-01] [-6.38174834e-02 2.93191843e-03 9.97957280e-01 -1.37217635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.369928851 meters 0.08980879059714596 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.13, Z:-0.14 [[ 9.97978738e-01 1.55757496e-04 6.35485152e-02 1.83666329e+00] [ 3.57626019e-05 9.99995461e-01 -3.01261335e-03 -1.31216187e-01] [-6.35486961e-02 3.00879673e-03 9.97974203e-01 -1.40705485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.399928850999999 meters 0.08830965042505604 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.13, Z:-0.14 [[ 9.98082862e-01 -1.05627126e-03 6.18828374e-02 1.86855330e+00] [ 1.24007973e-03 9.99994933e-01 -2.93193448e-03 -1.33831515e-01] [-6.18794270e-02 3.00305321e-03 9.98079114e-01 -1.42285892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.429928851 meters 0.08881147808814253 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.14, Z:-0.15 [[ 9.98107570e-01 -1.19787149e-03 6.14804266e-02 1.89944585e+00] [ 1.38026277e-03 9.99994772e-01 -2.92427204e-03 -1.38072854e-01] [-6.14766023e-02 3.00359721e-03 9.98104005e-01 -1.45316227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459928851 meters 0.08896980029364968 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.14, Z:-0.15 [[ 9.98134464e-01 -1.07810288e-03 6.10444807e-02 1.93110489e+00] [ 1.25836709e-03 9.99994961e-01 -2.91463070e-03 -1.41740920e-01] [-6.10410308e-02 2.98600972e-03 9.98130791e-01 -1.48242607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.489928851 meters 0.08849185167024569 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.14, Z:-0.15 [[ 9.98129865e-01 -3.57206688e-04 6.11280951e-02 1.96287088e+00] [ 5.37370687e-04 9.99995561e-01 -2.93090483e-03 -1.44268885e-01] [-6.11267768e-02 2.95827209e-03 9.98125626e-01 -1.50247686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5199288509999995 meters 0.087364659773754 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.15, Z:-0.15 [[ 9.98109609e-01 1.74535339e-03 6.14342142e-02 1.99323758e+00] [-1.56634305e-03 9.99994387e-01 -2.96189254e-03 -1.46309630e-01] [-6.14390389e-02 2.86006635e-03 9.98106740e-01 -1.51504336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.549928851 meters 0.087364659773754 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.15, Z:-0.15 [[ 9.98109183e-01 1.96822888e-03 6.14343911e-02 2.02576897e+00] [-1.78986406e-03 9.99994023e-01 -2.95823481e-03 -1.48113196e-01] [-6.14398464e-02 2.84268212e-03 9.98106740e-01 -1.54220654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.579928851 meters 0.08666039986029973 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.15, Z:-0.16 [[ 0.99805218 0.00324821 0.06230005 2.0568363 ] [-0.00306611 0.99999074 -0.00301826 -0.14964983] [-0.06230927 0.00282136 0.9980529 -0.15533275] [ 0. 0. 0. 1. ]] SLAMing on 4.609928850999999 meters 0.08585513653012457 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.15, Z:-0.16 [[ 0.9980062 0.00444603 0.06295913 2.08933031] [-0.00426253 0.99998627 -0.00304864 -0.15153962] [-0.06297182 0.0027742 0.99801145 -0.15758926] [ 0. 0. 0. 1. ]] SLAMing on 4.639928851 meters 0.07771421791598317 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.13, Z:-0.15 [[ 0.99801549 0.00487505 0.06277983 2.12385956] [-0.00469278 0.99998434 -0.00305055 -0.13466269] [-0.06279372 0.00274988 0.99802274 -0.15086568] [ 0. 0. 0. 1. ]] SLAMing on 4.669928851 meters 0.07762293160584545 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.14, Z:-0.15 [[ 0.99797983 0.0062172 0.06322654 2.15484974] [-0.00603382 0.99997702 -0.00309081 -0.13992511] [-0.06324431 0.00270307 0.99799441 -0.15343664] [ 0. 0. 0. 1. ]] SLAMing on 4.699928851 meters 0.07738701971761032 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.14, Z:-0.16 [[ 0.99803894 0.00698627 0.06220499 2.18759071] [-0.0068095 0.99997215 -0.00305329 -0.142184 ] [-0.06222459 0.00262372 0.99805872 -0.15636754] [ 0. 0. 0. 1. ]] SLAMing on 4.7299288509999995 meters 0.08537059338528721 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.17, Z:-0.17 [[ 0.99803257 0.00792972 0.06219419 2.21709883] [-0.00775372 0.99996522 -0.00307064 -0.16603954] [-0.06221638 0.00258236 0.99805934 -0.16854506] [ 0. 0. 0. 1. ]] SLAMing on 4.759928851 meters 0.07775270500252053 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.15, Z:-0.16 [[ 0.99800992 0.00849886 0.06248181 2.25086947] [-0.0083215 0.99996058 -0.00309829 -0.15124899] [-0.06250568 0.00257218 0.99804129 -0.16196971] [ 0. 0. 0. 1. ]] SLAMing on 4.789928851 meters 0.08557082856245968 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.17, Z:-0.17 [[ 0.99805434 0.00868205 0.06174266 2.28026374] [-0.00850823 0.99995907 -0.00307766 -0.17280603] [-0.06176685 0.00254635 0.99808736 -0.17378468] [ 0. 0. 0. 1. ]] SLAMing on 4.819928850999999 meters 0.07760613317911427 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.16, Z:-0.17 [[ 0.99809628 0.00854917 0.06107969 2.31448482] [-0.0083785 0.99996025 -0.00304982 -0.15693493] [-0.06110333 0.00253226 0.99812823 -0.16646742] [ 0. 0. 0. 1. ]] SLAMing on 4.849928851 meters 0.08673607002209266 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.18, Z:-0.18 [[ 0.99813334 0.00818491 0.06052144 2.34313554] [-0.0080157 0.99996326 -0.00303808 -0.18113236] [-0.06054408 0.00254729 0.99816227 -0.18081144] [ 0. 0. 0. 1. ]] SLAMing on 4.879928851 meters 0.07866816136991876 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.17, Z:-0.18 [[ 0.99819044 0.00802122 0.05959455 2.37697006] [-0.00785659 0.99996465 -0.00299634 -0.16834121] [-0.05961647 0.00252271 0.99821817 -0.17509393] [ 0. 0. 0. 1. ]] SLAMing on 4.909928851 meters 0.07766877873394433 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.17, Z:-0.18 [[ 0.99825607 0.00731713 0.05857714 2.40950054] [-0.00715614 0.99997002 -0.00295775 -0.16827018] [-0.05859703 0.0025334 0.9982785 -0.17605106] [ 0. 0. 0. 1. ]] SLAMing on 4.9399288509999995 meters 0.07753039575590172 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.17, Z:-0.18 [[ 0.99827137 0.00700525 0.05835411 2.44198699] [-0.00684415 0.9999722 -0.00296012 -0.17137512] [-0.05837323 0.00255561 0.99829156 -0.17868575] [ 0. 0. 0. 1. ]] SLAMing on 4.969928851 meters 0.07834379581664051 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.18, Z:-0.18 [[ 0.99826361 0.00661359 0.05853224 2.47243307] [-0.00644994 0.99997475 -0.00298431 -0.17648869] [-0.0585505 0.0026016 0.99828106 -0.18163242] [ 0. 0. 0. 1. ]] SLAMing on 4.999928851 meters 0.0899059953157173 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.21, Z:-0.20 [[ 0.99824418 0.0062116 0.05890655 2.50077782] [-0.00604454 0.99997719 -0.00301369 -0.20560742] [-0.05892393 0.00265234 0.99825895 -0.19712217] [ 0. 0. 0. 1. ]] SLAMing on 5.029928850999999 meters 0.07815432011617376 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.18, Z:-0.18 [[ 0.99817744 0.00590075 0.06005807 2.53649419] [-0.00572581 0.99997885 -0.00308456 -0.18304229] [-0.060075 0.00273506 0.99819012 -0.18481957] [ 0. 0. 0. 1. ]] SLAMing on 5.059928851 meters 0.07782260758893494 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.19, Z:-0.18 [[ 0.99810241 0.00553227 0.06132676 2.57015576] [-0.00534811 0.99998068 -0.00316663 -0.18686734] [-0.0613431 0.00283264 0.99811272 -0.18372869] [ 0. 0. 0. 1. ]] SLAMing on 5.089928851 meters 0.07799412932240585 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.19, Z:-0.19 [[ 0.99804478 0.00512409 0.06229257 2.60249143] [-0.00493217 0.99998261 -0.00323434 -0.19062878] [-0.06230806 0.00292078 0.99805269 -0.18549353] [ 0. 0. 0. 1. ]] SLAMing on 5.119928851 meters 0.07787593980496661 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.19, Z:-0.19 [[ 0.99803142 0.0050567 0.06251168 2.63492387] [-0.00486229 0.99998286 -0.00326179 -0.19434543] [-0.0625271 0.00295142 0.9980389 -0.18788731] [ 0. 0. 0. 1. ]] SLAMing on 5.149928850999999 meters 0.0788878883098297 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.20, Z:-0.19 [[ 9.98130417e-01 2.44716117e-03 6.10711157e-02 2.66557172e+00] [-2.25554043e-03 9.99992316e-01 -3.20640697e-03 -2.02748855e-01] [-6.10784930e-02 3.06266396e-03 9.98128267e-01 -1.91258206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.179928851 meters 0.11229653473882292 Centerline is valid? [True, False] Translation: X:2.75, Y:-0.21, Z:-0.20 [[ 9.98440901e-01 -2.15380896e-03 5.57774820e-02 2.74790117e+00] [ 2.27574816e-03 9.99995157e-01 -2.12274758e-03 -2.08131503e-01] [-5.57726399e-02 2.24637351e-03 9.98440968e-01 -1.95179383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.209928851 meters 0.08139735098406624 Centerline is valid? [False, True] Translation: X:2.67, Y:-0.21, Z:-0.19 [[ 9.98926203e-01 -6.72091384e-03 4.58396173e-02 2.67230543e+00] [ 6.71619281e-03 9.99977413e-01 2.57005845e-04 -2.05823006e-01] [-4.58403093e-02 5.11378356e-05 9.98948779e-01 -1.85899703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.239928850999999 meters 0.0836405269351145 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.22, Z:-0.19 [[ 9.98890206e-01 -9.82004327e-03 4.60643275e-02 2.70196174e+00] [ 9.92998067e-03 9.99948367e-01 -2.15837747e-03 -2.16159618e-01] [-4.60407537e-02 2.61340000e-03 9.98936144e-01 -1.87223327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2699288509999995 meters 0.08385014621977908 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.22, Z:-0.19 [[ 9.98910827e-01 -1.12532287e-02 4.52827208e-02 2.73387336e+00] [ 1.13608609e-02 9.99933216e-01 -2.12022917e-03 -2.20737297e-01] [-4.52558372e-02 2.63237056e-03 9.98971961e-01 -1.88566202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.299928851 meters 0.08361659535168174 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.22, Z:-0.19 [[ 9.98862782e-01 -1.24345497e-02 4.60274240e-02 2.76551242e+00] [ 1.25469867e-02 9.99918962e-01 -2.15471797e-03 -2.24027826e-01] [-4.59969011e-02 2.72977306e-03 9.98937853e-01 -1.88754246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.329928851 meters 0.08425541216208297 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.23, Z:-0.19 [[ 9.98815152e-01 -1.32428270e-02 4.68286146e-02 2.79755146e+00] [ 1.33605689e-02 9.99908319e-01 -2.20219602e-03 -2.30086035e-01] [-4.67951580e-02 2.82524369e-03 9.98900511e-01 -1.91096289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359928850999999 meters 0.08646757045852607 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.24, Z:-0.19 [[ 9.98767157e-01 -1.52635362e-02 4.72354730e-02 2.82714861e+00] [ 1.53863288e-02 9.99879121e-01 -2.23706387e-03 -2.41513927e-01] [-4.71956177e-02 2.96108644e-03 9.98881277e-01 -1.93652778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.389928851 meters 0.08377607618828635 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.24, Z:-0.19 [[ 9.98793031e-01 -1.56841458e-02 4.65455615e-02 2.85946527e+00] [ 1.58036335e-02 9.99872694e-01 -2.20020795e-03 -2.39636059e-01] [-4.65051276e-02 2.93314137e-03 9.98913745e-01 -1.93334832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419928851 meters 0.08774549154126565 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.25, Z:-0.20 [[ 9.98811880e-01 -1.61320054e-02 4.59846366e-02 2.89034493e+00] [ 1.62496113e-02 9.99865579e-01 -2.18481290e-03 -2.51300141e-01] [-4.59432099e-02 2.92944955e-03 9.98939758e-01 -1.97954978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.449928850999999 meters 0.0838063128069715 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.25, Z:-0.20 [[ 9.98809207e-01 -1.63014124e-02 4.59829581e-02 2.92256213e+00] [ 1.64196511e-02 9.99862780e-01 -2.19479419e-03 -2.46354639e-01] [-4.59408701e-02 2.94720478e-03 9.98939813e-01 -1.97734304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4799288509999995 meters 0.08375056528587957 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.25, Z:-0.20 [[ 9.98813211e-01 -1.55182819e-02 4.61665653e-02 2.95476576e+00] [ 1.56370956e-02 9.99875283e-01 -2.21353123e-03 -2.49541208e-01] [-4.61264573e-02 2.93281523e-03 9.98931303e-01 -1.99479821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.509928851 meters 0.08360169366898017 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.25, Z:-0.20 [[ 9.98838630e-01 -1.44998829e-02 4.59472025e-02 2.98702510e+00] [ 1.46169953e-02 9.99890715e-01 -2.21387306e-03 -2.52372133e-01] [-4.59100803e-02 2.88291198e-03 9.98941416e-01 -2.01966113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539928851 meters 0.08199524639873702 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.25, Z:-0.20 [[ 9.98826062e-01 -1.18191063e-02 4.69766545e-02 3.01815673e+00] [ 1.19393400e-02 9.99926125e-01 -2.27965926e-03 -2.52445892e-01] [-4.69462406e-02 2.83785333e-03 9.98893386e-01 -2.02451225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.569928850999999 meters 0.08168526239814751 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.25, Z:-0.21 [[ 9.98856145e-01 -1.00141385e-02 4.67559434e-02 3.04858114e+00] [ 1.01312404e-02 9.99946105e-01 -2.26822392e-03 -2.53675927e-01] [-4.67307092e-02 2.73932511e-03 9.98903768e-01 -2.05000894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.599928851 meters 0.07942685576200283 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.25, Z:-0.21 [[ 9.98870505e-01 -7.95672062e-03 4.68444678e-02 3.08031121e+00] [ 8.07230103e-03 9.99964822e-01 -2.27866164e-03 -2.50257933e-01] [-4.68246892e-02 2.65423055e-03 9.98899596e-01 -2.05068863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.629928851 meters 0.07970562273804846 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.25, Z:-0.21 [[ 9.98892234e-01 -5.96372534e-03 4.66769626e-02 3.11085575e+00] [ 6.07638657e-03 9.99978957e-01 -2.27211667e-03 -2.53453528e-01] [-4.66624301e-02 2.55322697e-03 9.98907452e-01 -2.08095941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659928850999999 meters 0.07890258695121778 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.26, Z:-0.21 [[ 9.98919628e-01 -3.79241054e-03 4.63162538e-02 3.14201075e+00] [ 3.90108172e-03 9.99989846e-01 -2.25612089e-03 -2.55049035e-01] [-4.63072274e-02 2.43436693e-03 9.98924279e-01 -2.10168762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6899288509999995 meters 0.0803006815911631 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.26, Z:-0.21 [[ 9.98915957e-01 -2.94502127e-03 4.64568387e-02 3.17269571e+00] [ 3.05332601e-03 9.99992784e-01 -2.26050798e-03 -2.61874631e-01] [-4.64498462e-02 2.39990536e-03 9.98917740e-01 -2.14367900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719928851 meters 0.07834671460673545 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.26, Z:-0.21 [[ 9.98925505e-01 -2.08194291e-03 4.62979536e-02 3.20547456e+00] [ 2.18902143e-03 9.99995045e-01 -2.26223258e-03 -2.61542227e-01] [-4.62930144e-02 2.36114903e-03 9.98925113e-01 -2.14242466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.749928851 meters 0.07943517948633007 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.27, Z:-0.22 [[ 9.98877823e-01 -1.02524657e-03 4.73502158e-02 3.23655324e+00] [ 1.13662652e-03 9.99996650e-01 -2.32539354e-03 -2.68030602e-01] [-4.73476731e-02 2.37660355e-03 9.98875643e-01 -2.16994216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779928850999999 meters 0.07826515068289719 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.27, Z:-0.22 [[ 9.98875469e-01 -1.04084085e-04 4.74108214e-02 3.26902450e+00] [ 2.15184157e-04 9.99997243e-01 -2.33825052e-03 -2.68182316e-01] [-4.74104474e-02 2.34582315e-03 9.98872738e-01 -2.17602644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.809928851 meters 0.07669928120160562 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.27, Z:-0.22 [[ 9.98875480e-01 9.71180136e-04 4.74007665e-02 3.30158413e+00] [-8.60835022e-04 9.99996872e-01 -2.34827643e-03 -2.66314706e-01] [-4.74028988e-02 2.30483150e-03 9.98873192e-01 -2.18075123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.839928851 meters 0.0787286140588012 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.28, Z:-0.22 [[ 9.98920331e-01 2.86714823e-03 4.63675780e-02 3.33241269e+00] [-2.76309424e-03 9.99993519e-01 -2.30804882e-03 -2.75764438e-01] [-4.63738950e-02 2.17743891e-03 9.98921779e-01 -2.23624350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.869928850999999 meters 0.0765207441489078 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.27, Z:-0.22 [[ 9.98919204e-01 3.96264798e-03 4.63111285e-02 3.36553203e+00] [-3.85942165e-03 9.99989865e-01 -2.31817744e-03 -2.71832410e-01] [-4.63198453e-02 2.13693779e-03 9.98924374e-01 -2.23507927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899928850999999 meters 0.0764656073078069 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.27, Z:-0.23 [[ 9.98974701e-01 4.52929881e-03 4.50447790e-02 3.39765391e+00] [-4.43221845e-03 9.99987635e-01 -2.25483870e-03 -2.74116085e-01] [-4.50544349e-02 2.05287852e-03 9.98982424e-01 -2.25663031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.929928851 meters 0.07659747147126965 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.28, Z:-0.23 [[ 9.98931634e-01 5.88717826e-03 4.58359192e-02 3.42953576e+00] [-5.78758648e-03 9.99980595e-01 -2.30519648e-03 -2.77147237e-01] [-4.58486008e-02 2.03745434e-03 9.98946322e-01 -2.28187030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959928851 meters 0.07592113983257463 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.28, Z:-0.23 [[ 9.98873631e-01 7.26700782e-03 4.68898656e-02 3.46093861e+00] [-7.16358265e-03 9.99971525e-01 -2.37337152e-03 -2.79131521e-01] [-4.69057777e-02 2.03479880e-03 9.98897246e-01 -2.29537207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.989928850999999 meters 0.07510615011914948 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.28, Z:-0.23 [[ 9.98868842e-01 8.18605277e-03 4.68404124e-02 3.49288231e+00] [-8.08398809e-03 9.99964520e-01 -2.36800856e-03 -2.79087718e-01] [-4.68581352e-02 1.98667264e-03 9.98899579e-01 -2.30531241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0199288509999995 meters 0.0751200406695706 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.28, Z:-0.23 [[ 9.98851780e-01 8.97625448e-03 4.70589808e-02 3.52425162e+00] [-8.87348696e-03 9.99957768e-01 -2.39225650e-03 -2.81079662e-01] [-4.70784670e-02 1.97193241e-03 9.98889248e-01 -2.32496882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.049928851 meters 0.07525324244912272 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.28, Z:-0.23 [[ 9.98872858e-01 9.40615544e-03 4.65245842e-02 3.55681425e+00] [-9.30602904e-03 9.99953894e-01 -2.36825184e-03 -2.83189077e-01] [-4.65447153e-02 1.93262336e-03 9.98914338e-01 -2.34601717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079928850999999 meters 0.07684621052240806 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.29, Z:-0.24 [[ 9.98885375e-01 9.89822607e-03 4.61522758e-02 3.58818883e+00] [-9.79964807e-03 9.99949193e-01 -2.36170440e-03 -2.91376036e-01] [-4.61733076e-02 1.90679593e-03 9.98931624e-01 -2.39807786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.109928850999999 meters 0.07551113094393548 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.29, Z:-0.24 [[ 9.98894506e-01 9.36452414e-03 4.60659439e-02 3.62058025e+00] [-9.26521724e-03 9.99954271e-01 -2.36880656e-03 -2.90133988e-01] [-4.60860201e-02 1.93937688e-03 9.98935592e-01 -2.39409985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139928851 meters 0.07793088649427589 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.30, Z:-0.24 [[ 9.98902423e-01 8.16501918e-03 4.61224715e-02 3.65140729e+00] [-8.06368172e-03 9.99964649e-01 -2.38277201e-03 -3.00081938e-01] [-4.61402964e-02 2.00823980e-03 9.98932951e-01 -2.44419083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.169928851 meters 0.07805806868732096 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.31, Z:-0.24 [[ 9.98917408e-01 5.00278026e-03 4.62491559e-02 3.68285125e+00] [-4.89686177e-03 9.99985123e-01 -2.40318687e-03 -3.05240757e-01] [-4.62604905e-02 2.17410948e-03 9.98927045e-01 -2.44444334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199928850999999 meters 0.07723907896471553 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.31, Z:-0.25 [[ 9.98920090e-01 3.62808442e-03 4.63194408e-02 3.71483338e+00] [-3.52049206e-03 9.99990913e-01 -2.40420015e-03 -3.05784989e-01] [-4.63277425e-02 2.23853661e-03 9.98923785e-01 -2.45147345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2299288509999995 meters 0.07816328174236688 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.31, Z:-0.25 [[ 9.98913919e-01 2.40191521e-03 4.65318621e-02 3.74576530e+00] [-2.29143792e-03 9.99994428e-01 -2.42742482e-03 -3.11615369e-01] [-4.65374333e-02 2.31816356e-03 9.98913857e-01 -2.47807564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259928851 meters 0.07862084720979258 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.32, Z:-0.25 [[ 9.98946394e-01 1.07220791e-03 4.58797509e-02 3.77747851e+00] [-9.63116491e-04 9.99996657e-01 -2.39980770e-03 -3.15857641e-01] [-4.58821706e-02 2.35309170e-03 9.98944087e-01 -2.50349469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.289928850999999 meters 0.0818134191436938 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.33, Z:-0.26 [[ 9.98956577e-01 -1.42814052e-03 4.56477508e-02 3.80682859e+00] [ 1.53892004e-03 9.99995956e-01 -2.39178393e-03 -3.28305794e-01] [-4.56441504e-02 2.45953653e-03 9.98954735e-01 -2.55360847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319928850999999 meters 0.0826541856322343 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.33, Z:-0.26 [[ 9.98969603e-01 -2.94649183e-03 4.52885330e-02 3.83837224e+00] [ 3.05692510e-03 9.99992521e-01 -2.36937381e-03 -3.33778822e-01] [-4.52812130e-02 2.50537606e-03 9.98971138e-01 -2.57603001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349928851 meters 0.08183026846018064 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.33, Z:-0.26 [[ 9.98946953e-01 -4.46061006e-03 4.56627711e-02 3.87041852e+00] [ 4.57501892e-03 9.99986651e-01 -2.40131482e-03 -3.34988314e-01] [-4.56514503e-02 2.60769416e-03 9.98954025e-01 -2.58465513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379928851 meters 0.08304520250338518 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.34, Z:-0.26 [[ 9.98947718e-01 -6.34047094e-03 4.54230700e-02 3.89998940e+00] [ 6.45581444e-03 9.99976298e-01 -2.39306682e-03 -3.40953225e-01] [-4.54068202e-02 2.68379155e-03 9.98964973e-01 -2.60491985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.409928850999999 meters 0.08434776522393915 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.35, Z:-0.26 [[ 9.98934382e-01 -8.61651188e-03 4.53415583e-02 3.93049236e+00] [ 8.73375945e-03 9.99959008e-01 -2.38840325e-03 -3.46832329e-01] [-4.53191199e-02 2.78186039e-03 9.98968688e-01 -2.62842609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4399288509999995 meters 0.08608122942251169 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.36, Z:-0.26 [[ 9.98876344e-01 -1.28286097e-02 4.56231993e-02 3.96103307e+00] [ 1.29517382e-02 9.99913232e-01 -2.40422416e-03 -3.56682830e-01] [-4.55883978e-02 2.99242237e-03 9.98955827e-01 -2.64435289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.469928851 meters 0.08608122942251169 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.36, Z:-0.27 [[ 9.98879513e-01 -1.25783954e-02 4.56234913e-02 3.99361851e+00] [ 1.27010129e-02 9.99916462e-01 -2.39869706e-03 -3.58557989e-01] [-4.55895083e-02 2.97547391e-03 9.98955826e-01 -2.66690658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499928850999999 meters 0.08706540811899605 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.36, Z:-0.27 [[ 9.98810146e-01 -1.51024757e-02 4.63703362e-02 4.02480782e+00] [ 1.52326367e-02 9.99880963e-01 -2.45489153e-03 -3.64295745e-01] [-4.63277414e-02 3.15831305e-03 9.98921301e-01 -2.67945016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.529928850999999 meters 0.08648701106012081 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.37, Z:-0.27 [[ 9.98758716e-01 -1.69614209e-02 4.68330820e-02 4.05558079e+00] [ 1.70962843e-02 9.99850771e-01 -2.48058047e-03 -3.66732218e-01] [-4.67840189e-02 3.27817305e-03 9.98899649e-01 -2.69189607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559928851 meters 0.08782070372789988 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.37, Z:-0.27 [[ 9.98736555e-01 -1.87707014e-02 4.66149633e-02 4.08627131e+00] [ 1.89063982e-02 9.99818203e-01 -2.47178328e-03 -3.72559091e-01] [-4.65600917e-02 3.34998137e-03 9.98909874e-01 -2.71353713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.589928851 meters 0.08534155768718939 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.37, Z:-0.27 [[ 9.98703058e-01 -2.11839129e-02 4.62973339e-02 4.11779375e+00] [ 2.13203578e-02 9.99769680e-01 -2.45527559e-03 -3.71932550e-01] [-4.62346584e-02 3.43916697e-03 9.98924686e-01 -2.71120567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619928850999999 meters 0.08612628717496987 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.38, Z:-0.27 [[ 9.98724706e-01 -2.14023407e-02 4.57263697e-02 4.15004234e+00] [ 2.15355219e-02 9.99765150e-01 -2.42187232e-03 -3.76341615e-01] [-4.56637972e-02 3.40352496e-03 9.98951067e-01 -2.74267925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.649928850999999 meters 0.08660734730026402 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.38, Z:-0.28 [[ 9.98741641e-01 -2.12998080e-02 4.54032182e-02 4.18133990e+00] [ 2.14315955e-02 9.99767394e-01 -2.41774206e-03 -3.80282505e-01] [-4.53411597e-02 3.38776308e-03 9.98965816e-01 -2.76244794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.679928851 meters 0.087123015807132 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.38, Z:-0.28 [[ 9.98750912e-01 -2.05809899e-02 4.55306412e-02 4.21284351e+00] [ 2.07129375e-02 9.99782516e-01 -2.42806455e-03 -3.84771042e-01] [-4.54707670e-02 3.36810501e-03 9.98959992e-01 -2.78666894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.709928850999999 meters 0.0878094065243254 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.39, Z:-0.28 [[ 9.98807784e-01 -1.98433263e-02 4.46010416e-02 4.24408123e+00] [ 1.99696694e-02 9.99797732e-01 -2.38892591e-03 -3.88628035e-01] [-4.45446160e-02 3.27674585e-03 9.99002022e-01 -2.82088898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739928850999999 meters 0.08720778865239509 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.39, Z:-0.28 [[ 9.98857120e-01 -1.99220887e-02 4.34461053e-02 4.27625917e+00] [ 2.00424057e-02 9.99796403e-01 -2.33546956e-03 -3.89702622e-01] [-4.33907323e-02 3.20356487e-03 9.99053042e-01 -2.84349585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7699288509999995 meters 0.08768054572181189 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.39, Z:-0.29 [[ 9.98857547e-01 -1.90891644e-02 4.38087243e-02 4.30744621e+00] [ 1.92111731e-02 9.99812650e-01 -2.36567557e-03 -3.93882429e-01] [-4.37553579e-02 3.20458988e-03 9.99037136e-01 -2.86858675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.799928851 meters 0.08872943382976685 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.40, Z:-0.29 [[ 9.98886516e-01 -1.87725974e-02 4.32818441e-02 4.33897813e+00] [ 1.88917477e-02 9.99818784e-01 -2.34547560e-03 -3.99434400e-01] [-4.32299700e-02 3.16053362e-03 9.99060149e-01 -2.90146538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.829928850999999 meters 0.08475065470397755 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.39, Z:-0.29 [[ 9.98903709e-01 -1.81903697e-02 4.31334099e-02 4.37160514e+00] [ 1.83086220e-02 9.99829626e-01 -2.34806251e-03 -3.93734210e-01] [-4.30833490e-02 3.13520165e-03 9.99066562e-01 -2.89444297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859928850999999 meters 0.08438685357927918 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.40, Z:-0.29 [[ 9.98888721e-01 -1.81121998e-02 4.35117313e-02 4.40455172e+00] [ 1.82328777e-02 9.99830939e-01 -2.37816893e-03 -3.95997110e-01] [-4.34613013e-02 3.16887020e-03 9.99050086e-01 -2.91107195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.889928851 meters 0.08523239116797285 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.40, Z:-0.29 [[ 9.98915076e-01 -1.83026312e-02 4.28215544e-02 4.43520176e+00] [ 1.84202306e-02 9.99827564e-01 -2.35327625e-03 -4.00519470e-01] [-4.27710993e-02 3.13950603e-03 9.99079965e-01 -2.93499206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919928850999999 meters 0.08662363242621297 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.41, Z:-0.30 [[ 9.98891373e-01 -1.83531716e-02 4.33495809e-02 4.46741810e+00] [ 1.84741274e-02 9.99826479e-01 -2.39124639e-03 -4.06867151e-01] [-4.32981719e-02 3.18944107e-03 9.99057103e-01 -2.95896397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.949928850999999 meters 0.08648487066429121 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.41, Z:-0.30 [[ 9.98828032e-01 -1.90559009e-02 4.44908346e-02 4.49955648e+00] [ 1.91845428e-02 9.99812918e-01 -2.46619756e-03 -4.11280291e-01] [-4.44355156e-02 3.31684358e-03 9.99006748e-01 -2.95925769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9799288509999995 meters 0.08729924314070969 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.42, Z:-0.30 [[ 9.98798690e-01 -1.90527987e-02 4.51460603e-02 4.53136722e+00] [ 1.91857258e-02 9.99812779e-01 -2.51286944e-03 -4.16730719e-01] [-4.50897308e-02 3.37601064e-03 9.98977236e-01 -2.97974300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.009928851 meters 0.08656036482373315 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.42, Z:-0.30 [[ 9.98810535e-01 -1.87687045e-02 4.50027933e-02 4.56419756e+00] [ 1.89009829e-02 9.99818196e-01 -2.51559033e-03 -4.18476816e-01] [-4.49473972e-02 3.36319515e-03 9.98983694e-01 -2.99632875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039928850999999 meters 0.08573897615223264 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.42, Z:-0.30 [[ 9.98821653e-01 -1.82225803e-02 4.49804832e-02 4.59626492e+00] [ 1.83547439e-02 9.99828344e-01 -2.52694872e-03 -4.19732916e-01] [-4.49267145e-02 3.34957635e-03 9.98984670e-01 -3.01166409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.069928850999999 meters 0.08733914189598893 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.43, Z:-0.30 [[ 9.98884111e-01 -1.75515518e-02 4.38460576e-02 4.62783342e+00] [ 1.76768974e-02 9.99840694e-01 -2.47265620e-03 -4.26994012e-01] [-4.37956737e-02 3.24495925e-03 9.99035239e-01 -3.04953455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.099928851 meters 0.08792014001233558 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.43, Z:-0.31 [[ 9.98886635e-01 -1.70651520e-02 4.39803585e-02 4.65927879e+00] [ 1.71913073e-02 9.99849114e-01 -2.49179340e-03 -4.31543097e-01] [-4.39311997e-02 3.24509898e-03 9.99029288e-01 -3.08036513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.129928850999999 meters 0.08868365789234085 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.44, Z:-0.31 [[ 9.98970170e-01 -1.69575336e-02 4.20837511e-02 4.69078318e+00] [ 1.70733314e-02 9.99851375e-01 -2.39369091e-03 -4.36196522e-01] [-4.20369053e-02 3.10973565e-03 9.99111219e-01 -3.11897450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159928850999999 meters 0.08801424363954818 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.44, Z:-0.31 [[ 9.98992687e-01 -1.66869705e-02 4.16552153e-02 4.72358977e+00] [ 1.68004834e-02 9.99856038e-01 -2.37645678e-03 -4.38479192e-01] [-4.16095626e-02 3.07389070e-03 9.99129219e-01 -3.14285102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1899288509999995 meters 0.08398846299883768 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.43, Z:-0.31 [[ 9.99008728e-01 -1.68557113e-02 4.12000716e-02 4.75649115e+00] [ 1.69673501e-02 9.99853255e-01 -2.36147602e-03 -4.34036778e-01] [-4.11542214e-02 3.05819119e-03 9.99148126e-01 -3.12641885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219928851 meters 0.08593457820784658 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.44, Z:-0.32 [[ 9.98970239e-01 -1.66598358e-02 4.22008577e-02 4.78735011e+00] [ 1.67773536e-02 9.99856292e-01 -2.43206744e-03 -4.41652382e-01] [-4.21542753e-02 3.13758171e-03 9.99106187e-01 -3.15624795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.249928850999999 meters 0.08434604431429293 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.44, Z:-0.32 [[ 9.98965556e-01 -1.62616521e-02 4.24661854e-02 4.81927147e+00] [ 1.63804328e-02 9.99862829e-01 -2.45057673e-03 -4.41602452e-01] [-4.24205099e-02 3.14365624e-03 9.99094899e-01 -3.16307735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279928850999999 meters 0.08804715823255506 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.45, Z:-0.32 [[ 9.98923756e-01 -1.61258230e-02 4.34889364e-02 4.84996627e+00] [ 1.62507519e-02 9.99864771e-01 -2.52063720e-03 -4.54181986e-01] [-4.34424081e-02 3.22465230e-03 9.99050729e-01 -3.18972988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.309928851 meters 0.0884490931128191 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.46, Z:-0.32 [[ 9.98899046e-01 -1.58629239e-02 4.41482009e-02 4.88195673e+00] [ 1.59918415e-02 9.99868823e-01 -2.56844273e-03 -4.58498285e-01] [-4.41016667e-02 3.27162603e-03 9.99021691e-01 -3.21377091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.339928850999999 meters 0.08521647568435002 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.45, Z:-0.32 [[ 9.98888694e-01 -1.57951444e-02 4.44059656e-02 4.91573705e+00] [ 1.59259003e-02 9.99869814e-01 -2.59229996e-03 -4.54939631e-01] [-4.43592388e-02 3.29662410e-03 9.99010205e-01 -3.20576626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.369928850999999 meters 0.08695815072050474 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.46, Z:-0.32 [[ 9.98907873e-01 -1.62972854e-02 4.37888065e-02 4.94585432e+00] [ 1.64256630e-02 9.99861778e-01 -2.57351774e-03 -4.61952314e-01] [-4.37408126e-02 3.28996731e-03 9.99037496e-01 -3.24233060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399928850999999 meters 0.08769635904501785 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.47, Z:-0.33 [[ 9.98926872e-01 -1.70096882e-02 4.30787063e-02 4.97751689e+00] [ 1.71346143e-02 9.99849985e-01 -2.53234575e-03 -4.68308044e-01] [-4.30291695e-02 3.26776524e-03 9.99068472e-01 -3.27618974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.429928851 meters 0.08493954304735454 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.47, Z:-0.33 [[ 9.98935872e-01 -1.72399840e-02 4.27774132e-02 5.01031999e+00] [ 1.73633056e-02 9.99846088e-01 -2.51296780e-03 -4.65467960e-01] [-4.27275058e-02 3.25305098e-03 9.99081467e-01 -3.27643872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459928850999999 meters 0.08769828800641938 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.47, Z:-0.33 [[ 9.98938232e-01 -1.65851617e-02 4.29807140e-02 5.04088276e+00] [ 1.67096071e-02 9.99857164e-01 -2.53771130e-03 -4.74605301e-01] [-4.29324865e-02 3.25320768e-03 9.99072679e-01 -3.31865971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.489928850999999 meters 0.0863635721219767 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.47, Z:-0.33 [[ 9.98963873e-01 -1.74474435e-02 4.20329411e-02 5.07298736e+00] [ 1.75673497e-02 9.99842594e-01 -2.48496728e-03 -4.73666261e-01] [-4.19829686e-02 3.22079992e-03 9.99113135e-01 -3.33419027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5199288509999995 meters 0.08676161489503063 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.48, Z:-0.34 [[ 9.98975767e-01 -1.74531745e-02 4.17468909e-02 5.10399995e+00] [ 1.75719281e-02 9.99842528e-01 -2.47932797e-03 -4.78942744e-01] [-4.16970448e-02 3.21036193e-03 9.99125142e-01 -3.36464703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.549928850999999 meters 0.08724520106950234 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.48, Z:-0.34 [[ 9.98960011e-01 -1.69212788e-02 4.23387139e-02 5.13607185e+00] [ 1.70430694e-02 9.99851588e-01 -2.51725517e-03 -4.83362997e-01] [-4.22898351e-02 3.23621889e-03 9.99100143e-01 -3.39615717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579928850999999 meters 0.0863421609581574 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.48, Z:-0.34 [[ 9.99011233e-01 -1.65984032e-02 4.12437691e-02 5.16839264e+00] [ 1.67140612e-02 9.99857282e-01 -2.46099106e-03 -4.83933959e-01] [-4.11970344e-02 3.14790860e-03 9.99146083e-01 -3.41099343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.609928850999999 meters 0.08730336977530291 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.49, Z:-0.34 [[ 9.98985033e-01 -1.55756418e-02 4.22646740e-02 5.19861278e+00] [ 1.56968395e-02 9.99873578e-01 -2.53722613e-03 -4.89441552e-01] [-4.22198118e-02 3.19807274e-03 9.99103228e-01 -3.43865529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.639928851 meters 0.0839514323652982 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.48, Z:-0.34 [[ 9.99010925e-01 -1.51074026e-02 4.18203113e-02 5.23193717e+00] [ 1.52254457e-02 9.99880947e-01 -2.50554087e-03 -4.84743840e-01] [-4.17774803e-02 3.13979558e-03 9.99122006e-01 -3.43313507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.669928850999999 meters 0.08323606538646289 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.49, Z:-0.35 [[ 9.99048158e-01 -1.40819888e-02 4.12852937e-02 5.26389132e+00] [ 1.41966423e-02 9.99896134e-01 -2.48522359e-03 -4.85794516e-01] [-4.12460086e-02 3.06897059e-03 9.99144308e-01 -3.45023393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699928850999999 meters 0.08283011183594675 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.49, Z:-0.35 [[ 9.99055404e-01 -1.31295769e-02 4.14235885e-02 5.29650657e+00] [ 1.32447657e-02 9.99909140e-01 -2.50752906e-03 -4.87658724e-01] [-4.13869020e-02 3.05380618e-03 9.99138528e-01 -3.47007300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7299288509999995 meters 0.08449058144850662 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.49, Z:-0.35 [[ 9.99086697e-01 -1.04466849e-02 4.14323286e-02 5.32544233e+00] [ 1.05598887e-02 9.99941082e-01 -2.51433855e-03 -4.94499889e-01] [-4.14036210e-02 2.94956298e-03 9.99138149e-01 -3.50762204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759928850999999 meters 0.08199997389542518 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.49, Z:-0.35 [[ 9.99099905e-01 -8.75726071e-03 4.15052964e-02 5.35688347e+00] [ 8.86932842e-03 9.99957500e-01 -2.51670676e-03 -4.91147379e-01] [-4.14814930e-02 2.88256559e-03 9.99135114e-01 -3.51232848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.789928850999999 meters 0.08159691778163204 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.49, Z:-0.35 [[ 9.99112834e-01 -6.86450690e-03 4.15502608e-02 5.38814261e+00] [ 6.97524724e-03 9.99972495e-01 -2.52082515e-03 -4.92271523e-01] [-4.15318137e-02 2.80841210e-03 9.99133235e-01 -3.53226663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819928850999999 meters 0.08149223935004302 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.49, Z:-0.36 [[ 9.99120425e-01 -5.03628897e-03 4.16294563e-02 5.41848819e+00] [ 5.14594940e-03 9.99983565e-01 -2.52746398e-03 -4.93604690e-01] [-4.16160431e-02 2.73946396e-03 9.99129922e-01 -3.55733852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.849928851 meters 0.0814861115187299 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.50, Z:-0.36 [[ 9.99153310e-01 -7.49117497e-04 4.11351599e-02 5.44814403e+00] [ 8.52632555e-04 9.99996514e-01 -2.49897543e-03 -4.95028968e-01] [-4.11331445e-02 2.53193275e-03 9.99150466e-01 -3.58735255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.879928850999999 meters 0.07944100659141486 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.49, Z:-0.36 [[ 9.99154078e-01 1.58127062e-03 4.10929196e-02 5.47982088e+00] [-1.48000926e-03 9.99995793e-01 -2.49450967e-03 -4.91412819e-01] [-4.10966912e-02 2.43158161e-03 9.99152215e-01 -3.59423992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.909928850999999 meters 0.08065310573718054 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.50, Z:-0.36 [[ 9.99159451e-01 3.45731605e-03 4.08465177e-02 5.51026618e+00] [-3.35877370e-03 9.99991282e-01 -2.48088263e-03 -4.96869169e-01] [-4.08547388e-02 2.34160312e-03 9.99162353e-01 -3.63709212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9399288509999995 meters 0.07813869970207099 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.49, Z:-0.36 [[ 9.99171577e-01 7.26685532e-03 4.00418767e-02 5.54150859e+00] [-7.17513922e-03 9.99971297e-01 -2.43374124e-03 -4.90243575e-01] [-4.00584130e-02 2.14441903e-03 9.99195039e-01 -3.63931407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.969928850999999 meters 0.07770401829525796 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.49, Z:-0.37 [[ 9.99139586e-01 9.12778311e-03 4.04570393e-02 5.57280513e+00] [-9.03566632e-03 9.99956154e-01 -2.45917601e-03 -4.91079594e-01] [-4.04777123e-02 2.09150379e-03 9.99178253e-01 -3.65633342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999928850999999 meters 0.07724331207667269 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.49, Z:-0.37 [[ 9.99113845e-01 1.06469032e-02 4.07206058e-02 5.60482662e+00] [-1.05550089e-02 9.99941241e-01 -2.47103631e-03 -4.92025393e-01] [-4.07445219e-02 2.03904023e-03 9.99167517e-01 -3.67441748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.029928850999998 meters 0.07747205867840833 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.49, Z:-0.37 [[ 9.99101775e-01 1.29278989e-02 4.03548236e-02 5.63503104e+00] [-1.28388924e-02 9.99914542e-01 -2.46399265e-03 -4.94295741e-01] [-4.03832292e-02 1.94366820e-03 9.99182374e-01 -3.69811160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059928850999999 meters 0.07778068876160946 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.50, Z:-0.37 [[ 9.99077737e-01 1.38274615e-02 4.06506586e-02 5.66659992e+00] [-1.37380947e-02 9.99902560e-01 -2.47694872e-03 -4.97454520e-01] [-4.06809475e-02 1.91620173e-03 9.99170350e-01 -3.72113816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.089928850999998 meters 0.07771857523099333 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.50, Z:-0.37 [[ 9.99078828e-01 1.42442391e-02 4.04795827e-02 5.69942736e+00] [-1.41556382e-02 9.99896742e-01 -2.47457744e-03 -4.99503696e-01] [-4.05106513e-02 1.89928360e-03 9.99177302e-01 -3.74415641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119928851 meters 0.0779960248948832 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.50, Z:-0.38 [[ 9.99077294e-01 1.43781044e-02 4.04701094e-02 5.73275837e+00] [-1.42892392e-02 9.99894818e-01 -2.48424349e-03 -5.02393172e-01] [-4.05015714e-02 1.90366419e-03 9.99177661e-01 -3.77265984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.149928850999999 meters 0.07797875965876676 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.50, Z:-0.38 [[ 9.99109185e-01 1.47736072e-02 3.95294515e-02 5.76462178e+00] [-1.46887215e-02 9.99889145e-01 -2.43698938e-03 -5.04732038e-01] [-3.95610726e-02 1.85418136e-03 9.99215434e-01 -3.80233776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179928850999998 meters 0.07804328572465109 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.51, Z:-0.38 [[ 9.99114192e-01 1.48282824e-02 3.93821440e-02 5.79633405e+00] [-1.47437303e-02 9.99888337e-01 -2.43654730e-03 -5.07996506e-01] [-3.94138762e-02 1.85374928e-03 9.99221252e-01 -3.82520801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.209928850999999 meters 0.07864111798859631 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.51, Z:-0.39 [[ 9.99089633e-01 1.45440766e-02 4.01045420e-02 5.82783926e+00] [-1.44558172e-02 9.99892409e-01 -2.48985899e-03 -5.12830045e-01] [-4.01364398e-02 1.90784838e-03 9.99192387e-01 -3.85775122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239928850999998 meters 0.07685944971315943 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.51, Z:-0.38 [[ 9.99099488e-01 1.39697491e-02 4.00631958e-02 5.86054245e+00] [-1.38808330e-02 9.99900539e-01 -2.49671768e-03 -5.09131917e-01] [-4.00940897e-02 1.93835882e-03 9.99194029e-01 -3.84396994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.269928850999998 meters 0.07708812178034247 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.51, Z:-0.39 [[ 9.99077576e-01 1.35200455e-02 4.07578857e-02 5.89253961e+00] [-1.34272481e-02 9.99906600e-01 -2.54969708e-03 -5.12685742e-01] [-4.07885509e-02 2.00007894e-03 9.99165799e-01 -3.87039878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299928850999999 meters 0.07700866239012741 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.51, Z:-0.39 [[ 9.99112520e-01 1.27790038e-02 4.01356454e-02 5.92498793e+00] [-1.26880681e-02 9.99916329e-01 -2.51962745e-03 -5.14651487e-01] [-4.01644855e-02 2.00814753e-03 9.99191064e-01 -3.88350410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.329928850999998 meters 0.07836414803402798 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.52, Z:-0.39 [[ 9.99128395e-01 1.15417188e-02 4.01153094e-02 5.95535337e+00] [-1.14494886e-02 9.99931257e-01 -2.52811869e-03 -5.22156037e-01] [-4.01417306e-02 2.06661539e-03 9.99191859e-01 -3.92568915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359928850999998 meters 0.07836414803402798 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.52, Z:-0.39 [[ 9.99125443e-01 1.17960665e-02 4.01148483e-02 5.98788945e+00] [-1.17037487e-02 9.99928294e-01 -2.53540856e-03 -5.24320230e-01] [-4.01418796e-02 2.06369710e-03 9.99191859e-01 -3.94815945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.389928850999999 meters 0.07862048500706566 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.53, Z:-0.40 [[ 9.99068372e-01 1.16373750e-02 4.15567143e-02 6.01966422e+00] [-1.15376524e-02 9.99929957e-01 -2.63871343e-03 -5.27912400e-01] [-4.15845113e-02 2.15678821e-03 9.99132662e-01 -3.96958270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419928850999998 meters 0.07903605176691314 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.53, Z:-0.40 [[ 9.99073857e-01 1.08077274e-02 4.16487954e-02 6.05198779e+00] [-1.07064553e-02 9.99939163e-01 -2.65386312e-03 -5.31654347e-01] [-4.16749438e-02 2.20549429e-03 9.99128788e-01 -3.98763085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.449928850999997 meters 0.08008032601371429 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.54, Z:-0.40 [[ 9.99076482e-01 7.91055917e-03 4.22327602e-02 6.08204010e+00] [-7.80321213e-03 9.99965893e-01 -2.70604232e-03 -5.36637065e-01] [-4.22527260e-02 2.37399205e-03 9.99104134e-01 -4.00170102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479928850999999 meters 0.08040335142055244 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.54, Z:-0.40 [[ 9.99049860e-01 7.56313691e-03 4.29205840e-02 6.11413792e+00] [-7.45213720e-03 9.99968463e-01 -2.74557683e-03 -5.40062426e-01] [-4.29399956e-02 2.42311807e-03 9.99074715e-01 -4.02020824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.509928850999998 meters 0.0797302415670071 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.54, Z:-0.40 [[ 9.99057247e-01 6.68668207e-03 4.28941185e-02 6.14595390e+00] [-6.57460261e-03 9.99974596e-01 -2.75347344e-03 -5.40343255e-01] [-4.29114404e-02 2.46886581e-03 9.99075829e-01 -4.03326115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539928850999999 meters 0.08003985158370512 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.54, Z:-0.41 [[ 9.99076114e-01 5.60464856e-03 4.26087689e-02 6.17816442e+00] [-5.49254261e-03 9.99981141e-01 -2.74766765e-03 -5.43776686e-01] [-4.26233651e-02 2.51109864e-03 9.99088056e-01 -4.06209664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.569928850999998 meters 0.0792921875955703 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.54, Z:-0.41 [[ 9.99081930e-01 3.23529251e-03 4.27180378e-02 6.20972116e+00] [-3.12030091e-03 9.99991328e-01 -2.75827739e-03 -5.44314941e-01] [-4.27265912e-02 2.62245197e-03 9.99083360e-01 -4.07815278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599928850999998 meters 0.0800853706718276 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.55, Z:-0.41 [[ 9.99082510e-01 2.10720091e-03 4.27749783e-02 6.24194155e+00] [-1.99084876e-03 9.99994202e-01 -2.76251497e-03 -5.48335728e-01] [-4.27805515e-02 2.67482188e-03 9.99080913e-01 -4.10739458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.629928850999999 meters 0.08213347546082334 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.56, Z:-0.42 [[ 9.99052552e-01 1.51490150e-03 4.34937158e-02 6.27215666e+00] [-1.39407770e-03 9.99995085e-01 -2.80815686e-03 -5.56073756e-01] [-4.34977561e-02 2.74486266e-03 9.99049754e-01 -4.15081038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659928850999998 meters 0.080564627063563 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.55, Z:-0.41 [[ 9.99058355e-01 1.38427862e-03 4.33645921e-02 6.30437114e+00] [-1.26366679e-03 9.99995257e-01 -2.80863225e-03 -5.54107559e-01] [-4.33682743e-02 2.75118912e-03 9.99055366e-01 -4.14912439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.689928850999998 meters 0.08097816590449626 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.56, Z:-0.42 [[ 9.98997396e-01 -4.19439311e-04 4.47663588e-02 6.33601758e+00] [ 5.50283352e-04 9.99995613e-01 -2.91053748e-03 -5.58482117e-01] [-4.47649416e-02 2.93225355e-03 9.98993244e-01 -4.16058752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719928850999999 meters 0.0813499852868823 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.56, Z:-0.42 [[ 9.98961020e-01 -1.42815577e-03 4.55504139e-02 6.36778175e+00] [ 1.56510877e-03 9.99994361e-01 -2.97110230e-03 -5.62114805e-01] [-4.55459139e-02 3.03930674e-03 9.98957623e-01 -4.18524631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.749928850999998 meters 0.08256320678601743 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.57, Z:-0.42 [[ 9.98960468e-01 -3.06842156e-03 4.54815085e-02 6.39724020e+00] [ 3.20736830e-03 9.99990409e-01 -2.98235512e-03 -5.67649198e-01] [-4.54719211e-02 3.12513082e-03 9.98960729e-01 -4.21351942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779928850999998 meters 0.08219799209233945 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.57, Z:-0.42 [[ 9.98941052e-01 -6.96050567e-03 4.54788531e-02 6.42797695e+00] [ 7.10344313e-03 9.99970324e-01 -2.98208588e-03 -5.68911819e-01] [-4.54567466e-02 3.30198446e-03 9.98960851e-01 -4.21734450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.809928850999999 meters 0.08319597426843862 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.57, Z:-0.42 [[ 9.98888776e-01 -8.21732842e-03 4.64078450e-02 6.45858170e+00] [ 8.36730991e-03 9.99960377e-01 -3.03847610e-03 -5.74465380e-01] [-4.63810381e-02 3.42340849e-03 9.98917954e-01 -4.24452741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839928850999998 meters 0.08302424636595876 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.58, Z:-0.43 [[ 9.98871271e-01 -1.01305462e-02 4.64064189e-02 6.48949576e+00] [ 1.02832399e-02 9.99942466e-01 -3.05280190e-03 -5.76317107e-01] [-4.63728224e-02 3.52656445e-03 9.98917977e-01 -4.27309267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.869928850999997 meters 0.08424645143846007 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.58, Z:-0.43 [[ 9.98859297e-01 -1.17723078e-02 4.62765242e-02 6.51891078e+00] [ 1.19259506e-02 9.99924246e-01 -3.04540207e-03 -5.82813934e-01] [-4.62371672e-02 3.59381971e-03 9.98924026e-01 -4.30116837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899928850999999 meters 0.08992824314159159 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.60, Z:-0.44 [[ 9.98851343e-01 -1.33690120e-02 4.60137479e-02 6.54765552e+00] [ 1.35225786e-02 9.99903982e-01 -3.02773566e-03 -5.98408867e-01] [-4.59688519e-02 3.64648235e-03 9.98936218e-01 -4.35846120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.929928850999998 meters 0.08419215985527138 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.59, Z:-0.43 [[ 9.98812242e-01 -1.41392588e-02 4.66281696e-02 6.58071635e+00] [ 1.42976016e-02 9.99893089e-01 -3.06407787e-03 -5.88936618e-01] [-4.65798608e-02 3.72710948e-03 9.98907616e-01 -4.34683731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959928850999999 meters 0.08770400354462807 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.60, Z:-0.44 [[ 9.98811541e-01 -1.61648421e-02 4.59804770e-02 6.61040100e+00] [ 1.63216444e-02 9.99862181e-01 -3.03677754e-03 -5.99612105e-01] [-4.59250510e-02 3.78364545e-03 9.98937723e-01 -4.38135015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.989928850999998 meters 0.08570986881995787 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.60, Z:-0.44 [[ 9.98770688e-01 -1.64659860e-02 4.67545091e-02 6.64327886e+00] [ 1.66283117e-02 9.99856981e-01 -3.08503432e-03 -5.97883867e-01] [-4.66970241e-02 3.85869040e-03 9.98901646e-01 -4.39350661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019928850999998 meters 0.08602576932926488 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.60, Z:-0.44 [[ 9.98730466e-01 -1.78847253e-02 4.70913211e-02 6.67450622e+00] [ 1.80516996e-02 9.99832178e-01 -3.12283636e-03 -6.01553633e-01] [-4.70275671e-02 3.96895020e-03 9.98885707e-01 -4.40998010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.049928850999999 meters 0.09260034711030732 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.62, Z:-0.45 [[ 9.98621991e-01 -2.04599920e-02 4.83270841e-02 6.70353426e+00] [ 2.06389456e-02 9.99781851e-01 -3.20682053e-03 -6.20286555e-01] [-4.82509301e-02 4.19982156e-03 9.98826416e-01 -4.45602432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079928850999998 meters 0.08935414946566389 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.62, Z:-0.45 [[ 9.98565725e-01 -2.15985819e-02 4.89897410e-02 6.73611536e+00] [ 2.17838346e-02 9.99757420e-01 -3.25064059e-03 -6.17454621e-01] [-4.89076479e-02 4.31316269e-03 9.98793992e-01 -4.45929116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.109928850999998 meters 0.08727410089884874 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.62, Z:-0.45 [[ 9.98493779e-01 -2.23561304e-02 5.01036689e-02 6.76844058e+00] [ 2.25508729e-02 9.99740168e-01 -3.32480073e-03 -6.16605943e-01] [-5.00163207e-02 4.44967431e-03 9.98738488e-01 -4.46449702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139928850999999 meters 0.0878626539767026 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.62, Z:-0.45 [[ 9.98449417e-01 -2.30647442e-02 5.06633959e-02 6.79997201e+00] [ 2.32654094e-02 9.99723628e-01 -3.37452010e-03 -6.20844892e-01] [-5.05715615e-02 4.54799227e-03 9.98710085e-01 -4.48946337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.169928850999998 meters 0.08949416760330359 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.63, Z:-0.45 [[ 9.98451174e-01 -2.41574325e-02 5.01165851e-02 6.82968830e+00] [ 2.43558482e-02 9.99697732e-01 -3.35207943e-03 -6.27595117e-01] [-5.00204589e-02 4.56751959e-03 9.98737749e-01 -4.51392427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199928850999997 meters 0.08782320586598569 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.63, Z:-0.45 [[ 9.98456502e-01 -2.43097958e-02 4.99364353e-02 6.86236145e+00] [ 2.45069216e-02 9.99694084e-01 -3.33896733e-03 -6.26682893e-01] [-4.98399893e-02 4.55760195e-03 9.98746817e-01 -4.53664641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.229928850999999 meters 0.08803252301257636 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.63, Z:-0.46 [[ 9.98460819e-01 -2.41155232e-02 4.99443037e-02 6.89535179e+00] [ 2.43130308e-02 9.99698779e-01 -3.35072408e-03 -6.30335584e-01] [-4.98484550e-02 4.55986410e-03 9.98746384e-01 -4.56051182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259928850999998 meters 0.08836804843253628 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.63, Z:-0.46 [[ 9.98525765e-01 -2.31249834e-02 4.91073440e-02 6.92684157e+00] [ 2.33154055e-02 9.99722685e-01 -3.30831722e-03 -6.34789869e-01] [-4.90172211e-02 4.44839762e-03 9.98788027e-01 -4.59531686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.289928850999997 meters 0.08869070240371311 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.64, Z:-0.46 [[ 9.98497130e-01 -2.27324893e-02 4.98669836e-02 6.95885808e+00] [ 2.29289744e-02 9.99731411e-01 -3.37160055e-03 -6.38229689e-01] [-4.97769451e-02 4.50993227e-03 9.98750177e-01 -4.62087697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319928850999998 meters 0.08742108940865329 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.64, Z:-0.46 [[ 9.98530766e-01 -2.20162092e-02 4.95135904e-02 6.99156585e+00] [ 2.22097584e-02 9.99747679e-01 -3.36216765e-03 -6.38892761e-01] [-4.94270749e-02 4.45691272e-03 9.98767791e-01 -4.63358825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.349928850999998 meters 0.08880128901083956 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.64, Z:-0.47 [[ 9.98540028e-01 -2.15019001e-02 4.95528125e-02 7.02216050e+00] [ 2.16952099e-02 9.99758963e-01 -3.36647111e-03 -6.43691826e-01] [-4.94684829e-02 4.43661482e-03 9.98765831e-01 -4.66371865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379928850999999 meters 0.08800448805853746 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.64, Z:-0.47 [[ 9.98580449e-01 -1.98866641e-02 4.94126241e-02 7.05326637e+00] [ 2.00776314e-02 9.99792740e-01 -3.37136048e-03 -6.44804651e-01] [-4.93353377e-02 4.35866311e-03 9.98772760e-01 -4.68091589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.409928850999998 meters 0.08804163717089158 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.65, Z:-0.47 [[ 9.98574194e-01 -1.92187032e-02 4.98018211e-02 7.08547114e+00] [ 1.94117681e-02 9.99805807e-01 -3.39585111e-03 -6.47513655e-01] [-4.97268860e-02 4.35775068e-03 9.98753346e-01 -4.70004994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439928850999998 meters 0.08807666301652767 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.65, Z:-0.47 [[ 9.98594025e-01 -1.82716677e-02 4.97606112e-02 7.11716067e+00] [ 1.84638192e-02 9.99823733e-01 -3.40454967e-03 -6.50264006e-01] [-4.96896332e-02 4.31853389e-03 9.98755371e-01 -4.72695354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.469928850999999 meters 0.08879020372586555 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.66, Z:-0.48 [[ 9.98601993e-01 -1.73285867e-02 4.99377625e-02 7.14685237e+00] [ 1.75217158e-02 9.99840592e-01 -3.43219232e-03 -6.55365343e-01] [-4.98703270e-02 4.30238938e-03 9.98746434e-01 -4.75019678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499928850999998 meters 0.08585078685960752 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.65, Z:-0.48 [[ 9.98604358e-01 -1.71385770e-02 4.99560408e-02 7.18016824e+00] [ 1.73314156e-02 9.99843918e-01 -3.42952003e-03 -6.52090186e-01] [-4.98894665e-02 4.29054256e-03 9.98745529e-01 -4.75764004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.529928850999998 meters 0.08904812827811463 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.66, Z:-0.48 [[ 9.98608746e-01 -1.69379326e-02 4.99367395e-02 7.21136410e+00] [ 1.71310596e-02 9.99847328e-01 -3.44194141e-03 -6.61645749e-01] [-4.98708162e-02 4.29262206e-03 9.98746452e-01 -4.79197017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559928850999999 meters 0.08936540351258009 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.67, Z:-0.48 [[ 9.98610701e-01 -1.63962426e-02 5.00782589e-02 7.24284114e+00] [ 1.65904447e-02 9.99856366e-01 -3.46473945e-03 -6.65527695e-01] [-5.00142573e-02 4.29074647e-03 9.98739287e-01 -4.81572197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.589928850999998 meters 0.08666850768074769 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.66, Z:-0.48 [[ 9.98618312e-01 -1.56632903e-02 5.01610162e-02 7.27584855e+00] [ 1.58578754e-02 9.99868188e-01 -3.48356390e-03 -6.62628197e-01] [-5.00998403e-02 4.27419785e-03 9.98735069e-01 -4.82511664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619928850999997 meters 0.08535348289362114 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.66, Z:-0.48 [[ 9.98658024e-01 -1.44436066e-02 4.97346236e-02 7.30693241e+00] [ 1.46337851e-02 9.99886928e-01 -3.46184290e-03 -6.63535567e-01] [-4.96789985e-02 4.18500299e-03 9.98756468e-01 -4.83527885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.649928850999999 meters 0.08613169510513301 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.67, Z:-0.49 [[ 9.98657534e-01 -1.40092860e-02 4.98685215e-02 7.33743099e+00] [ 1.41998663e-02 9.99893158e-01 -3.46940867e-03 -6.68277658e-01] [-4.98145895e-02 4.17287744e-03 9.98749765e-01 -4.86374705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679928850999998 meters 0.08945987415968133 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.68, Z:-0.49 [[ 9.98684516e-01 -1.29765179e-02 4.96069221e-02 7.36815713e+00] [ 1.31643657e-02 9.99907353e-01 -3.46186724e-03 -6.78274311e-01] [-4.95574032e-02 4.11035687e-03 9.98762819e-01 -4.90681517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.709928850999997 meters 0.08919487342197963 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.68, Z:-0.49 [[ 9.98710775e-01 -1.24181527e-02 4.92196943e-02 7.40047237e+00] [ 1.26029038e-02 9.99914646e-01 -3.44502348e-03 -6.80525024e-01] [-4.91727123e-02 4.06089314e-03 9.98782035e-01 -4.93390514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739928850999998 meters 0.0819869870357461 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.67, Z:-0.49 [[ 9.98751586e-01 -1.07113190e-02 4.87907478e-02 7.43361308e+00] [ 1.08915197e-02 9.99934806e-01 -3.42896813e-03 -6.67174431e-01] [-4.87508382e-02 3.95609275e-03 9.98803136e-01 -4.91526928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.769928850999998 meters 0.08494047369561952 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.68, Z:-0.50 [[ 9.98803697e-01 -9.80511199e-03 4.79065171e-02 7.46390665e+00] [ 9.97774334e-03 9.99944557e-01 -3.36569189e-03 -6.76489645e-01] [-4.78708600e-02 3.83966444e-03 9.98846153e-01 -4.95671689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799928850999999 meters 0.08243126497553448 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.67, Z:-0.50 [[ 9.98776830e-01 -8.83447782e-03 4.86497166e-02 7.49582108e+00] [ 9.01209190e-03 9.99953498e-01 -3.43273495e-03 -6.72987835e-01] [-4.86171278e-02 3.86697185e-03 9.98810003e-01 -4.96503948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.829928850999998 meters 0.08280591646447866 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.68, Z:-0.50 [[ 9.98790983e-01 -7.92650445e-03 4.85153922e-02 7.52690116e+00] [ 8.10205483e-03 9.99961320e-01 -3.42286128e-03 -6.76988430e-01] [-4.84863843e-02 3.81179735e-03 9.98816570e-01 -4.98701311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859928850999998 meters 0.08301093346603765 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.68, Z:-0.50 [[ 9.98838027e-01 -6.87842938e-03 4.76999340e-02 7.55850190e+00] [ 7.04713566e-03 9.99969492e-01 -3.36955483e-03 -6.81086743e-01] [-4.76753015e-02 3.70178741e-03 9.98856027e-01 -5.01929303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.889928850999999 meters 0.08310013629682214 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.68, Z:-0.50 [[ 9.98846228e-01 -6.04344907e-03 4.76412493e-02 7.59027581e+00] [ 6.21132601e-03 9.99975009e-01 -3.37651758e-03 -6.84232614e-01] [-4.76196529e-02 3.66853718e-03 9.98858804e-01 -5.04022940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919928850999998 meters 0.08330120164327069 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.69, Z:-0.51 [[ 9.98835708e-01 -5.52985214e-03 4.79233616e-02 7.62278661e+00] [ 5.69982471e-03 9.99977939e-01 -3.41082711e-03 -6.87378734e-01] [-4.79034430e-02 3.68001067e-03 9.98845192e-01 -5.06616585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.949928850999997 meters 0.08348114514600863 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.69, Z:-0.51 [[ 9.98862707e-01 -4.96812254e-03 4.74195061e-02 7.65487717e+00] [ 5.13394152e-03 9.99981123e-01 -3.37569886e-03 -6.90262422e-01] [-4.74018401e-02 3.61530867e-03 9.98869358e-01 -5.08802892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979928850999999 meters 0.0843208430872225 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.69, Z:-0.51 [[ 9.98852110e-01 -4.33839265e-03 4.77036751e-02 7.68636526e+00] [ 4.50602236e-03 9.99984044e-01 -3.40700205e-03 -6.94659178e-01] [-4.76881331e-02 3.61804501e-03 9.98855721e-01 -5.10898340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.009928850999998 meters 0.08412941164400745 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.70, Z:-0.51 [[ 9.98872501e-01 -4.16790252e-03 4.72901119e-02 7.71804158e+00] [ 4.33294918e-03 9.99984873e-01 -3.38811457e-03 -6.97804299e-01] [-4.72752752e-02 3.58920013e-03 9.98875451e-01 -5.12779323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039928850999997 meters 0.08299191152676322 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.70, Z:-0.51 [[ 9.98873711e-01 -4.49712126e-03 4.72343735e-02 7.75046094e+00] [ 4.66264580e-03 9.99983368e-01 -3.39472809e-03 -6.99135618e-01] [-4.72183214e-02 3.61114179e-03 9.98878066e-01 -5.13853964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.069928850999998 meters 0.08243407870025123 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.70, Z:-0.52 [[ 9.98872751e-01 -5.64570695e-03 4.71312300e-02 7.78266112e+00] [ 5.81245886e-03 9.99977322e-01 -3.40173308e-03 -7.01268946e-01] [-4.71109559e-02 3.67184681e-03 9.98882914e-01 -5.15663505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099928850999998 meters 0.0842917654720759 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.71, Z:-0.52 [[ 9.98854958e-01 -7.97080403e-03 4.71724508e-02 7.81157045e+00] [ 8.14057804e-03 9.99961058e-01 -3.40798708e-03 -7.11003254e-01] [-4.71434494e-02 3.78809580e-03 9.98880947e-01 -5.19406827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.129928850999997 meters 0.08493402492067291 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.72, Z:-0.52 [[ 9.98846851e-01 -9.36940468e-03 4.70869601e-02 7.84255724e+00] [ 9.54027690e-03 9.99948692e-01 -3.40543513e-03 -7.15746693e-01] [-4.70526373e-02 3.85073080e-03 9.98884989e-01 -5.22142378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159928850999998 meters 0.08551113969842732 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.72, Z:-0.52 [[ 9.98827875e-01 -9.93791104e-03 4.73720861e-02 7.87428659e+00] [ 1.01113715e-02 9.99943019e-01 -3.42342814e-03 -7.20536063e-01] [-4.73353651e-02 3.89841221e-03 9.98871446e-01 -5.24481798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.189928850999998 meters 0.08343880062820704 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.72, Z:-0.53 [[ 9.98851832e-01 -9.96274226e-03 4.68589447e-02 7.90684684e+00] [ 1.01329762e-02 9.99942891e-01 -3.39675968e-03 -7.19422975e-01] [-4.68224276e-02 3.86768020e-03 9.98895741e-01 -5.25727985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219928850999999 meters 0.08661191935058495 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.73, Z:-0.53 [[ 9.98873381e-01 -9.68035471e-03 4.64570749e-02 7.93816485e+00] [ 9.84786307e-03 9.99945802e-01 -3.37813406e-03 -7.30154544e-01] [-4.64218555e-02 3.83183110e-03 9.98914575e-01 -5.29777836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.249928850999998 meters 0.083536955858995 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.73, Z:-0.53 [[ 9.98873451e-01 -9.74036486e-03 4.64430174e-02 7.97054970e+00] [ 9.90839491e-03 9.99945167e-01 -3.38913920e-03 -7.26188100e-01] [-4.64074594e-02 3.84549693e-03 9.98915192e-01 -5.30141012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279928850999998 meters 0.083536955858995 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.73, Z:-0.53 [[ 9.98876074e-01 -9.47121730e-03 4.64422733e-02 8.00311621e+00] [ 9.63942770e-03 9.99947762e-01 -3.39929868e-03 -7.28664132e-01] [-4.64076518e-02 3.84315506e-03 9.98915192e-01 -5.32392012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.309928850999999 meters 0.08292567922376139 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.73, Z:-0.53 [[ 9.98963806e-01 -8.80999449e-03 4.46508528e-02 8.03562305e+00] [ 8.96531591e-03 9.99954433e-01 -3.27951325e-03 -7.31950305e-01] [-4.46199257e-02 3.67642404e-03 9.98997270e-01 -5.34086503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339928850999998 meters 0.08343253260803665 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.74, Z:-0.54 [[ 9.98965146e-01 -8.36302996e-03 4.47067814e-02 8.06663523e+00] [ 8.51889926e-03 9.99958278e-01 -3.29709276e-03 -7.36516770e-01] [-4.46773425e-02 3.67453332e-03 9.98994711e-01 -5.37045057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.369928850999997 meters 0.0837978959028505 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.74, Z:-0.54 [[ 9.98955615e-01 -7.71960282e-03 4.50342782e-02 8.09834124e+00] [ 7.87755149e-03 9.99963424e-01 -3.33088135e-03 -7.41249141e-01] [-4.50069180e-02 3.68216247e-03 9.98979889e-01 -5.39621987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399928850999999 meters 0.08390508474307665 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.74, Z:-0.54 [[ 9.98999522e-01 -7.23371330e-03 4.41319392e-02 8.13129775e+00] [ 7.38532537e-03 9.99967371e-01 -3.27334923e-03 -7.44386279e-01] [-4.41068207e-02 3.59600304e-03 9.99020349e-01 -5.41725167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.429928850999998 meters 0.08455452981152961 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.75, Z:-0.54 [[ 9.99035072e-01 -6.53126648e-03 4.34311766e-02 8.16235245e+00] [ 6.67798772e-03 9.99972472e-01 -3.23401902e-03 -7.48494526e-01] [-4.34088588e-02 3.52093129e-03 9.99051187e-01 -5.44071380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459928850999997 meters 0.08509819033763111 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.75, Z:-0.55 [[ 9.99015330e-01 -6.29831446e-03 4.39169753e-02 8.19414296e+00] [ 6.44852191e-03 9.99973831e-01 -3.27942915e-03 -7.52383115e-01] [-4.38951712e-02 3.55939958e-03 9.99029802e-01 -5.46616579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.489928850999998 meters 0.08499857677344987 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.76, Z:-0.55 [[ 9.99012262e-01 -5.97164547e-03 4.40322476e-02 8.22632194e+00] [ 6.12277602e-03 9.99975816e-01 -3.29820236e-03 -7.55298141e-01] [-4.40114871e-02 3.56454420e-03 9.99024666e-01 -5.48967068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519928850999998 meters 0.08415309681605737 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.76, Z:-0.55 [[ 9.99027791e-01 -5.65232617e-03 4.37209773e-02 8.25885775e+00] [ 5.80141831e-03 9.99977779e-01 -3.28395110e-03 -7.57228093e-01] [-4.37014439e-02 3.53440209e-03 9.99038384e-01 -5.51147526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.549928850999997 meters 0.08247650911878601 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.76, Z:-0.55 [[ 9.99072396e-01 -5.44172194e-03 4.27169182e-02 8.29121351e+00] [ 5.58434499e-03 9.99979223e-01 -3.22017747e-03 -7.55909301e-01] [-4.26985074e-02 3.45573643e-03 9.99082026e-01 -5.52383068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579928850999998 meters 0.0830553550499839 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.76, Z:-0.56 [[ 9.99073860e-01 -4.53398007e-03 4.27886217e-02 8.32186410e+00] [ 4.67671372e-03 9.99983827e-01 -3.23627345e-03 -7.59717426e-01] [-4.27732564e-02 3.43338634e-03 9.99078906e-01 -5.55230006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.609928850999998 meters 0.0883709116708382 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.77, Z:-0.56 [[ 9.99081030e-01 -4.20546482e-03 4.26545355e-02 8.35278467e+00] [ 4.34737015e-03 9.99985319e-01 -3.23463783e-03 -7.73543934e-01] [-4.26403062e-02 3.41710035e-03 9.99084645e-01 -5.60596799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639928850999999 meters 0.08223871944758873 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.76, Z:-0.56 [[ 9.99092012e-01 -3.39618890e-03 4.24690271e-02 8.38593935e+00] [ 3.53660127e-03 9.99988525e-01 -3.23153494e-03 -7.62076706e-01] [-4.24575648e-02 3.37879676e-03 9.99092558e-01 -5.57929731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.669928850999998 meters 0.08227160997980604 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.76, Z:-0.56 [[ 9.99097529e-01 -2.96348981e-03 4.23715146e-02 8.41764082e+00] [ 3.10329696e-03 9.99989955e-01 -3.23416047e-03 -7.64827814e-01] [-4.23615046e-02 3.36273313e-03 9.99096689e-01 -5.60028756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699928850999997 meters 0.0819843350970906 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.77, Z:-0.56 [[ 9.99085876e-01 -2.52132834e-03 4.26738158e-02 8.45006223e+00] [ 2.66317679e-03 9.99991115e-01 -3.26749269e-03 -7.67602492e-01] [-4.26651982e-02 3.37815372e-03 9.99083715e-01 -5.62596244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.729928850999999 meters 0.0823265963081137 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.77, Z:-0.57 [[ 9.99096973e-01 -2.29624781e-03 4.24260134e-02 8.48331340e+00] [ 2.43663788e-03 9.99991725e-01 -3.25764087e-03 -7.71186024e-01] [-4.24181819e-02 3.35807597e-03 9.99094300e-01 -5.65195063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759928850999998 meters 0.0829036216424062 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.78, Z:-0.57 [[ 9.99104655e-01 -1.87667025e-03 4.22654278e-02 8.51419046e+00] [ 2.01616761e-03 9.99992660e-01 -3.25812319e-03 -7.75268281e-01] [-4.22590032e-02 3.34042023e-03 9.99101105e-01 -5.68172525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.789928850999997 meters 0.08394639054433024 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.78, Z:-0.57 [[ 9.99107555e-01 -9.66145888e-04 4.22274837e-02 8.54491130e+00] [ 1.10506999e-03 9.99994054e-01 -3.26667901e-03 -7.78207143e-01] [-4.22240765e-02 3.31042801e-03 9.99102682e-01 -5.70651840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819928850999998 meters 0.08337129836162575 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.78, Z:-0.57 [[ 9.99144350e-01 -3.28814973e-04 4.13576969e-02 8.57813810e+00] [ 4.61599117e-04 9.99994770e-01 -3.20111870e-03 -7.78494751e-01] [-4.13564280e-02 3.21747035e-03 9.99139276e-01 -5.72388343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.849928850999998 meters 0.08408223393446908 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.78, Z:-0.58 [[ 9.99147605e-01 7.64040564e-04 4.12732214e-02 8.60915511e+00] [-6.32123162e-04 9.99994651e-01 -3.20915425e-03 -7.82552494e-01] [-4.12754525e-02 3.18032902e-03 9.99142744e-01 -5.75017057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879928850999997 meters 0.08368770660712403 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.78, Z:-0.58 [[ 9.99090271e-01 1.56418876e-03 4.26167003e-02 8.64088344e+00] [-1.42411347e-03 9.99993485e-01 -3.31702511e-03 -7.84160169e-01] [-4.26216111e-02 3.25331650e-03 9.99085989e-01 -5.78443048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.909928850999998 meters 0.08421445768433823 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.79, Z:-0.58 [[ 9.99077495e-01 1.17548360e-03 4.29275705e-02 8.67261541e+00] [-1.03257177e-03 9.99993852e-01 -3.35115998e-03 -7.87912600e-01] [-4.29312458e-02 3.30374272e-03 9.99072567e-01 -5.80490848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939928850999998 meters 0.086384647464011 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.80, Z:-0.58 [[ 9.99105179e-01 7.71767432e-04 4.22876539e-02 8.70273068e+00] [-6.32201362e-04 9.99994310e-01 -3.31367132e-03 -7.95090859e-01] [-4.22899706e-02 3.28397186e-03 9.99099982e-01 -5.83773872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.969928850999997 meters 0.08651851523394648 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.80, Z:-0.59 [[ 9.99085599e-01 8.11166116e-04 4.27470108e-02 8.73609493e+00] [-6.68528637e-04 9.99994162e-01 -3.35097225e-03 -7.97533304e-01] [-4.27494794e-02 3.31933052e-03 9.99080309e-01 -5.85664006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999928850999998 meters 0.08820025398695339 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.80, Z:-0.59 [[ 9.99049597e-01 2.23432408e-04 4.35873104e-02 8.76642015e+00] [-7.39160614e-05 9.99994108e-01 -3.43185387e-03 -8.02760499e-01] [-4.35878204e-02 3.42537042e-03 9.99043727e-01 -5.88073726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.029928850999998 meters 0.0828443890108791 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.79, Z:-0.59 [[ 9.99085303e-01 -4.64213530e-04 4.27591045e-02 8.79934050e+00] [ 6.08965623e-04 9.99994128e-01 -3.37232972e-03 -7.93324630e-01] [-4.27572880e-02 3.39528389e-03 9.99079720e-01 -5.86782116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059928850999999 meters 0.08317722471906226 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.80, Z:-0.59 [[ 9.99083308e-01 -5.84401889e-04 4.28042204e-02 8.83133283e+00] [ 7.29508249e-04 9.99994040e-01 -3.37445950e-03 -7.97078185e-01] [-4.28019933e-02 3.40259219e-03 9.99077781e-01 -5.89727499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.089928850999998 meters 0.08421735280788263 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.80, Z:-0.59 [[ 9.99119107e-01 -2.15164382e-03 4.19092031e-02 8.86189489e+00] [ 2.29275098e-03 9.99991863e-01 -3.31919936e-03 -8.01723666e-01] [-4.19017203e-02 3.41236286e-03 9.99115910e-01 -5.92929780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119928850999997 meters 0.08515809343536607 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.81, Z:-0.59 [[ 9.99123023e-01 -3.14288326e-03 4.17529227e-02 8.89398085e+00] [ 3.28377149e-03 9.99989143e-01 -3.30617711e-03 -8.06825644e-01] [-4.17420785e-02 3.44038472e-03 9.99122496e-01 -5.94917190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.149928850999999 meters 0.08565471256787537 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.81, Z:-0.60 [[ 9.99120054e-01 -3.68920136e-03 4.17792607e-02 8.92626462e+00] [ 3.83067278e-03 9.99987196e-01 -3.30661350e-03 -8.10945483e-01] [-4.17665270e-02 3.46374654e-03 9.99121394e-01 -5.97324558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179928850999998 meters 0.08658180742168542 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.82, Z:-0.60 [[ 9.99100658e-01 -4.68812443e-03 4.21414006e-02 8.95832700e+00] [ 4.83354175e-03 9.99982709e-01 -3.34947054e-03 -8.15737447e-01] [-4.21249692e-02 3.55015044e-03 9.99106042e-01 -5.99863386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.209928850999997 meters 0.08462012075753463 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.82, Z:-0.60 [[ 9.99073736e-01 -6.38119646e-03 4.25552734e-02 8.98953391e+00] [ 6.53118523e-03 9.99972937e-01 -3.38646306e-03 -8.15467090e-01] [-4.25325120e-02 3.66126267e-03 9.99088375e-01 -5.99796449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239928850999998 meters 0.08584893924209756 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.82, Z:-0.60 [[ 9.99056505e-01 -7.01008864e-03 4.28597511e-02 9.02065290e+00] [ 7.16261710e-03 9.99968547e-01 -3.40625062e-03 -8.20475988e-01] [-4.28345249e-02 3.71002483e-03 9.99075292e-01 -6.03105838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.269928850999998 meters 0.08623429676900854 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.82, Z:-0.61 [[ 9.99064933e-01 -7.19567868e-03 4.26319392e-02 9.05297506e+00] [ 7.34712946e-03 9.99967240e-01 -3.39690040e-03 -8.24085036e-01] [-4.26060996e-02 3.70694645e-03 9.99085071e-01 -6.05394507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299928850999997 meters 0.0856978363804607 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.83, Z:-0.61 [[ 9.99034817e-01 -7.38379759e-03 4.33002732e-02 9.08496187e+00] [ 7.54065930e-03 9.99965581e-01 -3.46043411e-03 -8.25448903e-01] [-4.32732317e-02 3.78360677e-03 9.99056110e-01 -6.06222904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.329928850999998 meters 0.0856978363804607 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.83, Z:-0.61 [[ 9.99036781e-01 -7.11771265e-03 4.32995299e-02 9.11752101e+00] [ 7.27472515e-03 9.99967519e-01 -3.46970353e-03 -8.28157381e-01] [-4.32734271e-02 3.78135362e-03 9.99056110e-01 -6.08474890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359928850999998 meters 0.08620154254970255 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.83, Z:-0.61 [[ 9.99051790e-01 -7.07073075e-03 4.29595861e-02 9.14950979e+00] [ 7.22576980e-03 9.99967926e-01 -3.45474199e-03 -8.31543169e-01] [-4.29337807e-02 3.76188225e-03 9.99070838e-01 -6.10724694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389928850999997 meters 0.0858981453622137 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.83, Z:-0.61 [[ 9.99037336e-01 -5.46401117e-03 4.35263846e-02 9.18008850e+00] [ 5.62234630e-03 9.99978013e-01 -3.51609351e-03 -8.33081489e-01] [-4.35062156e-02 3.75742910e-03 9.99046090e-01 -6.12660536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419928850999998 meters 0.08511741893071154 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.83, Z:-0.61 [[ 9.99062765e-01 -4.83850139e-03 4.30137191e-02 9.21238460e+00] [ 4.99233974e-03 9.99981518e-01 -3.46979470e-03 -8.34087806e-01] [-4.29961355e-02 3.68128178e-03 9.99068456e-01 -6.14574492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.449928850999997 meters 0.08492098358272217 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.84, Z:-0.62 [[ 9.99091560e-01 -4.73926183e-03 4.23508533e-02 9.24445955e+00] [ 4.88871147e-03 9.99982181e-01 -3.42597563e-03 -8.36480038e-01] [-4.23338621e-02 3.62990443e-03 9.99096926e-01 -6.17152679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479928850999999 meters 0.08516846840712129 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.84, Z:-0.62 [[ 9.99045623e-01 -4.48927661e-03 4.34475596e-02 9.27690071e+00] [ 4.64680116e-03 9.99982990e-01 -3.52530969e-03 -8.39495288e-01] [-4.34309944e-02 3.72383739e-03 9.99049489e-01 -6.19317239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.509928850999998 meters 0.08493598492669545 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.84, Z:-0.62 [[ 9.99044706e-01 -4.69140747e-03 4.34472755e-02 9.30873500e+00] [ 4.84956111e-03 9.99981991e-01 -3.53544308e-03 -8.42329843e-01] [-4.34299069e-02 3.74276591e-03 9.99049466e-01 -6.20629915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539928850999997 meters 0.08473749061827453 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.84, Z:-0.62 [[ 9.99014922e-01 -5.41980155e-03 4.40432951e-02 9.34098149e+00] [ 5.58349393e-03 9.99977952e-01 -3.59445641e-03 -8.44653118e-01] [-4.40228428e-02 3.83683106e-03 9.99023157e-01 -6.22197993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.569928850999998 meters 0.0855958869806372 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.85, Z:-0.63 [[ 9.99003587e-01 -5.64688614e-03 4.42712696e-02 9.37194119e+00] [ 5.81298090e-03 9.99976538e-01 -3.62391041e-03 -8.50099956e-01] [-4.42497671e-02 3.87764754e-03 9.99012974e-01 -6.25120920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599928850999998 meters 0.08593081812945857 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.86, Z:-0.63 [[ 9.98960456e-01 -6.32636539e-03 4.51440352e-02 9.40419874e+00] [ 6.50021065e-03 9.99972009e-01 -3.70514264e-03 -8.55271628e-01] [-4.51193315e-02 3.99473672e-03 9.98973617e-01 -6.27377555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.629928850999997 meters 0.08648499427096867 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.86, Z:-0.63 [[ 9.98950618e-01 -6.69460421e-03 4.53083317e-02 9.43634103e+00] [ 6.87057785e-03 9.99969443e-01 -3.72929974e-03 -8.59672895e-01] [-4.52819811e-02 4.03668070e-03 9.98966089e-01 -6.29648692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659928850999998 meters 0.08599980969809097 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.86, Z:-0.63 [[ 9.98975844e-01 -6.66869991e-03 4.47525624e-02 9.46852294e+00] [ 6.84080893e-03 9.99969779e-01 -3.69374375e-03 -8.61717275e-01] [-4.47265775e-02 3.99610450e-03 9.98991273e-01 -6.31604929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.689928850999998 meters 0.08781473806144076 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.87, Z:-0.63 [[ 9.98982151e-01 -6.67217516e-03 4.46110385e-02 9.49951130e+00] [ 6.84368333e-03 9.99969763e-01 -3.69289938e-03 -8.68387318e-01] [-4.45850499e-02 3.99444439e-03 9.98997606e-01 -6.34166899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719928850999997 meters 0.08659137095486939 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.87, Z:-0.64 [[ 9.98997364e-01 -7.35742234e-03 4.41603339e-02 9.53155791e+00] [ 7.52671877e-03 9.99964944e-01 -3.66862694e-03 -8.68582961e-01] [-4.41317942e-02 3.99733106e-03 9.99017721e-01 -6.35170222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.749928850999998 meters 0.08692534617628273 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.87, Z:-0.64 [[ 9.99022601e-01 -9.23883140e-03 4.32260017e-02 9.56219493e+00] [ 9.40295460e-03 9.99949329e-01 -3.59507922e-03 -8.73954588e-01] [-4.31905970e-02 3.99801752e-03 9.99058851e-01 -6.37935353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779928850999998 meters 0.0892305569494505 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.88, Z:-0.64 [[ 9.98993924e-01 -9.85301187e-03 4.37499574e-02 9.59265822e+00] [ 1.00215408e-02 9.99943178e-01 -3.63443516e-03 -8.82585486e-01] [-4.37116614e-02 4.06922063e-03 9.99035901e-01 -6.41509638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.809928850999997 meters 0.08627788101836158 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.88, Z:-0.64 [[ 9.98980790e-01 -1.09071214e-02 4.37997250e-02 9.62505587e+00] [ 1.10776140e-02 9.99931973e-01 -3.65171615e-03 -8.80527093e-01] [-4.37569158e-02 4.13319074e-03 9.99033658e-01 -6.42082763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839928850999998 meters 0.09079038343981256 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.89, Z:-0.65 [[ 9.99001278e-01 -1.15594004e-02 4.31604712e-02 9.65447503e+00] [ 1.17257131e-02 9.99924763e-01 -3.60217658e-03 -8.92813704e-01] [-4.31155849e-02 4.10466631e-03 9.99061659e-01 -6.46629009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.869928850999997 meters 0.0875373484097187 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.89, Z:-0.65 [[ 9.98991081e-01 -1.18706801e-02 4.33117506e-02 9.68688579e+00] [ 1.20382940e-02 9.99921016e-01 -3.61116323e-03 -8.90171223e-01] [-4.32654627e-02 4.12891944e-03 9.99055079e-01 -6.47032270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899928850999999 meters 0.09351419651163158 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.91, Z:-0.65 [[ 9.98956099e-01 -1.25928504e-02 4.39105021e-02 9.71690728e+00] [ 1.27664180e-02 9.99911754e-01 -3.67456497e-03 -9.05115165e-01] [-4.38603539e-02 4.23130891e-03 9.99028711e-01 -6.51327481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.929928850999998 meters 0.0882865021648816 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.90, Z:-0.65 [[ 9.98924125e-01 -1.34516693e-02 4.43806947e-02 9.74934384e+00] [ 1.36300598e-02 9.99900189e-01 -3.71938441e-03 -8.98490384e-01] [-4.43262330e-02 4.32029434e-03 9.99007768e-01 -6.50298810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959928850999997 meters 0.09010499071003082 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.91, Z:-0.65 [[ 9.98925174e-01 -1.41031853e-02 4.41542489e-02 9.77939366e+00] [ 1.42806066e-02 9.99891161e-01 -3.70535275e-03 -9.05477552e-01] [-4.40971860e-02 4.33191960e-03 9.99017854e-01 -6.53150060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.989928850999998 meters 0.0910342320512055 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.91, Z:-0.66 [[ 9.98975863e-01 -1.44647004e-02 4.28718716e-02 9.81062844e+00] [ 1.46323833e-02 9.99886460e-01 -3.60002256e-03 -9.11683173e-01] [-4.28149307e-02 4.22365330e-03 9.99074093e-01 -6.56119089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019928850999998 meters 0.09044242316321838 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.91, Z:-0.66 [[ 9.98938471e-01 -1.46880526e-02 4.36599514e-02 9.84303259e+00] [ 1.48625745e-02 9.99882791e-01 -3.67536857e-03 -9.14053591e-01] [-4.36008500e-02 4.32036634e-03 9.99039689e-01 -6.58211546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.049928850999997 meters 0.09112346899210244 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.92, Z:-0.66 [[ 9.98955861e-01 -1.48989792e-02 4.31880586e-02 9.87504577e+00] [ 1.50703686e-02 9.99879790e-01 -3.64556426e-03 -9.19392471e-01] [-4.31285517e-02 4.29261774e-03 9.99060309e-01 -6.60125905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079928850999998 meters 0.09134310818395368 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.92, Z:-0.66 [[ 9.98907681e-01 -1.51579347e-02 4.42004769e-02 9.90750303e+00] [ 1.53381813e-02 9.99875362e-01 -3.74162496e-03 -9.23266191e-01] [-4.41382526e-02 4.41549283e-03 9.99015675e-01 -6.61901641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.109928850999998 meters 0.08916904161819261 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.92, Z:-0.66 [[ 9.98910747e-01 -1.55182541e-02 4.40057289e-02 9.94016398e+00] [ 1.56976988e-02 9.99869807e-01 -3.73511195e-03 -9.23081342e-01] [-4.39420373e-02 4.42183215e-03 9.99024296e-01 -6.63024785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139928850999997 meters 0.08969913427360911 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.93, Z:-0.67 [[ 9.98921954e-01 -1.48170224e-02 4.39930195e-02 9.97069688e+00] [ 1.49961675e-02 9.99880538e-01 -3.74488091e-03 -9.27841336e-01] [-4.39322761e-02 4.40057045e-03 9.99024820e-01 -6.65401079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.169928850999998 meters 0.08969913427360911 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.93, Z:-0.67 [[ 9.98925894e-01 -1.45511015e-02 4.39923119e-02 1.00032722e+01] [ 1.47303528e-02 9.99884459e-01 -3.75317117e-03 -9.30722035e-01] [-4.39326162e-02 4.39716214e-03 9.99024820e-01 -6.67656024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199928850999997 meters 0.08701587703060144 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.93, Z:-0.67 [[ 9.98914538e-01 -1.40375429e-02 4.44150135e-02 1.00355105e+01] [ 1.42203234e-02 9.99891658e-01 -3.80199588e-03 -9.29159667e-01] [-4.43568308e-02 4.42946481e-03 9.99005932e-01 -6.69348363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.229928850999997 meters 0.08802257164638892 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.93, Z:-0.67 [[ 9.98952838e-01 -1.35461495e-02 4.37004465e-02 1.00673588e+01] [ 1.37230548e-02 9.99898800e-01 -3.75067091e-03 -9.34614197e-01] [-4.36452169e-02 4.34644697e-03 9.99037639e-01 -6.72304015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259928850999998 meters 0.08815378486921922 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.94, Z:-0.67 [[ 9.98961846e-01 -1.33120969e-02 4.35662444e-02 1.00998241e+01] [ 1.34881619e-02 9.99901999e-01 -3.74984737e-03 -9.38306879e-01] [-4.35120565e-02 4.33358301e-03 9.99043503e-01 -6.74734428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.289928850999997 meters 0.09524931841333077 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.95, Z:-0.68 [[ 9.98971705e-01 -1.34132914e-02 4.33083787e-02 1.01298386e+01] [ 1.35879342e-02 9.99900683e-01 -3.74067638e-03 -9.54535345e-01] [-4.32539027e-02 4.32530126e-03 9.99054749e-01 -6.79939446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319928850999998 meters 0.08867257744703212 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.95, Z:-0.68 [[ 9.98952207e-01 -1.29656051e-02 4.38905550e-02 1.01632619e+01] [ 1.31449624e-02 9.99906379e-01 -3.80031471e-03 -9.45912062e-01] [-4.38371726e-02 4.37327247e-03 9.99029117e-01 -6.79365468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.349928850999998 meters 0.08935167608819543 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.95, Z:-0.68 [[ 9.98983956e-01 -1.31024237e-02 4.31205555e-02 1.01950856e+01] [ 1.32760936e-02 9.99904861e-01 -3.74362969e-03 -9.52151410e-01] [-4.30674024e-02 4.31229853e-03 9.99062862e-01 -6.82225471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379928850999997 meters 0.08915013629944318 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.96, Z:-0.68 [[ 9.98992988e-01 -1.31672979e-02 4.28909372e-02 1.02268060e+01] [ 1.33396080e-02 9.99904053e-01 -3.73366506e-03 -9.55362985e-01] [-4.28376596e-02 4.30205351e-03 9.99072784e-01 -6.84273408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.409928850999998 meters 0.08797034787678565 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.96, Z:-0.69 [[ 9.98966706e-01 -1.33183367e-02 4.34527676e-02 1.02592389e+01] [ 1.34957889e-02 9.99901734e-01 -3.79298971e-03 -9.56628375e-01] [-4.33979814e-02 4.37549981e-03 9.99048282e-01 -6.85156214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439928850999998 meters 0.08939006430923077 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.96, Z:-0.69 [[ 9.98984330e-01 -1.25898319e-02 4.32643456e-02 1.02896511e+01] [ 1.27655387e-02 9.99911345e-01 -3.78735492e-03 -9.62349519e-01] [-4.32128278e-02 4.33580090e-03 9.99056481e-01 -6.87878839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.469928850999997 meters 0.0898392743528684 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.97, Z:-0.69 [[ 9.98980144e-01 -1.17712891e-02 4.35902247e-02 1.03202603e+01] [ 1.19495133e-02 9.99921266e-01 -3.83031312e-03 -9.66625684e-01] [-4.35417049e-02 4.34728873e-03 9.99042152e-01 -6.90337283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499928850999998 meters 0.08866818163144696 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.97, Z:-0.69 [[ 9.99023392e-01 -1.13477757e-02 4.27023340e-02 1.03529231e+01] [ 1.15182201e-02 9.99926641e-01 -3.74752641e-03 -9.67597185e-01] [-4.26566753e-02 4.23572143e-03 9.99080811e-01 -6.92021573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.529928850999998 meters 0.08899128971640116 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.97, Z:-0.70 [[ 9.99036015e-01 -1.12642903e-02 4.24282603e-02 1.03846246e+01] [ 1.14329989e-02 9.99927663e-01 -3.73576789e-03 -9.72142407e-01] [-4.23831103e-02 4.21724892e-03 9.99092532e-01 -6.95053124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559928850999997 meters 0.09016107645184614 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.98, Z:-0.70 [[ 9.99065741e-01 -1.08786863e-02 4.18246273e-02 1.04153489e+01] [ 1.10428086e-02 9.99932199e-01 -3.69502466e-03 -9.78102059e-01] [-4.17815945e-02 4.15343390e-03 9.99118135e-01 -6.97952434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.589928850999998 meters 0.09004851970475311 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.98, Z:-0.70 [[ 9.99089753e-01 -1.05420509e-02 4.13343660e-02 1.04480433e+01] [ 1.07021293e-02 9.99936057e-01 -3.65339834e-03 -9.81858438e-01] [-4.12932086e-02 4.09243857e-03 9.99138691e-01 -6.99750676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619928850999997 meters 0.08967197254050178 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.98, Z:-0.70 [[ 9.99073060e-01 -9.82908739e-03 4.19095416e-02 1.04795201e+01] [ 9.99377629e-03 9.99943134e-01 -3.72192595e-03 -9.84534513e-01] [-4.18705752e-02 4.13731053e-03 9.99114477e-01 -7.01787109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.649928850999997 meters 0.0900599150973772 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.99, Z:-0.70 [[ 9.99057725e-01 -9.63332257e-03 4.23185723e-02 1.05119722e+01] [ 9.80087393e-03 9.99944925e-01 -3.75359512e-03 -9.88299024e-01] [-4.22800820e-02 4.16481719e-03 9.99097117e-01 -7.04143691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679928850999998 meters 0.09119278363866104 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.99, Z:-0.71 [[ 9.99077658e-01 -8.36343937e-03 4.21175334e-02 1.05422425e+01] [ 8.52901022e-03 9.99956585e-01 -3.75300433e-03 -9.94333520e-01] [-4.20843169e-02 4.10876365e-03 9.99105614e-01 -7.05820092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.709928850999997 meters 0.08756357144339777 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.99, Z:-0.71 [[ 9.99083376e-01 -8.13326730e-03 4.20268763e-02 1.05756383e+01] [ 8.29771621e-03 9.99958579e-01 -3.73998561e-03 -9.90037888e-01] [-4.19947172e-02 4.08528454e-03 9.99109481e-01 -7.06395098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739928850999998 meters 0.08768701454039263 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.99, Z:-0.71 [[ 9.99108176e-01 -7.76873016e-03 4.15030170e-02 1.06086811e+01] [ 7.92924760e-03 9.99961702e-01 -3.70439267e-03 -9.93609182e-01] [-4.14726491e-02 4.03017670e-03 9.99131511e-01 -7.08941601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.769928850999998 meters 0.08863131946882667 Centerline is valid? [True, True] Translation: X:10.64, Y:-1.00, Z:-0.71 [[ 9.99101116e-01 -6.88155627e-03 4.18282766e-02 1.06394673e+01] [ 7.04436934e-03 9.99968171e-01 -3.74627039e-03 -9.99641657e-01] [-4.18011651e-02 4.03755676e-03 9.99117791e-01 -7.12528584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799928850999997 meters 0.08916433314509886 Centerline is valid? [True, True] Translation: X:10.67, Y:-1.00, Z:-0.72 [[ 9.99128289e-01 -6.41729750e-03 4.12490009e-02 1.06722411e+01] [ 6.57554452e-03 9.99971529e-01 -3.70185349e-03 -1.00460340e+00] [-4.12240706e-02 3.96986118e-03 9.99142040e-01 -7.15342190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.829928850999998 meters 0.08886289048898859 Centerline is valid? [True, True] Translation: X:10.70, Y:-1.01, Z:-0.72 [[ 9.99165120e-01 -5.72005036e-03 4.04517586e-02 1.07046580e+01] [ 5.87229727e-03 9.99976112e-01 -3.64584622e-03 -1.00782163e+00] [-4.04299379e-02 3.88034713e-03 9.99174841e-01 -7.17617337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859928850999998 meters 0.0873240721085645 Centerline is valid? [True, True] Translation: X:10.74, Y:-1.01, Z:-0.72 [[ 9.99141976e-01 -5.11040663e-03 4.10998238e-02 1.07368154e+01] [ 5.26703624e-03 9.99979271e-01 -3.70357550e-03 -1.00825061e+00] [-4.10800450e-02 3.91687201e-03 9.99148181e-01 -7.18609592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.889928850999997 meters 0.09190682826686193 Centerline is valid? [True, True] Translation: X:10.77, Y:-1.02, Z:-0.72 [[ 9.99151513e-01 -4.83986870e-03 4.09002362e-02 1.07677930e+01] [ 4.99522193e-03 9.99980690e-01 -3.69700326e-03 -1.02052895e+00] [-4.08815534e-02 3.89817216e-03 9.99156396e-01 -7.22878955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919928850999998 meters 0.08747149522369033 Centerline is valid? [True, True] Translation: X:10.80, Y:-1.02, Z:-0.72 [[ 9.99146893e-01 -5.15065691e-03 4.09750873e-02 1.08002559e+01] [ 5.30706257e-03 9.99979038e-01 -3.70923282e-03 -1.01541475e+00] [-4.09551234e-02 3.92352580e-03 9.99153283e-01 -7.22269802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949928850999997 meters 0.0906881658328791 Centerline is valid? [True, True] Translation: X:10.83, Y:-1.03, Z:-0.73 [[ 9.99138252e-01 -5.41278692e-03 4.11516231e-02 1.08305527e+01] [ 5.57113894e-03 9.99977508e-01 -3.73430818e-03 -1.02629946e+00] [-4.11304845e-02 3.96035155e-03 9.99145935e-01 -7.26481570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979928850999997 meters 0.09438282402372898 Centerline is valid? [True, True] Translation: X:10.86, Y:-1.04, Z:-0.73 [[ 9.99154670e-01 -5.46682710e-03 4.07438216e-02 1.08609771e+01] [ 5.62255892e-03 9.99977316e-01 -3.70860932e-03 -1.03658017e+00] [-4.07226230e-02 3.93455886e-03 9.99162743e-01 -7.30125606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.009928850999998 meters 0.08623089951645804 Centerline is valid? [True, True] Translation: X:10.89, Y:-1.02, Z:-0.73 [[ 9.99155215e-01 -5.84619020e-03 4.06777507e-02 1.08941688e+01] [ 6.00181719e-03 9.99975126e-01 -3.70478104e-03 -1.02479430e+00] [-4.06550800e-02 3.94579172e-03 9.99165449e-01 -7.27801604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039928850999997 meters 0.086403193972431 Centerline is valid? [True, True] Translation: X:10.93, Y:-1.03, Z:-0.73 [[ 9.99181698e-01 -5.12435528e-03 4.01207557e-02 1.09266060e+01] [ 5.27567710e-03 9.99979361e-01 -3.66669285e-03 -1.02911163e+00] [-4.01011383e-02 3.87535654e-03 9.99188111e-01 -7.30238133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.069928850999997 meters 0.09345890749807546 Centerline is valid? [True, True] Translation: X:10.96, Y:-1.05, Z:-0.74 [[ 9.99172692e-01 -4.53535203e-03 4.04148818e-02 1.09564278e+01] [ 4.68841310e-03 9.99982189e-01 -3.69327052e-03 -1.04553977e+00] [-4.03974117e-02 3.87969670e-03 9.99176159e-01 -7.36256582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099928850999998 meters 0.0865492453843241 Centerline is valid? [True, True] Translation: X:10.99, Y:-1.04, Z:-0.73 [[ 9.99172228e-01 -3.94911393e-03 4.04878174e-02 1.09894942e+01] [ 4.10259185e-03 9.99984708e-01 -3.70833282e-03 -1.03577820e+00] [-4.04725536e-02 3.87136816e-03 9.99173151e-01 -7.34829484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.129928850999997 meters 0.08699266987810467 Centerline is valid? [True, True] Translation: X:11.02, Y:-1.04, Z:-0.74 [[ 9.99196609e-01 -3.69273092e-03 3.99061409e-02 1.10211221e+01] [ 3.84199596e-03 9.99985906e-01 -3.66435988e-03 -1.03984799e+00] [-3.98920469e-02 3.81473520e-03 9.99196714e-01 -7.37007509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159928850999998 meters 0.08498361084760432 Centerline is valid? [True, True] Translation: X:11.05, Y:-1.04, Z:-0.74 [[ 9.99190086e-01 -3.54563960e-03 4.00824119e-02 1.10546266e+01] [ 3.69644630e-03 9.99986364e-01 -3.68893066e-03 -1.03937842e+00] [-4.00687857e-02 3.83410543e-03 9.99189568e-01 -7.37539109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.189928850999998 meters 0.08639374341016513 Centerline is valid? [True, True] Translation: X:11.09, Y:-1.05, Z:-0.74 [[ 9.99162914e-01 -3.82103341e-03 4.07292338e-02 1.10855546e+01] [ 3.97750994e-03 9.99985015e-01 -3.76153087e-03 -1.04640490e+00] [-4.07142505e-02 3.92038307e-03 9.99163140e-01 -7.40639969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219928850999997 meters 0.08476440854958796 Centerline is valid? [True, True] Translation: X:11.12, Y:-1.05, Z:-0.74 [[ 9.99198283e-01 -4.16140158e-03 3.98179985e-02 1.11175287e+01] [ 4.31167035e-03 9.99983901e-01 -3.68875979e-03 -1.04620329e+00] [-3.98020071e-02 3.85748454e-03 9.99200140e-01 -7.41067496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.249928850999998 meters 0.08676832126525877 Centerline is valid? [True, True] Translation: X:11.15, Y:-1.05, Z:-0.74 [[ 9.99202780e-01 -4.19644651e-03 3.97013183e-02 1.11483067e+01] [ 4.34594042e-03 9.99983785e-01 -3.67991007e-03 -1.05394835e+00] [-3.96852320e-02 3.84951594e-03 9.99204816e-01 -7.44752656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279928850999998 meters 0.08496033291284846 Centerline is valid? [True, True] Translation: X:11.18, Y:-1.05, Z:-0.75 [[ 9.99193518e-01 -4.15473990e-03 3.99381030e-02 1.11804150e+01] [ 4.30633056e-03 9.99983844e-01 -3.71036154e-03 -1.05432178e+00] [-3.99220422e-02 3.87935587e-03 9.99195267e-01 -7.45728137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.309928850999997 meters 0.08734089611550043 Centerline is valid? [True, True] Translation: X:11.21, Y:-1.06, Z:-0.75 [[ 9.99191233e-01 -4.16352490e-03 3.99943227e-02 1.12105490e+01] [ 4.31596096e-03 9.99983745e-01 -3.72585711e-03 -1.06299257e+00] [-3.99781599e-02 3.89545769e-03 9.99192960e-01 -7.49799906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339928850999998 meters 0.08702171416477336 Centerline is valid? [True, True] Translation: X:11.24, Y:-1.07, Z:-0.75 [[ 9.99189661e-01 -3.16436509e-03 4.01249000e-02 1.12429317e+01] [ 3.31734960e-03 9.99987479e-01 -3.74669981e-03 -1.06612641e+00] [-4.01125417e-02 3.87677204e-03 9.99187647e-01 -7.51348800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.369928850999997 meters 0.08869981732709167 Centerline is valid? [True, True] Translation: X:11.27, Y:-1.07, Z:-0.75 [[ 9.99189737e-01 -2.47334765e-03 4.01715436e-02 1.12734462e+01] [ 2.62663517e-03 9.99989468e-01 -3.76349263e-03 -1.07311806e+00] [-4.01618121e-02 3.86595920e-03 9.99185710e-01 -7.54661442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399928850999997 meters 0.08621484403555833 Centerline is valid? [True, True] Translation: X:11.31, Y:-1.07, Z:-0.75 [[ 9.99186748e-01 -2.17543864e-03 4.02630063e-02 1.13070840e+01] [ 2.32924902e-03 9.99990167e-01 -3.77362545e-03 -1.07149750e+00] [-4.02544011e-02 3.86433911e-03 9.99181990e-01 -7.54995658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.429928850999998 meters 0.08683565388657706 Centerline is valid? [True, True] Translation: X:11.34, Y:-1.08, Z:-0.76 [[ 9.99218019e-01 -1.21262075e-03 3.95206199e-02 1.13381967e+01] [ 1.36053347e-03 9.99992170e-01 -3.71599196e-03 -1.07648422e+00] [-3.95158044e-02 3.76685525e-03 9.99211845e-01 -7.57731290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459928850999997 meters 0.08725688000739304 Centerline is valid? [True, True] Translation: X:11.37, Y:-1.08, Z:-0.76 [[ 9.99214200e-01 -1.85223442e-04 3.96351781e-02 1.13695336e+01] [ 3.33524903e-04 9.99992969e-01 -3.73508300e-03 -1.08083191e+00] [-3.96342076e-02 3.74536730e-03 9.99207237e-01 -7.59924871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.489928850999997 meters 0.08734068012924448 Centerline is valid? [True, True] Translation: X:11.40, Y:-1.08, Z:-0.76 [[ 9.99192423e-01 3.39059822e-04 4.01794435e-02 1.14019057e+01] [-1.86515574e-04 9.99992762e-01 -3.80026216e-03 -1.08491942e+00] [-4.01804412e-02 3.78969906e-03 9.99185253e-01 -7.63033168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519928850999998 meters 0.0877914235795448 Centerline is valid? [True, True] Translation: X:11.43, Y:-1.09, Z:-0.77 [[ 9.99231809e-01 1.80890756e-03 3.91474046e-02 1.14316962e+01] [-1.66502388e-03 9.99991740e-01 -3.70772455e-03 -1.08999536e+00] [-3.91537882e-02 3.63969494e-03 9.99226568e-01 -7.65812356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.549928850999997 meters 0.08820356451253789 Centerline is valid? [True, True] Translation: X:11.46, Y:-1.09, Z:-0.77 [[ 9.99249031e-01 2.86662533e-03 3.86413772e-02 1.14626928e+01] [-2.72742673e-03 9.99989603e-01 -3.65455419e-03 -1.09418129e+00] [-3.86514516e-02 3.54641821e-03 9.99246460e-01 -7.68189483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579928850999998 meters 0.08755296918771542 Centerline is valid? [True, True] Translation: X:11.49, Y:-1.10, Z:-0.77 [[ 9.99252209e-01 3.90335754e-03 3.84679952e-02 1.14947753e+01] [-3.76587350e-03 9.99986263e-01 -3.64579726e-03 -1.09645223e+00] [-3.84816976e-02 3.49820537e-03 9.99253182e-01 -7.70347390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.609928850999998 meters 0.08785179443533198 Centerline is valid? [True, True] Translation: X:11.52, Y:-1.10, Z:-0.77 [[ 9.99220291e-01 5.19859465e-03 3.91380183e-02 1.15245686e+01] [-5.05665410e-03 9.99980278e-01 -3.72478601e-03 -1.09999974e+00] [-3.91566101e-02 3.52397434e-03 9.99226872e-01 -7.72596166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639928850999997 meters 0.0880682907330187 Centerline is valid? [True, True] Translation: X:11.55, Y:-1.10, Z:-0.77 [[ 9.99179650e-01 7.96485298e-03 3.97062708e-02 1.15540136e+01] [-7.82086089e-03 9.99962270e-01 -3.78044624e-03 -1.10326298e+00] [-3.97348834e-02 3.46680773e-03 9.99204244e-01 -7.74404655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.669928850999998 meters 0.08821686720344644 Centerline is valid? [True, True] Translation: X:11.59, Y:-1.11, Z:-0.78 [[ 9.99185051e-01 8.75369709e-03 3.94031425e-02 1.15859032e+01] [-8.61280225e-03 9.99955900e-01 -3.74406185e-03 -1.10690259e+00] [-3.94341792e-02 3.40163915e-03 9.99216380e-01 -7.77282454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699928850999997 meters 0.08891360744636348 Centerline is valid? [True, True] Translation: X:11.62, Y:-1.11, Z:-0.78 [[ 9.99206466e-01 9.04321730e-03 3.87899357e-02 1.16175949e+01] [-8.90649271e-03 9.99953506e-01 -3.69610644e-03 -1.11268174e+00] [-3.88215569e-02 3.34769118e-03 9.99240551e-01 -7.80733326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.729928850999997 meters 0.08890530342128918 Centerline is valid? [True, True] Translation: X:11.65, Y:-1.12, Z:-0.78 [[ 9.99187397e-01 9.67778919e-03 3.91265330e-02 1.16497819e+01] [-9.53898801e-03 9.99947536e-01 -3.73262953e-03 -1.11701494e+00] [-3.91606039e-02 3.35636885e-03 9.99227292e-01 -7.83219919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759928850999998 meters 0.08975348561291786 Centerline is valid? [True, True] Translation: X:11.68, Y:-1.12, Z:-0.79 [[ 9.99184635e-01 1.00513007e-02 3.91029049e-02 1.16807104e+01] [-9.91259353e-03 9.99943877e-01 -3.73950199e-03 -1.12290886e+00] [-3.91382972e-02 3.34884173e-03 9.99228192e-01 -7.85566043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.789928850999997 meters 0.09158504574580399 Centerline is valid? [True, True] Translation: X:11.71, Y:-1.13, Z:-0.79 [[ 9.99139430e-01 1.02818039e-02 4.01831254e-02 1.17115425e+01] [-1.01351594e-02 9.99941221e-01 -3.85142231e-03 -1.12932405e+00] [-4.02203630e-02 3.44084552e-03 9.99184909e-01 -7.87622341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819928850999997 meters 0.09175151535975207 Centerline is valid? [True, True] Translation: X:11.74, Y:-1.13, Z:-0.79 [[ 9.99174476e-01 9.55668419e-03 3.94846405e-02 1.17433066e+01] [-9.41407124e-03 9.99948481e-01 -3.79621388e-03 -1.13331088e+00] [-3.95188855e-02 3.42136879e-03 9.99212966e-01 -7.90110908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.849928850999998 meters 0.09077911912483363 Centerline is valid? [True, True] Translation: X:11.78, Y:-1.14, Z:-0.79 [[ 9.99186579e-01 9.24188446e-03 3.92526124e-02 1.17758265e+01] [-9.10078929e-03 9.99951474e-01 -3.77171002e-03 -1.13569054e+00] [-3.92855653e-02 3.41141228e-03 9.99222201e-01 -7.91117598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879928850999997 meters 0.08099478732052548 Centerline is valid? [True, True] Translation: X:11.81, Y:-1.12, Z:-0.79 [[ 9.99208425e-01 8.26701791e-03 3.89124583e-02 1.18096537e+01] [-8.12718230e-03 9.99959941e-01 -3.75041105e-03 -1.12076578e+00] [-3.89419042e-02 3.43119368e-03 9.99235585e-01 -7.86881993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.909928850999997 meters 0.09487715453172128 Centerline is valid? [True, True] Translation: X:11.84, Y:-1.15, Z:-0.80 [[ 9.99232542e-01 6.44965920e-03 3.86358596e-02 1.18355556e+01] [-6.31015561e-03 9.99973128e-01 -3.73158677e-03 -1.15346522e+00] [-3.86588888e-02 3.48492464e-03 9.99246389e-01 -7.97652623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939928850999998 meters 0.08323313767744876 Centerline is valid? [True, True] Translation: X:11.87, Y:-1.14, Z:-0.79 [[ 9.99212259e-01 6.11168459e-03 3.92110724e-02 1.18696395e+01] [-5.96788523e-03 9.99975035e-01 -3.78331742e-03 -1.13560503e+00] [-3.92332160e-02 3.54632996e-03 9.99223788e-01 -7.92216400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.969928850999997 meters 0.08216728336466818 Centerline is valid? [True, True] Translation: X:11.90, Y:-1.14, Z:-0.79 [[ 9.99238103e-01 5.83811648e-03 3.85892405e-02 1.19017862e+01] [-5.69858495e-03 9.99976826e-01 -3.72481992e-03 -1.13710999e+00] [-3.86100921e-02 3.50207792e-03 9.99248216e-01 -7.93384430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999928850999998 meters 0.0838969177722471 Centerline is valid? [True, True] Translation: X:11.93, Y:-1.14, Z:-0.80 [[ 9.99202277e-01 5.96589472e-03 3.94869297e-02 1.19321310e+01] [-5.81947338e-03 9.99975763e-01 -3.82200062e-03 -1.14481546e+00] [-3.95087743e-02 3.58915859e-03 9.99212777e-01 -7.95387588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.029928850999998 meters 0.10023676561240902 Centerline is valid? [True, False] Translation: X:11.94, Y:-1.14, Z:-0.79 [[ 9.99792024e-01 9.21625377e-04 2.03730131e-02 1.19417219e+01] [-9.10172595e-04 9.99999423e-01 -5.71419871e-04 -1.14402518e+00] [-2.03735280e-02 5.52758071e-04 9.99792285e-01 -7.89477535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059928850999997 meters 0.08468331046823933 Centerline is valid? [False, True] Translation: X:11.95, Y:-1.14, Z:-0.78 [[ 9.99995559e-01 -2.71309614e-03 1.23301456e-03 1.19502381e+01] [ 2.71116494e-03 9.99995100e-01 1.56522809e-03 -1.14375215e+00] [-1.23725513e-03 -1.56187823e-03 9.99998015e-01 -7.83365976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.089928850999998 meters 0.08468331046823933 Centerline is valid? [True, True] Translation: X:11.98, Y:-1.15, Z:-0.78 [[ 9.99995954e-01 -2.62902028e-03 1.08636734e-03 1.19811678e+01] [ 2.62912503e-03 9.99996539e-01 -9.50075333e-05 -1.14576122e+00] [-1.08611380e-03 9.78633444e-05 9.99999405e-01 -7.83818123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119928850999997 meters 0.08522529515013662 Centerline is valid? [True, True] Translation: X:12.01, Y:-1.15, Z:-0.79 [[ 9.99996014e-01 -2.82054373e-03 1.26089941e-04 1.20119264e+01] [ 2.82054503e-03 9.99996022e-01 -1.01395431e-05 -1.15045211e+00] [-1.26060841e-04 1.04951450e-05 9.99999992e-01 -7.86143899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.149928850999997 meters 0.08606918644799305 Centerline is valid? [True, True] Translation: X:12.04, Y:-1.16, Z:-0.79 [[ 9.99989461e-01 -4.58749871e-03 -1.80330032e-04 1.20424145e+01] [ 4.58750175e-03 9.99989477e-01 1.64533492e-05 -1.15797756e+00] [ 1.80252655e-04 -1.72804401e-05 9.99999984e-01 -7.88215965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179928850999998 meters 0.0878739847188889 Centerline is valid? [True, True] Translation: X:12.07, Y:-1.17, Z:-0.79 [[ 9.99986563e-01 -5.14862783e-03 -6.05239326e-04 1.20729927e+01] [ 5.14866209e-03 9.99986744e-01 5.50665717e-05 -1.16604071e+00] [ 6.04947786e-04 -5.81820045e-05 9.99999815e-01 -7.89834919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.209928850999997 meters 0.08587887122475804 Centerline is valid? [True, True] Translation: X:12.10, Y:-1.17, Z:-0.79 [[ 9.99979766e-01 -6.35872256e-03 1.84695664e-04 1.21049166e+01] [ 6.35872550e-03 9.99979783e-01 -1.53315278e-05 -1.16510859e+00] [-1.84594441e-04 1.65056466e-05 9.99999983e-01 -7.88730559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239928850999997 meters 0.08886404239895115 Centerline is valid? [True, True] Translation: X:12.14, Y:-1.17, Z:-0.79 [[ 9.99978328e-01 -6.55517415e-03 6.11008730e-04 1.21353610e+01] [ 6.55520750e-03 9.99978513e-01 -5.25953629e-05 -1.17416471e+00] [-6.10650829e-04 5.65995120e-05 9.99999812e-01 -7.90468395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.269928850999998 meters 0.08958604770645015 Centerline is valid? [True, True] Translation: X:12.17, Y:-1.18, Z:-0.79 [[ 9.99972205e-01 -7.23861381e-03 1.78666365e-03 1.21675927e+01] [ 7.23890468e-03 9.99973787e-01 -1.56386222e-04 -1.17835129e+00] [-1.78548479e-03 1.69315363e-04 9.99998392e-01 -7.91595251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299928850999997 meters 0.09013394272758021 Centerline is valid? [True, True] Translation: X:12.20, Y:-1.18, Z:-0.79 [[ 9.99978438e-01 -6.42417017e-03 1.36134256e-03 1.21981838e+01] [ 6.42433842e-03 9.99979357e-01 -1.19258102e-04 -1.18350383e+00] [-1.36054832e-03 1.28001256e-04 9.99999066e-01 -7.92966981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.329928850999996 meters 0.0875584664568858 Centerline is valid? [True, True] Translation: X:12.23, Y:-1.18, Z:-0.79 [[ 9.99980527e-01 -6.20672950e-03 6.49476427e-04 1.22304715e+01] [ 6.20676693e-03 9.99980736e-01 -5.56324735e-05 -1.18176732e+00] [-6.49118620e-04 5.96625390e-05 9.99999788e-01 -7.93391911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359928850999998 meters 0.08823671811772336 Centerline is valid? [True, True] Translation: X:12.26, Y:-1.19, Z:-0.79 [[ 9.99979891e-01 -6.33617501e-03 2.66928818e-04 1.22623605e+01] [ 6.33618103e-03 9.99979926e-01 -2.17129735e-05 -1.18656764e+00] [-2.66785883e-04 2.34038462e-05 9.99999964e-01 -7.94703136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.389928850999997 meters 0.08755692301309335 Centerline is valid? [True, True] Translation: X:12.29, Y:-1.19, Z:-0.80 [[ 9.99977555e-01 -6.69894900e-03 -1.19303754e-04 1.22945173e+01] [ 6.69895056e-03 9.99977562e-01 1.26176917e-05 -1.18716638e+00] [ 1.19216552e-04 -1.34166184e-05 9.99999993e-01 -7.96014302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419928850999998 meters 0.08408310472358121 Centerline is valid? [True, True] Translation: X:12.33, Y:-1.18, Z:-0.79 [[ 9.99976036e-01 -6.91821350e-03 -2.54680636e-04 1.23272744e+01] [ 6.91822002e-03 9.99976069e-01 2.47471804e-05 -1.18255226e+00] [ 2.54503335e-04 -2.65085240e-05 9.99999967e-01 -7.93809420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.449928850999997 meters 0.08483211428701726 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.19, Z:-0.79 [[ 9.99984129e-01 -5.57815653e-03 7.90799435e-04 1.23567906e+01] [ 5.57821389e-03 9.99984439e-01 -7.03443687e-05 -1.18763316e+00] [-7.90394738e-04 7.47545007e-05 9.99999685e-01 -7.94730356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479928850999997 meters 0.08622223531354865 Centerline is valid? [True, True] Translation: X:12.39, Y:-1.19, Z:-0.80 [[ 9.99987376e-01 -4.93561004e-03 9.41778397e-04 1.23872804e+01] [ 4.93568970e-03 9.99987816e-01 -8.22830023e-05 -1.19384928e+00] [-9.41360805e-04 8.69302895e-05 9.99999553e-01 -7.96979566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.509928850999998 meters 0.08287923437019219 Centerline is valid? [True, True] Translation: X:12.42, Y:-1.19, Z:-0.80 [[ 9.99990014e-01 -4.36302787e-03 9.67864340e-04 1.24200609e+01] [ 4.36311129e-03 9.99990478e-01 -8.40979814e-05 -1.18950519e+00] [-9.67488202e-04 8.83200414e-05 9.99999528e-01 -7.96324388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539928850999997 meters 0.08569351424191829 Centerline is valid? [True, True] Translation: X:12.45, Y:-1.20, Z:-0.80 [[ 9.99991830e-01 -4.02421465e-03 -3.82611008e-04 1.24506964e+01] [ 4.02422859e-03 9.99991902e-01 3.56735133e-05 -1.19822368e+00] [ 3.82464352e-04 -3.72129360e-05 9.99999926e-01 -7.99286326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.569928850999997 meters 0.08480904453317936 Centerline is valid? [True, True] Translation: X:12.48, Y:-1.20, Z:-0.80 [[ 9.99992520e-01 -3.85506108e-03 -3.14282020e-04 1.24823598e+01] [ 3.85507040e-03 9.99992569e-01 2.90454994e-05 -1.19800600e+00] [ 3.14167712e-04 -3.02568614e-05 9.99999950e-01 -7.98953429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599928850999998 meters 0.08606157618174286 Centerline is valid? [True, True] Translation: X:12.51, Y:-1.20, Z:-0.80 [[ 9.99993498e-01 -3.59564782e-03 2.75029620e-04 1.25126621e+01] [ 3.59565456e-03 9.99993535e-01 -2.40176536e-05 -1.20306213e+00] [-2.74941483e-04 2.50064089e-05 9.99999962e-01 -7.99290851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.629928850999997 meters 0.08327182058233826 Centerline is valid? [True, True] Translation: X:12.54, Y:-1.20, Z:-0.80 [[ 9.99993945e-01 -3.43731467e-03 5.43229690e-04 1.25439530e+01] [ 3.43734093e-03 9.99994091e-01 -4.74200283e-05 -1.20078037e+00] [-5.43063483e-04 4.92870068e-05 9.99999851e-01 -7.98505416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659928850999997 meters 0.0846052793886582 Centerline is valid? [True, True] Translation: X:12.57, Y:-1.21, Z:-0.80 [[ 9.99990983e-01 -3.93952379e-03 1.58582998e-03 1.25747157e+01] [ 3.93975071e-03 9.99992229e-01 -1.39996140e-04 -1.20726897e+00] [-1.58526614e-03 1.46242652e-04 9.99998733e-01 -8.00092482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.689928850999998 meters 0.08468283516435884 Centerline is valid? [True, True] Translation: X:12.61, Y:-1.21, Z:-0.80 [[ 9.99984835e-01 -5.40811955e-03 1.04056710e-03 1.26057651e+01] [ 5.40821807e-03 9.99985371e-01 -9.18858287e-05 -1.21226636e+00] [-1.04005495e-03 9.75120490e-05 9.99999454e-01 -8.01447642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719928850999997 meters 0.08591341797871153 Centerline is valid? [True, True] Translation: X:12.64, Y:-1.22, Z:-0.80 [[ 9.99979074e-01 -6.45626457e-03 4.09058436e-04 1.26364135e+01] [ 6.45627948e-03 9.99979157e-01 -3.51449415e-05 -1.21744701e+00] [-4.08823006e-04 3.77852016e-05 9.99999916e-01 -8.03255094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.749928850999996 meters 0.08624231036722169 Centerline is valid? [True, True] Translation: X:12.67, Y:-1.22, Z:-0.80 [[ 9.99970260e-01 -7.71201365e-03 6.58104679e-05 1.26675657e+01] [ 7.71201399e-03 9.99970262e-01 -4.85555880e-06 -1.22089318e+00] [-6.57710646e-05 5.36294565e-06 9.99999998e-01 -8.03758680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779928850999998 meters 0.08909907798327779 Centerline is valid? [True, True] Translation: X:12.70, Y:-1.23, Z:-0.81 [[ 9.99960067e-01 -8.92972736e-03 -3.53829694e-04 1.26970574e+01] [ 8.92973929e-03 9.99960129e-01 3.21389989e-05 -1.22926484e+00] [ 3.53528594e-04 -3.52973224e-05 9.99999937e-01 -8.05709716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.809928850999997 meters 0.11128399000642966 Centerline is valid? [True, False] Translation: X:12.77, Y:-1.24, Z:-0.81 [[ 9.99961881e-01 -8.73104667e-03 -7.72232683e-05 1.27731665e+01] [ 8.73102793e-03 9.99961855e-01 -2.39790134e-04 -1.23958016e+00] [ 7.93139415e-05 2.39106755e-04 9.99999968e-01 -8.06761747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839928850999998 meters 0.09046314192655652 Centerline is valid? [False, True] Translation: X:12.70, Y:-1.24, Z:-0.81 [[ 9.99969152e-01 -7.55463493e-03 2.14982346e-03 1.26998909e+01] [ 7.55521381e-03 9.99971425e-01 -2.61279087e-04 -1.23589725e+00] [-2.14778816e-03 2.77513404e-04 9.99997655e-01 -8.06626039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.869928850999997 meters 0.08606544034556947 Centerline is valid? [True, True] Translation: X:12.73, Y:-1.23, Z:-0.81 [[ 9.99958909e-01 -8.66402904e-03 2.66736374e-03 1.27327955e+01] [ 8.66471963e-03 9.99962430e-01 -2.47455688e-04 -1.23163811e+00] [-2.66511956e-03 2.70557479e-04 9.99996412e-01 -8.05011612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899928850999997 meters 0.0900345035307762 Centerline is valid? [True, True] Translation: X:12.76, Y:-1.24, Z:-0.81 [[ 9.99954189e-01 -9.21426665e-03 2.59162473e-03 1.27632811e+01] [ 9.21492206e-03 9.99957513e-01 -2.41066867e-04 -1.24311794e+00] [-2.58929336e-03 2.64937443e-04 9.99996613e-01 -8.08218115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.929928850999998 meters 0.08828765523226752 Centerline is valid? [True, True] Translation: X:12.79, Y:-1.24, Z:-0.81 [[ 9.99930432e-01 -1.14571760e-02 2.80434535e-03 1.27940711e+01] [ 1.14579567e-02 9.99934321e-01 -2.62500672e-04 -1.24330683e+00] [-2.80115365e-03 2.94614478e-04 9.99996033e-01 -8.07121225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959928850999997 meters 0.088753994006222 Centerline is valid? [True, True] Translation: X:12.83, Y:-1.25, Z:-0.81 [[ 9.99926442e-01 -1.14417163e-02 4.02465931e-03 1.28264788e+01] [ 1.14433156e-02 9.99934453e-01 -3.74568872e-04 -1.24820043e+00] [-4.02010979e-03 4.20596766e-04 9.99991831e-01 -8.08556580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.989928850999997 meters 0.09145344838908623 Centerline is valid? [True, True] Translation: X:12.86, Y:-1.26, Z:-0.81 [[ 9.99912899e-01 -1.27008563e-02 3.58923726e-03 1.28563700e+01] [ 1.27021433e-02 9.99919268e-01 -3.36000032e-04 -1.25587796e+00] [-3.58468001e-03 3.81561772e-04 9.99993502e-01 -8.10321955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019928850999998 meters 0.09062654664949885 Centerline is valid? [True, True] Translation: X:12.89, Y:-1.26, Z:-0.81 [[ 9.99910583e-01 -1.30651915e-02 2.85089435e-03 1.28883628e+01] [ 1.30660006e-02 9.99914601e-01 -2.65342551e-04 -1.25839136e+00] [-2.84718414e-03 3.02568612e-04 9.99995901e-01 -8.10966466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.049928850999997 meters 0.09146688722160838 Centerline is valid? [True, True] Translation: X:12.92, Y:-1.26, Z:-0.81 [[ 9.99908724e-01 -1.31336284e-02 3.17049148e-03 1.29205769e+01] [ 1.31346308e-02 9.99913693e-01 -2.95556297e-04 -1.26405771e+00] [-3.16633612e-03 3.37172554e-04 9.99994930e-01 -8.12846289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079928850999996 meters 0.09360326607901631 Centerline is valid? [True, True] Translation: X:12.95, Y:-1.27, Z:-0.81 [[ 9.99892219e-01 -1.42520835e-02 3.52536698e-03 1.29497693e+01] [ 1.42533299e-02 9.99898362e-01 -3.28662446e-04 -1.27234805e+00] [-3.52032455e-03 3.78875241e-04 9.99993732e-01 -8.14706400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.109928850999998 meters 0.09433115463551381 Centerline is valid? [True, True] Translation: X:12.98, Y:-1.28, Z:-0.82 [[ 9.99884947e-01 -1.48072840e-02 3.29203391e-03 1.29817425e+01] [ 1.48083757e-02 9.99890303e-01 -3.07498362e-04 -1.27734528e+00] [-3.28711957e-03 3.56212659e-04 9.99994534e-01 -8.16323916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139928850999997 meters 0.09251346310667811 Centerline is valid? [True, True] Translation: X:13.01, Y:-1.28, Z:-0.82 [[ 9.99870780e-01 -1.57034632e-02 3.43856120e-03 1.30134723e+01] [ 1.57046622e-02 9.99876622e-01 -3.21947861e-04 -1.27712772e+00] [-3.43308127e-03 3.75907701e-04 9.99994036e-01 -8.15701039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.169928850999996 meters 0.09333841474669738 Centerline is valid? [True, True] Translation: X:13.04, Y:-1.28, Z:-0.82 [[ 9.99851799e-01 -1.68998620e-02 3.28257795e-03 1.30444362e+01] [ 1.69009629e-02 9.99857121e-01 -3.07925836e-04 -1.28127551e+00] [-3.27690504e-03 3.63358930e-04 9.99994565e-01 -8.16352582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199928850999997 meters 0.09489261987600928 Centerline is valid? [True, True] Translation: X:13.07, Y:-1.29, Z:-0.82 [[ 9.99845196e-01 -1.73712004e-02 2.79738996e-03 1.30745300e+01] [ 1.73720015e-02 9.99849061e-01 -2.62346901e-04 -1.28776259e+00] [-2.79241044e-03 3.10902552e-04 9.99996053e-01 -8.19140871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.229928850999997 meters 0.09592680356258403 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.29, Z:-0.82 [[ 9.99844986e-01 -1.73993433e-02 2.69584583e-03 1.31063623e+01] [ 1.74000850e-02 9.99848575e-01 -2.51920167e-04 -1.29291496e+00] [-2.69105437e-03 2.98789063e-04 9.99996334e-01 -8.21163384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259928850999998 meters 0.09680751275568847 Centerline is valid? [True, True] Translation: X:13.14, Y:-1.30, Z:-0.82 [[ 9.99854572e-01 -1.69065185e-02 2.23691898e-03 1.31372637e+01] [ 1.69070246e-02 9.99857045e-01 -2.07503263e-04 -1.29831240e+00] [-2.23309104e-03 2.45292731e-04 9.99997477e-01 -8.22703729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.289928850999997 meters 0.09738800840319023 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.30, Z:-0.82 [[ 9.99859908e-01 -1.64100551e-02 3.29762122e-03 1.31689286e+01] [ 1.64111647e-02 9.99865280e-01 -3.09706447e-04 -1.30198737e+00] [-3.29209467e-03 3.63780865e-04 9.99994515e-01 -8.23447585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319928850999997 meters 0.09913045720860209 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.31, Z:-0.82 [[ 9.99863212e-01 -1.62322260e-02 3.17376209e-03 1.31999228e+01] [ 1.62332533e-02 9.99868188e-01 -2.98179223e-04 -1.30737168e+00] [-3.16850363e-03 3.49658919e-04 9.99994919e-01 -8.24843306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349928850999998 meters 0.09553040277637712 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.30, Z:-0.82 [[ 9.99872516e-01 -1.56011912e-02 3.39922743e-03 1.32325140e+01] [ 1.56023652e-02 9.99878225e-01 -3.19142125e-04 -1.30433740e+00] [-3.39383449e-03 3.72137428e-04 9.99994172e-01 -8.24366370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379928850999997 meters 0.10573114350845003 Centerline is valid? [True, False] Translation: X:13.23, Y:-1.30, Z:-0.82 [[ 9.99873814e-01 -1.55237736e-02 3.37164032e-03 1.32325405e+01] [ 1.55245415e-02 9.99879467e-01 -2.01690207e-04 -1.30458855e+00] [-3.36810293e-03 2.54007926e-04 9.99994296e-01 -8.24357724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.409928850999997 meters 0.10636125359056274 Centerline is valid? [False, False] Translation: X:13.23, Y:-1.31, Z:-0.82 [[ 9.99875706e-01 -1.54040942e-02 3.35962558e-03 1.32325732e+01] [ 1.54041130e-02 9.99881349e-01 2.02901620e-05 -1.30518347e+00] [-3.35953951e-03 3.14644120e-05 9.99994356e-01 -8.24390553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439928850999998 meters 0.08991480720650254 Centerline is valid? [False, True] Translation: X:13.23, Y:-1.31, Z:-0.82 [[ 9.99932781e-01 -1.09978125e-02 3.67160101e-03 1.32321761e+01] [ 1.09788079e-02 9.99926434e-01 5.15674161e-03 -1.30788141e+00] [-3.72804378e-03 -5.11608518e-03 9.99979963e-01 -8.24870751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.469928850999997 meters 0.09116701402330817 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.31, Z:-0.83 [[ 9.99928045e-01 -1.16516810e-02 2.85345666e-03 1.32639733e+01] [ 1.16525274e-02 9.99932068e-01 -2.80183244e-04 -1.31114773e+00] [-2.84999822e-03 3.13413065e-04 9.99995890e-01 -8.25044475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499928850999996 meters 0.09205213171612749 Centerline is valid? [True, True] Translation: X:13.29, Y:-1.32, Z:-0.83 [[ 9.99904338e-01 -1.34061729e-02 3.40424810e-03 1.32948483e+01] [ 1.34073932e-02 9.99910060e-01 -3.35901761e-04 -1.31663827e+00] [-3.39943877e-03 3.81511721e-04 9.99994149e-01 -8.25936233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.529928850999998 meters 0.09349682159377273 Centerline is valid? [True, True] Translation: X:13.33, Y:-1.32, Z:-0.83 [[ 9.99897666e-01 -1.38771104e-02 3.47623513e-03 1.33254536e+01] [ 1.38783845e-02 9.99903632e-01 -3.42662624e-04 -1.32305862e+00] [-3.47114497e-03 3.90872085e-04 9.99993899e-01 -8.27059424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559928850999997 meters 0.1013972576079327 Centerline is valid? [True, False] Translation: X:13.33, Y:-1.32, Z:-0.83 [[ 9.99903184e-01 -1.35028975e-02 3.36066376e-03 1.33260553e+01] [ 1.35021126e-02 9.99908810e-01 2.56129645e-04 -1.32413559e+00] [-3.36381579e-03 -2.10728787e-04 9.99994320e-01 -8.27629086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.589928850999998 meters 0.10228624046688614 Centerline is valid? [False, False] Translation: X:13.33, Y:-1.33, Z:-0.83 [[ 9.99904352e-01 -1.33939753e-02 3.44782401e-03 1.33258495e+01] [ 1.33921616e-02 9.99910170e-01 5.48582944e-04 -1.32504706e+00] [-3.45486200e-03 -5.02356657e-04 9.99993906e-01 -8.27572130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619928850999997 meters 0.09597221358754103 Centerline is valid? [False, True] Translation: X:13.33, Y:-1.33, Z:-0.83 [[ 9.99911425e-01 -1.28742387e-02 3.37570909e-03 1.33262947e+01] [ 1.28693717e-02 9.99916121e-01 1.45957333e-03 -1.32702097e+00] [-3.39421684e-03 -1.41600080e-03 9.99993237e-01 -8.28010965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649928850999997 meters 0.09667038920402837 Centerline is valid? [True, True] Translation: X:13.36, Y:-1.33, Z:-0.83 [[ 9.99914630e-01 -1.26614203e-02 3.22807816e-03 1.33580000e+01] [ 1.26625411e-02 9.99919773e-01 -3.27008422e-04 -1.33137886e+00] [-3.22367879e-03 3.67856178e-04 9.99994736e-01 -8.28789946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679928850999998 meters 0.09728243219190778 Centerline is valid? [True, True] Translation: X:13.39, Y:-1.34, Z:-0.83 [[ 9.99916188e-01 -1.26497824e-02 2.75673103e-03 1.33901784e+01] [ 1.26505994e-02 9.99919939e-01 -2.79140054e-04 -1.33588617e+00] [-2.75297926e-03 3.13990958e-04 9.99996161e-01 -8.29986509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709928850999997 meters 0.0963964491395893 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.34, Z:-0.83 [[ 9.99919617e-01 -1.23632894e-02 2.81232418e-03 1.34220645e+01] [ 1.23641392e-02 9.99923520e-01 -2.84991214e-04 -1.33819468e+00] [-2.80858566e-03 3.19740273e-04 9.99996005e-01 -8.30077790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739928850999997 meters 0.09653106120113122 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.34, Z:-0.83 [[ 9.99921737e-01 -1.22374032e-02 2.60130081e-03 1.34537903e+01] [ 1.22381299e-02 9.99925077e-01 -2.63624155e-04 -1.34218453e+00] [-2.59787984e-03 2.95438580e-04 9.99996582e-01 -8.30986562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.769928850999998 meters 0.09620557909813456 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.35, Z:-0.83 [[ 9.99926793e-01 -1.14991928e-02 3.76524285e-03 1.34845989e+01] [ 1.15007181e-02 9.99933791e-01 -3.83711447e-04 -1.34625307e+00] [-3.76058118e-03 4.26986353e-04 9.99992838e-01 -8.31948912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799928850999997 meters 0.10068427075871393 Centerline is valid? [True, False] Translation: X:13.49, Y:-1.35, Z:-0.83 [[ 9.99932756e-01 -1.09936591e-02 3.69093059e-03 1.34852056e+01] [ 1.09921901e-02 9.99939497e-01 4.18042624e-04 -1.34773996e+00] [-3.69530310e-03 -3.77443102e-04 9.99993101e-01 -8.32629418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.829928850999996 meters 0.09949846171297516 Centerline is valid? [False, True] Translation: X:13.48, Y:-1.35, Z:-0.83 [[ 9.99961962e-01 -7.66716885e-03 4.15806809e-03 1.34834706e+01] [ 7.64866053e-03 9.99960852e-01 4.44896536e-03 -1.35047293e+00] [-4.19201628e-03 -4.41699248e-03 9.99981458e-01 -8.31581039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859928850999998 meters 0.09753873880627968 Centerline is valid? [True, True] Translation: X:13.52, Y:-1.35, Z:-0.83 [[ 9.99970543e-01 -6.99595526e-03 3.15734318e-03 1.35159944e+01] [ 6.99704041e-03 9.99975465e-01 -3.32773822e-04 -1.34850673e+00] [-3.15493765e-03 3.54856077e-04 9.99994960e-01 -8.31357143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.889928850999997 meters 0.09205922571658144 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.34, Z:-0.83 [[ 9.99977048e-01 -5.91293061e-03 3.30767601e-03 1.35484701e+01] [ 5.91411783e-03 9.99982450e-01 -3.49261021e-04 -1.34287018e+00] [-3.30555281e-03 3.68814990e-04 9.99994469e-01 -8.30017254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919928850999996 meters 0.09323073734903246 Centerline is valid? [True, True] Translation: X:13.58, Y:-1.35, Z:-0.83 [[ 9.99980580e-01 -5.16639839e-03 3.48527807e-03 1.35789528e+01] [ 5.16771523e-03 9.99986579e-01 -3.68928293e-04 -1.34795615e+00] [-3.48332526e-03 3.86932053e-04 9.99993858e-01 -8.30989155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.949928850999997 meters 0.08928458965314943 Centerline is valid? [True, True] Translation: X:13.61, Y:-1.35, Z:-0.83 [[ 9.99989635e-01 -3.25101863e-03 3.18749602e-03 1.36103275e+01] [ 3.25211208e-03 9.99994655e-01 -3.37921209e-04 -1.34598300e+00] [-3.18638039e-03 3.48283801e-04 9.99994863e-01 -8.30925906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979928850999997 meters 0.08928458965314943 Centerline is valid? [True, True] Translation: X:13.64, Y:-1.35, Z:-0.83 [[ 9.99989855e-01 -3.18241635e-03 3.18765420e-03 1.36420162e+01] [ 3.18350476e-03 9.99994876e-01 -3.36432328e-04 -1.34941440e+00] [-3.18656720e-03 3.46576827e-04 9.99994863e-01 -8.31988976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.009928850999998 meters 0.08929272555890674 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.35, Z:-0.83 [[ 9.99994557e-01 -2.06145418e-03 2.57598830e-03 1.36734656e+01] [ 2.06216199e-03 9.99997837e-01 -2.72146572e-04 -1.35336924e+00] [-2.57542171e-03 2.77457196e-04 9.99996645e-01 -8.33138756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039928850999996 meters 0.09103567512048966 Centerline is valid? [True, True] Translation: X:13.70, Y:-1.36, Z:-0.83 [[ 9.99995255e-01 2.90926296e-04 3.06674583e-03 1.37018389e+01] [-2.89926317e-04 9.99999905e-01 -3.26511325e-04 -1.36108490e+00] [-3.06684053e-03 3.25620645e-04 9.99995244e-01 -8.34558835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.069928850999997 meters 0.09015964038827853 Centerline is valid? [True, True] Translation: X:13.73, Y:-1.36, Z:-0.84 [[ 9.99992436e-01 1.49845677e-03 3.58935486e-03 1.37335504e+01] [-1.49710219e-03 9.99998807e-01 -3.80046137e-04 -1.36277121e+00] [-3.58992006e-03 3.74669631e-04 9.99993486e-01 -8.35308538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099928850999998 meters 0.09072386255981395 Centerline is valid? [True, True] Translation: X:13.76, Y:-1.37, Z:-0.84 [[ 9.99988615e-01 2.93614685e-03 3.76140618e-03 1.37628995e+01] [-2.93466270e-03 9.99995614e-01 -4.00030995e-04 -1.36719948e+00] [-3.76256423e-03 3.88987983e-04 9.99992846e-01 -8.36182661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.129928850999995 meters 0.09119432832893411 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.37, Z:-0.84 [[ 9.99985999e-01 4.09526452e-03 3.35121093e-03 1.37928175e+01] [-4.09409455e-03 9.99991556e-01 -3.55905255e-04 -1.37099801e+00] [-3.35264016e-03 3.42180098e-04 9.99994321e-01 -8.37736398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159928850999997 meters 0.08875050167015931 Centerline is valid? [True, True] Translation: X:13.82, Y:-1.37, Z:-0.84 [[ 9.99982978e-01 5.47279310e-03 2.02301461e-03 1.38240764e+01] [-5.47236992e-03 9.99985003e-01 -2.14659239e-04 -1.36941971e+00] [-2.02415906e-03 2.03584901e-04 9.99997931e-01 -8.37950355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189928850999998 meters 0.08635755187428157 Centerline is valid? [True, True] Translation: X:13.85, Y:-1.37, Z:-0.84 [[ 9.99961352e-01 8.51407654e-03 2.19188891e-03 1.38549263e+01] [-8.51358547e-03 9.99963732e-01 -2.33275297e-04 -1.36920434e+00] [-2.19379554e-03 2.14605448e-04 9.99997571e-01 -8.38341261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219928851 meters 0.0866147862433308 Centerline is valid? [True, True] Translation: X:13.88, Y:-1.37, Z:-0.84 [[ 9.99949149e-01 9.68652021e-03 2.80556872e-03 1.38847253e+01] [-9.68571913e-03 9.99953048e-01 -2.98977181e-04 -1.37370300e+00] [-2.80833304e-03 2.71788028e-04 9.99996020e-01 -8.39875616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.249928850999996 meters 0.08677507461862602 Centerline is valid? [True, True] Translation: X:13.91, Y:-1.38, Z:-0.84 [[ 9.99941828e-01 1.04430177e-02 2.69890080e-03 1.39144023e+01] [-1.04422778e-02 9.99945436e-01 -2.88097406e-04 -1.37762323e+00] [-2.70176214e-03 2.59897975e-04 9.99996316e-01 -8.40928201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279928850999998 meters 0.08681103806139526 Centerline is valid? [True, True] Translation: X:13.94, Y:-1.38, Z:-0.84 [[ 9.99921043e-01 1.22178394e-02 2.93818347e-03 1.39444925e+01] [-1.22169721e-02 9.99925321e-01 -3.12927448e-04 -1.38124876e+00] [-2.94178735e-03 2.77007034e-04 9.99995635e-01 -8.42138775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309928851 meters 0.087809948737265 Centerline is valid? [True, True] Translation: X:13.97, Y:-1.39, Z:-0.84 [[ 9.99882564e-01 1.50383553e-02 2.95076720e-03 1.39737051e+01] [-1.50374927e-02 9.99886881e-01 -3.14304710e-04 -1.38582551e+00] [-2.95516003e-03 2.69895659e-04 9.99995597e-01 -8.43071937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339928850999996 meters 0.08639935153517209 Centerline is valid? [True, True] Translation: X:14.00, Y:-1.39, Z:-0.84 [[ 9.99869958e-01 1.58742050e-02 2.84199408e-03 1.40031461e+01] [-1.58734056e-02 9.99873963e-01 -3.03597121e-04 -1.38530199e+00] [-2.84645525e-03 2.58445516e-04 9.99995915e-01 -8.43395705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.369928850999997 meters 0.0819549552955058 Centerline is valid? [True, True] Translation: X:14.03, Y:-1.38, Z:-0.84 [[ 9.99848411e-01 1.72654479e-02 2.24918652e-03 1.40337460e+01] [-1.72649512e-02 9.99850921e-01 -2.40041201e-04 -1.37933157e+00] [-2.25299563e-03 2.01172717e-04 9.99997442e-01 -8.41635431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399928851 meters 0.08284659467697435 Centerline is valid? [True, True] Translation: X:14.06, Y:-1.39, Z:-0.84 [[ 9.99791929e-01 2.03062710e-02 1.93733506e-03 1.40629005e+01] [-2.03059089e-02 9.99793792e-01 -2.06420178e-04 -1.38520239e+00] [-1.94112720e-03 1.67037878e-04 9.99998102e-01 -8.44806191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.429928850999996 meters 0.08707026377083614 Centerline is valid? [True, True] Translation: X:14.09, Y:-1.40, Z:-0.85 [[ 9.99779537e-01 2.09492135e-02 1.41663674e-03 1.40891682e+01] [-2.09490174e-02 9.99780534e-01 -1.53103818e-04 -1.39691304e+00] [-1.41953324e-03 1.23392917e-04 9.99998985e-01 -8.49314132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459928850999997 meters 0.0832155866818486 Centerline is valid? [True, True] Translation: X:14.12, Y:-1.39, Z:-0.85 [[ 9.99783087e-01 2.08237723e-02 3.85445614e-04 1.41184212e+01] [-2.08237572e-02 9.99783161e-01 -4.31037429e-05 -1.39175353e+00] [-3.86259617e-04 3.50679673e-05 9.99999925e-01 -8.47123297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.489928851 meters 0.08433555431859001 Centerline is valid? [True, True] Translation: X:14.15, Y:-1.40, Z:-0.85 [[ 9.99803019e-01 1.97993174e-02 1.38210889e-03 1.41451024e+01] [-1.97991301e-02 9.99803967e-01 -1.49103231e-04 -1.39835810e+00] [-1.38479010e-03 1.21709307e-04 9.99999034e-01 -8.48014382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519928850999996 meters 0.08481502885553686 Centerline is valid? [True, True] Translation: X:14.17, Y:-1.40, Z:-0.85 [[ 9.99807204e-01 1.95532562e-02 1.79570570e-03 1.41733717e+01] [-1.95529420e-02 9.99808804e-01 -1.92347972e-04 -1.40275376e+00] [-1.79912339e-03 1.57199558e-04 9.99998369e-01 -8.49323414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.549928850999997 meters 0.08598848948520016 Centerline is valid? [True, True] Translation: X:14.20, Y:-1.41, Z:-0.85 [[ 9.99825772e-01 1.85589400e-02 1.99790227e-03 1.42015567e+01] [-1.85585509e-02 9.99827753e-01 -2.13098300e-04 -1.40855554e+00] [-2.00151302e-03 1.75983001e-04 9.99997981e-01 -8.50218923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579928851 meters 0.08645991897189856 Centerline is valid? [True, True] Translation: X:14.23, Y:-1.41, Z:-0.85 [[ 9.99840160e-01 1.77080990e-02 2.46529169e-03 1.42297654e+01] [-1.77075041e-02 9.99843175e-01 -2.62941567e-04 -1.41248016e+00] [-2.46956127e-03 2.19245376e-04 9.99996927e-01 -8.51260114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.609928850999996 meters 0.08608738741434206 Centerline is valid? [True, True] Translation: X:14.26, Y:-1.42, Z:-0.85 [[ 9.99852728e-01 1.70048768e-02 2.31456510e-03 1.42592041e+01] [-1.70043529e-02 9.99855385e-01 -2.45843862e-04 -1.41507248e+00] [-2.31841092e-03 2.06449974e-04 9.99997291e-01 -8.51680099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639928850999997 meters 0.08773623048500927 Centerline is valid? [True, True] Translation: X:14.29, Y:-1.42, Z:-0.85 [[ 9.99845724e-01 1.75171603e-02 1.29530233e-03 1.42865662e+01] [-1.75169937e-02 9.99846556e-01 -1.39800288e-04 -1.42145614e+00] [-1.29755248e-03 1.17088917e-04 9.99999151e-01 -8.54760318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.669928850999998 meters 0.08967430576671928 Centerline is valid? [True, True] Translation: X:14.31, Y:-1.43, Z:-0.86 [[ 9.99843457e-01 1.76738730e-02 8.34572934e-04 1.43140247e+01] [-1.76738034e-02 9.99843802e-01 -9.07622335e-05 -1.42727041e+00] [-8.36046696e-04 7.59979474e-05 9.99999648e-01 -8.57266340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699928850999996 meters 0.09022924031481229 Centerline is valid? [True, True] Translation: X:14.34, Y:-1.43, Z:-0.86 [[ 9.99845651e-01 1.75575749e-02 6.37176745e-04 1.43424130e+01] [-1.75575343e-02 9.99845852e-01 -6.93104930e-05 -1.43036620e+00] [-6.38295449e-04 5.81125424e-05 9.99999795e-01 -8.58531402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729928850999997 meters 0.09057378757390419 Centerline is valid? [True, True] Translation: X:14.37, Y:-1.43, Z:-0.86 [[ 9.99847400e-01 1.74625381e-02 4.85862586e-04 1.43710228e+01] [-1.74625142e-02 9.99847517e-01 -5.33123185e-05 -1.43298209e+00] [-4.86719468e-04 4.48198007e-05 9.99999881e-01 -8.59309978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759928850999998 meters 0.08603408916047309 Centerline is valid? [True, True] Translation: X:14.40, Y:-1.43, Z:-0.86 [[ 9.99831520e-01 1.83395755e-02 7.69394203e-04 1.44010512e+01] [-1.83395168e-02 9.99831813e-01 -8.32507410e-05 -1.42648748e+00] [-7.70791584e-04 6.91263970e-05 9.99999701e-01 -8.56683354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789928850999996 meters 0.08640952230102449 Centerline is valid? [True, True] Translation: X:14.43, Y:-1.43, Z:-0.86 [[ 9.99830512e-01 1.84060289e-02 4.05645987e-04 1.44301417e+01] [-1.84060121e-02 9.99830594e-01 -4.48824162e-05 -1.42944214e+00] [-4.06403376e-04 3.74084842e-05 9.99999917e-01 -8.58133999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819928850999997 meters 0.0866702952669818 Centerline is valid? [True, True] Translation: X:14.46, Y:-1.43, Z:-0.86 [[ 9.99809177e-01 1.95167462e-02 8.40389176e-04 1.44603035e+01] [-1.95166782e-02 9.99809528e-01 -8.90314939e-05 -1.43259299e+00] [-8.41966710e-04 7.26128995e-05 9.99999643e-01 -8.59249898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.849928850999998 meters 0.09078587761032347 Centerline is valid? [True, True] Translation: X:14.49, Y:-1.44, Z:-0.86 [[ 9.99797288e-01 2.01169677e-02 8.30768122e-04 1.44870935e+01] [-2.01168997e-02 9.99797631e-01 -9.00833675e-05 -1.44204151e+00] [-8.32412204e-04 7.33526275e-05 9.99999651e-01 -8.63578479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879928850999995 meters 0.08676349927232134 Centerline is valid? [True, True] Translation: X:14.52, Y:-1.43, Z:-0.86 [[ 9.99753904e-01 2.21527249e-02 1.17826824e-03 1.45184472e+01] [-2.21525934e-02 9.99754593e-01 -1.24488531e-04 -1.43370393e+00] [-1.18073684e-03 9.83561979e-05 9.99999298e-01 -8.61171365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.909928850999997 meters 0.08701762284045131 Centerline is valid? [True, True] Translation: X:14.55, Y:-1.44, Z:-0.86 [[ 9.99731680e-01 2.31423170e-02 1.00065302e-03 1.45459559e+01] [-2.31422206e-02 9.99732177e-01 -1.07816186e-04 -1.43622083e+00] [-1.00288013e-03 8.46299244e-05 9.99999494e-01 -8.62458158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939928850999998 meters 0.08683207477268444 Centerline is valid? [True, True] Translation: X:14.57, Y:-1.44, Z:-0.86 [[ 9.99732252e-01 2.31384282e-02 1.94503676e-04 1.45746416e+01] [-2.31384243e-02 9.99732271e-01 -2.25294045e-05 -1.43805446e+00] [-1.94972897e-04 1.80228637e-05 9.99999981e-01 -8.63851478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.969928850999995 meters 0.09289703576466145 Centerline is valid? [True, True] Translation: X:14.60, Y:-1.45, Z:-0.87 [[ 9.99752498e-01 2.22435885e-02 4.05682188e-04 1.46008152e+01] [-2.22435720e-02 9.99752580e-01 -4.51916631e-05 -1.45039517e+00] [-4.06587039e-04 3.61566571e-05 9.99999917e-01 -8.69443373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999928850999996 meters 0.08910334215555152 Centerline is valid? [True, True] Translation: X:14.63, Y:-1.45, Z:-0.87 [[ 9.99764799e-01 2.16870918e-02 -1.33012324e-04 1.46307652e+01] [-2.16870904e-02 9.99764807e-01 1.18954640e-05 -1.44519839e+00] [ 1.33239019e-04 -9.00801590e-06 9.99999991e-01 -8.67345540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.029928850999998 meters 0.09047946298945538 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.45, Z:-0.87 [[ 9.99778851e-01 2.10293605e-02 1.18875863e-04 1.46583863e+01] [-2.10293588e-02 9.99778858e-01 -1.53842141e-05 -1.44936634e+00] [-1.19173094e-04 1.28809287e-05 9.99999993e-01 -8.68746961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059928851 meters 0.0914590988880671 Centerline is valid? [True, True] Translation: X:14.69, Y:-1.45, Z:-0.87 [[ 9.99808225e-01 1.95616255e-02 9.25304061e-04 1.46877763e+01] [-1.95615431e-02 9.99808650e-01 -9.79900279e-05 -1.45330999e+00] [-9.27043848e-04 7.98708606e-05 9.99999567e-01 -8.69427460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.089928850999996 meters 0.08456359165037587 Centerline is valid? [True, True] Translation: X:14.72, Y:-1.44, Z:-0.86 [[ 9.99837635e-01 1.79548614e-02 1.52518397e-03 1.47191931e+01] [-1.79546367e-02 9.99838790e-01 -1.60896398e-04 -1.44229808e+00] [-1.52782697e-03 1.33486150e-04 9.99998824e-01 -8.64624886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119928850999997 meters 0.09522983541136486 Centerline is valid? [True, True] Translation: X:14.75, Y:-1.46, Z:-0.87 [[ 9.99882905e-01 1.52390559e-02 1.39543276e-03 1.47465966e+01] [-1.52388666e-02 9.99883871e-01 -1.46158172e-04 -1.46362968e+00] [-1.39749803e-03 1.24876244e-04 9.99999016e-01 -8.71871910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149928851 meters 0.09673021903969692 Centerline is valid? [True, True] Translation: X:14.78, Y:-1.47, Z:-0.87 [[ 9.99905787e-01 1.36605037e-02 1.34432273e-03 1.47766811e+01] [-1.36603266e-02 9.99906683e-01 -1.40847032e-04 -1.46781495e+00] [-1.34612133e-03 1.22469874e-04 9.99999086e-01 -8.72983232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179928850999996 meters 0.0834929030516439 Centerline is valid? [True, True] Translation: X:14.81, Y:-1.44, Z:-0.87 [[ 9.99917045e-01 1.28610951e-02 7.03590839e-04 1.48090644e+01] [-1.28610456e-02 9.99917291e-01 -7.48336596e-05 -1.44412899e+00] [-7.04495088e-04 6.57785380e-05 9.99999750e-01 -8.65438120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.209928850999997 meters 0.10064993458536521 Centerline is valid? [True, False] Translation: X:14.82, Y:-1.44, Z:-0.86 [[ 9.99968025e-01 5.68897975e-03 -5.61994079e-03 1.48183690e+01] [-5.69166205e-03 9.99983696e-01 -4.61404876e-04 -1.43884026e+00] [ 5.61722424e-03 4.93376926e-04 9.99984102e-01 -8.61984811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239928851 meters 0.08616891459457252 Centerline is valid? [False, True] Translation: X:14.82, Y:-1.44, Z:-0.86 [[ 9.99970671e-01 5.29995422e-03 -5.52877501e-03 1.48181827e+01] [-5.30616034e-03 9.99985308e-01 -1.10844776e-03 -1.43737201e+00] [ 5.52281906e-03 1.13775182e-03 9.99984102e-01 -8.61952711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.269928850999996 meters 0.08728242178504855 Centerline is valid? [True, True] Translation: X:14.85, Y:-1.44, Z:-0.86 [[ 9.99973336e-01 4.18375045e-03 -5.98527490e-03 1.48464611e+01] [-4.18028309e-03 9.99991088e-01 5.91709097e-04 -1.44146070e+00] [ 5.98769712e-03 -5.66673176e-04 9.99981913e-01 -8.63703246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299928850999997 meters 0.08847706409827256 Centerline is valid? [True, True] Translation: X:14.87, Y:-1.44, Z:-0.86 [[ 9.99985039e-01 2.81716875e-03 -4.68883524e-03 1.48747862e+01] [-2.81502721e-03 9.99995930e-01 4.63269967e-04 -1.44269019e+00] [ 4.69012127e-03 -4.50063838e-04 9.99988900e-01 -8.63055414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.329928851 meters 0.08672912520665371 Centerline is valid? [True, True] Translation: X:14.90, Y:-1.44, Z:-0.86 [[ 9.99989094e-01 2.33011503e-03 -4.04747784e-03 1.49037918e+01] [-2.32852010e-03 9.99997210e-01 3.98722602e-04 -1.43994434e+00] [ 4.04839562e-03 -3.89293620e-04 9.99991729e-01 -8.62297389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359928850999996 meters 0.08779828493727936 Centerline is valid? [True, True] Translation: X:14.93, Y:-1.44, Z:-0.86 [[ 9.99992128e-01 1.91014612e-03 -3.47781423e-03 1.49311312e+01] [-1.90896965e-03 9.99998120e-01 3.41568864e-04 -1.44296658e+00] [ 3.47846014e-03 -3.34927133e-04 9.99993894e-01 -8.62922476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.389928850999997 meters 0.08838989118527522 Centerline is valid? [True, True] Translation: X:14.96, Y:-1.45, Z:-0.86 [[ 9.99993497e-01 1.72744427e-03 -3.16571231e-03 1.49592965e+01] [-1.72647002e-03 9.99998461e-01 3.10456858e-04 -1.44509251e+00] [ 3.16624373e-03 -3.04989331e-04 9.99994941e-01 -8.64578597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419928850999998 meters 0.0896058459378615 Centerline is valid? [True, True] Translation: X:14.99, Y:-1.45, Z:-0.87 [[ 9.99991869e-01 1.52256746e-03 -3.73414630e-03 1.49880854e+01] [-1.52120597e-03 9.99998775e-01 3.67418057e-04 -1.44634503e+00] [ 3.73470115e-03 -3.61734664e-04 9.99992961e-01 -8.66001455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.449928850999996 meters 0.08848920747428841 Centerline is valid? [True, True] Translation: X:15.02, Y:-1.44, Z:-0.87 [[ 9.99993181e-01 1.31965897e-03 -3.44911177e-03 1.50176783e+01] [-1.31849906e-03 9.99999073e-01 3.38543481e-04 -1.44483812e+00] [ 3.44955534e-03 -3.33993522e-04 9.99993994e-01 -8.65910920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479928850999997 meters 0.08880475072482659 Centerline is valid? [True, True] Translation: X:15.05, Y:-1.45, Z:-0.87 [[ 9.99987568e-01 1.31418416e-03 -4.81002681e-03 1.50468051e+01] [-1.31192614e-03 9.99999028e-01 4.72565231e-04 -1.44566348e+00] [ 4.81064317e-03 -4.66248956e-04 9.99988320e-01 -8.67347524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.509928850999998 meters 0.09109361133595745 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.45, Z:-0.87 [[ 9.99984767e-01 1.67813759e-03 -5.25828794e-03 1.50743026e+01] [-1.67544874e-03 9.99998463e-01 5.15717563e-04 -1.45015658e+00] [ 5.25914531e-03 -5.06899715e-04 9.99986042e-01 -8.70428380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539928850999996 meters 0.0927383844522811 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.45, Z:-0.87 [[ 9.99985548e-01 1.87833631e-03 -5.03749860e-03 1.51016992e+01] [-1.87587262e-03 9.99998119e-01 4.93751461e-04 -1.45239306e+00] [ 5.03841656e-03 -4.84294619e-04 9.99987190e-01 -8.71518164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.569928850999997 meters 0.09335361427139388 Centerline is valid? [True, True] Translation: X:15.13, Y:-1.45, Z:-0.87 [[ 9.99988431e-01 1.84189417e-03 -4.44351283e-03 1.51300345e+01] [-1.83997716e-03 9.99998212e-01 4.35467421e-04 -1.45417264e+00] [ 4.44430698e-03 -4.27286421e-04 9.99990033e-01 -8.72601597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599928850999998 meters 0.0931617556122322 Centerline is valid? [True, True] Translation: X:15.16, Y:-1.45, Z:-0.87 [[ 9.99987709e-01 2.21682490e-03 -4.43481516e-03 1.51592276e+01] [-2.21492030e-03 9.99997453e-01 4.34331925e-04 -1.45452794e+00] [ 4.43576670e-03 -4.24503824e-04 9.99990072e-01 -8.73347891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.629928850999995 meters 0.08694248522444288 Centerline is valid? [True, True] Translation: X:15.19, Y:-1.44, Z:-0.87 [[ 9.99983655e-01 3.91549384e-03 -4.16634219e-03 1.51903043e+01] [-3.91382492e-03 9.99992257e-01 4.08648147e-04 -1.44072647e+00] [ 4.16790999e-03 -3.92335133e-04 9.99991237e-01 -8.70601676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659928850999997 meters 0.0869122365549065 Centerline is valid? [True, True] Translation: X:15.22, Y:-1.44, Z:-0.87 [[ 9.99978831e-01 5.11637460e-03 -4.02003460e-03 1.52203622e+01] [-5.11482892e-03 9.99986841e-01 3.94681213e-04 -1.44147858e+00] [ 4.02200104e-03 -3.74111069e-04 9.99991842e-01 -8.71589839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689928850999998 meters 0.09365558325293842 Centerline is valid? [True, True] Translation: X:15.25, Y:-1.45, Z:-0.88 [[ 9.99972423e-01 6.21109161e-03 -4.07133476e-03 1.52472630e+01] [-6.20952205e-03 9.99980642e-01 3.98043320e-04 -1.45466182e+00] [ 4.07372822e-03 -3.72751300e-04 9.99991633e-01 -8.77512362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719928850999995 meters 0.08773241814991273 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.44, Z:-0.87 [[ 9.99956347e-01 8.69246237e-03 -3.42724281e-03 1.52794092e+01] [-8.69135950e-03 9.99962173e-01 3.36558548e-04 -1.44277837e+00] [ 3.43003868e-03 -3.06756457e-04 9.99994070e-01 -8.74889291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.749928850999996 meters 0.09364973215417927 Centerline is valid? [True, True] Translation: X:15.31, Y:-1.45, Z:-0.88 [[ 9.99951121e-01 9.45865652e-03 -2.87921540e-03 1.53063117e+01] [-9.45788840e-03 9.99955234e-01 2.80278952e-04 -1.45431442e+00] [ 2.88173757e-03 -2.53033954e-04 9.99995816e-01 -8.79487444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779928850999998 meters 0.08721105441020773 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.44, Z:-0.88 [[ 9.99941254e-01 1.03101503e-02 -3.34514808e-03 1.53368403e+01] [-1.03091144e-02 9.99946806e-01 3.26764856e-04 -1.44317533e+00] [ 3.34833913e-03 -2.92260145e-04 9.99994352e-01 -8.75802371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809928850999995 meters 0.08236509313078356 Centerline is valid? [True, True] Translation: X:15.37, Y:-1.43, Z:-0.87 [[ 9.99933081e-01 1.10298758e-02 -3.48933514e-03 1.53672866e+01] [-1.10287537e-02 9.99939123e-01 3.40658773e-04 -1.43467460e+00] [ 3.49288014e-03 -3.02152959e-04 9.99993854e-01 -8.73573477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839928850999996 meters 0.08778337567154701 Centerline is valid? [True, True] Translation: X:15.39, Y:-1.45, Z:-0.88 [[ 9.99925245e-01 1.19565167e-02 -2.55844050e-03 1.53949718e+01] [-1.19559164e-02 9.99928494e-01 2.49795959e-04 -1.44778962e+00] [ 2.56124424e-03 -2.19188785e-04 9.99996696e-01 -8.78768644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.869928850999997 meters 0.08269221753435435 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.44, Z:-0.88 [[ 9.99911819e-01 1.30194996e-02 -2.61668874e-03 1.54256583e+01] [-1.30188768e-02 9.99915218e-01 2.54895387e-04 -1.43706324e+00] [ 2.61978550e-03 -2.20806562e-04 9.99996544e-01 -8.75735034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899928851 meters 0.08269221753435435 Centerline is valid? [True, True] Translation: X:15.45, Y:-1.44, Z:-0.88 [[ 9.99913109e-01 1.29199745e-02 -2.61685419e-03 1.54530988e+01] [-1.29193557e-02 9.99916510e-01 2.53204827e-04 -1.43965140e+00] [ 2.61990711e-03 -2.19374756e-04 9.99996544e-01 -8.76532871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.929928850999996 meters 0.08280308343869582 Centerline is valid? [True, True] Translation: X:15.48, Y:-1.44, Z:-0.88 [[ 9.99904478e-01 1.35896207e-02 -2.52134721e-03 1.54817999e+01] [-1.35890467e-02 9.99907635e-01 2.44662899e-04 -1.44145459e+00] [ 2.52443921e-03 -2.10376823e-04 9.99996791e-01 -8.77152484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959928850999997 meters 0.08285318928277462 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.44, Z:-0.88 [[ 9.99898867e-01 1.40834407e-02 -1.97789657e-03 1.55107880e+01] [-1.40830895e-02 9.99900810e-01 1.91392289e-04 -1.44300158e+00] [ 1.98039585e-03 -1.63518039e-04 9.99998026e-01 -8.77200959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.989928851 meters 0.08251313665606011 Centerline is valid? [True, True] Translation: X:15.54, Y:-1.44, Z:-0.88 [[ 9.99879891e-01 1.53332214e-02 -2.25752239e-03 1.55401665e+01] [-1.53327656e-02 9.99882422e-01 2.19087661e-04 -1.44354821e+00] [ 2.26061628e-03 -1.84447285e-04 9.99997428e-01 -8.78630999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019928850999996 meters 0.08289926511891825 Centerline is valid? [True, True] Translation: X:15.57, Y:-1.45, Z:-0.88 [[ 9.99869862e-01 1.59488131e-02 -2.42795367e-03 1.55689636e+01] [-1.59482889e-02 9.99872790e-01 2.35110510e-04 -1.44612253e+00] [ 2.43139455e-03 -1.96358206e-04 9.99997025e-01 -8.80288134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.049928850999997 meters 0.08157081668078359 Centerline is valid? [True, True] Translation: X:15.60, Y:-1.44, Z:-0.88 [[ 9.99856377e-01 1.67767118e-02 -2.40138232e-03 1.55976807e+01] [-1.67762019e-02 9.99859243e-01 2.32335013e-04 -1.44473821e+00] [ 2.40494213e-03 -1.92015570e-04 9.99997090e-01 -8.80353989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079928851 meters 0.08052841995548325 Centerline is valid? [True, True] Translation: X:15.63, Y:-1.44, Z:-0.88 [[ 9.99829610e-01 1.81901133e-02 -3.14187572e-03 1.56272506e+01] [-1.81892502e-02 9.99834516e-01 3.03074027e-04 -1.44421981e+00] [ 3.14686874e-03 -2.45874022e-04 9.99995018e-01 -8.79926427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.109928850999996 meters 0.08127494711609318 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.45, Z:-0.88 [[ 9.99790829e-01 2.01678954e-02 -3.39901996e-03 1.56556134e+01] [-2.01668907e-02 9.99796573e-01 3.29598751e-04 -1.44764078e+00] [ 3.40497582e-03 -2.60982144e-04 9.99994169e-01 -8.82352367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139928850999997 meters 0.08039668253617006 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.45, Z:-0.88 [[ 9.99713568e-01 2.37162829e-02 -3.21253560e-03 1.56858892e+01] [-2.37153995e-02 9.99718701e-01 3.12785176e-04 -1.44603112e+00] [ 3.21905002e-03 -2.36509019e-04 9.99994791e-01 -8.82724252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.169928850999998 meters 0.07709176124370794 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.44, Z:-0.88 [[ 9.99641527e-01 2.65978817e-02 -3.06097069e-03 1.57166339e+01] [-2.65970945e-02 9.99646190e-01 2.97578701e-04 -1.43955244e+00] [ 3.06780265e-03 -2.16059100e-04 9.99995271e-01 -8.80714458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199928850999996 meters 0.07664800041741325 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.44, Z:-0.88 [[ 9.99562064e-01 2.94215660e-02 -3.17031093e-03 1.57468076e+01] [-2.94207359e-02 9.99567069e-01 3.08161998e-04 -1.43971391e+00] [ 3.17800501e-03 -2.14754162e-04 9.99994927e-01 -8.81330676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.229928850999997 meters 0.07646095716389052 Centerline is valid? [True, True] Translation: X:15.78, Y:-1.44, Z:-0.88 [[ 9.99464976e-01 3.26392779e-02 -2.10699462e-03 1.57761409e+01] [-3.26389191e-02 9.99467188e-01 2.04503846e-04 -1.43988185e+00] [ 2.11254685e-03 -1.35624405e-04 9.99997759e-01 -8.82737664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259928850999998 meters 0.07476696283639989 Centerline is valid? [True, True] Translation: X:15.81, Y:-1.44, Z:-0.88 [[ 9.99250907e-01 3.86461214e-02 -2.02544956e-03 1.58069454e+01] [-3.86458016e-02 9.99252953e-01 1.96803428e-04 -1.43629426e+00] [ 2.03154214e-03 -1.18380882e-04 9.99997929e-01 -8.82963713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.289928850999996 meters 0.0743531297489518 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.44, Z:-0.88 [[ 9.99155502e-01 4.10344770e-02 -2.11068631e-03 1.58367752e+01] [-4.10341365e-02 9.99157724e-01 2.04395750e-04 -1.43716938e+00] [ 2.11729581e-03 -1.17612948e-04 9.99997752e-01 -8.84269004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319928850999997 meters 0.07451371772687083 Centerline is valid? [True, True] Translation: X:15.87, Y:-1.44, Z:-0.89 [[ 9.99063798e-01 4.32026879e-02 -2.24823651e-03 1.58653092e+01] [-4.32023082e-02 9.99066321e-01 2.17201186e-04 -1.43985693e+00] [ 2.25552106e-03 -1.19868835e-04 9.99997449e-01 -8.86810137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.349928850999998 meters 0.07332833011580663 Centerline is valid? [True, True] Translation: X:15.89, Y:-1.44, Z:-0.89 [[ 9.98966092e-01 4.53834134e-02 -2.66333159e-03 1.58942319e+01] [-4.53828893e-02 9.98969633e-01 2.56917521e-04 -1.43816554e+00] [ 2.67224718e-03 -1.35782209e-04 9.99996420e-01 -8.87147250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379928850999995 meters 0.07277699654537512 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.44, Z:-0.89 [[ 9.98790449e-01 4.90971560e-02 -2.66627920e-03 1.59231148e+01] [-4.90966430e-02 9.98793999e-01 2.57547810e-04 -1.43654366e+00] [ 2.67570853e-03 -1.26330935e-04 9.99996412e-01 -8.87258995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.409928850999997 meters 0.07237332824223766 Centerline is valid? [True, True] Translation: X:15.95, Y:-1.44, Z:-0.89 [[ 9.98671003e-01 5.14571725e-02 -2.89619156e-03 1.59511194e+01] [-5.14565801e-02 9.98675194e-01 2.78739192e-04 -1.43698281e+00] [ 2.90669780e-03 -1.29340635e-04 9.99995767e-01 -8.88360395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439928850999998 meters 0.07227893341318119 Centerline is valid? [True, True] Translation: X:15.98, Y:-1.44, Z:-0.89 [[ 9.98568488e-01 5.34617727e-02 -1.67742715e-03 1.59796106e+01] [-5.34615770e-02 9.98569894e-01 1.61318648e-04 -1.43848746e+00] [ 1.68365263e-03 -7.14098173e-05 9.99998580e-01 -8.89786689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.469928850999995 meters 0.07210724179504026 Centerline is valid? [True, True] Translation: X:16.01, Y:-1.44, Z:-0.89 [[ 9.98407160e-01 5.64096223e-02 -1.04750605e-03 1.60083978e+01] [-5.64095482e-02 9.98407709e-01 1.00184472e-04 -1.43846191e+00] [ 1.05148949e-03 -4.09355508e-05 9.99999446e-01 -8.91335703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499928850999996 meters 0.07150207695884396 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.44, Z:-0.89 [[ 9.98369641e-01 5.70576684e-02 -1.57530080e-03 1.60369252e+01] [-5.70575092e-02 9.98370883e-01 1.45897434e-04 -1.43818861e+00] [ 1.58105902e-03 -5.57768290e-05 9.99998749e-01 -8.90914720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.529928850999998 meters 0.07184118537054247 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.44, Z:-0.89 [[ 9.98322818e-01 5.78876447e-02 -7.55899521e-04 1.60647348e+01] [-5.78876077e-02 9.98323104e-01 7.07579255e-05 -1.44160182e+00] [ 7.58727965e-04 -2.68820366e-05 9.99999712e-01 -8.93115871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559928850999995 meters 0.07044798167587717 Centerline is valid? [True, True] Translation: X:16.09, Y:-1.44, Z:-0.89 [[ 9.98324001e-01 5.78613473e-02 -1.11927724e-03 1.60935174e+01] [-5.78612714e-02 9.98324628e-01 1.00122222e-04 -1.43802828e+00] [ 1.12319524e-03 -3.51916137e-05 9.99999369e-01 -8.89811724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589928850999996 meters 0.07189148486661942 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.45, Z:-0.89 [[ 9.98296781e-01 5.83242376e-02 -1.34893782e-03 1.61207300e+01] [-5.83241185e-02 9.98297692e-01 1.27494009e-04 -1.44520517e+00] [ 1.35407750e-03 -4.86012497e-05 9.99999082e-01 -8.94818332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619928850999997 meters 0.07107694567502441 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.44, Z:-0.89 [[ 9.98277890e-01 5.86519760e-02 -1.09510095e-03 1.61494090e+01] [-5.86519028e-02 9.98278490e-01 9.87911711e-05 -1.44418070e+00] [ 1.09901002e-03 -3.43912873e-05 9.99999395e-01 -8.93173216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.649928850999995 meters 0.07032646587668684 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.44, Z:-0.89 [[ 9.98285211e-01 5.84994797e-02 -2.10921901e-03 1.61786348e+01] [-5.84991971e-02 9.98287436e-01 1.95448407e-04 -1.44222623e+00] [ 2.11704047e-03 -7.17256359e-05 9.99997756e-01 -8.92013074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679928850999996 meters 0.07055313038733989 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.44, Z:-0.89 [[ 9.98320466e-01 5.78833679e-02 -2.40050639e-03 1.62069092e+01] [-5.78829992e-02 9.98323349e-01 2.22810838e-04 -1.44473441e+00] [ 2.40937862e-03 -8.34881096e-05 9.99997094e-01 -8.93609407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.709928850999997 meters 0.07036684743885714 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.45, Z:-0.89 [[ 9.98343103e-01 5.74890500e-02 -2.46143826e-03 1.62352410e+01] [-5.74886623e-02 9.98346133e-01 2.28018306e-04 -1.44655420e+00] [ 2.47047592e-03 -8.61357099e-05 9.99996945e-01 -8.93668664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739928851 meters 0.07279563811450254 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.46, Z:-0.90 [[ 9.98376313e-01 5.69544178e-02 -9.65404048e-04 1.62617432e+01] [-5.69543578e-02 9.98376779e-01 8.96059777e-05 -1.45645613e+00] [ 9.68940441e-04 -3.44765181e-05 9.99999530e-01 -9.00382429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.769928850999996 meters 0.07042709703618125 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.45, Z:-0.89 [[ 9.98385534e-01 5.68001032e-02 -2.70647242e-04 1.62917409e+01] [-5.68001001e-02 9.98385571e-01 1.90256062e-05 -1.45033580e+00] [ 2.71290957e-04 -3.62209958e-06 9.99999963e-01 -8.94233792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799928850999997 meters 0.07301644268217218 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.46, Z:-0.90 [[ 9.98393322e-01 5.66625171e-02 -3.65978762e-04 1.63179041e+01] [-5.66625090e-02 9.98393389e-01 3.23836002e-05 -1.46139443e+00] [ 3.67225713e-04 -1.15942953e-05 9.99999933e-01 -9.02802690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.829928851 meters 0.07339156510541961 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.46, Z:-0.90 [[ 9.98415474e-01 5.62720249e-02 -1.89695171e-05 1.63445669e+01] [-5.62720250e-02 9.98415474e-01 -1.16722497e-06 -1.46443223e+00] [ 1.88737773e-05 2.23282861e-06 1.00000000e+00 -9.03465436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859928850999996 meters 0.07027469846274814 Centerline is valid? [True, True] Translation: X:16.37, Y:-1.46, Z:-0.90 [[ 9.98457601e-01 5.55180131e-02 -4.11504546e-04 1.63748603e+01] [-5.55180045e-02 9.98457686e-01 3.21576548e-05 -1.45543370e+00] [ 4.12655206e-04 -9.26214360e-06 9.99999915e-01 -8.96241115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.889928850999997 meters 0.07226461278359 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.46, Z:-0.90 [[ 9.98521724e-01 5.43297360e-02 -1.62692830e-03 1.64015811e+01] [-5.43295634e-02 9.98523047e-01 1.50148802e-04 -1.46455421e+00] [ 1.63268295e-03 -6.15365363e-05 9.99998665e-01 -9.02691700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919928850999998 meters 0.07139058954354836 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.46, Z:-0.90 [[ 9.98572203e-01 5.33980781e-02 -1.48370926e-03 1.64310086e+01] [-5.33979388e-02 9.98573303e-01 1.33354030e-04 -1.46398296e+00] [ 1.48871331e-03 -5.39366114e-05 9.99998890e-01 -9.00364954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.949928850999996 meters 0.07151071904026435 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.47, Z:-0.90 [[ 9.98582265e-01 5.32283415e-02 -4.52184122e-04 1.64587128e+01] [-5.32283287e-02 9.98582367e-01 4.02817512e-05 -1.46679285e+00] [ 4.53687222e-04 -1.61556373e-05 9.99999897e-01 -9.01638390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979928850999997 meters 0.07189858579230551 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.47, Z:-0.90 [[ 9.98637296e-01 5.21816376e-02 -7.92856479e-04 1.64865006e+01] [-5.21815966e-02 9.98637610e-01 7.23313840e-05 -1.46904723e+00] [ 7.95550669e-04 -3.08603007e-05 9.99999683e-01 -9.02133453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.009928850999998 meters 0.07230806790518418 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.47, Z:-0.90 [[ 9.98678570e-01 5.13795212e-02 -1.12173125e-03 1.65144278e+01] [-5.13794376e-02 9.98679199e-01 1.03216162e-04 -1.47214429e+00] [ 1.12555286e-03 -4.54458486e-05 9.99999366e-01 -9.03544309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039928850999996 meters 0.07262035023134521 Centerline is valid? [True, True] Translation: X:16.54, Y:-1.48, Z:-0.91 [[ 9.98719309e-01 5.05870176e-02 -8.33968075e-04 1.65430053e+01] [-5.05869751e-02 9.98719657e-01 7.19164038e-05 -1.47501572e+00] [ 8.36538346e-04 -2.96363789e-05 9.99999650e-01 -9.05101171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.069928850999997 meters 0.07222845243063296 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.47, Z:-0.90 [[ 9.98768008e-01 4.96174257e-02 -7.59622151e-04 1.65715232e+01] [-4.96173876e-02 9.98768297e-01 6.89015694e-05 -1.47474871e+00] [ 7.62105241e-04 -3.11262165e-05 9.99999709e-01 -9.03863571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099928850999998 meters 0.07333248962580902 Centerline is valid? [True, True] Translation: X:16.60, Y:-1.48, Z:-0.91 [[ 9.98773349e-01 4.95051638e-02 -1.01754686e-03 1.65988773e+01] [-4.95050947e-02 9.98773867e-01 9.30184754e-05 -1.47967537e+00] [ 1.02090411e-03 -4.25306203e-05 9.99999478e-01 -9.07214721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.129928850999995 meters 0.07266370279365655 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.48, Z:-0.91 [[ 9.98799379e-01 4.89690878e-02 -1.35253359e-03 1.66275481e+01] [-4.89689701e-02 9.98800293e-01 1.20036494e-04 -1.47925996e+00] [ 1.35678902e-03 -5.36601991e-05 9.99999078e-01 -9.06468301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159928850999997 meters 0.07298350753499128 Centerline is valid? [True, True] Translation: X:16.66, Y:-1.48, Z:-0.91 [[ 9.98785842e-01 4.92626665e-02 -1.75987501e-04 1.66553798e+01] [-4.92626648e-02 9.98785858e-01 1.41762786e-05 -1.47965285e+00] [ 1.76472188e-04 -5.48945309e-06 9.99999984e-01 -9.07272157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.189928850999998 meters 0.07176099924499706 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.48, Z:-0.91 [[ 9.98791411e-01 4.91498273e-02 1.04977008e-04 1.66840341e+01] [-4.91498258e-02 9.98791417e-01 -1.62830397e-05 -1.47811906e+00] [-1.05650443e-04 1.11037585e-05 9.99999994e-01 -9.05028315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219928850999995 meters 0.07151579873047513 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.48, Z:-0.91 [[ 9.98821962e-01 4.85246953e-02 2.06628292e-04 1.67131210e+01] [-4.85246910e-02 9.98821983e-01 -2.58243923e-05 -1.47859185e+00] [-2.07638001e-04 1.57673961e-05 9.99999978e-01 -9.05337474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.249928850999996 meters 0.07243783286635826 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.48, Z:-0.91 [[ 9.98821330e-01 4.85341030e-02 6.25841845e-04 1.67406596e+01] [-4.85340746e-02 9.98821526e-01 -6.04480674e-05 -1.48299042e+00] [-6.28038099e-04 3.00021643e-05 9.99999802e-01 -9.08062899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279928850999998 meters 0.07127810792473886 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.48, Z:-0.91 [[ 9.98812818e-01 4.87058530e-02 8.32839784e-04 1.67695447e+01] [-4.87058001e-02 9.98813165e-01 -8.37572763e-05 -1.48017133e+00] [-8.35930809e-04 4.30937133e-05 9.99999650e-01 -9.06634329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.309928850999995 meters 0.0712669989051845 Centerline is valid? [True, True] Translation: X:16.80, Y:-1.48, Z:-0.91 [[ 9.98794871e-01 4.90673783e-02 1.09411726e-03 1.67978327e+01] [-4.90672897e-02 9.98795469e-01 -1.07652803e-04 -1.47996803e+00] [-1.09808160e-03 5.38376987e-05 9.99999396e-01 -9.07544765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339928850999996 meters 0.07127218362887561 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.48, Z:-0.91 [[ 9.98794304e-01 4.90871774e-02 6.22708062e-04 1.68257128e+01] [-4.90871465e-02 9.98794497e-01 -6.48237538e-05 -1.48078208e+00] [-6.25139401e-04 3.41786341e-05 9.99999804e-01 -9.08839025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.369928850999997 meters 0.07121189698123859 Centerline is valid? [True, True] Translation: X:16.85, Y:-1.48, Z:-0.91 [[ 9.98774232e-01 4.94764094e-02 1.45566091e-03 1.68541610e+01] [-4.94762575e-02 9.98775290e-01 -1.40258927e-04 -1.48198397e+00] [-1.46081765e-03 6.80663480e-05 9.99998931e-01 -9.09602769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399928850999995 meters 0.071186082013377 Centerline is valid? [True, True] Translation: X:16.88, Y:-1.48, Z:-0.91 [[ 9.98748465e-01 4.99815340e-02 1.83005005e-03 1.68827490e+01] [-4.99812985e-02 9.98750139e-01 -1.74213836e-04 -1.48191869e+00] [-1.83647021e-03 8.25275235e-05 9.99998310e-01 -9.10349678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.429928850999996 meters 0.07129948276130325 Centerline is valid? [True, True] Translation: X:16.91, Y:-1.48, Z:-0.91 [[ 9.98732789e-01 5.03044789e-02 1.50843604e-03 1.69104215e+01] [-5.03043224e-02 9.98733926e-01 -1.41533390e-04 -1.48386008e+00] [-1.51364602e-03 6.54731842e-05 9.99998852e-01 -9.11802137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459928850999997 meters 0.07123342825311321 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.49, Z:-0.91 [[ 9.98708739e-01 5.06802330e-02 3.51698921e-03 1.69396820e+01] [-5.06793947e-02 9.98714920e-01 -3.27115338e-04 -1.48560694e+00] [-3.52904788e-03 1.48454062e-04 9.99993762e-01 -9.12433664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.489928850999995 meters 0.070675761780015 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.49, Z:-0.91 [[ 9.98706969e-01 5.07228392e-02 3.40348818e-03 1.69672784e+01] [-5.07220518e-02 9.98712758e-01 -3.17342751e-04 -1.48520956e+00] [-3.41520359e-03 1.44300513e-04 9.99994158e-01 -9.12315573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519928850999996 meters 0.07151135656140427 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.49, Z:-0.91 [[ 9.98738538e-01 5.00328939e-02 4.24754319e-03 1.69951338e+01] [-5.00316921e-02 9.98747555e-01 -3.88784877e-04 -1.48944521e+00] [-4.26167541e-03 1.75782666e-04 9.99990904e-01 -9.13751921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.549928850999997 meters 0.07188317895358723 Centerline is valid? [True, True] Translation: X:17.02, Y:-1.49, Z:-0.92 [[ 9.98808580e-01 4.86942693e-02 3.20755594e-03 1.70239266e+01] [-4.86935647e-02 9.98813721e-01 -2.97451528e-04 -1.49132372e+00] [-3.21823507e-03 1.40909806e-04 9.99994812e-01 -9.15979863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579928851 meters 0.07052123838610246 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.49, Z:-0.91 [[ 9.98863415e-01 4.75930148e-02 2.60451176e-03 1.70529175e+01] [-4.75925440e-02 9.98866803e-01 -2.42453546e-04 -1.48911596e+00] [-2.61309943e-03 1.18222637e-04 9.99996579e-01 -9.14590049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.609928850999996 meters 0.07243243550926855 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.50, Z:-0.92 [[ 9.98886993e-01 4.71029725e-02 2.46677605e-03 1.70801542e+01] [-4.71025563e-02 9.98890033e-01 -2.26568496e-04 -1.49656399e+00] [-2.47471006e-03 1.10124866e-04 9.99996932e-01 -9.19649844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639928850999997 meters 0.07185889493769154 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.50, Z:-0.92 [[ 9.98912383e-01 4.65908634e-02 1.82843422e-03 1.71086440e+01] [-4.65906278e-02 9.98914052e-01 -1.71263345e-04 -1.49672823e+00] [-1.83442794e-03 8.58891775e-05 9.99998314e-01 -9.19361289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669928850999998 meters 0.07068311871100048 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.49, Z:-0.92 [[ 9.98942897e-01 4.59443804e-02 1.48372931e-03 1.71379505e+01] [-4.59442229e-02 9.98943997e-01 -1.40091693e-04 -1.49400567e+00] [-1.48859891e-03 7.17748121e-05 9.99998889e-01 -9.17298389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699928850999996 meters 0.07105618550157063 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.50, Z:-0.92 [[ 9.98958483e-01 4.56088934e-02 1.33314794e-03 1.71650173e+01] [-4.56087686e-02 9.98959371e-01 -1.23878852e-04 -1.49706867e+00] [-1.33741061e-03 6.29465938e-05 9.99999104e-01 -9.18760566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729928850999997 meters 0.07076505103097333 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.50, Z:-0.92 [[ 9.99000917e-01 4.46687673e-02 1.36688716e-03 1.71933854e+01] [-4.46686324e-02 9.99001850e-01 -1.29086856e-04 -1.49788306e+00] [-1.37128895e-03 6.79009069e-05 9.99999057e-01 -9.19229268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759928850999998 meters 0.07139645589583639 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.50, Z:-0.92 [[ 9.99017813e-01 4.42609268e-02 2.09275532e-03 1.72209168e+01] [-4.42606263e-02 9.99020000e-01 -1.89683705e-04 -1.50194806e+00] [-2.09910000e-03 9.68707385e-05 9.99997792e-01 -9.20880765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789928850999996 meters 0.07139645589583639 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.50, Z:-0.92 [[ 9.99022033e-01 4.41655709e-02 2.09273527e-03 1.72482955e+01] [-4.41652698e-02 9.99024220e-01 -1.89909137e-04 -1.50429766e+00] [-2.09908066e-03 9.72971945e-05 9.99997792e-01 -9.21676733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819928850999997 meters 0.07197872525027063 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.51, Z:-0.92 [[ 9.99055144e-01 4.33740515e-02 2.74046152e-03 1.72756048e+01] [-4.33735364e-02 9.99058895e-01 -2.47134991e-04 -1.50827574e+00] [-2.74860170e-03 1.28037976e-04 9.99996214e-01 -9.23263412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849928850999998 meters 0.07120334252208019 Centerline is valid? [True, True] Translation: X:17.30, Y:-1.51, Z:-0.92 [[ 9.99076096e-01 4.28994241e-02 2.56775394e-03 1.73040584e+01] [-4.28989703e-02 9.99079389e-01 -2.31545566e-04 -1.50776569e+00] [-2.57532321e-03 1.21177640e-04 9.99996677e-01 -9.22344800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879928850999995 meters 0.07152149922435536 Centerline is valid? [True, True] Translation: X:17.33, Y:-1.51, Z:-0.92 [[ 9.99087677e-01 4.26241030e-02 2.64579120e-03 1.73312255e+01] [-4.26236144e-02 9.99091172e-01 -2.40802322e-04 -1.51107524e+00] [-2.65365062e-03 1.27809448e-04 9.99996471e-01 -9.23451708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909928850999997 meters 0.07243928709635575 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.52, Z:-0.93 [[ 9.99100721e-01 4.22589073e-02 3.45448231e-03 1.73581366e+01] [-4.22580883e-02 9.99106680e-01 -3.09769381e-04 -1.51628684e+00] [-3.46448687e-03 1.63510994e-04 9.99993985e-01 -9.25413713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939928850999998 meters 0.0723876450320217 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.52, Z:-0.93 [[ 9.99159317e-01 4.08352857e-02 3.62475506e-03 1.73869948e+01] [-4.08343776e-02 9.99165876e-01 -3.24219857e-04 -1.51814771e+00] [-3.63497117e-03 1.75932674e-04 9.99993378e-01 -9.25212642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969928850999995 meters 0.07277181998845543 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.52, Z:-0.93 [[ 9.99190636e-01 4.00890519e-02 3.30782160e-03 1.74153761e+01] [-4.00882918e-02 9.99196098e-01 -2.95810310e-04 -1.52211391e+00] [-3.31702119e-03 1.62965974e-04 9.99994485e-01 -9.26323953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999928850999996 meters 0.07326205865387106 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.53, Z:-0.93 [[ 9.99228729e-01 3.90978519e-02 3.64756109e-03 1.74440720e+01] [-3.90969226e-02 9.99235370e-01 -3.25767915e-04 -1.52602425e+00] [-3.65750888e-03 1.82908246e-04 9.99993295e-01 -9.27942697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029928850999998 meters 0.07357860248446767 Centerline is valid? [True, True] Translation: X:17.47, Y:-1.53, Z:-0.93 [[ 9.99267230e-01 3.81361764e-02 3.26128731e-03 1.74729870e+01] [-3.81354284e-02 9.99272538e-01 -2.91252652e-04 -1.52928807e+00] [-3.27002211e-03 1.66668642e-04 9.99994640e-01 -9.28309098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059928850999995 meters 0.0724031006440033 Centerline is valid? [True, True] Translation: X:17.50, Y:-1.53, Z:-0.93 [[ 9.99291389e-01 3.75084522e-02 3.13620108e-03 1.75024051e+01] [-3.75077576e-02 9.99296297e-01 -2.80011679e-04 -1.52811425e+00] [-3.14449693e-03 1.62181389e-04 9.99995043e-01 -9.27346447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089928850999996 meters 0.07353303205027442 Centerline is valid? [True, True] Translation: X:17.53, Y:-1.53, Z:-0.93 [[ 9.99341684e-01 3.61246294e-02 3.34799448e-03 1.75294385e+01] [-3.61238300e-02 9.99347277e-01 -2.98973487e-04 -1.53379689e+00] [-3.35660947e-03 1.77834284e-04 9.99994351e-01 -9.29366548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119928850999997 meters 0.07170636348633581 Centerline is valid? [True, True] Translation: X:17.56, Y:-1.53, Z:-0.93 [[ 9.99350179e-01 3.58505069e-02 3.73629766e-03 1.75576400e+01] [-3.58495096e-02 9.99357144e-01 -3.33573172e-04 -1.53103255e+00] [-3.74585453e-03 1.99411971e-04 9.99992964e-01 -9.27537637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.149928850999995 meters 0.07333467461690592 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.54, Z:-0.93 [[ 9.99369260e-01 3.53488120e-02 3.39768126e-03 1.75842979e+01] [-3.53479847e-02 9.99375019e-01 -3.03247031e-04 -1.53871551e+00] [-3.40627720e-03 1.82954575e-04 9.99994182e-01 -9.31036085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179928850999996 meters 0.07385876639516246 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.54, Z:-0.93 [[ 9.99397292e-01 3.45716871e-02 3.13864912e-03 1.76115247e+01] [-3.45709792e-02 9.99402206e-01 -2.79519578e-04 -1.54253878e+00] [-3.14643632e-03 1.70844936e-04 9.99995035e-01 -9.32576399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.209928850999997 meters 0.07335852243981456 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.54, Z:-0.93 [[ 9.99462013e-01 3.27294222e-02 2.11419617e-03 1.76412015e+01] [-3.27290984e-02 9.99464242e-01 -1.87608971e-04 -1.54352148e+00] [-2.11920381e-03 1.18312305e-04 9.99997747e-01 -9.31832258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239928850999995 meters 0.07455232860917234 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.55, Z:-0.93 [[ 9.99479333e-01 3.22043985e-02 1.98478778e-03 1.76685529e+01] [-3.22041075e-02 9.99481297e-01 -1.78439057e-04 -1.54885600e+00] [-1.98950479e-03 1.14427830e-04 9.99998014e-01 -9.33274225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.269928850999996 meters 0.07476780752589883 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.55, Z:-0.93 [[ 9.99483723e-01 3.20871867e-02 1.64334278e-03 1.76962132e+01] [-3.20869882e-02 9.99485069e-01 -1.47049583e-04 -1.55211150e+00] [-1.64721498e-03 9.42437446e-05 9.99998639e-01 -9.33946484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299928850999997 meters 0.07448814695689672 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.55, Z:-0.93 [[ 9.99479572e-01 3.21796213e-02 2.24871199e-03 1.77247081e+01] [-3.21792529e-02 9.99482094e-01 -1.99784966e-04 -1.55373451e+00] [-2.25397638e-03 1.27319120e-04 9.99997452e-01 -9.34061781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.329928850999995 meters 0.07407672151425251 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.56, Z:-0.93 [[ 9.99471139e-01 3.23871322e-02 2.91817525e-03 1.77531852e+01] [-3.23865150e-02 9.99475386e-01 -2.58542684e-04 -1.55622281e+00] [-2.92501779e-03 1.63896424e-04 9.99995709e-01 -9.33690933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359928850999996 meters 0.07565874400247523 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.56, Z:-0.94 [[ 9.99479300e-01 3.21338257e-02 2.92353898e-03 1.77807257e+01] [-3.21332045e-02 9.99483562e-01 -2.59229772e-04 -1.56280661e+00] [-2.93035919e-03 1.65152115e-04 9.99995693e-01 -9.36324633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.389928850999997 meters 0.07340431512472884 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.56, Z:-0.93 [[ 9.99518998e-01 3.09597955e-02 1.80667534e-03 1.78103990e+01] [-3.09595565e-02 9.99520625e-01 -1.60113756e-04 -1.55829327e+00] [-1.81076635e-03 1.04102874e-04 9.99998355e-01 -9.34469676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419928850999998 meters 0.07348678448159125 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.56, Z:-0.94 [[ 9.99539053e-01 3.02950097e-02 1.97329987e-03 1.78386334e+01] [-3.02947229e-02 9.99540994e-01 -1.75086755e-04 -1.56120420e+00] [-1.97769837e-03 1.15225476e-04 9.99998038e-01 -9.35350978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449928850999996 meters 0.07743254311769181 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.57, Z:-0.94 [[ 9.99547678e-01 3.00678420e-02 6.03942113e-04 1.78647195e+01] [-3.00678133e-02 9.99547859e-01 -5.64648753e-05 -1.57344749e+00] [-6.05366823e-04 3.82801162e-05 9.99999816e-01 -9.40500445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479928850999997 meters 0.07619346828643271 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.57, Z:-0.94 [[ 9.99560804e-01 2.95888703e-02 1.64229711e-03 1.78938082e+01] [-2.95886708e-02 9.99562149e-01 -1.45631613e-04 -1.57374414e+00] [-1.64588710e-03 9.69742639e-05 9.99998641e-01 -9.40092555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509928850999998 meters 0.07363588250623886 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.57, Z:-0.94 [[ 9.99601478e-01 2.81294811e-02 2.37020960e-03 1.79232441e+01] [-2.81290635e-02 9.99604278e-01 -2.09353393e-04 -1.57050706e+00] [-2.37516066e-03 1.42598185e-04 9.99997169e-01 -9.36944389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539928850999996 meters 0.07451441584341346 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.58, Z:-0.94 [[ 9.99618303e-01 2.75769107e-02 1.66227232e-03 1.79503359e+01] [-2.75767031e-02 9.99619679e-01 -1.47710105e-04 -1.57561048e+00] [-1.66571351e-03 1.01813735e-04 9.99998608e-01 -9.38454605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569928850999997 meters 0.07492795589883539 Centerline is valid? [True, True] Translation: X:17.98, Y:-1.58, Z:-0.94 [[ 9.99643646e-01 2.66397575e-02 1.70428395e-03 1.79786805e+01] [-2.66395390e-02 9.99645093e-01 -1.50786787e-04 -1.57899570e+00] [-1.70769601e-03 1.05331715e-04 9.99998536e-01 -9.39090862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599928850999998 meters 0.0739412805977175 Centerline is valid? [True, True] Translation: X:18.01, Y:-1.58, Z:-0.94 [[ 9.99692029e-01 2.48154101e-02 2.06735909e-04 1.80078660e+01] [-2.48154066e-02 9.99692050e-01 -1.94795160e-05 -1.57931691e+00] [-2.07155637e-04 1.43432813e-05 9.99999978e-01 -9.38222424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.629928850999995 meters 0.07526644422890924 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.59, Z:-0.94 [[ 9.99697675e-01 2.45869798e-02 1.97852405e-04 1.80346821e+01] [-2.45869762e-02 9.99697694e-01 -2.07417534e-05 -1.58619320e+00] [-1.98302570e-04 1.58708902e-05 9.99999980e-01 -9.40917510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659928850999997 meters 0.07409024777450361 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.59, Z:-0.94 [[ 9.99701592e-01 2.44245688e-02 -4.08056770e-04 1.80636856e+01] [-2.44245571e-02 9.99701675e-01 3.36287857e-05 -1.58625608e+00] [ 4.08756405e-04 -2.36521448e-05 9.99999916e-01 -9.40759347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.689928850999998 meters 0.07478301864041319 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.59, Z:-0.94 [[ 9.99711267e-01 2.40287713e-02 3.36222934e-05 1.80907358e+01] [-2.40287711e-02 9.99711267e-01 -5.32852922e-06 -1.59056551e+00] [-3.37406236e-05 4.51908831e-06 9.99999999e-01 -9.42076762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719928850999995 meters 0.0751632014833123 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.59, Z:-0.94 [[ 9.99716817e-01 2.37940601e-02 3.58810418e-04 1.81172592e+01] [-2.37940493e-02 9.99716881e-01 -3.45060918e-05 -1.59403681e+00] [-3.59529872e-04 2.59587675e-05 9.99999935e-01 -9.43194481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.749928850999996 meters 0.07509884385460092 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.60, Z:-0.94 [[ 9.99734654e-01 2.30229521e-02 7.51870406e-04 1.81463085e+01] [-2.30229080e-02 9.99734935e-01 -6.72138360e-05 -1.59581828e+00] [-7.53218573e-04 4.98857579e-05 9.99999715e-01 -9.42286708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779928850999998 meters 0.0756504419029589 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.60, Z:-0.94 [[ 9.99748101e-01 2.24164277e-02 1.11237925e-03 1.81746921e+01] [-2.24163320e-02 9.99748718e-01 -9.84622991e-05 -1.59929779e+00] [-1.11430691e-03 7.35020339e-05 9.99999376e-01 -9.42959156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.809928850999995 meters 0.07624676707427425 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.60, Z:-0.94 [[ 9.99763385e-01 2.17489945e-02 3.95057168e-04 1.82023973e+01] [-2.17489818e-02 9.99763462e-01 -3.66264987e-05 -1.60406604e+00] [-3.95760312e-04 2.80257411e-05 9.99999921e-01 -9.44262382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839928850999996 meters 0.07740196117689334 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.61, Z:-0.95 [[ 9.99792058e-01 2.03613245e-02 1.12086002e-03 1.82295889e+01] [-2.03612258e-02 9.99792684e-01 -9.94568321e-05 -1.61040140e+00] [-1.12265272e-03 7.66140671e-05 9.99999367e-01 -9.46982735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869928850999997 meters 0.07784142076132729 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.61, Z:-0.95 [[ 9.99813432e-01 1.93053237e-02 6.36344790e-04 1.82586311e+01] [-1.93052917e-02 9.99813634e-01 -5.64955104e-05 -1.61393897e+00] [-6.37316861e-04 4.42001484e-05 9.99999796e-01 -9.48586492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899928850999995 meters 0.07778637549972824 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.62, Z:-0.95 [[ 9.99824132e-01 1.87497071e-02 3.90728399e-04 1.82877219e+01] [-1.87496946e-02 9.99824208e-01 -3.56660755e-05 -1.61589666e+00] [-3.91328441e-04 2.83337648e-05 9.99999923e-01 -9.48513937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929928850999996 meters 0.0796030420639007 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.62, Z:-0.95 [[ 9.99861801e-01 1.66218633e-02 3.05493516e-04 1.83157705e+01] [-1.66218554e-02 9.99861847e-01 -2.82380481e-05 -1.62142710e+00] [-3.05920680e-04 2.31562765e-05 9.99999953e-01 -9.49399109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959928850999997 meters 0.07956423596771137 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.62, Z:-0.95 [[ 9.99876517e-01 1.57116743e-02 -3.08065441e-04 1.83455999e+01] [-1.57116671e-02 9.99876564e-01 2.57038949e-05 -1.62401213e+00] [ 3.08431266e-04 -2.08604992e-05 9.99999952e-01 -9.50070486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989928850999995 meters 0.08094141798084545 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.63, Z:-0.95 [[ 9.99900603e-01 1.40861555e-02 -6.03040797e-04 1.83739843e+01] [-1.40861278e-02 9.99900784e-01 5.02011789e-05 -1.63019157e+00] [ 6.03688107e-04 -4.17016794e-05 9.99999817e-01 -9.52284000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019928850999996 meters 0.0825926753904007 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.64, Z:-0.95 [[ 9.99923655e-01 1.23492514e-02 -4.25463903e-04 1.84022926e+01] [-1.23492374e-02 9.99923745e-01 3.53698206e-05 -1.63665991e+00] [ 4.25868250e-04 -3.01129655e-05 9.99999909e-01 -9.54611132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049928850999997 meters 0.08445706505489914 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.64, Z:-0.95 [[ 9.99951928e-01 9.80513095e-03 -3.31331608e-05 1.84313041e+01] [-9.80513087e-03 9.99951929e-01 2.41188006e-06 -1.64319106e+00] [ 3.31552168e-05 -2.08688913e-06 9.99999999e-01 -9.54270932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079928850999995 meters 0.08601774929793975 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.65, Z:-0.96 [[ 9.99960794e-01 8.85439071e-03 -1.02195764e-04 1.84590169e+01] [-8.85439003e-03 9.99960799e-01 7.02699197e-06 -1.64774111e+00] [ 1.02253978e-04 -6.12183532e-06 9.99999995e-01 -9.55189594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.109928850999996 meters 0.08478406088779168 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.65, Z:-0.95 [[ 9.99969162e-01 7.80100892e-03 9.04647277e-04 1.84877371e+01] [-7.80093991e-03 9.99969569e-01 -7.97864518e-05 -1.64696556e+00] [-9.05242163e-04 7.27268924e-05 9.99999588e-01 -9.53383578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139928850999997 meters 0.08663404807407285 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.65, Z:-0.96 [[ 9.99981721e-01 6.03017261e-03 4.41737839e-04 1.85178028e+01] [-6.03015638e-03 9.99981818e-01 -3.80731067e-05 -1.65294311e+00] [-4.41959395e-04 3.54086625e-05 9.99999902e-01 -9.55508590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.169928850999995 meters 0.08931292995241771 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.66, Z:-0.96 [[ 9.99988250e-01 4.83574725e-03 -3.38657288e-04 1.85459294e+01] [-4.83573812e-03 9.99988307e-01 2.77777783e-05 -1.66079167e+00] [ 3.38787654e-04 -2.61397940e-05 9.99999942e-01 -9.57943867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199928850999996 meters 0.08986342710831384 Centerline is valid? [True, True] Translation: X:18.57, Y:-1.66, Z:-0.96 [[ 9.99993253e-01 3.52136860e-03 -1.04627136e-03 1.85748886e+01] [-3.52127765e-03 9.99993796e-01 8.87536265e-05 -1.66424702e+00] [ 1.04657740e-03 -8.50688157e-05 9.99999449e-01 -9.60185820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.229928850999997 meters 0.08347562913292386 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.65, Z:-0.96 [[ 9.99996491e-01 2.47563456e-03 -9.42871033e-04 1.86054753e+01] [-2.47556004e-03 9.99996933e-01 8.01921132e-05 -1.65473050e+00] [ 9.43066667e-04 -7.78576980e-05 9.99999552e-01 -9.55951962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259928850999998 meters 0.09397501145774 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.68, Z:-0.96 [[ 9.99999665e-01 7.80153581e-04 -2.47557885e-04 1.86323877e+01] [-7.80148567e-04 9.99999695e-01 2.03494364e-05 -1.67615470e+00] [ 2.47573685e-04 -2.01562977e-05 9.99999969e-01 -9.62458668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.289928850999996 meters 0.09416280696610231 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.68, Z:-0.96 [[ 9.99999563e-01 8.33149869e-04 4.23505484e-04 1.86627752e+01] [-8.33134513e-04 9.99999652e-01 -3.64337246e-05 -1.67884907e+00] [-4.23535691e-04 3.60808717e-05 9.99999910e-01 -9.61820653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319928850999997 meters 0.08247609804399166 Centerline is valid? [True, True] Translation: X:18.70, Y:-1.66, Z:-0.96 [[ 9.99997794e-01 1.11564747e-03 1.77946482e-03 1.86950430e+01] [-1.11537682e-03 9.99999366e-01 -1.53085459e-04 -1.65875431e+00] [-1.77963448e-03 1.51100347e-04 9.99998405e-01 -9.55154540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.349928850999998 meters 0.08043014961346294 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.66, Z:-0.95 [[ 9.99994449e-01 2.77065912e-03 1.85058994e-03 1.87264836e+01] [-2.77037007e-03 9.99996150e-01 -1.58739627e-04 -1.65545285e+00] [-1.85102263e-03 1.53611927e-04 9.99998275e-01 -9.54604799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379928850999995 meters 0.08584862504557941 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.67, Z:-0.96 [[ 9.99993202e-01 3.40635507e-03 1.41186833e-03 1.87545431e+01] [-3.40618626e-03 9.99994191e-01 -1.21956471e-04 -1.66849727e+00] [-1.41227556e-03 1.17146556e-04 9.99998996e-01 -9.60540818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.409928850999997 meters 0.08380431954850334 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.67, Z:-0.96 [[ 9.99992855e-01 3.77960275e-03 6.08188720e-05 1.87845908e+01] [-3.77960238e-03 9.99992857e-01 -6.17973329e-06 -1.66741064e+00] [-6.08417945e-05 5.94981799e-06 9.99999998e-01 -9.60519731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439928850999998 meters 0.08131993870225102 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.66, Z:-0.96 [[ 9.99994144e-01 3.40952888e-03 2.93943553e-04 1.88148714e+01] [-3.40952131e-03 9.99994187e-01 -2.62461317e-05 -1.66437317e+00] [-2.94031331e-04 2.52437712e-05 9.99999956e-01 -9.59398275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.469928850999995 meters 0.08180689916398033 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.67, Z:-0.96 [[ 9.99993552e-01 3.46628897e-03 9.38892172e-04 1.88442656e+01] [-3.46621383e-03 9.99993989e-01 -8.16493147e-05 -1.66788307e+00] [-9.39169549e-04 7.83943872e-05 9.99999556e-01 -9.60122585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499928850999996 meters 0.08285630988161453 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.67, Z:-0.96 [[ 9.99994189e-01 2.94186671e-03 1.72233884e-03 1.88730898e+01] [-2.94161536e-03 9.99995662e-01 -1.48452629e-04 -1.67221381e+00] [-1.72276809e-03 1.43385308e-04 9.99998506e-01 -9.60860942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.529928850999998 meters 0.08385438956290037 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.68, Z:-0.96 [[ 9.99994933e-01 2.39767462e-03 2.09388260e-03 1.89023933e+01] [-2.39730225e-03 9.99997110e-01 -1.80328035e-04 -1.67706845e+00] [-2.09430892e-03 1.75307452e-04 9.99997792e-01 -9.62389121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559928850999995 meters 0.08394486916444514 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.68, Z:-0.96 [[ 9.99993933e-01 2.39012201e-03 2.53383351e-03 1.89327042e+01] [-2.38957815e-03 9.99997121e-01 -2.17643762e-04 -1.68044244e+00] [-2.53434641e-03 2.11587648e-04 9.99996766e-01 -9.63030239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.589928850999996 meters 0.08519604453402661 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.69, Z:-0.96 [[ 9.99992431e-01 2.08555184e-03 3.28461265e-03 1.89631065e+01] [-2.08463768e-03 9.99997787e-01 -2.81712715e-04 -1.68640199e+00] [-3.28519291e-03 2.74863355e-04 9.99994566e-01 -9.64227843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619928850999997 meters 0.08507407979545309 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.69, Z:-0.97 [[ 9.99996736e-01 1.71195983e-03 1.89638410e-03 1.89944423e+01] [-1.71165558e-03 9.99998522e-01 -1.62044504e-04 -1.68872470e+00] [-1.89665871e-03 1.58798018e-04 9.99998189e-01 -9.65210047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.649928850999995 meters 0.08499542336982185 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.69, Z:-0.97 [[ 9.99998071e-01 1.15335804e-03 1.59005076e-03 1.90246668e+01] [-1.15314220e-03 9.99999326e-01 -1.36655429e-04 -1.69156208e+00] [-1.59020730e-03 1.34821611e-04 9.99998727e-01 -9.66525415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679928850999996 meters 0.08732221042042705 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.70, Z:-0.97 [[ 9.99996558e-01 1.19522417e-03 2.33584199e-03 1.90544218e+01] [-1.19475949e-03 9.99999266e-01 -2.00318004e-04 -1.70000161e+00] [-2.33607971e-03 1.97526545e-04 9.99997252e-01 -9.67584013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.709928850999997 meters 0.08732221042042705 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.70, Z:-0.97 [[ 9.99996519e-01 1.22686266e-03 2.33587373e-03 1.90852612e+01] [-1.22639893e-03 9.99999228e-01 -1.99948930e-04 -1.70268967e+00] [-2.33611724e-03 1.97083521e-04 9.99997252e-01 -9.68479375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739928850999995 meters 0.0881883739824668 Centerline is valid? [True, True] Translation: X:19.12, Y:-1.71, Z:-0.97 [[ 9.99992582e-01 1.49752789e-03 3.54873327e-03 1.91150601e+01] [-1.49646220e-03 9.99998834e-01 -3.02938501e-04 -1.70716253e+00] [-3.54918279e-03 2.97625709e-04 9.99993657e-01 -9.69418021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.769928850999996 meters 0.08898361534477062 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.71, Z:-0.97 [[ 9.99988406e-01 1.48335866e-03 4.58122582e-03 1.91458859e+01] [-1.48157096e-03 9.99998825e-01 -3.93593625e-04 -1.71165535e+00] [-4.58180428e-03 3.86801651e-04 9.99989429e-01 -9.70184601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799928850999997 meters 0.08952795072547529 Centerline is valid? [True, True] Translation: X:19.18, Y:-1.72, Z:-0.97 [[ 9.99985480e-01 1.63755528e-03 5.13393936e-03 1.91769777e+01] [-1.63533178e-03 9.99998567e-01 -4.37268035e-04 -1.71614177e+00] [-5.13464806e-03 4.28865992e-04 9.99986726e-01 -9.71460475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.829928850999995 meters 0.08919377706311461 Centerline is valid? [True, True] Translation: X:19.21, Y:-1.72, Z:-0.97 [[ 9.99983082e-01 1.57909667e-03 5.59837513e-03 1.92095407e+01] [-1.57644434e-03 9.99998643e-01 -4.78149698e-04 -1.71944368e+00] [-5.59912257e-03 4.69316082e-04 9.99984215e-01 -9.71601872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859928850999996 meters 0.0850030086150267 Centerline is valid? [True, True] Translation: X:19.24, Y:-1.72, Z:-0.97 [[ 9.99978361e-01 1.99183049e-03 6.26980010e-03 1.92418390e+01] [-1.98849987e-03 9.99997879e-01 -5.37404445e-04 -1.71623293e+00] [-6.27085722e-03 5.24925320e-04 9.99980200e-01 -9.71010715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.889928850999997 meters 0.08423089891236256 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.72, Z:-0.97 [[ 9.99980586e-01 2.30027354e-03 5.79105058e-03 1.92736660e+01] [-2.29743286e-03 9.99997237e-01 -4.97133237e-04 -1.71772849e+00] [-5.79217812e-03 4.83819035e-04 9.99983108e-01 -9.72018275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919928850999995 meters 0.08228202712881591 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.72, Z:-0.97 [[ 9.99985318e-01 1.58481156e-03 5.18195194e-03 1.93055371e+01] [-1.58250079e-03 9.99998647e-01 -4.49996522e-04 -1.71646680e+00] [-5.18265808e-03 4.41789472e-04 9.99986472e-01 -9.71969556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.949928850999996 meters 0.08447236125386862 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.72, Z:-0.97 [[ 9.99984877e-01 1.14312159e-03 5.37952573e-03 1.93363214e+01] [-1.14064721e-03 9.99999242e-01 -4.63009442e-04 -1.72402991e+00] [-5.38005093e-03 4.56866299e-04 9.99985423e-01 -9.74175671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979928850999997 meters 0.08826215050574993 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.74, Z:-0.98 [[ 9.99984507e-01 -1.43200745e-03 5.37913101e-03 1.93650716e+01] [ 1.43455416e-03 9.99998861e-01 -4.69614510e-04 -1.73595755e+00] [-5.37845239e-03 4.77323889e-04 9.99985422e-01 -9.76584605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009928850999994 meters 0.08946522065027103 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.74, Z:-0.98 [[ 9.99977331e-01 -2.29325546e-03 6.33078110e-03 1.93960208e+01] [ 2.29676764e-03 9.99997213e-01 -5.47563502e-04 -1.74250476e+00] [-6.32950775e-03 5.62091422e-04 9.99979810e-01 -9.77571914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039928850999996 meters 0.09816326488978842 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.76, Z:-0.98 [[ 9.99962602e-01 -3.24912318e-03 8.01490607e-03 1.94257200e+01] [ 3.25483632e-03 9.99994458e-01 -6.99872875e-04 -1.76205181e+00] [-8.01258768e-03 7.25933908e-04 9.99967635e-01 -9.81210025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.069928850999997 meters 0.08774352043190257 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.75, Z:-0.98 [[ 9.99959530e-01 -3.93205123e-03 8.09181191e-03 1.94590305e+01] [ 3.93788935e-03 9.99991997e-01 -7.05678816e-04 -1.74698237e+00] [-8.08897239e-03 7.37514917e-04 9.99967012e-01 -9.77469709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099928850999998 meters 0.09036686927847144 Centerline is valid? [True, True] Translation: X:19.49, Y:-1.76, Z:-0.98 [[ 9.99941438e-01 -5.71837105e-03 9.18809790e-03 1.94887166e+01] [ 5.72599898e-03 9.99983283e-01 -8.04105915e-04 -1.75563301e+00] [-9.18334612e-03 8.56669864e-04 9.99957465e-01 -9.78601876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.129928850999995 meters 0.08553504548059 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.75, Z:-0.98 [[ 9.99946064e-01 -6.24753291e-03 8.29685494e-03 1.95210975e+01] [ 6.25376013e-03 9.99980182e-01 -7.24820377e-04 -1.74945381e+00] [-8.29216218e-03 7.76667824e-04 9.99965318e-01 -9.77441259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159928850999997 meters 0.08629153296694647 Centerline is valid? [True, True] Translation: X:19.55, Y:-1.75, Z:-0.98 [[ 9.99949047e-01 -6.49508279e-03 7.72767063e-03 1.95532053e+01] [ 6.50050510e-03 9.99978642e-01 -6.76763514e-04 -1.75462765e+00] [-7.72310996e-03 7.26962793e-04 9.99969912e-01 -9.79625369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.189928850999998 meters 0.092868050397136 Centerline is valid? [True, True] Translation: X:19.58, Y:-1.77, Z:-0.98 [[ 9.99940608e-01 -7.64986144e-03 7.76270768e-03 1.95814795e+01] [ 7.65536903e-03 9.99970466e-01 -6.80027100e-04 -1.77174312e+00] [-7.75727631e-03 7.39413104e-04 9.99969639e-01 -9.84281043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219928850999995 meters 0.08811332313165252 Centerline is valid? [True, True] Translation: X:19.61, Y:-1.77, Z:-0.98 [[ 9.99938432e-01 -8.20304306e-03 7.47277297e-03 1.96139761e+01] [ 8.20816892e-03 9.99966098e-01 -6.55526474e-04 -1.76669075e+00] [-7.46714231e-03 7.16823898e-04 9.99971864e-01 -9.83706729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.249928850999996 meters 0.08965756996515141 Centerline is valid? [True, True] Translation: X:19.64, Y:-1.77, Z:-0.98 [[ 9.99923739e-01 -8.90869516e-03 8.55285137e-03 1.96448845e+01] [ 8.91544572e-03 9.99959974e-01 -7.51473569e-04 -1.77306881e+00] [-8.54581439e-03 8.27668743e-04 9.99963141e-01 -9.84009998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279928850999998 meters 0.09048979586778269 Centerline is valid? [True, True] Translation: X:19.68, Y:-1.78, Z:-0.98 [[ 9.99913623e-01 -8.93967202e-03 9.63480549e-03 1.96753096e+01] [ 8.94824645e-03 9.99959605e-01 -8.47201505e-04 -1.77777865e+00] [-9.62684259e-03 9.33342940e-04 9.99953225e-01 -9.84691010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.309928850999995 meters 0.09273595034146416 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.78, Z:-0.99 [[ 9.99899052e-01 -8.46475009e-03 1.14119666e-02 1.97049202e+01] [ 8.47676499e-03 9.99963567e-01 -1.00487349e-03 -1.78428552e+00] [-1.14030448e-02 1.10150861e-03 9.99934376e-01 -9.85051921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339928850999996 meters 0.09240967337853227 Centerline is valid? [True, True] Translation: X:19.74, Y:-1.79, Z:-0.99 [[ 9.99893825e-01 -8.19655531e-03 1.20480460e-02 1.97367727e+01] [ 8.20992068e-03 9.99965736e-01 -1.06029819e-03 -1.78679538e+00] [-1.20389424e-02 1.15909912e-03 9.99926858e-01 -9.85736122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.369928850999997 meters 0.09143709756578867 Centerline is valid? [True, True] Translation: X:19.77, Y:-1.79, Z:-0.99 [[ 9.99903632e-01 -8.12403055e-03 1.12573195e-02 1.97689204e+01] [ 8.13570121e-03 9.99966413e-01 -9.91309980e-04 -1.78865427e+00] [-1.12488880e-02 1.08280064e-03 9.99936143e-01 -9.87370611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399928850999995 meters 0.09330132149786285 Centerline is valid? [True, True] Translation: X:19.80, Y:-1.80, Z:-0.99 [[ 9.99911898e-01 -8.49769819e-03 1.01973262e-02 1.97995735e+01] [ 8.50730172e-03 9.99963408e-01 -8.98761942e-04 -1.79501655e+00] [-1.01893157e-02 9.85434490e-04 9.99947602e-01 -9.89809145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.429928850999996 meters 0.09449000836024689 Centerline is valid? [True, True] Translation: X:19.83, Y:-1.80, Z:-0.99 [[ 9.99926412e-01 -8.67301730e-03 8.48227492e-03 1.98305952e+01] [ 8.67966983e-03 9.99962051e-01 -7.47787451e-04 -1.80094965e+00] [-8.47546746e-03 8.21355769e-04 9.99963745e-01 -9.92266198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459928850999997 meters 0.08997601639110749 Centerline is valid? [True, True] Translation: X:19.86, Y:-1.80, Z:-0.99 [[ 9.99923331e-01 -8.67357535e-03 8.83748982e-03 1.98647001e+01] [ 8.68079186e-03 9.99962018e-01 -7.78546244e-04 -1.79586565e+00] [-8.83040138e-03 8.55202964e-04 9.99960646e-01 -9.91508760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.489928850999995 meters 0.09441398041885977 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.81, Z:-0.99 [[ 9.99918279e-01 -8.82586343e-03 9.24879582e-03 1.98952561e+01] [ 8.83379261e-03 9.99960648e-01 -8.16818007e-04 -1.80689858e+00] [-9.24122273e-03 8.98453200e-04 9.99956895e-01 -9.93186477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519928850999996 meters 0.09072979884037846 Centerline is valid? [True, True] Translation: X:19.93, Y:-1.80, Z:-0.99 [[ 9.99901894e-01 -8.52794188e-03 1.11120378e-02 1.99285301e+01] [ 8.53937241e-03 9.99963057e-01 -9.81620395e-04 -1.80338849e+00] [-1.11032561e-02 1.07641392e-03 9.99937778e-01 -9.91122681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.549928850999997 meters 0.09638363830406851 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.82, Z:-0.99 [[ 9.99894962e-01 -8.38931598e-03 1.18188195e-02 1.99584293e+01] [ 8.40225724e-03 9.99964154e-01 -1.04574138e-03 -1.81692780e+00] [-1.18096228e-02 1.14493630e-03 9.99929608e-01 -9.93116388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579928850999995 meters 0.08704562430558044 Centerline is valid? [True, True] Translation: X:19.99, Y:-1.80, Z:-0.99 [[ 9.99890898e-01 -7.99307696e-03 1.24218523e-02 1.99920062e+01] [ 8.00734698e-03 9.99967336e-01 -1.09947302e-03 -1.80309504e+00] [-1.24126584e-02 1.19881915e-03 9.99922241e-01 -9.91840810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.609928850999996 meters 0.09359123609285425 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.82, Z:-1.00 [[ 9.99898697e-01 -7.79063646e-03 1.19122341e-02 2.00222822e+01] [ 7.80375746e-03 9.99968993e-01 -1.05538715e-03 -1.81825331e+00] [-1.19036426e-02 1.14824042e-03 9.99928490e-01 -9.95911882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639928850999997 meters 0.0865549068749794 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.81, Z:-1.00 [[ 9.99906563e-01 -7.22158498e-03 1.16066318e-02 2.00553495e+01] [ 7.23400630e-03 9.99973305e-01 -1.02856482e-03 -1.80815743e+00] [-1.15988940e-02 1.11243116e-03 9.99932112e-01 -9.95620886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.669928850999995 meters 0.10213930174416584 Centerline is valid? [True, False] Translation: X:20.06, Y:-1.81, Z:-1.00 [[ 9.99910037e-01 -6.91472726e-03 1.14936662e-02 2.00560342e+01] [ 6.92292036e-03 9.99975810e-01 -6.73202572e-04 -1.80842413e+00] [-1.14887332e-02 7.52711745e-04 9.99933719e-01 -9.96293179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699928850999996 meters 0.0893692409118516 Centerline is valid? [False, True] Translation: X:20.06, Y:-1.81, Z:-1.00 [[ 9.99912680e-01 -6.67159349e-03 1.14070903e-02 2.00565780e+01] [ 6.67622584e-03 9.99977646e-01 -3.68062009e-04 -1.80862579e+00] [-1.14043797e-02 4.44186180e-04 9.99934869e-01 -9.96841574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.729928850999997 meters 0.08828297664864376 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.81, Z:-1.00 [[ 9.99912519e-01 -6.96476512e-03 1.12448088e-02 2.00891766e+01] [ 6.97648619e-03 9.99975161e-01 -1.00346467e-03 -1.80920998e+00] [-1.12375406e-02 1.08182613e-03 9.99936272e-01 -9.97056020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759928850999994 meters 0.09019417054526276 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.82, Z:-1.00 [[ 9.99903053e-01 -8.33105394e-03 1.11569695e-02 2.01191564e+01] [ 8.34269458e-03 9.99964702e-01 -9.97216996e-04 -1.81653290e+00] [-1.11482678e-02 1.09019951e-03 9.99937262e-01 -9.98569434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.789928850999996 meters 0.09001816562818582 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.82, Z:-1.00 [[ 9.99888286e-01 -8.65907182e-03 1.21834575e-02 2.01515263e+01] [ 8.67297045e-03 9.99961797e-01 -1.08840565e-03 -1.81972104e+00] [-1.21735674e-02 1.19395083e-03 9.99925187e-01 -9.99549164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819928850999997 meters 0.08844100830129864 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.82, Z:-1.00 [[ 9.99889173e-01 -8.36627473e-03 1.23144763e-02 2.01842492e+01] [ 8.38046211e-03 9.99964277e-01 -1.10093729e-03 -1.81997262e+00] [-1.23048256e-02 1.20401628e-03 9.99923568e-01 -9.99354447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.849928850999994 meters 0.10818188079804125 Centerline is valid? [True, False] Translation: X:20.18, Y:-1.82, Z:-1.00 [[ 9.99892963e-01 -8.19307437e-03 1.21216813e-02 2.01849612e+01] [ 8.20662043e-03 9.99965755e-01 -1.06818722e-03 -1.81943883e+00] [-1.21125144e-02 1.16755092e-03 9.99925959e-01 -9.99810349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879928850999995 meters 0.09446090448625956 Centerline is valid? [False, True] Translation: X:20.19, Y:-1.82, Z:-1.00 [[ 9.99897405e-01 -7.87908312e-03 1.19623900e-02 2.01857284e+01] [ 7.88817080e-03 9.99968634e-01 -7.12694477e-04 -1.81968214e+00] [-1.19563994e-02 8.06982734e-04 9.99928194e-01 -1.00048624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.909928850999997 meters 0.0921756458581445 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.82, Z:-1.00 [[ 9.99902341e-01 -7.61450132e-03 1.17186966e-02 2.02181377e+01] [ 7.62721730e-03 9.99970371e-01 -1.04079180e-03 -1.81824752e+00] [-1.17104243e-02 1.13007120e-03 9.99930792e-01 -1.00107003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939928850999998 meters 0.08832070136462741 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.81, Z:-1.00 [[ 9.99909858e-01 -7.04635863e-03 1.14290992e-02 2.02511154e+01] [ 7.05842449e-03 9.99974573e-01 -1.01571965e-03 -1.81477858e+00] [-1.14216514e-02 1.09629952e-03 9.99934170e-01 -1.00159339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.969928850999995 meters 0.0861252864449936 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.81, Z:-1.00 [[ 9.99904446e-01 -6.97926095e-03 1.19326858e-02 2.02836486e+01] [ 6.99241904e-03 9.99974990e-01 -1.06132773e-03 -1.81363175e+00] [-1.19249800e-02 1.14466465e-03 9.99928240e-01 -1.00158209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999928850999996 meters 0.08721551844958325 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.82, Z:-1.00 [[ 9.99904842e-01 -7.13578577e-03 1.18062074e-02 2.03147736e+01] [ 7.14868981e-03 9.99973895e-01 -1.05114780e-03 -1.81862947e+00] [-1.17983984e-02 1.13544669e-03 9.99929752e-01 -1.00312544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.029928850999998 meters 0.08692201490556066 Centerline is valid? [True, True] Translation: X:20.35, Y:-1.82, Z:-1.00 [[ 9.99907052e-01 -6.68405924e-03 1.18832182e-02 2.03468619e+01] [ 6.69710482e-03 9.99977014e-01 -1.05836128e-03 -1.82061887e+00] [-1.18758709e-02 1.13784607e-03 9.99928832e-01 -1.00310534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059928850999995 meters 0.08652348189558502 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.82, Z:-1.00 [[ 9.99899907e-01 -5.70923306e-03 1.29452966e-02 2.03785659e+01] [ 5.72465082e-03 9.99982948e-01 -1.15425029e-03 -1.82240530e+00] [-1.29384860e-02 1.22824206e-03 9.99915540e-01 -1.00287024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.089928850999996 meters 0.08538288842250134 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.82, Z:-1.00 [[ 9.99904674e-01 -4.85632457e-03 1.29250985e-02 2.04109548e+01] [ 4.87162878e-03 9.99987469e-01 -1.15284837e-03 -1.82305388e+00] [-1.29193380e-02 1.21570476e-03 9.99915803e-01 -1.00341439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119928850999997 meters 0.08552717548053244 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.83, Z:-1.01 [[ 9.99909247e-01 -4.18669414e-03 1.28050582e-02 2.04423111e+01] [ 4.20167520e-03 9.99990519e-01 -1.14325382e-03 -1.82585116e+00] [-1.28001504e-02 1.19695276e-03 9.99917358e-01 -1.00567427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.149928850999995 meters 0.09149539551922922 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.84, Z:-1.01 [[ 9.99912120e-01 -4.35912318e-03 1.25199920e-02 2.04721746e+01] [ 4.37346584e-03 9.99989811e-01 -1.11843021e-03 -1.84090524e+00] [-1.25149891e-02 1.17308768e-03 9.99920996e-01 -1.00826946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179928850999996 meters 0.08697210157547776 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.84, Z:-1.01 [[ 9.99909535e-01 -5.21455553e-03 1.23987628e-02 2.05052777e+01] [ 5.22869128e-03 9.99985717e-01 -1.10795162e-03 -1.83586994e+00] [-1.23928082e-02 1.17268069e-03 9.99922519e-01 -1.00850627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.209928850999997 meters 0.08803816535839946 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.84, Z:-1.01 [[ 9.99899418e-01 -5.54717722e-03 1.30530476e-02 2.05368984e+01] [ 5.56288517e-03 9.99983846e-01 -1.16739246e-03 -1.84188276e+00] [-1.30463610e-02 1.23988764e-03 9.99914124e-01 -1.00942837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239928850999995 meters 0.08929062523465127 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.85, Z:-1.01 [[ 9.99893723e-01 -7.84719476e-03 1.22867693e-02 2.05675375e+01] [ 7.86130190e-03 9.99968494e-01 -1.10028040e-03 -1.84807829e+00] [-1.22777481e-02 1.19675347e-03 9.99923909e-01 -1.01130841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.269928850999996 meters 0.08778472345392632 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.85, Z:-1.01 [[ 9.99883427e-01 -9.20651795e-03 1.21808283e-02 2.05991601e+01] [ 9.22048317e-03 9.99956895e-01 -1.09082925e-03 -1.84853159e+00] [-1.21702605e-02 1.20301521e-03 9.99925216e-01 -1.01169025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299928850999997 meters 0.08860932404098397 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.85, Z:-1.01 [[ 9.99883423e-01 -9.55743492e-03 1.19077818e-02 2.06306790e+01] [ 9.57080384e-03 9.99953630e-01 -1.06622360e-03 -1.85356393e+00] [-1.18970393e-02 1.18006635e-03 9.99928531e-01 -1.01227323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.329928850999995 meters 0.09261479884217028 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.86, Z:-1.01 [[ 9.99877041e-01 -1.04427632e-02 1.16983449e-02 2.06608655e+01] [ 1.04557380e-02 9.99944788e-01 -1.04850178e-03 -1.86408436e+00] [-1.16867498e-02 1.17068769e-03 9.99931022e-01 -1.01384433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359928850999996 meters 0.09045920493849291 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.86, Z:-1.01 [[ 9.99859945e-01 -1.09427837e-02 1.26628023e-02 2.06934619e+01] [ 1.09580324e-02 9.99939314e-01 -1.13545370e-03 -1.86434388e+00] [-1.26496088e-02 1.27405407e-03 9.99919179e-01 -1.01477753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389928850999997 meters 0.08926006843196337 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.87, Z:-1.02 [[ 9.99864233e-01 -1.06830667e-02 1.25454085e-02 2.07256625e+01] [ 1.06980238e-02 9.99942141e-01 -1.12573024e-03 -1.86648393e+00] [-1.25326564e-02 1.25978848e-03 9.99920670e-01 -1.01590192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419928850999995 meters 0.09089348778353579 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.87, Z:-1.02 [[ 9.99871472e-01 -1.08651505e-02 1.17892820e-02 2.07566789e+01] [ 1.08783826e-02 9.99940268e-01 -1.05883712e-03 -1.87338971e+00] [-1.17770733e-02 1.18694935e-03 9.99929943e-01 -1.01693370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449928850999996 meters 0.09058062525220771 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.88, Z:-1.02 [[ 9.99878187e-01 -1.04911173e-02 1.15563097e-02 2.07888445e+01] [ 1.05038102e-02 9.99944295e-01 -1.03820030e-03 -1.87650030e+00] [-1.15447740e-02 1.15945912e-03 9.99932685e-01 -1.01713091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479928850999997 meters 0.09060087380772838 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.88, Z:-1.02 [[ 9.99885642e-01 -9.63929598e-03 1.16527875e-02 2.08214770e+01] [ 9.65214348e-03 9.99952869e-01 -1.04678881e-03 -1.87982901e+00] [-1.16421480e-02 1.15914348e-03 9.99931556e-01 -1.01843518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509928850999994 meters 0.09312857360344824 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.89, Z:-1.02 [[ 9.99875394e-01 -9.20516024e-03 1.28242531e-02 2.08521421e+01] [ 9.22072347e-03 9.99956821e-01 -1.15497900e-03 -1.88781465e+00] [-1.28130676e-02 1.27308397e-03 9.99917099e-01 -1.02032253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539928850999996 meters 0.09296891956353315 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.89, Z:-1.02 [[ 9.99887683e-01 -7.98626760e-03 1.26822839e-02 2.08835288e+01] [ 8.00139885e-03 9.99967335e-01 -1.14280859e-03 -1.89225922e+00] [-1.26727429e-02 1.24415625e-03 9.99918924e-01 -1.02158296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.569928850999997 meters 0.09329908449380621 Centerline is valid? [True, True] Translation: X:20.92, Y:-1.90, Z:-1.02 [[ 9.99892184e-01 -7.65580266e-03 1.25303075e-02 2.09153337e+01] [ 7.67055200e-03 9.99969943e-01 -1.12945712e-03 -1.89596268e+00] [-1.25212840e-02 1.22544972e-03 9.99920855e-01 -1.02241134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599928850999994 meters 0.09329908449380621 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.90, Z:-1.02 [[ 9.99892914e-01 -7.55995517e-03 1.25302801e-02 2.09478789e+01] [ 7.57470084e-03 9.99970673e-01 -1.12976200e-03 -1.89900949e+00] [-1.25213716e-02 1.22455414e-03 9.99920855e-01 -1.02332199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.629928850999995 meters 0.09295136345274402 Centerline is valid? [True, True] Translation: X:20.98, Y:-1.90, Z:-1.02 [[ 9.99898449e-01 -6.62961746e-03 1.26150879e-02 2.09783499e+01] [ 6.64452110e-03 9.99977275e-01 -1.13986825e-03 -1.90159983e+00] [-1.26072443e-02 1.22357371e-03 9.99919777e-01 -1.02465789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659928850999997 meters 0.08810766069262073 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.90, Z:-1.02 [[ 9.99905484e-01 -5.42990134e-03 1.26309147e-02 2.10105162e+01] [ 5.44474680e-03 9.99984526e-01 -1.14123723e-03 -1.89590420e+00] [-1.26245225e-02 1.20990150e-03 9.99919576e-01 -1.02467324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.689928850999998 meters 0.08729691775302334 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.90, Z:-1.03 [[ 9.99913523e-01 -4.76582854e-03 1.22569418e-02 2.10429352e+01] [ 4.77975670e-03 9.99987964e-01 -1.10730539e-03 -1.89764871e+00] [-1.22515170e-02 1.16579483e-03 9.99924268e-01 -1.02519081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719928850999995 meters 0.08650321264725126 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.90, Z:-1.03 [[ 9.99925153e-01 -2.49540275e-03 1.19775740e-02 2.10732596e+01] [ 2.50856350e-03 9.99996266e-01 -1.08388451e-03 -1.90000930e+00] [-1.19748246e-02 1.11384988e-03 9.99927679e-01 -1.02771774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.749928850999996 meters 0.08341517255631758 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.90, Z:-1.03 [[ 9.99934066e-01 -2.13991531e-03 1.12820537e-02 2.11061639e+01] [ 2.15155667e-03 9.99997165e-01 -1.01981141e-03 -1.89636080e+00] [-1.12798394e-02 1.04401814e-03 9.99935836e-01 -1.02719996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779928850999998 meters 0.08411526527604453 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.90, Z:-1.03 [[ 9.99947866e-01 -4.24333579e-04 1.02021733e-02 2.11367668e+01] [ 4.33775870e-04 9.99999480e-01 -9.23322638e-04 -1.90114963e+00] [-1.02017762e-02 9.27699958e-04 9.99947530e-01 -1.02901549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.809928850999995 meters 0.0846178482973857 Centerline is valid? [True, True] Translation: X:21.17, Y:-1.91, Z:-1.03 [[ 9.99937970e-01 5.79398835e-04 1.11229981e-02 2.11670814e+01] [-5.68228194e-04 9.99999331e-01 -1.00741734e-03 -1.90529383e+00] [-1.11235743e-02 1.00103445e-03 9.99937630e-01 -1.03002884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839928850999996 meters 0.08438242968068795 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.91, Z:-1.03 [[ 9.99938180e-01 2.32986320e-03 1.08723701e-02 2.11972354e+01] [-2.31928796e-03 9.99996825e-01 -9.85177890e-04 -1.90778793e+00] [-1.08746309e-02 9.59900829e-04 9.99940409e-01 -1.03034821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869928850999997 meters 0.08296429293379579 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.91, Z:-1.03 [[ 9.99923837e-01 4.19399020e-03 1.16073634e-02 2.12277247e+01] [-4.18206136e-03 9.99990702e-01 -1.05177783e-03 -1.90716349e+00] [-1.16116667e-02 1.00315502e-03 9.99932079e-01 -1.03061901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899928850999995 meters 0.0825910629644144 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.91, Z:-1.03 [[ 9.99899956e-01 8.08999749e-03 1.16029716e-02 2.12573445e+01] [-8.07833478e-03 9.99966817e-01 -1.05166507e-03 -1.90827794e+00] [-1.16110945e-02 9.57827165e-04 9.99932130e-01 -1.03112362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929928850999996 meters 0.08101355844582851 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.91, Z:-1.03 [[ 9.99898297e-01 9.81564923e-03 1.03464314e-02 2.12894147e+01] [-9.80648133e-03 9.99951477e-01 -9.36455076e-04 -1.90672585e+00] [-1.03551213e-02 8.34897749e-04 9.99946036e-01 -1.03158207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959928850999997 meters 0.08116937745929331 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.91, Z:-1.03 [[ 9.99890004e-01 1.12259619e-02 9.69316984e-03 2.13202360e+01] [-1.12179741e-02 9.99936691e-01 -8.78040052e-04 -1.90976958e+00] [-9.70241302e-03 7.69205742e-04 9.99952635e-01 -1.03261656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.989928850999995 meters 0.08149762488812294 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.91, Z:-1.03 [[ 9.99885515e-01 1.25090593e-02 8.51357223e-03 2.13494419e+01] [-1.25029426e-02 9.99921538e-01 -7.71309279e-04 -1.91304300e+00] [-8.52255259e-03 6.64776270e-04 9.99963461e-01 -1.03480422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019928850999996 meters 0.0808634490498739 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.92, Z:-1.04 [[ 9.99868077e-01 1.37138996e-02 8.70385216e-03 2.13792861e+01] [-1.37075372e-02 9.99905735e-01 -7.90218306e-04 -1.91579952e+00] [-8.71386866e-03 6.70805680e-04 9.99961809e-01 -1.03604125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.049928850999997 meters 0.08198403800847133 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.92, Z:-1.04 [[ 9.99862776e-01 1.40943226e-02 8.70508092e-03 2.14079577e+01] [-1.40879755e-02 9.99900447e-01 -7.90026848e-04 -1.92153575e+00] [-8.71534920e-03 6.67281471e-04 9.99961798e-01 -1.03762989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079928850999995 meters 0.08162673362116593 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.92, Z:-1.04 [[ 9.99828199e-01 1.58119780e-02 9.67237174e-03 2.14374098e+01] [-1.58042259e-02 9.99874720e-01 -8.77383532e-04 -1.92289205e+00] [-9.68503316e-03 7.24368448e-04 9.99952837e-01 -1.03794179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.109928850999996 meters 0.07920588576686402 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.92, Z:-1.04 [[ 9.99805878e-01 1.72904812e-02 9.44699954e-03 2.14681062e+01] [-1.72831573e-02 9.99850268e-01 -8.56365885e-04 -1.91912934e+00] [-9.46039200e-03 6.92925667e-04 9.99955009e-01 -1.03723762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139928850999997 meters 0.079712764205978 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.92, Z:-1.04 [[ 9.99767363e-01 1.93707428e-02 9.48650294e-03 2.14970360e+01] [-1.93634492e-02 9.99812141e-01 -8.60087238e-04 -1.92235592e+00] [-9.50138135e-03 6.76195732e-04 9.99954632e-01 -1.03882310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.169928850999995 meters 0.07847301583120381 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.92, Z:-1.04 [[ 9.99733202e-01 2.13198165e-02 8.88764666e-03 2.15267628e+01] [-2.13134935e-02 9.99772517e-01 -8.05556257e-04 -1.92124017e+00] [-8.90279919e-03 6.15914537e-04 9.99960180e-01 -1.03982441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199928850999996 meters 0.07818298414221794 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.92, Z:-1.04 [[ 9.99692837e-01 2.33875687e-02 8.20082891e-03 2.15562472e+01] [-2.33822561e-02 9.99726322e-01 -7.43099555e-04 -1.92295729e+00] [-8.21596381e-03 5.51117420e-04 9.99966097e-01 -1.04105290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.229928850999997 meters 0.08118869398505871 Centerline is valid? [True, True] Translation: X:21.58, Y:-1.93, Z:-1.05 [[ 9.99635416e-01 2.59036894e-02 7.61803652e-03 2.15839803e+01] [-2.58991768e-02 9.99664322e-01 -6.90430184e-04 -1.93132556e+00] [-7.63336400e-03 4.92877589e-04 9.99970744e-01 -1.04541002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259928850999994 meters 0.07676279263895604 Centerline is valid? [True, True] Translation: X:21.61, Y:-1.92, Z:-1.04 [[ 9.99613068e-01 2.67865657e-02 7.49634228e-03 2.16135640e+01] [-2.67822208e-02 9.99641061e-01 -6.79411456e-04 -1.92207519e+00] [-7.51185065e-03 4.78379876e-04 9.99971671e-01 -1.04230635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.289928850999996 meters 0.07768106575958378 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.93, Z:-1.04 [[ 9.99588419e-01 2.74495638e-02 8.33748860e-03 2.16412210e+01] [-2.74442141e-02 9.99623051e-01 -7.55399074e-04 -1.92609953e+00] [-8.35508117e-03 5.26272344e-04 9.99964957e-01 -1.04364029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319928850999997 meters 0.07738794183540863 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.93, Z:-1.04 [[ 9.99563552e-01 2.82518997e-02 8.63338644e-03 2.16696322e+01] [-2.82462059e-02 9.99600691e-01 -7.80760307e-04 -1.92779004e+00] [-8.65199702e-03 5.36559135e-04 9.99962427e-01 -1.04442686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.349928850999994 meters 0.0767500696182769 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.93, Z:-1.05 [[ 9.99553605e-01 2.85657521e-02 8.75152381e-03 2.16986985e+01] [-2.85599185e-02 9.99591769e-01 -7.90857390e-04 -1.92808562e+00] [-8.77054261e-03 5.40561548e-04 9.99961392e-01 -1.04500653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379928850999995 meters 0.07717550396411378 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.93, Z:-1.05 [[ 9.99565282e-01 2.82887557e-02 8.30626446e-03 2.17275358e+01] [-2.82834949e-02 9.99599660e-01 -7.50159924e-04 -1.93079492e+00] [-8.32416022e-03 5.14903628e-04 9.99965221e-01 -1.04676827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.409928850999997 meters 0.0765123828996302 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.93, Z:-1.05 [[ 9.99571765e-01 2.81758014e-02 7.90005697e-03 2.17568078e+01] [-2.81710423e-02 9.99602863e-01 -7.13065720e-04 -1.93087544e+00] [-7.91701077e-03 4.90207521e-04 9.99968540e-01 -1.04768174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439928850999994 meters 0.0767389659463707 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.93, Z:-1.05 [[ 9.99595018e-01 2.77035733e-02 6.50476931e-03 2.17851249e+01] [-2.77003376e-02 9.99616100e-01 -5.87012791e-04 -1.93311403e+00] [-6.51853448e-03 4.06590756e-04 9.99978671e-01 -1.04901512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469928850999995 meters 0.07632499857792914 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.93, Z:-1.05 [[ 9.99607958e-01 2.72353073e-02 6.49376430e-03 2.18136993e+01] [-2.72320754e-02 9.99628967e-01 -5.85611808e-04 -1.93368705e+00] [-6.50730421e-03 4.08543545e-04 9.99978744e-01 -1.05008259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499928850999996 meters 0.07650411327449445 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.94, Z:-1.05 [[ 9.99634875e-01 2.62316251e-02 6.48220152e-03 2.18420358e+01] [-2.62283842e-02 9.99655806e-01 -5.84498447e-04 -1.93548722e+00] [-6.49530273e-03 4.14267360e-04 9.99978819e-01 -1.05081292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.529928850999998 meters 0.07729493235056492 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.94, Z:-1.05 [[ 9.99648774e-01 2.56634702e-02 6.61175052e-03 2.18696623e+01] [-2.56600901e-02 9.99670548e-01 -5.95557787e-04 -1.93986105e+00] [-6.62485634e-03 4.25690498e-04 9.99977965e-01 -1.05102134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559928850999995 meters 0.07700547346833499 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.94, Z:-1.05 [[ 9.99659857e-01 2.49883862e-02 7.46664639e-03 2.18980166e+01] [-2.49840637e-02 9.99687624e-01 -6.71641085e-04 -1.94081910e+00] [-7.48109722e-03 4.84865463e-04 9.99971899e-01 -1.05146220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.589928850999996 meters 0.07755188318573215 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.94, Z:-1.05 [[ 9.99672180e-01 2.43449440e-02 7.92814145e-03 2.19259187e+01] [-2.43400570e-02 9.99703483e-01 -7.12329226e-04 -1.94372688e+00] [-7.94313224e-03 5.19124295e-04 9.99968318e-01 -1.05239979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619928850999997 meters 0.0771725564689775 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.94, Z:-1.05 [[ 9.99672724e-01 2.41584322e-02 8.41512451e-03 2.19553129e+01] [-2.41529296e-02 9.99707990e-01 -7.54921512e-04 -1.94422593e+00] [-8.43090493e-03 5.51424535e-04 9.99964307e-01 -1.05188386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.649928850999995 meters 0.07709711065757766 Centerline is valid? [True, True] Translation: X:21.98, Y:-1.95, Z:-1.05 [[ 9.99681113e-01 2.39233896e-02 8.08348996e-03 2.19837605e+01] [-2.39183083e-02 9.99713654e-01 -7.24705764e-04 -1.94565597e+00] [-8.09851270e-03 5.31131260e-04 9.99967065e-01 -1.05257890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679928850999996 meters 0.07755145146847857 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.95, Z:-1.05 [[ 9.99687934e-01 2.36976054e-02 7.90299282e-03 2.20109117e+01] [-2.36927468e-02 9.99719037e-01 -7.07849158e-04 -1.94820392e+00] [-7.91754670e-03 5.20384654e-04 9.99968520e-01 -1.05481684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.709928850999997 meters 0.077628628227987 Centerline is valid? [True, True] Translation: X:22.04, Y:-1.95, Z:-1.06 [[ 9.99713546e-01 2.31566420e-02 6.04947004e-03 2.20396980e+01] [-2.31537840e-02 9.99731768e-01 -5.42055903e-04 -1.94867622e+00] [-6.06039958e-03 4.01832506e-04 9.99981555e-01 -1.05572265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739928850999995 meters 0.07756052257507731 Centerline is valid? [True, True] Translation: X:22.07, Y:-1.95, Z:-1.06 [[ 9.99708207e-01 2.33685514e-02 6.11647413e-03 2.20687115e+01] [-2.33656363e-02 9.99726836e-01 -5.47628807e-04 -1.95035597e+00] [-6.12760063e-03 4.04553703e-04 9.99981144e-01 -1.05682803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.769928850999996 meters 0.07861850537177247 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.95, Z:-1.06 [[ 9.99720637e-01 2.28219614e-02 6.14859896e-03 2.20964906e+01] [-2.28190058e-02 9.99739461e-01 -5.50432643e-04 -1.95426247e+00] [-6.15955896e-03 4.09973957e-04 9.99980946e-01 -1.05873079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799928850999997 meters 0.07782020608728378 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.95, Z:-1.06 [[ 9.99729055e-01 2.23571895e-02 6.47863465e-03 2.21253410e+01] [-2.23539048e-02 9.99749953e-01 -5.78976158e-04 -1.95378776e+00] [-6.48995896e-03 4.33996505e-04 9.99978846e-01 -1.05857430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.829928850999995 meters 0.07979028624127787 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.96, Z:-1.06 [[ 9.99745110e-01 2.09651199e-02 8.37727926e-03 2.21523101e+01] [-2.09595832e-02 9.99780044e-01 -7.48181585e-04 -1.95831099e+00] [-8.39112235e-03 5.72406599e-04 9.99964630e-01 -1.06037915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859928850999996 meters 0.07926541366817291 Centerline is valid? [True, True] Translation: X:22.18, Y:-1.96, Z:-1.06 [[ 9.99742741e-01 2.09339134e-02 8.73061524e-03 2.21810714e+01] [-2.09279128e-02 9.99780684e-01 -7.78111041e-04 -1.95800554e+00] [-8.74498938e-03 5.95197310e-04 9.99961585e-01 -1.05994496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889928850999997 meters 0.08008608402643261 Centerline is valid? [True, True] Translation: X:22.21, Y:-1.96, Z:-1.06 [[ 9.99730059e-01 2.11003924e-02 9.72533497e-03 2.22087752e+01] [-2.10929597e-02 9.99777144e-01 -8.66206131e-04 -1.96116602e+00] [-9.74144491e-03 6.60836208e-04 9.99952333e-01 -1.06134670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919928850999995 meters 0.07934759270782477 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.96, Z:-1.06 [[ 9.99757965e-01 2.03976943e-02 8.24284516e-03 2.22382956e+01] [-2.03923390e-02 9.99791786e-01 -7.33215701e-04 -1.95867302e+00] [-8.25608479e-03 5.64947345e-04 9.99965758e-01 -1.06251485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.949928850999996 meters 0.07974954182462625 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.96, Z:-1.06 [[ 9.99763454e-01 2.00215487e-02 8.49551020e-03 2.22674467e+01] [-2.00158480e-02 9.99799377e-01 -7.55538125e-04 -1.96009005e+00] [-8.50893285e-03 5.85314565e-04 9.99963627e-01 -1.06377672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979928850999997 meters 0.07997402179826889 Centerline is valid? [True, True] Translation: X:22.30, Y:-1.96, Z:-1.06 [[ 9.99779297e-01 1.95016543e-02 7.81295817e-03 2.22960750e+01] [-1.94968199e-02 9.99809678e-01 -6.94467295e-04 -1.96195360e+00] [-7.82501445e-03 5.41986186e-04 9.99969237e-01 -1.06446408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009928850999994 meters 0.08149423661231166 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.97, Z:-1.07 [[ 9.99778191e-01 1.93531675e-02 8.30807334e-03 2.23232565e+01] [-1.93476978e-02 9.99812543e-01 -7.38234528e-04 -1.96712947e+00] [-8.32080312e-03 5.77328689e-04 9.99965215e-01 -1.06583264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039928850999996 meters 0.07891563426153843 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.96, Z:-1.06 [[ 9.99795018e-01 1.81285750e-02 9.01531068e-03 2.23527723e+01] [-1.81220971e-02 9.99835461e-01 -7.99723630e-04 -1.96113768e+00] [-9.02832516e-03 6.36183366e-04 9.99959041e-01 -1.06447199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069928850999997 meters 0.08258643625293761 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.97, Z:-1.07 [[ 9.99824939e-01 1.59916024e-02 9.71391958e-03 2.23803667e+01] [-1.59839890e-02 9.99871877e-01 -8.60891468e-04 -1.97095782e+00] [-9.72644204e-03 7.05473575e-04 9.99952448e-01 -1.06639646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099928850999994 meters 0.08371447329808589 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.98, Z:-1.07 [[ 9.99855777e-01 1.45320704e-02 8.78887767e-03 2.24098746e+01] [-1.45257914e-02 9.99894193e-01 -7.77837815e-04 -1.97515383e+00] [-8.79925133e-03 6.50060229e-04 9.99961075e-01 -1.06763063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.129928850999995 meters 0.08211519070265434 Centerline is valid? [True, True] Translation: X:22.44, Y:-1.97, Z:-1.07 [[ 9.99861006e-01 1.37987273e-02 9.35756583e-03 2.24394072e+01] [-1.37915778e-02 9.99904549e-01 -8.28132489e-04 -1.97288519e+00] [-9.36809981e-03 6.98961786e-04 9.99955874e-01 -1.06780901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159928850999997 meters 0.08141291045427322 Centerline is valid? [True, True] Translation: X:22.47, Y:-1.97, Z:-1.07 [[ 9.99866160e-01 1.33199779e-02 9.49948241e-03 2.24686487e+01] [-1.33125929e-02 9.99911030e-01 -8.40216218e-04 -1.97255086e+00] [-9.50982891e-03 7.13641021e-04 9.99954526e-01 -1.06858706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189928850999994 meters 0.0817808225567751 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.97, Z:-1.07 [[ 9.99857550e-01 1.43961317e-02 8.81083739e-03 2.24970462e+01] [-1.43898233e-02 9.99896158e-01 -7.78963241e-04 -1.97391952e+00] [-8.82113651e-03 6.52065885e-04 9.99960880e-01 -1.07099276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219928850999995 meters 0.08226042892229603 Centerline is valid? [True, True] Translation: X:22.53, Y:-1.98, Z:-1.07 [[ 9.99852717e-01 1.49269830e-02 8.46934192e-03 2.25259784e+01] [-1.49211762e-02 9.99888393e-01 -7.48404020e-04 -1.97637997e+00] [-8.47956810e-03 6.21921249e-04 9.99963854e-01 -1.07223473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.249928850999996 meters 0.08225306416477322 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.98, Z:-1.07 [[ 9.99835092e-01 1.58784549e-02 8.81263239e-03 2.25545672e+01] [-1.58722061e-02 9.99873725e-01 -7.78565874e-04 -1.97750502e+00] [-8.82388200e-03 6.38561566e-04 9.99960865e-01 -1.07335328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279928850999994 meters 0.08207933217924633 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.98, Z:-1.07 [[ 9.99836448e-01 1.57844356e-02 8.82775312e-03 2.25830426e+01] [-1.57781669e-02 9.99875213e-01 -7.79313965e-04 -1.97807400e+00] [-8.83895257e-03 6.39900745e-04 9.99960731e-01 -1.07369565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.309928850999995 meters 0.08050114682054697 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.98, Z:-1.07 [[ 9.99806118e-01 1.68519996e-02 1.01850689e-02 2.26133288e+01] [-1.68437253e-02 9.99857731e-01 -8.97639969e-04 -1.97514637e+00] [-1.01987469e-02 7.25911431e-04 9.99947728e-01 -1.07237891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339928850999996 meters 0.07948863673692015 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.97, Z:-1.07 [[ 9.99798945e-01 1.69290745e-02 1.07459329e-02 2.26423338e+01] [-1.69198662e-02 9.99856400e-01 -9.47253736e-04 -1.97369651e+00] [-1.07604259e-02 7.65243540e-04 9.99941812e-01 -1.07157527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.369928850999997 meters 0.07922006672837398 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.98, Z:-1.07 [[ 9.99784140e-01 1.74335615e-02 1.13024398e-02 2.26714737e+01] [-1.74234196e-02 9.99847705e-01 -9.95171755e-04 -1.97538793e+00] [-1.13180679e-02 7.98029786e-04 9.99935630e-01 -1.07318944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399928850999995 meters 0.0801099158893499 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.98, Z:-1.07 [[ 9.99791776e-01 1.74858638e-02 1.05190114e-02 2.26986592e+01] [-1.74770806e-02 9.99846835e-01 -9.26331913e-04 -1.97881387e+00] [-1.05335980e-02 7.42297417e-04 9.99944245e-01 -1.07449243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.429928850999996 meters 0.078922411004356 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.98, Z:-1.08 [[ 9.99749274e-01 2.02578639e-02 9.53980635e-03 2.27292430e+01] [-2.02507829e-02 9.99794580e-01 -8.38283673e-04 -1.97618750e+00] [-9.55482852e-03 6.44884946e-04 9.99954144e-01 -1.07636631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459928850999997 meters 0.07938222816654622 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.98, Z:-1.08 [[ 9.99716517e-01 2.21718408e-02 8.67722575e-03 2.27577774e+01] [-2.21660496e-02 9.99754012e-01 -7.63018201e-04 -1.97869461e+00] [-8.69200877e-03 5.70462082e-04 9.99962061e-01 -1.07804884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.489928850999995 meters 0.07841674572516626 Centerline is valid? [True, True] Translation: X:22.79, Y:-1.98, Z:-1.08 [[ 9.99683283e-01 2.36933621e-02 8.48279195e-03 2.27869663e+01] [-2.36878827e-02 9.99719125e-01 -7.45844332e-04 -1.97709255e+00] [-8.49808090e-03 5.44668730e-04 9.99963742e-01 -1.07860650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519928850999996 meters 0.07841674572516626 Centerline is valid? [True, True] Translation: X:22.81, Y:-1.98, Z:-1.08 [[ 9.99685601e-01 2.35953718e-02 8.48278655e-03 2.28143722e+01] [-2.35898884e-02 9.99721442e-01 -7.45906997e-04 -1.97939436e+00] [-8.49802355e-03 5.45564496e-04 9.99963742e-01 -1.07937402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.549928850999997 meters 0.0773402078498594 Centerline is valid? [True, True] Translation: X:22.84, Y:-1.98, Z:-1.08 [[ 9.99612677e-01 2.65222301e-02 8.43019301e-03 2.28445875e+01] [-2.65169384e-02 9.99648091e-01 -7.38876471e-04 -1.97718881e+00] [-8.44682301e-03 5.15047378e-04 9.99964192e-01 -1.07948610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579928850999995 meters 0.07643416124726013 Centerline is valid? [True, True] Translation: X:22.87, Y:-1.98, Z:-1.08 [[ 9.99561033e-01 2.83622684e-02 8.56284832e-03 2.28745790e+01] [-2.83568747e-02 9.99597581e-01 -7.50674192e-04 -1.97708972e+00] [-8.58069330e-03 5.07529055e-04 9.99963056e-01 -1.07992238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.609928850999996 meters 0.07582935414757341 Centerline is valid? [True, True] Translation: X:22.90, Y:-1.98, Z:-1.08 [[ 9.99485782e-01 3.06191529e-02 9.52045039e-03 2.29047022e+01] [-3.06125942e-02 9.99530977e-01 -8.33900865e-04 -1.97777986e+00] [-9.54151841e-03 5.42026374e-04 9.99954332e-01 -1.08034838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639928850999997 meters 0.07520812893050786 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.98, Z:-1.08 [[ 9.99428910e-01 3.23185611e-02 9.86735612e-03 2.29339869e+01] [-3.23115942e-02 9.99477470e-01 -8.64699049e-04 -1.97725721e+00] [-9.89014596e-03 5.45375221e-04 9.99950943e-01 -1.08041397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.669928850999995 meters 0.0743849671517599 Centerline is valid? [True, True] Translation: X:22.96, Y:-1.97, Z:-1.08 [[ 9.99269352e-01 3.68831122e-02 1.00198903e-02 2.29647295e+01] [-3.68761700e-02 9.99319458e-01 -8.76776783e-04 -1.97473034e+00] [-1.00454096e-02 5.06640991e-04 9.99949415e-01 -1.08057245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699928850999996 meters 0.07414014306593214 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.98, Z:-1.08 [[ 9.99172503e-01 3.95761116e-02 9.38302704e-03 2.29935518e+01] [-3.95701352e-02 9.99216458e-01 -8.21798678e-04 -1.97529575e+00] [-9.40819864e-03 4.49830993e-04 9.99955641e-01 -1.08262052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.729928850999997 meters 0.07328561797212309 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.97, Z:-1.08 [[ 9.99095918e-01 4.16720337e-02 8.41353123e-03 2.30222746e+01] [-4.16673023e-02 9.99131269e-01 -7.36948751e-04 -1.97394084e+00] [-8.43693229e-03 3.85713340e-04 9.99964334e-01 -1.08288956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759928850999994 meters 0.07308131702380789 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.98, Z:-1.09 [[ 9.98970595e-01 4.46002357e-02 8.28064924e-03 2.30512564e+01] [-4.45957627e-02 9.99004852e-01 -7.24129155e-04 -1.97532494e+00] [-8.30470509e-03 3.54101865e-04 9.99965453e-01 -1.08509281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.789928850999996 meters 0.07215037230401829 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.97, Z:-1.09 [[ 9.98738414e-01 4.97452140e-02 6.85528627e-03 2.30815532e+01] [-4.97422722e-02 9.98761907e-01 -5.99066175e-04 -1.97276494e+00] [-6.87659947e-03 2.57312886e-04 9.99976323e-01 -1.08694608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819928850999997 meters 0.07188650657205836 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.97, Z:-1.09 [[ 9.98619910e-01 5.20965914e-02 6.64986335e-03 2.31106517e+01] [-5.20938482e-02 9.98642022e-01 -5.85185252e-04 -1.97350923e+00] [-6.67131914e-03 2.37960672e-04 9.99977718e-01 -1.08767932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.849928850999994 meters 0.072282318989751 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.98, Z:-1.09 [[ 9.98527169e-01 5.38524617e-02 6.58823757e-03 2.31381669e+01] [-5.38498347e-02 9.98548879e-01 -5.75606518e-04 -1.97648316e+00] [-6.60967507e-03 2.19983242e-04 9.99978132e-01 -1.08991967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879928850999995 meters 0.07139531486316199 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.97, Z:-1.09 [[ 9.98412349e-01 5.58894138e-02 7.01110885e-03 2.31669595e+01] [-5.58864962e-02 9.98436941e-01 -6.11514521e-04 -1.97439078e+00] [-7.03432726e-03 2.18717341e-04 9.99975235e-01 -1.08797622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.909928850999997 meters 0.07087859958131536 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.97, Z:-1.09 [[ 9.98154307e-01 6.02094715e-02 7.92452715e-03 2.31972535e+01] [-6.02058900e-02 9.98185742e-01 -6.89949685e-04 -1.97438721e+00] [-7.95169152e-03 2.11573040e-04 9.99968362e-01 -1.08958924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939928850999994 meters 0.07073438742761803 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.98, Z:-1.09 [[ 9.98018784e-01 6.23771453e-02 8.22186770e-03 2.32254123e+01] [-6.23733365e-02 9.98052629e-01 -7.19102050e-04 -1.97629762e+00] [-8.25071220e-03 2.04852033e-04 9.99965941e-01 -1.09080360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.969928850999995 meters 0.07060607453948455 Centerline is valid? [True, True] Translation: X:23.25, Y:-1.98, Z:-1.09 [[ 9.97875938e-01 6.46010558e-02 8.38541011e-03 2.32543151e+01] [-6.45971896e-02 9.97911152e-01 -7.31377132e-04 -1.97667180e+00] [-8.41514200e-03 1.88149715e-04 9.99964574e-01 -1.09151861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999928850999996 meters 0.07034316315566816 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.98, Z:-1.09 [[ 9.97714690e-01 6.70003776e-02 8.73762877e-03 2.32830759e+01] [-6.69962916e-02 9.97752935e-01 -7.59822473e-04 -1.97763639e+00] [-8.76890315e-03 1.72697317e-04 9.99961538e-01 -1.09206683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.029928850999994 meters 0.0704285400246901 Centerline is valid? [True, True] Translation: X:23.31, Y:-1.98, Z:-1.09 [[ 9.97577132e-01 6.91858719e-02 7.29250583e-03 2.33111111e+01] [-6.91831111e-02 9.97603779e-01 -6.30474822e-04 -1.97845887e+00] [-7.31865132e-03 1.24429024e-04 9.99973211e-01 -1.09429875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059928850999995 meters 0.07048728182433309 Centerline is valid? [True, True] Translation: X:23.34, Y:-1.98, Z:-1.10 [[ 9.97527453e-01 6.99377715e-02 6.90569775e-03 2.33379786e+01] [-6.99353030e-02 9.97551350e-01 -5.98596062e-04 -1.98074402e+00] [-6.93065259e-03 1.14163941e-04 9.99975976e-01 -1.09529218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.089928850999996 meters 0.07055921686185553 Centerline is valid? [True, True] Translation: X:23.37, Y:-1.98, Z:-1.09 [[ 9.97558470e-01 6.96050262e-02 5.67796993e-03 2.33663272e+01] [-6.96033462e-02 9.97574624e-01 -4.93185000e-04 -1.98318476e+00] [-5.69852687e-03 9.67751676e-05 9.99983759e-01 -1.09469091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119928850999994 meters 0.0705502961107445 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.99, Z:-1.10 [[ 9.97583416e-01 6.91907125e-02 6.32252275e-03 2.33946351e+01] [-6.91886347e-02 9.97603445e-01 -5.47022948e-04 -1.98625554e+00] [-6.34521938e-03 1.08254303e-04 9.99979863e-01 -1.09548833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.149928850999995 meters 0.07079971984602894 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.99, Z:-1.10 [[ 9.97719327e-01 6.70231534e-02 8.00256470e-03 2.34207780e+01] [-6.70198022e-02 9.97751409e-01 -6.86513496e-04 -1.99294557e+00] [-8.03058250e-03 1.48617481e-04 9.99967743e-01 -1.09626402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179928850999996 meters 0.07097445164250898 Centerline is valid? [True, True] Translation: X:23.45, Y:-2.00, Z:-1.10 [[ 9.97819953e-01 6.54476492e-02 8.48207967e-03 2.34492521e+01] [-6.54438191e-02 9.97855989e-01 -7.28629306e-04 -1.99672265e+00] [-8.51158108e-03 1.71941173e-04 9.99963761e-01 -1.09702347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209928850999997 meters 0.07125398923368696 Centerline is valid? [True, True] Translation: X:23.48, Y:-2.00, Z:-1.10 [[ 9.97943101e-01 6.35961312e-02 8.06836435e-03 2.34762490e+01] [-6.35926342e-02 9.97975702e-01 -6.89485852e-04 -2.00166572e+00] [-8.09588020e-03 1.74979107e-04 9.99967213e-01 -1.09955818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239928850999995 meters 0.07127205612368216 Centerline is valid? [True, True] Translation: X:23.50, Y:-2.00, Z:-1.10 [[ 9.98055770e-01 6.17893628e-02 8.17037688e-03 2.35047646e+01] [-6.17857074e-02 9.98089193e-01 -6.99291447e-04 -2.00447584e+00] [-8.19797364e-03 1.93119348e-04 9.99966377e-01 -1.09928448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.269928850999996 meters 0.07167646037697746 Centerline is valid? [True, True] Translation: X:23.53, Y:-2.01, Z:-1.10 [[ 9.98252126e-01 5.86692243e-02 7.11435894e-03 2.35340443e+01] [-5.86664081e-02 9.98277460e-01 -6.04077129e-04 -2.00958041e+00] [-7.13754491e-03 1.85647394e-04 9.99974510e-01 -1.10006323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299928850999997 meters 0.07175897145016591 Centerline is valid? [True, True] Translation: X:23.56, Y:-2.01, Z:-1.10 [[ 9.98372482e-01 5.66320489e-02 6.72297581e-03 2.35621940e+01] [-5.66294608e-02 9.98395099e-01 -5.74864991e-04 -2.01333431e+00] [-6.74474188e-03 1.93210893e-04 9.99977235e-01 -1.10086879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.329928850999995 meters 0.07205730493892995 Centerline is valid? [True, True] Translation: X:23.59, Y:-2.02, Z:-1.10 [[ 9.98494309e-01 5.44739874e-02 6.45755106e-03 2.35904466e+01] [-5.44715625e-02 9.98515170e-01 -5.50922696e-04 -2.01776063e+00] [-6.47797366e-03 1.98340280e-04 9.99978998e-01 -1.10202496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359928850999996 meters 0.07235156761205641 Centerline is valid? [True, True] Translation: X:23.62, Y:-2.02, Z:-1.10 [[ 9.98596605e-01 5.24703160e-02 7.18939176e-03 2.36177361e+01] [-5.24672920e-02 9.98622458e-01 -6.08715987e-04 -2.02288101e+00] [-7.21142759e-03 2.30653801e-04 9.99973971e-01 -1.10357347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.389928850999997 meters 0.07304442811259902 Centerline is valid? [True, True] Translation: X:23.65, Y:-2.03, Z:-1.10 [[ 9.98844752e-01 4.76060579e-02 6.54409597e-03 2.36472876e+01] [-4.76034662e-02 9.98866160e-01 -5.51320846e-04 -2.02952486e+00] [-6.56292223e-03 2.39162283e-04 9.99978435e-01 -1.10383824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419928850999995 meters 0.07331418676511846 Centerline is valid? [True, True] Translation: X:23.68, Y:-2.03, Z:-1.10 [[ 9.98961570e-01 4.50280349e-02 6.94671027e-03 2.36761879e+01] [-4.50250484e-02 9.98985687e-01 -5.85780033e-04 -2.03381167e+00] [-6.96604065e-03 2.72395775e-04 9.99975700e-01 -1.10471667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.449928850999996 meters 0.07416420119555463 Centerline is valid? [True, True] Translation: X:23.70, Y:-2.04, Z:-1.11 [[ 9.99061540e-01 4.27068735e-02 7.22232994e-03 2.37038176e+01] [-4.27035854e-02 9.99087600e-01 -6.08941744e-04 -2.03981632e+00] [-7.24174629e-03 2.99950893e-04 9.99973733e-01 -1.10609448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479928850999997 meters 0.0747683108470784 Centerline is valid? [True, True] Translation: X:23.73, Y:-2.05, Z:-1.11 [[ 9.99150353e-01 4.04748265e-02 7.76918662e-03 2.37320092e+01] [-4.04709619e-02 9.99180501e-01 -6.54067209e-04 -2.04530780e+00] [-7.78929304e-03 3.39085027e-04 9.99969606e-01 -1.10780439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.509928850999994 meters 0.0759712198776571 Centerline is valid? [True, True] Translation: X:23.76, Y:-2.05, Z:-1.11 [[ 9.99302101e-01 3.66326292e-02 7.30489467e-03 2.37621252e+01] [-3.66291193e-02 9.99328740e-01 -6.13731116e-04 -2.05217155e+00] [-7.32247377e-03 3.45730935e-04 9.99973131e-01 -1.11022846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539928850999996 meters 0.07656461117683096 Centerline is valid? [True, True] Translation: X:23.79, Y:-2.06, Z:-1.11 [[ 9.99358469e-01 3.51418484e-02 6.90663077e-03 2.37899524e+01] [-3.51386663e-02 9.99382277e-01 -5.81581049e-04 -2.05628681e+00] [-6.92280221e-03 3.38518153e-04 9.99975980e-01 -1.11174464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569928850999997 meters 0.07742462978532665 Centerline is valid? [True, True] Translation: X:23.82, Y:-2.06, Z:-1.11 [[ 9.99441367e-01 3.27446878e-02 6.68875895e-03 2.38184115e+01] [-3.27416544e-02 9.99463690e-01 -5.62529553e-04 -2.06081914e+00] [-6.70359155e-03 3.43214271e-04 9.99977472e-01 -1.11311915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599928850999994 meters 0.07802515890267385 Centerline is valid? [True, True] Translation: X:23.85, Y:-2.06, Z:-1.11 [[ 9.99519869e-01 3.03757393e-02 6.11114980e-03 2.38480111e+01] [-3.03731662e-02 9.99538497e-01 -5.13442962e-04 -2.06487421e+00] [-6.12392570e-03 3.27581473e-04 9.99981195e-01 -1.11396458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.629928850999995 meters 0.08041492398774203 Centerline is valid? [True, True] Translation: X:23.88, Y:-2.07, Z:-1.11 [[ 9.99642574e-01 2.59428297e-02 6.45710113e-03 2.38770196e+01] [-2.59398682e-02 9.99663358e-01 -5.41987147e-04 -2.07261470e+00] [-6.46898808e-03 3.74297074e-04 9.99979006e-01 -1.11428481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659928850999997 meters 0.08037249189353668 Centerline is valid? [True, True] Translation: X:23.91, Y:-2.07, Z:-1.11 [[ 9.99697300e-01 2.35448951e-02 7.13768200e-03 2.39061674e+01] [-2.35412126e-02 9.99722687e-01 -5.99508357e-04 -2.07452312e+00] [-7.14981800e-03 4.31297196e-04 9.99974347e-01 -1.11389065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.689928850999994 meters 0.08231111187478701 Centerline is valid? [True, True] Translation: X:23.93, Y:-2.08, Z:-1.11 [[ 9.99767176e-01 2.01531942e-02 7.70985116e-03 2.39349690e+01] [-2.01488033e-02 9.99796783e-01 -6.46786054e-04 -2.08147763e+00] [-7.72131919e-03 4.91291192e-04 9.99970069e-01 -1.11495666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719928850999995 meters 0.08259789924459338 Centerline is valid? [True, True] Translation: X:23.96, Y:-2.08, Z:-1.12 [[ 9.99789346e-01 1.90466992e-02 7.64767579e-03 2.39639134e+01] [-1.90423437e-02 9.99818472e-01 -6.41933205e-04 -2.08402341e+00] [-7.65851423e-03 4.96168308e-04 9.99970550e-01 -1.11579747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.749928850999996 meters 0.0803770179875768 Centerline is valid? [True, True] Translation: X:23.99, Y:-2.08, Z:-1.11 [[ 9.99808783e-01 1.81290227e-02 7.33044190e-03 2.39933553e+01] [-1.81250011e-02 9.99835540e-01 -6.14689031e-04 -2.08004350e+00] [-7.34038004e-03 4.81707225e-04 9.99972943e-01 -1.11498421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779928850999994 meters 0.08396964071847308 Centerline is valid? [True, True] Translation: X:24.02, Y:-2.09, Z:-1.12 [[ 9.99822416e-01 1.74810682e-02 7.03909728e-03 2.40205177e+01] [-1.74773412e-02 9.99847085e-01 -5.90640840e-04 -2.08971500e+00] [-7.04834593e-03 4.67511247e-04 9.99975051e-01 -1.11885662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809928850999995 meters 0.0808450198505688 Centerline is valid? [True, True] Translation: X:24.05, Y:-2.08, Z:-1.12 [[ 9.99835797e-01 1.65924118e-02 7.28495919e-03 2.40495390e+01] [-1.65884012e-02 9.99862217e-01 -6.10613413e-04 -2.08282336e+00] [-7.29408699e-03 4.89667323e-04 9.99973278e-01 -1.11716891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839928850999996 meters 0.08181039207400319 Centerline is valid? [True, True] Translation: X:24.08, Y:-2.09, Z:-1.12 [[ 9.99855712e-01 1.56334255e-02 6.64467890e-03 2.40781903e+01] [-1.56300733e-02 9.99877688e-01 -5.56122137e-04 -2.08637233e+00] [-6.65256027e-03 4.52185076e-04 9.99977769e-01 -1.11829770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869928850999994 meters 0.08782227188978033 Centerline is valid? [True, True] Translation: X:24.11, Y:-2.10, Z:-1.12 [[ 9.99888915e-01 1.31060265e-02 7.09851444e-03 2.41064635e+01] [-1.31021473e-02 9.99913988e-01 -5.92707529e-04 -2.10034068e+00] [-7.10567192e-03 4.99635907e-04 9.99974630e-01 -1.12151029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899928850999995 meters 0.08079549001789832 Centerline is valid? [True, True] Translation: X:24.14, Y:-2.09, Z:-1.12 [[ 9.99903598e-01 1.14782764e-02 7.81303924e-03 2.41371701e+01] [-1.14735234e-02 9.99933964e-01 -6.52897656e-04 -2.08631092e+00] [-7.82001744e-03 5.63191627e-04 9.99969265e-01 -1.11767902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.929928850999996 meters 0.08106275536814646 Centerline is valid? [True, True] Translation: X:24.17, Y:-2.09, Z:-1.12 [[ 9.99908558e-01 1.07541147e-02 8.19900990e-03 2.41667730e+01] [-1.07488630e-02 9.99941995e-01 -6.84324305e-04 -2.08888460e+00] [-8.20589362e-03 5.96131695e-04 9.99966153e-01 -1.11815252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959928850999994 meters 0.08350031525867062 Centerline is valid? [True, True] Translation: X:24.20, Y:-2.09, Z:-1.12 [[ 9.99918297e-01 9.04038347e-03 9.03715427e-03 2.41957002e+01] [-9.03394002e-03 9.99958909e-01 -7.53563848e-04 -2.09466509e+00] [-9.04359543e-03 6.71861171e-04 9.99958880e-01 -1.11950099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.989928850999995 meters 0.08229355760316824 Centerline is valid? [True, True] Translation: X:24.23, Y:-2.09, Z:-1.12 [[ 9.99923816e-01 8.62587598e-03 8.82933771e-03 2.42263215e+01] [-8.61971342e-03 9.99962579e-01 -7.35780793e-04 -2.09274207e+00] [-8.83535406e-03 6.59618377e-04 9.99960750e-01 -1.11851218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019928850999996 meters 0.08197282509542463 Centerline is valid? [True, True] Translation: X:24.26, Y:-2.09, Z:-1.12 [[ 9.99922583e-01 8.52370386e-03 9.06503223e-03 2.42565082e+01] [-8.51720370e-03 9.99963443e-01 -7.55422073e-04 -2.09297186e+00] [-9.07113983e-03 6.78154864e-04 9.99958626e-01 -1.11972396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.049928850999997 meters 0.0818886185953287 Centerline is valid? [True, True] Translation: X:24.29, Y:-2.09, Z:-1.12 [[ 9.99928379e-01 8.60928801e-03 8.31371787e-03 2.42873742e+01] [-8.60382366e-03 9.99962746e-01 -6.92812317e-04 -2.09467917e+00] [-8.31937277e-03 6.21232935e-04 9.99965200e-01 -1.12095404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079928850999995 meters 0.08304198010371099 Centerline is valid? [True, True] Translation: X:24.32, Y:-2.10, Z:-1.12 [[ 9.99934723e-01 8.02726181e-03 8.13094332e-03 2.43168211e+01] [-8.02201327e-03 9.99967593e-01 -6.77910544e-04 -2.09883690e+00] [-8.13612159e-03 6.12639757e-04 9.99966714e-01 -1.12438170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.109928850999996 meters 0.08269007390008387 Centerline is valid? [True, True] Translation: X:24.35, Y:-2.10, Z:-1.12 [[ 9.99930951e-01 8.16153398e-03 8.45473257e-03 2.43471016e+01] [-8.15586796e-03 9.99966492e-01 -7.04421706e-04 -2.10017623e+00] [-8.46019843e-03 6.35417384e-04 9.99964010e-01 -1.12476266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139928850999997 meters 0.08359597284412654 Centerline is valid? [True, True] Translation: X:24.38, Y:-2.10, Z:-1.13 [[ 9.99939916e-01 7.46957703e-03 8.02308461e-03 2.43770380e+01] [-7.46446287e-03 9.99971918e-01 -6.67185368e-04 -2.10266602e+00] [-8.02784290e-03 6.07257263e-04 9.99967592e-01 -1.12553290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.169928850999995 meters 0.08504752083099211 Centerline is valid? [True, True] Translation: X:24.41, Y:-2.11, Z:-1.13 [[ 9.99934643e-01 7.52720308e-03 8.60527583e-03 2.44072859e+01] [-7.52131942e-03 9.99971458e-01 -7.15885271e-04 -2.10679811e+00] [-8.61041884e-03 6.51115455e-04 9.99962718e-01 -1.12591757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199928850999996 meters 0.08565934193375477 Centerline is valid? [True, True] Translation: X:24.44, Y:-2.11, Z:-1.13 [[ 9.99931592e-01 7.62268508e-03 8.87167611e-03 2.44375551e+01] [-7.61641626e-03 9.99970721e-01 -7.40182897e-04 -2.10828559e+00] [-8.87705853e-03 6.72561884e-04 9.99960372e-01 -1.12654337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.229928850999997 meters 0.082432067942686 Centerline is valid? [True, True] Translation: X:24.47, Y:-2.10, Z:-1.13 [[ 9.99930543e-01 7.92612416e-03 8.72274711e-03 2.44682110e+01] [-7.92007167e-03 9.99968371e-01 -7.28199185e-04 -2.10319661e+00] [-8.72824302e-03 6.59063824e-04 9.99961691e-01 -1.12696641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259928850999994 meters 0.0813942368921393 Centerline is valid? [True, True] Translation: X:24.50, Y:-2.10, Z:-1.13 [[ 9.99932024e-01 8.33523359e-03 8.15293679e-03 2.44986194e+01] [-8.32995957e-03 9.99965074e-01 -6.80629835e-04 -2.10287489e+00] [-8.15832524e-03 6.12669935e-04 9.99966533e-01 -1.12826139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.289928850999996 meters 0.08232473160544161 Centerline is valid? [True, True] Translation: X:24.53, Y:-2.11, Z:-1.13 [[ 9.99936300e-01 8.01293038e-03 7.94911161e-03 2.45281915e+01] [-8.00790396e-03 9.99967716e-01 -6.63951345e-04 -2.10509963e+00] [-7.95417518e-03 6.00253329e-04 9.99968185e-01 -1.12968492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319928850999997 meters 0.08233280943680024 Centerline is valid? [True, True] Translation: X:24.56, Y:-2.11, Z:-1.13 [[ 9.99939384e-01 7.97900455e-03 7.58710353e-03 2.45585782e+01] [-7.97442800e-03 9.99968003e-01 -6.33263320e-04 -2.10649412e+00] [-7.59191358e-03 5.72722123e-04 9.99971017e-01 -1.12978459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.349928850999994 meters 0.08333012475706013 Centerline is valid? [True, True] Translation: X:24.59, Y:-2.11, Z:-1.13 [[ 9.99945535e-01 7.65991925e-03 7.08896316e-03 2.45879960e+01] [-7.65591351e-03 9.99970518e-01 -5.92032461e-04 -2.11016147e+00] [-7.09328909e-03 5.37727727e-04 9.99974698e-01 -1.13095379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379928850999995 meters 0.08285023716476421 Centerline is valid? [True, True] Translation: X:24.62, Y:-2.11, Z:-1.13 [[ 9.99950597e-01 7.21610684e-03 6.83607262e-03 2.46189697e+01] [-7.21237456e-03 9.99973828e-01 -5.70463295e-04 -2.11072747e+00] [-6.84001023e-03 5.21130796e-04 9.99976471e-01 -1.13185066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.409928850999997 meters 0.08285023716476421 Centerline is valid? [True, True] Translation: X:24.65, Y:-2.11, Z:-1.13 [[ 9.99950597e-01 7.21610684e-03 6.83607262e-03 2.46489474e+01] [-7.21237456e-03 9.99973828e-01 -5.70463295e-04 -2.11322908e+00] [-6.84001023e-03 5.21130796e-04 9.99976471e-01 -1.13268929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439928850999994 meters 0.08534364000560825 Centerline is valid? [True, True] Translation: X:24.68, Y:-2.12, Z:-1.14 [[ 9.99968631e-01 5.23243512e-03 5.94628279e-03 2.46786062e+01] [-5.22958606e-03 9.99986203e-01 -4.94579517e-04 -2.12029359e+00] [-5.94878860e-03 4.63467405e-04 9.99982198e-01 -1.13501270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.469928850999995 meters 0.08645919648573169 Centerline is valid? [True, True] Translation: X:24.71, Y:-2.12, Z:-1.14 [[ 9.99974561e-01 4.00291711e-03 5.90378989e-03 2.47089787e+01] [-4.00007728e-03 9.99991878e-01 -4.92747759e-04 -2.12463161e+00] [-5.90571437e-03 4.69119608e-04 9.99982451e-01 -1.13582351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499928850999996 meters 0.08838466145500483 Centerline is valid? [True, True] Translation: X:24.74, Y:-2.13, Z:-1.14 [[ 9.99977174e-01 3.26048504e-03 5.91785092e-03 2.47394658e+01] [-3.25763082e-03 9.99994573e-01 -4.91882469e-04 -2.13033108e+00] [-5.91942258e-03 4.72593068e-04 9.99982368e-01 -1.13727221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.529928850999994 meters 0.08818544414623311 Centerline is valid? [True, True] Translation: X:24.77, Y:-2.13, Z:-1.14 [[ 9.99974648e-01 2.50492195e-03 6.66543885e-03 2.47712052e+01] [-2.50127834e-03 9.99996718e-01 -5.54922042e-04 -2.13147789e+00] [-6.66680701e-03 5.38235856e-04 9.99977632e-01 -1.13730446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559928850999995 meters 0.08678764143370497 Centerline is valid? [True, True] Translation: X:24.80, Y:-2.13, Z:-1.14 [[ 9.99974679e-01 1.52939986e-03 6.94992174e-03 2.48040795e+01] [-1.52539934e-03 9.99998668e-01 -5.80884257e-04 -2.12911738e+00] [-6.95080089e-03 5.70268142e-04 9.99975680e-01 -1.13593784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589928850999996 meters 0.08635829595535008 Centerline is valid? [True, True] Translation: X:24.84, Y:-2.13, Z:-1.14 [[ 9.99965390e-01 1.40625331e-03 8.20011928e-03 2.48367251e+01] [-1.40069970e-03 9.99998786e-01 -6.82963861e-04 -2.13039415e+00] [-8.20106975e-03 6.71454319e-04 9.99966145e-01 -1.13694661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619928850999994 meters 0.08523954801677172 Centerline is valid? [True, True] Translation: X:24.87, Y:-2.13, Z:-1.14 [[ 9.99970136e-01 1.14568081e-03 7.64299774e-03 2.48685714e+01] [-1.14082186e-03 9.99999144e-01 -6.40068250e-04 -2.12982205e+00] [-7.64372452e-03 6.31329836e-04 9.99970587e-01 -1.13761231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.649928850999995 meters 0.08755511809269059 Centerline is valid? [True, True] Translation: X:24.90, Y:-2.14, Z:-1.14 [[ 9.99963369e-01 4.11267561e-04 8.54935441e-03 2.48991441e+01] [-4.05163530e-04 9.99999662e-01 -7.15695364e-04 -2.13622301e+00] [-8.54964586e-03 7.12205260e-04 9.99963197e-01 -1.13882964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679928850999996 meters 0.09087834690151458 Centerline is valid? [True, True] Translation: X:24.93, Y:-2.14, Z:-1.14 [[ 9.99966141e-01 -3.02157537e-04 8.22343305e-03 2.49295532e+01] [ 3.07858853e-04 9.99999713e-01 -6.92044143e-04 -2.14436133e+00] [-8.22322159e-03 6.94552368e-04 9.99965948e-01 -1.14091137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709928850999994 meters 0.08890924538487283 Centerline is valid? [True, True] Translation: X:24.96, Y:-2.14, Z:-1.14 [[ 9.99959879e-01 -5.93928474e-04 8.93801965e-03 2.49615979e+01] [ 6.00669999e-04 9.99999537e-01 -7.51587160e-04 -2.14256265e+00] [-8.93756913e-03 7.56925806e-04 9.99959773e-01 -1.14112126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739928850999995 meters 0.0865079486729256 Centerline is valid? [True, True] Translation: X:24.99, Y:-2.14, Z:-1.14 [[ 9.99972905e-01 -1.91434387e-03 7.10809404e-03 2.49934186e+01] [ 1.91866973e-03 9.99997978e-01 -6.01812339e-04 -2.13910345e+00] [-7.10692760e-03 6.15434118e-04 9.99974556e-01 -1.14071746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.769928850999996 meters 0.08864541740042982 Centerline is valid? [True, True] Translation: X:25.02, Y:-2.14, Z:-1.14 [[ 9.99977703e-01 -2.78241636e-03 6.07052278e-03 2.50236847e+01] [ 2.78557642e-03 9.99995989e-01 -5.12165228e-04 -2.14410216e+00] [-6.06907338e-03 5.29063713e-04 9.99981443e-01 -1.14250459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799928850999994 meters 0.08900078865535939 Centerline is valid? [True, True] Translation: X:25.06, Y:-2.15, Z:-1.14 [[ 9.99975196e-01 -3.53930685e-03 6.08945479e-03 2.50556626e+01] [ 3.54251208e-03 9.99993592e-01 -5.15652703e-04 -2.14661870e+00] [-6.08759072e-03 5.37211880e-04 9.99981326e-01 -1.14386578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.829928850999995 meters 0.08985284300160047 Centerline is valid? [True, True] Translation: X:25.09, Y:-2.15, Z:-1.15 [[ 9.99973269e-01 -4.16108677e-03 6.01212844e-03 2.50870913e+01] [ 4.16422685e-03 9.99991200e-01 -5.09868679e-04 -2.15074904e+00] [-6.00995393e-03 5.34890917e-04 9.99981797e-01 -1.14661772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859928850999996 meters 0.09162201297158419 Centerline is valid? [True, True] Translation: X:25.12, Y:-2.16, Z:-1.15 [[ 9.99971869e-01 -5.28250751e-03 5.32499571e-03 2.51176210e+01] [ 5.28499127e-03 9.99985932e-01 -4.52470273e-04 -2.15645075e+00] [-5.32253062e-03 4.80600101e-04 9.99985720e-01 -1.14887047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.889928850999997 meters 0.09297392337549215 Centerline is valid? [True, True] Translation: X:25.15, Y:-2.16, Z:-1.15 [[ 9.99960301e-01 -6.75301277e-03 5.81311386e-03 2.51484091e+01] [ 6.75599822e-03 9.99977056e-01 -4.94086518e-04 -2.16138050e+00] [-5.80964391e-03 5.33340290e-04 9.99982982e-01 -1.15063290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919928850999995 meters 0.0945815470120008 Centerline is valid? [True, True] Translation: X:25.18, Y:-2.17, Z:-1.15 [[ 9.99934019e-01 -9.11162205e-03 6.99545537e-03 2.51794700e+01] [ 9.11600417e-03 9.99958271e-01 -5.94793710e-04 -2.16516127e+00] [-6.98974393e-03 6.58525065e-04 9.99975355e-01 -1.14985806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.949928850999996 meters 0.0961144424824607 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.17, Z:-1.15 [[ 9.99920971e-01 -1.00896776e-02 7.49996017e-03 2.52103210e+01] [ 1.00947379e-02 9.99948844e-01 -6.37171210e-04 -2.16957867e+00] [-7.49314765e-03 7.12830988e-04 9.99971672e-01 -1.14912550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979928850999997 meters 0.09320254369774553 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.17, Z:-1.15 [[ 9.99899961e-01 -1.03611812e-02 9.62878006e-03 2.52427013e+01] [ 1.03695398e-02 9.99945900e-01 -8.18564782e-04 -2.16665420e+00] [-9.61977784e-03 9.18328912e-04 9.99953307e-01 -1.14810429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.009928850999994 meters 0.0942385207700623 Centerline is valid? [True, True] Translation: X:25.27, Y:-2.17, Z:-1.15 [[ 9.99884079e-01 -1.12710268e-02 1.02367925e-02 2.52746667e+01] [ 1.12805301e-02 9.99935993e-01 -8.71083267e-04 -2.17047293e+00] [-1.02263192e-02 9.86458736e-04 9.99947223e-01 -1.14882128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039928850999996 meters 0.0961946759767602 Centerline is valid? [True, True] Translation: X:25.31, Y:-2.18, Z:-1.15 [[ 9.99859992e-01 -1.23019064e-02 1.13427753e-02 2.53052088e+01] [ 1.23136544e-02 9.99923717e-01 -9.66472730e-04 -2.17585955e+00] [-1.13300206e-02 1.10600843e-03 9.99935202e-01 -1.14947033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.069928850999997 meters 0.09553519447510864 Centerline is valid? [True, True] Translation: X:25.34, Y:-2.18, Z:-1.15 [[ 9.99856887e-01 -1.29513588e-02 1.08843144e-02 2.53372968e+01] [ 1.29622168e-02 9.99915557e-01 -9.27623872e-04 -2.17719353e+00] [-1.08713813e-02 1.06857596e-03 9.99940334e-01 -1.15054476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099928850999994 meters 0.09733034583352848 Centerline is valid? [True, True] Translation: X:25.37, Y:-2.18, Z:-1.15 [[ 9.99857059e-01 -1.39896164e-02 9.49483249e-03 2.53681929e+01] [ 1.39979352e-02 9.99901696e-01 -8.10241759e-04 -2.18200421e+00] [-9.48256414e-03 9.43033992e-04 9.99954595e-01 -1.15291498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.129928850999995 meters 0.09999411857121288 Centerline is valid? [True, True] Translation: X:25.40, Y:-2.19, Z:-1.15 [[ 9.99831683e-01 -1.54213079e-02 9.93926639e-03 2.53979436e+01] [ 1.54305005e-02 9.99880582e-01 -8.48853966e-04 -2.18846507e+00] [-9.92498903e-03 1.00207895e-03 9.99950244e-01 -1.15419310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159928850999997 meters 0.1013408410114382 Centerline is valid? [True, False] Translation: X:25.40, Y:-2.19, Z:-1.16 [[ 9.99875833e-01 -1.13910979e-02 1.08885522e-02 2.53964603e+01] [ 1.13452916e-02 9.99926568e-01 4.25938951e-03 -2.19062920e+00] [-1.09362718e-02 -4.13532684e-03 9.99931646e-01 -1.15525390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.189928850999994 meters 0.10202405939764334 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.19, Z:-1.16 [[ 9.99879799e-01 -1.10651989e-02 1.08604512e-02 2.53970343e+01] [ 1.10136217e-02 9.99927840e-01 4.79746526e-03 -2.19137706e+00] [-1.09127524e-02 -4.67727570e-03 9.99929515e-01 -1.15607388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219928850999995 meters 0.10310329072540823 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.19, Z:-1.16 [[ 9.99881752e-01 -1.08500854e-02 1.08975938e-02 2.53973787e+01] [ 1.07938346e-02 9.99928186e-01 5.20738139e-03 -2.19196529e+00] [-1.09533117e-02 -5.08913880e-03 9.99927060e-01 -1.15676002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.249928850999996 meters 0.1066226483453774 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.19, Z:-1.16 [[ 9.99877725e-01 -1.09709800e-02 1.11432682e-02 2.53969367e+01] [ 1.09120066e-02 9.99926207e-01 5.33937687e-03 -2.19225113e+00] [-1.12010241e-02 -5.21712859e-03 9.99923656e-01 -1.15691778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279928850999994 meters 0.10794954506362384 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.19, Z:-1.16 [[ 9.99879690e-01 -1.08201064e-02 1.11144068e-02 2.53970393e+01] [ 1.07581223e-02 9.99926327e-01 5.62163965e-03 -2.19296722e+00] [-1.11744147e-02 -5.50139317e-03 9.99922431e-01 -1.15698379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.309928850999995 meters 0.10984593392203791 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.19, Z:-1.16 [[ 9.99881405e-01 -1.06457394e-02 1.11285103e-02 2.53971657e+01] [ 1.05797350e-02 9.99926192e-01 5.97325001e-03 -2.19374545e+00] [-1.11912786e-02 -5.85480493e-03 9.99920235e-01 -1.15721051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339928850999996 meters 0.1139622599194242 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.20, Z:-1.16 [[ 9.99877774e-01 -1.06492744e-02 1.14468553e-02 2.53964596e+01] [ 1.05757810e-02 9.99923196e-01 6.46187676e-03 -2.19539507e+00] [-1.15147905e-02 -6.34002752e-03 9.99913603e-01 -1.15720278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.369928850999994 meters 0.11519313791846937 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.20, Z:-1.16 [[ 9.99880021e-01 -1.04349898e-02 1.14479384e-02 2.53966189e+01] [ 1.03567079e-02 9.99922725e-01 6.87617893e-03 -2.19641911e+00] [-1.15188066e-02 -6.75679097e-03 9.99910827e-01 -1.15746297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399928850999995 meters 0.11624193541318822 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.20, Z:-1.16 [[ 9.99881859e-01 -1.01495791e-02 1.15435760e-02 2.53968353e+01] [ 1.00632360e-02 9.99921137e-01 7.51340724e-03 -2.19763695e+00] [-1.16189236e-02 -7.39635387e-03 9.99905143e-01 -1.15814703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.429928850999996 meters 0.11914654642235048 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.20, Z:-1.16 [[ 9.99884388e-01 -9.90348954e-03 1.15382569e-02 2.53969801e+01] [ 9.81143373e-03 9.99919802e-01 8.00778613e-03 -2.19900988e+00] [-1.16166366e-02 -7.89365349e-03 9.99901367e-01 -1.15836199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459928850999994 meters 0.10843029682681656 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.20, Z:-1.16 [[ 9.99879412e-01 -9.73080787e-03 1.21025773e-02 2.53961497e+01] [ 9.62030026e-03 9.99911806e-01 9.15586020e-03 -2.20236993e+00] [-1.21906039e-02 -9.03832569e-03 9.99884842e-01 -1.15898841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.489928850999995 meters 0.11170613304556636 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.20, Z:-1.16 [[ 9.99880889e-01 -9.48656372e-03 1.21742546e-02 2.53961341e+01] [ 9.36854183e-03 9.99908920e-01 9.71507118e-03 -2.20393552e+00] [-1.22653084e-02 -9.59985899e-03 9.99878695e-01 -1.15919551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519928850999996 meters 0.10933393840125517 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.20, Z:-1.16 [[ 9.99880933e-01 -9.42569718e-03 1.22178942e-02 2.53958856e+01] [ 9.30442302e-03 9.99907257e-01 9.94507316e-03 -2.20493760e+00] [-1.23105003e-02 -9.83020857e-03 9.99875902e-01 -1.15894832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.549928850999994 meters 0.11112930767441019 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.21, Z:-1.16 [[ 9.99881412e-01 -9.26529978e-03 1.23010813e-02 2.53955199e+01] [ 9.13724020e-03 9.99903899e-01 1.04261356e-02 -2.20673139e+00] [-1.23965004e-02 -1.03125013e-02 9.99869981e-01 -1.15864339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579928850999995 meters 0.11318506463431208 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.21, Z:-1.16 [[ 9.99885083e-01 -8.98974927e-03 1.22067577e-02 2.53958669e+01] [ 8.85768578e-03 9.99902119e-01 1.08301869e-02 -2.20775776e+00] [-1.23029236e-02 -1.07208187e-02 9.99866842e-01 -1.15884967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.609928850999996 meters 0.11209495018309577 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.21, Z:-1.16 [[ 9.99888624e-01 -8.69244802e-03 1.21317836e-02 2.53960989e+01] [ 8.55568442e-03 9.99899777e-01 1.12798997e-02 -2.20910866e+00] [-1.22286177e-02 -1.11748477e-02 9.99862782e-01 -1.15892300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639928850999993 meters 0.11187266442520648 Centerline is valid? [False, False] Translation: X:25.39, Y:-2.21, Z:-1.15 [[ 9.99968561e-01 -6.41917141e-03 4.65518460e-03 2.53909185e+01] [ 6.42122595e-03 9.99979293e-01 -4.26533334e-04 -2.20809867e+00] [-4.65235021e-03 4.56411917e-04 9.99989074e-01 -1.15459295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.669928850999995 meters 0.11543033201794219 Centerline is valid? [False, False] Translation: X:25.39, Y:-2.21, Z:-1.16 [[ 9.99973045e-01 -5.84933860e-03 4.43787235e-03 2.53918339e+01] [ 5.84791542e-03 9.99982845e-01 3.33598806e-04 -2.20959976e+00] [-4.43974755e-03 -3.07637512e-04 9.99990097e-01 -1.15527156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699928850999996 meters 0.11119639942114118 Centerline is valid? [False, False] Translation: X:25.39, Y:-2.21, Z:-1.16 [[ 9.99977180e-01 -5.28678820e-03 4.20576698e-03 2.53927085e+01] [ 5.28225422e-03 9.99985456e-01 1.08841602e-03 -2.21124498e+00] [-4.21146004e-03 -1.06617525e-03 9.99990563e-01 -1.15583282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.729928850999997 meters 0.11492003567230515 Centerline is valid? [False, False] Translation: X:25.39, Y:-2.21, Z:-1.16 [[ 9.99980795e-01 -4.75007225e-03 3.98075386e-03 2.53935623e+01] [ 4.74293752e-03 9.99987132e-01 1.79983279e-03 -2.21269447e+00] [-3.98925197e-03 -1.78091776e-03 9.99990457e-01 -1.15638050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759928850999994 meters 0.11124517018979375 Centerline is valid? [False, False] Translation: X:25.39, Y:-2.21, Z:-1.16 [[ 9.99983006e-01 -4.42954081e-03 3.79038337e-03 2.53939587e+01] [ 4.42133356e-03 9.99987869e-01 2.17092805e-03 -2.21389063e+00] [-3.79995361e-03 -2.15413260e-03 9.99990460e-01 -1.15630798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.789928850999996 meters 0.11825443596002196 Centerline is valid? [False, False] Translation: X:25.39, Y:-2.22, Z:-1.16 [[ 9.99985469e-01 -4.02390537e-03 3.58761162e-03 2.53942454e+01] [ 4.01420558e-03 9.99988280e-01 2.70680375e-03 -2.21574157e+00] [-3.59846150e-03 -2.69236301e-03 9.99989901e-01 -1.15605180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819928850999997 meters 0.10875299932327938 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.22, Z:-1.16 [[ 9.99988801e-01 -3.43199118e-03 3.25885984e-03 2.53951295e+01] [ 3.42088483e-03 9.99988343e-01 3.40752532e-03 -2.21750864e+00] [-3.27051645e-03 -3.39633897e-03 9.99988884e-01 -1.15628924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.849928850999994 meters 0.11029162700675069 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.22, Z:-1.16 [[ 9.99990715e-01 -3.00672864e-03 3.08684376e-03 2.53956704e+01] [ 2.99444604e-03 9.99987612e-01 3.97595569e-03 -2.21899039e+00] [-3.09876014e-03 -3.96667538e-03 9.99987332e-01 -1.15654028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879928850999995 meters 0.10101585605758742 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.22, Z:-1.16 [[ 9.99992872e-01 -2.54196062e-03 2.79198574e-03 2.53960502e+01] [ 2.52930858e-03 9.99986560e-01 4.52577832e-03 -2.22093790e+00] [-2.80345257e-03 -4.51868426e-03 9.99985861e-01 -1.15613615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.909928850999997 meters 0.09961950700235153 Centerline is valid? [False, True] Translation: X:25.40, Y:-2.22, Z:-1.16 [[ 9.99993916e-01 -2.39054394e-03 2.54047191e-03 2.53963514e+01] [ 2.37892836e-03 9.99986749e-01 4.56544303e-03 -2.22134109e+00] [-2.55135214e-03 -4.55937166e-03 9.99986351e-01 -1.15575587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939928850999994 meters 0.10091700017294271 Centerline is valid? [True, False] Translation: X:25.40, Y:-2.22, Z:-1.16 [[ 9.99994990e-01 -2.14077541e-03 2.33179361e-03 2.53966918e+01] [ 2.12955136e-03 9.99986187e-01 4.80537564e-03 -2.22223175e+00] [-2.34204863e-03 -4.80038589e-03 9.99985735e-01 -1.15556760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.969928850999995 meters 0.10043833077913361 Centerline is valid? [False, False] Translation: X:25.40, Y:-2.23, Z:-1.16 [[ 9.99997455e-01 -1.24755658e-03 1.88000307e-03 2.53979342e+01] [ 1.23645885e-03 9.99981874e-01 5.89268007e-03 -2.22500885e+00] [-1.88732044e-03 -5.89034053e-03 9.99980871e-01 -1.15595392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999928850999996 meters 0.09592448525732329 Centerline is valid? [False, True] Translation: X:25.40, Y:-2.23, Z:-1.16 [[ 9.99998108e-01 -9.48280329e-04 1.69863618e-03 2.53983276e+01] [ 9.37663349e-04 9.99980090e-01 6.24022660e-03 -2.22609725e+00] [-1.70451984e-03 -6.23862204e-03 9.99979087e-01 -1.15594000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.029928850999994 meters 0.09856189546880136 Centerline is valid? [True, True] Translation: X:25.43, Y:-2.23, Z:-1.15 [[ 9.99999695e-01 7.44495042e-04 2.34283535e-04 2.54277311e+01] [-7.44489279e-04 9.99999723e-01 -2.46841569e-05 -2.23208129e+00] [-2.34301847e-04 2.45097278e-05 9.99999972e-01 -1.15494053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059928850999995 meters 0.097615020610933 Centerline is valid? [True, True] Translation: X:25.46, Y:-2.23, Z:-1.16 [[ 9.99997443e-01 2.24730167e-03 -2.51798485e-04 2.54577430e+01] [-2.24729525e-03 9.99997474e-01 2.57746761e-05 -2.23435490e+00] [ 2.51855773e-04 -2.52087446e-05 9.99999968e-01 -1.15533336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.089928850999996 meters 0.0957750460222799 Centerline is valid? [True, True] Translation: X:25.49, Y:-2.24, Z:-1.16 [[ 9.99986828e-01 5.04615033e-03 -9.37932415e-04 2.54877409e+01] [-5.04605993e-03 9.99987264e-01 9.87293933e-05 -2.23764013e+00] [ 9.38418672e-04 -9.39952296e-05 9.99999555e-01 -1.15608235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119928850999994 meters 0.0942020925156602 Centerline is valid? [True, True] Translation: X:25.52, Y:-2.24, Z:-1.16 [[ 9.99980491e-01 6.18489650e-03 -8.74894050e-04 2.55175289e+01] [-6.18481874e-03 9.99980870e-01 9.15569075e-05 -2.23953835e+00] [ 8.75443582e-04 -8.61440602e-05 9.99999613e-01 -1.15707297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.149928850999995 meters 0.0917677331760962 Centerline is valid? [True, True] Translation: X:25.55, Y:-2.24, Z:-1.16 [[ 9.99969524e-01 7.67173236e-03 -1.44783404e-03 2.55471754e+01] [-7.67152051e-03 9.99970562e-01 1.51815542e-04 -2.23969057e+00] [ 1.44895611e-03 -1.40703827e-04 9.99998940e-01 -1.15730855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179928850999996 meters 0.09222482294779341 Centerline is valid? [True, True] Translation: X:25.58, Y:-2.25, Z:-1.16 [[ 9.99958937e-01 8.90889730e-03 -1.65991486e-03 2.55760284e+01] [-8.90862048e-03 9.99960302e-01 1.74083654e-04 -2.24529764e+00] [ 1.66139985e-03 -1.59288954e-04 9.99998607e-01 -1.15779001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.209928850999994 meters 0.09236231245605743 Centerline is valid? [True, True] Translation: X:25.60, Y:-2.25, Z:-1.16 [[ 9.99946949e-01 1.02043186e-02 -1.40391707e-03 2.56042855e+01] [-1.02041224e-02 9.99947926e-01 1.46818032e-04 -2.24956947e+00] [ 1.40534214e-03 -1.32484501e-04 9.99999004e-01 -1.15804820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239928850999995 meters 0.08996650804780194 Centerline is valid? [True, True] Translation: X:25.63, Y:-2.25, Z:-1.16 [[ 9.99922234e-01 1.23435475e-02 -1.77815756e-03 2.56342065e+01] [-1.23432349e-02 9.99923802e-01 1.86683374e-04 -2.25044485e+00] [ 1.78032640e-03 -1.64720640e-04 9.99998402e-01 -1.15677069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.269928850999996 meters 0.090547663680479 Centerline is valid? [True, True] Translation: X:25.66, Y:-2.26, Z:-1.16 [[ 9.99917938e-01 1.27543275e-02 -1.20151117e-03 2.56613300e+01] [-1.27541866e-02 9.99918654e-01 1.24851676e-04 -2.25568509e+00] [ 1.20300584e-03 -1.09517132e-04 9.99999270e-01 -1.15654766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299928850999994 meters 0.09097342043219822 Centerline is valid? [True, True] Translation: X:25.69, Y:-2.26, Z:-1.16 [[ 9.99908776e-01 1.33720502e-02 -1.90448928e-03 2.56889457e+01] [-1.33716961e-02 9.99910575e-01 1.98571967e-04 -2.26148740e+00] [ 1.90697429e-03 -1.73087601e-04 9.99998167e-01 -1.15769683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.329928850999995 meters 0.09097342043219822 Centerline is valid? [True, True] Translation: X:25.72, Y:-2.26, Z:-1.16 [[ 9.99910095e-01 1.32731052e-02 -1.90453681e-03 2.57163766e+01] [-1.32727517e-02 9.99911894e-01 1.98118382e-04 -2.26425251e+00] [ 1.90699865e-03 -1.72822126e-04 9.99998167e-01 -1.15814494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359928850999996 meters 0.09159761531624568 Centerline is valid? [True, True] Translation: X:25.75, Y:-2.27, Z:-1.16 [[ 9.99908569e-01 1.33648695e-02 -2.05757146e-03 2.57450153e+01] [-1.33644560e-02 9.99910669e-01 2.14573609e-04 -2.27010339e+00] [ 2.06025540e-03 -1.87055667e-04 9.99997860e-01 -1.15974619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.389928850999993 meters 0.09288227379884016 Centerline is valid? [True, True] Translation: X:25.77, Y:-2.28, Z:-1.16 [[ 9.99921359e-01 1.21425766e-02 -3.13588507e-03 2.57727808e+01] [-1.21416081e-02 9.99926234e-01 3.27704997e-04 -2.27810368e+00] [ 3.13963293e-03 -2.89604539e-04 9.99995029e-01 -1.16145092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419928850999995 meters 0.08842914071882653 Centerline is valid? [True, True] Translation: X:25.80, Y:-2.27, Z:-1.16 [[ 9.99929731e-01 1.14766609e-02 -2.96971608e-03 2.58021456e+01] [-1.14757910e-02 9.99934103e-01 3.09783675e-04 -2.27437696e+00] [ 2.97307567e-03 -2.75682066e-04 9.99995542e-01 -1.16018431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.449928850999996 meters 0.09357716654759342 Centerline is valid? [True, True] Translation: X:25.83, Y:-2.29, Z:-1.16 [[ 9.99931118e-01 1.13156837e-02 -3.11697130e-03 2.58285388e+01] [-1.13147261e-02 9.99935934e-01 3.24670768e-04 -2.28832887e+00] [ 3.12044548e-03 -2.89380727e-04 9.99995090e-01 -1.16249588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479928850999993 meters 0.09547786258093019 Centerline is valid? [True, True] Translation: X:25.86, Y:-2.30, Z:-1.16 [[ 9.99933502e-01 1.11100629e-02 -3.09165333e-03 2.58553304e+01] [-1.11091205e-02 9.99938240e-01 3.21848951e-04 -2.29611308e+00] [ 3.09503816e-03 -2.87481999e-04 9.99995169e-01 -1.16379529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.509928850999994 meters 0.09075450593086228 Centerline is valid? [True, True] Translation: X:25.89, Y:-2.29, Z:-1.16 [[ 9.99943936e-01 1.01138607e-02 -3.13594231e-03 2.58853567e+01] [-1.01128841e-02 9.99948810e-01 3.27126428e-04 -2.29409565e+00] [ 3.13909029e-03 -2.95394667e-04 9.99995029e-01 -1.16305567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539928850999996 meters 0.08874976587694228 Centerline is valid? [True, True] Translation: X:25.91, Y:-2.29, Z:-1.16 [[ 9.99950113e-01 9.32680479e-03 -3.57533232e-03 2.59149898e+01] [-9.32553055e-03 9.99956447e-01 3.72902007e-04 -2.29481220e+00] [ 3.57865459e-03 -3.39541533e-04 9.99993539e-01 -1.16198633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.569928850999997 meters 0.0891836396828788 Centerline is valid? [True, True] Translation: X:25.94, Y:-2.30, Z:-1.16 [[ 9.99960915e-01 8.13171550e-03 -3.47047593e-03 2.59445092e+01] [-8.13050825e-03 9.99966881e-01 3.61832045e-04 -2.29980704e+00] [ 3.47330331e-03 -3.33601170e-04 9.99993912e-01 -1.16186670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599928850999994 meters 0.09560287959566427 Centerline is valid? [True, True] Translation: X:25.97, Y:-2.32, Z:-1.16 [[ 9.99971959e-01 6.66284039e-03 -3.41878436e-03 2.59715740e+01] [-6.66166281e-03 9.99977748e-01 3.55715393e-04 -2.31608979e+00] [ 3.42107836e-03 -3.32930630e-04 9.99994093e-01 -1.16358837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.629928850999995 meters 0.09128222633872503 Centerline is valid? [True, True] Translation: X:26.00, Y:-2.31, Z:-1.16 [[ 9.99979354e-01 5.46183959e-03 -3.38517858e-03 2.60011896e+01] [-5.46067810e-03 9.99985028e-01 3.52258193e-04 -2.31230880e+00] [ 3.38705188e-03 -3.33765550e-04 9.99994208e-01 -1.16328127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659928850999997 meters 0.09340935096786354 Centerline is valid? [True, True] Translation: X:26.03, Y:-2.32, Z:-1.17 [[ 9.99985422e-01 3.91625831e-03 -3.71726561e-03 2.60295683e+01] [-3.91484630e-03 9.99992262e-01 3.87052317e-04 -2.32128141e+00] [ 3.71875264e-03 -3.72494152e-04 9.99993016e-01 -1.16557848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.689928850999994 meters 0.0929050457322883 Centerline is valid? [True, True] Translation: X:26.06, Y:-2.33, Z:-1.17 [[ 9.99985643e-01 2.57132183e-03 -4.70129448e-03 2.60582973e+01] [-2.56905031e-03 9.99996580e-01 4.89144612e-04 -2.32510683e+00] [ 4.70253615e-03 -4.77059728e-04 9.99988829e-01 -1.16670935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719928850999995 meters 0.09863191164277184 Centerline is valid? [True, True] Translation: X:26.09, Y:-2.34, Z:-1.17 [[ 9.99988470e-01 8.43032662e-04 -4.72749322e-03 2.60865146e+01] [-8.40714415e-04 9.99999525e-01 4.92341322e-04 -2.33970931e+00] [ 4.72790603e-03 -4.88361174e-04 9.99988704e-01 -1.16797999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.749928850999996 meters 0.09246202657528563 Centerline is valid? [True, True] Translation: X:26.12, Y:-2.33, Z:-1.17 [[ 9.99989015e-01 -1.49332526e-04 -4.68491698e-03 2.61171990e+01] [ 1.51617866e-04 9.99999870e-01 4.87456521e-04 -2.33171238e+00] [ 4.68484357e-03 -4.88161483e-04 9.99988907e-01 -1.16529976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779928850999994 meters 0.0916816737625536 Centerline is valid? [True, True] Translation: X:26.15, Y:-2.33, Z:-1.17 [[ 9.99987052e-01 -3.15766088e-04 -5.07897650e-03 2.61455990e+01] [ 3.18449708e-04 9.99999810e-01 5.27578073e-04 -2.33281112e+00] [ 5.07880895e-03 -5.29188640e-04 9.99986963e-01 -1.16504452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.809928850999995 meters 0.09693279509278471 Centerline is valid? [True, True] Translation: X:26.17, Y:-2.35, Z:-1.17 [[ 9.99991648e-01 -8.76761596e-05 -4.08621091e-03 2.61719154e+01] [ 8.94078387e-05 9.99999906e-01 4.23605272e-04 -2.34609365e+00] [ 4.08617338e-03 -4.23967073e-04 9.99991562e-01 -1.16749781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839928850999996 meters 0.09366304155795958 Centerline is valid? [True, True] Translation: X:26.20, Y:-2.34, Z:-1.17 [[ 9.99986762e-01 -9.39412193e-05 -5.14453304e-03 2.62008125e+01] [ 9.66877114e-05 9.99999853e-01 5.33620048e-04 -2.34361634e+00] [ 5.14448216e-03 -5.34110397e-04 9.99986624e-01 -1.16749010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.869928850999994 meters 0.09311320397695022 Centerline is valid? [True, True] Translation: X:26.23, Y:-2.35, Z:-1.17 [[ 9.99987640e-01 -5.32726993e-05 -4.97171822e-03 2.62290384e+01] [ 5.58353663e-05 9.99999866e-01 5.15311590e-04 -2.34668802e+00] [ 4.97169010e-03 -5.15582818e-04 9.99987508e-01 -1.16891690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899928850999995 meters 0.09588772091343988 Centerline is valid? [True, True] Translation: X:26.26, Y:-2.36, Z:-1.17 [[ 9.99989620e-01 -6.91144260e-04 -4.50364548e-03 2.62565402e+01] [ 6.93251708e-04 9.99999651e-01 4.66398457e-04 -2.35511133e+00] [ 4.50332155e-03 -4.69515775e-04 9.99989750e-01 -1.17003250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.929928850999996 meters 0.09400763402327227 Centerline is valid? [True, True] Translation: X:26.29, Y:-2.35, Z:-1.17 [[ 9.99986931e-01 -1.27779591e-03 -4.95026434e-03 2.62858728e+01] [ 1.28034983e-03 9.99999049e-01 5.12780665e-04 -2.35441835e+00] [ 4.94960441e-03 -5.19112034e-04 9.99987616e-01 -1.16925131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959928850999994 meters 0.0939973020945252 Centerline is valid? [True, True] Translation: X:26.31, Y:-2.36, Z:-1.17 [[ 9.99989080e-01 -1.44204915e-03 -4.44528693e-03 2.63142917e+01] [ 1.44409150e-03 9.99998853e-01 4.56265127e-04 -2.35677642e+00] [ 4.44462388e-03 -4.62679545e-04 9.99990016e-01 -1.16972306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.989928850999995 meters 0.09465209427095539 Centerline is valid? [True, True] Translation: X:26.34, Y:-2.36, Z:-1.17 [[ 9.99990548e-01 -7.39823895e-04 -4.28436143e-03 2.63432525e+01] [ 7.41727701e-04 9.99999627e-01 4.42789786e-04 -2.36082394e+00] [ 4.28403224e-03 -4.45963430e-04 9.99990724e-01 -1.16994595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019928850999996 meters 0.09576279800078093 Centerline is valid? [True, True] Translation: X:26.37, Y:-2.37, Z:-1.17 [[ 9.99989488e-01 -3.28186605e-04 -4.57332078e-03 2.63717441e+01] [ 3.30349518e-04 9.99999834e-01 4.72194013e-04 -2.36599146e+00] [ 4.57316505e-03 -4.73699844e-04 9.99989431e-01 -1.17123784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.049928850999994 meters 0.09493037974884685 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.37, Z:-1.17 [[ 9.99991075e-01 2.06657949e-05 -4.22485325e-03 2.64001643e+01] [-1.88400646e-05 9.99999906e-01 4.32179874e-04 -2.36800435e+00] [ 4.22486179e-03 -4.32096421e-04 9.99990982e-01 -1.17217548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079928850999995 meters 0.09126422745929254 Centerline is valid? [True, True] Translation: X:26.43, Y:-2.36, Z:-1.17 [[ 9.99990611e-01 4.91104228e-04 -4.30545448e-03 2.64295619e+01] [-4.89217192e-04 9.99999784e-01 4.39331848e-04 -2.36381211e+00] [ 4.30566931e-03 -4.37221420e-04 9.99990635e-01 -1.17164769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.109928850999996 meters 0.09700310191395708 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.38, Z:-1.17 [[ 9.99991563e-01 4.65166345e-04 -4.08133615e-03 2.64562053e+01] [-4.63462378e-04 9.99999805e-01 4.18438055e-04 -2.37683052e+00] [ 4.08153000e-03 -4.16542979e-04 9.99991584e-01 -1.17352089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139928850999993 meters 0.09745586206860035 Centerline is valid? [True, True] Translation: X:26.49, Y:-2.38, Z:-1.17 [[ 9.99990223e-01 -1.96564387e-04 -4.41766550e-03 2.64855345e+01] [ 1.98570794e-04 9.99999877e-01 4.53744060e-04 -2.38018527e+00] [ 4.41757577e-03 -4.54616843e-04 9.99990139e-01 -1.17344582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.169928850999995 meters 0.09884848374576037 Centerline is valid? [True, True] Translation: X:26.51, Y:-2.39, Z:-1.17 [[ 9.99991637e-01 -5.17146371e-04 -4.05702013e-03 2.65135482e+01] [ 5.18839985e-04 9.99999779e-01 4.16411349e-04 -2.38535111e+00] [ 4.05680389e-03 -4.18512811e-04 9.99991684e-01 -1.17389841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199928850999996 meters 0.09922185086799314 Centerline is valid? [True, True] Translation: X:26.54, Y:-2.39, Z:-1.17 [[ 9.99994054e-01 -1.25166606e-03 -3.21316733e-03 2.65421413e+01] [ 1.25272968e-03 9.99999161e-01 3.29028458e-04 -2.38938413e+00] [ 3.21275280e-03 -3.33051732e-04 9.99994784e-01 -1.17489670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.229928850999993 meters 0.09439408539626445 Centerline is valid? [True, True] Translation: X:26.57, Y:-2.39, Z:-1.17 [[ 9.99988772e-01 -3.61191300e-03 -3.06740529e-03 2.65726331e+01] [ 3.61289599e-03 9.99993424e-01 3.14981047e-04 -2.38534524e+00] [ 3.06624743e-03 -3.26059727e-04 9.99995246e-01 -1.17442363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259928850999994 meters 0.09526887224681418 Centerline is valid? [True, True] Translation: X:26.60, Y:-2.39, Z:-1.18 [[ 9.99983006e-01 -4.89132911e-03 -3.17227519e-03 2.66026622e+01] [ 4.89238717e-03 9.99987979e-01 3.25860009e-04 -2.39085364e+00] [ 3.17064317e-03 -3.41374470e-04 9.99994915e-01 -1.17558783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.289928850999996 meters 0.09716434285268256 Centerline is valid? [True, True] Translation: X:26.63, Y:-2.40, Z:-1.18 [[ 9.99968123e-01 -7.16415422e-03 -3.52541545e-03 2.66331862e+01] [ 7.16547515e-03 9.99974262e-01 3.62199509e-04 -2.39777668e+00] [ 3.52272986e-03 -3.87449240e-04 9.99993720e-01 -1.17637596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319928850999993 meters 0.10123145174143411 Centerline is valid? [True, False] Translation: X:26.63, Y:-2.40, Z:-1.18 [[ 9.99969947e-01 -7.11343430e-03 -3.08295618e-03 2.66323733e+01] [ 7.11688987e-03 9.99974057e-01 1.11134683e-03 -2.40010183e+00] [ 3.07497071e-03 -1.13325449e-03 9.99994630e-01 -1.17651103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.349928850999994 meters 0.0992033809520178 Centerline is valid? [False, True] Translation: X:26.63, Y:-2.40, Z:-1.18 [[ 9.99971968e-01 -6.81479466e-03 -3.10184804e-03 2.66325831e+01] [ 6.81988559e-03 9.99975410e-01 1.63365223e-03 -2.40134325e+00] [ 3.09063876e-03 -1.65476068e-03 9.99993855e-01 -1.17675362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379928850999995 meters 0.10593181034916115 Centerline is valid? [True, False] Translation: X:26.63, Y:-2.40, Z:-1.18 [[ 9.99973182e-01 -6.62300580e-03 -3.12573212e-03 2.66326982e+01] [ 6.62920805e-03 9.99976070e-01 1.97808174e-03 -2.40217964e+00] [ 3.11255647e-03 -1.99874982e-03 9.99993158e-01 -1.17684772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.409928850999997 meters 0.10181712497744004 Centerline is valid? [False, False] Translation: X:26.63, Y:-2.40, Z:-1.18 [[ 9.99974916e-01 -6.42564176e-03 -2.97963750e-03 2.66325297e+01] [ 6.43290598e-03 9.99976344e-01 2.43481295e-03 -2.40343545e+00] [ 2.96392178e-03 -2.45391960e-03 9.99992597e-01 -1.17703823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439928850999994 meters 0.101194658261051 Centerline is valid? [False, False] Translation: X:26.63, Y:-2.40, Z:-1.18 [[ 9.99976350e-01 -6.21139340e-03 -2.95260409e-03 2.66327230e+01] [ 6.21964664e-03 9.99976754e-01 2.79432658e-03 -2.40414164e+00] [ 2.93517880e-03 -2.81262464e-03 9.99991737e-01 -1.17740267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.469928850999995 meters 0.09833992454116201 Centerline is valid? [False, True] Translation: X:26.63, Y:-2.40, Z:-1.18 [[ 9.99976959e-01 -6.10480286e-03 -2.96865417e-03 2.66328132e+01] [ 6.11356425e-03 9.99976957e-01 2.95123546e-03 -2.40460335e+00] [ 2.95056906e-03 -2.96931652e-03 9.99991239e-01 -1.17748545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499928850999996 meters 0.10308691832069188 Centerline is valid? [True, False] Translation: X:26.63, Y:-2.41, Z:-1.18 [[ 9.99978334e-01 -5.85437506e-03 -3.00974100e-03 2.66332424e+01] [ 5.86437575e-03 9.99977277e-01 3.32475487e-03 -2.40520086e+00] [ 2.99020825e-03 -3.34233309e-03 9.99989944e-01 -1.17798865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.529928850999994 meters 0.10231495263826319 Centerline is valid? [False, False] Translation: X:26.63, Y:-2.41, Z:-1.18 [[ 9.99979427e-01 -5.60669648e-03 -3.11619429e-03 2.66337494e+01] [ 5.61810329e-03 9.99977506e-01 3.66387414e-03 -2.40572873e+00] [ 3.09558197e-03 -3.68130586e-03 9.99988433e-01 -1.17841252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559928850999995 meters 0.1003391972491163 Centerline is valid? [False, False] Translation: X:26.63, Y:-2.41, Z:-1.18 [[ 9.99980261e-01 -5.48900403e-03 -3.05765762e-03 2.66338411e+01] [ 5.50102802e-03 9.99977115e-01 3.93798757e-03 -2.40635828e+00] [ 3.03597202e-03 -3.95473010e-03 9.99987571e-01 -1.17872294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.589928850999996 meters 0.10087727732357098 Centerline is valid? [False, False] Translation: X:26.63, Y:-2.41, Z:-1.18 [[ 9.99980376e-01 -5.49174400e-03 -3.01476449e-03 2.66338331e+01] [ 5.50351088e-03 9.99977216e-01 3.90876396e-03 -2.40628070e+00] [ 2.99322987e-03 -3.92527904e-03 9.99987816e-01 -1.17879869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619928850999994 meters 0.10173162505527787 Centerline is valid? [False, False] Translation: X:26.63, Y:-2.41, Z:-1.18 [[ 9.99979884e-01 -5.52589743e-03 -3.11391503e-03 2.66339897e+01] [ 5.53757029e-03 9.99977627e-01 3.75254204e-03 -2.40582995e+00] [ 3.09310919e-03 -3.76971008e-03 9.99988111e-01 -1.17873406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.649928850999995 meters 0.10040572253962182 Centerline is valid? [False, False] Translation: X:26.64, Y:-2.40, Z:-1.18 [[ 9.99980030e-01 -5.13464189e-03 -3.68430715e-03 2.66354508e+01] [ 5.14814125e-03 9.99980036e-01 3.66393660e-03 -2.40483095e+00] [ 3.66542059e-03 -3.68283077e-03 9.99986501e-01 -1.17916114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679928850999996 meters 0.10010591872811332 Centerline is valid? [False, False] Translation: X:26.64, Y:-2.40, Z:-1.18 [[ 9.99979346e-01 -5.00483817e-03 -4.03225222e-03 2.66363880e+01] [ 5.01894148e-03 9.99981297e-01 3.49513041e-03 -2.40371494e+00] [ 4.01468425e-03 -3.51529586e-03 9.99985762e-01 -1.17949500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.709928850999994 meters 0.09586380804638539 Centerline is valid? [False, True] Translation: X:26.64, Y:-2.40, Z:-1.18 [[ 9.99977299e-01 -5.25038633e-03 -4.22314907e-03 2.66365590e+01] [ 5.26268553e-03 9.99981928e-01 2.90650764e-03 -2.40211425e+00] [ 4.20781246e-03 -2.92866677e-03 9.99986859e-01 -1.17919330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739928850999995 meters 0.09538908507631717 Centerline is valid? [True, True] Translation: X:26.67, Y:-2.40, Z:-1.18 [[ 9.99987176e-01 -1.78739278e-03 -4.73844490e-03 2.66675241e+01] [ 1.78979554e-03 9.99998272e-01 5.02887412e-04 -2.40153906e+00] [ 4.73753785e-03 -5.11361810e-04 9.99988647e-01 -1.17937398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.769928850999996 meters 0.09378353271282137 Centerline is valid? [True, True] Translation: X:26.70, Y:-2.40, Z:-1.18 [[ 9.99987498e-01 -3.42063047e-04 -4.98862484e-03 2.66975452e+01] [ 3.44706543e-04 9.99999801e-01 5.29054508e-04 -2.40171303e+00] [ 4.98844287e-03 -5.30767506e-04 9.99987417e-01 -1.17991314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799928850999994 meters 0.0986587427468356 Centerline is valid? [True, True] Translation: X:26.73, Y:-2.41, Z:-1.18 [[ 9.99982338e-01 9.68452193e-04 -5.86386420e-03 2.67251724e+01] [-9.64825206e-04 9.99999342e-01 6.21328999e-04 -2.41304894e+00] [ 5.86446207e-03 -6.15660421e-04 9.99982614e-01 -1.18276607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.829928850999995 meters 0.09449673439734399 Centerline is valid? [True, True] Translation: X:26.76, Y:-2.41, Z:-1.18 [[ 9.99976596e-01 2.73221363e-03 -6.27239311e-03 2.67556676e+01] [-2.72809618e-03 9.99996058e-01 6.64901961e-04 -2.40833516e+00] [ 6.27418504e-03 -6.47774708e-04 9.99980107e-01 -1.18287630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859928850999996 meters 0.09195778890678298 Centerline is valid? [True, True] Translation: X:26.79, Y:-2.41, Z:-1.18 [[ 9.99954930e-01 7.89265949e-03 -5.27665305e-03 2.67867058e+01] [-7.88981597e-03 9.99968718e-01 5.59486644e-04 -2.40502425e+00] [ 5.28090383e-03 -5.17829607e-04 9.99985922e-01 -1.18349588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.889928850999993 meters 0.08872471659720474 Centerline is valid? [True, True] Translation: X:26.82, Y:-2.40, Z:-1.18 [[ 9.99938786e-01 1.00651440e-02 -4.59525111e-03 2.68178289e+01] [-1.00630106e-02 9.99949248e-01 4.87142722e-04 -2.40018109e+00] [ 4.59992105e-03 -4.40870841e-04 9.99989323e-01 -1.18198065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919928850999995 meters 0.08700388249145112 Centerline is valid? [True, True] Translation: X:26.85, Y:-2.40, Z:-1.18 [[ 9.99906360e-01 1.28418791e-02 -4.72827278e-03 2.68482363e+01] [-1.28396510e-02 9.99917443e-01 5.01284483e-04 -2.39830677e+00] [ 4.73431986e-03 -4.40528170e-04 9.99988696e-01 -1.18168951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.949928850999996 meters 0.08568482372092814 Centerline is valid? [True, True] Translation: X:26.88, Y:-2.40, Z:-1.18 [[ 9.99800410e-01 1.94655364e-02 -4.49820859e-03 2.68777850e+01] [-1.94635880e-02 9.99810453e-01 4.76534573e-04 -2.39543338e+00] [ 4.50663196e-03 -3.88888183e-04 9.99989769e-01 -1.18378272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979928850999993 meters 0.08503445342079875 Centerline is valid? [True, True] Translation: X:26.91, Y:-2.40, Z:-1.18 [[ 9.99727878e-01 2.29394497e-02 -4.23687399e-03 2.69076377e+01] [-2.29377524e-02 9.99736794e-01 4.48773318e-04 -2.39609352e+00] [ 4.24605343e-03 -3.51466830e-04 9.99990924e-01 -1.18462463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.009928850999994 meters 0.08338951380723175 Centerline is valid? [True, True] Translation: X:26.94, Y:-2.39, Z:-1.18 [[ 9.99646349e-01 2.62576507e-02 -4.20867057e-03 2.69379650e+01] [-2.62560041e-02 9.99655152e-01 4.46006029e-04 -2.39421488e+00] [ 4.21893029e-03 -3.35345427e-04 9.99991044e-01 -1.18455492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039928850999996 meters 0.08282674041552604 Centerline is valid? [True, True] Translation: X:26.97, Y:-2.39, Z:-1.18 [[ 9.99558033e-01 2.94673121e-02 -3.92646364e-03 2.69671621e+01] [-2.94659049e-02 9.99565699e-01 4.15781857e-04 -2.39427792e+00] [ 3.93701035e-03 -2.99901291e-04 9.99992205e-01 -1.18475426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.069928850999993 meters 0.08127935895089125 Centerline is valid? [True, True] Translation: X:27.00, Y:-2.39, Z:-1.19 [[ 9.99407760e-01 3.42899147e-02 -2.88623919e-03 2.69962581e+01] [-3.42891760e-02 9.99411907e-01 3.05072922e-04 -2.39109825e+00] [ 2.89500273e-03 -2.05925482e-04 9.99995788e-01 -1.18546578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099928850999994 meters 0.07986188879869933 Centerline is valid? [True, True] Translation: X:27.03, Y:-2.39, Z:-1.18 [[ 9.99328549e-01 3.65365235e-02 -2.74468117e-03 2.70268435e+01] [-3.65358630e-02 9.99332300e-01 2.90433315e-04 -2.38953046e+00] [ 2.75345997e-03 -1.89959008e-04 9.99996191e-01 -1.18490005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.129928850999995 meters 0.08084482151107425 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.39, Z:-1.19 [[ 9.99272008e-01 3.81007759e-02 -1.94553573e-03 2.70549842e+01] [-3.81004482e-02 9.99273893e-01 2.05237065e-04 -2.39337618e+00] [ 1.95194276e-03 -1.30961871e-04 9.99998086e-01 -1.18576494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159928850999997 meters 0.08058847530467668 Centerline is valid? [True, True] Translation: X:27.08, Y:-2.39, Z:-1.19 [[ 9.99180228e-01 4.04330561e-02 -2.00975873e-03 2.70844114e+01] [-4.04327107e-02 9.99182241e-01 2.12215595e-04 -2.39338283e+00] [ 2.01669575e-03 -1.30781634e-04 9.99997958e-01 -1.18624923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.189928850999994 meters 0.08047614407496023 Centerline is valid? [True, True] Translation: X:27.11, Y:-2.40, Z:-1.19 [[ 9.99160068e-01 4.09254032e-02 -2.06629554e-03 2.71132012e+01] [-4.09250403e-02 9.99162196e-01 2.17613541e-04 -2.39580753e+00] [ 2.07347031e-03 -1.32867533e-04 9.99997842e-01 -1.18773164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219928850999995 meters 0.08047614407496023 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.40, Z:-1.19 [[ 9.99163959e-01 4.08302978e-02 -2.06636396e-03 2.71405722e+01] [-4.08299360e-02 9.99166087e-01 2.16965853e-04 -2.39859397e+00] [ 2.07349957e-03 -1.32414952e-04 9.99997842e-01 -1.18812508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249928850999996 meters 0.0780365902546047 Centerline is valid? [True, True] Translation: X:27.17, Y:-2.39, Z:-1.19 [[ 9.99179974e-01 4.04053321e-02 -2.60559369e-03 2.71701935e+01] [-4.04047613e-02 9.99183357e-01 2.71353881e-04 -2.39467029e+00] [ 2.61442999e-03 -1.65852973e-04 9.99996569e-01 -1.18787241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279928850999994 meters 0.08138480054193183 Centerline is valid? [True, True] Translation: X:27.20, Y:-2.41, Z:-1.19 [[ 9.99188548e-01 4.01837940e-02 -2.74001131e-03 2.71964680e+01] [-4.01831562e-02 9.99192289e-01 2.87462410e-04 -2.40516212e+00] [ 2.74934950e-03 -1.77126846e-04 9.99996205e-01 -1.19108290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.309928850999995 meters 0.07900367422626589 Centerline is valid? [True, True] Translation: X:27.23, Y:-2.40, Z:-1.19 [[ 9.99211194e-01 3.95603210e-02 -3.45995383e-03 2.72256354e+01] [-3.95593094e-02 9.99217159e-01 3.60362059e-04 -2.40142040e+00] [ 3.47150127e-03 -2.23204419e-04 9.99993949e-01 -1.19047070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339928850999996 meters 0.0808373567268843 Centerline is valid? [True, True] Translation: X:27.25, Y:-2.41, Z:-1.19 [[ 9.99329399e-01 3.64901273e-02 -3.03677880e-03 2.72547646e+01] [-3.64893259e-02 9.99333992e-01 3.18910237e-04 -2.40729597e+00] [ 3.04639335e-03 -2.07886364e-04 9.99995338e-01 -1.19091211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.369928850999994 meters 0.08065870512077071 Centerline is valid? [True, True] Translation: X:27.28, Y:-2.41, Z:-1.19 [[ 9.99403127e-01 3.44201583e-02 -2.93987519e-03 2.72839946e+01] [-3.44194001e-02 9.99407429e-01 3.08105122e-04 -2.40948197e+00] [ 2.94873813e-03 -2.06732482e-04 9.99995631e-01 -1.19020435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399928850999995 meters 0.08087996618846076 Centerline is valid? [True, True] Translation: X:27.31, Y:-2.41, Z:-1.19 [[ 9.99478016e-01 3.21627843e-02 -3.04142805e-03 2.73145248e+01] [-3.21619602e-02 9.99482619e-01 3.19480725e-04 -2.41289047e+00] [ 3.05012987e-03 -2.21495674e-04 9.99995324e-01 -1.19045394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.429928850999996 meters 0.08164454098195008 Centerline is valid? [True, True] Translation: X:27.34, Y:-2.42, Z:-1.19 [[ 9.99539254e-01 3.02431246e-02 -2.57532176e-03 2.73431226e+01] [-3.02425296e-02 9.99542554e-01 2.69665036e-04 -2.41799805e+00] [ 2.58229920e-03 -1.91656545e-04 9.99996647e-01 -1.19157072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459928850999994 meters 0.08420713695781286 Centerline is valid? [True, True] Translation: X:27.37, Y:-2.43, Z:-1.19 [[ 9.99607959e-01 2.78497617e-02 -2.88432951e-03 2.73714411e+01] [-2.78490048e-02 9.99612096e-01 3.02254851e-04 -2.42718281e+00] [ 2.89162839e-03 -2.21810648e-04 9.99995795e-01 -1.19331072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.489928850999995 meters 0.08593150722205227 Centerline is valid? [True, True] Translation: X:27.40, Y:-2.43, Z:-1.19 [[ 9.99727263e-01 2.30889196e-02 -3.50747155e-03 2.74006963e+01] [-2.30877699e-02 9.99733374e-01 3.67928859e-04 -2.43441946e+00] [ 3.51503145e-03 -2.86848815e-04 9.99993781e-01 -1.19404786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519928850999996 meters 0.08658265613294328 Centerline is valid? [True, True] Translation: X:27.43, Y:-2.44, Z:-1.19 [[ 9.99784910e-01 2.05005361e-02 -3.14029991e-03 2.74301775e+01] [-2.04996023e-02 9.99789807e-01 3.29271444e-04 -2.43842133e+00] [ 3.14639008e-03 -2.64825722e-04 9.99995015e-01 -1.19446538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.549928850999994 meters 0.08745525772256788 Centerline is valid? [True, True] Translation: X:27.46, Y:-2.44, Z:-1.19 [[ 9.99829312e-01 1.81896425e-02 -3.23783759e-03 2.74598956e+01] [-1.81886379e-02 9.99834515e-01 3.39449765e-04 -2.44296215e+00] [ 3.24347624e-03 -2.80499970e-04 9.99994701e-01 -1.19416486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579928850999995 meters 0.08643342290223831 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.44, Z:-1.19 [[ 9.99861433e-01 1.64157190e-02 -2.76375350e-03 2.74889891e+01] [-1.64149822e-02 9.99865223e-01 2.89072244e-04 -2.44336549e+00] [ 2.76812633e-03 -2.43665224e-04 9.99996139e-01 -1.19370933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.609928850999996 meters 0.0932486417135297 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.46, Z:-1.20 [[ 9.99909105e-01 1.31286903e-02 -3.06909909e-03 2.75171101e+01] [-1.31277638e-02 9.99913775e-01 3.21812751e-04 -2.46090408e+00] [ 3.07305944e-03 -2.81493092e-04 9.99995239e-01 -1.19734128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639928850999993 meters 0.08936384217151794 Centerline is valid? [True, True] Translation: X:27.55, Y:-2.46, Z:-1.20 [[ 9.99927941e-01 1.14920624e-02 -3.47069675e-03 2.75470778e+01] [-1.14908710e-02 9.99933912e-01 3.63028618e-04 -2.45715133e+00] [ 3.47463933e-03 -3.23121130e-04 9.99993911e-01 -1.19662738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669928850999995 meters 0.08925955034012893 Centerline is valid? [True, True] Translation: X:27.58, Y:-2.46, Z:-1.20 [[ 9.99943468e-01 9.76615059e-03 -4.20510896e-03 2.75775388e+01] [-9.76438274e-03 9.99952230e-01 4.40731310e-04 -2.45903063e+00] [ 4.20921234e-03 -3.99646101e-04 9.99991061e-01 -1.19633424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699928850999996 meters 0.09125748099414385 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.46, Z:-1.20 [[ 9.99941663e-01 9.58822530e-03 -4.97348335e-03 2.76051784e+01] [-9.58575846e-03 9.99953921e-01 5.19599609e-04 -2.46463587e+00] [ 4.97823621e-03 -4.71894687e-04 9.99987497e-01 -1.19769170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.729928850999993 meters 0.09137967110522519 Centerline is valid? [True, True] Translation: X:27.63, Y:-2.47, Z:-1.20 [[ 9.99933380e-01 1.05897542e-02 -4.59265092e-03 2.76334994e+01] [-1.05876617e-02 9.99943834e-01 4.79679976e-04 -2.46672040e+00] [ 4.59747266e-03 -4.31022585e-04 9.99989339e-01 -1.19726931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759928850999994 meters 0.09152530891221916 Centerline is valid? [True, True] Translation: X:27.66, Y:-2.47, Z:-1.20 [[ 9.99920935e-01 1.19037052e-02 -4.05273303e-03 2.76633559e+01] [-1.19020844e-02 9.99929078e-01 4.23829069e-04 -2.46917927e+00] [ 4.05749074e-03 -3.75559588e-04 9.99991698e-01 -1.19760129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.789928850999996 meters 0.09134619705268579 Centerline is valid? [True, True] Translation: X:27.69, Y:-2.47, Z:-1.20 [[ 9.99872418e-01 1.51937858e-02 -4.92918510e-03 2.76929762e+01] [-1.51914281e-02 9.99884471e-01 5.15400912e-04 -2.47052158e+00] [ 4.93644653e-03 -4.40453795e-04 9.99987719e-01 -1.19898425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819928850999993 meters 0.08730027514224545 Centerline is valid? [True, True] Translation: X:27.72, Y:-2.47, Z:-1.20 [[ 9.99843279e-01 1.70423369e-02 -4.79337626e-03 2.77237209e+01] [-1.70401287e-02 9.99854681e-01 5.01144254e-04 -2.46502326e+00] [ 4.80122036e-03 -4.19385965e-04 9.99988386e-01 -1.19832023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.849928850999994 meters 0.09078639207984246 Centerline is valid? [True, True] Translation: X:27.75, Y:-2.47, Z:-1.20 [[ 9.99812456e-01 1.86470353e-02 -5.22893702e-03 2.77513372e+01] [-1.86444332e-02 9.99826028e-01 5.45951328e-04 -2.47402790e+00] [ 5.23820770e-03 -4.48358372e-04 9.99986180e-01 -1.20033692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879928850999995 meters 0.08843983616352756 Centerline is valid? [True, True] Translation: X:27.78, Y:-2.47, Z:-1.20 [[ 9.99794245e-01 1.96043029e-02 -5.20954079e-03 2.77806146e+01] [-1.96017359e-02 9.99807720e-01 5.43356574e-04 -2.47156023e+00] [ 5.21919122e-03 -4.41128733e-04 9.99986283e-01 -1.19955165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.909928850999993 meters 0.08902623123781386 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.47, Z:-1.20 [[ 9.99776510e-01 2.04269636e-02 -5.44691466e-03 2.78087763e+01] [-2.04241711e-02 9.99791244e-01 5.67813220e-04 -2.47434404e+00] [ 5.45737628e-03 -4.56437602e-04 9.99985004e-01 -1.20044147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939928850999994 meters 0.08981872343237778 Centerline is valid? [True, True] Translation: X:27.84, Y:-2.48, Z:-1.20 [[ 9.99760458e-01 2.11726191e-02 -5.54506661e-03 2.78378189e+01] [-2.11697347e-02 9.99775729e-01 5.78355372e-04 -2.47869743e+00] [ 5.55606831e-03 -4.60829242e-04 9.99984459e-01 -1.20051732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.969928850999995 meters 0.08754102613046112 Centerline is valid? [True, True] Translation: X:27.87, Y:-2.48, Z:-1.20 [[ 9.99743647e-01 2.20203404e-02 -5.26742343e-03 2.78666739e+01] [-2.20177539e-02 9.99757429e-01 5.48537065e-04 -2.47665398e+00] [ 5.27822468e-03 -4.32419613e-04 9.99985977e-01 -1.20008411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999928850999996 meters 0.08567054972235344 Centerline is valid? [True, True] Translation: X:27.90, Y:-2.48, Z:-1.20 [[ 9.99716410e-01 2.33780858e-02 -4.53473005e-03 2.78970209e+01] [-2.33761829e-02 9.99726628e-01 4.72174781e-04 -2.47529536e+00] [ 4.54452893e-03 -3.66036198e-04 9.99989607e-01 -1.19939770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.029928851 meters 0.08811946072717951 Centerline is valid? [True, True] Translation: X:27.92, Y:-2.48, Z:-1.20 [[ 9.99713813e-01 2.34761948e-02 -4.59999860e-03 2.79237316e+01] [-2.34742455e-02 9.99724328e-01 4.77321666e-04 -2.48223483e+00] [ 4.60993620e-03 -3.69203567e-04 9.99989306e-01 -1.20110054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059928850999995 meters 0.08643407736898141 Centerline is valid? [True, True] Translation: X:27.95, Y:-2.48, Z:-1.20 [[ 9.99714121e-01 2.31359287e-02 -6.03370704e-03 2.79526201e+01] [-2.31325627e-02 9.99732210e-01 6.27054305e-04 -2.48086230e+00] [ 6.04659876e-03 -4.87299936e-04 9.99981600e-01 -1.20097222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089928850999996 meters 0.08736181626408338 Centerline is valid? [True, True] Translation: X:27.98, Y:-2.48, Z:-1.20 [[ 9.99714437e-01 2.27758748e-02 -7.23219389e-03 2.79797823e+01] [-2.27710341e-02 9.99740424e-01 7.50979834e-04 -2.48497012e+00] [ 7.24742081e-03 -5.86080848e-04 9.99973565e-01 -1.20200543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119928851 meters 0.08811032852796404 Centerline is valid? [True, True] Translation: X:28.01, Y:-2.49, Z:-1.20 [[ 9.99724607e-01 2.18617649e-02 -8.53069523e-03 2.80088142e+01] [-2.18549946e-02 9.99760758e-01 8.86069997e-04 -2.48889391e+00] [ 8.54802539e-03 -6.99387682e-04 9.99963220e-01 -1.20383726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.149928851 meters 0.08454501394316533 Centerline is valid? [True, True] Translation: X:28.04, Y:-2.48, Z:-1.20 [[ 9.99733920e-01 2.13951736e-02 -8.62187119e-03 2.80385936e+01] [-2.13882480e-02 9.99770845e-01 8.94677514e-04 -2.48475665e+00] [ 8.63903723e-03 -7.10032738e-04 9.99962431e-01 -1.20255002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179928851 meters 0.08811847437243586 Centerline is valid? [True, True] Translation: X:28.07, Y:-2.50, Z:-1.20 [[ 9.99763519e-01 1.98943771e-02 -8.78179850e-03 2.80656049e+01] [-1.98871420e-02 9.99801817e-01 9.10439878e-04 -2.49501624e+00] [ 8.79817073e-03 -7.35579703e-04 9.99961025e-01 -1.20467992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.209928851 meters 0.09067717850070744 Centerline is valid? [True, True] Translation: X:28.09, Y:-2.50, Z:-1.21 [[ 9.99799163e-01 1.81744083e-02 -8.44532902e-03 2.80931140e+01] [-1.81676596e-02 9.99834571e-01 8.75143103e-04 -2.50319165e+00] [ 8.45983713e-03 -7.21535480e-04 9.99963955e-01 -1.20594917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239928850999995 meters 0.09236071116467727 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.51, Z:-1.21 [[ 9.99825303e-01 1.70122504e-02 -7.74257707e-03 2.81213200e+01] [-1.70065451e-02 9.99855057e-01 8.02121173e-04 -2.50922023e+00] [ 7.75510072e-03 -6.70306558e-04 9.99969704e-01 -1.20712083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.269928850999996 meters 0.08939930114167009 Centerline is valid? [True, True] Translation: X:28.15, Y:-2.51, Z:-1.21 [[ 9.99843539e-01 1.56209421e-02 -8.29963813e-03 2.81512878e+01] [-1.56143388e-02 9.99877719e-01 8.59815079e-04 -2.50630226e+00] [ 8.31205437e-03 -7.30087190e-04 9.99965188e-01 -1.20603149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299928851 meters 0.09125432301624027 Centerline is valid? [True, True] Translation: X:28.18, Y:-2.51, Z:-1.21 [[ 9.99886187e-01 1.31161658e-02 -7.45518858e-03 2.81811915e+01] [-1.31107683e-02 9.99913752e-01 7.72400338e-04 -2.51341098e+00] [ 7.46467652e-03 -6.74569179e-04 9.99971911e-01 -1.20534567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.329928851 meters 0.09126281580265118 Centerline is valid? [True, True] Translation: X:28.21, Y:-2.52, Z:-1.21 [[ 9.99904331e-01 1.22081646e-02 -6.50309507e-03 2.82100939e+01] [-1.22040463e-02 9.99925302e-01 6.72581229e-04 -2.51674366e+00] [ 6.51082028e-03 -5.93152810e-04 9.99978628e-01 -1.20531865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359928851 meters 0.0926312626417436 Centerline is valid? [True, True] Translation: X:28.24, Y:-2.52, Z:-1.21 [[ 9.99920983e-01 1.09163967e-02 -6.23384598e-03 2.82384474e+01] [-1.09125882e-02 9.99940248e-01 6.44629310e-04 -2.52231275e+00] [ 6.24051052e-03 -5.76550979e-04 9.99980362e-01 -1.20598118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.389928851 meters 0.09417789125276926 Centerline is valid? [True, True] Translation: X:28.27, Y:-2.53, Z:-1.21 [[ 9.99938061e-01 9.23826584e-03 -6.20711181e-03 2.82680056e+01] [-9.23445583e-03 9.99957155e-01 6.42193718e-04 -2.52829930e+00] [ 6.21277863e-03 -5.84834641e-04 9.99980529e-01 -1.20707622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419928851 meters 0.09514824156254756 Centerline is valid? [True, True] Translation: X:28.30, Y:-2.53, Z:-1.21 [[ 9.99957578e-01 6.69674745e-03 -6.32429881e-03 2.82980661e+01] [-6.69274071e-03 9.99977389e-01 6.54497410e-04 -2.53331584e+00] [ 6.32853881e-03 -6.12142753e-04 9.99979787e-01 -1.20756481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.449928850999996 meters 0.09669410116195834 Centerline is valid? [True, True] Translation: X:28.33, Y:-2.54, Z:-1.21 [[ 9.99959117e-01 5.18949422e-03 -7.40493239e-03 2.83278854e+01] [-5.18396239e-03 9.99986270e-01 7.66044947e-04 -2.53942487e+00] [ 7.40880610e-03 -7.27626738e-04 9.99972290e-01 -1.20918312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479928851 meters 0.09240948149812532 Centerline is valid? [True, True] Translation: X:28.36, Y:-2.53, Z:-1.21 [[ 9.99968360e-01 3.77287293e-03 -7.00319179e-03 2.83578498e+01] [-3.76789686e-03 9.99992640e-01 7.23602345e-04 -2.53487969e+00] [ 7.00587030e-03 -6.97192146e-04 9.99975216e-01 -1.20846080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.509928851 meters 0.09602145060009126 Centerline is valid? [True, True] Translation: X:28.39, Y:-2.55, Z:-1.21 [[ 9.99967757e-01 1.69511029e-03 -7.84936268e-03 2.83858595e+01] [-1.68879240e-03 9.99998245e-01 8.11449519e-04 -2.54510461e+00] [ 7.85072440e-03 -7.98167411e-04 9.99968864e-01 -1.21050798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539928851 meters 0.09689338449409599 Centerline is valid? [True, True] Translation: X:28.42, Y:-2.55, Z:-1.21 [[ 9.99970374e-01 -1.55991821e-03 -7.53774429e-03 2.84158169e+01] [ 1.56583790e-03 9.99998470e-01 7.79502052e-04 -2.55071937e+00] [ 7.53651680e-03 -7.91281845e-04 9.99971287e-01 -1.21101911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.569928851 meters 0.0996539174594905 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.56, Z:-1.21 [[ 9.99965485e-01 -3.26565901e-03 -7.63967973e-03 2.84445698e+01] [ 3.27178338e-03 9.99994336e-01 7.89292914e-04 -2.55827544e+00] [ 7.63705890e-03 -8.14261048e-04 9.99970506e-01 -1.21123399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599928851 meters 0.09738448548454913 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.56, Z:-1.21 [[ 9.99971300e-01 -4.46309222e-03 -6.12201306e-03 2.84735448e+01] [ 4.46701933e-03 9.99989826e-01 6.27949737e-04 -2.55719375e+00] [ 6.11914817e-03 -6.55278866e-04 9.99981063e-01 -1.21035189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.629928850999995 meters 0.09681120962290253 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.56, Z:-1.21 [[ 9.99974983e-01 -4.88907862e-03 -5.11174356e-03 2.85028558e+01] [ 4.89183329e-03 9.99987896e-01 5.26526928e-04 -2.55946575e+00] [ 5.10910745e-03 -5.51519553e-04 9.99986796e-01 -1.21025268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659928851 meters 0.10357442955362034 Centerline is valid? [True, False] Translation: X:28.50, Y:-2.56, Z:-1.21 [[ 9.99976600e-01 -4.71674791e-03 -4.95502937e-03 2.85027125e+01] [ 4.72144999e-03 9.99988414e-01 9.37682382e-04 -2.56066607e+00] [ 4.95054916e-03 -9.61055363e-04 9.99987284e-01 -1.21051216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.689928851 meters 0.09886334798826403 Centerline is valid? [False, True] Translation: X:28.50, Y:-2.56, Z:-1.21 [[ 9.99978649e-01 -4.25914382e-03 -4.95587755e-03 2.85032489e+01] [ 4.26722606e-03 9.99989581e-01 1.62141042e-03 -2.56201046e+00] [ 4.94892009e-03 -1.64252365e-03 9.99986405e-01 -1.21125710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719928851 meters 0.09906660914202964 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.57, Z:-1.21 [[ 9.99976336e-01 -5.04703293e-03 -4.67492839e-03 2.85328581e+01] [ 5.04938551e-03 9.99987131e-01 4.91568001e-04 -2.56513329e+00] [ 4.67238727e-03 -5.15161885e-04 9.99988952e-01 -1.21130569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.749928851 meters 0.10390633291363097 Centerline is valid? [True, False] Translation: X:28.53, Y:-2.57, Z:-1.21 [[ 9.99976288e-01 -5.24552815e-03 -4.46171282e-03 2.85322109e+01] [ 5.24752247e-03 9.99986137e-01 4.35397598e-04 -2.56522316e+00] [ 4.45936707e-03 -4.58800213e-04 9.99989952e-01 -1.21104090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779928851 meters 0.10067571417124517 Centerline is valid? [False, False] Translation: X:28.53, Y:-2.57, Z:-1.21 [[ 9.99976635e-01 -5.06984425e-03 -4.58543366e-03 2.85326770e+01] [ 5.07263145e-03 9.99986956e-01 5.96410780e-04 -2.56525115e+00] [ 4.58235014e-03 -6.19657060e-04 9.99989309e-01 -1.21130605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.809928850999995 meters 0.10112990541830609 Centerline is valid? [False, False] Translation: X:28.53, Y:-2.57, Z:-1.21 [[ 9.99977246e-01 -4.86350655e-03 -4.67473851e-03 2.85332385e+01] [ 4.86747947e-03 9.99987802e-01 8.38868785e-04 -2.56531518e+00] [ 4.67060164e-03 -8.61603891e-04 9.99988721e-01 -1.21184425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839928850999996 meters 0.09856088990696486 Centerline is valid? [False, True] Translation: X:28.53, Y:-2.57, Z:-1.21 [[ 9.99978771e-01 -4.46060311e-03 -4.74977390e-03 2.85339678e+01] [ 4.46700818e-03 9.99989127e-01 1.33874541e-03 -2.56601191e+00] [ 4.74375064e-03 -1.35993427e-03 9.99987824e-01 -1.21263902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.869928851 meters 0.10157629776233626 Centerline is valid? [True, False] Translation: X:28.53, Y:-2.57, Z:-1.21 [[ 9.99980815e-01 -4.12561328e-03 -4.62041326e-03 2.85343718e+01] [ 4.13447254e-03 9.99989630e-01 1.90950936e-03 -2.56720723e+00] [ 4.61248744e-03 -1.92857570e-03 9.99987503e-01 -1.21358044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899928851 meters 0.10375404625537461 Centerline is valid? [False, False] Translation: X:28.53, Y:-2.57, Z:-1.21 [[ 9.99981379e-01 -3.91420964e-03 -4.68189095e-03 2.85348590e+01] [ 3.92440372e-03 9.99989945e-01 2.17013981e-03 -2.56751008e+00] [ 4.67334949e-03 -2.18847303e-03 9.99986685e-01 -1.21406402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.929928851 meters 0.0983636050392171 Centerline is valid? [False, True] Translation: X:28.54, Y:-2.57, Z:-1.21 [[ 9.99981749e-01 -3.84632853e-03 -4.65914465e-03 2.85350767e+01] [ 3.85707620e-03 9.99989916e-01 2.30000391e-03 -2.56742739e+00] [ 4.65025110e-03 -2.31793261e-03 9.99986501e-01 -1.21445431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959928851 meters 0.09962127229519611 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.57, Z:-1.21 [[ 9.99981141e-01 -4.41354654e-03 -4.27063981e-03 2.85644826e+01] [ 4.41555046e-03 9.99990146e-01 4.59916320e-04 -2.57090281e+00] [ 4.26856787e-03 -4.78764872e-04 9.99990775e-01 -1.21383249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.989928850999995 meters 0.10291718003025464 Centerline is valid? [True, False] Translation: X:28.56, Y:-2.57, Z:-1.21 [[ 9.99981292e-01 -4.31957996e-03 -4.33099989e-03 2.85646442e+01] [ 4.32190535e-03 9.99990521e-01 5.27702049e-04 -2.57096626e+00] [ 4.32867938e-03 -5.46410348e-04 9.99990482e-01 -1.21384618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019928850999996 meters 0.10608433892337825 Centerline is valid? [False, False] Translation: X:28.57, Y:-2.57, Z:-1.21 [[ 9.99981898e-01 -4.07543097e-03 -4.42654820e-03 2.85650392e+01] [ 4.07896525e-03 9.99991369e-01 7.89692304e-04 -2.57149466e+00] [ 4.42329166e-03 -8.07733746e-04 9.99989891e-01 -1.21407823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.049928851 meters 0.09990368267732107 Centerline is valid? [False, True] Translation: X:28.57, Y:-2.57, Z:-1.21 [[ 9.99983027e-01 -3.82400645e-03 -4.39573764e-03 2.85651549e+01] [ 3.82910675e-03 9.99992005e-01 1.15245453e-03 -2.57253754e+00] [ 4.39129550e-03 -1.16926672e-03 9.99989675e-01 -1.21426601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079928851 meters 0.10888176505199114 Centerline is valid? [True, False] Translation: X:28.56, Y:-2.57, Z:-1.21 [[ 9.99983713e-01 -3.80000017e-03 -4.25826479e-03 2.85649639e+01] [ 3.80547125e-03 9.99991943e-01 1.27744912e-03 -2.57292741e+00] [ 4.25337618e-03 -1.29363302e-03 9.99990118e-01 -1.21439696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.109928851 meters 0.10083185479607389 Centerline is valid? [False, False] Translation: X:28.57, Y:-2.57, Z:-1.21 [[ 9.99984599e-01 -3.59680981e-03 -4.22659787e-03 2.85651976e+01] [ 3.60365399e-03 9.99992206e-01 1.61281365e-03 -2.57345300e+00] [ 4.22076395e-03 -1.62802000e-03 9.99989767e-01 -1.21481727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139928851 meters 0.09985087329427227 Centerline is valid? [False, True] Translation: X:28.56, Y:-2.57, Z:-1.21 [[ 9.99985104e-01 -3.64522209e-03 -4.06241965e-03 2.85648586e+01] [ 3.65208007e-03 9.99991917e-01 1.68201202e-03 -2.57382951e+00] [ 4.05625551e-03 -1.69682325e-03 9.99990334e-01 -1.21483272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.169928850999995 meters 0.09985087329427227 Centerline is valid? [True, True] Translation: X:28.59, Y:-2.58, Z:-1.21 [[ 9.99984584e-01 -3.63666687e-03 -4.19606868e-03 2.85949354e+01] [ 3.63862154e-03 9.99993275e-01 4.58293617e-04 -2.57655661e+00] [ 4.19437380e-03 -4.73554458e-04 9.99991091e-01 -1.21455082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199928850999996 meters 0.10088334643381922 Centerline is valid? [True, False] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99986152e-01 -3.32619394e-03 -4.07815335e-03 2.85951746e+01] [ 3.33048148e-03 9.99993908e-01 1.04500363e-03 -2.57791258e+00] [ 4.07465262e-03 -1.05857137e-03 9.99991138e-01 -1.21521208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.229928851 meters 0.10157231351678381 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99987254e-01 -3.15058625e-03 -3.94536479e-03 2.85951719e+01] [ 3.15611627e-03 9.99994045e-01 1.39621075e-03 -2.57886829e+00] [ 3.94094241e-03 -1.40864498e-03 9.99991242e-01 -1.21556184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259928851 meters 0.10555845487544556 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99988071e-01 -2.93325623e-03 -3.90559420e-03 2.85953478e+01] [ 2.94008102e-03 9.99994159e-01 1.74284511e-03 -2.57977357e+00] [ 3.90045917e-03 -1.75430708e-03 9.99990854e-01 -1.21588198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.289928851 meters 0.10534283475881011 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99989050e-01 -2.77441848e-03 -3.76860477e-03 2.85952789e+01] [ 2.78230769e-03 9.99993946e-01 2.08977525e-03 -2.58078292e+00] [ 3.76278404e-03 -2.10023778e-03 9.99990715e-01 -1.21616584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319928851 meters 0.10289051617701513 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99990195e-01 -2.35146561e-03 -3.75249419e-03 2.85957929e+01] [ 2.36162330e-03 9.99993553e-01 2.70478396e-03 -2.58212736e+00] [ 3.74610980e-03 -2.71361942e-03 9.99989301e-01 -1.21687584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.349928851 meters 0.10168894074511099 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99990909e-01 -2.38546325e-03 -3.53422787e-03 2.85951465e+01] [ 2.39566848e-03 9.99992965e-01 2.88612617e-03 -2.58337520e+00] [ 3.52731826e-03 -2.89456677e-03 9.99989590e-01 -1.21657745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379928850999995 meters 0.10701063722440333 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.58, Z:-1.22 [[ 9.99991346e-01 -2.42067866e-03 -3.38361187e-03 2.85949475e+01] [ 2.43073121e-03 9.99992635e-01 2.97000271e-03 -2.58347186e+00] [ 3.37639753e-03 -2.97820166e-03 9.99989865e-01 -1.21673474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.409928851 meters 0.10376895232662717 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99991727e-01 -2.17773288e-03 -3.43553707e-03 2.85953820e+01] [ 2.18905293e-03 9.99992177e-01 3.29467386e-03 -2.58419699e+00] [ 3.42833528e-03 -3.30216718e-03 9.99988671e-01 -1.21713133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439928851 meters 0.10102829209478491 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99991886e-01 -2.19401769e-03 -3.37852823e-03 2.85952536e+01] [ 2.20510718e-03 9.99992183e-01 3.28212567e-03 -2.58442633e+00] [ 3.37130078e-03 -3.28954906e-03 9.99988907e-01 -1.21708474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.469928851 meters 0.10685297502136368 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99992101e-01 -2.26179265e-03 -3.26850683e-03 2.85950898e+01] [ 2.27245103e-03 9.99992101e-01 3.26090659e-03 -2.58439872e+00] [ 3.26110552e-03 -3.26830835e-03 9.99989342e-01 -1.21718498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499928851 meters 0.10293857744196118 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.58, Z:-1.22 [[ 9.99992201e-01 -2.34063677e-03 -3.18109943e-03 2.85948891e+01] [ 2.35065982e-03 9.99992274e-01 3.15073630e-03 -2.58436267e+00] [ 3.17370012e-03 -3.15818941e-03 9.99989977e-01 -1.21711482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.529928851 meters 0.10438713106359898 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.58, Z:-1.22 [[ 9.99992589e-01 -2.21184323e-03 -3.15104873e-03 2.85949972e+01] [ 2.22227233e-03 9.99992052e-01 3.31007550e-03 -2.58494232e+00] [ 3.14370232e-03 -3.31705346e-03 9.99989557e-01 -1.21728650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559928850999995 meters 0.10277211947902518 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.59, Z:-1.22 [[ 9.99992537e-01 -2.28271530e-03 -3.11676111e-03 2.85947809e+01] [ 2.29272759e-03 9.99992211e-01 3.21261582e-03 -2.58504658e+00] [ 3.10940335e-03 -3.21973773e-03 9.99989982e-01 -1.21706267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589928850999996 meters 0.10343268587590354 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.58, Z:-1.22 [[ 9.99992418e-01 -2.38909545e-03 -3.07524107e-03 2.85945731e+01] [ 2.39847364e-03 9.99992474e-01 3.04951122e-03 -2.58497350e+00] [ 3.06793235e-03 -3.05686399e-03 9.99990622e-01 -1.21684666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619928851 meters 0.10376388705065798 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.59, Z:-1.22 [[ 9.99992482e-01 -2.42004282e-03 -3.02978596e-03 2.85944449e+01] [ 2.42913730e-03 9.99992545e-01 3.00162030e-03 -2.58504867e+00] [ 3.02249932e-03 -3.00895750e-03 9.99990905e-01 -1.21677734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.649928851 meters 0.10650346516045267 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.59, Z:-1.22 [[ 9.99992593e-01 -2.29675520e-03 -3.08858413e-03 2.85947497e+01] [ 2.30622102e-03 9.99992644e-01 3.06471320e-03 -2.58525760e+00] [ 3.08152252e-03 -3.07181345e-03 9.99990534e-01 -1.21694130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679928851 meters 0.10144794459420489 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.58, Z:-1.22 [[ 9.99992650e-01 -2.35992377e-03 -3.02168166e-03 2.85947478e+01] [ 2.36890788e-03 9.99992774e-01 2.97309475e-03 -2.58493945e+00] [ 3.01464355e-03 -2.98023098e-03 9.99991015e-01 -1.21709533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.709928851 meters 0.10047304812195006 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99992473e-01 -2.08337677e-03 -3.27318734e-03 2.85955654e+01] [ 2.09375125e-03 9.99992786e-01 3.16931123e-03 -2.58499753e+00] [ 3.26656086e-03 -3.17614062e-03 9.99989621e-01 -1.21746964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739928850999995 meters 0.09878930195770406 Centerline is valid? [False, True] Translation: X:28.60, Y:-2.58, Z:-1.22 [[ 9.99992073e-01 -1.92393724e-03 -3.48596781e-03 2.85961238e+01] [ 1.93496432e-03 9.99993127e-01 3.16266978e-03 -2.58487326e+00] [ 3.47985907e-03 -3.16938994e-03 9.99988923e-01 -1.21762426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.769928850999996 meters 0.09826495358554604 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.59, Z:-1.22 [[ 9.99991087e-01 -1.17365397e-03 -4.05568395e-03 2.86255500e+01] [ 1.17545052e-03 9.99999212e-01 4.40615889e-04 -2.58639597e+00] [ 4.05516363e-03 -4.45379217e-04 9.99991679e-01 -1.21688787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799928851 meters 0.09985707233603137 Centerline is valid? [True, True] Translation: X:28.65, Y:-2.59, Z:-1.22 [[ 9.99988985e-01 -1.22314026e-03 -4.53139883e-03 2.86538020e+01] [ 1.22538217e-03 9.99999128e-01 4.92006297e-04 -2.59307511e+00] [ 4.53079308e-03 -4.97553573e-04 9.99989612e-01 -1.21731726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.829928851 meters 0.09911807123833784 Centerline is valid? [True, True] Translation: X:28.68, Y:-2.59, Z:-1.22 [[ 9.99989930e-01 -9.79313644e-04 -4.37965810e-03 2.86821464e+01] [ 9.81397290e-04 9.99999406e-01 4.73631571e-04 -2.59483756e+00] [ 4.37919166e-03 -4.77924986e-04 9.99990297e-01 -1.21782375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859928851 meters 0.0984582025788054 Centerline is valid? [True, True] Translation: X:28.71, Y:-2.60, Z:-1.22 [[ 9.99989800e-01 -1.00518275e-03 -4.40324522e-03 2.87105706e+01] [ 1.00728440e-03 9.99999380e-01 4.75104387e-04 -2.59746585e+00] [ 4.40276493e-03 -4.79534861e-04 9.99990193e-01 -1.21741645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.889928851 meters 0.09925193904357309 Centerline is valid? [True, True] Translation: X:28.74, Y:-2.60, Z:-1.22 [[ 9.99991000e-01 -4.54927308e-04 -4.21821780e-03 2.87386131e+01] [ 4.56853589e-04 9.99999792e-01 4.55705125e-04 -2.60207736e+00] [ 4.21800961e-03 -4.57628131e-04 9.99990999e-01 -1.21766856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919928850999995 meters 0.10542925983906483 Centerline is valid? [True, False] Translation: X:28.74, Y:-2.60, Z:-1.22 [[ 9.99990884e-01 -1.81572602e-04 -4.26593470e-03 2.87390773e+01] [ 1.85113385e-04 9.99999639e-01 8.29633160e-04 -2.60264924e+00] [ 4.26578252e-03 -8.30415279e-04 9.99990557e-01 -1.21817794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.949928850999996 meters 0.09841856881060632 Centerline is valid? [False, True] Translation: X:28.74, Y:-2.60, Z:-1.22 [[ 9.99991220e-01 -2.90700638e-04 -4.18032731e-03 2.87388569e+01] [ 2.93746439e-04 9.99999692e-01 7.28007897e-04 -2.60253860e+00] [ 4.18011439e-03 -7.29229462e-04 9.99990997e-01 -1.21811780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979928851 meters 0.0990471893153785 Centerline is valid? [True, True] Translation: X:28.77, Y:-2.61, Z:-1.22 [[ 9.99988991e-01 -8.64948538e-04 -4.61185544e-03 2.87670573e+01] [ 8.67241742e-04 9.99999501e-01 4.95264558e-04 -2.60679913e+00] [ 4.61142477e-03 -4.99258700e-04 9.99989243e-01 -1.21850513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.009928851 meters 0.10049660534438501 Centerline is valid? [True, False] Translation: X:28.77, Y:-2.61, Z:-1.22 [[ 9.99989600e-01 -9.65320915e-04 -4.45738485e-03 2.87667164e+01] [ 9.67537555e-04 9.99999409e-01 4.95166511e-04 -2.60696488e+00] [ 4.45690422e-03 -4.99474048e-04 9.99989943e-01 -1.21850115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039928851 meters 0.10138283115946847 Centerline is valid? [False, False] Translation: X:28.77, Y:-2.61, Z:-1.22 [[ 9.99990060e-01 -8.79617061e-04 -4.37114151e-03 2.87667077e+01] [ 8.82613992e-04 9.99999377e-01 6.83735613e-04 -2.60749862e+00] [ 4.37053736e-03 -6.87586847e-04 9.99990213e-01 -1.21872478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.069928851 meters 0.10425824632317089 Centerline is valid? [False, False] Translation: X:28.77, Y:-2.61, Z:-1.22 [[ 9.99991389e-01 -6.48684806e-04 -4.09892804e-03 2.87665419e+01] [ 6.53939557e-04 9.99998966e-01 1.28077144e-03 -2.60948677e+00] [ 4.09809298e-03 -1.28344086e-03 9.99990779e-01 -1.21922781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099928851 meters 0.10244693452555315 Centerline is valid? [False, False] Translation: X:28.77, Y:-2.61, Z:-1.22 [[ 9.99991917e-01 -5.06061311e-04 -3.98861322e-03 2.87664878e+01] [ 5.12519778e-04 9.99998559e-01 1.61837054e-03 -2.61042771e+00] [ 3.98778848e-03 -1.62040170e-03 9.99990736e-01 -1.21947391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.129928850999995 meters 0.09916343466894688 Centerline is valid? [False, True] Translation: X:28.77, Y:-2.61, Z:-1.22 [[ 9.99992546e-01 -5.17616572e-04 -3.82620943e-03 2.87663725e+01] [ 5.24333604e-04 9.99998323e-01 1.75473716e-03 -2.61065949e+00] [ 3.82529473e-03 -1.75673029e-03 9.99991140e-01 -1.21978890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159928851 meters 0.0988669971466376 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.61, Z:-1.22 [[ 9.99991089e-01 -5.15724068e-04 -4.18993171e-03 2.87948916e+01] [ 5.17694901e-04 9.99999756e-01 4.69302567e-04 -2.61297071e+00] [ 4.18968866e-03 -4.71467492e-04 9.99991112e-01 -1.21950156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.189928851 meters 0.10071879560787096 Centerline is valid? [True, False] Translation: X:28.79, Y:-2.61, Z:-1.22 [[ 9.99991214e-01 -4.65570503e-04 -4.16590264e-03 2.87949535e+01] [ 4.67914935e-04 9.99999733e-01 5.61809870e-04 -2.61328441e+00] [ 4.16563996e-03 -5.63754222e-04 9.99991165e-01 -1.21964724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219928851 meters 0.1005093989418343 Centerline is valid? [False, False] Translation: X:28.80, Y:-2.61, Z:-1.22 [[ 9.99991284e-01 -2.43789482e-04 -4.16810077e-03 2.87952472e+01] [ 2.47595000e-04 9.99999553e-01 9.12518457e-04 -2.61401974e+00] [ 4.16787645e-03 -9.13542504e-04 9.99990897e-01 -1.22005246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.249928851 meters 0.10188739261156765 Centerline is valid? [False, False] Translation: X:28.80, Y:-2.61, Z:-1.22 [[ 9.99991437e-01 -3.34053812e-05 -4.13826114e-03 2.87954264e+01] [ 3.86645811e-05 9.99999192e-01 1.27079845e-03 -2.61489495e+00] [ 4.13821534e-03 -1.27094758e-03 9.99990630e-01 -1.22038361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279928851 meters 0.10168072911054937 Centerline is valid? [False, False] Translation: X:28.80, Y:-2.62, Z:-1.22 [[ 9.99992003e-01 -2.56159155e-05 -3.99926674e-03 2.87951861e+01] [ 3.14514765e-05 9.99998935e-01 1.45910166e-03 -2.61540713e+00] [ 3.99922511e-03 -1.45921578e-03 9.99990938e-01 -1.22048341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.309928850999995 meters 0.10203284851624206 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99993021e-01 -3.72342224e-04 -3.71743277e-03 2.87940939e+01] [ 3.76961591e-04 9.99999158e-01 1.24199932e-03 -2.61576996e+00] [ 3.71696719e-03 -1.24339198e-03 9.99992319e-01 -1.21972410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339928850999996 meters 0.10593602984020094 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99993619e-01 -4.31670262e-04 -3.54615894e-03 2.87937639e+01] [ 4.36283859e-04 9.99999059e-01 1.30034187e-03 -2.61614004e+00] [ 3.54559428e-03 -1.30188070e-03 9.99992867e-01 -1.21974719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.369928851 meters 0.10531001645726448 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99993989e-01 -3.13551626e-04 -3.45297412e-03 2.87937305e+01] [ 3.18974415e-04 9.99998717e-01 1.57003030e-03 -2.61696968e+00] [ 3.45247740e-03 -1.57112228e-03 9.99992806e-01 -1.21995507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399928851 meters 0.10213095117076386 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99994376e-01 -2.34616430e-04 -3.34572758e-03 2.87936114e+01] [ 2.40621266e-04 9.99998361e-01 1.79448770e-03 -2.61781630e+00] [ 3.34530108e-03 -1.79528266e-03 9.99992793e-01 -1.22008773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.429928851 meters 0.10327578113669755 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99995192e-01 -2.09728966e-04 -3.09380640e-03 2.87931128e+01] [ 2.16324325e-04 9.99997705e-01 2.13161369e-03 -2.61924812e+00] [ 3.09335224e-03 -2.13227270e-03 9.99992942e-01 -1.22008392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459928851 meters 0.11227702645221269 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99995571e-01 -1.98938899e-04 -2.96951073e-03 2.87928841e+01] [ 2.05745975e-04 9.99997352e-01 2.29219274e-03 -2.61988504e+00] [ 2.96904685e-03 -2.29279356e-03 9.99992964e-01 -1.22011679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.489928850999995 meters 0.10333397411730244 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99995807e-01 -2.37703955e-04 -2.88598318e-03 2.87926274e+01] [ 2.44387014e-04 9.99997289e-01 2.31556419e-03 -2.62028395e+00] [ 2.88542494e-03 -2.31625978e-03 9.99993155e-01 -1.21999694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519928850999996 meters 0.10395939755875835 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99995808e-01 -2.80016813e-04 -2.88197449e-03 2.87924738e+01] [ 2.86595659e-04 9.99997354e-01 2.28259669e-03 -2.62059800e+00] [ 2.88132770e-03 -2.28341309e-03 9.99993242e-01 -1.21976772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.549928851 meters 0.10220174947797404 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99995654e-01 -2.24802968e-04 -2.93956678e-03 2.87925095e+01] [ 2.31654160e-04 9.99997257e-01 2.33054800e-03 -2.62091642e+00] [ 2.93903481e-03 -2.33121883e-03 9.99992964e-01 -1.21964650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579928851 meters 0.10414214636894531 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99994813e-01 -9.00793981e-05 -3.21966327e-03 2.87931666e+01] [ 9.72781527e-05 9.99997496e-01 2.23578523e-03 -2.62051539e+00] [ 3.21945380e-03 -2.23608683e-03 9.99992317e-01 -1.21972534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.609928851 meters 0.10316782643836943 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99994299e-01 -3.58844920e-05 -3.37635528e-03 2.87936246e+01] [ 4.30682348e-05 9.99997736e-01 2.12761333e-03 -2.61987588e+00] [ 3.37627129e-03 -2.12774662e-03 9.99992037e-01 -1.21989979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639928851 meters 0.101069831614118 Centerline is valid? [False, False] Translation: X:28.79, Y:-2.62, Z:-1.22 [[ 9.99993604e-01 -1.38560626e-04 -3.57384655e-03 2.87938614e+01] [ 1.44823806e-04 9.99998454e-01 1.75230451e-03 -2.61891550e+00] [ 3.57359822e-03 -1.75281088e-03 9.99992078e-01 -1.21962995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669928850999995 meters 0.09754156064430922 Centerline is valid? [False, True] Translation: X:28.80, Y:-2.62, Z:-1.22 [[ 9.99990387e-01 3.68288769e-04 -4.36931875e-03 2.87957821e+01] [-3.61013497e-04 9.99998547e-01 1.66575338e-03 -2.61744879e+00] [ 4.36992588e-03 -1.66415998e-03 9.99989067e-01 -1.22012954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699928850999996 meters 0.09560398987540593 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.62, Z:-1.22 [[ 9.99983792e-01 2.60516282e-03 -5.06252300e-03 2.88259902e+01] [-2.60242258e-03 9.99996464e-01 5.47792429e-04 -2.61668562e+00] [ 5.06393218e-03 -5.34608726e-04 9.99987035e-01 -1.22080325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.729928851 meters 0.0949254803522909 Centerline is valid? [True, True] Translation: X:28.86, Y:-2.62, Z:-1.22 [[ 9.99975375e-01 3.65164320e-03 -5.99290020e-03 2.88550654e+01] [-3.64784290e-03 9.99993139e-01 6.44942976e-04 -2.61877761e+00] [ 5.99521418e-03 -6.23065935e-04 9.99981834e-01 -1.22148917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759928851 meters 0.09406568942872665 Centerline is valid? [True, True] Translation: X:28.88, Y:-2.62, Z:-1.22 [[ 9.99953685e-01 7.20001447e-03 -6.38653852e-03 2.88848225e+01] [-7.19575712e-03 9.99973873e-01 6.89340346e-04 -2.62085585e+00] [ 6.39133491e-03 -6.43352439e-04 9.99979368e-01 -1.22235769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.789928851 meters 0.0940776161761077 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.62, Z:-1.22 [[ 9.99943774e-01 8.61071615e-03 -6.18912930e-03 2.89138898e+01] [-8.60674651e-03 9.99962738e-01 6.67739055e-04 -2.62387404e+00] [ 6.19464839e-03 -6.14433244e-04 9.99980624e-01 -1.22239558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819928851 meters 0.09507611369489563 Centerline is valid? [True, True] Translation: X:28.94, Y:-2.63, Z:-1.22 [[ 9.99934509e-01 9.88742805e-03 -5.76331492e-03 2.89426619e+01] [-9.88400808e-03 9.99950959e-01 6.21585592e-04 -2.62866991e+00] [ 5.76917816e-03 -5.64580233e-04 9.99983199e-01 -1.22268744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.849928850999994 meters 0.09364711558138886 Centerline is valid? [True, True] Translation: X:28.97, Y:-2.63, Z:-1.22 [[ 9.99921421e-01 1.12446803e-02 -5.54159855e-03 2.89727565e+01] [-1.12415386e-02 9.99936633e-01 5.97741929e-04 -2.62955309e+00] [ 5.54796881e-03 -5.35398865e-04 9.99984467e-01 -1.22199880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879928850999995 meters 0.0916401737929603 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.63, Z:-1.22 [[ 9.99921202e-01 1.15351076e-02 -4.95285776e-03 2.90015439e+01] [-1.15326060e-02 9.99933355e-01 5.33342597e-04 -2.62904214e+00] [ 4.95867984e-03 -4.76181214e-04 9.99987592e-01 -1.22171060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.909928851 meters 0.09198878655779578 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.64, Z:-1.22 [[ 9.99917875e-01 1.17533336e-02 -5.10900847e-03 2.90301524e+01] [-1.17506763e-02 9.99930807e-01 5.49837706e-04 -2.63523337e+00] [ 5.11511739e-03 -4.89758247e-04 9.99986798e-01 -1.22310557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939928851 meters 0.09255275815968986 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.64, Z:-1.22 [[ 9.99922772e-01 1.14449457e-02 -4.84388024e-03 2.90583756e+01] [-1.14425552e-02 9.99934396e-01 5.20944504e-04 -2.64050652e+00] [ 4.84952465e-03 -4.65477906e-04 9.99988133e-01 -1.22369662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.969928851 meters 0.09355888448281474 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.65, Z:-1.22 [[ 9.99940976e-01 9.84200316e-03 -4.60213455e-03 2.90875769e+01] [-9.83982769e-03 9.99951465e-01 4.95114327e-04 -2.64682666e+00] [ 4.60678410e-03 -4.49800892e-04 9.99989288e-01 -1.22282858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999928851 meters 0.09289136116519153 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.65, Z:-1.22 [[ 9.99943738e-01 9.03469705e-03 -5.55826883e-03 2.91167738e+01] [-9.03151486e-03 9.99959037e-01 5.97349850e-04 -2.64931597e+00] [ 5.56343802e-03 -5.47116654e-04 9.99984374e-01 -1.22322839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.029928851 meters 0.0925681179277404 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.65, Z:-1.22 [[ 9.99952334e-01 8.03747820e-03 -5.54331067e-03 2.91457542e+01] [-8.03429871e-03 9.99967547e-01 5.95603693e-04 -2.65238718e+00] [ 5.54791792e-03 -5.51038690e-04 9.99984458e-01 -1.22334623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059928850999995 meters 0.0925681179277404 Centerline is valid? [True, True] Translation: X:29.17, Y:-2.66, Z:-1.22 [[ 9.99953145e-01 7.93588790e-03 -5.54342807e-03 2.91732008e+01] [-7.93271286e-03 9.99968359e-01 5.94511237e-04 -2.65523180e+00] [ 5.54797064e-03 -5.50508958e-04 9.99984458e-01 -1.22363548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.089928850999996 meters 0.09582929825978588 Centerline is valid? [True, True] Translation: X:29.20, Y:-2.67, Z:-1.23 [[ 9.99958310e-01 6.96548386e-03 -5.90420007e-03 2.92007322e+01] [-6.96186353e-03 9.99975565e-01 6.33510142e-04 -2.66558237e+00] [ 5.90846851e-03 -5.92379496e-04 9.99982369e-01 -1.22544125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119928851 meters 0.09552913211530344 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.67, Z:-1.23 [[ 9.99962342e-01 4.41363988e-03 -7.47219321e-03 2.92304392e+01] [-4.40776572e-03 9.99989964e-01 8.02421211e-04 -2.67203046e+00] [ 7.47565981e-03 -7.69455317e-04 9.99971761e-01 -1.22761389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.149928851 meters 0.09548273581894282 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.68, Z:-1.23 [[ 9.99956064e-01 2.87965542e-03 -8.92068228e-03 2.92598622e+01] [-2.87122551e-03 9.99995419e-01 9.57648212e-04 -2.67626851e+00] [ 8.92339912e-03 -9.31992846e-04 9.99959751e-01 -1.22909395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179928851 meters 0.09604138384238224 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.68, Z:-1.23 [[ 9.99956022e-01 1.60919149e-03 -9.23929195e-03 2.92889034e+01] [-1.60010256e-03 9.99998229e-01 9.91034479e-04 -2.68111500e+00] [ 9.24087035e-03 -9.76207081e-04 9.99956826e-01 -1.22979658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.209928851 meters 0.09948760022355267 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.69, Z:-1.23 [[ 9.99959306e-01 7.12187856e-04 -8.99330223e-03 2.93167537e+01] [-7.03544788e-04 9.99999288e-01 9.64183217e-04 -2.69119002e+00] [ 8.99398251e-03 -9.57816789e-04 9.99959095e-01 -1.23043022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239928850999995 meters 0.09811110259225413 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.69, Z:-1.23 [[ 9.99962993e-01 -1.00063980e-03 -8.54462135e-03 2.93466592e+01] [ 1.00850528e-03 9.99999072e-01 9.16258850e-04 -2.69241939e+00] [ 8.54369657e-03 -9.24842238e-04 9.99963074e-01 -1.22826848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.269928850999996 meters 0.09723619911788192 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.70, Z:-1.23 [[ 9.99971795e-01 -1.05470467e-03 -7.43624698e-03 2.93756284e+01] [ 1.06063295e-03 9.99999123e-01 7.93316178e-04 -2.69519212e+00] [ 7.43540374e-03 -8.01180931e-04 9.99972036e-01 -1.22813126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299928851 meters 0.0958963229792628 Centerline is valid? [True, True] Translation: X:29.40, Y:-2.70, Z:-1.23 [[ 9.99972042e-01 -1.62045258e-03 -7.29990800e-03 2.94043727e+01] [ 1.62618924e-03 9.99998374e-01 7.79986339e-04 -2.69609402e+00] [ 7.29863220e-03 -7.91835564e-04 9.99973051e-01 -1.22824219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.329928851 meters 0.09803881690691556 Centerline is valid? [True, True] Translation: X:29.43, Y:-2.70, Z:-1.23 [[ 9.99965079e-01 -2.47690565e-03 -7.98152884e-03 2.94325460e+01] [ 2.48378938e-03 9.99996552e-01 8.52659622e-04 -2.70438594e+00] [ 7.97938937e-03 -8.72454283e-04 9.99967784e-01 -1.22927817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359928851 meters 0.09980897146015529 Centerline is valid? [True, True] Translation: X:29.46, Y:-2.71, Z:-1.23 [[ 9.99964459e-01 -2.58812366e-03 -8.02381385e-03 2.94594060e+01] [ 2.59507598e-03 9.99996266e-01 8.56170908e-04 -2.71009318e+00] [ 8.02156801e-03 -8.76962886e-04 9.99967442e-01 -1.23006651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.389928851 meters 0.09747692482313847 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.71, Z:-1.23 [[ 9.99963231e-01 -2.88348984e-03 -8.07601004e-03 2.94880528e+01] [ 2.89051401e-03 9.99995454e-01 8.58220540e-04 -2.70857080e+00] [ 8.07349866e-03 -8.81532804e-04 9.99967020e-01 -1.23000167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419928850999995 meters 0.10058361579226587 Centerline is valid? [True, False] Translation: X:29.49, Y:-2.71, Z:-1.23 [[ 9.99963211e-01 -2.70007990e-03 -8.14164581e-03 2.94884026e+01] [ 2.70911951e-03 9.99995726e-01 1.09946831e-03 -2.70880366e+00] [ 8.13864236e-03 -1.12148456e-03 9.99966252e-01 -1.23029746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.449928850999996 meters 0.10309601719221957 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.71, Z:-1.23 [[ 9.99964172e-01 -2.53388847e-03 -8.07675924e-03 2.94884366e+01] [ 2.54545873e-03 9.99995748e-01 1.42258014e-03 -2.70966220e+00] [ 8.07312024e-03 -1.44308823e-03 9.99966371e-01 -1.23053200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479928851 meters 0.10252468362443029 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.71, Z:-1.23 [[ 9.99964492e-01 -2.42786332e-03 -8.06970719e-03 2.94885002e+01] [ 2.44091889e-03 9.99995727e-01 1.60839469e-03 -2.71024257e+00] [ 8.06576775e-03 -1.62803508e-03 9.99966146e-01 -1.23065233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509928851 meters 0.1018066476474108 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.71, Z:-1.23 [[ 9.99964476e-01 -2.32972932e-03 -8.10051139e-03 2.94887975e+01] [ 2.34382373e-03 9.99995755e-01 1.73088302e-03 -2.71036771e+00] [ 8.09644451e-03 -1.74980771e-03 9.99965692e-01 -1.23098798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539928851 meters 0.0965180664396163 Centerline is valid? [False, True] Translation: X:29.49, Y:-2.71, Z:-1.23 [[ 9.99962071e-01 -2.24771459e-03 -8.41450279e-03 2.94896766e+01] [ 2.26087855e-03 9.99996235e-01 1.55525211e-03 -2.70905203e+00] [ 8.41097535e-03 -1.57421729e-03 9.99963388e-01 -1.23135107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569928851 meters 0.09883304192435127 Centerline is valid? [True, True] Translation: X:29.52, Y:-2.72, Z:-1.23 [[ 9.99963074e-01 -5.48898190e-04 -8.57607826e-03 2.95183948e+01] [ 5.56513342e-04 9.99999453e-01 8.85591607e-04 -2.71502011e+00] [ 8.57558747e-03 -8.90331608e-04 9.99962833e-01 -1.23186633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599928850999994 meters 0.09274348539779285 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.71, Z:-1.23 [[ 9.99961605e-01 4.44310189e-04 -8.75167456e-03 2.95488213e+01] [-4.36433193e-04 9.99999498e-01 9.01945078e-04 -2.70618989e+00] [ 8.75207091e-03 -8.98090926e-04 9.99961297e-01 -1.23097710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.629928850999995 meters 0.09268371763791138 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.71, Z:-1.23 [[ 9.99953197e-01 2.94550926e-03 -9.21559495e-03 2.95778845e+01] [-2.93687287e-03 9.99995236e-01 9.50541706e-04 -2.70884005e+00] [ 9.21835087e-03 -9.23432188e-04 9.99957084e-01 -1.23259205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659928851 meters 0.0925616810688284 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.71, Z:-1.23 [[ 9.99943224e-01 4.41045564e-03 -9.70029826e-03 2.96079840e+01] [-4.40095614e-03 9.99989815e-01 1.00042731e-03 -2.71174324e+00] [ 9.70461180e-03 -9.57679926e-04 9.99952451e-01 -1.23321111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689928851 meters 0.09349170878072922 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.72, Z:-1.23 [[ 9.99947204e-01 5.00998341e-03 -8.97159760e-03 2.96359621e+01] [-5.00189140e-03 9.99987063e-01 9.24170272e-04 -2.71570573e+00] [ 8.97611161e-03 -8.79246523e-04 9.99959327e-01 -1.23336623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719928851 meters 0.09750086552370771 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.72, Z:-1.23 [[ 9.99944336e-01 5.65774989e-03 -8.90591740e-03 2.96628083e+01] [-5.64980919e-03 9.99983620e-01 9.16527874e-04 -2.72447432e+00] [ 8.91095701e-03 -8.66160122e-04 9.99959922e-01 -1.23477637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.749928851 meters 0.08850419510321511 Centerline is valid? [True, True] Translation: X:29.69, Y:-2.71, Z:-1.23 [[ 9.99930259e-01 7.74494939e-03 -8.91584409e-03 2.96948496e+01] [-7.73706882e-03 9.99969647e-01 9.18038102e-04 -2.70927637e+00] [ 8.92268363e-03 -8.48991578e-04 9.99959832e-01 -1.23175612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779928851 meters 0.09301944301292549 Centerline is valid? [True, True] Translation: X:29.72, Y:-2.72, Z:-1.23 [[ 9.99922330e-01 8.45669108e-03 -9.15518172e-03 2.97213934e+01] [-8.44842454e-03 9.99963868e-01 9.41234904e-04 -2.72061882e+00] [ 9.16281066e-03 -8.63814937e-04 9.99957647e-01 -1.23432374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809928850999995 meters 0.0941539181456426 Centerline is valid? [True, True] Translation: X:29.75, Y:-2.72, Z:-1.24 [[ 9.99917169e-01 8.97518238e-03 -9.22502170e-03 2.97490888e+01] [-8.96682231e-03 9.99959349e-01 9.47200840e-04 -2.72431767e+00] [ 9.23314799e-03 -8.64403252e-04 9.99957000e-01 -1.23542325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839928850999996 meters 0.0889025518860852 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.72, Z:-1.23 [[ 9.99917423e-01 9.13997368e-03 -9.03371391e-03 2.97789949e+01] [-9.13196542e-03 9.99957873e-01 9.27337669e-04 -2.71604423e+00] [ 9.04180919e-03 -8.44765529e-04 9.99958765e-01 -1.23386512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869928851 meters 0.0895120509558153 Centerline is valid? [True, True] Translation: X:29.81, Y:-2.72, Z:-1.23 [[ 9.99917600e-01 9.53535203e-03 -8.59483744e-03 2.98062070e+01] [-9.52812528e-03 9.99954218e-01 8.81381603e-04 -2.71922022e+00] [ 8.60284824e-03 -7.99416289e-04 9.99962675e-01 -1.23418062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899928851 meters 0.09013720185930589 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.72, Z:-1.23 [[ 9.99921623e-01 8.94358979e-03 -8.76126818e-03 2.98346949e+01] [-8.93605870e-03 9.99959669e-01 8.98359711e-04 -2.72258538e+00] [ 8.76894939e-03 -8.19998094e-04 9.99961216e-01 -1.23483608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.929928851 meters 0.09178369830537571 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.73, Z:-1.24 [[ 9.99925494e-01 8.92188012e-03 -8.33109418e-03 2.98624822e+01] [-8.91507841e-03 9.99959896e-01 8.53204625e-04 -2.72783762e+00] [ 8.33837226e-03 -7.78868698e-04 9.99964932e-01 -1.23586800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959928851 meters 0.09011015991856544 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.73, Z:-1.23 [[ 9.99936878e-01 7.71059806e-03 -8.17235424e-03 2.98926357e+01] [-7.70401134e-03 9.99969973e-01 8.37150209e-04 -2.72604690e+00] [ 8.17856378e-03 -7.74137456e-04 9.99966255e-01 -1.23456478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.989928850999995 meters 0.09070129967034285 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.73, Z:-1.23 [[ 9.99938401e-01 6.33591780e-03 -9.11315530e-03 2.99221136e+01] [-6.32767308e-03 9.99979545e-01 9.33254708e-04 -2.72901209e+00] [ 9.11888191e-03 -8.75532154e-04 9.99958039e-01 -1.23459356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019928850999996 meters 0.09119663507831909 Centerline is valid? [True, True] Translation: X:29.95, Y:-2.73, Z:-1.24 [[ 9.99947112e-01 5.81130252e-03 -8.48542201e-03 2.99503689e+01] [-5.80414374e-03 9.99982779e-01 8.68038665e-04 -2.73238982e+00] [ 8.49032032e-03 -8.18742147e-04 9.99963621e-01 -1.23545379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.049928851 meters 0.09219432117880783 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.74, Z:-1.24 [[ 9.99943753e-01 5.10330612e-03 -9.29764360e-03 2.99800146e+01] [-5.09468005e-03 9.99986570e-01 9.51218165e-04 -2.73624719e+00] [ 9.30237309e-03 -9.03796143e-04 9.99956324e-01 -1.23653506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079928851 meters 0.09742814682128077 Centerline is valid? [True, True] Translation: X:30.01, Y:-2.75, Z:-1.24 [[ 9.99944493e-01 3.86469094e-03 -9.80176208e-03 3.00076202e+01] [-3.85505137e-03 9.99992067e-01 1.00215654e-03 -2.74688232e+00] [ 9.80555735e-03 -9.64314622e-04 9.99951459e-01 -1.23915162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.109928851 meters 0.0923543091946893 Centerline is valid? [True, True] Translation: X:30.04, Y:-2.74, Z:-1.24 [[ 9.99940203e-01 3.79954491e-03 -1.02544345e-02 3.00375814e+01] [-3.78899951e-03 9.99992273e-01 1.04760612e-03 -2.73942938e+00] [ 1.02583357e-02 -1.00868943e-03 9.99946873e-01 -1.23813933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139928851 meters 0.09582038653203385 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.75, Z:-1.24 [[ 9.99950119e-01 3.40586106e-03 -9.38934971e-03 3.00649912e+01] [-3.39700914e-03 9.99993771e-01 9.58548834e-04 -2.74726034e+00] [ 9.39255591e-03 -9.26605313e-04 9.99955460e-01 -1.23933775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.169928850999995 meters 0.09217496690662216 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.74, Z:-1.24 [[ 9.99955122e-01 3.32804832e-03 -8.87009038e-03 3.00946949e+01] [-3.32015129e-03 9.99994079e-01 9.04875457e-04 -2.74209340e+00] [ 8.87304932e-03 -8.75384806e-04 9.99960251e-01 -1.23784534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199928850999996 meters 0.09241237532356376 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.74, Z:-1.24 [[ 9.99964825e-01 3.92756074e-03 -7.41100552e-03 3.01239526e+01] [-3.92206681e-03 9.99992023e-01 7.55708211e-04 -2.74335930e+00] [ 7.41391450e-03 -7.26615170e-04 9.99972253e-01 -1.23808534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.229928851 meters 0.09209397444547875 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.74, Z:-1.24 [[ 9.99966842e-01 3.71586565e-03 -7.24614718e-03 3.01528381e+01] [-3.71061285e-03 9.99992843e-01 7.38218702e-04 -2.74431161e+00] [ 7.24883844e-03 -7.11306578e-04 9.99973474e-01 -1.23752873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259928851 meters 0.09650164235257193 Centerline is valid? [True, True] Translation: X:30.18, Y:-2.75, Z:-1.24 [[ 9.99968906e-01 3.17745699e-03 -7.21741990e-03 3.01799779e+01] [-3.17223744e-03 9.99994699e-01 7.34519949e-04 -2.75395161e+00] [ 7.21971555e-03 -7.11601740e-04 9.99973684e-01 -1.23957468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.289928851 meters 0.09460993745771604 Centerline is valid? [True, True] Translation: X:30.21, Y:-2.75, Z:-1.24 [[ 9.99970690e-01 2.42839876e-03 -7.26097859e-03 3.02089474e+01] [-2.42309878e-03 9.99996791e-01 7.38635516e-04 -2.75175604e+00] [ 7.26274899e-03 -7.21019799e-04 9.99973366e-01 -1.23916763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319928851 meters 0.09770095289515758 Centerline is valid? [True, True] Translation: X:30.24, Y:-2.76, Z:-1.24 [[ 9.99971444e-01 1.18419822e-03 -7.46380355e-03 3.02373377e+01] [-1.17856504e-03 9.99999017e-01 7.59085377e-04 -2.75792569e+00] [ 7.46469513e-03 -7.50267123e-04 9.99971857e-01 -1.24067394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.349928850999994 meters 0.09744867670178456 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.76, Z:-1.24 [[ 9.99974981e-01 -3.16565155e-04 -7.06665710e-03 3.02667665e+01] [ 3.21649193e-04 9.99999690e-01 7.18315399e-04 -2.75913493e+00] [ 7.06642751e-03 -7.20570412e-04 9.99974773e-01 -1.24108458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379928850999995 meters 0.0965495865832055 Centerline is valid? [True, True] Translation: X:30.30, Y:-2.76, Z:-1.24 [[ 9.99969545e-01 -1.21142271e-03 -7.70977143e-03 3.02963007e+01] [ 1.21750016e-03 9.99998952e-01 7.83634818e-04 -2.75966377e+00] [ 7.70881403e-03 -7.92997601e-04 9.99969972e-01 -1.24145287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.409928851 meters 0.09447439139852104 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.76, Z:-1.24 [[ 9.99971571e-01 -2.18835766e-03 -7.21589106e-03 3.03262679e+01] [ 2.19370454e-03 9.99997325e-01 7.33154849e-04 -2.75741632e+00] [ 7.21426735e-03 -7.48963539e-04 9.99973696e-01 -1.24112623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439928851 meters 0.0993365727096073 Centerline is valid? [True, True] Translation: X:30.35, Y:-2.77, Z:-1.24 [[ 9.99968263e-01 -2.86671131e-03 -7.43339056e-03 3.03531492e+01] [ 2.87239539e-03 9.99995590e-01 7.54106049e-04 -2.76621669e+00] [ 7.43119598e-03 -7.75433752e-04 9.99972088e-01 -1.24238308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.469928851 meters 0.09961089880331776 Centerline is valid? [True, True] Translation: X:30.38, Y:-2.77, Z:-1.24 [[ 9.99969502e-01 -2.98306686e-03 -7.21778382e-03 3.03815356e+01] [ 2.98840586e-03 9.99995269e-01 7.29028345e-04 -2.76859612e+00] [ 7.21557493e-03 -7.50575778e-04 9.99973686e-01 -1.24303994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499928851 meters 0.09576567652887033 Centerline is valid? [True, True] Translation: X:30.41, Y:-2.76, Z:-1.24 [[ 9.99961452e-01 -3.70536017e-03 -7.96021766e-03 3.04114315e+01] [ 3.71188982e-03 9.99992786e-01 8.05669124e-04 -2.76304780e+00] [ 7.95717494e-03 -8.35185518e-04 9.99967992e-01 -1.24237804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.529928850999994 meters 0.09697095180037507 Centerline is valid? [True, True] Translation: X:30.44, Y:-2.77, Z:-1.24 [[ 9.99960580e-01 -3.69909834e-03 -8.07189722e-03 3.04397079e+01] [ 3.70578152e-03 9.99992803e-01 8.13157080e-04 -2.76693033e+00] [ 8.06883118e-03 -8.43037713e-04 9.99967091e-01 -1.24333382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559928850999995 meters 0.10057383046355502 Centerline is valid? [True, False] Translation: X:30.44, Y:-2.77, Z:-1.24 [[ 9.99959623e-01 -3.82535669e-03 -8.13138351e-03 3.04400466e+01] [ 3.82960986e-03 9.99992538e-01 5.07550128e-04 -2.76547406e+00] [ 8.12938128e-03 -5.38669661e-04 9.99966811e-01 -1.24365656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.589928850999996 meters 0.10137745009208103 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.24 [[ 9.99959468e-01 -4.08895365e-03 -8.02139583e-03 3.04397615e+01] [ 4.09077722e-03 9.99991610e-01 2.10944568e-04 -2.76459756e+00] [ 8.02046599e-03 -2.43749761e-04 9.99967806e-01 -1.24360398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619928851 meters 0.10256402764173236 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.24 [[ 9.99960005e-01 -4.25432131e-03 -7.86692495e-03 3.04397107e+01] [ 4.25514175e-03 9.99990943e-01 8.75549664e-05 -2.76376043e+00] [ 7.86648121e-03 -1.21026345e-04 9.99969051e-01 -1.24403107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.649928851 meters 0.10056539276982124 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.24 [[ 9.99961175e-01 -4.12966150e-03 -7.78418685e-03 3.04399491e+01] [ 4.13242004e-03 9.99991404e-01 3.38327181e-04 -2.76391893e+00] [ 7.78272276e-03 -3.70481575e-04 9.99969646e-01 -1.24463230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679928851 meters 0.1042869972690874 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99962310e-01 -4.19858250e-03 -7.59940230e-03 3.04398333e+01] [ 4.20167793e-03 9.99991096e-01 3.91405369e-04 -2.76372762e+00] [ 7.59769129e-03 -4.23320858e-04 9.99971048e-01 -1.24505466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.709928851 meters 0.09959133825423071 Centerline is valid? [False, True] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99962573e-01 -4.16461092e-03 -7.58340924e-03 3.04400802e+01] [ 4.16827026e-03 9.99991204e-01 4.66804498e-04 -2.76355623e+00] [ 7.58139847e-03 -4.98396726e-04 9.99971137e-01 -1.24545083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739928850999995 meters 0.1038035391831257 Centerline is valid? [True, False] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99962464e-01 -4.26792149e-03 -7.54026181e-03 3.04403844e+01] [ 4.27073913e-03 9.99990816e-01 3.57617083e-04 -2.76240349e+00] [ 7.53866628e-03 -3.89806150e-04 9.99971508e-01 -1.24606412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.769928850999996 meters 0.1060820677302518 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99962418e-01 -4.15510608e-03 -7.60908083e-03 3.04407918e+01] [ 4.15892805e-03 9.99991233e-01 4.86535400e-04 -2.76212313e+00] [ 7.60699252e-03 -5.18162734e-04 9.99970932e-01 -1.24646442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799928851 meters 0.10524595400544086 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99962313e-01 -4.15772810e-03 -7.62143518e-03 3.04409931e+01] [ 4.16133902e-03 9.99991237e-01 4.57989209e-04 -2.76170438e+00] [ 7.61946420e-03 -4.89687325e-04 9.99970852e-01 -1.24671958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.829928851 meters 0.10376281711891788 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99962546e-01 -3.80359163e-03 -7.77423913e-03 3.04419376e+01] [ 3.81002033e-03 9.99992412e-01 8.12279786e-04 -2.76180941e+00] [ 7.77109056e-03 -8.41869372e-04 9.99969450e-01 -1.24759702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859928851 meters 0.10469504726474282 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99962348e-01 -3.85449376e-03 -7.77468893e-03 3.04420484e+01] [ 3.86025276e-03 9.99992286e-01 7.25866870e-04 -2.76137797e+00] [ 7.77183110e-03 -7.55851804e-04 9.99969513e-01 -1.24777527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.889928851 meters 0.10462549224689319 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99961693e-01 -3.80074169e-03 -7.88461677e-03 3.04424477e+01] [ 3.80643885e-03 9.99992505e-01 7.07686260e-04 -2.76083544e+00] [ 7.88186794e-03 -7.37671463e-04 9.99968666e-01 -1.24802943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919928850999995 meters 0.10519381116258868 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99960853e-01 -3.88504791e-03 -7.94981584e-03 3.04426692e+01] [ 3.88947251e-03 9.99992290e-01 5.41182056e-04 -2.75993850e+00] [ 7.94765203e-03 -5.72081461e-04 9.99968253e-01 -1.24820227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.949928850999996 meters 0.10519381116258868 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99960853e-01 -3.88504791e-03 -7.94981584e-03 3.04426692e+01] [ 3.88947251e-03 9.99992290e-01 5.41182056e-04 -2.75993850e+00] [ 7.94765203e-03 -5.72081461e-04 9.99968253e-01 -1.24820227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979928851 meters 0.10498326182374972 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99958025e-01 -3.41027437e-03 -8.50400492e-03 3.04444187e+01] [ 3.41569757e-03 9.99993972e-01 6.23280641e-04 -2.75871019e+00] [ 8.50182810e-03 -6.52301587e-04 9.99963646e-01 -1.24909279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.009928851 meters 0.09773277921189835 Centerline is valid? [False, True] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99957502e-01 -3.34890956e-03 -8.58943845e-03 3.04447647e+01] [ 3.35454413e-03 9.99994168e-01 6.41664732e-04 -2.75828551e+00] [ 8.58723948e-03 -6.70451113e-04 9.99962904e-01 -1.24937035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039928851 meters 0.10239686431390488 Centerline is valid? [True, False] Translation: X:30.45, Y:-2.76, Z:-1.25 [[ 9.99956633e-01 -3.03613248e-03 -8.80425890e-03 3.04456574e+01] [ 3.04417062e-03 9.99994962e-01 8.99725866e-04 -2.75818567e+00] [ 8.80148286e-03 -9.26488514e-04 9.99960837e-01 -1.24999011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.069928851 meters 0.09794621305822766 Centerline is valid? [False, True] Translation: X:30.44, Y:-2.76, Z:-1.25 [[ 9.99963962e-01 9.71058393e-04 -8.43399689e-03 3.04447694e+01] [-9.28772522e-04 9.99986987e-01 5.01621074e-03 -2.75824288e+00] [ 8.43875817e-03 -5.00819670e-03 9.99951852e-01 -1.24985386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099928850999994 meters 0.09510458226490097 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.75, Z:-1.25 [[ 9.99953367e-01 2.26247857e-03 -9.38855637e-03 3.04754920e+01] [-2.25348909e-03 9.99996992e-01 9.67961347e-04 -2.75354173e+00] [ 9.39071813e-03 -9.46759199e-04 9.99955458e-01 -1.24694527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.129928850999995 meters 0.09826130394801769 Centerline is valid? [True, True] Translation: X:30.50, Y:-2.76, Z:-1.25 [[ 9.99955006e-01 3.34887221e-03 -8.87529543e-03 3.05036912e+01] [-3.34088571e-03 9.99994001e-01 9.14530005e-04 -2.76222379e+00] [ 8.87830483e-03 -8.84837509e-04 9.99960196e-01 -1.24843392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159928851 meters 0.09859345533244866 Centerline is valid? [True, True] Translation: X:30.53, Y:-2.77, Z:-1.25 [[ 9.99957910e-01 5.03018029e-03 -7.67299913e-03 3.05322309e+01] [-5.02426237e-03 9.99987066e-01 7.90347775e-04 -2.76634736e+00] [ 7.67687548e-03 -7.51763348e-04 9.99970250e-01 -1.24882233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.189928851 meters 0.09601724045853523 Centerline is valid? [True, True] Translation: X:30.56, Y:-2.77, Z:-1.25 [[ 9.99944972e-01 7.04116094e-03 -7.77656289e-03 3.05621598e+01] [-7.03514445e-03 9.99974932e-01 8.00754841e-04 -2.76503819e+00] [ 7.78200620e-03 -7.46001534e-04 9.99969441e-01 -1.24827272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219928851 meters 0.09652297490660625 Centerline is valid? [True, True] Translation: X:30.59, Y:-2.77, Z:-1.25 [[ 9.99942584e-01 7.13284555e-03 -7.99696225e-03 3.05894957e+01] [-7.12649933e-03 9.99974268e-01 8.21794115e-04 -2.76867584e+00] [ 8.00261821e-03 -7.64756584e-04 9.99967686e-01 -1.24948685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.249928851 meters 0.09379400935942739 Centerline is valid? [True, True] Translation: X:30.62, Y:-2.77, Z:-1.25 [[ 9.99936479e-01 7.58462380e-03 -8.33739296e-03 3.06188621e+01] [-7.57774196e-03 9.99970922e-01 8.56698317e-04 -2.76669433e+00] [ 8.34364826e-03 -7.93465286e-04 9.99964876e-01 -1.24873766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279928850999994 meters 0.09406637489124595 Centerline is valid? [True, True] Translation: X:30.65, Y:-2.77, Z:-1.25 [[ 9.99940808e-01 6.94347703e-03 -8.37662078e-03 3.06475523e+01] [-6.93651277e-03 9.99975572e-01 8.60158933e-04 -2.77092368e+00] [ 8.38238865e-03 -8.02003482e-04 9.99964546e-01 -1.24829897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.309928850999995 meters 0.09720557285663035 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.78, Z:-1.25 [[ 9.99951918e-01 6.10021709e-03 -7.67783331e-03 3.06740388e+01] [-6.09435117e-03 9.99981119e-01 7.87170664e-04 -2.77982080e+00] [ 7.68249026e-03 -7.40341402e-04 9.99970215e-01 -1.24914343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339928850999996 meters 0.09514835106425656 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.78, Z:-1.25 [[ 9.99954763e-01 5.45297084e-03 -7.79338070e-03 3.07032747e+01] [-5.44690853e-03 9.99984846e-01 7.98893256e-04 -2.77944865e+00] [ 7.79761894e-03 -7.56407285e-04 9.99969312e-01 -1.24858920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.369928851 meters 0.09671486725299576 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.79, Z:-1.25 [[ 9.99959589e-01 4.56995693e-03 -7.74177874e-03 3.07311748e+01] [-4.56395207e-03 9.99989271e-01 7.93132174e-04 -2.78628764e+00] [ 7.74532026e-03 -7.57767016e-04 9.99969717e-01 -1.24967973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399928851 meters 0.10159120344661635 Centerline is valid? [True, False] Translation: X:30.73, Y:-2.79, Z:-1.25 [[ 9.99967402e-01 3.76860112e-04 -8.06551313e-03 3.07315022e+01] [-4.05135844e-04 9.99993777e-01 -3.50441064e-03 -2.78667592e+00] [ 8.06414227e-03 3.50756403e-03 9.99961333e-01 -1.24913603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.429928851 meters 0.10014201857909374 Centerline is valid? [False, False] Translation: X:30.73, Y:-2.79, Z:-1.25 [[ 9.99969057e-01 5.22725745e-04 -7.84936896e-03 3.07312528e+01] [-5.46539216e-04 9.99995254e-01 -3.03196859e-03 -2.78804169e+00] [ 7.84774682e-03 3.03616476e-03 9.99964597e-01 -1.24943765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459928851 meters 0.0959551437529393 Centerline is valid? [False, True] Translation: X:30.73, Y:-2.79, Z:-1.25 [[ 9.99970048e-01 6.70345367e-04 -7.71062330e-03 3.07311694e+01] [-6.90560258e-04 9.99996331e-01 -2.61933002e-03 -2.78917102e+00] [ 7.70883915e-03 2.62457621e-03 9.99966842e-01 -1.24972321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489928850999995 meters 0.09626447594319483 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.79, Z:-1.25 [[ 9.99969706e-01 -4.34749042e-04 -7.77158493e-03 3.07606024e+01] [ 4.41041951e-04 9.99999576e-01 8.08037504e-04 -2.79491032e+00] [ 7.77123034e-03 -8.11440620e-04 9.99969474e-01 -1.25225795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519928850999996 meters 0.10607695780724756 Centerline is valid? [True, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99972745e-01 -5.03043825e-04 -7.36588338e-03 3.07597629e+01] [ 5.11879438e-04 9.99999152e-01 1.19769597e-03 -2.79664878e+00] [ 7.36527464e-03 -1.20143377e-03 9.99972154e-01 -1.25226637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549928851 meters 0.10418743130954543 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99973242e-01 -2.03016653e-04 -7.31266256e-03 3.07600673e+01] [ 2.15746784e-04 9.99998463e-01 1.74008714e-03 -2.79776198e+00] [ 7.31229805e-03 -1.74161826e-03 9.99971748e-01 -1.25282867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579928851 meters 0.10290207026147902 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99973714e-01 -2.95639397e-04 -7.24451510e-03 3.07596894e+01] [ 3.08081339e-04 9.99998480e-01 1.71637341e-03 -2.79817288e+00] [ 7.24399665e-03 -1.71856020e-03 9.99972285e-01 -1.25248956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.609928851 meters 0.10309384927513464 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99974870e-01 -5.21705431e-04 -7.07011154e-03 3.07589820e+01] [ 5.32713825e-04 9.99998649e-01 1.55523878e-03 -2.79841852e+00] [ 7.06929061e-03 -1.55896604e-03 9.99973797e-01 -1.25198466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639928851 meters 0.10587871607442452 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99976255e-01 -7.54311513e-04 -6.84982697e-03 3.07581219e+01] [ 7.64096900e-04 9.99998691e-01 1.42605506e-03 -2.79880844e+00] [ 6.84874232e-03 -1.43125513e-03 9.99975523e-01 -1.25141301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669928850999995 meters 0.10022302900599027 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99976573e-01 -7.88568946e-04 -6.79933726e-03 3.07579807e+01] [ 7.98307473e-04 9.99998659e-01 1.42968078e-03 -2.79893819e+00] [ 6.79820074e-03 -1.43507525e-03 9.99975862e-01 -1.25133713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699928850999996 meters 0.105924627718829 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99977127e-01 -7.40043211e-04 -6.72300500e-03 3.07578604e+01] [ 7.50732713e-04 9.99998458e-01 1.58760417e-03 -2.79947631e+00] [ 6.72181974e-03 -1.59261504e-03 9.99976140e-01 -1.25138318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729928851 meters 0.09990066734987917 Centerline is valid? [False, True] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99977773e-01 -4.82624435e-04 -6.64985577e-03 3.07580621e+01] [ 4.96407399e-04 9.99997732e-01 2.07117651e-03 -2.80049498e+00] [ 6.64884109e-03 -2.07443151e-03 9.99975745e-01 -1.25187862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759928851 meters 0.10282704754394309 Centerline is valid? [True, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99980174e-01 -4.71028667e-04 -6.27931410e-03 3.07573050e+01] [ 4.86734971e-04 9.99996757e-01 2.49998356e-03 -2.80245304e+00] [ 6.27811617e-03 -2.50299036e-03 9.99977160e-01 -1.25187305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.789928851 meters 0.10369750149302143 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99980673e-01 -3.95292681e-04 -6.20466201e-03 3.07571809e+01] [ 4.12229602e-04 9.99996192e-01 2.72866740e-03 -2.80338532e+00] [ 6.20355977e-03 -2.73117241e-03 9.99977028e-01 -1.25191145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819928851 meters 0.10321665498845606 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99981324e-01 -3.33868507e-04 -6.10246356e-03 3.07570601e+01] [ 3.51847409e-04 9.99995601e-01 2.94533499e-03 -2.80414570e+00] [ 6.10145336e-03 -2.94742712e-03 9.99977042e-01 -1.25204748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.849928850999994 meters 0.10572465168600005 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.80, Z:-1.25 [[ 9.99981244e-01 -1.37235712e-04 -6.12320215e-03 3.07572895e+01] [ 1.57099749e-04 9.99994727e-01 3.24369731e-03 -2.80490314e+00] [ 6.12272471e-03 -3.24459843e-03 9.99975992e-01 -1.25227380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879928850999995 meters 0.1035159001134109 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.81, Z:-1.25 [[ 9.99981423e-01 -2.05301232e-04 -6.09200194e-03 3.07568814e+01] [ 2.24925119e-04 9.99994788e-01 3.22074388e-03 -2.80548665e+00] [ 6.09130897e-03 -3.22205429e-03 9.99976257e-01 -1.25175189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.909928851 meters 0.10245326240555434 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.81, Z:-1.25 [[ 9.99981865e-01 -2.50970677e-04 -6.01717835e-03 3.07565695e+01] [ 2.70453187e-04 9.99994724e-01 3.23721998e-03 -2.80590686e+00] [ 6.01633415e-03 -3.23878864e-03 9.99976657e-01 -1.25151871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939928851 meters 0.10537690326174201 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.81, Z:-1.25 [[ 9.99981892e-01 -1.76471582e-04 -6.01542425e-03 3.07564926e+01] [ 1.96954457e-04 9.99994185e-01 3.40463688e-03 -2.80656514e+00] [ 6.01478845e-03 -3.40575999e-03 9.99976111e-01 -1.25140859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.969928851 meters 0.10339401714759248 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.81, Z:-1.25 [[ 9.99981988e-01 -1.66860290e-05 -6.00199776e-03 3.07566053e+01] [ 3.86944611e-05 9.99993277e-01 3.66675367e-03 -2.80729463e+00] [ 6.00189622e-03 -3.66691987e-03 9.99975265e-01 -1.25158483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999928851 meters 0.10836916687140515 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.81, Z:-1.25 [[ 9.99982758e-01 1.28721490e-04 -5.87091627e-03 3.07562516e+01] [-1.04796219e-04 9.99991690e-01 4.07534480e-03 -2.80897696e+00] [ 5.87139207e-03 -4.07465928e-03 9.99974462e-01 -1.25144745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.029928850999994 meters 0.10136982209366947 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.81, Z:-1.25 [[ 9.99982851e-01 1.84334067e-04 -5.85358867e-03 3.07561305e+01] [-1.59631342e-04 9.99991082e-01 4.22028613e-03 -2.80977473e+00] [ 5.85431440e-03 -4.21927934e-03 9.99973962e-01 -1.25130634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059928850999995 meters 0.1016655822730728 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.81, Z:-1.25 [[ 9.99983359e-01 2.58874818e-04 -5.76321032e-03 3.07559109e+01] [-2.33290015e-04 9.99990118e-01 4.43956166e-03 -2.81071647e+00] [ 5.76430266e-03 -4.43814328e-03 9.99973537e-01 -1.25125325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.089928850999996 meters 0.1063040231240974 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.81, Z:-1.25 [[ 9.99984143e-01 2.11358002e-04 -5.62755002e-03 3.07553878e+01] [-1.85467670e-04 9.99989399e-01 4.60076455e-03 -2.81190274e+00] [ 5.62846277e-03 -4.59964786e-03 9.99973581e-01 -1.25088170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119928851 meters 0.10294617483354264 Centerline is valid? [False, False] Translation: X:30.76, Y:-2.81, Z:-1.25 [[ 9.99984777e-01 1.50973629e-04 -5.51570628e-03 3.07550222e+01] [-1.25442912e-04 9.99989279e-01 4.62878307e-03 -2.81238645e+00] [ 5.51634597e-03 -4.62802070e-03 9.99974075e-01 -1.25067281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.149928851 meters 0.1031232559455572 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.81, Z:-1.25 [[ 9.99985047e-01 1.73387205e-04 -5.46578207e-03 3.07547593e+01] [-1.47348032e-04 9.99988641e-01 4.76407703e-03 -2.81320062e+00] [ 5.46654602e-03 -4.76320042e-03 9.99973714e-01 -1.25041385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179928851 meters 0.10914478712522234 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.81, Z:-1.25 [[ 9.99985204e-01 1.48430887e-04 -5.43789041e-03 3.07544336e+01] [-1.22386457e-04 9.99988523e-01 4.78945612e-03 -2.81382223e+00] [ 5.43853890e-03 -4.78871973e-03 9.99973745e-01 -1.25000638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.209928850999994 meters 0.10351088953104697 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.82, Z:-1.25 [[ 9.99986208e-01 1.06721708e-04 -5.25098997e-03 3.07536152e+01] [-8.05470400e-05 9.99987573e-01 4.98467016e-03 -2.81537624e+00] [ 5.25145669e-03 -4.98417846e-03 9.99973790e-01 -1.24932892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239928850999995 meters 0.10286659919023064 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.82, Z:-1.25 [[ 9.99986295e-01 1.42853792e-04 -5.23347716e-03 3.07534410e+01] [-1.16135479e-04 9.99986962e-01 5.10521806e-03 -2.81606631e+00] [ 5.23413823e-03 -5.10454031e-03 9.99973273e-01 -1.24912558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.269928850999996 meters 0.10699368566176039 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.82, Z:-1.25 [[ 9.99986225e-01 1.37683911e-04 -5.24703657e-03 3.07532690e+01] [-1.10767995e-04 9.99986837e-01 5.12968211e-03 -2.81658745e+00] [ 5.24767378e-03 -5.12903025e-03 9.99973077e-01 -1.24881621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299928851 meters 0.11053957017941779 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.82, Z:-1.25 [[ 9.99988004e-01 1.24696457e-04 -4.89649650e-03 3.07523229e+01] [-9.74040809e-05 9.99984462e-01 5.57370099e-03 -2.81872283e+00] [ 4.89711544e-03 -5.57315719e-03 9.99972479e-01 -1.24844744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.329928851 meters 0.11173161621062004 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.82, Z:-1.25 [[ 9.99988854e-01 1.36367353e-04 -4.71950293e-03 3.07518275e+01] [-1.08970248e-04 9.99983146e-01 5.80485324e-03 -2.81990458e+00] [ 4.72021498e-03 -5.80427425e-03 9.99972015e-01 -1.24825644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359928851 meters 0.10511843902287998 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.82, Z:-1.25 [[ 9.99988963e-01 2.54903023e-04 -4.69132755e-03 3.07516018e+01] [-2.26164781e-04 9.99981214e-01 6.12533431e-03 -2.82129935e+00] [ 4.69280078e-03 -6.12420569e-03 9.99970235e-01 -1.24800241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.389928851 meters 0.10721091787614113 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.82, Z:-1.25 [[ 9.99989796e-01 4.00064951e-04 -4.49969076e-03 3.07511787e+01] [-3.70024113e-04 9.99977653e-01 6.67505279e-03 -2.82330282e+00] [ 4.50226066e-03 -6.67331969e-03 9.99967598e-01 -1.24796699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419928850999995 meters 0.10343464625654643 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.82, Z:-1.25 [[ 9.99989943e-01 4.48285753e-04 -4.46245063e-03 3.07509787e+01] [-4.17786131e-04 9.99976565e-01 6.83331220e-03 -2.82409303e+00] [ 4.46540933e-03 -6.83137913e-03 9.99966696e-01 -1.24778207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.449928850999996 meters 0.10645734523971792 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.82, Z:-1.25 [[ 9.99980179e-01 -3.48634350e-03 -5.24275304e-03 3.07524688e+01] [ 3.49940021e-03 9.99990794e-01 2.48332116e-03 -2.82324070e+00] [ 5.23404707e-03 -2.50161843e-03 9.99983173e-01 -1.24764259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479928851 meters 0.10540422176067747 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.82, Z:-1.25 [[ 9.99980686e-01 -3.42138873e-03 -5.18853093e-03 3.07520285e+01] [ 3.43555262e-03 9.99990390e-01 2.72339309e-03 -2.82449848e+00] [ 5.17916328e-03 -2.74116596e-03 9.99982831e-01 -1.24713027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.509928851 meters 0.11939651108456943 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99981238e-01 -3.10114353e-03 -5.28269537e-03 3.07524525e+01] [ 3.11798403e-03 9.99990075e-01 3.18261368e-03 -2.82544406e+00] [ 5.27277319e-03 -3.19902533e-03 9.99980982e-01 -1.24746437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539928851 meters 0.10488353899111463 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99981475e-01 -2.99635250e-03 -5.29827888e-03 3.07523477e+01] [ 3.01420034e-03 9.99989800e-01 3.36384089e-03 -2.82631581e+00] [ 5.28814558e-03 -3.37974865e-03 9.99980306e-01 -1.24724652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.569928851 meters 0.10299333253755992 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99981614e-01 -2.84356427e-03 -5.35590163e-03 3.07523897e+01] [ 2.86286866e-03 9.99989422e-01 3.60010906e-03 -2.82721029e+00] [ 5.34560783e-03 -3.61537611e-03 9.99979177e-01 -1.24713444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599928850999994 meters 0.1024964679995227 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99981802e-01 -2.51619985e-03 -5.48305632e-03 3.07525857e+01] [ 2.53853208e-03 9.99988496e-01 4.06980585e-03 -2.82873314e+00] [ 5.47275280e-03 -4.08365070e-03 9.99976686e-01 -1.24701983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.629928850999995 meters 0.10173410500124844 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99981340e-01 -2.65886941e-03 -5.49993087e-03 3.07522758e+01] [ 2.68016646e-03 9.99988926e-01 3.86850124e-03 -2.82872964e+00] [ 5.48958412e-03 -3.88316978e-03 9.99977392e-01 -1.24649449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659928851 meters 0.1018222173054131 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99980776e-01 -2.47956727e-03 -5.68331786e-03 3.07525765e+01] [ 2.50266725e-03 9.99988622e-01 4.06102197e-03 -2.82936184e+00] [ 5.67318362e-03 -4.07516735e-03 9.99975604e-01 -1.24638081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.689928851 meters 0.10660533884466625 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99981388e-01 -1.98827674e-03 -5.76797050e-03 3.07528616e+01] [ 2.01622122e-03 9.99986240e-01 4.84300525e-03 -2.83167185e+00] [ 5.75826190e-03 -4.85454461e-03 9.99971638e-01 -1.24652807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719928851 meters 0.10044102698677987 Centerline is valid? [False, False] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99981234e-01 -1.82413830e-03 -5.84850963e-03 3.07529112e+01] [ 1.85399424e-03 9.99985258e-01 5.10352947e-03 -2.83267368e+00] [ 5.83911387e-03 -5.11427679e-03 9.99969874e-01 -1.24637853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.749928851 meters 0.09980541258731145 Centerline is valid? [False, True] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99981080e-01 -1.75694277e-03 -5.89518828e-03 3.07529689e+01] [ 1.78752667e-03 9.99984951e-01 5.18669045e-03 -2.83305385e+00] [ 5.88598685e-03 -5.19713012e-03 9.99969172e-01 -1.24632343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779928850999994 meters 0.10514704443848118 Centerline is valid? [True, False] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99980609e-01 -1.71458323e-03 -5.98684328e-03 3.07530875e+01] [ 1.74575303e-03 9.99984930e-01 5.20504516e-03 -2.83321424e+00] [ 5.97782858e-03 -5.21539578e-03 9.99968532e-01 -1.24620825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809928850999995 meters 0.09769856925154828 Centerline is valid? [False, True] Translation: X:30.75, Y:-2.83, Z:-1.25 [[ 9.99979563e-01 -1.63113271e-03 -6.18167166e-03 3.07532209e+01] [ 1.66313001e-03 9.99985229e-01 5.17455580e-03 -2.83348469e+00] [ 6.17313997e-03 -5.18473097e-03 9.99967505e-01 -1.24580887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839928850999996 meters 0.09769856925154828 Centerline is valid? [True, True] Translation: X:30.78, Y:-2.83, Z:-1.24 [[ 9.99976515e-01 -1.60945782e-03 -6.66181054e-03 3.07817963e+01] [ 1.61426248e-03 9.99998441e-01 7.15909460e-04 -2.83440386e+00] [ 6.66064792e-03 -7.26646558e-04 9.99977554e-01 -1.24478086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.869928851 meters 0.09783509487364306 Centerline is valid? [True, True] Translation: X:30.81, Y:-2.84, Z:-1.25 [[ 9.99977077e-01 -3.71562613e-04 -6.76066964e-03 3.08107836e+01] [ 3.76486065e-04 9.99999665e-01 7.26990985e-04 -2.83888312e+00] [ 6.76039725e-03 -7.29519619e-04 9.99976882e-01 -1.24639767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899928851 meters 0.09784868628943201 Centerline is valid? [True, True] Translation: X:30.84, Y:-2.84, Z:-1.25 [[ 9.99980571e-01 9.97748388e-06 -6.23352805e-03 3.08397312e+01] [-5.83028673e-06 9.99999779e-01 6.65322781e-04 -2.84306827e+00] [ 6.23353331e-03 -6.65273511e-04 9.99980350e-01 -1.24719115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.929928851 meters 0.09774907757086293 Centerline is valid? [True, True] Translation: X:30.87, Y:-2.85, Z:-1.25 [[ 9.99975226e-01 1.86983878e-04 -7.03652409e-03 3.08675579e+01] [-1.81685538e-04 9.99999700e-01 7.53608642e-04 -2.84643869e+00] [ 7.03666289e-03 -7.52311537e-04 9.99974959e-01 -1.24800145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959928850999994 meters 0.094998230679834 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.85, Z:-1.25 [[ 9.99969455e-01 1.00963710e-03 -7.75049846e-03 3.08965480e+01] [-1.00326599e-03 9.99999156e-01 8.25869579e-04 -2.84640968e+00] [ 7.75132575e-03 -8.18068541e-04 9.99969623e-01 -1.24726976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.989928850999995 meters 0.0950124288667088 Centerline is valid? [True, True] Translation: X:30.93, Y:-2.85, Z:-1.25 [[ 9.99971042e-01 1.19071221e-03 -7.51643911e-03 3.09253825e+01] [-1.18470774e-03 9.99998976e-01 8.03246966e-04 -2.85030471e+00] [ 7.51738784e-03 -7.94318922e-04 9.99971429e-01 -1.24756614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019928850999996 meters 0.09608354967471877 Centerline is valid? [True, True] Translation: X:30.95, Y:-2.86, Z:-1.25 [[ 9.99969811e-01 1.53997539e-03 -7.61613195e-03 3.09531261e+01] [-1.53382425e-03 9.99998493e-01 8.13420963e-04 -2.85607368e+00] [ 7.61737312e-03 -8.01714598e-04 9.99970666e-01 -1.24798752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.049928851 meters 0.09288803199855512 Centerline is valid? [True, True] Translation: X:30.98, Y:-2.85, Z:-1.25 [[ 9.99977025e-01 2.09811907e-03 -6.44571753e-03 3.09824614e+01] [-2.09372903e-03 9.99997572e-01 6.87751200e-04 -2.85426160e+00] [ 6.44714486e-03 -6.74239813e-04 9.99978990e-01 -1.24698681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079928851 meters 0.09194588330501675 Centerline is valid? [True, True] Translation: X:31.01, Y:-2.86, Z:-1.25 [[ 9.99975913e-01 3.94201983e-03 -5.71259068e-03 3.10122438e+01] [-3.93859706e-03 9.99992057e-01 6.10286996e-04 -2.85733587e+00] [ 5.71495107e-03 -5.87772703e-04 9.99983497e-01 -1.24732752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.109928851 meters 0.09589020599618815 Centerline is valid? [True, True] Translation: X:31.04, Y:-2.87, Z:-1.25 [[ 9.99975929e-01 5.04033764e-03 -4.76823217e-03 3.10396982e+01] [-5.03796992e-03 9.99987180e-01 5.08442969e-04 -2.86842779e+00] [ 4.77073376e-03 -4.84408520e-04 9.99988503e-01 -1.24975233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139928851 meters 0.09143456405019268 Centerline is valid? [True, True] Translation: X:31.07, Y:-2.86, Z:-1.25 [[ 9.99965915e-01 6.32333687e-03 -5.30892256e-03 3.10707732e+01] [-6.32042028e-03 9.99979866e-01 5.65973059e-04 -2.86327418e+00] [ 5.31239451e-03 -5.32399146e-04 9.99985747e-01 -1.24863571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.169928850999995 meters 0.09084968087875102 Centerline is valid? [True, True] Translation: X:31.10, Y:-2.86, Z:-1.25 [[ 9.99940073e-01 9.18844562e-03 -5.95167590e-03 3.11009093e+01] [-9.18482433e-03 9.99957617e-01 6.35496482e-04 -2.86435231e+00] [ 5.95726287e-03 -5.80793301e-04 9.99982087e-01 -1.24858637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199928850999996 meters 0.09053202676497857 Centerline is valid? [True, True] Translation: X:31.13, Y:-2.87, Z:-1.25 [[ 9.99917496e-01 1.14740635e-02 -5.77466084e-03 3.11309990e+01] [-1.14706925e-02 9.99934019e-01 6.16536115e-04 -2.86731147e+00] [ 5.78135400e-03 -5.50245889e-04 9.99983136e-01 -1.24998976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229928851 meters 0.09017851044012282 Centerline is valid? [True, True] Translation: X:31.16, Y:-2.87, Z:-1.25 [[ 9.99889253e-01 1.36137235e-02 -6.01239409e-03 3.11607869e+01] [-1.36101121e-02 9.99907173e-01 6.41168444e-04 -2.86980075e+00] [ 6.02056467e-03 -5.59268078e-04 9.99981720e-01 -1.25129911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259928851 meters 0.08958123746898283 Centerline is valid? [True, True] Translation: X:31.19, Y:-2.87, Z:-1.25 [[ 9.99850527e-01 1.60814110e-02 -6.34919264e-03 3.11913135e+01] [-1.60774295e-02 9.99870520e-01 6.77635104e-04 -2.87237470e+00] [ 6.35926788e-03 -5.75455119e-04 9.99979614e-01 -1.25217362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.289928851 meters 0.0869144449044213 Centerline is valid? [True, True] Translation: X:31.22, Y:-2.87, Z:-1.25 [[ 9.99758598e-01 2.10409487e-02 -6.32654055e-03 3.12220190e+01] [-2.10370934e-02 9.99778468e-01 6.75320052e-04 -2.86947986e+00] [ 6.33934840e-03 -5.42065003e-04 9.99979759e-01 -1.25136803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319928851 meters 0.08554438148806463 Centerline is valid? [True, True] Translation: X:31.25, Y:-2.87, Z:-1.25 [[ 9.99689867e-01 2.38567939e-02 -7.14307737e-03 3.12528362e+01] [-2.38519525e-02 9.99715211e-01 7.62210431e-04 -2.86878557e+00] [ 7.15922700e-03 -5.91597702e-04 9.99974197e-01 -1.25164062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.349928850999994 meters 0.08427373100029795 Centerline is valid? [True, True] Translation: X:31.28, Y:-2.87, Z:-1.25 [[ 9.99603565e-01 2.70805846e-02 -7.70424898e-03 3.12833665e+01] [-2.70750469e-02 9.99633066e-01 8.22202318e-04 -2.86792465e+00] [ 7.72368775e-03 -6.13283465e-04 9.99969984e-01 -1.25202137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379928850999995 meters 0.08368258371262413 Centerline is valid? [True, True] Translation: X:31.31, Y:-2.87, Z:-1.25 [[ 9.99504637e-01 3.05971795e-02 -7.36836182e-03 3.13137514e+01] [-3.05922092e-02 9.99531640e-01 7.86345468e-04 -2.86916031e+00] [ 7.38897072e-03 -5.60541476e-04 9.99972544e-01 -1.25368973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.409928851 meters 0.08034574545581483 Centerline is valid? [True, True] Translation: X:31.35, Y:-2.86, Z:-1.25 [[ 9.99221332e-01 3.88530343e-02 -6.86818011e-03 3.13455911e+01] [-3.88489105e-02 9.99244827e-01 7.32864070e-04 -2.86284418e+00] [ 6.89146745e-03 -4.65472097e-04 9.99976145e-01 -1.25284757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439928851 meters 0.07948728456078466 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.86, Z:-1.25 [[ 9.99055599e-01 4.29143640e-02 -6.80195152e-03 3.13761887e+01] [-4.29104129e-02 9.99078660e-01 7.25822587e-04 -2.86234961e+00] [ 6.82683283e-03 -4.33262572e-04 9.99976603e-01 -1.25372453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.469928851 meters 0.07853734552606756 Centerline is valid? [True, True] Translation: X:31.41, Y:-2.86, Z:-1.26 [[ 9.98616808e-01 5.20636360e-02 -7.33809352e-03 3.14059865e+01] [-5.20592848e-02 9.98643689e-01 7.82857127e-04 -2.85923167e+00] [ 7.36889917e-03 -3.99758385e-04 9.99972769e-01 -1.25533320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499928851 meters 0.07727610386005873 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.86, Z:-1.25 [[ 9.98370109e-01 5.67189105e-02 -6.33168590e-03 3.14363114e+01] [-5.67157641e-02 9.98390137e-01 6.75533535e-04 -2.85736101e+00] [ 6.35980828e-03 -3.15326085e-04 9.99979726e-01 -1.25491459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.529928850999994 meters 0.07656536743935456 Centerline is valid? [True, True] Translation: X:31.47, Y:-2.86, Z:-1.25 [[ 9.98126127e-01 6.08360733e-02 -6.57318088e-03 3.14665681e+01] [-6.08327736e-02 9.98147726e-01 7.00953488e-04 -2.85575362e+00] [ 6.60364880e-03 -2.99775166e-04 9.99978151e-01 -1.25494548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559928850999995 meters 0.07599705642895604 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.85, Z:-1.26 [[ 9.97902817e-01 6.44042402e-02 -6.48551249e-03 3.14970597e+01] [-6.44011039e-02 9.97923855e-01 6.91492665e-04 -2.85455752e+00] [ 6.51658268e-03 -2.72368315e-04 9.99978730e-01 -1.25576668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.589928850999996 meters 0.07511456521021316 Centerline is valid? [True, True] Translation: X:31.53, Y:-2.85, Z:-1.26 [[ 9.97607647e-01 6.88631506e-02 -6.07033974e-03 3.15268950e+01] [-6.88604886e-02 9.97626090e-01 6.46681215e-04 -2.85437877e+00] [ 6.10046181e-03 -2.27127565e-04 9.99981366e-01 -1.25533691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619928851 meters 0.07456934541858752 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.85, Z:-1.26 [[ 9.97181983e-01 7.47999414e-02 -5.74998617e-03 3.15572393e+01] [-7.47976514e-02 9.97198544e-01 6.12587148e-04 -2.85228640e+00] [ 5.77969932e-03 -1.80775406e-04 9.99983281e-01 -1.25686455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.649928851 meters 0.07403852212402665 Centerline is valid? [True, True] Translation: X:31.59, Y:-2.85, Z:-1.26 [[ 9.96970022e-01 7.75497506e-02 -6.06729888e-03 3.15862007e+01] [-7.75472594e-02 9.96988469e-01 6.45140236e-04 -2.85165635e+00] [ 6.09905749e-03 -1.72683075e-04 9.99981386e-01 -1.25674980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679928851 meters 0.07398312619244009 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.85, Z:-1.26 [[ 9.96812037e-01 7.95473609e-02 -6.16276873e-03 3.16140110e+01] [-7.95448338e-02 9.96831074e-01 6.54482368e-04 -2.85342993e+00] [ 6.19530172e-03 -1.62179488e-04 9.99980796e-01 -1.25853742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.709928850999994 meters 0.07368624584578004 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.85, Z:-1.26 [[ 9.96559990e-01 8.25302038e-02 -7.54663170e-03 3.16430736e+01] [-8.25265318e-02 9.96588549e-01 7.97222164e-04 -2.85190422e+00] [ 7.58668164e-03 -1.71682371e-04 9.99971206e-01 -1.25914402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739928850999995 meters 0.07364270498137224 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.85, Z:-1.26 [[ 9.96513213e-01 8.29108963e-02 -9.33806434e-03 3.16709923e+01] [-8.29052607e-02 9.96556942e-01 9.89661232e-04 -2.85437655e+00] [ 9.38796654e-03 -2.12035835e-04 9.99955910e-01 -1.26097503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.769928850999996 meters 0.0736963629838302 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.86, Z:-1.26 [[ 9.96515306e-01 8.28382754e-02 -9.75009750e-03 3.16998764e+01] [-8.28321778e-02 9.96562980e-01 1.02824785e-03 -2.85696545e+00] [ 9.80176449e-03 -2.17042912e-04 9.99951938e-01 -1.26138737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799928851 meters 0.07406319856485062 Centerline is valid? [True, True] Translation: X:31.73, Y:-2.86, Z:-1.26 [[ 9.96695659e-01 8.06911166e-02 -9.31169072e-03 3.17269665e+01] [-8.06854433e-02 9.96739129e-01 9.83947276e-04 -2.86247775e+00] [ 9.36072230e-03 -2.29378085e-04 9.99956161e-01 -1.26330241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.829928851 meters 0.07418965899083803 Centerline is valid? [True, True] Translation: X:31.76, Y:-2.87, Z:-1.26 [[ 9.96874018e-01 7.84628975e-02 -9.26098420e-03 3.17553509e+01] [-7.84572355e-02 9.96917005e-01 9.73662762e-04 -2.86679001e+00] [ 9.30882903e-03 -2.44027891e-04 9.99956642e-01 -1.26324940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859928851 meters 0.07468161356978228 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.87, Z:-1.26 [[ 9.97071528e-01 7.58973414e-02 -9.37874204e-03 3.17826825e+01] [-7.58914008e-02 9.97115599e-01 9.88199161e-04 -2.87188296e+00] [ 9.42669169e-03 -2.73539376e-04 9.99955530e-01 -1.26440827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.889928851 meters 0.07439211825635748 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.87, Z:-1.26 [[ 9.97328367e-01 7.25051681e-02 -8.89545931e-03 3.18124995e+01] [-7.24996845e-02 9.97367994e-01 9.37799638e-04 -2.87461943e+00] [ 8.94004174e-03 -2.90376187e-04 9.99959995e-01 -1.26148302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919928850999995 meters 0.07656412409816665 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.89, Z:-1.27 [[ 9.97839130e-01 6.51915918e-02 -8.19307664e-03 3.18408552e+01] [-6.51866943e-02 9.97872712e-01 8.63676487e-04 -2.88784846e+00] [ 8.23195205e-03 -3.27730613e-04 9.99966063e-01 -1.26544015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.949928850999996 meters 0.07729084181845443 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.89, Z:-1.27 [[ 9.98085104e-01 6.13907178e-02 -7.57001671e-03 3.18700561e+01] [-6.13864308e-02 9.98113756e-01 7.97591851e-04 -2.89376789e+00] [ 7.60470255e-03 -3.31368239e-04 9.99971029e-01 -1.26573363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979928851 meters 0.07719535031829443 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.90, Z:-1.26 [[ 9.98324707e-01 5.73750834e-02 -7.47517424e-03 3.19004410e+01] [-5.73707863e-02 9.98352629e-01 7.88198625e-04 -2.89740529e+00] [ 7.50808282e-03 -3.58021538e-04 9.99971750e-01 -1.26347206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009928851 meters 0.0770145585559995 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.90, Z:-1.26 [[ 9.98507733e-01 5.41120145e-02 -7.36185123e-03 3.19301552e+01] [-5.41077619e-02 9.98534801e-01 7.75745787e-04 -2.90093934e+00] [ 7.39304182e-03 -3.76254873e-04 9.99972600e-01 -1.26349423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039928851 meters 0.07870327084847412 Centerline is valid? [True, True] Translation: X:31.96, Y:-2.91, Z:-1.26 [[ 9.98865423e-01 4.70485447e-02 -7.36898962e-03 3.19584116e+01] [-4.70440958e-02 9.98892512e-01 7.76007142e-04 -2.90964550e+00] [ 7.39733856e-03 -4.28459248e-04 9.99972548e-01 -1.26374949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.069928851 meters 0.07970401702356873 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.92, Z:-1.26 [[ 9.99001031e-01 4.40456588e-02 -7.54456158e-03 3.19870112e+01] [-4.40409120e-02 9.99029413e-01 7.94240754e-04 -2.91528970e+00] [ 7.57222178e-03 -4.61177960e-04 9.99971224e-01 -1.26483065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099928850999994 meters 0.08018732929536877 Centerline is valid? [True, True] Translation: X:32.02, Y:-2.92, Z:-1.27 [[ 9.99126588e-01 4.07863171e-02 -9.08506573e-03 3.20168528e+01] [-4.07792937e-02 9.99167720e-01 9.57057875e-04 -2.91909433e+00] [ 9.11653928e-03 -5.85739405e-04 9.99958272e-01 -1.26517738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.129928850999995 meters 0.08388147994629012 Centerline is valid? [True, True] Translation: X:32.04, Y:-2.93, Z:-1.27 [[ 9.99305238e-01 3.60818555e-02 -9.33490739e-03 3.20449999e+01] [-3.60742439e-02 9.99348630e-01 9.82537776e-04 -2.92950824e+00] [ 9.36427869e-03 -6.45105421e-04 9.99955946e-01 -1.26816395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159928851 meters 0.0825992418375602 Centerline is valid? [True, True] Translation: X:32.07, Y:-2.93, Z:-1.27 [[ 9.99366829e-01 3.44578906e-02 -8.86534607e-03 3.20744253e+01] [-3.44509690e-02 9.99405954e-01 9.32323439e-04 -2.92911937e+00] [ 8.89220555e-03 -6.26313357e-04 9.99960267e-01 -1.26669875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189928851 meters 0.08177099466980602 Centerline is valid? [True, True] Translation: X:32.10, Y:-2.93, Z:-1.27 [[ 9.99399159e-01 3.33808198e-02 -9.32964635e-03 3.21045464e+01] [-3.33731071e-02 9.99442481e-01 9.81196931e-04 -2.92936992e+00] [ 9.35719806e-03 -6.69248101e-04 9.99955997e-01 -1.26651139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219928851 meters 0.08410117842713523 Centerline is valid? [True, True] Translation: X:32.13, Y:-2.93, Z:-1.27 [[ 9.99443329e-01 3.19541248e-02 -9.58993863e-03 3.21322606e+01] [-3.19459224e-02 9.99489091e-01 1.00731674e-03 -2.93440651e+00] [ 9.61722697e-03 -7.00396563e-04 9.99953508e-01 -1.26879545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.249928851 meters 0.08416005666737958 Centerline is valid? [True, True] Translation: X:32.16, Y:-2.94, Z:-1.27 [[ 9.99441535e-01 3.19977755e-02 -9.63124697e-03 3.21609838e+01] [-3.19895099e-02 9.99487693e-01 1.01107621e-03 -2.93518324e+00] [ 9.65866501e-03 -7.02412684e-04 9.99953107e-01 -1.26869560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279928850999994 meters 0.08415457018024326 Centerline is valid? [True, True] Translation: X:32.19, Y:-2.94, Z:-1.27 [[ 9.99420746e-01 3.26408063e-02 -9.63069985e-03 3.21900975e+01] [-3.26325773e-02 9.99466905e-01 1.01040397e-03 -2.93520928e+00] [ 9.65854617e-03 -6.95544127e-04 9.99953113e-01 -1.26912582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.309928850999995 meters 0.08381335186377553 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.93, Z:-1.27 [[ 9.99400772e-01 3.33001387e-02 -9.44444528e-03 3.22190230e+01] [-3.32922601e-02 9.99445169e-01 9.90237185e-04 -2.93499611e+00] [ 9.47218024e-03 -6.75216879e-04 9.99954910e-01 -1.26900193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339928850999996 meters 0.08119539317931995 Centerline is valid? [True, True] Translation: X:32.25, Y:-2.93, Z:-1.27 [[ 9.99373143e-01 3.39842389e-02 -9.91933329e-03 3.22489254e+01] [-3.39755881e-02 9.99422123e-01 1.03937607e-03 -2.92923993e+00] [ 9.94892353e-03 -7.01709351e-04 9.99950262e-01 -1.26692847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.369928851 meters 0.08135115819020382 Centerline is valid? [True, True] Translation: X:32.28, Y:-2.93, Z:-1.27 [[ 9.99321841e-01 3.53173069e-02 -1.04185705e-02 3.22772007e+01] [-3.53078471e-02 9.99375889e-01 1.09057504e-03 -2.92780350e+00] [ 1.04505844e-02 -7.21978158e-04 9.99945131e-01 -1.26893490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399928851 meters 0.08216516242107025 Centerline is valid? [True, True] Translation: X:32.31, Y:-2.93, Z:-1.27 [[ 9.99317725e-01 3.54172447e-02 -1.04739608e-02 3.23053268e+01] [-3.54076931e-02 9.99372350e-01 1.09602363e-03 -2.93056716e+00] [ 1.05062049e-02 -7.24417052e-04 9.99944546e-01 -1.27069162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.429928851 meters 0.08271490675684437 Centerline is valid? [True, True] Translation: X:32.33, Y:-2.93, Z:-1.27 [[ 9.99310956e-01 3.54869872e-02 -1.08759826e-02 3.23318078e+01] [-3.54767158e-02 9.99369858e-01 1.13594920e-03 -2.93213254e+00] [ 1.09094406e-02 -7.49322342e-04 9.99940210e-01 -1.27255627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459928850999994 meters 0.08376294169873434 Centerline is valid? [True, True] Translation: X:32.36, Y:-2.93, Z:-1.27 [[ 9.99342913e-01 3.43061852e-02 -1.16973795e-02 3.23612431e+01] [-3.42942069e-02 9.99411032e-01 1.22312451e-03 -2.93316592e+00] [ 1.17324509e-02 -8.21168460e-04 9.99930835e-01 -1.27452463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.489928850999995 meters 0.08216681473489588 Centerline is valid? [True, True] Translation: X:32.39, Y:-2.93, Z:-1.27 [[ 9.99381109e-01 3.34304941e-02 -1.09453383e-02 3.23905252e+01] [-3.34200263e-02 9.99440747e-01 1.13793796e-03 -2.93027147e+00] [ 1.09772589e-02 -7.71440208e-04 9.99939451e-01 -1.27293188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519928850999996 meters 0.08568465141179656 Centerline is valid? [True, True] Translation: X:32.42, Y:-2.94, Z:-1.28 [[ 9.99414563e-01 3.26092619e-02 -1.03521444e-02 3.24169687e+01] [-3.25998403e-02 9.99467903e-01 1.07760473e-03 -2.93865559e+00] [ 1.03817759e-02 -7.39495609e-04 9.99945834e-01 -1.27642562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.549928851 meters 0.08573975162613598 Centerline is valid? [True, True] Translation: X:32.45, Y:-2.94, Z:-1.28 [[ 9.99507116e-01 3.02742710e-02 -8.30626893e-03 3.24465590e+01] [-3.02681281e-02 9.99541442e-01 8.64294047e-04 -2.93767574e+00] [ 8.32862589e-03 -6.12452839e-04 9.99965129e-01 -1.27500255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579928851 meters 0.08610522093202132 Centerline is valid? [True, True] Translation: X:32.48, Y:-2.94, Z:-1.27 [[ 9.99567601e-01 2.83890559e-02 -7.65983381e-03 3.24758710e+01] [-2.83837743e-02 9.99596781e-01 7.97374391e-04 -2.93914119e+00] [ 7.67938193e-03 -5.79614613e-04 9.99970345e-01 -1.27484366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.609928851 meters 0.08521519068574039 Centerline is valid? [True, True] Translation: X:32.51, Y:-2.94, Z:-1.27 [[ 9.99618887e-01 2.65490190e-02 -7.56503905e-03 3.25058332e+01] [-2.65438170e-02 9.99647341e-01 7.87228851e-04 -2.93824416e+00] [ 7.58327132e-03 -5.86123816e-04 9.99971075e-01 -1.27409539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63992885099999 meters 0.08916456111620781 Centerline is valid? [True, True] Translation: X:32.53, Y:-2.95, Z:-1.28 [[ 9.99677545e-01 2.42950492e-02 -7.38626214e-03 3.25342451e+01] [-2.42900309e-02 9.99704658e-01 7.68370788e-04 -2.94719846e+00] [ 7.40274828e-03 -5.88710488e-04 9.99972426e-01 -1.27635720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.669928850999995 meters 0.08688815460369792 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.94, Z:-1.28 [[ 9.99766681e-01 2.01830474e-02 -7.69595673e-03 3.25658368e+01] [-2.01774695e-02 9.99796093e-01 8.01750918e-04 -2.94185402e+00] [ 7.71056925e-03 -6.46278922e-04 9.99970064e-01 -1.27611071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699928850999996 meters 0.09215389387952334 Centerline is valid? [True, True] Translation: X:32.59, Y:-2.95, Z:-1.28 [[ 9.99800854e-01 1.83071352e-02 -7.94368116e-03 3.25939093e+01] [-1.83011440e-02 9.99832179e-01 8.26262743e-04 -2.95365675e+00] [ 7.95747454e-03 -6.80719744e-04 9.99968107e-01 -1.27941181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.729928851 meters 0.09186262733144218 Centerline is valid? [True, True] Translation: X:32.62, Y:-2.95, Z:-1.28 [[ 9.99827637e-01 1.69206473e-02 -7.64121512e-03 3.26238745e+01] [-1.69150654e-02 9.99856614e-01 7.94546756e-04 -2.95452067e+00] [ 7.65356372e-03 -6.65158152e-04 9.99970490e-01 -1.27995831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759928851 meters 0.09186262733144218 Centerline is valid? [True, True] Translation: X:32.65, Y:-2.96, Z:-1.28 [[ 9.99829288e-01 1.68227098e-02 -7.64142505e-03 3.26512999e+01] [-1.68171403e-02 9.99858268e-01 7.92528186e-04 -2.95725869e+00] [ 7.65367449e-03 -6.63885975e-04 9.99970490e-01 -1.28049707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.789928851 meters 0.08948190249996993 Centerline is valid? [True, True] Translation: X:32.68, Y:-2.95, Z:-1.28 [[ 9.99850531e-01 1.52850493e-02 -8.07983335e-03 3.26815959e+01] [-1.52787638e-02 9.99882921e-01 8.39084995e-04 -2.95334136e+00] [ 8.09171283e-03 -7.15509712e-04 9.99967006e-01 -1.27989407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819928851 meters 0.09664193046901125 Centerline is valid? [True, True] Translation: X:32.71, Y:-2.97, Z:-1.28 [[ 9.99887365e-01 1.29284095e-02 -7.62322193e-03 3.27099492e+01] [-1.29227452e-02 9.99916184e-01 7.91831458e-04 -2.96569221e+00] [ 7.63282011e-03 -6.93229316e-04 9.99970629e-01 -1.28426825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.849928850999994 meters 0.08995083556074779 Centerline is valid? [True, True] Translation: X:32.74, Y:-2.95, Z:-1.28 [[ 9.99899842e-01 1.22788992e-02 -7.03810203e-03 3.27396612e+01] [-1.22740693e-02 9.99924405e-01 7.29047234e-04 -2.95416039e+00] [ 7.04652188e-03 -6.42588062e-04 9.99974966e-01 -1.27993165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879928850999995 meters 0.09339565815160294 Centerline is valid? [True, True] Translation: X:32.77, Y:-2.96, Z:-1.28 [[ 9.99911633e-01 1.18382957e-02 -6.04828486e-03 3.27668622e+01] [-1.18347254e-02 9.99929771e-01 6.25748973e-04 -2.96205899e+00] [ 6.05526790e-03 -5.54113886e-04 9.99981513e-01 -1.28200651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909928851 meters 0.10023317049618023 Centerline is valid? [True, False] Translation: X:32.77, Y:-2.96, Z:-1.28 [[ 9.99917582e-01 1.13074338e-02 -6.08046846e-03 3.27669204e+01] [-1.13098446e-02 9.99935976e-01 -3.62233878e-04 -2.95895136e+00] [ 6.07598323e-03 4.30973177e-04 9.99981448e-01 -1.28193858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939928851 meters 0.0969090625321712 Centerline is valid? [False, True] Translation: X:32.77, Y:-2.96, Z:-1.28 [[ 9.99923729e-01 1.08332794e-02 -5.93089471e-03 3.27664390e+01] [-1.08394727e-02 9.99940738e-01 -1.01309538e-03 -2.95729695e+00] [ 5.91956809e-03 1.07730589e-03 9.99981899e-01 -1.28170922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.969928851 meters 0.09267776501130762 Centerline is valid? [True, True] Translation: X:32.80, Y:-2.95, Z:-1.28 [[ 9.99936279e-01 9.62981090e-03 -5.89101195e-03 3.27965503e+01] [-9.62637456e-03 9.99953478e-01 6.11396697e-04 -2.95186408e+00] [ 5.89662553e-03 -5.54648650e-04 9.99982461e-01 -1.28106263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999928851 meters 0.09274531010560515 Centerline is valid? [True, True] Translation: X:32.83, Y:-2.95, Z:-1.28 [[ 9.99952427e-01 8.29645002e-03 -5.12957040e-03 3.28264258e+01] [-8.29382716e-03 9.99965464e-01 5.32380898e-04 -2.95381847e+00] [ 5.13381011e-03 -4.89811801e-04 9.99986702e-01 -1.28126270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.029928850999994 meters 0.09705481023167377 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.96, Z:-1.28 [[ 9.99966776e-01 7.12377954e-03 -3.96219510e-03 3.28535748e+01] [-7.12220884e-03 9.99974553e-01 4.10390275e-04 -2.96328794e+00] [ 3.96501780e-03 -3.82157059e-04 9.99992066e-01 -1.28366274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059928850999995 meters 0.09446166729498454 Centerline is valid? [True, True] Translation: X:32.88, Y:-2.96, Z:-1.28 [[ 9.99974034e-01 5.98026324e-03 -4.02089837e-03 3.28838611e+01] [-5.97863517e-03 9.99982041e-01 4.16797888e-04 -2.96055334e+00] [ 4.02331872e-03 -3.92747581e-04 9.99991829e-01 -1.28273677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089928850999996 meters 0.09549377394918342 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.96, Z:-1.28 [[ 9.99982500e-01 4.59921967e-03 -3.72122206e-03 3.29125915e+01] [-4.59781788e-03 9.99989356e-01 3.85167248e-04 -2.96485438e+00] [ 3.72295392e-03 -3.68051006e-04 9.99993002e-01 -1.28415512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119928851 meters 0.0970402038658923 Centerline is valid? [True, True] Translation: X:32.94, Y:-2.97, Z:-1.29 [[ 9.99986757e-01 3.79423456e-03 -3.47701387e-03 3.29403762e+01] [-3.79301084e-03 9.99992742e-01 3.58472088e-04 -2.97021384e+00] [ 3.47834877e-03 -3.45278990e-04 9.99993891e-01 -1.28532933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.149928851 meters 0.09702695534594076 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99988811e-01 2.28251977e-03 -4.14342954e-03 3.29709291e+01] [-2.28075949e-03 9.99997307e-01 4.29511881e-04 -2.97185576e+00] [ 4.14439875e-03 -4.20056909e-04 9.99991324e-01 -1.28535728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179928851 meters 0.10051814529504188 Centerline is valid? [True, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99989878e-01 1.96759799e-03 -4.04624207e-03 3.29705819e+01] [-1.96758071e-03 9.99998064e-01 8.25046718e-06 -2.97075192e+00] [ 4.04625047e-03 -2.89075818e-07 9.99991814e-01 -1.28517204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.209928850999994 meters 0.1023101665888728 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99990817e-01 1.66755275e-03 -3.94781467e-03 3.29705371e+01] [-1.66923424e-03 9.99998518e-01 -4.22672916e-04 -2.96913058e+00] [ 3.94710398e-03 4.29258862e-04 9.99992118e-01 -1.28542229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239928850999995 meters 0.10180798586878734 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99991462e-01 1.51486404e-03 -3.84468699e-03 3.29703456e+01] [-1.51705911e-03 9.99998688e-01 -5.68082356e-04 -2.96863661e+00] [ 3.84382138e-03 5.73910123e-04 9.99992448e-01 -1.28549814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.269928850999996 meters 0.1029364747235251 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99992331e-01 1.33751506e-03 -3.68082980e-03 3.29700673e+01] [-1.34006444e-03 9.99998864e-01 -6.90230967e-04 -2.96823146e+00] [ 3.67990243e-03 6.95158223e-04 9.99992988e-01 -1.28564428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299928851 meters 0.10418130593589067 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99992411e-01 1.40464023e-03 -3.63379610e-03 3.29703714e+01] [-1.40662605e-03 9.99998863e-01 -5.43986903e-04 -2.96802237e+00] [ 3.63302786e-03 5.49094168e-04 9.99993250e-01 -1.28626131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.329928851 meters 0.10643057058415308 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99993101e-01 1.18990045e-03 -3.51875602e-03 3.29701754e+01] [-1.19261788e-03 9.99998992e-01 -7.70273963e-04 -2.96720109e+00] [ 3.51783592e-03 7.74465180e-04 9.99993512e-01 -1.28635863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359928851 meters 0.10052591343489495 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99994056e-01 8.64967679e-04 -3.33755699e-03 3.29696169e+01] [-8.68665161e-04 9.99999010e-01 -1.10655048e-03 -2.96640671e+00] [ 3.33659656e-03 1.10944313e-03 9.99993818e-01 -1.28614577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38992885099999 meters 0.10216643163859378 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99994370e-01 7.10414719e-04 -3.27952640e-03 3.29693756e+01] [-7.14639521e-04 9.99998916e-01 -1.28724332e-03 -2.96596055e+00] [ 3.27860837e-03 1.28957976e-03 9.99993794e-01 -1.28597647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419928850999995 meters 0.09929914821435833 Centerline is valid? [False, True] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99994811e-01 4.53032168e-04 -3.18950037e-03 3.29689876e+01] [-4.58097879e-04 9.99998635e-01 -1.58769461e-03 -2.96525075e+00] [ 3.18877674e-03 1.58914747e-03 9.99993653e-01 -1.28571035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.449928850999996 meters 0.10395599073096225 Centerline is valid? [True, False] Translation: X:32.97, Y:-2.96, Z:-1.29 [[ 9.99994538e-01 3.95820377e-04 -3.28148030e-03 3.29691369e+01] [-4.01776962e-04 9.99998273e-01 -1.81475237e-03 -2.96440341e+00] [ 3.28075632e-03 1.81606088e-03 9.99992969e-01 -1.28561473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479928851 meters 0.1063232614840494 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.96, Z:-1.29 [[ 9.99994545e-01 3.22251177e-04 -3.28718583e-03 3.29690770e+01] [-3.28686644e-04 9.99998030e-01 -1.95739135e-03 -2.96408000e+00] [ 3.28654859e-03 1.95846113e-03 9.99992681e-01 -1.28548662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.509928851 meters 0.1032457042543324 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.96, Z:-1.29 [[ 9.99994417e-01 3.33096779e-04 -3.32501584e-03 3.29692062e+01] [-3.39659400e-04 9.99997995e-01 -1.97334167e-03 -2.96383563e+00] [ 3.32435186e-03 1.97446003e-03 9.99992525e-01 -1.28553963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539928851 meters 0.1030709185525698 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.96, Z:-1.29 [[ 9.99994763e-01 1.05519202e-04 -3.23452262e-03 3.29688373e+01] [-1.12835583e-04 9.99997436e-01 -2.26186730e-03 -2.96333102e+00] [ 3.23427566e-03 2.26222043e-03 9.99992211e-01 -1.28526646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.569928851 meters 0.10595291135823501 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.96, Z:-1.29 [[ 9.99994710e-01 3.81739512e-04 -3.23021091e-03 3.29692851e+01] [-3.87621790e-04 9.99998268e-01 -1.82058977e-03 -2.96397445e+00] [ 3.22951032e-03 1.82183224e-03 9.99993126e-01 -1.28595027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599928850999994 meters 0.10795702971601834 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.96, Z:-1.29 [[ 9.99994931e-01 3.76564251e-04 -3.16182015e-03 3.29691745e+01] [-3.82118331e-04 9.99998385e-01 -1.75618831e-03 -2.96426154e+00] [ 3.16115372e-03 1.75738759e-03 9.99993459e-01 -1.28602323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.629928850999995 meters 0.10101262897327239 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99994821e-01 6.72318974e-04 -3.14722478e-03 3.29695476e+01] [-6.76214248e-04 9.99999007e-01 -1.23678485e-03 -2.96523067e+00] [ 3.14639014e-03 1.23890665e-03 9.99994283e-01 -1.28663827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659928851 meters 0.10429685777833847 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99995013e-01 1.03980065e-03 -2.98220343e-03 3.29696873e+01] [-1.04103881e-03 9.99999373e-01 -4.13660732e-04 -2.96707979e+00] [ 2.98177143e-03 4.16763258e-04 9.99995468e-01 -1.28739539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.689928851 meters 0.10419157094591652 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99994834e-01 1.08029723e-03 -3.02740987e-03 3.29697683e+01] [-1.08143232e-03 9.99999346e-01 -3.73325890e-04 -2.96733475e+00] [ 3.02700459e-03 3.76597900e-04 9.99995348e-01 -1.28735332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719928851 meters 0.10407160423738855 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99994738e-01 1.15162338e-03 -3.03289987e-03 3.29697970e+01] [-1.15235164e-03 9.99999308e-01 -2.38383741e-04 -2.96768689e+00] [ 3.03262325e-03 2.41877454e-04 9.99995372e-01 -1.28738047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.749928851 meters 0.10423567615440979 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99994408e-01 1.37527064e-03 -3.04832199e-03 3.29701474e+01] [-1.37489285e-03 9.99999047e-01 1.26027160e-04 -2.96829859e+00] [ 3.04849241e-03 -1.21835339e-04 9.99995346e-01 -1.28785392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779928850999994 meters 0.11111794195276231 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99995386e-01 1.47757233e-03 -2.65414513e-03 3.29695634e+01] [-1.47580292e-03 9.99998688e-01 6.68491919e-04 -2.96994648e+00] [ 2.65512940e-03 -6.64571839e-04 9.99996254e-01 -1.28824001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.809928850999995 meters 0.10689662544429981 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99995528e-01 1.52400800e-03 -2.57311146e-03 3.29692370e+01] [-1.52182445e-03 9.99998480e-01 8.50347043e-04 -2.97094862e+00] [ 2.57440348e-03 -8.46427417e-04 9.99996328e-01 -1.28800504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839928850999996 meters 0.11042705253163344 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99995871e-01 1.60140469e-03 -2.38616029e-03 3.29689389e+01] [-1.59862150e-03 9.99998040e-01 1.16783842e-03 -2.97198629e+00] [ 2.38802579e-03 -1.16401903e-03 9.99996471e-01 -1.28816139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.869928851 meters 0.11176674146428406 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99996511e-01 1.54743313e-03 -2.14097926e-03 3.29681597e+01] [-1.54447149e-03 9.99997849e-01 1.38427736e-03 -2.97318264e+00] [ 2.14311673e-03 -1.38096584e-03 9.99996750e-01 -1.28781144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899928851 meters 0.1103096872413039 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.97, Z:-1.29 [[ 9.99996396e-01 1.66386097e-03 -2.10717666e-03 3.29680479e+01] [-1.66042972e-03 9.99997295e-01 1.62906705e-03 -2.97410453e+00] [ 2.10988150e-03 -1.62556236e-03 9.99996453e-01 -1.28774538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.929928851 meters 0.10914449596387346 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.98, Z:-1.29 [[ 9.99996098e-01 1.89419367e-03 -2.05321238e-03 3.29681299e+01] [-1.88993278e-03 9.99996061e-01 2.07519196e-03 -2.97525853e+00] [ 2.05713510e-03 -2.07130343e-03 9.99995739e-01 -1.28804265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959928850999994 meters 0.10604197533616219 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.98, Z:-1.29 [[ 9.99995541e-01 2.19417858e-03 -2.02578452e-03 3.29680256e+01] [-2.18875578e-03 9.99994026e-01 2.67523727e-03 -2.97750760e+00] [ 2.03164237e-03 -2.67079139e-03 9.99994370e-01 -1.28797353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.989928850999995 meters 0.11265431080240404 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.98, Z:-1.29 [[ 9.99994928e-01 2.38827715e-03 -2.10735915e-03 3.29682379e+01] [-2.38206551e-03 9.99992826e-01 2.94519651e-03 -2.97834461e+00] [ 2.11437798e-03 -2.94016171e-03 9.99993442e-01 -1.28801138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019928850999996 meters 0.10547155573358231 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.98, Z:-1.29 [[ 9.99995028e-01 2.31653788e-03 -2.13961653e-03 3.29679830e+01] [-2.31048898e-03 9.99993340e-01 2.82525373e-03 -2.97854804e+00] [ 2.14614709e-03 -2.82029613e-03 9.99993720e-01 -1.28751698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.049928851 meters 0.10772562384320843 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.98, Z:-1.29 [[ 9.99994797e-01 2.38181137e-03 -2.17569134e-03 3.29679026e+01] [-2.37544375e-03 9.99992902e-01 2.92461815e-03 -2.97920679e+00] [ 2.18264179e-03 -2.91943470e-03 9.99993356e-01 -1.28725624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079928851 meters 0.10687524263042711 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.98, Z:-1.29 [[ 9.99994283e-01 2.58989780e-03 -2.17412282e-03 3.29675507e+01] [-2.58266017e-03 9.99991136e-01 3.32522069e-03 -2.98112498e+00] [ 2.18271553e-03 -3.31958666e-03 9.99992108e-01 -1.28673319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.109928851 meters 0.1044955456137876 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.98, Z:-1.29 [[ 9.99993912e-01 2.68783686e-03 -2.22513358e-03 3.29674685e+01] [-2.68012019e-03 9.99990410e-01 3.46370622e-03 -2.98195822e+00] [ 2.23442212e-03 -3.45772151e-03 9.99991526e-01 -1.28641685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13992885099999 meters 0.103493634374033 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.98, Z:-1.29 [[ 9.99993448e-01 2.81971903e-03 -2.26984851e-03 3.29675560e+01] [-2.81144866e-03 9.99989428e-01 3.63855953e-03 -2.98265942e+00] [ 2.28008423e-03 -3.63215413e-03 9.99990804e-01 -1.28637349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.169928850999995 meters 0.1029640373416394 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.98, Z:-1.29 [[ 9.99992971e-01 2.97584563e-03 -2.28091048e-03 3.29675583e+01] [-2.96690937e-03 9.99987950e-01 3.91126633e-03 -2.98361507e+00] [ 2.29252231e-03 -3.90447158e-03 9.99989750e-01 -1.28634365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199928850999996 meters 0.10623782184243427 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.99, Z:-1.29 [[ 9.99992054e-01 3.28917584e-03 -2.25239324e-03 3.29673715e+01] [-3.27899234e-03 9.99984454e-01 4.51005557e-03 -2.98589932e+00] [ 2.26719259e-03 -4.50263415e-03 9.99987293e-01 -1.28612648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.229928851 meters 0.10164057601006996 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.99, Z:-1.29 [[ 9.99991492e-01 3.44036470e-03 -2.27582494e-03 3.29672811e+01] [-3.42950695e-03 9.99982801e-01 4.75773102e-03 -2.98701518e+00] [ 2.29215413e-03 -4.74988558e-03 9.99986092e-01 -1.28589633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259928851 meters 0.10727219493101411 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.99, Z:-1.29 [[ 9.99995013e-01 -3.14794133e-04 -3.14245786e-03 3.29690584e+01] [ 3.16515839e-04 9.99999800e-01 5.47402735e-04 -2.98657617e+00] [ 3.14228491e-03 -5.48394643e-04 9.99994913e-01 -1.28582723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.289928851 meters 0.10421070953631936 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.99, Z:-1.29 [[ 9.99995362e-01 1.60074533e-04 -3.04154698e-03 3.29689370e+01] [-1.55591400e-04 9.99998901e-01 1.47414403e-03 -2.98970774e+00] [ 3.04177962e-03 -1.47366396e-03 9.99994288e-01 -1.28595310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31992885099999 meters 0.10494905961181629 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.99, Z:-1.29 [[ 9.99995600e-01 2.74330024e-04 -2.95372569e-03 3.29687208e+01] [-2.69116827e-04 9.99998406e-01 1.76520919e-03 -2.99092437e+00] [ 2.95420523e-03 -1.76440652e-03 9.99994080e-01 -1.28589436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.349928850999994 meters 0.10596934197969 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.99, Z:-1.29 [[ 9.99995410e-01 5.28854658e-04 -2.98320145e-03 3.29688628e+01] [-5.22359063e-04 9.99997492e-01 2.17774973e-03 -2.99222495e+00] [ 2.98434568e-03 -2.17618143e-03 9.99993179e-01 -1.28600093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379928850999995 meters 0.10104593153267646 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.99, Z:-1.29 [[ 9.99995012e-01 7.04063292e-04 -3.07912049e-03 3.29689920e+01] [-6.96678944e-04 9.99996881e-01 2.39861561e-03 -2.99311410e+00] [ 3.08079966e-03 -2.39645848e-03 9.99992383e-01 -1.28587143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.409928851 meters 0.10100003650188355 Centerline is valid? [False, False] Translation: X:32.97, Y:-2.99, Z:-1.29 [[ 9.99993562e-01 1.17746280e-03 -3.38974326e-03 3.29697533e+01] [-1.16775680e-03 9.99995217e-01 2.86390189e-03 -2.99443684e+00] [ 3.39309919e-03 -2.85992505e-03 9.99990154e-01 -1.28596471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439928851 meters 0.0997333194785145 Centerline is valid? [False, True] Translation: X:32.97, Y:-3.00, Z:-1.29 [[ 9.99992813e-01 1.50757734e-03 -3.47870554e-03 3.29702591e+01] [-1.49610002e-03 9.99993437e-01 3.29955473e-03 -2.99531815e+00] [ 3.48365704e-03 -3.29432652e-03 9.99988506e-01 -1.28639762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.469928851 meters 0.10005158762179853 Centerline is valid? [True, False] Translation: X:32.97, Y:-3.00, Z:-1.29 [[ 9.99992341e-01 1.69949967e-03 -3.52553538e-03 3.29703433e+01] [-1.68684373e-03 9.99992134e-01 3.58966431e-03 -2.99630703e+00] [ 3.53160828e-03 -3.58368979e-03 9.99987342e-01 -1.28635570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499928851 meters 0.10099880218935907 Centerline is valid? [False, False] Translation: X:32.97, Y:-3.00, Z:-1.29 [[ 9.99991686e-01 1.94769885e-03 -3.58237938e-03 3.29705201e+01] [-1.93346327e-03 9.99990239e-01 3.97295719e-03 -2.99755106e+00] [ 3.59008253e-03 -3.96599777e-03 9.99985691e-01 -1.28640495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.529928850999994 meters 0.10249198077037035 Centerline is valid? [False, False] Translation: X:32.97, Y:-3.00, Z:-1.29 [[ 9.99989080e-01 -1.87670293e-03 -4.27998292e-03 3.29716935e+01] [ 1.87621184e-03 9.99998233e-01 -1.18753563e-04 -2.99794321e+00] [ 4.28019822e-03 1.10722111e-04 9.99990834e-01 -1.28595591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559928850999995 meters 0.10298720748610751 Centerline is valid? [False, False] Translation: X:32.97, Y:-3.00, Z:-1.29 [[ 9.99989332e-01 -1.61869130e-03 -4.32623752e-03 3.29718795e+01] [ 1.61996745e-03 9.99998645e-01 2.91489572e-04 -2.99913104e+00] [ 4.32575983e-03 -2.98494827e-04 9.99990599e-01 -1.28606752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589928850999996 meters 0.10353320053055551 Centerline is valid? [False, False] Translation: X:32.97, Y:-3.00, Z:-1.29 [[ 9.99989833e-01 -1.48808560e-03 -4.25671080e-03 3.29717169e+01] [ 1.49053138e-03 9.99998726e-01 5.71456359e-04 -3.00023013e+00] [ 4.25585500e-03 -5.77795310e-04 9.99990777e-01 -1.28601255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619928851 meters 0.10010750000718037 Centerline is valid? [False, False] Translation: X:32.97, Y:-3.00, Z:-1.29 [[ 9.99990374e-01 -8.11249690e-04 -4.31207704e-03 3.29722887e+01] [ 8.18337582e-04 9.99998317e-01 1.64222011e-03 -3.00310930e+00] [ 4.31073754e-03 -1.64573304e-03 9.99989354e-01 -1.28664195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.649928851 meters 0.10010750000718037 Centerline is valid? [False, False] Translation: X:32.97, Y:-3.00, Z:-1.29 [[ 9.99990374e-01 -8.11249690e-04 -4.31207704e-03 3.29722887e+01] [ 8.18337582e-04 9.99998317e-01 1.64222011e-03 -3.00310930e+00] [ 4.31073754e-03 -1.64573304e-03 9.99989354e-01 -1.28664195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679928851 meters 0.10631204841308718 Centerline is valid? [False, False] Translation: X:32.97, Y:-3.00, Z:-1.29 [[ 9.99990733e-01 -7.10478919e-04 -4.24598115e-03 3.29722115e+01] [ 7.18548143e-04 9.99997938e-01 1.89921479e-03 -3.00395944e+00] [ 4.24462305e-03 -1.90224814e-03 9.99989182e-01 -1.28673420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.709928850999994 meters 0.10658240296481476 Centerline is valid? [False, False] Translation: X:32.97, Y:-3.01, Z:-1.29 [[ 9.99990728e-01 -4.19179387e-04 -4.28579727e-03 3.29725443e+01] [ 4.29186733e-04 9.99997183e-01 2.33434923e-03 -3.00502449e+00] [ 4.28480668e-03 -2.33616699e-03 9.99988091e-01 -1.28706663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739928850999995 meters 0.10119932565191227 Centerline is valid? [False, False] Translation: X:32.97, Y:-3.01, Z:-1.29 [[ 9.99991216e-01 -4.26881213e-04 -4.16956363e-03 3.29719949e+01] [ 4.37085528e-04 9.99996911e-01 2.44672956e-03 -3.00608208e+00] [ 4.16850629e-03 -2.44853052e-03 9.99988314e-01 -1.28657977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769928850999996 meters 0.09888790943446485 Centerline is valid? [False, True] Translation: X:32.97, Y:-3.01, Z:-1.29 [[ 9.99991126e-01 -3.38700982e-04 -4.19918398e-03 3.29720133e+01] [ 3.49627159e-04 9.99996555e-01 2.60151520e-03 -3.00667822e+00] [ 4.19828838e-03 -2.60296026e-03 9.99987799e-01 -1.28650927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799928851 meters 0.10163398729292643 Centerline is valid? [True, False] Translation: X:32.97, Y:-3.01, Z:-1.29 [[ 9.99991076e-01 -1.69543309e-04 -4.22135533e-03 3.29721448e+01] [ 1.81647992e-04 9.99995873e-01 2.86726911e-03 -3.00743099e+00] [ 4.22085178e-03 -2.86801033e-03 9.99986979e-01 -1.28660705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.829928851 meters 0.10180270759914528 Centerline is valid? [False, False] Translation: X:32.97, Y:-3.01, Z:-1.29 [[ 9.99991087e-01 -1.75900847e-05 -4.22208279e-03 3.29720946e+01] [ 3.08707206e-05 9.99995053e-01 3.14547308e-03 -3.00841228e+00] [ 4.22200657e-03 -3.14557539e-03 9.99986140e-01 -1.28653582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859928851 meters 0.09758971012995561 Centerline is valid? [False, True] Translation: X:32.97, Y:-3.01, Z:-1.29 [[ 9.99991084e-01 -1.06291508e-04 -4.22155596e-03 3.29717813e+01] [ 1.19037317e-04 9.99995435e-01 3.01908413e-03 -3.00856890e+00] [ 4.22121579e-03 -3.01955973e-03 9.99986532e-01 -1.28607468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88992885099999 meters 0.09890121600733051 Centerline is valid? [True, True] Translation: X:33.00, Y:-3.01, Z:-1.28 [[ 9.99993977e-01 1.01944763e-03 -3.31761963e-03 3.30004423e+01] [-1.01829728e-03 9.99999421e-01 3.48410042e-04 -3.01404748e+00] [ 3.31797289e-03 -3.45029621e-04 9.99994436e-01 -1.28495421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919928850999995 meters 0.10343790531095115 Centerline is valid? [True, False] Translation: X:33.00, Y:-3.01, Z:-1.28 [[ 9.99993683e-01 1.14756014e-03 -3.36401272e-03 3.30004172e+01] [-1.14569275e-03 9.99999189e-01 5.56979888e-04 -3.01486313e+00] [ 3.36464916e-03 -5.53122244e-04 9.99994187e-01 -1.28476689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.949928850999996 meters 0.10419488455909756 Centerline is valid? [False, False] Translation: X:33.00, Y:-3.02, Z:-1.28 [[ 9.99993370e-01 1.38192391e-03 -3.36902851e-03 3.30003375e+01] [-1.37859692e-03 9.99998560e-01 9.89645095e-04 -3.01650731e+00] [ 3.37039127e-03 -9.84994002e-04 9.99993835e-01 -1.28462135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979928851 meters 0.09879805084574497 Centerline is valid? [False, True] Translation: X:33.00, Y:-3.02, Z:-1.28 [[ 9.99993251e-01 1.49493867e-03 -3.35610099e-03 3.30002365e+01] [-1.49079650e-03 9.99998124e-01 1.23638574e-03 -3.01743323e+00] [ 3.35794302e-03 -1.23137413e-03 9.99993604e-01 -1.28450865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.009928851 meters 0.10194008151043307 Centerline is valid? [True, False] Translation: X:33.00, Y:-3.02, Z:-1.28 [[ 9.99993513e-01 1.58964502e-03 -3.23206941e-03 3.30000740e+01] [-1.58480736e-03 9.99997621e-01 1.49877928e-03 -3.01833018e+00] [ 3.23444425e-03 -1.49364735e-03 9.99993654e-01 -1.28462893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039928851 meters 0.09857135967002359 Centerline is valid? [False, True] Translation: X:33.00, Y:-3.02, Z:-1.28 [[ 9.99993446e-01 1.71428846e-03 -3.18905827e-03 3.29998906e+01] [-1.70856960e-03 9.99996929e-01 1.79513423e-03 -3.01955709e+00] [ 3.19212585e-03 -1.78967374e-03 9.99993304e-01 -1.28447515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06992885099999 meters 0.09790504960278115 Centerline is valid? [True, True] Translation: X:33.03, Y:-3.02, Z:-1.28 [[ 9.99993005e-01 -2.30391858e-04 -3.73317946e-03 3.30297060e+01] [ 2.31875554e-04 9.99999894e-01 3.97007164e-04 -3.02319120e+00] [ 3.73308760e-03 -3.97870020e-04 9.99992953e-01 -1.28339239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099928850999994 meters 0.10343247137620752 Centerline is valid? [True, False] Translation: X:33.03, Y:-3.02, Z:-1.28 [[ 9.99993807e-01 9.93037009e-06 -3.51930295e-03 3.30295786e+01] [-6.44811074e-06 9.99999510e-01 9.89484133e-04 -3.02477421e+00] [ 3.51931105e-03 -9.89455313e-04 9.99993318e-01 -1.28381869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.129928850999995 meters 0.09820426628825604 Centerline is valid? [False, True] Translation: X:33.03, Y:-3.03, Z:-1.28 [[ 9.99994302e-01 7.99318742e-05 -3.37472887e-03 3.30291957e+01] [-7.55095679e-05 9.99999138e-01 1.31052533e-03 -3.02607304e+00] [ 3.37483072e-03 -1.31026304e-03 9.99993447e-01 -1.28369812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159928851 meters 0.09848076003346261 Centerline is valid? [True, True] Translation: X:33.06, Y:-3.03, Z:-1.28 [[ 9.99994824e-01 -8.71530964e-04 -3.09703128e-03 3.30584701e+01] [ 8.72577562e-04 9.99999563e-01 3.36600487e-04 -3.03066325e+00] [ 3.09673657e-03 -3.39301145e-04 9.99995148e-01 -1.28343977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.189928851 meters 0.10030203250689886 Centerline is valid? [True, False] Translation: X:33.06, Y:-3.03, Z:-1.28 [[ 9.99996222e-01 -1.07214700e-03 -2.53119310e-03 3.30569217e+01] [ 1.07414705e-03 9.99999112e-01 7.88932544e-04 -3.03336776e+00] [ 2.53034500e-03 -7.91648437e-04 9.99996485e-01 -1.28279284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219928851 meters 0.10152402367993943 Centerline is valid? [False, False] Translation: X:33.06, Y:-3.04, Z:-1.28 [[ 9.99996687e-01 -7.65654382e-04 -2.45759110e-03 3.30569353e+01] [ 7.69053653e-04 9.99998749e-01 1.38252504e-03 -3.03516581e+00] [ 2.45652949e-03 -1.38441048e-03 9.99996024e-01 -1.28299379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.249928851 meters 0.10298516433475095 Centerline is valid? [False, False] Translation: X:33.06, Y:-3.04, Z:-1.28 [[ 9.99997266e-01 -6.88581258e-04 -2.23477769e-03 3.30564181e+01] [ 6.92562218e-04 9.99998174e-01 1.78108260e-03 -3.03673903e+00] [ 2.23354719e-03 -1.78262545e-03 9.99995917e-01 -1.28288141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279928850999994 meters 0.10660030558065889 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.04, Z:-1.28 [[ 9.99998196e-01 -8.67120940e-04 -1.69022413e-03 3.30549374e+01] [ 8.70748932e-04 9.99997316e-01 2.14690373e-03 -3.03922786e+00] [ 1.68835796e-03 -2.14837162e-03 9.99996267e-01 -1.28227514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.309928850999995 meters 0.10670481635140909 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.04, Z:-1.28 [[ 9.99998552e-01 -8.00306985e-04 -1.50184558e-03 3.30544433e+01] [ 8.04075581e-04 9.99996526e-01 2.51038620e-03 -3.04078553e+00] [ 1.49983128e-03 -2.51159016e-03 9.99995721e-01 -1.28211447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339928850999996 meters 0.10879481639924365 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.04, Z:-1.28 [[ 9.99998852e-01 -4.17646242e-04 -1.45624049e-03 3.30545832e+01] [ 4.22351980e-04 9.99994686e-01 3.23262012e-03 -3.04272862e+00] [ 1.45488266e-03 -3.23323146e-03 9.99993715e-01 -1.28243154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.369928851 meters 0.10783473782997058 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.04, Z:-1.28 [[ 9.99999082e-01 -4.79477289e-04 -1.26697948e-03 3.30539804e+01] [ 4.83746341e-04 9.99994200e-01 3.37131718e-03 -3.04370389e+00] [ 1.26535566e-03 -3.37192698e-03 9.99993514e-01 -1.28211727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399928851 meters 0.1131482117442766 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99999431e-01 -2.76260533e-04 -1.03074004e-03 3.30535017e+01] [ 2.80377862e-04 9.99991975e-01 3.99653323e-03 -3.04599271e+00] [ 1.02962768e-03 -3.99681995e-03 9.99991483e-01 -1.28205616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.429928851 meters 0.11175516892235711 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99999462e-01 -1.74416913e-04 -1.02232155e-03 3.30534154e+01] [ 1.78725106e-04 9.99991099e-01 4.21555136e-03 -3.04689947e+00] [ 1.02157719e-03 -4.21573181e-03 9.99990592e-01 -1.28195690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459928850999994 meters 0.1102770053549612 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99999371e-01 -9.64895933e-05 -1.11755194e-03 3.30534042e+01] [ 1.01321695e-04 9.99990644e-01 4.32457840e-03 -3.04760780e+00] [ 1.11712421e-03 -4.32468891e-03 9.99990024e-01 -1.28166452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.489928850999995 meters 0.11493348969720289 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99999368e-01 2.36483877e-05 -1.12421814e-03 3.30533826e+01] [-1.85399287e-05 9.99989677e-01 4.54380374e-03 -3.04839605e+00] [ 1.12431399e-03 -4.54378003e-03 9.99989045e-01 -1.28161947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519928850999996 meters 0.10624128830904639 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99999161e-01 1.40558582e-04 -1.28796597e-03 3.30534468e+01] [-1.34564980e-04 9.99989168e-01 4.65244585e-03 -3.04914122e+00] [ 1.28860596e-03 -4.65226863e-03 9.99988348e-01 -1.28122073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.549928851 meters 0.10556797963943419 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99998788e-01 3.06824715e-04 -1.52627411e-03 3.30539877e+01] [-2.99639101e-04 9.99988882e-01 4.70594784e-03 -3.04915588e+00] [ 1.52770105e-03 -4.70548480e-03 9.99987762e-01 -1.28124247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579928851 meters 0.10650491066449529 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99998127e-01 3.19288562e-04 -1.90901792e-03 3.30543454e+01] [-3.10875658e-04 9.99990247e-01 4.40560158e-03 -3.04861433e+00] [ 1.91040596e-03 -4.40499986e-03 9.99988473e-01 -1.28061074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.609928851 meters 0.10091976606383299 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99998029e-01 2.08971272e-04 -1.97424260e-03 3.30542119e+01] [-2.00724642e-04 9.99991259e-01 4.17638569e-03 -3.04838484e+00] [ 1.97509809e-03 -4.17598118e-03 9.99989330e-01 -1.28020070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63992885099999 meters 0.10330309012600755 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99997927e-01 1.46387442e-04 -2.03112613e-03 3.30540109e+01] [-1.38164679e-04 9.99991798e-01 4.04792634e-03 -3.04850680e+00] [ 2.03170204e-03 -4.04763732e-03 9.99989744e-01 -1.27974083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.669928850999995 meters 0.10227907188795923 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99997667e-01 6.16942859e-05 -2.15914511e-03 3.30539457e+01] [-5.34225971e-05 9.99992661e-01 3.83084984e-03 -3.04830086e+00] [ 2.15936560e-03 -3.83072556e-03 9.99990331e-01 -1.27925688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699928850999996 meters 0.10206188034699591 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99997361e-01 1.30635451e-04 -2.29356821e-03 3.30542805e+01] [-1.21842121e-04 9.99992644e-01 3.83362921e-03 -3.04821422e+00] [ 2.29405214e-03 -3.83333964e-03 9.99990021e-01 -1.27930852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.729928851 meters 0.1018331226309293 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99997282e-01 -2.15008736e-05 -2.33134626e-03 3.30541628e+01] [ 2.97881655e-05 9.99993681e-01 3.55474732e-03 -3.04773835e+00] [ 2.33125510e-03 -3.55480711e-03 9.99990964e-01 -1.27901351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759928851 meters 0.10500741527603719 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99997187e-01 -3.09831435e-05 -2.37153215e-03 3.30541260e+01] [ 3.92661780e-05 9.99993900e-01 3.49272643e-03 -3.04797078e+00] [ 2.37140947e-03 -3.49280973e-03 9.99991088e-01 -1.27878384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.789928851 meters 0.10452030898929811 Centerline is valid? [False, False] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99997166e-01 -8.76893191e-05 -2.37902265e-03 3.30539040e+01] [ 9.59111032e-05 9.99994023e-01 3.45605637e-03 -3.04828160e+00] [ 2.37870537e-03 -3.45627475e-03 9.99991198e-01 -1.27843503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81992885099999 meters 0.09890799098837891 Centerline is valid? [False, True] Translation: X:33.05, Y:-3.05, Z:-1.28 [[ 9.99997291e-01 -1.00415030e-04 -2.32538150e-03 3.30538524e+01] [ 1.08584317e-04 9.99993823e-01 3.51323572e-03 -3.04853750e+00] [ 2.32501436e-03 -3.51347870e-03 9.99991125e-01 -1.27851594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.849928850999994 meters 0.09957874201325514 Centerline is valid? [True, True] Translation: X:33.08, Y:-3.05, Z:-1.28 [[ 9.99993713e-01 -4.57354816e-04 -3.51632145e-03 3.30834843e+01] [ 4.58713962e-04 9.99999820e-01 3.85727933e-04 -3.05215946e+00] [ 3.51614441e-03 -3.87338494e-04 9.99993743e-01 -1.27806596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879928850999995 meters 0.10163428049982237 Centerline is valid? [True, False] Translation: X:33.08, Y:-3.05, Z:-1.28 [[ 9.99994246e-01 -4.88886534e-04 -3.35701337e-03 3.30830932e+01] [ 4.90901021e-04 9.99999700e-01 5.99285477e-04 -3.05327053e+00] [ 3.35671938e-03 -6.00929990e-04 9.99994186e-01 -1.27801254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909928851 meters 0.09719208513101366 Centerline is valid? [False, True] Translation: X:33.08, Y:-3.05, Z:-1.28 [[ 9.99994253e-01 -1.74945296e-04 -3.38587846e-03 3.30835450e+01] [ 1.78631554e-04 9.99999392e-01 1.08844349e-03 -3.05412611e+00] [ 3.38568598e-03 -1.08904206e-03 9.99993676e-01 -1.27856628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939928851 meters 0.09984435613645651 Centerline is valid? [True, True] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995182e-01 -5.63720802e-04 -3.05267228e-03 3.31114651e+01] [ 5.64771212e-04 9.99999782e-01 3.43244329e-04 -3.06230367e+00] [ 3.05247812e-03 -3.44966737e-04 9.99995282e-01 -1.27984496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.969928851 meters 0.10001381939677734 Centerline is valid? [True, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995579e-01 -6.83085832e-04 -2.89410542e-03 3.31110969e+01] [ 6.84090645e-04 9.99999706e-01 3.46217531e-04 -3.06252204e+00] [ 2.89386808e-03 -3.48195831e-04 9.99995752e-01 -1.27977773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99992885099999 meters 0.10713013234625468 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995822e-01 -8.70396497e-04 -2.75659006e-03 3.31106103e+01] [ 8.70856559e-04 9.99999607e-01 1.65699407e-04 -3.06251899e+00] [ 2.75644475e-03 -1.68099309e-04 9.99996187e-01 -1.27946106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.029928850999994 meters 0.10047800432724548 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99996023e-01 -8.17631218e-04 -2.69897482e-03 3.31106565e+01] [ 8.18475297e-04 9.99999616e-01 3.11651024e-04 -3.06275230e+00] [ 2.69871897e-03 -3.13858829e-04 9.99996309e-01 -1.27968527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059928850999995 meters 0.10318139041922161 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995878e-01 -5.56750934e-04 -2.81672149e-03 3.31110066e+01] [ 5.58671302e-04 9.99999612e-01 6.81033521e-04 -3.06356247e+00] [ 2.81634123e-03 -6.82604335e-04 9.99995801e-01 -1.27984741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.089928850999996 meters 0.10338697616214473 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99996062e-01 -8.42220019e-04 -2.67716779e-03 3.31103359e+01] [ 8.43207685e-04 9.99999577e-01 3.67814524e-04 -3.06339888e+00] [ 2.67685688e-03 -3.70070484e-04 9.99996349e-01 -1.27927486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119928851 meters 0.10265955321544386 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995988e-01 -8.84111706e-04 -2.69098992e-03 3.31103063e+01] [ 8.84896388e-04 9.99999566e-01 2.90419396e-04 -3.06338207e+00] [ 2.69073199e-03 -2.92799478e-04 9.99996337e-01 -1.27916999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.149928851 meters 0.10210690236212273 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995983e-01 -6.70345489e-04 -2.75406637e-03 3.31107635e+01] [ 6.71914442e-04 9.99999612e-01 5.68800225e-04 -3.06359083e+00] [ 2.75368401e-03 -5.70648437e-04 9.99996046e-01 -1.27964505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179928851 meters 0.10457931462833625 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995991e-01 -3.73145919e-04 -2.80676441e-03 3.31112802e+01] [ 3.75912928e-04 9.99999444e-01 9.85373122e-04 -3.06415696e+00] [ 2.80639516e-03 -9.86424271e-04 9.99995576e-01 -1.28022183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.209928850999994 meters 0.10394880591407474 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995877e-01 -5.73740325e-04 -2.81353077e-03 3.31110435e+01] [ 5.75674739e-04 9.99999598e-01 6.86778013e-04 -3.06386060e+00] [ 2.81313561e-03 -6.88394860e-04 9.99995806e-01 -1.27983920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239928850999995 meters 0.10117291073512626 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995740e-01 -5.28481071e-04 -2.87049967e-03 3.31114007e+01] [ 5.30499911e-04 9.99999612e-01 7.02590260e-04 -3.06358314e+00] [ 2.87012725e-03 -7.04110067e-04 9.99995633e-01 -1.28019080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269928850999996 meters 0.10345308293780292 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995448e-01 -3.38851009e-04 -2.99822533e-03 3.31120390e+01] [ 3.41551141e-04 9.99999537e-01 9.00110524e-04 -3.06351133e+00] [ 2.99791893e-03 -9.01130473e-04 9.99995100e-01 -1.28073672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299928851 meters 0.1012563266225433 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99995038e-01 -4.24625252e-04 -3.12140058e-03 3.31122508e+01] [ 4.26630232e-04 9.99999703e-01 6.41695604e-04 -3.06265031e+00] [ 3.12112717e-03 -6.43024104e-04 9.99994923e-01 -1.28069503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.329928851 meters 0.10093168818805287 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99994341e-01 -2.77217096e-04 -3.35276703e-03 3.31129487e+01] [ 2.79388727e-04 9.99999751e-01 6.47261865e-04 -3.06216908e+00] [ 3.35258676e-03 -6.48194927e-04 9.99994170e-01 -1.28100890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359928851 meters 0.10335300405861998 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99993990e-01 -3.41413517e-04 -3.45005878e-03 3.31132508e+01] [ 3.42936557e-04 9.99999844e-01 4.40871634e-04 -3.06125123e+00] [ 3.44990772e-03 -4.42052136e-04 9.99993951e-01 -1.28115899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38992885099999 meters 0.10057332029700869 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99993728e-01 -6.10749508e-04 -3.48870449e-03 3.31131227e+01] [ 6.10579928e-04 9.99999812e-01 -4.96732257e-05 -3.06016128e+00] [ 3.48873417e-03 4.75427812e-05 9.99993913e-01 -1.28083944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419928850999995 meters 0.10032180427552577 Centerline is valid? [False, False] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99992887e-01 -5.34597451e-04 -3.73353349e-03 3.31140470e+01] [ 5.33729411e-04 9.99999830e-01 -2.33490737e-04 -3.05882629e+00] [ 3.73365768e-03 2.31496380e-04 9.99993003e-01 -1.28146881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449928850999996 meters 0.09756103541212778 Centerline is valid? [False, True] Translation: X:33.11, Y:-3.06, Z:-1.28 [[ 9.99992961e-01 -4.63055070e-04 -3.72326428e-03 3.31144487e+01] [ 4.62433905e-04 9.99999879e-01 -1.67692560e-04 -3.05838430e+00] [ 3.72334148e-03 1.65969616e-04 9.99993055e-01 -1.28208929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479928851 meters 0.09842937420643139 Centerline is valid? [True, True] Translation: X:33.14, Y:-3.06, Z:-1.28 [[ 9.99995563e-01 -1.48688789e-03 -2.58143319e-03 3.31436290e+01] [ 1.48763717e-03 9.99998852e-01 2.88358955e-04 -3.06272851e+00] [ 2.58100147e-03 -2.92197911e-04 9.99996627e-01 -1.28255599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.509928851 meters 0.09865240328159343 Centerline is valid? [True, True] Translation: X:33.17, Y:-3.07, Z:-1.28 [[ 9.99997775e-01 -1.33099919e-03 -1.63646279e-03 3.31725717e+01] [ 1.33129954e-03 9.99999097e-01 1.82460549e-04 -3.06695369e+00] [ 1.63621846e-03 -1.84638765e-04 9.99998644e-01 -1.28303484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539928851 meters 0.09984074528074478 Centerline is valid? [True, True] Translation: X:33.20, Y:-3.07, Z:-1.28 [[ 9.99997353e-01 -2.08014670e-03 -9.83639906e-04 3.32026731e+01] [ 2.08025603e-03 9.99997830e-01 1.10142379e-04 -3.07228887e+00] [ 9.83408659e-04 -1.12188310e-04 9.99999510e-01 -1.28343622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56992885099999 meters 0.09984074528074478 Centerline is valid? [True, True] Translation: X:33.23, Y:-3.08, Z:-1.28 [[ 9.99997353e-01 -2.08014670e-03 -9.83639906e-04 3.32326809e+01] [ 2.08025603e-03 9.99997830e-01 1.10142379e-04 -3.07564897e+00] [ 9.83408659e-04 -1.12188310e-04 9.99999510e-01 -1.28412458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599928850999994 meters 0.09852737719118634 Centerline is valid? [True, True] Translation: X:33.26, Y:-3.08, Z:-1.28 [[ 9.99996732e-01 -2.37328178e-03 -9.50451162e-04 3.32631593e+01] [ 2.37338399e-03 9.99997178e-01 1.06426093e-04 -3.07687144e+00] [ 9.50195901e-04 -1.08681531e-04 9.99999543e-01 -1.28422359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629928850999995 meters 0.101752311661157 Centerline is valid? [True, False] Translation: X:33.26, Y:-3.08, Z:-1.28 [[ 9.99997238e-01 -2.16929595e-03 -9.04585602e-04 3.32632802e+01] [ 2.16977082e-03 9.99997509e-01 5.24307881e-04 -3.07787100e+00] [ 9.03445970e-04 -5.26269177e-04 9.99999453e-01 -1.28454222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659928851 meters 0.10356438871992046 Centerline is valid? [False, False] Translation: X:33.26, Y:-3.08, Z:-1.29 [[ 9.99997791e-01 -1.87375019e-03 -9.51908241e-04 3.32637168e+01] [ 1.87470631e-03 9.99997738e-01 1.00452987e-03 -3.07868433e+00] [ 9.50023850e-04 -1.00631220e-03 9.99999042e-01 -1.28504931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689928851 meters 0.10393932091642347 Centerline is valid? [False, False] Translation: X:33.26, Y:-3.08, Z:-1.29 [[ 9.99998112e-01 -1.66548468e-03 -1.00102359e-03 3.32639150e+01] [ 1.66681680e-03 9.99997725e-01 1.33140101e-03 -3.07962873e+00] [ 9.98803885e-04 -1.33306702e-03 9.99998613e-01 -1.28516960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719928851 meters 0.10218227333129268 Centerline is valid? [False, False] Translation: X:33.26, Y:-3.08, Z:-1.29 [[ 9.99998287e-01 -1.60723942e-03 -9.18304644e-04 3.32638843e+01] [ 1.60859590e-03 9.99997613e-01 1.47832418e-03 -3.07998969e+00] [ 9.15926431e-04 -1.47979883e-03 9.99998486e-01 -1.28534287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74992885099999 meters 0.10276018131106156 Centerline is valid? [False, False] Translation: X:33.26, Y:-3.08, Z:-1.29 [[ 9.99998564e-01 -1.48288530e-03 -8.20723128e-04 3.32639392e+01] [ 1.48432815e-03 9.99997349e-01 1.76021567e-03 -3.08074370e+00] [ 8.18110755e-04 -1.76143136e-03 9.99998114e-01 -1.28569172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779928850999994 meters 0.1033013067103814 Centerline is valid? [False, False] Translation: X:33.26, Y:-3.08, Z:-1.29 [[ 9.99998419e-01 -1.54614611e-03 -8.78526812e-04 3.32639665e+01] [ 1.54755768e-03 9.99997509e-01 1.60834913e-03 -3.08054997e+00] [ 8.76037881e-04 -1.60970616e-03 9.99998321e-01 -1.28552804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809928850999995 meters 0.10252433306994116 Centerline is valid? [False, False] Translation: X:33.26, Y:-3.08, Z:-1.29 [[ 9.99998462e-01 -1.45892061e-03 -9.73444203e-04 3.32643934e+01] [ 1.46051947e-03 9.99997582e-01 1.64379208e-03 -3.08027916e+00] [ 9.71043687e-04 -1.64521128e-03 9.99998175e-01 -1.28584677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839928850999996 meters 0.10426098215546747 Centerline is valid? [False, False] Translation: X:33.26, Y:-3.08, Z:-1.29 [[ 9.99998160e-01 -1.55713673e-03 -1.12027430e-03 3.32646587e+01] [ 1.55857204e-03 9.99997964e-01 1.28147485e-03 -3.07917687e+00] [ 1.11827659e-03 -1.28321852e-03 9.99998551e-01 -1.28575882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869928851 meters 0.10258506816564476 Centerline is valid? [False, False] Translation: X:33.27, Y:-3.08, Z:-1.29 [[ 9.99998141e-01 -1.38889293e-03 -1.33733314e-03 3.32653566e+01] [ 1.39066322e-03 9.99998157e-01 1.32372279e-03 -3.07867397e+00] [ 1.33549217e-03 -1.32558011e-03 9.99998230e-01 -1.28612911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899928851 meters 0.10111264694638547 Centerline is valid? [False, False] Translation: X:33.27, Y:-3.08, Z:-1.29 [[ 9.99997866e-01 -1.42475627e-03 -1.49578559e-03 3.32657546e+01] [ 1.42631603e-03 9.99998440e-01 1.04221815e-03 -3.07772576e+00] [ 1.49429835e-03 -1.04434939e-03 9.99998338e-01 -1.28620501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.929928851 meters 0.10221611261958068 Centerline is valid? [False, False] Translation: X:33.27, Y:-3.08, Z:-1.29 [[ 9.99997698e-01 -1.19724592e-03 -1.78036386e-03 3.32666024e+01] [ 1.19922830e-03 9.99998662e-01 1.11282144e-03 -3.07723662e+00] [ 1.77902915e-03 -1.11495394e-03 9.99997796e-01 -1.28658862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959928850999994 meters 0.09801853540537822 Centerline is valid? [False, True] Translation: X:33.27, Y:-3.08, Z:-1.29 [[ 9.99997060e-01 -1.13067903e-03 -2.14512265e-03 3.32674460e+01] [ 1.13231347e-03 9.99999069e-01 7.60872049e-04 -3.07548613e+00] [ 2.14426036e-03 -7.63298763e-04 9.99997410e-01 -1.28680162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989928850999995 meters 0.09865585985291195 Centerline is valid? [True, True] Translation: X:33.30, Y:-3.08, Z:-1.29 [[ 9.99997008e-01 1.16223202e-03 -2.15231158e-03 3.32961036e+01] [-1.16172372e-03 9.99999297e-01 2.37401676e-04 -3.07924628e+00] [ 2.15258598e-03 -2.34900575e-04 9.99997656e-01 -1.28794768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019928850999996 meters 0.09707801286103472 Centerline is valid? [True, True] Translation: X:33.33, Y:-3.08, Z:-1.29 [[ 9.99992702e-01 2.64554704e-03 -2.75634400e-03 3.33265640e+01] [-2.64471855e-03 9.99996456e-01 3.04174408e-04 -3.07924754e+00] [ 2.75713895e-03 -2.96882434e-04 9.99996155e-01 -1.28847764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049928851 meters 0.09648550709697021 Centerline is valid? [True, True] Translation: X:33.36, Y:-3.08, Z:-1.29 [[ 9.99981929e-01 5.68412294e-03 -1.95788880e-03 3.33561449e+01] [-5.68371133e-03 9.99983824e-01 2.15729314e-04 -3.08087571e+00] [ 1.95908337e-03 -2.04597341e-04 9.99998060e-01 -1.28920635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079928851 meters 0.09726339675335367 Centerline is valid? [True, True] Translation: X:33.38, Y:-3.09, Z:-1.29 [[ 9.99974268e-01 6.99899512e-03 -1.57376861e-03 3.33843420e+01] [-6.99873189e-03 9.99975494e-01 1.72706967e-04 -3.08510847e+00] [ 1.57493882e-03 -1.61688138e-04 9.99998747e-01 -1.29018234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.109928851 meters 0.09644068322913049 Centerline is valid? [True, True] Translation: X:33.41, Y:-3.09, Z:-1.29 [[ 9.99961490e-01 8.69666255e-03 -1.17757879e-03 3.34145377e+01] [-8.69651584e-03 9.99962176e-01 1.29644123e-04 -3.08657839e+00] [ 1.17866172e-03 -1.19398298e-04 9.99999298e-01 -1.29060402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13992885099999 meters 0.09876943342321241 Centerline is valid? [True, True] Translation: X:33.44, Y:-3.09, Z:-1.29 [[ 9.99951925e-01 9.68119882e-03 -1.55609687e-03 3.34415901e+01] [-9.68094600e-03 9.99953124e-01 1.69921091e-04 -3.09345085e+00] [ 1.55766896e-03 -1.54848432e-04 9.99998775e-01 -1.29186077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.169928850999995 meters 0.0916174324542069 Centerline is valid? [True, True] Translation: X:33.47, Y:-3.08, Z:-1.29 [[ 9.99907282e-01 1.33470807e-02 -2.69868670e-03 3.34739324e+01] [-1.33463246e-02 9.99910889e-01 2.98020576e-04 -3.08272155e+00] [ 2.70242393e-03 -2.61975395e-04 9.99996314e-01 -1.29053078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199928850999996 meters 0.09532274132370822 Centerline is valid? [True, True] Translation: X:33.50, Y:-3.09, Z:-1.29 [[ 9.99887046e-01 1.47956938e-02 -2.64258035e-03 3.35021162e+01] [-1.47949766e-02 9.99890506e-01 2.90732428e-04 -3.09273645e+00] [ 2.64659259e-03 -2.51602675e-04 9.99996466e-01 -1.29398386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.229928851 meters 0.09139003463111348 Centerline is valid? [True, True] Translation: X:33.53, Y:-3.09, Z:-1.29 [[ 9.99857897e-01 1.65717291e-02 -3.09243331e-03 3.35329840e+01] [-1.65707541e-02 9.99862638e-01 3.40652993e-04 -3.08830955e+00] [ 3.09765373e-03 -2.89360633e-04 9.99995160e-01 -1.29318494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259928851 meters 0.0907774198722264 Centerline is valid? [True, True] Translation: X:33.56, Y:-3.09, Z:-1.29 [[ 9.99812920e-01 1.89568323e-02 -3.84222476e-03 3.35622259e+01] [-1.89553461e-02 9.99820242e-01 4.22857675e-04 -3.08985310e+00] [ 3.84955013e-03 -3.49947867e-04 9.99992529e-01 -1.29441324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.289928851 meters 0.09112093320839992 Centerline is valid? [True, True] Translation: X:33.59, Y:-3.09, Z:-1.30 [[ 9.99779488e-01 2.05419235e-02 -4.35945603e-03 3.35903032e+01] [-2.05400272e-02 9.99788916e-01 4.79328497e-04 -3.09387460e+00] [ 4.36838215e-03 -3.89679454e-04 9.99990383e-01 -1.29597474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31992885099999 meters 0.09014376163122426 Centerline is valid? [True, True] Translation: X:33.62, Y:-3.09, Z:-1.30 [[ 9.99745133e-01 2.20934165e-02 -4.64222374e-03 3.36204609e+01] [-2.20912869e-02 9.99755828e-01 5.09524673e-04 -3.09485565e+00] [ 4.65234738e-03 -4.06842115e-04 9.99989095e-01 -1.29636207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.349928850999994 meters 0.08735117553806727 Centerline is valid? [True, True] Translation: X:33.65, Y:-3.09, Z:-1.30 [[ 9.99688966e-01 2.43997312e-02 -5.15994003e-03 3.36505488e+01] [-2.43971259e-02 9.99702185e-01 5.67277428e-04 -3.09152806e+00] [ 5.17224474e-03 -4.41213279e-04 9.99986527e-01 -1.29546293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379928850999995 meters 0.08714762193490828 Centerline is valid? [True, True] Translation: X:33.68, Y:-3.09, Z:-1.30 [[ 9.99662422e-01 2.54618468e-02 -5.17080489e-03 3.36791665e+01] [-2.54592499e-02 9.99675700e-01 5.67439127e-04 -3.09388546e+00] [ 5.18357604e-03 -4.35602758e-04 9.99986470e-01 -1.29617419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409928851 meters 0.08870549690452821 Centerline is valid? [True, True] Translation: X:33.71, Y:-3.10, Z:-1.30 [[ 9.99628493e-01 2.66854899e-02 -5.54625049e-03 3.37068741e+01] [-2.66825223e-02 9.99643773e-01 6.08381573e-04 -3.10066009e+00] [ 5.56050973e-03 -4.60167602e-04 9.99984434e-01 -1.29776665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439928851 meters 0.08735936683162779 Centerline is valid? [True, True] Translation: X:33.74, Y:-3.10, Z:-1.30 [[ 9.99586311e-01 2.82549864e-02 -5.37246915e-03 3.37364515e+01] [-2.82522218e-02 9.99600652e-01 5.89794105e-04 -3.10097079e+00] [ 5.38698829e-03 -4.37765923e-04 9.99985394e-01 -1.29843604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.469928851 meters 0.08781530696669869 Centerline is valid? [True, True] Translation: X:33.76, Y:-3.10, Z:-1.30 [[ 9.99571729e-01 2.86963561e-02 -5.73399035e-03 3.37640872e+01] [-2.86932282e-02 9.99588068e-01 6.27047881e-04 -3.10460355e+00] [ 5.74962233e-03 -4.62252641e-04 9.99983364e-01 -1.29909794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49992885099999 meters 0.08774117214628535 Centerline is valid? [True, True] Translation: X:33.79, Y:-3.11, Z:-1.30 [[ 9.99479987e-01 3.16415854e-02 -6.21018865e-03 3.37933963e+01] [-3.16379595e-02 9.99499162e-01 6.81255942e-04 -3.10751033e+00] [ 6.22863437e-03 -4.84423983e-04 9.99980485e-01 -1.30022722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.529928850999994 meters 0.08403765994678074 Centerline is valid? [True, True] Translation: X:33.82, Y:-3.10, Z:-1.30 [[ 9.99434894e-01 3.30135084e-02 -6.32462069e-03 3.38232496e+01] [-3.30097837e-02 9.99454789e-01 6.92439308e-04 -3.10094186e+00] [ 6.34403228e-03 -4.83273646e-04 9.99979760e-01 -1.29841996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559928850999995 meters 0.08740726434446627 Centerline is valid? [True, True] Translation: X:33.85, Y:-3.11, Z:-1.30 [[ 9.99399814e-01 3.40191247e-02 -6.53532447e-03 3.38499835e+01] [-3.40151745e-02 9.99421061e-01 7.14663585e-04 -3.11089771e+00] [ 6.55585315e-03 -4.91934451e-04 9.99978389e-01 -1.30157131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.589928850999996 meters 0.08524945485227997 Centerline is valid? [True, True] Translation: X:33.88, Y:-3.11, Z:-1.30 [[ 9.99259683e-01 3.75723802e-02 -8.27051566e-03 3.38801971e+01] [-3.75661622e-02 9.99293732e-01 9.05947560e-04 -3.10869575e+00] [ 8.29871307e-03 -5.94585339e-04 9.99965388e-01 -1.30132974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619928851 meters 0.08313999229967557 Centerline is valid? [True, True] Translation: X:33.91, Y:-3.11, Z:-1.30 [[ 9.99204028e-01 3.90004591e-02 -8.38297770e-03 3.39100188e+01] [-3.89941693e-02 9.99239021e-01 9.12517010e-04 -3.10640720e+00] [ 8.41218702e-03 -5.84903421e-04 9.99964446e-01 -1.30048833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.649928851 meters 0.08583147597836299 Centerline is valid? [True, True] Translation: X:33.94, Y:-3.12, Z:-1.30 [[ 9.99118662e-01 4.10623379e-02 -8.70540919e-03 3.39376986e+01] [-4.10556052e-02 9.99156411e-01 9.50770595e-04 -3.11543234e+00] [ 8.73710626e-03 -5.92526802e-04 9.99961655e-01 -1.30494569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67992885099999 meters 0.08018188870823076 Centerline is valid? [True, True] Translation: X:33.97, Y:-3.10, Z:-1.30 [[ 9.98866758e-01 4.67906052e-02 -8.70857400e-03 3.39696269e+01] [-4.67840783e-02 9.98904572e-01 9.51800847e-04 -3.10185577e+00] [ 8.74356972e-03 -5.43299619e-04 9.99961627e-01 -1.29915771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.709928850999994 meters 0.07928367923072349 Centerline is valid? [True, True] Translation: X:34.00, Y:-3.10, Z:-1.30 [[ 9.98745757e-01 4.93033452e-02 -8.72318534e-03 3.40000108e+01] [-4.92969004e-02 9.98783715e-01 9.52416099e-04 -3.10076319e+00] [ 8.75953276e-03 -5.21195539e-04 9.99961499e-01 -1.29927294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739928850999995 meters 0.07887323085647185 Centerline is valid? [True, True] Translation: X:34.03, Y:-3.10, Z:-1.30 [[ 9.98600763e-01 5.21654624e-02 -8.67644362e-03 3.40287639e+01] [-5.21591995e-02 9.98638334e-01 9.46708537e-04 -3.10166286e+00] [ 8.71401469e-03 -4.92827513e-04 9.99961911e-01 -1.29937754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.769928850999996 meters 0.07747894618640098 Centerline is valid? [True, True] Translation: X:34.06, Y:-3.10, Z:-1.30 [[ 9.98377173e-01 5.62720402e-02 -8.74518477e-03 3.40592053e+01] [-5.62658278e-02 9.98415367e-01 9.54987003e-04 -3.09938368e+00] [ 8.78506593e-03 -4.61382163e-04 9.99961304e-01 -1.29938986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799928851 meters 0.07775839925006539 Centerline is valid? [True, True] Translation: X:34.09, Y:-3.10, Z:-1.30 [[ 9.98312976e-01 5.73937152e-02 -8.78423226e-03 3.40864615e+01] [-5.73875103e-02 9.98351520e-01 9.57002290e-04 -3.10272584e+00] [ 8.82467755e-03 -4.51282584e-04 9.99960960e-01 -1.30148231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.829928851 meters 0.07790338024472537 Centerline is valid? [True, True] Translation: X:34.11, Y:-3.11, Z:-1.30 [[ 9.98278883e-01 5.79513945e-02 -8.99489326e-03 3.41144588e+01] [-5.79449170e-02 9.98319301e-01 9.79292733e-04 -3.10571893e+00] [ 9.03652693e-03 -4.56398912e-04 9.99959066e-01 -1.30283642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859928851 meters 0.07717612780596333 Centerline is valid? [True, True] Translation: X:34.14, Y:-3.11, Z:-1.30 [[ 9.98288479e-01 5.77144477e-02 -9.44222446e-03 3.41438673e+01] [-5.77073488e-02 9.98333018e-01 1.02278582e-03 -3.10550356e+00] [ 9.48551396e-03 -4.76149561e-04 9.99954898e-01 -1.30177802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88992885099999 meters 0.07690305885331591 Centerline is valid? [True, True] Translation: X:34.17, Y:-3.11, Z:-1.30 [[ 9.98363516e-01 5.63886995e-02 -9.51862768e-03 3.41723479e+01] [-5.63814467e-02 9.98408771e-01 1.02879914e-03 -3.10707684e+00] [ 9.56149401e-03 -4.90441532e-04 9.99954168e-01 -1.30168958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919928850999995 meters 0.07870394117829126 Centerline is valid? [True, True] Translation: X:34.20, Y:-3.12, Z:-1.31 [[ 9.98420750e-01 5.52371835e-02 -1.02401378e-02 3.41990830e+01] [-5.52287152e-02 9.98473115e-01 1.10813109e-03 -3.11538106e+00] [ 1.02857124e-02 -5.40831422e-04 9.99946954e-01 -1.30554920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.949928850999996 meters 0.07769697364577416 Centerline is valid? [True, True] Translation: X:34.23, Y:-3.12, Z:-1.30 [[ 9.98528011e-01 5.32289633e-02 -1.04157924e-02 3.42289705e+01] [-5.32200762e-02 9.98582170e-01 1.12874149e-03 -3.11646082e+00] [ 1.04611063e-02 -5.72750728e-04 9.99945117e-01 -1.30435334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979928851 meters 0.08086774418574437 Centerline is valid? [True, True] Translation: X:34.26, Y:-3.13, Z:-1.31 [[ 9.98724853e-01 4.92794725e-02 -1.09636440e-02 3.42565415e+01] [-4.92693816e-02 9.98784819e-01 1.18876156e-03 -3.12985008e+00] [ 1.10089027e-02 -6.47073758e-04 9.99939191e-01 -1.30848652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.009928851 meters 0.07900666502246563 Centerline is valid? [True, True] Translation: X:34.29, Y:-3.13, Z:-1.31 [[ 9.98817479e-01 4.74760014e-02 -1.04724704e-02 3.42860465e+01] [-4.74667114e-02 9.98872177e-01 1.13400047e-03 -3.12873576e+00] [ 1.05144971e-02 -6.35565755e-04 9.99944519e-01 -1.30594382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039928851 meters 0.07942083916360886 Centerline is valid? [True, True] Translation: X:34.32, Y:-3.13, Z:-1.31 [[ 9.98900074e-01 4.57894121e-02 -1.00980669e-02 3.43153955e+01] [-4.57806890e-02 9.98950916e-01 1.09342914e-03 -3.13348917e+00] [ 1.01375406e-02 -6.29929995e-04 9.99948415e-01 -1.30561302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06992885099999 meters 0.08051617512404304 Centerline is valid? [True, True] Translation: X:34.35, Y:-3.14, Z:-1.31 [[ 9.99095284e-01 4.14809541e-02 -9.37784814e-03 3.43450531e+01] [-4.14732369e-02 9.99139099e-01 1.01597314e-03 -3.14120502e+00] [ 9.41191827e-03 -6.26124252e-04 9.99955511e-01 -1.30569685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099928850999994 meters 0.08101016367406583 Centerline is valid? [True, True] Translation: X:34.37, Y:-3.15, Z:-1.31 [[ 9.99184290e-01 3.91742944e-02 -9.80451723e-03 3.43745692e+01] [-3.91657527e-02 9.99232163e-01 1.06176730e-03 -3.14605779e+00] [ 9.83858295e-03 -6.76899912e-04 9.99951371e-01 -1.30675003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.129928850999995 meters 0.08267191765358545 Centerline is valid? [True, True] Translation: X:34.40, Y:-3.15, Z:-1.31 [[ 9.99264181e-01 3.71184415e-02 -9.66013357e-03 3.44024147e+01] [-3.71100652e-02 9.99310638e-01 1.04496453e-03 -3.15349927e+00] [ 9.69226169e-03 -6.85707441e-04 9.99952794e-01 -1.30928197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159928851 meters 0.0813437101898728 Centerline is valid? [True, True] Translation: X:34.43, Y:-3.15, Z:-1.31 [[ 9.99334453e-01 3.50150303e-02 -1.02273623e-02 3.44330414e+01] [-3.50055207e-02 9.99386505e-01 1.10741032e-03 -3.15375590e+00] [ 1.02598639e-02 -7.48659140e-04 9.99947086e-01 -1.30832028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.189928851 meters 0.08550602417407295 Centerline is valid? [True, True] Translation: X:34.46, Y:-3.17, Z:-1.31 [[ 9.99454849e-01 3.20035054e-02 -8.11051952e-03 3.44608372e+01] [-3.19974343e-02 9.99487566e-01 8.77233846e-04 -3.16688084e+00] [ 8.13443797e-03 -6.17239806e-04 9.99966724e-01 -1.31148212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219928851 meters 0.08667027916372878 Centerline is valid? [True, True] Translation: X:34.49, Y:-3.17, Z:-1.31 [[ 9.99480574e-01 3.12350283e-02 -7.93449211e-03 3.44878888e+01] [-3.12292069e-02 9.99511882e-01 8.56559506e-04 -3.17219294e+00] [ 7.95737380e-03 -6.08326691e-04 9.99968155e-01 -1.31291030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24992885099999 meters 0.08705950641871926 Centerline is valid? [True, True] Translation: X:34.52, Y:-3.17, Z:-1.31 [[ 9.99523706e-01 3.00116282e-02 -7.18765708e-03 3.45168430e+01] [-3.00068216e-02 9.99549393e-01 7.75662497e-04 -3.17488489e+00] [ 7.20769717e-03 -5.59614311e-04 9.99973868e-01 -1.31348099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279928850999994 meters 0.08445714000562872 Centerline is valid? [True, True] Translation: X:34.55, Y:-3.17, Z:-1.31 [[ 9.99549733e-01 2.92939164e-02 -6.49594425e-03 3.45464208e+01] [-2.92899794e-02 9.99570711e-01 7.00406075e-04 -3.17005972e+00] [ 6.51367325e-03 -5.09824633e-04 9.99978656e-01 -1.31239571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.309928850999995 meters 0.08898322873807722 Centerline is valid? [True, True] Translation: X:34.57, Y:-3.18, Z:-1.32 [[ 9.99539551e-01 2.97002851e-02 -6.21125527e-03 3.45732616e+01] [-2.96966990e-02 9.99558732e-01 6.68803876e-04 -3.18176560e+00] [ 6.22837811e-03 -4.84042147e-04 9.99980486e-01 -1.31712938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339928850999996 meters 0.08801903820440223 Centerline is valid? [True, True] Translation: X:34.60, Y:-3.18, Z:-1.32 [[ 9.99531560e-01 2.99506372e-02 -6.29439002e-03 3.46019600e+01] [-2.99469593e-02 9.99551259e-01 6.77766694e-04 -3.18188988e+00] [ 6.31186501e-03 -4.88951360e-04 9.99979960e-01 -1.31741120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.369928851 meters 0.08517996255061534 Centerline is valid? [True, True] Translation: X:34.63, Y:-3.18, Z:-1.32 [[ 9.99509119e-01 3.07823229e-02 -5.82838911e-03 3.46320453e+01] [-3.07791841e-02 9.99526012e-01 6.27497364e-04 -3.17747668e+00] [ 5.84494234e-03 -4.47796276e-04 9.99982818e-01 -1.31599747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399928851 meters 0.08471108613700486 Centerline is valid? [True, True] Translation: X:34.66, Y:-3.18, Z:-1.32 [[ 9.99498477e-01 3.12221081e-02 -5.28911109e-03 3.46617234e+01] [-3.12195312e-02 9.99512390e-01 5.69081161e-04 -3.17636477e+00] [ 5.30429998e-03 -4.03672185e-04 9.99985851e-01 -1.31626670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42992885099999 meters 0.08575086120137203 Centerline is valid? [True, True] Translation: X:34.69, Y:-3.18, Z:-1.32 [[ 9.99499306e-01 3.13753520e-02 -4.08958454e-03 3.46896586e+01] [-3.13738161e-02 9.99507624e-01 4.39181670e-04 -3.18058360e+00] [ 4.10135040e-03 -3.10655901e-04 9.99991541e-01 -1.31808987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459928850999994 meters 0.08575086120137203 Centerline is valid? [True, True] Translation: X:34.72, Y:-3.18, Z:-1.32 [[ 9.99502354e-01 3.12780882e-02 -4.08969943e-03 3.47170483e+01] [-3.12765559e-02 9.99510673e-01 4.38114041e-04 -3.18342800e+00] [ 4.10140160e-03 -3.09984303e-04 9.99991541e-01 -1.31866387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.489928850999995 meters 0.08672258441863763 Centerline is valid? [True, True] Translation: X:34.74, Y:-3.19, Z:-1.32 [[ 9.99515805e-01 3.09372311e-02 -3.32314058e-03 3.47435846e+01] [-3.09362263e-02 9.99521298e-01 3.53356386e-04 -3.18744079e+00] [ 3.33248166e-03 -2.50379863e-04 9.99994416e-01 -1.32021712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519928850999996 meters 0.08768604863092516 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.19, Z:-1.32 [[ 9.99535984e-01 3.03830527e-02 -2.16471896e-03 3.47723196e+01] [-3.03826230e-02 9.99538315e-01 2.31120556e-04 -3.19027593e+00] [ 2.17074169e-03 -1.65243473e-04 9.99997630e-01 -1.32194238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.549928851 meters 0.0902591140925404 Centerline is valid? [True, True] Translation: X:34.80, Y:-3.20, Z:-1.32 [[ 9.99547706e-01 3.00220118e-02 -1.74973795e-03 3.47994221e+01] [-3.00217318e-02 9.99549229e-01 1.86087731e-04 -3.19687853e+00] [ 1.75453595e-03 -1.33473402e-04 9.99998452e-01 -1.32317553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579928851 meters 0.09150731578249643 Centerline is valid? [True, True] Translation: X:34.83, Y:-3.20, Z:-1.32 [[ 9.99547777e-01 3.00474553e-02 -1.17963824e-03 3.48273898e+01] [-3.00473283e-02 9.99548469e-01 1.25217090e-04 -3.20082766e+00] [ 1.18286805e-03 -8.97154868e-05 9.99999296e-01 -1.32451794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.609928851 meters 0.08555467497551662 Centerline is valid? [True, True] Translation: X:34.86, Y:-3.19, Z:-1.32 [[ 9.99535026e-01 3.04914934e-02 -3.33280033e-05 3.48575515e+01] [-3.04914933e-02 9.99535026e-01 2.18487672e-06 -3.18795604e+00] [ 3.33791268e-05 -1.16764022e-06 9.99999999e-01 -1.32152771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63992885099999 meters 0.0848487260146598 Centerline is valid? [True, True] Translation: X:34.89, Y:-3.19, Z:-1.32 [[ 9.99527452e-01 3.07367584e-02 -3.51260500e-04 3.48868810e+01] [-3.07367476e-02 9.99527514e-01 3.62258130e-05 -3.18813591e+00] [ 3.52207998e-04 -2.54120893e-05 9.99999938e-01 -1.32199612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.669928850999995 meters 0.08713391930886981 Centerline is valid? [True, True] Translation: X:34.91, Y:-3.19, Z:-1.32 [[ 9.99522913e-01 3.08810518e-02 5.54114250e-04 3.49141625e+01] [-3.08810223e-02 9.99523066e-01 -6.17838500e-05 -3.19418122e+00] [-5.55757924e-04 4.46427593e-05 9.99999845e-01 -1.32400133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699928850999996 meters 0.08439861055422719 Centerline is valid? [True, True] Translation: X:34.94, Y:-3.19, Z:-1.32 [[ 9.99528775e-01 3.06931855e-02 -3.94176801e-04 3.49437922e+01] [-3.06931718e-02 9.99528853e-01 4.07402792e-05 -3.18920236e+00] [ 3.95241535e-04 -2.86225451e-05 9.99999921e-01 -1.32335308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.729928851 meters 0.0848351749191678 Centerline is valid? [True, True] Translation: X:34.97, Y:-3.19, Z:-1.33 [[ 9.99560982e-01 2.96252882e-02 -4.30427566e-04 3.49725729e+01] [-2.96252717e-02 9.99561074e-01 4.45885000e-05 -3.19054061e+00] [ 4.31559587e-04 -3.18173912e-05 9.99999906e-01 -1.32521017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759928851 meters 0.08571187494065124 Centerline is valid? [True, True] Translation: X:35.00, Y:-3.19, Z:-1.33 [[ 9.99597113e-01 2.83808170e-02 -3.75874063e-04 3.50005491e+01] [-2.83808044e-02 9.99597183e-01 3.87256054e-05 -3.19412259e+00] [ 3.76821719e-04 -2.80423951e-05 9.99999929e-01 -1.32603530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.789928851 meters 0.09027751456272078 Centerline is valid? [True, True] Translation: X:35.03, Y:-3.21, Z:-1.33 [[ 9.99637728e-01 2.69139769e-02 -2.26079466e-04 3.50282359e+01] [-2.69139724e-02 9.99637753e-01 2.30806160e-05 -3.20559832e+00] [ 2.26618761e-04 -1.69875580e-05 9.99999974e-01 -1.32862090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81992885099999 meters 0.08675192857572511 Centerline is valid? [True, True] Translation: X:35.06, Y:-3.20, Z:-1.33 [[ 9.99669821e-01 2.56951623e-02 -8.73797978e-05 3.50588923e+01] [-2.56951616e-02 9.99669825e-01 8.97190095e-06 -3.20037673e+00] [ 8.75814816e-05 -6.72370059e-06 9.99999996e-01 -1.32678701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.849928850999994 meters 0.09234463756158681 Centerline is valid? [True, True] Translation: X:35.09, Y:-3.21, Z:-1.33 [[ 9.99752226e-01 2.22557643e-02 -4.08807975e-04 3.50873754e+01] [-2.22557485e-02 9.99752309e-01 4.32534756e-05 -3.21306612e+00] [ 4.09669356e-04 -3.41444311e-05 9.99999916e-01 -1.33066461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879928850999995 meters 0.09136397016760496 Centerline is valid? [True, True] Translation: X:35.12, Y:-3.21, Z:-1.33 [[ 9.99785609e-01 2.06974262e-02 -5.94288851e-04 3.51169322e+01] [-2.06973927e-02 9.99785784e-01 6.23475706e-05 -3.21314227e+00] [ 5.95451979e-04 -5.00339741e-05 9.99999821e-01 -1.33064550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.909928851 meters 0.09357658654698137 Centerline is valid? [True, True] Translation: X:35.15, Y:-3.22, Z:-1.33 [[ 9.99846840e-01 1.74908955e-02 6.04756021e-04 3.51456977e+01] [-1.74908594e-02 9.99847021e-01 -6.48782298e-05 -3.21795453e+00] [-6.05798285e-04 5.42905905e-05 9.99999815e-01 -1.33161145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939928851 meters 0.09530060752995384 Centerline is valid? [True, True] Translation: X:35.17, Y:-3.22, Z:-1.33 [[ 9.99868076e-01 1.61604308e-02 1.63433855e-03 3.51746397e+01] [-1.61601658e-02 9.99869401e-01 -1.75200048e-04 -3.22319441e+00] [-1.63695642e-03 1.48765753e-04 9.99998649e-01 -1.33213504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.969928851 meters 0.09548240182484348 Centerline is valid? [True, True] Translation: X:35.20, Y:-3.23, Z:-1.33 [[ 9.99894963e-01 1.42855958e-02 2.44633792e-03 3.52048170e+01] [-1.42849995e-02 9.99897930e-01 -2.61025528e-04 -3.22558610e+00] [-2.44981712e-03 2.26052175e-04 9.99996974e-01 -1.33246385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99992885099999 meters 0.09609242987398062 Centerline is valid? [True, True] Translation: X:35.23, Y:-3.23, Z:-1.33 [[ 9.99914950e-01 1.27125823e-02 2.91253100e-03 3.52340410e+01] [-1.27117292e-02 9.99919154e-01 -3.11248817e-04 -3.22858899e+00] [-2.91625231e-03 2.74199040e-04 9.99995710e-01 -1.33271379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.029928850999994 meters 0.0981451623208926 Centerline is valid? [True, True] Translation: X:35.26, Y:-3.23, Z:-1.33 [[ 9.99935796e-01 1.03456853e-02 4.62290767e-03 3.52634718e+01] [-1.03435172e-02 9.99946383e-01 -4.92651711e-04 -3.23380959e+00] [-4.62775663e-03 4.44802955e-04 9.99989193e-01 -1.33248955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059928850999995 meters 0.0940718980038345 Centerline is valid? [True, True] Translation: X:35.29, Y:-3.23, Z:-1.33 [[ 9.99944938e-01 9.25208834e-03 4.95165768e-03 3.52939552e+01] [-9.24958673e-03 9.99957082e-01 -5.27868461e-04 -3.22816098e+00] [-4.95632905e-03 4.82038609e-04 9.99987601e-01 -1.33122990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.089928850999996 meters 0.09930482757772116 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.24, Z:-1.33 [[ 9.99956622e-01 7.98548261e-03 4.79443943e-03 3.53219856e+01] [-7.98312845e-03 9.99968004e-01 -5.09956006e-04 -3.23926322e+00] [-4.79835827e-03 4.71659259e-04 9.99988377e-01 -1.33357666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119928851 meters 0.09572339010284141 Centerline is valid? [True, True] Translation: X:35.35, Y:-3.23, Z:-1.33 [[ 9.99956962e-01 7.32013034e-03 5.69992677e-03 3.53521446e+01] [-7.31678530e-03 9.99973047e-01 -6.07488003e-04 -3.23446952e+00] [-5.70422004e-03 5.65756718e-04 9.99983571e-01 -1.33306974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.149928851 meters 0.0976125308106962 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.24, Z:-1.34 [[ 9.99964739e-01 6.62681948e-03 5.15808464e-03 3.53812130e+01] [-6.62407303e-03 9.99977910e-01 -5.49357598e-04 -3.23913952e+00] [-5.16161119e-03 5.15170697e-04 9.99986546e-01 -1.33537017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17992885099999 meters 0.09823314273351968 Centerline is valid? [True, True] Translation: X:35.41, Y:-3.24, Z:-1.34 [[ 9.99965459e-01 6.55179968e-03 5.11412192e-03 3.54112666e+01] [-6.54910070e-03 9.99978406e-01 -5.44320494e-04 -3.24186075e+00] [-5.11757777e-03 5.10808794e-04 9.99986775e-01 -1.33679640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.209928850999994 meters 0.09920017872770823 Centerline is valid? [True, True] Translation: X:35.44, Y:-3.25, Z:-1.34 [[ 9.99962755e-01 7.22395438e-03 4.72266038e-03 3.54403962e+01] [-7.22165891e-03 9.99973797e-01 -5.02927381e-04 -3.24565582e+00] [-4.72616976e-03 4.68803207e-04 9.99988722e-01 -1.33797828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239928850999995 meters 0.1002312661772123 Centerline is valid? [True, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99966979e-01 6.64525944e-03 4.67780939e-03 3.54403685e+01] [-6.63784400e-03 9.99976691e-01 -1.59898197e-03 -3.24245924e+00] [-4.68832601e-03 1.56787860e-03 9.99987781e-01 -1.33775312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269928850999996 meters 0.10050419547312006 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99967960e-01 6.58112806e-03 4.55713369e-03 3.54408091e+01] [-6.57273119e-03 9.99976679e-01 -1.85510830e-03 -3.24121447e+00] [-4.56923611e-03 1.82509605e-03 9.99987895e-01 -1.33801458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299928851 meters 0.10100628782125252 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99970697e-01 6.10366629e-03 4.62055751e-03 3.54403079e+01] [-6.09173003e-03 9.99978083e-01 -2.59297537e-03 -3.23949395e+00] [-4.63628290e-03 2.56475220e-03 9.99985963e-01 -1.33748304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.329928851 meters 0.10135619603348774 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99971812e-01 6.07617966e-03 4.41088421e-03 3.54408710e+01] [-6.06365273e-03 9.99977561e-01 -2.84784409e-03 -3.23836852e+00] [-4.42808924e-03 2.82101774e-03 9.99986217e-01 -1.33762711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359928851 meters 0.10294820848782345 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99974106e-01 5.82574226e-03 4.22461746e-03 3.54413506e+01] [-5.81104535e-03 9.99977051e-01 -3.48284510e-03 -3.23594002e+00] [-4.24481067e-03 3.45820548e-03 9.99985011e-01 -1.33773296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38992885099999 meters 0.10175083206813337 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99975032e-01 5.73796232e-03 4.12453399e-03 3.54416773e+01] [-5.72253244e-03 9.99976621e-01 -3.74311864e-03 -3.23481312e+00] [-4.14591543e-03 3.71942240e-03 9.99984489e-01 -1.33789102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419928850999995 meters 0.09917817469717022 Centerline is valid? [False, True] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99976897e-01 5.37837948e-03 4.15667217e-03 3.54414768e+01] [-5.36064595e-03 9.99976533e-01 -4.26570886e-03 -3.23319541e+00] [-4.17951722e-03 4.24332786e-03 9.99982263e-01 -1.33776305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.449928850999996 meters 0.10278221341916073 Centerline is valid? [True, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99977529e-01 5.37205028e-03 4.01035905e-03 3.54418758e+01] [-5.35428579e-03 9.99975865e-01 -4.42732068e-03 -3.23235848e+00] [-4.03404605e-03 4.40574858e-03 9.99982158e-01 -1.33787462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479928851 meters 0.10109346745471348 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99979384e-01 4.86376977e-03 4.19223138e-03 3.54412432e+01] [-4.84254346e-03 9.99975480e-01 -5.05861454e-03 -3.23072064e+00] [-4.21673252e-03 5.03820919e-03 9.99978418e-01 -1.33755431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.509928851 meters 0.10326433312069316 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99979266e-01 4.84023752e-03 4.24737227e-03 3.54413856e+01] [-4.81879311e-03 9.99975665e-01 -5.04465792e-03 -3.23029574e+00] [-4.27168626e-03 5.02408611e-03 9.99978255e-01 -1.33796217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539928851 meters 0.10255671848769984 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99979764e-01 4.67282306e-03 4.31709439e-03 3.54411445e+01] [-4.65028921e-03 9.99975589e-01 -5.21505559e-03 -3.22981388e+00] [-4.34135804e-03 5.19487432e-03 9.99977083e-01 -1.33786816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56992885099999 meters 0.10112231802028052 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99979730e-01 4.68781143e-03 4.30859372e-03 3.54415782e+01] [-4.66524504e-03 9.99975427e-01 -5.23274273e-03 -3.22909198e+00] [-4.33301795e-03 5.21253602e-03 9.99977027e-01 -1.33847476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599928850999994 meters 0.1025173169547141 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99979746e-01 4.72949542e-03 4.25912345e-03 3.54419977e+01] [-4.70729271e-03 9.99975359e-01 -5.20799933e-03 -3.22848473e+00] [-4.28364971e-03 5.18784491e-03 9.99977368e-01 -1.33897210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.629928850999995 meters 0.10658083284094702 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99979631e-01 4.82464636e-03 4.17853258e-03 3.54424137e+01] [-4.80306691e-03 9.99975157e-01 -5.15908946e-03 -3.22817036e+00] [-4.20331955e-03 5.13891460e-03 9.99977962e-01 -1.33931817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659928851 meters 0.10134502159163641 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99979929e-01 4.81995506e-03 4.11201760e-03 3.54428740e+01] [-4.79837804e-03 9.99974753e-01 -5.24113377e-03 -3.22718004e+00] [-4.13717582e-03 5.22129756e-03 9.99977811e-01 -1.33979719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.689928851 meters 0.10130953767265492 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99980110e-01 4.79286144e-03 4.09975071e-03 3.54430329e+01] [-4.77104275e-03 9.99974492e-01 -5.31528022e-03 -3.22661943e+00] [-4.12512154e-03 5.29561441e-03 9.99977470e-01 -1.33999674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719928851 meters 0.10096061230223945 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99979944e-01 4.94433322e-03 3.95794127e-03 3.54435112e+01] [-4.92361607e-03 9.99974218e-01 -5.22706635e-03 -3.22649918e+00] [-3.98368358e-03 5.20747413e-03 9.99978506e-01 -1.34022683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74992885099999 meters 0.10429664212108965 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99978826e-01 5.21166865e-03 3.89693082e-03 3.54441691e+01] [-5.19275124e-03 9.99974761e-01 -4.84890003e-03 -3.22667962e+00] [-3.92210333e-03 4.82856156e-03 9.99980651e-01 -1.34101091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779928850999994 meters 0.1022917913750305 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99978168e-01 5.35264410e-03 3.87468539e-03 3.54444637e+01] [-5.33467699e-03 9.99975040e-01 -4.63262847e-03 -3.22688390e+00] [-3.89938548e-03 4.61185713e-03 9.99981763e-01 -1.34139230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.809928850999995 meters 0.10336870178131474 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99978227e-01 5.29495458e-03 3.93815810e-03 3.54443169e+01] [-5.27699794e-03 9.99975697e-01 -4.55615238e-03 -3.22675701e+00] [-3.96218701e-03 4.53527153e-03 9.99981866e-01 -1.34147072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839928850999996 meters 0.10238422590419521 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99977479e-01 5.45968427e-03 3.90297088e-03 3.54446463e+01] [-5.44281022e-03 9.99975852e-01 -4.32101107e-03 -3.22709145e+00] [-3.92646798e-03 4.29967063e-03 9.99983048e-01 -1.34182395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.869928851 meters 0.10768691481600443 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99977296e-01 5.39546544e-03 4.03697528e-03 3.54442698e+01] [-5.37815099e-03 9.99976346e-01 -4.28759949e-03 -3.22744628e+00] [-4.06001338e-03 4.26579068e-03 9.99982660e-01 -1.34171510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899928851 meters 0.10385724684073264 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99976642e-01 5.47055730e-03 4.09741519e-03 3.54442141e+01] [-5.45378685e-03 9.99976752e-01 -4.09298493e-03 -3.22809195e+00] [-4.11971084e-03 4.07054290e-03 9.99983229e-01 -1.34182986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92992885099999 meters 0.10454220004448594 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99974830e-01 5.61912966e-03 4.33171781e-03 3.54440483e+01] [-5.60355403e-03 9.99977822e-01 -3.59950703e-03 -3.22937931e+00] [-4.35184783e-03 3.57514342e-03 9.99984140e-01 -1.34233910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959928850999994 meters 0.10693309545632014 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99974739e-01 5.66172934e-03 4.29714502e-03 3.54440669e+01] [-5.64672469e-03 9.99977946e-01 -3.49590932e-03 -3.22968113e+00] [-4.31684314e-03 3.47155621e-03 9.99984656e-01 -1.34229529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.989928850999995 meters 0.10595549861393952 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99973559e-01 5.81289735e-03 4.36946224e-03 3.54441616e+01] [-5.79914281e-03 9.99978211e-01 -3.15398701e-03 -3.23032144e+00] [-4.38770084e-03 3.12856448e-03 9.99985480e-01 -1.34268737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019928850999996 meters 0.10699982935519922 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99972993e-01 5.86295322e-03 4.43169597e-03 3.54439867e+01] [-5.84987881e-03 9.99978516e-01 -2.95743192e-03 -3.23110690e+00] [-4.44894004e-03 2.93142717e-03 9.99985807e-01 -1.34262939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.049928851 meters 0.10911463157621623 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99970486e-01 6.02069690e-03 4.77276303e-03 3.54433569e+01] [-6.00969852e-03 9.99979261e-01 -2.31540729e-03 -3.23360244e+00] [-4.78660441e-03 2.28665608e-03 9.99985930e-01 -1.34277249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079928851 meters 0.10720219377782732 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.23, Z:-1.34 [[ 9.99969538e-01 6.06222997e-03 4.91661051e-03 3.54430927e+01] [-6.05196654e-03 9.99979482e-01 -2.09969949e-03 -3.23447640e+00] [-4.92923850e-03 2.06988037e-03 9.99985709e-01 -1.34282986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10992885099999 meters 0.10957346493188158 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99968964e-01 6.07585023e-03 5.01539903e-03 3.54427803e+01] [-6.06614576e-03 9.99979704e-01 -1.94788615e-03 -3.23541077e+00] [-5.02713230e-03 1.91740156e-03 9.99985526e-01 -1.34264119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13992885099999 meters 0.11463216876391463 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99967456e-01 6.11242236e-03 5.26540774e-03 3.54421400e+01] [-6.10439821e-03 9.99980184e-01 -1.53866417e-03 -3.23718635e+00] [-5.27470836e-03 1.50647195e-03 9.99984954e-01 -1.34250648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169928850999995 meters 0.10595506509052485 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99967063e-01 6.18731461e-03 5.25268430e-03 3.54421065e+01] [-6.17990885e-03 9.99979889e-01 -1.42496153e-03 -3.23789256e+00] [-5.26139535e-03 1.39245349e-03 9.99985189e-01 -1.34235972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199928850999996 meters 0.10981922669938195 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99966811e-01 6.30374746e-03 5.16133813e-03 3.54421847e+01] [-6.29700803e-03 9.99979301e-01 -1.32096403e-03 -3.23854534e+00] [-5.16955832e-03 1.28841920e-03 9.99985808e-01 -1.34214638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.229928851 meters 0.1078316044922654 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99966692e-01 6.40504769e-03 5.05872586e-03 3.54422388e+01] [-6.39880221e-03 9.99978746e-01 -1.24981819e-03 -3.23912643e+00] [-5.06662349e-03 1.21740677e-03 9.99986424e-01 -1.34186279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259928851 meters 0.11170435954147759 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99964998e-01 6.85937068e-03 4.79079628e-03 3.54429060e+01] [-6.85551840e-03 9.99976164e-01 -8.20061010e-04 -3.24038919e+00] [-4.79630719e-03 7.87188914e-04 9.99988188e-01 -1.34192626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.289928851 meters 0.10743962320741861 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99965832e-01 6.88256941e-03 4.57867577e-03 3.54431113e+01] [-6.87820966e-03 9.99975877e-01 -9.67251416e-04 -3.24038444e+00] [-4.58522249e-03 9.35725276e-04 9.99989050e-01 -1.34151302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31992885099999 meters 0.10680208832154228 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99965521e-01 7.05722161e-03 4.37638336e-03 3.54434514e+01] [-7.05344996e-03 9.99974740e-01 -8.76655237e-04 -3.24076683e+00] [-4.38245956e-03 8.45756410e-04 9.99990039e-01 -1.34134554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.349928850999994 meters 0.1066401128213058 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99965975e-01 7.13342745e-03 4.14288135e-03 3.54437384e+01] [-7.12944446e-03 9.99974109e-01 -9.75378388e-04 -3.24086936e+00] [-4.14973188e-03 9.45808759e-04 9.99990943e-01 -1.34096350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379928850999995 meters 0.1066401128213058 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99965975e-01 7.13342745e-03 4.14288135e-03 3.54437384e+01] [-7.12944446e-03 9.99974109e-01 -9.75378388e-04 -3.24086936e+00] [-4.14973188e-03 9.45808759e-04 9.99990943e-01 -1.34096350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.409928851 meters 0.10170703591134181 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99963201e-01 7.71625326e-03 3.74901982e-03 3.54447049e+01] [-7.71483545e-03 9.99970163e-01 -3.92495041e-04 -3.24250300e+00] [-3.75193655e-03 3.63557527e-04 9.99992895e-01 -1.34111603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439928851 meters 0.10275080862205571 Centerline is valid? [False, False] Translation: X:35.44, Y:-3.24, Z:-1.34 [[ 9.99962137e-01 7.92159257e-03 3.60187890e-03 3.54449795e+01] [-7.92079311e-03 9.99968602e-01 -2.36167628e-04 -3.24329799e+00] [-3.60363663e-03 2.07628948e-04 9.99993485e-01 -1.34099309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.469928851 meters 0.10022295051982208 Centerline is valid? [False, False] Translation: X:35.45, Y:-3.24, Z:-1.34 [[ 9.99959982e-01 8.32004009e-03 3.28800640e-03 3.54454383e+01] [-8.32053967e-03 9.99965374e-01 1.38287700e-04 -3.24482625e+00] [-3.28674199e-03 -1.65640153e-04 9.99994585e-01 -1.34063516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49992885099999 meters 0.09833980776458168 Centerline is valid? [False, True] Translation: X:35.45, Y:-3.25, Z:-1.34 [[ 9.99959861e-01 8.37299569e-03 3.18880502e-03 3.54454757e+01] [-8.37347150e-03 9.99964933e-01 1.35891950e-04 -3.24517531e+00] [-3.18755537e-03 -1.62587863e-04 9.99994907e-01 -1.34034660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.529928850999994 meters 0.10049254019643475 Centerline is valid? [True, False] Translation: X:35.45, Y:-3.24, Z:-1.34 [[ 9.99987142e-01 4.58580056e-03 2.16456714e-03 3.54473181e+01] [-4.57633982e-03 9.99980043e-01 -4.35563162e-03 -3.24389817e+00] [-2.18449800e-03 4.34566982e-03 9.99988171e-01 -1.33998036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559928850999995 meters 0.1019980426817906 Centerline is valid? [False, False] Translation: X:35.45, Y:-3.24, Z:-1.34 [[ 9.99985740e-01 4.97399210e-03 1.94385427e-03 3.54481045e+01] [-4.96634617e-03 9.99979990e-01 -3.91861776e-03 -3.24472397e+00] [-1.96330654e-03 3.90890803e-03 9.99990433e-01 -1.34041271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.589928850999996 meters 0.10060101492963093 Centerline is valid? [False, False] Translation: X:35.45, Y:-3.25, Z:-1.34 [[ 9.99983652e-01 5.45184277e-03 1.72447408e-03 3.54487651e+01] [-5.44614021e-03 9.99979743e-01 -3.29442781e-03 -3.24638821e+00] [-1.74239985e-03 3.28498223e-03 9.99993086e-01 -1.34067034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619928851 meters 0.10029489954205287 Centerline is valid? [False, False] Translation: X:35.45, Y:-3.25, Z:-1.34 [[ 9.99983065e-01 5.56531407e-03 1.70211212e-03 3.54488420e+01] [-5.55994653e-03 9.99979607e-01 -3.14209992e-03 -3.24706090e+00] [-1.71956418e-03 3.13258306e-03 9.99993615e-01 -1.34067377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.649928851 meters 0.10008119267003966 Centerline is valid? [False, False] Translation: X:35.45, Y:-3.25, Z:-1.34 [[ 9.99982460e-01 5.69342029e-03 1.63239045e-03 3.54489028e+01] [-5.68853101e-03 9.99979367e-01 -2.98432185e-03 -3.24781400e+00] [-1.64934777e-03 2.97498360e-03 9.99994215e-01 -1.34054799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67992885099999 meters 0.09878766336400538 Centerline is valid? [False, True] Translation: X:35.45, Y:-3.25, Z:-1.34 [[ 9.99980968e-01 5.94985474e-03 1.63212678e-03 3.54490967e+01] [-5.94565262e-03 9.99979028e-01 -2.56750656e-03 -3.24888110e+00] [-1.64736884e-03 2.55775364e-03 9.99995372e-01 -1.34082803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.709928850999994 meters 0.09640172437663165 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.25, Z:-1.34 [[ 9.99983674e-01 5.38913401e-03 1.89960384e-03 3.54781651e+01] [-5.38877505e-03 9.99985462e-01 -1.94031411e-04 -3.25124766e+00] [-1.90062189e-03 1.83791705e-04 9.99998177e-01 -1.34155045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739928850999995 meters 0.09740171957790493 Centerline is valid? [True, True] Translation: X:35.51, Y:-3.26, Z:-1.34 [[ 9.99980180e-01 5.57311651e-03 2.92917011e-03 3.55064147e+01] [-5.57226569e-03 9.99984430e-01 -2.98546432e-04 -3.25703092e+00] [-2.93078834e-03 2.82218400e-04 9.99995665e-01 -1.34282415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.769928850999996 meters 0.09654233040866071 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.26, Z:-1.34 [[ 9.99983400e-01 5.52731474e-03 1.62754183e-03 3.55363386e+01] [-5.52705194e-03 9.99984712e-01 -1.65923723e-04 -3.25920577e+00] [-1.62843406e-03 1.56925461e-04 9.99998662e-01 -1.34304878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799928851 meters 0.09757065790019312 Centerline is valid? [True, True] Translation: X:35.56, Y:-3.27, Z:-1.34 [[ 9.99979719e-01 6.02315019e-03 2.06959047e-03 3.55642041e+01] [-6.02272624e-03 9.99981841e-01 -2.11016514e-04 -3.26564761e+00] [-2.07082387e-03 1.98547657e-04 9.99997836e-01 -1.34392890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.829928851 meters 0.09852035815546532 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.27, Z:-1.34 [[ 9.99983200e-01 5.52201150e-03 1.76289974e-03 3.55923860e+01] [-5.52170306e-03 9.99984739e-01 -1.79781982e-04 -3.27193624e+00] [-1.76386559e-03 1.70044753e-04 9.99998430e-01 -1.34459117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85992885099999 meters 0.09896428432499564 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.28, Z:-1.35 [[ 9.99987071e-01 4.80640255e-03 1.66032963e-03 3.56215416e+01] [-4.80612848e-03 9.99988436e-01 -1.69019975e-04 -3.27745176e+00] [-1.66112281e-03 1.61038032e-04 9.99998607e-01 -1.34554419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88992885099999 meters 0.09966643745185115 Centerline is valid? [True, True] Translation: X:35.65, Y:-3.28, Z:-1.35 [[ 9.99992409e-01 3.77448065e-03 9.67464878e-04 3.56506316e+01] [-3.77438691e-03 9.99992872e-01 -9.86995870e-05 -3.28328885e+00] [-9.67830522e-04 9.50472510e-05 9.99999527e-01 -1.34671804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919928850999995 meters 0.10241112675631557 Centerline is valid? [True, False] Translation: X:35.65, Y:-3.29, Z:-1.35 [[ 9.99991857e-01 3.81729003e-03 1.30958140e-03 3.56496854e+01] [-3.81790722e-03 9.99992602e-01 4.69113408e-04 -3.28592325e+00] [-1.30778097e-03 -4.74109448e-04 9.99999032e-01 -1.34633740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.949928850999996 meters 0.10310375532085422 Centerline is valid? [False, False] Translation: X:35.65, Y:-3.29, Z:-1.35 [[ 9.99991229e-01 3.97705100e-03 1.31304140e-03 3.56496475e+01] [-3.97810305e-03 9.99991768e-01 7.99592181e-04 -3.28703904e+00] [-1.30985057e-03 -8.04808582e-04 9.99998818e-01 -1.34628139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979928851 meters 0.09900825914194537 Centerline is valid? [False, True] Translation: X:35.65, Y:-3.29, Z:-1.35 [[ 9.99991051e-01 3.98410404e-03 1.42317792e-03 3.56491672e+01] [-3.98555809e-03 9.99991537e-01 1.02032059e-03 -3.28827310e+00] [-1.41910081e-03 -1.02598361e-03 9.99998467e-01 -1.34591215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.009928851 meters 0.1013762479131295 Centerline is valid? [True, False] Translation: X:35.65, Y:-3.29, Z:-1.35 [[ 9.99999468e-01 2.08010562e-04 1.01064351e-03 3.56497901e+01] [-2.05268140e-04 9.99996299e-01 -2.71288695e-03 -3.29016672e+00] [-1.01120408e-03 2.71267806e-03 9.99995809e-01 -1.34554200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039928851 meters 0.10210860102268277 Centerline is valid? [False, False] Translation: X:35.65, Y:-3.29, Z:-1.35 [[ 9.99999235e-01 5.90459834e-04 1.08716541e-03 3.56498429e+01] [-5.88316446e-04 9.99997885e-01 -1.97080312e-03 -3.29241707e+00] [-1.08832679e-03 1.97016201e-03 9.99997467e-01 -1.34583668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06992885099999 meters 0.1025178378971997 Centerline is valid? [False, False] Translation: X:35.65, Y:-3.29, Z:-1.35 [[ 9.99998983e-01 9.68859346e-04 1.04665551e-03 3.56499935e+01] [-9.67484900e-04 9.99998670e-01 -1.31288893e-03 -3.29450273e+00] [-1.04792613e-03 1.31187497e-03 9.99998590e-01 -1.34592573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099928850999994 meters 0.10408017342859695 Centerline is valid? [False, False] Translation: X:35.65, Y:-3.30, Z:-1.35 [[ 9.99998480e-01 1.39240234e-03 1.04934382e-03 3.56503309e+01] [-1.39178530e-03 9.99998858e-01 -5.88521227e-04 -3.29627929e+00] [-1.05016208e-03 5.87059871e-04 9.99999276e-01 -1.34642453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.129928850999995 meters 0.10415452250509567 Centerline is valid? [False, False] Translation: X:35.65, Y:-3.30, Z:-1.35 [[ 9.99997890e-01 1.77327431e-03 1.03720952e-03 3.56503749e+01] [-1.77339861e-03 9.99998420e-01 1.18934439e-04 -3.29862575e+00] [-1.03699698e-03 -1.20773574e-04 9.99999455e-01 -1.34639945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159928851 meters 0.09904997516451823 Centerline is valid? [False, True] Translation: X:35.65, Y:-3.30, Z:-1.35 [[ 9.99997842e-01 1.83153430e-03 9.80350091e-04 3.56502959e+01] [-1.83173137e-03 9.99998302e-01 2.00160499e-04 -3.29929307e+00] [-9.79981826e-04 -2.01955805e-04 9.99999499e-01 -1.34609752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.189928851 meters 0.0983925210943671 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.30, Z:-1.35 [[ 9.99997011e-01 2.31134436e-03 7.97852259e-04 3.56802942e+01] [-2.31127692e-03 9.99997325e-01 -8.54365077e-05 -3.30180197e+00] [-7.98047598e-04 8.35921948e-05 9.99999678e-01 -1.34590471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219928851 meters 0.09497852639008787 Centerline is valid? [True, True] Translation: X:35.71, Y:-3.30, Z:-1.35 [[ 9.99988267e-01 4.60811983e-03 1.49382189e-03 3.57111222e+01] [-4.60788675e-03 9.99989371e-01 -1.59435863e-04 -3.30127600e+00] [-1.49454072e-03 1.52550630e-04 9.99998872e-01 -1.34610100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24992885099999 meters 0.09484867824506968 Centerline is valid? [True, True] Translation: X:35.74, Y:-3.30, Z:-1.35 [[ 9.99986245e-01 5.13199371e-03 1.08290567e-03 3.57406765e+01] [-5.13187092e-03 9.99986825e-01 -1.16135644e-04 -3.30498965e+00] [-1.08348741e-03 1.10576715e-04 9.99999407e-01 -1.34706550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279928850999994 meters 0.0952920657497671 Centerline is valid? [True, True] Translation: X:35.77, Y:-3.31, Z:-1.35 [[ 9.99981412e-01 5.91179766e-03 1.49184802e-03 3.57694450e+01] [-5.91156549e-03 9.99982514e-01 -1.59985877e-04 -3.31007212e+00] [-1.49276774e-03 1.51163746e-04 9.99998874e-01 -1.34754213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.309928850999995 meters 0.09406936685073082 Centerline is valid? [True, True] Translation: X:35.80, Y:-3.31, Z:-1.35 [[ 9.99980618e-01 6.22550989e-03 8.32217034e-05 3.57979224e+01] [-6.22550907e-03 9.99980621e-01 -1.01430988e-05 -3.31210240e+00] [-8.32832366e-05 9.62480476e-06 9.99999996e-01 -1.34855290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339928850999996 meters 0.09656815624278785 Centerline is valid? [True, True] Translation: X:35.83, Y:-3.32, Z:-1.35 [[ 9.99980747e-01 6.17676880e-03 -5.94704380e-04 3.58253772e+01] [-6.17673298e-03 9.99980922e-01 6.20559907e-05 -3.31978385e+00] [ 5.95076339e-04 -5.83814658e-05 9.99999821e-01 -1.35012980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.369928851 meters 0.10156913482308111 Centerline is valid? [True, False] Translation: X:35.83, Y:-3.32, Z:-1.35 [[ 9.99980342e-01 6.23877005e-03 -6.27496288e-04 3.58253211e+01] [-6.23866592e-03 9.99980525e-01 1.67768228e-04 -3.32050347e+00] [ 6.28530735e-04 -1.63850190e-04 9.99999789e-01 -1.34992671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399928851 meters 0.09651383177854211 Centerline is valid? [False, True] Translation: X:35.83, Y:-3.32, Z:-1.35 [[ 9.99995820e-01 2.60361467e-03 -1.25760679e-03 3.58266717e+01] [-2.60814335e-03 9.99990072e-01 -3.61291445e-03 -3.32138513e+00] [ 1.24818767e-03 3.61617936e-03 9.99992683e-01 -1.35007910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42992885099999 meters 0.09862883718972366 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.33, Z:-1.35 [[ 9.99996114e-01 2.77541739e-03 -2.62491102e-04 3.58545491e+01] [-2.77541069e-03 9.99996148e-01 2.59137890e-05 -3.33119457e+00] [ 2.62562012e-04 -2.51851677e-05 9.99999965e-01 -1.35258634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459928850999994 meters 0.09890698843165568 Centerline is valid? [True, True] Translation: X:35.88, Y:-3.33, Z:-1.35 [[ 9.99996619e-01 2.51180056e-03 -6.72255188e-04 3.58838438e+01] [-2.51175528e-03 9.99996843e-01 6.81903801e-05 -3.33483064e+00] [ 6.72424347e-04 -6.65016091e-05 9.99999772e-01 -1.35333986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.489928850999995 meters 0.09632986522730588 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.33, Z:-1.35 [[ 9.99996582e-01 2.27231076e-03 -1.29340792e-03 3.59132428e+01] [-2.27214247e-03 9.99997410e-01 1.31571286e-04 -3.33354137e+00] [ 1.29370354e-03 -1.28632029e-04 9.99999155e-01 -1.35259801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519928850999996 meters 0.09375833115426024 Centerline is valid? [True, True] Translation: X:35.94, Y:-3.33, Z:-1.35 [[ 9.99993981e-01 3.05727423e-03 -1.64065677e-03 3.59428827e+01] [-3.05700620e-03 9.99995314e-01 1.65852923e-04 -3.33250686e+00] [ 1.64115613e-03 -1.60836427e-04 9.99998640e-01 -1.35275079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.549928851 meters 0.10098490273602172 Centerline is valid? [True, False] Translation: X:35.94, Y:-3.33, Z:-1.35 [[ 9.99992930e-01 3.32343011e-03 -1.75923153e-03 3.59434935e+01] [-3.32262587e-03 9.99994374e-01 4.59874923e-04 -3.33277492e+00] [ 1.76075000e-03 -4.54026404e-04 9.99998347e-01 -1.35325977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579928851 meters 0.10058186943178113 Centerline is valid? [False, False] Translation: X:35.94, Y:-3.33, Z:-1.35 [[ 9.99992885e-01 3.32861792e-03 -1.77514523e-03 3.59434052e+01] [-3.32779200e-03 9.99994353e-01 4.68023708e-04 -3.33307555e+00] [ 1.77669308e-03 -4.62113064e-04 9.99998315e-01 -1.35308781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60992885099999 meters 0.09558179058259056 Centerline is valid? [False, True] Translation: X:35.94, Y:-3.33, Z:-1.35 [[ 9.99992602e-01 3.36616575e-03 -1.86119849e-03 3.59435457e+01] [-3.36540604e-03 9.99994252e-01 4.11161403e-04 -3.33315572e+00] [ 1.86257183e-03 -4.04894673e-04 9.99998183e-01 -1.35299519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63992885099999 meters 0.09193104212106643 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.33, Z:-1.35 [[ 9.99989293e-01 4.33488782e-03 -1.61955369e-03 3.59730787e+01] [-4.33463596e-03 9.99990593e-01 1.58990757e-04 -3.32883097e+00] [ 1.62022766e-03 -1.51968879e-04 9.99998676e-01 -1.35182542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.669928850999995 meters 0.09486001233188086 Centerline is valid? [True, True] Translation: X:36.00, Y:-3.34, Z:-1.35 [[ 9.99983975e-01 5.32151921e-03 -1.93172040e-03 3.59999737e+01] [-5.32116321e-03 9.99985825e-01 1.89383278e-04 -3.33713318e+00] [ 1.93270083e-03 -1.79101243e-04 9.99998116e-01 -1.35355163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699928850999996 meters 0.09311507697687679 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.34, Z:-1.35 [[ 9.99975672e-01 6.29059559e-03 -3.01384752e-03 3.60295478e+01] [-6.28973186e-03 9.99980176e-01 2.95980850e-04 -3.33681748e+00] [ 3.01564967e-03 -2.77017357e-04 9.99995415e-01 -1.35426214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.729928851 meters 0.09409010338287534 Centerline is valid? [True, True] Translation: X:36.06, Y:-3.34, Z:-1.36 [[ 9.99976262e-01 6.44649685e-03 -2.43254417e-03 3.60584499e+01] [-6.44593610e-03 9.99979196e-01 2.38288322e-04 -3.34163798e+00] [ 2.43402969e-03 -2.22602642e-04 9.99997013e-01 -1.35523547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759928851 meters 0.0934904184979784 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.34, Z:-1.36 [[ 9.99974355e-01 6.19288271e-03 -3.59692562e-03 3.60874709e+01] [-6.19165107e-03 9.99980769e-01 3.53450145e-04 -3.34324006e+00] [ 3.59904532e-03 -3.31170172e-04 9.99993469e-01 -1.35576100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78992885099999 meters 0.0944295641785892 Centerline is valid? [True, True] Translation: X:36.11, Y:-3.35, Z:-1.36 [[ 9.99975456e-01 6.12126947e-03 -3.40845557e-03 3.61145278e+01] [-6.12016527e-03 9.99981216e-01 3.34295990e-04 -3.34789826e+00] [ 3.41043786e-03 -3.13427473e-04 9.99994135e-01 -1.35723629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81992885099999 meters 0.09162293867304713 Centerline is valid? [True, True] Translation: X:36.14, Y:-3.35, Z:-1.36 [[ 9.99975814e-01 5.72497615e-03 -3.94912943e-03 3.61438801e+01] [-5.72348975e-03 9.99983546e-01 3.87585513e-04 -3.34544568e+00] [ 3.95128336e-03 -3.64973337e-04 9.99992127e-01 -1.35620502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.849928850999994 meters 0.09691940043750497 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.36, Z:-1.36 [[ 9.99979260e-01 5.39400942e-03 -3.51905336e-03 3.61705764e+01] [-5.39282835e-03 9.99985399e-01 3.45024913e-04 -3.35817803e+00] [ 3.52086305e-03 -3.26040107e-04 9.99993749e-01 -1.35889301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879928850999995 meters 0.09785225505940442 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.36, Z:-1.36 [[ 9.99981915e-01 5.08351633e-03 -3.21364451e-03 3.61993868e+01] [-5.08253063e-03 9.99987034e-01 3.14814893e-04 -3.36260090e+00] [ 3.21520321e-03 -2.98475752e-04 9.99994787e-01 -1.35992691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.909928851 meters 0.09741337795677471 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.36, Z:-1.36 [[ 9.99983273e-01 4.97492168e-03 -2.95024671e-03 3.62283579e+01] [-4.97409135e-03 9.99987587e-01 2.88717002e-04 -3.36456610e+00] [ 2.95164643e-03 -2.74037376e-04 9.99995606e-01 -1.35980979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939928851 meters 0.09483445880866066 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.36, Z:-1.36 [[ 9.99984968e-01 4.38877557e-03 -3.28674161e-03 3.62579734e+01] [-4.38774224e-03 9.99990322e-01 3.21538064e-04 -3.36182665e+00] [ 3.28812096e-03 -3.07111856e-04 9.99994547e-01 -1.35889935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.969928851 meters 0.09180584433542928 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.36, Z:-1.36 [[ 9.99988024e-01 4.09302894e-03 -2.68318764e-03 3.62876559e+01] [-4.09234039e-03 9.99991592e-01 2.62055717e-04 -3.35842872e+00] [ 2.68423768e-03 -2.51072061e-04 9.99996366e-01 -1.35763915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99992885099999 meters 0.09658907529785857 Centerline is valid? [True, True] Translation: X:36.31, Y:-3.37, Z:-1.36 [[ 9.99988617e-01 3.92202057e-03 -2.71738911e-03 3.63140713e+01] [-3.92131512e-03 9.99992277e-01 2.64886187e-04 -3.36986329e+00] [ 2.71840701e-03 -2.54227432e-04 9.99996273e-01 -1.36057686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.029928850999994 meters 0.09429657377276134 Centerline is valid? [True, True] Translation: X:36.34, Y:-3.37, Z:-1.36 [[ 9.99990658e-01 3.44053058e-03 -2.61672290e-03 3.63430914e+01] [-3.43987453e-03 9.99994051e-01 2.55173895e-04 -3.36796142e+00] [ 2.61758527e-03 -2.46170313e-04 9.99996544e-01 -1.36039689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059928850999995 meters 0.09462504231667805 Centerline is valid? [True, True] Translation: X:36.37, Y:-3.37, Z:-1.36 [[ 9.99992247e-01 2.72582930e-03 -2.84185846e-03 3.63724422e+01] [-2.72505086e-03 9.99996248e-01 2.77756421e-04 -3.37147531e+00] [ 2.84260492e-03 -2.70010059e-04 9.99995923e-01 -1.36119703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.089928850999996 meters 0.09523360791135112 Centerline is valid? [True, True] Translation: X:36.40, Y:-3.37, Z:-1.36 [[ 9.99991543e-01 2.07020882e-03 -3.55351437e-03 3.64017740e+01] [-2.06898744e-03 9.99997799e-01 3.47352228e-04 -3.37482920e+00] [ 3.55422564e-03 -3.39997114e-04 9.99993626e-01 -1.36169275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119928851 meters 0.09747434740345247 Centerline is valid? [True, True] Translation: X:36.43, Y:-3.38, Z:-1.36 [[ 9.99996065e-01 8.09769497e-04 -2.68607222e-03 3.64295836e+01] [-8.09069634e-04 9.99999638e-01 2.61629042e-04 -3.38160740e+00] [ 2.68628310e-03 -2.59454793e-04 9.99996358e-01 -1.36294417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.149928851 meters 0.09820805382209576 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.39, Z:-1.36 [[ 9.99997005e-01 4.86406998e-04 -2.39869204e-03 3.64581713e+01] [-4.85848617e-04 9.99999855e-01 2.33362917e-04 -3.38599635e+00] [ 2.39880520e-03 -2.32196816e-04 9.99997096e-01 -1.36345638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17992885099999 meters 0.09218770158735351 Centerline is valid? [True, True] Translation: X:36.49, Y:-3.38, Z:-1.36 [[ 9.99997932e-01 -1.64015060e-04 -2.02722208e-03 3.64884097e+01] [ 1.64415113e-04 9.99999967e-01 1.97175673e-04 -3.37748928e+00] [ 2.02718968e-03 -1.97508571e-04 9.99997926e-01 -1.36121078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.209928850999994 meters 0.09441917177692417 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.38, Z:-1.36 [[ 9.99996772e-01 -7.25804269e-04 -2.43502100e-03 3.65168805e+01] [ 7.26384182e-04 9.99999708e-01 2.37279241e-04 -3.38430037e+00] [ 2.43484807e-03 -2.39047236e-04 9.99997007e-01 -1.36282703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239928850999995 meters 0.09465348300312107 Centerline is valid? [True, True] Translation: X:36.55, Y:-3.39, Z:-1.36 [[ 9.99994163e-01 -1.77674686e-03 -2.91840013e-03 3.65460600e+01] [ 1.77758440e-03 9.99998380e-01 2.84415443e-04 -3.38790077e+00] [ 2.91789007e-03 -2.89601485e-04 9.99995701e-01 -1.36448801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.269928850999996 meters 0.09465348300312107 Centerline is valid? [True, True] Translation: X:36.58, Y:-3.39, Z:-1.37 [[ 9.99994103e-01 -1.81025135e-03 -2.91840980e-03 3.65752223e+01] [ 1.81108874e-03 9.99998320e-01 2.84316360e-04 -3.39071270e+00] [ 2.91789021e-03 -2.89600183e-04 9.99995701e-01 -1.36504300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299928851 meters 0.09461803631959832 Centerline is valid? [True, True] Translation: X:36.61, Y:-3.39, Z:-1.37 [[ 9.99991635e-01 -2.87426593e-03 -2.91005893e-03 3.66051890e+01] [ 2.87510377e-03 9.99995827e-01 2.83768570e-04 -3.39342453e+00] [ 2.90923115e-03 -2.92132918e-04 9.99995726e-01 -1.36528414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.329928851 meters 0.09333937165280384 Centerline is valid? [True, True] Translation: X:36.64, Y:-3.39, Z:-1.37 [[ 9.99989472e-01 -3.01734365e-03 -3.45698088e-03 3.66361616e+01] [ 3.01852817e-03 9.99995387e-01 3.37480851e-04 -3.39454473e+00] [ 3.45594664e-03 -3.47912292e-04 9.99993968e-01 -1.36579333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35992885099999 meters 0.09533145336616003 Centerline is valid? [True, True] Translation: X:36.67, Y:-3.40, Z:-1.37 [[ 9.99987478e-01 -3.92156656e-03 -3.10888829e-03 3.66653543e+01] [ 3.92252771e-03 9.99992261e-01 3.03124616e-04 -3.40197366e+00] [ 3.10767551e-03 -3.15315521e-04 9.99995121e-01 -1.36638971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38992885099999 meters 0.09624563391215912 Centerline is valid? [True, True] Translation: X:36.70, Y:-3.41, Z:-1.37 [[ 9.99985914e-01 -4.31910117e-03 -3.08510663e-03 3.66957996e+01] [ 4.32005052e-03 9.99990623e-01 3.01124740e-04 -3.40669598e+00] [ 3.08377711e-03 -3.14448315e-04 9.99995196e-01 -1.36719540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419928850999995 meters 0.09924820592220689 Centerline is valid? [True, True] Translation: X:36.73, Y:-3.42, Z:-1.37 [[ 9.99982734e-01 -4.72073155e-03 -3.49934544e-03 3.67253869e+01] [ 4.72195909e-03 9.99988793e-01 3.42612273e-04 -3.41515191e+00] [ 3.49768884e-03 -3.59130124e-04 9.99993819e-01 -1.36917426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.449928850999996 meters 0.09615269581378982 Centerline is valid? [True, True] Translation: X:36.76, Y:-3.41, Z:-1.37 [[ 9.99975407e-01 -5.79282945e-03 -3.95331620e-03 3.67567633e+01] [ 5.79440199e-03 9.99983138e-01 3.86440022e-04 -3.41278923e+00] [ 3.95101095e-03 -4.09337622e-04 9.99992111e-01 -1.36813993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479928851 meters 0.10068419107016328 Centerline is valid? [True, False] Translation: X:36.76, Y:-3.41, Z:-1.37 [[ 9.99976736e-01 -5.55858756e-03 -3.95351228e-03 3.67569365e+01] [ 5.56189769e-03 9.99984191e-01 8.26761849e-04 -3.41376146e+00] [ 3.94885415e-03 -8.48731646e-04 9.99991843e-01 -1.36840248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.509928851 meters 0.09900152564415739 Centerline is valid? [False, True] Translation: X:36.76, Y:-3.41, Z:-1.37 [[ 9.99977924e-01 -5.26195493e-03 -4.05758770e-03 3.67575958e+01] [ 5.26680174e-03 9.99985428e-01 1.18474673e-03 -3.41415845e+00] [ 4.05129449e-03 -1.20609108e-03 9.99991066e-01 -1.36901395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53992885099999 meters 0.09945970313642202 Centerline is valid? [True, True] Translation: X:36.79, Y:-3.42, Z:-1.37 [[ 9.99975196e-01 -5.44055504e-03 -4.47294802e-03 3.67877079e+01] [ 5.44259917e-03 9.99985090e-01 4.44951371e-04 -3.41751772e+00] [ 4.47046055e-03 -4.69284798e-04 9.99989897e-01 -1.37051831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56992885099999 meters 0.09811651210066441 Centerline is valid? [True, True] Translation: X:36.82, Y:-3.42, Z:-1.37 [[ 9.99969674e-01 -5.05991062e-03 -5.92021361e-03 3.68180272e+01] [ 5.06348497e-03 9.99987007e-01 5.88919690e-04 -3.41697818e+00] [ 5.91715681e-03 -6.18878743e-04 9.99982302e-01 -1.37175410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599928850999994 meters 0.0978723191399884 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.42, Z:-1.37 [[ 9.99972546e-01 -4.17986397e-03 -6.11848679e-03 3.68476650e+01] [ 4.18366049e-03 9.99991064e-01 6.07831710e-04 -3.41914186e+00] [ 6.11589146e-03 -6.33412694e-04 9.99981097e-01 -1.37233775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.629928850999995 meters 0.09868466146501709 Centerline is valid? [True, True] Translation: X:36.88, Y:-3.42, Z:-1.37 [[ 9.99973000e-01 -3.90182440e-03 -6.22697273e-03 3.68758909e+01] [ 3.90574768e-03 9.99992182e-01 6.18009310e-04 -3.42274344e+00] [ 6.22451268e-03 -6.42313608e-04 9.99980421e-01 -1.37372610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659928851 meters 0.09943853902599041 Centerline is valid? [True, True] Translation: X:36.90, Y:-3.43, Z:-1.38 [[ 9.99974713e-01 -2.56217165e-03 -6.63385877e-03 3.69043251e+01] [ 2.56659541e-03 9.99996490e-01 6.58417978e-04 -3.42590800e+00] [ 6.63214850e-03 -6.75427760e-04 9.99977779e-01 -1.37555397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.689928851 meters 0.09889870390442408 Centerline is valid? [True, True] Translation: X:36.93, Y:-3.43, Z:-1.38 [[ 9.99972836e-01 -2.65558686e-03 -6.87573172e-03 3.69332658e+01] [ 2.66030654e-03 9.99996232e-01 6.77369957e-04 -3.42617613e+00] [ 6.87390700e-03 -6.95643111e-04 9.99976132e-01 -1.37664550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719928851 meters 0.10049834393027646 Centerline is valid? [True, False] Translation: X:36.93, Y:-3.43, Z:-1.38 [[ 9.99972044e-01 -2.73036696e-03 -6.96106628e-03 3.69335095e+01] [ 2.73383227e-03 9.99996144e-01 4.88346339e-04 -3.42531305e+00] [ 6.95970607e-03 -5.07363075e-04 9.99975652e-01 -1.37674283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74992885099999 meters 0.10079110390447865 Centerline is valid? [False, False] Translation: X:36.93, Y:-3.42, Z:-1.38 [[ 9.99971707e-01 -2.71003153e-03 -7.01712666e-03 3.69339062e+01] [ 2.71310777e-03 9.99996228e-01 4.28908266e-04 -3.42452791e+00] [ 7.01593784e-03 -4.47934352e-04 9.99975288e-01 -1.37714280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779928850999994 meters 0.09885737426243543 Centerline is valid? [False, True] Translation: X:36.93, Y:-3.42, Z:-1.38 [[ 9.99970331e-01 -2.97177867e-03 -7.10669648e-03 3.69339650e+01] [ 2.97111742e-03 9.99995581e-01 -1.03602293e-04 -3.42272476e+00] [ 7.10697296e-03 8.24843900e-05 9.99974742e-01 -1.37699566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.809928850999995 meters 0.09485634668417355 Centerline is valid? [True, True] Translation: X:36.96, Y:-3.42, Z:-1.38 [[ 9.99968506e-01 -3.10674096e-03 -7.30309541e-03 3.69631688e+01] [ 3.11198670e-03 9.99994908e-01 7.07036918e-04 -3.41770973e+00] [ 7.30086164e-03 -7.29741786e-04 9.99973082e-01 -1.37530440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839928850999996 meters 0.09985079940366963 Centerline is valid? [True, True] Translation: X:36.99, Y:-3.43, Z:-1.38 [[ 9.99974298e-01 -2.74606788e-03 -6.62289514e-03 3.69899363e+01] [ 2.75038553e-03 9.99996011e-01 6.42908601e-04 -3.42894840e+00] [ 6.62110325e-03 -6.61107592e-04 9.99977862e-01 -1.37797115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.869928851 meters 0.0952261845227212 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.42, Z:-1.38 [[ 9.99971372e-01 -2.95619400e-03 -6.96538962e-03 3.70190908e+01] [ 2.96094521e-03 9.99995391e-01 6.71902517e-04 -3.42225926e+00] [ 6.96337124e-03 -6.92507419e-04 9.99975516e-01 -1.37696771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899928851 meters 0.09422046787013724 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.42, Z:-1.38 [[ 9.99971440e-01 -3.64895917e-03 -6.61844627e-03 3.70481471e+01] [ 3.65325178e-03 9.99993124e-01 6.36609240e-04 -3.42213596e+00] [ 6.61607780e-03 -6.60769910e-04 9.99977895e-01 -1.37664737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92992885099999 meters 0.09761242890829035 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.43, Z:-1.38 [[ 9.99965222e-01 -4.41508236e-03 -7.07547910e-03 3.70755242e+01] [ 4.41999788e-03 9.99990001e-01 6.79239520e-04 -3.43026107e+00] [ 7.07240946e-03 -7.10489500e-04 9.99974738e-01 -1.37872887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959928850999994 meters 0.0954451558290824 Centerline is valid? [True, True] Translation: X:37.10, Y:-3.43, Z:-1.38 [[ 9.99959633e-01 -5.43799966e-03 -7.15272231e-03 3.71042354e+01] [ 5.44303684e-03 9.99984952e-01 6.84954436e-04 -3.42889651e+00] [ 7.14888990e-03 -7.23859317e-04 9.99974184e-01 -1.37898904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.989928850999995 meters 0.09770775147505384 Centerline is valid? [True, True] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99939629e-01 -7.70348734e-03 -7.83551105e-03 3.71341387e+01] [ 7.70963586e-03 9.99969995e-01 7.54797193e-04 -3.43587088e+00] [ 7.82946138e-03 -8.15160562e-04 9.99969017e-01 -1.38122041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019928850999996 meters 0.10243759925969055 Centerline is valid? [True, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99941179e-01 -7.62796427e-03 -7.71051338e-03 3.71340812e+01] [ 7.63604445e-03 9.99970326e-01 1.01904726e-03 -3.43648749e+00] [ 7.70251132e-03 -1.07786514e-03 9.99969754e-01 -1.38152077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.049928851 meters 0.10184297379969318 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99942607e-01 -7.54779623e-03 -7.60351241e-03 3.71340352e+01] [ 7.55776830e-03 9.99970616e-01 1.28362847e-03 -3.43709339e+00] [ 7.59360042e-03 -1.34102039e-03 9.99970269e-01 -1.38176787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079928851 meters 0.10616948498230062 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99945239e-01 -7.57722867e-03 -7.21840111e-03 3.71333339e+01] [ 7.58985567e-03 9.99969711e-01 1.72349347e-03 -3.43845458e+00] [ 7.20512317e-03 -1.77818571e-03 9.99972462e-01 -1.38189765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10992885099999 meters 0.10102220245627971 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99945345e-01 -7.78568946e-03 -6.97775661e-03 3.71327173e+01] [ 7.79748294e-03 9.99968214e-01 1.66454432e-03 -3.43871929e+00] [ 6.96457519e-03 -1.71886228e-03 9.99974270e-01 -1.38171681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13992885099999 meters 0.10406976597645673 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99947237e-01 -7.57332483e-03 -6.94032771e-03 3.71329309e+01] [ 7.58774618e-03 9.99969103e-01 2.05393566e-03 -3.43944005e+00] [ 6.92455816e-03 -2.10648873e-03 9.99973806e-01 -1.38213914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.169928850999995 meters 0.10269415718712571 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99947749e-01 -7.75686260e-03 -6.65813841e-03 3.71321912e+01] [ 7.77084849e-03 9.99967649e-01 2.07727749e-03 -3.44009379e+00] [ 6.64180986e-03 -2.12890834e-03 9.99975677e-01 -1.38190445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199928850999996 meters 0.10768709926654045 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99949219e-01 -7.55644144e-03 -6.66777712e-03 3.71325558e+01] [ 7.57230433e-03 9.99968552e-01 2.35700774e-03 -3.44040214e+00] [ 6.64975684e-03 -2.40737849e-03 9.99974992e-01 -1.38238036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.229928851 meters 0.10463397672594173 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99948808e-01 -7.67647392e-03 -6.59191288e-03 3.71323343e+01] [ 7.69146335e-03 9.99967885e-01 2.25157926e-03 -3.44020775e+00] [ 6.57441699e-03 -2.30216546e-03 9.99975738e-01 -1.38229886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259928851 meters 0.10119542206581829 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99947179e-01 -7.77516065e-03 -6.72201383e-03 3.71325268e+01] [ 7.78882262e-03 9.99967649e-01 2.00863803e-03 -3.43923520e+00] [ 6.70617889e-03 -2.06088850e-03 9.99975390e-01 -1.38225058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28992885099999 meters 0.10785070069088572 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99945710e-01 -7.86758996e-03 -6.83220781e-03 3.71326413e+01] [ 7.87985231e-03 9.99967387e-01 1.76972404e-03 -3.43860745e+00] [ 6.81806154e-03 -1.82346475e-03 9.99975094e-01 -1.38207574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31992885099999 meters 0.1018833190534557 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99946507e-01 -7.48121465e-03 -7.14250492e-03 3.71336439e+01] [ 7.49620902e-03 9.99969750e-01 2.07485641e-03 -3.43873332e+00] [ 7.12676642e-03 -2.12828713e-03 9.99972339e-01 -1.38255160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.349928850999994 meters 0.10155720738368405 Centerline is valid? [False, False] Translation: X:37.13, Y:-3.44, Z:-1.38 [[ 9.99946211e-01 -7.32594635e-03 -7.34203673e-03 3.71342428e+01] [ 7.34179856e-03 9.99970771e-01 2.13448012e-03 -3.43835046e+00] [ 7.32618504e-03 -2.18826906e-03 9.99970769e-01 -1.38284667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379928850999995 meters 0.10210706671624425 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.44, Z:-1.38 [[ 9.99945848e-01 -6.82496451e-03 -7.85627516e-03 3.71357018e+01] [ 6.84398543e-03 9.99973707e-01 2.39677824e-03 -3.43802498e+00] [ 7.83971067e-03 -2.45041668e-03 9.99966267e-01 -1.38344733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.409928851 meters 0.10269639177217162 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.44, Z:-1.38 [[ 9.99945230e-01 -6.81372010e-03 -7.94414259e-03 3.71359327e+01] [ 6.83231120e-03 9.99973979e-01 2.31544174e-03 -3.43764542e+00] [ 7.92815910e-03 -2.36959178e-03 9.99965764e-01 -1.38353309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439928851 meters 0.10032857335913484 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.44, Z:-1.38 [[ 9.99944880e-01 -6.82268396e-03 -7.98043640e-03 3.71359282e+01] [ 6.84086124e-03 9.99974064e-01 2.25265429e-03 -3.43753229e+00] [ 7.96486027e-03 -2.30712318e-03 9.99965619e-01 -1.38342797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46992885099999 meters 0.09920316546525629 Centerline is valid? [False, True] Translation: X:37.14, Y:-3.44, Z:-1.38 [[ 9.99945458e-01 -6.46859052e-03 -8.19991970e-03 3.71367009e+01] [ 6.48992287e-03 9.99975618e-01 2.57759740e-03 -3.43777766e+00] [ 8.18304635e-03 -2.63067366e-03 9.99963058e-01 -1.38387377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49992885099999 meters 0.09823815840717502 Centerline is valid? [True, True] Translation: X:37.17, Y:-3.44, Z:-1.38 [[ 9.99944791e-01 -5.86205186e-03 -8.72078453e-03 3.71662793e+01] [ 5.86972704e-03 9.99982408e-01 8.54766455e-04 -3.43804619e+00] [ 8.71562043e-03 -9.05907889e-04 9.99961608e-01 -1.38281139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.529928850999994 meters 0.10178642661333581 Centerline is valid? [True, False] Translation: X:37.17, Y:-3.44, Z:-1.38 [[ 9.99945190e-01 -5.67039166e-03 -8.80130602e-03 3.71666703e+01] [ 5.68019121e-03 9.99983275e-01 1.08882282e-03 -3.43836499e+00] [ 8.79498477e-03 -1.13875625e-03 9.99960675e-01 -1.38311693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559928850999995 meters 0.10041649479525706 Centerline is valid? [False, False] Translation: X:37.17, Y:-3.44, Z:-1.38 [[ 9.99946593e-01 -5.25631888e-03 -8.89849179e-03 3.71673968e+01] [ 5.27142231e-03 9.99984704e-01 1.67469974e-03 -3.43924361e+00] [ 8.88955292e-03 -1.72151800e-03 9.99959005e-01 -1.38387799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.589928850999996 meters 0.09637924265724347 Centerline is valid? [False, True] Translation: X:37.17, Y:-3.44, Z:-1.38 [[ 9.99947586e-01 -5.23732117e-03 -8.79746283e-03 3.71672715e+01] [ 5.25339731e-03 9.99984571e-01 1.80524639e-03 -3.43964574e+00] [ 8.78787244e-03 -1.85136833e-03 9.99959672e-01 -1.38399437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619928851 meters 0.09650479560815095 Centerline is valid? [True, True] Translation: X:37.20, Y:-3.44, Z:-1.38 [[ 9.99940048e-01 -5.94865147e-03 -9.19315593e-03 3.71959453e+01] [ 5.95714745e-03 9.99981854e-01 8.97056812e-04 -3.44223466e+00] [ 9.18765283e-03 -9.51768017e-04 9.99957340e-01 -1.38345612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.649928851 meters 0.10145728930568762 Centerline is valid? [True, False] Translation: X:37.20, Y:-3.44, Z:-1.38 [[ 9.99941442e-01 -5.67971904e-03 -9.21156125e-03 3.71962824e+01] [ 5.69185159e-03 9.99982967e-01 1.29141898e-03 -3.44302604e+00] [ 9.20406946e-03 -1.34377420e-03 9.99956739e-01 -1.38385649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67992885099999 meters 0.1038733106030295 Centerline is valid? [False, False] Translation: X:37.20, Y:-3.44, Z:-1.38 [[ 9.99943549e-01 -5.70911815e-03 -8.96124235e-03 3.71957419e+01] [ 5.72323806e-03 9.99982420e-01 1.55081207e-03 -3.44412851e+00] [ 8.95223104e-03 -1.60201184e-03 9.99958645e-01 -1.38382043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.709928850999994 meters 0.10307712105061657 Centerline is valid? [False, False] Translation: X:37.20, Y:-3.44, Z:-1.38 [[ 9.99944474e-01 -5.74092651e-03 -8.83684738e-03 3.71954613e+01] [ 5.75561363e-03 9.99982096e-01 1.63749854e-03 -3.44465047e+00] [ 8.82728841e-03 -1.68826910e-03 9.99959614e-01 -1.38377344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739928850999995 meters 0.10658365583543036 Centerline is valid? [False, False] Translation: X:37.20, Y:-3.45, Z:-1.38 [[ 9.99946643e-01 -5.60434091e-03 -8.67767763e-03 3.71954862e+01] [ 5.62184922e-03 9.99982208e-01 1.99455059e-03 -3.44537757e+00] [ 8.66634509e-03 -2.04322876e-03 9.99960359e-01 -1.38428406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.769928850999996 meters 0.09966562590896014 Centerline is valid? [False, True] Translation: X:37.20, Y:-3.45, Z:-1.38 [[ 9.99947917e-01 -5.59762707e-03 -8.53402797e-03 3.71953021e+01] [ 5.61632302e-03 9.99981877e-01 2.16836344e-03 -3.44591954e+00] [ 8.52173562e-03 -2.21618037e-03 9.99961234e-01 -1.38444506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799928851 meters 0.10096811959481529 Centerline is valid? [True, False] Translation: X:37.19, Y:-3.45, Z:-1.38 [[ 9.99948418e-01 -5.91604295e-03 -8.25603749e-03 3.71943958e+01] [ 5.93287084e-03 9.99980370e-01 2.01525183e-03 -3.44603441e+00] [ 8.24395310e-03 -2.06412988e-03 9.99963888e-01 -1.38400137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.829928851 meters 0.10083737922935344 Centerline is valid? [False, False] Translation: X:37.19, Y:-3.45, Z:-1.38 [[ 9.99949371e-01 -5.97756942e-03 -8.09473823e-03 3.71940446e+01] [ 5.99454359e-03 9.99979881e-01 2.07430207e-03 -3.44634084e+00] [ 8.08217609e-03 -2.12272131e-03 9.99965086e-01 -1.38397045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85992885099999 meters 0.10068481522740132 Centerline is valid? [False, False] Translation: X:37.19, Y:-3.45, Z:-1.38 [[ 9.99951275e-01 -5.79911368e-03 -7.98861400e-03 3.71941527e+01] [ 5.81880936e-03 9.99980083e-01 2.44443717e-03 -3.44700605e+00] [ 7.97427932e-03 -2.49080229e-03 9.99965103e-01 -1.38444556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88992885099999 meters 0.10500629190276346 Centerline is valid? [False, False] Translation: X:37.19, Y:-3.45, Z:-1.38 [[ 9.99952544e-01 -5.86622401e-03 -7.77801394e-03 3.71936519e+01] [ 5.88621956e-03 9.99979424e-01 2.55038320e-03 -3.44773257e+00] [ 7.76289278e-03 -2.59604526e-03 9.99966498e-01 -1.38433816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919928850999995 meters 0.10430665909546233 Centerline is valid? [False, False] Translation: X:37.19, Y:-3.45, Z:-1.38 [[ 9.99952995e-01 -5.95451727e-03 -7.65189905e-03 3.71933751e+01] [ 5.97412929e-03 9.99978922e-01 2.54273013e-03 -3.44780074e+00] [ 7.63659704e-03 -2.58832404e-03 9.99967491e-01 -1.38433784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.949928850999996 meters 0.1045024053344258 Centerline is valid? [False, False] Translation: X:37.19, Y:-3.45, Z:-1.38 [[ 9.99953505e-01 -5.83271740e-03 -7.67906132e-03 3.71937464e+01] [ 5.85375889e-03 9.99979166e-01 2.72049335e-03 -3.44772743e+00] [ 7.66303346e-03 -2.76531823e-03 9.99966815e-01 -1.38481652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979928851 meters 0.10567931112957607 Centerline is valid? [False, False] Translation: X:37.19, Y:-3.45, Z:-1.39 [[ 9.99953642e-01 -5.84639691e-03 -7.65077681e-03 3.71938649e+01] [ 5.86734436e-03 9.99979092e-01 2.71837559e-03 -3.44745176e+00] [ 7.63472414e-03 -2.76313931e-03 9.99967037e-01 -1.38506890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.009928851 meters 0.10779766310757236 Centerline is valid? [False, False] Translation: X:37.19, Y:-3.45, Z:-1.39 [[ 9.99953896e-01 -5.78901388e-03 -7.66119129e-03 3.71939608e+01] [ 5.81049259e-03 9.99979243e-01 2.78429059e-03 -3.44756005e+00] [ 7.64491397e-03 -2.82867751e-03 9.99966776e-01 -1.38515506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03992885099999 meters 0.10795178496657991 Centerline is valid? [False, False] Translation: X:37.19, Y:-3.45, Z:-1.39 [[ 9.99954549e-01 -5.74432025e-03 -7.60931808e-03 3.71938441e+01] [ 5.76670990e-03 9.99979098e-01 2.92373253e-03 -3.44814844e+00] [ 7.59236418e-03 -2.96748037e-03 9.99966774e-01 -1.38511750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06992885099999 meters 0.10898130176513769 Centerline is valid? [False, False] Translation: X:37.18, Y:-3.45, Z:-1.39 [[ 9.99999507e-01 -9.61017290e-04 2.48048536e-04 3.71837496e+01] [ 9.60877696e-04 9.99999380e-01 5.62275798e-04 -3.44986811e+00] [-2.48588739e-04 -5.62037176e-04 9.99999811e-01 -1.38983259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099928850999994 meters 0.10221269565096071 Centerline is valid? [False, False] Translation: X:37.18, Y:-3.45, Z:-1.39 [[ 9.99999827e-01 -5.79541255e-04 9.92165951e-05 3.71845082e+01] [ 5.79437028e-04 9.99999284e-01 1.04733029e-03 -3.45052659e+00] [-9.98234952e-05 -1.04727262e-03 9.99999447e-01 -1.39048201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.129928850999995 meters 0.11071738177260651 Centerline is valid? [False, False] Translation: X:37.18, Y:-3.45, Z:-1.39 [[ 9.99999728e-01 -7.36294512e-04 -3.78482978e-05 3.71844742e+01] [ 7.36319896e-04 9.99999501e-01 6.75091926e-04 -3.44978963e+00] [ 3.73512124e-05 -6.75119611e-04 9.99999771e-01 -1.38997318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159928851 meters 0.1105139095281163 Centerline is valid? [False, False] Translation: X:37.18, Y:-3.45, Z:-1.39 [[ 9.99999695e-01 -7.59394404e-04 -1.80929852e-04 3.71846053e+01] [ 7.59494044e-04 9.99999560e-01 5.51276880e-04 -3.44944710e+00] [ 1.80511136e-04 -5.51414127e-04 9.99999832e-01 -1.38973450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.189928851 meters 0.1105139095281163 Centerline is valid? [False, False] Translation: X:37.18, Y:-3.45, Z:-1.39 [[ 9.99999695e-01 -7.59394404e-04 -1.80929852e-04 3.71846053e+01] [ 7.59494044e-04 9.99999560e-01 5.51276880e-04 -3.44944710e+00] [ 1.80511136e-04 -5.51414127e-04 9.99999832e-01 -1.38973450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21992885099999 meters 0.10197751213316887 Centerline is valid? [False, False] Translation: X:37.19, Y:-3.45, Z:-1.39 [[ 9.99999828e-01 -4.57025171e-04 -3.68949714e-04 3.71852976e+01] [ 4.57328531e-04 9.99999557e-01 8.22559030e-04 -3.44980717e+00] [ 3.68573620e-04 -8.22727620e-04 9.99999594e-01 -1.39012197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24992885099999 meters 0.0986649668453854 Centerline is valid? [False, True] Translation: X:37.19, Y:-3.45, Z:-1.39 [[ 9.99999832e-01 -3.26920325e-04 -4.77644540e-04 3.71855023e+01] [ 3.27352759e-04 9.99999536e-01 9.05550233e-04 -3.45028980e+00] [ 4.77348276e-04 -9.05706440e-04 9.99999476e-01 -1.39007135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279928850999994 meters 0.09849658272058899 Centerline is valid? [True, True] Translation: X:37.22, Y:-3.45, Z:-1.39 [[ 9.99999422e-01 5.41987741e-04 -9.29092557e-04 3.72158760e+01] [-5.41892798e-04 9.99999848e-01 1.02437674e-04 -3.45350770e+00] [ 9.29147935e-04 -1.01934147e-04 9.99999563e-01 -1.39066083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.309928850999995 meters 0.10246081838619313 Centerline is valid? [True, False] Translation: X:37.22, Y:-3.45, Z:-1.39 [[ 9.99999423e-01 5.14149738e-04 -9.42744284e-04 3.72157550e+01] [-5.14093250e-04 9.99999866e-01 6.01604232e-05 -3.45368184e+00] [ 9.42775089e-04 -5.96757300e-05 9.99999554e-01 -1.39043060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339928850999996 meters 0.10399980266644014 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.45, Z:-1.39 [[ 9.99999271e-01 6.60970508e-04 -1.01096060e-03 3.72161795e+01] [-6.60738341e-04 9.99999755e-01 2.29966653e-04 -3.45370451e+00] [ 1.01111235e-03 -2.29298504e-04 9.99999463e-01 -1.39082050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.369928851 meters 0.10110386081912072 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.45, Z:-1.39 [[ 9.99999372e-01 5.71453256e-04 -9.63833820e-04 3.72157867e+01] [-5.71288379e-04 9.99999822e-01 1.71329945e-04 -3.45412812e+00] [ 9.63931556e-04 -1.70779210e-04 9.99999521e-01 -1.39035466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399928851 meters 0.10430649306027845 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.46, Z:-1.39 [[ 9.99998890e-01 1.02565236e-03 -1.08071878e-03 3.72164256e+01] [-1.02478165e-03 9.99999150e-01 8.05928508e-04 -3.45545899e+00] [ 1.08154446e-03 -8.04820113e-04 9.99999091e-01 -1.39088703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42992885099999 meters 0.10156935602726638 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.46, Z:-1.39 [[ 9.99998909e-01 1.09055352e-03 -9.96231104e-04 3.72161504e+01] [-1.08954950e-03 9.99998899e-01 1.00780274e-03 -3.45641689e+00] [ 9.97329069e-04 -1.00671619e-03 9.99998996e-01 -1.39073123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459928850999994 meters 0.10619313815956775 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.46, Z:-1.39 [[ 9.99998694e-01 1.30773623e-03 -9.49882942e-04 3.72162847e+01] [-1.30640502e-03 9.99998166e-01 1.40071337e-03 -3.45740007e+00] [ 9.51712963e-04 -1.39947060e-03 9.99998568e-01 -1.39105461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.489928850999995 meters 0.10186785683114673 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.46, Z:-1.39 [[ 9.99998934e-01 1.24034264e-03 -7.70483230e-04 3.72156404e+01] [-1.23913260e-03 9.99998001e-01 1.56900146e-03 -3.45858470e+00] [ 7.72427789e-04 -1.56804506e-03 9.99998472e-01 -1.39063892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519928850999996 meters 0.10148462765903743 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.46, Z:-1.39 [[ 9.99998698e-01 1.39902579e-03 -8.03815140e-04 3.72158857e+01] [-1.39755797e-03 9.99997360e-01 1.82372986e-03 -3.45907710e+00] [ 8.06364464e-04 -1.82260411e-03 9.99998014e-01 -1.39087285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.549928851 meters 0.1071072881699261 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.46, Z:-1.39 [[ 9.99999094e-01 1.15231133e-03 -6.95218057e-04 3.72151592e+01] [-1.15122237e-03 9.99998113e-01 1.56472703e-03 -3.45920902e+00] [ 6.97019798e-04 -1.56392526e-03 9.99998534e-01 -1.39012511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579928851 meters 0.10247748177205598 Centerline is valid? [False, False] Translation: X:37.21, Y:-3.46, Z:-1.39 [[ 9.99999443e-01 1.01538175e-03 -2.89293044e-04 3.72137370e+01] [-1.01485198e-03 9.99997819e-01 1.82557955e-03 -3.46157110e+00] [ 2.91146073e-04 -1.82528495e-03 9.99998292e-01 -1.38919957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60992885099999 meters 0.1044759289165213 Centerline is valid? [False, False] Translation: X:37.21, Y:-3.46, Z:-1.39 [[ 9.99999388e-01 1.09373701e-03 -1.66451637e-04 3.72133081e+01] [-1.09338349e-03 9.99997178e-01 2.10934804e-03 -3.46300038e+00] [ 1.68758240e-04 -2.10916475e-03 9.99997761e-01 -1.38892447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63992885099999 meters 0.10514386443899285 Centerline is valid? [False, False] Translation: X:37.21, Y:-3.46, Z:-1.39 [[ 9.99999478e-01 1.02122945e-03 2.91165264e-05 3.72127689e+01] [-1.02129117e-03 9.99997047e-01 2.20503490e-03 -3.46378893e+00] [-2.68645939e-05 -2.20506348e-03 9.99997568e-01 -1.38872539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.669928850999995 meters 0.105963083404942 Centerline is valid? [False, False] Translation: X:37.21, Y:-3.46, Z:-1.39 [[ 9.99999538e-01 9.53668492e-04 1.20542820e-04 3.72124594e+01] [-9.53929507e-04 9.99997160e-01 2.18414336e-03 -3.46414545e+00] [-1.18459529e-04 -2.18425734e-03 9.99997607e-01 -1.38850494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699928850999996 meters 0.10355435441913653 Centerline is valid? [False, False] Translation: X:37.21, Y:-3.46, Z:-1.39 [[ 9.99996193e-01 -2.71688500e-03 -4.82573523e-04 3.72141564e+01] [ 2.71611868e-03 9.99995061e-01 -1.58161338e-03 -3.46431023e+00] [ 4.86868201e-04 1.58029663e-03 9.99998633e-01 -1.38911143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.729928851 meters 0.1055445144373886 Centerline is valid? [False, False] Translation: X:37.21, Y:-3.47, Z:-1.39 [[ 9.99996547e-01 -2.60537094e-03 -3.42481363e-04 3.72138182e+01] [ 2.60494223e-03 9.99995830e-01 -1.24633168e-03 -3.46564741e+00] [ 3.45727092e-04 1.24543524e-03 9.99999165e-01 -1.38901939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759928851 meters 0.10995634744111539 Centerline is valid? [False, False] Translation: X:37.21, Y:-3.47, Z:-1.39 [[ 9.99997836e-01 -2.04014386e-03 -4.08393154e-04 3.72143360e+01] [ 2.03998330e-03 9.99997842e-01 -3.93176584e-04 -3.46777053e+00] [ 4.09194409e-04 3.92342618e-04 9.99999839e-01 -1.38954546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78992885099999 meters 0.10700726252922887 Centerline is valid? [False, False] Translation: X:37.21, Y:-3.47, Z:-1.39 [[ 9.99998446e-01 -1.71680882e-03 -4.01779742e-04 3.72142534e+01] [ 1.71689896e-03 9.99998501e-01 2.24127798e-04 -3.46993387e+00] [ 4.01394355e-04 -2.24817265e-04 9.99999894e-01 -1.38943729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81992885099999 meters 0.10852788677016037 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.47, Z:-1.39 [[ 9.99998896e-01 -1.31727063e-03 -6.87043644e-04 3.72151602e+01] [ 1.31767492e-03 9.99998959e-01 5.88331334e-04 -3.47046614e+00] [ 6.86267937e-04 -5.89235985e-04 9.99999591e-01 -1.38984853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.849928850999994 meters 0.11378777499836996 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.47, Z:-1.39 [[ 9.99998942e-01 -1.13722329e-03 -9.07236029e-04 3.72156741e+01] [ 1.13782236e-03 9.99999135e-01 6.60079205e-04 -3.47056625e+00] [ 9.06484586e-04 -6.61110780e-04 9.99999371e-01 -1.38988069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879928850999995 meters 0.10315708046647042 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.47, Z:-1.39 [[ 9.99998754e-01 -9.17581108e-04 -1.28437421e-03 3.72163602e+01] [ 9.18406809e-04 9.99999372e-01 6.42440139e-04 -3.47014080e+00] [ 1.28378391e-03 -6.43618917e-04 9.99998969e-01 -1.38970708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.909928851 meters 0.1019284253235255 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.47, Z:-1.39 [[ 9.99998583e-01 -9.81843996e-04 -1.36774462e-03 3.72163080e+01] [ 9.82470985e-04 9.99999413e-01 4.57814575e-04 -3.47004281e+00] [ 1.36729431e-03 -4.59157695e-04 9.99998960e-01 -1.38934573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939928851 meters 0.10281984172264681 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.47, Z:-1.39 [[ 9.99998422e-01 -9.05985472e-04 -1.52786675e-03 3.72164792e+01] [ 9.06638264e-04 9.99999498e-01 4.26618628e-04 -3.47023750e+00] [ 1.52747948e-03 -4.28003177e-04 9.99998742e-01 -1.38909601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96992885099999 meters 0.10724327171749705 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.47, Z:-1.39 [[ 9.99998227e-01 -5.10711044e-04 -1.81242897e-03 3.72174219e+01] [ 5.12096192e-04 9.99999577e-01 7.63867921e-04 -3.47069579e+00] [ 1.81203809e-03 -7.64794705e-04 9.99998066e-01 -1.38956909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99992885099999 meters 0.10275189105034266 Centerline is valid? [False, False] Translation: X:37.22, Y:-3.47, Z:-1.39 [[ 9.99997514e-01 -4.87216109e-04 -2.17592170e-03 3.72178199e+01] [ 4.88218457e-04 9.99999775e-01 4.60147173e-04 -3.46997320e+00] [ 2.17569702e-03 -4.61208354e-04 9.99997527e-01 -1.38908792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.029928850999994 meters 0.09584707312762292 Centerline is valid? [False, True] Translation: X:37.22, Y:-3.47, Z:-1.39 [[ 9.99997106e-01 -3.61044818e-04 -2.37848237e-03 3.72183215e+01] [ 3.62116484e-04 9.99999833e-01 4.50152212e-04 -3.46970624e+00] [ 2.37831945e-03 -4.51012197e-04 9.99997070e-01 -1.38917973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059928850999995 meters 0.09675079331584618 Centerline is valid? [True, True] Translation: X:37.25, Y:-3.47, Z:-1.39 [[ 9.99995676e-01 9.26607384e-04 -2.79101593e-03 3.72473716e+01] [-9.25774860e-04 9.99999527e-01 2.99564495e-04 -3.47381465e+00] [ 2.79129219e-03 -2.96979347e-04 9.99996060e-01 -1.38979849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.089928850999996 meters 0.10202875035877737 Centerline is valid? [True, False] Translation: X:37.25, Y:-3.47, Z:-1.39 [[ 9.99994999e-01 9.41628002e-04 -3.01927793e-03 3.72476476e+01] [-9.41354541e-04 9.99999553e-01 9.19913879e-05 -3.47353454e+00] [ 3.01936320e-03 -8.91487168e-05 9.99995438e-01 -1.38949903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119928851 meters 0.09463961073538164 Centerline is valid? [False, True] Translation: X:37.25, Y:-3.47, Z:-1.39 [[ 9.99994964e-01 1.04734732e-03 -2.99590483e-03 3.72477865e+01] [-1.04649672e-03 9.99999412e-01 2.85476236e-04 -3.47397811e+00] [ 2.99620207e-03 -2.82339593e-04 9.99995472e-01 -1.38978517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14992885099999 meters 0.09432008175217314 Centerline is valid? [True, True] Translation: X:37.28, Y:-3.48, Z:-1.39 [[ 9.99990967e-01 1.53716266e-03 -3.96262851e-03 3.72762075e+01] [-1.53553455e-03 9.99998735e-01 4.13875256e-04 -3.47714380e+00] [ 3.96325970e-03 -4.07786765e-04 9.99992063e-01 -1.39181571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17992885099999 meters 0.0956862291215632 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.48, Z:-1.39 [[ 9.99987008e-01 1.13036745e-03 -4.97051000e-03 3.73043092e+01] [-1.12779999e-03 9.99999229e-01 5.19309340e-04 -3.48289687e+00] [ 4.97109318e-03 -5.13696852e-04 9.99987512e-01 -1.39358797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.209928850999994 meters 0.09308377628037826 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.48, Z:-1.39 [[ 9.99983957e-01 7.11417742e-04 -5.61962504e-03 3.73330552e+01] [-7.08133742e-04 9.99999577e-01 5.86348642e-04 -3.48113698e+00] [ 5.62003980e-03 -5.82359789e-04 9.99984038e-01 -1.39185885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239928850999995 meters 0.09757153092684524 Centerline is valid? [True, True] Translation: X:37.36, Y:-3.49, Z:-1.39 [[ 9.99985132e-01 4.73596927e-04 -5.43249976e-03 3.73595505e+01] [-4.70529368e-04 9.99999729e-01 5.65932195e-04 -3.49245146e+00] [ 5.43276632e-03 -5.63367630e-04 9.99985084e-01 -1.39473138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.269928850999996 meters 0.0940273208778454 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.49, Z:-1.39 [[ 9.99984554e-01 7.91139171e-04 -5.50138627e-03 3.73892967e+01] [-7.88023436e-04 9.99999528e-01 5.68498988e-04 -3.48938544e+00] [ 5.50183344e-03 -5.64154985e-04 9.99984706e-01 -1.39315212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299928851 meters 0.0941678862628216 Centerline is valid? [True, True] Translation: X:37.42, Y:-3.49, Z:-1.39 [[ 9.99989089e-01 5.24375420e-05 -4.67104292e-03 3.74180144e+01] [-5.01694559e-05 9.99999881e-01 4.85678947e-04 -3.49408790e+00] [ 4.67106783e-03 -4.85439304e-04 9.99988973e-01 -1.39316718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.329928851 meters 0.09471934045373552 Centerline is valid? [True, True] Translation: X:37.45, Y:-3.50, Z:-1.39 [[ 9.99987212e-01 -6.66801733e-04 -5.01302390e-03 3.74470244e+01] [ 6.69427586e-04 9.99999640e-01 5.22146549e-04 -3.49881919e+00] [ 5.01267392e-03 -5.25495729e-04 9.99987298e-01 -1.39401022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35992885099999 meters 0.10240955826527268 Centerline is valid? [True, False] Translation: X:37.45, Y:-3.50, Z:-1.39 [[ 9.99987321e-01 -4.76687588e-04 -5.01308929e-03 3.74472574e+01] [ 4.81160181e-04 9.99999487e-01 8.91014920e-04 -3.49944198e+00] [ 5.01266199e-03 -8.93415721e-04 9.99987037e-01 -1.39435320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38992885099999 meters 0.09756169302525847 Centerline is valid? [False, True] Translation: X:37.45, Y:-3.50, Z:-1.39 [[ 9.99988582e-01 -5.76788528e-04 -4.74383397e-03 3.74464323e+01] [ 5.81532508e-04 9.99999332e-01 9.98712345e-04 -3.50055796e+00] [ 4.74325476e-03 -1.00145963e-03 9.99988249e-01 -1.39392631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419928850999995 meters 0.10283249931164298 Centerline is valid? [True, False] Translation: X:37.45, Y:-3.50, Z:-1.39 [[ 9.99989077e-01 -6.37873341e-04 -4.63012912e-03 3.74461009e+01] [ 6.42597119e-04 9.99999275e-01 1.01880993e-03 -3.50098015e+00] [ 4.62947589e-03 -1.02177411e-03 9.99988762e-01 -1.39377621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.449928850999996 meters 0.09888899034238353 Centerline is valid? [False, True] Translation: X:37.45, Y:-3.50, Z:-1.39 [[ 9.99989174e-01 -4.13740345e-04 -4.63475642e-03 3.74464692e+01] [ 4.20059994e-04 9.99998983e-01 1.36264385e-03 -3.50152450e+00] [ 4.63418792e-03 -1.36457598e-03 9.99988331e-01 -1.39427258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479928851 meters 0.0944231425474631 Centerline is valid? [True, True] Translation: X:37.48, Y:-3.50, Z:-1.39 [[ 9.99982353e-01 -8.62015177e-04 -5.87802160e-03 3.74766183e+01] [ 8.65682680e-04 9.99999432e-01 6.21419280e-04 -3.49626192e+00] [ 5.87748259e-03 -6.26496815e-04 9.99982531e-01 -1.39198989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.509928851 meters 0.10455287004808543 Centerline is valid? [True, False] Translation: X:37.48, Y:-3.50, Z:-1.39 [[ 9.99982542e-01 -6.27156331e-04 -5.87561374e-03 3.74770018e+01] [ 6.32949706e-04 9.99999315e-01 9.84195822e-04 -3.49679252e+00] [ 5.87499247e-03 -9.87897608e-04 9.99982254e-01 -1.39251983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53992885099999 meters 0.09767071267572865 Centerline is valid? [False, True] Translation: X:37.48, Y:-3.50, Z:-1.39 [[ 9.99983792e-01 -7.18199724e-04 -5.64807775e-03 3.74763673e+01] [ 7.24404952e-04 9.99999136e-01 1.09667520e-03 -3.49763146e+00] [ 5.64728524e-03 -1.10074892e-03 9.99983448e-01 -1.39224974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56992885099999 meters 0.0974276952267556 Centerline is valid? [True, True] Translation: X:37.50, Y:-3.50, Z:-1.39 [[ 9.99979445e-01 -1.26329595e-03 -6.28600663e-03 3.75047655e+01] [ 1.26753525e-03 9.99998972e-01 6.70465305e-04 -3.50062181e+00] [ 6.28515317e-03 -6.78419259e-04 9.99980018e-01 -1.39313072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599928850999994 meters 0.09838285484429954 Centerline is valid? [True, True] Translation: X:37.53, Y:-3.51, Z:-1.39 [[ 9.99975687e-01 -2.03505240e-03 -6.66966642e-03 3.75340338e+01] [ 2.03984725e-03 9.99997666e-01 7.12179360e-04 -3.50609331e+00] [ 6.66820153e-03 -7.25767145e-04 9.99977504e-01 -1.39398538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.629928850999995 meters 0.09634945235464007 Centerline is valid? [True, True] Translation: X:37.56, Y:-3.51, Z:-1.39 [[ 9.99973359e-01 -2.86219056e-03 -6.71480151e-03 3.75636950e+01] [ 2.86706729e-03 9.99995633e-01 7.16751227e-04 -3.50594791e+00] [ 6.71272071e-03 -7.35983920e-04 9.99977199e-01 -1.39365829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659928851 meters 0.09755555409158104 Centerline is valid? [True, True] Translation: X:37.59, Y:-3.51, Z:-1.39 [[ 9.99976016e-01 -3.16769070e-03 -6.15900341e-03 3.75913031e+01] [ 3.17178713e-03 9.99994755e-01 6.55458577e-04 -3.51144545e+00] [ 6.15689482e-03 -6.74977904e-04 9.99980818e-01 -1.39478701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.689928851 meters 0.09801623155939213 Centerline is valid? [True, True] Translation: X:37.62, Y:-3.51, Z:-1.40 [[ 9.99976892e-01 -3.55116132e-03 -5.79702294e-03 3.76202966e+01] [ 3.55476436e-03 9.99993495e-01 6.11347378e-04 -3.51497034e+00] [ 5.79481424e-03 -6.31940301e-04 9.99983010e-01 -1.39511028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71992885099999 meters 0.09756335177365458 Centerline is valid? [True, True] Translation: X:37.65, Y:-3.52, Z:-1.40 [[ 9.99978727e-01 -3.94160322e-03 -5.19711062e-03 3.76500058e+01] [ 3.94452832e-03 9.99992068e-01 5.52701580e-04 -3.51666406e+00] [ 5.19489086e-03 -5.73189973e-04 9.99986342e-01 -1.39561486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74992885099999 meters 0.09972045435769701 Centerline is valid? [True, True] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976140e-01 -4.70452010e-03 -5.05827255e-03 3.76782275e+01] [ 4.70729702e-03 9.99988776e-01 5.37221241e-04 -3.52334621e+00] [ 5.05568841e-03 -5.61019215e-04 9.99987063e-01 -1.39685284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779928850999994 meters 0.10068432958918745 Centerline is valid? [True, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976653e-01 -4.59245608e-03 -5.05999353e-03 3.76786952e+01] [ 4.59610706e-03 9.99989186e-01 7.10147251e-04 -3.52317973e+00] [ 5.05667749e-03 -7.33386943e-04 9.99986946e-01 -1.39754860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.809928850999995 meters 0.09899044659995802 Centerline is valid? [False, True] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976819e-01 -4.51345659e-03 -5.09810013e-03 3.76790317e+01] [ 4.51752038e-03 9.99989487e-01 7.85884879e-04 -3.52302439e+00] [ 5.09449948e-03 -8.08897433e-04 9.99986696e-01 -1.39790755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839928850999996 meters 0.10381882671603998 Centerline is valid? [True, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976803e-01 -4.54578626e-03 -5.07238088e-03 3.76791802e+01] [ 4.54954256e-03 9.99989385e-01 7.29248115e-04 -3.52252879e+00] [ 5.06901203e-03 -7.52308211e-04 9.99986869e-01 -1.39819677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.869928851 meters 0.10722483450472076 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976684e-01 -4.60257107e-03 -5.04458153e-03 3.76794092e+01] [ 4.60585992e-03 9.99989188e-01 6.40531933e-04 -3.52177043e+00] [ 5.04157889e-03 -6.63751634e-04 9.99987071e-01 -1.39861267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89992885099999 meters 0.10092303483654562 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976983e-01 -4.47942258e-03 -5.09600243e-03 3.76798075e+01] [ 4.48342983e-03 9.99989649e-01 7.75200805e-04 -3.52164104e+00] [ 5.09247723e-03 -7.98030531e-04 9.99986715e-01 -1.39902974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92992885099999 meters 0.10132866397261865 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976406e-01 -4.73125086e-03 -4.98020128e-03 3.76794599e+01] [ 4.73372102e-03 9.99988679e-01 4.84325816e-04 -3.52097853e+00] [ 4.97785343e-03 -5.07889272e-04 9.99987481e-01 -1.39890523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959928850999994 meters 0.10154555317751407 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976759e-01 -4.57986290e-03 -5.05031169e-03 3.76799271e+01] [ 4.58321199e-03 9.99989285e-01 6.51770224e-04 -3.52091299e+00] [ 5.04727256e-03 -6.74901726e-04 9.99987035e-01 -1.39935840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.989928850999995 meters 0.1037860255193976 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976293e-01 -4.60049582e-03 -5.12329270e-03 3.76802517e+01] [ 4.60332611e-03 9.99989258e-01 5.40779768e-04 -3.52022497e+00] [ 5.12074982e-03 -5.64351135e-04 9.99986730e-01 -1.39961271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019928850999996 meters 0.10484624438285846 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976592e-01 -4.54489073e-03 -5.11460238e-03 3.76805246e+01] [ 4.54802277e-03 9.99989477e-01 6.00906875e-04 -3.51991608e+00] [ 5.11181750e-03 -6.24154137e-04 9.99986740e-01 -1.40002943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.049928851 meters 0.10547868613595424 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976234e-01 -4.58897433e-03 -5.14510291e-03 3.76807007e+01] [ 4.59162938e-03 9.99989331e-01 5.04341074e-04 -3.51932173e+00] [ 5.14273361e-03 -5.27953493e-04 9.99986637e-01 -1.40020703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079928851 meters 0.10547868613595424 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99976234e-01 -4.58897433e-03 -5.14510291e-03 3.76807007e+01] [ 4.59162938e-03 9.99989331e-01 5.04341074e-04 -3.51932173e+00] [ 5.14273361e-03 -5.27953493e-04 9.99986637e-01 -1.40020703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10992885099999 meters 0.10152071328108861 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99974995e-01 -4.72311353e-03 -5.26317168e-03 3.76811986e+01] [ 4.72381067e-03 9.99988836e-01 1.20032678e-04 -3.51767223e+00] [ 5.26254599e-03 -1.44891903e-04 9.99986142e-01 -1.40056604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13992885099999 meters 0.09938506974663555 Centerline is valid? [False, True] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99975155e-01 -4.65541115e-03 -5.29305761e-03 3.76816220e+01] [ 4.65622488e-03 9.99989150e-01 1.41423285e-04 -3.51713469e+00] [ 5.29234180e-03 -1.66065438e-04 9.99985982e-01 -1.40108328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.169928850999995 meters 0.10474689480336136 Centerline is valid? [True, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99975100e-01 -4.57981956e-03 -5.36878928e-03 3.76820920e+01] [ 4.58074652e-03 9.99989495e-01 1.60372631e-04 -3.51663846e+00] [ 5.36799841e-03 -1.84961701e-04 9.99985575e-01 -1.40154125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199928850999996 meters 0.10350300574704954 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99974717e-01 -4.49533056e-03 -5.50974313e-03 3.76829530e+01] [ 4.49581456e-03 9.99989891e-01 7.54614198e-05 -3.51532555e+00] [ 5.50934821e-03 -1.00230295e-04 9.99984818e-01 -1.40239348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.229928851 meters 0.10283313604135713 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99988433e-01 -9.61932783e-04 -4.71269883e-03 3.76809982e+01] [ 9.80294956e-04 9.99991932e-01 3.89555865e-03 -3.51563686e+00] [ 4.70891354e-03 -3.90013343e-03 9.99981307e-01 -1.40186610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259928851 meters 0.1026470935501138 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99988820e-01 -1.18116134e-03 -4.57874309e-03 3.76807870e+01] [ 1.19778297e-03 9.99992697e-01 3.62913205e-03 -3.51472875e+00] [ 4.57442306e-03 -3.63457581e-03 9.99982932e-01 -1.40196101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28992885099999 meters 0.10421444219709243 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99989129e-01 -1.47237604e-03 -4.42433229e-03 3.76802772e+01] [ 1.48697900e-03 9.99993452e-01 3.29912905e-03 -3.51421049e+00] [ 4.41944576e-03 -3.30567207e-03 9.99984770e-01 -1.40169367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31992885099999 meters 0.10281445741548823 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99989635e-01 -1.50779897e-03 -4.29610992e-03 3.76802118e+01] [ 1.52215803e-03 9.99993260e-01 3.34103267e-03 -3.51422412e+00] [ 4.29104335e-03 -3.34753740e-03 9.99985190e-01 -1.40197508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.349928850999994 meters 0.10672514557361652 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99989689e-01 -1.52396424e-03 -4.27774613e-03 3.76803458e+01] [ 1.53817301e-03 9.99993305e-01 3.32023225e-03 -3.51406719e+00] [ 4.27265757e-03 -3.32677793e-03 9.99985338e-01 -1.40221069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379928850999995 meters 0.10496882109619089 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99989886e-01 -1.98587676e-03 -4.03530840e-03 3.76794617e+01] [ 1.99716779e-03 9.99994097e-01 2.79595853e-03 -3.51333003e+00] [ 4.02973215e-03 -2.80398944e-03 9.99987949e-01 -1.40166815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.409928851 meters 0.10853478405324729 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99990022e-01 -2.03766633e-03 -3.97543062e-03 3.76795324e+01] [ 2.04846296e-03 9.99994220e-01 2.71366151e-03 -3.51296857e+00] [ 3.96987811e-03 -2.72177795e-03 9.99988416e-01 -1.40189465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439928851 meters 0.11105523618321218 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99990061e-01 -2.00824207e-03 -3.98047405e-03 3.76797481e+01] [ 2.01916599e-03 9.99994201e-01 2.74225948e-03 -3.51277357e+00] [ 3.97494385e-03 -2.75026947e-03 9.99988318e-01 -1.40217527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46992885099999 meters 0.10597408242328099 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99990296e-01 -2.25782157e-03 -3.78297954e-03 3.76793755e+01] [ 2.26736563e-03 9.99994253e-01 2.52050896e-03 -3.51227598e+00] [ 3.77726694e-03 -2.52906190e-03 9.99989668e-01 -1.40222015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49992885099999 meters 0.10886086791337186 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99990663e-01 -2.38956214e-03 -3.60057529e-03 3.76790153e+01] [ 2.39839734e-03 9.99994119e-01 2.45151466e-03 -3.51227554e+00] [ 3.59469607e-03 -2.46012738e-03 9.99990513e-01 -1.40222414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.529928850999994 meters 0.10776700508831417 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99991051e-01 -2.46771221e-03 -3.43623073e-03 3.76787008e+01] [ 2.47610170e-03 9.99993959e-01 2.43936980e-03 -3.51258991e+00] [ 3.43019031e-03 -2.44785642e-03 9.99991121e-01 -1.40219912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559928850999995 meters 0.10855107669504693 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99992000e-01 -2.45474963e-03 -3.15830419e-03 3.76783488e+01] [ 2.46343286e-03 9.99993189e-01 2.74838648e-03 -3.51367791e+00] [ 3.15153607e-03 -2.75614477e-03 9.99991236e-01 -1.40245888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.589928850999996 meters 0.11292199890244661 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99992489e-01 -2.39508764e-03 -3.04709940e-03 3.76783000e+01] [ 2.40396094e-03 9.99992871e-01 2.91172722e-03 -3.51417328e+00] [ 3.04010384e-03 -2.91903046e-03 9.99991118e-01 -1.40263997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619928851 meters 0.11030938094690809 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99993362e-01 -2.32799301e-03 -2.80292156e-03 3.76778541e+01] [ 2.33715631e-03 9.99991921e-01 3.27036948e-03 -3.51538767e+00] [ 2.79528552e-03 -3.27689864e-03 9.99990724e-01 -1.40266387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64992885099999 meters 0.1140266969322568 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99993865e-01 -2.22145997e-03 -2.70823165e-03 3.76777516e+01] [ 2.23097456e-03 9.99991333e-01 3.51526633e-03 -3.51624759e+00] [ 2.70039915e-03 -3.52128676e-03 9.99990154e-01 -1.40273705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67992885099999 meters 0.11197466294260033 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99993999e-01 -2.30279004e-03 -2.58833774e-03 3.76773830e+01] [ 2.31186348e-03 9.99991175e-01 3.50799951e-03 -3.51664464e+00] [ 2.58023671e-03 -3.51396234e-03 9.99990497e-01 -1.40253915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.709928850999994 meters 0.11427482188207415 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99993960e-01 -2.43854477e-03 -2.47659048e-03 3.76769278e+01] [ 2.44694303e-03 9.99991248e-01 3.39370424e-03 -3.51687875e+00] [ 2.46829310e-03 -3.39974382e-03 9.99991175e-01 -1.40217727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739928850999995 meters 0.11291005885739683 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99994473e-01 -2.25521603e-03 -2.44292999e-03 3.76769791e+01] [ 2.26426071e-03 9.99990569e-01 3.70597547e-03 -3.51783902e+00] [ 2.43454917e-03 -3.71148642e-03 9.99990149e-01 -1.40227430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.769928850999996 meters 0.11400860681814055 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99994493e-01 -2.11572052e-03 -2.55677542e-03 3.76773450e+01] [ 2.12549019e-03 9.99990428e-01 3.82443252e-03 -3.51807769e+00] [ 2.54865951e-03 -3.82984586e-03 9.99989418e-01 -1.40242482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799928851 meters 0.11302480003112253 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99994011e-01 -2.19175912e-03 -2.67827675e-03 3.76774100e+01] [ 2.20143157e-03 9.99991047e-01 3.61385041e-03 -3.51783178e+00] [ 2.67033208e-03 -3.61972481e-03 9.99989883e-01 -1.40214205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.829928851 meters 0.1188911495570216 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99993602e-01 -1.99997230e-03 -2.96565856e-03 3.76781990e+01] [ 2.01064177e-03 9.99991502e-01 3.59906824e-03 -3.51759307e+00] [ 2.95843532e-03 -3.60500809e-03 9.99989126e-01 -1.40240654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85992885099999 meters 0.10985775848225958 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99992861e-01 -2.06084826e-03 -3.16712145e-03 3.76785770e+01] [ 2.07125166e-03 9.99992459e-01 3.28505265e-03 -3.51672488e+00] [ 3.16032757e-03 -3.29158910e-03 9.99989589e-01 -1.40230340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88992885099999 meters 0.11690301110937529 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.52, Z:-1.40 [[ 9.99992261e-01 -1.91443222e-03 -3.43686470e-03 3.76794388e+01] [ 1.92559153e-03 9.99992876e-01 3.24657784e-03 -3.51586556e+00] [ 3.43062486e-03 -3.25317071e-03 9.99988824e-01 -1.40275785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919928850999995 meters 0.1075705130119466 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99990178e-01 -1.96803242e-03 -3.97136220e-03 3.76802072e+01] [ 1.97783283e-03 9.99995005e-01 2.46535401e-03 -3.51318872e+00] [ 3.96649047e-03 -2.47318448e-03 9.99989075e-01 -1.40233383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.949928850999996 meters 0.11674246994184297 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99989186e-01 -2.13945074e-03 -4.12933268e-03 3.76803379e+01] [ 2.14781763e-03 9.99995647e-01 2.02283980e-03 -3.51201867e+00] [ 4.12498694e-03 -2.03168698e-03 9.99989428e-01 -1.40207704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979928851 meters 0.10322560826592536 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99988704e-01 -1.83113308e-03 -4.38627973e-03 3.76812910e+01] [ 1.84077047e-03 9.99995899e-01 2.19413878e-03 -3.51171264e+00] [ 4.38224398e-03 -2.20218813e-03 9.99987973e-01 -1.40266359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.009928851 meters 0.1018852882017274 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99986922e-01 -1.69317645e-03 -4.82586572e-03 3.76823158e+01] [ 1.70235481e-03 9.99996749e-01 1.89843665e-03 -3.51029008e+00] [ 4.82263564e-03 -1.90662716e-03 9.99986553e-01 -1.40290173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03992885099999 meters 0.10215941865175253 Centerline is valid? [False, False] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99986014e-01 -1.39742981e-03 -5.10086708e-03 3.76834266e+01] [ 1.40795284e-03 9.99996887e-01 2.05998030e-03 -3.50990348e+00] [ 5.09797252e-03 -2.06713327e-03 9.99984869e-01 -1.40366826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06992885099999 meters 0.09916112890718538 Centerline is valid? [False, True] Translation: X:37.68, Y:-3.51, Z:-1.40 [[ 9.99983333e-01 -1.33177248e-03 -5.61789137e-03 3.76844358e+01] [ 1.34027011e-03 9.99997963e-01 1.50910876e-03 -3.50785875e+00] [ 5.61587014e-03 -1.51661310e-03 9.99983081e-01 -1.40367665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099928850999994 meters 0.10000462388112956 Centerline is valid? [True, False] Translation: X:37.69, Y:-3.51, Z:-1.40 [[ 9.99980833e-01 -8.76026637e-04 -6.12905073e-03 3.76860058e+01] [ 8.86285613e-04 9.99998211e-01 1.67131199e-03 -3.50708558e+00] [ 6.12757565e-03 -1.67671204e-03 9.99979821e-01 -1.40442387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.129928850999995 meters 0.10203837097699585 Centerline is valid? [False, False] Translation: X:37.69, Y:-3.51, Z:-1.40 [[ 9.99979358e-01 -1.06592693e-03 -6.33621168e-03 3.76863275e+01] [ 1.07304149e-03 9.99998798e-01 1.11954867e-03 -3.50550704e+00] [ 6.33501070e-03 -1.12632458e-03 9.99979299e-01 -1.40430677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159928851 meters 0.0961532667992708 Centerline is valid? [False, True] Translation: X:37.69, Y:-3.50, Z:-1.40 [[ 9.99976749e-01 -7.60981645e-04 -6.77660440e-03 3.76876117e+01] [ 7.68473656e-04 9.99999096e-01 1.10303490e-03 -3.50444232e+00] [ 6.77575889e-03 -1.10821690e-03 9.99976430e-01 -1.40489922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.189928851 meters 0.0940820461699954 Centerline is valid? [True, True] Translation: X:37.72, Y:-3.50, Z:-1.41 [[ 9.99957467e-01 5.89296864e-03 -7.09480839e-03 3.77171988e+01] [-5.88783945e-03 9.99982390e-01 7.43619262e-04 -3.50119473e+00] [ 7.09906557e-03 -7.01814542e-04 9.99974555e-01 -1.40621814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21992885099999 meters 0.09099654832928143 Centerline is valid? [True, True] Translation: X:37.75, Y:-3.50, Z:-1.41 [[ 9.99918197e-01 9.95304773e-03 -8.03348221e-03 3.77474747e+01] [-9.94660335e-03 9.99950177e-01 8.41745500e-04 -3.49752663e+00] [ 8.04145989e-03 -7.61770781e-04 9.99967377e-01 -1.40620645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24992885099999 meters 0.09155701009446784 Centerline is valid? [True, True] Translation: X:37.78, Y:-3.50, Z:-1.41 [[ 9.99863042e-01 1.43207740e-02 -8.29531575e-03 3.77765062e+01] [-1.43140539e-02 9.99897171e-01 8.68924357e-04 -3.49969628e+00] [ 8.30690643e-03 -7.50065754e-04 9.99965216e-01 -1.40833664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279928850999994 meters 0.08829545395662541 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.49, Z:-1.41 [[ 9.99689360e-01 2.37680934e-02 -7.50075208e-03 3.78068580e+01] [-2.37628608e-02 9.99717314e-01 7.85975322e-04 -3.49250811e+00] [ 7.51731286e-03 -6.07491839e-04 9.99971560e-01 -1.40831816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.309928850999995 meters 0.08693193663089384 Centerline is valid? [True, True] Translation: X:37.84, Y:-3.49, Z:-1.41 [[ 9.99569895e-01 2.83920878e-02 -7.34269353e-03 3.78362671e+01] [-2.83872015e-02 9.99596707e-01 7.68854156e-04 -3.49024032e+00] [ 7.36156165e-03 -5.60084947e-04 9.99972746e-01 -1.40853932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339928850999996 meters 0.08481399590486882 Centerline is valid? [True, True] Translation: X:37.87, Y:-3.49, Z:-1.41 [[ 9.99430023e-01 3.30920414e-02 -6.67426522e-03 3.78663887e+01] [-3.30881102e-02 9.99452194e-01 6.98595428e-04 -3.48651204e+00] [ 6.69372696e-03 -4.77358422e-04 9.99977483e-01 -1.40766848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.369928851 meters 0.07953902507523039 Centerline is valid? [True, True] Translation: X:37.90, Y:-3.47, Z:-1.41 [[ 9.99088651e-01 4.23831489e-02 -5.05323498e-03 3.78987204e+01] [-4.23810115e-02 9.99101381e-01 5.29353221e-04 -3.47263304e+00] [ 5.07112971e-03 -3.14709586e-04 9.99987092e-01 -1.40548504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39992885099999 meters 0.07922280326519521 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.47, Z:-1.41 [[ 9.98905680e-01 4.64899426e-02 -5.11144083e-03 3.79282233e+01] [-4.64878119e-02 9.98918714e-01 5.34943273e-04 -3.47315027e+00] [ 5.13078338e-03 -2.96738174e-04 9.99986793e-01 -1.40665592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42992885099999 meters 0.07805310669677949 Centerline is valid? [True, True] Translation: X:37.96, Y:-3.47, Z:-1.41 [[ 9.98734507e-01 5.01890464e-02 -3.23185606e-03 3.79586435e+01] [-5.01882134e-02 9.98739720e-01 3.38373862e-04 -3.47110051e+00] [ 3.24476568e-03 -1.75744570e-04 9.99994720e-01 -1.40647713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459928850999994 meters 0.07650647331186576 Centerline is valid? [True, True] Translation: X:37.99, Y:-3.47, Z:-1.41 [[ 9.98394179e-01 5.65847145e-02 -2.68931767e-03 3.79896595e+01] [-5.65841612e-02 9.98397793e-01 2.81452524e-04 -3.46546561e+00] [ 2.70093474e-03 -1.28827777e-04 9.99996344e-01 -1.40635533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.489928850999995 meters 0.07702310020377323 Centerline is valid? [True, True] Translation: X:38.02, Y:-3.47, Z:-1.41 [[ 9.98252725e-01 5.90518232e-02 -2.09276872e-03 3.80181792e+01] [-5.90514948e-02 9.98254914e-01 2.18420284e-04 -3.46922104e+00] [ 2.10201478e-03 -9.44575221e-05 9.99997786e-01 -1.40886158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519928850999996 meters 0.07585829440520761 Centerline is valid? [True, True] Translation: X:38.05, Y:-3.47, Z:-1.41 [[ 9.98121331e-01 6.12246185e-02 -2.31386372e-03 3.80475116e+01] [-6.12242243e-02 9.98124008e-01 2.40910109e-04 -3.46683503e+00] [ 2.32427256e-03 -9.87930077e-05 9.99997294e-01 -1.40869085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.549928851 meters 0.07541473759254724 Centerline is valid? [True, True] Translation: X:38.08, Y:-3.47, Z:-1.41 [[ 9.97911614e-01 6.45612745e-02 -2.06204486e-03 3.80764970e+01] [-6.45609676e-02 9.97913741e-01 2.15079704e-04 -3.46747308e+00] [ 2.07162872e-03 -8.15029236e-05 9.99997851e-01 -1.41001653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57992885099999 meters 0.07469944415914176 Centerline is valid? [True, True] Translation: X:38.11, Y:-3.47, Z:-1.41 [[ 9.97856769e-01 6.53570880e-02 -3.21227352e-03 3.81054598e+01] [-6.53563602e-02 9.97861933e-01 3.31118010e-04 -3.46635248e+00] [ 3.22704637e-03 -1.20465843e-04 9.99994786e-01 -1.40959534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60992885099999 meters 0.07455505043470455 Centerline is valid? [True, True] Translation: X:38.13, Y:-3.47, Z:-1.41 [[ 9.97804723e-01 6.61885977e-02 -2.19172191e-03 3.81344928e+01] [-6.61882649e-02 9.97807127e-01 2.24128633e-04 -3.46794194e+00] [ 2.20175051e-03 -7.85703381e-05 9.99997573e-01 -1.41039284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63992885099999 meters 0.07435594240186658 Centerline is valid? [True, True] Translation: X:38.16, Y:-3.47, Z:-1.41 [[ 9.97763469e-01 6.68353836e-02 -1.04518270e-03 3.81632978e+01] [-6.68353107e-02 9.97764015e-01 1.04519640e-04 -3.46964468e+00] [ 1.04983129e-03 -3.44307681e-05 9.99999448e-01 -1.40978890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.669928850999995 meters 0.07517593503871112 Centerline is valid? [True, True] Translation: X:38.19, Y:-3.48, Z:-1.41 [[ 9.97796087e-01 6.63501217e-02 -7.93800578e-04 3.81904917e+01] [-6.63500782e-02 9.97796402e-01 8.09641400e-05 -3.47581561e+00] [ 7.97423342e-04 -2.81169716e-05 9.99999682e-01 -1.41142014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699928850999996 meters 0.07412653999727188 Centerline is valid? [True, True] Translation: X:38.22, Y:-3.47, Z:-1.41 [[ 9.97839506e-01 6.56973087e-02 -4.29397841e-04 3.82191717e+01] [-6.56972974e-02 9.97839598e-01 4.02911563e-05 -3.47400080e+00] [ 4.31117190e-04 -1.19938298e-05 9.99999907e-01 -1.40970980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.729928851 meters 0.07447213920819773 Centerline is valid? [True, True] Translation: X:38.25, Y:-3.48, Z:-1.41 [[ 9.97931041e-01 6.42860132e-02 9.72905148e-04 3.82459812e+01] [-6.42859439e-02 9.97931514e-01 -1.02440611e-04 -3.48014002e+00] [-9.77478206e-04 3.96845398e-05 9.99999521e-01 -1.41054417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759928851 meters 0.07457439820679608 Centerline is valid? [True, True] Translation: X:38.27, Y:-3.48, Z:-1.41 [[ 9.97977595e-01 6.35404099e-02 1.82677082e-03 3.82733074e+01] [-6.35401625e-02 9.97979264e-01 -1.93220671e-04 -3.48398329e+00] [-1.83535672e-03 7.67565860e-05 9.99998313e-01 -1.41097629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78992885099999 meters 0.07443528420213244 Centerline is valid? [True, True] Translation: X:38.30, Y:-3.49, Z:-1.41 [[ 9.97993355e-01 6.32958562e-02 1.70249564e-03 3.83006022e+01] [-6.32956411e-02 9.97994804e-01 -1.79977710e-04 -3.48631066e+00] [-1.71047365e-03 7.18560051e-05 9.99998535e-01 -1.41133995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81992885099999 meters 0.07459886789094063 Centerline is valid? [True, True] Translation: X:38.33, Y:-3.49, Z:-1.41 [[ 9.98016759e-01 6.29448808e-02 7.00152414e-04 3.83287258e+01] [-6.29448447e-02 9.98017004e-01 -7.34825388e-05 -3.48970979e+00] [-7.03389365e-04 2.92658202e-05 9.99999752e-01 -1.41196807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.849928850999994 meters 0.07462761974181191 Centerline is valid? [True, True] Translation: X:38.36, Y:-3.49, Z:-1.41 [[ 9.98016154e-01 6.29569287e-02 4.26228238e-04 3.83560098e+01] [-6.29569138e-02 9.98016245e-01 -4.84207951e-05 -3.49479074e+00] [-4.28431130e-04 2.14907213e-05 9.99999908e-01 -1.41389643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879928850999995 meters 0.07506061211793925 Centerline is valid? [True, True] Translation: X:38.38, Y:-3.50, Z:-1.42 [[ 9.98053964e-01 6.23561074e-02 2.76377959e-05 3.83846538e+01] [-6.23561072e-02 9.98053964e-01 -6.90923144e-06 -3.49944676e+00] [-2.80148446e-05 5.17240047e-06 1.00000000e+00 -1.41514784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.909928851 meters 0.07536919592720605 Centerline is valid? [True, True] Translation: X:38.41, Y:-3.51, Z:-1.42 [[ 9.98121907e-01 6.12194826e-02 -2.19849280e-03 3.84136749e+01] [-6.12191366e-02 9.98124324e-01 2.24359332e-04 -3.50515701e+00] [ 2.20810431e-03 -8.93481330e-05 9.99997558e-01 -1.41628690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939928851 meters 0.07555443015213499 Centerline is valid? [True, True] Translation: X:38.44, Y:-3.51, Z:-1.42 [[ 9.98151053e-01 6.07275274e-02 -2.57728085e-03 3.84413797e+01] [-6.07270529e-02 9.98154375e-01 2.62043496e-04 -3.50983354e+00] [ 2.58843741e-03 -1.05048321e-04 9.99996644e-01 -1.41726762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96992885099999 meters 0.07558790010718314 Centerline is valid? [True, True] Translation: X:38.47, Y:-3.51, Z:-1.42 [[ 9.98180404e-01 6.02596877e-02 -2.15642625e-03 3.84687035e+01] [-6.02593630e-02 9.98182730e-01 2.15276935e-04 -3.51353377e+00] [ 2.16547996e-03 -8.49403466e-05 9.99997652e-01 -1.41702456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99992885099999 meters 0.07558790010718314 Centerline is valid? [True, True] Translation: X:38.50, Y:-3.52, Z:-1.42 [[ 9.98195993e-01 6.00009077e-02 -2.15648211e-03 3.84959636e+01] [-6.00005836e-02 9.98198319e-01 2.14722555e-04 -3.51621712e+00] [ 2.16548036e-03 -8.49450087e-05 9.99997652e-01 -1.41751145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.029928850999994 meters 0.07604063500393965 Centerline is valid? [True, True] Translation: X:38.52, Y:-3.52, Z:-1.42 [[ 9.98207858e-01 5.97764188e-02 -2.80203952e-03 3.85232217e+01] [-5.97758586e-02 9.98211784e-01 2.83336559e-04 -3.52090453e+00] [ 2.81396571e-03 -1.15334462e-04 9.99996034e-01 -1.41899265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059928850999995 meters 0.07639802931930254 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.53, Z:-1.42 [[ 9.98251353e-01 5.90199113e-02 -3.29943489e-03 3.85501949e+01] [-5.90191303e-02 9.98256796e-01 3.33635132e-04 -3.52740482e+00] [ 3.31337442e-03 -1.38321944e-04 9.99994501e-01 -1.42108021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.089928850999996 meters 0.07678588868932817 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.53, Z:-1.42 [[ 9.98303858e-01 5.80002800e-02 -5.03737659e-03 3.85792262e+01] [-5.79984395e-02 9.98316543e-01 5.10808284e-04 -3.53182119e+00] [ 5.05852341e-03 -2.17781899e-04 9.99987182e-01 -1.42254796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119928851 meters 0.07737179294801436 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.54, Z:-1.42 [[ 9.98392643e-01 5.64041961e-02 -5.54045932e-03 3.86075996e+01] [-5.64019477e-02 9.98407985e-01 5.61339118e-04 -3.53908901e+00] [ 5.56330071e-03 -2.47944149e-04 9.99984494e-01 -1.42481907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14992885099999 meters 0.07774277572505875 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.54, Z:-1.43 [[ 9.98486084e-01 5.47619780e-02 -5.16381940e-03 3.86360658e+01] [-5.47600251e-02 9.98499409e-01 5.18921091e-04 -3.54446106e+00] [ 5.18448777e-03 -2.35364608e-04 9.99986533e-01 -1.42580137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17992885099999 meters 0.07811604464562866 Centerline is valid? [True, True] Translation: X:38.66, Y:-3.55, Z:-1.43 [[ 9.98562580e-01 5.33076499e-02 -5.57382223e-03 3.86649125e+01] [-5.33053346e-02 9.98578101e-01 5.63231975e-04 -3.54961705e+00] [ 5.59592139e-03 -2.65307916e-04 9.99984308e-01 -1.42652827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.209928850999994 meters 0.07962194153011345 Centerline is valid? [True, True] Translation: X:38.69, Y:-3.56, Z:-1.43 [[ 9.98731003e-01 5.00553204e-02 -5.55412419e-03 3.86931772e+01] [-5.00529706e-02 9.98746407e-01 5.61346757e-04 -3.56003881e+00] [ 5.57525997e-03 -2.82633995e-04 9.99984418e-01 -1.42777816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239928850999995 meters 0.08059245600790595 Centerline is valid? [True, True] Translation: X:38.72, Y:-3.57, Z:-1.43 [[ 9.98835825e-01 4.79733735e-02 -5.05477286e-03 3.87210903e+01] [-4.79714034e-02 9.98848579e-01 5.10332034e-04 -3.56719999e+00] [ 5.07343504e-03 -2.67253369e-04 9.99987094e-01 -1.42824962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.269928850999996 meters 0.0822213765341716 Centerline is valid? [True, True] Translation: X:38.75, Y:-3.58, Z:-1.43 [[ 9.99036383e-01 4.35580208e-02 -5.38564540e-03 3.87507939e+01] [-4.35557159e-02 9.99050851e-01 5.44579606e-04 -3.57759333e+00] [ 5.40425443e-03 -3.09479198e-04 9.99985349e-01 -1.42901483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299928851 meters 0.08314237295048006 Centerline is valid? [True, True] Translation: X:38.78, Y:-3.58, Z:-1.43 [[ 9.99131645e-01 4.12731256e-02 -5.69960406e-03 3.87796803e+01] [-4.12705130e-02 9.99147844e-01 5.75295757e-04 -3.58444252e+00] [ 5.71849136e-03 -3.39570613e-04 9.99983592e-01 -1.42977715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32992885099999 meters 0.08349215143352706 Centerline is valid? [True, True] Translation: X:38.81, Y:-3.59, Z:-1.43 [[ 9.99226279e-01 3.89763590e-02 -5.26179164e-03 3.88086342e+01] [-3.89741023e-02 9.99240080e-01 5.30781653e-04 -3.58995647e+00] [ 5.27848104e-03 -3.25297371e-04 9.99986016e-01 -1.42970048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35992885099999 meters 0.08430021886517754 Centerline is valid? [True, True] Translation: X:38.84, Y:-3.60, Z:-1.43 [[ 9.99317930e-01 3.65898958e-02 -4.98548609e-03 3.88373659e+01] [-3.65878440e-02 9.99330315e-01 5.02169480e-04 -3.59705820e+00] [ 5.00052171e-03 -3.19418778e-04 9.99987446e-01 -1.43028107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38992885099999 meters 0.0879271810482086 Centerline is valid? [True, True] Translation: X:38.87, Y:-3.61, Z:-1.43 [[ 9.99455717e-01 3.24989301e-02 -5.66475542e-03 3.88656210e+01] [-3.24962084e-02 9.99471695e-01 5.71863669e-04 -3.61173054e+00] [ 5.68034766e-03 -3.87469340e-04 9.99983792e-01 -1.43305605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419928850999995 meters 0.08220512938068436 Centerline is valid? [True, True] Translation: X:38.90, Y:-3.60, Z:-1.43 [[ 9.99526392e-01 3.02292612e-02 -5.76047101e-03 3.88966978e+01] [-3.02264112e-02 9.99542909e-01 5.81186174e-04 -3.60307290e+00] [ 5.77540677e-03 -4.06792554e-04 9.99983239e-01 -1.42885597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.449928850999996 meters 0.08553615979787577 Centerline is valid? [True, True] Translation: X:38.92, Y:-3.62, Z:-1.43 [[ 9.99584021e-01 2.82966962e-02 -5.57518088e-03 3.89239929e+01] [-2.82940015e-02 9.99599487e-01 5.61623051e-04 -3.61552261e+00] [ 5.58884002e-03 -4.03645252e-04 9.99984301e-01 -1.43154922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479928851 meters 0.0839155580890221 Centerline is valid? [True, True] Translation: X:38.95, Y:-3.62, Z:-1.43 [[ 9.99687335e-01 2.44088007e-02 -5.42618863e-03 3.89541316e+01] [-2.44061867e-02 9.99701975e-01 5.47456807e-04 -3.61868564e+00] [ 5.43793425e-03 -4.14853064e-04 9.99985128e-01 -1.43043438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.509928851 meters 0.08483049446415829 Centerline is valid? [True, True] Translation: X:38.98, Y:-3.63, Z:-1.43 [[ 9.99720707e-01 2.30465569e-02 -5.23107579e-03 3.89822032e+01] [-2.30441148e-02 9.99734310e-01 5.26646376e-04 -3.62564562e+00] [ 5.24182333e-03 -4.05953776e-04 9.99986179e-01 -1.43145659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53992885099999 meters 0.0850156212239846 Centerline is valid? [True, True] Translation: X:39.01, Y:-3.63, Z:-1.43 [[ 9.99755692e-01 2.12427747e-02 -6.10750293e-03 3.90118222e+01] [-2.12394085e-02 9.99774229e-01 6.15506971e-04 -3.63042472e+00] [ 6.11919911e-03 -4.85636848e-04 9.99981160e-01 -1.43191806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56992885099999 meters 0.08599396796293722 Centerline is valid? [True, True] Translation: X:39.04, Y:-3.64, Z:-1.43 [[ 9.99772026e-01 2.03773771e-02 -6.37638646e-03 3.90389853e+01] [-2.03737010e-02 9.99792229e-01 6.40937883e-04 -3.63869860e+00] [ 6.38812227e-03 -5.10881175e-04 9.99979465e-01 -1.43343598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599928850999994 meters 0.08679779341696874 Centerline is valid? [True, True] Translation: X:39.07, Y:-3.64, Z:-1.43 [[ 9.99778335e-01 1.99194424e-02 -6.81886500e-03 3.90658670e+01] [-1.99152337e-02 9.99801438e-01 6.84577487e-04 -3.64404198e+00] [ 6.83114743e-03 -5.48626451e-04 9.99976517e-01 -1.43436055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.629928850999995 meters 0.09832107516003494 Centerline is valid? [True, True] Translation: X:39.09, Y:-3.67, Z:-1.44 [[ 9.99783246e-01 1.94317354e-02 -7.47457608e-03 3.90905756e+01] [-1.94266753e-02 9.99811004e-01 7.48988511e-04 -3.67003763e+00] [ 7.48771756e-03 -6.03620002e-04 9.99971784e-01 -1.44157205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659928851 meters 0.08742104633366242 Centerline is valid? [True, True] Translation: X:39.12, Y:-3.65, Z:-1.44 [[ 9.99776562e-01 2.00933370e-02 -6.56387559e-03 3.91216172e+01] [-2.00894459e-02 9.99797970e-01 6.58205655e-04 -3.65297103e+00] [ 6.57577504e-03 -5.26193963e-04 9.99978241e-01 -1.43517774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.689928851 meters 0.08746883663315622 Centerline is valid? [True, True] Translation: X:39.15, Y:-3.66, Z:-1.44 [[ 9.99761524e-01 2.06588059e-02 -7.07883240e-03 3.91497100e+01] [-2.06542969e-02 9.99786426e-01 7.09487949e-04 -3.65720413e+00] [ 7.09197772e-03 -5.63110446e-04 9.99974693e-01 -1.43573354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71992885099999 meters 0.08772160049281767 Centerline is valid? [True, True] Translation: X:39.18, Y:-3.66, Z:-1.44 [[ 9.99748288e-01 2.13916790e-02 -6.76430586e-03 3.91768657e+01] [-2.13875843e-02 9.99771030e-01 6.77102296e-04 -3.66126721e+00] [ 6.77724139e-03 -5.32259700e-04 9.99976893e-01 -1.43638675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74992885099999 meters 0.08308601078856995 Centerline is valid? [True, True] Translation: X:39.21, Y:-3.66, Z:-1.43 [[ 9.99692523e-01 2.38981812e-02 -6.61340246e-03 3.92080952e+01] [-2.38943153e-02 9.99714270e-01 6.62960679e-04 -3.65507338e+00] [ 6.62735637e-03 -5.04734109e-04 9.99977911e-01 -1.43391581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779928850999994 meters 0.08662046286258437 Centerline is valid? [True, True] Translation: X:39.23, Y:-3.67, Z:-1.44 [[ 9.99670398e-01 2.47867140e-02 -6.68691819e-03 3.92345832e+01] [-2.47827930e-02 9.99692636e-01 6.68600223e-04 -3.66600273e+00] [ 6.70143527e-03 -5.02659341e-04 9.99977419e-01 -1.43670851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.809928850999995 meters 0.08298199694086941 Centerline is valid? [True, True] Translation: X:39.27, Y:-3.66, Z:-1.44 [[ 9.99631453e-01 2.64096450e-02 -6.28405783e-03 3.92654877e+01] [-2.64062122e-02 9.99651098e-01 6.28638890e-04 -3.66118962e+00] [ 6.29846744e-03 -4.62469042e-04 9.99980058e-01 -1.43662178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839928850999996 meters 0.08569876242613597 Centerline is valid? [True, True] Translation: X:39.29, Y:-3.67, Z:-1.44 [[ 9.99616694e-01 2.67182119e-02 -7.25277507e-03 3.92925018e+01] [-2.67136555e-02 9.99642864e-01 7.24398987e-04 -3.67069320e+00] [ 7.26953949e-03 -5.30373186e-04 9.99973436e-01 -1.43940116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.869928851 meters 0.08318935061102678 Centerline is valid? [True, True] Translation: X:39.32, Y:-3.67, Z:-1.44 [[ 9.99595914e-01 2.70921091e-02 -8.60380207e-03 3.93206038e+01] [-2.70857183e-02 9.99632746e-01 8.58460872e-04 -3.66717860e+00] [ 8.62389981e-03 -6.25073821e-04 9.99962618e-01 -1.43832652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89992885099999 meters 0.08447411283914606 Centerline is valid? [True, True] Translation: X:39.35, Y:-3.67, Z:-1.44 [[ 9.99592007e-01 2.72184925e-02 -8.65866513e-03 3.93479743e+01] [-2.72120282e-02 9.99629311e-01 8.63533792e-04 -3.67288084e+00] [ 8.67895955e-03 -6.27561637e-04 9.99962140e-01 -1.44068723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92992885099999 meters 0.0828567364194211 Centerline is valid? [True, True] Translation: X:39.38, Y:-3.67, Z:-1.44 [[ 9.99613282e-01 2.67034902e-02 -7.75957714e-03 3.93770496e+01] [-2.66982862e-02 9.99643238e-01 7.73481309e-04 -3.67160172e+00] [ 7.77746347e-03 -5.66014778e-04 9.99969595e-01 -1.43972918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959928850999994 meters 0.08300296097111744 Centerline is valid? [True, True] Translation: X:39.41, Y:-3.67, Z:-1.44 [[ 9.99623469e-01 2.63166073e-02 -7.76898795e-03 3.94060848e+01] [-2.63113831e-02 9.99653496e-01 7.73903368e-04 -3.67427343e+00] [ 7.78666247e-03 -5.69199151e-04 9.99969521e-01 -1.43967281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.989928850999995 meters 0.08638192045518589 Centerline is valid? [True, True] Translation: X:39.43, Y:-3.68, Z:-1.44 [[ 9.99657589e-01 2.51886206e-02 -7.08784211e-03 3.94325908e+01] [-2.51842510e-02 9.99682578e-01 7.05083177e-04 -3.68465170e+00] [ 7.10335234e-03 -5.26339754e-04 9.99974632e-01 -1.44227650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019928850999996 meters 0.08653767317675562 Centerline is valid? [True, True] Translation: X:39.46, Y:-3.69, Z:-1.44 [[ 9.99689666e-01 2.41030430e-02 -6.29407595e-03 3.94609286e+01] [-2.40995773e-02 9.99709367e-01 6.25894145e-04 -3.68787288e+00] [ 6.30733264e-03 -4.74015339e-04 9.99979996e-01 -1.44278510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.049928851 meters 0.08254266750019838 Centerline is valid? [True, True] Translation: X:39.49, Y:-3.68, Z:-1.44 [[ 9.99708964e-01 2.30320434e-02 -7.17714708e-03 3.94907255e+01] [-2.30275133e-02 9.99734577e-01 7.13192097e-04 -3.68188766e+00] [ 7.19166837e-03 -5.47712682e-04 9.99973990e-01 -1.44029904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07992885099999 meters 0.08362528711020698 Centerline is valid? [True, True] Translation: X:39.52, Y:-3.69, Z:-1.44 [[ 9.99741130e-01 2.18664857e-02 -6.28731185e-03 3.95175261e+01] [-2.18629945e-02 9.99760782e-01 6.23469412e-04 -3.68740957e+00] [ 6.29944089e-03 -4.85848550e-04 9.99980040e-01 -1.44140988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10992885099999 meters 0.0848762411274258 Centerline is valid? [True, True] Translation: X:39.55, Y:-3.69, Z:-1.44 [[ 9.99787725e-01 1.99073927e-02 -5.31038061e-03 3.95466981e+01] [-1.99048708e-02 9.99801739e-01 5.27334931e-04 -3.69276646e+00] [ 5.31982563e-03 -4.21520551e-04 9.99985761e-01 -1.44244452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13992885099999 meters 0.08444018356319917 Centerline is valid? [True, True] Translation: X:39.58, Y:-3.69, Z:-1.44 [[ 9.99807071e-01 1.87384857e-02 -5.88980744e-03 3.95758226e+01] [-1.87353664e-02 9.99824307e-01 5.84336449e-04 -3.69399104e+00] [ 5.89972222e-03 -4.73876013e-04 9.99982484e-01 -1.44266106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.169928850999995 meters 0.08574632797849215 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.70, Z:-1.44 [[ 9.99841790e-01 1.69173927e-02 -5.49520619e-03 3.96042193e+01] [-1.69146519e-02 9.99856789e-01 5.44861453e-04 -3.69888135e+00] [ 5.50363685e-03 -4.51825750e-04 9.99984753e-01 -1.44415529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199928850999996 meters 0.08589277394843664 Centerline is valid? [True, True] Translation: X:39.63, Y:-3.70, Z:-1.44 [[ 9.99854288e-01 1.60336702e-02 -5.85866928e-03 3.96332675e+01] [-1.60305411e-02 9.99871334e-01 5.80666433e-04 -3.70147425e+00] [ 5.86722569e-03 -4.86664184e-04 9.99982669e-01 -1.44496538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.229928851 meters 0.08540766799114928 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.70, Z:-1.45 [[ 9.99864484e-01 1.55141591e-02 -5.50667859e-03 3.96615564e+01] [-1.55113930e-02 9.99879543e-01 5.44665693e-04 -3.70254290e+00] [ 5.51446530e-03 -4.59175627e-04 9.99984690e-01 -1.44558736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25992885099999 meters 0.08636153537534332 Centerline is valid? [True, True] Translation: X:39.69, Y:-3.71, Z:-1.45 [[ 9.99866549e-01 1.53127550e-02 -5.69251160e-03 3.96891809e+01] [-1.53097982e-02 9.99882640e-01 5.62634943e-04 -3.70541925e+00] [ 5.70045901e-03 -4.75408655e-04 9.99983639e-01 -1.44645554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28992885099999 meters 0.08743854552020784 Centerline is valid? [True, True] Translation: X:39.72, Y:-3.71, Z:-1.45 [[ 9.99862611e-01 1.56611530e-02 -5.43022758e-03 3.97166583e+01] [-1.56584702e-02 9.99877255e-01 5.36214077e-04 -3.70947407e+00] [ 5.43795878e-03 -4.51111351e-04 9.99985112e-01 -1.44747131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31992885099999 meters 0.08777103923848509 Centerline is valid? [True, True] Translation: X:39.74, Y:-3.71, Z:-1.45 [[ 9.99853145e-01 1.64293287e-02 -4.87507287e-03 3.97442753e+01] [-1.64271808e-02 9.99864949e-01 4.80312803e-04 -3.71140349e+00] [ 4.88230571e-03 -4.00158563e-04 9.99988001e-01 -1.44833761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.349928850999994 meters 0.0858668757446448 Centerline is valid? [True, True] Translation: X:39.77, Y:-3.71, Z:-1.45 [[ 9.99838787e-01 1.72589006e-02 -4.95273966e-03 3.97734993e+01] [-1.72566918e-02 9.99850973e-01 4.88369341e-04 -3.70847752e+00] [ 4.96043028e-03 -4.02822708e-04 9.99987616e-01 -1.44771799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379928850999995 meters 0.08778524973809222 Centerline is valid? [True, True] Translation: X:39.80, Y:-3.71, Z:-1.45 [[ 9.99798743e-01 1.95304512e-02 -4.58649260e-03 3.98017668e+01] [-1.95285808e-02 9.99809197e-01 4.52240043e-04 -3.71348153e+00] [ 4.59444993e-03 -3.62581335e-04 9.99989380e-01 -1.44963297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.409928851 meters 0.0876364542416734 Centerline is valid? [True, True] Translation: X:39.83, Y:-3.71, Z:-1.45 [[ 9.99787133e-01 2.00775367e-02 -4.75187424e-03 3.98303903e+01] [-2.00755377e-02 9.99798357e-01 4.68023394e-04 -3.71454015e+00] [ 4.76031281e-03 -3.72527337e-04 9.99988600e-01 -1.45005228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439928851 meters 0.08453470627396543 Centerline is valid? [True, True] Translation: X:39.86, Y:-3.71, Z:-1.45 [[ 9.99761759e-01 2.15118352e-02 -3.69675689e-03 3.98605717e+01] [-2.15106345e-02 9.99768553e-01 3.64272133e-04 -3.70945729e+00] [ 3.70373745e-03 -2.84665762e-04 9.99993101e-01 -1.44890481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46992885099999 meters 0.08485730501039011 Centerline is valid? [True, True] Translation: X:39.89, Y:-3.71, Z:-1.45 [[ 9.99704141e-01 2.40661783e-02 -3.52841947e-03 3.98897158e+01] [-2.40651007e-02 9.99710333e-01 3.47549599e-04 -3.71089696e+00] [ 3.53576159e-03 -2.62535004e-04 9.99993715e-01 -1.45061330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49992885099999 meters 0.08384827054710751 Centerline is valid? [True, True] Translation: X:39.92, Y:-3.71, Z:-1.45 [[ 9.99662191e-01 2.57305066e-02 -3.66659586e-03 3.99195300e+01] [-2.57293544e-02 9.99668880e-01 3.61062293e-04 -3.71024888e+00] [ 3.67467209e-03 -2.66601179e-04 9.99993213e-01 -1.45139170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.529928850999994 meters 0.08338814514222934 Centerline is valid? [True, True] Translation: X:39.95, Y:-3.71, Z:-1.45 [[ 9.99570954e-01 2.91496038e-02 -2.86518231e-03 3.99493585e+01] [-2.91489140e-02 9.99575040e-01 2.82203870e-04 -3.70954397e+00] [ 2.87219086e-03 -1.98565838e-04 9.99995856e-01 -1.45182468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559928850999995 meters 0.08304344558810692 Centerline is valid? [True, True] Translation: X:39.98, Y:-3.71, Z:-1.45 [[ 9.99518088e-01 3.08826336e-02 -3.13910873e-03 3.99796357e+01] [-3.08818141e-02 9.99522995e-01 3.09218347e-04 -3.71047985e+00] [ 3.14716084e-03 -2.12127958e-04 9.99995025e-01 -1.45232517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.589928850999996 meters 0.08383149998964384 Centerline is valid? [True, True] Translation: X:40.01, Y:-3.71, Z:-1.45 [[ 9.99411776e-01 3.40740074e-02 -3.88123340e-03 4.00083407e+01] [-3.40727798e-02 9.99419281e-01 3.81990946e-04 -3.71279342e+00] [ 3.89199546e-03 -2.49521838e-04 9.99992395e-01 -1.45486128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619928851 meters 0.08224866639030672 Centerline is valid? [True, True] Translation: X:40.04, Y:-3.71, Z:-1.45 [[ 9.99360298e-01 3.54708784e-02 -4.56194668e-03 4.00375008e+01] [-3.54692004e-02 9.99370669e-01 4.48240381e-04 -3.71020573e+00] [ 4.57497519e-03 -2.86145040e-04 9.99989494e-01 -1.45475375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64992885099999 meters 0.08230320062980949 Centerline is valid? [True, True] Translation: X:40.07, Y:-3.71, Z:-1.46 [[ 9.99326033e-01 3.64458555e-02 -4.37933185e-03 4.00656386e+01] [-3.64443198e-02 9.99335593e-01 4.29985047e-04 -3.71228493e+00] [ 4.39209337e-03 -2.70093481e-04 9.99990318e-01 -1.45533626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67992885099999 meters 0.07934674568630834 Centerline is valid? [True, True] Translation: X:40.09, Y:-3.71, Z:-1.45 [[ 9.99312643e-01 3.68529386e-02 -4.01270347e-03 4.00949330e+01] [-3.68516543e-02 9.99320670e-01 3.93558900e-04 -3.70586524e+00] [ 4.02448132e-03 -2.45413624e-04 9.99991872e-01 -1.45320055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.709928850999994 meters 0.08100268830231044 Centerline is valid? [True, True] Translation: X:40.12, Y:-3.71, Z:-1.46 [[ 9.99309531e-01 3.68859206e-02 -4.45985363e-03 4.01224038e+01] [-3.68843367e-02 9.99319446e-01 4.36894039e-04 -3.71169361e+00] [ 4.47293369e-03 -2.72093634e-04 9.99989959e-01 -1.45581496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739928850999995 meters 0.07991229435853056 Centerline is valid? [True, True] Translation: X:40.15, Y:-3.71, Z:-1.46 [[ 9.99343863e-01 3.59169963e-02 -4.67049770e-03 4.01508833e+01] [-3.59152502e-02 9.99354735e-01 4.57215301e-04 -3.71121172e+00] [ 4.68390579e-03 -2.89173211e-04 9.99988989e-01 -1.45504377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.769928850999996 meters 0.08000133846736004 Centerline is valid? [True, True] Translation: X:40.18, Y:-3.71, Z:-1.46 [[ 9.99417368e-01 3.38169069e-02 -4.61961427e-03 4.01804720e+01] [-3.38151731e-02 9.99428001e-01 4.52929761e-04 -3.71413734e+00] [ 4.63228854e-03 -2.96452813e-04 9.99989227e-01 -1.45589258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799928851 meters 0.08069470420627081 Centerline is valid? [True, True] Translation: X:40.21, Y:-3.72, Z:-1.46 [[ 9.99472036e-01 3.22218414e-02 -4.17159771e-03 4.02098283e+01] [-3.22204146e-02 9.99480704e-01 4.08811728e-04 -3.71866922e+00] [ 4.18260408e-03 -2.74185282e-04 9.99991215e-01 -1.45629981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82992885099999 meters 0.08134320702076421 Centerline is valid? [True, True] Translation: X:40.24, Y:-3.72, Z:-1.46 [[ 9.99514922e-01 3.09045792e-02 -3.85077175e-03 4.02381692e+01] [-3.09033570e-02 9.99522306e-01 3.76507717e-04 -3.72296638e+00] [ 3.86056808e-03 -2.57323307e-04 9.99992515e-01 -1.45716210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85992885099999 meters 0.08262836875842183 Centerline is valid? [True, True] Translation: X:40.27, Y:-3.73, Z:-1.46 [[ 9.99591403e-01 2.83218085e-02 -3.86036619e-03 4.02673385e+01] [-2.83205579e-02 9.99598821e-01 3.78246818e-04 -3.72802890e+00] [ 3.86953013e-03 -2.68764543e-04 9.99992477e-01 -1.45817881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88992885099999 meters 0.08262836875842183 Centerline is valid? [True, True] Translation: X:40.29, Y:-3.73, Z:-1.46 [[ 9.99594152e-01 2.82245903e-02 -3.86054276e-03 4.02947400e+01] [-2.82233459e-02 9.99601571e-01 3.76445089e-04 -3.73061380e+00] [ 3.86962962e-03 -2.67334876e-04 9.99992477e-01 -1.45866608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919928850999995 meters 0.0830966387629551 Centerline is valid? [True, True] Translation: X:40.32, Y:-3.73, Z:-1.46 [[ 9.99621845e-01 2.72396667e-02 -3.76406111e-03 4.03235280e+01] [-2.72384757e-02 9.99628896e-01 3.67331360e-04 -3.73451896e+00] [ 3.77267024e-03 -2.64665165e-04 9.99992848e-01 -1.45889779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.949928850999996 meters 0.08304461003919225 Centerline is valid? [True, True] Translation: X:40.35, Y:-3.74, Z:-1.46 [[ 9.99641468e-01 2.65592899e-02 -3.39701635e-03 4.03519986e+01] [-2.65583171e-02 9.99647211e-01 3.31170248e-04 -3.73675773e+00] [ 3.40461357e-03 -2.40832476e-04 9.99994175e-01 -1.45931997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979928851 meters 0.08478063675429566 Centerline is valid? [True, True] Translation: X:40.38, Y:-3.74, Z:-1.46 [[ 9.99674690e-01 2.52354843e-02 -3.69932060e-03 4.03802048e+01] [-2.52343208e-02 9.99681499e-01 3.60855547e-04 -3.74279258e+00] [ 3.70724873e-03 -2.67388314e-04 9.99993092e-01 -1.46105810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00992885099999 meters 0.08614442779144539 Centerline is valid? [True, True] Translation: X:40.41, Y:-3.75, Z:-1.46 [[ 9.99725839e-01 2.31947513e-02 -3.20152907e-03 4.04084469e+01] [-2.31938703e-02 9.99730937e-01 3.12044531e-04 -3.74886767e+00] [ 3.20790546e-03 -2.37703130e-04 9.99994826e-01 -1.46101562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03992885099999 meters 0.08533825394835233 Centerline is valid? [True, True] Translation: X:40.44, Y:-3.75, Z:-1.46 [[ 9.99752721e-01 2.20258452e-02 -3.05939009e-03 4.04376902e+01] [-2.20250359e-02 9.99757375e-01 2.97990315e-04 -3.75002012e+00] [ 3.06521129e-03 -2.30533452e-04 9.99995276e-01 -1.46083281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06992885099999 meters 0.08727809320235383 Centerline is valid? [True, True] Translation: X:40.47, Y:-3.76, Z:-1.46 [[ 9.99803597e-01 1.95145541e-02 -3.45667855e-03 4.04663983e+01] [-1.95135050e-02 9.99809537e-01 3.36977422e-04 -3.75690958e+00] [ 3.46259614e-03 -2.69459324e-04 9.99993969e-01 -1.46238957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099928850999994 meters 0.0898849022036057 Centerline is valid? [True, True] Translation: X:40.49, Y:-3.77, Z:-1.47 [[ 9.99852175e-01 1.66540626e-02 -4.27448283e-03 4.04948622e+01] [-1.66524296e-02 9.99861252e-01 4.17347748e-04 -3.76565279e+00] [ 4.28084029e-03 -3.46105529e-04 9.99990777e-01 -1.46550989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.129928850999995 meters 0.09058363225001542 Centerline is valid? [True, True] Translation: X:40.52, Y:-3.77, Z:-1.47 [[ 9.99875255e-01 1.52214045e-02 -4.21700499e-03 4.05238706e+01] [-1.52198067e-02 9.99884088e-01 4.10738269e-04 -3.76949175e+00] [ 4.22276820e-03 -3.46505031e-04 9.99991024e-01 -1.46620422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159928851 meters 0.09123051278376942 Centerline is valid? [True, True] Translation: X:40.55, Y:-3.77, Z:-1.47 [[ 9.99894278e-01 1.35514271e-02 -5.27185544e-03 4.05537392e+01] [-1.35489013e-02 9.99908077e-01 5.14532721e-04 -3.77266102e+00] [ 5.27834349e-03 -4.43050475e-04 9.99985971e-01 -1.46658097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.189928851 meters 0.08629378571941583 Centerline is valid? [True, True] Translation: X:40.58, Y:-3.76, Z:-1.46 [[ 9.99886989e-01 1.40171824e-02 -5.43397256e-03 4.05839708e+01] [-1.40145120e-02 9.99901652e-01 5.29186286e-04 -3.76466766e+00] [ 5.44085584e-03 -4.52972008e-04 9.99985096e-01 -1.46461589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21992885099999 meters 0.08852516919885471 Centerline is valid? [True, True] Translation: X:40.61, Y:-3.77, Z:-1.47 [[ 9.99884352e-01 1.44320880e-02 -4.79559013e-03 4.06111233e+01] [-1.44300164e-02 9.99895773e-01 4.66304396e-04 -3.77100051e+00] [ 4.80182005e-03 -3.97050024e-04 9.99988392e-01 -1.46650535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24992885099999 meters 0.08788537890403485 Centerline is valid? [True, True] Translation: X:40.64, Y:-3.77, Z:-1.47 [[ 9.99854006e-01 1.62726173e-02 -5.21236610e-03 4.06397002e+01] [-1.62701940e-02 9.99867503e-01 5.06982822e-04 -3.77045151e+00] [ 5.21992542e-03 -4.22102598e-04 9.99986287e-01 -1.46685737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279928850999994 meters 0.08519580883451564 Centerline is valid? [True, True] Translation: X:40.67, Y:-3.77, Z:-1.47 [[ 9.99843014e-01 1.70815165e-02 -4.70832240e-03 4.06692448e+01] [-1.70795516e-02 9.99854029e-01 4.57237957e-04 -3.76635403e+00] [ 4.71544545e-03 -3.76750142e-04 9.99988811e-01 -1.46542847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.309928850999995 meters 0.08545672974778805 Centerline is valid? [True, True] Translation: X:40.70, Y:-3.77, Z:-1.47 [[ 9.99825906e-01 1.82366559e-02 -3.94738057e-03 4.06975513e+01] [-1.82352840e-02 9.99833650e-01 3.83251015e-04 -3.76870846e+00] [ 3.95371314e-03 -3.11202687e-04 9.99992136e-01 -1.46693323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339928850999996 meters 0.08596623812353446 Centerline is valid? [True, True] Translation: X:40.73, Y:-3.77, Z:-1.47 [[ 9.99820399e-01 1.84838924e-02 -4.18508605e-03 4.07261988e+01] [-1.84823546e-02 9.99829104e-01 4.05822902e-04 -3.77113315e+00] [ 4.19187202e-03 -3.28399771e-04 9.99991160e-01 -1.46745121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.369928851 meters 0.08933699141956364 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.78, Z:-1.47 [[ 9.99814746e-01 1.90585614e-02 -2.69164547e-03 4.07532406e+01] [-1.90579299e-02 9.99818347e-01 2.60077070e-04 -3.77908116e+00] [ 2.69611322e-03 -2.08731699e-04 9.99996344e-01 -1.46934551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39992885099999 meters 0.09026322827620667 Centerline is valid? [True, True] Translation: X:40.78, Y:-3.78, Z:-1.47 [[ 9.99816588e-01 1.89260325e-02 -2.93166957e-03 4.07809164e+01] [-1.89252828e-02 9.99820861e-01 2.83225322e-04 -3.78274001e+00] [ 2.93650473e-03 -2.27690700e-04 9.99995663e-01 -1.46978147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42992885099999 meters 0.08684776347285905 Centerline is valid? [True, True] Translation: X:40.81, Y:-3.78, Z:-1.47 [[ 9.99805445e-01 1.95631923e-02 -2.52056259e-03 4.08100749e+01] [-1.95626405e-02 9.99808604e-01 2.43386031e-04 -3.77700450e+00] [ 2.52484157e-03 -1.94029819e-04 9.99996794e-01 -1.46859274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459928850999994 meters 0.08617131553002773 Centerline is valid? [True, True] Translation: X:40.84, Y:-3.78, Z:-1.47 [[ 9.99813996e-01 1.91424657e-02 -2.35348423e-03 4.08390459e+01] [-1.91419840e-02 9.99816750e-01 2.27004503e-04 -3.77697553e+00] [ 2.35739838e-03 -1.81911921e-04 9.99997205e-01 -1.46915499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.489928850999995 meters 0.09188436183721277 Centerline is valid? [True, True] Translation: X:40.87, Y:-3.79, Z:-1.47 [[ 9.99826492e-01 1.83172300e-02 -3.38590076e-03 4.08658836e+01] [-1.83162271e-02 9.99832190e-01 3.26973001e-04 -3.79078059e+00] [ 3.39132181e-03 -2.64899342e-04 9.99994214e-01 -1.47350516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519928850999996 meters 0.08896402194656787 Centerline is valid? [True, True] Translation: X:40.90, Y:-3.79, Z:-1.47 [[ 9.99844156e-01 1.68562596e-02 -5.24697863e-03 4.08963885e+01] [-1.68538244e-02 9.99857835e-01 5.07989203e-04 -3.78597693e+00] [ 5.25479549e-03 -4.19478379e-04 9.99986105e-01 -1.47392513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.549928851 meters 0.089803537022834 Centerline is valid? [True, True] Translation: X:40.92, Y:-3.79, Z:-1.48 [[ 9.99848516e-01 1.65972037e-02 -5.24187262e-03 4.09245655e+01] [-1.65947759e-02 9.99862169e-01 5.06324158e-04 -3.78994522e+00] [ 5.24955369e-03 -4.19259757e-04 9.99986133e-01 -1.47544467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57992885099999 meters 0.09112568136205486 Centerline is valid? [True, True] Translation: X:40.95, Y:-3.80, Z:-1.48 [[ 9.99863939e-01 1.55424840e-02 -5.52576449e-03 4.09525699e+01] [-1.55397696e-02 9.99879108e-01 5.33827394e-04 -3.79548547e+00] [ 5.53339348e-03 -4.47885654e-04 9.99984590e-01 -1.47713536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60992885099999 meters 0.09035665419120166 Centerline is valid? [True, True] Translation: X:40.98, Y:-3.80, Z:-1.48 [[ 9.99876178e-01 1.46087406e-02 -5.84917701e-03 4.09821382e+01] [-1.46056824e-02 9.99893172e-01 5.65208396e-04 -3.79635142e+00] [ 5.85680914e-03 -4.79707189e-04 9.99982734e-01 -1.47698253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63992885099999 meters 0.09251547542189632 Centerline is valid? [True, True] Translation: X:41.01, Y:-3.80, Z:-1.48 [[ 9.99904444e-01 1.28991775e-02 -4.97132784e-03 4.10099870e+01] [-1.28969523e-02 9.99916716e-01 4.79402315e-04 -3.80269021e+00] [ 4.97709771e-03 -4.15241527e-04 9.99987528e-01 -1.47824233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.669928850999995 meters 0.09347887902704445 Centerline is valid? [True, True] Translation: X:41.04, Y:-3.81, Z:-1.48 [[ 9.99921183e-01 1.17357397e-02 -4.46089544e-03 4.10381979e+01] [-1.17339366e-02 9.99931062e-01 4.30147304e-04 -3.80676027e+00] [ 4.46563601e-03 -3.77769537e-04 9.99989958e-01 -1.47834858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699928850999996 meters 0.09267380393165081 Centerline is valid? [True, True] Translation: X:41.07, Y:-3.81, Z:-1.48 [[ 9.99943836e-01 1.01948660e-02 -2.89664018e-03 4.10676770e+01] [-1.01940996e-02 9.99948000e-01 2.79193546e-04 -3.80833719e+00] [ 2.89933590e-03 -2.49649226e-04 9.99995766e-01 -1.47666970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.729928851 meters 0.09550141530994743 Centerline is valid? [True, True] Translation: X:41.10, Y:-3.82, Z:-1.48 [[ 9.99957560e-01 8.94358819e-03 -2.21145635e-03 4.10953362e+01] [-8.94314038e-03 9.99959987e-01 2.12302724e-04 -3.81659948e+00] [ 2.21326661e-03 -1.92516350e-04 9.99997532e-01 -1.47740579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75992885099999 meters 0.09035806286188568 Centerline is valid? [True, True] Translation: X:41.13, Y:-3.81, Z:-1.47 [[ 9.99969893e-01 7.42676482e-03 -2.24865151e-03 4.11260054e+01] [-7.42629691e-03 9.99972401e-01 2.16360929e-04 -3.80970601e+00] [ 2.25019631e-03 -1.99655261e-04 9.99997448e-01 -1.47493592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78992885099999 meters 0.09246014214550313 Centerline is valid? [True, True] Translation: X:41.15, Y:-3.82, Z:-1.48 [[ 9.99987736e-01 4.26603464e-03 -2.51590714e-03 4.11547806e+01] [-4.26543817e-03 9.99990874e-01 2.42397853e-04 -3.81797644e+00] [ 2.51691826e-03 -2.31663434e-04 9.99996806e-01 -1.47565539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81992885099999 meters 0.09350134497627541 Centerline is valid? [True, True] Translation: X:41.18, Y:-3.82, Z:-1.48 [[ 9.99994027e-01 2.59431486e-03 -2.28386865e-03 4.11834255e+01] [-2.59382067e-03 9.99996612e-01 2.19315742e-04 -3.82366388e+00] [ 2.28442988e-03 -2.13390486e-04 9.99997368e-01 -1.47668205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.849928850999994 meters 0.09427234754116993 Centerline is valid? [True, True] Translation: X:41.21, Y:-3.83, Z:-1.48 [[ 9.99997182e-01 1.44945408e-03 -1.88015782e-03 4.12122046e+01] [-1.44911763e-03 9.99998934e-01 1.80297883e-04 -3.82862452e+00] [ 1.88041715e-03 -1.77572805e-04 9.99998216e-01 -1.47777056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879928850999995 meters 0.09579144545574755 Centerline is valid? [True, True] Translation: X:41.24, Y:-3.83, Z:-1.48 [[ 9.99992951e-01 -8.25385588e-04 -3.66291008e-03 4.12418779e+01] [ 8.26683792e-04 9.99999596e-01 3.52919035e-04 -3.83484989e+00] [ 3.66261730e-03 -3.55944616e-04 9.99993229e-01 -1.47895331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.909928851 meters 0.0963847356134513 Centerline is valid? [True, True] Translation: X:41.27, Y:-3.84, Z:-1.48 [[ 9.99985315e-01 -1.66285173e-03 -5.15794957e-03 4.12708500e+01] [ 1.66543110e-03 9.99998490e-01 4.95821491e-04 -3.83873619e+00] [ 5.15711731e-03 -5.04404419e-04 9.99986575e-01 -1.48053220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93992885099999 meters 0.10023464189904308 Centerline is valid? [True, False] Translation: X:41.27, Y:-3.84, Z:-1.48 [[ 9.99986137e-01 -1.74049562e-03 -4.96955320e-03 4.12706140e+01] [ 1.74321867e-03 9.99998333e-01 5.43666544e-04 -3.83879716e+00] [ 4.96859867e-03 -5.52322025e-04 9.99987504e-01 -1.48078216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96992885099999 meters 0.09830930573481741 Centerline is valid? [False, True] Translation: X:41.27, Y:-3.84, Z:-1.48 [[ 9.99986377e-01 -1.47109361e-03 -5.00818929e-03 4.12712221e+01] [ 1.47568626e-03 9.99998494e-01 9.13454748e-04 -3.83918365e+00] [ 5.00683797e-03 -9.20832820e-04 9.99987042e-01 -1.48154195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99992885099999 meters 0.09606234043519825 Centerline is valid? [True, True] Translation: X:41.30, Y:-3.84, Z:-1.48 [[ 9.99981437e-01 -1.29075738e-03 -5.95477244e-03 4.13007198e+01] [ 1.29417827e-03 9.99999000e-01 5.70660856e-04 -3.83763772e+00] [ 5.95402990e-03 -5.78356800e-04 9.99982107e-01 -1.48136479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.029928850999994 meters 0.09910653057049483 Centerline is valid? [True, True] Translation: X:41.33, Y:-3.85, Z:-1.48 [[ 9.99980638e-01 -1.00479167e-03 -6.14124865e-03 4.13278177e+01] [ 1.00843758e-03 9.99999317e-01 5.90608179e-04 -3.84546309e+00] [ 6.14065102e-03 -5.96789809e-04 9.99980968e-01 -1.48315220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059928850999995 meters 0.09740308730755495 Centerline is valid? [True, True] Translation: X:41.36, Y:-3.84, Z:-1.48 [[ 9.99986387e-01 2.06688056e-05 -5.21774523e-03 4.13585124e+01] [-1.80461183e-05 9.99999873e-01 5.02694216e-04 -3.84351974e+00] [ 5.21775496e-03 -5.02593213e-04 9.99986261e-01 -1.48153674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.089928850999996 meters 0.09747427340029631 Centerline is valid? [True, True] Translation: X:41.39, Y:-3.85, Z:-1.48 [[ 9.99985864e-01 1.91422170e-04 -5.31367346e-03 4.13869814e+01] [-1.88731632e-04 9.99999854e-01 5.06839063e-04 -3.84551199e+00] [ 5.31376970e-03 -5.05829040e-04 9.99985754e-01 -1.48196712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119928851 meters 0.0981807733949975 Centerline is valid? [True, True] Translation: X:41.41, Y:-3.85, Z:-1.48 [[ 9.99980553e-01 3.41896911e-04 -6.22703864e-03 4.14143910e+01] [-3.38186682e-04 9.99999765e-01 5.96868795e-04 -3.84859841e+00] [ 6.22724124e-03 -5.94751286e-04 9.99980434e-01 -1.48327093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14992885099999 meters 0.09763526635369604 Centerline is valid? [True, True] Translation: X:41.44, Y:-3.85, Z:-1.48 [[ 9.99981404e-01 1.47514974e-03 -5.91736089e-03 4.14438291e+01] [-1.47181534e-03 9.99998756e-01 5.67810125e-04 -3.84914948e+00] [ 5.91819114e-03 -5.59090303e-04 9.99982331e-01 -1.48384705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17992885099999 meters 0.09692017652728226 Centerline is valid? [True, True] Translation: X:41.47, Y:-3.85, Z:-1.48 [[ 9.99981099e-01 2.72740779e-03 -5.51018095e-03 4.14732202e+01] [-2.72453654e-03 9.99996149e-01 5.28519930e-04 -3.85047600e+00] [ 5.51160122e-03 -5.13497251e-04 9.99984679e-01 -1.48383064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.209928850999994 meters 0.09084214985731766 Centerline is valid? [True, True] Translation: X:41.50, Y:-3.84, Z:-1.48 [[ 9.99978949e-01 4.39024800e-03 -4.77784421e-03 4.15039435e+01] [-4.38810938e-03 9.99990267e-01 4.58001075e-04 -3.83945580e+00] [ 4.77980844e-03 -4.37025731e-04 9.99988481e-01 -1.48136032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239928850999995 meters 0.0935747034845118 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.85, Z:-1.48 [[ 9.99978230e-01 5.29880221e-03 -3.93228551e-03 4.15315160e+01] [-5.29736442e-03 9.99985898e-01 3.75962589e-04 -3.84665838e+00] [ 3.93422221e-03 -3.55123654e-04 9.99992198e-01 -1.48298814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.269928850999996 meters 0.09076152507057313 Centerline is valid? [True, True] Translation: X:41.56, Y:-3.84, Z:-1.48 [[ 9.99974357e-01 5.90543254e-03 -4.05109239e-03 4.15608749e+01] [-5.90391250e-03 9.99982497e-01 3.87072175e-04 -3.84309871e+00] [ 4.05330731e-03 -3.63144954e-04 9.99991719e-01 -1.48277904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299928851 meters 0.09020436821936831 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.84, Z:-1.48 [[ 9.99974563e-01 5.85250163e-03 -4.07705988e-03 4.15900224e+01] [-5.85096275e-03 9.99982807e-01 3.89273189e-04 -3.84365912e+00] [ 4.07926801e-03 -3.65408562e-04 9.99991613e-01 -1.48348647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32992885099999 meters 0.09546473831384839 Centerline is valid? [True, True] Translation: X:41.62, Y:-3.86, Z:-1.49 [[ 9.99978541e-01 5.39459079e-03 -3.71698999e-03 4.16163903e+01] [-5.39331131e-03 9.99985393e-01 3.54162680e-04 -3.85546527e+00] [ 3.71884626e-03 -3.34108196e-04 9.99993029e-01 -1.48698568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35992885099999 meters 0.09422514613687978 Centerline is valid? [True, True] Translation: X:41.65, Y:-3.85, Z:-1.49 [[ 9.99981181e-01 3.54278244e-03 -5.00870229e-03 4.16468211e+01] [-3.54042757e-03 9.99993618e-01 4.78944308e-04 -3.85412102e+00] [ 5.01036712e-03 -4.61202347e-04 9.99987342e-01 -1.48665465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38992885099999 meters 0.09438895241300045 Centerline is valid? [True, True] Translation: X:41.68, Y:-3.86, Z:-1.49 [[ 9.99982783e-01 3.38351247e-03 -4.79430303e-03 4.16754604e+01] [-3.38135903e-03 9.99994179e-01 4.57199649e-04 -3.85654987e+00] [ 4.79582206e-03 -4.40980517e-04 9.99988403e-01 -1.48749326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419928850999995 meters 0.09522190902512714 Centerline is valid? [True, True] Translation: X:41.70, Y:-3.86, Z:-1.49 [[ 9.99986082e-01 3.03357887e-03 -4.31653525e-03 4.17034780e+01] [-3.03183413e-03 9.99995320e-01 4.10685788e-04 -3.85995239e+00] [ 4.31776090e-03 -3.97593053e-04 9.99990599e-01 -1.48838555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.449928850999996 meters 0.09621213318929871 Centerline is valid? [True, True] Translation: X:41.73, Y:-3.86, Z:-1.49 [[ 9.99986234e-01 1.79989240e-03 -4.92870437e-03 4.17323831e+01] [-1.79759914e-03 9.99998274e-01 4.69677560e-04 -3.86354385e+00] [ 4.92954123e-03 -4.60811260e-04 9.99987744e-01 -1.49000578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479928851 meters 0.09786700941758268 Centerline is valid? [True, True] Translation: X:41.76, Y:-3.87, Z:-1.49 [[ 9.99985682e-01 9.13399256e-04 -5.27266805e-03 4.17621699e+01] [-9.10759492e-04 9.99999459e-01 5.03029805e-04 -3.86696661e+00] [ 5.27312466e-03 -4.98220471e-04 9.99985973e-01 -1.49130805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50992885099999 meters 0.09858135796658489 Centerline is valid? [True, True] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99987550e-01 1.25426090e-03 -4.82970716e-03 4.17903635e+01] [-1.25205596e-03 9.99999111e-01 4.59532705e-04 -3.86962483e+00] [ 4.83027924e-03 -4.53479920e-04 9.99988231e-01 -1.49232776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53992885099999 meters 0.10007736757479285 Centerline is valid? [True, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99988589e-01 7.75462405e-04 -4.71391057e-03 4.17901354e+01] [-7.76656396e-04 9.99999667e-01 -2.51465778e-04 -3.86720429e+00] [ 4.71371399e-03 2.55123997e-04 9.99988858e-01 -1.49240316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56992885099999 meters 0.10067173963054833 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99988863e-01 6.72775626e-04 -4.67127543e-03 4.17901008e+01] [-6.74586979e-04 9.99999698e-01 -3.86199479e-04 -3.86669464e+00] [ 4.67101420e-03 3.89346360e-04 9.99989015e-01 -1.49249372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599928850999994 meters 0.09695862635552929 Centerline is valid? [False, True] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99989990e-01 4.38938615e-04 -4.45285020e-03 4.17895870e+01] [-4.41246484e-04 9.99999769e-01 -5.17321091e-04 -3.86634669e+00] [ 4.45262210e-03 5.19280717e-04 9.99989952e-01 -1.49246356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.629928850999995 meters 0.10129927906632542 Centerline is valid? [True, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99991462e-01 -5.35965513e-05 -4.13188764e-03 4.17887275e+01] [ 4.96917418e-05 9.99999552e-01 -9.45139384e-04 -3.86515472e+00] [ 4.13193644e-03 9.44925994e-04 9.99991017e-01 -1.49226356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659928851 meters 0.10094504559775108 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.86, Z:-1.49 [[ 9.99992044e-01 -2.17006677e-04 -3.98307881e-03 4.17884640e+01] [ 2.12902879e-04 9.99999446e-01 -1.03070321e-03 -3.86476500e+00] [ 3.98330028e-03 1.02984700e-03 9.99991536e-01 -1.49239021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68992885099999 meters 0.10786601656941375 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.86, Z:-1.49 [[ 9.99992576e-01 -1.46749594e-04 -3.85039293e-03 4.17885213e+01] [ 1.43895740e-04 9.99999715e-01 -7.41451715e-04 -3.86497309e+00] [ 3.85050064e-03 7.40892156e-04 9.99992312e-01 -1.49293830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71992885099999 meters 0.10338933441436622 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99994463e-01 -3.05019187e-04 -3.31383630e-03 4.17875687e+01] [ 3.03652479e-04 9.99999869e-01 -4.12919814e-04 -3.86625763e+00] [ 3.31396181e-03 4.11911273e-04 9.99994424e-01 -1.49319663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74992885099999 meters 0.1069363875794904 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99995112e-01 -2.03008253e-04 -3.12011379e-03 4.17874926e+01] [ 2.02968930e-04 9.99999979e-01 -1.29195746e-05 -3.86712212e+00] [ 3.12011635e-03 1.22862253e-05 9.99995132e-01 -1.49371365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779928850999994 meters 0.10436555482874875 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99995679e-01 -1.31488481e-04 -2.93672065e-03 4.17873662e+01] [ 1.32403528e-04 9.99999943e-01 3.11395633e-04 -3.86785264e+00] [ 2.93667954e-03 -3.11783119e-04 9.99995639e-01 -1.49410516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.809928850999995 meters 0.10436555482874875 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99995679e-01 -1.31488481e-04 -2.93672065e-03 4.17873662e+01] [ 1.32403528e-04 9.99999943e-01 3.11395633e-04 -3.86785264e+00] [ 2.93667954e-03 -3.11783119e-04 9.99995639e-01 -1.49410516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839928850999996 meters 0.10754227125168232 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99996927e-01 -5.21380871e-04 -2.42346615e-03 4.17862464e+01] [ 5.22022043e-04 9.99999829e-01 2.63943318e-04 -3.86808919e+00] [ 2.42332812e-03 -2.65207610e-04 9.99997029e-01 -1.49407498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.869928851 meters 0.10829884425283538 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99997236e-01 -6.71595519e-04 -2.25314283e-03 4.17859005e+01] [ 6.72085122e-04 9.99999751e-01 2.16547573e-04 -3.86793145e+00] [ 2.25299684e-03 -2.18061278e-04 9.99997438e-01 -1.49412688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89992885099999 meters 0.10743977322147562 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99997348e-01 -5.51885551e-04 -2.23578604e-03 4.17860387e+01] [ 5.52778052e-04 9.99999768e-01 3.98590683e-04 -3.86839043e+00] [ 2.23556554e-03 -3.99825519e-04 9.99997421e-01 -1.49435344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92992885099999 meters 0.10784599548116776 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99997505e-01 -5.32954373e-04 -2.16929195e-03 4.17859893e+01] [ 5.34010301e-04 9.99999739e-01 4.86211497e-04 -3.86860950e+00] [ 2.16903226e-03 -4.87368708e-04 9.99997529e-01 -1.49447250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959928850999994 meters 0.10614850314165089 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99997327e-01 -6.42583397e-04 -2.22123312e-03 4.17859059e+01] [ 6.43188007e-04 9.99999756e-01 2.71492062e-04 -3.86832062e+00] [ 2.22105812e-03 -2.72920006e-04 9.99997496e-01 -1.49417389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.989928850999995 meters 0.10539390735720883 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99997047e-01 -4.36015991e-04 -2.39061764e-03 4.17865234e+01] [ 4.37007556e-04 9.99999819e-01 4.14266863e-04 -3.86823496e+00] [ 2.39043658e-03 -4.15310357e-04 9.99997057e-01 -1.49451332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019928850999996 meters 0.10216873277273278 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99996573e-01 -3.83967691e-04 -2.58962367e-03 4.17868802e+01] [ 3.84823776e-04 9.99999871e-01 3.30092644e-04 -3.86781436e+00] [ 2.58949659e-03 -3.31088061e-04 9.99996592e-01 -1.49441923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.049928851 meters 0.10854017097310914 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99996577e-01 -4.69879113e-04 -2.57385265e-03 4.17866883e+01] [ 4.70547911e-04 9.99999856e-01 2.59243741e-04 -3.86775852e+00] [ 2.57373047e-03 -2.60453975e-04 9.99996654e-01 -1.49422385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07992885099999 meters 0.10332769674557282 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99996546e-01 -4.55760671e-04 -2.58860322e-03 4.17867451e+01] [ 4.56465354e-04 9.99999859e-01 2.71641120e-04 -3.86784123e+00] [ 2.58847905e-03 -2.72821790e-04 9.99996613e-01 -1.49422645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10992885099999 meters 0.1078905117780491 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99996609e-01 -2.55128851e-04 -2.59183571e-03 4.17870768e+01] [ 2.56573411e-04 9.99999812e-01 5.57033102e-04 -3.86831157e+00] [ 2.59169310e-03 -5.57696209e-04 9.99996486e-01 -1.49466598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13992885099999 meters 0.1043773546050856 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.50 [[ 9.99996360e-01 2.98467691e-04 -2.68142653e-03 4.17878828e+01] [-2.94939783e-04 9.99999091e-01 1.31598262e-03 -3.86985730e+00] [ 2.68181687e-03 -1.31518697e-03 9.99995539e-01 -1.49550507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.169928850999995 meters 0.10625582047355397 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.50 [[ 9.99996521e-01 2.87445482e-04 -2.62191389e-03 4.17876531e+01] [-2.83828640e-04 9.99999008e-01 1.37973431e-03 -3.87037139e+00] [ 2.62230789e-03 -1.37898533e-03 9.99995611e-01 -1.49535472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199928850999996 meters 0.10530443691747197 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.50 [[ 9.99996634e-01 4.45103753e-04 -2.55609697e-03 4.17877939e+01] [-4.40831138e-04 9.99998505e-01 1.67185892e-03 -3.87102699e+00] [ 2.55683730e-03 -1.67072648e-03 9.99995336e-01 -1.49573121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.229928851 meters 0.10803746463281158 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.50 [[ 9.99996788e-01 3.38414930e-04 -2.51187271e-03 4.17875312e+01] [-3.34473152e-04 9.99998712e-01 1.56951279e-03 -3.87102616e+00] [ 2.51240062e-03 -1.56866759e-03 9.99995614e-01 -1.49550138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25992885099999 meters 0.09813922571658319 Centerline is valid? [False, True] Translation: X:41.79, Y:-3.87, Z:-1.50 [[ 9.99997010e-01 1.68511022e-04 -2.43939891e-03 4.17870418e+01] [-1.65002842e-04 9.99998952e-01 1.43826274e-03 -3.87121653e+00] [ 2.43963872e-03 -1.43785594e-03 9.99995990e-01 -1.49500462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28992885099999 meters 0.10998564411327266 Centerline is valid? [True, False] Translation: X:41.79, Y:-3.87, Z:-1.50 [[ 9.99996542e-01 4.91854630e-04 -2.58344803e-03 4.17877176e+01] [-4.87124192e-04 9.99998204e-01 1.83136590e-03 -3.87175635e+00] [ 2.58434416e-03 -1.83010111e-03 9.99994986e-01 -1.49551514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31992885099999 meters 0.10593462360300714 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.50 [[ 9.99996788e-01 3.95302989e-04 -2.50339193e-03 4.17873626e+01] [-3.90939032e-04 9.99998404e-01 1.74346723e-03 -3.87193655e+00] [ 2.50407713e-03 -1.74248296e-03 9.99995347e-01 -1.49522397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.349928850999994 meters 0.10263189784552577 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99996843e-01 3.68911013e-04 -2.48535121e-03 4.17871638e+01] [-3.64562266e-04 9.99998402e-01 1.74997752e-03 -3.87234065e+00] [ 2.48599282e-03 -1.74906593e-03 9.99995380e-01 -1.49497648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379928850999995 meters 0.10092095049064342 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99997292e-01 3.32607576e-04 -2.30348828e-03 4.17865161e+01] [-3.28191405e-04 9.99998108e-01 1.91727965e-03 -3.87356295e+00] [ 2.30412163e-03 -1.91651847e-03 9.99995509e-01 -1.49458874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.409928851 meters 0.10066382121673266 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.87, Z:-1.49 [[ 9.99997684e-01 2.71216745e-04 -2.13500548e-03 4.17861896e+01] [-2.66983361e-04 9.99997998e-01 1.98288002e-03 -3.87391199e+00] [ 2.13553900e-03 -1.98230542e-03 9.99995755e-01 -1.49461995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43992885099999 meters 0.10260082213723944 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.88, Z:-1.49 [[ 9.99997923e-01 3.66582197e-04 -2.00486671e-03 4.17859015e+01] [-3.61959176e-04 9.99997276e-01 2.30577654e-03 -3.87521072e+00] [ 2.00570650e-03 -2.30504608e-03 9.99995332e-01 -1.49454509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46992885099999 meters 0.10351792928806929 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.88, Z:-1.49 [[ 9.99998024e-01 4.36258460e-04 -1.93949675e-03 4.17857483e+01] [-4.31397912e-04 9.99996767e-01 2.50579988e-03 -3.87606085e+00] [ 1.94058365e-03 -2.50495824e-03 9.99994980e-01 -1.49450899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49992885099999 meters 0.10354819691849772 Centerline is valid? [False, False] Translation: X:41.79, Y:-3.88, Z:-1.49 [[ 9.99998287e-01 4.24311788e-04 -1.80185418e-03 4.17853915e+01] [-4.19525629e-04 9.99996385e-01 2.65578866e-03 -3.87692744e+00] [ 1.80297455e-03 -2.65502819e-03 9.99994850e-01 -1.49440344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.529928850999994 meters 0.10925758801112215 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.88, Z:-1.49 [[ 9.99999024e-01 2.95504960e-04 -1.36531143e-03 4.17842653e+01] [-2.91477521e-04 9.99995609e-01 2.94908969e-03 -3.87885607e+00] [ 1.36617691e-03 -2.94868885e-03 9.99994719e-01 -1.49407876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559928850999995 meters 0.10324109731481124 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.88, Z:-1.49 [[ 9.99999059e-01 4.37473073e-04 -1.30001422e-03 4.17840090e+01] [-4.33216245e-04 9.99994550e-01 3.27292692e-03 -3.88026552e+00] [ 1.30143895e-03 -3.27236066e-03 9.99993799e-01 -1.49388533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.589928850999996 meters 0.10874590760325657 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.88, Z:-1.49 [[ 9.99998999e-01 6.11635141e-04 -1.27559475e-03 4.17839550e+01] [-6.07025420e-04 9.99993296e-01 3.61104342e-03 -3.88156246e+00] [ 1.27779484e-03 -3.61026549e-03 9.99992667e-01 -1.49385274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61992885099999 meters 0.10920305125123134 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.88, Z:-1.49 [[ 9.99999149e-01 6.95773286e-04 -1.10356308e-03 4.17833697e+01] [-6.91362888e-04 9.99991793e-01 3.99186629e-03 -3.88331380e+00] [ 1.10633146e-03 -3.99109993e-03 9.99991424e-01 -1.49348998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64992885099999 meters 0.10482073593345366 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.88, Z:-1.49 [[ 9.99999156e-01 6.80589243e-04 -1.10697865e-03 4.17831328e+01] [-6.76121634e-04 9.99991646e-01 4.03123839e-03 -3.88382566e+00] [ 1.10971302e-03 -4.03048653e-03 9.99991262e-01 -1.49313219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67992885099999 meters 0.10756629643596423 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.89, Z:-1.49 [[ 9.99998967e-01 8.85235843e-04 -1.13282841e-03 4.17829354e+01] [-8.80256216e-04 9.99989982e-01 4.38872141e-03 -3.88545054e+00] [ 1.13670211e-03 -4.38771969e-03 9.99989728e-01 -1.49271278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.709928850999994 meters 0.10688619063407254 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.89, Z:-1.49 [[ 9.99998786e-01 9.58361910e-04 -1.22845140e-03 4.17829510e+01] [-9.52866741e-04 9.99989573e-01 4.46605615e-03 -3.88611340e+00] [ 1.23271869e-03 -4.46488018e-03 9.99989273e-01 -1.49241171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739928850999995 meters 0.10666752229643019 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.89, Z:-1.49 [[ 9.99998165e-01 1.29847395e-03 -1.40827221e-03 4.17833341e+01] [-1.29167054e-03 9.99987544e-01 4.82123298e-03 -3.88742143e+00] [ 1.41451491e-03 -4.81940512e-03 9.99987386e-01 -1.49234452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.769928850999996 meters 0.10848747344308395 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.89, Z:-1.49 [[ 9.99998084e-01 1.26096263e-03 -1.49749805e-03 4.17833060e+01] [-1.25389754e-03 9.99988124e-01 4.70953434e-03 -3.88746308e+00] [ 1.50341881e-03 -4.70764761e-03 9.99987789e-01 -1.49201327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799928851 meters 0.10299057032993576 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.89, Z:-1.49 [[ 9.99997903e-01 1.27308440e-03 -1.60433353e-03 4.17833992e+01] [-1.26563352e-03 9.99988449e-01 4.63671036e-03 -3.88750839e+00] [ 1.61021792e-03 -4.63467014e-03 9.99987963e-01 -1.49178227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82992885099999 meters 0.10319434075887238 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.89, Z:-1.49 [[ 9.99997776e-01 1.26405369e-03 -1.68843473e-03 4.17834106e+01] [-1.25630446e-03 9.99988710e-01 4.58279334e-03 -3.88759632e+00] [ 1.69420856e-03 -4.58066195e-03 9.99988074e-01 -1.49153805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85992885099999 meters 0.10462694588279585 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.89, Z:-1.49 [[ 9.99996599e-01 1.70049609e-03 -1.97764353e-03 4.17842096e+01] [-1.69058465e-03 9.99986058e-01 5.00266103e-03 -3.88867244e+00] [ 1.98612296e-03 -4.99930064e-03 9.99985531e-01 -1.49174695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88992885099999 meters 0.09910726079088647 Centerline is valid? [False, True] Translation: X:41.78, Y:-3.89, Z:-1.49 [[ 9.99995575e-01 1.89335528e-03 -2.29461534e-03 4.17848040e+01] [-1.88196228e-03 9.99985942e-01 4.95713079e-03 -3.88868849e+00] [ 2.30396870e-03 -4.95279047e-03 9.99985081e-01 -1.49161953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919928850999995 meters 0.09963592133152897 Centerline is valid? [True, True] Translation: X:41.81, Y:-3.89, Z:-1.49 [[ 9.99990055e-01 3.40737695e-03 -2.87758281e-03 4.18139207e+01] [-3.40648578e-03 9.99994148e-01 3.14537591e-04 -3.89062077e+00] [ 2.87863772e-03 -3.04732018e-04 9.99995810e-01 -1.49095184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.949928850999996 meters 0.09926285862510188 Centerline is valid? [True, True] Translation: X:41.84, Y:-3.89, Z:-1.49 [[ 9.99983839e-01 5.06330128e-03 -2.58536387e-03 4.18436015e+01] [-5.06258672e-03 9.99987145e-01 2.82857303e-04 -3.89313710e+00] [ 2.58676282e-03 -2.69764103e-04 9.99996618e-01 -1.49166639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979928851 meters 0.10039317006628239 Centerline is valid? [True, False] Translation: X:41.84, Y:-3.89, Z:-1.49 [[ 9.99982215e-01 5.16315347e-03 -2.98521789e-03 4.18442875e+01] [-5.16312835e-03 9.99986671e-01 1.61217669e-05 -3.89225188e+00] [ 2.98526133e-03 -7.08417128e-07 9.99995544e-01 -1.49143760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00992885099999 meters 0.09568407122493555 Centerline is valid? [False, True] Translation: X:41.84, Y:-3.89, Z:-1.49 [[ 9.99982348e-01 5.04507365e-03 -3.13876558e-03 4.18443600e+01] [-5.04601572e-03 9.99987226e-01 -2.92291666e-04 -3.89168983e+00] [ 3.13725086e-03 3.08124767e-04 9.99995031e-01 -1.49107485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03992885099999 meters 0.09793928279789624 Centerline is valid? [True, True] Translation: X:41.87, Y:-3.90, Z:-1.49 [[ 9.99961678e-01 7.77283868e-03 -4.02814773e-03 4.18726938e+01] [-7.77120647e-03 9.99969715e-01 4.20695620e-04 -3.89936564e+00] [ 4.03129574e-03 -3.89375930e-04 9.99991798e-01 -1.49333711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06992885099999 meters 0.09746176082672002 Centerline is valid? [True, True] Translation: X:41.90, Y:-3.90, Z:-1.49 [[ 9.99950726e-01 9.21338355e-03 -3.69583846e-03 4.19026959e+01] [-9.21201931e-03 9.99957494e-01 3.85982778e-04 -3.90153569e+00] [ 3.69923757e-03 -3.51917624e-04 9.99993096e-01 -1.49376152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099928850999994 meters 0.0974354837206358 Centerline is valid? [True, True] Translation: X:41.93, Y:-3.91, Z:-1.49 [[ 9.99930657e-01 1.14408458e-02 -2.79088262e-03 4.19315846e+01] [-1.14400771e-02 9.99934518e-01 2.91252770e-04 -3.90529628e+00] [ 2.79403205e-03 -2.59304661e-04 9.99996063e-01 -1.49444471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.129928850999995 meters 0.0978807124453775 Centerline is valid? [True, True] Translation: X:41.96, Y:-3.91, Z:-1.49 [[ 9.99927431e-01 1.17747676e-02 -2.54687825e-03 4.19603366e+01] [-1.17741314e-02 9.99930647e-01 2.64619407e-04 -3.90893552e+00] [ 2.54981745e-03 -2.34612925e-04 9.99996722e-01 -1.49462805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159928851 meters 0.09803146510282482 Centerline is valid? [True, True] Translation: X:41.99, Y:-3.91, Z:-1.50 [[ 9.99916131e-01 1.24728149e-02 -3.48723515e-03 4.19881799e+01] [-1.24716269e-02 9.99922161e-01 3.62224122e-04 -3.91238813e+00] [ 3.49148166e-03 -3.18702247e-04 9.99993854e-01 -1.49561407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18992885099999 meters 0.09388649024244176 Centerline is valid? [True, True] Translation: X:42.02, Y:-3.91, Z:-1.49 [[ 9.99915297e-01 1.26465005e-02 -3.07662488e-03 4.20178328e+01] [-1.26455768e-02 9.99919990e-01 3.19468840e-04 -3.90870605e+00] [ 3.08041888e-03 -2.80536084e-04 9.99995216e-01 -1.49457178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21992885099999 meters 0.09601509869685564 Centerline is valid? [True, True] Translation: X:42.04, Y:-3.92, Z:-1.50 [[ 9.99917809e-01 1.23039641e-02 -3.60380251e-03 4.20447644e+01] [-1.23026961e-02 9.99924249e-01 3.73810567e-04 -3.91647365e+00] [ 3.60812887e-03 -3.29443356e-04 9.99993436e-01 -1.49667639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24992885099999 meters 0.09601509869685564 Centerline is valid? [True, True] Translation: X:42.07, Y:-3.92, Z:-1.50 [[ 9.99918979e-01 1.22085422e-02 -3.60387222e-03 4.20722029e+01] [-1.22072759e-02 9.99925419e-01 3.73140650e-04 -3.91921955e+00] [ 3.60815894e-03 -3.29116955e-04 9.99993436e-01 -1.49728733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279928850999994 meters 0.0903619304705241 Centerline is valid? [True, True] Translation: X:42.10, Y:-3.91, Z:-1.50 [[ 9.99922990e-01 1.12690229e-02 -5.19844027e-03 4.21026371e+01] [-1.12663646e-02 9.99936386e-01 5.40374010e-04 -3.91241987e+00] [ 5.20419907e-03 -4.81764872e-04 9.99986342e-01 -1.49550695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.309928850999995 meters 0.08989306154306986 Centerline is valid? [True, True] Translation: X:42.13, Y:-3.91, Z:-1.50 [[ 9.99926109e-01 1.06496714e-02 -5.86175865e-03 4.21308810e+01] [-1.06462898e-02 9.99943142e-01 6.07789960e-04 -3.91481214e+00] [ 5.86789812e-03 -5.45339069e-04 9.99982635e-01 -1.49617047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339928850999996 meters 0.09302257581807025 Centerline is valid? [True, True] Translation: X:42.16, Y:-3.92, Z:-1.50 [[ 9.99936784e-01 9.72608273e-03 -5.64193261e-03 4.21581569e+01] [-9.72293846e-03 9.99952560e-01 5.84466097e-04 -3.92448834e+00] [ 5.64734953e-03 -5.29572986e-04 9.99983913e-01 -1.49769730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36992885099999 meters 0.09302257581807025 Centerline is valid? [True, True] Translation: X:42.19, Y:-3.93, Z:-1.50 [[ 9.99937736e-01 9.62769759e-03 -5.64202359e-03 4.21856010e+01] [-9.62455667e-03 9.99953513e-01 5.83589335e-04 -3.92723200e+00] [ 5.64737993e-03 -5.29251022e-04 9.99983913e-01 -1.49830840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39992885099999 meters 0.09043855132780898 Centerline is valid? [True, True] Translation: X:42.22, Y:-3.92, Z:-1.50 [[ 9.99929532e-01 1.00205071e-02 -6.36554293e-03 4.22152664e+01] [-1.00165134e-02 9.99949616e-01 6.58962196e-04 -3.92452095e+00] [ 6.37182535e-03 -5.95155215e-04 9.99979523e-01 -1.49692560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42992885099999 meters 0.09498042118618287 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.94, Z:-1.50 [[ 9.99929668e-01 1.01323483e-02 -6.16394983e-03 4.22419098e+01] [-1.01286114e-02 9.99948501e-01 6.37163800e-04 -3.93580053e+00] [ 6.17008836e-03 -5.74686735e-04 9.99980800e-01 -1.50012042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459928850999994 meters 0.09052649025207472 Centerline is valid? [True, True] Translation: X:42.27, Y:-3.93, Z:-1.50 [[ 9.99924046e-01 1.10239741e-02 -5.51129866e-03 4.22716962e+01] [-1.10210013e-02 9.99939105e-01 5.69492433e-04 -3.92953542e+00] [ 5.51724112e-03 -5.08709148e-04 9.99984651e-01 -1.49803395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.489928850999995 meters 0.09137161349973394 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.93, Z:-1.50 [[ 9.99915852e-01 1.17660279e-02 -5.46345726e-03 4.22993162e+01] [-1.17631220e-02 9.99930653e-01 5.63712325e-04 -3.93392090e+00] [ 5.46971104e-03 -4.99397575e-04 9.99984916e-01 -1.49934307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519928850999996 meters 0.09026901716793917 Centerline is valid? [True, True] Translation: X:42.33, Y:-3.93, Z:-1.50 [[ 9.99907778e-01 1.24789183e-02 -5.35840842e-03 4.23279783e+01] [-1.24761334e-02 9.99922017e-01 5.52849841e-04 -3.93397490e+00] [ 5.36488953e-03 -4.85946637e-04 9.99985491e-01 -1.49979293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.549928851 meters 0.09040353143363647 Centerline is valid? [True, True] Translation: X:42.36, Y:-3.94, Z:-1.50 [[ 9.99881615e-01 1.44073930e-02 -5.40215879e-03 4.23570075e+01] [-1.44045872e-02 9.99896093e-01 5.57940885e-04 -3.93571634e+00] [ 5.40963594e-03 -4.80058965e-04 9.99985253e-01 -1.50066910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57992885099999 meters 0.090546626833364 Centerline is valid? [True, True] Translation: X:42.39, Y:-3.94, Z:-1.50 [[ 9.99866601e-01 1.55800957e-02 -4.90313383e-03 4.23861469e+01] [-1.55777994e-02 9.99878531e-01 5.06178872e-04 -3.93780253e+00] [ 4.91042456e-03 -4.29731313e-04 9.99987851e-01 -1.50149446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60992885099999 meters 0.09002295085196191 Centerline is valid? [True, True] Translation: X:42.41, Y:-3.94, Z:-1.50 [[ 9.99851773e-01 1.66135315e-02 -4.51906645e-03 4.24148705e+01] [-1.66115962e-02 9.99861910e-01 4.65456116e-04 -3.93855963e+00] [ 4.52617528e-03 -3.90318216e-04 9.99989681e-01 -1.50225856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63992885099999 meters 0.09021784834508353 Centerline is valid? [True, True] Translation: X:42.44, Y:-3.94, Z:-1.50 [[ 9.99832057e-01 1.75249432e-02 -5.36034590e-03 4.24424438e+01] [-1.75222361e-02 9.99846322e-01 5.51572831e-04 -3.94014875e+00] [ 5.36918842e-03 -4.57554953e-04 9.99985481e-01 -1.50348697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.669928850999995 meters 0.09212771434821279 Centerline is valid? [True, True] Translation: X:42.47, Y:-3.95, Z:-1.51 [[ 9.99830666e-01 1.76759343e-02 -5.11873290e-03 4.24701309e+01] [-1.76734701e-02 9.99843674e-01 5.26243868e-04 -3.94620144e+00] [ 5.12723455e-03 -4.35688984e-04 9.99986761e-01 -1.50572014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699928850999996 meters 0.09212771434821279 Centerline is valid? [True, True] Translation: X:42.50, Y:-3.95, Z:-1.51 [[ 9.99832355e-01 1.75800906e-02 -5.11881911e-03 4.24975561e+01] [-1.75776294e-02 9.99845363e-01 5.25406835e-04 -3.94891829e+00] [ 5.12726426e-03 -4.35342048e-04 9.99986761e-01 -1.50633074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.729928851 meters 0.0879358404569777 Centerline is valid? [True, True] Translation: X:42.53, Y:-3.94, Z:-1.50 [[ 9.99850380e-01 1.65327879e-02 -5.08765928e-03 4.25283628e+01] [-1.65303370e-02 9.99863228e-01 5.23405748e-04 -3.94185189e+00] [ 5.09561679e-03 -4.39226713e-04 9.99986921e-01 -1.50450181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75992885099999 meters 0.08898864568916888 Centerline is valid? [True, True] Translation: X:42.56, Y:-3.95, Z:-1.51 [[ 9.99873602e-01 1.52362630e-02 -4.54266462e-03 4.25573516e+01] [-1.52342990e-02 9.99883842e-01 4.66654875e-04 -3.94574063e+00] [ 4.54924703e-03 -3.97391580e-04 9.99989573e-01 -1.50573726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78992885099999 meters 0.09024299600144058 Centerline is valid? [True, True] Translation: X:42.59, Y:-3.95, Z:-1.51 [[ 9.99896447e-01 1.38787736e-02 -3.80450055e-03 4.25854515e+01] [-1.38773876e-02 9.99903628e-01 3.90453597e-04 -3.95044334e+00] [ 3.80955292e-03 -3.37616636e-04 9.99992687e-01 -1.50597513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81992885099999 meters 0.0922807413975713 Centerline is valid? [True, True] Translation: X:42.62, Y:-3.96, Z:-1.51 [[ 9.99939255e-01 1.05203612e-02 -3.28745133e-03 4.26157724e+01] [-1.05193052e-02 9.99944613e-01 3.38353858e-04 -3.95695986e+00] [ 3.29082885e-03 -3.03751601e-04 9.99994539e-01 -1.50606770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.849928850999994 meters 0.09486460497038975 Centerline is valid? [True, True] Translation: X:42.64, Y:-3.96, Z:-1.51 [[ 9.99950186e-01 8.97813442e-03 -4.36114059e-03 4.26448627e+01] [-8.97626362e-03 9.99959612e-01 4.48355183e-04 -3.96398887e+00] [ 4.36498984e-03 -4.09186101e-04 9.99990390e-01 -1.50842920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879928850999995 meters 0.09352271999562481 Centerline is valid? [True, True] Translation: X:42.67, Y:-3.96, Z:-1.51 [[ 9.99960356e-01 7.50429229e-03 -4.79288476e-03 4.26745635e+01] [-7.50201807e-03 9.99971738e-01 4.92301967e-04 -3.96372724e+00] [ 4.79644368e-03 -4.56326142e-04 9.99988393e-01 -1.50885699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.909928851 meters 0.09850725279993404 Centerline is valid? [True, True] Translation: X:42.70, Y:-3.97, Z:-1.51 [[ 9.99978669e-01 3.28926390e-03 -5.64288153e-03 4.27030716e+01] [-3.28603981e-03 9.99994432e-01 5.80531500e-04 -3.97440548e+00] [ 5.64475963e-03 -5.61976383e-04 9.99983910e-01 -1.51148860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93992885099999 meters 0.10092237639567887 Centerline is valid? [True, False] Translation: X:42.70, Y:-3.97, Z:-1.51 [[ 9.99981698e-01 2.89208764e-03 -5.31405202e-03 4.27022267e+01] [-2.89052586e-03 9.99995777e-01 3.01554051e-04 -3.97398870e+00] [ 5.31490170e-03 -2.86188128e-04 9.99985835e-01 -1.51128226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96992885099999 meters 0.09687742385338842 Centerline is valid? [False, True] Translation: X:42.70, Y:-3.97, Z:-1.51 [[ 9.99985566e-01 2.46881609e-03 -4.77205705e-03 4.27013092e+01] [-2.46805716e-03 9.99996941e-01 1.64918410e-04 -3.97361188e+00] [ 4.77244961e-03 -1.53138320e-04 9.99988600e-01 -1.51161503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99992885099999 meters 0.1023067669638253 Centerline is valid? [True, False] Translation: X:42.70, Y:-3.97, Z:-1.51 [[ 9.99986603e-01 2.36866766e-03 -4.60254185e-03 4.27011405e+01] [-2.36786413e-03 9.99997180e-01 1.80025582e-04 -3.97345875e+00] [ 4.60295530e-03 -1.69124977e-04 9.99989392e-01 -1.51188208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.029928850999994 meters 0.10518338524869235 Centerline is valid? [False, False] Translation: X:42.70, Y:-3.97, Z:-1.51 [[ 9.99989025e-01 1.97463710e-03 -4.24868449e-03 4.27002370e+01] [-1.97518917e-03 9.99998041e-01 -1.25747348e-04 -3.97298540e+00] [ 4.24842787e-03 1.34137923e-04 9.99990966e-01 -1.51168251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059928850999995 meters 0.09856088132281435 Centerline is valid? [False, True] Translation: X:42.70, Y:-3.97, Z:-1.51 [[ 9.99990846e-01 1.61106391e-03 -3.96376005e-03 4.26997230e+01] [-1.61269149e-03 9.99998617e-01 -4.07453538e-04 -3.97208417e+00] [ 3.96309813e-03 4.13842131e-04 9.99992061e-01 -1.51183133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.089928850999996 meters 0.09948615749487781 Centerline is valid? [True, True] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99992252e-01 9.50222890e-04 -3.81998731e-03 4.27279038e+01] [-9.48597902e-04 9.99999459e-01 4.27180259e-04 -3.97636286e+00] [ 3.82039116e-03 -4.23553318e-04 9.99992613e-01 -1.51330429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11992885099999 meters 0.10484802214077381 Centerline is valid? [True, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99992602e-01 9.35910184e-04 -3.73103262e-03 4.27280928e+01] [-9.34037897e-04 9.99999437e-01 5.03525585e-04 -3.97596687e+00] [ 3.73150178e-03 -5.00036934e-04 9.99992913e-01 -1.51387141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14992885099999 meters 0.10198107135116405 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99993458e-01 7.32513320e-04 -3.54210828e-03 4.27275640e+01] [-7.31277554e-04 9.99999671e-01 3.50161276e-04 -3.97591890e+00] [ 3.54236361e-03 -3.47568722e-04 9.99993665e-01 -1.51370066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17992885099999 meters 0.10427491539319007 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99993476e-01 9.28617202e-04 -3.49082446e-03 4.27277650e+01] [-9.26054759e-04 9.99999301e-01 7.35595595e-04 -3.97667718e+00] [ 3.49150510e-03 -7.32358102e-04 9.99993637e-01 -1.51415974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.209928850999994 meters 0.10572378883921177 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99994391e-01 5.88079598e-04 -3.29730706e-03 4.27269117e+01] [-5.86657940e-04 9.99999735e-01 4.32107827e-04 -3.97649599e+00] [ 3.29756030e-03 -4.30171012e-04 9.99994471e-01 -1.51351189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239928850999995 meters 0.10691206249278039 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99994671e-01 4.39595101e-04 -3.23493556e-03 4.27265892e+01] [-4.38712837e-04 9.99999866e-01 2.73434454e-04 -3.97641912e+00] [ 3.23505533e-03 -2.72013789e-04 9.99994730e-01 -1.51323208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.269928850999996 meters 0.10747951865525864 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99994486e-01 5.04141360e-04 -3.28250008e-03 4.27266787e+01] [-5.03037837e-04 9.99999817e-01 3.37000416e-04 -3.97665130e+00] [ 3.28266937e-03 -3.35347336e-04 9.99994556e-01 -1.51318161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299928851 meters 0.10772623452788814 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99993384e-01 6.88687524e-04 -3.57164792e-03 4.27270433e+01] [-6.87405407e-04 9.99999699e-01 3.60185832e-04 -3.97710421e+00] [ 3.57189490e-03 -3.57728279e-04 9.99993557e-01 -1.51276623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32992885099999 meters 0.10772623452788814 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99993384e-01 6.88687524e-04 -3.57164792e-03 4.27270433e+01] [-6.87405407e-04 9.99999699e-01 3.60185832e-04 -3.97710421e+00] [ 3.57189490e-03 -3.57728279e-04 9.99993557e-01 -1.51276623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35992885099999 meters 0.10772623452788814 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99993384e-01 6.88687524e-04 -3.57164792e-03 4.27270433e+01] [-6.87405407e-04 9.99999699e-01 3.60185832e-04 -3.97710421e+00] [ 3.57189490e-03 -3.57728279e-04 9.99993557e-01 -1.51276623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38992885099999 meters 0.10752735014779577 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99993534e-01 6.88393707e-04 -3.52971501e-03 4.27270595e+01] [-6.86981276e-04 9.99999683e-01 4.01351145e-04 -3.97709137e+00] [ 3.52999018e-03 -3.98923702e-04 9.99993690e-01 -1.51291006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419928850999995 meters 0.10554079732699094 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99992476e-01 7.74314086e-04 -3.80110691e-03 4.27275445e+01] [-7.73173668e-04 9.99999656e-01 3.01483043e-04 -3.97662802e+00] [ 3.80133905e-03 -2.98541859e-04 9.99992730e-01 -1.51275679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.449928850999996 meters 0.10665057917874282 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99991774e-01 9.44087798e-04 -3.94468964e-03 4.27276760e+01] [-9.42157117e-04 9.99999435e-01 4.91267402e-04 -3.97752575e+00] [ 3.94515121e-03 -4.87546844e-04 9.99992099e-01 -1.51248544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479928851 meters 0.10650589903284902 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99991029e-01 1.26883327e-03 -4.04127051e-03 4.27281925e+01] [-1.26511296e-03 9.99998774e-01 9.23002927e-04 -3.97833898e+00] [ 4.04243669e-03 -9.17881983e-04 9.99991408e-01 -1.51291946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50992885099999 meters 0.10751533456158387 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99990550e-01 1.26820005e-03 -4.15826175e-03 4.27281313e+01] [-1.26479731e-03 9.99998863e-01 8.20836208e-04 -3.97866090e+00] [ 4.15929800e-03 -8.15569093e-04 9.99991018e-01 -1.51242290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53992885099999 meters 0.0995832314306672 Centerline is valid? [False, True] Translation: X:42.73, Y:-3.98, Z:-1.51 [[ 9.99990012e-01 1.19187884e-03 -4.30756487e-03 4.27280755e+01] [-1.18925982e-03 9.99999106e-01 6.10515011e-04 -3.97848657e+00] [ 4.30828869e-03 -6.05386099e-04 9.99990536e-01 -1.51187873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56992885099999 meters 0.09932009594516979 Centerline is valid? [True, True] Translation: X:42.76, Y:-3.98, Z:-1.51 [[ 9.99987083e-01 1.91434767e-03 -4.70840436e-03 4.27572362e+01] [-1.91200392e-03 9.99998046e-01 5.02229505e-04 -3.98059419e+00] [ 4.70935661e-03 -4.93220530e-04 9.99988789e-01 -1.51305958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599928850999994 meters 0.09932009594516979 Centerline is valid? [True, True] Translation: X:42.79, Y:-3.98, Z:-1.51 [[ 9.99987211e-01 1.84706213e-03 -4.70809926e-03 4.27855441e+01] [-1.84470446e-03 9.99998171e-01 5.05063362e-04 -3.98356743e+00] [ 4.70902353e-03 -4.96371851e-04 9.99988789e-01 -1.51365554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.629928850999995 meters 0.09932009594516979 Centerline is valid? [True, True] Translation: X:42.81, Y:-3.99, Z:-1.51 [[ 9.99987333e-01 1.77984290e-03 -4.70813325e-03 4.28138524e+01] [-1.77748596e-03 9.99998293e-01 5.04746891e-04 -3.98653729e+00] [ 4.70902358e-03 -4.96371856e-04 9.99988789e-01 -1.51425023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659928851 meters 0.09635881112662772 Centerline is valid? [True, True] Translation: X:42.84, Y:-3.98, Z:-1.51 [[ 9.99986015e-01 3.12215096e-03 -4.26866398e-03 4.28442978e+01] [-3.12022198e-03 9.99995027e-01 4.58476584e-04 -3.98452529e+00] [ 4.27007419e-03 -4.45150993e-04 9.99990784e-01 -1.51367716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68992885099999 meters 0.09982878248565505 Centerline is valid? [True, True] Translation: X:42.87, Y:-3.99, Z:-1.52 [[ 9.99984703e-01 3.26189255e-03 -4.46694593e-03 4.28711713e+01] [-3.25978964e-03 9.99994573e-01 4.77970267e-04 -3.99325502e+00] [ 4.46848078e-03 -4.63401651e-04 9.99989909e-01 -1.51609285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71992885099999 meters 0.09759251967030305 Centerline is valid? [True, True] Translation: X:42.90, Y:-3.99, Z:-1.52 [[ 9.99983400e-01 3.89185682e-03 -4.24893731e-03 4.29003009e+01] [-3.88995986e-03 9.99992331e-01 4.54627834e-04 -3.99285985e+00] [ 4.25067407e-03 -4.38092091e-04 9.99990870e-01 -1.51568331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74992885099999 meters 0.1004097750542433 Centerline is valid? [True, False] Translation: X:42.90, Y:-3.99, Z:-1.52 [[ 9.99982407e-01 4.04329884e-03 -4.34032433e-03 4.29006866e+01] [-4.04076884e-03 9.99991661e-01 5.91515806e-04 -3.99300865e+00] [ 4.34267982e-03 -5.73967151e-04 9.99990406e-01 -1.51593715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779928850999994 meters 0.09703371983131641 Centerline is valid? [False, True] Translation: X:42.90, Y:-3.99, Z:-1.52 [[ 9.99983110e-01 3.83092452e-03 -4.37085490e-03 4.29004529e+01] [-3.82997444e-03 9.99992640e-01 2.25716105e-04 -3.99248195e+00] [ 4.37168743e-03 -2.08972030e-04 9.99990422e-01 -1.51548525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.809928850999995 meters 0.09820414481983859 Centerline is valid? [True, True] Translation: X:42.93, Y:-4.00, Z:-1.52 [[ 9.99980610e-01 4.26509687e-03 -4.53748606e-03 4.29290725e+01] [-4.26296187e-03 9.99990798e-01 4.80092230e-04 -3.99705315e+00] [ 4.53949194e-03 -4.60739791e-04 9.99989590e-01 -1.51707396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839928850999996 meters 0.09911656051463343 Centerline is valid? [True, True] Translation: X:42.96, Y:-4.00, Z:-1.52 [[ 9.99973931e-01 4.96676145e-03 -5.24106860e-03 4.29568710e+01] [-4.96392555e-03 9.99987526e-01 5.53960869e-04 -4.00134450e+00] [ 5.24375461e-03 -5.27930154e-04 9.99986112e-01 -1.51822384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86992885099999 meters 0.09877080592311979 Centerline is valid? [True, True] Translation: X:42.99, Y:-4.00, Z:-1.52 [[ 9.99970283e-01 5.88993407e-03 -4.97412916e-03 4.29860234e+01] [-5.88739585e-03 9.99982531e-01 5.24773520e-04 -4.00293517e+00] [ 4.97713315e-03 -4.95473257e-04 9.99987491e-01 -1.51828861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89992885099999 meters 0.09764835545424895 Centerline is valid? [True, True] Translation: X:43.02, Y:-4.00, Z:-1.52 [[ 9.99979226e-01 5.54682365e-03 -3.28331439e-03 4.30151490e+01] [-5.54571667e-03 9.99984562e-01 3.46161745e-04 -4.00368392e+00] [ 3.28518381e-03 -3.27946223e-04 9.99994550e-01 -1.51717079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92992885099999 meters 0.10038689523618882 Centerline is valid? [True, False] Translation: X:43.01, Y:-4.00, Z:-1.52 [[ 9.99980607e-01 5.39636088e-03 -3.10887317e-03 4.30146393e+01] [-5.39554468e-03 9.99985407e-01 2.70868484e-04 -4.00380518e+00] [ 3.11028951e-03 -2.54089167e-04 9.99995131e-01 -1.51694298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959928850999994 meters 0.09585721602797341 Centerline is valid? [False, True] Translation: X:43.01, Y:-4.00, Z:-1.52 [[ 9.99982058e-01 5.17974745e-03 -3.00897489e-03 4.30142297e+01] [-5.17961649e-03 9.99986584e-01 5.13162427e-05 -4.00378051e+00] [ 3.00920033e-03 -3.57299860e-05 9.99995472e-01 -1.51663771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.989928850999995 meters 0.10181400553327549 Centerline is valid? [True, False] Translation: X:43.01, Y:-4.00, Z:-1.52 [[ 9.99981548e-01 5.27226218e-03 -3.01767316e-03 4.30145102e+01] [-5.27168917e-03 9.99986085e-01 1.97808189e-04 -4.00386881e+00] [ 3.01867406e-03 -1.81896304e-04 9.99995427e-01 -1.51700458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019928850999996 meters 0.10362518561831244 Centerline is valid? [False, False] Translation: X:43.01, Y:-4.00, Z:-1.52 [[ 9.99982466e-01 5.15943105e-03 -2.90662339e-03 4.30141670e+01] [-5.15904895e-03 9.99986682e-01 1.38938995e-04 -4.00403859e+00] [ 2.90730153e-03 -1.23941146e-04 9.99995766e-01 -1.51684103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.04992885099999 meters 0.0975960629706787 Centerline is valid? [False, True] Translation: X:43.01, Y:-4.00, Z:-1.52 [[ 9.99984620e-01 4.93500176e-03 -2.53084169e-03 4.30133502e+01] [-4.93476621e-03 9.99987819e-01 9.93093511e-05 -4.00461218e+00] [ 2.53130095e-03 -8.68187117e-05 9.99996792e-01 -1.51672977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07992885099999 meters 0.10219446085594633 Centerline is valid? [True, False] Translation: X:43.01, Y:-4.00, Z:-1.52 [[ 9.99985322e-01 4.83604916e-03 -2.44318960e-03 4.30131485e+01] [-4.83601773e-03 9.99988306e-01 1.87724856e-05 -4.00457044e+00] [ 2.44325182e-03 -6.95690181e-06 9.99997015e-01 -1.51670469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10992885099999 meters 0.10339721774301214 Centerline is valid? [False, False] Translation: X:43.01, Y:-4.00, Z:-1.52 [[ 9.99983976e-01 5.05656211e-03 -2.54544201e-03 4.30138095e+01] [-5.05599365e-03 9.99987192e-01 2.29709238e-04 -4.00464261e+00] [ 2.54657095e-03 -2.16835818e-04 9.99996734e-01 -1.51729139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13992885099999 meters 0.09914375529786107 Centerline is valid? [False, True] Translation: X:43.01, Y:-4.00, Z:-1.52 [[ 9.99984996e-01 4.85228772e-03 -2.54244238e-03 4.30134773e+01] [-4.85252450e-03 9.99988223e-01 -8.69704767e-05 -4.00421413e+00] [ 2.54199043e-03 9.93064357e-05 9.99996764e-01 -1.51682072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.169928850999995 meters 0.0997009733557706 Centerline is valid? [True, True] Translation: X:43.04, Y:-4.01, Z:-1.52 [[ 9.99986446e-01 5.01581949e-03 -1.39644087e-03 4.30409496e+01] [-5.01561075e-03 9.99987410e-01 1.52938211e-04 -4.00869807e+00] [ 1.39719040e-03 -1.45932134e-04 9.99999013e-01 -1.51652617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199928850999996 meters 0.10040938957391964 Centerline is valid? [True, False] Translation: X:43.04, Y:-4.01, Z:-1.52 [[ 9.99987545e-01 4.83718444e-03 -1.22918617e-03 4.30403295e+01] [-4.83704914e-03 9.99988295e-01 1.13017834e-04 -4.00893709e+00] [ 1.22971847e-03 -1.07070792e-04 9.99999238e-01 -1.51613959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.229928851 meters 0.10267673118482552 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.01, Z:-1.52 [[ 9.99988846e-01 4.62821355e-03 -9.42387141e-04 4.30394519e+01] [-4.62805020e-03 9.99989275e-01 1.75440140e-04 -4.00992144e+00] [ 9.43189009e-04 -1.71076768e-04 9.99999541e-01 -1.51570224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25992885099999 meters 0.10413469356590992 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.01, Z:-1.52 [[ 9.99989625e-01 4.48061270e-03 -8.21193302e-04 4.30390384e+01] [-4.48053790e-03 9.99989958e-01 9.28943245e-05 -4.01023104e+00] [ 8.21601279e-04 -8.92139730e-05 9.99999659e-01 -1.51545776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28992885099999 meters 0.10728175725969931 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.01, Z:-1.51 [[ 9.99992033e-01 3.99003619e-03 -1.20001230e-04 4.30371831e+01] [-3.99002202e-03 9.99992033e-01 1.18109726e-04 -4.01191921e+00] [ 1.20471536e-04 -1.17629978e-04 9.99999986e-01 -1.51481107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31992885099999 meters 0.10906654625577833 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.01, Z:-1.51 [[ 9.99992400e-01 3.89647605e-03 1.31121943e-04 4.30363637e+01] [-3.89651133e-03 9.99992372e-01 2.69899623e-04 -4.01317068e+00] [-1.30069285e-04 -2.70408490e-04 9.99999955e-01 -1.51437632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.349928850999994 meters 0.10616760913756348 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.01, Z:-1.51 [[ 9.99992376e-01 3.88758098e-03 3.65741808e-04 4.30357725e+01] [-3.88776756e-03 9.99992312e-01 5.10813757e-04 -4.01445741e+00] [-3.63753167e-04 -5.12231782e-04 9.99999803e-01 -1.51421435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379928850999995 meters 0.1077284714742493 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.02, Z:-1.51 [[ 9.99992057e-01 3.93985215e-03 6.02556111e-04 4.30350617e+01] [-3.94036739e-03 9.99991870e-01 8.56294056e-04 -4.01642876e+00] [-5.99177540e-04 -8.58661547e-04 9.99999452e-01 -1.51381487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.409928851 meters 0.10855427387065744 Centerline is valid? [False, False] Translation: X:43.03, Y:-4.02, Z:-1.51 [[ 9.99992112e-01 3.92366374e-03 6.17447250e-04 4.30347921e+01] [-3.92421402e-03 9.99991902e-01 8.92533143e-04 -4.01700296e+00] [-6.13940250e-04 -8.94949097e-04 9.99999411e-01 -1.51344873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43992885099999 meters 0.10742357562925785 Centerline is valid? [False, False] Translation: X:43.03, Y:-4.02, Z:-1.51 [[ 9.99992126e-01 3.91098146e-03 6.72681786e-04 4.30342899e+01] [-3.91164025e-03 9.99991868e-01 9.80837382e-04 -4.01803179e+00] [-6.68840279e-04 -9.83460948e-04 9.99999293e-01 -1.51284047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46992885099999 meters 0.11393142378375826 Centerline is valid? [False, False] Translation: X:43.03, Y:-4.02, Z:-1.51 [[ 9.99992045e-01 3.91585623e-03 7.58788409e-04 4.30339140e+01] [-3.91670191e-03 9.99991707e-01 1.11625684e-03 -4.01890386e+00] [-7.54411015e-04 -1.11921991e-03 9.99999089e-01 -1.51254636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49992885099999 meters 0.11418618855737427 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.02, Z:-1.51 [[ 9.99999892e-01 4.43665297e-04 -1.40047534e-04 4.30360467e+01] [-4.44036201e-04 9.99996365e-01 -2.65959427e-03 -4.01915864e+00] [ 1.38867056e-04 2.65965617e-03 9.99996453e-01 -1.51294301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.529928850999994 meters 0.11471491600370393 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.02, Z:-1.51 [[ 9.99999857e-01 5.29204386e-04 -7.18747146e-05 4.30356994e+01] [-5.29377490e-04 9.99996907e-01 -2.43013836e-03 -4.02042010e+00] [ 7.05884524e-05 2.43017606e-03 9.99997045e-01 -1.51263304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559928850999995 meters 0.11255556228342808 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.02, Z:-1.51 [[ 9.99999754e-01 7.01075590e-04 -1.02717478e-05 4.30354776e+01] [-7.01095192e-04 9.99997649e-01 -2.05210483e-03 -4.02195547e+00] [ 8.83304306e-06 2.05211153e-03 9.99997894e-01 -1.51246672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.589928850999996 meters 0.11192319692560652 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.02, Z:-1.51 [[ 9.99999573e-01 9.24367463e-04 -2.16391590e-06 4.30353214e+01] [-9.24369748e-04 9.99998278e-01 -1.60929601e-03 -4.02378923e+00] [ 6.76331301e-07 1.60929733e-03 9.99998705e-01 -1.51224946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61992885099999 meters 0.11192319692560652 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.02, Z:-1.51 [[ 9.99999573e-01 9.24367463e-04 -2.16391590e-06 4.30353214e+01] [-9.24369748e-04 9.99998278e-01 -1.60929601e-03 -4.02378923e+00] [ 6.76331304e-07 1.60929733e-03 9.99998705e-01 -1.51224946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64992885099999 meters 0.11084759295245873 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.02, Z:-1.51 [[ 9.99999280e-01 1.19538841e-03 -1.04088603e-04 4.30356877e+01] [-1.19551968e-03 9.99998478e-01 -1.27041661e-03 -4.02462944e+00] [ 1.02569804e-04 1.27054014e-03 9.99999188e-01 -1.51243524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67992885099999 meters 0.11010015599335257 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99998773e-01 1.52195757e-03 -3.69821210e-04 4.30362198e+01] [-1.52231735e-03 9.99998366e-01 -9.74531737e-04 -4.02555494e+00] [ 3.68337410e-04 9.75093527e-04 9.99999457e-01 -1.51236272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.709928850999994 meters 0.10961405868982442 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99998698e-01 1.54572372e-03 -4.63074812e-04 4.30362065e+01] [-1.54618900e-03 9.99998299e-01 -1.00608660e-03 -4.02580414e+00] [ 4.61518892e-04 1.00680129e-03 9.99999387e-01 -1.51204988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739928850999995 meters 0.1042445430955899 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99997896e-01 1.93175817e-03 -6.89803285e-04 4.30369267e+01] [-1.93215481e-03 9.99997968e-01 -5.74802890e-04 -4.02667514e+00] [ 6.88691504e-04 5.76134487e-04 9.99999597e-01 -1.51237909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.769928850999996 meters 0.10452362255798678 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99997295e-01 2.14533672e-03 -8.98885490e-04 4.30371254e+01] [-2.14571296e-03 9.99997611e-01 -4.17813434e-04 -4.02759637e+00] [ 8.97986992e-04 4.19741054e-04 9.99999509e-01 -1.51199879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79992885099999 meters 0.10426952248189467 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99996883e-01 2.27150083e-03 -1.03688083e-03 4.30372755e+01] [-2.27178096e-03 9.99997383e-01 -2.69071630e-04 -4.02810547e+00] [ 1.03626692e-03 2.71426357e-04 9.99999426e-01 -1.51181853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82992885099999 meters 0.10340441354399194 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99996528e-01 2.35233225e-03 -1.18744588e-03 4.30371710e+01] [-2.35261540e-03 9.99997204e-01 -2.37112689e-04 -4.02889088e+00] [ 1.18688479e-03 2.39905470e-04 9.99999267e-01 -1.51118548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85992885099999 meters 0.10481449725677446 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99996097e-01 2.47648943e-03 -1.29365921e-03 4.30373311e+01] [-2.47664764e-03 9.99996926e-01 -1.20710455e-04 -4.02945832e+00] [ 1.29335630e-03 1.23913922e-04 9.99999156e-01 -1.51107133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88992885099999 meters 0.1053199195516294 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99995582e-01 2.60630915e-03 -1.42908552e-03 4.30375551e+01] [-2.60631633e-03 9.99996604e-01 -3.16413576e-06 -4.02995056e+00] [ 1.42907242e-03 6.88877073e-06 9.99998979e-01 -1.51097396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919928850999995 meters 0.10384215461989275 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99994859e-01 2.78720997e-03 -1.58507657e-03 4.30378920e+01] [-2.78697908e-03 9.99996105e-01 1.47853935e-04 -4.03048261e+00] [ 1.58548249e-03 -1.43435600e-04 9.99998733e-01 -1.51096582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.949928850999996 meters 0.1023979623494121 Centerline is valid? [False, False] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99994754e-01 2.80342472e-03 -1.62260667e-03 4.30378890e+01] [-2.80314570e-03 9.99996056e-01 1.74205030e-04 -4.03074548e+00] [ 1.62308864e-03 -1.69655713e-04 9.99998668e-01 -1.51084628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979928851 meters 0.09554846312487417 Centerline is valid? [False, True] Translation: X:43.04, Y:-4.03, Z:-1.51 [[ 9.99994487e-01 2.83817223e-03 -1.72348358e-03 4.30379002e+01] [-2.83784920e-03 9.99995955e-01 1.89843553e-04 -4.03110083e+00] [ 1.72401542e-03 -1.84951520e-04 9.99998497e-01 -1.51056505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00992885099998 meters 0.09582241790508012 Centerline is valid? [True, True] Translation: X:43.07, Y:-4.04, Z:-1.51 [[ 9.99987778e-01 4.44301598e-03 -2.16881572e-03 4.30673533e+01] [-4.44252043e-03 9.99990105e-01 2.33250740e-04 -4.03585616e+00] [ 2.16983060e-03 -2.23612881e-04 9.99997621e-01 -1.51179604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.039928851 meters 0.09560900186866933 Centerline is valid? [True, True] Translation: X:43.10, Y:-4.04, Z:-1.51 [[ 9.99986136e-01 4.52638138e-03 -2.69081335e-03 4.30961624e+01] [-4.52562269e-03 9.99989718e-01 2.87980387e-04 -4.03855114e+00] [ 2.69208919e-03 -2.75798789e-04 9.99996338e-01 -1.51259209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.069928851 meters 0.09538463121494892 Centerline is valid? [True, True] Translation: X:43.13, Y:-4.04, Z:-1.51 [[ 9.99984910e-01 4.84185884e-03 -2.59556876e-03 4.31250780e+01] [-4.84115457e-03 9.99988243e-01 2.77551185e-04 -4.04236391e+00] [ 2.59688210e-03 -2.64981448e-04 9.99996593e-01 -1.51264119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09992885099999 meters 0.09381781042196952 Centerline is valid? [True, True] Translation: X:43.15, Y:-4.04, Z:-1.51 [[ 9.99985320e-01 4.86072197e-03 -2.39447988e-03 4.31535538e+01] [-4.86012342e-03 9.99988157e-01 2.55724368e-04 -4.04370184e+00] [ 2.39569453e-03 -2.44083146e-04 9.99997101e-01 -1.51201068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12992885099999 meters 0.09657860116486444 Centerline is valid? [True, True] Translation: X:43.18, Y:-4.05, Z:-1.51 [[ 9.99983519e-01 4.74699842e-03 -3.22910267e-03 4.31809088e+01] [-4.74590957e-03 9.99988679e-01 3.44775356e-04 -4.05174907e+00] [ 3.23070276e-03 -3.29444644e-04 9.99994727e-01 -1.51376669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15992885099999 meters 0.0943505764472155 Centerline is valid? [True, True] Translation: X:43.21, Y:-4.05, Z:-1.51 [[ 9.99983757e-01 5.11901835e-03 -2.50612156e-03 4.32104419e+01] [-5.11836301e-03 9.99986865e-01 2.67841252e-04 -4.05196737e+00] [ 2.50745973e-03 -2.55009661e-04 9.99996824e-01 -1.51326966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18992885099999 meters 0.09538849761049259 Centerline is valid? [True, True] Translation: X:43.24, Y:-4.06, Z:-1.51 [[ 9.99982391e-01 5.28221116e-03 -2.70468861e-03 4.32376346e+01] [-5.28145113e-03 9.99986012e-01 2.88066826e-04 -4.05746393e+00] [ 2.70617240e-03 -2.73777073e-04 9.99996301e-01 -1.51418149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21992885099999 meters 0.098180019551776 Centerline is valid? [True, True] Translation: X:43.26, Y:-4.07, Z:-1.52 [[ 9.99986136e-01 4.82421822e-03 -2.11067393e-03 4.32647424e+01] [-4.82375572e-03 9.99988340e-01 2.24159644e-04 -4.06557996e+00] [ 2.11173072e-03 -2.13975161e-04 9.99997747e-01 -1.51617831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24992885099999 meters 0.0969251701484709 Centerline is valid? [True, True] Translation: X:43.29, Y:-4.07, Z:-1.52 [[ 9.99987679e-01 4.18215265e-03 -2.67438765e-03 4.32945418e+01] [-4.18140297e-03 9.99991217e-01 2.85848035e-04 -4.06682672e+00] [ 2.67555962e-03 -2.74661820e-04 9.99996383e-01 -1.51513534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.279928851 meters 0.0940308747863006 Centerline is valid? [True, True] Translation: X:43.32, Y:-4.07, Z:-1.51 [[ 9.99986076e-01 4.29366377e-03 -3.06780265e-03 4.33233887e+01] [-4.29268088e-03 9.99990733e-01 3.26902853e-04 -4.06525699e+00] [ 3.06917783e-03 -3.13729203e-04 9.99995241e-01 -1.51438778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.309928851 meters 0.09361606731336514 Centerline is valid? [True, True] Translation: X:43.35, Y:-4.07, Z:-1.52 [[ 9.99989799e-01 2.69057182e-03 -3.62797001e-03 4.33531923e+01] [-2.68918097e-03 9.99996309e-01 3.88193035e-04 -4.06787340e+00] [ 3.62900108e-03 -3.78432807e-04 9.99993344e-01 -1.51517492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.339928851 meters 0.09511559110040307 Centerline is valid? [True, True] Translation: X:43.38, Y:-4.07, Z:-1.52 [[ 9.99990025e-01 1.78302760e-03 -4.09522343e-03 4.33810195e+01] [-1.78125427e-03 9.99998318e-01 4.36628861e-04 -4.07412968e+00] [ 4.09599506e-03 -4.29329872e-04 9.99991519e-01 -1.51643332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.369928851 meters 0.0963406708463547 Centerline is valid? [True, True] Translation: X:43.41, Y:-4.08, Z:-1.52 [[ 9.99992773e-01 9.22499589e-04 -3.68814779e-03 4.34093862e+01] [-9.21056991e-04 9.99999499e-01 3.92823577e-04 -4.07997993e+00] [ 3.68850833e-03 -3.89423744e-04 9.99993122e-01 -1.51754768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.399928851 meters 0.09768093777302438 Centerline is valid? [True, True] Translation: X:43.44, Y:-4.09, Z:-1.52 [[ 9.99988800e-01 -1.02873343e-03 -4.61969913e-03 4.34393802e+01] [ 1.03102643e-03 9.99999346e-01 4.93998999e-04 -4.08691292e+00] [ 4.61918792e-03 -4.98756498e-04 9.99989207e-01 -1.51871840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.429928851 meters 0.09786635070131167 Centerline is valid? [True, True] Translation: X:43.47, Y:-4.09, Z:-1.52 [[ 9.99985301e-01 -1.63568957e-03 -5.16928863e-03 4.34684156e+01] [ 1.63856440e-03 9.99998505e-01 5.51950040e-04 -4.09132549e+00] [ 5.16837808e-03 -5.60412140e-04 9.99986487e-01 -1.51910034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45992885099999 meters 0.09926159081557082 Centerline is valid? [True, True] Translation: X:43.50, Y:-4.10, Z:-1.52 [[ 9.99980883e-01 -2.43571491e-03 -5.68332881e-03 4.34962485e+01] [ 2.43919852e-03 9.99996841e-01 6.06100758e-04 -4.09754277e+00] [ 5.68183457e-03 -6.19951939e-04 9.99983666e-01 -1.52036324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48992885099999 meters 0.0991119523957561 Centerline is valid? [True, True] Translation: X:43.53, Y:-4.10, Z:-1.52 [[ 9.99970505e-01 -3.72220640e-03 -6.71816569e-03 4.35260873e+01] [ 3.72711026e-03 9.99992797e-01 7.17567009e-04 -4.10186697e+00] [ 6.71544636e-03 -7.42585189e-04 9.99977175e-01 -1.52124790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51992885099999 meters 0.09860821073390032 Centerline is valid? [True, True] Translation: X:43.56, Y:-4.10, Z:-1.52 [[ 9.99964831e-01 -4.66494515e-03 -6.96957390e-03 4.35554963e+01] [ 4.67024087e-03 9.99988818e-01 7.43752591e-04 -4.10453990e+00] [ 6.96602640e-03 -7.76276023e-04 9.99975436e-01 -1.52108677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54992885099999 meters 0.09991018826356282 Centerline is valid? [True, True] Translation: X:43.58, Y:-4.11, Z:-1.52 [[ 9.99958853e-01 -5.27307432e-03 -7.38151459e-03 4.35833320e+01] [ 5.27897906e-03 9.99985761e-01 7.80680702e-04 -4.11077033e+00] [ 7.37729290e-03 -8.19615440e-04 9.99972452e-01 -1.52212856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57992885099999 meters 0.09693535208599671 Centerline is valid? [True, True] Translation: X:43.61, Y:-4.11, Z:-1.52 [[ 9.99967176e-01 -5.12773289e-03 -6.27321552e-03 4.36133319e+01] [ 5.13202087e-03 9.99986608e-01 6.67631302e-04 -4.10979625e+00] [ 6.26970808e-03 -6.99803661e-04 9.99980100e-01 -1.52117508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60992885099999 meters 0.09727317823085889 Centerline is valid? [True, True] Translation: X:43.64, Y:-4.11, Z:-1.52 [[ 9.99969069e-01 -4.86634614e-03 -6.17896118e-03 4.36430876e+01] [ 4.87049999e-03 9.99987923e-01 6.57388221e-04 -4.11430182e+00] [ 6.17568747e-03 -6.87462518e-04 9.99980694e-01 -1.52160204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639928851 meters 0.09863650625591024 Centerline is valid? [True, True] Translation: X:43.67, Y:-4.12, Z:-1.52 [[ 9.99968946e-01 -5.49129980e-03 -5.65258561e-03 4.36718489e+01] [ 5.49478135e-03 9.99984723e-01 6.00575144e-04 -4.12039344e+00] [ 5.64920132e-03 -6.31616216e-04 9.99983844e-01 -1.52182751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.669928851 meters 0.09611026306750037 Centerline is valid? [True, True] Translation: X:43.70, Y:-4.12, Z:-1.52 [[ 9.99970252e-01 -5.65920445e-03 -5.24108719e-03 4.37015892e+01] [ 5.66220059e-03 9.99983814e-01 5.57003046e-04 -4.11974939e+00] [ 5.23785016e-03 -5.86662563e-04 9.99986110e-01 -1.52124485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.699928851 meters 0.10341298726526205 Centerline is valid? [True, False] Translation: X:43.70, Y:-4.12, Z:-1.52 [[ 9.99970711e-01 -5.59560793e-03 -5.22162011e-03 4.37015537e+01] [ 5.59940149e-03 9.99984070e-01 7.12173121e-04 -4.12032827e+00] [ 5.21755189e-03 -7.41390210e-04 9.99986114e-01 -1.52124182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.729928851 meters 0.10553523584923313 Centerline is valid? [False, False] Translation: X:43.70, Y:-4.12, Z:-1.52 [[ 9.99973040e-01 -4.95795170e-03 -5.41649507e-03 4.37027681e+01] [ 4.96641886e-03 9.99986465e-01 1.55088690e-03 -4.12157857e+00] [ 5.40873253e-03 -1.57774567e-03 9.99984128e-01 -1.52241552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.759928851 meters 0.10499873416390158 Centerline is valid? [False, False] Translation: X:43.70, Y:-4.12, Z:-1.52 [[ 9.99973028e-01 -4.93969723e-03 -5.43528168e-03 4.37028101e+01] [ 4.94853201e-03 9.99986455e-01 1.61320425e-03 -4.12185852e+00] [ 5.42723931e-03 -1.64005740e-03 9.99983928e-01 -1.52241844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.789928851 meters 0.09863470650060496 Centerline is valid? [False, True] Translation: X:43.70, Y:-4.12, Z:-1.52 [[ 9.99974079e-01 -4.67427063e-03 -5.47652655e-03 4.37033407e+01] [ 4.68519946e-03 9.99987055e-01 1.98444883e-03 -4.12227261e+00] [ 5.46717981e-03 -2.01005601e-03 9.99983035e-01 -1.52306400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.819928851 meters 0.10017304024645678 Centerline is valid? [True, False] Translation: X:43.70, Y:-4.12, Z:-1.52 [[ 9.99974583e-01 -4.62033053e-03 -5.43008895e-03 4.37033068e+01] [ 4.63176534e-03 9.99987078e-01 2.09513773e-03 -4.12261657e+00] [ 5.42033856e-03 -2.12023537e-03 9.99983062e-01 -1.52313026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84992885099999 meters 0.10550487905788096 Centerline is valid? [False, False] Translation: X:43.70, Y:-4.12, Z:-1.52 [[ 9.99975297e-01 -4.29912835e-03 -5.56080280e-03 4.37039193e+01] [ 4.31292317e-03 9.99987646e-01 2.47111624e-03 -4.12316319e+00] [ 5.55011046e-03 -2.49503851e-03 9.99981485e-01 -1.52358496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87992885099999 meters 0.0964530320316843 Centerline is valid? [False, True] Translation: X:43.70, Y:-4.12, Z:-1.52 [[ 9.99975465e-01 -4.36546765e-03 -5.47829080e-03 4.37036130e+01] [ 4.37884553e-03 9.99987455e-01 2.43236712e-03 -4.12345021e+00] [ 5.46760365e-03 -2.45629603e-03 9.99982036e-01 -1.52338190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90992885099999 meters 0.09593832083241804 Centerline is valid? [True, True] Translation: X:43.73, Y:-4.13, Z:-1.52 [[ 9.99988028e-01 -3.36056065e-03 -3.55670668e-03 4.37334251e+01] [ 3.36193795e-03 9.99994276e-01 3.81333122e-04 -4.12524314e+00] [ 3.55540483e-03 -3.93285984e-04 9.99993602e-01 -1.52226451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93992885099999 meters 0.095882216018013 Centerline is valid? [True, True] Translation: X:43.76, Y:-4.13, Z:-1.52 [[ 9.99985071e-01 -3.10577074e-03 -4.49569024e-03 4.37633419e+01] [ 3.10797547e-03 9.99995053e-01 4.83506352e-04 -4.12793737e+00] [ 4.49416634e-03 -4.97471629e-04 9.99989777e-01 -1.52360289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96992885099999 meters 0.09668487977928814 Centerline is valid? [True, True] Translation: X:43.79, Y:-4.13, Z:-1.52 [[ 9.99989654e-01 -2.39755217e-03 -3.86558243e-03 4.37923245e+01] [ 2.39917273e-03 9.99997036e-01 4.14647754e-04 -4.13229924e+00] [ 3.86457683e-03 -4.23917665e-04 9.99992443e-01 -1.52380061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99992885099999 meters 0.09704503036090785 Centerline is valid? [True, True] Translation: X:43.82, Y:-4.14, Z:-1.53 [[ 9.99990249e-01 -1.39625096e-03 -4.18955144e-03 4.38215981e+01] [ 1.39814795e-03 9.99998921e-01 4.49894984e-04 -4.13617622e+00] [ 4.18891875e-03 -4.55748210e-04 9.99991123e-01 -1.52530935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.029928851 meters 0.0918363992694564 Centerline is valid? [True, True] Translation: X:43.85, Y:-4.13, Z:-1.52 [[ 9.99990595e-01 -1.43691413e-03 -4.09208449e-03 4.38516973e+01] [ 1.43869603e-03 9.99998872e-01 4.32540952e-04 -4.13072161e+00] [ 4.09145835e-03 -4.38424150e-04 9.99991534e-01 -1.52307534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.059928851 meters 0.093039732109336 Centerline is valid? [True, True] Translation: X:43.88, Y:-4.14, Z:-1.52 [[ 9.99985271e-01 -3.07846238e-03 -4.47009537e-03 4.38813082e+01] [ 3.08063370e-03 9.99995140e-01 4.78941329e-04 -4.13824724e+00] [ 4.46859924e-03 -4.92705001e-04 9.99989894e-01 -1.52446112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.089928851 meters 0.0963992506986499 Centerline is valid? [True, True] Translation: X:43.91, Y:-4.15, Z:-1.53 [[ 9.99984948e-01 -3.83739333e-03 -3.92159708e-03 4.39102133e+01] [ 3.83906975e-03 9.99992543e-01 4.20045795e-04 -4.14832273e+00] [ 3.91995596e-03 -4.35094757e-04 9.99992222e-01 -1.52690403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.119928851 meters 0.09809487523640321 Centerline is valid? [True, True] Translation: X:43.94, Y:-4.15, Z:-1.53 [[ 9.99980633e-01 -4.66254127e-03 -4.12240879e-03 4.39389008e+01] [ 4.66440059e-03 9.99989024e-01 4.41527750e-04 -4.15479471e+00] [ 4.12030491e-03 -4.60747765e-04 9.99991405e-01 -1.52819832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.149928851 meters 0.09656921299814308 Centerline is valid? [True, True] Translation: X:43.97, Y:-4.16, Z:-1.53 [[ 9.99979063e-01 -5.26926061e-03 -3.75607996e-03 4.39688369e+01] [ 5.27080795e-03 9.99986028e-01 4.02177828e-04 -4.15628095e+00] [ 3.75390831e-03 -4.21966984e-04 9.99992865e-01 -1.52798733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.179928851 meters 0.09884508803092407 Centerline is valid? [True, True] Translation: X:44.00, Y:-4.17, Z:-1.53 [[ 9.99968542e-01 -6.91778752e-03 -3.88063967e-03 4.39980811e+01] [ 6.91945844e-03 9.99975973e-01 4.17315794e-04 -4.16517069e+00] [ 3.87765953e-03 -4.44154591e-04 9.99992383e-01 -1.53049506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20992885099999 meters 0.09810016065369954 Centerline is valid? [True, True] Translation: X:44.03, Y:-4.17, Z:-1.53 [[ 9.99957632e-01 -7.87463576e-03 -4.76690100e-03 4.40286033e+01] [ 7.87716551e-03 9.99968843e-01 5.12147700e-04 -4.16788512e+00] [ 4.76271951e-03 -5.49675670e-04 9.99988507e-01 -1.53130527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23992885099999 meters 0.09842908098528408 Centerline is valid? [True, True] Translation: X:44.06, Y:-4.17, Z:-1.53 [[ 9.99944593e-01 -9.07255586e-03 -5.33850060e-03 4.40590025e+01] [ 9.07574381e-03 9.99958650e-01 5.73240514e-04 -4.17344931e+00] [ 5.33307910e-03 -6.21659617e-04 9.99985586e-01 -1.53171254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26992885099999 meters 0.10118195292626643 Centerline is valid? [True, False] Translation: X:44.06, Y:-4.17, Z:-1.53 [[ 9.99945728e-01 -8.95658186e-03 -5.32164163e-03 4.40590191e+01] [ 8.96112395e-03 9.99959504e-01 8.30281038e-04 -4.17408284e+00] [ 5.31398964e-03 -8.77923867e-04 9.99985495e-01 -1.53181672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29992885099999 meters 0.10197692360603364 Centerline is valid? [False, False] Translation: X:44.06, Y:-4.17, Z:-1.53 [[ 9.99948030e-01 -8.60288920e-03 -5.47066233e-03 4.40596390e+01] [ 8.61013235e-03 9.99962085e-01 1.30182667e-03 -4.17484113e+00] [ 5.45925543e-03 -1.34886214e-03 9.99984188e-01 -1.53226629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32992885099999 meters 0.09796120914586622 Centerline is valid? [False, True] Translation: X:44.06, Y:-4.18, Z:-1.53 [[ 9.99950266e-01 -8.29950953e-03 -5.53028794e-03 4.40600405e+01] [ 8.30940620e-03 9.99963912e-01 1.76897119e-03 -4.17559426e+00] [ 5.51540677e-03 -1.81483662e-03 9.99983143e-01 -1.53269043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35992885099999 meters 0.10555303717737144 Centerline is valid? [True, False] Translation: X:44.06, Y:-4.18, Z:-1.53 [[ 9.99950705e-01 -8.23450959e-03 -5.54803585e-03 4.40601379e+01] [ 8.24511406e-03 9.99964220e-01 1.89123764e-03 -4.17575756e+00] [ 5.53226393e-03 -1.93688860e-03 9.99982821e-01 -1.53279597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.389928851 meters 0.10477350336955836 Centerline is valid? [False, False] Translation: X:44.06, Y:-4.18, Z:-1.53 [[ 9.99950336e-01 -8.16161258e-03 -5.71955585e-03 4.40605249e+01] [ 8.17231069e-03 9.99964896e-01 1.84957715e-03 -4.17533776e+00] [ 5.70425954e-03 -1.89622728e-03 9.99981933e-01 -1.53287120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.419928851 meters 0.1058337144660089 Centerline is valid? [False, False] Translation: X:44.06, Y:-4.18, Z:-1.53 [[ 9.99950452e-01 -8.02101612e-03 -5.89551083e-03 4.40610823e+01] [ 8.03253701e-03 9.99965870e-01 1.93310572e-03 -4.17510420e+00] [ 5.87980415e-03 -1.98036585e-03 9.99980753e-01 -1.53318727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.449928851 meters 0.09716938147755029 Centerline is valid? [False, True] Translation: X:44.06, Y:-4.18, Z:-1.53 [[ 9.99976421e-01 -4.09245523e-03 -5.51453876e-03 4.40599823e+01] [ 4.12523341e-03 9.99973815e-01 5.94574952e-03 -4.17540413e+00] [ 5.49006164e-03 -5.96835808e-03 9.99967118e-01 -1.53275043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.479928851 meters 0.09945809410803133 Centerline is valid? [True, True] Translation: X:44.09, Y:-4.18, Z:-1.53 [[ 9.99979654e-01 -3.08805721e-03 -5.58166645e-03 4.40887011e+01] [ 3.09148063e-03 9.99995038e-01 6.04809237e-04 -4.17921342e+00] [ 5.57977107e-03 -6.22052545e-04 9.99984239e-01 -1.53232598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.509928851 meters 0.09945809410803133 Centerline is valid? [True, True] Translation: X:44.12, Y:-4.18, Z:-1.53 [[ 9.99978913e-01 -3.31829946e-03 -5.58233524e-03 4.41169648e+01] [ 3.32169240e-03 9.99994304e-01 5.98638025e-04 -4.18219296e+00] [ 5.58031699e-03 -6.17168202e-04 9.99984239e-01 -1.53303476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.539928851 meters 0.09584052346005663 Centerline is valid? [True, True] Translation: X:44.15, Y:-4.18, Z:-1.53 [[ 9.99980642e-01 -2.31400122e-03 -5.77585346e-03 4.41473315e+01] [ 2.31764542e-03 9.99997119e-01 6.24323144e-04 -4.17811699e+00] [ 5.77439214e-03 -6.37697439e-04 9.99983125e-01 -1.53205681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56992885099999 meters 0.09456071763109367 Centerline is valid? [True, True] Translation: X:44.18, Y:-4.18, Z:-1.53 [[ 9.99981741e-01 -6.52899134e-05 -6.04256306e-03 4.41778470e+01] [ 6.92416323e-05 9.99999784e-01 6.53773685e-04 -4.17772415e+00] [ 6.04251907e-03 -6.54180145e-04 9.99981530e-01 -1.53249924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59992885099999 meters 0.09592860993106694 Centerline is valid? [True, True] Translation: X:44.21, Y:-4.18, Z:-1.53 [[ 9.99987125e-01 9.71950300e-04 -4.98038018e-03 4.42059672e+01] [-9.69285167e-04 9.99999386e-01 5.37512164e-04 -4.18338177e+00] [ 4.98089955e-03 -5.32677836e-04 9.99987453e-01 -1.53375237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62992885099999 meters 0.0922104170149588 Centerline is valid? [True, True] Translation: X:44.24, Y:-4.18, Z:-1.53 [[ 9.99990789e-01 2.07199908e-03 -3.75882482e-03 4.42367687e+01] [-2.07048953e-03 9.99997774e-01 4.05448656e-04 -4.18038207e+00] [ 3.75965654e-03 -3.97662314e-04 9.99992853e-01 -1.53328736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65992885099999 meters 0.09344621401397067 Centerline is valid? [True, True] Translation: X:44.26, Y:-4.19, Z:-1.53 [[ 9.99987493e-01 2.43584167e-03 -4.36820429e-03 4.42645454e+01] [-2.43381195e-03 9.99996928e-01 4.69912380e-04 -4.18518576e+00] [ 4.36933550e-03 -4.59275115e-04 9.99990349e-01 -1.53427555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68992885099999 meters 0.09199123177936101 Centerline is valid? [True, True] Translation: X:44.29, Y:-4.19, Z:-1.53 [[ 9.99988206e-01 2.17529295e-03 -4.34233640e-03 4.42931839e+01] [-2.17328443e-03 9.99997529e-01 4.67208084e-04 -4.18536709e+00] [ 4.34334199e-03 -4.57765442e-04 9.99990463e-01 -1.53476681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71992885099999 meters 0.09885344155874795 Centerline is valid? [True, True] Translation: X:44.32, Y:-4.20, Z:-1.54 [[ 9.99987947e-01 2.12377699e-03 -4.42659162e-03 4.43197656e+01] [-2.12169263e-03 9.99997636e-01 4.75515709e-04 -4.19987199e+00] [ 4.42759105e-03 -4.66118111e-04 9.99990090e-01 -1.53975683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74992885099999 meters 0.09911656348945132 Centerline is valid? [True, True] Translation: X:44.35, Y:-4.20, Z:-1.54 [[ 9.99984372e-01 2.03353145e-03 -5.20770243e-03 4.43485353e+01] [-2.03064250e-03 9.99997781e-01 5.59972996e-04 -4.20328307e+00] [ 5.20882960e-03 -5.49389263e-04 9.99986283e-01 -1.54058754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.779928851 meters 0.09442948056676066 Centerline is valid? [True, True] Translation: X:44.38, Y:-4.20, Z:-1.54 [[ 9.99987482e-01 1.76044146e-03 -4.68371683e-03 4.43777533e+01] [-1.75810419e-03 9.99998328e-01 5.03092108e-04 -4.19786778e+00] [ 4.68459467e-03 -4.94851348e-04 9.99988905e-01 -1.53879162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.809928851 meters 0.09633304724506761 Centerline is valid? [True, True] Translation: X:44.41, Y:-4.20, Z:-1.54 [[ 9.99986735e-01 1.11080823e-03 -5.02943262e-03 4.44053705e+01] [-1.10810605e-03 9.99999240e-01 5.40029160e-04 -4.20379572e+00] [ 5.03002867e-03 -5.34448852e-04 9.99987207e-01 -1.54042493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.839928851 meters 0.09790285175769453 Centerline is valid? [True, True] Translation: X:44.43, Y:-4.21, Z:-1.54 [[ 9.99988147e-01 6.71521555e-04 -4.82230767e-03 4.44332365e+01] [-6.69036414e-04 9.99999643e-01 5.16937356e-04 -4.20889802e+00] [ 4.82265309e-03 -5.13704930e-04 9.99988239e-01 -1.54212011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.869928851 meters 0.09491683087036205 Centerline is valid? [True, True] Translation: X:44.46, Y:-4.21, Z:-1.54 [[ 9.99994564e-01 -1.31341021e-05 -3.29713391e-03 4.44619904e+01] [ 1.42962903e-05 9.99999938e-01 3.52461055e-04 -4.20630314e+00] [ 3.29712907e-03 -3.52506276e-04 9.99994502e-01 -1.54040201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.899928851 meters 0.09713440132927452 Centerline is valid? [True, True] Translation: X:44.49, Y:-4.21, Z:-1.54 [[ 9.99988993e-01 -2.00214117e-03 -4.24332439e-03 4.44919788e+01] [ 2.00409432e-03 9.99997888e-01 4.56086557e-04 -4.21151684e+00] [ 4.24240228e-03 -4.64585559e-04 9.99990893e-01 -1.54192978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.929928851 meters 0.10030062370162082 Centerline is valid? [True, False] Translation: X:44.49, Y:-4.21, Z:-1.54 [[ 9.99989051e-01 -1.93696134e-03 -4.25990378e-03 4.44922689e+01] [ 1.93924715e-03 9.99997978e-01 5.32522395e-04 -4.21135055e+00] [ 4.25886369e-03 -5.40777571e-04 9.99990785e-01 -1.54230043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95992885099999 meters 0.10164695985536558 Centerline is valid? [False, False] Translation: X:44.49, Y:-4.21, Z:-1.54 [[ 9.99989506e-01 -1.75724110e-03 -4.23073280e-03 4.44926845e+01] [ 1.76080714e-03 9.99998098e-01 8.39314341e-04 -4.21160127e+00] [ 4.22924987e-03 -8.46755038e-04 9.99990698e-01 -1.54299082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98992885099999 meters 0.09759674394021377 Centerline is valid? [False, True] Translation: X:44.49, Y:-4.21, Z:-1.54 [[ 9.99989541e-01 -2.06146724e-03 -4.08274885e-03 4.44921569e+01] [ 2.06336009e-03 9.99997766e-01 4.59463561e-04 -4.21104174e+00] [ 4.08179256e-03 -4.67882936e-04 9.99991560e-01 -1.54266375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01992885099999 meters 0.09802471194908013 Centerline is valid? [True, True] Translation: X:44.52, Y:-4.21, Z:-1.54 [[ 9.99992500e-01 -2.23282661e-03 -3.16461391e-03 4.45215432e+01] [ 2.23394102e-03 9.99997444e-01 3.48657071e-04 -4.21452552e+00] [ 3.16382733e-03 -3.55724017e-04 9.99994932e-01 -1.54400443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04992885099999 meters 0.09652757537126558 Centerline is valid? [True, True] Translation: X:44.55, Y:-4.21, Z:-1.54 [[ 9.99992540e-01 -2.49822322e-03 -2.94600528e-03 4.45511360e+01] [ 2.49918963e-03 9.99996824e-01 3.24403413e-04 -4.21453825e+00] [ 2.94518549e-03 -3.31763619e-04 9.99995608e-01 -1.54318048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07992885099999 meters 0.09811607693314947 Centerline is valid? [True, True] Translation: X:44.58, Y:-4.22, Z:-1.54 [[ 9.99991720e-01 -2.90401349e-03 -2.85056639e-03 4.45802658e+01] [ 2.90492095e-03 9.99995731e-01 3.14254749e-04 -4.21833003e+00] [ 2.84964162e-03 -3.22532817e-04 9.99995888e-01 -1.54361260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10992885099999 meters 0.09912384855454977 Centerline is valid? [True, True] Translation: X:44.61, Y:-4.22, Z:-1.54 [[ 9.99994147e-01 -2.53234726e-03 -2.30049311e-03 4.46101081e+01] [ 2.53293811e-03 9.99996760e-01 2.53957843e-04 -4.22295264e+00] [ 2.29984255e-03 -2.59783364e-04 9.99997322e-01 -1.54401980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139928851 meters 0.10209513710039364 Centerline is valid? [True, False] Translation: X:44.61, Y:-4.22, Z:-1.54 [[ 9.99994260e-01 -2.28040967e-03 -2.50596985e-03 4.46109303e+01] [ 2.28140779e-03 9.99997319e-01 3.95508485e-04 -4.22251339e+00] [ 2.50506121e-03 -4.01223354e-04 9.99996782e-01 -1.54460052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.169928851 meters 0.09503454452033427 Centerline is valid? [False, True] Translation: X:44.61, Y:-4.22, Z:-1.55 [[ 9.99994462e-01 -2.10600157e-03 -2.57699462e-03 4.46114400e+01] [ 2.10749469e-03 9.99997613e-01 5.76826466e-04 -4.22244745e+00] [ 2.57577367e-03 -5.82254274e-04 9.99996513e-01 -1.54511185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.199928851 meters 0.09806538765432007 Centerline is valid? [True, True] Translation: X:44.64, Y:-4.23, Z:-1.55 [[ 9.99993457e-01 -2.53843449e-03 -2.57729113e-03 4.46403721e+01] [ 2.53917922e-03 9.99996735e-01 2.85725426e-04 -4.23075689e+00] [ 2.57655742e-03 -2.92267761e-04 9.99996638e-01 -1.54713228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.229928851 meters 0.10218030383388689 Centerline is valid? [True, False] Translation: X:44.64, Y:-4.23, Z:-1.55 [[ 9.99993999e-01 -2.46458832e-03 -2.43459751e-03 4.46404865e+01] [ 2.46600236e-03 9.99996792e-01 5.77981199e-04 -4.23100862e+00] [ 2.43316522e-03 -5.83981454e-04 9.99996869e-01 -1.54778221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.259928851 meters 0.10106449649252017 Centerline is valid? [False, False] Translation: X:44.64, Y:-4.23, Z:-1.55 [[ 9.99994561e-01 -2.14119333e-03 -2.50853684e-03 4.46411926e+01] [ 2.14372381e-03 9.99997196e-01 1.00649424e-03 -4.23147803e+00] [ 2.50637471e-03 -1.01186638e-03 9.99996347e-01 -1.54858665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.289928851 meters 0.09934035001384338 Centerline is valid? [False, True] Translation: X:44.64, Y:-4.23, Z:-1.55 [[ 9.99994492e-01 -2.20698287e-03 -2.47907074e-03 4.46414694e+01] [ 2.20927952e-03 9.99997133e-01 9.24057490e-04 -4.23071803e+00] [ 2.47702426e-03 -9.29529360e-04 9.99996500e-01 -1.54910070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31992885099999 meters 0.10449431473398094 Centerline is valid? [True, False] Translation: X:44.64, Y:-4.23, Z:-1.55 [[ 9.99994332e-01 -2.23923086e-03 -2.51424780e-03 4.46417598e+01] [ 2.24132179e-03 9.99997145e-01 8.29121360e-04 -4.22999156e+00] [ 2.51238403e-03 -8.34751899e-04 9.99996496e-01 -1.54942512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34992885099999 meters 0.09984867661227367 Centerline is valid? [False, True] Translation: X:44.64, Y:-4.23, Z:-1.55 [[ 9.99994182e-01 -2.24160908e-03 -2.57110859e-03 4.46421167e+01] [ 2.24352576e-03 9.99997207e-01 7.42827321e-04 -4.22922934e+00] [ 2.56943629e-03 -7.48591348e-04 9.99996419e-01 -1.54977527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37992885099999 meters 0.10748431185990978 Centerline is valid? [True, False] Translation: X:44.64, Y:-4.23, Z:-1.55 [[ 9.99993493e-01 -2.44676755e-03 -2.65101906e-03 4.46425335e+01] [ 2.44757544e-03 9.99996959e-01 3.01542482e-04 -4.22737393e+00] [ 2.65027320e-03 -3.08029089e-04 9.99996441e-01 -1.55018883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40992885099999 meters 0.10188420395291098 Centerline is valid? [False, False] Translation: X:44.64, Y:-4.23, Z:-1.55 [[ 9.99993101e-01 -2.54082482e-03 -2.70967535e-03 4.46431389e+01] [ 2.54078596e-03 9.99996772e-01 -1.77845257e-05 -4.22572377e+00] [ 2.70971179e-03 1.08996979e-05 9.99996329e-01 -1.55089594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43992885099999 meters 0.10022387247752183 Centerline is valid? [False, False] Translation: X:44.64, Y:-4.23, Z:-1.55 [[ 9.99997976e-01 7.64310156e-04 -1.86104308e-03 4.46408591e+01] [-7.57772253e-04 9.99993549e-01 3.51120597e-03 -4.22555040e+00] [ 1.86371472e-03 -3.50978862e-03 9.99992104e-01 -1.55004362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46992885099999 meters 0.10045706410781949 Centerline is valid? [False, False] Translation: X:44.64, Y:-4.22, Z:-1.55 [[ 9.99997883e-01 5.42875165e-04 -1.98495982e-03 4.46413776e+01] [-5.37027621e-04 9.99995518e-01 2.94527288e-03 -4.22326059e+00] [ 1.98654984e-03 -2.94420067e-03 9.99993693e-01 -1.55045693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49992885099999 meters 0.10045706410781949 Centerline is valid? [False, False] Translation: X:44.64, Y:-4.22, Z:-1.55 [[ 9.99997883e-01 5.42875165e-04 -1.98495982e-03 4.46413776e+01] [-5.37027621e-04 9.99995518e-01 2.94527288e-03 -4.22326059e+00] [ 1.98654984e-03 -2.94420067e-03 9.99993693e-01 -1.55045693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.529928851 meters 0.10273929540891372 Centerline is valid? [False, False] Translation: X:44.64, Y:-4.22, Z:-1.55 [[ 9.99997210e-01 3.67358738e-04 -2.33355075e-03 4.46423332e+01] [-3.62154580e-04 9.99997448e-01 2.23017714e-03 -4.22017779e+00] [ 2.33436406e-03 -2.22932581e-03 9.99994790e-01 -1.55085815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.559928851 meters 0.10083151093663814 Centerline is valid? [False, False] Translation: X:44.64, Y:-4.22, Z:-1.55 [[ 9.99996761e-01 3.67241817e-04 -2.51843971e-03 4.46430481e+01] [-3.62178509e-04 9.99997913e-01 2.01065561e-03 -4.21884248e+00] [ 2.51917285e-03 -2.00973697e-03 9.99994807e-01 -1.55132896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.589928851 meters 0.10184629310521977 Centerline is valid? [False, False] Translation: X:44.64, Y:-4.22, Z:-1.55 [[ 9.99996487e-01 1.46259990e-04 -2.64663209e-03 4.46432890e+01] [-1.42251976e-04 9.99998843e-01 1.51450791e-03 -4.21723925e+00] [ 2.64685054e-03 -1.51412610e-03 9.99995351e-01 -1.55130451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.619928851 meters 0.09889234529889264 Centerline is valid? [False, True] Translation: X:44.64, Y:-4.21, Z:-1.55 [[ 9.99995828e-01 -4.59659657e-05 -2.88837454e-03 4.46439991e+01] [ 4.85079967e-05 9.99999612e-01 8.80026614e-04 -4.21466558e+00] [ 2.88833296e-03 -8.80163052e-04 9.99995441e-01 -1.55164360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.649928851 meters 0.09919127035951328 Centerline is valid? [True, True] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99995500e-01 1.37095487e-04 -2.99694753e-03 4.46730521e+01] [-1.36076575e-04 9.99999933e-01 3.40184485e-04 -4.21704875e+00] [ 2.99699397e-03 -3.39775140e-04 9.99995451e-01 -1.55221760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.679928851 meters 0.10126196557296593 Centerline is valid? [True, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99995424e-01 -1.80187979e-04 -3.01996783e-03 4.46731219e+01] [ 1.79408735e-04 9.99999951e-01 -2.58299711e-04 -4.21504107e+00] [ 3.02001422e-03 2.57756720e-04 9.99995407e-01 -1.55228679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70992885099999 meters 0.10361997227753672 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.21, Z:-1.55 [[ 9.99995785e-01 -2.75975712e-04 -2.89027191e-03 4.46730178e+01] [ 2.75014159e-04 9.99999907e-01 -3.33078317e-04 -4.21464614e+00] [ 2.89036356e-03 3.32282048e-04 9.99995768e-01 -1.55251594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73992885099999 meters 0.10114964111457107 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.21, Z:-1.55 [[ 9.99995861e-01 -2.31734767e-04 -2.86794327e-03 4.46733117e+01] [ 2.31036541e-04 9.99999944e-01 -2.43787836e-04 -4.21434015e+00] [ 2.86799960e-03 2.43124228e-04 9.99995858e-01 -1.55301593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76992885099999 meters 0.10216553172113385 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.21, Z:-1.55 [[ 9.99996101e-01 -4.11294124e-05 -2.79201249e-03 4.46735509e+01] [ 4.14520764e-05 9.99999992e-01 1.15509050e-04 -4.21495354e+00] [ 2.79200772e-03 -1.15624335e-04 9.99996096e-01 -1.55358358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79992885099999 meters 0.10328838405935228 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99997177e-01 -1.04571906e-04 -2.37368387e-03 4.46727801e+01] [ 1.05647360e-04 9.99999892e-01 4.52952870e-04 -4.21652156e+00] [ 2.37363625e-03 -4.53202365e-04 9.99997080e-01 -1.55368439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82992885099999 meters 0.10716607330180825 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99997609e-01 -4.30028842e-05 -2.18630176e-03 4.46726150e+01] [ 4.46482351e-05 9.99999716e-01 7.52529422e-04 -4.21733434e+00] [ 2.18626878e-03 -7.52625237e-04 9.99997327e-01 -1.55400959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85992885099999 meters 0.10734452684450783 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99997905e-01 -1.05013446e-05 -2.04677857e-03 4.46723147e+01] [ 1.25457630e-05 9.99999501e-01 9.98836564e-04 -4.21830987e+00] [ 2.04676706e-03 -9.98860150e-04 9.99997407e-01 -1.55399079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.889928851 meters 0.11355693733947121 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99998908e-01 -2.36968672e-04 -1.45867741e-03 4.46710720e+01] [ 2.38873249e-04 9.99999119e-01 1.30565161e-03 -4.22016769e+00] [ 1.45836673e-03 -1.30599862e-03 9.99998084e-01 -1.55384298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.919928851 meters 0.11250018818864288 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99999044e-01 -2.90524195e-04 -1.35174930e-03 4.46707420e+01] [ 2.92377552e-04 9.99999017e-01 1.37108427e-03 -4.22077978e+00] [ 1.35134964e-03 -1.37147818e-03 9.99998146e-01 -1.55367485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.949928851 meters 0.10730619051160659 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99999281e-01 -2.54142176e-04 -1.17157480e-03 4.46705202e+01] [ 2.56046045e-04 9.99998647e-01 1.62518704e-03 -4.22171291e+00] [ 1.17116018e-03 -1.62548585e-03 9.99997993e-01 -1.55387710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.979928851 meters 0.1152071409708857 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99999225e-01 -1.30688669e-04 -1.23823267e-03 4.46706396e+01] [ 1.32841178e-04 9.99998480e-01 1.73844965e-03 -4.22231531e+00] [ 1.23800360e-03 -1.73861279e-03 9.99997722e-01 -1.55379326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.009928851 meters 0.1102163553179229 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99999275e-01 -1.30458849e-04 -1.19712908e-03 4.46704627e+01] [ 1.32618978e-04 9.99998363e-01 1.80452252e-03 -4.22272238e+00] [ 1.19689170e-03 -1.80467997e-03 9.99997655e-01 -1.55362421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.039928851 meters 0.11337241245961206 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99999274e-01 4.31496515e-05 -1.20391762e-03 4.46706940e+01] [-4.06858532e-05 9.99997905e-01 2.04643356e-03 -4.22322511e+00] [ 1.20400340e-03 -2.04638309e-03 9.99997181e-01 -1.55389174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06992885099999 meters 0.1092985740298238 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99999111e-01 -1.11450822e-04 -1.32859783e-03 4.46703777e+01] [ 1.13778371e-04 9.99998459e-01 1.75193703e-03 -4.22316785e+00] [ 1.32840053e-03 -1.75208664e-03 9.99997583e-01 -1.55303334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09992885099999 meters 0.10752353980671805 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99998900e-01 1.76951538e-04 -1.47255650e-03 4.46708776e+01] [-1.73931217e-04 9.99997882e-01 2.05094893e-03 -4.22381370e+00] [ 1.47291630e-03 -2.05069055e-03 9.99996813e-01 -1.55325995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12992885099999 meters 0.10909294867089284 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99998868e-01 2.22450554e-04 -1.48784206e-03 4.46705929e+01] [-2.19269324e-04 9.99997690e-01 2.13797183e-03 -4.22461692e+00] [ 1.48831422e-03 -2.13764317e-03 9.99996608e-01 -1.55276741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15992885099999 meters 0.11494876764936517 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.22, Z:-1.55 [[ 9.99998890e-01 1.79090361e-04 -1.47945861e-03 4.46703830e+01] [-1.75999641e-04 9.99997803e-01 2.08895475e-03 -4.22489034e+00] [ 1.47982947e-03 -2.08869205e-03 9.99996724e-01 -1.55246457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18992885099999 meters 0.10896595425742428 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.23, Z:-1.55 [[ 9.99998827e-01 1.58181373e-04 -1.52348610e-03 4.46702617e+01] [-1.55093014e-04 9.99997933e-01 2.02707047e-03 -4.22511086e+00] [ 1.52380359e-03 -2.02683181e-03 9.99996785e-01 -1.55214361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21992885099999 meters 0.10332178284611533 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.23, Z:-1.55 [[ 9.99998080e-01 5.96298343e-04 -1.86671339e-03 4.46710732e+01] [-5.91913340e-04 9.99997067e-01 2.34872150e-03 -4.22607808e+00] [ 1.86810846e-03 -2.34761206e-03 9.99995499e-01 -1.55220787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24992885099999 meters 0.10160777027468866 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.23, Z:-1.55 [[ 9.99997710e-01 6.38843836e-04 -2.04274833e-03 4.46712226e+01] [-6.34189900e-04 9.99997204e-01 2.27810825e-03 -4.22619477e+00] [ 2.04419798e-03 -2.27680754e-03 9.99995319e-01 -1.55189849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.279928851 meters 0.10617319012862089 Centerline is valid? [False, False] Translation: X:44.67, Y:-4.23, Z:-1.55 [[ 9.99997305e-01 6.33671272e-04 -2.23344700e-03 4.46714408e+01] [-6.28961972e-04 9.99997579e-01 2.10860667e-03 -4.22597212e+00] [ 2.23477776e-03 -2.10719623e-03 9.99995283e-01 -1.55162964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.309928851 meters 0.09917483349640871 Centerline is valid? [False, True] Translation: X:44.67, Y:-4.23, Z:-1.55 [[ 9.99995839e-01 9.41094459e-04 -2.72689819e-03 4.46723771e+01] [-9.35251564e-04 9.99997266e-01 2.14317284e-03 -4.22573841e+00] [ 2.72890766e-03 -2.14061359e-03 9.99993985e-01 -1.55156480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.339928851 meters 0.10484018526855804 Centerline is valid? [True, False] Translation: X:44.67, Y:-4.23, Z:-1.55 [[ 9.99995073e-01 1.14582493e-03 -2.92249816e-03 4.46729848e+01] [-1.13922547e-03 9.99996800e-01 2.25882499e-03 -4.22581607e+00] [ 2.92507703e-03 -2.25548448e-03 9.99993178e-01 -1.55180749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.369928851 meters 0.09637372831754841 Centerline is valid? [False, True] Translation: X:44.67, Y:-4.23, Z:-1.55 [[ 9.99993781e-01 1.49112278e-03 -3.19593944e-03 4.46733631e+01] [-1.48299795e-03 9.99995667e-01 2.54309933e-03 -4.22691973e+00] [ 3.19971767e-03 -2.53834394e-03 9.99991659e-01 -1.55149963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.399928851 meters 0.0969223542238092 Centerline is valid? [True, True] Translation: X:44.70, Y:-4.23, Z:-1.55 [[ 9.99993090e-01 2.41828271e-03 -2.82355895e-03 4.47022317e+01] [-2.41742459e-03 9.99997031e-01 3.07287350e-04 -4.23132425e+00] [ 2.82429368e-03 -3.00459485e-04 9.99995967e-01 -1.55154647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.429928851 meters 0.0969223542238092 Centerline is valid? [True, True] Translation: X:44.73, Y:-4.23, Z:-1.55 [[ 9.99993250e-01 2.35085164e-03 -2.82365491e-03 4.47305390e+01] [-2.34999571e-03 9.99997192e-01 3.06407137e-04 -4.23433827e+00] [ 2.82436730e-03 -2.99769492e-04 9.99995967e-01 -1.55213400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45992885099999 meters 0.09551876461017937 Centerline is valid? [True, True] Translation: X:44.76, Y:-4.24, Z:-1.55 [[ 9.99991818e-01 2.96963203e-03 -2.74692679e-03 4.47596077e+01] [-2.96882496e-03 9.99995549e-01 2.97840484e-04 -4.23567507e+00] [ 2.74779904e-03 -2.89682902e-04 9.99996183e-01 -1.55197383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48992885099999 meters 0.09628944592261189 Centerline is valid? [True, True] Translation: X:44.79, Y:-4.24, Z:-1.55 [[ 9.99990400e-01 2.63050786e-03 -3.50447063e-03 4.47865169e+01] [-2.62919306e-03 9.99996472e-01 3.79733319e-04 -4.24214889e+00] [ 3.50545715e-03 -3.70515744e-04 9.99993787e-01 -1.55288634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51992885099999 meters 0.09638071856060566 Centerline is valid? [True, True] Translation: X:44.82, Y:-4.25, Z:-1.55 [[ 9.99991313e-01 2.39367876e-03 -3.41243903e-03 4.48153301e+01] [-2.39243046e-03 9.99997070e-01 3.69842528e-04 -4.24659997e+00] [ 3.41331432e-03 -3.61675292e-04 9.99994109e-01 -1.55425146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54992885099999 meters 0.09747295132656111 Centerline is valid? [True, True] Translation: X:44.84, Y:-4.25, Z:-1.56 [[ 9.99989919e-01 1.87118524e-03 -4.08183458e-03 4.48437486e+01] [-1.86939314e-03 9.99998155e-01 4.42816031e-04 -4.25413755e+00] [ 4.08265564e-03 -4.35181013e-04 9.99991571e-01 -1.55595211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57992885099999 meters 0.09892211213280934 Centerline is valid? [True, True] Translation: X:44.87, Y:-4.26, Z:-1.56 [[ 9.99989448e-01 9.72884203e-04 -4.48965206e-03 4.48729058e+01] [-9.70705810e-04 9.99999410e-01 4.87356744e-04 -4.26080774e+00] [ 4.49012355e-03 -4.82993470e-04 9.99989803e-01 -1.55702997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60992885099999 meters 0.1024596140469902 Centerline is valid? [True, False] Translation: X:44.87, Y:-4.26, Z:-1.56 [[ 9.99989542e-01 1.11932322e-03 -4.43436770e-03 4.48727551e+01] [-1.11561570e-03 9.99999026e-01 8.38472816e-04 -4.26207160e+00] [ 4.43530191e-03 -8.33516997e-04 9.99989817e-01 -1.55699490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639928851 meters 0.09583916994269204 Centerline is valid? [False, True] Translation: X:44.87, Y:-4.26, Z:-1.56 [[ 9.99989652e-01 1.38001113e-03 -4.33493390e-03 4.48725454e+01] [-1.37378713e-03 9.99998022e-01 1.43842727e-03 -4.26415029e+00] [ 4.33691037e-03 -1.43245711e-03 9.99989570e-01 -1.55698771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.669928851 meters 0.09411182810389376 Centerline is valid? [True, True] Translation: X:44.90, Y:-4.26, Z:-1.56 [[ 9.99990052e-01 9.49991163e-04 -4.35821574e-03 4.49012417e+01] [-9.47918330e-04 9.99999437e-01 4.77655953e-04 -4.26438484e+00] [ 4.35866706e-03 -4.73519968e-04 9.99990389e-01 -1.55667992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.699928851 meters 0.09524186898066382 Centerline is valid? [True, True] Translation: X:44.93, Y:-4.27, Z:-1.56 [[ 9.99987065e-01 2.98722638e-04 -5.07750619e-03 4.49297368e+01] [-2.95898823e-04 9.99999801e-01 5.56884182e-04 -4.27101791e+00] [ 5.07767154e-03 -5.55374550e-04 9.99986954e-01 -1.55627286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.729928851 meters 0.09583667218780832 Centerline is valid? [True, True] Translation: X:44.96, Y:-4.28, Z:-1.56 [[ 9.99988094e-01 3.71771460e-04 -4.86559956e-03 4.49574791e+01] [-3.69185274e-04 9.99999790e-01 5.32411938e-04 -4.27558821e+00] [ 4.86579648e-03 -5.30609291e-04 9.99988021e-01 -1.55706968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.759928851 meters 0.09752935832321342 Centerline is valid? [True, True] Translation: X:44.99, Y:-4.28, Z:-1.56 [[ 9.99990289e-01 -2.94713550e-04 -4.39707546e-03 4.49851214e+01] [ 2.96829657e-04 9.99999840e-01 4.80608417e-04 -4.28176626e+00] [ 4.39693312e-03 -4.81908932e-04 9.99990217e-01 -1.55770104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.789928851 meters 0.09624246332137411 Centerline is valid? [True, True] Translation: X:45.02, Y:-4.29, Z:-1.56 [[ 9.99990446e-01 1.17720507e-03 -4.20981184e-03 4.50151482e+01] [-1.17527258e-03 9.99999203e-01 4.61489383e-04 -4.28504486e+00] [ 4.21035176e-03 -4.56537297e-04 9.99991032e-01 -1.55819253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81992885099999 meters 0.09694469663169016 Centerline is valid? [True, True] Translation: X:45.04, Y:-4.29, Z:-1.56 [[ 9.99992067e-01 1.81266649e-03 -3.54698723e-03 4.50429043e+01] [-1.81130356e-03 9.99998285e-01 3.87424996e-04 -4.29014900e+00] [ 3.54768342e-03 -3.80997251e-04 9.99993634e-01 -1.55935129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84992885099999 meters 0.09775127626061303 Centerline is valid? [True, True] Translation: X:45.07, Y:-4.29, Z:-1.56 [[ 9.99988710e-01 4.02553774e-03 -2.52482518e-03 4.50721301e+01] [-4.02485271e-03 9.99991862e-01 2.76339358e-04 -4.29442665e+00] [ 2.52591705e-03 -2.66174189e-04 9.99996774e-01 -1.55957716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87992885099999 meters 0.09736411382758875 Centerline is valid? [True, True] Translation: X:45.10, Y:-4.30, Z:-1.56 [[ 9.99983501e-01 5.21913368e-03 -2.39953231e-03 4.51010584e+01] [-5.21851928e-03 9.99986349e-01 2.62236995e-04 -4.29673553e+00] [ 2.40086820e-03 -2.49710662e-04 9.99997087e-01 -1.56005582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90992885099999 meters 0.09875461605856707 Centerline is valid? [True, True] Translation: X:45.13, Y:-4.30, Z:-1.56 [[ 9.99980962e-01 5.53172031e-03 -2.73420270e-03 4.51288094e+01] [-5.53092585e-03 9.99984660e-01 2.98038016e-04 -4.30250595e+00] [ 2.73580942e-03 -2.82909669e-04 9.99996218e-01 -1.56129039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93992885099999 meters 0.09866363759981868 Centerline is valid? [True, True] Translation: X:45.16, Y:-4.31, Z:-1.56 [[ 9.99972795e-01 6.88040294e-03 -2.65889368e-03 4.51573029e+01] [-6.87965586e-03 9.99976293e-01 2.90017956e-04 -4.30658344e+00] [ 2.66082608e-03 -2.71717793e-04 9.99996423e-01 -1.56269312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96992885099999 meters 0.09713409152530439 Centerline is valid? [True, True] Translation: X:45.19, Y:-4.31, Z:-1.56 [[ 9.99968213e-01 7.37480457e-03 -3.03062272e-03 4.51858111e+01] [-7.37383745e-03 9.99972758e-01 3.30167862e-04 -4.30768645e+00] [ 3.03297509e-03 -3.07810048e-04 9.99995353e-01 -1.56304110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99992885099999 meters 0.0985098618184961 Centerline is valid? [True, True] Translation: X:45.21, Y:-4.31, Z:-1.57 [[ 9.99956257e-01 8.22302617e-03 -4.45705591e-03 4.52130430e+01] [-8.22094280e-03 9.99966090e-01 4.85551263e-04 -4.31403759e+00] [ 4.46089747e-03 -4.48888822e-04 9.99989949e-01 -1.56536950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.029928851 meters 0.09868140167677597 Centerline is valid? [True, True] Translation: X:45.24, Y:-4.32, Z:-1.57 [[ 9.99950694e-01 8.81049854e-03 -4.58097666e-03 4.52414883e+01] [-8.80830324e-03 9.99961082e-01 4.99176758e-04 -4.31735995e+00] [ 4.58519638e-03 -4.58801514e-04 9.99989383e-01 -1.56649020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.059928851 meters 0.09856601414956088 Centerline is valid? [True, True] Translation: X:45.27, Y:-4.32, Z:-1.57 [[ 9.99946877e-01 9.15850020e-03 -4.72910283e-03 4.52706078e+01] [-9.15616566e-03 9.99957949e-01 5.15069594e-04 -4.31951460e+00] [ 4.73362123e-03 -4.71741784e-04 9.99988685e-01 -1.56722172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.089928851 meters 0.09970715728868484 Centerline is valid? [True, True] Translation: X:45.30, Y:-4.32, Z:-1.57 [[ 9.99940045e-01 9.84041689e-03 -4.80336777e-03 4.52976952e+01] [-9.83801952e-03 9.99951469e-01 5.22476537e-04 -4.32423887e+00] [ 4.80827604e-03 -4.75189586e-04 9.99988327e-01 -1.56897970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.119928851 meters 0.09862966091505969 Centerline is valid? [True, True] Translation: X:45.33, Y:-4.33, Z:-1.57 [[ 9.99942202e-01 9.43724026e-03 -5.15079426e-03 4.53260580e+01] [-9.43448147e-03 9.99955338e-01 5.59639769e-04 -4.32572564e+00] [ 5.15584567e-03 -5.11012351e-04 9.99986578e-01 -1.56937009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.149928851 meters 0.10284301746019 Centerline is valid? [True, False] Translation: X:45.33, Y:-4.33, Z:-1.57 [[ 9.99945078e-01 9.22347828e-03 -4.97671430e-03 4.53254995e+01] [-9.22179122e-03 9.99957413e-01 3.61832037e-04 -4.32586254e+00] [ 4.97983970e-03 -3.15917944e-04 9.99987551e-01 -1.56906897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.179928851 meters 0.09284161277113344 Centerline is valid? [False, True] Translation: X:45.33, Y:-4.33, Z:-1.57 [[ 9.99947364e-01 9.02867699e-03 -4.87368272e-03 4.53251185e+01] [-9.02818169e-03 9.99959237e-01 1.23620739e-04 -4.32560844e+00] [ 4.87460019e-03 -7.96137385e-05 9.99988116e-01 -1.56879845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20992885099999 meters 0.09226532288536382 Centerline is valid? [True, True] Translation: X:45.35, Y:-4.33, Z:-1.57 [[ 9.99962837e-01 8.03238916e-03 -3.13139843e-03 4.53540876e+01] [-8.03135402e-03 9.99967689e-01 3.43004214e-04 -4.32673786e+00] [ 3.13405240e-03 -3.17842098e-04 9.99995038e-01 -1.56788207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23992885099999 meters 0.09411352500561317 Centerline is valid? [True, True] Translation: X:45.38, Y:-4.33, Z:-1.57 [[ 9.99975647e-01 6.67708600e-03 -2.03005817e-03 4.53825587e+01] [-6.67664870e-03 9.99977686e-01 2.22114848e-04 -4.33228222e+00] [ 2.03149595e-03 -2.08555454e-04 9.99997915e-01 -1.56895305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26992885099999 meters 0.1060507055196643 Centerline is valid? [True, False] Translation: X:45.38, Y:-4.33, Z:-1.57 [[ 9.99977076e-01 6.48270253e-03 -1.95521668e-03 4.53823425e+01] [-6.48277971e-03 9.99978986e-01 -3.31374714e-05 -4.33175777e+00] [ 1.95496078e-03 4.58119507e-05 9.99998088e-01 -1.56884929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29992885099999 meters 0.09268095364129851 Centerline is valid? [False, True] Translation: X:45.38, Y:-4.33, Z:-1.57 [[ 9.99977889e-01 6.29495563e-03 -2.14349317e-03 4.53828065e+01] [-6.29613666e-03 9.99980031e-01 -5.44678369e-04 -4.32994075e+00] [ 2.14002164e-03 5.58162051e-04 9.99997554e-01 -1.56898160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32992885099999 meters 0.094502477736203 Centerline is valid? [True, True] Translation: X:45.41, Y:-4.34, Z:-1.57 [[ 9.99971402e-01 7.27437757e-03 -2.06851495e-03 4.54107226e+01] [-7.27392496e-03 9.99973519e-01 2.26247408e-04 -4.33585530e+00] [ 2.07010599e-03 -2.11194716e-04 9.99997835e-01 -1.57082811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35992885099999 meters 0.094502477736203 Centerline is valid? [True, True] Translation: X:45.44, Y:-4.34, Z:-1.57 [[ 9.99971883e-01 7.20796454e-03 -2.06859657e-03 4.54390158e+01] [-7.20751331e-03 9.99974000e-01 2.25503755e-04 -4.33889104e+00] [ 2.07016821e-03 -2.10587978e-04 9.99997835e-01 -1.57148540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.389928851 meters 0.09364968233902458 Centerline is valid? [True, True] Translation: X:45.47, Y:-4.34, Z:-1.57 [[ 9.99964040e-01 8.12294620e-03 -2.43659722e-03 4.54680610e+01] [-8.12232258e-03 9.99966978e-01 2.65727610e-04 -4.33781442e+00] [ 2.43867525e-03 -2.45927226e-04 9.99996996e-01 -1.57224519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.419928851 meters 0.09145967808900589 Centerline is valid? [True, True] Translation: X:45.50, Y:-4.34, Z:-1.57 [[ 9.99957727e-01 8.80546784e-03 -2.64709085e-03 4.54977152e+01] [-8.80473322e-03 9.99961196e-01 2.89043279e-04 -4.33560113e+00] [ 2.64953329e-03 -2.65724131e-04 9.99996455e-01 -1.57185348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.449928851 meters 0.090916404344833 Centerline is valid? [True, True] Translation: X:45.53, Y:-4.34, Z:-1.57 [[ 9.99941568e-01 1.07321412e-02 -1.29646961e-03 4.55267450e+01] [-1.07319666e-02 9.99942401e-01 1.41583147e-04 -4.33610583e+00] [ 1.29791442e-03 -1.27661206e-04 9.99999150e-01 -1.57286951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.479928851 meters 0.09604616266698703 Centerline is valid? [True, True] Translation: X:45.55, Y:-4.35, Z:-1.58 [[ 9.99929101e-01 1.18734938e-02 -9.01761652e-04 4.55543221e+01] [-1.18734102e-02 9.99929504e-01 9.80525533e-05 -4.34821084e+00] [ 9.02862307e-04 -8.73386155e-05 9.99999589e-01 -1.57542288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.509928851 meters 0.08985153319603878 Centerline is valid? [True, True] Translation: X:45.59, Y:-4.34, Z:-1.57 [[ 9.99896829e-01 1.43603227e-02 -3.35176611e-04 4.55856655e+01] [-1.43603112e-02 9.99896885e-01 3.66521410e-05 -4.33838850e+00] [ 3.35668386e-04 -3.18351191e-05 9.99999943e-01 -1.57404381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.539928851 meters 0.09066611628328286 Centerline is valid? [True, True] Translation: X:45.61, Y:-4.34, Z:-1.58 [[ 9.99881083e-01 1.54115373e-02 -5.52290511e-04 4.56136126e+01] [-1.54115071e-02 9.99881234e-01 5.89286727e-05 -4.34147117e+00] [ 5.53133099e-04 -5.04100360e-05 9.99999846e-01 -1.57606661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56992885099999 meters 0.0868058014660034 Centerline is valid? [True, True] Translation: X:45.64, Y:-4.33, Z:-1.58 [[ 9.99834531e-01 1.81858924e-02 -4.27740482e-04 4.56445676e+01] [-1.81858740e-02 9.99834622e-01 4.67629174e-05 -4.33484215e+00] [ 4.28520169e-04 -3.89763451e-05 9.99999907e-01 -1.57643439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59992885099999 meters 0.0895089721591093 Centerline is valid? [True, True] Translation: X:45.67, Y:-4.34, Z:-1.58 [[ 9.99814907e-01 1.91905734e-02 -1.36892216e-03 4.56715320e+01] [-1.91903888e-02 9.99815837e-01 1.47836181e-04 -4.34273277e+00] [ 1.37150711e-03 -1.21538669e-04 9.99999052e-01 -1.57817324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62992885099999 meters 0.08938170427052955 Centerline is valid? [True, True] Translation: X:45.70, Y:-4.34, Z:-1.58 [[ 9.99773699e-01 2.12590329e-02 -7.77962680e-04 4.57005585e+01] [-2.12589737e-02 9.99773999e-01 8.43491985e-05 -4.34359819e+00] [ 7.79580042e-04 -6.77914220e-05 9.99999694e-01 -1.57891722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65992885099999 meters 0.08748009758226166 Centerline is valid? [True, True] Translation: X:45.73, Y:-4.34, Z:-1.58 [[ 9.99759789e-01 2.18831300e-02 -1.22156233e-03 4.57294408e+01] [-2.18829849e-02 9.99760530e-01 1.32005163e-04 -4.34128464e+00] [ 1.22415849e-03 -1.05242024e-04 9.99999245e-01 -1.57864614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68992885099999 meters 0.08694703187201183 Centerline is valid? [True, True] Translation: X:45.76, Y:-4.34, Z:-1.58 [[ 9.99726845e-01 2.33684829e-02 -3.86076077e-04 4.57594281e+01] [-2.33684687e-02 9.99726919e-01 4.14258957e-05 -4.34099131e+00] [ 3.86938707e-04 -3.23925733e-05 9.99999925e-01 -1.57872123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71992885099999 meters 0.0865356121704849 Centerline is valid? [True, True] Translation: X:45.79, Y:-4.34, Z:-1.58 [[ 9.99720239e-01 2.36390940e-02 -7.97905618e-04 4.57880924e+01] [-2.36390331e-02 9.99720555e-01 8.56107363e-05 -4.34167376e+00] [ 7.99706408e-04 -6.67250684e-05 9.99999678e-01 -1.57858203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74992885099999 meters 0.08679542631489687 Centerline is valid? [True, True] Translation: X:45.82, Y:-4.34, Z:-1.58 [[ 9.99716936e-01 2.37865848e-02 4.96121712e-04 4.58171173e+01] [-2.37865601e-02 9.99717058e-01 -5.56899385e-05 -4.34446519e+00] [-4.97306012e-04 4.38731457e-05 9.99999875e-01 -1.58011959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.779928851 meters 0.08751265109230097 Centerline is valid? [True, True] Translation: X:45.85, Y:-4.35, Z:-1.58 [[ 9.99754121e-01 2.21584122e-02 8.38614972e-04 4.58460493e+01] [-2.21583423e-02 9.99754469e-01 -9.26467792e-05 -4.34710466e+00] [-8.40461972e-04 7.40416816e-05 9.99999644e-01 -1.58160130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.809928851 meters 0.08845561292830159 Centerline is valid? [True, True] Translation: X:45.87, Y:-4.35, Z:-1.58 [[ 9.99782885e-01 2.08212276e-02 8.12097043e-04 4.58747642e+01] [-2.08211619e-02 9.99783212e-01 -8.93445817e-05 -4.35157876e+00] [-8.13781254e-04 7.24163797e-05 9.99999666e-01 -1.58316082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.839928851 meters 0.09156658247140936 Centerline is valid? [True, True] Translation: X:45.90, Y:-4.36, Z:-1.59 [[ 9.99833645e-01 1.82271781e-02 6.72624186e-04 4.59031368e+01] [-1.82271325e-02 9.99833869e-01 -7.39387098e-05 -4.35934249e+00] [-6.73860137e-04 6.16663996e-05 9.99999771e-01 -1.58554002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.869928851 meters 0.09124111459384068 Centerline is valid? [True, True] Translation: X:45.93, Y:-4.36, Z:-1.59 [[ 9.99856906e-01 1.69123163e-02 3.75221283e-04 4.59328118e+01] [-1.69123018e-02 9.99856976e-01 -4.16751740e-05 -4.36091677e+00] [-3.75872441e-04 3.53233549e-05 9.99999929e-01 -1.58520464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.899928851 meters 0.0923898877106806 Centerline is valid? [True, True] Translation: X:45.96, Y:-4.36, Z:-1.59 [[ 9.99871882e-01 1.59665963e-02 1.13500161e-03 4.59600027e+01] [-1.59664640e-02 9.99872520e-01 -1.25557126e-04 -4.36455081e+00] [-1.13686164e-03 1.07419077e-04 9.99999348e-01 -1.58631983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92992885099999 meters 0.09282593089265795 Centerline is valid? [True, True] Translation: X:45.99, Y:-4.37, Z:-1.59 [[ 9.99901687e-01 1.40041228e-02 -7.07158775e-04 4.59896905e+01] [-1.40040721e-02 9.99901935e-01 7.64737343e-05 -4.36713846e+00] [ 7.08160375e-04 -6.65631134e-05 9.99999747e-01 -1.58820860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95992885099999 meters 0.09298430935631866 Centerline is valid? [True, True] Translation: X:46.02, Y:-4.37, Z:-1.59 [[ 9.99915179e-01 1.30046326e-02 -7.17548110e-04 4.60193400e+01] [-1.30045804e-02 9.99915434e-01 7.73458944e-05 -4.37026690e+00] [ 7.18493285e-04 -6.80079218e-05 9.99999740e-01 -1.58918382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98992885099999 meters 0.09809977069443782 Centerline is valid? [True, True] Translation: X:46.05, Y:-4.38, Z:-1.59 [[ 9.99939858e-01 1.09404523e-02 -7.66188794e-04 4.60470942e+01] [-1.09403922e-02 9.99940149e-01 8.26186013e-05 -4.38253075e+00] [ 7.67046822e-04 -7.42312266e-05 9.99999703e-01 -1.59191270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01992885099999 meters 0.09326130375353837 Centerline is valid? [True, True] Translation: X:46.08, Y:-4.38, Z:-1.59 [[ 9.99949459e-01 1.00403976e-02 -5.18690706e-04 4.60771731e+01] [-1.00403705e-02 9.99949593e-01 5.48400469e-05 -4.37598761e+00] [ 5.19215176e-04 -4.96294284e-05 9.99999864e-01 -1.59108176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04992885099999 meters 0.09973445983814389 Centerline is valid? [True, True] Translation: X:46.10, Y:-4.39, Z:-1.59 [[ 9.99959899e-01 8.95504085e-03 8.65516573e-05 4.61047165e+01] [-8.95503997e-03 9.99959903e-01 -1.05859431e-05 -4.39023582e+00] [-8.66429843e-05 9.81044507e-06 9.99999996e-01 -1.59347289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07992885099999 meters 0.09409123697967857 Centerline is valid? [True, True] Translation: X:46.14, Y:-4.38, Z:-1.59 [[ 9.99962569e-01 8.59198075e-03 1.01901461e-03 4.61350394e+01] [-8.59187073e-03 9.99963083e-01 -1.12300807e-04 -4.38155051e+00] [-1.01994188e-03 1.03541362e-04 9.99999474e-01 -1.59119403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10992885099999 meters 0.09607970633118919 Centerline is valid? [True, True] Translation: X:46.16, Y:-4.39, Z:-1.59 [[ 9.99969103e-01 7.74585418e-03 1.33940760e-03 4.61634334e+01] [-7.74566464e-03 9.99969991e-01 -1.46642869e-04 -4.38699640e+00] [-1.34050328e-03 1.36263736e-04 9.99999092e-01 -1.59326930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139928851 meters 0.09552763967445825 Centerline is valid? [True, True] Translation: X:46.19, Y:-4.39, Z:-1.59 [[ 9.99972652e-01 7.19277569e-03 1.72029194e-03 4.61924917e+01] [-7.19246234e-03 9.99974116e-01 -1.88267662e-04 -4.38871914e+00] [-1.72160158e-03 1.75889378e-04 9.99998503e-01 -1.59424067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.169928851 meters 0.095583833159863 Centerline is valid? [True, True] Translation: X:46.22, Y:-4.39, Z:-1.60 [[ 9.99984376e-01 5.34836710e-03 1.62549125e-03 4.62223197e+01] [-5.34808673e-03 9.99985683e-01 -1.76780768e-04 -4.39101660e+00] [-1.62641346e-03 1.68084738e-04 9.99998663e-01 -1.59525297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.199928851 meters 0.0984851744699922 Centerline is valid? [True, True] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99988052e-01 4.56647541e-03 1.74430013e-03 4.62503341e+01] [-4.56615021e-03 9.99989557e-01 -1.90371138e-04 -4.39891922e+00] [-1.74515124e-03 1.82404127e-04 9.99998461e-01 -1.59700318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.229928851 meters 0.10070104752934217 Centerline is valid? [True, False] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99989376e-01 4.20399404e-03 1.89052812e-03 4.62497799e+01] [-4.20285157e-03 9.99990983e-01 -6.07878773e-04 -4.39813303e+00] [-1.89306659e-03 5.99926706e-04 9.99998028e-01 -1.59665119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.259928851 meters 0.09846735735190963 Centerline is valid? [False, True] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99989972e-01 4.01569133e-03 1.98256025e-03 4.62498885e+01] [-4.01403005e-03 9.99991590e-01 -8.41218157e-04 -4.39702972e+00] [-1.98592165e-03 8.33251664e-04 9.99997681e-01 -1.59710229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.289928851 meters 0.10151191888528895 Centerline is valid? [True, False] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99989355e-01 4.15053695e-03 2.01544549e-03 4.62501494e+01] [-4.14934545e-03 9.99991214e-01 -5.95009314e-04 -4.39733468e+00] [-2.01789739e-03 5.86640201e-04 9.99997792e-01 -1.59758803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31992885099999 meters 0.10151191888528895 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99989355e-01 4.15053695e-03 2.01544549e-03 4.62501494e+01] [-4.14934545e-03 9.99991214e-01 -5.95009314e-04 -4.39733468e+00] [-2.01789739e-03 5.86640201e-04 9.99997792e-01 -1.59758803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34992885099999 meters 0.10282444589159806 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99989774e-01 3.97979199e-03 2.14783030e-03 4.62498389e+01] [-3.97817925e-03 9.99991802e-01 -7.54619290e-04 -4.39711741e+00] [-2.15081592e-03 7.46067120e-04 9.99997409e-01 -1.59753527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37992885099999 meters 0.10153429670359905 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99990548e-01 3.69215146e-03 2.29611482e-03 4.62495947e+01] [-3.68970263e-03 9.99992621e-01 -1.06983368e-03 -4.39601662e+00] [-2.30004787e-03 1.06135159e-03 9.99996792e-01 -1.59766569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40992885099999 meters 0.10181223519142207 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99990684e-01 3.67724761e-03 2.26053447e-03 4.62498721e+01] [-3.67471005e-03 9.99992615e-01 -1.12567762e-03 -4.39541344e+00] [-2.26465717e-03 1.11736032e-03 9.99996811e-01 -1.59796989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43992885099999 meters 0.10288872895593569 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99991701e-01 3.33791949e-03 2.33598158e-03 4.62497482e+01] [-3.33423066e-03 9.99993191e-01 -1.58125074e-03 -4.39388894e+00] [-2.34124376e-03 1.57344892e-03 9.99996021e-01 -1.59806581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46992885099999 meters 0.10203454099045474 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99991452e-01 3.45655865e-03 2.26877934e-03 4.62501875e+01] [-3.45324202e-03 9.99992966e-01 -1.46414949e-03 -4.39374578e+00] [-2.27382430e-03 1.45630233e-03 9.99996354e-01 -1.59851257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49992885099999 meters 0.10351449796848135 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99991543e-01 3.35134824e-03 2.38364035e-03 4.62502047e+01] [-3.34767206e-03 9.99993204e-01 -1.54457388e-03 -4.39307428e+00] [-2.38880055e-03 1.53658118e-03 9.99995966e-01 -1.59893126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.529928851 meters 0.10500880936644413 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99992062e-01 3.11595707e-03 2.48324101e-03 4.62498638e+01] [-3.11143795e-03 9.99993500e-01 -1.82163668e-03 -4.39248723e+00] [-2.48890101e-03 1.81389577e-03 9.99995258e-01 -1.59875777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.559928851 meters 0.11955765564251862 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99992307e-01 2.93296850e-03 2.60437293e-03 4.62495597e+01] [-2.92772275e-03 9.99993683e-01 -2.01573983e-03 -4.39213554e+00] [-2.61026858e-03 2.00809944e-03 9.99994577e-01 -1.59869000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.589928851 meters 0.10609537295596558 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99992181e-01 2.98682130e-03 2.59187823e-03 4.62497034e+01] [-2.98186446e-03 9.99993722e-01 -1.91421177e-03 -4.39217573e+00] [-2.59757937e-03 1.90646817e-03 9.99994809e-01 -1.59887535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.619928851 meters 0.10774163624314581 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99991952e-01 3.10710631e-03 2.53817048e-03 4.62500124e+01] [-3.10263249e-03 9.99993630e-01 -1.76465478e-03 -4.39219730e+00] [-2.54363728e-03 1.75676557e-03 9.99995222e-01 -1.59915349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.649928851 meters 0.10874762177304495 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99992402e-01 2.79676222e-03 2.71565265e-03 4.62494038e+01] [-2.79108421e-03 9.99993916e-01 -2.09239076e-03 -4.39169801e+00] [-2.72148804e-03 2.08479525e-03 9.99994124e-01 -1.59880357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67992885099999 meters 0.11199488018609137 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99992489e-01 2.90580199e-03 2.56493282e-03 4.62497927e+01] [-2.90052891e-03 9.99993677e-01 -2.05716884e-03 -4.39164638e+00] [-2.57089433e-03 2.04971373e-03 9.99994595e-01 -1.59889102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70992885099999 meters 0.11278019141159575 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99993386e-01 2.48766622e-03 2.65318720e-03 4.62493353e+01] [-2.48057298e-03 9.99993350e-01 -2.67342760e-03 -4.39023122e+00] [-2.65982015e-03 2.66682850e-03 9.99992907e-01 -1.59846311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73992885099999 meters 0.109303490291804 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99993575e-01 2.50780274e-03 2.56156463e-03 4.62495815e+01] [-2.50092171e-03 9.99993266e-01 -2.68593970e-03 -4.38992486e+00] [-2.56828319e-03 2.67951617e-03 9.99993112e-01 -1.59857505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76992885099999 meters 0.11445008180924424 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99993316e-01 2.77319594e-03 2.38290708e-03 4.62503539e+01] [-2.76734232e-03 9.99993154e-01 -2.45629760e-03 -4.38991901e+00] [-2.38970256e-03 2.44968686e-03 9.99994144e-01 -1.59912996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79992885099999 meters 0.10837599546650596 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99993414e-01 2.83021438e-03 2.27184000e-03 4.62508006e+01] [-2.82447629e-03 9.99992823e-01 -2.52499645e-03 -4.38957398e+00] [-2.27896997e-03 2.51856307e-03 9.99994232e-01 -1.59944388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82992885099999 meters 0.11576632800165597 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99992778e-01 3.14569234e-03 2.13275296e-03 4.62516437e+01] [-3.14104517e-03 9.99992693e-01 -2.17881265e-03 -4.38970086e+00] [-2.13959125e-03 2.17209784e-03 9.99995352e-01 -1.60024338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85992885099999 meters 0.10438117580141003 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99993150e-01 3.12892774e-03 1.97710401e-03 4.62521082e+01] [-3.12425206e-03 9.99992326e-01 -2.36359489e-03 -4.38886551e+00] [-1.98448436e-03 2.35740173e-03 9.99995252e-01 -1.60043963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.889928851 meters 0.10842259923300797 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99992785e-01 3.39907143e-03 1.69578097e-03 4.62529771e+01] [-3.39534229e-03 9.99991822e-01 -2.19712680e-03 -4.38865591e+00] [-1.70323529e-03 2.19135319e-03 9.99996148e-01 -1.60085404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.919928851 meters 0.10297304360560991 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99993509e-01 3.26785908e-03 1.51753231e-03 4.62531551e+01] [-3.26390385e-03 9.99991289e-01 -2.60156074e-03 -4.38768377e+00] [-1.52602063e-03 2.59659078e-03 9.99995464e-01 -1.60053261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.949928851 meters 0.10347693706502958 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99993080e-01 3.59531347e-03 9.55382134e-04 4.62545365e+01] [-3.59274091e-03 9.99989952e-01 -2.68090558e-03 -4.38647361e+00] [-9.65011231e-04 2.67745458e-03 9.99995950e-01 -1.60084683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.979928851 meters 0.1082925604013291 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99993563e-01 3.47074949e-03 9.09784298e-04 4.62544564e+01] [-3.46805620e-03 9.99989649e-01 -2.94540958e-03 -4.38590202e+00] [-9.19997659e-04 2.94223544e-03 9.99995248e-01 -1.60058266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.009928851 meters 0.10508589117154872 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99993154e-01 3.62392200e-03 7.47864356e-04 4.62549140e+01] [-3.62178838e-03 9.99989423e-01 -2.83484738e-03 -4.38572913e+00] [-7.58129712e-04 2.83211937e-03 9.99995702e-01 -1.60078370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.039928851 meters 0.09995095809946884 Centerline is valid? [False, True] Translation: X:46.26, Y:-4.39, Z:-1.60 [[ 9.99992901e-01 3.68717485e-03 7.76638452e-04 4.62550194e+01] [-3.68507090e-03 9.99989583e-01 -2.69327494e-03 -4.38590524e+00] [-7.86560938e-04 2.69039385e-03 9.99996072e-01 -1.60104612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06992885099999 meters 0.10437658075087378 Centerline is valid? [True, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99992392e-01 3.76534297e-03 1.01840261e-03 4.62544795e+01] [-3.76301289e-03 9.99990320e-01 -2.28028955e-03 -4.38757993e+00] [-1.02697882e-03 2.27643994e-03 9.99996882e-01 -1.60097011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09992885099999 meters 0.101519813304902 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.39, Z:-1.60 [[ 9.99990944e-01 4.12931214e-03 1.03011590e-03 4.62547688e+01] [-4.12759742e-03 9.99990102e-01 -1.66120108e-03 -4.38908771e+00] [-1.03696532e-03 1.65693413e-03 9.99998090e-01 -1.60140745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12992885099999 meters 0.10689302805401543 Centerline is valid? [False, False] Translation: X:46.26, Y:-4.39, Z:-1.60 [[ 9.99999732e-01 3.64357244e-04 6.35789212e-04 4.62556812e+01] [-3.60958196e-04 9.99985687e-01 -5.33813675e-03 -4.39024057e+00] [-6.37725101e-04 5.33790582e-03 9.99985550e-01 -1.60157755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15992885099999 meters 0.10786157955096765 Centerline is valid? [False, False] Translation: X:46.26, Y:-4.39, Z:-1.60 [[ 9.99999565e-01 5.41027006e-04 7.60087249e-04 4.62555662e+01] [-5.37312210e-04 9.99987953e-01 -4.87906007e-03 -4.39151494e+00] [-7.62717796e-04 4.87864954e-03 9.99987808e-01 -1.60179860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18992885099999 meters 0.1025367954514691 Centerline is valid? [False, False] Translation: X:46.26, Y:-4.39, Z:-1.60 [[ 9.99999245e-01 9.52029048e-04 7.76307051e-04 4.62558412e+01] [-9.48789382e-04 9.99990885e-01 -4.16291989e-03 -4.39329335e+00] [-7.80263195e-04 4.16218019e-03 9.99991034e-01 -1.60224098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21992885099999 meters 0.10227456286381988 Centerline is valid? [False, False] Translation: X:46.26, Y:-4.39, Z:-1.60 [[ 9.99998790e-01 1.33521618e-03 7.98871543e-04 4.62561287e+01] [-1.33244703e-03 9.99993137e-01 -3.45687523e-03 -4.39491363e+00] [-8.03481736e-04 3.45580659e-03 9.99993706e-01 -1.60274258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24992885099999 meters 0.11299333621403011 Centerline is valid? [False, False] Translation: X:46.26, Y:-4.40, Z:-1.60 [[ 9.99998157e-01 1.47673227e-03 1.22713021e-03 4.62552846e+01] [-1.47340954e-03 9.99995258e-01 -2.70422962e-03 -4.39775831e+00] [-1.23111781e-03 2.70241657e-03 9.99995591e-01 -1.60276639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.279928851 meters 0.1077895089256214 Centerline is valid? [False, False] Translation: X:46.26, Y:-4.40, Z:-1.60 [[ 9.99997229e-01 1.97071609e-03 1.28768959e-03 4.62556129e+01] [-1.96837311e-03 9.99996410e-01 -1.81826703e-03 -4.39983792e+00] [-1.29126825e-03 1.81572734e-03 9.99997518e-01 -1.60343804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.309928851 meters 0.1071159129083256 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99996265e-01 2.12939476e-03 1.71355198e-03 4.62547560e+01] [-2.12765655e-03 9.99997221e-01 -1.01557563e-03 -4.40284226e+00] [-1.71570978e-03 1.01192599e-03 9.99998016e-01 -1.60339250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.339928851 meters 0.10639434420140782 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99996224e-01 1.94957172e-03 1.93699115e-03 4.62539391e+01] [-1.94761957e-03 9.99997594e-01 -1.00919889e-03 -4.40358713e+00] [-1.93895400e-03 1.00542255e-03 9.99997615e-01 -1.60287650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.369928851 meters 0.10902113683829753 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.40, Z:-1.60 [[ 9.99995677e-01 2.17123229e-03 1.98294279e-03 4.62539564e+01] [-2.17010923e-03 9.99997484e-01 -5.68338356e-04 -4.40491611e+00] [-1.98417180e-03 5.64032697e-04 9.99997872e-01 -1.60302187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.399928851 meters 0.11061028864971854 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.41, Z:-1.60 [[ 9.99994692e-01 2.58699952e-03 1.98090023e-03 4.62543534e+01] [-2.58726380e-03 9.99996644e-01 1.30864843e-04 -4.40658614e+00] [-1.98055504e-03 -1.35989260e-04 9.99998029e-01 -1.60354945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42992885099999 meters 0.11092756195617687 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.41, Z:-1.60 [[ 9.99994037e-01 2.46020709e-03 2.42367117e-03 4.62531421e+01] [-2.46133612e-03 9.99996864e-01 4.62960894e-04 -4.40878605e+00] [-2.42252459e-03 -4.68923603e-04 9.99996956e-01 -1.60306173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45992885099999 meters 0.1127729331161989 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.41, Z:-1.60 [[ 9.99993623e-01 2.70540584e-03 2.33137579e-03 4.62532730e+01] [-2.70726959e-03 9.99996018e-01 7.96633124e-04 -4.41011946e+00] [-2.32921129e-03 -8.02939707e-04 9.99996965e-01 -1.60292338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48992885099999 meters 0.11382501928156319 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.41, Z:-1.60 [[ 9.99993999e-01 2.64122988e-03 2.24184499e-03 4.62532810e+01] [-2.64261727e-03 9.99996318e-01 6.16127088e-04 -4.40984670e+00] [-2.24020940e-03 -6.22047729e-04 9.99997297e-01 -1.60264414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51992885099999 meters 0.11370477651327045 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.41, Z:-1.60 [[ 9.99994598e-01 2.56759463e-03 2.05207840e-03 4.62534338e+01] [-2.56822317e-03 9.99996656e-01 3.03717671e-04 -4.40934282e+00] [-2.05129172e-03 -3.08986225e-04 9.99997848e-01 -1.60224221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54992885099999 meters 0.10735804579595883 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.41, Z:-1.60 [[ 9.99995126e-01 2.59492887e-03 1.73635873e-03 4.62538631e+01] [-2.59497623e-03 9.99996633e-01 2.50229536e-05 -4.40872294e+00] [-1.73628795e-03 -2.95286413e-05 9.99998492e-01 -1.60191927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57992885099999 meters 0.10794071864454874 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.41, Z:-1.60 [[ 9.99995432e-01 2.61591353e-03 1.51425315e-03 4.62541961e+01] [-2.61569117e-03 9.99996568e-01 -1.48801588e-04 -4.40844815e+00] [-1.51463721e-03 1.44840089e-04 9.99998842e-01 -1.60172286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60992885099999 meters 0.11011324169179182 Centerline is valid? [False, False] Translation: X:46.25, Y:-4.41, Z:-1.60 [[ 9.99995381e-01 2.77378048e-03 1.24244418e-03 4.62548096e+01] [-2.77356343e-03 9.99996138e-01 -1.76385563e-04 -4.40823112e+00] [-1.24292864e-03 1.72938751e-04 9.99999213e-01 -1.60178350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.639928851 meters 0.10742405819404971 Centerline is valid? [False, False] Translation: X:46.26, Y:-4.41, Z:-1.60 [[ 9.99995389e-01 2.96627902e-03 6.49967294e-04 4.62559364e+01] [-2.96596576e-03 9.99995485e-01 -4.82403263e-04 -4.40710819e+00] [-6.51395302e-04 4.80473258e-04 9.99999672e-01 -1.60168318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.669928851 meters 0.10541497990929534 Centerline is valid? [False, False] Translation: X:46.26, Y:-4.41, Z:-1.60 [[ 9.99995582e-01 2.94269588e-03 4.19321117e-04 4.62563683e+01] [-2.94237306e-03 9.99995376e-01 -7.68398010e-04 -4.40615474e+00] [-4.21580340e-04 7.67160817e-04 9.99999617e-01 -1.60161652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.699928851 meters 0.10212422882148334 Centerline is valid? [False, False] Translation: X:46.26, Y:-4.40, Z:-1.60 [[ 9.99995364e-01 3.04309814e-03 -1.03486550e-04 4.62573263e+01] [-3.04321897e-03 9.99994664e-01 -1.18818336e-03 -4.40453771e+00] [ 9.98702396e-05 1.18849279e-03 9.99999289e-01 -1.60147224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.729928851 meters 0.10173657716871932 Centerline is valid? [False, False] Translation: X:46.26, Y:-4.40, Z:-1.60 [[ 9.99995453e-01 3.00389848e-03 -2.67442369e-04 4.62575802e+01] [-3.00427649e-03 9.99994473e-01 -1.42443781e-03 -4.40392647e+00] [ 2.63162025e-04 1.42523481e-03 9.99998950e-01 -1.60130950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.759928851 meters 0.0958875837645598 Centerline is valid? [False, True] Translation: X:46.26, Y:-4.40, Z:-1.60 [[ 9.99994599e-01 3.22129604e-03 -6.51338008e-04 4.62585146e+01] [-3.22229304e-03 9.99993630e-01 -1.53548774e-03 -4.40340781e+00] [ 6.46387598e-04 1.53757825e-03 9.99998609e-01 -1.60155094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.789928851 meters 0.09708859622478905 Centerline is valid? [True, True] Translation: X:46.29, Y:-4.41, Z:-1.60 [[ 9.99985715e-01 5.26879930e-03 -8.99295452e-04 4.62866677e+01] [-5.26871555e-03 9.99986116e-01 9.54750448e-05 -4.40865690e+00] [ 8.99786004e-04 -9.07355490e-05 9.99999591e-01 -1.60497683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81992885099999 meters 0.09483937025662856 Centerline is valid? [True, True] Translation: X:46.32, Y:-4.41, Z:-1.61 [[ 9.99972090e-01 7.33478476e-03 -1.42157343e-03 4.63167573e+01] [-7.33457548e-03 9.99973090e-01 1.52376928e-04 -4.40739370e+00] [ 1.42265282e-03 -1.41946037e-04 9.99998978e-01 -1.60548833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84992885099999 meters 0.0943372781080887 Centerline is valid? [True, True] Translation: X:46.35, Y:-4.41, Z:-1.61 [[ 9.99929804e-01 1.16649068e-02 -2.07772686e-03 4.63468248e+01] [-1.16644679e-02 9.99931943e-01 2.23272238e-04 -4.40812281e+00] [ 2.08018991e-03 -1.99020987e-04 9.99997817e-01 -1.60694496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87992885099999 meters 0.09341216269745159 Centerline is valid? [True, True] Translation: X:46.38, Y:-4.41, Z:-1.61 [[ 9.99909648e-01 1.33047123e-02 -1.91868280e-03 4.63763460e+01] [-1.33043425e-02 9.99911472e-01 2.05357704e-04 -4.40890694e+00] [ 1.92124517e-03 -1.79812336e-04 9.99998138e-01 -1.60757284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90992885099999 meters 0.09387659977718012 Centerline is valid? [True, True] Translation: X:46.40, Y:-4.41, Z:-1.61 [[ 9.99890527e-01 1.46242821e-02 -2.25048924e-03 4.64045558e+01] [-1.46237775e-02 9.99893038e-01 2.40521147e-04 -4.41245277e+00] [ 2.25376598e-03 -2.07584162e-04 9.99997439e-01 -1.60857118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93992885099999 meters 0.09225449262565973 Centerline is valid? [True, True] Translation: X:46.44, Y:-4.41, Z:-1.61 [[ 9.99839500e-01 1.78124068e-02 -1.92138852e-03 4.64351380e+01] [-1.78120431e-02 9.99841332e-01 2.06243036e-04 -4.41164883e+00] [ 1.92475734e-03 -1.71986079e-04 9.99998133e-01 -1.60791094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96992885099999 meters 0.09356007224273583 Centerline is valid? [True, True] Translation: X:46.46, Y:-4.42, Z:-1.61 [[ 9.99834596e-01 1.81115632e-02 -1.65899396e-03 4.64626476e+01] [-1.81112957e-02 9.99835962e-01 1.76135466e-04 -4.41646458e+00] [ 1.66191191e-03 -1.46059802e-04 9.99998608e-01 -1.60934594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99992885099999 meters 0.09227218609491727 Centerline is valid? [True, True] Translation: X:46.49, Y:-4.42, Z:-1.61 [[ 9.99842045e-01 1.77344688e-02 -1.17171158e-03 4.64919649e+01] [-1.77343354e-02 9.99842727e-01 1.24148685e-04 -4.41664609e+00] [ 1.17372901e-03 -1.03349549e-04 9.99999306e-01 -1.60775231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.029928851 meters 0.0945831196808582 Centerline is valid? [True, True] Translation: X:46.52, Y:-4.42, Z:-1.61 [[ 9.99860261e-01 1.66995929e-02 7.63370344e-04 4.65193990e+01] [-1.66995338e-02 9.99860550e-01 -8.36410488e-05 -4.42378491e+00] [-7.64660664e-04 7.08814319e-05 9.99999705e-01 -1.60901757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.059928851 meters 0.09423741876156351 Centerline is valid? [True, True] Translation: X:46.55, Y:-4.43, Z:-1.61 [[ 9.99876139e-01 1.57385841e-02 -6.31370290e-05 4.65484982e+01] [-1.57385838e-02 9.99876141e-01 5.27116799e-06 -4.42617149e+00] [ 6.32121696e-05 -4.27682767e-06 9.99999998e-01 -1.60950300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.089928851 meters 0.0907260310365155 Centerline is valid? [True, True] Translation: X:46.58, Y:-4.42, Z:-1.61 [[ 9.99920995e-01 1.25661904e-02 -3.07710817e-04 4.65799253e+01] [-1.25661808e-02 9.99921042e-01 3.29447065e-05 -4.42245681e+00] [ 3.08100511e-04 -2.90753539e-05 9.99999952e-01 -1.60819353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.119928851 meters 0.09270318960588933 Centerline is valid? [True, True] Translation: X:46.61, Y:-4.43, Z:-1.61 [[ 9.99938702e-01 1.10710247e-02 1.53884074e-04 4.66072092e+01] [-1.10710221e-02 9.99938714e-01 -1.80171682e-05 -4.42959437e+00] [-1.54074112e-04 1.63124098e-05 9.99999988e-01 -1.61001779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.149928851 meters 0.09266224680655469 Centerline is valid? [True, True] Translation: X:46.64, Y:-4.43, Z:-1.61 [[ 9.99949689e-01 1.00299269e-02 1.42155032e-04 4.66368291e+01] [-1.00299247e-02 9.99949699e-01 -1.59899917e-05 -4.43291630e+00] [-1.42308260e-04 1.45633830e-05 9.99999990e-01 -1.61078279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17992885099999 meters 0.09414253855422353 Centerline is valid? [True, True] Translation: X:46.67, Y:-4.44, Z:-1.61 [[ 9.99974244e-01 7.14895512e-03 -6.35245546e-04 4.66670744e+01] [-7.14891337e-03 9.99974444e-01 6.79627054e-05 -4.43934892e+00] [ 6.35715174e-04 -6.34196396e-05 9.99999796e-01 -1.61267634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20992885099999 meters 0.09436170878255949 Centerline is valid? [True, True] Translation: X:46.70, Y:-4.44, Z:-1.61 [[ 9.99983302e-01 5.68059833e-03 -1.06124348e-03 4.66975612e+01] [-5.68048101e-03 9.99983859e-01 1.13532345e-04 -4.44305895e+00] [ 1.06187128e-03 -1.07502076e-04 9.99999430e-01 -1.61308520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23992885099999 meters 0.09436170878255949 Centerline is valid? [True, True] Translation: X:46.73, Y:-4.45, Z:-1.61 [[ 9.99983685e-01 5.61271536e-03 -1.06141705e-03 4.67258560e+01] [-5.61259971e-03 9.99984243e-01 1.11909381e-04 -4.44601304e+00] [ 1.06202844e-03 -1.05950246e-04 9.99999430e-01 -1.61373886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26992885099999 meters 0.10329641355954805 Centerline is valid? [True, False] Translation: X:46.72, Y:-4.45, Z:-1.61 [[ 9.99985929e-01 5.26177653e-03 -6.75247571e-04 4.67245241e+01] [-5.26178489e-03 9.99986157e-01 -1.05985812e-05 -4.44700652e+00] [ 6.75182456e-04 1.41514395e-05 9.99999772e-01 -1.61289586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29992885099999 meters 0.09781339965192717 Centerline is valid? [False, True] Translation: X:46.72, Y:-4.45, Z:-1.61 [[ 9.99987421e-01 4.99982030e-03 -3.98507079e-04 4.67235306e+01] [-4.99986031e-03 9.99987496e-01 -9.94731716e-05 -4.44766366e+00] [ 3.98004748e-04 1.01464400e-04 9.99999916e-01 -1.61229463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32992885099999 meters 0.09615355568124655 Centerline is valid? [True, True] Translation: X:46.75, Y:-4.45, Z:-1.61 [[ 9.99993038e-01 3.69061949e-03 5.50714240e-04 4.67536015e+01] [-3.69058634e-03 9.99993188e-01 -6.11880188e-05 -4.44865991e+00] [-5.50936310e-04 5.91551343e-05 9.99999846e-01 -1.61088215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35992885099999 meters 0.09767552730041645 Centerline is valid? [True, True] Translation: X:46.78, Y:-4.46, Z:-1.61 [[ 9.99999796e-01 4.21787107e-04 4.80334172e-04 4.67835671e+01] [-4.21761852e-04 9.99999910e-01 -5.26761103e-05 -4.45691809e+00] [-4.80356347e-04 5.24735129e-05 9.99999883e-01 -1.61163410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.389928851 meters 0.09941142080333237 Centerline is valid? [True, True] Translation: X:46.81, Y:-4.46, Z:-1.61 [[ 9.99999754e-01 -7.00605888e-04 -1.81837484e-05 4.68130335e+01] [ 7.00605942e-04 9.99999755e-01 2.95243327e-06 -4.46483602e+00] [ 1.81816754e-05 -2.96517218e-06 1.00000000e+00 -1.61267627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.419928851 meters 0.10018698123015211 Centerline is valid? [True, False] Translation: X:46.81, Y:-4.47, Z:-1.61 [[ 9.99999656e-01 -6.66874380e-04 4.92383556e-04 4.68119929e+01] [ 6.66527759e-04 9.99999530e-01 7.03796083e-04 -4.46782049e+00] [-4.92852668e-04 -7.03467654e-04 9.99999631e-01 -1.61258452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.449928851 meters 0.10041361757313935 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.47, Z:-1.61 [[ 9.99999651e-01 -5.92967751e-04 5.88922107e-04 4.68116097e+01] [ 5.92386878e-04 9.99999338e-01 9.86017530e-04 -4.46927398e+00] [-5.89506394e-04 -9.85668316e-04 9.99999340e-01 -1.61225397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.479928851 meters 0.10124963356567618 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.47, Z:-1.61 [[ 9.99999746e-01 -3.59612794e-04 6.15033411e-04 4.68115977e+01] [ 3.58707909e-04 9.99998854e-01 1.47075513e-03 -4.47086227e+00] [-6.15561608e-04 -1.47053414e-03 9.99998729e-01 -1.61228390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.509928851 meters 0.1033918484848114 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.47, Z:-1.61 [[ 9.99998989e-01 -6.71070607e-04 1.25361891e-03 4.68098448e+01] [ 6.68819616e-04 9.99998165e-01 1.79515161e-03 -4.47331979e+00] [-1.25482128e-03 -1.79431135e-03 9.99997603e-01 -1.61155692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.539928851 meters 0.10661491895521334 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.47, Z:-1.61 [[ 9.99999124e-01 -4.30915458e-04 1.25116943e-03 4.68098985e+01] [ 4.28138837e-04 9.99997447e-01 2.21864046e-03 -4.47473155e+00] [-1.25212228e-03 -2.21810285e-03 9.99996756e-01 -1.61157449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56992885099999 meters 0.10434448031303589 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.48, Z:-1.61 [[ 9.99998902e-01 -2.87144290e-04 1.45371223e-03 4.68093086e+01] [ 2.83130074e-04 9.99996149e-01 2.76080837e-03 -4.47717285e+00] [-1.45449938e-03 -2.76039375e-03 9.99995132e-01 -1.61129825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59992885099999 meters 0.10466753895611114 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.48, Z:-1.61 [[ 9.99998921e-01 -1.87879651e-04 1.45699553e-03 4.68091325e+01] [ 1.83502958e-04 9.99995473e-01 3.00346864e-03 -4.47833532e+00] [-1.45755322e-03 -3.00319803e-03 9.99994428e-01 -1.61106273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62992885099999 meters 0.10596385237555067 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.48, Z:-1.61 [[ 9.99999153e-01 8.44485130e-05 1.29869887e-03 4.68097007e+01] [-8.87625537e-05 9.99994478e-01 3.32211878e-03 -4.47885041e+00] [-1.29841115e-03 -3.32223124e-03 9.99993638e-01 -1.61138060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65992885099999 meters 0.10531084372667697 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.48, Z:-1.61 [[ 9.99999253e-01 4.34293073e-05 1.22185486e-03 4.68096451e+01] [-4.73936609e-05 9.99994735e-01 3.24469539e-03 -4.47895647e+00] [-1.22170751e-03 -3.24475087e-03 9.99993989e-01 -1.61105246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68992885099999 meters 0.10831698582326862 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.48, Z:-1.61 [[ 9.99995106e-01 -3.12676443e-03 1.02004099e-04 4.68125722e+01] [ 3.12680046e-03 9.99995049e-01 -3.55012999e-04 -4.47860495e+00] [-1.00893552e-04 3.55330208e-04 9.99999932e-01 -1.61206195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71992885099999 meters 0.10236353916637739 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.48, Z:-1.61 [[ 9.99999371e-01 9.08103598e-04 6.58940290e-04 4.68108909e+01] [-9.10817971e-04 9.99991054e-01 4.13075950e-03 -4.48109190e+00] [-6.55183237e-04 -4.13135707e-03 9.99991251e-01 -1.61123579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74992885099999 meters 0.09989732800364749 Centerline is valid? [False, True] Translation: X:46.81, Y:-4.48, Z:-1.61 [[ 9.99999134e-01 1.18538128e-03 5.70986380e-04 4.68112174e+01] [-1.18792943e-03 9.99989245e-01 4.48324328e-03 -4.48200497e+00] [-5.65665887e-04 -4.48391769e-03 9.99989787e-01 -1.61142986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.779928851 meters 0.10022455233552872 Centerline is valid? [True, False] Translation: X:46.81, Y:-4.48, Z:-1.61 [[ 9.99999092e-01 1.25655490e-03 4.87204475e-04 4.68109749e+01] [-1.25875806e-03 9.99988864e-01 4.54841796e-03 -4.48287000e+00] [-4.81483712e-04 -4.54902710e-03 9.99989537e-01 -1.61078347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.809928851 meters 0.09828511440320159 Centerline is valid? [False, True] Translation: X:46.81, Y:-4.48, Z:-1.61 [[ 9.99999179e-01 1.21355893e-03 4.12077251e-04 4.68108353e+01] [-1.21538068e-03 9.99989361e-01 4.44981377e-03 -4.48303685e+00] [-4.06672756e-04 -4.45031094e-03 9.99990015e-01 -1.61035266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.839928851 meters 0.09817426960347897 Centerline is valid? [True, True] Translation: X:46.84, Y:-4.48, Z:-1.61 [[ 9.99997170e-01 2.21914661e-03 8.57255379e-04 4.68414385e+01] [-2.21906341e-03 9.99997533e-01 -9.79953653e-05 -4.48471782e+00] [-8.57470730e-04 9.60927840e-05 9.99999628e-01 -1.60890959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.869928851 meters 0.09761863916494042 Centerline is valid? [True, True] Translation: X:46.87, Y:-4.49, Z:-1.61 [[ 9.99993444e-01 3.61950535e-03 1.08062731e-04 4.68716817e+01] [-3.61950404e-03 9.99993449e-01 -1.23529663e-05 -4.48839159e+00] [-1.08106735e-04 1.19617518e-05 9.99999994e-01 -1.60950178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.899928851 meters 0.09637379736136815 Centerline is valid? [True, True] Translation: X:46.90, Y:-4.49, Z:-1.61 [[ 9.99990799e-01 4.25775249e-03 -5.23034696e-04 4.69013372e+01] [-4.25772218e-03 9.99990934e-01 5.90531968e-05 -4.49282548e+00] [ 5.23281388e-04 -5.68257170e-05 9.99999861e-01 -1.61181574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92992885099999 meters 0.09534168750024567 Centerline is valid? [True, True] Translation: X:46.93, Y:-4.50, Z:-1.61 [[ 9.99991193e-01 4.03161642e-03 -1.16628718e-03 4.69296613e+01] [-4.03146546e-03 9.99991865e-01 1.31760914e-04 -4.49812110e+00] [ 1.16680891e-03 -1.27057907e-04 9.99999311e-01 -1.61314510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95992885099999 meters 0.09475590845246752 Centerline is valid? [True, True] Translation: X:46.96, Y:-4.50, Z:-1.61 [[ 9.99992148e-01 3.77711675e-03 -1.19879318e-03 4.69583950e+01] [-3.77695712e-03 9.99992858e-01 1.35393316e-04 -4.50198593e+00] [ 1.19929601e-03 -1.30864463e-04 9.99999272e-01 -1.61231155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98992885099999 meters 0.09590315374054749 Centerline is valid? [True, True] Translation: X:46.99, Y:-4.51, Z:-1.61 [[ 9.99993893e-01 3.46664058e-03 -4.43227332e-04 4.69868080e+01] [-3.46661897e-03 9.99993990e-01 4.95022768e-05 -4.50786676e+00] [ 4.43396275e-04 -4.79654742e-05 9.99999901e-01 -1.61340458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01992885099999 meters 0.09771610687056094 Centerline is valid? [True, True] Translation: X:47.01, Y:-4.52, Z:-1.61 [[ 9.99995155e-01 2.98950024e-03 -8.67649586e-04 4.70148322e+01] [-2.98941642e-03 9.99995527e-01 9.78888847e-05 -4.51694529e+00] [ 8.67938343e-04 -9.52946445e-05 9.99999619e-01 -1.61331712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04992885099999 meters 0.0967423758628136 Centerline is valid? [True, True] Translation: X:47.04, Y:-4.52, Z:-1.61 [[ 9.99996055e-01 2.56295387e-03 -1.14920482e-03 4.70440604e+01] [-2.56280579e-03 9.99996708e-01 1.30310759e-04 -4.51974723e+00] [ 1.14953502e-03 -1.27365056e-04 9.99999331e-01 -1.61395957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07992885099999 meters 0.0982233976002652 Centerline is valid? [True, True] Translation: X:47.07, Y:-4.53, Z:-1.62 [[ 9.99996724e-01 2.34261865e-03 -1.03180715e-03 4.70733234e+01] [-2.34249926e-03 9.99997250e-01 1.16904323e-04 -4.52746098e+00] [ 1.03207818e-03 -1.14486933e-04 9.99999461e-01 -1.61536185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10992885099999 meters 0.0983418258843979 Centerline is valid? [True, True] Translation: X:47.10, Y:-4.53, Z:-1.62 [[ 9.99995264e-01 2.91556265e-03 -9.85388846e-04 4.71022776e+01] [-2.91545410e-03 9.99995744e-01 1.11578273e-04 -4.53341264e+00] [ 9.85709965e-04 -1.08704889e-04 9.99999508e-01 -1.61657129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.139928851 meters 0.09820373395773452 Centerline is valid? [True, True] Translation: X:47.13, Y:-4.54, Z:-1.62 [[ 9.99995620e-01 2.81193817e-03 -9.23539434e-04 4.71319787e+01] [-2.81184284e-03 9.99996041e-01 1.04497073e-04 -4.53720719e+00] [ 9.23829618e-04 -1.01899768e-04 9.99999568e-01 -1.61683889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.169928851 meters 0.0957366839497271 Centerline is valid? [True, True] Translation: X:47.16, Y:-4.54, Z:-1.62 [[ 9.99996428e-01 2.57628570e-03 -7.11985416e-04 4.71620698e+01] [-2.57622913e-03 9.99996678e-01 8.03619041e-05 -4.53673377e+00] [ 7.12190086e-04 -7.85273794e-05 9.99999743e-01 -1.61624034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.199928851 meters 0.09601324718663536 Centerline is valid? [True, True] Translation: X:47.19, Y:-4.54, Z:-1.62 [[ 9.99994884e-01 3.19860955e-03 2.36273966e-07 4.71903727e+01] [-3.19860955e-03 9.99994884e-01 -1.08392363e-06 -4.54188704e+00] [-2.39739805e-07 1.08316233e-06 1.00000000e+00 -1.61666319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.229928851 meters 0.09402932885323786 Centerline is valid? [True, True] Translation: X:47.22, Y:-4.54, Z:-1.62 [[ 9.99990773e-01 4.24583123e-03 -6.53064387e-04 4.72202260e+01] [-4.24578406e-03 9.99990984e-01 7.35983374e-05 -4.54218972e+00] [ 6.53370985e-04 -7.08248879e-05 9.99999784e-01 -1.61774325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.259928851 meters 0.09427131763317742 Centerline is valid? [True, True] Translation: X:47.25, Y:-4.55, Z:-1.62 [[ 9.99987626e-01 4.79737569e-03 -1.31618906e-03 4.72492299e+01] [-4.79718416e-03 9.99988482e-01 1.48635576e-04 -4.54622954e+00] [ 1.31688696e-03 -1.42319735e-04 9.99999123e-01 -1.61857386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.289928851 meters 0.09466192104412059 Centerline is valid? [True, True] Translation: X:47.28, Y:-4.55, Z:-1.62 [[ 9.99985551e-01 5.20263324e-03 -1.35273518e-03 4.72777174e+01] [-5.20243184e-03 9.99986456e-01 1.52356693e-04 -4.55018048e+00] [ 1.35350952e-03 -1.45316979e-04 9.99999073e-01 -1.61984613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31992885099999 meters 0.09364090108056781 Centerline is valid? [True, True] Translation: X:47.31, Y:-4.55, Z:-1.62 [[ 9.99982806e-01 5.80173902e-03 -8.53203597e-04 4.73065206e+01] [-5.80165962e-03 9.99983166e-01 9.55061905e-05 -4.55149154e+00] [ 8.53743335e-04 -9.05545515e-05 9.99999631e-01 -1.61957624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34992885099999 meters 0.09355224390580878 Centerline is valid? [True, True] Translation: X:47.34, Y:-4.56, Z:-1.62 [[ 9.99977072e-01 6.77089217e-03 -1.04593150e-04 4.73358415e+01] [-6.77089104e-03 9.99977077e-01 1.11732888e-05 -4.55581236e+00] [ 1.04666405e-04 -1.04648438e-05 9.99999994e-01 -1.61991643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37992885099999 meters 0.09421498651899769 Centerline is valid? [True, True] Translation: X:47.36, Y:-4.56, Z:-1.62 [[ 9.99973099e-01 7.33483313e-03 -4.49619572e-05 4.73636441e+01] [-7.33483297e-03 9.99973100e-01 3.70576761e-06 -4.56156494e+00] [ 4.49879289e-05 -3.37587947e-06 9.99999999e-01 -1.62099829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40992885099999 meters 0.09970545334661497 Centerline is valid? [True, True] Translation: X:47.39, Y:-4.58, Z:-1.62 [[ 9.99973475e-01 7.27105004e-03 -4.26214548e-04 4.73903902e+01] [-7.27103091e-03 9.99973565e-01 4.64292913e-05 -4.57530914e+00] [ 4.26540870e-04 -4.33290406e-05 9.99999908e-01 -1.62394157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43992885099999 meters 0.09554781799979589 Centerline is valid? [True, True] Translation: X:47.42, Y:-4.57, Z:-1.62 [[ 9.99976947e-01 6.78940224e-03 1.00358970e-04 4.74195701e+01] [-6.78940099e-03 9.99976952e-01 -1.27496511e-05 -4.57181165e+00] [-1.00443220e-04 1.20679799e-05 9.99999995e-01 -1.62315792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46992885099999 meters 0.09652394466878833 Centerline is valid? [True, True] Translation: X:47.45, Y:-4.58, Z:-1.62 [[ 9.99981306e-01 6.11271744e-03 -1.48680447e-04 4.74489181e+01] [-6.11271511e-03 9.99981317e-01 1.61627201e-05 -4.57744261e+00] [ 1.48776467e-04 -1.52535767e-05 9.99999989e-01 -1.62361646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49992885099999 meters 0.09034925846509209 Centerline is valid? [True, True] Translation: X:47.48, Y:-4.57, Z:-1.62 [[ 9.99980891e-01 6.16482798e-03 4.61794137e-04 4.74786441e+01] [-6.16480381e-03 9.99980996e-01 -5.37415615e-05 -4.57136234e+00] [-4.62116669e-04 5.08936642e-05 9.99999892e-01 -1.62253693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.529928851 meters 0.09302380660261662 Centerline is valid? [True, True] Translation: X:47.51, Y:-4.58, Z:-1.63 [[ 9.99987931e-01 4.89089631e-03 -4.65774230e-04 4.75065703e+01] [-4.89087261e-03 9.99988038e-01 5.20080000e-05 -4.58173004e+00] [ 4.66023024e-04 -4.97293299e-05 9.99999890e-01 -1.62500698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.559928851 meters 0.09611927454486317 Centerline is valid? [True, True] Translation: X:47.53, Y:-4.59, Z:-1.63 [[ 9.99992976e-01 3.73053031e-03 -3.63364058e-04 4.75344278e+01] [-3.73051600e-03 9.99993041e-01 4.00599078e-05 -4.59156365e+00] [ 3.63510974e-04 -3.87040910e-05 9.99999933e-01 -1.62611342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.589928851 meters 0.09681729738581615 Centerline is valid? [True, True] Translation: X:47.56, Y:-4.60, Z:-1.63 [[ 9.99995931e-01 2.25950836e-03 -1.74143018e-03 4.75639379e+01] [-2.25916912e-03 9.99997429e-01 1.96744558e-04 -4.59780661e+00] [ 1.74187025e-03 -1.92809572e-04 9.99998464e-01 -1.62735894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.619928851 meters 0.09617283268059737 Centerline is valid? [True, True] Translation: X:47.59, Y:-4.60, Z:-1.63 [[ 9.99998614e-01 1.29674498e-03 -1.04394163e-03 4.75930172e+01] [-1.29662345e-03 9.99999153e-01 1.17082004e-04 -4.60105552e+00] [ 1.04409257e-03 -1.15728243e-04 9.99999448e-01 -1.62737593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.649928851 meters 0.09645845102784721 Centerline is valid? [True, True] Translation: X:47.62, Y:-4.61, Z:-1.63 [[ 9.99998383e-01 6.36225008e-04 -1.68199488e-03 4.76226216e+01] [-6.35906579e-04 9.99999780e-01 1.89844323e-04 -4.60671319e+00] [ 1.68211530e-03 -1.88774424e-04 9.99998567e-01 -1.62858669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67992885099999 meters 0.09552186339535648 Centerline is valid? [True, True] Translation: X:47.65, Y:-4.61, Z:-1.63 [[ 9.99998962e-01 -1.36020367e-04 -1.43415877e-03 4.76523494e+01] [ 1.36252542e-04 9.99999978e-01 1.61792577e-04 -4.61005443e+00] [ 1.43413673e-03 -1.61987817e-04 9.99998959e-01 -1.62903010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70992885099999 meters 0.09752242046162 Centerline is valid? [True, True] Translation: X:47.68, Y:-4.62, Z:-1.63 [[ 9.99993892e-01 -1.33136750e-03 -3.23155641e-03 4.76806500e+01] [ 1.33255243e-03 9.99999046e-01 3.64549229e-04 -4.61910107e+00] [ 3.23106798e-03 -3.68853221e-04 9.99994712e-01 -1.63122031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73992885099999 meters 0.09605889340852006 Centerline is valid? [True, True] Translation: X:47.71, Y:-4.62, Z:-1.63 [[ 9.99993794e-01 -1.74535925e-03 -3.06032496e-03 4.77107975e+01] [ 1.74642340e-03 9.99998415e-01 3.45085469e-04 -4.62021122e+00] [ 3.05971781e-03 -3.50427950e-04 9.99995258e-01 -1.63075704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76992885099999 meters 0.09734640102461027 Centerline is valid? [True, True] Translation: X:47.74, Y:-4.63, Z:-1.63 [[ 9.99990083e-01 -2.54262710e-03 -3.65622971e-03 4.77401236e+01] [ 2.54415285e-03 9.99996678e-01 4.12711985e-04 -4.62612553e+00] [ 3.65516820e-03 -4.22009899e-04 9.99993231e-01 -1.63186986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79992885099999 meters 0.09876454552978814 Centerline is valid? [True, True] Translation: X:47.77, Y:-4.63, Z:-1.63 [[ 9.99992476e-01 -2.08404405e-03 -3.27193932e-03 4.77691955e+01] [ 2.08526321e-03 9.99997758e-01 3.69244308e-04 -4.63237124e+00] [ 3.27116247e-03 -3.76064385e-04 9.99994579e-01 -1.63306744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82992885099999 meters 0.09732453697430614 Centerline is valid? [True, True] Translation: X:47.80, Y:-4.63, Z:-1.63 [[ 9.99993952e-01 -1.27197122e-03 -3.23692731e-03 4.77993035e+01] [ 1.27316004e-03 9.99999123e-01 3.65234569e-04 -4.63322530e+00] [ 3.23645990e-03 -3.69353487e-04 9.99994694e-01 -1.63330351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85992885099999 meters 0.09805412405027916 Centerline is valid? [True, True] Translation: X:47.83, Y:-4.64, Z:-1.63 [[ 9.99993359e-01 -2.50607583e-04 -3.63582557e-03 4.78280706e+01] [ 2.52099267e-04 9.99999884e-01 4.09821192e-04 -4.63766125e+00] [ 3.63572245e-03 -4.10735060e-04 9.99993306e-01 -1.63468525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.889928851 meters 0.09455563681552227 Centerline is valid? [True, True] Translation: X:47.86, Y:-4.63, Z:-1.63 [[ 9.99990045e-01 2.07623046e-03 -3.94968194e-03 4.78589734e+01] [-2.07448541e-03 9.99997749e-01 4.45866110e-04 -4.63430027e+00] [ 3.95059877e-03 -4.37668113e-04 9.99992101e-01 -1.63424631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.919928851 meters 0.09885005242740849 Centerline is valid? [True, True] Translation: X:47.89, Y:-4.64, Z:-1.64 [[ 9.99988901e-01 3.37525274e-03 -3.28711392e-03 4.78865636e+01] [-3.37405478e-03 9.99994239e-01 3.69916306e-04 -4.64451059e+00] [ 3.28834355e-03 -3.58821298e-04 9.99994529e-01 -1.63658501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.949928851 meters 0.09155286940516452 Centerline is valid? [True, True] Translation: X:47.92, Y:-4.63, Z:-1.63 [[ 9.99975678e-01 6.20980031e-03 -3.17515166e-03 4.79183914e+01] [-6.20869372e-03 9.99980662e-01 3.58255814e-04 -4.63365094e+00] [ 3.17731496e-03 -3.38533556e-04 9.99994895e-01 -1.63467421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.979928851 meters 0.09243766498189819 Centerline is valid? [True, True] Translation: X:47.95, Y:-4.64, Z:-1.64 [[ 9.99965259e-01 7.65839478e-03 -3.29098721e-03 4.79465846e+01] [-7.65721756e-03 9.99970615e-01 3.70161884e-04 -4.63828644e+00] [ 3.29372535e-03 -3.44949220e-04 9.99994516e-01 -1.63529150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.009928851 meters 0.096133000813707 Centerline is valid? [True, True] Translation: X:47.98, Y:-4.65, Z:-1.64 [[ 9.99939618e-01 1.04675384e-02 -3.34516533e-03 4.79752695e+01] [-1.04663356e-02 9.99945155e-01 3.76858507e-04 -4.64688726e+00] [ 3.34892665e-03 -3.41824129e-04 9.99994334e-01 -1.63847039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03992885099998 meters 0.09152454035971554 Centerline is valid? [True, True] Translation: X:48.01, Y:-4.64, Z:-1.64 [[ 9.99925242e-01 1.16599371e-02 -3.68177963e-03 4.80065281e+01] [-1.16584879e-02 9.99931951e-01 4.14823289e-04 -4.64075588e+00] [ 3.68636590e-03 -3.71868294e-04 9.99993136e-01 -1.63731784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06992885099999 meters 0.08975227789272248 Centerline is valid? [True, True] Translation: X:48.04, Y:-4.64, Z:-1.64 [[ 9.99910287e-01 1.26183530e-02 -4.49400008e-03 4.80355332e+01] [-1.26162093e-02 9.99920285e-01 5.05045411e-04 -4.64000662e+00] [ 4.50001468e-03 -4.48302856e-04 9.99989774e-01 -1.63735839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09992885099999 meters 0.09143710500327451 Centerline is valid? [True, True] Translation: X:48.06, Y:-4.65, Z:-1.64 [[ 9.99896834e-01 1.36925594e-02 -4.34006128e-03 4.80639704e+01] [-1.36905678e-02 9.99906161e-01 4.88262661e-04 -4.64615288e+00] [ 4.34633958e-03 -4.28794386e-04 9.99990463e-01 -1.63908743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12992885099999 meters 0.09143710500327451 Centerline is valid? [True, True] Translation: X:48.09, Y:-4.65, Z:-1.64 [[ 9.99898175e-01 1.35942119e-02 -4.34026240e-03 4.80914072e+01] [-1.35922271e-02 9.99907503e-01 4.86476404e-04 -4.64914027e+00] [ 4.34647421e-03 -4.27433036e-04 9.99990463e-01 -1.63966681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15992885099999 meters 0.09029305997860183 Centerline is valid? [True, True] Translation: X:48.12, Y:-4.65, Z:-1.64 [[ 9.99883438e-01 1.48115687e-02 -3.70504286e-03 4.81218105e+01] [-1.48101256e-02 9.99890237e-01 4.16640799e-04 -4.64989134e+00] [ 3.71080729e-03 -3.61720085e-04 9.99993050e-01 -1.64021740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18992885099999 meters 0.0889787311662324 Centerline is valid? [True, True] Translation: X:48.15, Y:-4.65, Z:-1.64 [[ 9.99865341e-01 1.56352790e-02 -4.98370465e-03 4.81509527e+01] [-1.56326843e-02 9.99877646e-01 5.59157405e-04 -4.64935343e+00] [ 4.99183745e-03 -4.81173428e-04 9.99987425e-01 -1.63987995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21992885099999 meters 0.08859509721829333 Centerline is valid? [True, True] Translation: X:48.18, Y:-4.65, Z:-1.64 [[ 9.99848532e-01 1.65993786e-02 -5.23201789e-03 4.81800109e+01] [-1.65965312e-02 9.99862096e-01 5.87173096e-04 -4.65137500e+00] [ 5.24104308e-03 -5.00250810e-04 9.99986141e-01 -1.64085416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24992885099999 meters 0.08931338551773384 Centerline is valid? [True, True] Translation: X:48.21, Y:-4.66, Z:-1.64 [[ 9.99816617e-01 1.82714548e-02 -5.73463698e-03 4.82083791e+01] [-1.82680624e-02 9.99832918e-01 6.43402862e-04 -4.65502578e+00] [ 5.74543474e-03 -5.38524167e-04 9.99983350e-01 -1.64286701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.279928851 meters 0.08960122471174617 Centerline is valid? [True, True] Translation: X:48.24, Y:-4.66, Z:-1.64 [[ 9.99801954e-01 1.88469904e-02 -6.39085275e-03 4.82374802e+01] [-1.88428023e-02 9.99822203e-01 7.14907109e-04 -4.65846000e+00] [ 6.40319032e-03 -5.94343950e-04 9.99979323e-01 -1.64432872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.309928851 meters 0.0882082041680429 Centerline is valid? [True, True] Translation: X:48.27, Y:-4.66, Z:-1.64 [[ 9.99792804e-01 1.95005142e-02 -5.83771503e-03 4.82661587e+01] [-1.94970278e-02 9.99809701e-01 6.53545202e-04 -4.65877193e+00] [ 5.84934859e-03 -5.39591698e-04 9.99982747e-01 -1.64355415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.339928851 meters 0.08797263355057132 Centerline is valid? [True, True] Translation: X:48.30, Y:-4.66, Z:-1.64 [[ 9.99791604e-01 1.96053226e-02 -5.69037898e-03 4.82953352e+01] [-1.96020140e-02 9.99807659e-01 6.36632392e-04 -4.66089080e+00] [ 5.70176588e-03 -5.24956832e-04 9.99983607e-01 -1.64371726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.369928851 meters 0.08927189224957144 Centerline is valid? [True, True] Translation: X:48.32, Y:-4.67, Z:-1.64 [[ 9.99798716e-01 1.91431470e-02 -6.00563561e-03 4.83227050e+01] [-1.91394580e-02 9.99816599e-01 6.71145929e-04 -4.66603681e+00] [ 6.01738202e-03 -5.56066228e-04 9.99981741e-01 -1.64452962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.399928851 meters 0.08846366163338258 Centerline is valid? [True, True] Translation: X:48.35, Y:-4.67, Z:-1.64 [[ 9.99799853e-01 1.89467609e-02 -6.42448957e-03 4.83511949e+01] [-1.89425351e-02 9.99820316e-01 7.17984194e-04 -4.66733572e+00] [ 6.43693867e-03 -5.96144373e-04 9.99979105e-01 -1.64470491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42992885099999 meters 0.08675414745936957 Centerline is valid? [True, True] Translation: X:48.38, Y:-4.67, Z:-1.64 [[ 9.99801718e-01 1.90646836e-02 -5.74991538e-03 4.83801832e+01] [-1.90613038e-02 9.99818111e-01 6.42029094e-04 -4.66736688e+00] [ 5.76110962e-03 -5.32300907e-04 9.99983263e-01 -1.64431162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45992885099999 meters 0.09174298337108178 Centerline is valid? [True, True] Translation: X:48.41, Y:-4.68, Z:-1.65 [[ 9.99820381e-01 1.78084096e-02 -6.48590376e-03 4.84076390e+01] [-1.78040816e-02 9.99841232e-01 7.24425314e-04 -4.68059024e+00] [ 6.49777487e-03 -6.08819633e-04 9.99978704e-01 -1.64795270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48992885099999 meters 0.09300310982808321 Centerline is valid? [True, True] Translation: X:48.44, Y:-4.69, Z:-1.65 [[ 9.99832248e-01 1.71785850e-02 -6.35389834e-03 4.84350799e+01] [-1.71744319e-02 9.99852258e-01 7.07621548e-04 -4.68620625e+00] [ 6.36511554e-03 -5.98378248e-04 9.99979563e-01 -1.64924249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51992885099999 meters 0.08782823193990281 Centerline is valid? [True, True] Translation: X:48.47, Y:-4.68, Z:-1.65 [[ 9.99848870e-01 1.59719677e-02 -6.86531925e-03 4.84658022e+01] [-1.59670798e-02 9.99872224e-01 7.66199017e-04 -4.67853676e+00] [ 6.87667974e-03 -6.56464121e-04 9.99976140e-01 -1.64596216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54992885099999 meters 0.08980590589606996 Centerline is valid? [True, True] Translation: X:48.49, Y:-4.69, Z:-1.65 [[ 9.99861383e-01 1.54391312e-02 -6.23276940e-03 4.84927290e+01] [-1.54351025e-02 9.99880631e-01 6.93962634e-04 -4.68543900e+00] [ 6.24273958e-03 -5.97663004e-04 9.99980335e-01 -1.64748641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57992885099999 meters 0.0909934678773114 Centerline is valid? [True, True] Translation: X:48.52, Y:-4.69, Z:-1.65 [[ 9.99864947e-01 1.51713628e-02 -6.31805018e-03 4.85198079e+01] [-1.51672207e-02 9.99884724e-01 7.02986306e-04 -4.69075495e+00] [ 6.32798712e-03 -6.07064103e-04 9.99979794e-01 -1.64918972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60992885099999 meters 0.09134025746530351 Centerline is valid? [True, True] Translation: X:48.55, Y:-4.69, Z:-1.65 [[ 9.99876714e-01 1.42120316e-02 -6.67647735e-03 4.85487127e+01] [-1.42073819e-02 9.99898794e-01 7.43331063e-04 -4.69421777e+00] [ 6.68636589e-03 -6.48384157e-04 9.99977436e-01 -1.64996619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.639928851 meters 0.09102496242306553 Centerline is valid? [True, True] Translation: X:48.58, Y:-4.70, Z:-1.65 [[ 9.99891495e-01 1.31697696e-02 -6.59959811e-03 4.85780391e+01] [-1.31652033e-02 9.99913065e-01 7.34881549e-04 -4.69726978e+00] [ 6.60870260e-03 -6.47916761e-04 9.99977952e-01 -1.65016176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.669928851 meters 0.09156040260570246 Centerline is valid? [True, True] Translation: X:48.61, Y:-4.70, Z:-1.65 [[ 9.99892077e-01 1.31910673e-02 -6.46766660e-03 4.86062572e+01] [-1.31866894e-02 9.99912793e-01 7.19065052e-04 -4.70117144e+00] [ 6.47658781e-03 -6.33700338e-04 9.99978826e-01 -1.65073666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.699928851 meters 0.08993066298460899 Centerline is valid? [True, True] Translation: X:48.63, Y:-4.70, Z:-1.65 [[ 9.99892111e-01 1.31217296e-02 -6.60203390e-03 4.86346049e+01] [-1.31171754e-02 9.99913698e-01 7.32648724e-04 -4.70038951e+00] [ 6.61107775e-03 -6.45969643e-04 9.99977938e-01 -1.65014463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.729928851 meters 0.0896355523859117 Centerline is valid? [True, True] Translation: X:48.66, Y:-4.70, Z:-1.65 [[ 9.99879791e-01 1.41953393e-02 -6.23658391e-03 4.86641337e+01] [-1.41912893e-02 9.99899058e-01 6.93166833e-04 -4.70161731e+00] [ 6.24579412e-03 -6.04578342e-04 9.99980312e-01 -1.64974441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.759928851 meters 0.09005434232354888 Centerline is valid? [True, True] Translation: X:48.69, Y:-4.71, Z:-1.65 [[ 9.99879471e-01 1.42610551e-02 -6.13721910e-03 4.86925280e+01] [-1.42571412e-02 9.99898130e-01 6.81013709e-04 -4.70500593e+00] [ 6.14630588e-03 -5.93432428e-04 9.99980935e-01 -1.65086638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78992885099998 meters 0.09018139139022094 Centerline is valid? [True, True] Translation: X:48.72, Y:-4.71, Z:-1.65 [[ 9.99869839e-01 1.49106322e-02 -6.16255767e-03 4.87212365e+01] [-1.49067006e-02 9.99888655e-01 6.83426939e-04 -4.70840859e+00] [ 6.17206183e-03 -5.91474581e-04 9.99980778e-01 -1.65102260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81992885099999 meters 0.09118110591184617 Centerline is valid? [True, True] Translation: X:48.75, Y:-4.71, Z:-1.65 [[ 9.99879659e-01 1.44924733e-02 -5.53502568e-03 4.87488190e+01] [-1.44893005e-02 9.99894837e-01 6.12905302e-04 -4.71289421e+00] [ 5.54332612e-03 -5.32632894e-04 9.99984494e-01 -1.65251765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84992885099999 meters 0.09091518262711787 Centerline is valid? [True, True] Translation: X:48.78, Y:-4.71, Z:-1.65 [[ 9.99891315e-01 1.35941048e-02 -5.70599511e-03 4.87781184e+01] [-1.35907184e-02 9.99907442e-01 6.31844370e-04 -4.71422503e+00] [ 5.71405633e-03 -5.54227125e-04 9.99983521e-01 -1.65208175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87992885099999 meters 0.0905280505675806 Centerline is valid? [True, True] Translation: X:48.81, Y:-4.72, Z:-1.65 [[ 9.99893430e-01 1.30281997e-02 -6.58742159e-03 4.88063178e+01] [-1.30236786e-02 9.99914923e-01 7.28759173e-04 -4.71585558e+00] [ 6.59635557e-03 -6.42889048e-04 9.99978037e-01 -1.65207176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90992885099999 meters 0.09071099761762103 Centerline is valid? [True, True] Translation: X:48.84, Y:-4.72, Z:-1.65 [[ 9.99913529e-01 1.15832152e-02 -6.22603312e-03 4.88360535e+01] [-1.15791443e-02 9.99932722e-01 6.89514047e-04 -4.71807910e+00] [ 6.23360104e-03 -6.17362289e-04 9.99980380e-01 -1.65312041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93992885099999 meters 0.09574496048503872 Centerline is valid? [True, True] Translation: X:48.86, Y:-4.73, Z:-1.66 [[ 9.99923813e-01 1.06191258e-02 -6.29311042e-03 4.88628624e+01] [-1.06149546e-02 9.99943418e-01 6.95846429e-04 -4.73040145e+00] [ 6.30014362e-03 -6.28992333e-04 9.99979956e-01 -1.65666251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96992885099999 meters 0.08966262655731233 Centerline is valid? [True, True] Translation: X:48.89, Y:-4.72, Z:-1.65 [[ 9.99933310e-01 9.84988007e-03 -6.02950511e-03 4.88929943e+01] [-9.84604023e-03 9.99951305e-01 6.66194335e-04 -4.72184726e+00] [ 6.03577344e-03 -6.06783157e-04 9.99981600e-01 -1.65499687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99992885099999 meters 0.09110774577678664 Centerline is valid? [True, True] Translation: X:48.92, Y:-4.73, Z:-1.66 [[ 9.99927393e-01 8.30607424e-03 -8.73025011e-03 4.89222500e+01] [-8.29794929e-03 9.99965104e-01 9.66477442e-04 -4.72629073e+00] [ 8.73797310e-03 -8.93964096e-04 9.99961424e-01 -1.65572302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.029928851 meters 0.09208048248699865 Centerline is valid? [True, True] Translation: X:48.95, Y:-4.73, Z:-1.66 [[ 9.99943541e-01 7.41922928e-03 -7.60726682e-03 4.89492386e+01] [-7.41305577e-03 9.99972171e-01 8.39404406e-04 -4.72999282e+00] [ 7.61328285e-03 -7.82963920e-04 9.99970712e-01 -1.65643746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.059928851 meters 0.08995893860142683 Centerline is valid? [True, True] Translation: X:48.98, Y:-4.73, Z:-1.65 [[ 9.99952317e-01 6.56131931e-03 -7.23271801e-03 4.89786173e+01] [-6.55571609e-03 9.99978193e-01 7.98141818e-04 -4.72803872e+00] [ 7.23779715e-03 -7.50688115e-04 9.99973525e-01 -1.65476851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.089928851 meters 0.09423814417338602 Centerline is valid? [True, True] Translation: X:49.01, Y:-4.74, Z:-1.66 [[ 9.99954905e-01 5.89815209e-03 -7.44314813e-03 4.90054755e+01] [-5.89220692e-03 9.99982304e-01 8.20420189e-04 -4.73797470e+00] [ 7.44785538e-03 -7.76526623e-04 9.99971963e-01 -1.65756358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.119928851 meters 0.09274896017293603 Centerline is valid? [True, True] Translation: X:49.03, Y:-4.74, Z:-1.66 [[ 9.99964057e-01 4.42444212e-03 -7.23256573e-03 4.90349964e+01] [-4.41878824e-03 9.99989919e-01 7.97518679e-04 -4.73745426e+00] [ 7.23602139e-03 -7.65530837e-04 9.99973527e-01 -1.65672125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.149928851 meters 0.09332736430889516 Centerline is valid? [True, True] Translation: X:49.06, Y:-4.74, Z:-1.66 [[ 9.99976729e-01 3.92258034e-03 -5.58166649e-03 4.90628313e+01] [-3.91921570e-03 9.99992132e-01 6.13612256e-04 -4.74036613e+00] [ 5.58402951e-03 -5.91722222e-04 9.99984234e-01 -1.65749186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17992885099999 meters 0.09334020364347155 Centerline is valid? [True, True] Translation: X:49.09, Y:-4.74, Z:-1.66 [[ 9.99975890e-01 3.60586976e-03 -5.93434108e-03 4.90915741e+01] [-3.60205842e-03 9.99993299e-01 6.52814596e-04 -4.74227187e+00] [ 5.93665528e-03 -6.31423013e-04 9.99982179e-01 -1.65802996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20992885099999 meters 0.09384609102125725 Centerline is valid? [True, True] Translation: X:49.12, Y:-4.74, Z:-1.66 [[ 9.99973316e-01 3.56960705e-03 -6.37385334e-03 4.91200958e+01] [-3.56521161e-03 9.99993399e-01 7.00833864e-04 -4.74454053e+00] [ 6.37631296e-03 -6.78091026e-04 9.99979441e-01 -1.65903728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23992885099999 meters 0.09166224119540783 Centerline is valid? [True, True] Translation: X:49.15, Y:-4.74, Z:-1.66 [[ 9.99970385e-01 4.16370484e-03 -6.47251413e-03 4.91492877e+01] [-4.15918747e-03 9.99991098e-01 7.11235061e-04 -4.74226668e+00] [ 6.47541788e-03 -6.84293598e-04 9.99978800e-01 -1.65852469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26992885099999 meters 0.09354828524408516 Centerline is valid? [True, True] Translation: X:49.18, Y:-4.75, Z:-1.66 [[ 9.99955957e-01 6.38848412e-03 -6.87540353e-03 4.91779553e+01] [-6.38343283e-03 9.99979340e-01 7.56385217e-04 -4.74662232e+00] [ 6.88009363e-03 -7.12463227e-04 9.99976078e-01 -1.66088062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29992885099999 meters 0.0907007117610554 Centerline is valid? [True, True] Translation: X:49.21, Y:-4.74, Z:-1.66 [[ 9.99945373e-01 7.61204042e-03 -7.16296568e-03 4.92087702e+01] [-7.60658857e-03 9.99970759e-01 7.88052658e-04 -4.74311776e+00] [ 7.16875492e-03 -7.33523876e-04 9.99974035e-01 -1.66088215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32992885099999 meters 0.09231257242476433 Centerline is valid? [True, True] Translation: X:49.24, Y:-4.75, Z:-1.66 [[ 9.99909055e-01 1.11678279e-02 -7.56053359e-03 4.92370208e+01] [-1.11618612e-02 9.99937359e-01 8.30935545e-04 -4.74655435e+00] [ 7.56933974e-03 -7.46470349e-04 9.99971074e-01 -1.66292793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35992885099999 meters 0.09000993139208341 Centerline is valid? [True, True] Translation: X:49.27, Y:-4.74, Z:-1.66 [[ 9.99893118e-01 1.27073015e-02 -7.23023283e-03 4.92679864e+01] [-1.27018818e-02 9.99919012e-01 7.95026312e-04 -4.74336935e+00] [ 7.23974991e-03 -7.03103776e-04 9.99973545e-01 -1.66212119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.389928851 meters 0.0872664971420827 Centerline is valid? [True, True] Translation: X:49.30, Y:-4.74, Z:-1.66 [[ 9.99857977e-01 1.54069030e-02 -6.83027903e-03 4.92992857e+01] [-1.54021269e-02 9.99881098e-01 7.51299839e-04 -4.73795369e+00] [ 6.84104210e-03 -6.45992312e-04 9.99976391e-01 -1.66126111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.419928851 meters 0.08743763310540377 Centerline is valid? [True, True] Translation: X:49.33, Y:-4.74, Z:-1.66 [[ 9.99842218e-01 1.62519664e-02 -7.17021148e-03 4.93278626e+01] [-1.62467379e-02 9.99867703e-01 7.86848042e-04 -4.73974279e+00] [ 7.18205071e-03 -6.70231345e-04 9.99973984e-01 -1.66176751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.449928851 meters 0.08763773328463174 Centerline is valid? [True, True] Translation: X:49.36, Y:-4.74, Z:-1.66 [[ 9.99825768e-01 1.75319342e-02 -6.40812446e-03 4.93581106e+01] [-1.75277789e-02 9.99846129e-01 7.04025333e-04 -4.74250156e+00] [ 6.41948136e-03 -5.91582481e-04 9.99979220e-01 -1.66271495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.479928851 meters 0.0879381357825974 Centerline is valid? [True, True] Translation: X:49.39, Y:-4.74, Z:-1.66 [[ 9.99835999e-01 1.72856937e-02 -5.40186600e-03 4.93864599e+01] [-1.72827454e-02 9.99850467e-01 5.91998159e-04 -4.74438754e+00] [ 5.41129135e-03 -4.98541996e-04 9.99985235e-01 -1.66306314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.509928851 meters 0.08882722723148985 Centerline is valid? [True, True] Translation: X:49.41, Y:-4.75, Z:-1.66 [[ 9.99836975e-01 1.73483304e-02 -5.00590382e-03 4.94142854e+01] [-1.73458036e-02 9.99849400e-01 5.47742404e-04 -4.74841708e+00] [ 5.01465235e-03 -4.60821684e-04 9.99987320e-01 -1.66371105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53992885099998 meters 0.09027856246424908 Centerline is valid? [True, True] Translation: X:49.44, Y:-4.75, Z:-1.66 [[ 9.99863694e-01 1.60501917e-02 -3.87114140e-03 4.94438223e+01] [-1.60486690e-02 9.99871122e-01 4.24112800e-04 -4.75223321e+00] [ 3.87744958e-03 -3.61928324e-04 9.99992417e-01 -1.66455976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56992885099999 meters 0.09058931983516927 Centerline is valid? [True, True] Translation: X:49.47, Y:-4.75, Z:-1.66 [[ 9.99884968e-01 1.45037598e-02 -4.43754037e-03 4.94739926e+01] [-1.45017422e-02 9.99894726e-01 4.86506647e-04 -4.75492042e+00] [ 4.44412939e-03 -4.22098617e-04 9.99990036e-01 -1.66483590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59992885099999 meters 0.09210809025235328 Centerline is valid? [True, True] Translation: X:49.50, Y:-4.76, Z:-1.67 [[ 9.99904837e-01 1.28516194e-02 -5.01528396e-03 4.95035479e+01] [-1.28490217e-02 9.99917297e-01 5.49836755e-04 -4.75968183e+00] [ 5.02193547e-03 -4.85342938e-04 9.99987272e-01 -1.66573839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62992885099999 meters 0.09232281137071031 Centerline is valid? [True, True] Translation: X:49.53, Y:-4.76, Z:-1.67 [[ 9.99938374e-01 1.00935348e-02 -4.62262971e-03 4.95336048e+01] [-1.00912980e-02 9.99948953e-01 5.06968110e-04 -4.76238358e+00] [ 4.62751084e-03 -4.60288533e-04 9.99989187e-01 -1.66684009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65992885099999 meters 0.09441708919427141 Centerline is valid? [True, True] Translation: X:49.56, Y:-4.77, Z:-1.67 [[ 9.99952359e-01 8.42070557e-03 -4.93672358e-03 4.95623324e+01] [-8.41813474e-03 9.99964420e-01 5.41304798e-04 -4.76871024e+00] [ 4.94110610e-03 -4.99721005e-04 9.99987668e-01 -1.66822974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68992885099999 meters 0.09508371273596561 Centerline is valid? [True, True] Translation: X:49.59, Y:-4.77, Z:-1.67 [[ 9.99962383e-01 6.73927010e-03 -5.46034896e-03 4.95919271e+01] [-6.73610145e-03 9.99977133e-01 5.98484386e-04 -4.77228130e+00] [ 5.46425745e-03 -5.61680408e-04 9.99984913e-01 -1.66917650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71992885099999 meters 0.096887769818833 Centerline is valid? [True, True] Translation: X:49.62, Y:-4.78, Z:-1.67 [[ 9.99972019e-01 5.07893663e-03 -5.49239131e-03 4.96203866e+01] [-5.07570882e-03 9.99986938e-01 6.01467214e-04 -4.77712763e+00] [ 5.49537438e-03 -5.73572605e-04 9.99984736e-01 -1.67072030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74992885099999 meters 0.10258509269163583 Centerline is valid? [True, False] Translation: X:49.62, Y:-4.77, Z:-1.67 [[ 9.99974591e-01 4.66193130e-03 -5.39286740e-03 4.96204031e+01] [-4.66206052e-03 9.99989132e-01 -1.13902056e-05 -4.77484273e+00] [ 5.39275570e-03 3.65317904e-05 9.99985458e-01 -1.67107179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.779928851 meters 0.09963731459143454 Centerline is valid? [False, True] Translation: X:49.62, Y:-4.77, Z:-1.67 [[ 9.99976412e-01 4.36467157e-03 -5.30339731e-03 4.96203344e+01] [-4.36693322e-03 9.99990379e-01 -4.14948429e-04 -4.77337179e+00] [ 5.30153517e-03 4.38098223e-04 9.99985851e-01 -1.67123797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.809928851 meters 0.10442238101670523 Centerline is valid? [True, False] Translation: X:49.62, Y:-4.77, Z:-1.67 [[ 9.99979361e-01 3.78954235e-03 -5.18819793e-03 4.96199768e+01] [-3.79622970e-03 9.99991975e-01 -1.27971270e-03 -4.77086285e+00] [ 5.18330677e-03 1.29938188e-03 9.99985722e-01 -1.67110840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.839928851 meters 0.10362514311741043 Centerline is valid? [False, False] Translation: X:49.62, Y:-4.77, Z:-1.67 [[ 9.99979451e-01 3.73703821e-03 -5.20886451e-03 4.96201588e+01] [-3.74440946e-03 9.99992001e-01 -1.40610254e-03 -4.77017808e+00] [ 5.20356819e-03 1.42557777e-03 9.99985445e-01 -1.67129862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.869928851 meters 0.13533904709734015 Centerline is valid? [False, False] Translation: X:49.71, Y:-4.78, Z:-1.68 [[ 9.99989637e-01 4.55113612e-03 -1.14551821e-04 4.97058815e+01] [-4.55139320e-03 9.99986871e-01 -2.35409473e-03 -4.77918151e+00] [ 1.03836512e-04 2.35459170e-03 9.99997223e-01 -1.67606137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.899928851 meters 0.09557547923206833 Centerline is valid? [False, True] Translation: X:49.64, Y:-4.77, Z:-1.68 [[ 9.99996471e-01 2.51117390e-03 8.66835408e-04 4.96396888e+01] [-2.51394558e-03 9.99991684e-01 3.21133119e-03 -4.76857816e+00] [-8.58763988e-04 -3.21349904e-03 9.99994468e-01 -1.67576818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92992885099999 meters 0.09670114665895228 Centerline is valid? [True, True] Translation: X:49.67, Y:-4.77, Z:-1.68 [[ 9.99995621e-01 2.93839052e-03 3.51142388e-04 4.96688284e+01] [-2.93837681e-03 9.99995682e-01 -3.95383364e-05 -4.77047144e+00] [-3.51257051e-04 3.85063746e-05 9.99999938e-01 -1.67516976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95992885099999 meters 0.09641038989629083 Centerline is valid? [True, True] Translation: X:49.70, Y:-4.77, Z:-1.68 [[ 9.99990913e-01 4.05275835e-03 1.32257481e-03 4.96985604e+01] [-4.05256793e-03 9.99991778e-01 -1.46620753e-04 -4.77204057e+00] [-1.32315815e-03 1.41259597e-04 9.99999115e-01 -1.67565043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98992885099999 meters 0.09684840467370344 Centerline is valid? [True, True] Translation: X:49.73, Y:-4.77, Z:-1.68 [[ 9.99981983e-01 5.88675247e-03 1.17454517e-03 4.97285797e+01] [-5.88660395e-03 9.99982665e-01 -1.29870227e-04 -4.77326171e+00] [-1.17528932e-03 1.22953805e-04 9.99999302e-01 -1.67765319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01992885099999 meters 0.0963740581727134 Centerline is valid? [True, True] Translation: X:49.76, Y:-4.77, Z:-1.68 [[ 9.99979572e-01 6.10863595e-03 1.88177690e-03 4.97570390e+01] [-6.10825352e-03 9.99981323e-01 -2.08906794e-04 -4.77455147e+00] [-1.88301788e-03 1.97408156e-04 9.99998208e-01 -1.67786343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04992885099999 meters 0.0963740581727134 Centerline is valid? [True, True] Translation: X:49.79, Y:-4.78, Z:-1.68 [[ 9.99979776e-01 6.07496720e-03 1.88187173e-03 4.97861743e+01] [-6.07458632e-03 9.99981528e-01 -2.08046082e-04 -4.77772469e+00] [-1.88310084e-03 1.96610282e-04 9.99998208e-01 -1.67855754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07992885099999 meters 0.09639968588904037 Centerline is valid? [True, True] Translation: X:49.82, Y:-4.78, Z:-1.68 [[ 9.99978507e-01 6.43109854e-03 1.27529766e-03 4.98155934e+01] [-6.43092364e-03 9.99979311e-01 -1.41201374e-04 -4.78054976e+00] [-1.27617936e-03 1.32996997e-04 9.99999177e-01 -1.67985305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10992885099999 meters 0.09663760659510783 Centerline is valid? [True, True] Translation: X:49.84, Y:-4.78, Z:-1.68 [[ 9.99978840e-01 6.44399471e-03 8.91706572e-04 4.98441586e+01] [-6.44390833e-03 9.99979233e-01 -9.97109878e-05 -4.78335280e+00] [-8.92330591e-04 9.39628025e-05 9.99999597e-01 -1.68061906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.139928851 meters 0.09619093994805279 Centerline is valid? [True, True] Translation: X:49.87, Y:-4.78, Z:-1.68 [[ 9.99982490e-01 5.87444364e-03 7.14084325e-04 4.98736203e+01] [-5.87438846e-03 9.99982742e-01 -7.93479414e-05 -4.78412985e+00] [-7.14538127e-04 7.51517434e-05 9.99999742e-01 -1.68158239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.169928851 meters 0.0960604799665736 Centerline is valid? [True, True] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99987832e-01 4.90989969e-03 4.79002693e-04 4.99029157e+01] [-4.90987444e-03 9.99987945e-01 -5.38742231e-05 -4.78626092e+00] [-4.79261436e-04 5.15217245e-05 9.99999884e-01 -1.68228832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.199928851 meters 0.10204215045189084 Centerline is valid? [True, False] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99988469e-01 4.74670995e-03 7.28175145e-04 4.99024699e+01] [-4.74666251e-03 9.99988732e-01 -6.68726612e-05 -4.78661893e+00] [-7.28484366e-04 6.34154884e-05 9.99999733e-01 -1.68238505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.229928851 meters 0.10356793195321583 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99989160e-01 4.55035987e-03 9.86932953e-04 4.99018809e+01] [-4.55022215e-03 9.99989638e-01 -1.41735899e-04 -4.78686687e+00] [-9.87567675e-04 1.37243598e-04 9.99999503e-01 -1.68229749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.259928851 meters 0.09970254830408358 Centerline is valid? [False, True] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99989692e-01 4.39045491e-03 1.15707044e-03 4.99014004e+01] [-4.39022956e-03 9.99990343e-01 -1.97229306e-04 -4.78710092e+00] [-1.15792519e-03 1.92147468e-04 9.99999311e-01 -1.68210861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28992885099998 meters 0.10404098372649628 Centerline is valid? [True, False] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99999709e-01 2.81612937e-04 7.09107689e-04 4.99023549e+01] [-2.78404797e-04 9.99989745e-01 -4.52023450e-03 -4.78632369e+00] [-7.10373374e-04 4.52003577e-03 9.99989532e-01 -1.68217134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31992885099999 meters 0.10345072193364592 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99999539e-01 5.87718406e-04 7.58878256e-04 4.99026338e+01] [-5.84702546e-04 9.99991956e-01 -3.96822715e-03 -4.78741058e+00] [-7.61204351e-04 3.96778161e-03 9.99991839e-01 -1.68273298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34992885099999 meters 0.10492330420724717 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99999371e-01 8.18691077e-04 7.67166366e-04 4.99028031e+01] [-8.15951395e-04 9.99993314e-01 -3.56470404e-03 -4.78836503e+00] [-7.70079628e-04 3.56407583e-03 9.99993352e-01 -1.68301821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37992885099999 meters 0.1052862489683348 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99999067e-01 9.02868075e-04 1.02533542e-03 4.99023484e+01] [-8.99658903e-04 9.99994709e-01 -3.12603560e-03 -4.78976932e+00] [-1.02815239e-03 3.12511023e-03 9.99994588e-01 -1.68313902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40992885099999 meters 0.11186730640787763 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99998853e-01 1.11980636e-03 1.01985093e-03 4.99024998e+01] [-1.11704008e-03 9.99995707e-01 -2.70897025e-03 -4.79068729e+00] [-1.02288007e-03 2.70782793e-03 9.99995811e-01 -1.68338535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43992885099999 meters 0.10953448581747237 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99998273e-01 1.42497409e-03 1.19296676e-03 4.99024061e+01] [-1.42257109e-03 9.99996963e-01 -2.01273149e-03 -4.79263156e+00] [-1.19583123e-03 2.01103094e-03 9.99997263e-01 -1.68374252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46992885099999 meters 0.11398950189506221 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.79, Z:-1.68 [[ 9.99997699e-01 1.78905695e-03 1.18351242e-03 4.99027661e+01] [-1.78738096e-03 9.99997401e-01 -1.41566089e-03 -4.79395587e+00] [-1.18604205e-03 1.41354224e-03 9.99998298e-01 -1.68422062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49992885099999 meters 0.11284645367224674 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99996909e-01 2.15496915e-03 1.23997045e-03 4.99027988e+01] [-2.15405654e-03 9.99997409e-01 -7.36852971e-04 -4.79606068e+00] [-1.24155513e-03 7.34179727e-04 9.99998960e-01 -1.68436553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.529928851 meters 0.11369458463348407 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99996842e-01 2.13877710e-03 1.31978365e-03 4.99025316e+01] [-2.13792601e-03 9.99997506e-01 -6.45945004e-04 -4.79671280e+00] [-1.32116189e-03 6.43121365e-04 9.99998920e-01 -1.68421075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.559928851 meters 0.10728716842043629 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99996756e-01 2.15904763e-03 1.35115712e-03 4.99023979e+01] [-2.15829650e-03 9.99997516e-01 -5.57129720e-04 -4.79736054e+00] [-1.35235663e-03 5.54211715e-04 9.99998932e-01 -1.68408364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.589928851 meters 0.10712291256474081 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99996103e-01 2.54638331e-03 1.14447611e-03 4.99031541e+01] [-2.54623634e-03 9.99996750e-01 -1.29859849e-04 -4.79821117e+00] [-1.14480306e-03 1.26945236e-04 9.99999337e-01 -1.68448746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.619928851 meters 0.11362029842384314 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99996036e-01 2.63390122e-03 9.95431253e-04 4.99034778e+01] [-2.63381352e-03 9.99996528e-01 -8.94017383e-05 -4.79838446e+00] [-9.95663272e-04 8.67796036e-05 9.99999501e-01 -1.68446185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.649928851 meters 0.10454747265352508 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99995806e-01 2.73683165e-03 9.47466260e-04 4.99033247e+01] [-2.73690480e-03 9.99996252e-01 7.59168763e-05 -4.79941824e+00] [-9.47254937e-04 -7.85096829e-05 9.99999548e-01 -1.68405856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67992885099999 meters 0.10525533107320895 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99994852e-01 3.10963736e-03 7.91738075e-04 4.99036054e+01] [-3.11002172e-03 9.99995046e-01 4.84692225e-04 -4.80099162e+00] [-7.90226936e-04 -4.87152052e-04 9.99999569e-01 -1.68392864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70992885099999 meters 0.10399539504826902 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99994909e-01 3.11577168e-03 6.88631504e-04 4.99036110e+01] [-3.11604854e-03 9.99995065e-01 4.01332923e-04 -4.80116549e+00] [-6.87377643e-04 -4.03476688e-04 9.99999682e-01 -1.68358753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73992885099999 meters 0.11040047872147743 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99994935e-01 3.12763044e-03 5.89919755e-04 4.99036462e+01] [-3.12782438e-03 9.99995055e-01 3.28116577e-04 -4.80125180e+00] [-5.88890610e-04 -3.29960080e-04 9.99999772e-01 -1.68331343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76992885099999 meters 0.10355269337530554 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99995227e-01 3.08082872e-03 2.33833922e-04 4.99039557e+01] [-3.08081262e-03 9.99995252e-01 -6.91876655e-05 -4.80035368e+00] [-2.34045967e-04 6.84669368e-05 9.99999970e-01 -1.68265917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79992885099999 meters 0.10648927336983614 Centerline is valid? [False, False] Translation: X:49.90, Y:-4.80, Z:-1.68 [[ 9.99994294e-01 3.37721549e-03 -8.15229649e-05 4.99049062e+01] [-3.37720627e-03 9.99994291e-01 1.12993795e-04 -4.80017274e+00] [ 8.19041038e-05 -1.12717831e-04 9.99999990e-01 -1.68305922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82992885099999 meters 0.10370490015097165 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.80, Z:-1.68 [[ 9.99994238e-01 3.38473755e-03 -2.59613713e-04 4.99050893e+01] [-3.38474773e-03 9.99994271e-01 -3.87728361e-05 -4.80001005e+00] [ 2.59480990e-04 3.96513396e-05 9.99999966e-01 -1.68275622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85992885099999 meters 0.10081969992110008 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.80, Z:-1.68 [[ 9.99994036e-01 3.43406691e-03 -3.68150181e-04 4.99051660e+01] [-3.43408949e-03 9.99994102e-01 -6.07044656e-05 -4.80036029e+00] [ 3.67939546e-04 6.19683642e-05 9.99999930e-01 -1.68251183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.889928851 meters 0.0963171395183693 Centerline is valid? [False, True] Translation: X:49.91, Y:-4.80, Z:-1.68 [[ 9.99992147e-01 3.91058234e-03 -6.42138530e-04 4.99059792e+01] [-3.91032293e-03 9.99992273e-01 4.04738748e-04 -4.80161802e+00] [ 6.43716332e-04 -4.02224601e-04 9.99999712e-01 -1.68283133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.919928851 meters 0.09616706018034447 Centerline is valid? [True, True] Translation: X:49.93, Y:-4.80, Z:-1.68 [[ 9.99980685e-01 6.02989980e-03 -1.50671525e-03 4.99346704e+01] [-6.02965606e-03 9.99981808e-01 1.66259012e-04 -4.80466924e+00] [ 1.50769037e-03 -1.57170826e-04 9.99998851e-01 -1.68396698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.949928851 meters 0.09615093719479997 Centerline is valid? [True, True] Translation: X:49.96, Y:-4.81, Z:-1.68 [[ 9.99977245e-01 6.62396866e-03 -1.27775580e-03 4.99630161e+01] [-6.62379515e-03 9.99978053e-01 1.39976493e-04 -4.80753990e+00] [ 1.27865495e-03 -1.31509715e-04 9.99999174e-01 -1.68463292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.979928851 meters 0.09620887466328809 Centerline is valid? [True, True] Translation: X:49.99, Y:-4.81, Z:-1.68 [[ 9.99972868e-01 7.05550722e-03 -2.11746107e-03 4.99913060e+01] [-7.05502974e-03 9.99975086e-01 2.32883942e-04 -4.81071798e+00] [ 2.11905143e-03 -2.17938872e-04 9.99997731e-01 -1.68486521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.009928851 meters 0.09739324148034884 Centerline is valid? [True, True] Translation: X:50.02, Y:-4.82, Z:-1.69 [[ 9.99971608e-01 6.91325665e-03 -2.99849362e-03 5.00200214e+01] [-6.91229707e-03 9.99976055e-01 3.30268058e-04 -4.81650788e+00] [ 3.00070505e-03 -3.09532202e-04 9.99995450e-01 -1.68752294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03992885099998 meters 0.09480888684886692 Centerline is valid? [True, True] Translation: X:50.05, Y:-4.82, Z:-1.69 [[ 9.99974181e-01 6.44782810e-03 -3.17220319e-03 5.00486189e+01] [-6.44675377e-03 9.99979159e-01 3.48780289e-04 -4.81598855e+00] [ 3.17438595e-03 -3.28320871e-04 9.99994908e-01 -1.68699851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06992885099999 meters 0.09501801410440337 Centerline is valid? [True, True] Translation: X:50.08, Y:-4.82, Z:-1.69 [[ 9.99984131e-01 4.64576653e-03 -3.18648880e-03 5.00782806e+01] [-4.64466833e-03 9.99989152e-01 3.51953967e-04 -4.82128400e+00] [ 3.18808932e-03 -3.37148199e-04 9.99994861e-01 -1.68692127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09992885099999 meters 0.10042086800425162 Centerline is valid? [True, False] Translation: X:50.08, Y:-4.82, Z:-1.69 [[ 9.99985218e-01 4.54254993e-03 -2.98815763e-03 5.00777514e+01] [-4.54129681e-03 9.99989598e-01 4.26012856e-04 -4.82188742e+00] [ 2.99006173e-03 -4.12436448e-04 9.99995445e-01 -1.68673254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12992885099999 meters 0.09649299558140206 Centerline is valid? [False, True] Translation: X:50.08, Y:-4.82, Z:-1.69 [[ 9.99986177e-01 4.42363141e-03 -2.84219407e-03 5.00771924e+01] [-4.42233016e-03 9.99990114e-01 4.63954102e-04 -4.82256610e+00] [ 2.84421833e-03 -4.51378568e-04 9.99995853e-01 -1.68636383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15992885099999 meters 0.09877766516434738 Centerline is valid? [True, True] Translation: X:50.11, Y:-4.83, Z:-1.69 [[ 9.99989748e-01 3.36828006e-03 -3.02622988e-03 5.01053338e+01] [-3.36727129e-03 9.99994273e-01 3.38375342e-04 -4.83030607e+00] [ 3.02735230e-03 -3.28181736e-04 9.99995364e-01 -1.68772332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18992885099999 meters 0.09918701304262255 Centerline is valid? [True, True] Translation: X:50.13, Y:-4.84, Z:-1.69 [[ 9.99995385e-01 1.93743700e-03 -2.34026241e-03 5.01340084e+01] [-1.93683055e-03 9.99998090e-01 2.61377387e-04 -4.83576174e+00] [ 2.34076434e-03 -2.56843489e-04 9.99997227e-01 -1.68746942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21992885099999 meters 0.10019212234808834 Centerline is valid? [True, False] Translation: X:50.13, Y:-4.84, Z:-1.69 [[ 9.99995972e-01 1.83491059e-03 -2.16553544e-03 5.01335430e+01] [-1.83433755e-03 9.99998282e-01 2.66577082e-04 -4.83623912e+00] [ 2.16602087e-03 -2.62603685e-04 9.99997620e-01 -1.68729124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24992885099999 meters 0.09871285357781266 Centerline is valid? [False, True] Translation: X:50.13, Y:-4.84, Z:-1.69 [[ 9.99995747e-01 1.88622923e-03 -2.22422914e-03 5.01337943e+01] [-1.88554590e-03 9.99998175e-01 3.09275718e-04 -4.83617064e+00] [ 2.22480844e-03 -3.05080516e-04 9.99997479e-01 -1.68748520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.279928851 meters 0.09842936920378027 Centerline is valid? [True, True] Translation: X:50.16, Y:-4.84, Z:-1.69 [[ 9.99991972e-01 2.80986708e-03 -2.85667108e-03 5.01627777e+01] [-2.80896104e-03 9.99996003e-01 3.21130308e-04 -4.83908902e+00] [ 2.85756200e-03 -3.13103453e-04 9.99995868e-01 -1.68762906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.309928851 meters 0.1023818626790328 Centerline is valid? [True, False] Translation: X:50.16, Y:-4.84, Z:-1.69 [[ 9.99989495e-01 3.14897833e-03 -3.33087185e-03 5.01642597e+01] [-3.14770065e-03 9.99994970e-01 3.88759639e-04 -4.83801262e+00] [ 3.33207929e-03 -3.78270968e-04 9.99994377e-01 -1.68838432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.339928851 meters 0.09719579901483204 Centerline is valid? [False, True] Translation: X:50.16, Y:-4.84, Z:-1.69 [[ 9.99989305e-01 3.02612923e-03 -3.49749679e-03 5.01645380e+01] [-3.02606029e-03 9.99995421e-01 2.50032463e-05 -4.83690213e+00] [ 3.49755644e-03 -1.44193427e-05 9.99993883e-01 -1.68828704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.369928851 meters 0.09872264142595027 Centerline is valid? [True, True] Translation: X:50.19, Y:-4.84, Z:-1.69 [[ 9.99986400e-01 4.02239279e-03 -3.31962623e-03 5.01928432e+01] [-4.02121112e-03 9.99991849e-01 3.62562056e-04 -4.84190969e+00] [ 3.32105754e-03 -3.49208207e-04 9.99994424e-01 -1.69005015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39992885099998 meters 0.09383425320628079 Centerline is valid? [True, True] Translation: X:50.22, Y:-4.84, Z:-1.69 [[ 9.99975777e-01 5.85783754e-03 -3.75913125e-03 5.02233538e+01] [-5.85633357e-03 9.99982767e-01 4.10965402e-04 -4.83536598e+00] [ 3.76147384e-03 -3.88940721e-04 9.99992850e-01 -1.68906210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42992885099999 meters 0.09720465364381393 Centerline is valid? [True, True] Translation: X:50.25, Y:-4.84, Z:-1.69 [[ 9.99950401e-01 9.49156961e-03 -3.01765315e-03 5.02513459e+01] [-9.49061856e-03 9.99954909e-01 3.29327139e-04 -4.84367520e+00] [ 3.02064291e-03 -3.00671410e-04 9.99995393e-01 -1.69180414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45992885099999 meters 0.09837539852052107 Centerline is valid? [True, True] Translation: X:50.28, Y:-4.85, Z:-1.69 [[ 9.99936415e-01 1.09929903e-02 -2.51417155e-03 5.02801720e+01] [-1.09923347e-02 9.99939545e-01 2.74441294e-04 -4.84772951e+00] [ 2.51703649e-03 -2.46787228e-04 9.99996802e-01 -1.69305806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48992885099999 meters 0.09035407198771887 Centerline is valid? [True, True] Translation: X:50.31, Y:-4.83, Z:-1.69 [[ 9.99894710e-01 1.43594565e-02 -2.09179349e-03 5.03116004e+01] [-1.43590100e-02 9.99896878e-01 2.28323871e-04 -4.83353824e+00] [ 2.09485638e-03 -1.98263747e-04 9.99997786e-01 -1.68946995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51992885099999 meters 0.09202325507359475 Centerline is valid? [True, True] Translation: X:50.34, Y:-4.84, Z:-1.69 [[ 9.99879822e-01 1.53410144e-02 -2.23491384e-03 5.03395540e+01] [-1.53405096e-02 9.99882298e-01 2.42842477e-04 -4.83853409e+00] [ 2.23837623e-03 -2.08528575e-04 9.99997473e-01 -1.69145309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54992885099999 meters 0.09093463292286427 Centerline is valid? [True, True] Translation: X:50.37, Y:-4.84, Z:-1.69 [[ 9.99866448e-01 1.61951900e-02 -2.19119076e-03 5.03690817e+01] [-1.61947095e-02 9.99868829e-01 2.36872233e-04 -4.83747593e+00] [ 2.19473953e-03 -2.01354900e-04 9.99997571e-01 -1.69171517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57992885099999 meters 0.09367705818496454 Centerline is valid? [True, True] Translation: X:50.40, Y:-4.85, Z:-1.69 [[ 9.99864291e-01 1.63052282e-02 -2.35344080e-03 5.03961949e+01] [-1.63046728e-02 9.99867037e-01 2.54971442e-04 -4.84521743e+00] [ 2.35728525e-03 -2.16564758e-04 9.99997198e-01 -1.69454101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60992885099999 meters 0.09003882023042484 Centerline is valid? [True, True] Translation: X:50.43, Y:-4.84, Z:-1.69 [[ 9.99868488e-01 1.59579816e-02 -2.88948258e-03 5.04258972e+01] [-1.59571413e-02 9.99872628e-01 3.13652646e-04 -4.84023184e+00] [ 2.89411980e-03 -2.67503515e-04 9.99995776e-01 -1.69402928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.639928851 meters 0.09136307045021326 Centerline is valid? [True, True] Translation: X:50.45, Y:-4.85, Z:-1.69 [[ 9.99885508e-01 1.48834827e-02 -2.72983624e-03 5.04537586e+01] [-1.48827294e-02 9.99889202e-01 2.96056314e-04 -4.84557587e+00] [ 2.73394013e-03 -2.55395004e-04 9.99996230e-01 -1.69484004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.669928851 meters 0.09269867794653723 Centerline is valid? [True, True] Translation: X:50.48, Y:-4.85, Z:-1.70 [[ 9.99912475e-01 1.28074941e-02 -3.31818362e-03 5.04831122e+01] [-1.28063653e-02 9.99917930e-01 3.61204484e-04 -4.85069517e+00] [ 3.32253742e-03 -3.18678998e-04 9.99994430e-01 -1.69541631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.699928851 meters 0.0939757002417075 Centerline is valid? [True, True] Translation: X:50.51, Y:-4.86, Z:-1.70 [[ 9.99925809e-01 1.14155684e-02 -4.24988051e-03 5.05114399e+01] [-1.14137054e-02 9.99934755e-01 4.62368990e-04 -4.85567364e+00] [ 4.25488143e-03 -4.13827803e-04 9.99990862e-01 -1.69744157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.729928851 meters 0.09505956100651136 Centerline is valid? [True, True] Translation: X:50.54, Y:-4.86, Z:-1.70 [[ 9.99949192e-01 8.98720186e-03 -4.56537745e-03 5.05410755e+01] [-8.98502396e-03 9.99959510e-01 4.97335042e-04 -4.86083150e+00] [ 4.56966225e-03 -4.56289748e-04 9.99989455e-01 -1.69830607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.759928851 meters 0.10223729978349852 Centerline is valid? [True, False] Translation: X:50.54, Y:-4.86, Z:-1.70 [[ 9.99951027e-01 8.83433309e-03 -4.46073186e-03 5.05406548e+01] [-8.83277088e-03 9.99960922e-01 3.69792211e-04 -4.86098749e+00] [ 4.46382441e-03 -3.30373479e-04 9.99989983e-01 -1.69800514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78992885099998 meters 0.09672128101739312 Centerline is valid? [False, True] Translation: X:50.54, Y:-4.86, Z:-1.70 [[ 9.99976608e-01 4.65336224e-03 -5.01287338e-03 5.05416981e+01] [-4.67434535e-03 9.99980329e-01 -4.18229236e-03 -4.85957544e+00] [ 4.99331305e-03 4.20562644e-03 9.99978690e-01 -1.69796483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81992885099999 meters 0.09983150780524834 Centerline is valid? [True, True] Translation: X:50.57, Y:-4.87, Z:-1.70 [[ 9.99985913e-01 2.73058177e-03 -4.55175994e-03 5.05697837e+01] [-2.72839745e-03 9.99996160e-01 4.86025187e-04 -4.87091590e+00] [ 4.55306959e-03 -4.73599330e-04 9.99989523e-01 -1.70138588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84992885099999 meters 0.09971205390960149 Centerline is valid? [True, True] Translation: X:50.60, Y:-4.87, Z:-1.70 [[ 9.99984686e-01 2.27170778e-03 -5.04640420e-03 5.05986052e+01] [-2.26902486e-03 9.99997281e-01 5.37311140e-04 -4.87370860e+00] [ 5.04761109e-03 -5.25852495e-04 9.99987122e-01 -1.70173909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87992885099999 meters 0.09924315658112806 Centerline is valid? [True, True] Translation: X:50.63, Y:-4.87, Z:-1.70 [[ 9.99985615e-01 1.91803201e-03 -5.00902249e-03 5.06270737e+01] [-1.91538612e-03 9.99998024e-01 5.32967229e-04 -4.87493679e+00] [ 5.01003484e-03 -5.23365350e-04 9.99987313e-01 -1.70149972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90992885099999 meters 0.09729116931875352 Centerline is valid? [True, True] Translation: X:50.66, Y:-4.87, Z:-1.70 [[ 9.99984435e-01 2.59443668e-03 -4.93949151e-03 5.06561331e+01] [-2.59187376e-03 9.99996503e-01 5.25193415e-04 -4.87413917e+00] [ 4.94083681e-03 -5.12382702e-04 9.99987663e-01 -1.70046450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93992885099999 meters 0.09729116931875352 Centerline is valid? [True, True] Translation: X:50.68, Y:-4.88, Z:-1.70 [[ 9.99984607e-01 2.52706841e-03 -4.93952652e-03 5.06844404e+01] [-2.52450629e-03 9.99996676e-01 5.24864444e-04 -4.87708417e+00] [ 4.94083647e-03 -5.12386499e-04 9.99987663e-01 -1.70111366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96992885099999 meters 0.09962837080427175 Centerline is valid? [True, True] Translation: X:50.71, Y:-4.88, Z:-1.70 [[ 9.99978605e-01 4.06428981e-03 -5.12561395e-03 5.07131370e+01] [-4.06154758e-03 9.99991603e-01 5.45300014e-04 -4.88392971e+00] [ 5.12778717e-03 -5.24470422e-04 9.99986715e-01 -1.70414268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99992885099999 meters 0.09456207485380964 Centerline is valid? [True, True] Translation: X:50.74, Y:-4.88, Z:-1.70 [[ 9.99966714e-01 6.08061260e-03 -5.44031643e-03 5.07443566e+01] [-6.07755101e-03 9.99981364e-01 5.79114007e-04 -4.87726820e+00] [ 5.44373641e-03 -5.46030930e-04 9.99985034e-01 -1.70286397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.029928851 meters 0.09456207485380964 Centerline is valid? [True, True] Translation: X:50.77, Y:-4.88, Z:-1.70 [[ 9.99967321e-01 5.97970091e-03 -5.44057765e-03 5.07718104e+01] [-5.97665106e-03 9.99981973e-01 5.76660276e-04 -4.88008396e+00] [ 5.44392783e-03 -5.44124997e-04 9.99985034e-01 -1.70349305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.059928851 meters 0.0945298331886393 Centerline is valid? [True, True] Translation: X:50.80, Y:-4.88, Z:-1.70 [[ 9.99948012e-01 9.07949868e-03 -4.64077550e-03 5.08008316e+01] [-9.07730882e-03 9.99958679e-01 4.92718684e-04 -4.88104629e+00] [ 4.64505737e-03 -4.50567316e-04 9.99989110e-01 -1.70381266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.089928851 meters 0.09351841075835486 Centerline is valid? [True, True] Translation: X:50.83, Y:-4.88, Z:-1.70 [[ 9.99932318e-01 1.07540933e-02 -4.43954382e-03 5.08311561e+01] [-1.07521036e-02 9.99942083e-01 4.71805950e-04 -4.88122274e+00] [ 4.44436054e-03 -4.24039583e-04 9.99990034e-01 -1.70396033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.119928851 meters 0.09308307898774684 Centerline is valid? [True, True] Translation: X:50.86, Y:-4.88, Z:-1.70 [[ 9.99908311e-01 1.30978000e-02 -3.43765666e-03 5.08617812e+01] [-1.30966200e-02 9.99914169e-01 3.65548148e-04 -4.88300564e+00] [ 3.44214948e-03 -3.20492949e-04 9.99994024e-01 -1.70474095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14992885099998 meters 0.0943532089798958 Centerline is valid? [True, True] Translation: X:50.89, Y:-4.89, Z:-1.71 [[ 9.99908147e-01 1.30635514e-02 -3.61114687e-03 5.08887553e+01] [-1.30622582e-02 9.99914612e-01 3.81480260e-04 -4.88828252e+00] [ 3.61582201e-03 -3.34275488e-04 9.99993407e-01 -1.70600175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17992885099999 meters 0.0943094093136193 Centerline is valid? [True, True] Translation: X:50.92, Y:-4.89, Z:-1.71 [[ 9.99905943e-01 1.32597356e-02 -3.50481603e-03 5.09177763e+01] [-1.32585170e-02 9.99912033e-01 3.70690196e-04 -4.89118826e+00] [ 3.50942298e-03 -3.24186667e-04 9.99993789e-01 -1.70715826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20992885099999 meters 0.1003548591913055 Centerline is valid? [True, False] Translation: X:50.92, Y:-4.89, Z:-1.71 [[ 9.99950010e-01 9.06904102e-03 -4.21072156e-03 5.09190685e+01] [-9.08761703e-03 9.99948966e-01 -4.41362580e-03 -4.88906751e+00] [ 4.17047932e-03 4.45167059e-03 9.99981395e-01 -1.70707110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23992885099999 meters 0.09388466041618254 Centerline is valid? [False, True] Translation: X:50.92, Y:-4.89, Z:-1.71 [[ 9.99951550e-01 8.95124514e-03 -4.09535229e-03 5.09188380e+01] [-8.96942782e-03 9.99949902e-01 -4.44322036e-03 -4.88902254e+00] [ 4.05537476e-03 4.47973805e-03 9.99981743e-01 -1.70709878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26992885099999 meters 0.09468065256855936 Centerline is valid? [True, True] Translation: X:50.95, Y:-4.90, Z:-1.71 [[ 9.99961495e-01 7.66539084e-03 -4.27192988e-03 5.09480749e+01] [-7.66357963e-03 9.99970537e-01 4.40186114e-04 -4.89655003e+00] [ 4.27517821e-03 -4.07430890e-04 9.99990778e-01 -1.70978186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29992885099999 meters 0.09701293012443622 Centerline is valid? [True, True] Translation: X:50.98, Y:-4.91, Z:-1.71 [[ 9.99982091e-01 4.02028094e-03 -4.43348667e-03 5.09768828e+01] [-4.01829304e-03 9.99991822e-01 4.57200808e-04 -4.90544601e+00] [ 4.43528849e-03 -4.39377571e-04 9.99990068e-01 -1.71117148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32992885099999 meters 0.09947647860496703 Centerline is valid? [True, True] Translation: X:51.00, Y:-4.91, Z:-1.71 [[ 9.99987619e-01 2.61039757e-03 -4.23639243e-03 5.10048844e+01] [-2.60857524e-03 9.99996503e-01 4.35629962e-04 -4.91393703e+00] [ 4.23751478e-03 -4.24573620e-04 9.99990932e-01 -1.71294085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35992885099999 meters 0.0998397189429407 Centerline is valid? [True, True] Translation: X:51.03, Y:-4.92, Z:-1.71 [[ 9.99990477e-01 1.15330920e-03 -4.20907254e-03 5.10341350e+01] [-1.15149567e-03 9.99999243e-01 4.33259229e-04 -4.91873853e+00] [ 4.20956904e-03 -4.28408374e-04 9.99991048e-01 -1.71369379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.389928851 meters 0.10384573065230386 Centerline is valid? [True, False] Translation: X:51.03, Y:-4.92, Z:-1.71 [[ 9.99993570e-01 7.17829906e-04 -3.51363094e-03 5.10322714e+01] [-7.15775886e-04 9.99999572e-01 5.85808992e-04 -4.92089823e+00] [ 3.51404995e-03 -5.83290253e-04 9.99993656e-01 -1.71293491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.419928851 meters 0.1005033458304719 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.92, Z:-1.71 [[ 9.99994602e-01 5.87545694e-04 -3.23291596e-03 5.10315105e+01] [-5.85297220e-04 9.99999586e-01 6.96396213e-04 -4.92186942e+00] [ 3.23332379e-03 -6.94500237e-04 9.99994532e-01 -1.71264960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.449928851 meters 0.10673341037844067 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.92, Z:-1.71 [[ 9.99995086e-01 8.64025515e-04 -3.01366227e-03 5.10314462e+01] [-8.59913911e-04 9.99998698e-01 1.36535031e-03 -4.92356450e+00] [ 3.01483805e-03 -1.36275211e-03 9.99994527e-01 -1.71317759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.479928851 meters 0.1053058494647137 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99996616e-01 7.64095744e-04 -2.48699494e-03 5.10301044e+01] [-7.59492898e-04 9.99997998e-01 1.85118490e-03 -4.92636633e+00] [ 2.48840444e-03 -1.84928977e-03 9.99995194e-01 -1.71269703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.509928851 meters 0.1077547349388903 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99996949e-01 8.59035401e-04 -2.31590761e-03 5.10297223e+01] [-8.53921856e-04 9.99997198e-01 2.20809445e-03 -4.92775924e+00] [ 2.31779795e-03 -2.20611011e-03 9.99994880e-01 -1.71262780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53992885099998 meters 0.10485552402011432 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99996918e-01 1.09980998e-03 -2.22578211e-03 5.10297757e+01] [-1.09382006e-03 9.99995782e-01 2.69058092e-03 -4.92911451e+00] [ 2.22873185e-03 -2.68813802e-03 9.99993903e-01 -1.71292104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56992885099999 meters 0.10486355143996347 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99997739e-01 9.57622969e-04 -1.89892234e-03 5.10287182e+01] [-9.52160173e-04 9.99995412e-01 2.87560782e-03 -4.93072118e+00] [ 1.90166737e-03 -2.87379324e-03 9.99994062e-01 -1.71229297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59992885099999 meters 0.10523536533092638 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99997824e-01 9.52893746e-04 -1.85565279e-03 5.10284989e+01] [-9.47461869e-04 9.99995271e-01 2.92588807e-03 -4.93129309e+00] [ 1.85843208e-03 -2.92412354e-03 9.99993998e-01 -1.71207714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62992885099999 meters 0.10269793525814705 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99997640e-01 1.14934174e-03 -1.84350760e-03 5.10282993e+01] [-1.14326263e-03 9.99993917e-01 3.29524897e-03 -4.93289773e+00] [ 1.84728376e-03 -3.29313358e-03 9.99992871e-01 -1.71177862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65992885099999 meters 0.10747735340290421 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99997658e-01 1.12136887e-03 -1.85104410e-03 5.10281209e+01] [-1.11532070e-03 9.99994047e-01 3.26523851e-03 -4.93321634e+00] [ 1.85469461e-03 -3.26316636e-03 9.99992956e-01 -1.71147009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68992885099999 meters 0.10380778417640966 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99997662e-01 1.06590454e-03 -1.88121509e-03 5.10279335e+01] [-1.05997325e-03 9.99994474e-01 3.15108961e-03 -4.93335383e+00] [ 1.88456346e-03 -3.14908820e-03 9.99993266e-01 -1.71109053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71992885099999 meters 0.10316477425104736 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99997155e-01 1.19475861e-03 -2.06461044e-03 5.10283685e+01] [-1.18808220e-03 9.99994071e-01 3.23194683e-03 -4.93352952e+00] [ 2.06845960e-03 -3.22948471e-03 9.99992646e-01 -1.71115302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74992885099999 meters 0.1013806897789616 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99996153e-01 1.38503337e-03 -2.40313271e-03 5.10289793e+01] [-1.37740646e-03 9.99994019e-01 3.17249815e-03 -4.93344832e+00] [ 2.40751236e-03 -3.16917586e-03 9.99992080e-01 -1.71099716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.779928851 meters 0.10140029756847856 Centerline is valid? [False, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99995622e-01 1.47043608e-03 -2.56766251e-03 5.10294149e+01] [-1.46235061e-03 9.99993976e-01 3.14800475e-03 -4.93324333e+00] [ 2.57227598e-03 -3.14423615e-03 9.99991749e-01 -1.71111686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.809928851 meters 0.09972167450041064 Centerline is valid? [False, True] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99994870e-01 1.50517453e-03 -2.82760258e-03 5.10297896e+01] [-1.49686649e-03 9.99994564e-01 2.93801507e-03 -4.93288346e+00] [ 2.83200943e-03 -2.93376746e-03 9.99991686e-01 -1.71084705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.839928851 meters 0.10156775060194674 Centerline is valid? [True, False] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99993829e-01 1.58078813e-03 -3.13728098e-03 5.10302909e+01] [-1.57212760e-03 9.99994952e-01 2.76106953e-03 -4.93251878e+00] [ 3.14162981e-03 -2.75612029e-03 9.99991267e-01 -1.71063629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.869928851 meters 0.09789582090123931 Centerline is valid? [False, True] Translation: X:51.03, Y:-4.93, Z:-1.71 [[ 9.99990295e-01 1.95752782e-03 -3.94683702e-03 5.10316318e+01] [-1.94834115e-03 9.99995387e-01 2.33010536e-03 -4.93097827e+00] [ 3.95138006e-03 -2.32239297e-03 9.99989496e-01 -1.71023714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89992885099998 meters 0.09619355033958102 Centerline is valid? [True, True] Translation: X:51.06, Y:-4.93, Z:-1.71 [[ 9.99976156e-01 5.66758063e-03 -3.94535368e-03 5.10618276e+01] [-5.66607640e-03 9.99983871e-01 3.92339261e-04 -4.92955541e+00] [ 3.94751366e-03 -3.69975231e-04 9.99992140e-01 -1.70937131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92992885099999 meters 0.08937374913175952 Centerline is valid? [True, True] Translation: X:51.09, Y:-4.92, Z:-1.71 [[ 9.99924678e-01 1.17440469e-02 -3.56585162e-03 5.10937741e+01] [-1.17428548e-02 9.99930987e-01 3.55060422e-04 -4.91847422e+00] [ 3.56977538e-03 -3.13160400e-04 9.99993579e-01 -1.70591934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95992885099999 meters 0.08976361440146689 Centerline is valid? [True, True] Translation: X:51.12, Y:-4.92, Z:-1.71 [[ 9.99876028e-01 1.54357126e-02 -3.10910522e-03 5.11226486e+01] [-1.54348258e-02 9.99880828e-01 3.08999168e-04 -4.92251353e+00] [ 3.11350432e-03 -2.60972363e-04 9.99995119e-01 -1.70770382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98992885099999 meters 0.08625478204445508 Centerline is valid? [True, True] Translation: X:51.15, Y:-4.92, Z:-1.71 [[ 9.99823695e-01 1.84725091e-02 -3.36815026e-03 5.11532230e+01] [-1.84714837e-02 9.99829331e-01 3.35294810e-04 -4.91784551e+00] [ 3.37376916e-03 -2.73020964e-04 9.99994272e-01 -1.70726548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01992885099999 meters 0.08816186006458081 Centerline is valid? [True, True] Translation: X:51.18, Y:-4.92, Z:-1.71 [[ 9.99768915e-01 2.11687402e-02 -3.74191477e-03 5.11814696e+01] [-2.11674963e-02 9.99775874e-01 3.71701327e-04 -4.92476711e+00] [ 3.74894456e-03 -2.92408465e-04 9.99992930e-01 -1.70930060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04992885099999 meters 0.08439317004060504 Centerline is valid? [True, True] Translation: X:51.21, Y:-4.92, Z:-1.71 [[ 9.99620778e-01 2.72496978e-02 -3.96908921e-03 5.12129882e+01] [-2.72483436e-02 9.99628617e-01 3.94867961e-04 -4.91903790e+00] [ 3.97837519e-03 -2.86567112e-04 9.99992045e-01 -1.70827109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07992885099999 meters 0.08400339037758979 Centerline is valid? [True, True] Translation: X:51.24, Y:-4.92, Z:-1.71 [[ 9.99529224e-01 3.04122960e-02 -4.05252658e-03 5.12421650e+01] [-3.04109117e-02 9.99537400e-01 4.02777814e-04 -4.92065653e+00] [ 4.06290128e-03 -2.79347168e-04 9.99991707e-01 -1.70884085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10992885099999 meters 0.08369396920061527 Centerline is valid? [True, True] Translation: X:51.27, Y:-4.92, Z:-1.71 [[ 9.99446018e-01 3.30736641e-02 -3.71353700e-03 5.12710888e+01] [-3.30725216e-02 9.99452887e-01 3.68664198e-04 -4.92248249e+00] [ 3.72369835e-03 -2.45643932e-04 9.99993037e-01 -1.70963661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.139928851 meters 0.08154645182492665 Centerline is valid? [True, True] Translation: X:51.30, Y:-4.92, Z:-1.71 [[ 9.99287155e-01 3.75807626e-02 -3.58721393e-03 5.13023479e+01] [-3.75797231e-02 9.99293569e-01 3.56765193e-04 -4.91955923e+00] [ 3.59808732e-03 -2.21704369e-04 9.99993502e-01 -1.70929847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.169928851 meters 0.08243440310410885 Centerline is valid? [True, True] Translation: X:51.33, Y:-4.92, Z:-1.71 [[ 9.99219881e-01 3.93282733e-02 -3.59386535e-03 5.13303394e+01] [-3.93272456e-02 9.99226321e-01 3.56186982e-04 -4.92487323e+00] [ 3.60509307e-03 -2.14572288e-04 9.99993479e-01 -1.71204819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.199928851 meters 0.08059859167733799 Centerline is valid? [True, True] Translation: X:51.36, Y:-4.92, Z:-1.71 [[ 9.99175001e-01 4.03792541e-02 -4.33979336e-03 5.13598316e+01] [-4.03777674e-02 9.99184393e-01 4.29673602e-04 -4.92300635e+00] [ 4.35360369e-03 -2.54087955e-04 9.99990491e-01 -1.71132775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.229928851 meters 0.08007641576560948 Centerline is valid? [True, True] Translation: X:51.39, Y:-4.92, Z:-1.71 [[ 9.99109717e-01 4.19397038e-02 -4.56460443e-03 5.13888201e+01] [-4.19380953e-02 9.99120111e-01 4.47564595e-04 -4.92474419e+00] [ 4.57935881e-03 -2.55735320e-04 9.99989482e-01 -1.71232496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.259928851 meters 0.08058877020477727 Centerline is valid? [True, True] Translation: X:51.42, Y:-4.93, Z:-1.71 [[ 9.99119394e-01 4.16697902e-02 -4.90566616e-03 5.14165517e+01] [-4.16679140e-02 9.99131398e-01 4.84077844e-04 -4.92886407e+00] [ 4.92157651e-03 -2.79242686e-04 9.99987850e-01 -1.71367345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28992885099998 meters 0.08040897100315564 Centerline is valid? [True, True] Translation: X:51.44, Y:-4.93, Z:-1.71 [[ 9.99105980e-01 4.20202695e-02 -4.64081637e-03 5.14449315e+01] [-4.20185943e-02 9.99116724e-01 4.57930619e-04 -4.93176505e+00] [ 4.65595961e-03 -2.62520639e-04 9.99989127e-01 -1.71389148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31992885099999 meters 0.07920437603950194 Centerline is valid? [True, True] Translation: X:51.47, Y:-4.93, Z:-1.71 [[ 9.99083150e-01 4.26085741e-02 -4.16752893e-03 5.14744280e+01] [-4.26072476e-02 9.99091816e-01 4.06616611e-04 -4.93180035e+00] [ 4.18106940e-03 -2.28676868e-04 9.99991233e-01 -1.71213175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34992885099999 meters 0.08173308942565077 Centerline is valid? [True, True] Translation: X:51.50, Y:-4.94, Z:-1.72 [[ 9.99088006e-01 4.23830543e-02 -5.18011196e-03 5.15007278e+01] [-4.23809905e-02 9.99101393e-01 5.07584672e-04 -4.94217744e+00] [ 5.19697006e-03 -2.87583482e-04 9.99986454e-01 -1.71730371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37992885099999 meters 0.07978974628010035 Centerline is valid? [True, True] Translation: X:51.53, Y:-4.94, Z:-1.72 [[ 9.99084628e-01 4.24665697e-02 -5.14742373e-03 5.15301462e+01] [-4.24645252e-02 9.99097847e-01 5.05877751e-04 -4.94005319e+00] [ 5.16426286e-03 -2.86831780e-04 9.99986624e-01 -1.71592348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40992885099999 meters 0.08005676075935426 Centerline is valid? [True, True] Translation: X:51.56, Y:-4.94, Z:-1.72 [[ 9.99069758e-01 4.28676021e-02 -4.68904408e-03 5.15580638e+01] [-4.28659119e-02 9.99080728e-01 4.60401856e-04 -4.94482929e+00] [ 4.70446990e-03 -2.58973420e-04 9.99988900e-01 -1.71572619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43992885099999 meters 0.07981290317109019 Centerline is valid? [True, True] Translation: X:51.59, Y:-4.95, Z:-1.72 [[ 9.99067971e-01 4.27523748e-02 -5.95178609e-03 5.15862201e+01] [-4.27496524e-02 9.99085645e-01 5.83929717e-04 -4.94714366e+00] [ 5.97130842e-03 -3.28948692e-04 9.99982117e-01 -1.71571540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46992885099999 meters 0.07998933020752438 Centerline is valid? [True, True] Translation: X:51.61, Y:-4.95, Z:-1.72 [[ 9.99025729e-01 4.38807481e-02 -4.69806898e-03 5.16140097e+01] [-4.38790722e-02 9.99036744e-01 4.59247488e-04 -4.95080927e+00] [ 4.71369566e-03 -2.52653149e-04 9.99988859e-01 -1.71657834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49992885099999 meters 0.07928506651167885 Centerline is valid? [True, True] Translation: X:51.64, Y:-4.95, Z:-1.72 [[ 9.98968724e-01 4.52017528e-02 -4.27672285e-03 5.16434553e+01] [-4.52003908e-02 9.98977854e-01 4.14628386e-04 -4.95187823e+00] [ 4.29109334e-03 -2.20891245e-04 9.99990769e-01 -1.71568783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.529928851 meters 0.07929923376018454 Centerline is valid? [True, True] Translation: X:51.67, Y:-4.95, Z:-1.72 [[ 9.98919187e-01 4.62564833e-02 -4.56018513e-03 5.16723365e+01] [-4.62549506e-02 9.98929570e-01 4.41061183e-04 -4.95486571e+00] [ 4.57570571e-03 -2.29653340e-04 9.99989505e-01 -1.71703336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.559928851 meters 0.07898322364994213 Centerline is valid? [True, True] Translation: X:51.70, Y:-4.96, Z:-1.72 [[ 9.98762756e-01 4.94461993e-02 -5.29438372e-03 5.17013337e+01] [-4.94441502e-02 9.98776756e-01 5.17300742e-04 -4.95790441e+00] [ 5.31348595e-03 -2.54884411e-04 9.99985851e-01 -1.71897953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.589928851 meters 0.07778088623801906 Centerline is valid? [True, True] Translation: X:51.73, Y:-4.96, Z:-1.72 [[ 9.98668818e-01 5.12722247e-02 -5.63484391e-03 5.17305477e+01] [-5.12699388e-02 9.98684681e-01 5.49461179e-04 -4.95691398e+00] [ 5.65560438e-03 -2.59831644e-04 9.99983973e-01 -1.71822856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.619928851 meters 0.07831970687561879 Centerline is valid? [True, True] Translation: X:51.76, Y:-4.96, Z:-1.72 [[ 9.98533422e-01 5.38076072e-02 -5.97891187e-03 5.17581796e+01] [-5.38050834e-02 9.98551288e-01 5.82283929e-04 -4.96127080e+00] [ 6.00158145e-03 -2.59734112e-04 9.99981957e-01 -1.72117529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64992885099998 meters 0.07650620618792002 Centerline is valid? [True, True] Translation: X:51.79, Y:-4.96, Z:-1.72 [[ 9.98254750e-01 5.87765515e-02 -5.72453473e-03 5.17895220e+01] [-5.87743108e-02 9.98271139e-01 5.59019280e-04 -4.95655109e+00] [ 5.74749503e-03 -2.21588069e-04 9.99983458e-01 -1.71860624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67992885099999 meters 0.07573835126087566 Centerline is valid? [True, True] Translation: X:51.82, Y:-4.96, Z:-1.72 [[ 9.98098182e-01 6.14204727e-02 -5.24834454e-03 5.18193477e+01] [-6.14186296e-02 9.98111963e-01 5.11782561e-04 -4.95654029e+00] [ 5.26986939e-03 -1.88463115e-04 9.99986096e-01 -1.71815456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70992885099999 meters 0.0752301045119191 Centerline is valid? [True, True] Translation: X:51.85, Y:-4.96, Z:-1.72 [[ 9.97714720e-01 6.73877734e-02 -4.92196313e-03 5.18497806e+01] [-6.73862256e-02 9.97726850e-01 4.79803508e-04 -4.95663250e+00] [ 4.94310766e-03 -1.47034504e-04 9.99987772e-01 -1.71948522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73992885099999 meters 0.07490665350009171 Centerline is valid? [True, True] Translation: X:51.88, Y:-4.96, Z:-1.72 [[ 9.97531471e-01 7.00193940e-02 -5.31488617e-03 5.18787026e+01] [-7.00176565e-02 9.97545621e-01 5.12518279e-04 -4.95809632e+00] [ 5.33772764e-03 -1.39117239e-04 9.99985745e-01 -1.72055381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76992885099999 meters 0.07497146781972486 Centerline is valid? [True, True] Translation: X:51.91, Y:-4.96, Z:-1.72 [[ 9.97406171e-01 7.18075635e-02 -4.96019008e-03 5.19063280e+01] [-7.18060596e-02 9.97418497e-01 4.80864183e-04 -4.96017131e+00] [ 4.98191502e-03 -1.23445199e-04 9.99987583e-01 -1.72209070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79992885099999 meters 0.0744634109047558 Centerline is valid? [True, True] Translation: X:51.94, Y:-4.96, Z:-1.72 [[ 9.97116901e-01 7.57697451e-02 -4.10273145e-03 5.19351608e+01] [-7.57687487e-02 9.97125337e-01 3.97983450e-04 -4.96155693e+00] [ 4.12109259e-03 -8.59771959e-05 9.99991505e-01 -1.72207427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82992885099999 meters 0.07425995369418349 Centerline is valid? [True, True] Translation: X:51.96, Y:-4.96, Z:-1.72 [[ 9.97018127e-01 7.70888309e-02 -3.48811021e-03 5.19643564e+01] [-7.70881353e-02 9.97024226e-01 3.33622235e-04 -4.96316383e+00] [ 3.50344893e-03 -6.37355035e-05 9.99993861e-01 -1.72157439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85992885099999 meters 0.07425995369418349 Centerline is valid? [True, True] Translation: X:51.99, Y:-4.97, Z:-1.72 [[ 9.97037980e-01 7.68316198e-02 -3.48830751e-03 5.19916197e+01] [-7.68309298e-02 9.97044080e-01 3.31580350e-04 -4.96571423e+00] [ 3.50347221e-03 -6.25882936e-05 9.99993861e-01 -1.72222285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.889928851 meters 0.07433072484818788 Centerline is valid? [True, True] Translation: X:52.02, Y:-4.97, Z:-1.72 [[ 9.96951438e-01 7.78250580e-02 -5.57592482e-03 5.20201906e+01] [-7.78232935e-02 9.96967026e-01 5.33059612e-04 -4.96860141e+00] [ 5.60049858e-03 -9.74977129e-05 9.99984312e-01 -1.72264040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.919928851 meters 0.07438564179126063 Centerline is valid? [True, True] Translation: X:52.05, Y:-4.97, Z:-1.73 [[ 9.96987972e-01 7.73995050e-02 -4.92959905e-03 5.20473043e+01] [-7.73981083e-02 9.97000155e-01 4.73752266e-04 -4.97437009e+00] [ 4.95147921e-03 -9.07836701e-05 9.99987737e-01 -1.72509879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.949928851 meters 0.07438564179126063 Centerline is valid? [True, True] Translation: X:52.07, Y:-4.98, Z:-1.73 [[ 9.97008007e-01 7.71409545e-02 -4.93012527e-03 5.20745697e+01] [-7.71395817e-02 9.97020193e-01 4.68288884e-04 -4.97690618e+00] [ 4.95155870e-03 -8.65799659e-05 9.99987737e-01 -1.72574598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.979928851 meters 0.0745876061189564 Centerline is valid? [True, True] Translation: X:52.10, Y:-4.98, Z:-1.73 [[ 9.97135143e-01 7.54001178e-02 -6.02729073e-03 5.21028123e+01] [-7.53980293e-02 9.97153353e-01 5.73297348e-04 -4.98302003e+00] [ 6.05335985e-03 -1.17209090e-04 9.99981671e-01 -1.72718558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.009928851 meters 0.07422377691468654 Centerline is valid? [True, True] Translation: X:52.13, Y:-4.99, Z:-1.73 [[ 9.97211542e-01 7.43752815e-02 -6.12028029e-03 5.21310753e+01] [-7.43730985e-02 9.97230315e-01 5.83825692e-04 -4.98544752e+00] [ 6.14675125e-03 -1.27013510e-04 9.99981100e-01 -1.72508312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03992885099998 meters 0.07475363388843245 Centerline is valid? [True, True] Translation: X:52.16, Y:-4.99, Z:-1.73 [[ 9.97310956e-01 7.30067149e-02 -6.39346918e-03 5.21586365e+01] [-7.30043087e-02 9.97331439e-01 6.09234551e-04 -4.99154784e+00] [ 6.42088603e-03 -1.40845495e-04 9.99979376e-01 -1.72923242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06992885099999 meters 0.07493870660550185 Centerline is valid? [True, True] Translation: X:52.19, Y:-5.00, Z:-1.73 [[ 9.97479349e-01 7.06016148e-02 -7.09645573e-03 5.21871434e+01] [-7.05986159e-02 9.97504578e-01 6.72520477e-04 -4.99752244e+00] [ 7.12622811e-03 -1.69825335e-04 9.99974594e-01 -1.72908664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09992885099999 meters 0.07505115952259171 Centerline is valid? [True, True] Translation: X:52.22, Y:-5.00, Z:-1.73 [[ 9.97610975e-01 6.87074328e-02 -7.18551996e-03 5.22157327e+01] [-6.87043212e-02 9.97636835e-01 6.79274161e-04 -5.00175290e+00] [ 7.21521058e-03 -1.83975086e-04 9.99973953e-01 -1.72982682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12992885099999 meters 0.07565687530645995 Centerline is valid? [True, True] Translation: X:52.24, Y:-5.01, Z:-1.73 [[ 9.97889600e-01 6.44114820e-02 -8.21628498e-03 5.22438975e+01] [-6.44072253e-02 9.97923393e-01 7.81902370e-04 -5.01040378e+00] [ 8.24958648e-03 -2.51064125e-04 9.99965940e-01 -1.73230355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15992885099999 meters 0.07593993693795055 Centerline is valid? [True, True] Translation: X:52.27, Y:-5.02, Z:-1.73 [[ 9.98029429e-01 6.22403626e-02 -7.96218954e-03 5.22718091e+01] [-6.22363105e-02 9.98061156e-01 7.55912745e-04 -5.01645266e+00] [ 7.99380038e-03 -2.58885864e-04 9.99968016e-01 -1.73380047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18992885099999 meters 0.07679263512518868 Centerline is valid? [True, True] Translation: X:52.30, Y:-5.02, Z:-1.74 [[ 9.98176887e-01 5.97846899e-02 -8.28811917e-03 5.22994761e+01] [-5.97802153e-02 9.98211254e-01 7.86789319e-04 -5.02325944e+00] [ 8.32033178e-03 -2.89889364e-04 9.99965343e-01 -1.73550408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21992885099999 meters 0.07706951915197058 Centerline is valid? [True, True] Translation: X:52.33, Y:-5.03, Z:-1.74 [[ 9.98319167e-01 5.73849873e-02 -8.11200744e-03 5.23283940e+01] [-5.73806220e-02 9.98352078e-01 7.70047775e-04 -5.02798561e+00] [ 8.14282867e-03 -3.03281420e-04 9.99966801e-01 -1.73556656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24992885099999 meters 0.07697613584980148 Centerline is valid? [True, True] Translation: X:52.36, Y:-5.03, Z:-1.73 [[ 9.98556021e-01 5.32344507e-02 -7.20871458e-03 5.23571750e+01] [-5.32309039e-02 9.98581997e-01 6.83127326e-04 -5.03318960e+00] [ 7.23485850e-03 -2.98414512e-04 9.99973784e-01 -1.73374324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.279928851 meters 0.07824252098586038 Centerline is valid? [True, True] Translation: X:52.38, Y:-5.04, Z:-1.74 [[ 9.98667206e-01 5.11170123e-02 -7.13178688e-03 5.23848075e+01] [-5.11134893e-02 9.98692623e-01 6.75495438e-04 -5.04043416e+00] [ 7.15699226e-03 -3.10064630e-04 9.99974340e-01 -1.73627989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.309928851 meters 0.07762506002763488 Centerline is valid? [True, True] Translation: X:52.41, Y:-5.04, Z:-1.73 [[ 9.98805782e-01 4.85309878e-02 -5.63491897e-03 5.24136758e+01] [-4.85287787e-02 9.98821645e-01 5.28202060e-04 -5.04187906e+00] [ 5.65391320e-03 -2.54115536e-04 9.99983984e-01 -1.73404725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.339928851 meters 0.07770134248835908 Centerline is valid? [True, True] Translation: X:52.44, Y:-5.04, Z:-1.73 [[ 9.98892272e-01 4.64844356e-02 -7.30935927e-03 5.24426755e+01] [-4.64806234e-02 9.98918953e-01 6.90652672e-04 -5.04460731e+00] [ 7.33356211e-03 -3.50144041e-04 9.99973048e-01 -1.73403172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.369928851 meters 0.07823619367295029 Centerline is valid? [True, True] Translation: X:52.47, Y:-5.05, Z:-1.74 [[ 9.98992176e-01 4.43580594e-02 -6.85525617e-03 5.24713885e+01] [-4.43546590e-02 9.99015638e-01 6.47341156e-04 -5.04917308e+00] [ 6.87722291e-03 -3.42626201e-04 9.99976293e-01 -1.73535549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39992885099998 meters 0.07930077433708269 Centerline is valid? [True, True] Translation: X:52.50, Y:-5.06, Z:-1.74 [[ 9.99159519e-01 4.02642348e-02 -7.68425190e-03 5.25016812e+01] [-4.02598328e-02 9.99188980e-01 7.26748820e-04 -5.05573482e+00] [ 7.70728180e-03 -4.16771304e-04 9.99970212e-01 -1.73664024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42992885099999 meters 0.08015296082529234 Centerline is valid? [True, True] Translation: X:52.53, Y:-5.06, Z:-1.74 [[ 9.99242088e-01 3.80180699e-02 -8.35922632e-03 5.25295059e+01] [-3.80127984e-02 9.99276941e-01 7.88654105e-04 -5.06096735e+00] [ 8.38316522e-03 -4.70298789e-04 9.99964750e-01 -1.73858117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45992885099999 meters 0.08079320727829445 Centerline is valid? [True, True] Translation: X:52.56, Y:-5.07, Z:-1.74 [[ 9.99318728e-01 3.59828924e-02 -8.20435845e-03 5.25587090e+01] [-3.59777422e-02 9.99352291e-01 7.74520941e-04 -5.06567804e+00] [ 8.22691392e-03 -4.78818989e-04 9.99966044e-01 -1.73948881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48992885099999 meters 0.08196482314059646 Centerline is valid? [True, True] Translation: X:52.59, Y:-5.07, Z:-1.74 [[ 9.99477834e-01 3.15974314e-02 -6.75734281e-03 5.25886853e+01] [-3.15938362e-02 9.99500586e-01 6.38164675e-04 -5.07223436e+00] [ 6.77413246e-03 -4.24341066e-04 9.99976965e-01 -1.73989828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51992885099999 meters 0.08129463156195806 Centerline is valid? [True, True] Translation: X:52.62, Y:-5.07, Z:-1.74 [[ 9.99536288e-01 2.98307274e-02 -6.11044600e-03 5.26187593e+01] [-2.98277591e-02 9.99554887e-01 5.76358712e-04 -5.07301744e+00] [ 6.12491936e-03 -3.93830537e-04 9.99981165e-01 -1.73943199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54992885099999 meters 0.0846781020142983 Centerline is valid? [True, True] Translation: X:52.65, Y:-5.08, Z:-1.74 [[ 9.99600851e-01 2.72699509e-02 -7.38161715e-03 5.26466942e+01] [-2.72655501e-02 9.99627983e-01 6.96184655e-04 -5.08272799e+00] [ 7.39785599e-03 -4.94642922e-04 9.99972513e-01 -1.74380588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57992885099999 meters 0.08588431779065764 Centerline is valid? [True, True] Translation: X:52.67, Y:-5.09, Z:-1.74 [[ 9.99630811e-01 2.62765757e-02 -6.91251559e-03 5.26744518e+01] [-2.62727043e-02 9.99654601e-01 6.50282934e-04 -5.08691209e+00] [ 6.92721523e-03 -4.68432378e-04 9.99975897e-01 -1.74484872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60992885099999 meters 0.08207661712657299 Centerline is valid? [True, True] Translation: X:52.70, Y:-5.08, Z:-1.74 [[ 9.99645793e-01 2.57816398e-02 -6.60275786e-03 5.27038690e+01] [-2.57780985e-02 9.99667497e-01 6.20899425e-04 -5.07940708e+00] [ 6.61657023e-03 -4.50472955e-04 9.99978009e-01 -1.74172454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.639928851 meters 0.08351389221954894 Centerline is valid? [True, True] Translation: X:52.73, Y:-5.08, Z:-1.74 [[ 9.99661728e-01 2.50654072e-02 -6.93944363e-03 5.27307942e+01] [-2.50614879e-02 9.99685699e-01 6.51187845e-04 -5.08418216e+00] [ 6.95358485e-03 -4.77054784e-04 9.99975710e-01 -1.74342091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.669928851 meters 0.08170156560166675 Centerline is valid? [True, True] Translation: X:52.76, Y:-5.08, Z:-1.74 [[ 9.99667552e-01 2.46897967e-02 -7.42957473e-03 5.27602605e+01] [-2.46852908e-02 9.99695028e-01 6.97588606e-04 -5.08086964e+00] [ 7.44453225e-03 -5.13955482e-04 9.99972157e-01 -1.74187955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.699928851 meters 0.08283727213537712 Centerline is valid? [True, True] Translation: X:52.79, Y:-5.08, Z:-1.74 [[ 9.99697369e-01 2.36083887e-02 -6.91479038e-03 5.27876390e+01] [-2.36044672e-02 9.99721166e-01 6.48190673e-04 -5.08322405e+00] [ 6.92816504e-03 -4.84774567e-04 9.99975882e-01 -1.74332825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.729928851 meters 0.08570202029831893 Centerline is valid? [True, True] Translation: X:52.82, Y:-5.09, Z:-1.75 [[ 9.99709675e-01 2.30714361e-02 -6.94801256e-03 5.28151121e+01] [-2.30674677e-02 9.99733699e-01 6.50764250e-04 -5.09103585e+00] [ 6.96117636e-03 -4.90302261e-04 9.99975651e-01 -1.74640662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.759928851 meters 0.08358977099937963 Centerline is valid? [True, True] Translation: X:52.84, Y:-5.09, Z:-1.74 [[ 9.99725689e-01 2.24874328e-02 -6.54698659e-03 5.28444633e+01] [-2.24838978e-02 9.99747017e-01 6.13059467e-04 -5.08714482e+00] [ 6.55911645e-03 -4.65689521e-04 9.99978380e-01 -1.74450243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78992885099998 meters 0.08629741162979139 Centerline is valid? [True, True] Translation: X:52.87, Y:-5.09, Z:-1.75 [[ 9.99763428e-01 2.07981328e-02 -6.36599357e-03 5.28720764e+01] [-2.07947593e-02 9.99783588e-01 5.95663577e-04 -5.09269055e+00] [ 6.37700458e-03 -4.63143355e-04 9.99979559e-01 -1.74708789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81992885099999 meters 0.08320518750944411 Centerline is valid? [True, True] Translation: X:52.90, Y:-5.09, Z:-1.75 [[ 9.99773747e-01 2.00231436e-02 -7.17837085e-03 5.29014206e+01] [-2.00188365e-02 9.99799378e-01 6.71371276e-04 -5.08608264e+00] [ 7.19037367e-03 -5.27516744e-04 9.99974010e-01 -1.74500844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84992885099999 meters 0.08458075615616857 Centerline is valid? [True, True] Translation: X:52.93, Y:-5.09, Z:-1.75 [[ 9.99807247e-01 1.81031311e-02 -7.59909222e-03 5.29301603e+01] [-1.80982445e-02 9.99835960e-01 7.11333305e-04 -5.08793552e+00] [ 7.61072303e-03 -5.73665964e-04 9.99970873e-01 -1.74748946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87992885099999 meters 0.08505037021875936 Centerline is valid? [True, True] Translation: X:52.96, Y:-5.09, Z:-1.75 [[ 9.99820664e-01 1.76059704e-02 -6.97637187e-03 5.29592710e+01] [-1.76018488e-02 9.99844863e-01 6.51752360e-04 -5.08966731e+00] [ 6.98676431e-03 -5.28838434e-04 9.99975452e-01 -1.74815979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90992885099999 meters 0.08670876922338464 Centerline is valid? [True, True] Translation: X:52.99, Y:-5.09, Z:-1.75 [[ 9.99832186e-01 1.68620041e-02 -7.16054893e-03 5.29868916e+01] [-1.68576583e-02 9.99857677e-01 6.66842129e-04 -5.09386094e+00] [ 7.17077412e-03 -5.46020136e-04 9.99974141e-01 -1.74971246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93992885099999 meters 0.08967812825775509 Centerline is valid? [True, True] Translation: X:53.01, Y:-5.10, Z:-1.75 [[ 9.99840549e-01 1.71652824e-02 -4.92245820e-03 5.30143870e+01] [-1.71632339e-02 9.99852596e-01 4.58095415e-04 -5.09864047e+00] [ 4.92959595e-03 -3.73537070e-04 9.99987780e-01 -1.75212477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96992885099999 meters 0.08393633024326357 Centerline is valid? [True, True] Translation: X:53.04, Y:-5.09, Z:-1.75 [[ 9.99841736e-01 1.71181371e-02 -4.84481997e-03 5.30444381e+01] [-1.71161525e-02 9.99853406e-01 4.50814976e-04 -5.08528186e+00] [ 4.85182686e-03 -3.67818951e-04 9.99988162e-01 -1.74751277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99992885099999 meters 0.08675017554357921 Centerline is valid? [True, True] Translation: X:53.07, Y:-5.09, Z:-1.75 [[ 9.99837342e-01 1.78854644e-02 -2.32376466e-03 5.30725420e+01] [-1.78850102e-02 9.99840027e-01 2.16062032e-04 -5.09070740e+00] [ 2.32725729e-03 -1.74466333e-04 9.99997277e-01 -1.74871386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.029928851 meters 0.08336645731391026 Centerline is valid? [True, True] Translation: X:53.10, Y:-5.08, Z:-1.75 [[ 9.99842632e-01 1.76364783e-02 -1.91452337e-03 5.31012794e+01] [-1.76361733e-02 9.99844455e-01 1.76121468e-04 -5.08318775e+00] [ 1.91733173e-03 -1.42328886e-04 9.99998152e-01 -1.74694282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.059928851 meters 0.08528731610663332 Centerline is valid? [True, True] Translation: X:53.13, Y:-5.09, Z:-1.75 [[ 9.99850438e-01 1.72307970e-02 -1.48356154e-03 5.31291582e+01] [-1.72306137e-02 9.99851533e-01 1.36225581e-04 -5.08827362e+00] [ 1.48568855e-03 -1.10642531e-04 9.99998890e-01 -1.74855940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.089928851 meters 0.08649149938907515 Centerline is valid? [True, True] Translation: X:53.16, Y:-5.09, Z:-1.75 [[ 9.99866032e-01 1.62893920e-02 -1.60437467e-03 5.31565912e+01] [-1.62891764e-02 9.99867312e-01 1.47402362e-04 -5.09013321e+00] [ 1.60656288e-03 -1.21248673e-04 9.99998702e-01 -1.75007774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.119928851 meters 0.08505936727176737 Centerline is valid? [True, True] Translation: X:53.19, Y:-5.09, Z:-1.75 [[ 9.99875090e-01 1.56874233e-02 -1.92611658e-03 5.31857632e+01] [-1.56871102e-02 9.99876934e-01 1.77579810e-04 -5.08526176e+00] [ 1.92866531e-03 -1.47342426e-04 9.99998129e-01 -1.74949796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14992885099998 meters 0.08477449703366817 Centerline is valid? [True, True] Translation: X:53.21, Y:-5.09, Z:-1.75 [[ 9.99880674e-01 1.53748031e-02 -1.50092128e-03 5.32146522e+01] [-1.53746133e-02 9.99881794e-01 1.37917871e-04 -5.08566764e+00] [ 1.50286432e-03 -1.14825329e-04 9.99998864e-01 -1.75025746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17992885099999 meters 0.08535632467229672 Centerline is valid? [True, True] Translation: X:53.24, Y:-5.09, Z:-1.75 [[ 9.99889998e-01 1.47986952e-02 -9.94915463e-04 5.32431866e+01] [-1.47986121e-02 9.99890490e-01 9.08264509e-05 -5.08779644e+00] [ 9.96150623e-04 -7.60930918e-05 9.99999501e-01 -1.75123976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20992885099999 meters 0.0861566810336321 Centerline is valid? [True, True] Translation: X:53.27, Y:-5.09, Z:-1.75 [[ 9.99902194e-01 1.38894226e-02 -1.63896201e-03 5.32713317e+01] [-1.38891944e-02 9.99903529e-01 1.50542242e-04 -5.09074192e+00] [ 1.64089485e-03 -1.27763656e-04 9.99998646e-01 -1.75235512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23992885099999 meters 0.0858463919840829 Centerline is valid? [True, True] Translation: X:53.30, Y:-5.09, Z:-1.75 [[ 9.99908780e-01 1.34407751e-02 -1.33295104e-03 5.33005601e+01] [-1.34406243e-02 9.99909663e-01 1.22040594e-04 -5.08984530e+00] [ 1.33447094e-03 -1.04113768e-04 9.99999104e-01 -1.75310026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26992885099999 meters 0.0891780005238886 Centerline is valid? [True, True] Translation: X:53.33, Y:-5.10, Z:-1.76 [[ 9.99916660e-01 1.29089950e-02 -1.75047202e-04 5.33274241e+01] [-1.29089927e-02 9.99916675e-01 1.46540355e-05 -5.09849401e+00] [ 1.75221785e-04 -1.23931312e-05 9.99999985e-01 -1.75624012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29992885099999 meters 0.08936727619480685 Centerline is valid? [True, True] Translation: X:53.36, Y:-5.10, Z:-1.76 [[ 9.99923668e-01 1.23408709e-02 -6.01449533e-04 5.33550599e+01] [-1.23408408e-02 9.99923847e-01 5.37851005e-05 -5.10032911e+00] [ 6.02067486e-04 -4.63586020e-05 9.99999818e-01 -1.75685597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32992885099999 meters 0.09031335712796343 Centerline is valid? [True, True] Translation: X:53.38, Y:-5.10, Z:-1.76 [[ 9.99936893e-01 1.12281074e-02 3.74919581e-04 5.33835017e+01] [-1.12280946e-02 9.99936962e-01 -3.62055950e-05 -5.10181860e+00] [-3.75302467e-04 3.19936776e-05 9.99999929e-01 -1.75788274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35992885099999 meters 0.09157865716458652 Centerline is valid? [True, True] Translation: X:53.41, Y:-5.11, Z:-1.76 [[ 9.99946239e-01 1.03685325e-02 -1.13745065e-04 5.34119811e+01] [-1.03685315e-02 9.99946245e-01 9.38226941e-06 -5.10599848e+00] [ 1.13836231e-04 -8.20239571e-06 9.99999993e-01 -1.75971109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.389928851 meters 0.09155005958539586 Centerline is valid? [True, True] Translation: X:53.44, Y:-5.11, Z:-1.76 [[ 9.99972425e-01 7.41928223e-03 -3.20569839e-04 5.34420617e+01] [-7.41927312e-03 9.99972476e-01 2.95853097e-05 -5.10584608e+00] [ 3.20780517e-04 -2.72060987e-05 9.99999948e-01 -1.76092230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.419928851 meters 0.08853062930798702 Centerline is valid? [True, True] Translation: X:53.47, Y:-5.10, Z:-1.76 [[ 9.99980867e-01 6.14017215e-03 -7.50452166e-04 5.34719481e+01] [-6.14012273e-03 9.99981147e-01 6.81461011e-05 -5.10085866e+00] [ 7.50856447e-04 -6.35369288e-05 9.99999716e-01 -1.75946963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.449928851 meters 0.08940436015946661 Centerline is valid? [True, True] Translation: X:53.50, Y:-5.10, Z:-1.76 [[ 9.99988568e-01 4.77191100e-03 -3.03274371e-04 5.35008593e+01] [-4.77190308e-03 9.99988614e-01 2.68063215e-05 -5.10407514e+00] [ 3.03398835e-04 -2.53588192e-05 9.99999954e-01 -1.76037726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.479928851 meters 0.09600536282369938 Centerline is valid? [True, True] Translation: X:53.53, Y:-5.12, Z:-1.76 [[ 9.99998680e-01 1.61612038e-03 1.68115601e-04 5.35285489e+01] [-1.61611765e-03 9.99998694e-01 -1.63768737e-05 -5.11790398e+00] [-1.68141848e-04 1.61051575e-05 9.99999986e-01 -1.76350065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50992885099998 meters 0.09194051754513494 Centerline is valid? [True, True] Translation: X:53.56, Y:-5.11, Z:-1.76 [[ 9.99999746e-01 -4.50238615e-05 7.10798617e-04 5.35598630e+01] [ 4.50705243e-05 9.99999997e-01 -6.56325257e-05 -5.11189348e+00] [-7.10795659e-04 6.56645451e-05 9.99999745e-01 -1.76157379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53992885099998 meters 0.09549423231250512 Centerline is valid? [True, True] Translation: X:53.59, Y:-5.12, Z:-1.76 [[ 9.99996945e-01 -2.05282154e-03 1.37723916e-03 5.35888135e+01] [ 2.05299810e-03 9.99997885e-01 -1.26795053e-04 -5.11956354e+00] [-1.37697596e-03 1.29622135e-04 9.99999044e-01 -1.76314284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56992885099999 meters 0.09608299775475397 Centerline is valid? [True, True] Translation: X:53.62, Y:-5.12, Z:-1.76 [[ 9.99994709e-01 -2.31450331e-03 2.28596689e-03 5.36198195e+01] [ 2.31498687e-03 9.99997299e-01 -2.08909754e-04 -5.12276237e+00] [-2.28547719e-03 2.14200632e-04 9.99997365e-01 -1.76327334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59992885099999 meters 0.09672770576933871 Centerline is valid? [True, True] Translation: X:53.65, Y:-5.12, Z:-1.76 [[ 9.99993524e-01 -2.45143104e-03 2.63501257e-03 5.36518226e+01] [ 2.45207779e-03 9.99996964e-01 -2.42241303e-04 -5.12452949e+00] [-2.63441073e-03 2.48700990e-04 9.99996499e-01 -1.76406719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62992885099999 meters 0.09724236991768641 Centerline is valid? [True, True] Translation: X:53.68, Y:-5.13, Z:-1.77 [[ 9.99993067e-01 -2.45675269e-03 2.79833694e-03 5.36839562e+01] [ 2.45748292e-03 9.99996947e-01 -2.57542551e-04 -5.12712755e+00] [-2.79769568e-03 2.64417631e-04 9.99996051e-01 -1.76508581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65992885099999 meters 0.09838664125426319 Centerline is valid? [True, True] Translation: X:53.71, Y:-5.13, Z:-1.77 [[ 9.99993174e-01 -1.63692612e-03 3.31237239e-03 5.37141853e+01] [ 1.63794981e-03 9.99998612e-01 -3.06361291e-04 -5.13005937e+00] [-3.31186630e-03 3.11784699e-04 9.99994467e-01 -1.76621835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68992885099999 meters 0.0990804709589618 Centerline is valid? [True, True] Translation: X:53.74, Y:-5.13, Z:-1.77 [[ 9.99991534e-01 -1.00882708e-03 3.98913822e-03 5.37448219e+01] [ 1.01030617e-03 9.99999422e-01 -3.68781305e-04 -5.13318075e+00] [-3.98876388e-03 3.72808434e-04 9.99991975e-01 -1.76752195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71992885099999 meters 0.09742662172090631 Centerline is valid? [True, True] Translation: X:53.78, Y:-5.13, Z:-1.77 [[ 9.99995498e-01 -1.04472795e-03 2.81296381e-03 5.37775502e+01] [ 1.04546124e-03 9.99999420e-01 -2.59224562e-04 -5.13085389e+00] [-2.81269136e-03 2.62164239e-04 9.99996010e-01 -1.76798206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74992885099999 meters 0.09742662172090631 Centerline is valid? [True, True] Translation: X:53.81, Y:-5.13, Z:-1.77 [[ 9.99995564e-01 -9.79040886e-04 2.81294721e-03 5.38092426e+01] [ 9.79774419e-04 9.99999486e-01 -2.59404137e-04 -5.13387104e+00] [-2.81269179e-03 2.62159041e-04 9.99996010e-01 -1.76873290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.779928851 meters 0.09728967003454055 Centerline is valid? [True, True] Translation: X:53.84, Y:-5.14, Z:-1.77 [[ 9.99994674e-01 -1.28233806e-03 3.00140665e-03 5.38409417e+01] [ 1.28317647e-03 9.99999138e-01 -2.77426818e-04 -5.13524052e+00] [-3.00104831e-03 2.81276675e-04 9.99995457e-01 -1.76927578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.809928851 meters 0.10033536587999758 Centerline is valid? [True, False] Translation: X:53.84, Y:-5.13, Z:-1.77 [[ 9.99995026e-01 -1.30364570e-03 2.87198048e-03 5.38413124e+01] [ 1.30489402e-03 9.99999055e-01 -4.32824078e-04 -5.13443924e+00] [-2.87141352e-03 4.36569556e-04 9.99995782e-01 -1.76943636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.839928851 meters 0.09593272093615657 Centerline is valid? [False, True] Translation: X:53.84, Y:-5.13, Z:-1.77 [[ 9.99995475e-01 -1.22196181e-03 2.74897170e-03 5.38419272e+01] [ 1.22324830e-03 9.99999143e-01 -4.66355250e-04 -5.13367344e+00] [-2.74839947e-03 4.69715815e-04 9.99996113e-01 -1.76994627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.869928851 meters 0.09965122821228727 Centerline is valid? [True, True] Translation: X:53.87, Y:-5.14, Z:-1.77 [[ 9.99995505e-01 -1.25649502e-03 2.72247601e-03 5.38725723e+01] [ 1.25718291e-03 9.99999178e-01 -2.50972805e-04 -5.14104177e+00] [-2.72215843e-03 2.54394327e-04 9.99996263e-01 -1.77254298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89992885099998 meters 0.09685998505986537 Centerline is valid? [True, True] Translation: X:53.91, Y:-5.14, Z:-1.77 [[ 9.99995405e-01 -8.43184371e-04 2.91194726e-03 5.39055545e+01] [ 8.43969308e-04 9.99999608e-01 -2.68338919e-04 -5.13760227e+00] [-2.91171986e-03 2.70795280e-04 9.99995724e-01 -1.77313138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92992885099999 meters 0.10096284890586028 Centerline is valid? [True, False] Translation: X:53.91, Y:-5.14, Z:-1.77 [[ 9.99995953e-01 -8.01534736e-04 2.72969604e-03 5.39062014e+01] [ 8.02577216e-04 9.99999605e-01 -3.80829209e-04 -5.13654532e+00] [-2.72938971e-03 3.83018460e-04 9.99996202e-01 -1.77354867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95992885099999 meters 0.09720542329011422 Centerline is valid? [False, True] Translation: X:53.91, Y:-5.13, Z:-1.77 [[ 9.99996676e-01 -7.71245543e-04 2.46049071e-03 5.39071943e+01] [ 7.73025783e-04 9.99999440e-01 -7.22661565e-04 -5.13446042e+00] [-2.45993198e-03 7.24561186e-04 9.99996712e-01 -1.77420411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98992885099999 meters 0.09652761197414994 Centerline is valid? [True, True] Translation: X:53.94, Y:-5.14, Z:-1.78 [[ 9.99997423e-01 -6.80326057e-05 2.26906388e-03 5.39389372e+01] [ 6.85023581e-05 9.99999976e-01 -2.06947671e-04 -5.13534574e+00] [-2.26904974e-03 2.07102574e-04 9.99997404e-01 -1.77568695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01992885099999 meters 0.09661347593266419 Centerline is valid? [True, True] Translation: X:53.97, Y:-5.14, Z:-1.78 [[ 9.99994375e-01 1.25570102e-03 3.11021160e-03 5.39694067e+01] [-1.25482261e-03 9.99999172e-01 -2.84362554e-04 -5.13611061e+00] [-3.11056610e-03 2.80458190e-04 9.99995123e-01 -1.77624706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04992885099999 meters 0.09866683144839883 Centerline is valid? [True, True] Translation: X:54.00, Y:-5.14, Z:-1.78 [[ 9.99992845e-01 1.48518478e-03 3.47910386e-03 5.39992148e+01] [-1.48409127e-03 9.99998849e-01 -3.16867708e-04 -5.14213123e+00] [-3.47957047e-03 3.11702133e-04 9.99993898e-01 -1.77680539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07992885099999 meters 0.10179655482804045 Centerline is valid? [True, False] Translation: X:54.00, Y:-5.14, Z:-1.78 [[ 9.99993265e-01 9.99649103e-04 3.53137085e-03 5.39986795e+01] [-9.95883716e-04 9.99998934e-01 -1.06786515e-03 -5.14040531e+00] [-3.53243458e-03 1.06434112e-03 9.99993195e-01 -1.77617205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10992885099999 meters 0.09342071841922106 Centerline is valid? [False, True] Translation: X:54.00, Y:-5.14, Z:-1.78 [[ 9.99993891e-01 9.60366537e-04 3.36076970e-03 5.39988964e+01] [-9.56065242e-04 9.99998722e-01 -1.28122674e-03 -5.13987309e+00] [-3.36199585e-03 1.27800580e-03 9.99993532e-01 -1.77594861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.139928851 meters 0.09102496434959315 Centerline is valid? [True, True] Translation: X:54.03, Y:-5.14, Z:-1.78 [[ 9.99993071e-01 1.49581032e-03 3.40895362e-03 5.40302141e+01] [-1.49477362e-03 9.99998836e-01 -3.06639138e-04 -5.13736842e+00] [-3.40940833e-03 3.01541399e-04 9.99994142e-01 -1.77657250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.169928851 meters 0.09468311613682519 Centerline is valid? [True, True] Translation: X:54.06, Y:-5.15, Z:-1.78 [[ 9.99990167e-01 1.71850649e-03 4.08799433e-03 5.40593910e+01] [-1.71701498e-03 9.99998458e-01 -3.68332777e-04 -5.14669726e+00] [-4.08862101e-03 3.61310008e-04 9.99991576e-01 -1.77825434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.199928851 meters 0.09059491899147862 Centerline is valid? [True, True] Translation: X:54.09, Y:-5.14, Z:-1.78 [[ 9.99989497e-01 1.94237996e-03 4.15132403e-03 5.40918434e+01] [-1.94084482e-03 9.99998047e-01 -3.73790595e-04 -5.14114518e+00] [-4.15204197e-03 3.65729593e-04 9.99991313e-01 -1.77784494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.229928851 meters 0.09617875216373187 Centerline is valid? [True, True] Translation: X:54.12, Y:-5.15, Z:-1.78 [[ 9.99990825e-01 2.24311456e-03 3.64949932e-03 5.41221771e+01] [-2.24194303e-03 9.99997434e-01 -3.25069409e-04 -5.15469679e+00] [-3.65021913e-03 3.16884457e-04 9.99993288e-01 -1.78105986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25992885099998 meters 0.09367280670197423 Centerline is valid? [True, True] Translation: X:54.15, Y:-5.15, Z:-1.78 [[ 9.99996888e-01 1.60330830e-03 1.91115567e-03 5.41534023e+01] [-1.60298148e-03 9.99998700e-01 -1.72525582e-04 -5.15273053e+00] [-1.91142980e-03 1.69461498e-04 9.99998159e-01 -1.78183636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28992885099998 meters 0.09477500273716434 Centerline is valid? [True, True] Translation: X:54.18, Y:-5.16, Z:-1.78 [[ 9.99998932e-01 2.16594855e-04 1.44555220e-03 5.41830662e+01] [-2.16406030e-04 9.99999968e-01 -1.30779530e-04 -5.15775062e+00] [-1.44558048e-03 1.30466564e-04 9.99998947e-01 -1.78319227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31992885099999 meters 0.09459172383582143 Centerline is valid? [True, True] Translation: X:54.21, Y:-5.16, Z:-1.78 [[ 9.99998960e-01 -1.11601372e-03 9.13419802e-04 5.42143822e+01] [ 1.11608900e-03 9.99999374e-01 -8.19124751e-05 -5.16024941e+00] [-9.13327815e-04 8.29318477e-05 9.99999579e-01 -1.78377503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34992885099999 meters 0.09822988206849112 Centerline is valid? [True, True] Translation: X:54.24, Y:-5.17, Z:-1.79 [[ 9.99997572e-01 -2.07555401e-03 7.40841428e-04 5.42442594e+01] [ 2.07560397e-03 9.99997844e-01 -6.66842546e-05 -5.16972812e+00] [-7.40701424e-04 6.82217860e-05 9.99999723e-01 -1.78541946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37992885099999 meters 0.09547382161381594 Centerline is valid? [True, True] Translation: X:54.28, Y:-5.17, Z:-1.78 [[ 9.99991870e-01 -3.97304969e-03 6.89545527e-04 5.42757176e+01] [ 3.97309341e-03 9.99992105e-01 -6.20472997e-05 -5.16688739e+00] [-6.89293566e-04 6.47864241e-05 9.99999760e-01 -1.78382594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40992885099999 meters 0.09928192991059619 Centerline is valid? [True, True] Translation: X:54.31, Y:-5.18, Z:-1.79 [[ 9.99990959e-01 -4.20728695e-03 6.16447615e-04 5.43057812e+01] [ 4.20732146e-03 9.99991148e-01 -5.46993650e-05 -5.17603017e+00] [-6.16212022e-04 5.72924638e-05 9.99999809e-01 -1.78594170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43992885099999 meters 0.0961077843292917 Centerline is valid? [True, True] Translation: X:54.34, Y:-5.17, Z:-1.79 [[ 9.99992596e-01 -3.68699155e-03 1.10183666e-03 5.43381060e+01] [ 3.68710255e-03 9.99993198e-01 -9.87217343e-05 -5.17247504e+00] [-1.10146517e-03 1.02783588e-04 9.99999388e-01 -1.78520664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46992885099999 meters 0.09693780311169138 Centerline is valid? [True, True] Translation: X:54.37, Y:-5.18, Z:-1.79 [[ 9.99993994e-01 -3.10600106e-03 1.53794994e-03 5.43690759e+01] [ 3.10621747e-03 9.99995166e-01 -1.38339213e-04 -5.17628001e+00] [-1.53751282e-03 1.43115589e-04 9.99998808e-01 -1.78522196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49992885099999 meters 0.09702854073404925 Centerline is valid? [True, True] Translation: X:54.40, Y:-5.18, Z:-1.79 [[ 9.99995262e-01 -2.38236833e-03 1.94920361e-03 5.44002128e+01] [ 2.38271606e-03 9.99997146e-01 -1.76090603e-04 -5.17848503e+00] [-1.94877854e-03 1.80734167e-04 9.99998085e-01 -1.78527529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.529928851 meters 0.09675609072826068 Centerline is valid? [True, True] Translation: X:54.43, Y:-5.18, Z:-1.78 [[ 9.99994958e-01 -2.78055007e-04 3.16320824e-03 5.44316279e+01] [ 2.78963162e-04 9.99999920e-01 -2.86662015e-04 -5.17811688e+00] [-3.16312827e-03 2.87542989e-04 9.99994956e-01 -1.78466359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.559928851 meters 0.09628366672772268 Centerline is valid? [True, True] Translation: X:54.46, Y:-5.18, Z:-1.79 [[ 9.99994674e-01 1.40775156e-03 2.94438489e-03 5.44622188e+01] [-1.40697663e-03 9.99998975e-01 -2.65243919e-04 -5.17846942e+00] [-2.94475526e-03 2.61099826e-04 9.99995630e-01 -1.78648763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.589928851 meters 0.09728046656342376 Centerline is valid? [True, True] Translation: X:54.49, Y:-5.18, Z:-1.79 [[ 9.99993640e-01 1.61699293e-03 3.17887587e-03 5.44927056e+01] [-1.61608809e-03 9.99998653e-01 -2.87190683e-04 -5.18216701e+00] [-3.17933598e-03 2.82051513e-04 9.99994906e-01 -1.78848549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.619928851 meters 0.09769445091323979 Centerline is valid? [True, True] Translation: X:54.52, Y:-5.19, Z:-1.79 [[ 9.99990364e-01 2.00431532e-03 3.90571294e-03 5.45229877e+01] [-2.00294470e-03 9.99997931e-01 -3.54809190e-04 -5.18531314e+00] [-3.90641601e-03 3.46982844e-04 9.99992310e-01 -1.78952539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64992885099998 meters 0.09850682003739256 Centerline is valid? [True, True] Translation: X:54.55, Y:-5.19, Z:-1.79 [[ 9.99992500e-01 2.45527316e-03 2.99516290e-03 5.45536322e+01] [-2.45446922e-03 9.99996951e-01 -2.72059146e-04 -5.18711095e+00] [-2.99582175e-03 2.64705570e-04 9.99995477e-01 -1.79133110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67992885099999 meters 0.09883065809464196 Centerline is valid? [True, True] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99991341e-01 2.86635741e-03 3.01687930e-03 5.45843297e+01] [-2.86554253e-03 9.99995857e-01 -2.74392134e-04 -5.18971471e+00] [-3.01765330e-03 2.65744762e-04 9.99995412e-01 -1.79208525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70992885099999 meters 0.10012530321712207 Centerline is valid? [True, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99992144e-01 2.41074230e-03 3.14650801e-03 5.45838971e+01] [-2.40773652e-03 9.99996642e-01 -9.58712778e-04 -5.18790532e+00] [-3.14880865e-03 9.51129284e-04 9.99994590e-01 -1.79184821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73992885099999 meters 0.10052463682447588 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99992182e-01 2.58050768e-03 2.99599874e-03 5.45845513e+01] [-2.57798700e-03 9.99996320e-01 -8.44905554e-04 -5.18756663e+00] [-2.99816800e-03 8.37175303e-04 9.99995155e-01 -1.79235005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76992885099999 meters 0.09947103820569189 Centerline is valid? [False, True] Translation: X:54.59, Y:-5.19, Z:-1.79 [[ 9.99992301e-01 2.71290065e-03 2.83503564e-03 5.45850426e+01] [-2.71068637e-03 9.99996018e-01 -7.84589609e-04 -5.18748285e+00] [-2.83715287e-03 7.76898676e-04 9.99995673e-01 -1.79254607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79992885099999 meters 0.10147001832700774 Centerline is valid? [True, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99992334e-01 2.40029848e-03 3.09364817e-03 5.45844763e+01] [-2.39726260e-03 9.99996642e-01 -9.84662119e-04 -5.18678630e+00] [-3.09600126e-03 9.77238284e-04 9.99994730e-01 -1.79262977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82992885099999 meters 0.10284034384127248 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99991801e-01 2.56323097e-03 3.13497706e-03 5.45847143e+01] [-2.56122736e-03 9.99996513e-01 -6.42962846e-04 -5.18724613e+00] [-3.13661420e-03 6.34928186e-04 9.99994879e-01 -1.79315216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85992885099999 meters 0.10738163152749597 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99990691e-01 2.06957204e-03 3.78613247e-03 5.45832802e+01] [-2.06695571e-03 9.99997622e-01 -6.94810696e-04 -5.18767786e+00] [-3.78756143e-03 6.86978460e-04 9.99992591e-01 -1.79317586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.889928851 meters 0.0965424928770465 Centerline is valid? [False, True] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99989446e-01 2.33786107e-03 3.95494822e-03 5.45834804e+01] [-2.33759783e-03 9.99997265e-01 -7.11807311e-05 -5.18881112e+00] [-3.95510381e-03 6.19349015e-05 9.99992177e-01 -1.79408438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.919928851 meters 0.10393789721204696 Centerline is valid? [True, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99988059e-01 1.90713793e-03 4.49930501e-03 5.45823577e+01] [-1.90652642e-03 9.99998173e-01 -1.40197406e-04 -5.18900935e+00] [-4.49956416e-03 1.31617688e-04 9.99989868e-01 -1.79424186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.949928851 meters 0.10416607648199804 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99988055e-01 1.82451002e-03 4.53441726e-03 5.45822762e+01] [-1.82358435e-03 9.99998316e-01 -2.08269452e-04 -5.18880014e+00] [-4.53478962e-03 1.99998072e-04 9.99989698e-01 -1.79424452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.979928851 meters 0.1167317763232142 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99987675e-01 1.80114067e-03 4.62663380e-03 5.45823323e+01] [-1.80059122e-03 9.99998371e-01 -1.22920421e-04 -5.18856719e+00] [-4.62684766e-03 1.14588230e-04 9.99989290e-01 -1.79467529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00992885099998 meters 0.11791226683028255 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99987936e-01 1.79678602e-03 4.57151882e-03 5.45823394e+01] [-1.79604827e-03 9.99998373e-01 -1.65480165e-04 -5.18871861e+00] [-4.57180872e-03 1.57267500e-04 9.99989537e-01 -1.79449674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03992885099998 meters 0.10587034895486437 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99988061e-01 2.03737991e-03 4.44147125e-03 5.45827970e+01] [-2.03779318e-03 9.99997920e-01 8.85242331e-05 -5.18927134e+00] [-4.44128165e-03 -9.75739760e-05 9.99990133e-01 -1.79472348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06992885099999 meters 0.10704313706722322 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99988091e-01 1.79663506e-03 4.53758670e-03 5.45822535e+01] [-1.79575241e-03 9.99998368e-01 -1.98586306e-04 -5.18889547e+00] [-4.53793608e-03 1.90435559e-04 9.99989685e-01 -1.79422700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09992885099999 meters 0.10619365316988733 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99988762e-01 1.77019493e-03 4.39809349e-03 5.45823779e+01] [-1.76872293e-03 9.99998378e-01 -3.38556885e-04 -5.18856221e+00] [-4.39868567e-03 3.30774071e-04 9.99990271e-01 -1.79394672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12992885099999 meters 0.10400650933623694 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99989450e-01 1.81382433e-03 4.22025992e-03 5.45824980e+01] [-1.81191665e-03 9.99998255e-01 -4.55808577e-04 -5.18866762e+00] [-4.22107931e-03 4.48157009e-04 9.99990991e-01 -1.79347619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15992885099999 meters 0.1055838413026506 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99989809e-01 2.07221131e-03 4.01105512e-03 5.45831216e+01] [-2.07122222e-03 9.99997824e-01 -2.50728388e-04 -5.18903326e+00] [-4.01156595e-03 2.42418046e-04 9.99991924e-01 -1.79370961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18992885099999 meters 0.1059537165882137 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99990220e-01 2.47957804e-03 3.66206025e-03 5.45841098e+01] [-2.47973261e-03 9.99996925e-01 3.76686891e-05 -5.18955664e+00] [-3.66195558e-03 -4.67492509e-05 9.99993294e-01 -1.79398629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21992885099999 meters 0.10217360987350535 Centerline is valid? [False, False] Translation: X:54.58, Y:-5.19, Z:-1.79 [[ 9.99990846e-01 2.71097615e-03 3.31051380e-03 5.45848096e+01] [-2.71101723e-03 9.99996325e-01 7.92013438e-06 -5.18961489e+00] [-3.31048016e-03 -1.68949218e-05 9.99994520e-01 -1.79384309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24992885099999 meters 0.09587541133018246 Centerline is valid? [False, True] Translation: X:54.59, Y:-5.19, Z:-1.79 [[ 9.99991775e-01 2.80686645e-03 2.92786489e-03 5.45854837e+01] [-2.80608652e-03 9.99996026e-01 -2.70453716e-04 -5.18893678e+00] [-2.92861238e-03 2.62235649e-04 9.99995677e-01 -1.79352842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.279928851 meters 0.09339004487477935 Centerline is valid? [True, True] Translation: X:54.62, Y:-5.19, Z:-1.79 [[ 9.99953583e-01 9.21058967e-03 2.82784316e-03 5.46155295e+01] [-9.20983827e-03 9.99957550e-01 -2.78620524e-04 -5.18657743e+00] [-2.83028938e-03 2.52563613e-04 9.99995963e-01 -1.79300208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.309928851 meters 0.09075748819157 Centerline is valid? [True, True] Translation: X:54.65, Y:-5.18, Z:-1.79 [[ 9.99908438e-01 1.32279535e-02 2.85237531e-03 5.46456000e+01] [-1.32272046e-02 9.99912477e-01 -2.81252562e-04 -5.18417348e+00] [-2.85584606e-03 2.43497858e-04 9.99995892e-01 -1.79340771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.339928851 meters 0.08693662820520931 Centerline is valid? [True, True] Translation: X:54.68, Y:-5.18, Z:-1.79 [[ 9.99840352e-01 1.76757524e-02 2.61489057e-03 5.46757768e+01] [-1.76751384e-02 9.99843749e-01 -2.57747421e-04 -5.17968975e+00] [-2.61903787e-03 2.11487720e-04 9.99996548e-01 -1.79331292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.369928851 meters 0.0838148841457944 Centerline is valid? [True, True] Translation: X:54.71, Y:-5.18, Z:-1.79 [[ 9.99624104e-01 2.71291346e-02 3.95738993e-03 5.47054811e+01] [-2.71278043e-02 9.99631898e-01 -3.89455842e-04 -5.17714377e+00] [-3.96649880e-03 2.81954148e-04 9.99992094e-01 -1.79417401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39992885099998 meters 0.08395267483666018 Centerline is valid? [True, True] Translation: X:54.73, Y:-5.18, Z:-1.80 [[ 9.99479520e-01 3.19000204e-02 4.80388851e-03 5.47340854e+01] [-3.18981136e-02 9.99491014e-01 -4.73039457e-04 -5.18015123e+00] [-4.81653336e-03 3.19558268e-04 9.99988349e-01 -1.79532519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42992885099999 meters 0.07962217817706212 Centerline is valid? [True, True] Translation: X:54.77, Y:-5.17, Z:-1.79 [[ 9.99314064e-01 3.68042329e-02 4.10479887e-03 5.47652712e+01] [-3.68028855e-02 9.99322463e-01 -4.03318042e-04 -5.17298358e+00] [-4.11686153e-03 2.51972949e-04 9.99991494e-01 -1.79421434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45992885099999 meters 0.07576393874379249 Centerline is valid? [True, True] Translation: X:54.80, Y:-5.16, Z:-1.79 [[ 9.98907066e-01 4.65519133e-02 4.19442117e-03 5.47964679e+01] [-4.65505919e-02 9.98915849e-01 -4.12181125e-04 -5.16467751e+00] [-4.20906160e-03 2.16477850e-04 9.99991118e-01 -1.79257560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48992885099999 meters 0.07504528683126482 Centerline is valid? [True, True] Translation: X:54.83, Y:-5.17, Z:-1.79 [[ 9.98684968e-01 5.10692446e-02 4.50180056e-03 5.48254605e+01] [-5.10677663e-02 9.98695092e-01 -4.42783847e-04 -5.16594368e+00] [-4.51853876e-03 2.12304673e-04 9.99989769e-01 -1.79377531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51992885099999 meters 0.0737969779890179 Centerline is valid? [True, True] Translation: X:54.85, Y:-5.17, Z:-1.80 [[ 9.98227058e-01 5.94198960e-02 3.46647682e-03 5.48543407e+01] [-5.94190683e-02 9.98233068e-01 -3.41365539e-04 -5.16593779e+00] [-3.48063569e-03 1.34785495e-04 9.99993933e-01 -1.79536179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54992885099999 meters 0.07233087748949624 Centerline is valid? [True, True] Translation: X:54.88, Y:-5.16, Z:-1.80 [[ 9.97992289e-01 6.32271601e-02 3.70373087e-03 5.48846206e+01] [-6.32262441e-02 9.97999153e-01 -3.63980062e-04 -5.16429025e+00] [-3.71933370e-03 1.29076303e-04 9.99993075e-01 -1.79504193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57992885099999 meters 0.07228252807516022 Centerline is valid? [True, True] Translation: X:54.91, Y:-5.17, Z:-1.80 [[ 9.97610536e-01 6.89941077e-02 3.60991922e-03 5.49132201e+01] [-6.89932742e-02 9.97617062e-01 -3.55047727e-04 -5.16747181e+00] [-3.62581321e-03 1.05139206e-04 9.99993421e-01 -1.79761734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60992885099999 meters 0.0714361401119561 Centerline is valid? [True, True] Translation: X:54.94, Y:-5.17, Z:-1.80 [[ 9.97443789e-01 7.13956765e-02 2.92318070e-03 5.49422731e+01] [-7.13951278e-02 9.97448069e-01 -2.91753183e-04 -5.16692028e+00] [-2.93655086e-03 8.23065408e-05 9.99995685e-01 -1.79642664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.639928851 meters 0.07130689871482715 Centerline is valid? [True, True] Translation: X:54.97, Y:-5.17, Z:-1.80 [[ 9.97290155e-01 7.34958260e-02 3.27277847e-03 5.49696290e+01] [-7.34951645e-02 9.97295521e-01 -3.22106302e-04 -5.17020145e+00] [-3.28760078e-03 8.07000514e-05 9.99994593e-01 -1.79745750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.669928851 meters 0.07130689871482715 Centerline is valid? [True, True] Translation: X:55.00, Y:-5.17, Z:-1.80 [[ 9.97308527e-01 7.32461120e-02 3.27245150e-03 5.49968706e+01] [-7.32454381e-02 9.97313892e-01 -3.25455576e-04 -5.17275273e+00] [-3.28749970e-03 8.48874773e-05 9.99994593e-01 -1.79812878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.699928851 meters 0.07109558222299822 Centerline is valid? [True, True] Translation: X:55.03, Y:-5.18, Z:-1.80 [[ 9.97082032e-01 7.62882173e-02 2.74381899e-03 5.50254749e+01] [-7.62877562e-02 9.97085806e-01 -2.72476155e-04 -5.17708273e+00] [-2.75660968e-03 6.23612850e-05 9.99996199e-01 -1.80001231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.729928851 meters 0.07103163496778249 Centerline is valid? [True, True] Translation: X:55.05, Y:-5.18, Z:-1.80 [[ 9.97016463e-01 7.71641094e-02 1.96799749e-03 5.50529564e+01] [-7.71638703e-02 9.97018404e-01 -1.97245534e-04 -5.18057198e+00] [-1.97735000e-03 4.47987410e-05 9.99998044e-01 -1.80065275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75992885099998 meters 0.07098753164318584 Centerline is valid? [True, True] Translation: X:55.08, Y:-5.18, Z:-1.80 [[ 9.96968969e-01 7.77606336e-02 2.48182553e-03 5.50812107e+01] [-7.77602627e-02 9.96972056e-01 -2.45771575e-04 -5.18476593e+00] [-2.49342205e-03 5.20392284e-05 9.99996890e-01 -1.80181567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78992885099998 meters 0.07066673182169847 Centerline is valid? [True, True] Translation: X:55.11, Y:-5.19, Z:-1.80 [[ 9.96899224e-01 7.86718513e-02 1.63616269e-03 5.51086979e+01] [-7.86716873e-02 9.96900566e-01 -1.64430162e-04 -5.18692926e+00] [-1.64402754e-03 3.52006218e-05 9.99998648e-01 -1.80025135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81992885099999 meters 0.0707182865141195 Centerline is valid? [True, True] Translation: X:55.14, Y:-5.19, Z:-1.80 [[ 9.96830629e-01 7.95342345e-02 1.73300746e-03 5.51362501e+01] [-7.95340604e-02 9.96832135e-01 -1.69260807e-04 -5.19270477e+00] [-1.74097955e-03 3.08912371e-05 9.99998484e-01 -1.80128954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84992885099999 meters 0.07106308353113241 Centerline is valid? [True, True] Translation: X:55.16, Y:-5.20, Z:-1.80 [[ 9.96944398e-01 7.80942099e-02 1.77792919e-03 5.51631632e+01] [-7.80940248e-02 9.96945983e-01 -1.73417610e-04 -5.20197792e+00] [-1.78604227e-03 3.40420690e-05 9.99998404e-01 -1.80149796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87992885099999 meters 0.07105293843128015 Centerline is valid? [True, True] Translation: X:55.19, Y:-5.21, Z:-1.80 [[ 9.97089965e-01 7.61947187e-02 2.44249557e-03 5.51912944e+01] [-7.61943580e-02 9.97092956e-01 -2.40549242e-04 -5.20807672e+00] [-2.45372371e-03 5.37448533e-05 9.99996988e-01 -1.80204353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90992885099999 meters 0.07118494026746311 Centerline is valid? [True, True] Translation: X:55.22, Y:-5.21, Z:-1.80 [[ 9.97250839e-01 7.40760818e-02 1.87012471e-03 5.52190492e+01] [-7.40758710e-02 9.97252592e-01 -1.81820435e-04 -5.21451815e+00] [-1.87845526e-03 4.27894648e-05 9.99998235e-01 -1.80155455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93992885099999 meters 0.071895758165552 Centerline is valid? [True, True] Translation: X:55.25, Y:-5.23, Z:-1.80 [[ 9.97672633e-01 6.81639401e-02 1.73060760e-03 5.52461333e+01] [-6.81637508e-02 9.97674133e-01 -1.68171888e-04 -5.22709588e+00] [-1.73804569e-03 4.98157856e-05 9.99998488e-01 -1.80286541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96992885099999 meters 0.07236956072674941 Centerline is valid? [True, True] Translation: X:55.27, Y:-5.23, Z:-1.80 [[ 9.97887240e-01 6.49381144e-02 2.02406681e-03 5.52745920e+01] [-6.49378512e-02 9.97889291e-01 -1.95559025e-04 -5.23433696e+00] [-2.03249383e-03 6.37073061e-05 9.99997932e-01 -1.80259222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99992885099999 meters 0.07325987032753559 Centerline is valid? [True, True] Translation: X:55.30, Y:-5.25, Z:-1.80 [[ 9.98268027e-01 5.87887781e-02 2.19695170e-03 5.53037517e+01] [-5.87884549e-02 9.98270441e-01 -2.11454487e-04 -5.24843753e+00] [-2.20558310e-03 8.19328573e-05 9.99997564e-01 -1.80314699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.029928851 meters 0.0741095796410692 Centerline is valid? [True, True] Translation: X:55.33, Y:-5.26, Z:-1.80 [[ 9.98436184e-01 5.58451291e-02 2.55093389e-03 5.53314560e+01] [-5.58446826e-02 9.98439438e-01 -2.45958930e-04 -5.25810328e+00] [-2.56068860e-03 1.03118203e-04 9.99996716e-01 -1.80493440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.059928851 meters 0.07551886605528328 Centerline is valid? [True, True] Translation: X:55.36, Y:-5.27, Z:-1.81 [[ 9.98706498e-01 5.07950506e-02 2.27889178e-03 5.53598683e+01] [-5.07946830e-02 9.98709093e-01 -2.18912852e-04 -5.27254664e+00] [-2.28706963e-03 1.02874102e-04 9.99997379e-01 -1.80596456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.089928851 meters 0.07524116748544829 Centerline is valid? [True, True] Translation: X:55.39, Y:-5.28, Z:-1.81 [[ 9.98825614e-01 4.84028206e-02 2.13548559e-03 5.53885754e+01] [-4.84024896e-02 9.98827891e-01 -2.06443846e-04 -5.27773412e+00] [-2.14297504e-03 1.02838582e-04 9.99997699e-01 -1.80512035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.119928851 meters 0.07678076719731465 Centerline is valid? [True, True] Translation: X:55.42, Y:-5.29, Z:-1.81 [[ 9.99026105e-01 4.40784353e-02 1.98318268e-03 5.54168245e+01] [-4.40781430e-02 9.99028068e-01 -1.90852869e-04 -5.29041966e+00] [-1.98966766e-03 1.03251989e-04 9.99998015e-01 -1.80595613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14992885099998 meters 0.0775890666023758 Centerline is valid? [True, True] Translation: X:55.44, Y:-5.30, Z:-1.81 [[ 9.99096412e-01 4.24354664e-02 2.36438704e-03 5.54443198e+01] [-4.24350445e-02 9.99099202e-01 -2.28347700e-04 -5.29786085e+00] [-2.37194724e-03 1.27808499e-04 9.99997179e-01 -1.80737175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17992885099999 meters 0.07729786719500198 Centerline is valid? [True, True] Translation: X:55.47, Y:-5.30, Z:-1.81 [[ 9.99180040e-01 4.04435164e-02 1.88957722e-03 5.54731774e+01] [-4.04432442e-02 9.99181821e-01 -1.82046142e-04 -5.30173008e+00] [-1.89539379e-03 1.05476238e-04 9.99998198e-01 -1.80706384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20992885099999 meters 0.07977794297892492 Centerline is valid? [True, True] Translation: X:55.50, Y:-5.32, Z:-1.81 [[ 9.99308493e-01 3.71541465e-02 1.45115504e-03 5.55011465e+01] [-3.71539828e-02 9.99309543e-01 -1.39633634e-04 -5.31659466e+00] [-1.45534105e-03 8.56208865e-05 9.99998937e-01 -1.81115799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23992885099999 meters 0.07771188408539412 Centerline is valid? [True, True] Translation: X:55.53, Y:-5.32, Z:-1.81 [[ 9.99353556e-01 3.59075315e-02 1.76628113e-03 5.55303453e+01] [-3.59072860e-02 9.99355111e-01 -1.70501976e-04 -5.31552866e+00] [-1.77126438e-03 1.06969394e-04 9.99998426e-01 -1.80922289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26992885099999 meters 0.0787817405692388 Centerline is valid? [True, True] Translation: X:55.56, Y:-5.32, Z:-1.81 [[ 9.99428282e-01 3.37988354e-02 8.64258547e-04 5.55585421e+01] [-3.37987755e-02 9.99428655e-01 -8.37978361e-05 -5.32306049e+00] [-8.66597026e-04 5.45390468e-05 9.99999623e-01 -1.81145334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29992885099999 meters 0.08095688017404981 Centerline is valid? [True, True] Translation: X:55.59, Y:-5.33, Z:-1.81 [[ 9.99460287e-01 3.28406155e-02 7.93358678e-04 5.55859399e+01] [-3.28405641e-02 9.99460600e-01 -7.77379385e-05 -5.33159314e+00] [-7.95483702e-04 5.16416357e-05 9.99999682e-01 -1.81361068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32992885099999 meters 0.07906177912160516 Centerline is valid? [True, True] Translation: X:55.62, Y:-5.33, Z:-1.81 [[ 9.99489229e-01 3.19557268e-02 -3.34931438e-04 5.56154788e+01] [-3.19557183e-02 9.99489285e-01 3.07460261e-05 -5.32917449e+00] [ 3.35742895e-04 -2.00273472e-05 9.99999943e-01 -1.81277433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35992885099999 meters 0.07923432902084346 Centerline is valid? [True, True] Translation: X:55.64, Y:-5.33, Z:-1.81 [[ 9.99498550e-01 3.16561203e-02 -7.33648629e-04 5.56435577e+01] [-3.16560789e-02 9.99498818e-01 6.79317923e-05 -5.33305737e+00] [ 7.35431394e-04 -4.46732890e-05 9.99999729e-01 -1.81409543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.389928851 meters 0.07947297311438214 Centerline is valid? [True, True] Translation: X:55.67, Y:-5.34, Z:-1.82 [[ 9.99524944e-01 3.07973333e-02 -1.18746894e-03 5.56720684e+01] [-3.07972225e-02 9.99525647e-01 1.11529040e-04 -5.33669395e+00] [ 1.19034046e-03 -7.49053122e-05 9.99999289e-01 -1.81546506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.419928851 meters 0.0799630951229887 Centerline is valid? [True, True] Translation: X:55.70, Y:-5.34, Z:-1.82 [[ 9.99579478e-01 2.89633257e-02 -1.41157970e-03 5.57015697e+01] [-2.89631657e-02 9.99580471e-01 1.33640922e-04 -5.34101263e+00] [ 1.41485819e-03 -9.27009062e-05 9.99998995e-01 -1.81670260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.449928851 meters 0.08338033195972096 Centerline is valid? [True, True] Translation: X:55.73, Y:-5.35, Z:-1.82 [[ 9.99616369e-01 2.76611139e-02 -1.40641553e-03 5.57295856e+01] [-2.76609551e-02 9.99617354e-01 1.32224194e-04 -5.35150122e+00] [ 1.40953484e-03 -9.32706713e-05 9.99999002e-01 -1.82058670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.479928851 meters 0.08206234100964092 Centerline is valid? [True, True] Translation: X:55.76, Y:-5.35, Z:-1.82 [[ 9.99685092e-01 2.50731766e-02 -1.02620800e-03 5.57599328e+01] [-2.50730899e-02 9.99685616e-01 9.72592994e-05 -5.35031887e+00] [ 1.02832398e-03 -7.14984662e-05 9.99999469e-01 -1.81783459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50992885099998 meters 0.08320255494711601 Centerline is valid? [True, True] Translation: X:55.79, Y:-5.36, Z:-1.82 [[ 9.99726156e-01 2.33966175e-02 -4.60473875e-04 5.57884803e+01] [-2.33966003e-02 9.99726261e-01 4.26089880e-05 -5.35510838e+00] [ 4.61344732e-04 -3.18237966e-05 9.99999893e-01 -1.82000929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53992885099998 meters 0.08254348471828392 Centerline is valid? [True, True] Translation: X:55.82, Y:-5.36, Z:-1.82 [[ 9.99743745e-01 2.26233804e-02 -7.91902621e-04 5.58175340e+01] [-2.26233291e-02 9.99744057e-01 7.36687043e-05 -5.35581730e+00] [ 7.93366574e-04 -5.57343528e-05 9.99999684e-01 -1.81918153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56992885099999 meters 0.08196570953179559 Centerline is valid? [True, True] Translation: X:55.85, Y:-5.35, Z:-1.82 [[ 9.99758290e-01 2.19746024e-02 -6.91303086e-04 5.58461784e+01] [-2.19745634e-02 9.99758528e-01 6.40392975e-05 -5.35475112e+00] [ 6.92543394e-04 -4.88327351e-05 9.99999759e-01 -1.81916285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59992885099999 meters 0.08196570953179559 Centerline is valid? [True, True] Translation: X:55.87, Y:-5.36, Z:-1.82 [[ 9.99760466e-01 2.18753735e-02 -6.91386670e-04 5.58735913e+01] [-2.18753350e-02 9.99760704e-01 6.31579810e-05 -5.35725424e+00] [ 6.92602829e-04 -4.80185375e-05 9.99999759e-01 -1.81983787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62992885099999 meters 0.08298652889864837 Centerline is valid? [True, True] Translation: X:55.90, Y:-5.36, Z:-1.82 [[ 9.99745420e-01 2.25566091e-02 5.42438237e-04 5.59009749e+01] [-2.25565834e-02 9.99745566e-01 -5.34421722e-05 -5.35964633e+00] [-5.43505697e-04 4.11930136e-05 9.99999851e-01 -1.82102693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65992885099999 meters 0.08095246005016356 Centerline is valid? [True, True] Translation: X:55.93, Y:-5.35, Z:-1.82 [[ 9.99712898e-01 2.39587935e-02 3.11310639e-04 5.59310513e+01] [-2.39587851e-02 9.99712947e-01 -3.07109801e-05 -5.35399180e+00] [-3.11957075e-04 2.32435382e-05 9.99999951e-01 -1.82052893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68992885099999 meters 0.08483378980099966 Centerline is valid? [True, True] Translation: X:55.96, Y:-5.36, Z:-1.82 [[ 9.99704788e-01 2.42790438e-02 9.29936913e-04 5.59576669e+01] [-2.42789699e-02 9.99705218e-01 -9.06577555e-05 -5.36374864e+00] [-9.31863869e-04 6.80530820e-05 9.99999563e-01 -1.82450406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71992885099999 meters 0.08360135301210761 Centerline is valid? [True, True] Translation: X:55.99, Y:-5.36, Z:-1.82 [[ 9.99695242e-01 2.46674285e-02 9.70132612e-04 5.59869457e+01] [-2.46673496e-02 9.99695710e-01 -9.32944476e-05 -5.36193704e+00] [-9.72138744e-04 6.93354151e-05 9.99999525e-01 -1.82445156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74992885099999 meters 0.08104412720645465 Centerline is valid? [True, True] Translation: X:56.02, Y:-5.36, Z:-1.82 [[ 9.99679155e-01 2.52733176e-02 1.68727726e-03 5.60165886e+01] [-2.52730816e-02 9.99680572e-01 -1.61070446e-04 -5.35514887e+00] [-1.69080909e-03 1.18376072e-04 9.99998564e-01 -1.82381812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.779928851 meters 0.08536875108725682 Centerline is valid? [True, True] Translation: X:56.04, Y:-5.37, Z:-1.83 [[ 9.99678710e-01 2.52684035e-02 1.99592227e-03 5.60430379e+01] [-2.52680733e-02 9.99680693e-01 -1.90462502e-04 -5.36638598e+00] [-2.00009765e-03 1.39968198e-04 9.99997990e-01 -1.82796916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.809928851 meters 0.08214648284980873 Centerline is valid? [True, True] Translation: X:56.07, Y:-5.36, Z:-1.83 [[ 9.99691245e-01 2.48224659e-02 1.12223025e-03 5.60724095e+01] [-2.48223608e-02 9.99691872e-01 -1.07479953e-04 -5.35886908e+00] [-1.12455238e-03 7.95903642e-05 9.99999365e-01 -1.82548728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.839928851 meters 0.0820895481094054 Centerline is valid? [True, True] Translation: X:56.10, Y:-5.36, Z:-1.83 [[ 9.99699462e-01 2.44261861e-02 2.08503001e-03 5.61006722e+01] [-2.44258210e-02 9.99701625e-01 -2.00397197e-04 -5.35712700e+00] [-2.08930283e-03 1.49408401e-04 9.99997806e-01 -1.82540633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86992885099998 meters 0.08205787995631378 Centerline is valid? [True, True] Translation: X:56.13, Y:-5.36, Z:-1.83 [[ 9.99708063e-01 2.40052609e-02 2.74511916e-03 5.61290859e+01] [-2.40046369e-02 9.99711813e-01 -2.60021185e-04 -5.35816054e+00] [-2.75056993e-03 1.94049687e-04 9.99996198e-01 -1.82608918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89992885099998 meters 0.08365242893678441 Centerline is valid? [True, True] Translation: X:56.16, Y:-5.36, Z:-1.83 [[ 9.99742875e-01 2.24925285e-02 2.87571881e-03 5.61572465e+01] [-2.24918394e-02 9.99746990e-01 -2.71762944e-04 -5.36123321e+00] [-2.88110386e-03 2.07012862e-04 9.99995828e-01 -1.82860633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92992885099999 meters 0.08226833286938352 Centerline is valid? [True, True] Translation: X:56.19, Y:-5.36, Z:-1.83 [[ 9.99764197e-01 2.15373604e-02 2.77344057e-03 5.61857569e+01] [-2.15367139e-02 9.99768024e-01 -2.62767839e-04 -5.35912275e+00] [-2.77845653e-03 2.02975081e-04 9.99996119e-01 -1.82891144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95992885099999 meters 0.08734055397250531 Centerline is valid? [True, True] Translation: X:56.21, Y:-5.37, Z:-1.83 [[ 9.99816390e-01 1.90063709e-02 2.43803668e-03 5.62135043e+01] [-1.90058675e-02 9.99819346e-01 -2.29491368e-04 -5.36989123e+00] [-2.44195803e-03 1.83112229e-04 9.99997002e-01 -1.83298444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98992885099999 meters 0.08373044955802561 Centerline is valid? [True, True] Translation: X:56.24, Y:-5.36, Z:-1.83 [[ 9.99844295e-01 1.75439486e-02 1.89615836e-03 5.62434984e+01] [-1.75436390e-02 9.99846082e-01 -1.79804414e-04 -5.36246238e+00] [-1.89902099e-03 1.46510900e-04 9.99998186e-01 -1.83096016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01992885099999 meters 0.08684554375394532 Centerline is valid? [True, True] Translation: X:56.27, Y:-5.37, Z:-1.83 [[ 9.99867593e-01 1.61085835e-02 2.30417323e-03 5.62715936e+01] [-1.61081248e-02 9.99870232e-01 -2.17511455e-04 -5.37022301e+00] [-2.30737803e-03 1.80366745e-04 9.99997322e-01 -1.83252168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04992885099999 meters 0.08670450772238565 Centerline is valid? [True, True] Translation: X:56.30, Y:-5.37, Z:-1.83 [[ 9.99888445e-01 1.44828973e-02 3.65283871e-03 5.63009577e+01] [-1.44817357e-02 9.99895075e-01 -3.44250192e-04 -5.37022506e+00] [-3.65744118e-03 2.91312345e-04 9.99993269e-01 -1.83261533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07992885099999 meters 0.08717013328681748 Centerline is valid? [True, True] Translation: X:56.33, Y:-5.37, Z:-1.83 [[ 9.99897839e-01 1.36845972e-02 4.12844674e-03 5.63294791e+01] [-1.36831087e-02 9.99906306e-01 -3.88586709e-04 -5.37306586e+00] [-4.13337758e-03 3.32057025e-04 9.99991402e-01 -1.83277245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10992885099999 meters 0.08759061501960337 Centerline is valid? [True, True] Translation: X:56.36, Y:-5.37, Z:-1.83 [[ 9.99923157e-01 1.11996528e-02 5.31479053e-03 5.63600817e+01] [-1.11971621e-02 9.99937186e-01 -4.98163031e-04 -5.37429612e+00] [-5.32003594e-03 4.38614180e-04 9.99985752e-01 -1.83260096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.139928851 meters 0.08619650499180986 Centerline is valid? [True, True] Translation: X:56.39, Y:-5.37, Z:-1.83 [[ 9.99930903e-01 1.04144599e-02 5.45236765e-03 5.63896203e+01] [-1.04118216e-02 9.99945664e-01 -5.12038557e-04 -5.37263761e+00] [-5.45740400e-03 4.55234097e-04 9.99985005e-01 -1.83224349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.169928851 meters 0.08869340626847412 Centerline is valid? [True, True] Translation: X:56.42, Y:-5.38, Z:-1.83 [[ 9.99949673e-01 8.49431185e-03 5.33831835e-03 5.64189600e+01] [-8.49176071e-03 9.99963819e-01 -5.00377480e-04 -5.37788724e+00] [-5.34237556e-03 4.55020576e-04 9.99985626e-01 -1.83371996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.199928851 meters 0.08924628441313501 Centerline is valid? [True, True] Translation: X:56.45, Y:-5.38, Z:-1.84 [[ 9.99959941e-01 7.48096541e-03 4.91451360e-03 5.64487443e+01] [-7.47878952e-03 9.99971927e-01 -4.60977078e-04 -5.38063089e+00] [-4.91782418e-03 4.24203998e-04 9.99987817e-01 -1.83578821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.229928851 meters 0.09266023479625461 Centerline is valid? [True, True] Translation: X:56.48, Y:-5.39, Z:-1.84 [[ 9.99961898e-01 6.94983871e-03 5.28226365e-03 5.64774195e+01] [-6.94732064e-03 9.99975745e-01 -4.94902853e-04 -5.38923957e+00] [-5.28557502e-03 4.58186417e-04 9.99985926e-01 -1.83886075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25992885099998 meters 0.09219712404424509 Centerline is valid? [True, True] Translation: X:56.51, Y:-5.39, Z:-1.84 [[ 9.99978083e-01 5.58086564e-03 3.56199383e-03 5.65077568e+01] [-5.57971175e-03 9.99984378e-01 -3.33799912e-04 -5.38965572e+00] [-3.56380108e-03 3.13917697e-04 9.99993600e-01 -1.84140919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28992885099998 meters 0.09245063659100689 Centerline is valid? [True, True] Translation: X:56.54, Y:-5.39, Z:-1.84 [[ 9.99972638e-01 6.17664460e-03 4.07082483e-03 5.65375814e+01] [-6.17514155e-03 9.99980861e-01 -3.81691722e-04 -5.39208460e+00] [-4.07310449e-03 3.56543358e-04 9.99991641e-01 -1.84331983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31992885099999 meters 0.0922699087699383 Centerline is valid? [True, True] Translation: X:56.57, Y:-5.39, Z:-1.84 [[ 9.99967140e-01 6.76304930e-03 4.46991329e-03 5.65676394e+01] [-6.76124393e-03 9.99977055e-01 -4.18883417e-04 -5.39160513e+00] [-4.47264366e-03 3.88647478e-04 9.99989922e-01 -1.84239835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34992885099999 meters 0.09268761360768397 Centerline is valid? [True, True] Translation: X:56.60, Y:-5.39, Z:-1.84 [[ 9.99962541e-01 7.51626697e-03 4.29201725e-03 5.65968345e+01] [-7.51461540e-03 9.99971685e-01 -4.00797346e-04 -5.39360222e+00] [-4.29490822e-03 3.68529474e-04 9.99990709e-01 -1.84344029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37992885099999 meters 0.09302472412036669 Centerline is valid? [True, True] Translation: X:56.63, Y:-5.40, Z:-1.85 [[ 9.99957373e-01 8.39117386e-03 3.85222684e-03 5.66264304e+01] [-8.38984459e-03 9.99964739e-01 -3.61093694e-04 -5.39554754e+00] [-3.85512101e-03 3.28758717e-04 9.99992515e-01 -1.84541156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40992885099999 meters 0.09394187216966644 Centerline is valid? [True, True] Translation: X:56.65, Y:-5.40, Z:-1.85 [[ 9.99949885e-01 8.87252851e-03 4.63742999e-03 5.66547094e+01] [-8.87060724e-03 9.99960561e-01 -4.34699282e-04 -5.40032177e+00] [-4.64110397e-03 3.93540677e-04 9.99989153e-01 -1.84664982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43992885099999 meters 0.09375787882524561 Centerline is valid? [True, True] Translation: X:56.68, Y:-5.40, Z:-1.85 [[ 9.99952579e-01 8.52428965e-03 4.70917669e-03 5.66833226e+01] [-8.52230429e-03 9.99963587e-01 -4.41498607e-04 -5.40232713e+00] [-4.71276868e-03 4.01344634e-04 9.99988814e-01 -1.84714792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46992885099999 meters 0.09033973642582571 Centerline is valid? [True, True] Translation: X:56.71, Y:-5.40, Z:-1.85 [[ 9.99962371e-01 7.13441646e-03 4.93534035e-03 5.67133145e+01] [-7.13222186e-03 9.99974459e-01 -4.62127785e-04 -5.39736913e+00] [-4.93851131e-03 4.26910453e-04 9.99987714e-01 -1.84521634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49992885099999 meters 0.09834058673821454 Centerline is valid? [True, True] Translation: X:56.74, Y:-5.41, Z:-1.85 [[ 9.99979618e-01 4.43418393e-03 4.59371419e-03 5.67416022e+01] [-4.43225965e-03 9.99990085e-01 -4.28989290e-04 -5.41407013e+00] [-4.59557086e-03 4.08620012e-04 9.99989357e-01 -1.84885329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.529928851 meters 0.09977462739842788 Centerline is valid? [True, True] Translation: X:56.77, Y:-5.42, Z:-1.85 [[ 9.99983099e-01 3.14747129e-03 4.88821444e-03 5.67709144e+01] [-3.14527788e-03 9.99994949e-01 -4.56337816e-04 -5.41956329e+00] [-4.88962606e-03 4.40955311e-04 9.99987948e-01 -1.84942779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.559928851 meters 0.09977462739842788 Centerline is valid? [True, True] Translation: X:56.80, Y:-5.42, Z:-1.85 [[ 9.99982999e-01 3.17905268e-03 4.88827195e-03 5.68017473e+01] [-3.17686263e-03 9.99994850e-01 -4.55721864e-04 -5.42248383e+00] [-4.88969554e-03 4.40184748e-04 9.99987948e-01 -1.85018652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.589928851 meters 0.09114826985400963 Centerline is valid? [True, True] Translation: X:56.83, Y:-5.41, Z:-1.85 [[ 9.99981816e-01 2.29059224e-03 5.57866587e-03 5.68346756e+01] [-2.28772488e-03 9.99997248e-01 -5.20314770e-04 -5.40946565e+00] [-5.57984234e-03 5.07542856e-04 9.99984304e-01 -1.84795350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61992885099998 meters 0.09626495974351948 Centerline is valid? [True, True] Translation: X:56.86, Y:-5.42, Z:-1.85 [[ 9.99991716e-01 -5.56397373e-04 4.03214972e-03 5.68633523e+01] [ 5.57919921e-04 9.99999773e-01 -3.76487017e-04 -5.42132182e+00] [-4.03193933e-03 3.78733514e-04 9.99991800e-01 -1.85113642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64992885099998 meters 0.09376323666761638 Centerline is valid? [True, True] Translation: X:56.90, Y:-5.42, Z:-1.85 [[ 9.99989376e-01 -9.18891036e-04 4.51706064e-03 5.68957169e+01] [ 9.20784999e-04 9.99999489e-01 -4.17229307e-04 -5.41964282e+00] [-4.51667494e-03 4.21384115e-04 9.99989711e-01 -1.85034947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67992885099999 meters 0.09695797263931016 Centerline is valid? [True, True] Translation: X:56.93, Y:-5.43, Z:-1.85 [[ 9.99987774e-01 -2.24594843e-03 4.40545382e-03 5.69252710e+01] [ 2.24778655e-03 9.99997389e-01 -4.12331370e-04 -5.42757591e+00] [-4.40451624e-03 4.22228848e-04 9.99990211e-01 -1.85184791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70992885099999 meters 0.09553900290936426 Centerline is valid? [True, True] Translation: X:56.96, Y:-5.43, Z:-1.85 [[ 9.99988561e-01 -2.50541700e-03 4.07440493e-03 5.69575476e+01] [ 2.50698721e-03 9.99996785e-01 -3.80322690e-04 -5.42765724e+00] [-4.07343897e-03 3.90532821e-04 9.99991627e-01 -1.85218913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73992885099999 meters 0.09709144855749859 Centerline is valid? [True, True] Translation: X:56.99, Y:-5.43, Z:-1.85 [[ 9.99982258e-01 -3.25112288e-03 4.99131601e-03 5.69883696e+01] [ 3.25349390e-03 9.99994598e-01 -4.66984101e-04 -5.43308641e+00] [-4.98977083e-03 4.83215032e-04 9.99987434e-01 -1.85356415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76992885099999 meters 0.09803667386494679 Centerline is valid? [True, True] Translation: X:57.02, Y:-5.44, Z:-1.85 [[ 9.99984935e-01 -3.20681337e-03 4.45483832e-03 5.70205531e+01] [ 3.20870066e-03 9.99994765e-01 -4.16567645e-04 -5.43775498e+00] [-4.45347914e-03 4.30855612e-04 9.99989990e-01 -1.85485686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79992885099999 meters 0.09832909214611027 Centerline is valid? [True, True] Translation: X:57.05, Y:-5.44, Z:-1.86 [[ 9.99984069e-01 -3.21881594e-03 4.63691905e-03 5.70527432e+01] [ 3.22086255e-03 9.99994719e-01 -4.33973589e-04 -5.44147476e+00] [-4.63549768e-03 4.48901554e-04 9.99989155e-01 -1.85544208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82992885099999 meters 0.09998030410720991 Centerline is valid? [True, True] Translation: X:57.08, Y:-5.45, Z:-1.86 [[ 9.99977520e-01 -3.38011703e-03 5.79086162e-03 5.70830546e+01] [ 3.38331823e-03 9.99994129e-01 -5.43095726e-04 -5.44733686e+00] [-5.78899190e-03 5.62675844e-04 9.99983085e-01 -1.85575046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85992885099999 meters 0.10016032808140903 Centerline is valid? [True, False] Translation: X:57.08, Y:-5.45, Z:-1.86 [[ 9.99978482e-01 -3.14960685e-03 5.75463849e-03 5.70832926e+01] [ 3.15067350e-03 9.99995021e-01 -1.76298606e-04 -5.44811817e+00] [-5.75405457e-03 1.94425800e-04 9.99983426e-01 -1.85598829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.889928851 meters 0.10048005214951862 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.45, Z:-1.86 [[ 9.99979784e-01 -2.88321391e-03 5.66731110e-03 5.70836217e+01] [ 2.88215790e-03 9.99995828e-01 1.94492368e-04 -5.44906927e+00] [-5.66784822e-03 -1.78154351e-04 9.99983922e-01 -1.85617557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.919928851 meters 0.0963801489438373 Centerline is valid? [False, True] Translation: X:57.08, Y:-5.45, Z:-1.86 [[ 9.99980921e-01 -2.58865788e-03 5.60868893e-03 5.70840474e+01] [ 2.58505064e-03 9.99996447e-01 6.50305273e-04 -5.44997256e+00] [-5.61035243e-03 -6.35794121e-04 9.99984060e-01 -1.85663796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.949928851 meters 0.1019647919175199 Centerline is valid? [True, False] Translation: X:57.08, Y:-5.45, Z:-1.86 [[ 9.99981391e-01 -2.32923588e-03 5.63851869e-03 5.70843134e+01] [ 2.32294099e-03 9.99996672e-01 1.12269924e-03 -5.45093330e+00] [-5.64111495e-03 -1.10958040e-03 9.99983473e-01 -1.85715827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.979928851 meters 0.10206794707035316 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.45, Z:-1.86 [[ 9.99981864e-01 -2.02153063e-03 5.67313214e-03 5.70843842e+01] [ 2.01183470e-03 9.99996507e-01 1.71428311e-03 -5.45279943e+00] [-5.67657780e-03 -1.70283861e-03 9.99982438e-01 -1.85737773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00992885099998 meters 0.10333913003191773 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.45, Z:-1.86 [[ 9.99981913e-01 -1.86768939e-03 5.71705907e-03 5.70843362e+01] [ 1.85603664e-03 9.99996191e-01 2.04287000e-03 -5.45390126e+00] [-5.72085274e-03 -2.03222198e-03 9.99981571e-01 -1.85745355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03992885099998 meters 0.09936451031392844 Centerline is valid? [False, True] Translation: X:57.08, Y:-5.46, Z:-1.86 [[ 9.99983008e-01 -1.28523816e-03 5.68612694e-03 5.70849179e+01] [ 1.26775956e-03 9.99994464e-01 3.07643848e-03 -5.45622807e+00] [-5.69004942e-03 -3.06917757e-03 9.99979102e-01 -1.85827274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06992885099999 meters 0.10262038619299116 Centerline is valid? [True, False] Translation: X:57.08, Y:-5.46, Z:-1.86 [[ 9.99982300e-01 -1.31813702e-03 5.80184136e-03 5.70845608e+01] [ 1.29960306e-03 9.99994045e-01 3.19710794e-03 -5.45682868e+00] [-5.80602103e-03 -3.18951127e-03 9.99978058e-01 -1.85813663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09992885099999 meters 0.10294817004733543 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.46, Z:-1.86 [[ 9.99982903e-01 -1.00208975e-03 5.76104711e-03 5.70846663e+01] [ 9.80362192e-04 9.99992401e-01 3.77304704e-03 -5.45866625e+00] [-5.76478426e-03 -3.76733462e-03 9.99976287e-01 -1.85817333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12992885099999 meters 0.10286379071434003 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.46, Z:-1.86 [[ 9.99983074e-01 -8.89273568e-04 5.74994509e-03 5.70845759e+01] [ 8.66459050e-04 9.99991748e-01 3.96905452e-03 -5.45956857e+00] [-5.75342721e-03 -3.96400524e-03 9.99975592e-01 -1.85797640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15992885099999 meters 0.101151618592294 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.46, Z:-1.86 [[ 9.99983428e-01 -7.48203274e-04 5.70827383e-03 5.70843359e+01] [ 7.24332090e-04 9.99990990e-01 4.18277880e-03 -5.46094956e+00] [-5.71135197e-03 -4.17857479e-03 9.99974960e-01 -1.85742623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18992885099999 meters 0.10334360543308577 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.46, Z:-1.86 [[ 9.99984146e-01 -7.34987570e-04 5.58277192e-03 5.70843221e+01] [ 7.12120543e-04 9.99991354e-01 4.09688286e-03 -5.46122646e+00] [-5.58573481e-03 -4.09284230e-03 9.99976024e-01 -1.85694526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21992885099999 meters 0.09964072587878002 Centerline is valid? [False, True] Translation: X:57.08, Y:-5.46, Z:-1.86 [[ 9.99985022e-01 -6.33837718e-04 5.43632141e-03 5.70844897e+01] [ 6.11306075e-04 9.99991221e-01 4.14530950e-03 -5.46164916e+00] [-5.43890114e-03 -4.14192415e-03 9.99976631e-01 -1.85669806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24992885099999 meters 0.09943260230463503 Centerline is valid? [True, True] Translation: X:57.12, Y:-5.46, Z:-1.86 [[ 9.99987511e-01 1.51375529e-03 4.76291845e-03 5.71157775e+01] [-1.51148575e-03 9.99998742e-01 -4.80064058e-04 -5.46287974e+00] [-4.76363916e-03 4.72858979e-04 9.99988542e-01 -1.85628269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.279928851 meters 0.09871659587069848 Centerline is valid? [True, True] Translation: X:57.15, Y:-5.47, Z:-1.86 [[ 9.99984702e-01 2.49276997e-03 4.93770390e-03 5.71474522e+01] [-2.49034490e-03 9.99996775e-01 -4.97220809e-04 -5.46521400e+00] [-4.93892744e-03 4.84916617e-04 9.99987686e-01 -1.85686379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.309928851 meters 0.0992553353100292 Centerline is valid? [True, True] Translation: X:57.18, Y:-5.47, Z:-1.86 [[ 9.99974681e-01 4.41570297e-03 5.58025112e-03 5.71772554e+01] [-4.41262723e-03 9.99990106e-01 -5.63375890e-04 -5.47027440e+00] [-5.58268361e-03 5.38738058e-04 9.99984272e-01 -1.85757653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.339928851 meters 0.09990430182256793 Centerline is valid? [True, True] Translation: X:57.21, Y:-5.48, Z:-1.86 [[ 9.99968564e-01 4.76868455e-03 6.33492762e-03 5.72085980e+01] [-4.76473150e-03 9.99988444e-01 -6.38953555e-04 -5.47528877e+00] [-6.33790138e-03 6.08749239e-04 9.99979730e-01 -1.85874939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36992885099998 meters 0.10093514850368437 Centerline is valid? [True, False] Translation: X:57.21, Y:-5.48, Z:-1.86 [[ 9.99967531e-01 4.99065880e-03 6.32695186e-03 5.72087414e+01] [-4.98911223e-03 9.99987520e-01 -2.60201688e-04 -5.47642510e+00] [-6.32817148e-03 2.28627367e-04 9.99979951e-01 -1.85893340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39992885099998 meters 0.1020045707952146 Centerline is valid? [False, False] Translation: X:57.21, Y:-5.48, Z:-1.86 [[ 9.99966449e-01 5.31142625e-03 6.23616494e-03 5.72091562e+01] [-5.31286556e-03 9.99985864e-01 2.14257953e-04 -5.47751379e+00] [-6.23493877e-03 -2.47382670e-04 9.99980532e-01 -1.85926090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42992885099999 meters 0.09557105926983168 Centerline is valid? [False, True] Translation: X:57.21, Y:-5.48, Z:-1.86 [[ 9.99965558e-01 5.33185776e-03 6.36035174e-03 5.72088068e+01] [-5.33477923e-03 9.99985672e-01 4.42448017e-04 -5.47847916e+00] [-6.35790154e-03 -4.76363851e-04 9.99979675e-01 -1.85915303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45992885099999 meters 0.09832248633408562 Centerline is valid? [True, True] Translation: X:57.24, Y:-5.49, Z:-1.86 [[ 9.99971192e-01 4.05673003e-03 6.41538991e-03 5.72385542e+01] [-4.05260372e-03 9.99991573e-01 -6.56058847e-04 -5.48806460e+00] [-6.41799730e-03 6.30040914e-04 9.99979206e-01 -1.86026891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48992885099999 meters 0.09868051612424193 Centerline is valid? [True, True] Translation: X:57.27, Y:-5.49, Z:-1.86 [[ 9.99973536e-01 2.95257529e-03 6.64896309e-03 5.72695471e+01] [-2.94812024e-03 9.99995423e-01 -6.79737643e-04 -5.49220327e+00] [-6.65093964e-03 6.60117712e-04 9.99977664e-01 -1.86108033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51992885099999 meters 0.09896654571964784 Centerline is valid? [True, True] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99982066e-01 1.31319166e-03 5.84322031e-03 5.73007828e+01] [-1.30972277e-03 9.99998964e-01 -5.97447351e-04 -5.49693450e+00] [-5.84399882e-03 5.89783638e-04 9.99982750e-01 -1.86157648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54992885099999 meters 0.10204118476236375 Centerline is valid? [True, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99979077e-01 1.16593502e-03 6.36289681e-03 5.72994738e+01] [-1.16524215e-03 9.99999315e-01 -1.12597816e-04 -5.49947392e+00] [-6.36302373e-03 1.05181144e-04 9.99979750e-01 -1.86114614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57992885099999 meters 0.10298359036752422 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99978495e-01 1.18166324e-03 6.45082959e-03 5.72991239e+01] [-1.18198666e-03 9.99999300e-01 4.63249747e-05 -5.50047415e+00] [-6.45077034e-03 -5.39487730e-05 9.99979192e-01 -1.86088477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60992885099999 meters 0.10614784661395585 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99976885e-01 1.39829211e-03 6.65385236e-03 5.72988362e+01] [-1.40258180e-03 9.99998812e-01 6.40069894e-04 -5.50244931e+00] [-6.65294945e-03 -6.49387671e-04 9.99977658e-01 -1.86107812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.639928851 meters 0.10497285124930071 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99977267e-01 1.57206409e-03 6.55705316e-03 5.72990050e+01] [-1.57752456e-03 9.99998413e-01 8.27674540e-04 -5.50322350e+00] [-6.55574160e-03 -8.37999636e-04 9.99978160e-01 -1.86098240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.669928851 meters 0.10656642886521102 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99977666e-01 1.60324746e-03 6.48818068e-03 5.72991244e+01] [-1.60838248e-03 9.99998397e-01 7.86302776e-04 -5.50325027e+00] [-6.48690965e-03 -7.96720692e-04 9.99978642e-01 -1.86091113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.699928851 meters 0.10474490539014579 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99978910e-01 1.55433454e-03 6.30589233e-03 5.72993301e+01] [-1.55755502e-03 9.99998659e-01 5.05830319e-04 -5.50263608e+00] [-6.30509765e-03 -5.15641425e-04 9.99979990e-01 -1.86061095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.729928851 meters 0.10009692044784126 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99979999e-01 1.80790556e-03 6.06070819e-03 5.73000876e+01] [-1.81209601e-03 9.99998123e-01 6.85992042e-04 -5.50269964e+00] [-6.05945661e-03 -6.96960907e-04 9.99981398e-01 -1.86093728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75992885099998 meters 0.10445399673382774 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99981115e-01 2.22042547e-03 5.73058965e-03 5.73012217e+01] [-2.22634711e-03 9.99996994e-01 1.02716689e-03 -5.50287353e+00] [-5.72829168e-03 -1.03990578e-03 9.99983052e-01 -1.86154225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78992885099998 meters 0.10050959172615927 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99981539e-01 2.03606199e-03 5.72500319e-03 5.73009662e+01] [-2.04021716e-03 9.99997660e-01 7.20046082e-04 -5.50243661e+00] [-5.72352374e-03 -7.31713039e-04 9.99983353e-01 -1.86112474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81992885099999 meters 0.10287566803968039 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99982573e-01 2.03776858e-03 5.54089763e-03 5.73011480e+01] [-2.04087610e-03 9.99997763e-01 5.55235595e-04 -5.50219836e+00] [-5.53975380e-03 -5.66534204e-04 9.99984495e-01 -1.86078762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84992885099999 meters 0.10214932173328022 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99983109e-01 2.23610769e-03 5.36489942e-03 5.73016891e+01] [-2.24006290e-03 9.99997224e-01 7.31342677e-04 -5.50236437e+00] [-5.36324916e-03 -7.43348036e-04 9.99985341e-01 -1.86102255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87992885099999 meters 0.10365629007935509 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99983487e-01 2.14227018e-03 5.33250699e-03 5.73015790e+01] [-2.14518311e-03 9.99997553e-01 5.40598119e-04 -5.50205491e+00] [-5.33133583e-03 -5.52028396e-04 9.99985636e-01 -1.86075536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90992885099999 meters 0.10496135303263832 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99983671e-01 2.01154897e-03 5.34903656e-03 5.73013072e+01] [-2.01339438e-03 9.99997915e-01 3.39637416e-04 -5.50196923e+00] [-5.34834221e-03 -3.50401590e-04 9.99985636e-01 -1.86038631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93992885099999 meters 0.10678731835506898 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99983011e-01 2.29551068e-03 5.35797537e-03 5.73016160e+01] [-2.29966118e-03 9.99997060e-01 7.68607532e-04 -5.50289027e+00] [-5.35619527e-03 -7.80916002e-04 9.99985351e-01 -1.86086031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96992885099999 meters 0.1069879920874262 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99982669e-01 2.56624679e-03 5.29866985e-03 5.73020706e+01] [-2.57237012e-03 9.99996031e-01 1.14914384e-03 -5.50355784e+00] [-5.29569984e-03 -1.16275406e-03 9.99985302e-01 -1.86133870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99992885099999 meters 0.10960092602738895 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99982279e-01 2.40171612e-03 5.44728696e-03 5.73016409e+01] [-2.40752802e-03 9.99996539e-01 1.06062894e-03 -5.50367621e+00] [-5.44472078e-03 -1.07372464e-03 9.99984601e-01 -1.86117116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.029928851 meters 0.11135477389394252 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99982130e-01 2.50334054e-03 5.42897356e-03 5.73017890e+01] [-2.50987378e-03 9.99996134e-01 1.19692300e-03 -5.50399668e+00] [-5.42595627e-03 -1.21052765e-03 9.99984547e-01 -1.86132871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.059928851 meters 0.1127261187190705 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.50, Z:-1.86 [[ 9.99982151e-01 2.55821263e-03 5.39936096e-03 5.73018066e+01] [-2.56502351e-03 9.99995923e-01 1.25487488e-03 -5.50432107e+00] [-5.39612871e-03 -1.26870197e-03 9.99984636e-01 -1.86124801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.089928851 meters 0.1144872073598348 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.51, Z:-1.86 [[ 9.99980643e-01 2.73764911e-03 5.58730931e-03 5.73014949e+01] [-2.74739416e-03 9.99994717e-01 1.73721067e-03 -5.50603782e+00] [-5.58252392e-03 -1.75252758e-03 9.99982882e-01 -1.86131395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11992885099998 meters 0.11648136332139376 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.51, Z:-1.86 [[ 9.99979643e-01 2.55823219e-03 5.84549107e-03 5.73007228e+01] [-2.56845675e-03 9.99995184e-01 1.74229942e-03 -5.50668224e+00] [-5.84100571e-03 -1.75727784e-03 9.99981397e-01 -1.86097736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14992885099998 meters 0.1075662018711466 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.51, Z:-1.86 [[ 9.99977554e-01 2.36878385e-03 6.26747335e-03 5.72996446e+01] [-2.38119495e-03 9.99995218e-01 1.97351958e-03 -5.50808808e+00] [-6.26276853e-03 -1.98839936e-03 9.99978412e-01 -1.86068042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17992885099999 meters 0.12254358548270641 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.51, Z:-1.86 [[ 9.99976276e-01 2.22846962e-03 6.51775739e-03 5.72989453e+01] [-2.24194180e-03 9.99995364e-01 2.06042132e-03 -5.50894628e+00] [-6.51313559e-03 -2.07498487e-03 9.99976636e-01 -1.86041866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20992885099999 meters 0.10561237131541651 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.51, Z:-1.86 [[ 9.99980137e-01 -1.33075088e-03 6.16071537e-03 5.73001800e+01] [ 1.33903837e-03 9.99998204e-01 -1.34128572e-03 -5.51072565e+00] [-6.15891939e-03 1.34950851e-03 9.99980123e-01 -1.86108952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23992885099999 meters 0.1086795057497526 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.51, Z:-1.86 [[ 9.99979985e-01 -1.07407635e-03 6.23510886e-03 5.73001630e+01] [ 1.07910122e-03 9.99999096e-01 -8.02591303e-04 -5.51234093e+00] [-6.23424118e-03 8.09303552e-04 9.99980239e-01 -1.86128700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26992885099999 meters 0.11606220546730038 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.51, Z:-1.86 [[ 9.99980157e-01 -7.54383205e-04 6.25432492e-03 5.73002936e+01] [ 7.55842676e-04 9.99999688e-01 -2.30993560e-04 -5.51395284e+00] [-6.25414870e-03 2.35716262e-04 9.99980415e-01 -1.86152494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29992885099999 meters 0.1179616300025168 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.52, Z:-1.86 [[ 9.99977645e-01 -6.76246523e-04 6.65224607e-03 5.72993815e+01] [ 6.74133777e-04 9.99999722e-01 3.19836018e-04 -5.51639537e+00] [-6.65246051e-03 -3.15344364e-04 9.99977822e-01 -1.86134959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32992885099999 meters 0.10978108790582403 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.52, Z:-1.86 [[ 9.99978847e-01 -3.75558273e-04 6.49341933e-03 5.72997857e+01] [ 3.71081196e-04 9.99999693e-01 6.90670194e-04 -5.51745052e+00] [-6.49367672e-03 -6.88245999e-04 9.99978679e-01 -1.86140702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35992885099999 meters 0.11046592392066636 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.52, Z:-1.86 [[ 9.99979944e-01 -1.17468964e-04 6.33228879e-03 5.73000666e+01] [ 1.11305714e-04 9.99999520e-01 9.73648900e-04 -5.51846327e+00] [-6.33240012e-03 -9.72924552e-04 9.99979477e-01 -1.86127930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.389928851 meters 0.10997581077279482 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.52, Z:-1.86 [[ 9.99981215e-01 5.54412088e-05 6.12910842e-03 5.73005474e+01] [-6.19903783e-05 9.99999427e-01 1.06835062e-03 -5.51867018e+00] [-6.12904568e-03 -1.06871049e-03 9.99980646e-01 -1.86132936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.419928851 meters 0.10864609836034098 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.52, Z:-1.86 [[ 9.99984263e-01 4.72042001e-04 5.59019088e-03 5.73017128e+01] [-4.78520123e-04 9.99999216e-01 1.15755649e-03 -5.51870069e+00] [-5.58964008e-03 -1.16021330e-03 9.99983705e-01 -1.86134408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.449928851 meters 0.10576002597164649 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.52, Z:-1.86 [[ 9.99986311e-01 7.57129875e-04 5.17739297e-03 5.73024750e+01] [-7.63658146e-04 9.99998916e-01 1.25905793e-03 -5.51897560e+00] [-5.17643409e-03 -1.26299445e-03 9.99985805e-01 -1.86113521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.479928851 meters 0.10576002597164649 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.52, Z:-1.86 [[ 9.99986311e-01 7.57129875e-04 5.17739297e-03 5.73024750e+01] [-7.63658146e-04 9.99998916e-01 1.25905793e-03 -5.51897560e+00] [-5.17643409e-03 -1.26299445e-03 9.99985805e-01 -1.86113521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50992885099998 meters 0.10395608835550667 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.52, Z:-1.86 [[ 9.99988863e-01 1.13423951e-03 4.58127576e-03 5.73036288e+01] [-1.13991421e-03 9.99998586e-01 1.23625055e-03 -5.51875249e+00] [-4.57986708e-03 -1.24145904e-03 9.99988742e-01 -1.86097172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53992885099998 meters 0.10140194609120146 Centerline is valid? [False, False] Translation: X:57.30, Y:-5.52, Z:-1.86 [[ 9.99990000e-01 1.48853915e-03 4.21705313e-03 5.73044937e+01] [-1.49468286e-03 9.99997826e-01 1.45409602e-03 -5.51913605e+00] [-4.21487948e-03 -1.46038464e-03 9.99990051e-01 -1.86108481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56992885099999 meters 0.10353997104090042 Centerline is valid? [False, False] Translation: X:57.31, Y:-5.52, Z:-1.86 [[ 9.99991806e-01 2.17310876e-03 3.41552583e-03 5.73062305e+01] [-2.17897897e-03 9.99996154e-01 1.71590478e-03 -5.51949517e+00] [-3.41178385e-03 -1.72333308e-03 9.99992695e-01 -1.86116592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59992885099999 meters 0.09870569966308786 Centerline is valid? [False, True] Translation: X:57.31, Y:-5.52, Z:-1.86 [[ 9.99992191e-01 2.30107889e-03 3.21297136e-03 5.73065892e+01] [-2.30659830e-03 9.99995869e-01 1.71520450e-03 -5.51955264e+00] [-3.20901126e-03 -1.72260214e-03 9.99993367e-01 -1.86103436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62992885099999 meters 0.09580571411941442 Centerline is valid? [True, True] Translation: X:57.34, Y:-5.52, Z:-1.86 [[ 9.99981868e-01 5.33353876e-03 2.79573416e-03 5.73372914e+01] [-5.33273727e-03 9.99985738e-01 -2.94059955e-04 -5.51670023e+00] [-2.79726267e-03 2.79145708e-04 9.99996049e-01 -1.85995231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65992885099999 meters 0.09562947397717966 Centerline is valid? [True, True] Translation: X:57.37, Y:-5.52, Z:-1.86 [[ 9.99963240e-01 7.82834012e-03 3.49787021e-03 5.73674731e+01] [-7.82709986e-03 9.99969300e-01 -3.68124654e-04 -5.51956199e+00] [-3.50064463e-03 3.40732943e-04 9.99993815e-01 -1.86069425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68992885099999 meters 0.09366143484146086 Centerline is valid? [True, True] Translation: X:57.40, Y:-5.52, Z:-1.86 [[ 9.99913583e-01 1.27488987e-02 3.20816274e-03 5.73976290e+01] [-1.27478797e-02 9.99918685e-01 -3.37870397e-04 -5.51989283e+00] [-3.21220934e-03 2.96943926e-04 9.99994797e-01 -1.86146483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71992885099999 meters 0.09426368146911293 Centerline is valid? [True, True] Translation: X:57.43, Y:-5.52, Z:-1.86 [[ 9.99881895e-01 1.49006789e-02 3.76366437e-03 5.74265227e+01] [-1.48992908e-02 9.99888921e-01 -3.96586935e-04 -5.52442266e+00] [-3.76915572e-03 3.40464167e-04 9.99992839e-01 -1.86301812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74992885099999 meters 0.09090734914987222 Centerline is valid? [True, True] Translation: X:57.46, Y:-5.52, Z:-1.86 [[ 9.99823273e-01 1.84159756e-02 3.77821177e-03 5.74572051e+01] [-1.84146048e-02 9.99830358e-01 -3.97295632e-04 -5.52238876e+00] [-3.78488741e-03 3.27651143e-04 9.99992784e-01 -1.86250126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.779928851 meters 0.09269282036133221 Centerline is valid? [True, True] Translation: X:57.48, Y:-5.53, Z:-1.86 [[ 9.99812028e-01 1.90496525e-02 3.60825509e-03 5.74840524e+01] [-1.90483999e-02 9.99818490e-01 -3.81192271e-04 -5.53021101e+00] [-3.61486173e-03 3.12389131e-04 9.99993418e-01 -1.86445998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.809928851 meters 0.09102851820667639 Centerline is valid? [True, True] Translation: X:57.51, Y:-5.53, Z:-1.86 [[ 9.99804918e-01 1.92543559e-02 4.40406059e-03 5.75130717e+01] [-1.92524971e-02 9.99814546e-01 -4.64095457e-04 -5.53200089e+00] [-4.41217970e-03 3.79215757e-04 9.99990194e-01 -1.86434601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.839928851 meters 0.09253019237140128 Centerline is valid? [True, True] Translation: X:57.54, Y:-5.54, Z:-1.87 [[ 9.99822969e-01 1.84164212e-02 3.85571827e-03 5.75412946e+01] [-1.84149907e-02 9.99830347e-01 -4.06182158e-04 -5.53945208e+00] [-3.86254456e-03 3.35107235e-04 9.99992484e-01 -1.86534191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86992885099998 meters 0.09475099314283418 Centerline is valid? [True, True] Translation: X:57.57, Y:-5.55, Z:-1.87 [[ 9.99839472e-01 1.75898610e-02 3.40980041e-03 5.75688056e+01] [-1.75887387e-02 9.99845242e-01 -3.58865042e-04 -5.54826361e+00] [-3.41558510e-03 2.98833346e-04 9.99994122e-01 -1.86725874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89992885099998 meters 0.09591996844112155 Centerline is valid? [True, True] Translation: X:57.60, Y:-5.56, Z:-1.87 [[ 9.99895880e-01 1.41532079e-02 2.81345873e-03 5.75989685e+01] [-1.41524331e-02 9.99899806e-01 -2.95085691e-04 -5.55578060e+00] [-2.81735325e-03 2.55237680e-04 9.99995999e-01 -1.86888556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92992885099999 meters 0.09758042822065881 Centerline is valid? [True, True] Translation: X:57.63, Y:-5.56, Z:-1.87 [[ 9.99915035e-01 1.24399201e-02 3.89489070e-03 5.76265203e+01] [-1.24384171e-02 9.99922556e-01 -4.09877694e-04 -5.56351682e+00] [-3.89968791e-03 3.61396593e-04 9.99992331e-01 -1.86971521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95992885099999 meters 0.0956880014957424 Centerline is valid? [True, True] Translation: X:57.66, Y:-5.57, Z:-1.87 [[ 9.99964552e-01 7.96654738e-03 2.72568713e-03 5.76563314e+01] [-7.96579682e-03 9.99968232e-01 -2.86110575e-04 -5.56595332e+00] [-2.72787985e-03 2.64388163e-04 9.99996244e-01 -1.86948612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98992885099999 meters 0.09572049721074624 Centerline is valid? [True, True] Translation: X:57.69, Y:-5.57, Z:-1.87 [[ 9.99977873e-01 6.12864457e-03 2.58702432e-03 5.76866387e+01] [-6.12796342e-03 9.99981187e-01 -2.71139882e-04 -5.57011796e+00] [-2.58863737e-03 2.55280692e-04 9.99996617e-01 -1.87041776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01992885099999 meters 0.10296740624702759 Centerline is valid? [True, False] Translation: X:57.69, Y:-5.57, Z:-1.87 [[ 9.99995045e-01 2.13806169e-03 2.31061524e-03 5.76872540e+01] [-2.12830366e-03 9.99988842e-01 -4.21736995e-03 -5.57075709e+00] [-2.31960646e-03 4.21243136e-03 9.99988437e-01 -1.87053354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04992885099999 meters 0.09819133242515554 Centerline is valid? [False, True] Translation: X:57.69, Y:-5.57, Z:-1.87 [[ 9.99994286e-01 2.45806414e-03 2.32084538e-03 5.76875890e+01] [-2.44957530e-03 9.99990326e-01 -3.65343527e-03 -5.57193448e+00] [-2.32980331e-03 3.64772931e-03 9.99990633e-01 -1.87107239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07992885099999 meters 0.09848001066369184 Centerline is valid? [True, True] Translation: X:57.72, Y:-5.58, Z:-1.87 [[ 9.99996285e-01 1.82331322e-03 2.02597355e-03 5.77176685e+01] [-1.82288573e-03 9.99998316e-01 -2.12833683e-04 -5.57766265e+00] [-2.02635820e-03 2.09139774e-04 9.99997925e-01 -1.87356914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10992885099999 meters 0.1026304510997357 Centerline is valid? [True, False] Translation: X:57.72, Y:-5.58, Z:-1.87 [[ 9.99996107e-01 1.51133253e-03 2.34554644e-03 5.77164651e+01] [-1.51067166e-03 9.99998819e-01 -2.83502636e-04 -5.57864019e+00] [-2.34597213e-03 2.79958182e-04 9.99997209e-01 -1.87275184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.139928851 meters 0.09766530149458008 Centerline is valid? [False, True] Translation: X:57.72, Y:-5.58, Z:-1.87 [[ 9.99995728e-01 1.88520467e-03 2.23399191e-03 5.77168044e+01] [-1.88571343e-03 9.99998197e-01 2.25651121e-04 -5.57987482e+00] [-2.23356248e-03 -2.29862825e-04 9.99997479e-01 -1.87288288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.169928851 meters 0.10361099667393635 Centerline is valid? [True, False] Translation: X:57.72, Y:-5.58, Z:-1.87 [[ 9.99995936e-01 1.72673852e-03 2.26867002e-03 5.77163090e+01] [-1.72686268e-03 9.99998508e-01 5.27697543e-05 -5.58006862e+00] [-2.26857552e-03 -5.66872214e-05 9.99997425e-01 -1.87226027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.199928851 meters 0.10187711677248171 Centerline is valid? [False, False] Translation: X:57.72, Y:-5.58, Z:-1.87 [[ 9.99996014e-01 1.78037446e-03 2.19158491e-03 5.77163060e+01] [-1.78057275e-03 9.99998411e-01 8.85338755e-05 -5.58039758e+00] [-2.19142380e-03 -9.24357989e-05 9.99997595e-01 -1.87200106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.229928851 meters 0.09770684597326376 Centerline is valid? [False, True] Translation: X:57.72, Y:-5.58, Z:-1.87 [[ 9.99995937e-01 1.88876235e-03 2.13495056e-03 5.77163054e+01] [-1.88924814e-03 9.99998190e-01 2.25544353e-04 -5.58087176e+00] [-2.13452069e-03 -2.29576888e-04 9.99997696e-01 -1.87178899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25992885099998 meters 0.0971890090961743 Centerline is valid? [True, True] Translation: X:57.75, Y:-5.58, Z:-1.87 [[ 9.99995777e-01 2.00880707e-03 2.10002692e-03 5.77467465e+01] [-2.00834364e-03 9.99997958e-01 -2.22765776e-04 -5.58316700e+00] [-2.10047013e-03 2.18547260e-04 9.99997770e-01 -1.87194220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28992885099998 meters 0.0981090656225435 Centerline is valid? [True, True] Translation: X:57.78, Y:-5.59, Z:-1.87 [[ 9.99995657e-01 2.20038931e-03 1.96076442e-03 5.77765203e+01] [-2.19998567e-03 9.99997558e-01 -2.07993147e-04 -5.58923149e+00] [-1.96121730e-03 2.03678590e-04 9.99998056e-01 -1.87368866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31992885099999 meters 0.09814358273115428 Centerline is valid? [True, True] Translation: X:57.81, Y:-5.59, Z:-1.88 [[ 9.99994303e-01 2.92707829e-03 1.68084126e-03 5.78065512e+01] [-2.92678613e-03 9.99995701e-01 -1.76248115e-04 -5.59499683e+00] [-1.68134993e-03 1.71327648e-04 9.99998572e-01 -1.87584955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34992885099999 meters 0.10183100783290198 Centerline is valid? [True, False] Translation: X:57.81, Y:-5.60, Z:-1.88 [[ 9.99994038e-01 3.01043103e-03 1.69147239e-03 5.78065939e+01] [-3.01039156e-03 9.99995468e-01 -2.58824394e-05 -5.59551924e+00] [-1.69154264e-03 2.07902909e-05 9.99998569e-01 -1.87595540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37992885099999 meters 0.09699944130965263 Centerline is valid? [False, True] Translation: X:57.81, Y:-5.60, Z:-1.88 [[ 9.99994156e-01 3.07445300e-03 1.49549068e-03 5.78069180e+01] [-3.07428361e-03 9.99995268e-01 -1.15554516e-04 -5.59557556e+00] [-1.49583887e-03 1.10956278e-04 9.99998875e-01 -1.87576793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40992885099999 meters 0.09539406681735295 Centerline is valid? [True, True] Translation: X:57.84, Y:-5.59, Z:-1.88 [[ 9.99989109e-01 4.66692515e-03 3.90484108e-05 5.78372142e+01] [-4.66692498e-03 9.99989110e-01 -4.51155578e-06 -5.59492416e+00] [-3.90690406e-05 4.32927064e-06 9.99999999e-01 -1.87653319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43992885099999 meters 0.09539406681735295 Centerline is valid? [True, True] Translation: X:57.87, Y:-5.60, Z:-1.88 [[ 9.99989420e-01 4.59990928e-03 3.89223155e-05 5.78655127e+01] [-4.59990907e-03 9.99989420e-01 -5.71146155e-06 -5.59782925e+00] [-3.89481760e-05 5.53236201e-06 9.99999999e-01 -1.87721821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46992885099999 meters 0.09620486727111248 Centerline is valid? [True, True] Translation: X:57.89, Y:-5.60, Z:-1.88 [[ 9.99987337e-01 5.02013595e-03 -3.51595909e-04 5.78935818e+01] [-5.02012370e-03 9.99987398e-01 3.57098040e-05 -5.60291581e+00] [ 3.51770746e-04 -3.39442968e-05 9.99999938e-01 -1.87816265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49992885099999 meters 0.09632176545428531 Centerline is valid? [True, True] Translation: X:57.92, Y:-5.61, Z:-1.88 [[ 9.99984914e-01 5.45907888e-03 -6.07665590e-04 5.79216979e+01] [-5.45904185e-03 9.99985097e-01 6.25693188e-05 -5.60714001e+00] [ 6.07998105e-04 -5.92511030e-05 9.99999813e-01 -1.87987215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.529928851 meters 0.09769810315083101 Centerline is valid? [True, True] Translation: X:57.95, Y:-5.61, Z:-1.88 [[ 9.99984210e-01 5.48644589e-03 -1.21617978e-03 5.79485949e+01] [-5.48629719e-03 9.99984942e-01 1.25570147e-04 -5.61278768e+00] [ 1.21685040e-03 -1.18895841e-04 9.99999253e-01 -1.88186865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.559928851 meters 0.09412195904864146 Centerline is valid? [True, True] Translation: X:57.98, Y:-5.61, Z:-1.88 [[ 9.99986716e-01 4.95967610e-03 -1.40360005e-03 5.79781204e+01] [-4.95947676e-03 9.99987691e-01 1.45471921e-04 -5.60811536e+00] [ 1.40430426e-03 -1.38508866e-04 9.99999004e-01 -1.88095560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.589928851 meters 0.09438148051537837 Centerline is valid? [True, True] Translation: X:58.01, Y:-5.61, Z:-1.88 [[ 9.99988616e-01 4.30669066e-03 -2.05456852e-03 5.80077176e+01] [-4.30625904e-03 9.99990705e-01 2.14452741e-04 -5.61139154e+00] [ 2.05547300e-03 -2.05602795e-04 9.99997866e-01 -1.88124110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61992885099998 meters 0.09561816798147871 Centerline is valid? [True, True] Translation: X:58.04, Y:-5.62, Z:-1.88 [[ 9.99991910e-01 3.61787335e-03 -1.75797251e-03 5.80350438e+01] [-3.61755891e-03 9.99993440e-01 1.82013329e-04 -5.61682627e+00] [ 1.75861948e-03 -1.75652288e-04 9.99998438e-01 -1.88237707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64992885099998 meters 0.0978767486830258 Centerline is valid? [True, True] Translation: X:58.06, Y:-5.62, Z:-1.88 [[ 9.99996145e-01 3.95299353e-04 -2.74831014e-03 5.80643816e+01] [-3.94510597e-04 9.99999881e-01 2.87532898e-04 -5.62487383e+00] [ 2.74842347e-03 -2.86447552e-04 9.99996182e-01 -1.88485831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67992885099999 meters 0.09889748770359726 Centerline is valid? [True, True] Translation: X:58.09, Y:-5.63, Z:-1.88 [[ 9.99988552e-01 -3.96029113e-03 -2.68562404e-03 5.80937807e+01] [ 3.96105932e-03 9.99992116e-01 2.80778522e-04 -5.63178330e+00] [ 2.68449090e-03 -2.91413223e-04 9.99996354e-01 -1.88492955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70992885099999 meters 0.10177376550149284 Centerline is valid? [True, False] Translation: X:58.09, Y:-5.63, Z:-1.89 [[ 9.99989801e-01 -3.78073212e-03 -2.47054079e-03 5.80935181e+01] [ 3.78284593e-03 9.99992482e-01 8.51497231e-04 -5.63337539e+00] [ 2.46730294e-03 -8.60834222e-04 9.99996586e-01 -1.88518447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73992885099999 meters 0.10129458731936221 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.63, Z:-1.89 [[ 9.99990836e-01 -3.56506951e-03 -2.37011977e-03 5.80934824e+01] [ 3.56821446e-03 9.99992757e-01 1.32401541e-03 -5.63470408e+00] [ 2.36538239e-03 -1.33246038e-03 9.99996315e-01 -1.88540687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76992885099999 meters 0.10312781841502157 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.64, Z:-1.89 [[ 9.99991428e-01 -3.59764489e-03 -2.04951031e-03 5.80927778e+01] [ 3.60099429e-03 9.99992183e-01 1.63290739e-03 -5.63607011e+00] [ 2.04361967e-03 -1.64027367e-03 9.99996567e-01 -1.88530318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79992885099999 meters 0.10416984231557921 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.64, Z:-1.89 [[ 9.99992300e-01 -3.34126864e-03 -2.05791015e-03 5.80930568e+01] [ 3.34551884e-03 9.99992271e-01 2.06533136e-03 -5.63687105e+00] [ 2.05099341e-03 -2.07220024e-03 9.99995750e-01 -1.88569098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82992885099999 meters 0.10667382096023283 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.64, Z:-1.89 [[ 9.99992492e-01 -3.37947349e-03 -1.89599174e-03 5.80924129e+01] [ 3.38365809e-03 9.99991837e-01 2.20823068e-03 -5.63808385e+00] [ 1.88851361e-03 -2.21462949e-03 9.99995764e-01 -1.88520421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85992885099999 meters 0.10690379743206438 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.64, Z:-1.89 [[ 9.99993170e-01 -3.14466739e-03 -1.94211635e-03 5.80927941e+01] [ 3.14955933e-03 9.99991862e-01 2.52097330e-03 -5.63863570e+00] [ 1.93417293e-03 -2.52707289e-03 9.99994936e-01 -1.88557489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.889928851 meters 0.10186103203198126 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.64, Z:-1.89 [[ 9.99993041e-01 -3.04386851e-03 -2.15689063e-03 5.80932865e+01] [ 3.04917407e-03 9.99992323e-01 2.46081525e-03 -5.63818948e+00] [ 2.14938367e-03 -2.46737486e-03 9.99994646e-01 -1.88565664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.919928851 meters 0.10212658498343569 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.64, Z:-1.89 [[ 9.99992868e-01 -2.93626294e-03 -2.37542242e-03 5.80937707e+01] [ 2.94204841e-03 9.99992706e-01 2.43573824e-03 -5.63792910e+00] [ 2.36825312e-03 -2.44270947e-03 9.99994212e-01 -1.88568165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.949928851 meters 0.10181463096925396 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.64, Z:-1.89 [[ 9.99992861e-01 -2.91620223e-03 -2.40286506e-03 5.80938064e+01] [ 2.92198628e-03 9.99992834e-01 2.40716465e-03 -5.63798151e+00] [ 2.39582806e-03 -2.41416860e-03 9.99994216e-01 -1.88561316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97992885099998 meters 0.10286747614271116 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.64, Z:-1.89 [[ 9.99992801e-01 -2.80812687e-03 -2.55183498e-03 5.80943222e+01] [ 2.81427656e-03 9.99993137e-01 2.40952015e-03 -5.63756838e+00] [ 2.54505123e-03 -2.41668438e-03 9.99993841e-01 -1.88592348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00992885099998 meters 0.10256687666843907 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.64, Z:-1.89 [[ 9.99992630e-01 -2.84044958e-03 -2.58295605e-03 5.80943541e+01] [ 2.84640057e-03 9.99993297e-01 2.30319817e-03 -5.63748316e+00] [ 2.57639662e-03 -2.31053332e-03 9.99994012e-01 -1.88587118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03992885099998 meters 0.10155277460161818 Centerline is valid? [False, False] Translation: X:58.09, Y:-5.64, Z:-1.89 [[ 9.99992143e-01 -2.84547739e-03 -2.75989577e-03 5.80947966e+01] [ 2.85116861e-03 9.99993813e-01 2.06037605e-03 -5.63663290e+00] [ 2.75401594e-03 -2.06822879e-03 9.99994069e-01 -1.88601056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06992885099999 meters 0.10212775093525253 Centerline is valid? [False, False] Translation: X:58.10, Y:-5.64, Z:-1.89 [[ 9.99991927e-01 -2.62788667e-03 -3.03967422e-03 5.80957067e+01] [ 2.63436332e-03 9.99994264e-01 2.12866884e-03 -5.63603272e+00] [ 3.03406289e-03 -2.13665926e-03 9.99993115e-01 -1.88649417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09992885099999 meters 0.1035147060931381 Centerline is valid? [False, False] Translation: X:58.10, Y:-5.64, Z:-1.89 [[ 9.99991236e-01 -2.78787159e-03 -3.12337972e-03 5.80957429e+01] [ 2.79341389e-03 9.99994529e-01 1.77149932e-03 -5.63516539e+00] [ 3.11842392e-03 -1.78020869e-03 9.99993553e-01 -1.88628879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12992885099999 meters 0.10282099949579032 Centerline is valid? [False, False] Translation: X:58.10, Y:-5.63, Z:-1.89 [[ 9.99990417e-01 -2.66812595e-03 -3.47096528e-03 5.80966341e+01] [ 2.67364712e-03 9.99995167e-01 1.58700517e-03 -5.63407718e+00] [ 3.46671418e-03 -1.59627010e-03 9.99992717e-01 -1.88660060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15992885099999 meters 0.10183190152057407 Centerline is valid? [False, False] Translation: X:58.10, Y:-5.63, Z:-1.89 [[ 9.99990130e-01 -2.58646817e-03 -3.61256343e-03 5.80971922e+01] [ 2.59217515e-03 9.99995398e-01 1.57597021e-03 -5.63347909e+00] [ 3.60847061e-03 -1.58531905e-03 9.99992233e-01 -1.88699967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18992885099999 meters 0.10146473361770009 Centerline is valid? [False, False] Translation: X:58.10, Y:-5.63, Z:-1.89 [[ 9.99989714e-01 -2.51114580e-03 -3.77705358e-03 5.80979278e+01] [ 2.51655620e-03 9.99995813e-01 1.42836948e-03 -5.63220080e+00] [ 3.77345092e-03 -1.43785995e-03 9.99991847e-01 -1.88758172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21992885099999 meters 0.09458220457833263 Centerline is valid? [False, True] Translation: X:58.10, Y:-5.63, Z:-1.89 [[ 9.99989307e-01 -2.43938433e-03 -3.92873743e-03 5.80984833e+01] [ 2.44481589e-03 9.99996062e-01 1.37831230e-03 -5.63150028e+00] [ 3.92535972e-03 -1.38790260e-03 9.99991333e-01 -1.88793389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24992885099999 meters 0.09536240563710979 Centerline is valid? [True, True] Translation: X:58.13, Y:-5.63, Z:-1.89 [[ 9.99992690e-01 -1.72852083e-03 -3.41054102e-03 5.81273230e+01] [ 1.72966524e-03 9.99998449e-01 3.32628519e-04 -5.63364952e+00] [ 3.40996078e-03 -3.38525182e-04 9.99994129e-01 -1.88806599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.279928851 meters 0.09620582637862057 Centerline is valid? [True, True] Translation: X:58.16, Y:-5.64, Z:-1.89 [[ 9.99989513e-01 -2.26521189e-03 -3.98022140e-03 5.81563009e+01] [ 2.26677894e-03 9.99997355e-01 3.89240884e-04 -5.63767967e+00] [ 3.97932916e-03 -3.98259084e-04 9.99992003e-01 -1.88870349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.309928851 meters 0.10195089118722354 Centerline is valid? [True, False] Translation: X:58.16, Y:-5.64, Z:-1.89 [[ 9.99989863e-01 -2.34733948e-03 -3.84231598e-03 5.81561672e+01] [ 2.34870377e-03 9.99997180e-01 3.50596079e-04 -5.63743749e+00] [ 3.84148217e-03 -3.59616988e-04 9.99992557e-01 -1.88893220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.339928851 meters 0.09779826832276424 Centerline is valid? [False, True] Translation: X:58.16, Y:-5.64, Z:-1.89 [[ 9.99990314e-01 -2.26444653e-03 -3.77413973e-03 5.81563641e+01] [ 2.26651283e-03 9.99997284e-01 5.43301074e-04 -5.63758543e+00] [ 3.77289920e-03 -5.51849948e-04 9.99992730e-01 -1.88943865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36992885099998 meters 0.09779826832276424 Centerline is valid? [True, True] Translation: X:58.19, Y:-5.64, Z:-1.89 [[ 9.99990185e-01 -2.29404565e-03 -3.79047166e-03 5.81855388e+01] [ 2.29550748e-03 9.99997293e-01 3.81353942e-04 -5.64041305e+00] [ 3.78958655e-03 -3.90051255e-04 9.99992743e-01 -1.89006420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39992885099998 meters 0.0956334350610962 Centerline is valid? [True, True] Translation: X:58.22, Y:-5.64, Z:-1.89 [[ 9.99987168e-01 -2.93127577e-03 -4.13166094e-03 5.82159360e+01] [ 2.93301765e-03 9.99995612e-01 4.15596106e-04 -5.63836992e+00] [ 4.13042459e-03 -4.27709008e-04 9.99991378e-01 -1.89016775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42992885099999 meters 0.09426948516547728 Centerline is valid? [True, True] Translation: X:58.25, Y:-5.64, Z:-1.89 [[ 9.99980359e-01 -3.42216489e-03 -5.25084052e-03 5.82461556e+01] [ 3.42498511e-03 9.99993995e-01 5.28200920e-04 -5.63622421e+00] [ 5.24900140e-03 -5.46174596e-04 9.99986075e-01 -1.88987898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45992885099999 meters 0.09766286569965153 Centerline is valid? [True, True] Translation: X:58.27, Y:-5.64, Z:-1.89 [[ 9.99986612e-01 -3.68754996e-03 -3.63021998e-03 5.82736085e+01] [ 3.68887992e-03 9.99993131e-01 3.59730559e-04 -5.64410345e+00] [ 3.62886852e-03 -3.73117189e-04 9.99993346e-01 -1.89164319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48992885099999 meters 0.10172261573585291 Centerline is valid? [True, False] Translation: X:58.27, Y:-5.64, Z:-1.89 [[ 9.99985834e-01 -3.89536535e-03 -3.62751206e-03 5.82737403e+01] [ 3.89530205e-03 9.99992413e-01 -2.45149586e-05 -5.64254437e+00] [ 3.62758003e-03 1.03843562e-05 9.99993420e-01 -1.89184729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51992885099999 meters 0.10118227894592878 Centerline is valid? [False, False] Translation: X:58.27, Y:-5.64, Z:-1.89 [[ 9.99986124e-01 -3.82227233e-03 -3.62520677e-03 5.82739206e+01] [ 3.82253229e-03 9.99992692e-01 6.47824814e-05 -5.64256985e+00] [ 3.62493266e-03 -7.86390524e-05 9.99993427e-01 -1.89211977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54992885099999 meters 0.09861649604825741 Centerline is valid? [False, True] Translation: X:58.27, Y:-5.64, Z:-1.89 [[ 9.99986695e-01 -3.65611633e-03 -3.63894239e-03 5.82743781e+01] [ 3.65725460e-03 9.99993265e-01 3.06196961e-04 -5.64258506e+00] [ 3.63779839e-03 -3.19501426e-04 9.99993332e-01 -1.89276513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57992885099999 meters 0.09910061896920161 Centerline is valid? [True, True] Translation: X:58.30, Y:-5.64, Z:-1.89 [[ 9.99977786e-01 -4.93113378e-03 -4.48459323e-03 5.83047214e+01] [ 4.93323408e-03 9.99987727e-01 4.57394216e-04 -5.64465556e+00] [ 4.48228272e-03 -4.79507604e-04 9.99989840e-01 -1.89303664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60992885099999 meters 0.10091596994298974 Centerline is valid? [True, False] Translation: X:58.30, Y:-5.64, Z:-1.89 [[ 9.99977287e-01 -5.01918885e-03 -4.49812879e-03 5.83048894e+01] [ 5.02058837e-03 9.99987352e-01 2.99897755e-04 -5.64377072e+00] [ 4.49656666e-03 -3.22474197e-04 9.99989838e-01 -1.89325357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.639928851 meters 0.09887964084922989 Centerline is valid? [False, True] Translation: X:58.30, Y:-5.64, Z:-1.89 [[ 9.99991863e-01 -1.45879978e-03 -3.76120136e-03 5.83031605e+01] [ 1.47417008e-03 9.99990562e-01 4.08700954e-03 -5.64359612e+00] [ 3.75520373e-03 -4.09252093e-03 9.99984575e-01 -1.89294587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.669928851 meters 0.09856546570594643 Centerline is valid? [True, True] Translation: X:58.33, Y:-5.64, Z:-1.89 [[ 9.99989243e-01 -1.50631613e-03 -4.38683392e-03 5.83332610e+01] [ 1.50836835e-03 9.99998755e-01 4.64543878e-04 -5.64412271e+00] [ 4.38612870e-03 -4.71155843e-04 9.99990270e-01 -1.89329918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.699928851 meters 0.10087440134450507 Centerline is valid? [True, False] Translation: X:58.33, Y:-5.64, Z:-1.89 [[ 9.99989147e-01 -1.26350015e-03 -4.48438780e-03 5.83341183e+01] [ 1.26664215e-03 9.99998954e-01 6.97880279e-04 -5.64383410e+00] [ 4.48350134e-03 -7.03552820e-04 9.99989702e-01 -1.89426578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72992885099998 meters 0.10324650790506967 Centerline is valid? [False, False] Translation: X:58.33, Y:-5.64, Z:-1.89 [[ 9.99988842e-01 -1.09520895e-03 -4.59529979e-03 5.83347523e+01] [ 1.09918914e-03 9.99999023e-01 8.63707176e-04 -5.64359491e+00] [ 4.59434936e-03 -8.68748642e-04 9.99989069e-01 -1.89484562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75992885099998 meters 0.10319682037519755 Centerline is valid? [False, False] Translation: X:58.33, Y:-5.64, Z:-1.89 [[ 9.99988417e-01 -1.39631016e-03 -4.60619677e-03 5.83345142e+01] [ 1.39817692e-03 9.99998942e-01 4.02076826e-04 -5.64248135e+00] [ 4.60563047e-03 -4.08512446e-04 9.99989311e-01 -1.89449257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78992885099998 meters 0.09943424415658453 Centerline is valid? [False, True] Translation: X:58.34, Y:-5.64, Z:-1.89 [[ 9.99987490e-01 -1.26885031e-03 -4.83833002e-03 5.83353293e+01] [ 1.27052774e-03 9.99999134e-01 3.43638047e-04 -5.64136299e+00] [ 4.83788981e-03 -3.49780981e-04 9.99988236e-01 -1.89497024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81992885099999 meters 0.0956887916634274 Centerline is valid? [True, True] Translation: X:58.36, Y:-5.64, Z:-1.89 [[ 9.99981546e-01 -7.90995422e-04 -6.02346555e-03 5.83649958e+01] [ 7.94770904e-04 9.99999489e-01 6.24427835e-04 -5.63738018e+00] [ 6.02296855e-03 -6.29203587e-04 9.99981664e-01 -1.89355843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84992885099999 meters 0.10311059774496004 Centerline is valid? [True, False] Translation: X:58.36, Y:-5.64, Z:-1.89 [[ 9.99981182e-01 -8.02325118e-04 -6.08210635e-03 5.83649728e+01] [ 8.05738389e-04 9.99999519e-01 5.58769327e-04 -5.63746325e+00] [ 6.08165511e-03 -5.63659399e-04 9.99981348e-01 -1.89333475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87992885099999 meters 0.1040151346365094 Centerline is valid? [False, False] Translation: X:58.36, Y:-5.64, Z:-1.89 [[ 9.99981145e-01 -8.32306429e-04 -6.08414469e-03 5.83649581e+01] [ 8.35571662e-04 9.99999508e-01 5.34156746e-04 -5.63743766e+00] [ 6.08369712e-03 -5.39230413e-04 9.99981349e-01 -1.89331405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90992885099999 meters 0.09643958152800479 Centerline is valid? [False, True] Translation: X:58.37, Y:-5.64, Z:-1.89 [[ 9.99980839e-01 -5.64396304e-04 -6.16471538e-03 5.83655079e+01] [ 5.69797493e-04 9.99999455e-01 8.74424560e-04 -5.63778746e+00] [ 6.16421850e-03 -8.77920444e-04 9.99980616e-01 -1.89385163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93992885099999 meters 0.0948321439189513 Centerline is valid? [True, True] Translation: X:58.40, Y:-5.64, Z:-1.89 [[ 9.99982164e-01 6.86983743e-04 -5.93292800e-03 5.83957319e+01] [-6.83402177e-04 9.99999583e-01 6.05682186e-04 -5.63830261e+00] [ 5.93334162e-03 -6.01616807e-04 9.99982217e-01 -1.89343702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96992885099999 meters 0.09929090906860218 Centerline is valid? [True, True] Translation: X:58.42, Y:-5.65, Z:-1.90 [[ 9.99981704e-01 1.72920532e-03 -5.79676313e-03 5.84231675e+01] [-1.72580950e-03 9.99998336e-01 5.90764464e-04 -5.64991002e+00] [ 5.79777504e-03 -5.80749546e-04 9.99983024e-01 -1.89647253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99992885099999 meters 0.09528924577296893 Centerline is valid? [True, True] Translation: X:58.45, Y:-5.65, Z:-1.90 [[ 9.99970220e-01 4.03024120e-03 -6.58147406e-03 5.84539114e+01] [-4.02591104e-03 9.99991671e-01 6.71047303e-04 -5.64591533e+00] [ 6.58412373e-03 -6.44530891e-04 9.99978117e-01 -1.89565654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.029928851 meters 0.09456777589659804 Centerline is valid? [True, True] Translation: X:58.48, Y:-5.65, Z:-1.90 [[ 9.99955351e-01 4.98955874e-03 -8.02500661e-03 5.84830537e+01] [-4.98315631e-03 9.99987250e-01 8.17607065e-04 -5.64800990e+00] [ 8.02898379e-03 -7.77580697e-04 9.99967465e-01 -1.89650292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.059928851 meters 0.09395717921014624 Centerline is valid? [True, True] Translation: X:58.51, Y:-5.65, Z:-1.90 [[ 9.99957622e-01 6.64442191e-03 -6.37229018e-03 5.85125417e+01] [-6.64041878e-03 9.99977741e-01 6.49159869e-04 -5.65051008e+00] [ 6.37646164e-03 -6.06817683e-04 9.99979486e-01 -1.89684892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.089928851 meters 0.09233908564157246 Centerline is valid? [True, True] Translation: X:58.54, Y:-5.65, Z:-1.90 [[ 9.99935084e-01 9.48647035e-03 -6.31139246e-03 5.85429606e+01] [-9.48259570e-03 9.99954832e-01 6.43555865e-04 -5.65102294e+00] [ 6.31721246e-03 -5.83665706e-04 9.99979876e-01 -1.89643452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11992885099998 meters 0.09418588209504682 Centerline is valid? [True, True] Translation: X:58.57, Y:-5.66, Z:-1.90 [[ 9.99914779e-01 1.13074471e-02 -6.52508795e-03 5.85717219e+01] [-1.13033496e-02 9.99935894e-01 6.64506937e-04 -5.65801503e+00] [ 6.53218353e-03 -5.90694956e-04 9.99978491e-01 -1.89839984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14992885099998 meters 0.09316504330893248 Centerline is valid? [True, True] Translation: X:58.60, Y:-5.66, Z:-1.90 [[ 9.99860968e-01 1.55788222e-02 -5.94521222e-03 5.86010503e+01] [-1.55754941e-02 9.99878511e-01 6.05691375e-04 -5.65966842e+00] [ 5.95392590e-03 -5.13007546e-04 9.99982144e-01 -1.89884200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17992885099999 meters 0.0920323080645997 Centerline is valid? [True, True] Translation: X:58.63, Y:-5.66, Z:-1.90 [[ 9.99833001e-01 1.71383040e-02 -6.34418795e-03 5.86314317e+01] [-1.71345461e-02 9.99852984e-01 6.46228129e-04 -5.66046090e+00] [ 6.35433051e-03 -5.37415429e-04 9.99979667e-01 -1.89838441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20992885099999 meters 0.08574577517928042 Centerline is valid? [True, True] Translation: X:58.66, Y:-5.65, Z:-1.89 [[ 9.99796533e-01 1.95873294e-02 -4.81960406e-03 5.86630662e+01] [-1.95851882e-02 9.99808071e-01 4.91085976e-04 -5.65143038e+00] [ 4.82829810e-03 -3.96593204e-04 9.99988265e-01 -1.89456753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23992885099999 meters 0.08733299507384254 Centerline is valid? [True, True] Translation: X:58.69, Y:-5.66, Z:-1.90 [[ 9.99783548e-01 2.02836509e-02 -4.62932272e-03 5.86904510e+01] [-2.02816923e-02 9.99794195e-01 4.69644999e-04 -5.65881980e+00] [ 4.63789610e-03 -3.75652844e-04 9.99989174e-01 -1.89582313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26992885099999 meters 0.09008082766277264 Centerline is valid? [True, True] Translation: X:58.72, Y:-5.67, Z:-1.90 [[ 9.99789163e-01 1.98364124e-02 -5.30530841e-03 5.87168567e+01] [-1.98338345e-02 9.99803145e-01 5.38084120e-04 -5.66932605e+00] [ 5.31493770e-03 -4.32746063e-04 9.99985782e-01 -1.89935024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29992885099999 meters 0.08642522071405602 Centerline is valid? [True, True] Translation: X:58.75, Y:-5.67, Z:-1.90 [[ 9.99805636e-01 1.87940533e-02 -5.95593952e-03 5.87471039e+01] [-1.87907800e-02 9.99823255e-01 6.05080588e-04 -5.66513348e+00] [ 5.96625875e-03 -4.93046234e-04 9.99982080e-01 -1.89746506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32992885099999 meters 0.08969289738051812 Centerline is valid? [True, True] Translation: X:58.77, Y:-5.68, Z:-1.90 [[ 9.99829336e-01 1.71546406e-02 -6.85693559e-03 5.87748402e+01] [-1.71502593e-02 9.99852680e-01 6.97252225e-04 -5.67638645e+00] [ 6.86788654e-03 -5.79535005e-04 9.99976248e-01 -1.90047991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35992885099999 meters 0.0896140098333369 Centerline is valid? [True, True] Translation: X:58.80, Y:-5.68, Z:-1.90 [[ 9.99872381e-01 1.41945017e-02 -7.33056764e-03 5.88047152e+01] [-1.41894152e-02 9.99899047e-01 7.45422120e-04 -5.68092213e+00] [ 7.34040850e-03 -6.41310522e-04 9.99972853e-01 -1.90094696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.389928851 meters 0.08838252655384965 Centerline is valid? [True, True] Translation: X:58.83, Y:-5.68, Z:-1.90 [[ 9.99893553e-01 1.30451968e-02 -6.53496325e-03 5.88332122e+01] [-1.30411416e-02 9.99914741e-01 6.62770000e-04 -5.68249018e+00] [ 6.54305205e-03 -5.77476069e-04 9.99978427e-01 -1.90005715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.419928851 meters 0.08831221042768946 Centerline is valid? [True, True] Translation: X:58.86, Y:-5.69, Z:-1.90 [[ 9.99906898e-01 1.16261651e-02 -7.14331532e-03 5.88623843e+01] [-1.16212830e-02 9.99932208e-01 7.24574482e-04 -5.68639586e+00] [ 7.15125508e-03 -6.41492534e-04 9.99974224e-01 -1.90020916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.449928851 meters 0.08961235705783517 Centerline is valid? [True, True] Translation: X:58.89, Y:-5.69, Z:-1.90 [[ 9.99938510e-01 8.95470574e-03 -6.54141030e-03 5.88912037e+01] [-8.95055472e-03 9.99959723e-01 6.63575647e-04 -5.69379515e+00] [ 6.54708895e-03 -6.04985593e-04 9.99978385e-01 -1.90040569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47992885099998 meters 0.09045313292762043 Centerline is valid? [True, True] Translation: X:58.92, Y:-5.70, Z:-1.90 [[ 9.99947803e-01 7.60451631e-03 -6.82369300e-03 5.89205095e+01] [-7.59996951e-03 9.99970880e-01 6.92008625e-04 -5.69984579e+00] [ 6.82875669e-03 -6.40112646e-04 9.99976479e-01 -1.90146010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50992885099998 meters 0.09090812524356093 Centerline is valid? [True, True] Translation: X:58.95, Y:-5.70, Z:-1.90 [[ 9.99951839e-01 5.67952886e-03 -8.00389805e-03 5.89500201e+01] [-5.67320945e-03 9.99983578e-01 8.12024972e-04 -5.70448324e+00] [ 8.00837852e-03 -7.66578074e-04 9.99967639e-01 -1.90182766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53992885099998 meters 0.09427790403892601 Centerline is valid? [True, True] Translation: X:58.98, Y:-5.72, Z:-1.91 [[ 9.99950620e-01 1.92374518e-03 -9.74965698e-03 5.89781508e+01] [-1.91419685e-03 9.99997679e-01 9.88587254e-04 -5.71625940e+00] [ 9.75153614e-03 -9.69875676e-04 9.99951982e-01 -1.90548275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56992885099999 meters 0.09565398286094746 Centerline is valid? [True, True] Translation: X:59.01, Y:-5.72, Z:-1.91 [[ 9.99956099e-01 7.26277852e-05 -9.36992129e-03 5.90076976e+01] [-6.37270469e-05 9.99999547e-01 9.50221760e-04 -5.72273915e+00] [ 9.36998605e-03 -9.49582927e-04 9.99955650e-01 -1.90724293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59992885099999 meters 0.09566661491932064 Centerline is valid? [True, True] Translation: X:59.04, Y:-5.73, Z:-1.91 [[ 9.99951711e-01 -1.08073290e-03 -9.76772096e-03 5.90367038e+01] [ 1.09044856e-03 9.99998916e-01 9.89398673e-04 -5.72678652e+00] [ 9.76664110e-03 -1.00000209e-03 9.99951805e-01 -1.90732373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62992885099999 meters 0.09610821060113467 Centerline is valid? [True, True] Translation: X:59.07, Y:-5.73, Z:-1.91 [[ 9.99946637e-01 -2.08703123e-03 -1.01176400e-02 5.90655574e+01] [ 2.09750174e-03 9.99997276e-01 1.02437572e-03 -5.73127203e+00] [ 1.01154745e-02 -1.04554282e-03 9.99948291e-01 -1.90739217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65992885099999 meters 0.09846051295340962 Centerline is valid? [True, True] Translation: X:59.09, Y:-5.74, Z:-1.91 [[ 9.99952691e-01 -3.57447755e-03 -9.04644875e-03 5.90933552e+01] [ 3.58290343e-03 9.99993162e-01 9.15367243e-04 -5.74010098e+00] [ 9.04311493e-03 -9.47736491e-04 9.99958661e-01 -1.90816742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68992885099999 meters 0.0991508699869653 Centerline is valid? [True, True] Translation: X:59.12, Y:-5.74, Z:-1.91 [[ 9.99957593e-01 -3.86340770e-03 -8.35978739e-03 5.91196584e+01] [ 3.87059318e-03 9.99992153e-01 8.43521368e-04 -5.74399522e+00] [ 8.35646293e-03 -8.75842933e-04 9.99964701e-01 -1.90800744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71992885099999 meters 0.09942928425762448 Centerline is valid? [True, True] Translation: X:59.15, Y:-5.75, Z:-1.91 [[ 9.99966454e-01 -3.49442595e-03 -7.40805815e-03 5.91484988e+01] [ 3.50003017e-03 9.99993598e-01 7.43673027e-04 -5.74754257e+00] [ 7.40541201e-03 -7.69576507e-04 9.99972283e-01 -1.90806664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74992885099999 meters 0.10059546207670997 Centerline is valid? [True, False] Translation: X:59.15, Y:-5.75, Z:-1.91 [[ 9.99966934e-01 -3.41023784e-03 -7.38244896e-03 5.91488038e+01] [ 3.41664043e-03 9.99993798e-01 8.54833034e-04 -5.74736528e+00] [ 7.37948799e-03 -8.80027942e-04 9.99972384e-01 -1.90858106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.779928851 meters 0.10004934042349195 Centerline is valid? [False, False] Translation: X:59.15, Y:-5.75, Z:-1.91 [[ 9.99966403e-01 -3.34482720e-03 -7.48358234e-03 5.91493121e+01] [ 3.35118341e-03 9.99994035e-01 8.36975960e-04 -5.74677010e+00] [ 7.48073815e-03 -8.62026698e-04 9.99971647e-01 -1.90901405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.809928851 meters 0.09437518444719549 Centerline is valid? [False, True] Translation: X:59.15, Y:-5.75, Z:-1.91 [[ 9.99965840e-01 -3.43399899e-03 -7.51846110e-03 5.91494553e+01] [ 3.43900368e-03 9.99993874e-01 6.52825940e-04 -5.74599598e+00] [ 7.51617323e-03 -6.78659655e-04 9.99971523e-01 -1.90912560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.839928851 meters 0.09463312186321021 Centerline is valid? [True, True] Translation: X:59.18, Y:-5.75, Z:-1.91 [[ 9.99964348e-01 -4.27891566e-03 -7.27973904e-03 5.91776395e+01] [ 4.28420014e-03 9.99990570e-01 7.10476982e-04 -5.74906866e+00] [ 7.27663033e-03 -7.41639511e-04 9.99973250e-01 -1.90964892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86992885099998 meters 0.09356965032734146 Centerline is valid? [True, True] Translation: X:59.21, Y:-5.75, Z:-1.91 [[ 9.99960482e-01 -4.88031670e-03 -7.43087378e-03 5.92060908e+01] [ 4.88582637e-03 9.99987803e-01 7.23483775e-04 -5.74982940e+00] [ 7.42725232e-03 -7.59761143e-04 9.99972129e-01 -1.91059010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89992885099998 meters 0.09465237312291934 Centerline is valid? [True, True] Translation: X:59.24, Y:-5.75, Z:-1.91 [[ 9.99938741e-01 -6.51372786e-03 -8.94904998e-03 5.92357567e+01] [ 6.52183085e-03 9.99978348e-01 8.76574336e-04 -5.75416960e+00] [ 8.94314645e-03 -9.34884828e-04 9.99959572e-01 -1.91171009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92992885099999 meters 0.09535854015998874 Centerline is valid? [True, True] Translation: X:59.27, Y:-5.76, Z:-1.91 [[ 9.99921948e-01 -8.27860949e-03 -9.35752339e-03 5.92657148e+01] [ 8.28754262e-03 9.99965238e-01 9.16272560e-04 -5.75746062e+00] [ 9.34961264e-03 -9.93751916e-04 9.99955798e-01 -1.91228355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95992885099999 meters 0.09787812237043472 Centerline is valid? [True, True] Translation: X:59.30, Y:-5.76, Z:-1.91 [[ 9.99888632e-01 -1.17763550e-02 -9.16743399e-03 5.92953752e+01] [ 1.17850740e-02 9.99930151e-01 8.97646718e-04 -5.76428413e+00] [ 9.15622265e-03 -1.00558564e-03 9.99957575e-01 -1.91331091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98992885099999 meters 0.09888567537390372 Centerline is valid? [True, True] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99864132e-01 -1.36574070e-02 -9.23003117e-03 5.93249734e+01] [ 1.36663230e-02 9.99906203e-01 9.03597971e-04 -5.76875573e+00] [ 9.21682462e-03 -1.02961579e-03 9.99956994e-01 -1.91517165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01992885099999 meters 0.10039169785107269 Centerline is valid? [True, False] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99865929e-01 -1.36458991e-02 -9.05058980e-03 5.93247225e+01] [ 1.36563231e-02 9.99906153e-01 1.09094216e-03 -5.76941620e+00] [ 9.03485355e-03 -1.21439368e-03 9.99958447e-01 -1.91534498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04992885099999 meters 0.10390205292903473 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.91 [[ 9.99863661e-01 -1.40987783e-02 -8.59556133e-03 5.93235358e+01] [ 1.41062287e-02 9.99900177e-01 8.06758572e-04 -5.76937431e+00] [ 8.58332898e-03 -9.27899533e-04 9.99962732e-01 -1.91493944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07992885099999 meters 0.10272910932685568 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.91 [[ 9.99862482e-01 -1.42223492e-02 -8.52883709e-03 5.93233763e+01] [ 1.42286571e-02 9.99898537e-01 6.79374425e-04 -5.76904781e+00] [ 8.51830943e-03 -8.00634898e-04 9.99963398e-01 -1.91490841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10992885099999 meters 0.10421536387509739 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99862065e-01 -1.43307531e-02 -8.39530841e-03 5.93232286e+01] [ 1.43366446e-02 9.99897019e-01 6.41998225e-04 -5.76868455e+00] [ 8.38524353e-03 -7.62270225e-04 9.99964553e-01 -1.91511414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.139928851 meters 0.10038704859606613 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99861537e-01 -1.44441889e-02 -8.26270337e-03 5.93228972e+01] [ 1.44495744e-02 9.99895424e-01 5.92445348e-04 -5.76866783e+00] [ 8.25328190e-03 -7.11755863e-04 9.99965688e-01 -1.91503561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.169928851 meters 0.10278377090835764 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99862246e-01 -1.44320063e-02 -8.19795576e-03 5.93227958e+01] [ 1.44383198e-02 9.99895509e-01 7.11472296e-04 -5.76890172e+00] [ 8.18683117e-03 -8.29738995e-04 9.99966143e-01 -1.91510387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.199928851 meters 0.10350311261897024 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.91 [[ 9.99862234e-01 -1.44886060e-02 -8.09898597e-03 5.93224627e+01] [ 1.44951734e-02 9.99894656e-01 7.52774660e-04 -5.76935995e+00] [ 8.08722613e-03 -8.70067159e-04 9.99966919e-01 -1.91491811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22992885099998 meters 0.1040192193199309 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.91 [[ 9.99862853e-01 -1.44879922e-02 -8.02331854e-03 5.93222266e+01] [ 1.44955433e-02 9.99894544e-01 8.83786113e-04 -5.76985644e+00] [ 8.00966814e-03 -9.99967265e-04 9.99967422e-01 -1.91482492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25992885099998 meters 0.10224307665621389 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.91 [[ 9.99863538e-01 -1.44991566e-02 -7.91703969e-03 5.93220209e+01] [ 1.45072375e-02 9.99894300e-01 9.64210377e-04 -5.77010225e+00] [ 7.90222262e-03 -1.07893317e-03 9.99968195e-01 -1.91484747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28992885099998 meters 0.10224307665621389 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.91 [[ 9.99863538e-01 -1.44991566e-02 -7.91703969e-03 5.93220209e+01] [ 1.45072375e-02 9.99894300e-01 9.64210377e-04 -5.77010225e+00] [ 7.90222262e-03 -1.07893317e-03 9.99968195e-01 -1.91484747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31992885099999 meters 0.10314706428141286 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.91 [[ 9.99863610e-01 -1.46000421e-02 -7.72009401e-03 5.93214160e+01] [ 1.46084729e-02 9.99892753e-01 1.03680002e-03 -5.77066254e+00] [ 7.70412873e-03 -1.14943740e-03 9.99969662e-01 -1.91456796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34992885099999 meters 0.10460533042949403 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.91 [[ 9.99864222e-01 -1.45695566e-02 -7.69847040e-03 5.93214100e+01] [ 1.45786781e-02 9.99893087e-01 1.13006092e-03 -5.77101071e+00] [ 7.68118285e-03 -1.24214101e-03 9.99969728e-01 -1.91463020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37992885099999 meters 0.10305291845901815 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.91 [[ 9.99865724e-01 -1.44726461e-02 -7.68617553e-03 5.93215628e+01] [ 1.44831122e-02 9.99894259e-01 1.30777054e-03 -5.77138770e+00] [ 7.66643588e-03 -1.41891468e-03 9.99969606e-01 -1.91488292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40992885099999 meters 0.10044197442730646 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99867092e-01 -1.42666801e-02 -7.89054715e-03 5.93224046e+01] [ 1.42786123e-02 9.99896993e-01 1.45794961e-03 -5.77099901e+00] [ 7.86893426e-03 -1.57042190e-03 9.99967806e-01 -1.91555672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43992885099999 meters 0.10135489912190809 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99866402e-01 -1.43166402e-02 -7.88748848e-03 5.93226348e+01] [ 1.43276741e-02 9.99896450e-01 1.34419230e-03 -5.77028783e+00] [ 7.86742741e-03 -1.45702208e-03 9.99967990e-01 -1.91591241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46992885099999 meters 0.10035686612986387 Centerline is valid? [False, False] Translation: X:59.31, Y:-5.77, Z:-1.92 [[ 9.99979605e-01 -6.35514010e-03 -6.33996171e-04 5.93143701e+01] [ 6.35613028e-03 9.99978564e-01 1.57221024e-03 -5.77150535e+00] [ 6.23990964e-04 -1.57620794e-03 9.99998563e-01 -1.92228414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49992885099999 meters 0.1025061545166097 Centerline is valid? [False, False] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99981677e-01 -5.96968066e-03 -1.00399860e-03 5.93155693e+01] [ 5.97149289e-03 9.99980529e-01 1.81180260e-03 -5.77123638e+00] [ 9.93163168e-04 -1.81776477e-03 9.99997855e-01 -1.92292962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.529928851 meters 0.09788338212966749 Centerline is valid? [False, True] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99983128e-01 -5.62085218e-03 -1.46635491e-03 5.93167422e+01] [ 5.62353192e-03 9.99982514e-01 1.82981087e-03 -5.77046499e+00] [ 1.45604417e-03 -1.83802609e-03 9.99997251e-01 -1.92328420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.559928851 meters 0.10045090448086509 Centerline is valid? [True, False] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99984522e-01 -5.26968246e-03 -1.78518883e-03 5.93177278e+01] [ 5.27338103e-03 9.99983946e-01 2.07347564e-03 -5.77040085e+00] [ 1.77423361e-03 -2.08285753e-03 9.99996257e-01 -1.92374928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.589928851 meters 0.09897143291573908 Centerline is valid? [False, True] Translation: X:59.32, Y:-5.77, Z:-1.92 [[ 9.99984169e-01 -5.28640755e-03 -1.92758860e-03 5.93180017e+01] [ 5.29013995e-03 9.99984132e-01 1.93637298e-03 -5.76975712e+00] [ 1.91732155e-03 -1.94653954e-03 9.99996267e-01 -1.92373970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61992885099998 meters 0.09672093362453782 Centerline is valid? [True, True] Translation: X:59.35, Y:-5.77, Z:-1.92 [[ 9.99994902e-01 -2.69359542e-03 -1.71503485e-03 5.93494696e+01] [ 2.69390212e-03 9.99996356e-01 1.76549395e-04 -5.76728955e+00] [ 1.71455305e-03 -1.81168631e-04 9.99998514e-01 -1.92295372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64992885099998 meters 0.09538142392752566 Centerline is valid? [True, True] Translation: X:59.38, Y:-5.77, Z:-1.92 [[ 9.99997636e-01 -1.40941090e-03 -1.65546913e-03 5.93804648e+01] [ 1.40969445e-03 9.99998992e-01 1.70125888e-04 -5.76797085e+00] [ 1.65522768e-03 -1.72459191e-04 9.99998615e-01 -1.92334880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67992885099999 meters 0.09538519281185368 Centerline is valid? [True, True] Translation: X:59.41, Y:-5.77, Z:-1.93 [[ 9.99997423e-01 3.91133665e-04 -2.23634281e-03 5.94100786e+01] [-3.90621012e-04 9.99999897e-01 2.29669504e-04 -5.77127909e+00] [ 2.23643242e-03 -2.28795350e-04 9.99997473e-01 -1.92584564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70992885099999 meters 0.09606328165581887 Centerline is valid? [True, True] Translation: X:59.44, Y:-5.78, Z:-1.93 [[ 9.99996177e-01 9.30590177e-04 -2.60381515e-03 5.94397132e+01] [-9.29899392e-04 9.99999532e-01 2.66495181e-04 -5.77562987e+00] [ 2.60406192e-03 -2.64072876e-04 9.99996575e-01 -1.92708745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73992885099999 meters 0.09925238779561599 Centerline is valid? [True, True] Translation: X:59.47, Y:-5.78, Z:-1.93 [[ 9.99995644e-01 1.71673782e-03 -2.40116400e-03 5.94675775e+01] [-1.71615404e-03 9.99998497e-01 2.45162087e-04 -5.78379008e+00] [ 2.40158127e-03 -2.41040252e-04 9.99997087e-01 -1.92981537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76992885099999 meters 0.09663467362080316 Centerline is valid? [True, True] Translation: X:59.50, Y:-5.78, Z:-1.93 [[ 9.99987827e-01 2.56223721e-03 -4.21667719e-03 5.94971548e+01] [-2.56046157e-03 9.99996631e-01 4.26443510e-04 -5.78109071e+00] [ 4.21775564e-03 -4.15641679e-04 9.99991019e-01 -1.93007229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79992885099999 meters 0.09912826686216124 Centerline is valid? [True, True] Translation: X:59.52, Y:-5.79, Z:-1.93 [[ 9.99987436e-01 3.17354439e-03 -3.88014988e-03 5.95243637e+01] [-3.17203554e-03 9.99994891e-01 3.94957120e-04 -5.78878740e+00] [ 3.88138347e-03 -3.82644185e-04 9.99992394e-01 -1.93280594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82992885099999 meters 0.09516349074774057 Centerline is valid? [True, True] Translation: X:59.55, Y:-5.78, Z:-1.93 [[ 9.99986328e-01 2.62173480e-03 -4.52438454e-03 5.95532748e+01] [-2.61967984e-03 9.99996463e-01 4.60064525e-04 -5.78489946e+00] [ 4.52557471e-03 -4.48205796e-04 9.99989659e-01 -1.93152245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85992885099999 meters 0.09339702089344232 Centerline is valid? [True, True] Translation: X:59.58, Y:-5.78, Z:-1.93 [[ 9.99980210e-01 2.20607720e-03 -5.89178095e-03 5.95823032e+01] [-2.20257887e-03 9.99997394e-01 6.00187177e-04 -5.78416507e+00] [ 5.89308965e-03 -5.87198187e-04 9.99982463e-01 -1.93132063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.889928851 meters 0.09459716740632884 Centerline is valid? [True, True] Translation: X:59.61, Y:-5.79, Z:-1.93 [[ 9.99981275e-01 2.09883527e-03 -5.74839543e-03 5.96099388e+01] [-2.09550993e-03 9.99997634e-01 5.84444083e-04 -5.78937032e+00] [ 5.74960848e-03 -5.72387319e-04 9.99983307e-01 -1.93271404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.919928851 meters 0.09685850265938509 Centerline is valid? [True, True] Translation: X:59.64, Y:-5.80, Z:-1.93 [[ 9.99983435e-01 1.62932135e-03 -5.52035579e-03 5.96371682e+01] [-1.62624938e-03 9.99998520e-01 5.60923778e-04 -5.79589038e+00] [ 5.52126154e-03 -5.51937012e-04 9.99984605e-01 -1.93400628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.949928851 meters 0.09350151026529062 Centerline is valid? [True, True] Translation: X:59.67, Y:-5.79, Z:-1.93 [[ 9.99984340e-01 1.75994112e-03 -5.31248074e-03 5.96666841e+01] [-1.75709835e-03 9.99998311e-01 5.39731255e-04 -5.79198135e+00] [ 5.31342166e-03 -5.30388252e-04 9.99985743e-01 -1.93245489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97992885099998 meters 0.09296198140023798 Centerline is valid? [True, True] Translation: X:59.70, Y:-5.79, Z:-1.93 [[ 9.99983039e-01 3.55089193e-03 -4.61649390e-03 5.96965914e+01] [-3.54875973e-03 9.99993593e-01 4.69976955e-04 -5.79269439e+00] [ 4.61813316e-03 -4.53586157e-04 9.99989233e-01 -1.93299895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00992885099998 meters 0.09819532898686563 Centerline is valid? [True, True] Translation: X:59.72, Y:-5.80, Z:-1.94 [[ 9.99984964e-01 4.26468728e-03 -3.44734311e-03 5.97237140e+01] [-4.26350791e-03 9.99990850e-01 3.49386138e-04 -5.80487335e+00] [ 3.44880159e-03 -3.34683110e-04 9.99993997e-01 -1.93621561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03992885099998 meters 0.09181192039994839 Centerline is valid? [True, True] Translation: X:59.75, Y:-5.79, Z:-1.93 [[ 9.99981682e-01 5.02054227e-03 -3.38089800e-03 5.97534383e+01] [-5.01941319e-03 9.99987344e-01 3.42360288e-04 -5.79441899e+00] [ 3.38257405e-03 -3.25383893e-04 9.99994226e-01 -1.93345285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06992885099999 meters 0.0929825156804343 Centerline is valid? [True, True] Translation: X:59.78, Y:-5.80, Z:-1.93 [[ 9.99982099e-01 5.16500703e-03 -3.02072978e-03 5.97807410e+01] [-5.16410886e-03 9.99986619e-01 3.05060912e-04 -5.79920205e+00] [ 3.02226500e-03 -2.89456073e-04 9.99995391e-01 -1.93465561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09992885099999 meters 0.09091288894460187 Centerline is valid? [True, True] Translation: X:59.81, Y:-5.80, Z:-1.93 [[ 9.99984351e-01 5.18259182e-03 -2.10691299e-03 5.98103111e+01] [-5.18215576e-03 9.99986550e-01 2.12375432e-04 -5.79699280e+00] [ 2.10798531e-03 -2.01453757e-04 9.99997758e-01 -1.93471932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12992885099999 meters 0.09256396578851954 Centerline is valid? [True, True] Translation: X:59.84, Y:-5.80, Z:-1.94 [[ 9.99984427e-01 4.77695522e-03 -2.88540616e-03 5.98373891e+01] [-4.77613576e-03 9.99988552e-01 2.90825643e-04 -5.80199845e+00] [ 2.88676239e-03 -2.77040023e-04 9.99995795e-01 -1.93646497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15992885099999 meters 0.09367892631890529 Centerline is valid? [True, True] Translation: X:59.86, Y:-5.81, Z:-1.94 [[ 9.99982461e-01 4.57092801e-03 -3.76624945e-03 5.98647695e+01] [-4.56952914e-03 9.99989487e-01 3.79941877e-04 -5.80653733e+00] [ 3.76794655e-03 -3.62725227e-04 9.99992835e-01 -1.93800888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18992885099999 meters 0.09479031567206922 Centerline is valid? [True, True] Translation: X:59.89, Y:-5.81, Z:-1.94 [[ 9.99984633e-01 4.20376098e-03 -3.61407586e-03 5.98918156e+01] [-4.20247181e-03 9.99991103e-01 3.64229054e-04 -5.81094403e+00] [ 3.61557484e-03 -3.49035405e-04 9.99993403e-01 -1.93990680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21992885099999 meters 0.09384914617530649 Centerline is valid? [True, True] Translation: X:59.92, Y:-5.81, Z:-1.94 [[ 9.99986229e-01 3.93197012e-03 -3.47569607e-03 5.99202090e+01] [-3.93077747e-03 9.99992213e-01 3.49903885e-04 -5.81169083e+00] [ 3.47704482e-03 -3.36236879e-04 9.99993899e-01 -1.94004451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24992885099999 meters 0.09804988819138565 Centerline is valid? [True, True] Translation: X:59.95, Y:-5.82, Z:-1.94 [[ 9.99988333e-01 2.54525661e-03 -4.10564958e-03 5.99480727e+01] [-2.54357144e-03 9.99996679e-01 4.15621227e-04 -5.82135226e+00] [ 4.10669381e-03 -4.05173365e-04 9.99991485e-01 -1.94298801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.279928851 meters 0.09706262227425086 Centerline is valid? [True, True] Translation: X:59.98, Y:-5.82, Z:-1.94 [[ 9.99986465e-01 2.34039525e-03 -4.64679084e-03 5.99767178e+01] [-2.33824271e-03 9.99997157e-01 4.68610259e-04 -5.82210941e+00] [ 4.64787436e-03 -4.57738592e-04 9.99989094e-01 -1.94361758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.309928851 meters 0.10005352600417353 Centerline is valid? [True, False] Translation: X:59.98, Y:-5.82, Z:-1.94 [[ 9.99986816e-01 2.25761649e-03 -4.61209670e-03 5.99768419e+01] [-2.25607888e-03 9.99997398e-01 3.38562076e-04 -5.82146286e+00] [ 4.61284904e-03 -3.28152359e-04 9.99989307e-01 -1.94391445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33992885099998 meters 0.09901189033848448 Centerline is valid? [False, True] Translation: X:59.98, Y:-5.82, Z:-1.94 [[ 9.99986704e-01 2.28289933e-03 -4.62382243e-03 5.99771631e+01] [-2.28140098e-03 9.99997343e-01 3.29298585e-04 -5.82100757e+00] [ 4.62456191e-03 -3.18745413e-04 9.99989256e-01 -1.94434525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36992885099998 meters 0.09938322667102471 Centerline is valid? [True, True] Translation: X:60.01, Y:-5.82, Z:-1.95 [[ 9.99987369e-01 2.16937983e-03 -4.53389534e-03 6.00061301e+01] [-2.16733050e-03 9.99997547e-01 4.56867427e-04 -5.82395421e+00] [ 4.53487533e-03 -4.47035206e-04 9.99989617e-01 -1.94519503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39992885099998 meters 0.10022866060339951 Centerline is valid? [True, False] Translation: X:60.01, Y:-5.82, Z:-1.94 [[ 9.99988218e-01 1.77366460e-03 -4.51853099e-03 6.00058795e+01] [-1.77459726e-03 9.99998405e-01 -2.02406912e-04 -5.82223201e+00] [ 4.51816478e-03 2.10423100e-04 9.99989771e-01 -1.94487332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42992885099999 meters 0.10122237154376593 Centerline is valid? [False, False] Translation: X:60.01, Y:-5.82, Z:-1.95 [[ 9.99988176e-01 1.77226248e-03 -4.52846412e-03 6.00060977e+01] [-1.77337150e-03 9.99998399e-01 -2.40895169e-04 -5.82166885e+00] [ 4.52802994e-03 2.48922970e-04 9.99989717e-01 -1.94516298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45992885099999 meters 0.102647118726335 Centerline is valid? [False, False] Translation: X:60.01, Y:-5.82, Z:-1.95 [[ 9.99988641e-01 1.53066430e-03 -4.51391039e-03 6.00059693e+01] [-1.53334210e-03 9.99998650e-01 -5.89832209e-04 -5.82051296e+00] [ 4.51300146e-03 5.96746878e-04 9.99989638e-01 -1.94507516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48992885099999 meters 0.09787165402454731 Centerline is valid? [False, True] Translation: X:60.01, Y:-5.82, Z:-1.95 [[ 9.99988958e-01 1.48670113e-03 -4.45808889e-03 6.00059987e+01] [-1.48958861e-03 9.99998683e-01 -6.44444965e-04 -5.82015662e+00] [ 4.45712492e-03 6.51078568e-04 9.99989855e-01 -1.94527352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51992885099999 meters 0.09692189896423958 Centerline is valid? [True, True] Translation: X:60.04, Y:-5.82, Z:-1.95 [[ 9.99989829e-01 6.38996892e-04 -4.46472266e-03 6.00356451e+01] [-6.37016531e-04 9.99999698e-01 4.44965305e-04 -5.82149592e+00] [ 4.46500564e-03 -4.42116677e-04 9.99989934e-01 -1.94532549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54992885099999 meters 0.09505076680344707 Centerline is valid? [True, True] Translation: X:60.07, Y:-5.82, Z:-1.94 [[ 9.99991006e-01 -1.40891600e-03 -4.00037061e-03 6.00656833e+01] [ 1.41052297e-03 9.99998926e-01 3.98913709e-04 -5.81993229e+00] [ 3.99980428e-03 -4.04552735e-04 9.99991919e-01 -1.94413133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57992885099999 meters 0.0966817429044858 Centerline is valid? [True, True] Translation: X:60.09, Y:-5.83, Z:-1.95 [[ 9.99992112e-01 -2.12163359e-03 -3.35769893e-03 6.00940811e+01] [ 2.12276624e-03 9.99997691e-01 3.33802799e-04 -5.82558485e+00] [ 3.35698297e-03 -3.40927776e-04 9.99994307e-01 -1.94563673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60992885099999 meters 0.09890492028991203 Centerline is valid? [True, True] Translation: X:60.12, Y:-5.83, Z:-1.95 [[ 9.99984690e-01 -3.29815434e-03 -4.44311115e-03 6.01227641e+01] [ 3.30015791e-03 9.99994456e-01 4.43682544e-04 -5.83135679e+00] [ 4.44162318e-03 -4.58338720e-04 9.99990031e-01 -1.94787083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.639928851 meters 0.10375423286693221 Centerline is valid? [True, False] Translation: X:60.12, Y:-5.83, Z:-1.95 [[ 9.99984479e-01 -3.19249448e-03 -4.56605395e-03 6.01232507e+01] [ 3.19488152e-03 9.99994763e-01 5.15581735e-04 -5.83103205e+00] [ 4.56438405e-03 -5.30161734e-04 9.99989443e-01 -1.94821204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.669928851 meters 0.09843377845371006 Centerline is valid? [False, True] Translation: X:60.12, Y:-5.83, Z:-1.95 [[ 9.99984668e-01 -3.17512524e-03 -4.53666902e-03 6.01234781e+01] [ 3.17760610e-03 9.99994806e-01 5.39744050e-04 -5.83061566e+00] [ 4.53493170e-03 -5.54151522e-04 9.99989564e-01 -1.94864301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.699928851 meters 0.09641384548588582 Centerline is valid? [True, True] Translation: X:60.15, Y:-5.83, Z:-1.95 [[ 9.99981680e-01 -4.08270053e-03 -4.46889739e-03 6.01539217e+01] [ 4.08474010e-03 9.99991557e-01 4.47359590e-04 -5.82957393e+00] [ 4.46703323e-03 -4.65605679e-04 9.99989914e-01 -1.94884678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72992885099998 meters 0.10030890432179462 Centerline is valid? [True, False] Translation: X:60.15, Y:-5.83, Z:-1.95 [[ 9.99983102e-01 -3.83036424e-03 -4.37321157e-03 6.01540437e+01] [ 3.83447993e-03 9.99992213e-01 9.33118900e-04 -5.83060546e+00] [ 4.36960333e-03 -9.49872124e-04 9.99990002e-01 -1.94929463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75992885099998 meters 0.10163961647620369 Centerline is valid? [False, False] Translation: X:60.15, Y:-5.83, Z:-1.95 [[ 9.99983839e-01 -3.57999300e-03 -4.41652495e-03 6.01543589e+01] [ 3.58593229e-03 9.99992676e-01 1.33760158e-03 -5.83142710e+00] [ 4.41170400e-03 -1.35341733e-03 9.99989353e-01 -1.94961257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78992885099998 meters 0.09940008345748047 Centerline is valid? [False, True] Translation: X:60.15, Y:-5.83, Z:-1.95 [[ 9.99983693e-01 -3.78632652e-03 -4.27520223e-03 6.01537569e+01] [ 3.79133965e-03 9.99992134e-01 1.16511060e-03 -5.83152403e+00] [ 4.27075711e-03 -1.18130034e-03 9.99990183e-01 -1.94917472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81992885099999 meters 0.10003148934198097 Centerline is valid? [True, False] Translation: X:60.15, Y:-5.83, Z:-1.95 [[ 9.99984541e-01 -3.46580187e-03 -4.34800163e-03 6.01542205e+01] [ 3.47278844e-03 9.99992689e-01 1.60032680e-03 -5.83236096e+00] [ 4.34242343e-03 -1.61540175e-03 9.99989267e-01 -1.94958490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84992885099999 meters 0.10194994442895731 Centerline is valid? [False, False] Translation: X:60.15, Y:-5.83, Z:-1.95 [[ 9.99985214e-01 -3.21887091e-03 -4.38304202e-03 6.01544038e+01] [ 3.22757333e-03 9.99992831e-01 1.97984976e-03 -5.83336497e+00] [ 4.37663772e-03 -1.99396708e-03 9.99988435e-01 -1.94971787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87992885099999 meters 0.10165872826111727 Centerline is valid? [False, False] Translation: X:60.15, Y:-5.83, Z:-1.95 [[ 9.99985361e-01 -3.26022701e-03 -4.31833844e-03 6.01540691e+01] [ 3.26882133e-03 9.99992688e-01 1.98463092e-03 -5.83382531e+00] [ 4.31183651e-03 -1.99871775e-03 9.99988707e-01 -1.94938768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90992885099999 meters 0.10264959783407139 Centerline is valid? [False, False] Translation: X:60.15, Y:-5.84, Z:-1.95 [[ 9.99985872e-01 -3.12355303e-03 -4.30110019e-03 6.01537527e+01] [ 3.13347622e-03 9.99992440e-01 2.30232536e-03 -5.83531436e+00] [ 4.29387624e-03 -2.31577023e-03 9.99988100e-01 -1.94895887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93992885099999 meters 0.09793851038993696 Centerline is valid? [False, True] Translation: X:60.15, Y:-5.84, Z:-1.95 [[ 9.99986470e-01 -2.90167225e-03 -4.31742971e-03 6.01540099e+01] [ 2.91304675e-03 9.99992297e-01 2.63059952e-03 -5.83609067e+00] [ 4.30976331e-03 -2.64314081e-03 9.99987220e-01 -1.94923845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96992885099999 meters 0.10017856117053928 Centerline is valid? [True, False] Translation: X:60.15, Y:-5.84, Z:-1.95 [[ 9.99986502e-01 -2.92083424e-03 -4.29693788e-03 6.01536732e+01] [ 2.93227733e-03 9.99992165e-01 2.65919545e-03 -5.83668667e+00] [ 4.28913715e-03 -2.67175937e-03 9.99987232e-01 -1.94879843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99992885099999 meters 0.09854487250268162 Centerline is valid? [False, True] Translation: X:60.15, Y:-5.84, Z:-1.95 [[ 9.99987244e-01 -2.50318097e-03 -4.38702282e-03 6.01540122e+01] [ 2.51771116e-03 9.99991353e-01 3.30969768e-03 -5.83840640e+00] [ 4.37870011e-03 -3.32070072e-03 9.99984900e-01 -1.94899414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.029928851 meters 0.10210805678017569 Centerline is valid? [True, False] Translation: X:60.15, Y:-5.84, Z:-1.95 [[ 9.99987401e-01 -2.49460410e-03 -4.35608178e-03 6.01538115e+01] [ 2.50935354e-03 9.99991127e-01 3.38376490e-03 -5.83897388e+00] [ 4.34760197e-03 -3.39465321e-03 9.99984787e-01 -1.94878338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.059928851 meters 0.10008210394168539 Centerline is valid? [False, False] Translation: X:60.15, Y:-5.84, Z:-1.95 [[ 9.99987886e-01 -2.20479111e-03 -4.40077488e-03 6.01540438e+01] [ 2.22164171e-03 9.99990206e-01 3.82779875e-03 -5.84034530e+00] [ 4.39229228e-03 -3.83752933e-03 9.99982990e-01 -1.94896073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08992885099998 meters 0.0976294688181368 Centerline is valid? [False, True] Translation: X:60.15, Y:-5.84, Z:-1.95 [[ 9.99988224e-01 -1.86953328e-03 -4.47838547e-03 6.01545455e+01] [ 1.88874046e-03 9.99989021e-01 4.28848058e-03 -5.84128168e+00] [ 4.47031884e-03 -4.29688859e-03 9.99980776e-01 -1.94940884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11992885099998 meters 0.09513898759107296 Centerline is valid? [True, True] Translation: X:60.18, Y:-5.84, Z:-1.95 [[ 9.99989018e-01 -1.32356596e-03 -4.49587528e-03 6.01839165e+01] [ 1.32566999e-03 9.99999013e-01 4.65043366e-04 -5.83926014e+00] [ 4.49525533e-03 -4.70998305e-04 9.99989785e-01 -1.94755782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14992885099998 meters 0.10008762691001022 Centerline is valid? [True, False] Translation: X:60.18, Y:-5.84, Z:-1.95 [[ 9.99989588e-01 -1.17711123e-03 -4.40879611e-03 6.01838152e+01] [ 1.18066660e-03 9.99998980e-01 8.03911188e-04 -5.84025819e+00] [ 4.40784532e-03 -8.09108136e-04 9.99989958e-01 -1.94765999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17992885099999 meters 0.10008762691001022 Centerline is valid? [False, False] Translation: X:60.18, Y:-5.84, Z:-1.95 [[ 9.99989588e-01 -1.17711123e-03 -4.40879611e-03 6.01838152e+01] [ 1.18066660e-03 9.99998980e-01 8.03911188e-04 -5.84025819e+00] [ 4.40784532e-03 -8.09108136e-04 9.99989958e-01 -1.94765999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20992885099999 meters 0.09796210178070096 Centerline is valid? [False, True] Translation: X:60.18, Y:-5.84, Z:-1.95 [[ 9.99990671e-01 -1.00389521e-03 -4.20122480e-03 6.01832118e+01] [ 1.00965401e-03 9.99998553e-01 1.36884620e-03 -5.84262025e+00] [ 4.19984455e-03 -1.37307522e-03 9.99990238e-01 -1.94735275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23992885099999 meters 0.0978930869712119 Centerline is valid? [True, True] Translation: X:60.21, Y:-5.85, Z:-1.95 [[ 9.99986987e-01 -1.31648434e-03 -4.92873947e-03 6.02116124e+01] [ 1.31904123e-03 9.99998997e-01 5.15556606e-04 -5.84657164e+00] [ 4.92805580e-03 -5.22051108e-04 9.99987721e-01 -1.94767859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26992885099999 meters 0.09994479427320159 Centerline is valid? [True, True] Translation: X:60.24, Y:-5.86, Z:-1.95 [[ 9.99984846e-01 -2.59377329e-03 -4.85603430e-03 6.02396880e+01] [ 2.59627079e-03 9.99996501e-01 5.08075345e-04 -5.85552392e+00] [ 4.85469948e-03 -5.20675225e-04 9.99988080e-01 -1.94926815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29992885099999 meters 0.09984611884065543 Centerline is valid? [True, True] Translation: X:60.27, Y:-5.86, Z:-1.95 [[ 9.99982679e-01 -2.99251810e-03 -5.06825854e-03 6.02687830e+01] [ 2.99524505e-03 9.99995374e-01 5.30538970e-04 -5.85949685e+00] [ 5.06664744e-03 -5.45710456e-04 9.99987016e-01 -1.94940897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32992885099999 meters 0.10032989172140208 Centerline is valid? [True, False] Translation: X:60.27, Y:-5.86, Z:-1.95 [[ 9.99985082e-01 -2.72353824e-03 -4.73480856e-03 6.02679922e+01] [ 2.73000356e-03 9.99995349e-01 1.35956102e-03 -5.86281553e+00] [ 4.73108372e-03 -1.37246678e-03 9.99987867e-01 -1.94917850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35992885099999 meters 0.09916492010063056 Centerline is valid? [False, True] Translation: X:60.27, Y:-5.86, Z:-1.95 [[ 9.99985947e-01 -2.49017794e-03 -4.68032860e-03 6.02677848e+01] [ 2.49897080e-03 9.99995122e-01 1.87377465e-03 -5.86467071e+00] [ 4.67563974e-03 -1.88544432e-03 9.99987292e-01 -1.94903700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.389928851 meters 0.09983257376179708 Centerline is valid? [True, True] Translation: X:60.30, Y:-5.87, Z:-1.95 [[ 9.99984488e-01 -2.87061551e-03 -4.77309951e-03 6.02968289e+01] [ 2.87308086e-03 9.99995743e-01 5.09732764e-04 -5.86975748e+00] [ 4.77161594e-03 -5.23438358e-04 9.99988479e-01 -1.94952426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.419928851 meters 0.10148784224125196 Centerline is valid? [True, False] Translation: X:60.30, Y:-5.87, Z:-1.95 [[ 9.99986125e-01 -2.52218468e-03 -4.62484298e-03 6.02963897e+01] [ 2.52850638e-03 9.99995876e-01 1.36156298e-03 -5.87277116e+00] [ 4.62138979e-03 -1.37323803e-03 9.99988378e-01 -1.94929213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.449928851 meters 0.10173057037820121 Centerline is valid? [False, False] Translation: X:60.30, Y:-5.87, Z:-1.95 [[ 9.99986974e-01 -2.32592579e-03 -4.54340845e-03 6.02962139e+01] [ 2.33410194e-03 9.99995665e-01 1.79509244e-03 -5.87420193e+00] [ 4.53921350e-03 -1.80567383e-03 9.99988067e-01 -1.94926950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47992885099998 meters 0.1009676016133691 Centerline is valid? [False, False] Translation: X:60.30, Y:-5.88, Z:-1.95 [[ 9.99987371e-01 -2.12502450e-03 -4.55439900e-03 6.02961177e+01] [ 2.13488950e-03 9.99995383e-01 2.16227137e-03 -5.87553938e+00] [ 4.54978309e-03 -2.17196720e-03 9.99987291e-01 -1.94909217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50992885099998 meters 0.09766247429825854 Centerline is valid? [False, True] Translation: X:60.30, Y:-5.88, Z:-1.95 [[ 9.99988712e-01 -1.74554242e-03 -4.41910355e-03 6.02956028e+01] [ 1.75891510e-03 9.99993881e-01 3.02403308e-03 -5.87868572e+00] [ 4.41379793e-03 -3.03177178e-03 9.99985663e-01 -1.94870665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53992885099998 meters 0.10226285210144449 Centerline is valid? [True, False] Translation: X:60.30, Y:-5.88, Z:-1.95 [[ 9.99989369e-01 -1.52901334e-03 -4.35010143e-03 6.02953720e+01] [ 1.54427342e-03 9.99992659e-01 3.50678934e-03 -5.88043911e+00] [ 4.34470757e-03 -3.51346981e-03 9.99984389e-01 -1.94857131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56992885099999 meters 0.09755728586719328 Centerline is valid? [False, True] Translation: X:60.30, Y:-5.88, Z:-1.95 [[ 9.99990156e-01 -9.04509315e-04 -4.34386278e-03 6.02953590e+01] [ 9.24700592e-04 9.99988768e-01 4.64847401e-03 -5.88413655e+00] [ 4.33960941e-03 -4.65244503e-03 9.99979761e-01 -1.94854236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59992885099999 meters 0.09828914859446919 Centerline is valid? [True, True] Translation: X:60.32, Y:-5.89, Z:-1.95 [[ 9.99986447e-01 -4.46044796e-04 -5.18723136e-03 6.03243811e+01] [ 4.48925754e-04 9.99999746e-01 5.54243120e-04 -5.88764756e+00] [ 5.18698283e-03 -5.56564289e-04 9.99986393e-01 -1.94831103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62992885099999 meters 0.09735560082329311 Centerline is valid? [True, True] Translation: X:60.35, Y:-5.89, Z:-1.95 [[ 9.99987355e-01 1.28504662e-03 -4.86203748e-03 6.03528078e+01] [-1.28253547e-03 9.99999043e-01 5.19563019e-04 -5.89087006e+00] [ 4.86270049e-03 -5.13320713e-04 9.99988045e-01 -1.94807522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65992885099999 meters 0.09375683719079536 Centerline is valid? [True, True] Translation: X:60.38, Y:-5.89, Z:-1.95 [[ 9.99983801e-01 2.21219485e-03 -5.24448978e-03 6.03823747e+01] [-2.20931251e-03 9.99997405e-01 5.55323700e-04 -5.88836645e+00] [ 5.24570465e-03 -5.43727987e-04 9.99986093e-01 -1.94715836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68992885099999 meters 0.09853921746170073 Centerline is valid? [True, True] Translation: X:60.41, Y:-5.90, Z:-1.95 [[ 9.99983011e-01 2.56465312e-03 -5.23450970e-03 6.04086447e+01] [-2.56177192e-03 9.99996564e-01 5.57055173e-04 -5.90106521e+00] [ 5.23592037e-03 -5.43636089e-04 9.99986145e-01 -1.95058111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71992885099999 meters 0.09905000705454402 Centerline is valid? [True, True] Translation: X:60.44, Y:-5.91, Z:-1.95 [[ 9.99981998e-01 3.19736202e-03 -5.07747740e-03 6.04365940e+01] [-3.19465876e-03 9.99994751e-01 5.40423517e-04 -5.90656692e+00] [ 5.07917868e-03 -5.24192980e-04 9.99986963e-01 -1.95137766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74992885099999 meters 0.09369370506780415 Centerline is valid? [True, True] Translation: X:60.47, Y:-5.90, Z:-1.95 [[ 9.99977107e-01 4.71954186e-03 -4.84890940e-03 6.04672953e+01] [-4.71708945e-03 9.99988741e-01 5.17077532e-04 -5.90173127e+00] [ 4.85129518e-03 -4.94192955e-04 9.99988110e-01 -1.95060687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.779928851 meters 0.0908187919025436 Centerline is valid? [True, True] Translation: X:60.50, Y:-5.90, Z:-1.95 [[ 9.99977229e-01 5.11233438e-03 -4.40520328e-03 6.04963484e+01] [-5.11032098e-03 9.99986833e-01 4.68184734e-04 -5.89996472e+00] [ 4.40753879e-03 -4.45662070e-04 9.99990187e-01 -1.94967742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.809928851 meters 0.08979544947617611 Centerline is valid? [True, True] Translation: X:60.53, Y:-5.90, Z:-1.95 [[ 9.99974594e-01 5.68138443e-03 -4.30502280e-03 6.05252555e+01] [-5.67946828e-03 9.99983767e-01 4.57189815e-04 -5.90151073e+00] [ 4.30755039e-03 -4.32727959e-04 9.99990629e-01 -1.94936028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83992885099998 meters 0.09332346422155638 Centerline is valid? [True, True] Translation: X:60.55, Y:-5.91, Z:-1.95 [[ 9.99975923e-01 5.84931544e-03 -3.73360689e-03 6.05524817e+01] [-5.84787707e-03 9.99982823e-01 3.96050959e-04 -5.91249878e+00] [ 3.73585938e-03 -3.74207749e-04 9.99992952e-01 -1.95201981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86992885099998 meters 0.09233541606144555 Centerline is valid? [True, True] Translation: X:60.58, Y:-5.92, Z:-1.95 [[ 9.99975278e-01 6.15171319e-03 -3.40579955e-03 6.05816427e+01] [-6.15051763e-03 9.99981020e-01 3.61397054e-04 -5.91522596e+00] [ 3.40795812e-03 -3.40440689e-04 9.99994135e-01 -1.95215208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89992885099998 meters 0.09135376780884252 Centerline is valid? [True, True] Translation: X:60.61, Y:-5.92, Z:-1.95 [[ 9.99980019e-01 5.25370979e-03 -3.51555756e-03 6.06107583e+01] [-5.25243099e-03 9.99986136e-01 3.72888642e-04 -5.91811197e+00] [ 3.51746787e-03 -3.54415968e-04 9.99993751e-01 -1.95293743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92992885099999 meters 0.09246735019794107 Centerline is valid? [True, True] Translation: X:60.64, Y:-5.93, Z:-1.95 [[ 9.99978376e-01 4.96283036e-03 -4.31474879e-03 6.06381086e+01] [-4.96090517e-03 9.99987590e-01 4.56777074e-04 -5.92505463e+00] [ 4.31696215e-03 -4.35362137e-04 9.99990587e-01 -1.95411025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95992885099999 meters 0.09217370433464911 Centerline is valid? [True, True] Translation: X:60.67, Y:-5.93, Z:-1.95 [[ 9.99981321e-01 3.68732312e-03 -4.87457126e-03 6.06673108e+01] [-3.68484702e-03 9.99993077e-01 5.16845128e-04 -5.92821380e+00] [ 4.87644329e-03 -4.98873424e-04 9.99987986e-01 -1.95473857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98992885099999 meters 0.08918106972444588 Centerline is valid? [True, True] Translation: X:60.70, Y:-5.93, Z:-1.95 [[ 9.99984283e-01 2.21701349e-03 -5.14963767e-03 6.06982793e+01] [-2.21422418e-03 9.99997399e-01 5.47290796e-04 -5.92678237e+00] [ 5.15083763e-03 -5.35879742e-04 9.99986591e-01 -1.95385646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01992885099999 meters 0.09122751746458634 Centerline is valid? [True, True] Translation: X:60.73, Y:-5.93, Z:-1.96 [[ 9.99983323e-01 8.43707644e-04 -5.71334806e-03 6.07265496e+01] [-8.40253280e-04 9.99999463e-01 6.06986333e-04 -5.93432335e+00] [ 5.71385711e-03 -6.02175550e-04 9.99983494e-01 -1.95508370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04992885099999 meters 0.09148989171861967 Centerline is valid? [True, True] Translation: X:60.76, Y:-5.94, Z:-1.96 [[ 9.99978917e-01 -7.49388490e-04 -6.45010924e-03 6.07560097e+01] [ 7.53821010e-04 9.99999481e-01 6.84796997e-04 -5.93981116e+00] [ 6.44959271e-03 -6.89644787e-04 9.99978963e-01 -1.95638765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07992885099999 meters 0.09390355405527517 Centerline is valid? [True, True] Translation: X:60.78, Y:-5.95, Z:-1.96 [[ 9.99979717e-01 -1.46615814e-03 -6.19808210e-03 6.07827077e+01] [ 1.47025173e-03 9.99998704e-01 6.55956614e-04 -5.94790420e+00] [ 6.19711233e-03 -6.65056051e-04 9.99980577e-01 -1.95870506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10992885099999 meters 0.0947252813299835 Centerline is valid? [True, True] Translation: X:60.81, Y:-5.95, Z:-1.96 [[ 9.99975360e-01 -2.22422459e-03 -6.65827050e-03 6.08121576e+01] [ 2.22897303e-03 9.99997267e-01 7.05828652e-04 -5.95238520e+00] [ 6.65668238e-03 -7.20652365e-04 9.99977584e-01 -1.95990971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.139928851 meters 0.09547900438641345 Centerline is valid? [True, True] Translation: X:60.84, Y:-5.96, Z:-1.96 [[ 9.99967517e-01 -3.06844805e-03 -7.45315752e-03 6.08409388e+01] [ 3.07441213e-03 9.99994963e-01 7.88882985e-04 -5.95703681e+00] [ 7.45069933e-03 -8.11771438e-04 9.99971914e-01 -1.96050753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.169928851 meters 0.09649915268421642 Centerline is valid? [True, True] Translation: X:60.87, Y:-5.96, Z:-1.96 [[ 9.99959788e-01 -4.14232202e-03 -7.95386549e-03 6.08699639e+01] [ 4.14914886e-03 9.99991038e-01 8.41995588e-04 -5.96134971e+00] [ 7.95030639e-03 -8.74963501e-04 9.99968013e-01 -1.96219817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.199928851 meters 0.0977169324840892 Centerline is valid? [True, True] Translation: X:60.90, Y:-5.97, Z:-1.96 [[ 9.99963367e-01 -5.28178859e-03 -6.73549963e-03 6.08991291e+01] [ 5.28670962e-03 9.99985771e-01 7.13015434e-04 -5.96639726e+00] [ 6.73163780e-03 -7.48597945e-04 9.99977062e-01 -1.96262325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22992885099998 meters 0.09463812657794239 Centerline is valid? [True, True] Translation: X:60.93, Y:-5.96, Z:-1.96 [[ 9.99948019e-01 -6.39337268e-03 -7.94259071e-03 6.09297021e+01] [ 6.40025338e-03 9.99979164e-01 8.41188639e-04 -5.96217247e+00] [ 7.93704719e-03 -8.91979505e-04 9.99968103e-01 -1.96163003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25992885099998 meters 0.09793139953036889 Centerline is valid? [True, True] Translation: X:60.96, Y:-5.97, Z:-1.96 [[ 9.99947623e-01 -6.88337563e-03 -7.57429868e-03 6.09575107e+01] [ 6.88963769e-03 9.99975945e-01 8.00969727e-04 -5.96963854e+00] [ 7.56860310e-03 -8.53111949e-04 9.99970994e-01 -1.96425475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28992885099998 meters 0.09759790389705553 Centerline is valid? [True, True] Translation: X:60.99, Y:-5.97, Z:-1.97 [[ 9.99946446e-01 -6.48015115e-03 -8.06926887e-03 6.09874729e+01] [ 6.48724723e-03 9.99978593e-01 8.53532625e-04 -5.97007117e+00] [ 8.06356511e-03 -9.05834257e-04 9.99967079e-01 -1.96501473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31992885099999 meters 0.0976410569589105 Centerline is valid? [True, True] Translation: X:61.02, Y:-5.97, Z:-1.97 [[ 9.99952653e-01 -6.16299144e-03 -7.53056888e-03 6.10167570e+01] [ 6.16911678e-03 9.99980658e-01 7.90438397e-04 -5.97170005e+00] [ 7.52555176e-03 -8.36857931e-04 9.99971332e-01 -1.96508405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34992885099999 meters 0.09529600397595409 Centerline is valid? [True, True] Translation: X:61.05, Y:-5.97, Z:-1.96 [[ 9.99962637e-01 -5.67447936e-03 -6.52111580e-03 6.10470294e+01] [ 5.67908496e-03 9.99983637e-01 6.87959871e-04 -5.96844146e+00] [ 6.51710528e-03 -7.24968138e-04 9.99978501e-01 -1.96421468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37992885099999 meters 0.09518584937837062 Centerline is valid? [True, True] Translation: X:61.08, Y:-5.97, Z:-1.97 [[ 9.99965270e-01 -4.07489996e-03 -7.27012474e-03 6.10774908e+01] [ 4.08058535e-03 9.99991380e-01 7.67358405e-04 -5.96817815e+00] [ 7.26693517e-03 -7.96998118e-04 9.99973278e-01 -1.96599592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40992885099999 meters 0.09360551094613284 Centerline is valid? [True, True] Translation: X:61.11, Y:-5.97, Z:-1.97 [[ 9.99967004e-01 -2.51782016e-03 -7.72346102e-03 6.11074335e+01] [ 2.52418575e-03 9.99996482e-01 8.14551843e-04 -5.96618152e+00] [ 7.72138296e-03 -8.34020416e-04 9.99969842e-01 -1.96602788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43992885099999 meters 0.09791672371236887 Centerline is valid? [True, True] Translation: X:61.13, Y:-5.98, Z:-1.97 [[ 9.99969656e-01 -1.74921740e-03 -7.59126764e-03 6.11345602e+01] [ 1.75533485e-03 9.99998140e-01 7.99265409e-04 -5.97584007e+00] [ 7.58985543e-03 -8.12566372e-04 9.99970866e-01 -1.97034500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46992885099999 meters 0.09553780464695266 Centerline is valid? [True, True] Translation: X:61.16, Y:-5.97, Z:-1.97 [[ 9.99977620e-01 -1.63918791e-03 -6.48630467e-03 6.11634915e+01] [ 1.64361541e-03 9.99998420e-01 6.77319949e-04 -5.97234166e+00] [ 6.48518416e-03 -6.87965781e-04 9.99978734e-01 -1.96977684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49992885099999 meters 0.0959344104484043 Centerline is valid? [True, True] Translation: X:61.19, Y:-5.97, Z:-1.97 [[ 9.99982501e-01 -1.43477624e-03 -5.73929534e-03 6.11926117e+01] [ 1.43822742e-03 9.99998787e-01 5.97241777e-04 -5.97303969e+00] [ 5.73843147e-03 -6.05485738e-04 9.99983352e-01 -1.96993625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.529928851 meters 0.09587220138850579 Centerline is valid? [True, True] Translation: X:61.22, Y:-5.97, Z:-1.97 [[ 9.99980700e-01 -1.76831311e-03 -5.95583243e-03 6.12212979e+01] [ 1.77202841e-03 9.99998239e-01 6.18589409e-04 -5.97453589e+00] [ 5.95472808e-03 -6.29131375e-04 9.99982073e-01 -1.97098475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.559928851 meters 0.09480608117459975 Centerline is valid? [True, True] Translation: X:61.25, Y:-5.97, Z:-1.97 [[ 9.99974275e-01 -2.44836794e-03 -6.74202390e-03 6.12510573e+01] [ 2.45317984e-03 9.99996742e-01 7.05540752e-04 -5.97391122e+00] [ 6.74027452e-03 -7.22062000e-04 9.99977023e-01 -1.97075278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58992885099998 meters 0.09579843396069303 Centerline is valid? [True, True] Translation: X:61.28, Y:-5.98, Z:-1.97 [[ 9.99980704e-01 -2.41386270e-03 -5.72408836e-03 6.12795611e+01] [ 2.41729463e-03 9.99996903e-01 5.92716089e-04 -5.97758566e+00] [ 5.72263990e-03 -6.06541460e-04 9.99983442e-01 -1.97242228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61992885099998 meters 0.0946942234494459 Centerline is valid? [True, True] Translation: X:61.31, Y:-5.98, Z:-1.97 [[ 9.99976243e-01 -2.97499819e-03 -6.21800736e-03 6.13085639e+01] [ 2.97905185e-03 9.99995356e-01 6.42763029e-04 -5.97695339e+00] [ 6.21606626e-03 -6.61271525e-04 9.99980461e-01 -1.97265428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64992885099998 meters 0.10082481435861973 Centerline is valid? [True, False] Translation: X:61.31, Y:-5.98, Z:-1.97 [[ 9.99975325e-01 -3.21214823e-03 -6.24751260e-03 6.13088630e+01] [ 3.21353517e-03 9.99994814e-01 2.11973483e-04 -5.97517471e+00] [ 6.24679931e-03 -2.32044854e-04 9.99980462e-01 -1.97303573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67992885099999 meters 0.09610144773925944 Centerline is valid? [False, True] Translation: X:61.31, Y:-5.97, Z:-1.97 [[ 9.99975061e-01 -3.08730337e-03 -6.35186688e-03 6.13094495e+01] [ 3.08931309e-03 9.99995181e-01 3.06610249e-04 -5.97472272e+00] [ 6.35088967e-03 -3.26225508e-04 9.99979780e-01 -1.97359119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70992885099999 meters 0.09658578610200089 Centerline is valid? [True, True] Translation: X:61.34, Y:-5.98, Z:-1.98 [[ 9.99965030e-01 -3.21151752e-03 -7.72175173e-03 6.13385575e+01] [ 3.21786180e-03 9.99994495e-01 8.09327901e-04 -5.97641142e+00] [ 7.71911005e-03 -8.34147129e-04 9.99969859e-01 -1.97609995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73992885099999 meters 0.0964645390175955 Centerline is valid? [True, True] Translation: X:61.37, Y:-5.98, Z:-1.98 [[ 9.99967407e-01 -3.11636268e-03 -7.44802517e-03 6.13672420e+01] [ 3.12221518e-03 9.99994826e-01 7.74280450e-04 -5.97862279e+00] [ 7.44557369e-03 -7.97509551e-04 9.99971963e-01 -1.97594206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76992885099999 meters 0.09740584902900325 Centerline is valid? [True, True] Translation: X:61.40, Y:-5.98, Z:-1.98 [[ 9.99964350e-01 -3.16310451e-03 -7.82903660e-03 6.13961304e+01] [ 3.16956055e-03 9.99994647e-01 8.12358054e-04 -5.98213993e+00] [ 7.82642511e-03 -8.37143698e-04 9.99969023e-01 -1.97730053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79992885099999 meters 0.09850484326568 Centerline is valid? [True, True] Translation: X:61.42, Y:-5.99, Z:-1.98 [[ 9.99966900e-01 -3.67055656e-03 -7.26127617e-03 6.14234762e+01] [ 3.67614287e-03 9.99992957e-01 7.56130723e-04 -5.98503676e+00] [ 7.25844961e-03 -7.82799184e-04 9.99973351e-01 -1.97859244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82992885099999 meters 0.09664300252361852 Centerline is valid? [True, True] Translation: X:61.45, Y:-5.98, Z:-1.98 [[ 9.99966393e-01 -4.07510147e-03 -7.11380089e-03 6.14524315e+01] [ 4.08043383e-03 9.99991405e-01 7.35227791e-04 -5.98414658e+00] [ 7.11074362e-03 -7.64230477e-04 9.99974426e-01 -1.97823835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85992885099999 meters 0.09820761499574619 Centerline is valid? [True, True] Translation: X:61.48, Y:-5.99, Z:-1.98 [[ 9.99969848e-01 -4.54904439e-03 -6.29355442e-03 6.14802697e+01] [ 4.55324656e-03 9.99989420e-01 6.53527433e-04 -5.98833731e+00] [ 6.29051491e-03 -6.82163833e-04 9.99979982e-01 -1.97880481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.889928851 meters 0.09775741465515582 Centerline is valid? [True, True] Translation: X:61.51, Y:-5.99, Z:-1.98 [[ 9.99973344e-01 -3.87977314e-03 -6.18532511e-03 6.15100588e+01] [ 3.88382303e-03 9.99992251e-01 6.42880904e-04 -5.98981248e+00] [ 6.18278295e-03 -6.66886476e-04 9.99980664e-01 -1.97947911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.919928851 meters 0.09744123956715088 Centerline is valid? [True, True] Translation: X:61.54, Y:-5.99, Z:-1.98 [[ 9.99972653e-01 -3.53888502e-03 -6.49387830e-03 6.15386762e+01] [ 3.54329971e-03 9.99993499e-01 6.68443476e-04 -5.99145399e+00] [ 6.49147054e-03 -6.91434953e-04 9.99978691e-01 -1.98012245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.949928851 meters 0.09568583901080693 Centerline is valid? [True, True] Translation: X:61.57, Y:-5.99, Z:-1.98 [[ 9.99981639e-01 -2.47616246e-03 -5.53079323e-03 6.15689432e+01] [ 2.47937328e-03 9.99996762e-01 5.73753866e-04 -5.98993579e+00] [ 5.52935461e-03 -5.87456232e-04 9.99984540e-01 -1.97998240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97992885099998 meters 0.09647351557837733 Centerline is valid? [True, True] Translation: X:61.60, Y:-5.99, Z:-1.98 [[ 9.99982878e-01 -2.20862978e-03 -5.41903966e-03 6.15977206e+01] [ 2.21167194e-03 9.99997400e-01 5.55455327e-04 -5.99359053e+00] [ 5.41779878e-03 -5.67430955e-04 9.99985163e-01 -1.98095576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00992885099998 meters 0.09747447087097075 Centerline is valid? [True, True] Translation: X:61.63, Y:-6.00, Z:-1.98 [[ 9.99982596e-01 -1.14010730e-03 -5.78864189e-03 6.16255073e+01] [ 1.14358512e-03 9.99999168e-01 5.97526874e-04 -5.99783494e+00] [ 5.78795583e-03 -6.04136279e-04 9.99983067e-01 -1.98142684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03992885099998 meters 0.09622119578893815 Centerline is valid? [True, True] Translation: X:61.65, Y:-6.00, Z:-1.98 [[ 9.99980953e-01 -8.66122158e-04 -6.11085673e-03 6.16547050e+01] [ 8.69959280e-04 9.99999426e-01 6.25288708e-04 -5.99839256e+00] [ 6.11031165e-03 -6.30592995e-04 9.99981133e-01 -1.98267183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06992885099999 meters 0.09649987644936223 Centerline is valid? [True, True] Translation: X:61.68, Y:-6.00, Z:-1.98 [[ 9.99979359e-01 -7.91520345e-04 -6.37613406e-03 6.16835057e+01] [ 7.95688469e-04 9.99999471e-01 6.51196940e-04 -6.00202504e+00] [ 6.37561525e-03 -6.56256915e-04 9.99979460e-01 -1.98319399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09992885099999 meters 0.09649987644936223 Centerline is valid? [True, True] Translation: X:61.71, Y:-6.00, Z:-1.98 [[ 9.99979110e-01 -1.05859932e-03 -6.37639084e-03 6.17109117e+01] [ 1.06275702e-03 9.99999225e-01 6.48693946e-04 -6.00473420e+00] [ 6.37569919e-03 -6.55456949e-04 9.99979460e-01 -1.98386957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12992885099999 meters 0.10064239357605753 Centerline is valid? [True, False] Translation: X:61.71, Y:-6.00, Z:-1.98 [[ 9.99979149e-01 -1.05414890e-03 -6.37100326e-03 6.17108491e+01] [ 1.05852285e-03 9.99999206e-01 6.83207806e-04 -6.00494574e+00] [ 6.37027800e-03 -6.89937413e-04 9.99979472e-01 -1.98378846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15992885099999 meters 0.0979444683730558 Centerline is valid? [False, True] Translation: X:61.71, Y:-6.01, Z:-1.98 [[ 9.99979265e-01 -9.59589853e-04 -6.36773868e-03 6.17109298e+01] [ 9.65102554e-04 9.99999162e-01 8.62707210e-04 -6.00537553e+00] [ 6.36690550e-03 -8.68834842e-04 9.99979354e-01 -1.98389741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18992885099999 meters 0.09514638441136604 Centerline is valid? [True, True] Translation: X:61.74, Y:-6.00, Z:-1.98 [[ 9.99982193e-01 -3.90170743e-04 -5.95487962e-03 6.17399793e+01] [ 3.93790980e-04 9.99999738e-01 6.06784222e-04 -6.00407218e+00] [ 5.95464132e-03 -6.09118395e-04 9.99982085e-01 -1.98257163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21992885099999 meters 0.09956572350688044 Centerline is valid? [True, True] Translation: X:61.77, Y:-6.02, Z:-1.99 [[ 9.99978013e-01 -9.04953951e-04 -6.56924928e-03 6.17665866e+01] [ 9.09365659e-04 9.99999363e-01 6.68613718e-04 -6.01541183e+00] [ 6.56864003e-03 -6.74572867e-04 9.99978199e-01 -1.98600589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24992885099999 meters 0.09964680751195577 Centerline is valid? [True, True] Translation: X:61.80, Y:-6.02, Z:-1.99 [[ 9.99980207e-01 -6.05755361e-04 -6.26243621e-03 6.17951580e+01] [ 6.09728140e-04 9.99999614e-01 6.32492483e-04 -6.01946772e+00] [ 6.26205066e-03 -6.36298348e-04 9.99980191e-01 -1.98733652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.279928851 meters 0.09531002930699846 Centerline is valid? [True, True] Translation: X:61.82, Y:-6.02, Z:-1.99 [[ 9.99977160e-01 -1.15154180e-03 -6.65976578e-03 6.18241343e+01] [ 1.15606763e-03 9.99999103e-01 6.75767008e-04 -6.01553789e+00] [ 6.65898164e-03 -6.83450714e-04 9.99977595e-01 -1.98659138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.309928851 meters 0.09378077903806327 Centerline is valid? [True, True] Translation: X:61.85, Y:-6.02, Z:-1.99 [[ 9.99974512e-01 -1.36764171e-03 -7.00748189e-03 6.18531945e+01] [ 1.37265774e-03 9.99998805e-01 7.11050620e-04 -6.01594226e+00] [ 7.00650105e-03 -7.20651371e-04 9.99975194e-01 -1.98632299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33992885099998 meters 0.09553395265576906 Centerline is valid? [True, True] Translation: X:61.88, Y:-6.02, Z:-1.99 [[ 9.99971997e-01 -2.02541171e-03 -7.20442450e-03 6.18798843e+01] [ 2.03071998e-03 9.99997672e-01 7.29567468e-04 -6.02294303e+00] [ 7.20293005e-03 -7.44177206e-04 9.99973782e-01 -1.98907055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36992885099998 meters 0.09494632687895933 Centerline is valid? [True, True] Translation: X:61.91, Y:-6.03, Z:-1.99 [[ 9.99969741e-01 -2.83895019e-03 -7.24280409e-03 6.19089113e+01] [ 2.84434225e-03 9.99995685e-01 7.34278122e-04 -6.02501104e+00] [ 7.24068826e-03 -7.54856917e-04 9.99973501e-01 -1.98937193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39992885099998 meters 0.09726615397747833 Centerline is valid? [True, True] Translation: X:61.94, Y:-6.03, Z:-1.99 [[ 9.99967024e-01 -4.07404350e-03 -7.02523028e-03 6.19370892e+01] [ 4.07914392e-03 9.99991427e-01 7.11838059e-04 -6.03220341e+00] [ 7.02226999e-03 -7.40471511e-04 9.99975069e-01 -1.99056792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42992885099999 meters 0.09598657599047962 Centerline is valid? [True, True] Translation: X:61.97, Y:-6.03, Z:-1.99 [[ 9.99963400e-01 -4.90630244e-03 -7.00908229e-03 6.19664764e+01] [ 4.91139708e-03 9.99987687e-01 7.09835007e-04 -6.03245407e+00] [ 7.00551332e-03 -7.44233413e-04 9.99975184e-01 -1.99053533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45992885099999 meters 0.09825903334444253 Centerline is valid? [True, True] Translation: X:61.99, Y:-6.04, Z:-1.99 [[ 9.99970876e-01 -5.28889806e-03 -5.50228232e-03 6.19949101e+01] [ 5.29204048e-03 9.99985842e-01 5.56708868e-04 -6.03970542e+00] [ 5.49926005e-03 -5.85810955e-04 9.99984707e-01 -1.99207993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48992885099999 meters 0.09678622051130738 Centerline is valid? [True, True] Translation: X:62.03, Y:-6.04, Z:-1.99 [[ 9.99965059e-01 -5.53781809e-03 -6.26213544e-03 6.20250590e+01] [ 5.54189851e-03 9.99984442e-01 6.34437912e-04 -6.03947488e+00] [ 6.25852461e-03 -6.69119863e-04 9.99980191e-01 -1.99216092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51992885099999 meters 0.09642415866706082 Centerline is valid? [True, True] Translation: X:62.05, Y:-6.04, Z:-1.99 [[ 9.99963628e-01 -5.06994912e-03 -6.85843017e-03 6.20542811e+01] [ 5.07482870e-03 9.99986882e-01 6.94255223e-04 -6.04075087e+00] [ 6.85482036e-03 -7.29035330e-04 9.99976240e-01 -1.99333903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54992885099999 meters 0.098053219855589 Centerline is valid? [True, True] Translation: X:62.08, Y:-6.05, Z:-1.99 [[ 9.99967380e-01 -5.34239924e-03 -6.05793620e-03 6.20828330e+01] [ 5.34620631e-03 9.99985521e-01 6.12423312e-04 -6.04593326e+00] [ 6.05457668e-03 -6.44790311e-04 9.99981463e-01 -1.99482977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57992885099999 meters 0.09919342041085498 Centerline is valid? [True, True] Translation: X:62.11, Y:-6.05, Z:-2.00 [[ 9.99979493e-01 -4.57365709e-03 -4.48282181e-03 6.21117749e+01] [ 4.57573390e-03 9.99989429e-01 4.53135369e-04 -6.05089114e+00] [ 4.48070194e-03 -4.73638276e-04 9.99989849e-01 -1.99529832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60992885099999 meters 0.09954220881749137 Centerline is valid? [True, True] Translation: X:62.14, Y:-6.05, Z:-2.00 [[ 9.99977806e-01 -4.33098994e-03 -5.06266326e-03 6.21410823e+01] [ 4.33363543e-03 9.99990479e-01 5.11694538e-04 -6.05392301e+00] [ 5.06039892e-03 -5.33622918e-04 9.99987054e-01 -1.99615862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.639928851 meters 0.09794667336874388 Centerline is valid? [True, True] Translation: X:62.17, Y:-6.05, Z:-1.99 [[ 9.99993058e-01 -2.69945987e-03 -2.56834916e-03 6.21712487e+01] [ 2.70013504e-03 9.99996321e-01 2.59452656e-04 -6.05307297e+00] [ 2.56763933e-03 -2.66385744e-04 9.99996668e-01 -1.99491763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.669928851 meters 0.0969097372967545 Centerline is valid? [True, True] Translation: X:62.20, Y:-6.05, Z:-1.99 [[ 9.99995704e-01 -1.30171915e-03 -2.62627335e-03 6.22017024e+01] [ 1.30242164e-03 9.99999117e-01 2.65792772e-04 -6.05287813e+00] [ 2.62592504e-03 -2.69212145e-04 9.99996516e-01 -1.99407009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.699928851 meters 0.0972624526383838 Centerline is valid? [True, True] Translation: X:62.23, Y:-6.06, Z:-1.99 [[ 9.99996436e-01 -3.92659304e-04 -2.64075693e-03 6.22310312e+01] [ 3.93365269e-04 9.99999887e-01 2.66820374e-04 -6.05632547e+00] [ 2.64065187e-03 -2.67858205e-04 9.99996478e-01 -1.99459233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72992885099998 meters 0.09451312571234853 Centerline is valid? [True, True] Translation: X:62.26, Y:-6.05, Z:-1.99 [[ 9.99992951e-01 3.82436078e-05 -3.75451007e-03 6.22612544e+01] [-3.68209577e-05 9.99999928e-01 3.78986015e-04 -6.05404517e+00] [ 3.75452429e-03 -3.78845099e-04 9.99992880e-01 -1.99436761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75992885099998 meters 0.09545717907016613 Centerline is valid? [True, True] Translation: X:62.29, Y:-6.06, Z:-2.00 [[ 9.99993095e-01 5.38256199e-04 -3.67697609e-03 6.22894649e+01] [-5.36897199e-04 9.99999787e-01 3.70574375e-04 -6.05943373e+00] [ 3.67717477e-03 -3.68597658e-04 9.99993171e-01 -1.99636540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78992885099998 meters 0.09429662346277015 Centerline is valid? [True, True] Translation: X:62.32, Y:-6.06, Z:-2.00 [[ 9.99992984e-01 -1.60908475e-04 -3.74259188e-03 6.23192709e+01] [ 1.62322299e-04 9.99999916e-01 3.77465247e-04 -6.06086690e+00] [ 3.74253082e-03 -3.78070105e-04 9.99992925e-01 -1.99615970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81992885099999 meters 0.0975691481180574 Centerline is valid? [True, True] Translation: X:62.35, Y:-6.07, Z:-2.00 [[ 9.99991383e-01 -9.09907749e-04 -4.05042440e-03 6.23467565e+01] [ 9.11567657e-04 9.99999501e-01 4.07983522e-04 -6.07044869e+00] [ 4.05005115e-03 -4.11672242e-04 9.99991714e-01 -1.99844785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84992885099999 meters 0.09518130933381003 Centerline is valid? [True, True] Translation: X:62.38, Y:-6.07, Z:-2.00 [[ 9.99987239e-01 -2.40976716e-03 -4.44008802e-03 6.23768051e+01] [ 2.41178010e-03 9.99996991e-01 4.48057884e-04 -6.06952425e+00] [ 4.43899494e-03 -4.58760682e-04 9.99990042e-01 -1.99771747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87992885099999 meters 0.09383878734558632 Centerline is valid? [True, True] Translation: X:62.41, Y:-6.07, Z:-2.00 [[ 9.99975498e-01 -3.74364596e-03 -5.91511337e-03 6.24068594e+01] [ 3.74724173e-03 9.99992801e-01 5.96929133e-04 -6.07043376e+00] [ 5.91283610e-03 -6.19079867e-04 9.99982327e-01 -1.99779772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90992885099999 meters 0.09752958211368191 Centerline is valid? [True, True] Translation: X:62.43, Y:-6.08, Z:-2.00 [[ 9.99968869e-01 -5.26174434e-03 -5.88005450e-03 6.24344361e+01] [ 5.26532695e-03 9.99985962e-01 5.93967316e-04 -6.08261210e+00] [ 5.87684665e-03 -6.24909234e-04 9.99982536e-01 -2.00163612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93992885099999 meters 0.09700845025326464 Centerline is valid? [True, True] Translation: X:62.46, Y:-6.09, Z:-2.00 [[ 9.99951060e-01 -7.12408670e-03 -6.86479090e-03 6.24642367e+01] [ 7.12900858e-03 9.99974348e-01 6.92771416e-04 -6.08526924e+00] [ 6.85967945e-03 -7.41676665e-04 9.99976197e-01 -2.00176137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96992885099999 meters 0.09733655135375448 Centerline is valid? [True, True] Translation: X:62.49, Y:-6.09, Z:-2.00 [[ 9.99928947e-01 -8.72866483e-03 -8.11860815e-03 6.24943760e+01] [ 8.73560492e-03 9.99961508e-01 8.19769124e-04 -6.09043044e+00] [ 8.11114015e-03 -8.90631830e-04 9.99966708e-01 -2.00291642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99992885099999 meters 0.09900520701987435 Centerline is valid? [True, True] Translation: X:62.52, Y:-6.10, Z:-2.00 [[ 9.99919321e-01 -9.66667451e-03 -8.24055132e-03 6.25236208e+01] [ 9.67385170e-03 9.99952861e-01 8.31544820e-04 -6.09649196e+00] [ 8.23212460e-03 -9.11195603e-04 9.99965700e-01 -2.00382365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.029928851 meters 0.09910299169610669 Centerline is valid? [True, True] Translation: X:62.55, Y:-6.10, Z:-2.00 [[ 9.99916008e-01 -1.04552995e-02 -7.65926787e-03 6.25534152e+01] [ 1.04615173e-02 9.99944979e-01 7.72193844e-04 -6.09928306e+00] [ 7.65077293e-03 -8.52256550e-04 9.99970369e-01 -2.00388998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.059928851 meters 0.09908261736087667 Centerline is valid? [True, True] Translation: X:62.58, Y:-6.10, Z:-2.00 [[ 9.99913636e-01 -1.07460297e-02 -7.56595416e-03 6.25838304e+01] [ 1.07521112e-02 9.99941903e-01 7.63579011e-04 -6.10274826e+00] [ 7.55730916e-03 -8.44863045e-04 9.99971086e-01 -2.00411414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08992885099998 meters 0.10055143644739883 Centerline is valid? [True, False] Translation: X:62.58, Y:-6.10, Z:-2.00 [[ 9.99913145e-01 -1.07627042e-02 -7.60696896e-03 6.25838626e+01] [ 1.07687382e-02 9.99941732e-01 7.52697969e-04 -6.10278371e+00] [ 7.59842465e-03 -8.34550051e-04 9.99970783e-01 -2.00406739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11992885099998 meters 0.10104304578193034 Centerline is valid? [False, False] Translation: X:62.58, Y:-6.10, Z:-2.00 [[ 9.99913262e-01 -1.06235705e-02 -7.78507654e-03 6.25844684e+01] [ 1.06301694e-02 9.99943173e-01 8.06752154e-04 -6.10233849e+00] [ 7.77606355e-03 -8.89438861e-04 9.99969370e-01 -2.00443451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14992885099998 meters 0.09912183712217983 Centerline is valid? [False, True] Translation: X:62.58, Y:-6.10, Z:-2.00 [[ 9.99950216e-01 -7.07352602e-03 -7.03779315e-03 6.25822548e+01] [ 7.10651936e-03 9.99963824e-01 4.67411315e-03 -6.10311004e+00] [ 7.00447609e-03 -4.72389467e-03 9.99964310e-01 -2.00347394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17992885099999 meters 0.09706040430608626 Centerline is valid? [True, True] Translation: X:62.61, Y:-6.10, Z:-2.00 [[ 9.99953642e-01 -7.03504433e-03 -6.57438016e-03 6.26127423e+01] [ 7.03969066e-03 9.99974987e-01 6.83858976e-04 -6.10028429e+00] [ 6.56940474e-03 -7.30108876e-04 9.99978155e-01 -2.00158177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20992885099999 meters 0.09777839031564518 Centerline is valid? [True, True] Translation: X:62.64, Y:-6.10, Z:-2.00 [[ 9.99947881e-01 -7.87721506e-03 -6.49497797e-03 6.26422285e+01] [ 7.88176590e-03 9.99968710e-01 6.75371162e-04 -6.10472345e+00] [ 6.48945470e-03 -7.26527858e-04 9.99978679e-01 -2.00264228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23992885099999 meters 0.09735773147078508 Centerline is valid? [True, True] Translation: X:62.67, Y:-6.11, Z:-2.00 [[ 9.99948762e-01 -8.14141485e-03 -6.01585042e-03 6.26727367e+01] [ 8.14532837e-03 9.99966630e-01 6.26320941e-04 -6.10746862e+00] [ 6.01055054e-03 -6.75289926e-04 9.99981708e-01 -2.00263714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26992885099999 meters 0.10068439227245339 Centerline is valid? [True, False] Translation: X:62.67, Y:-6.11, Z:-2.00 [[ 9.99950921e-01 -7.87478151e-03 -6.01188641e-03 6.26731072e+01] [ 7.88141828e-03 9.99968357e-01 1.08104973e-03 -6.10814271e+00] [ 6.00318315e-03 -1.12837887e-03 9.99981344e-01 -2.00323595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29992885099999 meters 0.1000044652909165 Centerline is valid? [False, False] Translation: X:62.67, Y:-6.11, Z:-2.00 [[ 9.99952488e-01 -7.66592566e-03 -6.02116337e-03 6.26734818e+01] [ 7.67441888e-03 9.99969587e-01 1.38872520e-03 -6.10849237e+00] [ 6.01033438e-03 -1.43486815e-03 9.99980908e-01 -2.00374415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32992885099999 meters 0.1002610231579227 Centerline is valid? [False, False] Translation: X:62.67, Y:-6.11, Z:-2.00 [[ 9.99952347e-01 -7.67093812e-03 -6.03823487e-03 6.26735733e+01] [ 7.67946156e-03 9.99969547e-01 1.38966035e-03 -6.10833321e+00] [ 6.02739099e-03 -1.43596452e-03 9.99980804e-01 -2.00384904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35992885099999 meters 0.0995400604991853 Centerline is valid? [False, True] Translation: X:62.67, Y:-6.11, Z:-2.00 [[ 9.99953419e-01 -7.36658242e-03 -6.23640858e-03 6.26744081e+01] [ 7.37726639e-03 9.99971356e-01 1.69189412e-03 -6.10842354e+00] [ 6.22376647e-03 -1.73782296e-03 9.99979122e-01 -2.00445910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.389928851 meters 0.09943420618092601 Centerline is valid? [True, True] Translation: X:62.70, Y:-6.11, Z:-2.00 [[ 9.99955140e-01 -7.04993086e-03 -6.32589394e-03 6.27037406e+01] [ 7.05425013e-03 9.99974900e-01 6.60739494e-04 -6.11082454e+00] [ 6.32107699e-03 -7.05334291e-04 9.99979773e-01 -2.00429000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.419928851 meters 0.09957625168056079 Centerline is valid? [True, True] Translation: X:62.73, Y:-6.11, Z:-2.01 [[ 9.99963606e-01 -5.58809589e-03 -6.44671301e-03 6.27332928e+01] [ 5.59256523e-03 9.99984133e-01 6.75454479e-04 -6.11284493e+00] [ 6.44283621e-03 -7.11483560e-04 9.99978992e-01 -2.00547648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44992885099998 meters 0.097714950212653 Centerline is valid? [True, True] Translation: X:62.76, Y:-6.11, Z:-2.01 [[ 9.99968813e-01 -4.57781361e-03 -6.43559298e-03 6.27635642e+01] [ 4.58222964e-03 9.99989276e-01 6.71610930e-04 -6.11157564e+00] [ 6.43244945e-03 -7.01079349e-04 9.99979066e-01 -2.00502116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47992885099998 meters 0.09752568053312059 Centerline is valid? [True, True] Translation: X:62.79, Y:-6.11, Z:-2.01 [[ 9.99975060e-01 -1.91123758e-03 -6.79898751e-03 6.27933820e+01] [ 1.91611088e-03 9.99997912e-01 7.10326586e-04 -6.11200937e+00] [ 6.79761571e-03 -7.23336485e-04 9.99976634e-01 -2.00542446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50992885099998 meters 0.09657467518490531 Centerline is valid? [True, True] Translation: X:62.82, Y:-6.11, Z:-2.01 [[ 9.99983417e-01 -4.61031052e-04 -5.74043101e-03 6.28234011e+01] [ 4.64480809e-04 9.99999712e-01 5.99639074e-04 -6.11190082e+00] [ 5.74015291e-03 -6.02295451e-04 9.99983344e-01 -2.00571652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53992885099998 meters 0.09407333403557046 Centerline is valid? [True, True] Translation: X:62.85, Y:-6.11, Z:-2.01 [[ 9.99980434e-01 1.62796398e-03 -6.03990674e-03 6.28539066e+01] [-1.62418310e-03 9.99998482e-01 6.30835951e-04 -6.10636986e+00] [ 6.04092455e-03 -6.21013694e-04 9.99981561e-01 -2.00536639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56992885099999 meters 0.09389471808959046 Centerline is valid? [True, True] Translation: X:62.88, Y:-6.11, Z:-2.01 [[ 9.99983347e-01 2.89357067e-03 -4.99322119e-03 6.28842833e+01] [-2.89100671e-03 9.99995686e-01 5.20630296e-04 -6.10801283e+00] [ 4.99470613e-03 -5.06186190e-04 9.99987398e-01 -2.00642995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59992885099999 meters 0.0932222839775197 Centerline is valid? [True, True] Translation: X:62.91, Y:-6.11, Z:-2.01 [[ 9.99980009e-01 2.85654877e-03 -5.64105210e-03 6.29128110e+01] [-2.85328091e-03 9.99995757e-01 5.87262721e-04 -6.10784968e+00] [ 5.64270571e-03 -5.71155475e-04 9.99983917e-01 -2.00588599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62992885099999 meters 0.09404992543206331 Centerline is valid? [True, True] Translation: X:62.94, Y:-6.11, Z:-2.01 [[ 9.99980382e-01 3.92597252e-03 -4.88089650e-03 6.29420325e+01] [-3.92353644e-03 9.99992174e-01 5.08579376e-04 -6.10923485e+00] [ 4.88285497e-03 -4.89419023e-04 9.99987959e-01 -2.00804774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65992885099999 meters 0.09635444362582715 Centerline is valid? [True, True] Translation: X:62.97, Y:-6.11, Z:-2.01 [[ 9.99979285e-01 3.84073096e-03 -5.16520321e-03 6.29689865e+01] [-3.83801010e-03 9.99992491e-01 5.36576624e-04 -6.11477057e+00] [ 5.16722527e-03 -5.16741406e-04 9.99986516e-01 -2.01008846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68992885099999 meters 0.09614317735892366 Centerline is valid? [True, True] Translation: X:63.00, Y:-6.11, Z:-2.01 [[ 9.99979997e-01 4.10084977e-03 -4.81549021e-03 6.29981354e+01] [-4.09848805e-03 9.99991476e-01 5.00207777e-04 -6.11370177e+00] [ 4.81750044e-03 -4.80461542e-04 9.99988280e-01 -2.01093539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71992885099999 meters 0.0934525515692384 Centerline is valid? [True, True] Translation: X:63.03, Y:-6.11, Z:-2.01 [[ 9.99982816e-01 4.07326246e-03 -4.21628102e-03 6.30272786e+01] [-4.07145401e-03 9.99991616e-01 4.37414117e-04 -6.10988383e+00] [ 4.21802738e-03 -4.20240206e-04 9.99991016e-01 -2.01006790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74992885099999 meters 0.09681433475271742 Centerline is valid? [True, True] Translation: X:63.05, Y:-6.12, Z:-2.01 [[ 9.99982834e-01 3.83185963e-03 -4.43266784e-03 6.30547744e+01] [-3.82986161e-03 9.99992561e-01 4.59149522e-04 -6.11741562e+00] [ 4.43439426e-03 -4.42165135e-04 9.99990070e-01 -2.01221367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.779928851 meters 0.0951340428235616 Centerline is valid? [True, True] Translation: X:63.08, Y:-6.11, Z:-2.01 [[ 9.99983172e-01 3.84593021e-03 -4.34337528e-03 6.30835845e+01] [-3.84401159e-03 9.99992511e-01 4.49997925e-04 -6.11418599e+00] [ 4.34507341e-03 -4.33294367e-04 9.99990466e-01 -2.01230138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.809928851 meters 0.09530179451825373 Centerline is valid? [True, True] Translation: X:63.11, Y:-6.11, Z:-2.01 [[ 9.99985372e-01 3.42893267e-03 -4.18305950e-03 6.31125863e+01] [-3.42715094e-03 9.99994034e-01 4.33034165e-04 -6.11383443e+00] [ 4.18451938e-03 -4.18691855e-04 9.99991157e-01 -2.01287829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83992885099998 meters 0.09815631836082711 Centerline is valid? [True, True] Translation: X:63.14, Y:-6.12, Z:-2.02 [[ 9.99984447e-01 3.80273610e-03 -4.07973916e-03 6.31401335e+01] [-3.80104764e-03 9.99992687e-01 4.21537960e-04 -6.12062214e+00] [ 4.08131232e-03 -4.06024121e-04 9.99991589e-01 -2.01503960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86992885099998 meters 0.09557116125036974 Centerline is valid? [True, True] Translation: X:63.17, Y:-6.12, Z:-2.01 [[ 9.99986385e-01 3.65183849e-03 -3.72742948e-03 6.31692292e+01] [-3.65042811e-03 9.99993263e-01 3.85111322e-04 -6.11704548e+00] [ 3.72881074e-03 -3.71499365e-04 9.99992979e-01 -2.01389805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89992885099998 meters 0.09575264735417133 Centerline is valid? [True, True] Translation: X:63.20, Y:-6.12, Z:-2.02 [[ 9.99986712e-01 3.21427992e-03 -4.03042412e-03 6.31977695e+01] [-3.21262798e-03 9.99994753e-01 4.16275236e-04 -6.11899807e+00] [ 4.03174100e-03 -4.03321451e-04 9.99991791e-01 -2.01533504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92992885099999 meters 0.10072631370881557 Centerline is valid? [True, False] Translation: X:63.20, Y:-6.12, Z:-2.02 [[ 9.99987508e-01 3.00937818e-03 -3.99099036e-03 6.31980534e+01] [-3.00917588e-03 9.99995471e-01 5.66939364e-05 -6.11734873e+00] [ 3.99114289e-03 -4.46836363e-05 9.99992034e-01 -2.01589206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95992885099999 meters 0.10014970770586097 Centerline is valid? [False, False] Translation: X:63.20, Y:-6.12, Z:-2.02 [[ 9.99988694e-01 2.74705746e-03 -3.88148547e-03 6.31978050e+01] [-2.74811622e-03 9.99996188e-01 -2.67465472e-04 -6.11637938e+00] [ 3.88073594e-03 2.78129221e-04 9.99992431e-01 -2.01589852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98992885099999 meters 0.10014970770586097 Centerline is valid? [False, False] Translation: X:63.20, Y:-6.12, Z:-2.02 [[ 9.99988694e-01 2.74705746e-03 -3.88148547e-03 6.31978050e+01] [-2.74811622e-03 9.99996188e-01 -2.67465472e-04 -6.11637938e+00] [ 3.88073594e-03 2.78129221e-04 9.99992431e-01 -2.01589852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01992885099999 meters 0.09778941743821695 Centerline is valid? [False, True] Translation: X:63.20, Y:-6.11, Z:-2.02 [[ 9.99990234e-01 2.26095071e-03 -3.79733221e-03 6.31975286e+01] [-2.26475932e-03 9.99996936e-01 -9.98969751e-04 -6.11402033e+00] [ 3.79506195e-03 1.00756004e-03 9.99992291e-01 -2.01578374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04992885099999 meters 0.09788065493302246 Centerline is valid? [True, True] Translation: X:63.23, Y:-6.12, Z:-2.02 [[ 9.99994182e-01 1.79243584e-03 -2.90228524e-03 6.32257367e+01] [-1.79157169e-03 9.99998350e-01 3.00321132e-04 -6.11613059e+00] [ 2.90281876e-03 -2.95119733e-04 9.99995743e-01 -2.01657529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07992885099999 meters 0.09861481942915488 Centerline is valid? [True, True] Translation: X:63.25, Y:-6.12, Z:-2.02 [[ 9.99997061e-01 1.00690915e-03 -2.20568159e-03 6.32541025e+01] [-1.00640864e-03 9.99999468e-01 2.28017488e-04 -6.11817891e+00] [ 2.20591001e-03 -2.25797001e-04 9.99997541e-01 -2.01707385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10992885099999 meters 0.09828165867755029 Centerline is valid? [True, True] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99998114e-01 3.20822418e-04 -1.91572723e-03 6.32839129e+01] [-3.20442617e-04 9.99999929e-01 1.98557924e-04 -6.11933019e+00] [ 1.91579080e-03 -1.97943669e-04 9.99998145e-01 -2.01690817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.139928851 meters 0.10056914979179073 Centerline is valid? [True, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99998221e-01 2.91845235e-04 -1.86375730e-03 6.32841263e+01] [-2.91560248e-04 9.99999946e-01 1.53179840e-04 -6.11866740e+00] [ 1.86380191e-03 -1.52636170e-04 9.99998251e-01 -2.01739048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.169928851 meters 0.10129957897884179 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99998445e-01 -3.34332508e-04 -1.73137142e-03 6.32836667e+01] [ 3.33041155e-04 9.99999666e-01 -7.46090504e-04 -6.11625599e+00] [ 1.73162029e-03 7.45512726e-04 9.99998223e-01 -2.01717334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19992885099998 meters 0.10032953651715958 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99998418e-01 -3.91086755e-04 -1.73503051e-03 6.32839544e+01] [ 3.89557316e-04 9.99999535e-01 -8.81755795e-04 -6.11536306e+00] [ 1.73537454e-03 8.81078506e-04 9.99998106e-01 -2.01758098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22992885099998 meters 0.10411991690264537 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.11, Z:-2.02 [[ 9.99998393e-01 -7.04302904e-04 -1.64876199e-03 6.32840193e+01] [ 7.02137636e-04 9.99998891e-01 -1.31347918e-03 -6.11350688e+00] [ 1.64968525e-03 1.31231941e-03 9.99997778e-01 -2.01801629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25992885099998 meters 0.10598222070322033 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.11, Z:-2.02 [[ 9.99998457e-01 -5.89628971e-04 -1.65461411e-03 6.32844898e+01] [ 5.87717975e-04 9.99999160e-01 -1.15519834e-03 -6.11321487e+00] [ 1.65529385e-03 1.15422412e-03 9.99997964e-01 -2.01871569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28992885099998 meters 0.1050087023997517 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.11, Z:-2.02 [[ 9.99998602e-01 -6.39308483e-04 -1.54535395e-03 6.32844951e+01] [ 6.37490525e-04 9.99999105e-01 -1.17660860e-03 -6.11280510e+00] [ 1.54610479e-03 1.17562181e-03 9.99998114e-01 -2.01908788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31992885099999 meters 0.10626208371275568 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.11, Z:-2.02 [[ 9.99998690e-01 -7.50044807e-04 -1.43441083e-03 6.32843807e+01] [ 7.48194181e-04 9.99998888e-01 -1.29026608e-03 -6.11226924e+00] [ 1.43537699e-03 1.28919117e-03 9.99998139e-01 -2.01930216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34992885099999 meters 0.1085694266714235 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.11, Z:-2.02 [[ 9.99998778e-01 -8.38257991e-04 -1.31989077e-03 6.32843079e+01] [ 8.36475290e-04 9.99998738e-01 -1.35061610e-03 -6.11179040e+00] [ 1.32102127e-03 1.34951039e-03 9.99998217e-01 -2.01956897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37992885099999 meters 0.1097927313045525 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.11, Z:-2.02 [[ 9.99998676e-01 -1.01245503e-03 -1.27396149e-03 6.32843433e+01] [ 1.01040872e-03 9.99998200e-01 -1.60587985e-03 -6.11065475e+00] [ 1.27558508e-03 1.60459050e-03 9.99997899e-01 -2.01978756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40992885099999 meters 0.11198971419942735 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.11, Z:-2.02 [[ 9.99998812e-01 -9.92954162e-04 -1.17872024e-03 6.32842723e+01] [ 9.91209218e-04 9.99998414e-01 -1.48003378e-03 -6.11076279e+00] [ 1.18018797e-03 1.47886366e-03 9.99998210e-01 -2.01999630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43992885099999 meters 0.11570475301903516 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.11, Z:-2.02 [[ 9.99999243e-01 -8.87295583e-04 -8.52780797e-04 6.32837627e+01] [ 8.86508417e-04 9.99999181e-01 -9.22992412e-04 -6.11249106e+00] [ 8.53599066e-04 9.22235716e-04 9.99999210e-01 -2.02025789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46992885099999 meters 0.10576013455945849 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.11, Z:-2.02 [[ 9.99999510e-01 -5.67337100e-04 -8.11756909e-04 6.32840419e+01] [ 5.67057089e-04 9.99999780e-01 -3.45134132e-04 -6.11370221e+00] [ 8.11952537e-04 3.44673650e-04 9.99999611e-01 -2.02081442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49992885099999 meters 0.10682199857304327 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.11, Z:-2.02 [[ 9.99999615e-01 -4.32101432e-04 -7.64288824e-04 6.32840037e+01] [ 4.32070055e-04 9.99999906e-01 -4.12194394e-05 -6.11461433e+00] [ 7.64306563e-04 4.08891972e-05 9.99999707e-01 -2.02092021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.529928851 meters 0.1213478941493949 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99999750e-01 -5.63847010e-04 -4.27805174e-04 6.32830502e+01] [ 5.63930045e-04 9.99999822e-01 1.93999608e-04 -6.11596139e+00] [ 4.27695712e-04 -1.94240812e-04 9.99999890e-01 -2.02056361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.559928851 meters 0.1065836866821938 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99999803e-01 -4.68825597e-04 -4.17793210e-04 6.32829705e+01] [ 4.68981210e-04 9.99999821e-01 3.72445318e-04 -6.11673058e+00] [ 4.17618523e-04 -3.72641182e-04 9.99999843e-01 -2.02045355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58992885099998 meters 0.11066463480462717 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99999885e-01 -4.56582373e-04 -1.48546442e-04 6.32822435e+01] [ 4.56699032e-04 9.99999587e-01 7.86249062e-04 -6.11857763e+00] [ 1.48187393e-04 -7.86316813e-04 9.99999680e-01 -2.02021788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61992885099998 meters 0.1091732201978533 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99999961e-01 6.02258376e-05 -2.73323170e-04 6.32829774e+01] [-5.98203857e-05 9.99998898e-01 1.48318173e-03 -6.12009182e+00] [ 2.73412195e-04 -1.48316533e-03 9.99998863e-01 -2.02086900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64992885099998 meters 0.11356290873220468 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99999925e-01 2.32100079e-04 -3.10257632e-04 6.32830864e+01] [-2.31560456e-04 9.99998463e-01 1.73817850e-03 -6.12099439e+00] [ 3.10660586e-04 -1.73810653e-03 9.99998441e-01 -2.02090435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67992885099999 meters 0.11006754904712515 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99999735e-01 4.73732965e-04 -5.52487726e-04 6.32835312e+01] [-4.72661378e-04 9.99998010e-01 1.93808889e-03 -6.12169130e+00] [ 5.53404763e-04 -1.93782723e-03 9.99997969e-01 -2.02078386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70992885099999 meters 0.10942279655152083 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99999717e-01 4.01165538e-04 -6.35897535e-04 6.32833982e+01] [-4.00063871e-04 9.99998421e-01 1.73164138e-03 -6.12162795e+00] [ 6.36591205e-04 -1.73138649e-03 9.99998299e-01 -2.02028302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73992885099999 meters 0.10463888324787586 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99999523e-01 5.72513979e-04 -7.91498789e-04 6.32834451e+01] [-5.71028747e-04 9.99998078e-01 1.87543436e-03 -6.12257686e+00] [ 7.92570980e-04 -1.87498150e-03 9.99997928e-01 -2.01982197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76992885099999 meters 0.10866867051855132 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99999349e-01 6.78102762e-04 -9.17642701e-04 6.32836515e+01] [-6.76342503e-04 9.99997933e-01 1.91719251e-03 -6.12289544e+00] [ 9.18940859e-04 -1.91657062e-03 9.99997741e-01 -2.01968996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79992885099999 meters 0.10545822664340923 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99999048e-01 8.52042285e-04 -1.08552135e-03 6.32839240e+01] [-8.49822274e-04 9.99997550e-01 2.04393339e-03 -6.12349935e+00] [ 1.08726021e-03 -2.04300894e-03 9.99997322e-01 -2.01952830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82992885099999 meters 0.1060377710950396 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99998924e-01 9.14319862e-04 -1.14701229e-03 6.32840200e+01] [-9.11919719e-04 9.99997397e-01 2.09129815e-03 -6.12375072e+00] [ 1.14892142e-03 -2.09024992e-03 9.99997155e-01 -2.01946467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85992885099999 meters 0.1045782090656759 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.12, Z:-2.02 [[ 9.99998805e-01 1.00068563e-03 -1.17862752e-03 6.32841134e+01] [-9.98100342e-04 9.99997099e-01 2.19202086e-03 -6.12410949e+00] [ 1.18081763e-03 -2.19084186e-03 9.99996903e-01 -2.01949300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.889928851 meters 0.10361943969556817 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.13, Z:-2.02 [[ 9.99998426e-01 1.22628296e-03 -1.28198290e-03 6.32842224e+01] [-1.22309917e-03 9.99996174e-01 2.48133067e-03 -6.12534652e+00] [ 1.28502081e-03 -2.47975878e-03 9.99996100e-01 -2.01928807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.919928851 meters 0.10360615749496332 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.13, Z:-2.02 [[ 9.99998217e-01 1.35749753e-03 -1.31301080e-03 6.32841771e+01] [-1.35393809e-03 9.99995417e-01 2.70800188e-03 -6.12629164e+00] [ 1.31668089e-03 -2.70621931e-03 9.99995471e-01 -2.01912016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94992885099998 meters 0.10679352722803348 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.13, Z:-2.02 [[ 9.99997914e-01 1.59642847e-03 -1.27430637e-03 6.32840876e+01] [-1.59237242e-03 9.99993683e-01 3.17764484e-03 -6.12800803e+00] [ 1.27937120e-03 -3.17560904e-03 9.99994139e-01 -2.01910216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97992885099998 meters 0.10241984893193008 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.13, Z:-2.02 [[ 9.99997773e-01 1.67878250e-03 -1.27855760e-03 6.32839627e+01] [-1.67450941e-03 9.99993034e-01 3.33588979e-03 -6.12879002e+00] [ 1.28414893e-03 -3.33374141e-03 9.99993619e-01 -2.01890109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00992885099998 meters 0.10751938214945667 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.13, Z:-2.02 [[ 9.99997972e-01 1.71737239e-03 -1.05234911e-03 6.32831956e+01] [-1.71349395e-03 9.99991778e-01 3.67539546e-03 -6.13058284e+00] [ 1.05865248e-03 -3.67358481e-03 9.99992692e-01 -2.01844695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03992885099998 meters 0.10303747674299898 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.13, Z:-2.02 [[ 9.99998001e-01 1.73360463e-03 -9.96611208e-04 6.32828685e+01] [-1.72980252e-03 9.99991271e-01 3.80333018e-03 -6.13142045e+00] [ 1.00319598e-03 -3.80159864e-03 9.99992271e-01 -2.01814330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06992885099999 meters 0.10269410721162413 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.13, Z:-2.02 [[ 9.99997669e-01 1.90999821e-03 -1.00702648e-03 6.32828153e+01] [-1.90582751e-03 9.99989670e-01 4.12641927e-03 -6.13259791e+00] [ 1.01489753e-03 -4.12449043e-03 9.99990979e-01 -2.01802801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09992885099999 meters 0.10209960317094013 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.14, Z:-2.02 [[ 9.99996787e-01 2.30934555e-03 -1.04528474e-03 6.32828193e+01] [-2.30426486e-03 9.99985652e-01 4.83596039e-03 -6.13506684e+00] [ 1.05643765e-03 -4.83353624e-03 9.99987760e-01 -2.01788183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12992885099999 meters 0.10203497412612375 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.13, Z:-2.02 [[ 9.99997262e-01 -1.26355068e-03 -1.96964393e-03 6.32849279e+01] [ 1.26521113e-03 9.99998845e-01 8.42007078e-04 -6.13475335e+00] [ 1.96857774e-03 -8.44496788e-04 9.99997706e-01 -2.01818902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15992885099999 meters 0.10218599598507092 Centerline is valid? [False, False] Translation: X:63.29, Y:-6.14, Z:-2.02 [[ 9.99997433e-01 -9.78864592e-04 -2.04357614e-03 6.32851794e+01] [ 9.81481611e-04 9.99998699e-01 1.27999788e-03 -6.13589986e+00] [ 2.04232054e-03 -1.28200033e-03 9.99997093e-01 -2.01830828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18992885099999 meters 0.11095673059635393 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.14, Z:-2.02 [[ 9.99997442e-01 -9.36319914e-04 -2.05908971e-03 6.32848792e+01] [ 9.39153402e-04 9.99998613e-01 1.37555141e-03 -6.13675947e+00] [ 2.05779889e-03 -1.37748170e-03 9.99996934e-01 -2.01780429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21992885099999 meters 0.10313971018947017 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.14, Z:-2.02 [[ 9.99997694e-01 -8.28937507e-04 -1.98100069e-03 6.32842309e+01] [ 8.32331864e-04 9.99998186e-01 1.71324597e-03 -6.13858634e+00] [ 1.97957693e-03 -1.71489087e-03 9.99996570e-01 -2.01706931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24992885099999 meters 0.10184147898794566 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.14, Z:-2.02 [[ 9.99997796e-01 -4.37175613e-04 -2.05343653e-03 6.32842998e+01] [ 4.41987147e-04 9.99997157e-01 2.34329258e-03 -6.14069711e+00] [ 2.05240626e-03 -2.34419501e-03 9.99995146e-01 -2.01692144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.279928851 meters 0.1002812210150433 Centerline is valid? [False, False] Translation: X:63.28, Y:-6.14, Z:-2.02 [[ 9.99997602e-01 -2.94164494e-04 -2.17019835e-03 6.32845126e+01] [ 2.99588134e-04 9.99996832e-01 2.49924323e-03 -6.14126138e+00] [ 2.16945629e-03 -2.49988740e-03 9.99994522e-01 -2.01687275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.309928851 meters 0.09851003791808903 Centerline is valid? [False, True] Translation: X:63.28, Y:-6.14, Z:-2.02 [[ 9.99997468e-01 -1.30608125e-04 -2.24663388e-03 6.32848057e+01] [ 1.36639862e-04 9.99996386e-01 2.68484462e-03 -6.14171604e+00] [ 2.24627510e-03 -2.68514481e-03 9.99993872e-01 -2.01702267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33992885099998 meters 0.1023796382458459 Centerline is valid? [True, False] Translation: X:63.28, Y:-6.14, Z:-2.02 [[ 9.99997122e-01 -1.17384645e-04 -2.39618260e-03 6.32849694e+01] [ 1.23586819e-04 9.99996643e-01 2.58837252e-03 -6.14165884e+00] [ 2.39587072e-03 -2.58866121e-03 9.99993779e-01 -2.01680059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36992885099998 meters 0.10184375782192584 Centerline is valid? [False, False] Translation: X:63.29, Y:-6.14, Z:-2.02 [[ 9.99996464e-01 6.70452316e-05 -2.65858611e-03 6.32854100e+01] [-6.00145860e-05 9.99996502e-01 2.64449710e-03 -6.14198768e+00] [ 2.65875411e-03 -2.64432820e-03 9.99992969e-01 -2.01662373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39992885099998 meters 0.10184375782192584 Centerline is valid? [False, False] Translation: X:63.29, Y:-6.14, Z:-2.02 [[ 9.99996464e-01 6.70452316e-05 -2.65858611e-03 6.32854100e+01] [-6.00145860e-05 9.99996502e-01 2.64449710e-03 -6.14198768e+00] [ 2.65875411e-03 -2.64432820e-03 9.99992969e-01 -2.01662373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42992885099999 meters 0.10089111664303695 Centerline is valid? [False, False] Translation: X:63.29, Y:-6.14, Z:-2.02 [[ 9.99995469e-01 1.63130542e-04 -3.00583514e-03 6.32860399e+01] [-1.55760912e-04 9.99996982e-01 2.45184545e-03 -6.14146206e+00] [ 3.00622604e-03 -2.45136615e-03 9.99992477e-01 -2.01649899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45992885099999 meters 0.09630539595428908 Centerline is valid? [False, True] Translation: X:63.29, Y:-6.14, Z:-2.02 [[ 9.99994709e-01 1.56643615e-04 -3.24918159e-03 6.32864155e+01] [-1.49406818e-04 9.99997508e-01 2.22739076e-03 -6.14089278e+00] [ 3.24952240e-03 -2.22689353e-03 9.99992241e-01 -2.01629189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48992885099999 meters 0.09516987891740514 Centerline is valid? [True, True] Translation: X:63.32, Y:-6.14, Z:-2.02 [[ 9.99988665e-01 3.33305417e-03 -3.39998954e-03 6.33166555e+01] [-3.33191076e-03 9.99994391e-01 3.41905309e-04 -6.14077883e+00] [ 3.40111006e-03 -3.30572971e-04 9.99994162e-01 -2.01584723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51992885099999 meters 0.09437509724367701 Centerline is valid? [True, True] Translation: X:63.35, Y:-6.14, Z:-2.02 [[ 9.99978327e-01 5.48084468e-03 -3.64770943e-03 6.33457652e+01] [-5.47954544e-03 9.99984920e-01 3.66079560e-04 -6.14208095e+00] [ 3.64966085e-03 -3.46083836e-04 9.99993280e-01 -2.01620345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54992885099999 meters 0.09187020485194916 Centerline is valid? [True, True] Translation: X:63.38, Y:-6.14, Z:-2.02 [[ 9.99968446e-01 7.16486127e-03 -3.43109319e-03 6.33756592e+01] [-7.16372214e-03 9.99974281e-01 3.44177691e-04 -6.13958604e+00] [ 3.43347093e-03 -3.19587433e-04 9.99994055e-01 -2.01590280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57992885099999 meters 0.09685732214838326 Centerline is valid? [True, True] Translation: X:63.40, Y:-6.15, Z:-2.02 [[ 9.99947942e-01 9.58856588e-03 -3.48893078e-03 6.34036794e+01] [-9.58740205e-03 9.99953978e-01 3.50150833e-04 -6.15159721e+00] [ 3.49212766e-03 -3.16682823e-04 9.99993852e-01 -2.01909510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60992885099999 meters 0.09629808901571299 Centerline is valid? [True, True] Translation: X:63.43, Y:-6.15, Z:-2.02 [[ 9.99945171e-01 9.90793410e-03 -3.38925322e-03 6.34325395e+01] [-9.90684123e-03 9.99950869e-01 3.39087184e-04 -6.15371491e+00] [ 3.39244635e-03 -3.05491799e-04 9.99994199e-01 -2.01928969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.639928851 meters 0.09246214844593637 Centerline is valid? [True, True] Translation: X:63.46, Y:-6.15, Z:-2.02 [[ 9.99940716e-01 1.02679227e-02 -3.62423784e-03 6.34616524e+01] [-1.02666761e-02 9.99947231e-01 3.62391538e-04 -6.14968642e+00] [ 3.62776760e-03 -3.25161178e-04 9.99993367e-01 -2.01791843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.669928851 meters 0.09205838993537417 Centerline is valid? [True, True] Translation: X:63.49, Y:-6.15, Z:-2.02 [[ 9.99948153e-01 9.58911404e-03 -3.42639300e-03 6.34906062e+01] [-9.58799697e-03 9.99953976e-01 3.42296107e-04 -6.15223368e+00] [ 3.42951762e-03 -3.09426115e-04 9.99994071e-01 -2.01880679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69992885099998 meters 0.09392124640394059 Centerline is valid? [True, True] Translation: X:63.52, Y:-6.16, Z:-2.02 [[ 9.99954753e-01 8.73532268e-03 -3.76636612e-03 6.35184626e+01] [-8.73396583e-03 9.99961787e-01 3.76552032e-04 -6.16135432e+00] [ 3.76951150e-03 -3.43639681e-04 9.99992836e-01 -2.02103241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72992885099998 meters 0.09502085338674322 Centerline is valid? [True, True] Translation: X:63.55, Y:-6.17, Z:-2.02 [[ 9.99961334e-01 7.80659466e-03 -4.04805894e-03 6.35477348e+01] [-7.80501852e-03 9.99969458e-01 4.05008233e-04 -6.16738468e+00] [ 4.05109704e-03 -3.73397398e-04 9.99991725e-01 -2.02204322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75992885099998 meters 0.0911888377633728 Centerline is valid? [True, True] Translation: X:63.58, Y:-6.16, Z:-2.02 [[ 9.99966073e-01 6.36686220e-03 -5.22646078e-03 6.35783926e+01] [-6.36421323e-03 9.99979611e-01 5.23312926e-04 -6.16340569e+00] [ 5.22968608e-03 -4.90032860e-04 9.99986205e-01 -2.02056822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78992885099998 meters 0.0917211712461759 Centerline is valid? [True, True] Translation: X:63.61, Y:-6.17, Z:-2.02 [[ 9.99966526e-01 5.91283384e-03 -5.65563103e-03 6.36058254e+01] [-5.90973511e-03 9.99982378e-01 5.64456053e-04 -6.16846163e+00] [ 5.65886890e-03 -5.31013877e-04 9.99983847e-01 -2.02189616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81992885099999 meters 0.09248366778266767 Centerline is valid? [True, True] Translation: X:63.63, Y:-6.17, Z:-2.02 [[ 9.99969546e-01 5.09687601e-03 -5.91002004e-03 6.36337920e+01] [-5.09348037e-03 9.99986854e-01 5.89464240e-04 -6.17422680e+00] [ 5.91294678e-03 -5.59343717e-04 9.99982362e-01 -2.02318735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84992885099999 meters 0.09313504101946195 Centerline is valid? [True, True] Translation: X:63.66, Y:-6.18, Z:-2.02 [[ 9.99967631e-01 4.69860254e-03 -6.53144539e-03 6.36618336e+01] [-4.69444924e-03 9.99988769e-01 6.51078017e-04 -6.17902223e+00] [ 6.53443119e-03 -6.20395404e-04 9.99978458e-01 -2.02418676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87992885099999 meters 0.09321582285806877 Centerline is valid? [True, True] Translation: X:63.69, Y:-6.18, Z:-2.03 [[ 9.99962370e-01 4.76569311e-03 -7.24894150e-03 6.36908637e+01] [-4.76057869e-03 9.99988407e-01 7.22631162e-04 -6.18274279e+00] [ 7.25230130e-03 -6.88094813e-04 9.99973465e-01 -2.02525845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90992885099999 meters 0.09321582285806877 Centerline is valid? [True, True] Translation: X:63.72, Y:-6.19, Z:-2.03 [[ 9.99962839e-01 4.66606674e-03 -7.24908076e-03 6.37183236e+01] [-4.66095976e-03 9.99988878e-01 7.21235424e-04 -6.18538142e+00] [ 7.25236546e-03 -6.87420949e-04 9.99973465e-01 -2.02581993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93992885099999 meters 0.09153823419029893 Centerline is valid? [True, True] Translation: X:63.75, Y:-6.19, Z:-2.02 [[ 9.99968308e-01 3.89250228e-03 -6.94484064e-03 6.37474721e+01] [-3.88779578e-03 9.99992204e-01 6.91068524e-04 -6.18536796e+00] [ 6.94747649e-03 -6.64046500e-04 9.99975646e-01 -2.02437363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96992885099999 meters 0.0938875863343537 Centerline is valid? [True, True] Translation: X:63.77, Y:-6.19, Z:-2.03 [[ 9.99965770e-01 3.81498415e-03 -7.34196948e-03 6.37747189e+01] [-3.80972821e-03 9.99992477e-01 7.29729728e-04 -6.19257371e+00] [ 7.34469815e-03 -7.01733841e-04 9.99972781e-01 -2.02612539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99992885099999 meters 0.09202814067412422 Centerline is valid? [True, True] Translation: X:63.80, Y:-6.19, Z:-2.03 [[ 9.99968561e-01 2.97413884e-03 -7.35061340e-03 6.38037892e+01] [-2.96884923e-03 9.99995326e-01 7.30421059e-04 -6.19176556e+00] [ 7.35275142e-03 -7.08575232e-04 9.99972717e-01 -2.02578095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.029928851 meters 0.09341488913921123 Centerline is valid? [True, True] Translation: X:63.83, Y:-6.20, Z:-2.03 [[ 9.99969291e-01 2.71191226e-03 -7.35278481e-03 6.38306573e+01] [-2.70661948e-03 9.99996071e-01 7.29688150e-04 -6.19746977e+00] [ 7.35473477e-03 -7.09764551e-04 9.99972702e-01 -2.02761132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.059928851 meters 0.09496881558833488 Centerline is valid? [True, True] Translation: X:63.86, Y:-6.20, Z:-2.03 [[ 9.99970021e-01 2.27778634e-03 -7.40064941e-03 6.38587446e+01] [-2.27241016e-03 9.99997148e-01 7.34774733e-04 -6.20331283e+00] [ 7.40230196e-03 -7.17935394e-04 9.99972345e-01 -2.02865301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08992885099998 meters 0.09440167552842825 Centerline is valid? [True, True] Translation: X:63.89, Y:-6.20, Z:-2.03 [[ 9.99972692e-01 1.66981310e-03 -7.19907680e-03 6.38871873e+01] [-1.66471648e-03 9.99998360e-01 7.13888438e-04 -6.20455195e+00] [ 7.20025705e-03 -7.01884522e-04 9.99973831e-01 -2.02862052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11992885099998 meters 0.096048415532326 Centerline is valid? [True, True] Translation: X:63.91, Y:-6.21, Z:-2.03 [[ 9.99971818e-01 9.17536741e-04 -7.45123913e-03 6.39142598e+01] [-9.12066404e-04 9.99999312e-01 7.37516094e-04 -6.20923651e+00] [ 7.45191070e-03 -7.30699285e-04 9.99971967e-01 -2.02991680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14992885099998 meters 0.09316559462564433 Centerline is valid? [True, True] Translation: X:63.94, Y:-6.21, Z:-2.03 [[ 9.99973452e-01 8.94462018e-04 -7.23148316e-03 6.39437875e+01] [-8.89308116e-04 9.99999348e-01 7.15887529e-04 -6.20653017e+00] [ 7.23211878e-03 -7.09437507e-04 9.99973596e-01 -2.02824336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17992885099999 meters 0.09462541327177836 Centerline is valid? [True, True] Translation: X:63.97, Y:-6.21, Z:-2.03 [[ 9.99975488e-01 5.00137449e-04 -6.98376040e-03 6.39716400e+01] [-4.95327812e-04 9.99999639e-01 6.90401399e-04 -6.21150521e+00] [ 6.98410317e-03 -6.86925226e-04 9.99975375e-01 -2.02977198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20992885099999 meters 0.09506834177212588 Centerline is valid? [True, True] Translation: X:64.00, Y:-6.21, Z:-2.03 [[ 9.99977313e-01 1.34839864e-04 -6.73466175e-03 6.40002563e+01] [-1.30360138e-04 9.99999770e-01 6.65609051e-04 -6.21448756e+00] [ 6.73474995e-03 -6.64716019e-04 9.99977100e-01 -2.03088711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23992885099999 meters 0.09519334400257903 Centerline is valid? [True, True] Translation: X:64.03, Y:-6.22, Z:-2.03 [[ 9.99973288e-01 -1.81864554e-04 -7.30692319e-03 6.40285750e+01] [ 1.87140177e-04 9.99999722e-01 7.21326136e-04 -6.21599424e+00] [ 7.30678998e-03 -7.22674286e-04 9.99973044e-01 -2.03176567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26992885099999 meters 0.09507275763012468 Centerline is valid? [True, True] Translation: X:64.06, Y:-6.22, Z:-2.03 [[ 9.99974394e-01 -1.36993121e-04 -7.15489254e-03 6.40574551e+01] [ 1.42016024e-04 9.99999744e-01 7.01520172e-04 -6.21645020e+00] [ 7.15479460e-03 -7.02518318e-04 9.99974157e-01 -2.03197746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29992885099999 meters 0.09582392439876868 Centerline is valid? [True, True] Translation: X:64.09, Y:-6.22, Z:-2.03 [[ 9.99974806e-01 8.11101261e-04 -7.05191807e-03 6.40854572e+01] [-8.06224958e-04 9.99999434e-01 6.94301333e-04 -6.22021428e+00] [ 7.05247723e-03 -6.88598409e-04 9.99974894e-01 -2.03208769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32992885099999 meters 0.09530094322391072 Centerline is valid? [True, True] Translation: X:64.11, Y:-6.22, Z:-2.03 [[ 9.99983746e-01 1.26246084e-03 -5.55997315e-03 6.41147421e+01] [-1.25943779e-03 9.99999057e-01 5.47184045e-04 -6.22012274e+00] [ 5.56065871e-03 -5.40172711e-04 9.99984394e-01 -2.03211963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35992885099999 meters 0.09188661804056047 Centerline is valid? [True, True] Translation: X:64.15, Y:-6.21, Z:-2.03 [[ 9.99977824e-01 3.05417620e-03 -5.91811774e-03 6.41457095e+01] [-3.05077850e-03 9.99995176e-01 5.83061894e-04 -6.21489206e+00] [ 5.91986997e-03 -5.64994098e-04 9.99982318e-01 -2.03172576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.389928851 meters 0.09559233281083065 Centerline is valid? [True, True] Translation: X:64.17, Y:-6.22, Z:-2.03 [[ 9.99973045e-01 3.33063284e-03 -6.54347575e-03 6.41732224e+01] [-3.32649430e-03 9.99994260e-01 6.43250308e-04 -6.22357335e+00] [ 6.54558062e-03 -6.21466134e-04 9.99978384e-01 -2.03480365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.419928851 meters 0.09717119557138397 Centerline is valid? [True, True] Translation: X:64.20, Y:-6.23, Z:-2.04 [[ 9.99972177e-01 4.05258964e-03 -6.26274665e-03 6.42011753e+01] [-4.04881520e-03 9.99991614e-01 6.15242375e-04 -6.22823425e+00] [ 6.26518746e-03 -5.89868553e-04 9.99980200e-01 -2.03675774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44992885099998 meters 0.09717119557138397 Centerline is valid? [True, True] Translation: X:64.23, Y:-6.23, Z:-2.04 [[ 9.99972559e-01 3.95689366e-03 -6.26286824e-03 6.42286382e+01] [-3.95312504e-03 9.99991998e-01 6.14006145e-04 -6.23082790e+00] [ 6.26524768e-03 -5.89231395e-04 9.99980200e-01 -2.03731918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47992885099998 meters 0.09664209186444128 Centerline is valid? [True, True] Translation: X:64.26, Y:-6.23, Z:-2.04 [[ 9.99971921e-01 3.92664984e-03 -6.38272613e-03 6.42574240e+01] [-3.92273324e-03 9.99992110e-01 6.26028450e-04 -6.22992980e+00] [ 6.38513396e-03 -6.00973139e-04 9.99979434e-01 -2.03812888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50992885099998 meters 0.09301017421338505 Centerline is valid? [True, True] Translation: X:64.29, Y:-6.22, Z:-2.04 [[ 9.99973457e-01 3.50195912e-03 -6.38924988e-03 6.42866241e+01] [-3.49802905e-03 9.99993686e-01 6.26178182e-04 -6.22447224e+00] [ 6.39140239e-03 -6.03811779e-04 9.99979392e-01 -2.03650564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53992885099998 meters 0.09315594886758773 Centerline is valid? [True, True] Translation: X:64.32, Y:-6.23, Z:-2.04 [[ 9.99975172e-01 2.20425151e-03 -6.69300996e-03 6.43163210e+01] [-2.19990663e-03 9.99997365e-01 6.56460367e-04 -6.22591037e+00] [ 6.69443933e-03 -6.41720071e-04 9.99977386e-01 -2.03718961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56992885099999 meters 0.0946103527659774 Centerline is valid? [True, True] Translation: X:64.34, Y:-6.23, Z:-2.04 [[ 9.99977319e-01 1.10433685e-03 -6.64388337e-03 6.43439160e+01] [-1.10003611e-03 9.99999183e-01 6.50942808e-04 -6.23107496e+00] [ 6.64459680e-03 -6.43619533e-04 9.99977717e-01 -2.03864416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59992885099999 meters 0.09549182477297419 Centerline is valid? [True, True] Translation: X:64.37, Y:-6.24, Z:-2.04 [[ 9.99973614e-01 -2.08166616e-04 -7.26141975e-03 6.43734064e+01] [ 2.13339831e-04 9.99999724e-01 7.11657414e-04 -6.23514915e+00] [ 7.26126960e-03 -7.13187786e-04 9.99973382e-01 -2.03979026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62992885099999 meters 0.09686803683998724 Centerline is valid? [True, True] Translation: X:64.40, Y:-6.24, Z:-2.04 [[ 9.99961211e-01 -3.30901161e-03 -8.16258904e-03 6.44035148e+01] [ 3.31565733e-03 9.99994183e-01 8.00769930e-04 -6.23846407e+00] [ 8.15989180e-03 -8.27803217e-04 9.99966365e-01 -2.04084971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65992885099999 meters 0.10059265587415685 Centerline is valid? [True, False] Translation: X:64.40, Y:-6.24, Z:-2.04 [[ 9.99961377e-01 -3.34283281e-03 -8.12828720e-03 6.44037001e+01] [ 3.34925839e-03 9.99994089e-01 7.77037709e-04 -6.23795454e+00] [ 8.12564165e-03 -8.04231432e-04 9.99966663e-01 -2.04123395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68992885099999 meters 0.10136312668806158 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.24, Z:-2.04 [[ 9.99963373e-01 -3.76606382e-03 -7.68568924e-03 6.44027967e+01] [ 3.77025245e-03 9.99992752e-01 5.30574761e-04 -6.23740576e+00] [ 7.68363535e-03 -5.59532317e-04 9.99970324e-01 -2.04128050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71992885099999 meters 0.10180002119592742 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.24, Z:-2.04 [[ 9.99963758e-01 -3.81781622e-03 -7.60964722e-03 6.44026746e+01] [ 3.82211116e-03 9.99992544e-01 5.49945082e-04 -6.23732901e+00] [ 7.60749090e-03 -5.79010069e-04 9.99970895e-01 -2.04136347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74992885099999 meters 0.1060929193063255 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.24, Z:-2.04 [[ 9.99964091e-01 -3.83885577e-03 -7.55513422e-03 6.44027271e+01] [ 3.84319540e-03 9.99992458e-01 5.59959745e-04 -6.23705695e+00] [ 7.55292763e-03 -5.88975494e-04 9.99971303e-01 -2.04161973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.779928851 meters 0.10629774387442417 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.24, Z:-2.04 [[ 9.99964949e-01 -3.90002388e-03 -7.40877409e-03 6.44026044e+01] [ 3.90448090e-03 9.99992205e-01 5.87218170e-04 -6.23693059e+00] [ 7.40642618e-03 -6.16125004e-04 9.99972382e-01 -2.04190723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80992885099998 meters 0.10787948165735707 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.24, Z:-2.04 [[ 9.99965277e-01 -4.01681693e-03 -7.30139096e-03 6.44026234e+01] [ 4.02038436e-03 9.99991806e-01 4.73984072e-04 -6.23619188e+00] [ 7.29942722e-03 -5.03322011e-04 9.99973232e-01 -2.04229241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83992885099998 meters 0.10784507349181542 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.24, Z:-2.04 [[ 9.99964655e-01 -4.20775882e-03 -7.27896549e-03 6.44024750e+01] [ 4.20932354e-03 9.99991121e-01 1.99657820e-04 -6.23549758e+00] [ 7.27806075e-03 -2.30290284e-04 9.99973488e-01 -2.04214435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86992885099998 meters 0.10951457287009135 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.23, Z:-2.04 [[ 9.99962829e-01 -4.28638209e-03 -7.48111409e-03 6.44030001e+01] [ 4.28517197e-03 9.99990803e-01 -1.77777437e-04 -6.23393065e+00] [ 7.48180731e-03 1.45712968e-04 9.99972000e-01 -2.04229750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89992885099998 meters 0.1086044384362314 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.23, Z:-2.04 [[ 9.99961392e-01 -4.20726446e-03 -7.71455662e-03 6.44036435e+01] [ 4.20512980e-03 9.99991116e-01 -2.92905450e-04 -6.23311083e+00] [ 7.71572041e-03 2.60453430e-04 9.99970199e-01 -2.04251301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92992885099999 meters 0.10894331872913504 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.23, Z:-2.04 [[ 9.99958058e-01 -4.21503272e-03 -8.13112679e-03 6.44044044e+01] [ 4.20889626e-03 9.99990845e-01 -7.71651622e-04 -6.23128392e+00] [ 8.13430489e-03 7.37396188e-04 9.99966644e-01 -2.04233677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95992885099999 meters 0.10960554481453413 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.23, Z:-2.04 [[ 9.99957409e-01 -4.56498725e-03 -8.02131799e-03 6.44037225e+01] [ 4.55538511e-03 9.99988886e-01 -1.21494070e-03 -6.23062587e+00] [ 8.02677504e-03 1.17834876e-03 9.99967091e-01 -2.04167681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98992885099999 meters 0.10259394042718274 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.23, Z:-2.04 [[ 9.99957491e-01 -4.45318776e-03 -8.07370377e-03 6.44039299e+01] [ 4.44467765e-03 9.99989548e-01 -1.07168964e-03 -6.23078963e+00] [ 8.07839182e-03 1.03575907e-03 9.99966833e-01 -2.04180828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01992885099999 meters 0.10531911695565015 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.23, Z:-2.04 [[ 9.99957997e-01 -4.17882870e-03 -8.15734153e-03 6.44044831e+01] [ 4.17303665e-03 9.99991029e-01 -7.26932984e-04 -6.23116440e+00] [ 8.16030608e-03 6.92861565e-04 9.99966464e-01 -2.04236932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04992885099999 meters 0.10574892270415757 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.23, Z:-2.04 [[ 9.99958034e-01 -4.26067526e-03 -8.11029625e-03 6.44043229e+01] [ 4.25438410e-03 9.99990636e-01 -7.92794084e-04 -6.23105843e+00] [ 8.11359814e-03 7.58256498e-04 9.99966797e-01 -2.04228980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07992885099999 meters 0.10285898293030621 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.23, Z:-2.04 [[ 9.99958543e-01 -4.15084941e-03 -8.10448710e-03 6.44045009e+01] [ 4.14592880e-03 9.99991211e-01 -6.23852479e-04 -6.23132991e+00] [ 8.10700538e-03 5.90225990e-04 9.99966964e-01 -2.04255720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10992885099999 meters 0.10210397094030742 Centerline is valid? [False, False] Translation: X:64.40, Y:-6.23, Z:-2.04 [[ 9.99959213e-01 -3.92664951e-03 -8.13345905e-03 6.44049379e+01] [ 3.92440292e-03 9.99992257e-01 -2.92157874e-04 -6.23174880e+00] [ 8.13454327e-03 2.60226987e-04 9.99966880e-01 -2.04310647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.139928851 meters 0.10549983413498684 Centerline is valid? [False, False] Translation: X:64.41, Y:-6.23, Z:-2.04 [[ 9.99959545e-01 -3.77562367e-03 -8.16408267e-03 6.44052960e+01] [ 3.77499332e-03 9.99992870e-01 -9.26179318e-05 -6.23187998e+00] [ 8.16437416e-03 6.17948274e-05 9.99966669e-01 -2.04351916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.169928851 meters 0.10141483382912495 Centerline is valid? [False, False] Translation: X:64.41, Y:-6.23, Z:-2.04 [[ 9.99960037e-01 -3.79256585e-03 -8.09570710e-03 6.44053148e+01] [ 3.79225822e-03 9.99992808e-01 -5.33492197e-05 -6.23177044e+00] [ 8.09585120e-03 2.26460759e-05 9.99967228e-01 -2.04377164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19992885099998 meters 0.10205642478491353 Centerline is valid? [False, False] Translation: X:64.41, Y:-6.23, Z:-2.04 [[ 9.99960340e-01 -3.48548315e-03 -8.19573740e-03 6.44059644e+01] [ 3.48795478e-03 9.99993876e-01 2.87301335e-04 -6.23213780e+00] [ 8.19468582e-03 -3.15876303e-04 9.99966373e-01 -2.04439022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22992885099998 meters 0.10009120489218602 Centerline is valid? [False, False] Translation: X:64.41, Y:-6.23, Z:-2.04 [[ 9.99959832e-01 -3.36205878e-03 -8.30852038e-03 6.44063449e+01] [ 3.36554441e-03 9.99994254e-01 4.05578586e-04 -6.23221758e+00] [ 8.30710906e-03 -4.33524988e-04 9.99965401e-01 -2.04459145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25992885099998 meters 0.1009149243476182 Centerline is valid? [False, False] Translation: X:64.41, Y:-6.23, Z:-2.05 [[ 9.99960168e-01 -3.17046546e-03 -8.34331532e-03 6.44067158e+01] [ 3.17598294e-03 9.99994747e-01 6.48139892e-04 -6.23248253e+00] [ 8.34121658e-03 -6.74612302e-04 9.99964984e-01 -2.04500560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28992885099998 meters 0.0990792024864167 Centerline is valid? [False, True] Translation: X:64.41, Y:-6.23, Z:-2.04 [[ 9.99960243e-01 -3.10760216e-03 -8.35791142e-03 6.44066620e+01] [ 3.11395617e-03 9.99994872e-01 7.47333216e-04 -6.23291701e+00] [ 8.35554615e-03 -7.73329674e-04 9.99964793e-01 -2.04486044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31992885099999 meters 0.09906151814814183 Centerline is valid? [True, True] Translation: X:64.43, Y:-6.24, Z:-2.05 [[ 9.99958894e-01 -3.13524922e-03 -8.50764108e-03 6.44349410e+01] [ 3.14282458e-03 9.99994677e-01 8.77195432e-04 -6.23612630e+00] [ 8.50484557e-03 -9.03897397e-04 9.99963425e-01 -2.04519345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34992885099999 meters 0.10212970163672501 Centerline is valid? [True, False] Translation: X:64.43, Y:-6.24, Z:-2.05 [[ 9.99959798e-01 -3.00133316e-03 -8.44954588e-03 6.44347527e+01] [ 3.01153639e-03 9.99994751e-01 1.19508321e-03 -6.23726996e+00] [ 8.44591469e-03 -1.22048128e-03 9.99963588e-01 -2.04508203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37992885099999 meters 0.09972570253272853 Centerline is valid? [False, True] Translation: X:64.43, Y:-6.24, Z:-2.05 [[ 9.99960726e-01 -2.92368364e-03 -8.36646179e-03 6.44345794e+01] [ 2.93548420e-03 9.99994714e-01 1.39852823e-03 -6.23797514e+00] [ 8.36232871e-03 -1.42303292e-03 9.99964023e-01 -2.04507964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40992885099999 meters 0.10326574638441752 Centerline is valid? [True, False] Translation: X:64.43, Y:-6.24, Z:-2.05 [[ 9.99960976e-01 -2.70755801e-03 -8.40927017e-03 6.44348603e+01] [ 2.72216064e-03 9.99994806e-01 1.72553255e-03 -6.23866510e+00] [ 8.40455452e-03 -1.74835660e-03 9.99963153e-01 -2.04533802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43992885099999 meters 0.1000881633055648 Centerline is valid? [False, False] Translation: X:64.43, Y:-6.24, Z:-2.04 [[ 9.99961096e-01 -2.64514217e-03 -8.41484749e-03 6.44345788e+01] [ 2.66066355e-03 9.99994779e-01 1.83386286e-03 -6.23956920e+00] [ 8.40995273e-03 -1.85618060e-03 9.99962913e-01 -2.04486206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46992885099999 meters 0.09774177383678895 Centerline is valid? [False, True] Translation: X:64.43, Y:-6.24, Z:-2.04 [[ 9.99961447e-01 -2.47248319e-03 -8.42566948e-03 6.44345562e+01] [ 2.49035048e-03 9.99994671e-01 2.11074664e-03 -6.24051532e+00] [ 8.42040580e-03 -2.13164813e-03 9.99962276e-01 -2.04476569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49992885099999 meters 0.10226628709117523 Centerline is valid? [True, False] Translation: X:64.43, Y:-6.24, Z:-2.04 [[ 9.99961923e-01 -2.43815873e-03 -8.37896195e-03 6.44342847e+01] [ 2.45698871e-03 9.99994478e-01 2.23773392e-03 -6.24124920e+00] [ 8.37345973e-03 -2.25823573e-03 9.99962392e-01 -2.04450637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.529928851 meters 0.10192257285982187 Centerline is valid? [False, False] Translation: X:64.43, Y:-6.24, Z:-2.04 [[ 9.99962294e-01 -2.40031550e-03 -8.34561404e-03 6.44340677e+01] [ 2.42001506e-03 9.99994308e-01 2.35117211e-03 -6.24189990e+00] [ 8.33992298e-03 -2.37127997e-03 9.99962411e-01 -2.04427909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55992885099998 meters 0.0959159547677747 Centerline is valid? [False, True] Translation: X:64.43, Y:-6.24, Z:-2.04 [[ 9.99963016e-01 -1.94805388e-03 -8.37682470e-03 6.44344159e+01] [ 1.97332250e-03 9.99993525e-01 3.00928479e-03 -6.24372377e+00] [ 8.37090821e-03 -3.02570367e-03 9.99960386e-01 -2.04462291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58992885099998 meters 0.09910097618230872 Centerline is valid? [True, True] Translation: X:64.46, Y:-6.25, Z:-2.05 [[ 9.99950789e-01 -1.28805249e-03 -9.83672107e-03 6.44619371e+01] [ 1.29777443e-03 9.99998676e-01 9.82012850e-04 -6.25245491e+00] [ 9.83544316e-03 -9.94730369e-04 9.99951136e-01 -2.04660541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61992885099998 meters 0.0960847160958314 Centerline is valid? [True, True] Translation: X:64.49, Y:-6.25, Z:-2.05 [[ 9.99936578e-01 -2.63612178e-04 -1.12592329e-02 6.44916036e+01] [ 2.76267460e-04 9.99999332e-01 1.12245099e-03 -6.25019808e+00] [ 1.12589294e-02 -1.12549036e-03 9.99935983e-01 -2.04687435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64992885099998 meters 0.09554188737408963 Centerline is valid? [True, True] Translation: X:64.52, Y:-6.25, Z:-2.05 [[ 9.99918945e-01 2.72211051e-03 -1.24376085e-02 6.45209918e+01] [-2.70684885e-03 9.99995563e-01 1.24372656e-03 -6.25311584e+00] [ 1.24409389e-02 -1.20995902e-03 9.99921876e-01 -2.04862627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67992885099999 meters 0.0955409369976294 Centerline is valid? [True, True] Translation: X:64.55, Y:-6.26, Z:-2.05 [[ 9.99913358e-01 4.54243812e-03 -1.23549017e-02 6.45507694e+01] [-4.52751823e-03 9.99988988e-01 1.23531109e-03 -6.25644731e+00] [ 1.23603770e-02 -1.17926702e-03 9.99922912e-01 -2.04916193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70992885099999 meters 0.09540291665446166 Centerline is valid? [True, True] Translation: X:64.58, Y:-6.26, Z:-2.05 [[ 9.99889451e-01 6.69654501e-03 -1.32755846e-02 6.45796714e+01] [-6.67951613e-03 9.99976812e-01 1.32664670e-03 -6.25976906e+00] [ 1.32841607e-02 -1.23782556e-03 9.99910995e-01 -2.05011009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73992885099999 meters 0.0925133826453265 Centerline is valid? [True, True] Translation: X:64.61, Y:-6.26, Z:-2.05 [[ 9.99862061e-01 9.79348843e-03 -1.34144230e-02 6.46104274e+01] [-9.77637088e-03 9.99951311e-01 1.34103834e-03 -6.25690275e+00] [ 1.34269034e-02 -1.20970898e-03 9.99909123e-01 -2.04874635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76992885099999 meters 0.09139460881320781 Centerline is valid? [True, True] Translation: X:64.64, Y:-6.26, Z:-2.05 [[ 9.99835501e-01 1.21003799e-02 -1.35111798e-02 6.46404743e+01] [-1.20832298e-02 9.99926083e-01 1.35024224e-03 -6.25812387e+00] [ 1.35265196e-02 -1.18676144e-03 9.99907808e-01 -2.04845344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79992885099999 meters 0.09139460881320781 Centerline is valid? [True, True] Translation: X:64.67, Y:-6.26, Z:-2.05 [[ 9.99836671e-01 1.20029636e-02 -1.35114567e-02 6.46679192e+01] [-1.19858418e-02 9.99927259e-01 1.34747096e-03 -6.26076167e+00] [ 1.35266475e-02 -1.18530469e-03 9.99907808e-01 -2.04895091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82992885099999 meters 0.08897690854668965 Centerline is valid? [True, True] Translation: X:64.70, Y:-6.26, Z:-2.05 [[ 9.99820789e-01 1.38894877e-02 -1.28636103e-02 6.46985995e+01] [-1.38741085e-02 9.99902925e-01 1.28402672e-03 -6.25883444e+00] [ 1.28801961e-02 -1.10532548e-03 9.99916436e-01 -2.04784595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85992885099999 meters 0.08800292510706403 Centerline is valid? [True, True] Translation: X:64.73, Y:-6.26, Z:-2.05 [[ 9.99772158e-01 1.71875937e-02 -1.26577584e-02 6.47288438e+01] [-1.71729627e-02 9.99851735e-01 1.26368615e-03 -6.26014432e+00] [ 1.26776014e-02 -1.04602702e-03 9.99919089e-01 -2.04761695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.889928851 meters 0.08688138848126471 Centerline is valid? [True, True] Translation: X:64.76, Y:-6.26, Z:-2.05 [[ 9.99741079e-01 1.85951667e-02 -1.31147039e-02 6.47584176e+01] [-1.85796002e-02 9.99826529e-01 1.30779828e-03 -6.26058458e+00] [ 1.31367476e-02 -1.06379371e-03 9.99913143e-01 -2.04749889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.919928851 meters 0.08601895435505773 Centerline is valid? [True, True] Translation: X:64.79, Y:-6.26, Z:-2.05 [[ 9.99692981e-01 2.13489767e-02 -1.25763718e-02 6.47891517e+01] [-2.13348690e-02 9.99771598e-01 1.25487180e-03 -6.26265434e+00] [ 1.26002896e-02 -9.86171287e-04 9.99920127e-01 -2.04767661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94992885099998 meters 0.08623098162451558 Centerline is valid? [True, True] Translation: X:64.82, Y:-6.27, Z:-2.05 [[ 9.99666247e-01 2.17787888e-02 -1.38952958e-02 6.48173808e+01] [-2.17616364e-02 9.99762229e-01 1.38442830e-03 -6.26634998e+00] [ 1.39221431e-02 -1.08158187e-03 9.99902497e-01 -2.04802200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97992885099998 meters 0.08550629899663623 Centerline is valid? [True, True] Translation: X:64.85, Y:-6.27, Z:-2.05 [[ 9.99645604e-01 2.27503576e-02 -1.38234278e-02 6.48467076e+01] [-2.27335536e-02 9.99740619e-01 1.37155992e-03 -6.26818075e+00] [ 1.38510457e-02 -1.05681821e-03 9.99903511e-01 -2.04875232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00992885099998 meters 0.08649846813695058 Centerline is valid? [True, True] Translation: X:64.87, Y:-6.27, Z:-2.05 [[ 9.99627436e-01 2.32517002e-02 -1.42949881e-02 6.48743386e+01] [-2.32337614e-02 9.99729052e-01 1.41972026e-03 -6.27354131e+00] [ 1.43241258e-02 -1.08706499e-03 9.99896814e-01 -2.05010751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03992885099998 meters 0.08935767256836413 Centerline is valid? [True, True] Translation: X:64.90, Y:-6.29, Z:-2.06 [[ 9.99552601e-01 2.49112944e-02 -1.65537246e-02 6.49014501e+01] [-2.48874730e-02 9.99688908e-01 1.64352083e-03 -6.28510236e+00] [ 1.65895171e-02 -1.23080515e-03 9.99861627e-01 -2.05510949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06992885099999 meters 0.08593024828689748 Centerline is valid? [True, True] Translation: X:64.93, Y:-6.28, Z:-2.05 [[ 9.99549295e-01 2.48291431e-02 -1.68736373e-02 6.49297530e+01] [-2.48045137e-02 9.99690930e-01 1.66739615e-03 -6.28077549e+00] [ 1.69098222e-02 -1.24810228e-03 9.99856240e-01 -2.05244087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09992885099999 meters 0.08406236786810291 Centerline is valid? [True, True] Translation: X:64.96, Y:-6.28, Z:-2.05 [[ 9.99522213e-01 2.50756053e-02 -1.80709816e-02 6.49583338e+01] [-2.50474801e-02 9.99684676e-01 1.78106967e-03 -6.27986934e+00] [ 1.81099448e-02 -1.32758615e-03 9.99835120e-01 -2.05062952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12992885099999 meters 0.08593384782582134 Centerline is valid? [True, True] Translation: X:64.99, Y:-6.29, Z:-2.05 [[ 9.99488187e-01 2.59671679e-02 -1.86833956e-02 6.49851966e+01] [-2.59372493e-02 9.99661876e-01 1.84193341e-03 -6.28796096e+00] [ 1.87249081e-02 -1.35639479e-03 9.99823753e-01 -2.05345222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15992885099999 meters 0.08576814459539316 Centerline is valid? [True, True] Translation: X:65.01, Y:-6.29, Z:-2.05 [[ 9.99409732e-01 2.88434882e-02 -1.86612305e-02 6.50138932e+01] [-2.88141157e-02 9.99583092e-01 1.84100661e-03 -6.29176644e+00] [ 1.87065515e-02 -1.30221307e-03 9.99824169e-01 -2.05356635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18992885099999 meters 0.08564978946416472 Centerline is valid? [True, True] Translation: X:65.04, Y:-6.29, Z:-2.05 [[ 9.99347928e-01 3.04650376e-02 -1.93804186e-02 6.50428060e+01] [-3.04337269e-02 9.99534965e-01 1.90854545e-03 -6.29458009e+00] [ 1.94295499e-02 -1.31748257e-03 9.99810360e-01 -2.05475518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21992885099999 meters 0.08519159493354198 Centerline is valid? [True, True] Translation: X:65.07, Y:-6.30, Z:-2.06 [[ 9.99273879e-01 3.26023426e-02 -1.97180675e-02 6.50716219e+01] [-3.25703311e-02 9.99467558e-01 1.94251640e-03 -6.29740199e+00] [ 1.97708993e-02 -1.29888191e-03 9.99803693e-01 -2.05502123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24992885099999 meters 0.08417055508020897 Centerline is valid? [True, True] Translation: X:65.10, Y:-6.30, Z:-2.06 [[ 9.99079552e-01 3.74543797e-02 -2.09097611e-02 6.51007168e+01] [-3.74194426e-02 9.99297525e-01 2.05975455e-03 -6.29830670e+00] [ 2.09722194e-02 -1.27542705e-03 9.99779245e-01 -2.05605906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.279928851 meters 0.08346138077704782 Centerline is valid? [True, True] Translation: X:65.13, Y:-6.30, Z:-2.06 [[ 9.98941282e-01 4.05422806e-02 -2.17402412e-02 6.51309820e+01] [-4.05052465e-02 9.99177031e-01 2.14131756e-03 -6.29913524e+00] [ 2.18091635e-02 -1.25845668e-03 9.99761360e-01 -2.05702028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30992885099998 meters 0.08050468093320316 Centerline is valid? [True, True] Translation: X:65.16, Y:-6.29, Z:-2.05 [[ 9.98824814e-01 4.36424507e-02 -2.10790985e-02 6.51619597e+01] [-4.36083305e-02 9.99046548e-01 2.07585594e-03 -6.29405521e+00] [ 2.11495960e-02 -1.15419213e-03 9.99775656e-01 -2.05304905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33992885099998 meters 0.07921518620279491 Centerline is valid? [True, True] Translation: X:65.19, Y:-6.29, Z:-2.05 [[ 9.98688772e-01 4.68192598e-02 -2.07049043e-02 6.51926151e+01] [-4.67870284e-02 9.98902807e-01 2.03865256e-03 -6.29289066e+00] [ 2.07776352e-02 -1.06725847e-03 9.99783552e-01 -2.05203892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36992885099998 meters 0.07691431832641557 Centerline is valid? [True, True] Translation: X:65.22, Y:-6.29, Z:-2.05 [[ 9.98423192e-01 5.22146413e-02 -2.06097117e-02 6.52232408e+01] [-5.21838501e-02 9.98635433e-01 2.02936573e-03 -6.28933294e+00] [ 2.06875509e-02 -9.50671707e-04 9.99785538e-01 -2.04879488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39992885099998 meters 0.07648297109728758 Centerline is valid? [True, True] Translation: X:65.25, Y:-6.29, Z:-2.05 [[ 9.98305033e-01 5.45700292e-02 -2.02280448e-02 6.52529684e+01] [-5.45408746e-02 9.98509555e-01 1.99059841e-03 -6.29157533e+00] [ 2.03065230e-02 -8.83969161e-04 9.99793411e-01 -2.04883826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42992885099999 meters 0.07625269308697707 Centerline is valid? [True, True] Translation: X:65.28, Y:-6.29, Z:-2.05 [[ 9.98250474e-01 5.56435507e-02 -1.99946409e-02 6.52805377e+01] [-5.56153315e-02 9.98450336e-01 1.96507057e-03 -6.29430054e+00] [ 2.00729994e-02 -8.49624046e-04 9.99798156e-01 -2.04921472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45992885099999 meters 0.07605976307115257 Centerline is valid? [True, True] Translation: X:65.31, Y:-6.30, Z:-2.05 [[ 9.98212630e-01 5.63036290e-02 -2.00361337e-02 6.53091251e+01] [-5.62755724e-02 9.98413347e-01 1.96183406e-03 -6.29678645e+00] [ 2.01148017e-02 -8.30782638e-04 9.99797332e-01 -2.04962502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48992885099999 meters 0.07594316080839801 Centerline is valid? [True, True] Translation: X:65.34, Y:-6.30, Z:-2.05 [[ 9.98197284e-01 5.65859447e-02 -2.00053074e-02 6.53374568e+01] [-5.65581231e-02 9.98397396e-01 1.95422555e-03 -6.30108931e+00] [ 2.00838285e-02 -8.19239998e-04 9.99797964e-01 -2.04922525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51992885099999 meters 0.07592473235312482 Centerline is valid? [True, True] Translation: X:65.37, Y:-6.30, Z:-2.05 [[ 9.98297769e-01 5.50067178e-02 -1.93862417e-02 6.53663729e+01] [-5.49803862e-02 9.98485648e-01 1.88904411e-03 -6.30441779e+00] [ 1.94607942e-02 -8.19965465e-04 9.99810285e-01 -2.04890065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54992885099999 meters 0.0773554155434032 Centerline is valid? [True, True] Translation: X:65.39, Y:-6.31, Z:-2.05 [[ 9.98379595e-01 5.34671372e-02 -1.94794635e-02 6.53934622e+01] [-5.34402374e-02 9.98569243e-01 1.89924008e-03 -6.31409468e+00] [ 1.95531400e-02 -8.55175391e-04 9.99808453e-01 -2.05327468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57992885099999 meters 0.07705429195994049 Centerline is valid? [True, True] Translation: X:65.42, Y:-6.32, Z:-2.05 [[ 9.98595563e-01 4.91515616e-02 -1.97743556e-02 6.54237532e+01] [-4.91229667e-02 9.98790875e-01 1.92949852e-03 -6.31968426e+00] [ 1.98452838e-02 -9.55413655e-04 9.99802606e-01 -2.05075333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60992885099999 meters 0.0767261936992227 Centerline is valid? [True, True] Translation: X:65.45, Y:-6.32, Z:-2.05 [[ 9.98695643e-01 4.70090071e-02 -1.99290451e-02 6.54525097e+01] [-4.69795756e-02 9.98893961e-01 1.94268507e-03 -6.32342688e+00] [ 1.99983265e-02 -1.00389303e-03 9.99799509e-01 -2.04983735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.639928851 meters 0.07831623424461788 Centerline is valid? [True, True] Translation: X:65.48, Y:-6.33, Z:-2.05 [[ 9.98788684e-01 4.50205327e-02 -1.98574110e-02 6.54801850e+01] [-4.49909402e-02 9.98985522e-01 1.93471308e-03 -6.33257121e+00] [ 1.99243679e-02 -1.03896594e-03 9.99800950e-01 -2.05261188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.669928851 meters 0.07907323855909723 Centerline is valid? [True, True] Translation: X:65.51, Y:-6.34, Z:-2.05 [[ 9.98940288e-01 4.20575332e-02 -1.86940036e-02 6.55077467e+01] [-4.20308183e-02 9.99114657e-01 1.81984478e-03 -6.34136624e+00] [ 1.87539911e-02 -1.03219200e-03 9.99823596e-01 -2.05352570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69992885099998 meters 0.07986613853372387 Centerline is valid? [True, True] Translation: X:65.53, Y:-6.35, Z:-2.05 [[ 9.98980754e-01 4.09008109e-02 -1.90938779e-02 6.55347521e+01] [-4.08727749e-02 9.99162634e-01 1.85643329e-03 -6.34732041e+00] [ 1.91538190e-02 -1.07412136e-03 9.99815972e-01 -2.05413838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72992885099998 meters 0.07922649949480019 Centerline is valid? [True, True] Translation: X:65.56, Y:-6.35, Z:-2.05 [[ 9.99035952e-01 3.96691000e-02 -1.88023438e-02 6.55637818e+01] [-3.96418219e-02 9.99212294e-01 1.82142569e-03 -6.34994547e+00] [ 1.88597874e-02 -1.07431058e-03 9.99821561e-01 -2.05352622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75992885099998 meters 0.07717608178927422 Centerline is valid? [True, True] Translation: X:65.59, Y:-6.35, Z:-2.05 [[ 9.99032142e-01 3.94804371e-02 -1.93926378e-02 6.55924335e+01] [-3.94514752e-02 9.99219730e-01 1.87390242e-03 -6.35066755e+00] [ 1.94514888e-02 -1.10702058e-03 9.99810189e-01 -2.05016237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78992885099998 meters 0.07707076150320838 Centerline is valid? [True, True] Translation: X:65.62, Y:-6.35, Z:-2.05 [[ 9.99029102e-01 3.96491719e-02 -1.92040928e-02 6.56207913e+01] [-3.96208910e-02 9.99213070e-01 1.85104286e-03 -6.35478231e+00] [ 1.92623728e-02 -1.08836241e-03 9.99813871e-01 -2.04990560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81992885099999 meters 0.07728335243621981 Centerline is valid? [True, True] Translation: X:65.65, Y:-6.36, Z:-2.05 [[ 9.99002056e-01 4.02903662e-02 -1.92763925e-02 6.56486939e+01] [-4.02620784e-02 9.99187435e-01 1.85348674e-03 -6.35999090e+00] [ 1.93354068e-02 -1.07552944e-03 9.99812475e-01 -2.05152722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84992885099999 meters 0.07667453105030622 Centerline is valid? [True, True] Translation: X:65.68, Y:-6.36, Z:-2.05 [[ 9.98945948e-01 4.18163975e-02 -1.89309978e-02 6.56775010e+01] [-4.17893554e-02 9.99124782e-01 1.82197172e-03 -6.36254124e+00] [ 1.89906174e-02 -1.02893707e-03 9.99819133e-01 -2.05074502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87992885099999 meters 0.07626336275898911 Centerline is valid? [True, True] Translation: X:65.71, Y:-6.37, Z:-2.05 [[ 9.98921250e-01 4.23384734e-02 -1.90732710e-02 6.57064449e+01] [-4.23112629e-02 9.99102805e-01 1.82810321e-03 -6.36547842e+00] [ 1.91335577e-02 -1.01911696e-03 9.99816417e-01 -2.05063712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90992885099999 meters 0.07577559258077003 Centerline is valid? [True, True] Translation: X:65.74, Y:-6.37, Z:-2.05 [[ 9.98790350e-01 4.50543054e-02 -1.96963535e-02 6.57356472e+01] [-4.50257525e-02 9.98984037e-01 1.89094764e-03 -6.36992119e+00] [ 1.97615381e-02 -1.00181711e-03 9.99804220e-01 -2.05072377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93992885099999 meters 0.07540708911570179 Centerline is valid? [True, True] Translation: X:65.76, Y:-6.37, Z:-2.05 [[ 9.98760279e-01 4.56529335e-02 -1.98422345e-02 6.57646409e+01] [-4.56242272e-02 9.98956871e-01 1.89725336e-03 -6.37341438e+00] [ 1.99081517e-02 -9.89614677e-04 9.99801323e-01 -2.05051330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96992885099999 meters 0.07542466485986961 Centerline is valid? [True, True] Translation: X:65.79, Y:-6.38, Z:-2.05 [[ 9.98746997e-01 4.60196292e-02 -1.96628823e-02 6.57935606e+01] [-4.59915952e-02 9.98940066e-01 1.87580588e-03 -6.37851365e+00] [ 1.97283648e-02 -9.69128166e-04 9.99804907e-01 -2.05139818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99992885099999 meters 0.07444363929872952 Centerline is valid? [True, True] Translation: X:65.82, Y:-6.38, Z:-2.05 [[ 9.98751014e-01 4.57644266e-02 -2.00506677e-02 6.58223991e+01] [-4.57353300e-02 9.98951771e-01 1.90755460e-03 -6.37975702e+00] [ 2.01169481e-02 -9.88148184e-04 9.99797145e-01 -2.04934275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.029928851 meters 0.07607161736893518 Centerline is valid? [True, True] Translation: X:65.85, Y:-6.39, Z:-2.05 [[ 9.98770567e-01 4.53997913e-02 -1.99050995e-02 6.58484860e+01] [-4.53710351e-02 9.98968409e-01 1.89413123e-03 -6.39287959e+00] [ 1.99705587e-02 -9.88687556e-04 9.99800080e-01 -2.05359601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05992885099998 meters 0.07604829331144337 Centerline is valid? [True, True] Translation: X:65.88, Y:-6.40, Z:-2.05 [[ 9.98825786e-01 4.38010066e-02 -2.07007273e-02 6.58775792e+01] [-4.37695493e-02 9.99039711e-01 1.97048493e-03 -6.39806548e+00] [ 2.07671578e-02 -1.06210966e-03 9.99783775e-01 -2.05385624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08992885099998 meters 0.07538256579341905 Centerline is valid? [True, True] Translation: X:65.91, Y:-6.40, Z:-2.05 [[ 9.98896874e-01 4.19420813e-02 -2.11162699e-02 6.59070289e+01] [-4.19089493e-02 9.99119414e-01 2.00931145e-03 -6.40140437e+00] [ 2.11819499e-02 -1.12213424e-03 9.99775008e-01 -2.05231366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11992885099998 meters 0.07583252703021372 Centerline is valid? [True, True] Translation: X:65.94, Y:-6.41, Z:-2.05 [[ 9.98987244e-01 3.99214443e-02 -2.07548581e-02 6.59355539e+01] [-3.98891813e-02 9.99202175e-01 1.96631794e-03 -6.40836289e+00] [ 2.08167976e-02 -1.13643224e-03 9.99782661e-01 -2.05384940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14992885099998 meters 0.0769763961867054 Centerline is valid? [True, True] Translation: X:65.96, Y:-6.42, Z:-2.05 [[ 9.99159227e-01 3.49316933e-02 -2.14619589e-02 6.59640178e+01] [-3.48959542e-02 9.99388874e-01 2.03760359e-03 -6.42009854e+00] [ 2.15200199e-02 -1.28695489e-03 9.99767589e-01 -2.05390988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17992885099999 meters 0.07848952276850164 Centerline is valid? [True, True] Translation: X:65.99, Y:-6.43, Z:-2.06 [[ 9.99264273e-01 3.20204573e-02 -2.11092976e-02 6.59921277e+01] [-3.19852432e-02 9.99486333e-01 2.00379574e-03 -6.43005179e+00] [ 2.11626169e-02 -1.32713548e-03 9.99775166e-01 -2.05617834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20992885099999 meters 0.07807749387434747 Centerline is valid? [True, True] Translation: X:66.02, Y:-6.44, Z:-2.05 [[ 9.99354183e-01 2.89808659e-02 -2.12444605e-02 6.60224307e+01] [-2.89445115e-02 9.99578985e-01 2.01680153e-03 -6.43512177e+00] [ 2.12939649e-02 -1.40058851e-03 9.99772277e-01 -2.05448374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23992885099999 meters 0.07863279862160624 Centerline is valid? [True, True] Translation: X:66.05, Y:-6.44, Z:-2.05 [[ 9.99408838e-01 2.68567455e-02 -2.14636721e-02 6.60509128e+01] [-2.68192119e-02 9.99638229e-01 2.03470015e-03 -6.44339015e+00] [ 2.15105526e-02 -1.45785854e-03 9.99767558e-01 -2.05453095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26992885099999 meters 0.07912519930194098 Centerline is valid? [True, True] Translation: X:66.08, Y:-6.45, Z:-2.05 [[ 9.99553011e-01 2.23387556e-02 -1.98685354e-02 6.60804628e+01] [-2.23056853e-02 9.99749421e-01 1.88454396e-03 -6.45392348e+00] [ 1.99056551e-02 -1.44052029e-03 9.99800825e-01 -2.05327389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29992885099999 meters 0.08101486645923674 Centerline is valid? [True, True] Translation: X:66.11, Y:-6.46, Z:-2.05 [[ 9.99608428e-01 2.01570748e-02 -1.94083206e-02 6.61077584e+01] [-2.01251581e-02 9.99795778e-01 1.83841868e-03 -6.46429869e+00] [ 1.94414142e-02 -1.44710328e-03 9.99809951e-01 -2.05456709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32992885099999 meters 0.07927095430602911 Centerline is valid? [True, True] Translation: X:66.14, Y:-6.46, Z:-2.05 [[ 9.99655674e-01 1.79404752e-02 -1.91486994e-02 6.61378259e+01] [-1.79090037e-02 9.99837976e-01 1.81376433e-03 -6.46483916e+00] [ 1.91781367e-02 -1.47020567e-03 9.99815002e-01 -2.05152339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35992885099999 meters 0.08261076495209604 Centerline is valid? [True, True] Translation: X:66.16, Y:-6.48, Z:-2.06 [[ 9.99677586e-01 1.65104197e-02 -1.92906834e-02 6.61649690e+01] [-1.64782530e-02 9.99862558e-01 1.82524662e-03 -6.47856715e+00] [ 1.93181677e-02 -1.50678138e-03 9.99812251e-01 -2.05508950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.389928851 meters 0.08039495113182984 Centerline is valid? [True, True] Translation: X:66.19, Y:-6.48, Z:-2.05 [[ 9.99717058e-01 1.37959585e-02 -1.93772056e-02 6.61947311e+01] [-1.37629843e-02 9.99903604e-01 1.83403532e-03 -6.48088373e+00] [ 1.94006399e-02 -1.56682822e-03 9.99810562e-01 -2.05137484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.419928851 meters 0.08259043500169705 Centerline is valid? [True, True] Translation: X:66.22, Y:-6.49, Z:-2.05 [[ 9.99731706e-01 1.27025025e-02 -1.93691262e-02 6.62222231e+01] [-1.26693946e-02 9.99918063e-01 1.83107117e-03 -6.49122911e+00] [ 1.93907983e-02 -1.58518481e-03 9.99810724e-01 -2.05395470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44992885099998 meters 0.08309935430605765 Centerline is valid? [True, True] Translation: X:66.25, Y:-6.50, Z:-2.05 [[ 9.99750405e-01 1.14123014e-02 -1.92064364e-02 6.62509070e+01] [-1.13795361e-02 9.99933605e-01 1.81438657e-03 -6.49724643e+00] [ 1.92258675e-02 -1.59537337e-03 9.99813893e-01 -2.05456559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47992885099998 meters 0.08482977195441778 Centerline is valid? [True, True] Translation: X:66.28, Y:-6.51, Z:-2.06 [[ 9.99745998e-01 8.74434550e-03 -2.07719778e-02 6.62796975e+01] [-8.70542012e-03 9.99960179e-01 1.96362438e-03 -6.50663601e+00] [ 2.07883213e-02 -1.78229683e-03 9.99782311e-01 -2.05643999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50992885099998 meters 0.08588316152039925 Centerline is valid? [True, True] Translation: X:66.31, Y:-6.51, Z:-2.06 [[ 9.99754595e-01 7.39334722e-03 -2.08827305e-02 6.63075447e+01] [-7.35376741e-03 9.99971017e-01 1.97149436e-03 -6.51315426e+00] [ 2.08967012e-02 -1.81744380e-03 9.99779988e-01 -2.05704629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53992885099998 meters 0.08263262374184552 Centerline is valid? [True, True] Translation: X:66.34, Y:-6.51, Z:-2.05 [[ 9.99756292e-01 6.05521536e-03 -2.12294908e-02 6.63378775e+01] [-6.01401379e-03 9.99979907e-01 2.00407888e-03 -6.50972287e+00] [ 2.12411993e-02 -1.87591602e-03 9.99772620e-01 -2.05309473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56992885099999 meters 0.08759712876102323 Centerline is valid? [True, True] Translation: X:66.36, Y:-6.52, Z:-2.06 [[ 9.99773771e-01 5.18503162e-03 -2.06281898e-02 6.63643457e+01] [-5.14603840e-03 9.99984872e-01 1.94292218e-03 -6.52471129e+00] [ 2.06379518e-02 -1.83632917e-03 9.99785328e-01 -2.05850491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59992885099999 meters 0.086984538260209 Centerline is valid? [True, True] Translation: X:66.39, Y:-6.53, Z:-2.06 [[ 9.99760748e-01 3.78185746e-03 -2.15440033e-02 6.63947165e+01] [-3.73894875e-03 9.99990946e-01 2.03161037e-03 -6.52680494e+00] [ 2.15514915e-02 -1.95057238e-03 9.99765837e-01 -2.05752797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62992885099999 meters 0.08616665208510224 Centerline is valid? [True, True] Translation: X:66.42, Y:-6.53, Z:-2.06 [[ 9.99796153e-01 2.56816507e-03 -2.00264257e-02 6.64238141e+01] [-2.53089942e-03 9.99995019e-01 1.88594711e-03 -6.52899428e+00] [ 2.00311694e-02 -1.83487779e-03 9.99797672e-01 -2.05627608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65992885099999 meters 0.09141774944424744 Centerline is valid? [True, True] Translation: X:66.45, Y:-6.54, Z:-2.06 [[ 9.99797363e-01 1.33992330e-03 -2.00857421e-02 6.64515594e+01] [-1.30222082e-03 9.99997366e-01 1.89003862e-03 -6.54229066e+00] [ 2.00882217e-02 -1.86349956e-03 9.99796475e-01 -2.06095103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68992885099999 meters 0.08520432126862985 Centerline is valid? [True, True] Translation: X:66.48, Y:-6.53, Z:-2.06 [[ 9.99788562e-01 -5.35058419e-04 -2.05558785e-02 6.64827512e+01] [ 5.74949006e-04 9.99997963e-01 1.93473175e-03 -6.53274076e+00] [ 2.05548014e-02 -1.94614126e-03 9.99786834e-01 -2.05557512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71992885099999 meters 0.08520432126862985 Centerline is valid? [True, True] Translation: X:66.51, Y:-6.54, Z:-2.06 [[ 9.99788496e-01 -6.37252532e-04 -2.05562117e-02 6.65102427e+01] [ 6.77092359e-04 9.99997906e-01 1.93119011e-03 -6.53523028e+00] [ 2.05549380e-02 -1.94470011e-03 9.99786834e-01 -2.05607319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74992885099999 meters 0.0874572754376634 Centerline is valid? [True, True] Translation: X:66.54, Y:-6.54, Z:-2.06 [[ 9.99794476e-01 -2.00190794e-03 -2.01741831e-02 6.65382174e+01] [ 2.04055296e-03 9.99996122e-01 1.89516479e-03 -6.54167928e+00] [ 2.01703110e-02 -1.93594178e-03 9.99794684e-01 -2.05738412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.779928851 meters 0.08635035469680964 Centerline is valid? [True, True] Translation: X:66.57, Y:-6.54, Z:-2.06 [[ 9.99806362e-01 -2.68901365e-03 -1.94937608e-02 6.65667608e+01] [ 2.72517942e-03 9.99994614e-01 1.82892139e-03 -6.54104339e+00] [ 1.94887379e-02 -1.88169124e-03 9.99808306e-01 -2.05712162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80992885099998 meters 0.08464930157980464 Centerline is valid? [True, True] Translation: X:66.60, Y:-6.54, Z:-2.06 [[ 9.99787687e-01 -3.55836211e-03 -2.02957813e-02 6.65969338e+01] [ 3.59774838e-03 9.99991715e-01 1.90443051e-03 -6.53933212e+00] [ 2.02888365e-02 -1.97704529e-03 9.99792206e-01 -2.05626883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83992885099998 meters 0.08660370373828379 Centerline is valid? [True, True] Translation: X:66.62, Y:-6.54, Z:-2.06 [[ 9.99791170e-01 -4.21415717e-03 -1.99964078e-02 6.66239794e+01] [ 4.25246626e-03 9.99989203e-01 1.87366386e-03 -6.54445042e+00] [ 1.99882959e-02 -1.95830663e-03 9.99798296e-01 -2.05842638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86992885099998 meters 0.09046511154851984 Centerline is valid? [True, True] Translation: X:66.65, Y:-6.55, Z:-2.06 [[ 9.99795328e-01 -4.17915575e-03 -1.97948720e-02 6.66512906e+01] [ 4.21665648e-03 9.99989393e-01 1.85310739e-03 -6.55348935e+00] [ 1.97869176e-02 -1.93619629e-03 9.99802345e-01 -2.06178095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89992885099998 meters 0.0851307236362019 Centerline is valid? [True, True] Translation: X:66.68, Y:-6.54, Z:-2.06 [[ 9.99794017e-01 -4.85073148e-03 -1.97077147e-02 6.66808237e+01] [ 4.88788006e-03 9.99986366e-01 1.83724434e-03 -6.54361043e+00] [ 1.96985341e-02 -1.93319485e-03 9.99804096e-01 -2.05795851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92992885099999 meters 0.0889565045618494 Centerline is valid? [True, True] Translation: X:66.71, Y:-6.55, Z:-2.06 [[ 9.99789129e-01 -4.92372860e-03 -1.99362360e-02 6.67075220e+01] [ 4.96178147e-03 9.99985961e-01 1.85971398e-03 -6.55184500e+00] [ 1.99267994e-02 -1.95824106e-03 9.99799524e-01 -2.06137897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95992885099999 meters 0.09001342409727942 Centerline is valid? [True, True] Translation: X:66.73, Y:-6.55, Z:-2.06 [[ 9.99789245e-01 -5.09717378e-03 -1.98868066e-02 6.67347913e+01] [ 5.13496423e-03 9.99985105e-01 1.84967580e-03 -6.55067378e+00] [ 1.98770823e-02 -1.95140401e-03 9.99800527e-01 -2.06271350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98992885099999 meters 0.08563173367271203 Centerline is valid? [True, True] Translation: X:66.76, Y:-6.54, Z:-2.06 [[ 9.99766580e-01 -5.45985104e-03 -2.09039730e-02 6.67645380e+01] [ 5.50156111e-03 9.99982988e-01 1.93832939e-03 -6.54127367e+00] [ 2.08930344e-02 -2.05288143e-03 9.99779609e-01 -2.06016579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01992885099999 meters 0.0880576268771933 Centerline is valid? [True, True] Translation: X:66.79, Y:-6.55, Z:-2.06 [[ 9.99770343e-01 -5.46090453e-03 -2.07229141e-02 6.67919929e+01] [ 5.50191588e-03 9.99983016e-01 1.92253583e-03 -6.54528799e+00] [ 2.07120634e-02 -2.03611004e-03 9.99783409e-01 -2.06290331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04992885099999 meters 0.08899626917371871 Centerline is valid? [True, True] Translation: X:66.82, Y:-6.54, Z:-2.07 [[ 9.99744409e-01 -5.41555440e-03 -2.19496609e-02 6.68201692e+01] [ 5.46151793e-03 9.99983016e-01 2.03463692e-03 -6.54324417e+00] [ 2.19382694e-02 -2.15399535e-03 9.99757007e-01 -2.06537545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07992885099999 meters 0.0890130678315316 Centerline is valid? [True, True] Translation: X:66.85, Y:-6.54, Z:-2.07 [[ 9.99738294e-01 -5.58145858e-03 -2.21853581e-02 6.68479026e+01] [ 5.62825054e-03 9.99982066e-01 2.04725642e-03 -6.54185306e+00] [ 2.21735335e-02 -2.17158539e-03 9.99751779e-01 -2.06633496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10992885099999 meters 0.08954577867897616 Centerline is valid? [True, True] Translation: X:66.88, Y:-6.54, Z:-2.07 [[ 9.99737258e-01 -5.06212547e-03 -2.23560004e-02 6.68761153e+01] [ 5.10941057e-03 9.99984828e-01 2.05848260e-03 -6.54160473e+00] [ 2.23452409e-02 -2.17216773e-03 9.99747954e-01 -2.06756629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.139928851 meters 0.0872735223453425 Centerline is valid? [True, True] Translation: X:66.91, Y:-6.54, Z:-2.07 [[ 9.99740503e-01 -4.21906487e-03 -2.23858253e-02 6.69056861e+01] [ 4.26629926e-03 9.99988772e-01 2.06267469e-03 -6.53520509e+00] [ 2.23768714e-02 -2.15764406e-03 9.99747278e-01 -2.06655224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.169928851 meters 0.08466249877610706 Centerline is valid? [True, True] Translation: X:66.94, Y:-6.52, Z:-2.07 [[ 9.99744225e-01 -2.83041971e-03 -2.24381967e-02 6.69367661e+01] [ 2.87752489e-03 9.99993723e-01 2.06732076e-03 -6.52305797e+00] [ 2.24322045e-02 -2.13135846e-03 9.99746095e-01 -2.06505118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19992885099998 meters 0.08529437734564667 Centerline is valid? [True, True] Translation: X:66.96, Y:-6.52, Z:-2.07 [[ 9.99736596e-01 -2.35647776e-03 -2.28295091e-02 6.69648063e+01] [ 2.40505287e-03 9.99994902e-01 2.10051018e-03 -6.52259621e+00] [ 2.28244429e-02 -2.15486307e-03 9.99737166e-01 -2.06630070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22992885099998 meters 0.08973415728103552 Centerline is valid? [True, True] Translation: X:66.99, Y:-6.53, Z:-2.07 [[ 9.99754224e-01 -1.45137408e-03 -2.21220648e-02 6.69932861e+01] [ 1.49676794e-03 9.99996808e-01 2.03555243e-03 -6.52959489e+00] [ 2.21190398e-02 -2.06816374e-03 9.99753205e-01 -2.07035134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25992885099998 meters 0.08526132397597788 Centerline is valid? [True, True] Translation: X:67.02, Y:-6.51, Z:-2.07 [[ 9.99778792e-01 -1.12449680e-04 -2.10322210e-02 6.70244665e+01] [ 1.53170736e-04 9.99998117e-01 1.93452632e-03 -6.51460893e+00] [ 2.10319639e-02 -1.93731991e-03 9.99776927e-01 -2.06681559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28992885099998 meters 0.08493919340598385 Centerline is valid? [True, True] Translation: X:67.05, Y:-6.51, Z:-2.07 [[ 9.99770231e-01 -2.10310210e-05 -2.14356166e-02 6.70540732e+01] [ 6.31207174e-05 9.99998072e-01 1.96286557e-03 -6.51136339e+00] [ 2.14355339e-02 -1.96376760e-03 9.99768304e-01 -2.06721688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31992885099999 meters 0.08610155198882612 Centerline is valid? [True, True] Translation: X:67.08, Y:-6.51, Z:-2.07 [[ 9.99783950e-01 5.62145700e-04 -2.07782985e-02 6.70818095e+01] [-5.22704848e-04 9.99998052e-01 1.90355757e-03 -6.51185536e+00] [ 2.07793281e-02 -1.89228539e-03 9.99782296e-01 -2.06843047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34992885099999 meters 0.08625714652478335 Centerline is valid? [True, True] Translation: X:67.11, Y:-6.51, Z:-2.07 [[ 9.99802372e-01 2.11889839e-03 -1.97668418e-02 6.71126086e+01] [-2.08349033e-03 9.99996188e-01 1.81170806e-03 -6.50605144e+00] [ 1.97706052e-02 -1.77016599e-03 9.99802975e-01 -2.06931617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37992885099999 meters 0.0851292143626959 Centerline is valid? [True, True] Translation: X:67.14, Y:-6.50, Z:-2.07 [[ 9.99807254e-01 2.55395409e-03 -1.94661908e-02 6.71420655e+01] [-2.51986246e-03 9.99995249e-01 1.77565238e-03 -6.50221591e+00] [ 1.94706332e-02 -1.72625801e-03 9.99808939e-01 -2.06865382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40992885099999 meters 0.0840771542423384 Centerline is valid? [True, True] Translation: X:67.17, Y:-6.50, Z:-2.07 [[ 9.99818302e-01 3.06401123e-03 -1.88142039e-02 6.71713209e+01] [-3.03222519e-03 9.99993927e-01 1.71776511e-03 -6.49808864e+00] [ 1.88193529e-02 -1.66040410e-03 9.99821522e-01 -2.06842018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43992885099999 meters 0.0852645128207927 Centerline is valid? [True, True] Translation: X:67.20, Y:-6.50, Z:-2.07 [[ 9.99818634e-01 3.05208155e-03 -1.87984851e-02 6.71988503e+01] [-3.02038174e-03 9.99993969e-01 1.71445729e-03 -6.49815348e+00] [ 1.88036044e-02 -1.65736775e-03 9.99821823e-01 -2.06988885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46992885099999 meters 0.08518012968226485 Centerline is valid? [True, True] Translation: X:67.23, Y:-6.49, Z:-2.07 [[ 9.99823502e-01 4.79833087e-03 -1.81642718e-02 6.72291393e+01] [-4.76901561e-03 9.99987256e-01 1.65686968e-03 -6.49189768e+00] [ 1.81719905e-02 -1.56995155e-03 9.99833643e-01 -2.07062950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49992885099999 meters 0.08884202625110377 Centerline is valid? [True, True] Translation: X:67.26, Y:-6.50, Z:-2.07 [[ 9.99823868e-01 5.80414856e-03 -1.78478233e-02 6.72568177e+01] [-5.77603700e-03 9.99981996e-01 1.62621587e-03 -6.49758680e+00] [ 1.78569407e-02 -1.52283976e-03 9.99839392e-01 -2.07468518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.529928851 meters 0.08522830915313849 Centerline is valid? [True, True] Translation: X:67.29, Y:-6.49, Z:-2.07 [[ 9.99821197e-01 6.46250974e-03 -1.77710470e-02 6.72867960e+01] [-6.43476399e-03 9.99977988e-01 1.61802772e-03 -6.48775490e+00] [ 1.77811124e-02 -1.50338592e-03 9.99840773e-01 -2.07251878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55992885099998 meters 0.08575429267570116 Centerline is valid? [True, True] Translation: X:67.32, Y:-6.48, Z:-2.07 [[ 9.99801671e-01 9.16336159e-03 -1.76819465e-02 6.73169419e+01] [-9.13630489e-03 9.99956966e-01 1.61036309e-03 -6.48244964e+00] [ 1.76959419e-02 -1.44849605e-03 9.99842365e-01 -2.07452162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58992885099998 meters 0.08421406084122159 Centerline is valid? [True, True] Translation: X:67.35, Y:-6.48, Z:-2.07 [[ 9.99777188e-01 1.06101231e-02 -1.82482932e-02 6.73466577e+01] [-1.05816812e-02 9.99942644e-01 1.65446401e-03 -6.47726821e+00] [ 1.82648006e-02 -1.46099776e-03 9.99832117e-01 -2.07424653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61992885099998 meters 0.08542597339573672 Centerline is valid? [True, True] Translation: X:67.38, Y:-6.48, Z:-2.08 [[ 9.99752505e-01 1.26264971e-02 -1.83166726e-02 6.73751155e+01] [-1.25981392e-02 9.99919258e-01 1.66276391e-03 -6.47778351e+00] [ 1.83361885e-02 -1.43159640e-03 9.99830853e-01 -2.07724724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64992885099998 meters 0.08298668575707799 Centerline is valid? [True, True] Translation: X:67.41, Y:-6.47, Z:-2.08 [[ 9.99707170e-01 1.68079930e-02 -1.74087705e-02 6.74066463e+01] [-1.67829985e-02 9.99857906e-01 1.58085233e-03 -6.46677725e+00] [ 1.74328678e-02 -1.28821804e-03 9.99847206e-01 -2.07639034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67992885099999 meters 0.08344410961764172 Centerline is valid? [True, True] Translation: X:67.44, Y:-6.47, Z:-2.08 [[ 9.99664985e-01 1.94222247e-02 -1.71083171e-02 6.74358372e+01] [-1.93984833e-02 9.99810626e-01 1.55258587e-03 -6.46670070e+00] [ 1.71352319e-02 -1.22019032e-03 9.99852437e-01 -2.07800745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70992885099999 meters 0.08361311957793775 Centerline is valid? [True, True] Translation: X:67.47, Y:-6.47, Z:-2.08 [[ 9.99634550e-01 2.16753172e-02 -1.61538382e-02 6.74654810e+01] [-2.16544527e-02 9.99764441e-01 1.46543033e-03 -6.46581108e+00] [ 1.61817967e-02 -1.11509226e-03 9.99868444e-01 -2.07893441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73992885099999 meters 0.08161847483608586 Centerline is valid? [True, True] Translation: X:67.50, Y:-6.46, Z:-2.08 [[ 9.99543262e-01 2.63844234e-02 -1.47353252e-02 6.74966137e+01] [-2.63675695e-02 9.99651421e-01 1.33692174e-03 -6.45720920e+00] [ 1.47654627e-02 -9.47776410e-04 9.99890535e-01 -2.07854061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76992885099999 meters 0.08167793737658781 Centerline is valid? [True, True] Translation: X:67.53, Y:-6.46, Z:-2.08 [[ 9.99491530e-01 2.85198043e-02 -1.42584431e-02 6.75255992e+01] [-2.85042519e-02 9.99592835e-01 1.29282340e-03 -6.45709861e+00] [ 1.42895086e-02 -8.85739786e-04 9.99897507e-01 -2.08013061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79992885099999 meters 0.07897187714856672 Centerline is valid? [True, True] Translation: X:67.56, Y:-6.45, Z:-2.08 [[ 9.99460090e-01 3.01183341e-02 -1.31306745e-02 6.75558383e+01] [-3.01052888e-02 9.99546025e-01 1.19007107e-03 -6.45026561e+00] [ 1.31605565e-02 -7.94125789e-04 9.99913081e-01 -2.07731810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82992885099999 meters 0.07666658766153912 Centerline is valid? [True, True] Translation: X:67.59, Y:-6.44, Z:-2.07 [[ 9.99406345e-01 3.20471211e-02 -1.26467203e-02 6.75867221e+01] [-3.20351730e-02 9.99486085e-01 1.14625579e-03 -6.44181809e+00] [ 1.26769552e-02 -7.40435440e-04 9.99919370e-01 -2.07461086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85992885099999 meters 0.0785083586034692 Centerline is valid? [True, True] Translation: X:67.61, Y:-6.45, Z:-2.08 [[ 9.99388378e-01 3.26342612e-02 -1.25648007e-02 6.76137978e+01] [-3.26225424e-02 9.99467097e-01 1.13655215e-03 -6.44742122e+00] [ 1.25951954e-02 -7.25961264e-04 9.99920414e-01 -2.07854835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.889928851 meters 0.07800965967317602 Centerline is valid? [True, True] Translation: X:67.64, Y:-6.45, Z:-2.08 [[ 9.99403382e-01 3.23679874e-02 -1.20496021e-02 6.76429895e+01] [-3.23572571e-02 9.99475779e-01 1.08445491e-03 -6.44712496e+00] [ 1.20783871e-02 -6.93915828e-04 9.99926813e-01 -2.07868058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91992885099998 meters 0.07683557228110302 Centerline is valid? [True, True] Translation: X:67.67, Y:-6.45, Z:-2.08 [[ 9.99429090e-01 3.19035224e-02 -1.11202122e-02 6.76721799e+01] [-3.18943893e-02 9.99490747e-01 9.97725278e-04 -6.44511818e+00] [ 1.11463802e-02 -6.42483290e-04 9.99937671e-01 -2.07759587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94992885099998 meters 0.07766529695459308 Centerline is valid? [True, True] Translation: X:67.70, Y:-6.45, Z:-2.08 [[ 9.99464923e-01 3.10116847e-02 -1.03992024e-02 6.77002054e+01] [-3.10036328e-02 9.99518835e-01 9.34646180e-04 -6.44760027e+00] [ 1.04231836e-02 -6.11733021e-04 9.99945490e-01 -2.07726306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97992885099998 meters 0.07924507654610115 Centerline is valid? [True, True] Translation: X:67.73, Y:-6.45, Z:-2.08 [[ 9.99501801e-01 2.99503609e-02 -9.95614441e-03 6.77274509e+01] [-2.99429365e-02 9.99551210e-01 8.93976731e-04 -6.45328681e+00] [ 9.97845111e-03 -5.95415153e-04 9.99950037e-01 -2.07925516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00992885099998 meters 0.07863745690043482 Centerline is valid? [True, True] Translation: X:67.76, Y:-6.45, Z:-2.08 [[ 9.99509239e-01 2.96969894e-02 -9.96841562e-03 6.77562029e+01] [-2.96895377e-02 9.99558768e-01 8.94713569e-04 -6.45451686e+00] [ 9.99058754e-03 -5.98316827e-04 9.99949914e-01 -2.07910399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03992885099998 meters 0.07890734984688177 Centerline is valid? [True, True] Translation: X:67.79, Y:-6.46, Z:-2.08 [[ 9.99578200e-01 2.72405904e-02 -1.00684300e-02 6.77852463e+01] [-2.72328664e-02 9.99628708e-01 9.03486938e-04 -6.45757488e+00] [ 1.00893032e-02 -6.28913638e-04 9.99948904e-01 -2.07885917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06992885099999 meters 0.08005245607203386 Centerline is valid? [True, True] Translation: X:67.81, Y:-6.46, Z:-2.08 [[ 9.99611149e-01 2.60639514e-02 -9.91067608e-03 6.78127394e+01] [-2.60564242e-02 9.99660079e-01 8.87888156e-04 -6.46310404e+00] [ 9.93044911e-03 -6.29306119e-04 9.99950494e-01 -2.08013427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09992885099999 meters 0.080823364474508 Centerline is valid? [True, True] Translation: X:67.84, Y:-6.47, Z:-2.08 [[ 9.99647985e-01 2.46275971e-02 -9.86851960e-03 6.78410445e+01] [-2.46200630e-02 9.99696489e-01 8.84225428e-04 -6.46743664e+00] [ 9.88730074e-03 -6.40950592e-04 9.99950914e-01 -2.08093998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12992885099999 meters 0.08216030971857452 Centerline is valid? [True, True] Translation: X:67.87, Y:-6.47, Z:-2.08 [[ 9.99686426e-01 2.31794171e-02 -9.47438099e-03 6.78700039e+01] [-2.31724084e-02 9.99731123e-01 8.48869801e-04 -6.47365460e+00] [ 9.49150986e-03 -6.29059391e-04 9.99954757e-01 -2.08188655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15992885099999 meters 0.08302604637366437 Centerline is valid? [True, True] Translation: X:67.90, Y:-6.48, Z:-2.08 [[ 9.99753985e-01 1.99993331e-02 -9.59143245e-03 6.79000285e+01] [-1.99920031e-02 9.99799770e-01 8.59504017e-04 -6.47933879e+00] [ 9.60670147e-03 -6.67540620e-04 9.99953632e-01 -2.08158064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18992885099999 meters 0.08162558484021856 Centerline is valid? [True, True] Translation: X:67.93, Y:-6.48, Z:-2.08 [[ 9.99786758e-01 1.87757786e-02 -8.59705775e-03 6.79284491e+01] [-1.87698619e-02 9.99823535e-01 7.68397426e-04 -6.47943444e+00] [ 8.60996794e-03 -6.06867984e-04 9.99962749e-01 -2.07972210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21992885099999 meters 0.08565789522341442 Centerline is valid? [True, True] Translation: X:67.96, Y:-6.49, Z:-2.08 [[ 9.99808226e-01 1.74099122e-02 -8.96693827e-03 6.79558641e+01] [-1.74034187e-02 9.99848228e-01 8.01687883e-04 -6.49134158e+00] [ 8.97953465e-03 -6.45478759e-04 9.99959475e-01 -2.08369151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24992885099999 meters 0.0848007580333263 Centerline is valid? [True, True] Translation: X:67.98, Y:-6.49, Z:-2.08 [[ 9.99830464e-01 1.63433622e-02 -8.48164206e-03 6.79845989e+01] [-1.63375218e-02 9.99866247e-01 7.57427870e-04 -6.49330157e+00] [ 8.49288653e-03 -6.18730447e-04 9.99963743e-01 -2.08218704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.279928851 meters 0.08357826781344009 Centerline is valid? [True, True] Translation: X:68.01, Y:-6.49, Z:-2.08 [[ 9.99845245e-01 1.57224769e-02 -7.89237791e-03 6.80138951e+01] [-1.57174057e-02 9.99876226e-01 7.04166568e-04 -6.49413358e+00] [ 7.90247228e-03 -5.80009890e-04 9.99968607e-01 -2.08098026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30992885099998 meters 0.08796487853332027 Centerline is valid? [True, True] Translation: X:68.04, Y:-6.51, Z:-2.08 [[ 9.99860034e-01 1.49911726e-02 -7.42818804e-03 6.80404516e+01] [-1.49866749e-02 9.99887475e-01 6.60776347e-04 -6.50641679e+00] [ 7.43725799e-03 -5.49360021e-04 9.99972192e-01 -2.08481113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33992885099998 meters 0.08442628785658998 Centerline is valid? [True, True] Translation: X:68.07, Y:-6.50, Z:-2.08 [[ 9.99860725e-01 1.50971378e-02 -7.11381526e-03 6.80697515e+01] [-1.50930123e-02 9.99885893e-01 6.33255089e-04 -6.50251918e+00] [ 7.12256387e-03 -5.25797992e-04 9.99974496e-01 -2.08283743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36992885099998 meters 0.08286795466350742 Centerline is valid? [True, True] Translation: X:68.10, Y:-6.50, Z:-2.08 [[ 9.99870251e-01 1.41470262e-02 -7.70336727e-03 6.80997857e+01] [-1.41421574e-02 9.99899759e-01 6.86147404e-04 -6.50347844e+00] [ 7.71230202e-03 -5.77116145e-04 9.99970093e-01 -2.08171855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39992885099998 meters 0.08329007179483645 Centerline is valid? [True, True] Translation: X:68.13, Y:-6.51, Z:-2.08 [[ 9.99873290e-01 1.35486178e-02 -8.35701928e-03 6.81279117e+01] [-1.35428763e-02 9.99908015e-01 7.43243654e-04 -6.50789566e+00] [ 8.36632048e-03 -6.29971400e-04 9.99964803e-01 -2.08298364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42992885099999 meters 0.08357391745659033 Centerline is valid? [True, True] Translation: X:68.16, Y:-6.51, Z:-2.08 [[ 9.99881951e-01 1.30576663e-02 -8.09827002e-03 6.81562973e+01] [-1.30522636e-02 9.99914557e-01 7.19646219e-04 -6.51232584e+00] [ 8.10697498e-03 -6.13860511e-04 9.99966950e-01 -2.08341756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45992885099999 meters 0.08653321645960307 Centerline is valid? [True, True] Translation: X:68.18, Y:-6.52, Z:-2.09 [[ 9.99896284e-01 1.18110240e-02 -8.24140813e-03 6.81844553e+01] [-1.18053906e-02 9.99930046e-01 7.31861083e-04 -6.52229376e+00] [ 8.24947564e-03 -6.34492136e-04 9.99965771e-01 -2.08602245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48992885099999 meters 0.08607590261953581 Centerline is valid? [True, True] Translation: X:68.21, Y:-6.53, Z:-2.09 [[ 9.99907852e-01 1.04348324e-02 -8.68344745e-03 6.82133827e+01] [-1.04285275e-02 9.99945324e-01 7.71042366e-04 -6.52643572e+00] [ 8.69101837e-03 -6.80415745e-04 9.99962001e-01 -2.08588602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51992885099999 meters 0.0861822647785571 Centerline is valid? [True, True] Translation: X:68.24, Y:-6.53, Z:-2.09 [[ 9.99912936e-01 1.01268053e-02 -8.45976932e-03 6.82422075e+01] [-1.01208177e-02 9.99948502e-01 7.50291651e-04 -6.53075467e+00] [ 8.46693171e-03 -6.64606545e-04 9.99963934e-01 -2.08641434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54992885099999 meters 0.08532270961433663 Centerline is valid? [True, True] Translation: X:68.27, Y:-6.53, Z:-2.09 [[ 9.99911035e-01 9.51897956e-03 -9.34399476e-03 6.82703453e+01] [-9.51166750e-03 9.99954421e-01 8.26670312e-04 -6.53382835e+00] [ 9.35143793e-03 -7.37719796e-04 9.99956002e-01 -2.08649730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57992885099999 meters 0.08582435726999241 Centerline is valid? [True, True] Translation: X:68.30, Y:-6.54, Z:-2.09 [[ 9.99910154e-01 9.65928381e-03 -9.29422455e-03 6.82987582e+01] [-9.65205208e-03 9.99953079e-01 8.22630109e-04 -6.53912247e+00] [ 9.30173448e-03 -7.32847859e-04 9.99956469e-01 -2.08735528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60992885099999 meters 0.08582435726999241 Centerline is valid? [True, True] Translation: X:68.33, Y:-6.54, Z:-2.09 [[ 9.99911121e-01 9.55848158e-03 -9.29436128e-03 6.83262013e+01] [-9.55125978e-03 9.99954049e-01 8.21086051e-04 -6.54144262e+00] [ 9.30178253e-03 -7.32240214e-04 9.99956469e-01 -2.08785264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.639928851 meters 0.08430767289801556 Centerline is valid? [True, True] Translation: X:68.36, Y:-6.54, Z:-2.09 [[ 9.99903517e-01 9.57531080e-03 -1.00632961e-02 6.83552631e+01] [-9.56684494e-03 9.99953841e-01 8.89064161e-04 -6.54189301e+00] [ 1.00713447e-02 -7.92704388e-04 9.99948969e-01 -2.08705281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66992885099998 meters 0.08744707980157514 Centerline is valid? [True, True] Translation: X:68.38, Y:-6.55, Z:-2.09 [[ 9.99902831e-01 9.89740553e-03 -9.81677238e-03 6.83819364e+01] [-9.88937610e-03 9.99950724e-01 8.66135328e-04 -6.55255697e+00] [ 9.82486114e-03 -7.68969412e-04 9.99951439e-01 -2.09044862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69992885099998 meters 0.08824135245223907 Centerline is valid? [True, True] Translation: X:68.41, Y:-6.56, Z:-2.09 [[ 9.99904865e-01 9.85541351e-03 -9.65044124e-03 6.84089674e+01] [-9.84765921e-03 9.99951149e-01 8.50707595e-04 -6.55836257e+00] [ 9.65835388e-03 -7.55592406e-04 9.99953072e-01 -2.09102028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72992885099998 meters 0.08587229896514997 Centerline is valid? [True, True] Translation: X:68.44, Y:-6.56, Z:-2.09 [[ 9.99906515e-01 9.71800062e-03 -9.61882709e-03 6.84374957e+01] [-9.71030334e-03 9.99952496e-01 8.46610688e-04 -6.55850575e+00] [ 9.62659751e-03 -7.53129814e-04 9.99953380e-01 -2.09002683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75992885099998 meters 0.08527445140077444 Centerline is valid? [True, True] Translation: X:68.47, Y:-6.56, Z:-2.09 [[ 9.99911175e-01 9.51610740e-03 -9.33196489e-03 6.84654166e+01] [-9.50886310e-03 9.99954453e-01 8.20352243e-04 -6.56103455e+00] [ 9.33934640e-03 -7.31542999e-04 9.99956120e-01 -2.09003353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78992885099998 meters 0.0864151191689077 Centerline is valid? [True, True] Translation: X:68.49, Y:-6.57, Z:-2.09 [[ 9.99906960e-01 9.28462069e-03 -9.99335171e-03 6.84930175e+01] [-9.27630545e-03 9.99956589e-01 8.78109240e-04 -6.56650217e+00] [ 1.00010708e-02 -7.85326158e-04 9.99949680e-01 -2.09163781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81992885099999 meters 0.08479841988845985 Centerline is valid? [True, True] Translation: X:68.52, Y:-6.57, Z:-2.09 [[ 9.99893703e-01 9.92231579e-03 -1.06831475e-02 6.85217932e+01] [-9.91285250e-03 9.99950426e-01 9.38403905e-04 -6.56751191e+00] [ 1.06919290e-02 -8.32403690e-04 9.99942493e-01 -2.09063764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84992885099999 meters 0.08503100260135463 Centerline is valid? [True, True] Translation: X:68.55, Y:-6.57, Z:-2.09 [[ 9.99889174e-01 9.73287635e-03 -1.12654948e-02 6.85499725e+01] [-9.72234900e-03 9.99952248e-01 9.88867202e-04 -6.57099069e+00] [ 1.12745814e-02 -8.79230537e-04 9.99936053e-01 -2.09176982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87992885099999 meters 0.08577116973054298 Centerline is valid? [True, True] Translation: X:68.58, Y:-6.58, Z:-2.09 [[ 9.99891814e-01 9.60559942e-03 -1.11397273e-02 6.85763701e+01] [-9.59532261e-03 9.99953488e-01 9.75618068e-04 -6.57560411e+00] [ 1.11485806e-02 -8.68623242e-04 9.99937475e-01 -2.09266584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90992885099999 meters 0.08551800769909683 Centerline is valid? [True, True] Translation: X:68.61, Y:-6.58, Z:-2.09 [[ 9.99888434e-01 1.01673803e-02 -1.09427505e-02 6.86054020e+01] [-1.01574903e-02 9.99947952e-01 9.58989463e-04 -6.57965243e+00] [ 1.09519313e-02 -8.47731591e-04 9.99939666e-01 -2.09279066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93992885099999 meters 0.08353679151375833 Centerline is valid? [True, True] Translation: X:68.63, Y:-6.58, Z:-2.09 [[ 9.99885655e-01 9.93330217e-03 -1.14020091e-02 6.86339008e+01] [-9.92258016e-03 9.99950273e-01 9.96548111e-04 -6.57800984e+00] [ 1.14113411e-02 -8.83296812e-04 9.99934498e-01 -2.09221155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96992885099999 meters 0.08383933374736707 Centerline is valid? [True, True] Translation: X:68.66, Y:-6.58, Z:-2.09 [[ 9.99887063e-01 9.93968960e-03 -1.12722145e-02 6.86616520e+01] [-9.92921409e-03 9.99950219e-01 9.84905555e-04 -6.58163269e+00] [ 1.12814430e-02 -8.72870092e-04 9.99935982e-01 -2.09299340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99992885099999 meters 0.08691106692293793 Centerline is valid? [True, True] Translation: X:68.69, Y:-6.59, Z:-2.10 [[ 9.99879813e-01 1.02436551e-02 -1.16373520e-02 6.86884960e+01] [-1.02325333e-02 9.99947131e-01 1.01483700e-03 -6.59139016e+00] [ 1.16471324e-02 -8.95635442e-04 9.99931769e-01 -2.09582975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.029928851 meters 0.08504592025345055 Centerline is valid? [True, True] Translation: X:68.72, Y:-6.59, Z:-2.09 [[ 9.99879024e-01 1.05150385e-02 -1.14616961e-02 6.87170718e+01] [-1.05042658e-02 9.99944329e-01 9.99678187e-04 -6.59180878e+00] [ 1.14715696e-02 -8.79160548e-04 9.99933813e-01 -2.09460414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05992885099998 meters 0.0875336348378223 Centerline is valid? [True, True] Translation: X:68.74, Y:-6.60, Z:-2.10 [[ 9.99887697e-01 1.03745128e-02 -1.08149121e-02 6.87443801e+01] [-1.03649271e-02 9.99945839e-01 9.42017459e-04 -6.60030044e+00] [ 1.08240993e-02 -8.29815893e-04 9.99941073e-01 -2.09691988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08992885099998 meters 0.08363062395248674 Centerline is valid? [True, True] Translation: X:68.77, Y:-6.60, Z:-2.09 [[ 9.99884183e-01 9.63722731e-03 -1.17789660e-02 6.87741282e+01] [-9.62580433e-03 9.99953144e-01 1.02608770e-03 -6.59517374e+00] [ 1.17883027e-02 -9.12586841e-04 9.99930099e-01 -2.09361435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11992885099998 meters 0.0847918973156086 Centerline is valid? [True, True] Translation: X:68.80, Y:-6.60, Z:-2.10 [[ 9.99890586e-01 8.66471294e-03 -1.19891386e-02 6.88009971e+01] [-8.65284516e-03 9.99962021e-01 1.04139679e-03 -6.60120831e+00] [ 1.19977066e-02 -9.37542688e-04 9.99927585e-01 -2.09526254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14992885099998 meters 0.08800459152970935 Centerline is valid? [True, True] Translation: X:68.83, Y:-6.61, Z:-2.10 [[ 9.99895121e-01 7.53329170e-03 -1.23691508e-02 6.88284436e+01] [-7.52056227e-03 9.99971142e-01 1.07531922e-03 -6.61273549e+00] [ 1.23768945e-02 -9.82183477e-04 9.99922921e-01 -2.09795642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17992885099999 meters 0.08510377226076116 Centerline is valid? [True, True] Translation: X:68.86, Y:-6.61, Z:-2.10 [[ 9.99898893e-01 6.99285566e-03 -1.23816135e-02 6.88579203e+01] [-6.98007377e-03 9.99975061e-01 1.07524256e-03 -6.61002471e+00] [ 1.23888238e-02 -9.88709267e-04 9.99922767e-01 -2.09576690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20992885099999 meters 0.08619307118102028 Centerline is valid? [True, True] Translation: X:68.89, Y:-6.62, Z:-2.10 [[ 9.99901418e-01 6.06522013e-03 -1.26636625e-02 6.88852778e+01] [-6.05179213e-03 9.99981084e-01 1.09840858e-03 -6.61561905e+00] [ 1.26700850e-02 -1.02166245e-03 9.99919209e-01 -2.09675444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23992885099999 meters 0.08974506980733618 Centerline is valid? [True, True] Translation: X:68.91, Y:-6.63, Z:-2.10 [[ 9.99910807e-01 5.59625635e-03 -1.21268592e-02 6.89123793e+01] [-5.58392142e-03 9.99983858e-01 1.05077836e-03 -6.62721321e+00] [ 1.21325438e-02 -9.82969209e-04 9.99925915e-01 -2.09915681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26992885099999 meters 0.08583350883951239 Centerline is valid? [True, True] Translation: X:68.94, Y:-6.62, Z:-2.10 [[ 9.99909645e-01 5.20672226e-03 -1.23931814e-02 6.89420790e+01] [-5.19381623e-03 9.99985936e-01 1.07333956e-03 -6.62207400e+00] [ 1.23985957e-02 -1.00887467e-03 9.99922626e-01 -2.09651120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29992885099999 meters 0.08926142627438234 Centerline is valid? [True, True] Translation: X:68.97, Y:-6.63, Z:-2.10 [[ 9.99904722e-01 4.76711442e-03 -1.29546211e-02 6.89689311e+01] [-4.75299270e-03 9.99988077e-01 1.12066039e-03 -6.63223656e+00] [ 1.29598089e-02 -1.05898040e-03 9.99915457e-01 -2.09981880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32992885099999 meters 0.08629222528725417 Centerline is valid? [True, True] Translation: X:69.00, Y:-6.63, Z:-2.10 [[ 9.99911733e-01 4.18192675e-03 -1.26110518e-02 6.89978359e+01] [-4.16850577e-03 9.99990717e-01 1.09032181e-03 -6.62945847e+00] [ 1.26154944e-02 -1.03765633e-03 9.99919883e-01 -2.09812975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35992885099999 meters 0.08825148713419766 Centerline is valid? [True, True] Translation: X:69.03, Y:-6.64, Z:-2.10 [[ 9.99908161e-01 3.03693246e-03 -1.32078277e-02 6.90257092e+01] [-3.02211584e-03 9.99994782e-01 1.14161964e-03 -6.63753454e+00] [ 1.32112258e-02 -1.10159921e-03 9.99912121e-01 -2.10031899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.389928851 meters 0.08808099599224321 Centerline is valid? [True, True] Translation: X:69.06, Y:-6.64, Z:-2.10 [[ 9.99902174e-01 2.24195373e-03 -1.38064033e-02 6.90554459e+01] [-2.22568990e-03 9.99996811e-01 1.19324459e-03 -6.63956126e+00] [ 1.38090345e-02 -1.16239908e-03 9.99903975e-01 -2.10040248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41992885099998 meters 0.08771114022452514 Centerline is valid? [True, True] Translation: X:69.08, Y:-6.64, Z:-2.10 [[ 9.99907005e-01 1.29991095e-03 -1.35753791e-02 6.90839844e+01] [-1.28412141e-03 9.99998489e-01 1.17175360e-03 -6.64164133e+00] [ 1.35768818e-02 -1.15421220e-03 9.99907164e-01 -2.10019445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44992885099998 meters 0.0872062423317724 Centerline is valid? [True, True] Translation: X:69.11, Y:-6.64, Z:-2.10 [[ 9.99914969e-01 1.09914901e-03 -1.29941269e-02 6.91130099e+01] [-1.08467818e-03 9.99998784e-01 1.12063940e-03 -6.64357978e+00] [ 1.29953429e-02 -1.10644966e-03 9.99914945e-01 -2.09966567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47992885099998 meters 0.08785587862868367 Centerline is valid? [True, True] Translation: X:69.14, Y:-6.65, Z:-2.10 [[ 9.99919346e-01 1.61384827e-04 -1.26994437e-02 6.91411759e+01] [-1.47505740e-04 9.99999391e-01 1.09381843e-03 -6.64761237e+00] [ 1.26996125e-02 -1.09185697e-03 9.99918761e-01 -2.10007160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50992885099998 meters 0.09278812934931507 Centerline is valid? [True, True] Translation: X:69.17, Y:-6.66, Z:-2.10 [[ 9.99923183e-01 -1.40170098e-04 -1.23939049e-02 6.91681652e+01] [ 1.53399081e-04 9.99999420e-01 1.06643391e-03 -6.66008642e+00] [ 1.23937482e-02 -1.06825320e-03 9.99922624e-01 -2.10354123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53992885099998 meters 0.09044380549392148 Centerline is valid? [True, True] Translation: X:69.20, Y:-6.66, Z:-2.10 [[ 9.99916572e-01 -8.75093762e-04 -1.28872997e-02 6.91971338e+01] [ 8.89451657e-04 9.99998990e-01 1.10842261e-03 -6.65784887e+00] [ 1.28863167e-02 -1.11979276e-03 9.99916341e-01 -2.10256617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56992885099999 meters 0.09252011261092923 Centerline is valid? [True, True] Translation: X:69.23, Y:-6.66, Z:-2.10 [[ 9.99916960e-01 -2.47733832e-03 -1.26465777e-02 6.92252560e+01] [ 2.49128762e-03 9.99996306e-01 1.08737526e-03 -6.66394991e+00] [ 1.26438371e-02 -1.11879122e-03 9.99919438e-01 -2.10436763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59992885099999 meters 0.0894502554616746 Centerline is valid? [True, True] Translation: X:69.25, Y:-6.66, Z:-2.10 [[ 9.99910103e-01 -3.68082939e-03 -1.28933302e-02 6.92549525e+01] [ 3.69541122e-03 9.99992559e-01 1.10731780e-03 -6.66018694e+00] [ 1.28891584e-02 -1.15486441e-03 9.99916264e-01 -2.10222405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62992885099999 meters 0.0889358785454727 Centerline is valid? [True, True] Translation: X:69.28, Y:-6.66, Z:-2.10 [[ 9.99909163e-01 -4.79712658e-03 -1.25957957e-02 6.92837414e+01] [ 4.81105449e-03 9.99987848e-01 1.07569070e-03 -6.66166759e+00] [ 1.25904824e-02 -1.13619205e-03 9.99920091e-01 -2.10231404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65992885099999 meters 0.0891595931098404 Centerline is valid? [True, True] Translation: X:69.31, Y:-6.66, Z:-2.10 [[ 9.99909654e-01 -6.40675837e-03 -1.18168420e-02 6.93128216e+01] [ 6.41915773e-03 9.99978885e-01 1.01166572e-03 -6.66489114e+00] [ 1.18101110e-02 -1.08742849e-03 9.99929667e-01 -2.10261545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68992885099999 meters 0.09260131151733408 Centerline is valid? [True, True] Translation: X:69.34, Y:-6.67, Z:-2.11 [[ 9.99883559e-01 -9.54272552e-03 -1.19082200e-02 6.93416232e+01] [ 9.55554269e-03 9.99953825e-01 1.01989533e-03 -6.67462151e+00] [ 1.18979376e-02 -1.13356607e-03 9.99928575e-01 -2.10515065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71992885099999 meters 0.09071089031336181 Centerline is valid? [True, True] Translation: X:69.37, Y:-6.67, Z:-2.10 [[ 9.99873559e-01 -1.08078583e-02 -1.16643315e-02 6.93712542e+01] [ 1.08202328e-02 9.99940961e-01 9.98291737e-04 -6.67372227e+00] [ 1.16528534e-02 -1.12437629e-03 9.99931471e-01 -2.10408914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74992885099999 meters 0.09232402316645717 Centerline is valid? [True, True] Translation: X:69.40, Y:-6.68, Z:-2.11 [[ 9.99855287e-01 -1.20503474e-02 -1.20081248e-02 6.94010011e+01] [ 1.20635523e-02 9.99926704e-01 1.02784085e-03 -6.67923112e+00] [ 1.19948588e-02 -1.17255275e-03 9.99927372e-01 -2.10516207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.779928851 meters 0.0961483140299831 Centerline is valid? [True, True] Translation: X:69.43, Y:-6.69, Z:-2.11 [[ 9.99838738e-01 -1.32770187e-02 -1.20920964e-02 6.94294759e+01] [ 1.32904892e-02 9.99911143e-01 1.03430893e-03 -6.68872756e+00] [ 1.20772894e-02 -1.19485201e-03 9.99926353e-01 -2.10761136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80992885099998 meters 0.09399720106675541 Centerline is valid? [True, True] Translation: X:69.46, Y:-6.69, Z:-2.11 [[ 9.99831113e-01 -1.39202017e-02 -1.19989119e-02 6.94605434e+01] [ 1.39335185e-02 9.99902396e-01 1.02694904e-03 -6.68736968e+00] [ 1.19834454e-02 -1.19396266e-03 9.99927483e-01 -2.10688551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83992885099998 meters 0.0952166571695482 Centerline is valid? [True, True] Translation: X:69.49, Y:-6.69, Z:-2.11 [[ 9.99839589e-01 -1.38902258e-02 -1.13073977e-02 6.94910369e+01] [ 1.39020692e-02 9.99902892e-01 9.69465121e-04 -6.69228462e+00] [ 1.12928335e-02 -1.12650583e-03 9.99935599e-01 -2.10749322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86992885099998 meters 0.0958883633476582 Centerline is valid? [True, True] Translation: X:69.52, Y:-6.70, Z:-2.11 [[ 9.99847502e-01 -1.35819499e-02 -1.09774447e-02 6.95218375e+01] [ 1.35930879e-02 9.99907167e-01 9.40647546e-04 -6.69579714e+00] [ 1.09636498e-02 -1.08972147e-03 9.99939304e-01 -2.10773349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89992885099998 meters 0.0958009755638016 Centerline is valid? [True, True] Translation: X:69.55, Y:-6.70, Z:-2.11 [[ 9.99866854e-01 -1.24015299e-02 -1.06055327e-02 6.95518829e+01] [ 1.24118570e-02 9.99922557e-01 9.08487980e-04 -6.69679535e+00] [ 1.05934448e-02 -1.04000137e-03 9.99943347e-01 -2.10813675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92992885099999 meters 0.0960676852151674 Centerline is valid? [True, True] Translation: X:69.58, Y:-6.70, Z:-2.11 [[ 9.99875838e-01 -1.16092504e-02 -1.06552135e-02 6.95829012e+01] [ 1.16196351e-02 9.99932073e-01 9.13215581e-04 -6.69924324e+00] [ 1.06438879e-02 -1.03691189e-03 9.99942815e-01 -2.10868684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95992885099999 meters 0.09581229354556556 Centerline is valid? [True, True] Translation: X:69.61, Y:-6.70, Z:-2.11 [[ 9.99886067e-01 -1.03275053e-02 -1.10088810e-02 6.96133274e+01] [ 1.03385105e-02 9.99946111e-01 9.43220994e-04 -6.70102818e+00] [ 1.09985466e-02 -1.05692896e-03 9.99938956e-01 -2.10937042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98992885099999 meters 0.09630893734516142 Centerline is valid? [True, True] Translation: X:69.64, Y:-6.70, Z:-2.11 [[ 9.99886739e-01 -1.02591176e-02 -1.10118136e-02 6.96433803e+01] [ 1.02701193e-02 9.99946816e-01 9.42998541e-04 -6.70348115e+00] [ 1.10015536e-02 -1.05598438e-03 9.99938923e-01 -2.11075073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01992885099999 meters 0.09580997589026317 Centerline is valid? [True, True] Translation: X:69.67, Y:-6.70, Z:-2.11 [[ 9.99878549e-01 -1.03220623e-02 -1.16765421e-02 6.96730375e+01] [ 1.03344289e-02 9.99946099e-01 9.99254608e-04 -6.70369885e+00] [ 1.16655984e-02 -1.11980364e-03 9.99931328e-01 -2.11089645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04992885099999 meters 0.09113734075933494 Centerline is valid? [True, True] Translation: X:69.70, Y:-6.70, Z:-2.11 [[ 9.99873715e-01 -9.90272362e-03 -1.24293853e-02 6.97031104e+01] [ 9.91669911e-03 9.99950263e-01 1.06326201e-03 -6.69722179e+00] [ 1.24182379e-02 -1.18638621e-03 9.99922187e-01 -2.10893078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07992885099999 meters 0.0914282106994479 Centerline is valid? [True, True] Translation: X:69.73, Y:-6.70, Z:-2.11 [[ 9.99867255e-01 -1.02653674e-02 -1.26528696e-02 6.97321008e+01] [ 1.02797935e-02 9.99946583e-01 1.07563407e-03 -6.69969015e+00] [ 1.26411520e-02 -1.20556017e-03 9.99919371e-01 -2.10962694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10992885099999 meters 0.09115836655042218 Centerline is valid? [True, True] Translation: X:69.76, Y:-6.70, Z:-2.11 [[ 9.99859508e-01 -1.04191207e-02 -1.31303707e-02 6.97616794e+01] [ 1.04347143e-02 9.99944930e-01 1.11965393e-03 -6.70140780e+00] [ 1.31179818e-02 -1.25650830e-03 9.99913166e-01 -2.11035233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.139928851 meters 0.09287444037720262 Centerline is valid? [True, True] Translation: X:69.79, Y:-6.71, Z:-2.11 [[ 9.99835284e-01 -1.17096845e-02 -1.38668333e-02 6.97909256e+01] [ 1.17271937e-02 9.99930535e-01 1.18202237e-03 -6.70630456e+00] [ 1.38520290e-02 -1.34444672e-03 9.99903152e-01 -2.11138385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16992885099998 meters 0.09424539825922346 Centerline is valid? [True, True] Translation: X:69.82, Y:-6.71, Z:-2.11 [[ 9.99808963e-01 -1.38348535e-02 -1.38070288e-02 6.98209919e+01] [ 1.38524136e-02 9.99903358e-01 1.17699273e-03 -6.71144162e+00] [ 1.37894109e-02 -1.36802856e-03 9.99903986e-01 -2.11323564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19992885099998 meters 0.09602003992597206 Centerline is valid? [True, True] Translation: X:69.85, Y:-6.72, Z:-2.11 [[ 9.99787355e-01 -1.54535791e-02 -1.36540267e-02 6.98508605e+01] [ 1.54709056e-02 9.99879641e-01 1.16425149e-03 -6.71832844e+00] [ 1.36343915e-02 -1.37524408e-03 9.99906102e-01 -2.11438082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22992885099998 meters 0.09941836692231808 Centerline is valid? [True, True] Translation: X:69.88, Y:-6.73, Z:-2.12 [[ 9.99763758e-01 -1.70155929e-02 -1.35239427e-02 6.98795645e+01] [ 1.70327232e-02 9.99854268e-01 1.15248960e-03 -6.72813571e+00] [ 1.35023615e-02 -1.38256691e-03 9.99907883e-01 -2.11741959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25992885099998 meters 0.0976415220693301 Centerline is valid? [True, True] Translation: X:69.91, Y:-6.73, Z:-2.12 [[ 9.99759934e-01 -1.76406366e-02 -1.29954800e-02 6.99103126e+01] [ 1.76565113e-02 9.99843498e-01 1.10782205e-03 -6.72779670e+00] [ 1.29739035e-02 -1.33701094e-03 9.99914941e-01 -2.11622864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28992885099998 meters 0.09706275215145953 Centerline is valid? [True, True] Translation: X:69.94, Y:-6.73, Z:-2.12 [[ 9.99758790e-01 -1.81325252e-02 -1.23924805e-02 6.99414391e+01] [ 1.81470108e-02 9.99834770e-01 1.05745041e-03 -6.72914797e+00] [ 1.23712586e-02 -1.28208182e-03 9.99922651e-01 -2.11598694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31992885099999 meters 0.09906882889999914 Centerline is valid? [True, True] Translation: X:69.97, Y:-6.74, Z:-2.12 [[ 9.99768556e-01 -1.82844950e-02 -1.13363388e-02 6.99714056e+01] [ 1.82966399e-02 9.99832133e-01 9.68532507e-04 -6.73512585e+00] [ 1.13167267e-02 -1.17572525e-03 9.99935273e-01 -2.11581590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34992885099999 meters 0.09493810305715768 Centerline is valid? [True, True] Translation: X:70.00, Y:-6.73, Z:-2.11 [[ 9.99767305e-01 -1.84338530e-02 -1.12040058e-02 7.00035439e+01] [ 1.84457247e-02 9.99829405e-01 9.57170398e-04 -6.72968022e+00] [ 1.11844501e-02 -1.16361368e-03 9.99936775e-01 -2.11379839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37992885099999 meters 0.09773576624986506 Centerline is valid? [True, True] Translation: X:70.03, Y:-6.74, Z:-2.12 [[ 9.99768505e-01 -1.83514374e-02 -1.12321833e-02 7.00341355e+01] [ 1.83633736e-02 9.99830918e-01 9.60459460e-04 -6.73769661e+00] [ 1.12126583e-02 -1.16649790e-03 9.99936456e-01 -2.11644956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40992885099999 meters 0.09708535481116297 Centerline is valid? [True, True] Translation: X:70.07, Y:-6.74, Z:-2.12 [[ 9.99767084e-01 -1.85758552e-02 -1.09870352e-02 7.00658600e+01] [ 1.85872904e-02 9.99826800e-01 9.39580721e-04 -6.73870106e+00] [ 1.09676787e-02 -1.14358109e-03 9.99939199e-01 -2.11638770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43992885099999 meters 0.0985105279881578 Centerline is valid? [True, True] Translation: X:70.10, Y:-6.74, Z:-2.12 [[ 9.99763110e-01 -1.86607873e-02 -1.12026423e-02 7.00965772e+01] [ 1.86726850e-02 9.99825191e-01 9.58381482e-04 -6.74340221e+00] [ 1.11827998e-02 -1.16733786e-03 9.99936789e-01 -2.11741779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46992885099999 meters 0.09540306789357053 Centerline is valid? [True, True] Translation: X:70.13, Y:-6.74, Z:-2.12 [[ 9.99771521e-01 -1.81660202e-02 -1.12650473e-02 7.01288039e+01] [ 1.81780300e-02 9.99834301e-01 9.64637234e-04 -6.74017677e+00] [ 1.12456571e-02 -1.16919320e-03 9.99936082e-01 -2.11686342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49992885099999 meters 0.09914578859183601 Centerline is valid? [True, True] Translation: X:70.16, Y:-6.75, Z:-2.12 [[ 9.99777140e-01 -1.78310776e-02 -1.13014669e-02 7.01594961e+01] [ 1.78431506e-02 9.99840329e-01 9.68335648e-04 -6.74914714e+00] [ 1.12823959e-02 -1.16977362e-03 9.99935668e-01 -2.11950009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.529928851 meters 0.09914578859183601 Centerline is valid? [True, True] Translation: X:70.19, Y:-6.75, Z:-2.12 [[ 9.99777728e-01 -1.77980872e-02 -1.13014637e-02 7.01904017e+01] [ 1.78101586e-02 9.99840918e-01 9.68373097e-04 -6.75183056e+00] [ 1.12824307e-02 -1.16943872e-03 9.99935668e-01 -2.12005933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55992885099998 meters 0.09264336168312295 Centerline is valid? [True, True] Translation: X:70.22, Y:-6.74, Z:-2.12 [[ 9.99789318e-01 -1.69865323e-02 -1.15229392e-02 7.02226168e+01] [ 1.69990331e-02 9.99855018e-01 9.87783164e-04 -6.74042431e+00] [ 1.15044895e-02 -1.18345388e-03 9.99933121e-01 -2.11789551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58992885099998 meters 0.09874240623549023 Centerline is valid? [True, True] Translation: X:70.25, Y:-6.75, Z:-2.12 [[ 9.99813611e-01 -1.57587260e-02 -1.11537660e-02 7.02517819e+01] [ 1.57703862e-02 9.99875181e-01 9.58220952e-04 -6.75369311e+00] [ 1.11372734e-02 -1.13394155e-03 9.99937336e-01 -2.12181630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61992885099998 meters 0.09792786993378695 Centerline is valid? [True, True] Translation: X:70.28, Y:-6.75, Z:-2.12 [[ 9.99828766e-01 -1.50255160e-02 -1.08015236e-02 7.02834001e+01] [ 1.50364020e-02 9.99886517e-01 9.27314860e-04 -6.75396288e+00] [ 1.07863644e-02 -1.08957212e-03 9.99941232e-01 -2.12208659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64992885099998 meters 0.09408434513789914 Centerline is valid? [True, True] Translation: X:70.31, Y:-6.75, Z:-2.12 [[ 9.99866251e-01 -1.33962865e-02 -9.38184799e-03 7.03148088e+01] [ 1.34044273e-02 9.99909832e-01 8.05381013e-04 -6.74739303e+00] [ 9.37021294e-03 -9.31031594e-04 9.99955665e-01 -2.12060388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67992885099999 meters 0.0952469651357436 Centerline is valid? [True, True] Translation: X:70.34, Y:-6.75, Z:-2.12 [[ 9.99875312e-01 -1.28854394e-02 -9.12835093e-03 7.03448147e+01] [ 1.28931267e-02 9.99916573e-01 7.83782776e-04 -6.75151035e+00] [ 9.11749000e-03 -9.01378032e-04 9.99958029e-01 -2.12180591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70992885099999 meters 0.09381709017205564 Centerline is valid? [True, True] Translation: X:70.38, Y:-6.75, Z:-2.12 [[ 9.99871456e-01 -1.34038585e-02 -8.79814522e-03 7.03767550e+01] [ 1.34110251e-02 9.99909782e-01 7.56063983e-04 -6.75022626e+00] [ 8.78721729e-03 -8.73958942e-04 9.99961010e-01 -2.12097008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73992885099999 meters 0.09395564914334792 Centerline is valid? [True, True] Translation: X:70.41, Y:-6.75, Z:-2.12 [[ 9.99886742e-01 -1.27017995e-02 -8.07265603e-03 7.04077527e+01] [ 1.27078129e-02 9.99919012e-01 6.94053663e-04 -6.75289626e+00] [ 8.06318650e-03 -7.96560858e-04 9.99967175e-01 -2.12203102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76992885099999 meters 0.09469451587402569 Centerline is valid? [True, True] Translation: X:70.44, Y:-6.76, Z:-2.12 [[ 9.99883038e-01 -1.30650180e-02 -7.95076325e-03 7.04401167e+01] [ 1.30708719e-02 9.99914338e-01 6.84745479e-04 -6.75632626e+00] [ 7.94113596e-03 -7.88588798e-04 9.99968158e-01 -2.12281900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79992885099999 meters 0.09550002081068179 Centerline is valid? [True, True] Translation: X:70.47, Y:-6.76, Z:-2.12 [[ 9.99879426e-01 -1.30448883e-02 -8.42406362e-03 7.04706600e+01] [ 1.30514595e-02 9.99914563e-01 7.25550595e-04 -6.76037914e+00] [ 8.41387917e-03 -8.35409437e-04 9.99964254e-01 -2.12439587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82992885099999 meters 0.09701611079521194 Centerline is valid? [True, True] Translation: X:70.50, Y:-6.77, Z:-2.13 [[ 9.99875747e-01 -1.33367332e-02 -8.40366554e-03 7.05009503e+01] [ 1.33432826e-02 9.99910712e-01 7.23770138e-04 -6.76540186e+00] [ 8.39326247e-03 -8.35812693e-04 9.99964427e-01 -2.12608503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85992885099999 meters 0.0954888099749271 Centerline is valid? [True, True] Translation: X:70.53, Y:-6.76, Z:-2.13 [[ 9.99856927e-01 -1.40809430e-02 -9.37297730e-03 7.05318855e+01] [ 1.40891210e-02 9.99900418e-01 8.07040686e-04 -6.76485838e+00] [ 9.36068002e-03 -9.38982232e-04 9.99955747e-01 -2.12569706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.889928851 meters 0.09446582503177589 Centerline is valid? [True, True] Translation: X:70.56, Y:-6.77, Z:-2.13 [[ 9.99836524e-01 -1.51839041e-02 -9.81702832e-03 7.05631068e+01] [ 1.51929342e-02 9.99884223e-01 8.45918443e-04 -6.76550369e+00] [ 9.80304738e-03 -9.94929621e-04 9.99951454e-01 -2.12650241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91992885099998 meters 0.09887850209653769 Centerline is valid? [True, True] Translation: X:70.59, Y:-6.78, Z:-2.13 [[ 9.99830293e-01 -1.54742068e-02 -9.99673572e-03 7.05929622e+01] [ 1.54836122e-02 9.99879748e-01 8.64136272e-04 -6.77732035e+00] [ 9.98216177e-03 -1.01877520e-03 9.99949658e-01 -2.12947508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94992885099998 meters 0.0992850232119385 Centerline is valid? [True, True] Translation: X:70.62, Y:-6.78, Z:-2.13 [[ 9.99795741e-01 -1.72399649e-02 -1.05480024e-02 7.06238745e+01] [ 1.72505173e-02 9.99850784e-01 9.10256470e-04 -6.78092465e+00] [ 1.05307357e-02 -1.09202904e-03 9.99943954e-01 -2.13043513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97992885099998 meters 0.09924124437001099 Centerline is valid? [True, True] Translation: X:70.66, Y:-6.78, Z:-2.13 [[ 9.99783259e-01 -1.79547545e-02 -1.05385465e-02 7.06551165e+01] [ 1.79653325e-02 9.99838196e-01 9.09928133e-04 -6.78433145e+00] [ 1.05205038e-02 -1.09905941e-03 9.99944054e-01 -2.13061570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00992885099998 meters 0.09777649253269026 Centerline is valid? [True, True] Translation: X:70.69, Y:-6.78, Z:-2.13 [[ 9.99728980e-01 -2.06260934e-02 -1.07949046e-02 7.06853776e+01] [ 2.06373427e-02 9.99786593e-01 9.31731418e-04 -6.78406562e+00] [ 1.07733829e-02 -1.15425705e-03 9.99941299e-01 -2.13008430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03992885099998 meters 0.10033235612653667 Centerline is valid? [True, False] Translation: X:70.68, Y:-6.78, Z:-2.13 [[ 9.99729064e-01 -2.07254620e-02 -1.05950070e-02 7.06848436e+01] [ 2.07371893e-02 9.99784463e-01 9.98195559e-04 -6.78453023e+00] [ 1.05720353e-02 -1.21763578e-03 9.99943373e-01 -2.12992821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06992885099999 meters 0.1000964024472356 Centerline is valid? [False, False] Translation: X:70.68, Y:-6.79, Z:-2.13 [[ 9.99731823e-01 -2.06508327e-02 -1.04797887e-02 7.06846769e+01] [ 2.06654026e-02 9.99785623e-01 1.28389783e-03 -6.78538183e+00] [ 1.04510286e-02 -1.50012257e-03 9.99944261e-01 -2.13005117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09992885099999 meters 0.10131840834626112 Centerline is valid? [False, False] Translation: X:70.68, Y:-6.79, Z:-2.13 [[ 9.99734138e-01 -2.05551162e-02 -1.04469914e-02 7.06846329e+01] [ 2.05719429e-02 9.99787241e-01 1.50575817e-03 -6.78610710e+00] [ 1.04138177e-02 -1.72027276e-03 9.99944295e-01 -2.13007346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12992885099999 meters 0.09753429796071739 Centerline is valid? [False, True] Translation: X:70.68, Y:-6.79, Z:-2.13 [[ 9.99735282e-01 -2.05431600e-02 -1.03607477e-02 7.06844681e+01] [ 2.05610408e-02 9.99787283e-01 1.62225948e-03 -6.78654512e+00] [ 1.03252175e-02 -1.83485780e-03 9.99945010e-01 -2.13009920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15992885099999 meters 0.10444387264385564 Centerline is valid? [True, False] Translation: X:70.68, Y:-6.79, Z:-2.13 [[ 9.99733769e-01 -2.06086756e-02 -1.03766301e-02 7.06842553e+01] [ 2.06256367e-02 9.99786098e-01 1.53018763e-03 -6.78667055e+00] [ 1.03428754e-02 -1.74380485e-03 9.99944991e-01 -2.12974038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18992885099999 meters 0.10128504077316616 Centerline is valid? [False, False] Translation: X:70.68, Y:-6.79, Z:-2.13 [[ 9.99731357e-01 -2.07061682e-02 -1.04148542e-02 7.06841493e+01] [ 2.07213680e-02 9.99784373e-01 1.35364209e-03 -6.78643818e+00] [ 1.03845797e-02 -1.56908847e-03 9.99944848e-01 -2.12946559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21992885099999 meters 0.09853172898734716 Centerline is valid? [False, True] Translation: X:70.68, Y:-6.79, Z:-2.13 [[ 9.99729402e-01 -2.07738061e-02 -1.04676925e-02 7.06841665e+01] [ 2.07875901e-02 9.99783183e-01 1.20972450e-03 -6.78609140e+00] [ 1.04402923e-02 -1.42699525e-03 9.99944480e-01 -2.12931443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24992885099999 meters 0.09905564218373578 Centerline is valid? [True, True] Translation: X:70.71, Y:-6.79, Z:-2.13 [[ 9.99755113e-01 -1.96488784e-02 -1.01801339e-02 7.07142075e+01] [ 1.96589768e-02 9.99806345e-01 8.92847414e-04 -6.78886625e+00] [ 1.01606190e-02 -1.09275978e-03 9.99947782e-01 -2.13035349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27992885099998 meters 0.0983501407570712 Centerline is valid? [True, True] Translation: X:70.75, Y:-6.79, Z:-2.13 [[ 9.99769214e-01 -1.88927322e-02 -1.02266088e-02 7.07461676e+01] [ 1.89028955e-02 9.99820921e-01 8.98049873e-04 -6.79016771e+00] [ 1.02078108e-02 -1.09115513e-03 9.99947304e-01 -2.13042648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30992885099998 meters 0.09935424939333459 Centerline is valid? [True, True] Translation: X:70.78, Y:-6.80, Z:-2.13 [[ 9.99786334e-01 -1.86089751e-02 -8.99957379e-03 7.07759626e+01] [ 1.86168313e-02 9.99826380e-01 7.89957236e-04 -6.79501289e+00] [ 8.98331099e-03 -9.57331996e-04 9.99959191e-01 -2.13114907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33992885099998 meters 0.10207792146084714 Centerline is valid? [True, False] Translation: X:70.78, Y:-6.80, Z:-2.13 [[ 9.99786772e-01 -1.86035895e-02 -8.96192940e-03 7.07758504e+01] [ 1.86118116e-02 9.99826437e-01 8.34913346e-04 -6.79523066e+00] [ 8.94484155e-03 -1.00153306e-03 9.99959493e-01 -2.13109882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36992885099998 meters 0.10274720744764648 Centerline is valid? [False, False] Translation: X:70.78, Y:-6.80, Z:-2.13 [[ 9.99785956e-01 -1.87335825e-02 -8.78039558e-03 7.07753652e+01] [ 1.87413843e-02 9.99824039e-01 8.07111101e-04 -6.79544456e+00] [ 8.76373050e-03 -9.71495112e-04 9.99961126e-01 -2.13094572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39992885099998 meters 0.10278052654140957 Centerline is valid? [False, False] Translation: X:70.78, Y:-6.80, Z:-2.13 [[ 9.99785775e-01 -1.87726522e-02 -8.71727166e-03 7.07752152e+01] [ 1.87807098e-02 9.99823271e-01 8.43373380e-04 -6.79556638e+00] [ 8.69989871e-03 -1.00690926e-03 9.99961648e-01 -2.13094276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42992885099999 meters 0.09825062775397793 Centerline is valid? [False, True] Translation: X:70.78, Y:-6.80, Z:-2.13 [[ 9.99786397e-01 -1.87661888e-02 -8.65966505e-03 7.07750812e+01] [ 1.87748226e-02 9.99823317e-01 9.16791437e-04 -6.79588145e+00] [ 8.64093035e-03 -1.07917928e-03 9.99962084e-01 -2.13092076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45992885099999 meters 0.09673043955743661 Centerline is valid? [True, True] Translation: X:70.81, Y:-6.80, Z:-2.13 [[ 9.99787900e-01 -1.88233707e-02 -8.35677978e-03 7.08076937e+01] [ 1.88301510e-02 9.99822428e-01 7.33404328e-04 -6.79649407e+00] [ 8.34149071e-03 -8.90608198e-04 9.99964813e-01 -2.13051060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48992885099999 meters 0.10138857573123389 Centerline is valid? [True, False] Translation: X:70.81, Y:-6.80, Z:-2.13 [[ 9.99793564e-01 -1.86417948e-02 -8.08158771e-03 7.08073326e+01] [ 1.86533345e-02 9.99825093e-01 1.35488008e-03 -6.79835591e+00] [ 8.05491679e-03 -1.50534894e-03 9.99966426e-01 -2.13082769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51992885099999 meters 0.10297938087734791 Centerline is valid? [False, False] Translation: X:70.81, Y:-6.80, Z:-2.13 [[ 9.99796577e-01 -1.85302299e-02 -7.96463630e-03 7.08071136e+01] [ 1.85441820e-02 9.99826628e-01 1.68148340e-03 -6.79943788e+00] [ 7.93209718e-03 -1.82883902e-03 9.99966868e-01 -2.13086977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54992885099999 meters 0.10119939284340881 Centerline is valid? [False, False] Translation: X:70.81, Y:-6.80, Z:-2.13 [[ 9.99799886e-01 -1.84092851e-02 -7.82858501e-03 7.08068585e+01] [ 1.84257552e-02 9.99828156e-01 2.03693657e-03 -6.80066418e+00] [ 7.78974118e-03 -2.18077654e-03 9.99967282e-01 -2.13088896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57992885099999 meters 0.09980149685971919 Centerline is valid? [False, True] Translation: X:70.80, Y:-6.81, Z:-2.14 [[ 9.99908210e-01 -1.35423388e-02 4.20004238e-04 7.07962910e+01] [ 1.35421454e-02 9.99908195e-01 4.59982881e-04 -6.80574700e+00] [-4.26194924e-04 -4.54252901e-04 9.99999806e-01 -2.13575625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60992885099999 meters 0.10303613951230307 Centerline is valid? [True, False] Translation: X:70.80, Y:-6.81, Z:-2.14 [[ 9.99912974e-01 -1.31812229e-02 5.46975842e-04 7.07963104e+01] [ 1.31805479e-02 9.99912389e-01 1.21980415e-03 -6.80764891e+00] [-5.63006432e-04 -1.21248856e-03 9.99999106e-01 -2.13618309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.639928851 meters 0.10108492657665266 Centerline is valid? [False, False] Translation: X:70.80, Y:-6.81, Z:-2.14 [[ 9.99918792e-01 -1.27290260e-02 6.17061352e-04 7.07965578e+01] [ 1.27277200e-02 9.99916844e-01 2.07613807e-03 -6.80963004e+00] [-6.43437255e-04 -2.06811569e-03 9.99997654e-01 -2.13676721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66992885099998 meters 0.10495604883497366 Centerline is valid? [False, False] Translation: X:70.80, Y:-6.81, Z:-2.14 [[ 9.99919635e-01 -1.26483858e-02 8.61730231e-04 7.07960875e+01] [ 1.26461748e-02 9.99916847e-01 2.52455998e-03 -6.81111409e+00] [-8.93590184e-04 -2.51345950e-03 9.99996442e-01 -2.13682249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69992885099998 meters 0.1020638164475487 Centerline is valid? [False, False] Translation: X:70.80, Y:-6.81, Z:-2.14 [[ 9.99928396e-01 -1.19369359e-02 8.44253679e-04 7.07965864e+01] [ 1.19337260e-02 9.99921908e-01 3.70994294e-03 -6.81406503e+00] [-8.88473101e-04 -3.69960220e-03 9.99992762e-01 -2.13745679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72992885099998 meters 0.10212150594851836 Centerline is valid? [False, False] Translation: X:70.79, Y:-6.82, Z:-2.14 [[ 9.99940629e-01 -6.64853449e-03 8.63335164e-03 7.07869984e+01] [ 6.63347004e-03 9.99976428e-01 1.77237819e-03 -6.81661346e+00] [-8.64493185e-03 -1.71500389e-03 9.99961161e-01 -2.14258826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75992885099998 meters 0.10016920127245953 Centerline is valid? [False, False] Translation: X:70.79, Y:-6.82, Z:-2.14 [[ 9.99945088e-01 -6.16440618e-03 8.47467593e-03 7.07877031e+01] [ 6.14415565e-03 9.99978212e-01 2.41349667e-03 -6.81802301e+00] [-8.48936906e-03 -2.36129441e-03 9.99961177e-01 -2.14310008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78992885099998 meters 0.1023662689458547 Centerline is valid? [False, False] Translation: X:70.79, Y:-6.82, Z:-2.14 [[ 9.99949961e-01 -5.65607896e-03 8.25126187e-03 7.07883890e+01] [ 5.63091548e-03 9.99979435e-01 3.06970346e-03 -6.81959337e+00] [-8.26845466e-03 -3.02308770e-03 9.99961246e-01 -2.14341910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81992885099999 meters 0.10251685664170719 Centerline is valid? [False, False] Translation: X:70.79, Y:-6.82, Z:-2.14 [[ 9.99954391e-01 -5.19044505e-03 8.01717150e-03 7.07890401e+01] [ 5.16109758e-03 9.99979921e-01 3.67693843e-03 -6.82108790e+00] [-8.03609548e-03 -3.63539333e-03 9.99961102e-01 -2.14367568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84992885099999 meters 0.10090579202374424 Centerline is valid? [False, False] Translation: X:70.79, Y:-6.82, Z:-2.14 [[ 9.99959736e-01 -4.59437816e-03 7.70828787e-03 7.07899192e+01] [ 4.56052461e-03 9.99979904e-01 4.40368154e-03 -6.82283151e+00] [-7.72836514e-03 -4.36835039e-03 9.99960594e-01 -2.14401410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87992885099999 meters 0.10049090919243718 Centerline is valid? [False, False] Translation: X:70.79, Y:-6.82, Z:-2.14 [[ 9.99962780e-01 -4.32810967e-03 7.46364743e-03 7.07904567e+01] [ 4.29358665e-03 9.99980039e-01 4.63532619e-03 -6.82337746e+00] [-7.48356065e-03 -4.60310785e-03 9.99961403e-01 -2.14404462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90992885099999 meters 0.10001892377373618 Centerline is valid? [False, False] Translation: X:70.79, Y:-6.82, Z:-2.14 [[ 9.99966339e-01 -4.02445392e-03 7.15011676e-03 7.07911156e+01] [ 3.98971864e-03 9.99980204e-01 4.86564185e-03 -6.82392845e+00] [-7.16955677e-03 -4.83695111e-03 9.99962600e-01 -2.14404327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93992885099999 meters 0.09792546275055398 Centerline is valid? [False, True] Translation: X:70.79, Y:-6.82, Z:-2.14 [[ 9.99970253e-01 -3.71449256e-03 6.75989439e-03 7.07918840e+01] [ 3.68069397e-03 9.99980699e-01 5.00546181e-03 -6.82431990e+00] [-6.77835667e-03 -4.98043181e-03 9.99964624e-01 -2.14396652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96992885099999 meters 0.09960716964904424 Centerline is valid? [True, True] Translation: X:70.82, Y:-6.83, Z:-2.14 [[ 9.99981407e-01 -1.57626589e-03 5.89072111e-03 7.08210916e+01] [ 1.57988685e-03 9.99998566e-01 -6.10085347e-04 -6.82836362e+00] [-5.88975101e-03 6.19380677e-04 9.99982463e-01 -2.14415600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99992885099999 meters 0.09342629230706716 Centerline is valid? [True, True] Translation: X:70.85, Y:-6.82, Z:-2.14 [[ 9.99976253e-01 3.81726598e-03 5.73774250e-03 7.08529807e+01] [-3.81392131e-03 9.99992551e-01 -5.93753154e-04 -6.82081397e+00] [-5.73996627e-03 5.71855756e-04 9.99983363e-01 -2.14346315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02992885099998 meters 0.09258942217365823 Centerline is valid? [True, True] Translation: X:70.88, Y:-6.82, Z:-2.14 [[ 9.99959343e-01 6.49209221e-03 6.25825716e-03 7.08835228e+01] [-6.48816508e-03 9.99978742e-01 -6.47611181e-04 -6.82213227e+00] [-6.26232847e-03 6.06980245e-04 9.99980207e-01 -2.14386275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05992885099998 meters 0.08916377215872646 Centerline is valid? [True, True] Translation: X:70.91, Y:-6.82, Z:-2.14 [[ 9.99900911e-01 1.22866116e-02 6.87079077e-03 7.09144669e+01] [-1.22820124e-02 9.99924320e-01 -7.11177872e-04 -6.81870328e+00] [-6.87900876e-03 6.26720265e-04 9.99976143e-01 -2.14355915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08992885099998 meters 0.08947300326762717 Centerline is valid? [True, True] Translation: X:70.94, Y:-6.82, Z:-2.15 [[ 9.99852961e-01 1.54907027e-02 7.35486737e-03 7.09434783e+01] [-1.54855169e-02 9.99879802e-01 -7.61510080e-04 -6.82281323e+00] [-7.36577966e-03 6.47504185e-04 9.99972663e-01 -2.14570123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11992885099998 meters 0.08788201774227779 Centerline is valid? [True, True] Translation: X:70.97, Y:-6.82, Z:-2.15 [[ 9.99804494e-01 1.83603245e-02 7.33977475e-03 7.09741632e+01] [-1.83552404e-02 9.99831240e-01 -7.59449254e-04 -6.82338001e+00] [-7.35247983e-03 6.24577448e-04 9.99972775e-01 -2.14580785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14992885099998 meters 0.0847267377962348 Centerline is valid? [True, True] Translation: X:71.00, Y:-6.82, Z:-2.15 [[ 9.99756834e-01 2.07555447e-02 7.44850484e-03 7.10043587e+01] [-2.07503703e-02 9.99784390e-01 -7.71316759e-04 -6.81980762e+00] [-7.46290797e-03 6.16569967e-04 9.99971962e-01 -2.14526335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17992885099999 meters 0.0865816042557152 Centerline is valid? [True, True] Translation: X:71.03, Y:-6.83, Z:-2.15 [[ 9.99628436e-01 2.61735579e-02 7.61147171e-03 7.10333960e+01] [-2.61683174e-02 9.99657241e-01 -7.87304896e-04 -6.82824025e+00] [-7.62946938e-03 5.87832954e-04 9.99970722e-01 -2.14843485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20992885099999 meters 0.08320422900452971 Centerline is valid? [True, True] Translation: X:71.06, Y:-6.82, Z:-2.15 [[ 9.99544644e-01 2.93577358e-02 6.97332302e-03 7.10646605e+01] [-2.93534144e-02 9.99568835e-01 -7.21258488e-04 -6.82404948e+00] [-6.99149089e-03 5.16239219e-04 9.99975426e-01 -2.14798621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23992885099999 meters 0.08076699229870228 Centerline is valid? [True, True] Translation: X:71.10, Y:-6.82, Z:-2.15 [[ 9.99442758e-01 3.26918915e-02 6.73894706e-03 7.10957976e+01] [-3.26879314e-02 9.99465364e-01 -6.96983921e-04 -6.82156724e+00] [-6.75812990e-03 4.76313293e-04 9.99977050e-01 -2.14831480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26992885099999 meters 0.08405273829954718 Centerline is valid? [True, True] Translation: X:71.12, Y:-6.83, Z:-2.15 [[ 9.99351080e-01 3.54301798e-02 6.49010118e-03 7.11232815e+01] [-3.54265577e-02 9.99372056e-01 -6.72249717e-04 -6.83323681e+00] [-6.50984369e-03 4.41891538e-04 9.99978713e-01 -2.15276911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29992885099999 meters 0.08011388244690684 Centerline is valid? [True, True] Translation: X:71.15, Y:-6.83, Z:-2.15 [[ 9.99097853e-01 4.20983612e-02 5.58635302e-03 7.11546609e+01] [-4.20957903e-02 9.99113413e-01 -5.77053519e-04 -6.82718148e+00] [-5.60569324e-03 3.41370986e-04 9.99984230e-01 -2.15290764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32992885099999 meters 0.07883357346746386 Centerline is valid? [True, True] Translation: X:71.18, Y:-6.83, Z:-2.15 [[ 9.98929556e-01 4.60112814e-02 4.76491277e-03 7.11844092e+01] [-4.60094498e-02 9.98940883e-01 -4.93349071e-04 -6.82681084e+00] [-4.78256579e-03 2.73589953e-04 9.99988526e-01 -2.15321040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35992885099999 meters 0.07807169662251391 Centerline is valid? [True, True] Translation: X:71.21, Y:-6.83, Z:-2.15 [[ 9.98754450e-01 4.96417435e-02 5.02462579e-03 7.12147421e+01] [-4.96397557e-02 9.98767052e-01 -5.19637270e-04 -6.82755637e+00] [-5.04422639e-03 2.69568839e-04 9.99987241e-01 -2.15462488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.389928851 meters 0.07734681748632198 Centerline is valid? [True, True] Translation: X:71.24, Y:-6.83, Z:-2.15 [[ 9.98567433e-01 5.32950349e-02 4.76675146e-03 7.12443840e+01] [-5.32932857e-02 9.98578781e-01 -4.93305341e-04 -6.82835877e+00] [-4.78626759e-03 2.38562800e-04 9.99988517e-01 -2.15430302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41992885099998 meters 0.07734681748632198 Centerline is valid? [True, True] Translation: X:71.27, Y:-6.83, Z:-2.16 [[ 9.98581318e-01 5.30342761e-02 4.76621155e-03 7.12716531e+01] [-5.30324991e-02 9.98592662e-01 -4.98540234e-04 -6.83107744e+00] [-4.78594360e-03 2.45068854e-04 9.99988517e-01 -2.15508464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44992885099998 meters 0.07679214015464765 Centerline is valid? [True, True] Translation: X:71.30, Y:-6.83, Z:-2.16 [[ 9.98383699e-01 5.65876679e-02 5.27494399e-03 7.13021386e+01] [-5.65855801e-02 9.98397604e-01 -5.44304959e-04 -6.83169929e+00] [-5.29729239e-03 2.44939433e-04 9.99985939e-01 -2.15606629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47992885099998 meters 0.07609940261994673 Centerline is valid? [True, True] Translation: X:71.33, Y:-6.83, Z:-2.16 [[ 9.98035434e-01 6.25128564e-02 4.17312965e-03 7.13314304e+01] [-6.25116026e-02 9.98044144e-01 -4.30333006e-04 -6.83152981e+00] [-4.19186896e-03 1.68618566e-04 9.99991200e-01 -2.15761601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50992885099998 meters 0.07589885250646984 Centerline is valid? [True, True] Translation: X:71.36, Y:-6.83, Z:-2.16 [[ 9.97881059e-01 6.49727332e-02 3.45493895e-03 7.13594040e+01] [-6.49718848e-02 9.97887031e-01 -3.57373355e-04 -6.83409056e+00] [-3.47085830e-03 1.32142206e-04 9.99993968e-01 -2.15971646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53992885099998 meters 0.0752762416315439 Centerline is valid? [True, True] Translation: X:71.39, Y:-6.83, Z:-2.16 [[ 9.97765037e-01 6.67626943e-02 2.76996364e-03 7.13884654e+01] [-6.67621433e-02 9.97768877e-01 -2.90998385e-04 -6.83421958e+00] [-2.78321134e-03 1.05419305e-04 9.99996121e-01 -2.15918106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56992885099999 meters 0.07517220261820837 Centerline is valid? [True, True] Translation: X:71.42, Y:-6.84, Z:-2.16 [[ 9.97584870e-01 6.94183151e-02 2.35033871e-03 7.14162422e+01] [-6.94179339e-02 9.97587636e-01 -2.43455656e-04 -6.83759437e+00] [-2.36156912e-03 7.97120216e-05 9.99997208e-01 -2.16158328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59992885099999 meters 0.07505630676848223 Centerline is valid? [True, True] Translation: X:71.45, Y:-6.84, Z:-2.16 [[ 9.97559579e-01 6.97831089e-02 2.28126986e-03 7.14453268e+01] [-6.97827432e-02 9.97562184e-01 -2.39613350e-04 -6.84044447e+00] [-2.29242951e-03 7.98353235e-05 9.99997369e-01 -2.16161444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62992885099999 meters 0.07463925798997571 Centerline is valid? [True, True] Translation: X:71.47, Y:-6.84, Z:-2.16 [[ 9.97542034e-01 7.00471905e-02 1.81125711e-03 7.14733492e+01] [-7.00469560e-02 9.97543677e-01 -1.92676291e-04 -6.84090883e+00] [-1.82030451e-03 6.53296516e-05 9.99998341e-01 -2.16098190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65992885099999 meters 0.07477269439677997 Centerline is valid? [True, True] Translation: X:71.50, Y:-6.84, Z:-2.16 [[ 9.97537648e-01 7.00851199e-02 2.59168549e-03 7.15004788e+01] [-7.00846630e-02 9.97541011e-01 -2.66794419e-04 -6.84493420e+00] [-2.60401088e-03 8.45000736e-05 9.99996606e-01 -2.16239821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68992885099999 meters 0.07480218137880504 Centerline is valid? [True, True] Translation: X:71.53, Y:-6.85, Z:-2.16 [[ 9.97522745e-01 7.03019788e-02 2.45043224e-03 7.15284696e+01] [-7.03015616e-02 9.97525751e-01 -2.56078545e-04 -6.84958808e+00] [-2.46237209e-03 8.31749606e-05 9.99996965e-01 -2.16349498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71992885099999 meters 0.0750454086172776 Centerline is valid? [True, True] Translation: X:71.56, Y:-6.85, Z:-2.16 [[ 9.97600572e-01 6.91803690e-02 2.67866153e-03 7.15557623e+01] [-6.91798803e-02 9.97604164e-01 -2.74778493e-04 -6.85477807e+00] [-2.69125317e-03 8.88096978e-05 9.99996375e-01 -2.16456248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74992885099999 meters 0.07536436663867095 Centerline is valid? [True, True] Translation: X:71.58, Y:-6.86, Z:-2.17 [[ 9.97682708e-01 6.79991083e-02 2.30967268e-03 7.15843800e+01] [-6.79987325e-02 9.97685378e-01 -2.40946784e-04 -6.85944882e+00] [-2.32071083e-03 8.33336260e-05 9.99997304e-01 -2.16552530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77992885099998 meters 0.07530642073093374 Centerline is valid? [True, True] Translation: X:71.61, Y:-6.86, Z:-2.16 [[ 9.97791919e-01 6.64086964e-02 1.08202310e-03 7.16127375e+01] [-6.64086093e-02 9.97792505e-01 -1.16280183e-04 -6.86364731e+00] [-1.08735656e-03 4.41677774e-05 9.99999408e-01 -2.16486958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80992885099998 meters 0.07577017950741895 Centerline is valid? [True, True] Translation: X:71.64, Y:-6.87, Z:-2.17 [[ 9.97934623e-01 6.42227020e-02 1.39056247e-03 7.16398564e+01] [-6.42225650e-02 9.97935590e-01 -1.43038596e-04 -6.87084972e+00] [-1.39687811e-03 5.34376784e-05 9.99999023e-01 -2.16661760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83992885099998 meters 0.07694005357399243 Centerline is valid? [True, True] Translation: X:71.67, Y:-6.88, Z:-2.17 [[ 9.98263815e-01 5.88936460e-02 9.45461932e-04 7.16676535e+01] [-5.88935810e-02 9.98264262e-01 -9.65263947e-05 -6.88126607e+00] [-9.49505649e-04 4.06771682e-05 9.99999548e-01 -2.16842013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86992885099998 meters 0.07844992412121371 Centerline is valid? [True, True] Translation: X:71.69, Y:-6.89, Z:-2.17 [[ 9.98414006e-01 5.62474918e-02 2.38581409e-03 7.16944512e+01] [-5.62470705e-02 9.98416851e-01 -2.43368228e-04 -6.89117882e+00] [-2.39572584e-03 1.08787194e-04 9.99997124e-01 -2.17219001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89992885099998 meters 0.0796922436700946 Centerline is valid? [True, True] Translation: X:71.72, Y:-6.90, Z:-2.17 [[ 9.98676814e-01 5.13915748e-02 1.87830806e-03 7.17238729e+01] [-5.13913084e-02 9.98678576e-01 -1.89850010e-04 -6.90229718e+00] [-1.88558271e-03 9.30700940e-05 9.99998218e-01 -2.17314191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92992885099999 meters 0.07950471440002038 Centerline is valid? [True, True] Translation: X:71.75, Y:-6.91, Z:-2.17 [[ 9.98781527e-01 4.93361910e-02 1.18422830e-03 7.17533153e+01] [-4.93360827e-02 9.98782227e-01 -1.20522435e-04 -6.90505649e+00] [-1.18873230e-03 6.19503963e-05 9.99999292e-01 -2.17300952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95992885099999 meters 0.0790962040781455 Centerline is valid? [True, True] Translation: X:71.78, Y:-6.91, Z:-2.17 [[ 9.98859693e-01 4.77278980e-02 1.16718961e-03 7.17825541e+01] [-4.77277917e-02 9.98860373e-01 -1.18781386e-04 -6.90862712e+00] [-1.17152863e-03 6.29385566e-05 9.99999312e-01 -2.17281853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98992885099999 meters 0.07938336791662967 Centerline is valid? [True, True] Translation: X:71.81, Y:-6.91, Z:-2.17 [[ 9.98920782e-01 4.64464294e-02 7.18435579e-06 7.18115031e+01] [-4.64464294e-02 9.98920782e-01 -2.72444996e-06 -6.91364592e+00] [-7.30314329e-06 2.38782201e-06 1.00000000e+00 -2.17407316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01992885099999 meters 0.0805639105389336 Centerline is valid? [True, True] Translation: X:71.84, Y:-6.92, Z:-2.18 [[ 9.98981057e-01 4.51313533e-02 -8.90833135e-05 7.18377655e+01] [-4.51313530e-02 9.98981061e-01 4.86840455e-06 -6.92341426e+00] [ 8.92122608e-05 -8.42993457e-07 9.99999996e-01 -2.17653007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04992885099999 meters 0.07957796858769436 Centerline is valid? [True, True] Translation: X:71.87, Y:-6.92, Z:-2.18 [[ 9.99014166e-01 4.43845598e-02 -8.40911298e-04 7.18666277e+01] [-4.43845058e-02 9.99014519e-01 8.27750339e-05 -6.92411509e+00] [ 8.43756529e-04 -4.53699991e-05 9.99999643e-01 -2.17584066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07992885099999 meters 0.07950370709937728 Centerline is valid? [True, True] Translation: X:71.89, Y:-6.93, Z:-2.18 [[ 9.99033644e-01 4.39514109e-02 -2.27626039e-04 7.18940259e+01] [-4.39514075e-02 9.99033670e-01 2.00440420e-05 -6.92734579e+00] [ 2.28287041e-04 -1.00201875e-05 9.99999974e-01 -2.17618059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10992885099999 meters 0.07975354508941904 Centerline is valid? [True, True] Translation: X:71.92, Y:-6.93, Z:-2.18 [[ 9.99071534e-01 4.30517589e-02 -1.61768404e-03 7.19228773e+01] [-4.30515542e-02 9.99072839e-01 1.61202747e-04 -6.93100406e+00] [ 1.62312425e-03 -9.14092638e-05 9.99998679e-01 -2.17668979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.139928851 meters 0.0788242640468533 Centerline is valid? [True, True] Translation: X:71.95, Y:-6.93, Z:-2.18 [[ 9.99084797e-01 4.27194998e-02 -2.14756564e-03 7.19514812e+01] [-4.27191386e-02 9.99087098e-01 2.13789391e-04 -6.93082132e+00] [ 2.15473810e-03 -1.21851576e-04 9.99997671e-01 -2.17519919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16992885099998 meters 0.07988352035263113 Centerline is valid? [True, True] Translation: X:71.98, Y:-6.94, Z:-2.18 [[ 9.99082667e-01 4.27128993e-02 -3.07128238e-03 7.19786835e+01] [-4.27121644e-02 9.99087373e-01 3.04521386e-04 -6.93733349e+00] [ 3.08148644e-03 -1.73060920e-04 9.99995237e-01 -2.17774994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19992885099998 meters 0.0795546500278246 Centerline is valid? [True, True] Translation: X:72.01, Y:-6.94, Z:-2.18 [[ 9.99106369e-01 4.21426005e-02 -3.23489322e-03 7.20076234e+01] [-4.21417767e-02 9.99111589e-01 3.22431326e-04 -6.93884053e+00] [ 3.24560740e-03 -1.85819043e-04 9.99994716e-01 -2.17762579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22992885099998 meters 0.07981246168584735 Centerline is valid? [True, True] Translation: X:72.04, Y:-6.94, Z:-2.18 [[ 9.99135544e-01 4.13854758e-02 -3.92525773e-03 7.20358581e+01] [-4.13842587e-02 9.99143228e-01 3.90838272e-04 -6.94122086e+00] [ 3.93806970e-03 -2.28056528e-04 9.99992220e-01 -2.17886043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25992885099998 meters 0.07977684216490674 Centerline is valid? [True, True] Translation: X:72.06, Y:-6.94, Z:-2.18 [[ 9.99169666e-01 4.05290827e-02 -4.16785863e-03 7.20644858e+01] [-4.05277016e-02 9.99178329e-01 4.15334714e-04 -6.94313825e+00] [ 4.18126716e-03 -2.46076117e-04 9.99991228e-01 -2.17993433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28992885099998 meters 0.08059187868776477 Centerline is valid? [True, True] Translation: X:72.09, Y:-6.95, Z:-2.18 [[ 9.99161037e-01 4.07069512e-02 -4.49067312e-03 7.20917719e+01] [-4.07053527e-02 9.99171094e-01 4.46812654e-04 -6.94778238e+00] [ 4.50513915e-03 -2.63643362e-04 9.99989817e-01 -2.18218634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31992885099999 meters 0.07997347320715299 Centerline is valid? [True, True] Translation: X:72.12, Y:-6.95, Z:-2.18 [[ 9.99188506e-01 3.99991548e-02 -4.73254225e-03 7.21210364e+01] [-3.99973703e-02 9.99199674e-01 4.71154184e-04 -6.94754956e+00] [ 4.74760044e-03 -2.81482600e-04 9.99988690e-01 -2.18075422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34992885099999 meters 0.08081807882965933 Centerline is valid? [True, True] Translation: X:72.15, Y:-6.95, Z:-2.18 [[ 9.99237594e-01 3.86367682e-02 -5.60641369e-03 7.21496189e+01] [-3.86342393e-02 9.99253263e-01 5.58713738e-04 -6.95019316e+00] [ 5.62381407e-03 -3.41688243e-04 9.99984128e-01 -2.18257820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37992885099999 meters 0.08126180519752048 Centerline is valid? [True, True] Translation: X:72.18, Y:-6.95, Z:-2.18 [[ 9.99265844e-01 3.78989656e-02 -5.60723032e-03 7.21784847e+01] [-3.78964290e-02 9.99281517e-01 5.57961761e-04 -6.95320714e+00] [ 5.62434779e-03 -3.45058124e-04 9.99984124e-01 -2.18383017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40992885099999 meters 0.08165873654335501 Centerline is valid? [True, True] Translation: X:72.21, Y:-6.96, Z:-2.18 [[ 9.99307330e-01 3.67899050e-02 -5.60033324e-03 7.22075211e+01] [-3.67873595e-02 9.99322961e-01 5.56898592e-04 -6.95545519e+00] [ 5.61702984e-03 -3.50491373e-04 9.99984163e-01 -2.18454466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43992885099999 meters 0.08218669113667544 Centerline is valid? [True, True] Translation: X:72.24, Y:-6.96, Z:-2.19 [[ 9.99357086e-01 3.55367355e-02 -4.74917664e-03 7.22362685e+01] [-3.55348937e-02 9.99368325e-01 4.71667134e-04 -6.95886158e+00] [ 4.76293821e-03 -3.02602406e-04 9.99988611e-01 -2.18523427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46992885099999 meters 0.08297898874450159 Centerline is valid? [True, True] Translation: X:72.26, Y:-6.96, Z:-2.19 [[ 9.99442773e-01 3.31876881e-02 -3.56669721e-03 7.22647469e+01] [-3.31866350e-02 9.99449109e-01 3.54060523e-04 -6.96267926e+00] [ 3.57648280e-03 -2.35496552e-04 9.99993577e-01 -2.18544324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49992885099999 meters 0.0835934650742359 Centerline is valid? [True, True] Translation: X:72.29, Y:-6.97, Z:-2.19 [[ 9.99490190e-01 3.18090565e-02 -2.74675736e-03 7.22935371e+01] [-3.18084294e-02 9.99493947e-01 2.71711554e-04 -6.96606691e+00] [ 2.75401025e-03 -1.84202995e-04 9.99996191e-01 -2.18674497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52992885099998 meters 0.08436716611784198 Centerline is valid? [True, True] Translation: X:72.32, Y:-6.97, Z:-2.19 [[ 9.99530853e-01 3.05112479e-02 -2.67172177e-03 7.23229846e+01] [-3.05106478e-02 9.99534407e-01 2.65084945e-04 -6.97072766e+00] [ 2.67856591e-03 -1.83444619e-04 9.99996396e-01 -2.18795740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55992885099998 meters 0.08498046714371199 Centerline is valid? [True, True] Translation: X:72.35, Y:-6.97, Z:-2.19 [[ 9.99574349e-01 2.90733228e-02 -2.42128852e-03 7.23522448e+01] [-2.90728261e-02 9.99577267e-01 2.40077492e-04 -6.97425060e+00] [ 2.42724481e-03 -1.69581602e-04 9.99997040e-01 -2.18904378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58992885099998 meters 0.08685024358685019 Centerline is valid? [True, True] Translation: X:72.38, Y:-6.98, Z:-2.19 [[ 9.99669269e-01 2.56246408e-02 -2.17474554e-03 7.23813125e+01] [-2.56242300e-02 9.99671622e-01 2.16525746e-04 -6.97936685e+00] [ 2.17957979e-03 -1.60727955e-04 9.99997612e-01 -2.19050422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61992885099998 meters 0.08730744174349865 Centerline is valid? [True, True] Translation: X:72.41, Y:-6.98, Z:-2.19 [[ 9.99703298e-01 2.43265472e-02 -1.23890137e-03 7.24096336e+01] [-2.43264153e-02 9.99704062e-01 1.21424967e-04 -6.98203260e+00] [ 1.24148858e-03 -9.12509103e-05 9.99999225e-01 -2.19157361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64992885099998 meters 0.08828063707004809 Centerline is valid? [True, True] Translation: X:72.44, Y:-6.99, Z:-2.19 [[ 9.99745382e-01 2.25182324e-02 -1.44918883e-03 7.24393168e+01] [-2.25180483e-02 9.99746426e-01 1.43218548e-04 -6.98566345e+00] [ 1.45204638e-03 -1.10549177e-04 9.99998940e-01 -2.19244156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67992885099999 meters 0.08888477060204385 Centerline is valid? [True, True] Translation: X:72.47, Y:-6.99, Z:-2.19 [[ 9.99769411e-01 2.14664264e-02 -5.63278671e-04 7.24674403e+01] [-2.14663995e-02 9.99769569e-01 5.37271791e-05 -6.98846737e+00] [ 5.64302205e-04 -4.16232252e-05 9.99999840e-01 -2.19373376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70992885099999 meters 0.08524057024039067 Centerline is valid? [True, True] Translation: X:72.50, Y:-6.98, Z:-2.19 [[ 9.99807608e-01 1.95962853e-02 -8.55553940e-04 7.24989724e+01] [-1.95962197e-02 9.99807972e-01 8.50073491e-05 -6.98074388e+00] [ 8.57055478e-04 -6.82253715e-05 9.99999630e-01 -2.19090385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73992885099999 meters 0.08601192373459404 Centerline is valid? [True, True] Translation: X:72.53, Y:-6.98, Z:-2.19 [[ 9.99842127e-01 1.77506238e-02 7.97649047e-04 7.25286409e+01] [-1.77505654e-02 9.99842443e-01 -8.01826836e-05 -6.98112815e+00] [-7.98946664e-04 6.60113033e-05 9.99999679e-01 -2.19175571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76992885099999 meters 0.08641946765480053 Centerline is valid? [True, True] Translation: X:72.56, Y:-6.98, Z:-2.19 [[ 9.99859080e-01 1.67816258e-02 4.44145675e-04 7.25571838e+01] [-1.67816072e-02 9.99859178e-01 -4.55196747e-05 -6.98321761e+00] [-4.44847023e-04 3.80597818e-05 9.99999900e-01 -2.19302804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79992885099999 meters 0.08647360259989716 Centerline is valid? [True, True] Translation: X:72.59, Y:-6.98, Z:-2.19 [[ 9.99866709e-01 1.63139008e-02 6.49313942e-04 7.25861063e+01] [-1.63138611e-02 9.99866918e-01 -6.63189182e-05 -6.98399388e+00] [-6.50309451e-04 5.57172610e-05 9.99999787e-01 -2.19401523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82992885099999 meters 0.08703502963481374 Centerline is valid? [True, True] Translation: X:72.62, Y:-6.98, Z:-2.20 [[ 9.99882971e-01 1.52430267e-02 1.30186698e-03 7.26150002e+01] [-1.52428690e-02 9.99883812e-01 -1.30959709e-04 -6.98380036e+00] [-1.30371194e-03 1.11100195e-04 9.99999144e-01 -2.19527423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85992885099999 meters 0.09047452320304694 Centerline is valid? [True, True] Translation: X:72.64, Y:-6.99, Z:-2.20 [[ 9.99882082e-01 1.52476025e-02 1.82554431e-03 7.26424293e+01] [-1.52472933e-02 9.99883736e-01 -1.83181721e-04 -6.99102334e+00] [-1.82812515e-03 1.55325511e-04 9.99998317e-01 -2.19783098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.889928851 meters 0.08687090435571103 Centerline is valid? [True, True] Translation: X:72.67, Y:-6.98, Z:-2.20 [[ 9.99885758e-01 1.50206474e-02 1.68863551e-03 7.26718783e+01] [-1.50203831e-02 9.99887173e-01 -1.69077048e-04 -6.98238539e+00] [-1.69098463e-03 1.43693780e-04 9.99998560e-01 -2.19590814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91992885099998 meters 0.08943141284600008 Centerline is valid? [True, True] Translation: X:72.70, Y:-6.99, Z:-2.20 [[ 9.99873294e-01 1.57950702e-02 1.97777002e-03 7.26994800e+01] [-1.57947093e-02 9.99875236e-01 -1.97999701e-04 -6.98792474e+00] [-1.98065069e-03 1.66736311e-04 9.99998025e-01 -2.19851447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94992885099998 meters 0.08793020456244043 Centerline is valid? [True, True] Translation: X:72.73, Y:-6.98, Z:-2.20 [[ 9.99827021e-01 1.83106353e-02 3.26328620e-03 7.27302616e+01] [-1.83096784e-02 9.99832312e-01 -3.22852901e-04 -6.98267060e+00] [-3.26865063e-03 2.63047334e-04 9.99994623e-01 -2.19928182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97992885099998 meters 0.08908484093639342 Centerline is valid? [True, True] Translation: X:72.76, Y:-6.99, Z:-2.20 [[ 9.99811379e-01 1.90812105e-02 3.62128226e-03 7.27580109e+01] [-1.90800303e-02 9.99817895e-01 -3.60191609e-04 -6.98522366e+00] [-3.62749570e-03 2.91029494e-04 9.99993378e-01 -2.20102421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00992885099998 meters 0.08649970787233568 Centerline is valid? [True, True] Translation: X:72.79, Y:-6.98, Z:-2.20 [[ 9.99798622e-01 1.96228170e-02 4.20236669e-03 7.27875941e+01] [-1.96212369e-02 9.99807398e-01 -4.16909098e-04 -6.97947032e+00] [-4.20973824e-03 3.34369509e-04 9.99991083e-01 -2.20080559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03992885099998 meters 0.08679438638109903 Centerline is valid? [True, True] Translation: X:72.82, Y:-6.98, Z:-2.20 [[ 9.99797574e-01 1.98848630e-02 3.06634741e-03 7.28151416e+01] [-1.98840206e-02 9.99802247e-01 -3.04941687e-04 -6.98031014e+00] [-3.07180476e-03 2.43908644e-04 9.99995252e-01 -2.20289632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06992885099999 meters 0.08666376719263644 Centerline is valid? [True, True] Translation: X:72.84, Y:-6.98, Z:-2.20 [[ 9.99793672e-01 2.00842926e-02 3.03889857e-03 7.28446736e+01] [-2.00834682e-02 9.99798261e-01 -3.01560320e-04 -6.97755232e+00] [-3.04434213e-03 2.40466477e-04 9.99995337e-01 -2.20490698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09992885099999 meters 0.08686600178767986 Centerline is valid? [True, True] Translation: X:72.87, Y:-6.98, Z:-2.21 [[ 9.99802773e-01 1.96044167e-02 3.17533200e-03 7.28737540e+01] [-1.96035151e-02 9.99807783e-01 -3.14791516e-04 -6.97792619e+00] [-3.18089295e-03 2.52481762e-04 9.99994909e-01 -2.20557356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12992885099999 meters 0.08748959394438177 Centerline is valid? [True, True] Translation: X:72.90, Y:-6.98, Z:-2.21 [[ 9.99800369e-01 1.94747422e-02 4.46723961e-03 7.29013270e+01] [-1.94729597e-02 9.99810286e-01 -4.42179739e-04 -6.97932349e+00] [-4.47500345e-03 3.55101089e-04 9.99989924e-01 -2.20690711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15992885099999 meters 0.08895422672551008 Centerline is valid? [True, True] Translation: X:72.93, Y:-6.98, Z:-2.21 [[ 9.99820672e-01 1.77551386e-02 6.58621054e-03 7.29294603e+01] [-1.77512404e-02 9.99842223e-01 -6.49863848e-04 -6.98098927e+00] [-6.59670981e-03 5.32833903e-04 9.99978100e-01 -2.20746396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18992885099999 meters 0.08963233253921679 Centerline is valid? [True, True] Translation: X:72.96, Y:-6.98, Z:-2.21 [[ 9.99820901e-01 1.71095160e-02 8.08885934e-03 7.29581507e+01] [-1.71036230e-02 9.99853405e-01 -7.97159865e-04 -6.98381202e+00] [-8.10131257e-03 6.58668294e-04 9.99966967e-01 -2.20866548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21992885099999 meters 0.09039309779882174 Centerline is valid? [True, True] Translation: X:72.99, Y:-6.99, Z:-2.21 [[ 9.99830740e-01 1.61602480e-02 8.79418682e-03 7.29868160e+01] [-1.61532525e-02 9.99869153e-01 -8.65922612e-04 -6.98667091e+00] [-8.80702965e-03 7.23721325e-04 9.99960955e-01 -2.20887125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24992885099999 meters 0.09089440548211997 Centerline is valid? [True, True] Translation: X:73.02, Y:-6.99, Z:-2.21 [[ 9.99841226e-01 1.51524778e-02 9.37682294e-03 7.30161554e+01] [-1.51444935e-02 9.99884891e-01 -9.21918832e-04 -6.98882362e+00] [-9.38971293e-03 7.79765222e-04 9.99955612e-01 -2.20980882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27992885099998 meters 0.09267981528768965 Centerline is valid? [True, True] Translation: X:73.05, Y:-6.99, Z:-2.21 [[ 9.99862883e-01 1.30653168e-02 1.01741412e-02 7.30452688e+01] [-1.30558138e-02 9.99914269e-01 -9.99888533e-04 -6.99186330e+00] [-1.01863328e-02 8.66919737e-04 9.99947742e-01 -2.21169912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30992885099998 meters 0.09375070888296348 Centerline is valid? [True, True] Translation: X:73.07, Y:-7.00, Z:-2.21 [[ 9.99862841e-01 1.26523227e-02 1.06872640e-02 7.30732624e+01] [-1.26418167e-02 9.99919538e-01 -1.05001964e-03 -6.99514407e+00] [-1.06996893e-02 9.14769188e-04 9.99942338e-01 -2.21344072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33992885099998 meters 0.09375070888296348 Centerline is valid? [True, True] Translation: X:73.10, Y:-7.00, Z:-2.21 [[ 9.99863247e-01 1.26201783e-02 1.06873141e-02 7.31023758e+01] [-1.26096760e-02 9.99919944e-01 -1.04950960e-03 -6.99796277e+00] [-1.06997035e-02 9.14602511e-04 9.99942338e-01 -2.21427502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36992885099998 meters 0.09400896578849868 Centerline is valid? [True, True] Translation: X:73.13, Y:-7.00, Z:-2.22 [[ 9.99878740e-01 1.18633738e-02 1.00879452e-02 7.31323648e+01] [-1.18539840e-02 9.99929249e-01 -9.90079919e-04 -6.99925607e+00] [-1.00989772e-02 8.70377521e-04 9.99948625e-01 -2.21572009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39992885099998 meters 0.09455641160985484 Centerline is valid? [True, True] Translation: X:73.16, Y:-7.00, Z:-2.22 [[ 9.99895047e-01 1.09974017e-02 9.43141308e-03 7.31622800e+01] [-1.09891573e-02 9.99939189e-01 -9.25522889e-04 -7.00163905e+00] [-9.44101790e-03 8.21782471e-04 9.99955095e-01 -2.21707387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42992885099999 meters 0.09527406215054383 Centerline is valid? [True, True] Translation: X:73.19, Y:-7.00, Z:-2.22 [[ 9.99917748e-01 9.96284752e-03 8.07707523e-03 7.31927661e+01] [-9.95677067e-03 9.99950116e-01 -7.92220831e-04 -7.00303627e+00] [-8.08456509e-03 7.11734084e-04 9.99967066e-01 -2.22053311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45992885099999 meters 0.0926688893805883 Centerline is valid? [True, True] Translation: X:73.22, Y:-7.00, Z:-2.22 [[ 9.99923094e-01 9.71019167e-03 7.71479819e-03 7.32232155e+01] [-9.70463486e-03 9.99952622e-01 -7.57389923e-04 -6.99960689e+00] [-7.72178708e-03 6.82462376e-04 9.99969954e-01 -2.22097632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48992885099999 meters 0.09303551290745422 Centerline is valid? [True, True] Translation: X:73.25, Y:-7.00, Z:-2.22 [[ 9.99931594e-01 9.02773778e-03 7.43687687e-03 7.32529206e+01] [-9.02255701e-03 9.99959030e-01 -7.29889287e-04 -7.00179609e+00] [-7.44316143e-03 6.62739713e-04 9.99972080e-01 -2.22213596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51992885099999 meters 0.09361924096873894 Centerline is valid? [True, True] Translation: X:73.28, Y:-7.00, Z:-2.22 [[ 9.99924936e-01 9.59175356e-03 7.62364264e-03 7.32818980e+01] [-9.58633767e-03 9.99953771e-01 -7.46632552e-04 -7.00471023e+00] [-7.63045172e-03 6.73493695e-04 9.99970661e-01 -2.22298863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54992885099999 meters 0.09031691496632581 Centerline is valid? [True, True] Translation: X:73.31, Y:-7.00, Z:-2.22 [[ 9.99920354e-01 1.01110040e-02 7.55340310e-03 7.33123740e+01] [-1.01056906e-02 9.99948661e-01 -7.41288339e-04 -6.99760121e+00] [-7.56051048e-03 6.64896943e-04 9.99971198e-01 -2.22220841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57992885099999 meters 0.09071914936104018 Centerline is valid? [True, True] Translation: X:73.34, Y:-7.00, Z:-2.22 [[ 9.99909694e-01 1.10998111e-02 7.57618172e-03 7.33418783e+01] [-1.10944958e-02 9.99938178e-01 -7.43249326e-04 -6.99957507e+00] [-7.58396327e-03 6.59128290e-04 9.99971024e-01 -2.22346478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60992885099999 meters 0.09068810942711075 Centerline is valid? [True, True] Translation: X:73.37, Y:-7.00, Z:-2.22 [[ 9.99896464e-01 1.18577968e-02 8.15190605e-03 7.33715928e+01] [-1.18516709e-02 9.99929447e-01 -7.99372199e-04 -7.00116269e+00] [-8.16080970e-03 7.02675728e-04 9.99966453e-01 -2.22420558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.639928851 meters 0.09185563348536833 Centerline is valid? [True, True] Translation: X:73.40, Y:-7.00, Z:-2.23 [[ 9.99876187e-01 1.28571655e-02 9.07210874e-03 7.34000168e+01] [-1.28496202e-02 9.99917045e-01 -8.89507136e-04 -7.00428344e+00] [-9.08279270e-03 7.72823853e-04 9.99958452e-01 -2.22596092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66992885099998 meters 0.09305970200975007 Centerline is valid? [True, True] Translation: X:73.43, Y:-7.01, Z:-2.23 [[ 9.99868724e-01 1.24803848e-02 1.03331486e-02 7.34280358e+01] [-1.24705839e-02 9.99921727e-01 -1.01238871e-03 -7.00865900e+00] [-1.03449748e-02 8.83395407e-04 9.99946099e-01 -2.22689752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69992885099998 meters 0.09072371938390628 Centerline is valid? [True, True] Translation: X:73.46, Y:-7.01, Z:-2.23 [[ 9.99882372e-01 1.14384291e-02 1.02178463e-02 7.34579108e+01] [-1.14287996e-02 9.99934189e-01 -1.00030913e-03 -7.00591510e+00] [-1.02286158e-02 8.83413748e-04 9.99947296e-01 -2.22694532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72992885099998 meters 0.09105896392898895 Centerline is valid? [True, True] Translation: X:73.49, Y:-7.01, Z:-2.23 [[ 9.99880922e-01 1.11165939e-02 1.07033760e-02 7.34873360e+01] [-1.11060137e-02 9.99937778e-01 -1.04742220e-03 -7.00922809e+00] [-1.07143538e-02 9.28425638e-04 9.99942169e-01 -2.22704546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75992885099998 meters 0.0917875116218709 Centerline is valid? [True, True] Translation: X:73.52, Y:-7.01, Z:-2.23 [[ 9.99894651e-01 9.99109566e-03 1.05292577e-02 7.35174031e+01] [-9.98080520e-03 9.99949661e-01 -1.02941539e-03 -7.01316464e+00] [-1.05390127e-02 9.24216476e-04 9.99944036e-01 -2.22807419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78992885099998 meters 0.09236554773507784 Centerline is valid? [True, True] Translation: X:73.55, Y:-7.02, Z:-2.23 [[ 9.99906893e-01 9.03164123e-03 1.02291020e-02 7.35476509e+01] [-9.02187932e-03 9.99958802e-01 -1.00007002e-03 -7.01718483e+00] [-1.02377128e-02 9.07691187e-04 9.99947181e-01 -2.22969461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81992885099999 meters 0.09488090531488365 Centerline is valid? [True, True] Translation: X:73.58, Y:-7.03, Z:-2.23 [[ 9.99912793e-01 8.06572874e-03 1.04570940e-02 7.35768836e+01] [-8.05547440e-03 9.99967032e-01 -1.02236016e-03 -7.02564105e+00] [-1.04649954e-02 9.38034145e-04 9.99944800e-01 -2.23154757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84992885099999 meters 0.09537040518207479 Centerline is valid? [True, True] Translation: X:73.61, Y:-7.03, Z:-2.23 [[ 9.99919690e-01 7.49865663e-03 1.02168434e-02 7.36078218e+01] [-7.48884501e-03 9.99971460e-01 -9.98257266e-04 -7.02951872e+00] [-1.02240374e-02 9.21664739e-04 9.99947308e-01 -2.23273547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87992885099999 meters 0.09611300646511235 Centerline is valid? [True, True] Translation: X:73.64, Y:-7.03, Z:-2.23 [[ 9.99914555e-01 7.51691448e-03 1.06948179e-02 7.36386367e+01] [-7.50617836e-03 9.99971284e-01 -1.04364805e-03 -7.03465337e+00] [-1.07023558e-02 9.63281663e-04 9.99942264e-01 -2.23395326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90992885099999 meters 0.0947353406278284 Centerline is valid? [True, True] Translation: X:73.67, Y:-7.03, Z:-2.23 [[ 9.99927779e-01 6.99139521e-03 9.77528721e-03 7.36700937e+01] [-6.98237406e-03 9.99975165e-01 -9.56676983e-04 -7.03428709e+00] [-9.78173295e-03 8.88353179e-04 9.99951763e-01 -2.23458825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93992885099999 meters 0.09625469648266582 Centerline is valid? [True, True] Translation: X:73.70, Y:-7.04, Z:-2.24 [[ 9.99921789e-01 7.20283806e-03 1.02242417e-02 7.37004477e+01] [-7.19299506e-03 9.99973631e-01 -9.99158870e-04 -7.04037158e+00] [-1.02311689e-02 9.25537804e-04 9.99947232e-01 -2.23608664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96992885099999 meters 0.09440637664252519 Centerline is valid? [True, True] Translation: X:73.73, Y:-7.04, Z:-2.24 [[ 9.99923297e-01 6.55525460e-03 1.05084880e-02 7.37318633e+01] [-6.54478585e-03 9.99978052e-01 -1.03029840e-03 -7.04039028e+00] [-1.05150113e-02 9.61443574e-04 9.99944254e-01 -2.23611448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99992885099999 meters 0.09552387235088662 Centerline is valid? [True, True] Translation: X:73.76, Y:-7.05, Z:-2.24 [[ 9.99933656e-01 6.28054645e-03 9.65603777e-03 7.37625157e+01] [-6.27172632e-03 9.99979887e-01 -9.43441652e-04 -7.04649080e+00] [-9.66176890e-03 8.82819034e-04 9.99952934e-01 -2.23801343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02992885099998 meters 0.09578147106911244 Centerline is valid? [True, True] Translation: X:73.79, Y:-7.05, Z:-2.24 [[ 9.99943382e-01 5.35881555e-03 9.19326125e-03 7.37934991e+01] [-5.35073259e-03 9.99985276e-01 -9.03597704e-04 -7.05078712e+00] [-9.19796811e-03 8.54355862e-04 9.99957333e-01 -2.23920445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05992885099998 meters 0.09821560364137498 Centerline is valid? [True, True] Translation: X:73.82, Y:-7.06, Z:-2.24 [[ 9.99944828e-01 5.05778438e-03 9.20655027e-03 7.38242371e+01] [-5.04969561e-03 9.99986844e-01 -9.01622328e-04 -7.05988506e+00] [-9.21098936e-03 8.55082307e-04 9.99957212e-01 -2.24067732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08992885099998 meters 0.09717069138945622 Centerline is valid? [True, True] Translation: X:73.86, Y:-7.06, Z:-2.24 [[ 9.99945296e-01 4.98100784e-03 9.19758188e-03 7.38563148e+01] [-4.97291598e-03 9.99987228e-01 -9.02442062e-04 -7.06167354e+00] [-9.20195948e-03 8.56653892e-04 9.99957294e-01 -2.24059475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11992885099998 meters 0.095398416129968 Centerline is valid? [True, True] Translation: X:73.89, Y:-7.06, Z:-2.24 [[ 9.99940149e-01 5.07177542e-03 9.69406384e-03 7.38883678e+01] [-5.06276505e-03 9.99986729e-01 -9.53787131e-04 -7.06203828e+00] [-9.69877259e-03 9.04651278e-04 9.99952557e-01 -2.23984663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14992885099998 meters 0.09517280632048579 Centerline is valid? [True, True] Translation: X:73.92, Y:-7.07, Z:-2.24 [[ 9.99933616e-01 5.65608291e-03 1.00385104e-02 7.39208053e+01] [-5.64640210e-03 9.99983566e-01 -9.92447566e-04 -7.06591146e+00] [-1.00439588e-02 9.35700218e-04 9.99949120e-01 -2.24066042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17992885099999 meters 0.0968941438166433 Centerline is valid? [True, True] Translation: X:73.95, Y:-7.07, Z:-2.24 [[ 9.99923685e-01 7.35063297e-03 9.92936292e-03 7.39500474e+01] [-7.34120821e-03 9.99972568e-01 -9.85295928e-04 -7.07377045e+00] [-9.93633308e-03 9.12327215e-04 9.99950217e-01 -2.24266763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20992885099999 meters 0.09657893193389075 Centerline is valid? [True, True] Translation: X:73.98, Y:-7.08, Z:-2.24 [[ 9.99923066e-01 8.22023023e-03 9.28922204e-03 7.39810789e+01] [-8.21202467e-03 9.99965856e-01 -9.21139820e-04 -7.07732925e+00] [-9.29647685e-03 8.44785633e-04 9.99956430e-01 -2.24338256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23992885099999 meters 0.09351224790961325 Centerline is valid? [True, True] Translation: X:74.01, Y:-7.07, Z:-2.24 [[ 9.99914855e-01 9.14771712e-03 9.30602078e-03 7.40120232e+01] [-9.13951289e-03 9.99957807e-01 -9.23751161e-04 -7.07498002e+00] [-9.31407835e-03 8.38620011e-04 9.99956271e-01 -2.24340560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26992885099999 meters 0.08979846859662138 Centerline is valid? [True, True] Translation: X:74.04, Y:-7.07, Z:-2.24 [[ 9.99893415e-01 1.21702840e-02 8.06492891e-03 7.40433284e+01] [-1.21642199e-02 9.99925693e-01 -8.00536721e-04 -7.07127003e+00] [-8.07407239e-03 7.02347826e-04 9.99967157e-01 -2.24282951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29992885099999 meters 0.09413478404778838 Centerline is valid? [True, True] Translation: X:74.07, Y:-7.08, Z:-2.25 [[ 9.99870838e-01 1.37029101e-02 8.39871543e-03 7.40711000e+01] [-1.36963812e-02 9.99905852e-01 -8.34387892e-04 -7.08348975e+00] [-8.40935825e-03 7.19248113e-04 9.99964382e-01 -2.24613295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32992885099999 meters 0.0891730137596797 Centerline is valid? [True, True] Translation: X:74.10, Y:-7.08, Z:-2.24 [[ 9.99860806e-01 1.44773944e-02 8.29298790e-03 7.41012285e+01] [-1.44710547e-02 9.99894949e-01 -8.23956185e-04 -7.07735952e+00] [-8.30404545e-03 7.03833214e-04 9.99965273e-01 -2.24468422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35992885099999 meters 0.08869762943914336 Centerline is valid? [True, True] Translation: X:74.13, Y:-7.08, Z:-2.24 [[ 9.99844535e-01 1.51348713e-02 9.04667469e-03 7.41303677e+01] [-1.51273591e-02 9.99885171e-01 -8.98236197e-04 -7.08120508e+00] [-9.05923056e-03 7.61244256e-04 9.99958675e-01 -2.24441448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38992885099998 meters 0.08851812897352716 Centerline is valid? [True, True] Translation: X:74.16, Y:-7.09, Z:-2.24 [[ 9.99870940e-01 1.41874248e-02 7.53792069e-03 7.41593561e+01] [-1.41821837e-02 9.99899148e-01 -7.48294096e-04 -7.08616511e+00] [-7.54777684e-03 6.41293345e-04 9.99971309e-01 -2.24470664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41992885099998 meters 0.08841511209181543 Centerline is valid? [True, True] Translation: X:74.19, Y:-7.09, Z:-2.25 [[ 9.99882388e-01 1.37431031e-02 6.80721856e-03 7.41873725e+01] [-1.37388151e-02 9.99905389e-01 -6.76290155e-04 -7.09018213e+00] [-6.81586885e-03 5.82687498e-04 9.99976602e-01 -2.24613504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44992885099998 meters 0.09004092752171491 Centerline is valid? [True, True] Translation: X:74.22, Y:-7.10, Z:-2.25 [[ 9.99901185e-01 1.29823480e-02 5.39241411e-03 7.42153966e+01] [-1.29796504e-02 9.99915618e-01 -5.34962168e-04 -7.09785795e+00] [-5.39890415e-03 4.64917656e-04 9.99985318e-01 -2.24835988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47992885099998 meters 0.08996016089711899 Centerline is valid? [True, True] Translation: X:74.24, Y:-7.10, Z:-2.25 [[ 9.99910682e-01 1.23288233e-02 5.16029693e-03 7.42447283e+01] [-1.23263474e-02 9.99923897e-01 -5.11329587e-04 -7.10176551e+00] [-5.16620831e-03 4.47676303e-04 9.99986555e-01 -2.24897412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50992885099998 meters 0.09051381087505707 Centerline is valid? [True, True] Translation: X:74.27, Y:-7.11, Z:-2.25 [[ 9.99920607e-01 1.16658932e-02 4.76305461e-03 7.42736761e+01] [-1.16637767e-02 9.99931864e-01 -4.71880628e-04 -7.10718521e+00] [-4.76823499e-03 4.16287958e-04 9.99988545e-01 -2.25035297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53992885099998 meters 0.09033226871531833 Centerline is valid? [True, True] Translation: X:74.30, Y:-7.11, Z:-2.25 [[ 9.99922773e-01 1.11984569e-02 5.38913694e-03 7.43023272e+01] [-1.11957382e-02 9.99937183e-01 -5.34383043e-04 -7.11130902e+00] [-5.39478267e-03 4.74006408e-04 9.99985336e-01 -2.25070907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56992885099999 meters 0.09315167550443235 Centerline is valid? [True, True] Translation: X:74.33, Y:-7.12, Z:-2.25 [[ 9.99925788e-01 1.07560802e-02 5.72064912e-03 7.43288022e+01] [-1.07530096e-02 9.99942024e-01 -5.67260367e-04 -7.12330027e+00] [-5.72641895e-03 5.05704074e-04 9.99983476e-01 -2.25175672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59992885099999 meters 0.09084872282729457 Centerline is valid? [True, True] Translation: X:74.36, Y:-7.12, Z:-2.25 [[ 9.99925910e-01 1.10731921e-02 5.05559594e-03 7.43576403e+01] [-1.10708015e-02 9.99938591e-01 -5.00606834e-04 -7.12276673e+00] [-5.06082880e-03 4.44600245e-04 9.99987095e-01 -2.25129962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62992885099999 meters 0.09217944339347665 Centerline is valid? [True, True] Translation: X:74.39, Y:-7.13, Z:-2.25 [[ 9.99923362e-01 1.11377912e-02 5.40554908e-03 7.43851038e+01] [-1.11350598e-02 9.99937860e-01 -5.35132565e-04 -7.12917716e+00] [-5.41117338e-03 4.74900441e-04 9.99985247e-01 -2.25246946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65992885099999 meters 0.08887784842350463 Centerline is valid? [True, True] Translation: X:74.41, Y:-7.13, Z:-2.25 [[ 9.99913489e-01 1.19852740e-02 5.41925318e-03 7.44149098e+01] [-1.19825476e-02 9.99928063e-01 -5.35275177e-04 -7.12640963e+00] [-5.42527876e-03 4.70292410e-04 9.99985172e-01 -2.25116695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68992885099999 meters 0.09404919884840415 Centerline is valid? [True, True] Translation: X:74.44, Y:-7.14, Z:-2.25 [[ 9.99920641e-01 1.14471492e-02 5.26068021e-03 7.44417798e+01] [-1.14445745e-02 9.99934374e-01 -5.19268083e-04 -7.14255580e+00] [-5.26627911e-03 4.59020628e-04 9.99986028e-01 -2.25342211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71992885099999 meters 0.08903558252349301 Centerline is valid? [True, True] Translation: X:74.47, Y:-7.14, Z:-2.25 [[ 9.99916625e-01 1.13859596e-02 6.09125178e-03 7.44715728e+01] [-1.13825066e-02 9.99935036e-01 -6.01240838e-04 -7.13772340e+00] [-6.09770178e-03 5.31856996e-04 9.99981267e-01 -2.25159233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74992885099999 meters 0.09059701418853697 Centerline is valid? [True, True] Translation: X:74.50, Y:-7.15, Z:-2.25 [[ 9.99931901e-01 1.02367388e-02 5.60380733e-03 7.44989462e+01] [-1.02337998e-02 9.99947480e-01 -5.52883564e-04 -7.14579598e+00] [-5.60917274e-03 4.95497671e-04 9.99984146e-01 -2.25335977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77992885099998 meters 0.09413551751387435 Centerline is valid? [True, True] Translation: X:74.53, Y:-7.16, Z:-2.26 [[ 9.99954238e-01 8.90570381e-03 3.49442099e-03 7.45271983e+01] [-8.90455623e-03 9.99960295e-01 -3.43826970e-04 -7.16011518e+00] [-3.49734426e-03 3.12694967e-04 9.99993835e-01 -2.25723648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80992885099998 meters 0.08966154018656208 Centerline is valid? [True, True] Translation: X:74.56, Y:-7.16, Z:-2.26 [[ 9.99956763e-01 8.75643095e-03 3.12992605e-03 7.45563858e+01] [-8.75550491e-03 9.99961622e-01 -3.09445362e-04 -7.15591687e+00] [-3.13251556e-03 2.82027900e-04 9.99995054e-01 -2.25611469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83992885099998 meters 0.08977144326134913 Centerline is valid? [True, True] Translation: X:74.59, Y:-7.16, Z:-2.26 [[ 9.99968900e-01 7.70856349e-03 1.66648629e-03 7.45855914e+01] [-7.70829973e-03 9.99970277e-01 -1.64641302e-04 -7.16035622e+00] [-1.66770590e-03 1.51790406e-04 9.99998598e-01 -2.25767988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86992885099998 meters 0.0918426106014889 Centerline is valid? [True, True] Translation: X:74.61, Y:-7.17, Z:-2.26 [[ 9.99970908e-01 7.48726600e-03 1.45723433e-03 7.46122503e+01] [-7.48706197e-03 9.99971961e-01 -1.45416895e-04 -7.16931321e+00] [-1.45828224e-03 1.34502261e-04 9.99998928e-01 -2.25994605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89992885099998 meters 0.09192952061149819 Centerline is valid? [True, True] Translation: X:74.64, Y:-7.18, Z:-2.26 [[ 9.99982881e-01 5.85123952e-03 1.02367909e-05 7.46422906e+01] [-5.85123951e-03 9.99982881e-01 -1.00442252e-06 -7.17641639e+00] [-1.02424927e-05 9.44507407e-07 1.00000000e+00 -2.26130043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92992885099999 meters 0.09006188562311716 Centerline is valid? [True, True] Translation: X:74.67, Y:-7.18, Z:-2.26 [[ 9.99988293e-01 4.68653823e-03 -1.20465645e-03 7.46719649e+01] [-4.68640044e-03 9.99989012e-01 1.17179182e-04 -7.17767279e+00] [ 1.20519238e-03 -1.11532307e-04 9.99999268e-01 -2.26083146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95992885099999 meters 0.09324793422114956 Centerline is valid? [True, True] Translation: X:74.70, Y:-7.19, Z:-2.26 [[ 9.99991854e-01 4.03376434e-03 -1.42570979e-04 7.46986002e+01] [-4.03376279e-03 9.99991864e-01 1.11237517e-05 -7.18920661e+00] [ 1.42614690e-04 -1.05485636e-05 9.99999990e-01 -2.26278033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98992885099999 meters 0.09091923212112213 Centerline is valid? [True, True] Translation: X:74.73, Y:-7.19, Z:-2.26 [[ 9.99994600e-01 3.27581020e-03 -2.63976505e-04 7.47282310e+01] [-3.27580375e-03 9.99994634e-01 2.48762721e-05 -7.18979168e+00] [ 2.64056579e-04 -2.40114025e-05 9.99999965e-01 -2.26206577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01992885099999 meters 0.09148629572063945 Centerline is valid? [True, True] Translation: X:74.76, Y:-7.20, Z:-2.26 [[ 9.99998864e-01 1.50728805e-03 1.50225575e-05 7.47581419e+01] [-1.50728803e-03 9.99998864e-01 -1.47145041e-06 -7.19791990e+00] [-1.50247583e-05 1.44880542e-06 1.00000000e+00 -2.26228523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04992885099999 meters 0.09454357576915053 Centerline is valid? [True, True] Translation: X:74.79, Y:-7.21, Z:-2.26 [[ 9.99999014e-01 1.14169329e-03 8.17333255e-04 7.47871120e+01] [-1.14162850e-03 9.99999345e-01 -7.97286561e-05 -7.20825553e+00] [-8.17423746e-04 7.87954866e-05 9.99999663e-01 -2.26496866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07992885099999 meters 0.09262285703361052 Centerline is valid? [True, True] Translation: X:74.82, Y:-7.21, Z:-2.26 [[ 9.99999497e-01 7.71193389e-04 6.41837460e-04 7.48172495e+01] [-7.71152886e-04 9.99999701e-01 -6.33500886e-05 -7.20869238e+00] [-6.41886123e-04 6.28551019e-05 9.99999792e-01 -2.26448251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10992885099999 meters 0.09339455143243143 Centerline is valid? [True, True] Translation: X:74.85, Y:-7.21, Z:-2.27 [[ 9.99999460e-01 6.10567887e-04 8.40384923e-04 7.48461449e+01] [-6.10499211e-04 9.99999810e-01 -8.19730756e-05 -7.21482341e+00] [-8.40434814e-04 8.14599770e-05 9.99999644e-01 -2.26517855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13992885099998 meters 0.09296238863803198 Centerline is valid? [True, True] Translation: X:74.88, Y:-7.22, Z:-2.27 [[ 9.99999577e-01 6.08620782e-04 6.89484120e-04 7.48763533e+01] [-6.08574358e-04 9.99999813e-01 -6.75394312e-05 -7.21980364e+00] [-6.89525096e-04 6.71198003e-05 9.99999760e-01 -2.26696163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16992885099998 meters 0.09358492965395675 Centerline is valid? [True, True] Translation: X:74.91, Y:-7.23, Z:-2.27 [[ 9.99999432e-01 7.88289317e-04 7.17301992e-04 7.49064079e+01] [-7.88239451e-04 9.99999687e-01 -6.97999356e-05 -7.22551437e+00] [-7.17356790e-04 6.92344902e-05 9.99999740e-01 -2.26847310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19992885099998 meters 0.09228945593981466 Centerline is valid? [True, True] Translation: X:74.94, Y:-7.23, Z:-2.27 [[ 9.99997809e-01 1.56722998e-03 1.38761001e-03 7.49369530e+01] [-1.56704283e-03 9.99998763e-01 -1.35948702e-04 -7.22712305e+00] [-1.38782135e-03 1.33773960e-04 9.99999028e-01 -2.26916421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22992885099998 meters 0.09228945593981466 Centerline is valid? [True, True] Translation: X:74.97, Y:-7.23, Z:-2.27 [[ 9.99997809e-01 1.56722998e-03 1.38761001e-03 7.49669473e+01] [-1.56704283e-03 9.99998763e-01 -1.35948702e-04 -7.23006169e+00] [-1.38782135e-03 1.33773960e-04 9.99999028e-01 -2.27002337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25992885099998 meters 0.09214404389746207 Centerline is valid? [True, True] Translation: X:75.00, Y:-7.23, Z:-2.27 [[ 9.99997526e-01 2.09824553e-03 7.38603589e-04 7.49975623e+01] [-2.09819265e-03 9.99997796e-01 -7.23634155e-05 -7.23375853e+00] [-7.38753798e-04 7.08135038e-05 9.99999725e-01 -2.27107811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28992885099998 meters 0.09447555951253322 Centerline is valid? [True, True] Translation: X:75.03, Y:-7.24, Z:-2.27 [[ 9.99994477e-01 3.15719666e-03 1.03876336e-03 7.50269457e+01] [-3.15709263e-03 9.99995011e-01 -1.01771052e-04 -7.24165151e+00] [-1.03907948e-03 9.84910177e-05 9.99999455e-01 -2.27349133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31992885099999 meters 0.09593126508295509 Centerline is valid? [True, True] Translation: X:75.06, Y:-7.25, Z:-2.28 [[ 9.99989319e-01 4.28463085e-03 1.73341345e-03 7.50552930e+01] [-4.28434133e-03 9.99990808e-01 -1.70702992e-04 -7.24772427e+00] [-1.73412892e-03 1.63274633e-04 9.99998483e-01 -2.27594022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34992885099999 meters 0.09083225435067734 Centerline is valid? [True, True] Translation: X:75.09, Y:-7.24, Z:-2.27 [[ 9.99984625e-01 5.25799793e-03 1.76153537e-03 7.50857739e+01] [-5.25770051e-03 9.99986163e-01 -1.73425882e-04 -7.24108844e+00] [-1.76242287e-03 1.64161590e-04 9.99998433e-01 -2.27432451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37992885099999 meters 0.09114477679320784 Centerline is valid? [True, True] Translation: X:75.11, Y:-7.25, Z:-2.28 [[ 9.99982054e-01 5.70156911e-03 1.83932989e-03 7.51148354e+01] [-5.70124497e-03 9.99983731e-01 -1.81422737e-04 -7.24505104e+00] [-1.84033436e-03 1.70933011e-04 9.99998292e-01 -2.27548814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40992885099999 meters 0.09457396314610023 Centerline is valid? [True, True] Translation: X:75.14, Y:-7.26, Z:-2.28 [[ 9.99972462e-01 7.08126696e-03 2.22070697e-03 7.51429712e+01] [-7.08079975e-03 9.99974907e-01 -2.18183133e-04 -7.25523962e+00] [-2.22219626e-03 2.02452743e-04 9.99997510e-01 -2.27952642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43992885099999 meters 0.08849706925912734 Centerline is valid? [True, True] Translation: X:75.17, Y:-7.25, Z:-2.28 [[ 9.99963744e-01 7.94700344e-03 3.05888009e-03 7.51737650e+01] [-7.94612236e-03 9.99968384e-01 -3.00085046e-04 -7.24550823e+00] [-3.06116816e-03 2.75767931e-04 9.99995277e-01 -2.27658054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46992885099999 meters 0.09050951694532601 Centerline is valid? [True, True] Translation: X:75.20, Y:-7.25, Z:-2.28 [[ 9.99963893e-01 8.14049909e-03 2.43831844e-03 7.52016996e+01] [-8.13993849e-03 9.99966841e-01 -2.39746141e-04 -7.25208596e+00] [-2.44018925e-03 2.19889723e-04 9.99996999e-01 -2.27882537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49992885099999 meters 0.0931278306193053 Centerline is valid? [True, True] Translation: X:75.23, Y:-7.26, Z:-2.28 [[ 9.99961216e-01 8.15102702e-03 3.33575294e-03 7.52299055e+01] [-8.14998030e-03 9.99966735e-01 -3.27261360e-04 -7.26000135e+00] [-3.33830949e-03 3.00062346e-04 9.99994383e-01 -2.28162566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52992885099998 meters 0.09099298000473478 Centerline is valid? [True, True] Translation: X:75.26, Y:-7.26, Z:-2.28 [[ 9.99963236e-01 7.89963407e-03 3.33496641e-03 7.52594017e+01] [-7.89858556e-03 9.99968752e-01 -3.27453336e-04 -7.25870440e+00] [-3.33744896e-03 3.01099780e-04 9.99994385e-01 -2.28112932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55992885099998 meters 0.09129865499508391 Centerline is valid? [True, True] Translation: X:75.29, Y:-7.26, Z:-2.28 [[ 9.99973741e-01 6.35138839e-03 3.48955322e-03 7.52893496e+01] [-6.35023651e-03 9.99979779e-01 -3.41074713e-04 -7.26242619e+00] [-3.49164896e-03 3.18906269e-04 9.99993853e-01 -2.28246960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58992885099998 meters 0.08989095235894899 Centerline is valid? [True, True] Translation: X:75.32, Y:-7.26, Z:-2.28 [[ 9.99975948e-01 5.75618091e-03 3.86901002e-03 7.53191643e+01] [-5.75475928e-03 9.99983370e-01 -3.78473378e-04 -7.26266598e+00] [-3.87112423e-03 3.56199054e-04 9.99992444e-01 -2.28223950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61992885099998 meters 0.09042040178048669 Centerline is valid? [True, True] Translation: X:75.35, Y:-7.27, Z:-2.28 [[ 9.99977273e-01 4.81389806e-03 4.72021688e-03 7.53496920e+01] [-4.81177724e-03 9.99988317e-01 -4.60559591e-04 -7.26710080e+00] [-4.72237882e-03 4.37836492e-04 9.99988754e-01 -2.28315474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64992885099998 meters 0.09537607325430161 Centerline is valid? [True, True] Translation: X:75.38, Y:-7.28, Z:-2.29 [[ 9.99986515e-01 2.35554095e-03 4.62824479e-03 7.53782028e+01] [-2.35347837e-03 9.99997129e-01 -4.51046011e-04 -7.27953385e+00] [-4.62929396e-03 4.40147455e-04 9.99989188e-01 -2.28573873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67992885099999 meters 0.09097341982950466 Centerline is valid? [True, True] Translation: X:75.41, Y:-7.27, Z:-2.28 [[ 9.99985317e-01 2.25836548e-03 4.92608850e-03 7.54103731e+01] [-2.25602830e-03 9.99997340e-01 -4.79954554e-04 -7.27349557e+00] [-4.92715931e-03 4.68834112e-04 9.99987752e-01 -2.28429920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70992885099999 meters 0.09358998043169643 Centerline is valid? [True, True] Translation: X:75.44, Y:-7.28, Z:-2.29 [[ 9.99987679e-01 1.32549879e-03 4.78379134e-03 7.54406785e+01] [-1.32329308e-03 9.99999017e-01 -4.64213798e-04 -7.28113446e+00] [-4.78440195e-03 4.57877721e-04 9.99988450e-01 -2.28622068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73992885099999 meters 0.09519036720017635 Centerline is valid? [True, True] Translation: X:75.47, Y:-7.29, Z:-2.29 [[ 9.99988875e-01 1.22941432e-03 4.55389871e-03 7.54715627e+01] [-1.22742338e-03 9.99999150e-01 -4.39962227e-04 -7.28781899e+00] [-4.55443574e-03 4.34367771e-04 9.99989534e-01 -2.28782891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76992885099999 meters 0.09608065547070885 Centerline is valid? [True, True] Translation: X:75.50, Y:-7.29, Z:-2.29 [[ 9.99993468e-01 1.31294890e-03 3.36737593e-03 7.55026476e+01] [-1.31186350e-03 9.99999087e-01 -3.24515781e-04 -7.29247097e+00] [-3.36779893e-03 3.20096124e-04 9.99994278e-01 -2.28992026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79992885099999 meters 0.09138258920863843 Centerline is valid? [True, True] Translation: X:75.53, Y:-7.29, Z:-2.29 [[ 9.99997291e-01 1.02829183e-03 2.08821325e-03 7.55348896e+01] [-1.02786781e-03 9.99999451e-01 -2.04115537e-04 -7.28530305e+00] [-2.08842199e-03 2.01968577e-04 9.99997799e-01 -2.28819980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82992885099999 meters 0.09258430324441258 Centerline is valid? [True, True] Translation: X:75.56, Y:-7.29, Z:-2.29 [[ 9.99995750e-01 1.56529609e-03 2.45970339e-03 7.55647241e+01] [-1.56471101e-03 9.99998747e-01 -2.39772128e-04 -7.29025048e+00] [-2.46007562e-03 2.35922384e-04 9.99996946e-01 -2.28924018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85992885099999 meters 0.09231148050209334 Centerline is valid? [True, True] Translation: X:75.60, Y:-7.29, Z:-2.29 [[ 9.99997013e-01 1.74603050e-03 1.71037337e-03 7.55959717e+01] [-1.74574705e-03 9.99998462e-01 -1.67201280e-04 -7.29177294e+00] [-1.71066268e-03 1.64214901e-04 9.99998523e-01 -2.29001123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88992885099998 meters 0.09202601575835245 Centerline is valid? [True, True] Translation: X:75.63, Y:-7.29, Z:-2.29 [[ 9.99989981e-01 3.12529482e-03 3.20459901e-03 7.56272599e+01] [-3.12430239e-03 9.99995070e-01 -3.14649814e-04 -7.29357606e+00] [-3.20556659e-03 3.04634525e-04 9.99994816e-01 -2.28960633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91992885099998 meters 0.09115591302134474 Centerline is valid? [True, True] Translation: X:75.66, Y:-7.29, Z:-2.29 [[ 9.99986813e-01 4.04300765e-03 3.16668037e-03 7.56576245e+01] [-4.04204163e-03 9.99991782e-01 -3.11399246e-04 -7.29424456e+00] [-3.16791334e-03 2.98595285e-04 9.99994938e-01 -2.28951077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94992885099998 meters 0.09390396099054095 Centerline is valid? [True, True] Translation: X:75.69, Y:-7.30, Z:-2.29 [[ 9.99982511e-01 4.97354301e-03 3.20029891e-03 7.56861858e+01] [-4.97255975e-03 9.99987587e-01 -3.15126538e-04 -7.30205299e+00] [-3.20182648e-03 2.99207349e-04 9.99994829e-01 -2.29133791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97992885099998 meters 0.0919581250730522 Centerline is valid? [True, True] Translation: X:75.72, Y:-7.30, Z:-2.29 [[ 9.99977217e-01 5.98333087e-03 3.12485768e-03 7.57167359e+01] [-5.98239975e-03 9.99982058e-01 -3.07234206e-04 -7.30076490e+00] [-3.12663990e-03 2.88533059e-04 9.99995070e-01 -2.29192041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00992885099998 meters 0.08854875020672598 Centerline is valid? [True, True] Translation: X:75.75, Y:-7.29, Z:-2.29 [[ 9.99966370e-01 7.93783068e-03 2.06125409e-03 7.57478811e+01] [-7.93742872e-03 9.99968477e-01 -2.03114870e-04 -7.29470834e+00] [-2.06280140e-03 1.86746982e-04 9.99997855e-01 -2.29126546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03992885099998 meters 0.08898903037825336 Centerline is valid? [True, True] Translation: X:75.78, Y:-7.30, Z:-2.29 [[ 9.99959352e-01 8.77280893e-03 2.08121365e-03 7.57759086e+01] [-8.77239824e-03 9.99961500e-01 -2.06379964e-04 -7.29745555e+00] [-2.08294406e-03 1.88114340e-04 9.99997813e-01 -2.29272503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06992885099999 meters 0.08724970786946747 Centerline is valid? [True, True] Translation: X:75.81, Y:-7.30, Z:-2.29 [[ 9.99955486e-01 9.41761547e-03 5.77871190e-04 7.58050443e+01] [-9.41758312e-03 9.99955652e-01 -5.86859474e-05 -7.29568985e+00] [-5.78398244e-04 5.32411851e-05 9.99999831e-01 -2.29297376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09992885099999 meters 0.08867487910629558 Centerline is valid? [True, True] Translation: X:75.83, Y:-7.30, Z:-2.29 [[ 9.99949640e-01 9.94708359e-03 1.33172917e-03 7.58323946e+01] [-9.94691518e-03 9.99950519e-01 -1.33028352e-04 -7.30092944e+00] [-1.33298652e-03 1.19775056e-04 9.99999104e-01 -2.29478338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12992885099999 meters 0.0927595426442425 Centerline is valid? [True, True] Translation: X:75.86, Y:-7.31, Z:-2.30 [[ 9.99956997e-01 9.17167881e-03 1.37289605e-03 7.58592128e+01] [-9.17149888e-03 9.99957931e-01 -1.37300450e-04 -7.31073667e+00] [-1.37409757e-03 1.24703031e-04 9.99999048e-01 -2.29771751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15992885099999 meters 0.09245039584338902 Centerline is valid? [True, True] Translation: X:75.89, Y:-7.31, Z:-2.30 [[ 9.99968411e-01 7.91742492e-03 7.01634396e-04 7.58884305e+01] [-7.91737767e-03 9.99968655e-01 -7.01024714e-05 -7.31236035e+00] [-7.02167434e-04 6.45451524e-05 9.99999751e-01 -2.29780570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18992885099999 meters 0.08933895063245112 Centerline is valid? [True, True] Translation: X:75.92, Y:-7.31, Z:-2.30 [[ 9.99977897e-01 6.63785667e-03 3.80782703e-04 7.59182495e+01] [-6.63784241e-03 9.99977969e-01 -3.87202470e-05 -7.30886415e+00] [-3.81031334e-04 3.61918156e-05 9.99999927e-01 -2.29605895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21992885099999 meters 0.0905301501914165 Centerline is valid? [True, True] Translation: X:75.95, Y:-7.31, Z:-2.30 [[ 9.99986900e-01 5.07516874e-03 6.65810821e-04 7.59462904e+01] [-5.07512575e-03 9.99987119e-01 -6.62461175e-05 -7.31361401e+00] [-6.66138455e-04 6.28661760e-05 9.99999776e-01 -2.29756293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24992885099999 meters 0.09292238833171006 Centerline is valid? [True, True] Translation: X:75.98, Y:-7.32, Z:-2.30 [[ 9.99999850e-01 3.87751169e-04 -3.87302493e-04 7.59756354e+01] [-3.87736660e-04 9.99999924e-01 3.75336311e-05 -7.32045155e+00] [ 3.87317017e-04 -3.73834541e-05 9.99999924e-01 -2.29948492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27992885099998 meters 0.09434908400492442 Centerline is valid? [True, True] Translation: X:76.01, Y:-7.33, Z:-2.30 [[ 9.99997466e-01 -1.89900394e-03 -1.20914663e-03 7.60054941e+01] [ 1.89914819e-03 9.99998190e-01 1.18161959e-04 -7.32601820e+00] [ 1.20892005e-03 -1.20458008e-04 9.99999262e-01 -2.30107491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30992885099998 meters 0.09902553235998744 Centerline is valid? [True, True] Translation: X:76.03, Y:-7.34, Z:-2.30 [[ 9.99988839e-01 -4.55895547e-03 -1.24044184e-03 7.60343920e+01] [ 4.55910996e-03 9.99989600e-01 1.21747593e-04 -7.33777998e+00] [ 1.23987390e-03 -1.27401545e-04 9.99999223e-01 -2.30399803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33992885099998 meters 0.09667219798006826 Centerline is valid? [True, True] Translation: X:76.07, Y:-7.34, Z:-2.30 [[ 9.99978185e-01 -6.57298080e-03 -6.52041128e-04 7.60655421e+01] [ 6.57302410e-03 9.99978395e-01 6.42904265e-05 -7.33635319e+00] [ 6.51604461e-04 -6.85749061e-05 9.99999785e-01 -2.30368206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36992885099998 meters 0.10222932086390032 Centerline is valid? [True, False] Translation: X:76.07, Y:-7.34, Z:-2.30 [[ 9.99977960e-01 -6.63011086e-03 -3.48484694e-04 7.60652466e+01] [ 6.63021054e-03 9.99977979e-01 2.85653684e-04 -7.33657783e+00] [ 3.46583104e-04 -2.87957915e-04 9.99999898e-01 -2.30419249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39992885099998 meters 0.10115596309286488 Centerline is valid? [False, False] Translation: X:76.07, Y:-7.34, Z:-2.30 [[ 9.99978338e-01 -6.57026218e-03 -3.93576225e-04 7.60655066e+01] [ 6.57040005e-03 9.99978353e-01 3.50029284e-04 -7.33638230e+00] [ 3.91267921e-04 -3.52607655e-04 9.99999861e-01 -2.30445413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42992885099999 meters 0.10042188842712586 Centerline is valid? [False, False] Translation: X:76.07, Y:-7.34, Z:-2.30 [[ 9.99978822e-01 -6.49342987e-03 -4.36610541e-04 7.60658687e+01] [ 6.49361683e-03 9.99978825e-01 4.28163051e-04 -7.33604518e+00] [ 4.33821049e-04 -4.30989165e-04 9.99999813e-01 -2.30486932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45992885099999 meters 0.09886479703087497 Centerline is valid? [False, True] Translation: X:76.07, Y:-7.34, Z:-2.30 [[ 9.99979123e-01 -6.43853786e-03 -5.45715956e-04 7.60661559e+01] [ 6.43877628e-03 9.99979176e-01 4.36281750e-04 -7.33578933e+00] [ 5.42895575e-04 -4.39786385e-04 9.99999756e-01 -2.30496209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48992885099999 meters 0.09901151591829546 Centerline is valid? [True, True] Translation: X:76.10, Y:-7.34, Z:-2.31 [[ 9.99984165e-01 -5.61410680e-03 3.89054410e-04 7.60979986e+01] [ 5.61412233e-03 9.99984240e-01 -3.88384738e-05 -7.33770157e+00] [-3.88830235e-04 4.10220578e-05 9.99999924e-01 -2.30536278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51992885099999 meters 0.12415926895896413 Centerline is valid? [True, False] Translation: X:76.17, Y:-7.35, Z:-2.31 [[ 9.99979552e-01 -2.19471605e-03 6.00653172e-03 7.61664560e+01] [ 2.20857899e-03 9.99994911e-01 -2.30231938e-03 -7.34541040e+00] [-6.00144821e-03 2.31553820e-03 9.99979310e-01 -2.31064503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54992885099999 meters 0.09925841069687313 Centerline is valid? [False, True] Translation: X:76.11, Y:-7.34, Z:-2.31 [[ 9.99980014e-01 -2.27541579e-03 5.89860586e-03 7.61062836e+01] [ 2.26581238e-03 9.99996098e-01 1.63425244e-03 -7.33914552e+00] [-5.90230144e-03 -1.62085464e-03 9.99981268e-01 -2.31013632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57992885099999 meters 0.09895530309865884 Centerline is valid? [True, True] Translation: X:76.14, Y:-7.34, Z:-2.31 [[ 9.99977760e-01 -8.01656469e-04 6.62091673e-03 7.61366856e+01] [ 8.06301972e-04 9.99999431e-01 -6.99001008e-04 -7.34034368e+00] [-6.62035260e-03 7.04323920e-04 9.99977837e-01 -2.31015956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60992885099999 meters 0.0974665739094581 Centerline is valid? [True, True] Translation: X:76.17, Y:-7.34, Z:-2.31 [[ 9.99978212e-01 2.07410556e-05 6.60114119e-03 7.61683590e+01] [-1.61465314e-05 9.99999758e-01 -6.96072228e-04 -7.34053871e+00] [-6.60115403e-03 6.95950476e-04 9.99977970e-01 -2.31085200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63992885099998 meters 0.0971874183485352 Centerline is valid? [True, True] Translation: X:76.20, Y:-7.34, Z:-2.31 [[ 9.99978694e-01 9.17303565e-04 6.46297246e-03 7.61994714e+01] [-9.12916536e-04 9.99999351e-01 -6.81711733e-04 -7.34340438e+00] [-6.46359360e-03 6.75797054e-04 9.99978882e-01 -2.31250281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66992885099998 meters 0.09619950738059792 Centerline is valid? [True, True] Translation: X:76.23, Y:-7.34, Z:-2.31 [[ 9.99979456e-01 1.21600304e-03 6.29350328e-03 7.62315420e+01] [-1.21185313e-03 9.99999046e-01 -6.63167874e-04 -7.34487269e+00] [-6.29430369e-03 6.55527449e-04 9.99979976e-01 -2.31347212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69992885099998 meters 0.0984619157938902 Centerline is valid? [True, True] Translation: X:76.26, Y:-7.35, Z:-2.32 [[ 9.99980406e-01 1.49396191e-03 6.07918784e-03 7.62626128e+01] [-1.49012116e-03 9.99998687e-01 -6.36267815e-04 -7.35300650e+00] [-6.08013042e-03 6.27196621e-04 9.99981319e-01 -2.31574113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72992885099998 meters 0.09483169521591371 Centerline is valid? [True, True] Translation: X:76.30, Y:-7.35, Z:-2.32 [[ 9.99981382e-01 1.27923288e-03 5.96654690e-03 7.62957491e+01] [-1.27551925e-03 9.99998990e-01 -6.26171804e-04 -7.34990083e+00] [-5.96734190e-03 6.18549700e-04 9.99982004e-01 -2.31506517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75992885099998 meters 0.09642628621513077 Centerline is valid? [True, True] Translation: X:76.33, Y:-7.36, Z:-2.32 [[ 9.99981937e-01 1.06953863e-03 5.91461548e-03 7.63265746e+01] [-1.06587480e-03 9.99999238e-01 -6.22570827e-04 -7.35670159e+00] [-5.91527684e-03 6.16255342e-04 9.99982315e-01 -2.31740633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78992885099998 meters 0.09363247394302214 Centerline is valid? [True, True] Translation: X:76.36, Y:-7.36, Z:-2.32 [[ 9.99979441e-01 8.34081664e-04 6.35781478e-03 7.63595637e+01] [-8.29834342e-04 9.99999431e-01 -6.70656216e-04 -7.35552805e+00] [-6.35837054e-03 6.65366495e-04 9.99979564e-01 -2.31713267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81992885099999 meters 0.10280840103904951 Centerline is valid? [True, False] Translation: X:76.36, Y:-7.36, Z:-2.32 [[ 9.99979366e-01 1.10842717e-03 6.32762172e-03 7.63596964e+01] [-1.10721176e-03 9.99999368e-01 -1.95580322e-04 -7.35688279e+00] [-6.32783451e-03 1.88570269e-04 9.99979961e-01 -2.31722865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84992885099999 meters 0.1006420289437921 Centerline is valid? [False, False] Translation: X:76.36, Y:-7.36, Z:-2.32 [[ 9.99979886e-01 1.37533487e-03 6.19165259e-03 7.63601540e+01] [-1.37624441e-03 9.99999043e-01 1.42639619e-04 -7.35758394e+00] [-6.19145049e-03 -1.51157977e-04 9.99980821e-01 -2.31749400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87992885099999 meters 0.10426071711459292 Centerline is valid? [False, False] Translation: X:76.36, Y:-7.36, Z:-2.32 [[ 9.99980126e-01 1.69655098e-03 6.07203591e-03 7.63607246e+01] [-1.70001216e-03 9.99998395e-01 5.64902955e-04 -7.35832927e+00] [-6.07106778e-03 -5.75214263e-04 9.99981405e-01 -2.31794865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90992885099999 meters 0.09931991447371627 Centerline is valid? [False, True] Translation: X:76.36, Y:-7.36, Z:-2.32 [[ 9.99979299e-01 1.64698067e-03 6.22010484e-03 7.63603817e+01] [-1.65106620e-03 9.99998425e-01 6.51748622e-04 -7.35881266e+00] [-6.21902162e-03 -6.62004934e-04 9.99980443e-01 -2.31790426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93992885099999 meters 0.09970219296703754 Centerline is valid? [True, True] Translation: X:76.39, Y:-7.36, Z:-2.32 [[ 9.99982366e-01 3.09988022e-04 5.93060330e-03 7.63913126e+01] [-3.06116591e-04 9.99999739e-01 -6.53685312e-04 -7.36328208e+00] [-5.93080439e-03 6.51858329e-04 9.99982200e-01 -2.31907917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96992885099999 meters 0.10047896890963293 Centerline is valid? [True, False] Translation: X:76.39, Y:-7.36, Z:-2.32 [[ 9.99982250e-01 3.90717311e-04 5.94526662e-03 7.63912145e+01] [-3.87929000e-04 9.99999814e-01 -4.70142730e-04 -7.36404179e+00] [-5.94544921e-03 4.67828044e-04 9.99982216e-01 -2.31896244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99992885099999 meters 0.09942697726926383 Centerline is valid? [False, True] Translation: X:76.39, Y:-7.36, Z:-2.32 [[ 9.99981668e-01 3.68979775e-04 6.04377578e-03 7.63907931e+01] [-3.66769720e-04 9.99999865e-01 -3.66778815e-04 -7.36474650e+00] [-6.04391030e-03 3.64555417e-04 9.99981669e-01 -2.31863306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02992885099998 meters 0.10303073984174164 Centerline is valid? [True, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99981662e-01 5.25141675e-04 6.03331162e-03 7.63908536e+01] [-5.24594307e-04 9.99999858e-01 -9.23065867e-05 -7.36551382e+00] [-6.03335924e-03 8.91398531e-05 9.99981795e-01 -2.31867426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05992885099998 meters 0.101860000570886 Centerline is valid? [False, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99981196e-01 8.24403668e-04 6.07686137e-03 7.63910817e+01] [-8.27194638e-04 9.99999554e-01 4.56779219e-04 -7.36671027e+00] [-6.07648209e-03 -4.61797377e-04 9.99981431e-01 -2.31916269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08992885099998 meters 0.09967639663846624 Centerline is valid? [False, True] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99981652e-01 8.27197545e-04 6.00088134e-03 7.63910886e+01] [-8.29598670e-04 9.99999577e-01 3.97650533e-04 -7.36686657e+00] [-6.00054986e-03 -4.02621561e-04 9.99981915e-01 -2.31893142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11992885099998 meters 0.10311416064794972 Centerline is valid? [True, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99982111e-01 8.46705066e-04 5.92115167e-03 7.63912358e+01] [-8.48862711e-04 9.99999574e-01 3.61892523e-04 -7.36673997e+00] [-5.92084273e-03 -3.66912294e-04 9.99982404e-01 -2.31891301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14992885099998 meters 0.10311416064794972 Centerline is valid? [False, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99982111e-01 8.46705066e-04 5.92115167e-03 7.63912358e+01] [-8.48862711e-04 9.99999574e-01 3.61892523e-04 -7.36673997e+00] [-5.92084273e-03 -3.66912294e-04 9.99982404e-01 -2.31891301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17992885099999 meters 0.10093228459235766 Centerline is valid? [False, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99982886e-01 7.77539859e-04 5.79856679e-03 7.63912752e+01] [-7.78490746e-04 9.99999684e-01 1.61731286e-04 -7.36643358e+00] [-5.79843920e-03 -1.66242649e-04 9.99983175e-01 -2.31859393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20992885099999 meters 0.10547641797325023 Centerline is valid? [False, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99983841e-01 8.39246395e-04 5.62261255e-03 7.63915944e+01] [-8.39957892e-04 9.99999640e-01 1.24181974e-04 -7.36629915e+00] [-5.62250630e-03 -1.28902725e-04 9.99984185e-01 -2.31851421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23992885099999 meters 0.10197256229917319 Centerline is valid? [False, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99984788e-01 9.30619897e-04 5.43667723e-03 7.63918051e+01] [-9.31438348e-04 9.99999555e-01 1.48012481e-04 -7.36651000e+00] [-5.43653707e-03 -1.53074159e-04 9.99985210e-01 -2.31826306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26992885099999 meters 0.10194739480370697 Centerline is valid? [False, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99985343e-01 1.14202820e-03 5.29248909e-03 7.63921763e+01] [-1.14399569e-03 9.99999278e-01 3.68740460e-04 -7.36704197e+00] [-5.29206415e-03 -3.74789640e-04 9.99985927e-01 -2.31835660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29992885099999 meters 0.09943942506310674 Centerline is valid? [False, True] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99985667e-01 1.38204039e-03 5.17255925e-03 7.63924849e+01] [-1.38541308e-03 9.99998830e-01 6.48509162e-04 -7.36777688e+00] [-5.17165694e-03 -6.55665998e-04 9.99986412e-01 -2.31842965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32992885099999 meters 0.10059906086977925 Centerline is valid? [True, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99986115e-01 1.43558892e-03 5.07032276e-03 7.63925240e+01] [-1.43911090e-03 9.99998726e-01 6.91046832e-04 -7.36817155e+00] [-5.06932424e-03 -6.98333994e-04 9.99986907e-01 -2.31819410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35992885099999 meters 0.1004800103426485 Centerline is valid? [False, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99986051e-01 1.51525836e-03 5.05987798e-03 7.63922798e+01] [-1.51962542e-03 9.99998476e-01 8.59342754e-04 -7.36925784e+00] [-5.05856815e-03 -8.67019886e-04 9.99986829e-01 -2.31777282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38992885099998 meters 0.10498832352376326 Centerline is valid? [False, False] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99986039e-01 1.54267982e-03 5.05397106e-03 7.63920707e+01] [-1.54735622e-03 9.99998378e-01 9.21513722e-04 -7.36987604e+00] [-5.05254126e-03 -9.29321150e-04 9.99986804e-01 -2.31743976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41992885099998 meters 0.09959136613529243 Centerline is valid? [False, True] Translation: X:76.39, Y:-7.37, Z:-2.32 [[ 9.99985999e-01 1.68139040e-03 5.01736225e-03 7.63918793e+01] [-1.68714020e-03 9.99997925e-01 1.14196770e-03 -7.37118722e+00] [-5.01543174e-03 -1.15041670e-03 9.99986761e-01 -2.31700876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44992885099998 meters 0.09880280609632701 Centerline is valid? [True, True] Translation: X:76.42, Y:-7.37, Z:-2.32 [[ 9.99983570e-01 2.01623749e-03 5.36602644e-03 7.64241885e+01] [-2.01297839e-03 9.99997786e-01 -6.12689506e-04 -7.37351129e+00] [-5.36724989e-03 6.01877744e-04 9.99985415e-01 -2.31708265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47992885099998 meters 0.09925737530824803 Centerline is valid? [True, True] Translation: X:76.46, Y:-7.38, Z:-2.32 [[ 9.99983226e-01 2.46216319e-03 5.24274327e-03 7.64561237e+01] [-2.45905209e-03 9.99996797e-01 -5.99774509e-04 -7.37903883e+00] [-5.24420322e-03 5.86872269e-04 9.99986077e-01 -2.31788635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50992885099998 meters 0.09965700639163062 Centerline is valid? [True, True] Translation: X:76.49, Y:-7.38, Z:-2.32 [[ 9.99985003e-01 3.16588871e-03 4.46891966e-03 7.64872758e+01] [-3.16361332e-03 9.99994863e-01 -5.16135739e-04 -7.38448039e+00] [-4.47053073e-03 5.01990065e-04 9.99989881e-01 -2.31975993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53992885099998 meters 0.09975527967099529 Centerline is valid? [True, True] Translation: X:76.52, Y:-7.39, Z:-2.32 [[ 9.99982728e-01 3.38197473e-03 4.80689030e-03 7.65183625e+01] [-3.37934349e-03 9.99994136e-01 -5.55407653e-04 -7.38934479e+00] [-4.80874049e-03 5.39153926e-04 9.99988293e-01 -2.32030827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56992885099999 meters 0.0971533771352571 Centerline is valid? [True, True] Translation: X:76.55, Y:-7.39, Z:-2.32 [[ 9.99984914e-01 3.66730340e-03 4.08940664e-03 7.65501893e+01] [-3.66540144e-03 9.99993171e-01 -4.72491470e-04 -7.39042524e+00] [-4.09111148e-03 4.57495025e-04 9.99991527e-01 -2.31982686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59992885099999 meters 0.09919419487386721 Centerline is valid? [True, True] Translation: X:76.58, Y:-7.40, Z:-2.32 [[ 9.99984172e-01 3.51530455e-03 4.39296391e-03 7.65800867e+01] [-3.51310553e-03 9.99993700e-01 -5.08194402e-04 -7.39905022e+00] [-4.39472269e-03 4.92753413e-04 9.99990222e-01 -2.32197331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62992885099999 meters 0.10140778909602784 Centerline is valid? [True, False] Translation: X:76.58, Y:-7.40, Z:-2.32 [[ 9.99983139e-01 3.78286969e-03 4.40597042e-03 7.65800749e+01] [-3.78287619e-03 9.99992845e-01 -6.85803869e-06 -7.40064882e+00] [-4.40596484e-03 -9.80931754e-06 9.99990294e-01 -2.32200332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65992885099999 meters 0.09652943670313288 Centerline is valid? [False, True] Translation: X:76.58, Y:-7.40, Z:-2.32 [[ 9.99980658e-01 4.17678888e-03 4.60854042e-03 7.65796214e+01] [-4.18115912e-03 9.99990818e-01 9.39065279e-04 -7.40394170e+00] [-4.60457583e-03 -9.58316156e-04 9.99988940e-01 -2.32192107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68992885099999 meters 0.09772013016185568 Centerline is valid? [True, True] Translation: X:76.61, Y:-7.41, Z:-2.32 [[ 9.99979823e-01 4.10841223e-03 4.84504366e-03 7.66090885e+01] [-4.10571153e-03 9.99991411e-01 -5.67230252e-04 -7.41012377e+00] [-4.84733246e-03 5.47326455e-04 9.99988102e-01 -2.32275798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71992885099999 meters 0.0956173067591114 Centerline is valid? [True, True] Translation: X:76.64, Y:-7.41, Z:-2.32 [[ 9.99980257e-01 4.50671920e-03 4.37889125e-03 7.66400919e+01] [-4.50450978e-03 9.99989722e-01 -5.14294654e-04 -7.41175152e+00] [-4.38116403e-03 4.94559742e-04 9.99990280e-01 -2.32293568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74992885099998 meters 0.09548145440773713 Centerline is valid? [True, True] Translation: X:76.67, Y:-7.42, Z:-2.32 [[ 9.99979961e-01 4.32090462e-03 4.62688645e-03 7.66704616e+01] [-4.31843341e-03 9.99990528e-01 -5.43956965e-04 -7.41612572e+00] [-4.62919301e-03 5.23965163e-04 9.99989148e-01 -2.32389337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77992885099998 meters 0.09813407665444972 Centerline is valid? [True, True] Translation: X:76.70, Y:-7.43, Z:-2.33 [[ 9.99984846e-01 4.02693381e-03 3.75392113e-03 7.66991391e+01] [-4.02530508e-03 9.99991801e-01 -4.41327351e-04 -7.42748199e+00] [-3.75566755e-03 4.26209986e-04 9.99992857e-01 -2.32626946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80992885099998 meters 0.09870475560945192 Centerline is valid? [True, True] Translation: X:76.73, Y:-7.43, Z:-2.33 [[ 9.99987533e-01 3.89202702e-03 3.12815183e-03 7.67292844e+01] [-3.89089539e-03 9.99992363e-01 -3.67759181e-04 -7.43348816e+00] [-3.12955927e-03 3.55583285e-04 9.99995040e-01 -2.32772441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83992885099998 meters 0.09730686991976976 Centerline is valid? [True, True] Translation: X:76.76, Y:-7.44, Z:-2.33 [[ 9.99990859e-01 3.38280343e-03 2.61522357e-03 7.67596697e+01] [-3.38201077e-03 9.99994234e-01 -3.07457097e-04 -7.43574278e+00] [-2.61624856e-03 2.98609572e-04 9.99996533e-01 -2.32829963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86992885099998 meters 0.09695455020917827 Centerline is valid? [True, True] Translation: X:76.79, Y:-7.44, Z:-2.33 [[ 9.99993200e-01 3.48792411e-03 1.19727545e-03 7.67899420e+01] [-3.48775806e-03 9.99993908e-01 -1.40756927e-04 -7.43992889e+00] [-1.19775911e-03 1.36580163e-04 9.99999273e-01 -2.32930753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89992885099998 meters 0.09703616701979068 Centerline is valid? [True, True] Translation: X:76.82, Y:-7.45, Z:-2.33 [[ 9.99992594e-01 3.39282019e-03 1.81682985e-03 7.68189553e+01] [-3.39243594e-03 9.99994223e-01 -2.14536270e-04 -7.44649093e+00] [-1.81754723e-03 2.08371203e-04 9.99998327e-01 -2.32999549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92992885099999 meters 0.09740099760730923 Centerline is valid? [True, True] Translation: X:76.85, Y:-7.45, Z:-2.33 [[ 9.99992084e-01 3.20364567e-03 2.35960644e-03 7.68494707e+01] [-3.20300009e-03 9.99994832e-01 -2.77324736e-04 -7.45220703e+00] [-2.36048270e-03 2.69764721e-04 9.99997178e-01 -2.33083203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95992885099999 meters 0.09649711880340824 Centerline is valid? [True, True] Translation: X:76.88, Y:-7.46, Z:-2.33 [[ 9.99991422e-01 3.14749362e-03 2.69255657e-03 7.68797476e+01] [-3.14665279e-03 9.99994999e-01 -3.16456392e-04 -7.45528579e+00] [-2.69353915e-03 3.07981137e-04 9.99996325e-01 -2.33135134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98992885099999 meters 0.09680684649941439 Centerline is valid? [True, True] Translation: X:76.91, Y:-7.46, Z:-2.33 [[ 9.99991844e-01 3.29293184e-03 2.33866789e-03 7.69094581e+01] [-3.29229790e-03 9.99994543e-01 -2.74863827e-04 -7.46126694e+00] [-2.33956024e-03 2.67161994e-04 9.99997228e-01 -2.33193504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01992885099999 meters 0.09846754501699595 Centerline is valid? [True, True] Translation: X:76.94, Y:-7.47, Z:-2.33 [[ 9.99988709e-01 3.51341014e-03 3.19962790e-03 7.69383919e+01] [-3.51222323e-03 9.99993761e-01 -3.76498284e-04 -7.46837258e+00] [-3.20093073e-03 3.65256225e-04 9.99994810e-01 -2.33372352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04992885099999 meters 0.09775659091519824 Centerline is valid? [True, True] Translation: X:76.97, Y:-7.47, Z:-2.33 [[ 9.99989802e-01 3.59684108e-03 2.73096341e-03 7.69689799e+01] [-3.59597788e-03 9.99993483e-01 -3.20923692e-04 -7.47166592e+00] [-2.73209993e-03 3.11099935e-04 9.99996219e-01 -2.33422347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07992885099999 meters 0.09770396288622486 Centerline is valid? [True, True] Translation: X:77.00, Y:-7.48, Z:-2.33 [[ 9.99990068e-01 3.63324793e-03 2.58138748e-03 7.69991441e+01] [-3.63247682e-03 9.99993357e-01 -3.03346576e-04 -7.47587296e+00] [-2.58247247e-03 2.93966733e-04 9.99996622e-01 -2.33494826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10992885099999 meters 0.09546248589713284 Centerline is valid? [True, True] Translation: X:77.03, Y:-7.48, Z:-2.34 [[ 9.99988541e-01 3.95323866e-03 2.69997694e-03 7.70299852e+01] [-3.95239622e-03 9.99992139e-01 -3.17282378e-04 -7.47712335e+00] [-2.70121000e-03 3.06607364e-04 9.99996305e-01 -2.33570897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13992885099998 meters 0.0970890411632701 Centerline is valid? [True, True] Translation: X:77.06, Y:-7.48, Z:-2.34 [[ 9.99988857e-01 4.24086859e-03 2.07391446e-03 7.70592370e+01] [-4.24037337e-03 9.99990980e-01 -2.43120329e-04 -7.48417954e+00] [-2.07492679e-03 2.34323448e-04 9.99997820e-01 -2.33770044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16992885099998 meters 0.0965013412906929 Centerline is valid? [True, True] Translation: X:77.09, Y:-7.49, Z:-2.34 [[ 9.99989351e-01 4.44324819e-03 1.24709835e-03 7.70887284e+01] [-4.44306762e-03 9.99990119e-01 -1.47525618e-04 -7.48677155e+00] [-1.24774152e-03 1.41983105e-04 9.99999211e-01 -2.33824715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19992885099998 meters 0.09680370580456092 Centerline is valid? [True, True] Translation: X:77.12, Y:-7.49, Z:-2.34 [[ 9.99985608e-01 5.26262084e-03 1.04379705e-03 7.71185507e+01] [-5.26249515e-03 9.99986145e-01 -1.23121572e-04 -7.49098906e+00] [-1.04443053e-03 1.17626823e-04 9.99999448e-01 -2.33989776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22992885099998 meters 0.0962205088215694 Centerline is valid? [True, True] Translation: X:77.15, Y:-7.49, Z:-2.34 [[ 9.99979995e-01 6.06744159e-03 1.78760602e-03 7.71477966e+01] [-6.06707407e-03 9.99981573e-01 -2.10941031e-04 -7.49373873e+00] [-1.78885296e-03 2.00091273e-04 9.99998380e-01 -2.34049419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25992885099998 meters 0.09463748142347497 Centerline is valid? [True, True] Translation: X:77.18, Y:-7.50, Z:-2.34 [[ 9.99973122e-01 7.14118910e-03 1.66074477e-03 7.71772007e+01] [-7.14087332e-03 9.99974484e-01 -1.95990407e-04 -7.49504958e+00] [-1.66210200e-03 1.84125971e-04 9.99998602e-01 -2.34127139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28992885099998 meters 0.09594086701139672 Centerline is valid? [True, True] Translation: X:77.21, Y:-7.50, Z:-2.34 [[ 9.99972272e-01 7.23243732e-03 1.77426277e-03 7.72052989e+01] [-7.23207646e-03 9.99973826e-01 -2.09716716e-04 -7.50109919e+00] [-1.77573309e-03 1.96879297e-04 9.99998404e-01 -2.34380579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31992885099999 meters 0.09546191990667914 Centerline is valid? [True, True] Translation: X:77.23, Y:-7.50, Z:-2.35 [[ 9.99972477e-01 7.35360038e-03 9.85261851e-04 7.72338155e+01] [-7.35348810e-03 9.99972956e-01 -1.17537739e-04 -7.50384289e+00] [-9.86099531e-04 1.10289393e-04 9.99999508e-01 -2.34507529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34992885099999 meters 0.09732818048092932 Centerline is valid? [True, True] Translation: X:77.26, Y:-7.51, Z:-2.35 [[ 9.99968264e-01 7.95470620e-03 4.40642286e-04 7.72614199e+01] [-7.95468334e-03 9.99968360e-01 -5.36055457e-05 -7.51048950e+00] [-4.41054761e-04 5.00986746e-05 9.99999901e-01 -2.34724508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37992885099999 meters 0.09461514081453941 Centerline is valid? [True, True] Translation: X:77.29, Y:-7.51, Z:-2.35 [[ 9.99963459e-01 8.54860194e-03 -3.51389529e-05 7.72903847e+01] [-8.54860187e-03 9.99963460e-01 2.14787732e-06 -7.50838437e+00] [ 3.51560303e-05 -1.84740992e-06 9.99999999e-01 -2.34654537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40992885099999 meters 0.09382518749052247 Centerline is valid? [True, True] Translation: X:77.32, Y:-7.51, Z:-2.35 [[ 9.99956755e-01 9.29812951e-03 -1.79322496e-04 7.73193424e+01] [-9.29812624e-03 9.99956771e-01 1.90198362e-05 -7.51002023e+00] [ 1.79491593e-04 -1.73516505e-05 9.99999984e-01 -2.34677296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43992885099999 meters 0.09514672894686109 Centerline is valid? [True, True] Translation: X:77.35, Y:-7.52, Z:-2.35 [[ 9.99947783e-01 1.02136458e-02 3.36511561e-04 7.73473148e+01] [-1.02136327e-02 9.99947839e-01 -4.08603006e-05 -7.51555461e+00] [-3.36911340e-04 3.74211615e-05 9.99999943e-01 -2.34817723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46992885099999 meters 0.09163219184566068 Centerline is valid? [True, True] Translation: X:77.38, Y:-7.51, Z:-2.35 [[ 9.99931647e-01 1.16919301e-02 2.45220207e-05 7.73782181e+01] [-1.16919301e-02 9.99931647e-01 -3.37000321e-06 -7.51163626e+00] [-2.45597464e-05 3.08306311e-06 1.00000000e+00 -2.34780635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49992885099998 meters 0.09110255175440447 Centerline is valid? [True, True] Translation: X:77.41, Y:-7.51, Z:-2.35 [[ 9.99920492e-01 1.26059502e-02 -3.14643579e-04 7.74076047e+01] [-1.26059397e-02 9.99920541e-01 3.53033742e-05 -7.51371213e+00] [ 3.15063611e-04 -3.13341893e-05 9.99999950e-01 -2.34831754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52992885099998 meters 0.09123630088269523 Centerline is valid? [True, True] Translation: X:77.44, Y:-7.52, Z:-2.35 [[ 9.99911614e-01 1.32945603e-02 1.38991373e-04 7.74364687e+01] [-1.32945579e-02 9.99911623e-01 -1.82506814e-05 -7.51634270e+00] [-1.39221724e-04 1.64012394e-05 9.99999990e-01 -2.34954358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55992885099998 meters 0.09161762020797161 Centerline is valid? [True, True] Translation: X:77.46, Y:-7.52, Z:-2.35 [[ 9.99895540e-01 1.44514402e-02 2.55808251e-04 7.74649001e+01] [-1.44514326e-02 9.99895572e-01 -3.13830926e-05 -7.51992352e+00] [-2.56235068e-04 2.76830186e-05 9.99999967e-01 -2.35124876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58992885099998 meters 0.09207290047760038 Centerline is valid? [True, True] Translation: X:77.49, Y:-7.52, Z:-2.35 [[ 9.99861241e-01 1.66342741e-02 8.93898270e-04 7.74941431e+01] [-1.66341868e-02 9.99861637e-01 -1.05044140e-04 -7.52273244e+00] [-8.95521920e-04 9.01602937e-05 9.99999595e-01 -2.35170475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61992885099998 meters 0.08865082731492809 Centerline is valid? [True, True] Translation: X:77.52, Y:-7.52, Z:-2.35 [[ 9.99838793e-01 1.79272762e-02 1.00030561e-03 7.75243392e+01] [-1.79271672e-02 9.99839288e-01 -1.17848460e-04 -7.51878622e+00] [-1.00225755e-03 9.98968157e-05 9.99999493e-01 -2.35062458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64992885099998 meters 0.08908967927188462 Centerline is valid? [True, True] Translation: X:77.55, Y:-7.52, Z:-2.35 [[ 9.99818771e-01 1.90251597e-02 6.85108742e-04 7.75516052e+01] [-1.90251076e-02 9.99819003e-01 -8.24555914e-05 -7.52198259e+00] [-6.86553470e-04 6.94063805e-05 9.99999762e-01 -2.35186601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67992885099999 meters 0.08934485909637564 Centerline is valid? [True, True] Translation: X:77.58, Y:-7.52, Z:-2.35 [[ 9.99770089e-01 2.14351057e-02 5.52122421e-04 7.75804906e+01] [-2.14350730e-02 9.99770240e-01 -6.50697071e-05 -7.52490755e+00] [-5.53390341e-04 5.32199625e-05 9.99999845e-01 -2.35351084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70992885099999 meters 0.0897376155282024 Centerline is valid? [True, True] Translation: X:77.61, Y:-7.53, Z:-2.35 [[ 9.99745708e-01 2.25461347e-02 4.37426946e-04 7.76097345e+01] [-2.25461139e-02 9.99745803e-01 -5.24687791e-05 -7.52792644e+00] [-4.38498722e-04 4.25931589e-05 9.99999903e-01 -2.35480816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73992885099999 meters 0.08959930427619896 Centerline is valid? [True, True] Translation: X:77.64, Y:-7.53, Z:-2.36 [[ 9.99736006e-01 2.29763782e-02 7.03449885e-05 7.76388395e+01] [-2.29763776e-02 9.99736008e-01 -1.01461747e-05 -7.53040927e+00] [-7.05595403e-05 8.52722318e-06 9.99999997e-01 -2.35532393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76992885099999 meters 0.0880787336893866 Centerline is valid? [True, True] Translation: X:77.67, Y:-7.53, Z:-2.36 [[ 9.99736704e-01 2.29250903e-02 -9.81411177e-04 7.76678643e+01] [-2.29249909e-02 9.99737182e-01 1.12368320e-04 -7.53010079e+00] [ 9.83729298e-04 -8.98398918e-05 9.99999512e-01 -2.35586749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79992885099999 meters 0.0878430308504528 Centerline is valid? [True, True] Translation: X:77.70, Y:-7.53, Z:-2.36 [[ 9.99748085e-01 2.24311649e-02 -7.80322415e-04 7.76966179e+01] [-2.24311023e-02 9.99748387e-01 8.88795619e-05 -7.53285825e+00] [ 7.82119748e-04 -7.13536799e-05 9.99999692e-01 -2.35647514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82992885099999 meters 0.08643656449292636 Centerline is valid? [True, True] Translation: X:77.73, Y:-7.53, Z:-2.36 [[ 9.99771912e-01 2.12886621e-02 -1.70804708e-03 7.77259785e+01] [-2.12883559e-02 9.99773358e-01 1.97287741e-04 -7.53272342e+00] [ 1.71185996e-03 -1.60881228e-04 9.99998522e-01 -2.35623793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85992885099999 meters 0.08910424069500135 Centerline is valid? [True, True] Translation: X:77.75, Y:-7.54, Z:-2.36 [[ 9.99781221e-01 2.09067423e-02 -6.47496104e-04 7.77524803e+01] [-2.09066996e-02 9.99781428e-01 7.27931627e-05 -7.54143243e+00] [ 6.48876447e-04 -5.92402306e-05 9.99999788e-01 -2.35828190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88992885099998 meters 0.08906825939573505 Centerline is valid? [True, True] Translation: X:77.78, Y:-7.54, Z:-2.36 [[ 9.99811632e-01 1.93629471e-02 -1.33264088e-03 7.77822384e+01] [-1.93627583e-02 9.99812512e-01 1.54479883e-04 -7.54461197e+00] [ 1.33538221e-03 -1.28647181e-04 9.99999100e-01 -2.35903336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91992885099998 meters 0.08910183220493094 Centerline is valid? [True, True] Translation: X:77.81, Y:-7.55, Z:-2.36 [[ 9.99825432e-01 1.86653328e-02 -8.43542026e-04 7.78106900e+01] [-1.86652583e-02 9.99825784e-01 9.60553971e-05 -7.54812146e+00] [ 8.45187974e-04 -8.02936991e-05 9.99999640e-01 -2.35955262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94992885099998 meters 0.09045746514916668 Centerline is valid? [True, True] Translation: X:77.84, Y:-7.55, Z:-2.36 [[ 9.99843446e-01 1.76852797e-02 -5.60416082e-04 7.78374539e+01] [-1.76852476e-02 9.99843602e-01 6.21436696e-05 -7.55364321e+00] [ 5.61427462e-04 -5.22228436e-05 9.99999841e-01 -2.36066683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97992885099998 meters 0.08706920690256871 Centerline is valid? [True, True] Translation: X:77.87, Y:-7.55, Z:-2.36 [[ 9.99877719e-01 1.56313215e-02 4.56061997e-04 7.78682917e+01] [-1.56312987e-02 9.99877822e-01 -5.34642526e-05 -7.55025553e+00] [-4.56841993e-04 4.63288737e-05 9.99999895e-01 -2.35945474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00992885099998 meters 0.09130135416608495 Centerline is valid? [True, True] Translation: X:77.90, Y:-7.56, Z:-2.36 [[ 9.99894090e-01 1.45526414e-02 1.69565516e-04 7.78951043e+01] [-1.45526379e-02 9.99894105e-01 -2.17120476e-05 -7.56262739e+00] [-1.69863528e-04 1.92421226e-05 9.99999985e-01 -2.36207615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03992885099998 meters 0.09130135416608495 Centerline is valid? [True, True] Translation: X:77.92, Y:-7.57, Z:-2.36 [[ 9.99895057e-01 1.44860960e-02 1.69573814e-04 7.79233727e+01] [-1.44860926e-02 9.99895071e-01 -2.16410987e-05 -7.56584003e+00] [-1.69869516e-04 1.91823657e-05 9.99999985e-01 -2.36291658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06992885099999 meters 0.0906695221579646 Centerline is valid? [True, True] Translation: X:77.95, Y:-7.57, Z:-2.36 [[ 9.99913268e-01 1.31617708e-02 4.72610744e-04 7.79526936e+01] [-1.31617457e-02 9.99913379e-01 -5.62807181e-05 -7.56806241e+00] [-4.73310560e-04 5.00554543e-05 9.99999887e-01 -2.36276589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09992885099999 meters 0.08958655309199312 Centerline is valid? [True, True] Translation: X:77.98, Y:-7.57, Z:-2.36 [[ 9.99928881e-01 1.19255089e-02 1.22535947e-04 7.79819825e+01] [-1.19255071e-02 9.99928888e-01 -1.57161537e-05 -7.56951038e+00] [-1.22714656e-04 1.42537326e-05 9.99999992e-01 -2.36293033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12992885099999 meters 0.09430647377764571 Centerline is valid? [True, True] Translation: X:78.01, Y:-7.58, Z:-2.37 [[ 9.99952549e-01 9.72347907e-03 -5.94834121e-04 7.80102596e+01] [-9.72343974e-03 9.99952724e-01 6.89698362e-05 -7.58216344e+00] [ 5.95476626e-04 -6.31827298e-05 9.99999821e-01 -2.36677298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15992885099999 meters 0.09405777016249532 Centerline is valid? [True, True] Translation: X:78.04, Y:-7.59, Z:-2.37 [[ 9.99962917e-01 8.54867432e-03 -1.04137894e-03 7.80390288e+01] [-8.54855484e-03 9.99963453e-01 1.19135171e-04 -7.58527476e+00] [ 1.04235933e-03 -1.10228468e-04 9.99999451e-01 -2.36670691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18992885099999 meters 0.09268005039262897 Centerline is valid? [True, True] Translation: X:78.07, Y:-7.59, Z:-2.37 [[ 9.99973526e-01 7.05494697e-03 -1.78172271e-03 7.80692388e+01] [-7.05459130e-03 9.99975095e-01 2.05825148e-04 -7.58658445e+00] [ 1.78313042e-03 -1.93250373e-04 9.99998392e-01 -2.36614798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21992885099999 meters 0.09347814383134517 Centerline is valid? [True, True] Translation: X:78.10, Y:-7.59, Z:-2.37 [[ 9.99979036e-01 6.17386532e-03 -1.95216253e-03 7.80978311e+01] [-6.17343873e-03 9.99980919e-01 2.24471939e-04 -7.59180940e+00] [ 1.95351114e-03 -2.12415678e-04 9.99998069e-01 -2.36677802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24992885099998 meters 0.09323204917053646 Centerline is valid? [True, True] Translation: X:78.13, Y:-7.59, Z:-2.37 [[ 9.99986181e-01 5.16788326e-03 -9.65059645e-04 7.81274030e+01] [-5.16777883e-03 9.99986641e-01 1.10672389e-04 -7.59486595e+00] [ 9.65618695e-04 -1.05683645e-04 9.99999528e-01 -2.36676984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27992885099998 meters 0.0950449250785641 Centerline is valid? [True, True] Translation: X:78.16, Y:-7.60, Z:-2.37 [[ 9.99988838e-01 4.58294821e-03 -1.14877138e-03 7.81553611e+01] [-4.58280000e-03 9.99989490e-01 1.31614353e-04 -7.60188661e+00] [ 1.14936249e-03 -1.26348295e-04 9.99999332e-01 -2.36811333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30992885099998 meters 0.0963360521550564 Centerline is valid? [True, True] Translation: X:78.18, Y:-7.61, Z:-2.37 [[ 9.99994288e-01 3.37686044e-03 -1.41355903e-04 7.81846971e+01] [-3.37685831e-03 9.99994298e-01 1.53618942e-05 -7.60800293e+00] [ 1.41406972e-04 -1.48844676e-05 9.99999990e-01 -2.36873268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33992885099998 meters 0.09677601825541002 Centerline is valid? [True, True] Translation: X:78.21, Y:-7.61, Z:-2.37 [[ 9.99994960e-01 3.17037383e-03 1.70393450e-04 7.82134783e+01] [-3.17037026e-03 9.99994974e-01 -2.11691121e-05 -7.61260584e+00] [-1.70459708e-04 2.06287951e-05 9.99999985e-01 -2.36942528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36992885099998 meters 0.09752320754300788 Centerline is valid? [True, True] Translation: X:78.24, Y:-7.62, Z:-2.37 [[ 9.99995863e-01 2.82781000e-03 -5.25939527e-04 7.82427303e+01] [-2.82777894e-03 9.99996000e-01 5.97957478e-05 -7.61809793e+00] [ 5.26106515e-04 -5.83082597e-05 9.99999860e-01 -2.37163339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39992885099998 meters 0.09396940558593367 Centerline is valid? [True, True] Translation: X:78.27, Y:-7.62, Z:-2.37 [[ 9.99997322e-01 2.11124875e-03 -9.48072079e-04 7.82728936e+01] [-2.11114681e-03 9.99997766e-01 1.08511715e-04 -7.61583511e+00] [ 9.48299056e-04 -1.06509905e-04 9.99999545e-01 -2.37119082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42992885099999 meters 0.095075806161895 Centerline is valid? [True, True] Translation: X:78.30, Y:-7.62, Z:-2.37 [[ 9.99997897e-01 7.33457064e-04 -1.91518011e-03 7.83024959e+01] [-7.33035696e-04 9.99999707e-01 2.20707402e-04 -7.62262240e+00] [ 1.91534142e-03 -2.19303042e-04 9.99998142e-01 -2.37283648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45992885099999 meters 0.0998892095296066 Centerline is valid? [True, True] Translation: X:78.33, Y:-7.64, Z:-2.38 [[ 9.99999673e-01 -8.21231199e-05 -8.04098223e-04 7.83296364e+01] [ 8.21965897e-05 9.99999992e-01 9.13365267e-05 -7.63605545e+00] [ 8.04090716e-04 -9.14025910e-05 9.99999673e-01 -2.37606628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48992885099999 meters 0.09812273503953121 Centerline is valid? [True, True] Translation: X:78.36, Y:-7.64, Z:-2.38 [[ 9.99999520e-01 -7.55223454e-04 -6.24385755e-04 7.83603400e+01] [ 7.55268609e-04 9.99999712e-01 7.20869330e-05 -7.63703011e+00] [ 6.24331133e-04 -7.25584774e-05 9.99999802e-01 -2.37590126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51992885099999 meters 0.09812273503953121 Centerline is valid? [True, True] Translation: X:78.39, Y:-7.64, Z:-2.38 [[ 9.99999520e-01 -7.55223454e-04 -6.24385755e-04 7.83903432e+01] [ 7.55268609e-04 9.99999712e-01 7.20869330e-05 -7.64049406e+00] [ 6.24331133e-04 -7.25584774e-05 9.99999802e-01 -2.37679267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54992885099999 meters 0.09904647089867827 Centerline is valid? [True, True] Translation: X:78.42, Y:-7.65, Z:-2.38 [[ 9.99999484e-01 -9.40890762e-04 -3.82897062e-04 7.84192579e+01] [ 9.40907762e-04 9.99999556e-01 4.42191060e-05 -7.64659520e+00] [ 3.82855286e-04 -4.45793540e-05 9.99999926e-01 -2.37781031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57992885099999 meters 0.09696643057426778 Centerline is valid? [True, True] Translation: X:78.45, Y:-7.65, Z:-2.38 [[ 9.99998612e-01 -1.57960964e-03 -5.29942958e-04 7.84502234e+01] [ 1.57964228e-03 9.99998750e-01 6.11834965e-05 -7.64745342e+00] [ 5.29845650e-04 -6.20205319e-05 9.99999858e-01 -2.37766198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60992885099999 meters 0.09785931820912701 Centerline is valid? [True, True] Translation: X:78.48, Y:-7.65, Z:-2.38 [[ 9.99997637e-01 -2.04500291e-03 -7.38063487e-04 7.84801615e+01] [ 2.04506673e-03 9.99997905e-01 8.57241492e-05 -7.65403149e+00] [ 7.37886634e-04 -8.72333357e-05 9.99999724e-01 -2.37909643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63992885099998 meters 0.09736947754274194 Centerline is valid? [True, True] Translation: X:78.51, Y:-7.66, Z:-2.38 [[ 9.99994813e-01 -2.87809950e-03 -1.44590945e-03 7.85106050e+01] [ 2.87834464e-03 9.99995844e-01 1.67484500e-04 -7.65855091e+00] [ 1.44542140e-03 -1.71645457e-04 9.99998941e-01 -2.38028861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66992885099998 meters 0.09760612966863871 Centerline is valid? [True, True] Translation: X:78.54, Y:-7.66, Z:-2.38 [[ 9.99993762e-01 -3.33904499e-03 -1.15154634e-03 7.85411346e+01] [ 3.33920092e-03 9.99994416e-01 1.33507488e-04 -7.66262770e+00] [ 1.15109412e-03 -1.37351899e-04 9.99999328e-01 -2.38137845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69992885099998 meters 0.09939608406653165 Centerline is valid? [True, True] Translation: X:78.57, Y:-7.67, Z:-2.38 [[ 9.99993169e-01 -3.49370689e-03 -1.20635133e-03 7.85712816e+01] [ 3.49388185e-03 9.99993886e-01 1.42956574e-04 -7.66967330e+00] [ 1.20584451e-03 -1.47170447e-04 9.99999262e-01 -2.38289988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72992885099998 meters 0.09540474371374617 Centerline is valid? [True, True] Translation: X:78.60, Y:-7.67, Z:-2.38 [[ 9.99989978e-01 -3.94333258e-03 -2.11993614e-03 7.86029085e+01] [ 3.94386210e-03 9.99992193e-01 2.45661971e-04 -7.66622748e+00] [ 2.11895087e-03 -2.54020244e-04 9.99997723e-01 -2.38165322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75992885099998 meters 0.09807264942009655 Centerline is valid? [True, True] Translation: X:78.63, Y:-7.68, Z:-2.38 [[ 9.99987674e-01 -4.49970655e-03 -2.09867137e-03 7.86320632e+01] [ 4.50022679e-03 9.99989844e-01 2.43233920e-04 -7.67524292e+00] [ 2.09755557e-03 -2.52675419e-04 9.99997768e-01 -2.38413561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78992885099998 meters 0.09765131530646365 Centerline is valid? [True, True] Translation: X:78.66, Y:-7.68, Z:-2.38 [[ 9.99988323e-01 -4.55567803e-03 -1.61235587e-03 7.86633981e+01] [ 4.55598626e-03 9.99989604e-01 1.87542605e-04 -7.67874613e+00] [ 1.61148473e-03 -1.94886287e-04 9.99998683e-01 -2.38486461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81992885099999 meters 0.09871376860849748 Centerline is valid? [True, True] Translation: X:78.69, Y:-7.68, Z:-2.39 [[ 9.99986866e-01 -4.85149108e-03 -1.65254691e-03 7.86940215e+01] [ 4.85181530e-03 9.99988211e-01 1.92239603e-04 -7.68448725e+00] [ 1.65159478e-03 -2.00254930e-04 9.99998616e-01 -2.38676179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84992885099999 meters 0.09767092402274659 Centerline is valid? [True, True] Translation: X:78.72, Y:-7.69, Z:-2.39 [[ 9.99986432e-01 -4.45312026e-03 -2.70279615e-03 7.87249353e+01] [ 4.45398465e-03 9.99990032e-01 3.13877852e-04 -7.68661065e+00] [ 2.70137147e-03 -3.25911806e-04 9.99996298e-01 -2.38635989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87992885099999 meters 0.09797880358992045 Centerline is valid? [True, True] Translation: X:78.75, Y:-7.69, Z:-2.39 [[ 9.99985914e-01 -4.71841785e-03 -2.43070070e-03 7.87548770e+01] [ 4.71911554e-03 9.99988825e-01 2.81378300e-04 -7.69040203e+00] [ 2.42934588e-03 -2.92845094e-04 9.99997006e-01 -2.38764827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90992885099999 meters 0.10097830228812357 Centerline is valid? [True, False] Translation: X:78.76, Y:-7.69, Z:-2.39 [[ 9.99986301e-01 -4.57646481e-03 -2.54034511e-03 7.87552617e+01] [ 4.57760032e-03 9.99989425e-01 4.41353107e-04 -7.69045718e+00] [ 2.53829841e-03 -4.52975745e-04 9.99996676e-01 -2.38790303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93992885099999 meters 0.09966134593593927 Centerline is valid? [False, True] Translation: X:78.76, Y:-7.69, Z:-2.39 [[ 9.99986879e-01 -4.39574046e-03 -2.63047876e-03 7.87556813e+01] [ 4.39743955e-03 9.99990126e-01 6.40489965e-04 -7.69056958e+00] [ 2.62763736e-03 -6.52048933e-04 9.99996335e-01 -2.38824825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96992885099999 meters 0.09907898109087605 Centerline is valid? [True, True] Translation: X:78.79, Y:-7.69, Z:-2.39 [[ 9.99989456e-01 -3.39679519e-03 -3.09032822e-03 7.87866390e+01] [ 3.39792010e-03 9.99994163e-01 3.58831287e-04 -7.69321948e+00] [ 3.08909130e-03 -3.69328192e-04 9.99995161e-01 -2.38914319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99992885099998 meters 0.10280034869730643 Centerline is valid? [True, False] Translation: X:78.79, Y:-7.69, Z:-2.39 [[ 9.99989463e-01 -3.27849865e-03 -3.21336363e-03 7.87870538e+01] [ 3.28000561e-03 9.99994513e-01 4.63808831e-04 -7.69326034e+00] [ 3.21182540e-03 -4.74343795e-04 9.99994730e-01 -2.38938598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02992885099998 meters 0.09817424892289883 Centerline is valid? [False, True] Translation: X:78.79, Y:-7.69, Z:-2.39 [[ 9.99988803e-01 -3.40207418e-03 -3.28926880e-03 7.87870494e+01] [ 3.40287826e-03 9.99994182e-01 2.38890357e-04 -7.69282740e+00] [ 3.28843694e-03 -2.50080663e-04 9.99994562e-01 -2.38917905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05992885099998 meters 0.09825979634055855 Centerline is valid? [True, True] Translation: X:78.82, Y:-7.70, Z:-2.39 [[ 9.99991594e-01 -2.59956002e-03 -3.17093687e-03 7.88172919e+01] [ 2.60072386e-03 9.99996552e-01 3.62966778e-04 -7.69640092e+00] [ 3.16998239e-03 -3.71210458e-04 9.99994907e-01 -2.39078620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08992885099998 meters 0.09691004148871192 Centerline is valid? [True, True] Translation: X:78.85, Y:-7.70, Z:-2.39 [[ 9.99990006e-01 -2.54632559e-03 -3.67469808e-03 7.88467279e+01] [ 2.54788411e-03 9.99996666e-01 4.19501796e-04 -7.69666660e+00] [ 3.67361764e-03 -4.28860309e-04 9.99993160e-01 -2.39051708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11992885099998 meters 0.10082094105562137 Centerline is valid? [True, False] Translation: X:78.85, Y:-7.70, Z:-2.39 [[ 9.99991627e-01 -2.33653526e-03 -3.35942480e-03 7.88460130e+01] [ 2.34050909e-03 9.99996565e-01 1.17944427e-03 -7.69902434e+00] [ 3.35665745e-03 -1.18729716e-03 9.99993662e-01 -2.39026019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14992885099998 meters 0.09752269854105022 Centerline is valid? [False, True] Translation: X:78.85, Y:-7.70, Z:-2.39 [[ 9.99993114e-01 -2.11598957e-03 -3.04854815e-03 7.88455214e+01] [ 2.12178570e-03 9.99995945e-01 1.89929552e-03 -7.70117283e+00] [ 3.04451690e-03 -1.90575081e-03 9.99993549e-01 -2.39044442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17992885099999 meters 0.10136403849615062 Centerline is valid? [True, False] Translation: X:78.85, Y:-7.70, Z:-2.39 [[ 9.99994849e-01 -1.47908813e-03 -2.84840865e-03 7.88457962e+01] [ 1.48815101e-03 9.99993829e-01 3.18224629e-03 -7.70400975e+00] [ 2.84368425e-03 -3.18646876e-03 9.99990880e-01 -2.39148663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20992885099999 meters 0.09937906812901254 Centerline is valid? [False, True] Translation: X:78.84, Y:-7.71, Z:-2.39 [[ 9.99995823e-01 -1.54791841e-03 -2.44098175e-03 7.88448551e+01] [ 1.55666044e-03 9.99992368e-01 3.58353345e-03 -7.70586555e+00] [ 2.43541611e-03 -3.58731826e-03 9.99990600e-01 -2.39128759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23992885099999 meters 0.10353748473480608 Centerline is valid? [True, False] Translation: X:78.84, Y:-7.71, Z:-2.39 [[ 9.99996895e-01 -1.87732171e-03 -1.63868540e-03 7.88430619e+01] [ 1.88444522e-03 9.99988735e-01 4.35642135e-03 -7.71019032e+00] [ 1.63048853e-03 -4.35949584e-03 9.99989168e-01 -2.39093376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26992885099999 meters 0.10794249786116482 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.71, Z:-2.39 [[ 9.99997443e-01 -1.93230922e-03 -1.17458874e-03 7.88419504e+01] [ 1.93797631e-03 9.99986395e-01 4.84290605e-03 -7.71232801e+00] [ 1.16521477e-03 -4.84517000e-03 9.99987583e-01 -2.39059492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29992885099999 meters 0.10233465658960511 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.71, Z:-2.39 [[ 9.99997593e-01 -2.04764158e-03 -7.87548092e-04 7.88408873e+01] [ 2.05167124e-03 9.99984632e-01 5.15040358e-03 -7.71406717e+00] [ 7.76989808e-04 -5.15200697e-03 9.99986426e-01 -2.39012707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32992885099999 meters 0.10701404232375673 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.72, Z:-2.39 [[ 9.99998257e-01 -1.76614469e-03 -6.05535518e-04 7.88405859e+01] [ 1.76965977e-03 9.99981297e-01 5.85436249e-03 -7.71622345e+00] [ 5.95184541e-04 -5.85542388e-03 9.99982680e-01 -2.39018961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35992885099999 meters 0.10752389230501366 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.72, Z:-2.39 [[ 9.99998580e-01 -1.67055570e-03 -2.23480416e-04 7.88394347e+01] [ 1.67198660e-03 9.99977061e-01 6.56365511e-03 -7.71954689e+00] [ 2.12510338e-04 -6.56401944e-03 9.99978434e-01 -2.38957310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38992885099998 meters 0.10948518281971845 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.72, Z:-2.39 [[ 9.99998791e-01 -1.54430563e-03 -1.82525912e-04 7.88391653e+01] [ 1.54552612e-03 9.99975089e-01 6.88720472e-03 -7.72079360e+00] [ 1.71885416e-04 -6.88747849e-03 9.99976266e-01 -2.38932772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41992885099998 meters 0.10657498176654503 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.72, Z:-2.39 [[ 9.99987134e-01 -4.96298104e-03 -1.04902914e-03 7.88413454e+01] [ 4.96641736e-03 9.99982226e-01 3.29888770e-03 -7.72099374e+00] [ 1.03263818e-03 -3.30405518e-03 9.99994008e-01 -2.39008305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44992885099998 meters 0.10635039907874946 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.72, Z:-2.39 [[ 9.99987411e-01 -4.91496211e-03 -1.01072650e-03 7.88409982e+01] [ 4.91844453e-03 9.99981876e-01 3.47233080e-03 -7.72185528e+00] [ 9.93641811e-04 -3.47725829e-03 9.99993461e-01 -2.38970756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47992885099998 meters 0.10367001180687413 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.72, Z:-2.39 [[ 9.99988155e-01 -4.70721426e-03 -1.23794269e-03 7.88410582e+01] [ 4.71185114e-03 9.99981793e-01 3.76977841e-03 -7.72304107e+00] [ 1.22017500e-03 -3.77556676e-03 9.99992128e-01 -2.38914653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50992885099998 meters 0.10354728999807108 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.72, Z:-2.39 [[ 9.99988577e-01 -4.57240116e-03 -1.39263395e-03 7.88411766e+01] [ 4.57786798e-03 9.99981728e-01 3.94796666e-03 -7.72374748e+00] [ 1.37455682e-03 -3.95429685e-03 9.99991237e-01 -2.38888464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53992885099998 meters 0.10699812431038072 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.72, Z:-2.39 [[ 9.99989598e-01 -4.25545036e-03 -1.64175684e-03 7.88416612e+01] [ 4.26250412e-03 9.99981596e-01 4.31716602e-03 -7.72472774e+00] [ 1.62335514e-03 -4.32411911e-03 9.99989333e-01 -2.38887983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56992885099999 meters 0.10399510818967228 Centerline is valid? [False, False] Translation: X:78.84, Y:-7.73, Z:-2.39 [[ 9.99990010e-01 -4.10517687e-03 -1.76843863e-03 7.88418102e+01] [ 4.11314315e-03 9.99981304e-01 4.52486040e-03 -7.72545273e+00] [ 1.74983021e-03 -4.53208903e-03 9.99988199e-01 -2.38874635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59992885099999 meters 0.09937604159779675 Centerline is valid? [False, True] Translation: X:78.84, Y:-7.73, Z:-2.39 [[ 9.99990511e-01 -3.84075340e-03 -2.05573278e-03 7.88421076e+01] [ 3.85057926e-03 9.99981079e-01 4.79731379e-03 -7.72645678e+00] [ 2.03726858e-03 -4.80518403e-03 9.99986380e-01 -2.38837734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62992885099999 meters 0.09848110018516945 Centerline is valid? [True, True] Translation: X:78.87, Y:-7.73, Z:-2.39 [[ 9.99994916e-01 -2.17454789e-03 -2.33221773e-03 7.88724108e+01] [ 2.17523791e-03 9.99997591e-01 2.93367669e-04 -7.72774951e+00] [ 2.33157417e-03 -2.98439306e-04 9.99997237e-01 -2.38747294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65992885099999 meters 0.09930513203850233 Centerline is valid? [True, True] Translation: X:78.90, Y:-7.73, Z:-2.39 [[ 9.99998437e-01 -7.74734997e-04 -1.58902478e-03 7.89015475e+01] [ 7.75053707e-04 9.99999680e-01 1.99963536e-04 -7.73406468e+00] [ 1.58886935e-03 -2.01194803e-04 9.99998718e-01 -2.38816887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68992885099999 meters 0.09837231902348237 Centerline is valid? [True, True] Translation: X:78.93, Y:-7.74, Z:-2.39 [[ 9.99997765e-01 1.16883403e-03 -1.76149612e-03 7.89319637e+01] [-1.16844557e-03 9.99999293e-01 2.21537974e-04 -7.73721384e+00] [ 1.76175382e-03 -2.19479266e-04 9.99998424e-01 -2.38878951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71992885099999 meters 0.09871857624866318 Centerline is valid? [True, True] Translation: X:78.96, Y:-7.74, Z:-2.39 [[ 9.99987735e-01 4.31538437e-03 -2.43030822e-03 7.89604848e+01] [-4.31465646e-03 9.99990645e-01 3.04675418e-04 -7.74300878e+00] [ 2.43160027e-03 -2.94185736e-04 9.99997000e-01 -2.39082050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74992885099998 meters 0.09576014741963515 Centerline is valid? [True, True] Translation: X:78.99, Y:-7.74, Z:-2.39 [[ 9.99971076e-01 6.55897073e-03 -3.85051844e-03 7.89909370e+01] [-6.55715467e-03 9.99978384e-01 4.84077459e-04 -7.74251445e+00] [ 3.85361026e-03 -4.58815012e-04 9.99992470e-01 -2.39141271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77992885099998 meters 0.09455147564908901 Centerline is valid? [True, True] Translation: X:79.02, Y:-7.75, Z:-2.39 [[ 9.99951643e-01 9.10055048e-03 -3.72717143e-03 7.90210589e+01] [-9.09886563e-03 9.99958495e-01 4.68753144e-04 -7.74526912e+00] [ 3.73128264e-03 -4.34817444e-04 9.99992944e-01 -2.39167750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80992885099998 meters 0.09565635139165651 Centerline is valid? [True, True] Translation: X:79.05, Y:-7.75, Z:-2.39 [[ 9.99907020e-01 1.30225897e-02 -4.04518616e-03 7.90494077e+01] [-1.30206406e-02 9.99915099e-01 5.07795037e-04 -7.75225661e+00] [ 4.05145553e-03 -4.55076907e-04 9.99991689e-01 -2.39332570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83992885099998 meters 0.09565635139165651 Centerline is valid? [True, True] Translation: X:79.08, Y:-7.76, Z:-2.39 [[ 9.99908321e-01 1.29221922e-02 -4.04550187e-03 7.90768466e+01] [-1.29202523e-02 9.99916402e-01 5.05283192e-04 -7.75560423e+00] [ 4.05169304e-03 -4.52967964e-04 9.99991689e-01 -2.39416167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86992885099998 meters 0.09493310879111572 Centerline is valid? [True, True] Translation: X:79.11, Y:-7.76, Z:-2.39 [[ 9.99836766e-01 1.76524750e-02 -3.85105361e-03 7.91054869e+01] [-1.76507433e-02 9.99844097e-01 4.83203413e-04 -7.75992287e+00] [ 3.85898296e-03 -4.15150579e-04 9.99992468e-01 -2.39428744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89992885099998 meters 0.09478178088473657 Centerline is valid? [True, True] Translation: X:79.14, Y:-7.76, Z:-2.40 [[ 9.99790728e-01 2.01399938e-02 -3.58903948e-03 7.91352783e+01] [-2.01385038e-02 9.99797098e-01 4.50824343e-04 -7.76412653e+00] [ 3.59739086e-03 -3.78452113e-04 9.99993458e-01 -2.39531748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92992885099999 meters 0.093762107212219 Centerline is valid? [True, True] Translation: X:79.16, Y:-7.77, Z:-2.40 [[ 9.99672246e-01 2.55079293e-02 -2.17871926e-03 7.91649191e+01] [-2.55073931e-02 9.99674596e-01 2.73579419e-04 -7.76768442e+00] [ 2.18498875e-03 -2.17916304e-04 9.99997589e-01 -2.39637327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95992885099999 meters 0.093762107212219 Centerline is valid? [True, True] Translation: X:79.19, Y:-7.77, Z:-2.40 [[ 9.99674710e-01 2.54111308e-02 -2.17909451e-03 7.91923215e+01] [-2.54106008e-02 9.99677062e-01 2.70591253e-04 -7.77102055e+00] [ 2.18526683e-03 -2.15131131e-04 9.99997589e-01 -2.39720788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98992885099999 meters 0.08594328578039748 Centerline is valid? [True, True] Translation: X:79.22, Y:-7.76, Z:-2.39 [[ 9.99630274e-01 2.70914749e-02 -2.31671748e-03 7.92241675e+01] [-2.70908743e-02 9.99632933e-01 2.90246081e-04 -7.75998525e+00] [ 2.32373028e-03 -2.27376868e-04 9.99997274e-01 -2.39274773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01992885099999 meters 0.08791176132491285 Centerline is valid? [True, True] Translation: X:79.25, Y:-7.77, Z:-2.40 [[ 9.99583811e-01 2.88206525e-02 -1.25514558e-03 7.92522191e+01] [-2.88204785e-02 9.99584591e-01 1.56440746e-04 -7.76889565e+00] [ 1.25913290e-03 -1.20201741e-04 9.99999200e-01 -2.39500085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04992885099999 meters 0.08665626540821812 Centerline is valid? [True, True] Translation: X:79.28, Y:-7.77, Z:-2.40 [[ 9.99537076e-01 3.03800328e-02 -1.63945496e-03 7.92817119e+01] [-3.03797377e-02 9.99538408e-01 2.04620788e-04 -7.77077319e+00] [ 1.64491459e-03 -1.54719852e-04 9.99998635e-01 -2.39576309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07992885099999 meters 0.08538407769282505 Centerline is valid? [True, True] Translation: X:79.31, Y:-7.77, Z:-2.40 [[ 9.99444153e-01 3.31982338e-02 -3.04337317e-03 7.93120259e+01] [-3.31972256e-02 9.99448748e-01 3.81211367e-04 -7.77276239e+00] [ 3.05435105e-03 -2.79967926e-04 9.99995296e-01 -2.39662977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10992885099999 meters 0.0843233896618489 Centerline is valid? [True, True] Translation: X:79.34, Y:-7.78, Z:-2.40 [[ 9.99395179e-01 3.45594923e-02 -3.86247066e-03 7.93412691e+01] [-3.45578829e-02 9.99402581e-01 4.82670786e-04 -7.77507471e+00] [ 3.87684401e-03 -3.48900047e-04 9.99992424e-01 -2.39651578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13992885099998 meters 0.09374017542020811 Centerline is valid? [True, True] Translation: X:79.37, Y:-7.80, Z:-2.41 [[ 9.99352743e-01 3.57940042e-02 -3.58945475e-03 7.93674696e+01] [-3.57926211e-02 9.99359138e-01 4.48851250e-04 -7.79891287e+00] [ 3.60322058e-03 -3.20084735e-04 9.99993457e-01 -2.40580006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16992885099998 meters 0.08393094639434392 Centerline is valid? [True, True] Translation: X:79.40, Y:-7.78, Z:-2.40 [[ 9.99291676e-01 3.74298364e-02 -3.89284640e-03 7.93997979e+01] [-3.74282221e-02 9.99299200e-01 4.86738945e-04 -7.78239611e+00] [ 3.90833685e-03 -3.40691856e-04 9.99992304e-01 -2.39867534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19992885099998 meters 0.08551673020667498 Centerline is valid? [True, True] Translation: X:79.43, Y:-7.79, Z:-2.40 [[ 9.99208238e-01 3.95649001e-02 -4.18519397e-03 7.94283558e+01] [-3.95630530e-02 9.99216939e-01 5.23235207e-04 -7.79050400e+00] [ 4.20261846e-03 -3.57241878e-04 9.99991105e-01 -2.40066650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22992885099998 meters 0.08352791314055619 Centerline is valid? [True, True] Translation: X:79.46, Y:-7.79, Z:-2.40 [[ 9.99197004e-01 3.99336368e-02 -3.26382477e-03 7.94574526e+01] [-3.99325204e-02 9.99202296e-01 4.06550524e-04 -7.79022657e+00] [ 3.27745625e-03 -2.75891316e-04 9.99994591e-01 -2.39927877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25992885099998 meters 0.08388914003655591 Centerline is valid? [True, True] Translation: X:79.49, Y:-7.80, Z:-2.40 [[ 9.99190309e-01 4.01102137e-02 -3.14603511e-03 7.94856685e+01] [-4.01091781e-02 9.99195226e-01 3.91600114e-04 -7.79559914e+00] [ 3.15921043e-03 -2.65098156e-04 9.99994975e-01 -2.40008468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28992885099998 meters 0.08548954269528111 Centerline is valid? [True, True] Translation: X:79.51, Y:-7.80, Z:-2.40 [[ 9.99174650e-01 4.04415579e-02 -3.80776299e-03 7.95127834e+01] [-4.04400447e-02 9.99181855e-01 4.73579849e-04 -7.80382940e+00] [ 3.82379999e-03 -3.19202874e-04 9.99992638e-01 -2.40220698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31992885099999 meters 0.08492113155155634 Centerline is valid? [True, True] Translation: X:79.54, Y:-7.81, Z:-2.40 [[ 9.99167943e-01 4.05045364e-02 -4.77544573e-03 7.95418004e+01] [-4.05021530e-02 9.99179274e-01 5.94787540e-04 -7.80695573e+00] [ 4.79561799e-03 -4.00876809e-04 9.99988421e-01 -2.40233925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34992885099999 meters 0.08474102743133956 Centerline is valid? [True, True] Translation: X:79.57, Y:-7.81, Z:-2.40 [[ 9.99160723e-01 4.06585773e-02 -4.97292738e-03 7.95700477e+01] [-4.06559959e-02 9.99173011e-01 6.19124984e-04 -7.81128334e+00] [ 4.99398757e-03 -4.16426052e-04 9.99987443e-01 -2.40377630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37992885099999 meters 0.08492298427262002 Centerline is valid? [True, True] Translation: X:79.60, Y:-7.81, Z:-2.40 [[ 9.99170119e-01 4.03735137e-02 -5.39003099e-03 7.95980740e+01] [-4.03704812e-02 9.99184555e-01 6.70270833e-04 -7.81499164e+00] [ 5.41269691e-03 -4.52116444e-04 9.99985249e-01 -2.40491754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40992885099999 meters 0.08511741271068425 Centerline is valid? [True, True] Translation: X:79.63, Y:-7.82, Z:-2.41 [[ 9.99134941e-01 4.11315284e-02 -6.12920547e-03 7.96269826e+01] [-4.11276148e-02 9.99153610e-01 7.63253046e-04 -7.81925110e+00] [ 6.15541154e-03 -5.10513186e-04 9.99980925e-01 -2.40560398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43992885099999 meters 0.08455648536516437 Centerline is valid? [True, True] Translation: X:79.66, Y:-7.82, Z:-2.41 [[ 9.99128051e-01 4.11743755e-02 -6.91441324e-03 7.96560943e+01] [-4.11694014e-02 9.99151810e-01 8.60243408e-04 -7.82118955e+00] [ 6.94396850e-03 -5.74831064e-04 9.99975725e-01 -2.40602740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46992885099999 meters 0.08287825935591443 Centerline is valid? [True, True] Translation: X:79.68, Y:-7.82, Z:-2.41 [[ 9.99135265e-01 4.10624923e-02 -6.52640521e-03 7.96848821e+01] [-4.10580625e-02 9.99156433e-01 8.11350463e-04 -7.82167942e+00] [ 6.55421582e-03 -5.42687307e-04 9.99978374e-01 -2.40502852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49992885099998 meters 0.0867885298626802 Centerline is valid? [True, True] Translation: X:79.71, Y:-7.84, Z:-2.41 [[ 9.99162565e-01 4.04311250e-02 -6.28428914e-03 7.97112640e+01] [-4.04270124e-02 9.99182190e-01 7.80130351e-04 -7.83508108e+00] [ 6.31069133e-03 -5.25422008e-04 9.99979949e-01 -2.40987752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52992885099998 meters 0.08661221337705265 Centerline is valid? [True, True] Translation: X:79.74, Y:-7.84, Z:-2.41 [[ 9.99196802e-01 3.95329304e-02 -6.54964197e-03 7.97404716e+01] [-3.95284343e-02 9.99218114e-01 8.14552951e-04 -7.83877913e+00] [ 6.57672257e-03 -5.55001611e-04 9.99978219e-01 -2.41056836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55992885099998 meters 0.08536093511212542 Centerline is valid? [True, True] Translation: X:79.77, Y:-7.84, Z:-2.41 [[ 9.99250716e-01 3.82737117e-02 -5.75586877e-03 7.97688638e+01] [-3.82702311e-02 9.99267172e-01 7.13684710e-04 -7.83981159e+00] [ 5.77896607e-03 -4.92871530e-04 9.99983180e-01 -2.40959036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58992885099998 meters 0.08319590567826773 Centerline is valid? [True, True] Translation: X:79.80, Y:-7.84, Z:-2.41 [[ 9.99269674e-01 3.78030872e-02 -5.57187005e-03 7.97981982e+01] [-3.77998184e-02 9.99285093e-01 6.90842587e-04 -7.83862691e+00] [ 5.59400266e-03 -4.79722370e-04 9.99984238e-01 -2.40770641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61992885099998 meters 0.08538270119719292 Centerline is valid? [True, True] Translation: X:79.82, Y:-7.85, Z:-2.41 [[ 9.99292561e-01 3.71927713e-02 -5.57453020e-03 7.98249529e+01] [-3.71894955e-02 9.99307993e-01 6.90181244e-04 -7.84643080e+00] [ 5.59634234e-03 -4.82379017e-04 9.99984224e-01 -2.41022650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64992885099998 meters 0.08504206865447356 Centerline is valid? [True, True] Translation: X:79.85, Y:-7.85, Z:-2.41 [[ 9.99300065e-01 3.70221689e-02 -5.36084669e-03 7.98531261e+01] [-3.70191431e-02 9.99314337e-01 6.62605252e-04 -7.84914188e+00] [ 5.38170204e-03 -4.63687521e-04 9.99985411e-01 -2.41083103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67992885099999 meters 0.08444465408402271 Centerline is valid? [True, True] Translation: X:79.88, Y:-7.85, Z:-2.41 [[ 9.99319105e-01 3.64282234e-02 -5.85750205e-03 7.98819963e+01] [-3.64245956e-02 9.99336141e-01 7.24877244e-04 -7.85072547e+00] [ 5.88001948e-03 -5.11026535e-04 9.99982582e-01 -2.41135066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70992885099999 meters 0.08270510802513707 Centerline is valid? [True, True] Translation: X:79.91, Y:-7.85, Z:-2.41 [[ 9.99339487e-01 3.57909265e-02 -6.29277942e-03 7.99107346e+01] [-3.57867331e-02 9.99359147e-01 7.77757403e-04 -7.85001745e+00] [ 6.31658333e-03 -5.52045666e-04 9.99979898e-01 -2.41035398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73992885099999 meters 0.08640328762958835 Centerline is valid? [True, True] Translation: X:79.94, Y:-7.86, Z:-2.41 [[ 9.99357401e-01 3.53685835e-02 -5.81791499e-03 7.99374440e+01] [-3.53649960e-02 9.99374205e-01 7.18375630e-04 -7.86135299e+00] [ 5.83968209e-03 -5.12163462e-04 9.99982818e-01 -2.41466354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76992885099999 meters 0.08528711339533833 Centerline is valid? [True, True] Translation: X:79.97, Y:-7.86, Z:-2.41 [[ 9.99385928e-01 3.44581268e-02 -6.35651958e-03 7.99667637e+01] [-3.44538197e-02 9.99405982e-01 7.85888593e-04 -7.86162160e+00] [ 6.37982394e-03 -5.66399621e-04 9.99979488e-01 -2.41427918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79992885099999 meters 0.08527499788592267 Centerline is valid? [True, True] Translation: X:80.00, Y:-7.86, Z:-2.41 [[ 9.99411146e-01 3.37556056e-02 -6.15789544e-03 7.99952236e+01] [-3.37515563e-02 9.99429965e-01 7.60338798e-04 -7.86410275e+00] [ 6.18005092e-03 -5.52052515e-04 9.99980751e-01 -2.41479346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82992885099999 meters 0.08363141941275791 Centerline is valid? [True, True] Translation: X:80.02, Y:-7.86, Z:-2.41 [[ 9.99449101e-01 3.28109038e-02 -4.99396712e-03 8.00241888e+01] [-3.28082330e-02 9.99461475e-01 6.15825225e-04 -7.86189974e+00] [ 5.01148352e-03 -4.51642731e-04 9.99987340e-01 -2.41334873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85992885099998 meters 0.08603310124375606 Centerline is valid? [True, True] Translation: X:80.05, Y:-7.87, Z:-2.42 [[ 9.99441841e-01 3.30130527e-02 -5.11317270e-03 8.00507866e+01] [-3.30102601e-02 9.99454815e-01 6.29621640e-04 -7.87039324e+00] [ 5.13117080e-03 -4.60483051e-04 9.99986729e-01 -2.41675184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88992885099998 meters 0.08591441309977542 Centerline is valid? [True, True] Translation: X:80.08, Y:-7.87, Z:-2.42 [[ 9.99448124e-01 3.28438956e-02 -4.97242888e-03 8.00792622e+01] [-3.28412517e-02 9.99460393e-01 6.12457181e-04 -7.87283595e+00] [ 4.98986121e-03 -4.48818392e-04 9.99987450e-01 -2.41727429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91992885099998 meters 0.08395544445370096 Centerline is valid? [True, True] Translation: X:80.11, Y:-7.87, Z:-2.42 [[ 9.99466940e-01 3.21846728e-02 -5.47561854e-03 8.01088773e+01] [-3.21814582e-02 9.99481815e-01 6.74205731e-04 -7.87110075e+00] [ 5.49448025e-03 -4.97632950e-04 9.99984781e-01 -2.41706317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94992885099998 meters 0.0869523707363151 Centerline is valid? [True, True] Translation: X:80.14, Y:-7.88, Z:-2.42 [[ 9.99458982e-01 3.24968091e-02 -5.06961405e-03 8.01356161e+01] [-3.24940631e-02 9.99471734e-01 6.23114873e-04 -7.88033503e+00] [ 5.08718519e-03 -4.58045397e-04 9.99986955e-01 -2.42099824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97992885099998 meters 0.0874682989449551 Centerline is valid? [True, True] Translation: X:80.16, Y:-7.88, Z:-2.42 [[ 9.99449328e-01 3.26579574e-02 -5.87359788e-03 8.01643668e+01] [-3.26542705e-02 9.99466446e-01 7.22551346e-04 -7.88251634e+00] [ 5.89406105e-03 -5.30355403e-04 9.99982489e-01 -2.42299913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00992885099998 meters 0.08660135777707823 Centerline is valid? [True, True] Translation: X:80.19, Y:-7.88, Z:-2.42 [[ 9.99449658e-01 3.24911892e-02 -6.68604373e-03 8.01929293e+01] [-3.24864135e-02 9.99471839e-01 8.21676222e-04 -7.88273094e+00] [ 6.70920967e-03 -6.04018437e-04 9.99977311e-01 -2.42367011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03992885099998 meters 0.08317834882542102 Centerline is valid? [True, True] Translation: X:80.22, Y:-7.88, Z:-2.42 [[ 9.99460566e-01 3.23966023e-02 -5.38870274e-03 8.02230409e+01] [-3.23934979e-02 9.99474973e-01 6.62417359e-04 -7.87801282e+00] [ 5.40733360e-03 -4.87501098e-04 9.99985261e-01 -2.42129971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06992885099999 meters 0.08539610291958734 Centerline is valid? [True, True] Translation: X:80.25, Y:-7.88, Z:-2.42 [[ 9.99459774e-01 3.25805050e-02 -4.32101589e-03 8.02500309e+01] [-3.25785238e-02 9.99469039e-01 5.28108769e-04 -7.88481275e+00] [ 4.33592765e-03 -3.87051152e-04 9.99990525e-01 -2.42380047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09992885099999 meters 0.08539610291958734 Centerline is valid? [True, True] Translation: X:80.28, Y:-7.89, Z:-2.42 [[ 9.99463054e-01 3.24797291e-02 -4.32098236e-03 8.02774151e+01] [-3.24777459e-02 9.99472319e-01 5.28379739e-04 -7.88808489e+00] [ 4.33586389e-03 -3.87760261e-04 9.99990525e-01 -2.42463542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12992885099999 meters 0.0834468309946367 Centerline is valid? [True, True] Translation: X:80.31, Y:-7.89, Z:-2.42 [[ 9.99470742e-01 3.24174589e-02 -2.70996413e-03 8.03065038e+01] [-3.24166796e-02 9.99474387e-01 3.31017999e-04 -7.88543580e+00] [ 2.71927050e-03 -2.42994767e-04 9.99996273e-01 -2.42422719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15992885099999 meters 0.08442637176948173 Centerline is valid? [True, True] Translation: X:80.33, Y:-7.89, Z:-2.43 [[ 9.99488707e-01 3.18950973e-02 -2.24233024e-03 8.03339503e+01] [-3.18945648e-02 9.99491202e-01 2.72836665e-04 -7.88920314e+00] [ 2.24989150e-03 -2.01179019e-04 9.99997449e-01 -2.42561700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18992885099999 meters 0.08622630566189643 Centerline is valid? [True, True] Translation: X:80.36, Y:-7.90, Z:-2.43 [[ 9.99490314e-01 3.18970167e-02 -1.30110721e-03 8.03614820e+01] [-3.18968390e-02 9.99491154e-01 1.57143101e-04 -7.89533141e+00] [ 1.30545755e-03 -1.15561800e-04 9.99999141e-01 -2.42738111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21992885099999 meters 0.08352000973945221 Centerline is valid? [True, True] Translation: X:80.39, Y:-7.89, Z:-2.43 [[ 9.99519340e-01 3.09968014e-02 -5.35065597e-04 8.03908262e+01] [-3.09967718e-02 9.99519483e-01 6.35456550e-05 -7.89132743e+00] [ 5.36778201e-04 -4.69298050e-05 9.99999855e-01 -2.42589376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24992885099998 meters 0.086516538970233 Centerline is valid? [True, True] Translation: X:80.42, Y:-7.90, Z:-2.43 [[ 9.99568791e-01 2.93464458e-02 -1.00942736e-03 8.04190052e+01] [-2.93463357e-02 9.99569296e-01 1.23647962e-04 -7.89909046e+00] [ 1.01262122e-03 -9.39716495e-05 9.99999483e-01 -2.42970674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27992885099998 meters 0.08813548369111887 Centerline is valid? [True, True] Translation: X:80.45, Y:-7.91, Z:-2.43 [[ 9.99598563e-01 2.83199751e-02 -8.31534045e-04 8.04469301e+01] [-2.83199012e-02 9.99598906e-01 1.00448343e-04 -7.90550093e+00] [ 8.34045217e-04 -7.68590574e-05 9.99999649e-01 -2.43232689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30992885099998 meters 0.08479801775042622 Centerline is valid? [True, True] Translation: X:80.48, Y:-7.90, Z:-2.43 [[ 9.99616986e-01 2.76545900e-02 -1.05111423e-03 8.04768999e+01] [-2.76544719e-02 9.99617534e-01 1.26728023e-04 -7.90092967e+00] [ 1.05421683e-03 -9.76114755e-05 9.99999440e-01 -2.43076575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33992885099998 meters 0.09098166514556377 Centerline is valid? [True, True] Translation: X:80.50, Y:-7.91, Z:-2.44 [[ 9.99695283e-01 2.46575435e-02 -1.16022908e-03 8.05048168e+01] [-2.46573956e-02 9.99695950e-01 1.41629675e-04 -7.91417081e+00] [ 1.16336855e-03 -1.12978290e-04 9.99999317e-01 -2.43639290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36992885099998 meters 0.08712919568210802 Centerline is valid? [True, True] Translation: X:80.54, Y:-7.91, Z:-2.43 [[ 9.99721324e-01 2.35648713e-02 -1.40421396e-03 8.05352207e+01] [-2.35646542e-02 9.99722300e-01 1.70984150e-04 -7.90877787e+00] [ 1.40785323e-03 -1.37846684e-04 9.99998999e-01 -2.43492812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39992885099998 meters 0.08782400190727638 Centerline is valid? [True, True] Translation: X:80.56, Y:-7.91, Z:-2.44 [[ 9.99735368e-01 2.29897508e-02 -8.15422462e-04 8.05637888e+01] [-2.29896786e-02 9.99735698e-01 9.77805653e-05 -7.91207180e+00] [ 8.17454895e-04 -7.90083891e-05 9.99999663e-01 -2.43639857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42992885099999 meters 0.09000384462884022 Centerline is valid? [True, True] Translation: X:80.59, Y:-7.92, Z:-2.44 [[ 9.99740846e-01 2.27605130e-02 -4.47893137e-04 8.05909795e+01] [-2.27604919e-02 9.99740945e-01 5.22487446e-05 -7.91812520e+00] [ 4.48966316e-04 -4.20409360e-05 9.99999898e-01 -2.43831841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45992885099999 meters 0.08774153981582622 Centerline is valid? [True, True] Translation: X:80.62, Y:-7.91, Z:-2.44 [[ 9.99750161e-01 2.23359905e-02 -8.48049285e-04 8.06200743e+01] [-2.23359127e-02 9.99750517e-01 1.01106608e-04 -7.91354685e+00] [ 8.50096027e-04 -8.21393930e-05 9.99999635e-01 -2.43843959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48992885099999 meters 0.0909621341567056 Centerline is valid? [True, True] Translation: X:80.65, Y:-7.92, Z:-2.44 [[ 9.99746013e-01 2.25288400e-02 -6.00792824e-04 8.06466072e+01] [-2.25288017e-02 9.99746192e-01 7.03058134e-05 -7.92137223e+00] [ 6.02224246e-04 -5.67528142e-05 9.99999817e-01 -2.44123900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51992885099999 meters 0.08789815644955315 Centerline is valid? [True, True] Translation: X:80.68, Y:-7.92, Z:-2.44 [[ 9.99739664e-01 2.28167004e-02 -5.08435036e-05 8.06759269e+01] [-2.28167002e-02 9.99739665e-01 4.15445222e-06 -7.91701957e+00] [ 5.09250581e-05 -2.99328969e-06 9.99999999e-01 -2.44011467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54992885099999 meters 0.08785168540939818 Centerline is valid? [True, True] Translation: X:80.71, Y:-7.92, Z:-2.44 [[ 9.99727608e-01 2.33385887e-02 1.40792120e-04 8.07057726e+01] [-2.33385863e-02 9.99727618e-01 -1.87176053e-05 -7.91532271e+00] [-1.41190614e-04 1.54266177e-05 9.99999990e-01 -2.44008279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57992885099999 meters 0.08780454899367413 Centerline is valid? [True, True] Translation: X:80.73, Y:-7.92, Z:-2.44 [[ 9.99730811e-01 2.31882100e-02 7.82233005e-04 8.07347741e+01] [-2.31881407e-02 9.99731114e-01 -9.74596131e-05 -7.91632278e+00] [-7.84282588e-04 7.92948491e-05 9.99999689e-01 -2.44131797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60992885099998 meters 0.09001136286424899 Centerline is valid? [True, True] Translation: X:80.76, Y:-7.92, Z:-2.44 [[ 9.99736227e-01 2.29352311e-02 1.20516983e-03 8.07611392e+01] [-2.29350663e-02 9.99736945e-01 -1.50412898e-04 -7.92200418e+00] [-1.20830256e-03 1.22732573e-04 9.99999262e-01 -2.44357163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63992885099998 meters 0.0884495127206906 Centerline is valid? [True, True] Translation: X:80.79, Y:-7.92, Z:-2.44 [[ 9.99747087e-01 2.24231182e-02 1.72197891e-03 8.07901102e+01] [-2.24227864e-02 9.99748555e-01 -2.11753936e-04 -7.92073651e+00] [-1.72629411e-03 1.73088815e-04 9.99998495e-01 -2.44337785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66992885099998 meters 0.08735198481490733 Centerline is valid? [True, True] Translation: X:80.82, Y:-7.92, Z:-2.44 [[ 9.99762012e-01 2.17384610e-02 1.83267234e-03 8.08195461e+01] [-2.17380845e-02 9.99763675e-01 -2.25137060e-04 -7.91762495e+00] [-1.83713337e-03 1.85244694e-04 9.99998295e-01 -2.44385626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69992885099998 meters 0.08903124589529515 Centerline is valid? [True, True] Translation: X:80.85, Y:-7.92, Z:-2.45 [[ 9.99767407e-01 2.14118408e-02 2.58149671e-03 8.08466553e+01] [-2.14110933e-02 9.99770706e-01 -3.16858162e-04 -7.92202620e+00] [-2.58768931e-03 2.61511796e-04 9.99996618e-01 -2.44538579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72992885099998 meters 0.08943123001016463 Centerline is valid? [True, True] Translation: X:80.88, Y:-7.92, Z:-2.45 [[ 9.99780431e-01 2.08103260e-02 2.45375905e-03 8.08751082e+01] [-2.08096511e-02 9.99783411e-01 -3.00280477e-04 -7.92375480e+00] [-2.45947653e-03 2.49152675e-04 9.99996944e-01 -2.44618416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75992885099998 meters 0.09139731062978995 Centerline is valid? [True, True] Translation: X:80.90, Y:-7.93, Z:-2.45 [[ 9.99780111e-01 2.08267392e-02 2.44466426e-03 8.09029060e+01] [-2.08260685e-02 9.99783069e-01 -2.99496545e-04 -7.92858756e+00] [-2.45037148e-03 2.48517943e-04 9.99996967e-01 -2.44875278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78992885099998 meters 0.0914839385434408 Centerline is valid? [True, True] Translation: X:80.93, Y:-7.93, Z:-2.45 [[ 9.99807674e-01 1.95426807e-02 1.64304639e-03 8.09323692e+01] [-1.95423765e-02 9.99809009e-01 -2.00981138e-04 -7.92793353e+00] [-1.64666029e-03 1.68833453e-04 9.99998630e-01 -2.45044608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81992885099999 meters 0.09309121106702971 Centerline is valid? [True, True] Translation: X:80.96, Y:-7.93, Z:-2.45 [[ 9.99821980e-01 1.88171699e-02 1.38630540e-03 8.09601721e+01] [-1.88169524e-02 9.99822931e-01 -1.69810608e-04 -7.93197949e+00] [-1.38925528e-03 1.43694336e-04 9.99999025e-01 -2.45263922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84992885099999 meters 0.09309121106702971 Centerline is valid? [True, True] Translation: X:80.99, Y:-7.94, Z:-2.45 [[ 9.99823202e-01 1.87521548e-02 1.38626683e-03 8.09884266e+01] [-1.87519368e-02 9.99824153e-01 -1.70128921e-04 -7.93533897e+00] [-1.38921334e-03 1.44103655e-04 9.99999025e-01 -2.45349999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87992885099999 meters 0.09211095100244479 Centerline is valid? [True, True] Translation: X:81.02, Y:-7.93, Z:-2.45 [[ 9.99833290e-01 1.82326274e-02 9.82018563e-04 8.10176105e+01] [-1.82325172e-02 9.99833767e-01 -1.21056325e-04 -7.93418218e+00] [-9.84062493e-04 1.03131473e-04 9.99999510e-01 -2.45311817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90992885099999 meters 0.0938039164777653 Centerline is valid? [True, True] Translation: X:81.05, Y:-7.94, Z:-2.45 [[ 9.99856785e-01 1.68200609e-02 1.86969331e-03 8.10469877e+01] [-1.68196608e-02 9.99858513e-01 -2.29485485e-04 -7.93583931e+00] [-1.87328873e-03 1.98005011e-04 9.99998226e-01 -2.45458521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93992885099999 meters 0.09138402672712176 Centerline is valid? [True, True] Translation: X:81.08, Y:-7.93, Z:-2.45 [[ 9.99863558e-01 1.63222238e-02 2.53979159e-03 8.10767126e+01] [-1.63214896e-02 9.99866748e-01 -3.09528737e-04 -7.93257858e+00] [-2.54450536e-03 2.68033322e-04 9.99996727e-01 -2.45383311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96992885099999 meters 0.09333016169191719 Centerline is valid? [True, True] Translation: X:81.10, Y:-7.94, Z:-2.45 [[ 9.99876929e-01 1.54361660e-02 2.80222122e-03 8.11048954e+01] [-1.54352705e-02 9.99880811e-01 -3.40906268e-04 -7.93681552e+00] [-2.80714952e-03 2.97611269e-04 9.99996016e-01 -2.45499759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99992885099998 meters 0.09397581730881688 Centerline is valid? [True, True] Translation: X:81.13, Y:-7.94, Z:-2.46 [[ 9.99877927e-01 1.51881690e-02 3.66754459e-03 8.11337823e+01] [-1.51866357e-02 9.99884577e-01 -4.45555262e-04 -7.93920881e+00] [-3.67388844e-03 3.89803208e-04 9.99993175e-01 -2.45603572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02992885099998 meters 0.09180955241347973 Centerline is valid? [True, True] Translation: X:81.16, Y:-7.93, Z:-2.46 [[ 9.99881262e-01 1.43930337e-02 5.50475068e-03 8.11629960e+01] [-1.43895726e-02 9.99896242e-01 -6.67832080e-04 -7.93370280e+00] [-5.51379165e-03 5.88541774e-04 9.99984626e-01 -2.45533826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05992885099998 meters 0.09520397586392156 Centerline is valid? [True, True] Translation: X:81.19, Y:-7.94, Z:-2.46 [[ 9.99879126e-01 1.44278637e-02 5.79391488e-03 8.11899157e+01] [-1.44240339e-02 9.99895722e-01 -7.02256033e-04 -7.94091091e+00] [-5.80344276e-03 6.18599524e-04 9.99982969e-01 -2.45707823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08992885099998 meters 0.09465524582983069 Centerline is valid? [True, True] Translation: X:81.22, Y:-7.94, Z:-2.46 [[ 9.99883888e-01 1.36932800e-02 6.68620537e-03 8.12195639e+01] [-1.36881755e-02 9.99905986e-01 -8.08605396e-04 -7.93884453e+00] [-6.69664924e-03 7.16989555e-04 9.99977320e-01 -2.45783619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11992885099998 meters 0.09317831316051546 Centerline is valid? [True, True] Translation: X:81.25, Y:-7.94, Z:-2.46 [[ 9.99890741e-01 1.32038648e-02 6.64555437e-03 8.12493928e+01] [-1.31988162e-02 9.99912569e-01 -8.02982670e-04 -7.93757086e+00] [-6.65557582e-03 7.15181487e-04 9.99977596e-01 -2.45822313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14992885099998 meters 0.09300250870665112 Centerline is valid? [True, True] Translation: X:81.28, Y:-7.94, Z:-2.46 [[ 9.99899182e-01 1.25997019e-02 6.54779412e-03 8.12784819e+01] [-1.25947866e-02 9.99920369e-01 -7.91377229e-04 -7.93920353e+00] [-6.55724384e-03 7.08829374e-04 9.99978250e-01 -2.45910323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17992885099999 meters 0.09818809491739589 Centerline is valid? [True, True] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99907767e-01 1.13569466e-02 7.44829008e-03 8.13059760e+01] [-1.13505568e-02 9.99935176e-01 -8.99594490e-04 -7.95016121e+00] [-7.45802390e-03 8.14969278e-04 9.99971856e-01 -2.46201364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20992885099999 meters 0.10028536712400479 Centerline is valid? [True, False] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99987369e-01 5.00755253e-03 4.31357026e-04 8.13145865e+01] [-5.00757489e-03 9.99987461e-01 5.07740680e-05 -7.94636627e+00] [-4.31097363e-04 -5.29334793e-05 9.99999906e-01 -2.45708051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23992885099999 meters 0.0969028764160182 Centerline is valid? [False, True] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99988756e-01 4.70317519e-03 6.07353832e-04 8.13141375e+01] [-4.70300743e-03 9.99988902e-01 -2.77345512e-04 -7.94563772e+00] [-6.08651497e-04 2.74486003e-04 9.99999777e-01 -2.45696127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26992885099999 meters 0.10070719500315935 Centerline is valid? [True, False] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99989240e-01 4.58775832e-03 6.86571153e-04 8.13141228e+01] [-4.58748676e-03 9.99989399e-01 -3.96576075e-04 -7.94508949e+00] [-6.88383270e-04 3.93422172e-04 9.99999686e-01 -2.45719144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29992885099999 meters 0.100451508579679 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99990443e-01 4.29046576e-03 8.40212985e-04 8.13137159e+01] [-4.28983184e-03 9.99990514e-01 -7.54821472e-04 -7.94431668e+00] [-8.43443551e-04 7.51209886e-04 9.99999362e-01 -2.45706190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32992885099999 meters 0.10180710184021091 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99990953e-01 4.16058416e-03 8.85527977e-04 8.13137122e+01] [-4.15975709e-03 9.99990912e-01 -9.33788524e-04 -7.94368928e+00] [-8.89405035e-04 9.30096495e-04 9.99999172e-01 -2.45719736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35992885099998 meters 0.10296658227804399 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99991068e-01 4.12182075e-03 9.35062701e-04 8.13139883e+01] [-4.12087256e-03 9.99990995e-01 -1.01370825e-03 -7.94297613e+00] [-9.39232605e-04 1.00984592e-03 9.99999049e-01 -2.45775603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38992885099998 meters 0.1039062597982002 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99991860e-01 3.91902840e-03 9.59895903e-04 8.13138870e+01] [-3.91776262e-03 9.99991458e-01 -1.31701354e-03 -7.94212957e+00] [-9.65049117e-04 1.31324217e-03 9.99998672e-01 -2.45768536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41992885099998 meters 0.10370668985149628 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99992380e-01 3.78811280e-03 9.43327660e-04 8.13139288e+01] [-3.78664011e-03 9.99991617e-01 -1.55808452e-03 -7.94133876e+00] [-9.49221952e-04 1.55450061e-03 9.99998341e-01 -2.45769409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44992885099998 meters 0.10003849086510787 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99993639e-01 3.41470416e-03 1.03026114e-03 8.13134299e+01] [-3.41254279e-03 9.99991988e-01 -2.09239155e-03 -7.94025442e+00] [-1.03739778e-03 2.08886243e-03 9.99997280e-01 -2.45721245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47992885099998 meters 0.10222250121741083 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99993624e-01 3.43977297e-03 9.59601528e-04 8.13137869e+01] [-3.43772138e-03 9.99991819e-01 -2.13147666e-03 -7.93969060e+00] [-9.66925474e-04 2.12816423e-03 9.99997268e-01 -2.45751120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50992885099998 meters 0.10154614577356438 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99993273e-01 3.54859436e-03 9.28329156e-04 8.13140872e+01] [-3.54672586e-03 9.99991697e-01 -2.00671478e-03 -7.93967240e+00] [-9.35442465e-04 2.00340875e-03 9.99997556e-01 -2.45785249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53992885099998 meters 0.10252126158300265 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99993477e-01 3.48907924e-03 9.33498484e-04 8.13140069e+01] [-3.48712610e-03 9.99991745e-01 -2.08578874e-03 -7.93950325e+00] [-9.40768260e-04 2.08251991e-03 9.99997389e-01 -2.45775947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56992885099999 meters 0.1032435836858426 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99993423e-01 3.51731654e-03 8.84394586e-04 8.13141349e+01] [-3.51548106e-03 9.99991681e-01 -2.06846197e-03 -7.93941982e+00] [-8.91662664e-04 2.06533929e-03 9.99997470e-01 -2.45780235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59992885099999 meters 0.10500251402445275 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99993368e-01 3.52462050e-03 9.17096577e-04 8.13140369e+01] [-3.52274847e-03 9.99991725e-01 -2.03492793e-03 -7.93942368e+00] [-9.24261336e-04 2.03168374e-03 9.99997509e-01 -2.45774520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62992885099999 meters 0.10524400073097347 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99993717e-01 3.42172974e-03 9.25972201e-04 8.13137847e+01] [-3.41972417e-03 9.99991822e-01 -2.15888250e-03 -7.93942936e+00] [-9.33351741e-04 2.15570237e-03 9.99997241e-01 -2.45740905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65992885099999 meters 0.10300739808234688 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99992635e-01 3.75388619e-03 7.98824526e-04 8.13143043e+01] [-3.75249651e-03 9.99991456e-01 -1.73410899e-03 -7.94024794e+00] [-8.05327348e-04 1.73109863e-03 9.99998177e-01 -2.45777123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68992885099999 meters 0.10363731943807569 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99992417e-01 3.80008369e-03 8.51595435e-04 8.13141854e+01] [-3.79872224e-03 9.99991513e-01 -1.59465736e-03 -7.94076456e+00] [-8.57648039e-04 1.59141030e-03 9.99998366e-01 -2.45777661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71992885099999 meters 0.10937978076344823 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99991565e-01 3.97685028e-03 1.02724616e-03 8.13138784e+01] [-3.97575281e-03 9.99991526e-01 -1.06820332e-03 -7.94245195e+00] [-1.03148554e-03 1.06411024e-03 9.99998902e-01 -2.45790404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74992885099998 meters 0.10384292509200563 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99991279e-01 4.02522450e-03 1.11335014e-03 8.13136550e+01] [-4.02423947e-03 9.99991511e-01 -8.85569869e-04 -7.94321761e+00] [-1.11690531e-03 8.81081759e-04 9.99998988e-01 -2.45784417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77992885099998 meters 0.10327028438551178 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.94, Z:-2.46 [[ 9.99990428e-01 4.22723908e-03 1.12922197e-03 8.13137034e+01] [-4.22665909e-03 9.99990935e-01 -5.15506460e-04 -7.94428785e+00] [-1.13139090e-03 5.10728689e-04 9.99999230e-01 -2.45797226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80992885099998 meters 0.10498276122620803 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99990123e-01 4.28357932e-03 1.18530379e-03 8.13134780e+01] [-4.28317716e-03 9.99990769e-01 -3.41617376e-04 -7.94506963e+00] [-1.18675620e-03 3.36537136e-04 9.99999239e-01 -2.45782006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83992885099998 meters 0.10313850056736443 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99988927e-01 4.54696400e-03 1.21270120e-03 8.13133316e+01] [-4.54717924e-03 9.99989646e-01 1.74791141e-04 -7.94678806e+00] [-1.21189388e-03 -1.80303576e-04 9.99999249e-01 -2.45770774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86992885099998 meters 0.10352047447006309 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99988024e-01 4.76064406e-03 1.13489073e-03 8.13136358e+01] [-4.76116552e-03 9.99988561e-01 4.57222116e-04 -7.94740415e+00] [-1.13270108e-03 -4.62620043e-04 9.99999251e-01 -2.45790342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89992885099998 meters 0.10313701617284214 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99987527e-01 4.87759467e-03 1.07465044e-03 8.13137187e+01] [-4.87826847e-03 9.99987906e-01 6.25261206e-04 -7.94798650e+00] [-1.07158767e-03 -6.30495840e-04 9.99999227e-01 -2.45785258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92992885099999 meters 0.10296501768011358 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99987411e-01 4.92194021e-03 9.75783045e-04 8.13137063e+01] [-4.92258188e-03 9.99987669e-01 6.56279456e-04 -7.94839492e+00] [-9.72540844e-04 -6.61074566e-04 9.99999309e-01 -2.45754433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95992885099999 meters 0.10337122814306275 Centerline is valid? [False, False] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99986359e-01 5.14252632e-03 9.14444879e-04 8.13136496e+01] [-5.14345664e-03 9.99986254e-01 1.01793845e-03 -7.94972805e+00] [-9.09197534e-04 -1.02262797e-03 9.99999064e-01 -2.45728206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98992885099999 meters 0.09986903054414419 Centerline is valid? [False, True] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99985693e-01 5.27242594e-03 9.02830046e-04 8.13136536e+01] [-5.27354485e-03 9.99985324e-01 1.24146897e-03 -7.95047301e+00] [-8.96271243e-04 -1.24621232e-03 9.99998822e-01 -2.45725082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01992885099999 meters 0.10010542718206686 Centerline is valid? [True, False] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99984905e-01 5.42320502e-03 8.82925865e-04 8.13136782e+01] [-5.42451969e-03 9.99984172e-01 1.49346128e-03 -7.95131385e+00] [-8.74812543e-04 -1.49822819e-03 9.99998495e-01 -2.45722803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04992885099999 meters 0.09772354399542171 Centerline is valid? [False, True] Translation: X:81.31, Y:-7.95, Z:-2.46 [[ 9.99983446e-01 5.70182576e-03 7.72761941e-04 8.13138169e+01] [-5.70328545e-03 9.99981931e-01 1.90006753e-03 -7.95263157e+00] [-7.61914124e-04 -1.90444336e-03 9.99997896e-01 -2.45710843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07992885099999 meters 0.10127674742573425 Centerline is valid? [True, False] Translation: X:81.32, Y:-7.95, Z:-2.46 [[ 9.99998316e-01 1.82882874e-03 -1.54576199e-04 8.13154333e+01] [-1.82922168e-03 9.99994995e-01 -2.58130810e-03 -7.95143210e+00] [ 1.49854655e-04 2.58158651e-03 9.99996656e-01 -2.45687671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10992885099998 meters 0.09721844246145703 Centerline is valid? [False, True] Translation: X:81.32, Y:-7.95, Z:-2.46 [[ 9.99997945e-01 2.00832154e-03 -2.78570244e-04 8.13157804e+01] [-2.00897929e-03 9.99995147e-01 -2.38132778e-03 -7.95184078e+00] [ 2.73786421e-04 2.38188253e-03 9.99997126e-01 -2.45702055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13992885099998 meters 0.0953009325209711 Centerline is valid? [True, True] Translation: X:81.35, Y:-7.95, Z:-2.46 [[ 9.99984755e-01 5.42140942e-03 -1.04771676e-03 8.13454225e+01] [-5.42128999e-03 9.99985298e-01 1.16793868e-04 -7.95426751e+00] [ 1.04833454e-03 -1.11112111e-04 9.99999444e-01 -2.45926294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16992885099998 meters 0.09507100413943109 Centerline is valid? [True, True] Translation: X:81.37, Y:-7.96, Z:-2.46 [[ 9.99977179e-01 6.68679183e-03 -9.63475022e-04 8.13746354e+01] [-6.68669146e-03 9.99977638e-01 1.07356407e-04 -7.95743093e+00] [ 9.64171347e-04 -1.00911497e-04 9.99999530e-01 -2.45958635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19992885099998 meters 0.09092450021636492 Centerline is valid? [True, True] Translation: X:81.41, Y:-7.95, Z:-2.46 [[ 9.99959215e-01 8.99952995e-03 -7.58942946e-04 8.14053467e+01] [-8.99946801e-03 9.99959500e-01 8.49913882e-05 -7.95380656e+00] [ 7.59677091e-04 -7.81578391e-05 9.99999708e-01 -2.45950639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22992885099998 meters 0.09322865200157573 Centerline is valid? [True, True] Translation: X:81.43, Y:-7.96, Z:-2.46 [[ 9.99939822e-01 1.09369356e-02 -8.57595733e-04 8.14335305e+01] [-1.09368578e-02 9.99940186e-01 9.54391033e-05 -7.96110533e+00] [ 8.58588248e-04 -8.60539574e-05 9.99999628e-01 -2.46108067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25992885099998 meters 0.09309838600163475 Centerline is valid? [True, True] Translation: X:81.46, Y:-7.96, Z:-2.46 [[ 9.99899815e-01 1.41264212e-02 -8.97299149e-04 8.14626147e+01] [-1.41263370e-02 9.99900213e-01 1.00146752e-04 -7.96455304e+00] [ 8.98624326e-04 -8.74611685e-05 9.99999592e-01 -2.46149862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28992885099998 meters 0.0888716126070911 Centerline is valid? [True, True] Translation: X:81.49, Y:-7.96, Z:-2.46 [[ 9.99880154e-01 1.54252780e-02 -1.31874339e-03 8.14934910e+01] [-1.54250969e-02 9.99881015e-01 1.47389190e-04 -7.95979775e+00] [ 1.32085999e-03 -1.27029782e-04 9.99999120e-01 -2.46057372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31992885099999 meters 0.08863951282249762 Centerline is valid? [True, True] Translation: X:81.52, Y:-7.96, Z:-2.46 [[ 9.99864175e-01 1.64722066e-02 -5.45531510e-04 8.15233550e+01] [-1.64721759e-02 9.99864323e-01 6.07765857e-05 -7.96310511e+00] [ 5.46458618e-04 -5.17822397e-05 9.99999849e-01 -2.46207338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34992885099999 meters 0.08823150338319326 Centerline is valid? [True, True] Translation: X:81.55, Y:-7.97, Z:-2.46 [[ 9.99857189e-01 1.68780244e-02 -8.57000076e-04 8.15523964e+01] [-1.68779494e-02 9.99857553e-01 9.46383010e-05 -7.96572922e+00] [ 8.58475306e-04 -8.01603817e-05 9.99999628e-01 -2.46260196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37992885099999 meters 0.08685426196752827 Centerline is valid? [True, True] Translation: X:81.58, Y:-7.97, Z:-2.46 [[ 9.99852771e-01 1.71521678e-02 -4.90170542e-04 8.15809531e+01] [-1.71521436e-02 9.99852890e-01 5.35278801e-05 -7.96699853e+00] [ 4.91016552e-04 -4.51125237e-05 9.99999878e-01 -2.46277554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40992885099999 meters 0.08752482252591262 Centerline is valid? [True, True] Translation: X:81.61, Y:-7.97, Z:-2.46 [[ 9.99859585e-01 1.67548779e-02 2.89190885e-04 8.16083664e+01] [-1.67548688e-02 9.99859627e-01 -3.39399451e-05 -7.97166561e+00] [-2.89718950e-04 2.90898241e-05 9.99999958e-01 -2.46369214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43992885099999 meters 0.08719348330930665 Centerline is valid? [True, True] Translation: X:81.64, Y:-7.97, Z:-2.46 [[ 9.99865183e-01 1.64151699e-02 3.98043925e-04 8.16368579e+01] [-1.64151529e-02 9.99865261e-01 -4.57465985e-05 -7.97445214e+00] [-3.98741232e-04 3.92064792e-05 9.99999920e-01 -2.46383582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46992885099999 meters 0.09008253244802518 Centerline is valid? [True, True] Translation: X:81.66, Y:-7.98, Z:-2.47 [[ 9.99887659e-01 1.49786995e-02 5.55723697e-04 8.16641217e+01] [-1.49786667e-02 9.99887811e-01 -6.31002952e-05 -7.98334660e+00] [-5.56606511e-04 5.47692064e-05 9.99999844e-01 -2.46560810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49992885099998 meters 0.09051469845269423 Centerline is valid? [True, True] Translation: X:81.69, Y:-7.99, Z:-2.47 [[ 9.99895256e-01 1.44664714e-02 4.46212835e-04 8.16922683e+01] [-1.44664500e-02 9.99895354e-01 -5.10414858e-05 -7.98760539e+00] [-4.46904531e-04 4.45810238e-05 9.99999899e-01 -2.46697832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52992885099998 meters 0.09010395279830961 Centerline is valid? [True, True] Translation: X:81.72, Y:-7.99, Z:-2.47 [[ 9.99909374e-01 1.34460489e-02 6.68972326e-04 8.17216614e+01] [-1.34460015e-02 9.99909596e-01 -7.52514367e-05 -7.99036094e+00] [-6.69923682e-04 6.62496140e-05 9.99999773e-01 -2.46756419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55992885099998 meters 0.09145060046449167 Centerline is valid? [True, True] Translation: X:81.75, Y:-8.00, Z:-2.47 [[ 9.99923069e-01 1.23964024e-02 4.31267108e-04 8.17495070e+01] [-1.23963823e-02 9.99923161e-01 -4.93272340e-05 -7.99638970e+00] [-4.31845450e-04 4.39772873e-05 9.99999906e-01 -2.46850230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58992885099998 meters 0.09211843223939228 Centerline is valid? [True, True] Translation: X:81.78, Y:-8.00, Z:-2.47 [[ 9.99936953e-01 1.12131521e-02 5.96453228e-04 8.17782356e+01] [-1.12131140e-02 9.99937129e-01 -6.71010522e-05 -8.00097545e+00] [-5.97168143e-04 6.04087236e-05 9.99999820e-01 -2.46953342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61992885099998 meters 0.09334528411293852 Centerline is valid? [True, True] Translation: X:81.81, Y:-8.01, Z:-2.47 [[ 9.99954282e-01 9.55007125e-03 4.79111239e-04 8.18064939e+01] [-9.55004646e-03 9.99954396e-01 -5.40085299e-05 -8.00640301e+00] [-4.79605175e-04 4.94305262e-05 9.99999884e-01 -2.47107441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64992885099998 meters 0.09380692722211625 Centerline is valid? [True, True] Translation: X:81.84, Y:-8.01, Z:-2.47 [[ 9.99963137e-01 8.58495119e-03 1.49305059e-04 8.18360982e+01] [-8.58494871e-03 9.99963148e-01 -1.72563334e-05 -8.01049802e+00] [-1.49447702e-04 1.59739210e-05 9.99999989e-01 -2.47110948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67992885099999 meters 0.09057257147569629 Centerline is valid? [True, True] Translation: X:81.87, Y:-8.01, Z:-2.47 [[ 9.99971044e-01 7.60975559e-03 -4.81368011e-05 8.18663222e+01] [-7.60975538e-03 9.99971045e-01 4.70907503e-06 -8.00751102e+00] [ 4.81712423e-05 -4.34262940e-06 9.99999999e-01 -2.47100912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70992885099999 meters 0.09424451578641159 Centerline is valid? [True, True] Translation: X:81.89, Y:-8.02, Z:-2.47 [[ 9.99981227e-01 6.12699124e-03 6.98582298e-05 8.18940957e+01] [-6.12699064e-03 9.99981230e-01 -8.74586125e-06 -8.01784443e+00] [-6.99105043e-05 8.31767635e-06 9.99999998e-01 -2.47227625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73992885099999 meters 0.09304096305154724 Centerline is valid? [True, True] Translation: X:81.92, Y:-8.02, Z:-2.47 [[ 9.99981978e-01 6.00350358e-03 4.31595611e-05 8.19229331e+01] [-6.00350333e-03 9.99981979e-01 -6.08263975e-06 -8.01846499e+00] [-4.31953005e-05 5.82342156e-06 9.99999999e-01 -2.47255993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76992885099999 meters 0.09304096305154724 Centerline is valid? [True, True] Translation: X:81.95, Y:-8.02, Z:-2.47 [[ 9.99982380e-01 5.93620802e-03 4.31598160e-05 8.19512274e+01] [-5.93620777e-03 9.99982381e-01 -6.08073536e-06 -8.02154283e+00] [-4.31951520e-05 5.82442258e-06 9.99999999e-01 -2.47310001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79992885099999 meters 0.09393151071281187 Centerline is valid? [True, True] Translation: X:81.98, Y:-8.03, Z:-2.47 [[ 9.99980283e-01 6.25379673e-03 5.69102286e-04 8.19798048e+01] [-6.25376102e-03 9.99980443e-01 -6.44944307e-05 -8.02601062e+00] [-5.69494491e-04 6.09341294e-05 9.99999836e-01 -2.47453290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82992885099999 meters 0.09156762661574247 Centerline is valid? [True, True] Translation: X:82.01, Y:-8.02, Z:-2.47 [[ 9.99978614e-01 6.53182993e-03 3.26964806e-04 8.20092206e+01] [-6.53181798e-03 9.99978667e-01 -3.76040885e-05 -8.02407994e+00] [-3.27203454e-04 3.54676097e-05 9.99999946e-01 -2.47448663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85992885099998 meters 0.09378607213723575 Centerline is valid? [True, True] Translation: X:82.04, Y:-8.03, Z:-2.48 [[ 9.99965688e-01 8.28394435e-03 6.61747096e-06 8.20376738e+01] [-8.28394434e-03 9.99965688e-01 -1.38078054e-06 -8.02996745e+00] [-6.62868221e-06 1.32591440e-06 1.00000000e+00 -2.47653118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88992885099998 meters 0.09113051546706677 Centerline is valid? [True, True] Translation: X:82.07, Y:-8.03, Z:-2.48 [[ 9.99948779e-01 1.01203541e-02 1.32582945e-04 8.20676250e+01] [-1.01203521e-02 9.99948788e-01 -1.53480893e-05 -8.02772849e+00] [-1.32731483e-04 1.40055171e-05 9.99999991e-01 -2.47682872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91992885099998 meters 0.09033532356809 Centerline is valid? [True, True] Translation: X:82.10, Y:-8.03, Z:-2.48 [[ 9.99897881e-01 1.42894004e-02 -1.99613088e-04 8.20980489e+01] [-1.42893963e-02 9.99897901e-01 2.19742752e-05 -8.02791931e+00] [ 1.99906707e-04 -1.91196807e-05 9.99999980e-01 -2.47764399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94992885099998 meters 0.09052885628663951 Centerline is valid? [True, True] Translation: X:82.13, Y:-8.03, Z:-2.48 [[ 9.99864120e-01 1.64837306e-02 1.68709614e-04 8.21269217e+01] [-1.64837276e-02 9.99864134e-01 -1.91674820e-05 -8.03048309e+00] [-1.69002643e-04 1.63839142e-05 9.99999986e-01 -2.47801871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97992885099998 meters 0.0885439745628617 Centerline is valid? [True, True] Translation: X:82.16, Y:-8.03, Z:-2.48 [[ 9.99819070e-01 1.90216468e-02 6.14446415e-05 8.21579577e+01] [-1.90216464e-02 9.99819072e-01 -6.89067133e-06 -8.02885557e+00] [-6.15645964e-05 5.72064636e-06 9.99999998e-01 -2.47812820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00992885099998 meters 0.08652833366299154 Centerline is valid? [True, True] Translation: X:82.19, Y:-8.03, Z:-2.48 [[ 9.99762773e-01 2.17765568e-02 4.24470970e-04 8.21887510e+01] [-2.17765387e-02 9.99762862e-01 -4.71375468e-05 -8.02687624e+00] [-4.25396805e-04 3.78828560e-05 9.99999909e-01 -2.47846101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03992885099998 meters 0.08428102147530074 Centerline is valid? [True, True] Translation: X:82.22, Y:-8.02, Z:-2.48 [[ 9.99701375e-01 2.44321507e-02 4.81264244e-04 8.22195799e+01] [-2.44321278e-02 9.99701490e-01 -5.34494887e-05 -8.02415868e+00] [-4.82426467e-04 4.16752178e-05 9.99999883e-01 -2.47803984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06992885099999 meters 0.08367503773718274 Centerline is valid? [True, True] Translation: X:82.25, Y:-8.03, Z:-2.48 [[ 9.99624952e-01 2.73562089e-02 1.26225418e-03 8.22496085e+01] [-2.73560537e-02 9.99625743e-01 -1.40049401e-04 -8.02519061e+00] [-1.26561299e-03 1.05466582e-04 9.99999194e-01 -2.47919038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09992885099999 meters 0.08472664031832068 Centerline is valid? [True, True] Translation: X:82.28, Y:-8.03, Z:-2.48 [[ 9.99521921e-01 3.09181129e-02 -2.36281767e-05 8.22791850e+01] [-3.09181129e-02 9.99521921e-01 2.24561521e-06 -8.02848612e+00] [ 2.36863108e-05 -1.51400299e-06 1.00000000e+00 -2.48039736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12992885099999 meters 0.0848698201205556 Centerline is valid? [True, True] Translation: X:82.31, Y:-8.03, Z:-2.48 [[ 9.99488217e-01 3.19829211e-02 -6.29649891e-04 8.23076829e+01] [-3.19828842e-02 9.99488414e-01 6.85402636e-05 -8.03111719e+00] [ 6.31519889e-04 -4.83671663e-05 9.99999799e-01 -2.48191359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15992885099999 meters 0.08304642449316148 Centerline is valid? [True, True] Translation: X:82.34, Y:-8.03, Z:-2.48 [[ 9.99475409e-01 3.23413550e-02 -1.71566265e-03 8.23364986e+01] [-3.23410783e-02 9.99476873e-01 1.88740769e-04 -8.02941790e+00] [ 1.72086927e-03 -1.33155377e-04 9.99998510e-01 -2.48223002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18992885099999 meters 0.08256511725847812 Centerline is valid? [True, True] Translation: X:82.36, Y:-8.03, Z:-2.48 [[ 9.99466508e-01 3.25324166e-02 -2.88796365e-03 8.23645982e+01] [-3.25316338e-02 9.99470656e-01 3.17628167e-04 -8.03140347e+00] [ 2.89676813e-03 -2.23508539e-04 9.99995779e-01 -2.48279023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21992885099998 meters 0.08226728227335513 Centerline is valid? [True, True] Translation: X:82.39, Y:-8.03, Z:-2.48 [[ 9.99480272e-01 3.21460840e-02 -2.41161557e-03 8.23932350e+01] [-3.21455367e-02 9.99483163e-01 2.65389583e-04 -8.03379500e+00] [ 2.41890040e-03 -1.87728976e-04 9.99997057e-01 -2.48283781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24992885099998 meters 0.08407950120358489 Centerline is valid? [True, True] Translation: X:82.42, Y:-8.04, Z:-2.48 [[ 9.99526234e-01 3.06568314e-02 -2.73235789e-03 8.24209951e+01] [-3.06561239e-02 9.99529945e-01 3.00444563e-04 -8.04060676e+00] [ 2.74028421e-03 -2.16538720e-04 9.99996222e-01 -2.48478414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27992885099998 meters 0.084048058559927 Centerline is valid? [True, True] Translation: X:82.45, Y:-8.04, Z:-2.49 [[ 9.99560035e-01 2.95496854e-02 -2.55988129e-03 8.24504998e+01] [-2.95490591e-02 9.99563291e-01 2.82150956e-04 -8.04424240e+00] [ 2.56710084e-03 -2.06384736e-04 9.99996684e-01 -2.48526925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30992885099998 meters 0.08427447457228704 Centerline is valid? [True, True] Translation: X:82.48, Y:-8.05, Z:-2.49 [[ 9.99657178e-01 2.59202809e-02 -3.69660525e-03 8.24808051e+01] [-2.59189468e-02 9.99663964e-01 4.08371107e-04 -8.04905512e+00] [ 3.70594815e-03 -3.12418994e-04 9.99993084e-01 -2.48581817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33992885099998 meters 0.08740068282015075 Centerline is valid? [True, True] Translation: X:82.51, Y:-8.06, Z:-2.49 [[ 9.99711213e-01 2.37499854e-02 -3.66441045e-03 8.25093065e+01] [-2.37486614e-02 9.99717879e-01 4.04416800e-04 -8.06002938e+00] [ 3.67298154e-03 -3.17275167e-04 9.99993204e-01 -2.48820462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36992885099998 meters 0.08806623515664365 Centerline is valid? [True, True] Translation: X:82.54, Y:-8.07, Z:-2.49 [[ 9.99769494e-01 2.09906776e-02 -4.51124344e-03 8.25392354e+01] [-2.09886414e-02 9.99779590e-01 4.98234376e-04 -8.06590887e+00] [ 4.52070740e-03 -4.03434658e-04 9.99989700e-01 -2.48945657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39992885099998 meters 0.08788635797442687 Centerline is valid? [True, True] Translation: X:82.57, Y:-8.07, Z:-2.49 [[ 9.99812328e-01 1.88987026e-02 -4.26012840e-03 8.25687561e+01] [-1.88968695e-02 9.99821328e-01 4.70137590e-04 -8.06972979e+00] [ 4.26825223e-03 -3.89546268e-04 9.99990815e-01 -2.48998930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42992885099999 meters 0.08932004825677196 Centerline is valid? [True, True] Translation: X:82.60, Y:-8.08, Z:-2.49 [[ 9.99884340e-01 1.43534576e-02 -5.02839590e-03 8.25977873e+01] [-1.43508464e-02 9.99896867e-01 5.54989886e-04 -8.07848877e+00] [ 5.03584333e-03 -4.82763959e-04 9.99987204e-01 -2.49123586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45992885099999 meters 0.08974889556790494 Centerline is valid? [True, True] Translation: X:82.63, Y:-8.08, Z:-2.49 [[ 9.99908033e-01 1.20233913e-02 -6.27409279e-03 8.26281662e+01] [-1.20192793e-02 9.99927526e-01 6.92680749e-04 -8.08376419e+00] [ 6.28196645e-03 -6.17206972e-04 9.99980078e-01 -2.49214697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48992885099999 meters 0.0918506503568938 Centerline is valid? [True, True] Translation: X:82.66, Y:-8.09, Z:-2.49 [[ 9.99920475e-01 1.08362661e-02 -6.45127180e-03 8.26555590e+01] [-1.08319049e-02 9.99941081e-01 7.10591073e-04 -8.09217020e+00] [ 6.45859185e-03 -6.40655001e-04 9.99978938e-01 -2.49420032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51992885099999 meters 0.09421650744818687 Centerline is valid? [True, True] Translation: X:82.68, Y:-8.10, Z:-2.50 [[ 9.99939603e-01 8.48380780e-03 -6.98674009e-03 8.26835355e+01] [-8.47862560e-03 9.99963759e-01 7.71005759e-04 -8.10212649e+00] [ 6.99302795e-03 -7.11721240e-04 9.99975295e-01 -2.49701610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54992885099999 meters 0.0931807934359234 Centerline is valid? [True, True] Translation: X:82.71, Y:-8.10, Z:-2.50 [[ 9.99942909e-01 8.17368002e-03 -6.88263399e-03 8.27122638e+01] [-8.16865602e-03 9.99966349e-01 7.57748677e-04 -8.10456579e+00] [ 6.88859597e-03 -7.01483547e-04 9.99976027e-01 -2.49708483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57992885099999 meters 0.09126146795570028 Centerline is valid? [True, True] Translation: X:82.74, Y:-8.10, Z:-2.50 [[ 9.99941895e-01 8.03892453e-03 -7.18204028e-03 8.27408007e+01] [-8.03345376e-03 9.99967419e-01 7.90253631e-04 -8.10475403e+00] [ 7.18815907e-03 -7.32511125e-04 9.99973897e-01 -2.49699795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60992885099998 meters 0.09188002881886098 Centerline is valid? [True, True] Translation: X:82.77, Y:-8.11, Z:-2.50 [[ 9.99921118e-01 1.02839233e-02 -7.21108131e-03 8.27693695e+01] [-1.02784607e-02 9.99946860e-01 7.94178111e-04 -8.11063588e+00] [ 7.21886538e-03 -7.19996648e-04 9.99973684e-01 -2.49813479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63992885099998 meters 0.08924183680594466 Centerline is valid? [True, True] Translation: X:82.80, Y:-8.11, Z:-2.50 [[ 9.99903111e-01 1.17668748e-02 -7.43705569e-03 8.27993183e+01] [-1.17611086e-02 9.99930501e-01 8.18586604e-04 -8.10883059e+00] [ 7.44617103e-03 -7.31039272e-04 9.99972010e-01 -2.49778546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66992885099998 meters 0.08906410644285105 Centerline is valid? [True, True] Translation: X:82.83, Y:-8.11, Z:-2.50 [[ 9.99873679e-01 1.34631608e-02 -8.44804400e-03 8.28285666e+01] [-1.34557819e-02 9.99909035e-01 9.29669684e-04 -8.11193049e+00] [ 8.45979182e-03 -8.15877209e-04 9.99963882e-01 -2.49926518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69992885099998 meters 0.09108153813178126 Centerline is valid? [True, True] Translation: X:82.86, Y:-8.12, Z:-2.50 [[ 9.99831458e-01 1.59931276e-02 -9.01529949e-03 8.28576274e+01] [-1.59848258e-02 9.99871742e-01 9.92163706e-04 -8.11980821e+00] [ 9.03001101e-03 -8.47888493e-04 9.99958869e-01 -2.50209866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72992885099998 meters 0.08683027429312404 Centerline is valid? [True, True] Translation: X:82.89, Y:-8.12, Z:-2.50 [[ 9.99745225e-01 2.04698713e-02 -9.51153458e-03 8.28881158e+01] [-2.04608353e-02 9.99790108e-01 1.04635093e-03 -8.11503707e+00] [ 9.53095685e-03 -8.51470399e-04 9.99954217e-01 -2.50049210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75992885099998 meters 0.08664341569774334 Centerline is valid? [True, True] Translation: X:82.92, Y:-8.12, Z:-2.50 [[ 9.99698638e-01 2.25679335e-02 -9.66028617e-03 8.29178363e+01] [-2.25587088e-02 9.99744955e-01 1.06282094e-03 -8.11855639e+00] [ 9.68180803e-03 -8.44577059e-04 9.99952774e-01 -2.50112072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78992885099998 meters 0.08610434616717222 Centerline is valid? [True, True] Translation: X:82.95, Y:-8.12, Z:-2.50 [[ 9.99666663e-01 2.39073902e-02 -9.74678702e-03 8.29477818e+01] [-2.38980643e-02 9.99713826e-01 1.07217660e-03 -8.12103983e+00] [ 9.76963069e-03 -8.38889857e-04 9.99951924e-01 -2.50212630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81992885099999 meters 0.08459653121190616 Centerline is valid? [True, True] Translation: X:82.98, Y:-8.12, Z:-2.50 [[ 9.99624219e-01 2.56110368e-02 -9.77216589e-03 8.29776771e+01] [-2.56017523e-02 9.99671644e-01 1.07403616e-03 -8.12272932e+00] [ 9.79646432e-03 -8.23447985e-04 9.99951674e-01 -2.50191156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84992885099999 meters 0.0859211769016182 Centerline is valid? [True, True] Translation: X:83.00, Y:-8.13, Z:-2.50 [[ 9.99625804e-01 2.54045819e-02 -1.01419132e-02 8.30042895e+01] [-2.53945921e-02 9.99676886e-01 1.11258964e-03 -8.12980459e+00] [ 1.01669011e-02 -8.54623569e-04 9.99947951e-01 -2.50365220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87992885099999 meters 0.08647577462229598 Centerline is valid? [True, True] Translation: X:83.03, Y:-8.14, Z:-2.50 [[ 9.99633677e-01 2.51293122e-02 -1.00513086e-02 8.30312588e+01] [-2.51194914e-02 9.99683848e-01 1.10214501e-03 -8.13534311e+00] [ 1.00758270e-02 -8.49257509e-04 9.99948877e-01 -2.50464823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90992885099999 meters 0.08843446085820496 Centerline is valid? [True, True] Translation: X:83.06, Y:-8.15, Z:-2.51 [[ 9.99661843e-01 2.39602606e-02 -1.01047551e-02 8.30587008e+01] [-2.39502743e-02 9.99712537e-01 1.10814663e-03 -8.14536564e+00] [ 1.01284019e-02 -8.65760246e-04 9.99948332e-01 -2.50603005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93992885099999 meters 0.08872209379135992 Centerline is valid? [True, True] Translation: X:83.09, Y:-8.15, Z:-2.51 [[ 9.99683385e-01 2.32415070e-02 -9.64170876e-03 8.30875056e+01] [-2.32323912e-02 9.99729533e-01 1.05639696e-03 -8.15024094e+00] [ 9.66365326e-03 -8.32062534e-04 9.99952960e-01 -2.50628613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96992885099998 meters 0.08945963021587312 Centerline is valid? [True, True] Translation: X:83.12, Y:-8.16, Z:-2.51 [[ 9.99705567e-01 2.21197807e-02 -9.97469500e-03 8.31161378e+01] [-2.21099703e-02 9.99754948e-01 1.09274929e-03 -8.15621473e+00] [ 9.99642205e-03 -8.71887337e-04 9.99949654e-01 -2.50697253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99992885099998 meters 0.08703968435886823 Centerline is valid? [True, True] Translation: X:83.15, Y:-8.16, Z:-2.51 [[ 9.99713374e-01 2.13092708e-02 -1.09125991e-02 8.31457675e+01] [-2.12974860e-02 9.99772469e-01 1.19500546e-03 -8.15558718e+00] [ 1.09355808e-02 -9.62252013e-04 9.99939742e-01 -2.50587366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02992885099998 meters 0.09247351422080499 Centerline is valid? [True, True] Translation: X:83.17, Y:-8.17, Z:-2.51 [[ 9.99754233e-01 1.94914518e-02 -1.05620208e-02 8.31728215e+01] [-1.94803243e-02 9.99809573e-01 1.15540534e-03 -8.17252390e+00] [ 1.05825300e-02 -9.49369788e-04 9.99943553e-01 -2.50995909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05992885099998 meters 0.08717927768275464 Centerline is valid? [True, True] Translation: X:83.20, Y:-8.17, Z:-2.51 [[ 9.99775649e-01 1.82932620e-02 -1.06774223e-02 8.32031447e+01] [-1.82818182e-02 9.99832191e-01 1.16840722e-03 -8.16683125e+00] [ 1.06970045e-02 -9.72942392e-04 9.99942312e-01 -2.50651748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08992885099998 meters 0.08733673122577096 Centerline is valid? [True, True] Translation: X:83.23, Y:-8.17, Z:-2.51 [[ 9.99788520e-01 1.76987788e-02 -1.04723033e-02 8.32311896e+01] [-1.76877524e-02 9.99842904e-01 1.14460040e-03 -8.17170505e+00] [ 1.04909162e-02 -9.59126836e-04 9.99944509e-01 -2.50710882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11992885099998 meters 0.0874379579915263 Centerline is valid? [True, True] Translation: X:83.26, Y:-8.18, Z:-2.51 [[ 9.99808544e-01 1.68095093e-02 -1.00157606e-02 8.32594788e+01] [-1.67993866e-02 9.99858282e-01 1.09396087e-03 -8.17621428e+00] [ 1.00327302e-02 -9.25492786e-04 9.99949243e-01 -2.50734425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14992885099998 meters 0.0862156339486087 Centerline is valid? [True, True] Translation: X:83.29, Y:-8.18, Z:-2.51 [[ 9.99802447e-01 1.64139974e-02 -1.12092838e-02 8.32885892e+01] [-1.64013008e-02 9.99864741e-01 1.22368164e-03 -8.17758767e+00] [ 1.12278531e-02 -1.03959306e-03 9.99936425e-01 -2.50699314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17992885099999 meters 0.08839052863158135 Centerline is valid? [True, True] Translation: X:83.32, Y:-8.19, Z:-2.51 [[ 9.99789108e-01 1.72126647e-02 -1.12010986e-02 8.33161377e+01] [-1.72000448e-02 9.99851321e-01 1.22203195e-03 -8.18537632e+00] [ 1.12204676e-02 -1.02911483e-03 9.99936519e-01 -2.50951224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20992885099999 meters 0.08779658213423197 Centerline is valid? [True, True] Translation: X:83.34, Y:-8.19, Z:-2.51 [[ 9.99767037e-01 1.82539825e-02 -1.15180129e-02 8.33448982e+01] [-1.82407151e-02 9.99832836e-01 1.25589393e-03 -8.18755218e+00] [ 1.15390125e-02 -1.04550456e-03 9.99932877e-01 -2.50948858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23992885099999 meters 0.08787419266119349 Centerline is valid? [True, True] Translation: X:83.37, Y:-8.19, Z:-2.51 [[ 9.99719718e-01 2.05686241e-02 -1.17225174e-02 8.33733256e+01] [-2.05550419e-02 9.99787906e-01 1.27795701e-03 -8.19026634e+00] [ 1.17463170e-02 -1.03664198e-03 9.99930472e-01 -2.51053051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26992885099999 meters 0.08528210246507724 Centerline is valid? [True, True] Translation: X:83.40, Y:-8.19, Z:-2.51 [[ 9.99679698e-01 2.29462817e-02 -1.06756926e-02 8.34041160e+01] [-2.29351438e-02 9.99736277e-01 1.16457419e-03 -8.18832902e+00] [ 1.06995999e-02 -9.19352633e-04 9.99942335e-01 -2.50918831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29992885099999 meters 0.08569189529861868 Centerline is valid? [True, True] Translation: X:83.43, Y:-8.19, Z:-2.51 [[ 9.99639453e-01 2.47420807e-02 -1.04304420e-02 8.34332012e+01] [-2.47315553e-02 9.99693482e-01 1.13690601e-03 -8.19153953e+00] [ 1.04553743e-02 -8.78535048e-04 9.99944955e-01 -2.51042963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32992885099999 meters 0.08494681081800319 Centerline is valid? [True, True] Translation: X:83.46, Y:-8.19, Z:-2.51 [[ 9.99546507e-01 2.86593024e-02 -9.24256644e-03 8.34634808e+01] [-2.86512017e-02 9.99588962e-01 1.00770834e-03 -8.19164190e+00] [ 9.26764761e-03 -7.42440713e-04 9.99956779e-01 -2.51025212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35992885099998 meters 0.08311931847690752 Centerline is valid? [True, True] Translation: X:83.49, Y:-8.19, Z:-2.51 [[ 9.99487106e-01 3.06405108e-02 -9.31046082e-03 8.34939295e+01] [-3.06323787e-02 9.99530203e-01 1.01482506e-03 -8.18945390e+00] [ 9.33718156e-03 -7.29103000e-04 9.99956142e-01 -2.50956214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38992885099998 meters 0.08343554946972584 Centerline is valid? [True, True] Translation: X:83.52, Y:-8.19, Z:-2.51 [[ 9.99435522e-01 3.23752797e-02 -8.97096215e-03 8.35223232e+01] [-3.23678091e-02 9.99475548e-01 9.76723272e-04 -8.19218262e+00] [ 8.99787900e-03 -6.85801543e-04 9.99959283e-01 -2.51043976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41992885099998 meters 0.08399853746484988 Centerline is valid? [True, True] Translation: X:83.55, Y:-8.20, Z:-2.51 [[ 9.99381024e-01 3.42179505e-02 -8.16707454e-03 8.35509730e+01] [-3.42118203e-02 9.99414209e-01 8.89169043e-04 -8.19557163e+00] [ 8.19271588e-03 -6.09208182e-04 9.99966254e-01 -2.51180886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44992885099998 meters 0.08256416087909275 Centerline is valid? [True, True] Translation: X:83.58, Y:-8.19, Z:-2.51 [[ 9.99290301e-01 3.68272505e-02 -7.91503027e-03 8.35812186e+01] [-3.68215730e-02 9.99321484e-01 8.61888409e-04 -8.19422648e+00] [ 7.94140078e-03 -5.69832863e-04 9.99968304e-01 -2.51081742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47992885099998 meters 0.08468859204540712 Centerline is valid? [True, True] Translation: X:83.61, Y:-8.20, Z:-2.51 [[ 9.99276049e-01 3.72752863e-02 -7.61120749e-03 8.36087521e+01] [-3.72700603e-02 9.99304887e-01 8.27354611e-04 -8.20185471e+00] [ 7.63675673e-03 -5.43085485e-04 9.99970692e-01 -2.51378753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50992885099998 meters 0.08169270962965675 Centerline is valid? [True, True] Translation: X:83.64, Y:-8.20, Z:-2.51 [[ 9.99256322e-01 3.78367077e-02 -7.42869503e-03 8.36383748e+01] [-3.78317489e-02 9.99283797e-01 8.06963092e-04 -8.19725533e+00] [ 7.45390740e-03 -5.25322447e-04 9.99972081e-01 -2.51108502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53992885099998 meters 0.08157308581984093 Centerline is valid? [True, True] Translation: X:83.67, Y:-8.20, Z:-2.51 [[ 9.99265527e-01 3.76833745e-02 -6.95487499e-03 8.36673066e+01] [-3.76790282e-02 9.99289608e-01 7.54945554e-04 -8.20011181e+00] [ 6.97838320e-03 -4.92338136e-04 9.99975530e-01 -2.51127211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56992885099999 meters 0.08184560668411028 Centerline is valid? [True, True] Translation: X:83.70, Y:-8.20, Z:-2.51 [[ 9.99314362e-01 3.66362053e-02 -5.34742622e-03 8.36963692e+01] [-3.66336245e-02 9.99328595e-01 5.79802160e-04 -8.20317043e+00] [ 5.36507768e-03 -3.83509021e-04 9.99985534e-01 -2.51185162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59992885099999 meters 0.08501188054698298 Centerline is valid? [True, True] Translation: X:83.72, Y:-8.21, Z:-2.51 [[ 9.99372348e-01 3.49937175e-02 -5.50914823e-03 8.37238741e+01] [-3.49909559e-02 9.99387451e-01 5.96898660e-04 -8.21382181e+00] [ 5.52666131e-03 -4.03753652e-04 9.99984646e-01 -2.51435417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62992885099999 meters 0.08304894976065398 Centerline is valid? [True, True] Translation: X:83.75, Y:-8.21, Z:-2.51 [[ 9.99438140e-01 3.30888029e-02 -5.34177155e-03 8.37537482e+01] [-3.30861768e-02 9.99452335e-01 5.79261984e-04 -8.21229271e+00] [ 5.35801314e-03 -4.02197722e-04 9.99985565e-01 -2.51363221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65992885099999 meters 0.08304894976065398 Centerline is valid? [True, True] Translation: X:83.78, Y:-8.22, Z:-2.51 [[ 9.99441436e-01 3.29890864e-02 -5.34196547e-03 8.37811366e+01] [-3.29864684e-02 9.99455632e-01 5.77474626e-04 -8.21516625e+00] [ 5.35810783e-03 -4.00939495e-04 9.99985565e-01 -2.51415457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68992885099999 meters 0.08902336495212185 Centerline is valid? [True, True] Translation: X:83.81, Y:-8.23, Z:-2.52 [[ 9.99503347e-01 3.09874349e-02 -5.73040911e-03 8.38084349e+01] [-3.09843793e-02 9.99519676e-01 6.21259374e-04 -8.23190541e+00] [ 5.74690789e-03 -4.43397655e-04 9.99983388e-01 -2.51871947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71992885099998 meters 0.09174740462375593 Centerline is valid? [True, True] Translation: X:83.84, Y:-8.24, Z:-2.52 [[ 9.99624268e-01 2.62896265e-02 -7.75753160e-03 8.38364918e+01] [-2.62838860e-02 9.99654165e-01 8.41041896e-04 -8.24090344e+00] [ 7.77695945e-03 -6.36827813e-04 9.99969556e-01 -2.52188073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74992885099998 meters 0.08589148603707808 Centerline is valid? [True, True] Translation: X:83.87, Y:-8.23, Z:-2.52 [[ 9.99682256e-01 2.39058209e-02 -7.99370501e-03 8.38678163e+01] [-2.38996520e-02 9.99713987e-01 8.66372723e-04 -8.23159754e+00] [ 8.01213006e-03 -6.75050670e-04 9.99967675e-01 -2.51865300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77992885099998 meters 0.08647998746779319 Centerline is valid? [True, True] Translation: X:83.90, Y:-8.24, Z:-2.52 [[ 9.99729345e-01 2.14246599e-02 -9.06757181e-03 8.38978060e+01] [-2.14166191e-02 9.99770155e-01 9.82944098e-04 -8.23599341e+00] [ 9.08654691e-03 -7.88481327e-04 9.99958406e-01 -2.51925464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80992885099998 meters 0.08889551834024596 Centerline is valid? [True, True] Translation: X:83.93, Y:-8.24, Z:-2.52 [[ 9.99776205e-01 1.87814942e-02 -9.73630172e-03 8.39264774e+01] [-1.87720977e-02 9.99823231e-01 1.05560591e-03 -8.24382381e+00] [ 9.75440650e-03 -8.72598863e-04 9.99952044e-01 -2.52154166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83992885099998 meters 0.08884490485670224 Centerline is valid? [True, True] Translation: X:83.96, Y:-8.25, Z:-2.52 [[ 9.99839418e-01 1.42865559e-02 -1.08181939e-02 8.39561726e+01] [-1.42746992e-02 9.99897424e-01 1.17242242e-03 -8.24622293e+00] [ 1.08338341e-02 -1.01780768e-03 9.99940794e-01 -2.52152896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86992885099998 meters 0.09005255735110783 Centerline is valid? [True, True] Translation: X:83.99, Y:-8.25, Z:-2.52 [[ 9.99864504e-01 1.23316260e-02 -1.09043507e-02 8.39860292e+01] [-1.23194684e-02 9.99923415e-01 1.18140633e-03 -8.25164041e+00] [ 1.09180843e-02 -1.04691045e-03 9.99939848e-01 -2.52301032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89992885099998 meters 0.08965528974253849 Centerline is valid? [True, True] Translation: X:84.02, Y:-8.25, Z:-2.52 [[ 9.99894933e-01 9.70235746e-03 -1.07697594e-02 8.40166357e+01] [-9.69034421e-03 9.99952366e-01 1.16708592e-03 -8.25317059e+00] [ 1.07805699e-02 -1.06260062e-03 9.99941323e-01 -2.52293405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92992885099999 meters 0.09263333173228325 Centerline is valid? [True, True] Translation: X:84.04, Y:-8.26, Z:-2.53 [[ 9.99899125e-01 8.74779561e-03 -1.11899908e-02 8.40444851e+01] [-8.73478340e-03 9.99961118e-01 1.21118880e-03 -8.26110089e+00] [ 1.12001509e-02 -1.11332447e-03 9.99936657e-01 -2.52514864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95992885099999 meters 0.08954280908399612 Centerline is valid? [True, True] Translation: X:84.07, Y:-8.26, Z:-2.52 [[ 9.99901206e-01 7.88654612e-03 -1.16353106e-02 8.40744034e+01] [-7.87242663e-03 9.99968220e-01 1.25880559e-03 -8.25671861e+00] [ 1.16448685e-02 -1.16708310e-03 9.99931515e-01 -2.52410500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98992885099999 meters 0.08794726660760867 Centerline is valid? [True, True] Translation: X:84.10, Y:-8.26, Z:-2.52 [[ 9.99911737e-01 7.56833326e-03 -1.09195976e-02 8.41035964e+01] [-7.55589149e-03 9.99970757e-01 1.18020423e-03 -8.25515254e+00] [ 1.09282104e-02 -1.09759277e-03 9.99939683e-01 -2.52294321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01992885099999 meters 0.09400801921407079 Centerline is valid? [True, True] Translation: X:84.13, Y:-8.27, Z:-2.53 [[ 9.99915074e-01 7.56099255e-03 -1.06148893e-02 8.41297259e+01] [-7.54924866e-03 9.99970847e-01 1.14599346e-03 -8.26913547e+00] [ 1.06232447e-02 -1.06576170e-03 9.99943004e-01 -2.52709155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04992885099999 meters 0.0925759948951126 Centerline is valid? [True, True] Translation: X:84.16, Y:-8.27, Z:-2.53 [[ 9.99922403e-01 8.37914174e-03 -9.21839394e-03 8.41600536e+01] [-8.37031038e-03 9.99964472e-01 9.96179624e-04 -8.26709555e+00] [ 9.22641356e-03 -9.18941505e-04 9.99957013e-01 -2.52622956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07992885099999 meters 0.08973967884513162 Centerline is valid? [True, True] Translation: X:84.19, Y:-8.26, Z:-2.52 [[ 9.99926881e-01 8.32576498e-03 -8.77007088e-03 8.41893398e+01] [-8.31778376e-03 9.99964959e-01 9.46133516e-04 -8.26291710e+00] [ 8.77764085e-03 -8.73116783e-04 9.99961095e-01 -2.52483296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10992885099998 meters 0.09174396618073143 Centerline is valid? [True, True] Translation: X:84.22, Y:-8.27, Z:-2.53 [[ 9.99925466e-01 8.84579846e-03 -8.41510748e-03 8.42171067e+01] [-8.83847365e-03 9.99960528e-01 9.07227340e-04 -8.26855967e+00] [ 8.42280048e-03 -8.32783015e-04 9.99964181e-01 -2.52688377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13992885099998 meters 0.09035592822056135 Centerline is valid? [True, True] Translation: X:84.25, Y:-8.27, Z:-2.53 [[ 9.99914466e-01 9.48136424e-03 -9.00908179e-03 8.42466555e+01] [-9.47299478e-03 9.99954659e-01 9.71222680e-04 -8.26717661e+00] [ 9.01788182e-03 -8.85796623e-04 9.99958946e-01 -2.52691091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16992885099998 meters 0.09078169445715961 Centerline is valid? [True, True] Translation: X:84.28, Y:-8.27, Z:-2.53 [[ 9.99895629e-01 1.12377857e-02 -9.07985562e-03 8.42759052e+01] [-1.12293557e-02 9.99936470e-01 9.78877831e-04 -8.26779836e+00] [ 9.09027919e-03 -8.76814736e-04 9.99958298e-01 -2.52819627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19992885099998 meters 0.09108111319946277 Centerline is valid? [True, True] Translation: X:84.31, Y:-8.27, Z:-2.53 [[ 9.99883034e-01 1.29057834e-02 -8.20728071e-03 8.43055505e+01] [-1.28989542e-02 9.99916414e-01 8.84478829e-04 -8.26946823e+00] [ 8.21800959e-03 -7.78510037e-04 9.99965929e-01 -2.52940382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22992885099998 meters 0.09272270364394125 Centerline is valid? [True, True] Translation: X:84.33, Y:-8.27, Z:-2.53 [[ 9.99864423e-01 1.40314720e-02 -8.61703879e-03 8.43329472e+01] [-1.40239993e-02 9.99901229e-01 9.27021136e-04 -8.27392350e+00] [ 8.62919515e-03 -8.06050108e-04 9.99962443e-01 -2.53072884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25992885099998 meters 0.0905638952191561 Centerline is valid? [True, True] Translation: X:84.36, Y:-8.27, Z:-2.53 [[ 9.99817938e-01 1.75487844e-02 -7.49209548e-03 8.43632304e+01] [-1.75432285e-02 9.99845780e-01 8.06647620e-04 -8.26920457e+00] [ 7.50509574e-03 -6.75065217e-04 9.99971609e-01 -2.53031223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28992885099998 meters 0.09010971589676234 Centerline is valid? [True, True] Translation: X:84.39, Y:-8.27, Z:-2.53 [[ 9.99784475e-01 1.95125179e-02 -7.08984642e-03 8.43934961e+01] [-1.95075944e-02 9.99809418e-01 7.62939921e-04 -8.26973331e+00] [ 7.10338210e-03 -6.24469639e-04 9.99974576e-01 -2.53106476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31992885099999 meters 0.0857541741976053 Centerline is valid? [True, True] Translation: X:84.42, Y:-8.26, Z:-2.53 [[ 9.99739335e-01 2.16359724e-02 -7.29015467e-03 8.44242449e+01] [-2.16308246e-02 9.99765719e-01 7.84260655e-04 -8.26131279e+00] [ 7.30541497e-03 -6.26364169e-04 9.99973119e-01 -2.52915693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34992885099999 meters 0.08566814948876264 Centerline is valid? [True, True] Translation: X:84.45, Y:-8.26, Z:-2.53 [[ 9.99676003e-01 2.42774718e-02 -7.64814910e-03 8.44533460e+01] [-2.42718841e-02 9.99705056e-01 8.22589810e-04 -8.26223641e+00] [ 7.66586373e-03 -6.36688305e-04 9.99970414e-01 -2.52992266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37992885099999 meters 0.08836352391898489 Centerline is valid? [True, True] Translation: X:84.48, Y:-8.27, Z:-2.53 [[ 9.99559195e-01 2.85763608e-02 -8.05030414e-03 8.44822065e+01] [-2.85703087e-02 9.99591410e-01 8.65802645e-04 -8.26712234e+00] [ 8.07175636e-03 -6.35421320e-04 9.99967221e-01 -2.53396779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40992885099999 meters 0.08718723432427526 Centerline is valid? [True, True] Translation: X:84.51, Y:-8.27, Z:-2.53 [[ 9.99514726e-01 2.99658084e-02 -8.50668259e-03 8.45117527e+01] [-2.99591447e-02 9.99550710e-01 9.09719999e-04 -8.26533514e+00] [ 8.53012112e-03 -6.54425600e-04 9.99963404e-01 -2.53454919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43992885099999 meters 0.08807956503616436 Centerline is valid? [True, True] Translation: X:84.54, Y:-8.27, Z:-2.54 [[ 9.99468472e-01 3.16407469e-02 -7.85092687e-03 8.45399378e+01] [-3.16351041e-02 9.99499130e-01 8.41925282e-04 -8.26884768e+00] [ 7.87363373e-03 -5.93112886e-04 9.99968827e-01 -2.53628507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46992885099998 meters 0.08849375452685374 Centerline is valid? [True, True] Translation: X:84.57, Y:-8.27, Z:-2.54 [[ 9.99408136e-01 3.32554563e-02 -8.80067794e-03 8.45682978e+01] [-3.32484340e-02 9.99446673e-01 9.43069660e-04 -8.26894126e+00] [ 8.82717050e-03 -6.49902731e-04 9.99960829e-01 -2.53866712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49992885099998 meters 0.08839252753013349 Centerline is valid? [True, True] Translation: X:84.60, Y:-8.27, Z:-2.54 [[ 9.99422288e-01 3.28207549e-02 -8.82548051e-03 8.45972549e+01] [-3.28136811e-02 9.99461039e-01 9.45176678e-04 -8.27036362e+00] [ 8.85174533e-03 -6.55034135e-04 9.99960608e-01 -2.53900943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52992885099998 meters 0.08345182721959502 Centerline is valid? [True, True] Translation: X:84.63, Y:-8.26, Z:-2.54 [[ 9.99434824e-01 3.24240223e-02 -8.87222220e-03 8.46268907e+01] [-3.24168637e-02 9.99473984e-01 9.49513385e-04 -8.26083193e+00] [ 8.89834232e-03 -6.61367125e-04 9.99960190e-01 -2.53595259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55992885099998 meters 0.08493640409118372 Centerline is valid? [True, True] Translation: X:84.66, Y:-8.27, Z:-2.54 [[ 9.99511004e-01 2.98082032e-02 -9.44587353e-03 8.46564886e+01] [-2.97999645e-02 9.99555370e-01 1.01177464e-03 -8.26587202e+00] [ 9.47183280e-03 -7.29793189e-04 9.99954875e-01 -2.53767049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58992885099998 meters 0.08634702845200046 Centerline is valid? [True, True] Translation: X:84.68, Y:-8.27, Z:-2.54 [[ 9.99571442e-01 2.79176156e-02 -8.80564563e-03 8.46840149e+01] [-2.79103995e-02 9.99609986e-01 9.41335995e-04 -8.27087879e+00] [ 8.82849116e-03 -6.95163490e-04 9.99960786e-01 -2.53888344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61992885099998 meters 0.08548629969277816 Centerline is valid? [True, True] Translation: X:84.71, Y:-8.27, Z:-2.54 [[ 9.99616474e-01 2.61115006e-02 -9.22468328e-03 8.47135424e+01] [-2.61035038e-02 9.99658759e-01 9.86257554e-04 -8.27107065e+00] [ 9.24728811e-03 -7.45082744e-04 9.99956965e-01 -2.53882303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64992885099998 meters 0.08862952668087079 Centerline is valid? [True, True] Translation: X:84.74, Y:-8.28, Z:-2.54 [[ 9.99655930e-01 2.44844266e-02 -9.40929277e-03 8.47415274e+01] [-2.44760393e-02 9.99699911e-01 1.00552722e-03 -8.28030460e+00] [ 9.43108891e-03 -7.74879031e-04 9.99955226e-01 -2.54159155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67992885099999 meters 0.08964143623724105 Centerline is valid? [True, True] Translation: X:84.77, Y:-8.28, Z:-2.54 [[ 9.99745545e-01 2.02814745e-02 -9.87460562e-03 8.47718483e+01] [-2.02720231e-02 9.99793943e-01 1.05629875e-03 -8.28400599e+00] [ 9.89399419e-03 -8.55851737e-04 9.99950687e-01 -2.54203863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70992885099999 meters 0.08751528572490648 Centerline is valid? [True, True] Translation: X:84.80, Y:-8.28, Z:-2.54 [[ 9.99782926e-01 1.87866027e-02 -9.00916457e-03 8.48022337e+01] [-1.87786842e-02 9.99823201e-01 9.62732507e-04 -8.28132186e+00] [ 9.02565824e-03 -7.93343266e-04 9.99958953e-01 -2.54139366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73992885099999 meters 0.09039516580837686 Centerline is valid? [True, True] Translation: X:84.83, Y:-8.29, Z:-2.54 [[ 9.99846933e-01 1.57230444e-02 -7.67436326e-03 8.48312460e+01] [-1.57172069e-02 9.99876141e-01 8.20366488e-04 -8.28854113e+00] [ 7.68631138e-03 -6.99621362e-04 9.99970215e-01 -2.54237928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76992885099999 meters 0.09054323999926653 Centerline is valid? [True, True] Translation: X:84.86, Y:-8.29, Z:-2.54 [[ 9.99878899e-01 1.42566481e-02 -6.23982353e-03 8.48610987e+01] [-1.42527651e-02 9.99898202e-01 6.66316223e-04 -8.29074520e+00] [ 6.24868776e-03 -5.77300792e-04 9.99980310e-01 -2.54205713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79992885099999 meters 0.09094002736444129 Centerline is valid? [True, True] Translation: X:84.89, Y:-8.29, Z:-2.54 [[ 9.99890672e-01 1.37265225e-02 -5.49794285e-03 8.48901952e+01] [-1.37235061e-02 9.99905657e-01 5.85994499e-04 -8.29376059e+00] [ 5.50546782e-03 -5.10479381e-04 9.99984715e-01 -2.54163822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82992885099999 meters 0.09191058185118998 Centerline is valid? [True, True] Translation: X:84.92, Y:-8.30, Z:-2.54 [[ 9.99909492e-01 1.28031930e-02 -4.13354511e-03 8.49186502e+01] [-1.28014826e-02 9.99917961e-01 4.39975475e-04 -8.29744936e+00] [ 4.13883909e-03 -3.87020147e-04 9.99991360e-01 -2.54220912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85992885099998 meters 0.09681893611934766 Centerline is valid? [True, True] Translation: X:84.94, Y:-8.31, Z:-2.54 [[ 9.99922384e-01 1.18947796e-02 -3.70681617e-03 8.49449992e+01] [-1.18934018e-02 9.99929194e-01 3.93522487e-04 -8.30818908e+00] [ 3.71123456e-03 -3.49405289e-04 9.99993052e-01 -2.54452002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88992885099998 meters 0.09526789526244571 Centerline is valid? [True, True] Translation: X:84.98, Y:-8.31, Z:-2.55 [[ 9.99936643e-01 1.06082608e-02 -3.76499104e-03 8.49750533e+01] [-1.06068263e-02 9.99943666e-01 4.00792356e-04 -8.30529156e+00] [ 3.76903065e-03 -3.60832357e-04 9.99992832e-01 -2.54534362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91992885099998 meters 0.09602327253078455 Centerline is valid? [True, True] Translation: X:85.00, Y:-8.31, Z:-2.55 [[ 9.99937486e-01 1.02162090e-02 -4.54460763e-03 8.50023516e+01] [-1.02141202e-02 9.99947718e-01 4.82593136e-04 -8.30875937e+00] [ 4.54930031e-03 -4.36143798e-04 9.99989557e-01 -2.54675390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94992885099998 meters 0.09252391365907453 Centerline is valid? [True, True] Translation: X:85.03, Y:-8.30, Z:-2.55 [[ 9.99945326e-01 9.79770197e-03 -3.65387304e-03 8.50320248e+01] [-9.79635004e-03 9.99951939e-01 3.87713691e-04 -8.30399352e+00] [ 3.65749614e-03 -3.51897874e-04 9.99993249e-01 -2.54610320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97992885099998 meters 0.09720777954545892 Centerline is valid? [True, True] Translation: X:85.06, Y:-8.31, Z:-2.55 [[ 9.99949582e-01 9.33777168e-03 -3.69307176e-03 8.50589395e+01] [-9.33638979e-03 9.99956338e-01 3.91247049e-04 -8.31409561e+00] [ 3.69656389e-03 -3.56747365e-04 9.99993104e-01 -2.54856908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00992885099998 meters 0.09525834683210542 Centerline is valid? [True, True] Translation: X:85.09, Y:-8.31, Z:-2.55 [[ 9.99950800e-01 9.19717124e-03 -3.71609837e-03 8.50881526e+01] [-9.19577073e-03 9.99957640e-01 3.93788827e-04 -8.31177009e+00] [ 3.71956270e-03 -3.59597064e-04 9.99993018e-01 -2.54898755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03992885099998 meters 0.09972972597834343 Centerline is valid? [True, True] Translation: X:85.12, Y:-8.32, Z:-2.55 [[ 9.99951181e-01 9.04050292e-03 -3.98814009e-03 8.51150906e+01] [-9.03889083e-03 9.99959059e-01 4.22062091e-04 -8.32140689e+00] [ 3.99179247e-03 -3.85993124e-04 9.99991958e-01 -2.55082892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06992885099999 meters 0.09329450654911385 Centerline is valid? [True, True] Translation: X:85.14, Y:-8.31, Z:-2.55 [[ 9.99952388e-01 9.08849006e-03 -3.55272518e-03 8.51448907e+01] [-9.08721158e-03 9.99958640e-01 3.75836926e-04 -8.31087690e+00] [ 3.55599403e-03 -3.43534667e-04 9.99993618e-01 -2.54848713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09992885099999 meters 0.10039684322372609 Centerline is valid? [True, False] Translation: X:85.14, Y:-8.31, Z:-2.55 [[ 9.99958185e-01 8.48460186e-03 -3.41177770e-03 8.51443753e+01] [-8.48652891e-03 9.99963837e-01 -5.50743690e-04 -8.30843573e+00] [ 3.40698148e-03 5.79674811e-04 9.99994028e-01 -2.54814637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12992885099999 meters 0.09291631780666261 Centerline is valid? [False, True] Translation: X:85.14, Y:-8.31, Z:-2.55 [[ 9.99960274e-01 8.24529961e-03 -3.38603638e-03 8.51442464e+01] [-8.24849328e-03 9.99965548e-01 -9.30307025e-04 -8.30738341e+00] [ 3.37824906e-03 9.58199766e-04 9.99993835e-01 -2.54802853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15992885099999 meters 0.09538888791187843 Centerline is valid? [True, True] Translation: X:85.17, Y:-8.31, Z:-2.55 [[ 9.99966557e-01 7.61055373e-03 -2.99418081e-03 8.51709712e+01] [-7.60964750e-03 9.99970997e-01 3.13941665e-04 -8.31453933e+00] [ 2.99648324e-03 -2.91146506e-04 9.99995468e-01 -2.54975023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18992885099999 meters 0.09394355001112256 Centerline is valid? [True, True] Translation: X:85.20, Y:-8.31, Z:-2.55 [[ 9.99969174e-01 7.21210480e-03 -3.10416092e-03 8.51999269e+01] [-7.21112732e-03 9.99973946e-01 3.25970308e-04 -8.31385286e+00] [ 3.10643097e-03 -3.03575760e-04 9.99995129e-01 -2.54949990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21992885099998 meters 0.09462045121163896 Centerline is valid? [True, True] Translation: X:85.23, Y:-8.32, Z:-2.55 [[ 9.99982080e-01 5.15185783e-03 -3.04927156e-03 8.52295433e+01] [-5.15090248e-03 9.99986682e-01 3.21077372e-04 -8.31660020e+00] [ 3.05088510e-03 -3.05365118e-04 9.99995299e-01 -2.54995800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24992885099998 meters 0.10246264496299241 Centerline is valid? [True, False] Translation: X:85.23, Y:-8.32, Z:-2.55 [[ 9.99983570e-01 5.00607600e-03 -2.79267245e-03 8.52291035e+01] [-5.00523420e-03 9.99987426e-01 3.08342522e-04 -8.31648427e+00] [ 2.79418093e-03 -2.94359476e-04 9.99996053e-01 -2.55016671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27992885099998 meters 0.09731554586316041 Centerline is valid? [False, True] Translation: X:85.23, Y:-8.32, Z:-2.55 [[ 9.99985005e-01 4.84466921e-03 -2.55325795e-03 8.52285964e+01] [-4.84395283e-03 9.99988227e-01 2.86682146e-04 -8.31649835e+00] [ 2.55461678e-03 -2.74309986e-04 9.99996699e-01 -2.55020781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30992885099998 meters 0.09995269379636665 Centerline is valid? [True, True] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99992804e-01 1.80352980e-03 -3.33744526e-03 8.52576604e+01] [-1.80233916e-03 9.99998311e-01 3.59724856e-04 -8.32384589e+00] [ 3.33808840e-03 -3.53707059e-04 9.99994366e-01 -2.55141495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33992885099998 meters 0.10042808545701723 Centerline is valid? [True, False] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99994074e-01 1.53921705e-03 -3.07937209e-03 8.52569776e+01] [-1.53857072e-03 9.99998794e-01 2.12247955e-04 -8.32369741e+00] [ 3.07969507e-03 -2.07508866e-04 9.99995236e-01 -2.55124388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36992885099998 meters 0.10026393869566476 Centerline is valid? [False, False] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99995009e-01 1.37285217e-03 -2.84546000e-03 8.52565092e+01] [-1.37225922e-03 9.99999036e-01 2.10325774e-04 -8.32367553e+00] [ 2.84574600e-03 -2.06420015e-04 9.99995930e-01 -2.55132914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39992885099998 meters 0.0991134115778099 Centerline is valid? [False, True] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99995517e-01 1.34906755e-03 -2.67313472e-03 8.52563634e+01] [-1.34815399e-03 9.99999032e-01 3.43526866e-04 -8.32378937e+00] [ 2.67359558e-03 -3.39921529e-04 9.99996368e-01 -2.55169508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42992885099999 meters 0.10492658707956946 Centerline is valid? [True, False] Translation: X:85.27, Y:-8.33, Z:-2.56 [[ 9.99988439e-01 -4.39944540e-03 1.94059962e-03 8.52694965e+01] [ 4.38957730e-03 9.99977562e-01 5.06035751e-03 -8.32566266e+00] [-1.96281884e-03 -5.05178059e-03 9.99985313e-01 -2.55545714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45992885099999 meters 0.10326785438919063 Centerline is valid? [False, False] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99991885e-01 -1.43393777e-03 -3.76469537e-03 8.52583963e+01] [ 1.42255643e-03 9.99994416e-01 -3.02411676e-03 -8.32336456e+00] [ 3.76901074e-03 3.01873673e-03 9.99988341e-01 -2.55165100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48992885099999 meters 0.10176483651045186 Centerline is valid? [False, False] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99992049e-01 -1.26706874e-03 -3.78094324e-03 8.52586916e+01] [ 1.25666456e-03 9.99995421e-01 -2.75285134e-03 -8.32378349e+00] [ 3.78441398e-03 2.74807807e-03 9.99989063e-01 -2.55205008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51992885099999 meters 0.10520358645244227 Centerline is valid? [False, False] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99991816e-01 -1.03941892e-03 -3.90983536e-03 8.52592192e+01] [ 1.02969090e-03 9.99996372e-01 -2.48928085e-03 -8.32405935e+00] [ 3.91240858e-03 2.48523455e-03 9.99989258e-01 -2.55242242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54992885099999 meters 0.10788619748099039 Centerline is valid? [False, False] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99991477e-01 -9.12558904e-04 -4.02659903e-03 8.52595322e+01] [ 9.02959193e-04 9.99996748e-01 -2.38524839e-03 -8.32422343e+00] [ 4.02876261e-03 2.38159221e-03 9.99989048e-01 -2.55249809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57992885099999 meters 0.10788619748099039 Centerline is valid? [False, False] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99991477e-01 -9.12558904e-04 -4.02659903e-03 8.52595322e+01] [ 9.02959193e-04 9.99996748e-01 -2.38524839e-03 -8.32422343e+00] [ 4.02876261e-03 2.38159221e-03 9.99989048e-01 -2.55249809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60992885099998 meters 0.10237338191174464 Centerline is valid? [False, False] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99991137e-01 -8.77440996e-04 -4.11788086e-03 8.52598230e+01] [ 8.67456366e-04 9.99996681e-01 -2.42586114e-03 -8.32384948e+00] [ 4.11999575e-03 2.42226755e-03 9.99988579e-01 -2.55262276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63992885099998 meters 0.10086786653362016 Centerline is valid? [False, False] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99989794e-01 -7.94105909e-04 -4.44760891e-03 8.52604477e+01] [ 7.82407106e-04 9.99996232e-01 -2.63148037e-03 -8.32308287e+00] [ 4.44968182e-03 2.62797368e-03 9.99986647e-01 -2.55246028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66992885099998 meters 0.10140513915997869 Centerline is valid? [False, False] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99989005e-01 -5.79307268e-04 -4.65351946e-03 8.52609276e+01] [ 5.67724994e-04 9.99996739e-01 -2.48986327e-03 -8.32333991e+00] [ 4.65494669e-03 2.48719397e-03 9.99986073e-01 -2.55247916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69992885099998 meters 0.09832013497069823 Centerline is valid? [False, True] Translation: X:85.26, Y:-8.32, Z:-2.55 [[ 9.99988688e-01 -6.10571285e-04 -4.71719916e-03 8.52608108e+01] [ 5.98355130e-04 9.99996465e-01 -2.59068257e-03 -8.32344686e+00] [ 4.71876428e-03 2.58783070e-03 9.99985518e-01 -2.55207319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72992885099998 meters 0.09833140342950773 Centerline is valid? [True, True] Translation: X:85.29, Y:-8.33, Z:-2.55 [[ 9.99991816e-01 -3.89319695e-04 -4.02703292e-03 8.52897622e+01] [ 3.91010727e-04 9.99999836e-01 4.19141449e-04 -8.32831520e+00] [ 4.02686908e-03 -4.20712631e-04 9.99991804e-01 -2.55323693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75992885099998 meters 0.09669981881036846 Centerline is valid? [True, True] Translation: X:85.32, Y:-8.33, Z:-2.55 [[ 9.99993668e-01 -1.62916581e-04 -3.55481444e-03 8.53183176e+01] [ 1.64227009e-04 9.99999919e-01 3.68346043e-04 -8.32908833e+00] [ 3.55475414e-03 -3.68927508e-04 9.99993614e-01 -2.55316405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78992885099998 meters 0.09639816574309311 Centerline is valid? [True, True] Translation: X:85.35, Y:-8.33, Z:-2.55 [[ 9.99991506e-01 -5.47119800e-04 -4.08516901e-03 8.53470908e+01] [ 5.48866799e-04 9.99999758e-01 4.26535366e-04 -8.33337411e+00] [ 4.08493465e-03 -4.28773956e-04 9.99991565e-01 -2.55386139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81992885099999 meters 0.10324247284370293 Centerline is valid? [True, False] Translation: X:85.35, Y:-8.33, Z:-2.55 [[ 9.99991565e-01 -3.35496387e-04 -4.09356898e-03 8.53472332e+01] [ 3.38868560e-04 9.99999604e-01 8.23107653e-04 -8.33442601e+00] [ 4.09329121e-03 -8.24487892e-04 9.99991283e-01 -2.55406761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84992885099999 meters 0.09934696883972775 Centerline is valid? [False, True] Translation: X:85.35, Y:-8.34, Z:-2.55 [[ 9.99991700e-01 -6.41103843e-05 -4.07377640e-03 8.53474525e+01] [ 6.95160658e-05 9.99999117e-01 1.32681830e-03 -8.33558661e+00] [ 4.07368774e-03 -1.32709048e-03 9.99990822e-01 -2.55448052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87992885099999 meters 0.0991127606177596 Centerline is valid? [True, True] Translation: X:85.38, Y:-8.34, Z:-2.55 [[ 9.99989390e-01 -8.69506203e-04 -4.52372674e-03 8.53766678e+01] [ 8.71672111e-04 9.99999506e-01 4.76839044e-04 -8.33863680e+00] [ 4.52330990e-03 -4.80777191e-04 9.99989654e-01 -2.55486773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90992885099999 meters 0.10061318840160291 Centerline is valid? [True, False] Translation: X:85.38, Y:-8.34, Z:-2.56 [[ 9.99990030e-01 -3.71348664e-04 -4.44992708e-03 8.53768364e+01] [ 3.77997048e-04 9.99998814e-01 1.49329557e-03 -8.34131839e+00] [ 4.44936726e-03 -1.49496274e-03 9.99988984e-01 -2.55540037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93992885099999 meters 0.09951936501935331 Centerline is valid? [False, True] Translation: X:85.38, Y:-8.34, Z:-2.56 [[ 9.99990135e-01 -8.29578609e-05 -4.44101579e-03 8.53769985e+01] [ 9.19345311e-05 9.99997953e-01 2.02114413e-03 -8.34258615e+00] [ 4.44083903e-03 -2.02153248e-03 9.99988096e-01 -2.55567971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96992885099998 meters 0.10105257481178802 Centerline is valid? [True, False] Translation: X:85.38, Y:-8.34, Z:-2.56 [[ 9.99991017e-01 8.68672360e-05 -4.23772946e-03 8.53764664e+01] [-7.57694750e-05 9.99996568e-01 2.61888910e-03 -8.34464614e+00] [ 4.23794241e-03 -2.61854448e-03 9.99987591e-01 -2.55554835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99992885099998 meters 0.10302558733111361 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.35, Z:-2.56 [[ 9.99991089e-01 1.83932662e-04 -4.21751022e-03 8.53763742e+01] [-1.71952301e-04 9.99995950e-01 2.84081075e-03 -8.34547018e+00] [ 4.21801566e-03 -2.84006022e-03 9.99987071e-01 -2.55547582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02992885099998 meters 0.10363629120694937 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.35, Z:-2.56 [[ 9.99991298e-01 2.86771062e-04 -4.16193026e-03 8.53762566e+01] [-2.73784086e-04 9.99995093e-01 3.12065558e-03 -8.34635621e+00] [ 4.16280475e-03 -3.11948896e-03 9.99986470e-01 -2.55550083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05992885099998 meters 0.10520010750492675 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.35, Z:-2.56 [[ 9.99991597e-01 4.32704968e-04 -4.07663597e-03 8.53761955e+01] [-4.18492263e-04 9.99993834e-01 3.48658881e-03 -8.34736430e+00] [ 4.07811949e-03 -3.48485347e-03 9.99985612e-01 -2.55569972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08992885099998 meters 0.10573683070020959 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.35, Z:-2.56 [[ 9.99983867e-01 -3.41750764e-03 -4.53716993e-03 8.53772793e+01] [ 3.41564739e-03 9.99994079e-01 -4.17686775e-04 -8.34812476e+00] [ 4.53857051e-03 4.02182664e-04 9.99989620e-01 -2.55586149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11992885099998 meters 0.10765680170192823 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.35, Z:-2.56 [[ 9.99984881e-01 -3.27311295e-03 -4.41868733e-03 8.53771161e+01] [ 3.27296197e-03 9.99994643e-01 -4.13992441e-05 -8.34918085e+00] [ 4.41879917e-03 2.69364226e-05 9.99990237e-01 -2.55601458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14992885099998 meters 0.1082969598841119 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.35, Z:-2.56 [[ 9.99985923e-01 -3.07702404e-03 -4.32262027e-03 8.53769873e+01] [ 3.07888779e-03 9.99995170e-01 4.24573351e-04 -8.35044688e+00] [ 4.32129297e-03 -4.37876237e-04 9.99990567e-01 -2.55611787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17992885099999 meters 0.11104304372854189 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.35, Z:-2.56 [[ 9.99986833e-01 -2.95448258e-03 -4.19584100e-03 8.53766722e+01] [ 2.95791609e-03 9.99995295e-01 8.12341899e-04 -8.35171391e+00] [ 4.19342121e-03 -8.24742148e-04 9.99990867e-01 -2.55607138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20992885099999 meters 0.11259354586168155 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.35, Z:-2.56 [[ 9.99988454e-01 -2.62203115e-03 -4.02689581e-03 8.53764569e+01] [ 2.62856360e-03 9.99995237e-01 1.61776802e-03 -8.35406404e+00] [ 4.02263479e-03 -1.62833430e-03 9.99990583e-01 -2.55631330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23992885099999 meters 0.1137735268028874 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.36, Z:-2.56 [[ 9.99989516e-01 -2.22049610e-03 -4.00461562e-03 8.53767772e+01] [ 2.22983583e-03 9.99994801e-01 2.32928854e-03 -8.35557963e+00] [ 3.99942262e-03 -2.33819376e-03 9.99989269e-01 -2.55688689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26992885099999 meters 0.10647698936007396 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.36, Z:-2.56 [[ 9.99990338e-01 -2.08770159e-03 -3.86845128e-03 8.53763640e+01] [ 2.09846441e-03 9.99993933e-01 2.78023697e-03 -8.35727000e+00] [ 3.86262350e-03 -2.78832791e-03 9.99988653e-01 -2.55669768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29992885099999 meters 0.10333169829757229 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.36, Z:-2.56 [[ 9.99990555e-01 -2.05088598e-03 -3.83202976e-03 8.53761300e+01] [ 2.06214802e-03 9.99993560e-01 2.93728508e-03 -8.35803344e+00] [ 3.82598105e-03 -2.94515955e-03 9.99988344e-01 -2.55647357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32992885099998 meters 0.10341596518622577 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.36, Z:-2.56 [[ 9.99990861e-01 -1.97645460e-03 -3.79085015e-03 8.53759938e+01] [ 1.98836913e-03 9.99993088e-01 3.14177992e-03 -8.35873734e+00] [ 3.78461436e-03 -3.14928882e-03 9.99987879e-01 -2.55640777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35992885099998 meters 0.10052147542412497 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.36, Z:-2.56 [[ 9.99990891e-01 -1.86341323e-03 -3.83994157e-03 8.53760128e+01] [ 1.87619481e-03 9.99992703e-01 3.32767786e-03 -8.35946976e+00] [ 3.83371271e-03 -3.33485202e-03 9.99987091e-01 -2.55627992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38992885099998 meters 0.10193000805690103 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.36, Z:-2.56 [[ 9.99991232e-01 -1.53355270e-03 -3.89669144e-03 8.53763260e+01] [ 1.54852835e-03 9.99991416e-01 3.84306361e-03 -8.36082511e+00] [ 3.89076446e-03 -3.84906406e-03 9.99985023e-01 -2.55658342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41992885099998 meters 0.102512106148788 Centerline is valid? [False, False] Translation: X:85.38, Y:-8.36, Z:-2.56 [[ 9.99991209e-01 -1.26117379e-03 -3.99891447e-03 8.53767204e+01] [ 1.27804771e-03 9.99990280e-01 4.21988118e-03 -8.36176836e+00] [ 3.99355359e-03 -4.22495489e-03 9.99983101e-01 -2.55684894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44992885099998 meters 0.09844104347581359 Centerline is valid? [False, True] Translation: X:85.38, Y:-8.36, Z:-2.56 [[ 9.99990707e-01 -9.69977204e-04 -4.20049703e-03 8.53772253e+01] [ 9.89046145e-04 9.99989205e-01 4.53999166e-03 -8.36259563e+00] [ 4.19604800e-03 -4.54410395e-03 9.99980872e-01 -2.55697998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47992885099998 meters 0.10174013017760015 Centerline is valid? [True, False] Translation: X:85.38, Y:-8.36, Z:-2.56 [[ 9.99990189e-01 -1.00181832e-03 -4.31484464e-03 8.53772257e+01] [ 1.02083767e-03 9.99989764e-01 4.40794108e-03 -8.36256743e+00] [ 4.31038452e-03 -4.41230259e-03 9.99980976e-01 -2.55661413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50992885099998 meters 0.09805641661965152 Centerline is valid? [False, True] Translation: X:85.38, Y:-8.36, Z:-2.56 [[ 9.99989506e-01 -1.04385334e-03 -4.46076671e-03 8.53772927e+01] [ 1.06268451e-03 9.99990526e-01 4.22122594e-03 -8.36238066e+00] [ 4.45631811e-03 -4.22592203e-03 9.99981141e-01 -2.55622939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53992885099998 meters 0.09702568980097964 Centerline is valid? [True, True] Translation: X:85.41, Y:-8.36, Z:-2.56 [[ 9.99987520e-01 2.34163564e-03 -4.41333589e-03 8.54079154e+01] [-2.33956470e-03 9.99997151e-01 4.74350552e-04 -8.36217898e+00] [ 4.41443407e-03 -4.64019347e-04 9.99990149e-01 -2.55527394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56992885099999 meters 0.09646923633119099 Centerline is valid? [True, True] Translation: X:85.44, Y:-8.36, Z:-2.56 [[ 9.99982700e-01 4.08342137e-03 -4.23392513e-03 8.54374820e+01] [-4.08153132e-03 9.99991567e-01 4.54949012e-04 -8.36421910e+00] [ 4.23574717e-03 -4.37660243e-04 9.99990933e-01 -2.55505815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59992885099999 meters 0.0944273681396489 Centerline is valid? [True, True] Translation: X:85.47, Y:-8.36, Z:-2.56 [[ 9.99973923e-01 5.93716645e-03 -4.11145991e-03 8.54673550e+01] [-5.93540033e-03 9.99982288e-01 4.41628048e-04 -8.36387286e+00] [ 4.11400910e-03 -4.17213371e-04 9.99991450e-01 -2.55520692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62992885099999 meters 0.0930004173020887 Centerline is valid? [True, True] Translation: X:85.50, Y:-8.36, Z:-2.56 [[ 9.99964634e-01 7.44621886e-03 -3.90949131e-03 8.54976729e+01] [-7.44463265e-03 9.99972200e-01 4.20129345e-04 -8.36473967e+00] [ 3.91251100e-03 -3.91009761e-04 9.99992270e-01 -2.55592110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65992885099999 meters 0.09240451356565284 Centerline is valid? [True, True] Translation: X:85.53, Y:-8.37, Z:-2.56 [[ 9.99956840e-01 8.27353586e-03 -4.22689821e-03 8.55269754e+01] [-8.27169227e-03 9.99965686e-01 4.53453293e-04 -8.36632265e+00] [ 4.23050483e-03 -4.18470121e-04 9.99990964e-01 -2.55577799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68992885099999 meters 0.09603985998230528 Centerline is valid? [True, True] Translation: X:85.55, Y:-8.38, Z:-2.56 [[ 9.99943392e-01 9.70948378e-03 -4.35181261e-03 8.55547530e+01] [-9.70754231e-03 9.99952772e-01 4.67030662e-04 -8.37804945e+00] [ 4.35614170e-03 -4.24758819e-04 9.99990422e-01 -2.55851254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71992885099998 meters 0.09264257393261859 Centerline is valid? [True, True] Translation: X:85.58, Y:-8.38, Z:-2.56 [[ 9.99940890e-01 9.72640777e-03 -4.85939394e-03 8.55841340e+01] [-9.72399122e-03 9.99952585e-01 5.20673914e-04 -8.37509126e+00] [ 4.86422782e-03 -4.73390433e-04 9.99988058e-01 -2.55831604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74992885099998 meters 0.09084123352521611 Centerline is valid? [True, True] Translation: X:85.61, Y:-8.38, Z:-2.56 [[ 9.99936221e-01 9.52534109e-03 -6.06810191e-03 8.56132222e+01] [-9.52157010e-03 9.99954458e-01 6.50031531e-04 -8.37544702e+00] [ 6.07401732e-03 -5.92212215e-04 9.99981378e-01 -2.55872582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77992885099998 meters 0.09057057114655732 Centerline is valid? [True, True] Translation: X:85.64, Y:-8.38, Z:-2.56 [[ 9.99943103e-01 8.66743928e-03 -6.21817640e-03 8.56430197e+01] [-8.66346055e-03 9.99962249e-01 6.66506523e-04 -8.37837990e+00] [ 6.22371857e-03 -6.12597675e-04 9.99980445e-01 -2.55946385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80992885099998 meters 0.09368578659757125 Centerline is valid? [True, True] Translation: X:85.67, Y:-8.39, Z:-2.56 [[ 9.99944040e-01 7.57169045e-03 -7.38832275e-03 8.56708801e+01] [-7.56604784e-03 9.99971064e-01 7.91371631e-04 -8.38847588e+00] [ 7.39410098e-03 -7.35426942e-04 9.99972393e-01 -2.56156127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83992885099998 meters 0.09321000803477666 Centerline is valid? [True, True] Translation: X:85.70, Y:-8.39, Z:-2.56 [[ 9.99953072e-01 5.14401300e-03 -8.20928796e-03 8.57013033e+01] [-5.13695816e-03 9.99986418e-01 8.80227603e-04 -8.39334883e+00] [ 8.21370436e-03 -8.38015527e-04 9.99965916e-01 -2.56205516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86992885099998 meters 0.09360483805542537 Centerline is valid? [True, True] Translation: X:85.73, Y:-8.40, Z:-2.56 [[ 9.99958352e-01 3.44773715e-03 -8.45032931e-03 8.57307685e+01] [-3.44020537e-03 9.99993672e-01 9.05673425e-04 -8.39818684e+00] [ 8.45339837e-03 -8.76564837e-04 9.99963885e-01 -2.56282635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89992885099998 meters 0.09667116923150808 Centerline is valid? [True, True] Translation: X:85.76, Y:-8.41, Z:-2.56 [[ 9.99950068e-01 2.60300857e-03 -9.64814116e-03 8.57579005e+01] [-2.59316384e-03 9.99996104e-01 1.03274517e-03 -8.40769625e+00] [ 9.65079182e-03 -1.00767439e-03 9.99952922e-01 -2.56478165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92992885099999 meters 0.09512357339165374 Centerline is valid? [True, True] Translation: X:85.79, Y:-8.41, Z:-2.56 [[ 9.99957927e-01 1.86533870e-03 -8.98137942e-03 8.57871313e+01] [-1.85678565e-03 9.99997815e-01 9.60553511e-04 -8.40847278e+00] [ 8.98315156e-03 -9.43836601e-04 9.99959205e-01 -2.56399976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95992885099999 meters 0.09470329785245335 Centerline is valid? [True, True] Translation: X:85.82, Y:-8.41, Z:-2.56 [[ 9.99963750e-01 1.40171332e-03 -8.39841125e-03 8.58160345e+01] [-1.39422405e-03 9.99998625e-01 8.97537909e-04 -8.41116564e+00] [ 8.39965779e-03 -8.85796106e-04 9.99964330e-01 -2.56338549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98992885099999 meters 0.09601737848568104 Centerline is valid? [True, True] Translation: X:85.84, Y:-8.42, Z:-2.56 [[ 9.99960899e-01 1.20325640e-03 -8.76088375e-03 8.58435880e+01] [-1.19510778e-03 9.99998848e-01 9.35290083e-04 -8.41678607e+00] [ 8.76199906e-03 -9.24783312e-04 9.99961185e-01 -2.56447697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01992885099999 meters 0.09507858250417958 Centerline is valid? [True, True] Translation: X:85.87, Y:-8.42, Z:-2.56 [[ 9.99961339e-01 1.10151250e-03 -8.72399865e-03 8.58719796e+01] [-1.09343887e-03 9.99998970e-01 9.30165744e-04 -8.41849812e+00] [ 8.72501425e-03 -9.20590623e-04 9.99961513e-01 -2.56416780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04992885099999 meters 0.09475122816523676 Centerline is valid? [True, True] Translation: X:85.90, Y:-8.42, Z:-2.57 [[ 9.99960758e-01 1.60230464e-03 -8.71297601e-03 8.59008300e+01] [-1.59427026e-03 9.99998298e-01 9.28984887e-04 -8.42269763e+00] [ 8.71444969e-03 -9.15057592e-04 9.99961610e-01 -2.56535084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07992885099998 meters 0.09575732867644617 Centerline is valid? [True, True] Translation: X:85.93, Y:-8.43, Z:-2.57 [[ 9.99960570e-01 1.59395865e-03 -8.73602047e-03 8.59279188e+01] [-1.58589036e-03 9.99998310e-01 9.30415379e-04 -8.42776450e+00] [ 8.73748875e-03 -9.16524321e-04 9.99961407e-01 -2.56651836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10992885099998 meters 0.0950702483088244 Centerline is valid? [True, True] Translation: X:85.96, Y:-8.43, Z:-2.57 [[ 9.99959565e-01 2.02019213e-03 -8.76280654e-03 8.59563126e+01] [-2.01209306e-03 9.99997541e-01 9.32973018e-04 -8.43003643e+00] [ 8.76466977e-03 -9.15303711e-04 9.99961171e-01 -2.56631602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13992885099998 meters 0.09754212827397518 Centerline is valid? [True, True] Translation: X:85.98, Y:-8.44, Z:-2.57 [[ 9.99967103e-01 2.30670672e-03 -7.77635025e-03 8.59832223e+01] [-2.30034533e-03 9.99997012e-01 8.26888001e-04 -8.43782834e+00] [ 7.77823441e-03 -8.08972508e-04 9.99969422e-01 -2.56800332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16992885099998 meters 0.09343697281940669 Centerline is valid? [True, True] Translation: X:86.01, Y:-8.43, Z:-2.56 [[ 9.99977543e-01 2.04003796e-03 -6.38370822e-03 8.60127943e+01] [-2.03574854e-03 9.99997698e-01 6.78359420e-04 -8.43391209e+00] [ 6.38507741e-03 -6.65348561e-04 9.99979394e-01 -2.56492914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19992885099998 meters 0.09374247791291154 Centerline is valid? [True, True] Translation: X:86.04, Y:-8.44, Z:-2.57 [[ 9.99974701e-01 1.68377494e-03 -6.91098375e-03 8.60408951e+01] [-1.67874464e-03 9.99998322e-01 7.33606045e-04 -8.43762559e+00] [ 6.91220738e-03 -7.21985709e-04 9.99975850e-01 -2.56503803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22992885099998 meters 0.0980833324939737 Centerline is valid? [True, True] Translation: X:86.07, Y:-8.45, Z:-2.57 [[ 9.99978534e-01 1.31781070e-03 -6.41828575e-03 8.60672795e+01] [-1.31346989e-03 9.99998906e-01 6.80486108e-04 -8.44880895e+00] [ 6.41917548e-03 -6.72041276e-04 9.99979171e-01 -2.56733993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25992885099998 meters 0.09626042569945324 Centerline is valid? [True, True] Translation: X:86.10, Y:-8.45, Z:-2.57 [[ 9.99976303e-01 9.89615981e-04 -6.81284058e-03 8.60958608e+01] [-9.84717000e-04 9.99999254e-01 7.22397411e-04 -8.44955165e+00] [ 6.81355040e-03 -7.15671572e-04 9.99976531e-01 -2.56749233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28992885099998 meters 0.0956669886055095 Centerline is valid? [True, True] Translation: X:86.13, Y:-8.45, Z:-2.57 [[ 9.99966952e-01 -2.58483789e-05 -8.12987293e-03 8.61250127e+01] [ 3.28585574e-05 9.99999628e-01 8.62141666e-04 -8.45301111e+00] [ 8.12984761e-03 -8.62380310e-04 9.99966580e-01 -2.56890668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31992885099999 meters 0.09515231452914609 Centerline is valid? [True, True] Translation: X:86.15, Y:-8.46, Z:-2.57 [[ 9.99964203e-01 -3.78286210e-05 -8.46121457e-03 8.61536975e+01] [ 4.54152985e-05 9.99999597e-01 8.96451327e-04 -8.45553384e+00] [ 8.46117725e-03 -8.96803505e-04 9.99963801e-01 -2.56931005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34992885099999 meters 0.09728890402586365 Centerline is valid? [True, True] Translation: X:86.18, Y:-8.46, Z:-2.57 [[ 9.99955895e-01 -5.51774734e-04 -9.37573602e-03 8.61810894e+01] [ 5.61103718e-04 9.99999350e-01 9.92412207e-04 -8.46286405e+00] [ 9.37518233e-03 -9.97629197e-04 9.99955554e-01 -2.57107513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37992885099999 meters 0.0959559429256888 Centerline is valid? [True, True] Translation: X:86.21, Y:-8.46, Z:-2.57 [[ 9.99959226e-01 -6.29591878e-04 -9.00831087e-03 8.62101207e+01] [ 6.38164128e-04 9.99999346e-01 9.48750733e-04 -8.46410721e+00] [ 9.00770765e-03 -9.54460829e-04 9.99958974e-01 -2.57049613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40992885099999 meters 0.09627968050652344 Centerline is valid? [True, True] Translation: X:86.24, Y:-8.47, Z:-2.57 [[ 9.99954998e-01 -9.14858870e-04 -9.44276282e-03 8.62386247e+01] [ 9.24313654e-04 9.99999076e-01 9.96957435e-04 -8.46850001e+00] [ 9.44184202e-03 -1.00564064e-03 9.99954919e-01 -2.57116640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43992885099999 meters 0.0966669029491842 Centerline is valid? [True, True] Translation: X:86.27, Y:-8.47, Z:-2.57 [[ 9.99953593e-01 -9.71561591e-04 -9.58479617e-03 8.62670874e+01] [ 9.81257114e-04 9.99999012e-01 1.00690145e-03 -8.47253265e+00] [ 9.58380843e-03 -1.01625987e-03 9.99953558e-01 -2.57208775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46992885099998 meters 0.0966669029491842 Centerline is valid? [True, True] Translation: X:86.29, Y:-8.48, Z:-2.57 [[ 9.99953299e-01 -1.23536942e-03 -9.58512284e-03 8.62944960e+01] [ 1.24504748e-03 9.99998721e-01 1.00379514e-03 -8.47531133e+00] [ 9.58387052e-03 -1.01568219e-03 9.99953558e-01 -2.57256318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49992885099998 meters 0.09583016475733976 Centerline is valid? [True, True] Translation: X:86.32, Y:-8.48, Z:-2.57 [[ 9.99950143e-01 -2.25204796e-03 -9.72826245e-03 8.63241659e+01] [ 2.26210104e-03 9.99996919e-01 1.02250912e-03 -8.47778679e+00] [ 9.72592973e-03 -1.04446445e-03 9.99952157e-01 -2.57157106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52992885099998 meters 0.09501654944506546 Centerline is valid? [True, True] Translation: X:86.35, Y:-8.48, Z:-2.57 [[ 9.99957879e-01 -2.86147099e-03 -8.72074627e-03 8.63526464e+01] [ 2.86952300e-03 9.99995468e-01 9.10943986e-04 -8.47999790e+00] [ 8.71810011e-03 -9.35929998e-04 9.99961559e-01 -2.57098979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55992885099998 meters 0.09566795855785103 Centerline is valid? [True, True] Translation: X:86.38, Y:-8.48, Z:-2.57 [[ 9.99956681e-01 -3.69936628e-03 -8.54115366e-03 8.63819216e+01] [ 3.70714710e-03 9.99992728e-01 8.95328459e-04 -8.48492739e+00] [ 8.53777940e-03 -9.26952987e-04 9.99963123e-01 -2.57174055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58992885099998 meters 0.09585186171730571 Centerline is valid? [True, True] Translation: X:86.41, Y:-8.49, Z:-2.57 [[ 9.99943482e-01 -4.78551337e-03 -9.49381194e-03 8.64110223e+01] [ 4.79516843e-03 9.99988009e-01 9.94482682e-04 -8.48902063e+00] [ 9.48893898e-03 -1.03995090e-03 9.99954438e-01 -2.57165960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61992885099998 meters 0.0999899208558472 Centerline is valid? [True, True] Translation: X:86.44, Y:-8.50, Z:-2.57 [[ 9.99918601e-01 -6.73438669e-03 -1.08369068e-02 8.64388583e+01] [ 6.74709149e-03 9.99976593e-01 1.13623086e-03 -8.50160972e+00] [ 1.08290013e-02 -1.20925597e-03 9.99940633e-01 -2.57413570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64992885099998 meters 0.09912637786276261 Centerline is valid? [True, True] Translation: X:86.47, Y:-8.50, Z:-2.57 [[ 9.99912265e-01 -7.46839512e-03 -1.09400614e-02 8.64680161e+01] [ 7.48137063e-03 9.99971358e-01 1.14561010e-03 -8.50375870e+00] [ 1.09311922e-02 -1.22735624e-03 9.99939499e-01 -2.57430761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67992885099999 meters 0.0993457525489492 Centerline is valid? [True, True] Translation: X:86.50, Y:-8.51, Z:-2.57 [[ 9.99910447e-01 -8.00885422e-03 -1.07217332e-02 8.64964495e+01] [ 8.02128723e-03 9.99967205e-01 1.11710815e-03 -8.50810737e+00] [ 1.07124348e-02 -1.20301021e-03 9.99941897e-01 -2.57456489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70992885099999 meters 0.09743951917130783 Centerline is valid? [True, True] Translation: X:86.53, Y:-8.51, Z:-2.57 [[ 9.99900258e-01 -9.24260354e-03 -1.06793871e-02 8.65255269e+01] [ 9.25503517e-03 9.99956549e-01 1.11524236e-03 -8.50861283e+00] [ 1.06686153e-02 -1.21396922e-03 9.99942352e-01 -2.57400661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73992885099999 meters 0.09732990963818997 Centerline is valid? [True, True] Translation: X:86.55, Y:-8.51, Z:-2.57 [[ 9.99895897e-01 -9.64213030e-03 -1.07342942e-02 8.65544351e+01] [ 9.65470697e-03 9.99952765e-01 1.12043075e-03 -8.51225112e+00] [ 1.07229838e-02 -1.22395058e-03 9.99941758e-01 -2.57405759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76992885099999 meters 0.09628158729981807 Centerline is valid? [True, True] Translation: X:86.58, Y:-8.51, Z:-2.57 [[ 9.99908374e-01 -9.18623873e-03 -9.94270688e-03 8.65837159e+01] [ 9.19695472e-03 9.99957174e-01 1.03258792e-03 -8.51469882e+00] [ 9.93279547e-03 -1.12393593e-03 9.99950037e-01 -2.57419635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79992885099999 meters 0.09672340181320079 Centerline is valid? [True, True] Translation: X:86.61, Y:-8.52, Z:-2.57 [[ 9.99902309e-01 -9.51961471e-03 -1.02346879e-02 8.66129366e+01] [ 9.53101719e-03 9.99954011e-01 1.06590374e-03 -8.51950013e+00] [ 1.02240702e-02 -1.16334660e-03 9.99947056e-01 -2.57462960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82992885099998 meters 0.0950608901487236 Centerline is valid? [True, True] Translation: X:86.64, Y:-8.52, Z:-2.57 [[ 9.99898321e-01 -9.06792888e-03 -1.10054584e-02 8.66427811e+01] [ 9.08108284e-03 9.99958110e-01 1.14583700e-03 -8.52155724e+00] [ 1.09946070e-02 -1.24566197e-03 9.99938782e-01 -2.57396142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85992885099998 meters 0.09538464054576101 Centerline is valid? [True, True] Translation: X:86.67, Y:-8.53, Z:-2.57 [[ 9.99893781e-01 -9.01482251e-03 -1.14524834e-02 8.66716022e+01] [ 9.02899205e-03 9.99958534e-01 1.18614448e-03 -8.52549341e+00] [ 1.14413157e-02 -1.28942287e-03 9.99933715e-01 -2.57484442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88992885099998 meters 0.09713611882132928 Centerline is valid? [True, True] Translation: X:86.70, Y:-8.53, Z:-2.58 [[ 9.99903852e-01 -8.48490816e-03 -1.09678013e-02 8.66991374e+01] [ 8.49789433e-03 9.99963245e-01 1.13796549e-03 -8.53241139e+00] [ 1.09577426e-02 -1.23105929e-03 9.99939204e-01 -2.57641470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91992885099998 meters 0.09709777082326011 Centerline is valid? [True, True] Translation: X:86.73, Y:-8.54, Z:-2.58 [[ 9.99895883e-01 -6.91312433e-03 -1.26661473e-02 8.67288978e+01] [ 6.93031866e-03 9.99975122e-01 1.31411350e-03 -8.53676799e+00] [ 1.26567476e-02 -1.40175711e-03 9.99918918e-01 -2.57751751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94992885099998 meters 0.09490860611715883 Centerline is valid? [True, True] Translation: X:86.76, Y:-8.54, Z:-2.58 [[ 9.99890109e-01 -6.26430584e-03 -1.34360640e-02 8.67577904e+01] [ 6.28351337e-03 9.99979296e-01 1.38781162e-03 -8.53626058e+00] [ 1.34270921e-02 -1.47208480e-03 9.99908769e-01 -2.57733003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97992885099998 meters 0.09544838291456242 Centerline is valid? [True, True] Translation: X:86.79, Y:-8.54, Z:-2.58 [[ 9.99891101e-01 -4.19639848e-03 -1.41483500e-02 8.67865380e+01] [ 4.21753592e-03 9.99990034e-01 1.46448015e-03 -8.54139611e+00] [ 1.41420634e-02 -1.52399185e-03 9.99898835e-01 -2.57890193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00992885099998 meters 0.09544838291456242 Centerline is valid? [True, True] Translation: X:86.81, Y:-8.54, Z:-2.58 [[ 9.99889943e-01 -4.46141902e-03 -1.41491476e-02 8.68139624e+01] [ 4.48247480e-03 9.99988893e-01 1.45676614e-03 -8.54412944e+00] [ 1.41424912e-02 -1.52002901e-03 9.99898835e-01 -2.57937632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03992885099998 meters 0.09318043280978362 Centerline is valid? [True, True] Translation: X:86.84, Y:-8.54, Z:-2.58 [[ 9.99885751e-01 -2.65094376e-03 -1.48814596e-02 8.68439937e+01] [ 2.67410115e-03 9.99995244e-01 1.53644109e-03 -8.54352851e+00] [ 1.48773158e-02 -1.57606008e-03 9.99888084e-01 -2.57914531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06992885099999 meters 0.09573514272686462 Centerline is valid? [True, True] Translation: X:86.87, Y:-8.55, Z:-2.58 [[ 9.99887026e-01 -1.57906241e-03 -1.49479876e-02 8.68724762e+01] [ 1.60229712e-03 9.99997527e-01 1.54252205e-03 -8.55180048e+00] [ 1.49455149e-02 -1.56629890e-03 9.99887083e-01 -2.58113899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09992885099999 meters 0.09407017365394035 Centerline is valid? [True, True] Translation: X:86.90, Y:-8.55, Z:-2.58 [[ 9.99889428e-01 -9.50218121e-04 -1.48400821e-02 8.69016580e+01] [ 9.73026853e-04 9.99998356e-01 1.52982337e-03 -8.55216030e+00] [ 1.48386040e-02 -1.54409401e-03 9.99888710e-01 -2.58055658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12992885099999 meters 0.09080677130986609 Centerline is valid? [True, True] Translation: X:86.93, Y:-8.55, Z:-2.58 [[ 9.99894552e-01 7.80013331e-04 -1.45009155e-02 8.69321551e+01] [-7.58407032e-04 9.99998594e-01 1.49543483e-03 -8.54942592e+00] [ 1.45020616e-02 -1.48427955e-03 9.99893738e-01 -2.57911915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15992885099999 meters 0.09419673184705092 Centerline is valid? [True, True] Translation: X:86.96, Y:-8.56, Z:-2.58 [[ 9.99888921e-01 1.18177305e-03 -1.48576088e-02 8.69593249e+01] [-1.15917047e-03 9.99998158e-01 1.52979919e-03 -8.55900163e+00] [ 1.48593893e-02 -1.51240676e-03 9.99888449e-01 -2.58165338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18992885099999 meters 0.09448042746474668 Centerline is valid? [True, True] Translation: X:86.99, Y:-8.56, Z:-2.58 [[ 9.99879218e-01 5.90895934e-04 -1.55306465e-02 8.69883121e+01] [-5.66137938e-04 9.99998562e-01 1.59848629e-03 -8.56238071e+00] [ 1.55315687e-02 -1.58950073e-03 9.99878115e-01 -2.58179533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21992885099998 meters 0.09310607840907449 Centerline is valid? [True, True] Translation: X:87.02, Y:-8.56, Z:-2.58 [[ 9.99873682e-01 -6.00353025e-06 -1.58940361e-02 8.70171010e+01] [ 3.19914550e-05 9.99998663e-01 1.63482023e-03 -8.56325551e+00] [ 1.58940050e-02 -1.63512219e-03 9.99872345e-01 -2.58194534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24992885099998 meters 0.09278971865237134 Centerline is valid? [True, True] Translation: X:87.05, Y:-8.57, Z:-2.58 [[ 9.99868477e-01 -7.90445748e-04 -1.61988789e-02 8.70460168e+01] [ 8.17523811e-04 9.99998280e-01 1.66504729e-03 -8.56625521e+00] [ 1.61975349e-02 -1.67807127e-03 9.99867403e-01 -2.58264733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27992885099998 meters 0.09412257030188793 Centerline is valid? [True, True] Translation: X:87.08, Y:-8.57, Z:-2.58 [[ 9.99864887e-01 -2.26175468e-03 -1.62816614e-02 8.70752078e+01] [ 2.28931337e-03 9.99995978e-01 1.67418226e-03 -8.57232185e+00] [ 1.62778094e-02 -1.71122988e-03 9.99866043e-01 -2.58405013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30992885099998 meters 0.09504043183666647 Centerline is valid? [True, True] Translation: X:87.11, Y:-8.58, Z:-2.58 [[ 9.99859343e-01 -4.76913323e-03 -1.60794757e-02 8.71056958e+01] [ 4.79633561e-03 9.99987130e-01 1.65360594e-03 -8.57761163e+00] [ 1.60713825e-02 -1.73049591e-03 9.99869349e-01 -2.58425020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33992885099998 meters 0.09660164728180068 Centerline is valid? [True, True] Translation: X:87.13, Y:-8.58, Z:-2.58 [[ 9.99844668e-01 -6.06363380e-03 -1.65490824e-02 8.71346847e+01] [ 6.09261507e-03 9.99979992e-01 1.70137625e-03 -8.58355511e+00] [ 1.65384347e-02 -1.80193916e-03 9.99861607e-01 -2.58451148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36992885099998 meters 0.09462852926768239 Centerline is valid? [True, True] Translation: X:87.16, Y:-8.58, Z:-2.58 [[ 9.99838575e-01 -6.91662783e-03 -1.65826315e-02 8.71648687e+01] [ 6.94582844e-03 9.99974426e-01 1.70396735e-03 -8.58285375e+00] [ 1.65704217e-02 -1.81887240e-03 9.99861047e-01 -2.58425706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39992885099998 meters 0.09606743508992596 Centerline is valid? [True, True] Translation: X:87.19, Y:-8.59, Z:-2.58 [[ 9.99829841e-01 -8.07981894e-03 -1.65832678e-02 8.71931696e+01] [ 8.10916122e-03 9.99965670e-01 1.70291032e-03 -8.58787015e+00] [ 1.65689393e-02 -1.83709695e-03 9.99861038e-01 -2.58469328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42992885099999 meters 0.09670241395410896 Centerline is valid? [True, True] Translation: X:87.22, Y:-8.59, Z:-2.59 [[ 9.99825129e-01 -8.65839035e-03 -1.65753649e-02 8.72211912e+01] [ 8.68775066e-03 9.99960815e-01 1.70013493e-03 -8.59196264e+00] [ 1.65599950e-02 -1.84384027e-03 9.99861174e-01 -2.58527678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45992885099999 meters 0.09661458271297768 Centerline is valid? [True, True] Translation: X:87.25, Y:-8.59, Z:-2.59 [[ 9.99809774e-01 -9.49907918e-03 -1.70347692e-02 8.72503014e+01] [ 9.53020599e-03 9.99953060e-01 1.74700333e-03 -8.59440044e+00] [ 1.70173746e-02 -1.90901586e-03 9.99853372e-01 -2.58526290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48992885099999 meters 0.09943990706786421 Centerline is valid? [True, True] Translation: X:87.28, Y:-8.60, Z:-2.59 [[ 9.99798094e-01 -1.02418954e-02 -1.72880087e-02 8.72768418e+01] [ 1.02739920e-02 9.99945657e-01 1.76878772e-03 -8.60169765e+00] [ 1.72689535e-02 -1.94604746e-03 9.99848987e-01 -2.58712647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51992885099999 meters 0.096009495259484 Centerline is valid? [True, True] Translation: X:87.31, Y:-8.60, Z:-2.59 [[ 9.99790589e-01 -1.07391851e-02 -1.74197866e-02 8.73059026e+01] [ 1.07717483e-02 9.99940405e-01 1.77656663e-03 -8.59766856e+00] [ 1.73996696e-02 -1.96383615e-03 9.99846686e-01 -2.58583108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54992885099999 meters 0.09735165154419519 Centerline is valid? [True, True] Translation: X:87.33, Y:-8.60, Z:-2.59 [[ 9.99809077e-01 -1.06353846e-02 -1.63920052e-02 8.73332012e+01] [ 1.06642209e-02 9.99941736e-01 1.67276460e-03 -8.60148752e+00] [ 1.63732597e-02 -1.84725320e-03 9.99864243e-01 -2.58657436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57992885099998 meters 0.09599079364814483 Centerline is valid? [True, True] Translation: X:87.36, Y:-8.60, Z:-2.59 [[ 9.99799588e-01 -1.06640365e-02 -1.69428996e-02 8.73610618e+01] [ 1.06947168e-02 9.99941328e-01 1.72122510e-03 -8.60090896e+00] [ 1.69235503e-02 -1.90207966e-03 9.99854977e-01 -2.58609605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60992885099998 meters 0.09732524018823283 Centerline is valid? [True, True] Translation: X:87.39, Y:-8.61, Z:-2.59 [[ 9.99811209e-01 -1.01247106e-02 -1.65842054e-02 8.73891137e+01] [ 1.01540699e-02 9.99947023e-01 1.68706865e-03 -8.60515739e+00] [ 1.65662457e-02 -1.85514733e-03 9.99861049e-01 -2.58716149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63992885099998 meters 0.09374195440311832 Centerline is valid? [True, True] Translation: X:87.42, Y:-8.60, Z:-2.59 [[ 9.99830406e-01 -9.24982142e-03 -1.59248314e-02 8.74197464e+01] [ 9.27679118e-03 9.99955657e-01 1.62052779e-03 -8.60074448e+00] [ 1.59091356e-02 -1.76798429e-03 9.99871879e-01 -2.58541412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66992885099998 meters 0.09666596292870511 Centerline is valid? [True, True] Translation: X:87.45, Y:-8.61, Z:-2.59 [[ 9.99865231e-01 -6.49482276e-03 -1.50777054e-02 8.74483576e+01] [ 6.51867342e-03 9.99977578e-01 1.53324164e-03 -8.60716342e+00] [ 1.50674092e-02 -1.63132164e-03 9.99885149e-01 -2.58785724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69992885099998 meters 0.0969666118816296 Centerline is valid? [True, True] Translation: X:87.48, Y:-8.61, Z:-2.59 [[ 9.99868213e-01 -5.51057702e-03 -1.52705729e-02 8.74772208e+01] [ 5.53490729e-03 9.99983479e-01 1.55147298e-03 -8.60932892e+00] [ 1.52617711e-02 -1.63578972e-03 9.99882194e-01 -2.58810763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72992885099998 meters 0.09111664226905736 Centerline is valid? [True, True] Translation: X:87.51, Y:-8.60, Z:-2.59 [[ 9.99874063e-01 -3.49917589e-03 -1.54794759e-02 8.75081671e+01] [ 3.52394696e-03 9.99992553e-01 1.57326629e-03 -8.59938447e+00] [ 1.54738555e-02 -1.62761701e-03 9.99878948e-01 -2.58558412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75992885099998 meters 0.09441115786342423 Centerline is valid? [True, True] Translation: X:87.54, Y:-8.61, Z:-2.59 [[ 9.99873318e-01 -3.01919861e-03 -1.56279365e-02 8.75354565e+01] [ 3.04432921e-03 9.99994111e-01 1.58451646e-03 -8.60772411e+00] [ 1.56230605e-02 -1.63189231e-03 9.99876621e-01 -2.58755643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78992885099998 meters 0.09221942828868866 Centerline is valid? [True, True] Translation: X:87.56, Y:-8.61, Z:-2.59 [[ 9.99871684e-01 -2.90160949e-03 -1.57542167e-02 8.75645248e+01] [ 2.92704432e-03 9.99994450e-01 1.59165919e-03 -8.60581535e+00] [ 1.57495109e-02 -1.63756824e-03 9.99874628e-01 -2.58745200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81992885099999 meters 0.09339016881281056 Centerline is valid? [True, True] Translation: X:87.59, Y:-8.61, Z:-2.59 [[ 9.99859518e-01 -2.97661704e-03 -1.64949471e-02 8.75913832e+01] [ 3.00452460e-03 9.99994096e-01 1.66736223e-03 -8.61092763e+00] [ 1.64898867e-02 -1.71668748e-03 9.99862559e-01 -2.58903886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84992885099999 meters 0.09384110423039455 Centerline is valid? [True, True] Translation: X:87.62, Y:-8.61, Z:-2.59 [[ 9.99838840e-01 -3.32229557e-03 -1.76424710e-02 8.76194774e+01] [ 3.35425630e-03 9.99992786e-01 1.78229702e-03 -8.61467690e+00] [ 1.76364225e-02 -1.84118715e-03 9.99842771e-01 -2.59020930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87992885099999 meters 0.09409757115890989 Centerline is valid? [True, True] Translation: X:87.65, Y:-8.62, Z:-2.59 [[ 9.99830112e-01 -4.06730035e-03 -1.79778656e-02 8.76477554e+01] [ 4.10048514e-03 9.99989956e-01 1.80939275e-03 -8.61781744e+00] [ 1.79703257e-02 -1.88280332e-03 9.99836748e-01 -2.59136953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90992885099999 meters 0.09501119107531725 Centerline is valid? [True, True] Translation: X:87.68, Y:-8.62, Z:-2.59 [[ 9.99823536e-01 -4.39078052e-03 -1.82652018e-02 8.76757886e+01] [ 4.42501186e-03 9.99988528e-01 1.83413582e-03 -8.62221620e+00] [ 1.82569390e-02 -1.91463590e-03 9.99831495e-01 -2.59199117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93992885099999 meters 0.0957262433443638 Centerline is valid? [True, True] Translation: X:87.70, Y:-8.63, Z:-2.59 [[ 9.99823336e-01 -4.74688928e-03 -1.81869095e-02 8.77035881e+01] [ 4.78090511e-03 9.99986902e-01 1.82732501e-03 -8.62574802e+00] [ 1.81779972e-02 -1.91395208e-03 9.99832935e-01 -2.59275389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96992885099998 meters 0.09715499191638804 Centerline is valid? [True, True] Translation: X:87.73, Y:-8.63, Z:-2.59 [[ 9.99825847e-01 -4.56451465e-03 -1.80953458e-02 8.77313184e+01] [ 4.59813267e-03 9.99987778e-01 1.81665654e-03 -8.63058898e+00] [ 1.80868325e-02 -1.89954496e-03 9.99834615e-01 -2.59419206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99992885099998 meters 0.09525521838656954 Centerline is valid? [True, True] Translation: X:87.76, Y:-8.63, Z:-2.59 [[ 9.99822143e-01 -5.30408982e-03 -1.80983232e-02 8.77604374e+01] [ 5.33771572e-03 9.99984116e-01 1.81015657e-03 -8.62932317e+00] [ 1.80884345e-02 -1.90643832e-03 9.99834573e-01 -2.59333150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.029928851 meters 0.09879931706791349 Centerline is valid? [True, True] Translation: X:87.79, Y:-8.64, Z:-2.60 [[ 9.99817022e-01 -6.60074539e-03 -1.79542066e-02 8.77876773e+01] [ 6.63407385e-03 9.99976379e-01 1.79737762e-03 -8.63836963e+00] [ 1.79419184e-02 -1.91615827e-03 9.99837195e-01 -2.59613167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059928851 meters 0.09488848058945469 Centerline is valid? [True, True] Translation: X:87.82, Y:-8.63, Z:-2.59 [[ 9.99804241e-01 -7.40429268e-03 -1.83481720e-02 8.78182035e+01] [ 7.43923315e-03 9.99970642e-01 1.83678007e-03 -8.63438005e+00] [ 1.83340333e-02 -1.97291683e-03 9.99829971e-01 -2.59413936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089928851 meters 0.10218439880492639 Centerline is valid? [True, False] Translation: X:87.81, Y:-8.64, Z:-2.60 [[ 9.99994065e-01 -3.26892115e-03 1.08845423e-03 8.78084926e+01] [ 3.27096069e-03 9.99992888e-01 -1.87732128e-03 -8.63519721e+00] [-1.08230967e-03 1.88087043e-03 9.99997645e-01 -2.60134760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119928851 meters 0.10334625722224958 Centerline is valid? [False, False] Translation: X:87.81, Y:-8.63, Z:-2.60 [[ 9.99993937e-01 -3.33591703e-03 9.98356655e-04 8.78086706e+01] [ 3.33795910e-03 9.99992326e-01 -2.05080275e-03 -8.63464415e+00] [-9.91507686e-04 2.05412279e-03 9.99997399e-01 -2.60136550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14992885099997 meters 0.09459886853913387 Centerline is valid? [False, True] Translation: X:87.81, Y:-8.63, Z:-2.60 [[ 9.99994246e-01 -3.25758815e-03 9.46371026e-04 8.78090008e+01] [ 3.25947603e-03 9.99992687e-01 -2.00021364e-03 -8.63440894e+00] [-9.39848233e-04 2.00328680e-03 9.99997552e-01 -2.60168178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17992885099997 meters 0.10442820615970726 Centerline is valid? [True, False] Translation: X:87.81, Y:-8.63, Z:-2.60 [[ 9.99994553e-01 -3.19137376e-03 8.42136679e-04 8.78093631e+01] [ 3.19305466e-03 9.99992898e-01 -2.00226261e-03 -8.63407282e+00] [-8.35740729e-04 2.00494069e-03 9.99997641e-01 -2.60190214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20992885099997 meters 0.09850414767362684 Centerline is valid? [False, True] Translation: X:87.81, Y:-8.63, Z:-2.60 [[ 9.99994267e-01 -3.30358326e-03 7.43611674e-04 8.78095374e+01] [ 3.30527233e-03 9.99991934e-01 -2.28178450e-03 -8.63311559e+00] [-7.36067611e-04 2.28422926e-03 9.99997120e-01 -2.60185091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23992885099997 meters 0.09476519162774989 Centerline is valid? [True, True] Translation: X:87.84, Y:-8.63, Z:-2.60 [[ 9.99994529e-01 -3.05010165e-03 1.28046422e-03 8.78420122e+01] [ 3.05027689e-03 9.99995339e-01 -1.34922252e-04 -8.62995754e+00] [-1.28004672e-03 1.38827284e-04 9.99999171e-01 -2.60189074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26992885099997 meters 0.09743346738749832 Centerline is valid? [True, True] Translation: X:87.87, Y:-8.64, Z:-2.60 [[ 9.99997928e-01 -1.08233630e-03 1.72431205e-03 8.78708341e+01] [ 1.08265720e-03 9.99999397e-01 -1.85185720e-04 -8.63671429e+00] [-1.72411057e-03 1.87052175e-04 9.99998496e-01 -2.60489272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29992885099998 meters 0.09731721028223984 Centerline is valid? [True, True] Translation: X:87.90, Y:-8.64, Z:-2.60 [[ 9.99998794e-01 -2.05036323e-04 1.53971784e-03 8.79025267e+01] [ 2.05288308e-04 9.99999966e-01 -1.63500558e-04 -8.63900038e+00] [-1.53968427e-03 1.63816446e-04 9.99998801e-01 -2.60474745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32992885099998 meters 0.09746262033380218 Centerline is valid? [True, True] Translation: X:87.93, Y:-8.64, Z:-2.61 [[ 9.99996562e-01 8.71178251e-04 2.47339033e-03 8.79328403e+01] [-8.70524171e-04 9.99999586e-01 -2.65510733e-04 -8.64168727e+00] [-2.47362061e-03 2.63356674e-04 9.99996906e-01 -2.60599641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35992885099998 meters 0.09412700148125591 Centerline is valid? [True, True] Translation: X:87.96, Y:-8.64, Z:-2.60 [[ 9.99985134e-01 4.14698606e-03 3.54034589e-03 8.79645349e+01] [-4.14566797e-03 9.99991335e-01 -3.79561449e-04 -8.63673307e+00] [-3.54188925e-03 3.64878708e-04 9.99993661e-01 -2.60484273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38992885099998 meters 0.09412700148125591 Centerline is valid? [True, True] Translation: X:87.99, Y:-8.64, Z:-2.61 [[ 9.99985134e-01 4.14700523e-03 3.54028891e-03 8.79945182e+01] [-4.14568528e-03 9.99991334e-01 -3.80092192e-04 -8.63995188e+00] [-3.54183447e-03 3.65409619e-04 9.99993661e-01 -2.60592681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41992885099998 meters 0.09322811730526294 Centerline is valid? [True, True] Translation: X:88.03, Y:-8.64, Z:-2.61 [[ 9.99981958e-01 4.96987644e-03 3.37388266e-03 8.80251027e+01] [-4.96868230e-03 9.99987590e-01 -3.62226499e-04 -8.64062055e+00] [-3.37564101e-03 3.45456213e-04 9.99994243e-01 -2.60628736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44992885099998 meters 0.08913546195896604 Centerline is valid? [True, True] Translation: X:88.06, Y:-8.64, Z:-2.61 [[ 9.99968502e-01 6.58789418e-03 4.42657242e-03 8.80563311e+01] [-6.58585430e-03 9.99978200e-01 -4.75245287e-04 -8.63519020e+00] [-4.42960679e-03 4.46077556e-04 9.99990090e-01 -2.60523227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47992885099998 meters 0.09219210001140454 Centerline is valid? [True, True] Translation: X:88.09, Y:-8.64, Z:-2.61 [[ 9.99957416e-01 7.74024574e-03 5.02543446e-03 8.80850789e+01] [-7.73764031e-03 9.99969919e-01 -5.37685226e-04 -8.64348852e+00] [-5.02944511e-03 4.98777325e-04 9.99987228e-01 -2.60859165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50992885099998 meters 0.09135723229591322 Centerline is valid? [True, True] Translation: X:88.12, Y:-8.64, Z:-2.61 [[ 9.99941258e-01 9.69202007e-03 4.85229318e-03 8.81150551e+01] [-9.68960043e-03 9.99952919e-01 -5.21920378e-04 -8.64372822e+00] [-4.85712319e-03 4.74872937e-04 9.99988091e-01 -2.60997339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53992885099998 meters 0.09010675776091151 Centerline is valid? [True, True] Translation: X:88.14, Y:-8.64, Z:-2.61 [[ 9.99932318e-01 1.05053197e-02 4.99971887e-03 8.81448973e+01] [-1.05027597e-02 9.99944700e-01 -5.38013891e-04 -8.64440488e+00] [-5.00509439e-03 4.85466632e-04 9.99987357e-01 -2.61011389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.569928851 meters 0.09012278556514497 Centerline is valid? [True, True] Translation: X:88.17, Y:-8.65, Z:-2.61 [[ 9.99928592e-01 1.09621326e-02 4.75847822e-03 8.81733377e+01] [-1.09598143e-02 9.99939808e-01 -5.12996910e-04 -8.64739135e+00] [-4.76381534e-03 4.60808240e-04 9.99988547e-01 -2.61119339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599928851 meters 0.08716752020836409 Centerline is valid? [True, True] Translation: X:88.20, Y:-8.64, Z:-2.61 [[ 9.99922780e-01 1.15184404e-02 4.66475953e-03 8.82031384e+01] [-1.15162221e-02 9.99933560e-01 -5.02139537e-04 -8.64463028e+00] [-4.67023347e-03 4.48380355e-04 9.99988994e-01 -2.61061534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.629928851 meters 0.0895784530259587 Centerline is valid? [True, True] Translation: X:88.23, Y:-8.65, Z:-2.61 [[ 9.99918854e-01 1.16007080e-02 5.26385795e-03 8.82305498e+01] [-1.15978814e-02 9.99932581e-01 -5.67193863e-04 -8.65248875e+00] [-5.27008292e-03 5.06098237e-04 9.99985985e-01 -2.61317381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659928851 meters 0.08875477639215161 Centerline is valid? [True, True] Translation: X:88.26, Y:-8.65, Z:-2.61 [[ 9.99921553e-01 1.16274217e-02 4.65741408e-03 8.82589968e+01] [-1.16252122e-02 9.99932299e-01 -5.01203026e-04 -8.65389601e+00] [-4.66292647e-03 4.47020281e-04 9.99989029e-01 -2.61439611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.689928851 meters 0.08785336598962491 Centerline is valid? [True, True] Translation: X:88.29, Y:-8.66, Z:-2.61 [[ 9.99928168e-01 1.09871234e-02 4.78967866e-03 8.82885863e+01] [-1.09847862e-02 9.99939533e-01 -5.14000262e-04 -8.65540629e+00] [-4.79503642e-03 4.61349745e-04 9.99988397e-01 -2.61394427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719928851 meters 0.08927266549787395 Centerline is valid? [True, True] Translation: X:88.32, Y:-8.66, Z:-2.62 [[ 9.99953662e-01 8.34209894e-03 4.80459173e-03 8.83173748e+01] [-8.33971970e-03 9.99965091e-01 -5.15023415e-04 -8.66312284e+00] [-4.80872038e-03 4.74930601e-04 9.99988325e-01 -2.61573753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.749928851 meters 0.09119810640955649 Centerline is valid? [True, True] Translation: X:88.35, Y:-8.67, Z:-2.62 [[ 9.99965806e-01 6.93612816e-03 4.50302863e-03 8.83463535e+01] [-6.93402494e-03 9.99975843e-01 -4.82513196e-04 -8.67121547e+00] [-4.50626662e-03 4.51272584e-04 9.99989745e-01 -2.61762387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779928851 meters 0.09311419427188121 Centerline is valid? [True, True] Translation: X:88.38, Y:-8.68, Z:-2.62 [[ 9.99979999e-01 4.16871692e-03 4.75638493e-03 8.83750098e+01] [-4.16634036e-03 9.99991191e-01 -5.09456594e-04 -8.68002710e+00] [-4.75846681e-03 4.89629686e-04 9.99988559e-01 -2.62051314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.809928851 meters 0.09346191335539941 Centerline is valid? [True, True] Translation: X:88.41, Y:-8.69, Z:-2.62 [[ 9.99983565e-01 3.07626075e-03 4.83804533e-03 8.84057879e+01] [-3.07379676e-03 9.99995142e-01 -5.16646935e-04 -8.68505719e+00] [-4.83961116e-03 5.01767276e-04 9.99988163e-01 -2.62151324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839928851 meters 0.09388791045798135 Centerline is valid? [True, True] Translation: X:88.44, Y:-8.69, Z:-2.62 [[ 9.99988927e-01 1.52941138e-03 4.45038034e-03 8.84370071e+01] [-1.52731108e-03 9.99998721e-01 -4.75296208e-04 -8.68967397e+00] [-4.45110157e-03 4.68493830e-04 9.99989984e-01 -2.62259738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.869928851 meters 0.0958159528187463 Centerline is valid? [True, True] Translation: X:88.47, Y:-8.70, Z:-2.62 [[ 9.99987062e-01 9.56037791e-04 4.99618411e-03 8.84677985e+01] [-9.53410614e-04 9.99999406e-01 -5.28191828e-04 -8.69747645e+00] [-4.99668612e-03 5.23421580e-04 9.99987379e-01 -2.62402003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89992885099997 meters 0.09537189486310446 Centerline is valid? [True, True] Translation: X:88.50, Y:-8.70, Z:-2.62 [[ 9.99982876e-01 3.06673724e-04 5.84414247e-03 8.85000606e+01] [-3.03055351e-04 9.99999762e-01 -6.20020728e-04 -8.70120320e+00] [-5.84433123e-03 6.18239012e-04 9.99982731e-01 -2.62482428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92992885099997 meters 0.09161500941755585 Centerline is valid? [True, True] Translation: X:88.53, Y:-8.70, Z:-2.62 [[ 9.99980562e-01 -1.02361587e-04 6.23422123e-03 8.85329058e+01] [ 1.06497548e-04 9.99999774e-01 -6.63100285e-04 -8.69849217e+00] [-6.23415195e-03 6.63751325e-04 9.99980347e-01 -2.62328026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95992885099997 meters 0.09288791521502293 Centerline is valid? [True, True] Translation: X:88.56, Y:-8.71, Z:-2.62 [[ 9.99975966e-01 -1.61964605e-04 6.93113906e-03 8.85643900e+01] [ 1.67103726e-04 9.99999712e-01 -7.40881299e-04 -8.70576274e+00] [-6.93101706e-03 7.42021712e-04 9.99975705e-01 -2.62439922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98992885099997 meters 0.09373423429603012 Centerline is valid? [True, True] Translation: X:88.60, Y:-8.71, Z:-2.63 [[ 9.99982812e-01 -4.46069607e-05 5.86292846e-03 8.85950705e+01] [ 4.83105502e-05 9.99999799e-01 -6.31556064e-04 -8.71137359e+00] [-5.86289911e-03 6.31828450e-04 9.99982613e-01 -2.62607928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01992885099997 meters 0.09350070270744071 Centerline is valid? [True, True] Translation: X:88.63, Y:-8.71, Z:-2.63 [[ 9.99983425e-01 6.33737567e-04 5.72267581e-03 8.86268494e+01] [-6.30221431e-04 9.99999612e-01 -6.16204033e-04 -8.71498886e+00] [-5.72306410e-03 6.12587267e-04 9.99983435e-01 -2.62722576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04992885099998 meters 0.0940806808432448 Centerline is valid? [True, True] Translation: X:88.66, Y:-8.72, Z:-2.63 [[ 9.99985843e-01 1.14268978e-03 5.19684171e-03 8.86588416e+01] [-1.13979619e-03 9.99999194e-01 -5.59725361e-04 -8.71998438e+00] [-5.19747711e-03 5.53794097e-04 9.99986340e-01 -2.62782086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07992885099998 meters 0.0958141411879705 Centerline is valid? [True, True] Translation: X:88.69, Y:-8.73, Z:-2.63 [[ 9.99986354e-01 1.84368638e-03 4.88795037e-03 8.86891459e+01] [-1.84114181e-03 9.99998167e-01 -5.25029579e-04 -8.72636989e+00] [-4.88890940e-03 5.16023005e-04 9.99987916e-01 -2.62932658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10992885099998 meters 0.09258677664085957 Centerline is valid? [True, True] Translation: X:88.72, Y:-8.72, Z:-2.63 [[ 9.99978137e-01 4.50758572e-03 4.83805041e-03 8.87197193e+01] [-4.50510316e-03 9.99989715e-01 -5.23906406e-04 -8.72445854e+00] [-4.84036220e-03 5.02099035e-04 9.99988159e-01 -2.62935231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13992885099998 meters 0.0933687379456572 Centerline is valid? [True, True] Translation: X:88.75, Y:-8.73, Z:-2.63 [[ 9.99962715e-01 6.36000461e-03 5.84119926e-03 8.87493717e+01] [-6.35641681e-03 9.99979598e-01 -6.32582553e-04 -8.72959693e+00] [-5.84510332e-03 5.95429870e-04 9.99982740e-01 -2.63092866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16992885099998 meters 0.09039664986227001 Centerline is valid? [True, True] Translation: X:88.78, Y:-8.73, Z:-2.63 [[ 9.99952072e-01 7.89761940e-03 5.78638767e-03 8.87804485e+01] [-7.89412417e-03 9.99968645e-01 -6.26634571e-04 -8.72747650e+00] [-5.79115516e-03 5.80926074e-04 9.99983062e-01 -2.63020687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19992885099998 meters 0.09245261062632114 Centerline is valid? [True, True] Translation: X:88.81, Y:-8.74, Z:-2.63 [[ 9.99919786e-01 1.06918921e-02 6.79004504e-03 8.88088129e+01] [-1.06871396e-02 9.99942620e-01 -7.35823255e-04 -8.73518566e+00] [-6.79752278e-03 6.63198073e-04 9.99976677e-01 -2.63329229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22992885099998 meters 0.09107086649523763 Centerline is valid? [True, True] Translation: X:88.84, Y:-8.74, Z:-2.63 [[ 9.99906800e-01 1.18532564e-02 6.77433220e-03 8.88391430e+01] [-1.18485532e-02 9.99929534e-01 -7.33987042e-04 -8.73570539e+00] [-6.78255498e-03 6.53652599e-04 9.99976785e-01 -2.63346438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25992885099998 meters 0.08971514623645592 Centerline is valid? [True, True] Translation: X:88.87, Y:-8.74, Z:-2.63 [[ 9.99890422e-01 1.28250891e-02 7.39335671e-03 8.88690475e+01] [-1.28195111e-02 9.99917506e-01 -8.01358818e-04 -8.73613387e+00] [-7.40302430e-03 7.06491788e-04 9.99972348e-01 -2.63339898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28992885099998 meters 0.09052155053959843 Centerline is valid? [True, True] Translation: X:88.90, Y:-8.74, Z:-2.63 [[ 9.99879177e-01 1.36542809e-02 7.42916732e-03 8.88970805e+01] [-1.36486768e-02 9.99906529e-01 -8.04519406e-04 -8.74120035e+00] [-7.43945804e-03 7.03023898e-04 9.99972080e-01 -2.63436115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319928851 meters 0.09097824626683586 Centerline is valid? [True, True] Translation: X:88.92, Y:-8.75, Z:-2.64 [[ 9.99865825e-01 1.47388281e-02 7.14832471e-03 8.89249993e+01] [-1.47336687e-02 9.99891154e-01 -7.73896181e-04 -8.74610461e+00] [-7.15895297e-03 6.68471295e-04 9.99974151e-01 -2.63662640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.349928851 meters 0.09097824626683586 Centerline is valid? [True, True] Translation: X:88.95, Y:-8.75, Z:-2.64 [[ 9.99866777e-01 1.46741721e-02 7.14817471e-03 8.89532641e+01] [-1.46690012e-02 9.99892104e-01 -7.75283105e-04 -8.74909268e+00] [-7.15878009e-03 6.70323237e-04 9.99974151e-01 -2.63764852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379928851 meters 0.08703195754630542 Centerline is valid? [True, True] Translation: X:88.98, Y:-8.75, Z:-2.64 [[ 9.99880294e-01 1.39962841e-02 6.59555862e-03 8.89838115e+01] [-1.39918749e-02 9.99901854e-01 -7.14185870e-04 -8.74521490e+00] [-6.60490724e-03 6.21816147e-04 9.99977994e-01 -2.63660371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.409928851 meters 0.08700178410128641 Centerline is valid? [True, True] Translation: X:89.01, Y:-8.75, Z:-2.64 [[ 9.99898218e-01 1.31563726e-02 5.51939691e-03 8.90129033e+01] [-1.31532693e-02 9.99913313e-01 -5.98186094e-04 -8.74845707e+00] [-5.52678841e-03 5.25527095e-04 9.99984589e-01 -2.63738748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439928851 meters 0.08645466396773314 Centerline is valid? [True, True] Translation: X:89.04, Y:-8.75, Z:-2.64 [[ 9.99907895e-01 1.26355941e-02 4.95411566e-03 8.90427047e+01] [-1.26330905e-02 9.99920055e-01 -5.36335164e-04 -8.75133384e+00] [-4.96049652e-03 4.73699973e-04 9.99987584e-01 -2.63804465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.469928851 meters 0.0891452858299177 Centerline is valid? [True, True] Translation: X:89.07, Y:-8.76, Z:-2.64 [[ 9.99933793e-01 1.06636672e-02 4.32388699e-03 8.90712227e+01] [-1.06617441e-02 9.99943053e-01 -4.67568453e-04 -8.76181718e+00] [-4.32862675e-03 4.21437320e-04 9.99990543e-01 -2.64079106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499928851 meters 0.08965373989311265 Centerline is valid? [True, True] Translation: X:89.10, Y:-8.77, Z:-2.64 [[ 9.99938587e-01 1.01418195e-02 4.46839994e-03 8.90993458e+01] [-1.01397540e-02 9.99948474e-01 -4.84667247e-04 -8.76680201e+00] [-4.47308511e-03 4.39329006e-04 9.99989899e-01 -2.64242442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.529928851 meters 0.08931846347379878 Centerline is valid? [True, True] Translation: X:89.13, Y:-8.77, Z:-2.64 [[ 9.99955651e-01 8.91148622e-03 3.04641815e-03 8.91294659e+01] [-8.91052380e-03 9.99960246e-01 -3.29345147e-04 -8.76944698e+00] [-3.04923200e-03 3.02185359e-04 9.99995305e-01 -2.64320240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559928851 meters 0.09259610131063285 Centerline is valid? [True, True] Translation: X:89.16, Y:-8.78, Z:-2.65 [[ 9.99964203e-01 8.14139099e-03 2.30424082e-03 8.91567413e+01] [-8.14083423e-03 9.99966831e-01 -2.50900832e-04 -8.77945614e+00] [-2.30620707e-03 2.32133408e-04 9.99997314e-01 -2.64626926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.589928851 meters 0.09185329304744702 Centerline is valid? [True, True] Translation: X:89.19, Y:-8.78, Z:-2.65 [[ 9.99975911e-01 6.31060114e-03 2.89014472e-03 8.91871575e+01] [-6.30972640e-03 9.99980045e-01 -3.11680739e-04 -8.78193674e+00] [-2.89205394e-03 2.93437209e-04 9.99995775e-01 -2.64647803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619928851 meters 0.09081794147610252 Centerline is valid? [True, True] Translation: X:89.22, Y:-8.78, Z:-2.65 [[ 9.99984463e-01 5.00231098e-03 2.45989956e-03 8.92171533e+01] [-5.00167199e-03 9.99987456e-01 -2.65847882e-04 -8.78338861e+00] [-2.46119856e-03 2.53540141e-04 9.99996939e-01 -2.64586209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64992885099997 meters 0.09159093368483774 Centerline is valid? [True, True] Translation: X:89.25, Y:-8.79, Z:-2.65 [[ 9.99985452e-01 4.33756226e-03 3.20646753e-03 8.92466933e+01] [-4.33647218e-03 9.99990537e-01 -3.46836665e-04 -8.78907353e+00] [-3.20794162e-03 3.32926862e-04 9.99994799e-01 -2.64692345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67992885099997 meters 0.09157587024088745 Centerline is valid? [True, True] Translation: X:89.28, Y:-8.79, Z:-2.65 [[ 9.99988102e-01 3.71416323e-03 3.16249856e-03 8.92765297e+01] [-3.71310178e-03 9.99993048e-01 -3.41443514e-04 -8.79283680e+00] [-3.16374475e-03 3.29696772e-04 9.99994941e-01 -2.64756008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70992885099997 meters 0.09352027387509758 Centerline is valid? [True, True] Translation: X:89.31, Y:-8.80, Z:-2.65 [[ 9.99985928e-01 3.22381481e-03 4.21326414e-03 8.93060139e+01] [-3.22193215e-03 9.99994707e-01 -4.53553382e-04 -8.80025982e+00] [-4.21470401e-03 4.39972149e-04 9.99991021e-01 -2.65018644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73992885099997 meters 0.09225012801284284 Centerline is valid? [True, True] Translation: X:89.34, Y:-8.80, Z:-2.65 [[ 9.99988101e-01 1.68403294e-03 4.57838083e-03 8.93369171e+01] [-1.68179330e-03 9.99998464e-01 -4.92983227e-04 -8.80172358e+00] [-4.57920400e-03 4.85277471e-04 9.99989398e-01 -2.64913903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76992885099997 meters 0.09374300813315876 Centerline is valid? [True, True] Translation: X:89.37, Y:-8.81, Z:-2.65 [[ 9.99988689e-01 1.07146068e-03 4.63403305e-03 8.93678295e+01] [-1.06917438e-03 9.99999306e-01 -4.95820676e-04 -8.80819489e+00] [-4.63456108e-03 4.90860479e-04 9.99989140e-01 -2.65107261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79992885099998 meters 0.09261532334367661 Centerline is valid? [True, True] Translation: X:89.40, Y:-8.81, Z:-2.65 [[ 9.99988541e-01 1.53860842e-05 4.78721053e-03 8.93992325e+01] [-1.29177957e-05 9.99999867e-01 -5.15631081e-04 -8.80962913e+00] [-4.78721782e-03 5.15563332e-04 9.99988408e-01 -2.65058259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82992885099998 meters 0.09549217547513932 Centerline is valid? [True, True] Translation: X:89.43, Y:-8.82, Z:-2.65 [[ 9.99988557e-01 -4.28292041e-04 4.76469667e-03 8.94294060e+01] [ 4.30729671e-04 9.99999777e-01 -5.10588002e-04 -8.81931881e+00] [-4.76447692e-03 5.12634456e-04 9.99988518e-01 -2.65341948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85992885099998 meters 0.09437285511684894 Centerline is valid? [True, True] Translation: X:89.46, Y:-8.82, Z:-2.66 [[ 9.99989843e-01 -7.75280942e-04 4.43995802e-03 8.94616995e+01] [ 7.77409886e-04 9.99999584e-01 -4.77790768e-04 -8.82136203e+00] [-4.43958575e-03 4.81237583e-04 9.99990029e-01 -2.65512716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88992885099998 meters 0.0946224188257792 Centerline is valid? [True, True] Translation: X:89.49, Y:-8.83, Z:-2.66 [[ 9.99991514e-01 -1.41082791e-03 3.87050163e-03 8.94936985e+01] [ 1.41245026e-03 9.99998916e-01 -4.16458109e-04 -8.82568098e+00] [-3.86990989e-03 4.21921466e-04 9.99992423e-01 -2.65704143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91992885099998 meters 0.09567541348951511 Centerline is valid? [True, True] Translation: X:89.52, Y:-8.83, Z:-2.66 [[ 9.99992168e-01 -1.96367935e-03 3.43616032e-03 8.95243781e+01] [ 1.96494443e-03 9.99998003e-01 -3.64829698e-04 -8.83051650e+00] [-3.43543705e-03 3.71578705e-04 9.99994030e-01 -2.65876650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94992885099998 meters 0.0932484546527397 Centerline is valid? [True, True] Translation: X:89.56, Y:-8.83, Z:-2.66 [[ 9.99990623e-01 -1.57260373e-03 4.03500854e-03 8.95573932e+01] [ 1.57437104e-03 9.99998666e-01 -4.34853682e-04 -8.82945048e+00] [-4.03431930e-03 4.41202205e-04 9.99991765e-01 -2.65817562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97992885099998 meters 0.0941980186900108 Centerline is valid? [True, True] Translation: X:89.59, Y:-8.83, Z:-2.66 [[ 9.99990791e-01 -1.52052194e-03 4.01331567e-03 8.95894662e+01] [ 1.52227342e-03 9.99998747e-01 -4.33398289e-04 -8.83375361e+00] [-4.01265165e-03 4.39503662e-04 9.99991853e-01 -2.65989737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00992885099998 meters 0.09507356297510904 Centerline is valid? [True, True] Translation: X:89.62, Y:-8.84, Z:-2.66 [[ 9.99993158e-01 -1.01654280e-03 3.55675290e-03 8.96203394e+01] [ 1.01790915e-03 9.99999409e-01 -3.82367980e-04 -8.83876133e+00] [-3.55636210e-03 3.85985815e-04 9.99993602e-01 -2.66158305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03992885099998 meters 0.09500921674612217 Centerline is valid? [True, True] Translation: X:89.65, Y:-8.84, Z:-2.66 [[ 9.99993271e-01 -6.21859934e-04 3.61548221e-03 8.96526104e+01] [ 6.23277253e-04 9.99999729e-01 -3.90900349e-04 -8.84185168e+00] [-3.61523815e-03 3.93151166e-04 9.99993388e-01 -2.66274292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.069928851 meters 0.09486674040411838 Centerline is valid? [True, True] Translation: X:89.68, Y:-8.84, Z:-2.66 [[ 9.99988301e-01 2.89929769e-04 4.82838927e-03 8.96840862e+01] [-2.87405441e-04 9.99999822e-01 -5.23495207e-04 -8.84427936e+00] [-4.82854019e-03 5.22101378e-04 9.99988206e-01 -2.66414997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099928851 meters 0.09033721259525913 Centerline is valid? [True, True] Translation: X:89.72, Y:-8.84, Z:-2.66 [[ 9.99986413e-01 9.49440606e-04 5.12562529e-03 8.97167935e+01] [-9.46601710e-04 9.99999397e-01 -5.56260947e-04 -8.83813618e+00] [-5.12615034e-03 5.51401463e-04 9.99986709e-01 -2.66253283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.129928851 meters 0.09255923433781559 Centerline is valid? [True, True] Translation: X:89.75, Y:-8.85, Z:-2.67 [[ 9.99987982e-01 1.59786650e-03 4.63503598e-03 8.97473047e+01] [-1.59556280e-03 9.99998602e-01 -5.00674710e-04 -8.84517374e+00] [-4.63582951e-03 4.93273202e-04 9.99989133e-01 -2.66507117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159928851 meters 0.09221024554672706 Centerline is valid? [True, True] Translation: X:89.78, Y:-8.85, Z:-2.67 [[ 9.99986348e-01 2.49147535e-03 4.59305087e-03 8.97787531e+01] [-2.48920628e-03 9.99996777e-01 -4.99672831e-04 -8.84658250e+00] [-4.59428099e-03 4.88232958e-04 9.99989327e-01 -2.66600061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.189928851 meters 0.08861902125748056 Centerline is valid? [True, True] Translation: X:89.81, Y:-8.84, Z:-2.67 [[ 9.99985293e-01 3.19004361e-03 4.38604159e-03 8.98108802e+01] [-3.18798081e-03 9.99994805e-01 -4.77220608e-04 -8.84222664e+00] [-4.38754115e-03 4.63230973e-04 9.99990267e-01 -2.66540667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219928851 meters 0.09216374458969964 Centerline is valid? [True, True] Translation: X:89.84, Y:-8.85, Z:-2.67 [[ 9.99982571e-01 4.60917526e-03 3.68961856e-03 8.98399324e+01] [-4.60772327e-03 9.99989304e-01 -4.01939303e-04 -8.85251211e+00] [-3.69143170e-03 3.84931557e-04 9.99993113e-01 -2.66954794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.249928851 meters 0.08973364135378477 Centerline is valid? [True, True] Translation: X:89.87, Y:-8.85, Z:-2.67 [[ 9.99979895e-01 5.17722298e-03 3.66135013e-03 8.98704462e+01] [-5.17579462e-03 9.99986526e-01 -3.99487294e-04 -8.85069699e+00] [-3.66336903e-03 3.80528866e-04 9.99993217e-01 -2.67012271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279928851 meters 0.08973364135378477 Centerline is valid? [True, True] Translation: X:89.90, Y:-8.85, Z:-2.67 [[ 9.99979895e-01 5.17722298e-03 3.66135013e-03 8.99004259e+01] [-5.17579462e-03 9.99986526e-01 -3.99487294e-04 -8.85396806e+00] [-3.66336903e-03 3.80528866e-04 9.99993217e-01 -2.67120706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.309928851 meters 0.08960304831050969 Centerline is valid? [True, True] Translation: X:89.93, Y:-8.86, Z:-2.67 [[ 9.99977833e-01 5.87145168e-03 3.14014057e-03 8.99306309e+01] [-5.87040443e-03 9.99982710e-01 -3.42618492e-04 -8.85638778e+00] [-3.14209795e-03 3.24177002e-04 9.99995011e-01 -2.67267771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339928851 meters 0.09053396894226096 Centerline is valid? [True, True] Translation: X:89.96, Y:-8.86, Z:-2.67 [[ 9.99970013e-01 6.87759811e-03 3.55961987e-03 8.99600237e+01] [-6.87626453e-03 9.99976283e-01 -3.86746907e-04 -8.86025504e+00] [-3.56219534e-03 3.62258422e-04 9.99993590e-01 -2.67383728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36992885099997 meters 0.09153414215349151 Centerline is valid? [True, True] Translation: X:89.99, Y:-8.86, Z:-2.68 [[ 9.99956912e-01 8.69539853e-03 3.25019248e-03 8.99892242e+01] [-8.69428724e-03 9.99962141e-01 -3.55888174e-04 -8.86329453e+00] [-3.25316402e-03 3.27614733e-04 9.99994655e-01 -2.67622542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39992885099997 meters 0.09050375046006288 Centerline is valid? [True, True] Translation: X:90.02, Y:-8.86, Z:-2.68 [[ 9.99949939e-01 9.67763015e-03 2.54237752e-03 9.00179972e+01] [-9.67695003e-03 9.99953138e-01 -2.79678065e-04 -8.86407224e+00] [-2.54496500e-03 2.55061603e-04 9.99996729e-01 -2.67591323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42992885099997 meters 0.08920943474335569 Centerline is valid? [True, True] Translation: X:90.05, Y:-8.86, Z:-2.68 [[ 9.99930772e-01 1.12161623e-02 3.55663087e-03 9.00476947e+01] [-1.12148490e-02 9.99937036e-01 -3.88976043e-04 -8.86374565e+00] [-3.56076975e-03 3.49062036e-04 9.99993600e-01 -2.67721472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45992885099997 meters 0.08856017380746084 Centerline is valid? [True, True] Translation: X:90.08, Y:-8.86, Z:-2.68 [[ 9.99917963e-01 1.23054943e-02 3.55570211e-03 9.00779202e+01] [-1.23041909e-02 9.99924225e-01 -3.88208821e-04 -8.86456094e+00] [-3.56020978e-03 3.44426935e-04 9.99993603e-01 -2.67853696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48992885099997 meters 0.09028750251475466 Centerline is valid? [True, True] Translation: X:90.11, Y:-8.87, Z:-2.68 [[ 9.99899467e-01 1.37735996e-02 3.36809394e-03 9.01061952e+01] [-1.37724366e-02 9.99905088e-01 -3.68245030e-04 -8.87113390e+00] [-3.37284633e-03 3.21821149e-04 9.99994260e-01 -2.68083144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51992885099997 meters 0.08729343779097458 Centerline is valid? [True, True] Translation: X:90.14, Y:-8.87, Z:-2.68 [[ 9.99856833e-01 1.65106686e-02 3.70294414e-03 9.01370861e+01] [-1.65092860e-02 9.99863631e-01 -4.03625488e-04 -8.86719040e+00] [-3.70910330e-03 3.42434738e-04 9.99993063e-01 -2.68144032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54992885099998 meters 0.08653288945379385 Centerline is valid? [True, True] Translation: X:90.17, Y:-8.87, Z:-2.68 [[ 9.99839568e-01 1.74902947e-02 3.86377266e-03 9.01663872e+01] [-1.74887908e-02 9.99846970e-01 -4.22675034e-04 -8.86766025e+00] [-3.87057409e-03 3.55034511e-04 9.99992446e-01 -2.68180794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57992885099998 meters 0.08845340575169959 Centerline is valid? [True, True] Translation: X:90.19, Y:-8.87, Z:-2.68 [[ 9.99816752e-01 1.86588016e-02 4.27925555e-03 9.01949334e+01] [-1.86569716e-02 9.99825834e-01 -4.67162220e-04 -8.87439860e+00] [-4.28722694e-03 3.87238664e-04 9.99990735e-01 -2.68428076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60992885099998 meters 0.08849006190331742 Centerline is valid? [True, True] Translation: X:90.22, Y:-8.88, Z:-2.69 [[ 9.99797022e-01 1.95699867e-02 4.78863154e-03 9.02233979e+01] [-1.95677022e-02 9.99808397e-01 -5.23449572e-04 -8.87694858e+00] [-4.79795792e-03 4.29640807e-04 9.99988397e-01 -2.68508539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63992885099998 meters 0.08552910143361751 Centerline is valid? [True, True] Translation: X:90.25, Y:-8.87, Z:-2.68 [[ 9.99788685e-01 1.98018289e-02 5.52030871e-03 9.02525532e+01] [-1.97988001e-02 9.99803803e-01 -6.02784203e-04 -8.87329546e+00] [-5.53116188e-03 4.93361336e-04 9.99984581e-01 -2.68403239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66992885099998 meters 0.08613656908188284 Centerline is valid? [True, True] Translation: X:90.28, Y:-8.88, Z:-2.69 [[ 9.99790264e-01 1.96310171e-02 5.83531296e-03 9.02806971e+01] [-1.96276330e-02 9.99807157e-01 -6.36627990e-04 -8.87786217e+00] [-5.84668532e-03 5.21961085e-04 9.99982772e-01 -2.68550918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69992885099998 meters 0.08583518286021947 Centerline is valid? [True, True] Translation: X:90.31, Y:-8.88, Z:-2.69 [[ 9.99805998e-01 1.89232463e-02 5.46607946e-03 9.03091689e+01] [-1.89202676e-02 9.99820818e-01 -5.96143923e-04 -8.88023979e+00] [-5.47638101e-03 4.92608584e-04 9.99984883e-01 -2.68628482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72992885099998 meters 0.08590010304208687 Centerline is valid? [True, True] Translation: X:90.34, Y:-8.88, Z:-2.69 [[ 9.99823231e-01 1.80575602e-02 5.23748273e-03 9.03384046e+01] [-1.80548205e-02 9.99836836e-01 -5.69915486e-04 -8.88409773e+00] [-5.24691944e-03 4.75252932e-04 9.99986122e-01 -2.68777782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75992885099998 meters 0.08808162771598793 Centerline is valid? [True, True] Translation: X:90.37, Y:-8.89, Z:-2.69 [[ 9.99839255e-01 1.70416765e-02 5.57178323e-03 9.03661810e+01] [-1.70385589e-02 9.99854649e-01 -6.06528998e-04 -8.89223185e+00] [-5.58130964e-03 5.11496345e-04 9.99984294e-01 -2.69066960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78992885099998 meters 0.08624439704619535 Centerline is valid? [True, True] Translation: X:90.40, Y:-8.89, Z:-2.69 [[ 9.99868481e-01 1.54118802e-02 5.04929927e-03 9.03961286e+01] [-1.54093050e-02 9.99881119e-01 -5.48528888e-04 -8.89200826e+00] [-5.05715287e-03 4.70650553e-04 9.99987102e-01 -2.69066504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819928851 meters 0.09035328367580107 Centerline is valid? [True, True] Translation: X:90.42, Y:-8.90, Z:-2.69 [[ 9.99883242e-01 1.46484462e-02 4.35035770e-03 9.04230121e+01] [-1.46465270e-02 9.99892622e-01 -4.72691060e-04 -8.90378348e+00] [-4.35681475e-03 4.08918238e-04 9.99990425e-01 -2.69473432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.849928851 meters 0.08748249830748413 Centerline is valid? [True, True] Translation: X:90.45, Y:-8.90, Z:-2.69 [[ 9.99901197e-01 1.34848444e-02 3.96933458e-03 9.04525636e+01] [-1.34832336e-02 9.99909004e-01 -4.32287116e-04 -8.90097720e+00] [-3.97480271e-03 3.78724939e-04 9.99992029e-01 -2.69431334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879928851 meters 0.08864340302592047 Centerline is valid? [True, True] Translation: X:90.48, Y:-8.91, Z:-2.70 [[ 9.99913654e-01 1.24011466e-02 4.34705676e-03 9.04816426e+01] [-1.23992086e-02 9.99923015e-01 -4.72468345e-04 -8.90680992e+00] [-4.35258125e-03 4.18527485e-04 9.99990440e-01 -2.69648039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.909928851 meters 0.08786233779821312 Centerline is valid? [True, True] Translation: X:90.51, Y:-8.91, Z:-2.70 [[ 9.99919561e-01 1.20868251e-02 3.84444205e-03 9.05101404e+01] [-1.20853028e-02 9.99926882e-01 -4.18961711e-04 -8.90790750e+00] [-3.84922487e-03 3.72466765e-04 9.99992522e-01 -2.69597229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939928851 meters 0.08894028991791351 Centerline is valid? [True, True] Translation: X:90.54, Y:-8.91, Z:-2.70 [[ 9.99919226e-01 1.18785209e-02 4.52133014e-03 9.05376555e+01] [-1.18764135e-02 9.99929352e-01 -4.92664985e-04 -8.91305274e+00] [-4.52686284e-03 4.38928003e-04 9.99989657e-01 -2.69796701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.969928851 meters 0.08850865880606829 Centerline is valid? [True, True] Translation: X:90.57, Y:-8.92, Z:-2.70 [[ 9.99916087e-01 1.17623341e-02 5.42836032e-03 9.05669195e+01] [-1.17593074e-02 9.99930683e-01 -5.89153902e-04 -8.91550868e+00] [-5.43491387e-03 5.25270706e-04 9.99985093e-01 -2.69799754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999928851 meters 0.09041977697645545 Centerline is valid? [True, True] Translation: X:90.59, Y:-8.92, Z:-2.70 [[ 9.99908742e-01 1.14565243e-02 7.15928714e-03 9.05944874e+01] [-1.14512587e-02 9.99934131e-01 -7.76054651e-04 -8.92315944e+00] [-7.16770645e-03 6.94000981e-04 9.99974071e-01 -2.69997534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.029928851 meters 0.08855153740075836 Centerline is valid? [True, True] Translation: X:90.62, Y:-8.92, Z:-2.70 [[ 9.99913157e-01 1.07597552e-02 7.60966309e-03 9.06246331e+01] [-1.07537937e-02 9.99941837e-01 -8.23904088e-04 -8.92263208e+00] [-7.61808550e-03 7.41999791e-04 9.99970707e-01 -2.69977996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059928851 meters 0.08913156563684105 Centerline is valid? [True, True] Translation: X:90.65, Y:-8.93, Z:-2.70 [[ 9.99921422e-01 1.01039317e-02 7.42030543e-03 9.06545415e+01] [-1.00982542e-02 9.99948690e-01 -8.02202896e-04 -8.92727196e+00] [-7.42803009e-03 7.27207730e-04 9.99972147e-01 -2.70100245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.089928851 meters 0.09188845031969999 Centerline is valid? [True, True] Translation: X:90.68, Y:-8.94, Z:-2.70 [[ 9.99932529e-01 8.85239037e-03 7.52148543e-03 9.06834940e+01] [-8.84652189e-03 9.99960538e-01 -8.13141379e-04 -8.93628550e+00] [-7.52838686e-03 7.46547530e-04 9.99971383e-01 -2.70320555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11992885099997 meters 0.09185430302638237 Centerline is valid? [True, True] Translation: X:90.71, Y:-8.94, Z:-2.71 [[ 9.99936104e-01 8.43997340e-03 7.52028490e-03 9.07139519e+01] [-8.43409524e-03 9.99964102e-01 -8.13011592e-04 -8.93995094e+00] [-7.52687673e-03 7.49532844e-04 9.99971392e-01 -2.70516826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14992885099997 meters 0.0928535127191925 Centerline is valid? [True, True] Translation: X:90.74, Y:-8.95, Z:-2.71 [[ 9.99957868e-01 7.22753387e-03 5.65913569e-03 9.07441148e+01] [-7.22418601e-03 9.99973718e-01 -6.11804336e-04 -8.94505952e+00] [-5.66340879e-03 5.70895911e-04 9.99983800e-01 -2.70699003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17992885099997 meters 0.09300691535072314 Centerline is valid? [True, True] Translation: X:90.77, Y:-8.95, Z:-2.71 [[ 9.99974580e-01 5.59696314e-03 4.41744030e-03 9.07743247e+01] [-5.59490811e-03 9.99984234e-01 -4.77429515e-04 -8.94938553e+00] [-4.42004281e-03 4.52702206e-04 9.99990129e-01 -2.70907299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20992885099997 meters 0.09217038807182262 Centerline is valid? [True, True] Translation: X:90.80, Y:-8.95, Z:-2.71 [[ 9.99982439e-01 4.52112178e-03 3.83158856e-03 9.08045953e+01] [-4.51956736e-03 9.99989701e-01 -4.14246451e-04 -8.95152885e+00] [-3.83342196e-03 3.96922054e-04 9.99992574e-01 -2.70958753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23992885099997 meters 0.092617533334865 Centerline is valid? [True, True] Translation: X:90.84, Y:-8.96, Z:-2.71 [[ 9.99987303e-01 3.37265591e-03 3.74424917e-03 9.08350559e+01] [-3.37116562e-03 9.99994236e-01 -4.04259410e-04 -8.95611925e+00] [-3.74559102e-03 3.91631793e-04 9.99992909e-01 -2.71062434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26992885099997 meters 0.0924502557044442 Centerline is valid? [True, True] Translation: X:90.87, Y:-8.96, Z:-2.71 [[ 9.99987203e-01 2.63067000e-03 4.32138058e-03 9.08653640e+01] [-2.62867499e-03 9.99996436e-01 -4.67273196e-04 -8.95974882e+00] [-4.32259442e-03 4.55907711e-04 9.99990554e-01 -2.71093791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29992885099998 meters 0.09424293117209254 Centerline is valid? [True, True] Translation: X:90.89, Y:-8.97, Z:-2.71 [[ 9.99991958e-01 -1.59994645e-04 4.00728825e-03 9.08939576e+01] [ 1.61731578e-04 9.99999893e-01 -4.33123423e-04 -8.96674198e+00] [-4.00721852e-03 4.33768044e-04 9.99991877e-01 -2.71258406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32992885099998 meters 0.09287337725634137 Centerline is valid? [True, True] Translation: X:90.93, Y:-8.97, Z:-2.71 [[ 9.99992271e-01 -6.93822486e-04 3.87002863e-03 9.09257493e+01] [ 6.95419562e-04 9.99999674e-01 -4.11347450e-04 -8.96790911e+00] [-3.86974197e-03 4.14035564e-04 9.99992427e-01 -2.71335440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35992885099998 meters 0.09471437799915626 Centerline is valid? [True, True] Translation: X:90.96, Y:-8.97, Z:-2.72 [[ 9.99994516e-01 -1.14180792e-03 3.10874781e-03 9.09565243e+01] [ 1.14283804e-03 9.99999293e-01 -3.29605860e-04 -8.97478271e+00] [-3.10836927e-03 3.33156847e-04 9.99995114e-01 -2.71612445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38992885099998 meters 0.09378622247504728 Centerline is valid? [True, True] Translation: X:90.99, Y:-8.98, Z:-2.72 [[ 9.99992715e-01 -1.68648501e-03 3.42422568e-03 9.09886088e+01] [ 1.68776034e-03 9.99998507e-01 -3.69586316e-04 -8.97649026e+00] [-3.42359727e-03 3.75362896e-04 9.99994069e-01 -2.71646005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41992885099998 meters 0.0962390702041433 Centerline is valid? [True, True] Translation: X:91.02, Y:-8.98, Z:-2.72 [[ 9.99991977e-01 -2.05273033e-03 3.43989366e-03 9.10187448e+01] [ 2.05402229e-03 9.99997821e-01 -3.72089496e-04 -8.98398309e+00] [-3.43912236e-03 3.79152129e-04 9.99994014e-01 -2.71935441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44992885099998 meters 0.09307100747990468 Centerline is valid? [True, True] Translation: X:91.05, Y:-8.98, Z:-2.72 [[ 9.99991271e-01 -2.26190814e-03 3.51300743e-03 9.10513777e+01] [ 2.26325558e-03 9.99997367e-01 -3.79627238e-04 -8.98088382e+00] [-3.51213950e-03 3.87574758e-04 9.99993757e-01 -2.71855592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47992885099998 meters 0.09641203904565876 Centerline is valid? [True, True] Translation: X:91.08, Y:-8.99, Z:-2.72 [[ 9.99990657e-01 -2.41997086e-03 3.58184761e-03 9.10815829e+01] [ 2.42137574e-03 9.99996993e-01 -3.87938303e-04 -8.99022368e+00] [-3.58089805e-03 3.96607677e-04 9.99993510e-01 -2.72119638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50992885099998 meters 0.09751480135474036 Centerline is valid? [True, True] Translation: X:91.11, Y:-9.00, Z:-2.72 [[ 9.99986301e-01 -1.88212379e-03 4.88416138e-03 9.11112355e+01] [ 1.88473948e-03 9.99998083e-01 -5.30997056e-04 -8.99510283e+00] [-4.88315262e-03 5.40195154e-04 9.99987931e-01 -2.72252912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53992885099998 meters 0.0973371613271009 Centerline is valid? [True, True] Translation: X:91.14, Y:-9.00, Z:-2.72 [[ 9.99985505e-01 -2.31806240e-03 4.85972787e-03 9.11429081e+01] [ 2.32065238e-03 9.99997168e-01 -5.27375804e-04 -8.99748473e+00] [-4.85849161e-03 5.38645899e-04 9.99988052e-01 -2.72342374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.569928851 meters 0.09456840305383807 Centerline is valid? [True, True] Translation: X:91.18, Y:-9.00, Z:-2.72 [[ 9.99984816e-01 -2.20583205e-03 5.04987239e-03 9.11758831e+01] [ 2.20862607e-03 9.99997411e-01 -5.47777083e-04 -8.99576208e+00] [-5.04865101e-03 5.58922045e-04 9.99987099e-01 -2.72313711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599928851 meters 0.0938134867358003 Centerline is valid? [True, True] Translation: X:91.21, Y:-9.00, Z:-2.72 [[ 9.99987862e-01 -2.60246916e-03 4.18366316e-03 9.12081725e+01] [ 2.60438970e-03 9.99996506e-01 -4.53675028e-04 -8.99686546e+00] [-4.18246786e-03 4.64565411e-04 9.99991146e-01 -2.72390860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.629928851 meters 0.0949818055068556 Centerline is valid? [True, True] Translation: X:91.24, Y:-9.00, Z:-2.73 [[ 9.99990547e-01 -2.20833922e-03 3.74549218e-03 9.12390681e+01] [ 2.20987000e-03 9.99997476e-01 -4.04609506e-04 -9.00128817e+00] [-3.74458922e-03 4.12882732e-04 9.99992904e-01 -2.72629816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659928851 meters 0.0949818055068556 Centerline is valid? [True, True] Translation: X:91.27, Y:-9.00, Z:-2.73 [[ 9.99990697e-01 -2.13993471e-03 3.74527590e-03 9.12707601e+01] [ 2.14147235e-03 9.99997624e-01 -4.06591708e-04 -9.00481353e+00] [-3.74439692e-03 4.14608330e-04 9.99992904e-01 -2.72744320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.689928851 meters 0.09807995474918639 Centerline is valid? [True, True] Translation: X:91.30, Y:-9.01, Z:-2.73 [[ 9.99993860e-01 -2.52130698e-03 2.43384810e-03 9.13015027e+01] [ 2.52195717e-03 9.99996785e-01 -2.64110912e-04 -9.01257536e+00] [-2.43317437e-03 2.70247351e-04 9.99997003e-01 -2.73033508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719928851 meters 0.0997656901045983 Centerline is valid? [True, True] Translation: X:91.33, Y:-9.02, Z:-2.73 [[ 9.99992153e-01 -2.87807489e-03 2.72216135e-03 9.13320467e+01] [ 2.87889062e-03 9.99995812e-01 -2.95791655e-04 -9.01846966e+00] [-2.72129864e-03 3.03626139e-04 9.99996251e-01 -2.73257952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.749928851 meters 0.09941828491151586 Centerline is valid? [True, True] Translation: X:91.36, Y:-9.02, Z:-2.73 [[ 9.99994167e-01 -2.74554592e-03 2.03160242e-03 9.13638789e+01] [ 2.74599813e-03 9.99996206e-01 -2.19835225e-04 -9.02080387e+00] [-2.03099115e-03 2.25412720e-04 9.99997912e-01 -2.73369017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779928851 meters 0.09747708086265472 Centerline is valid? [True, True] Translation: X:91.40, Y:-9.02, Z:-2.73 [[ 9.99992260e-01 -3.10807779e-03 2.41234183e-03 9.13958839e+01] [ 3.10871918e-03 9.99995134e-01 -2.62173674e-04 -9.02014848e+00] [-2.41151523e-03 2.69670938e-04 9.99997056e-01 -2.73315932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.809928851 meters 0.10052122603854093 Centerline is valid? [True, False] Translation: X:91.40, Y:-9.02, Z:-2.73 [[ 9.99992033e-01 -3.17746483e-03 2.41599557e-03 9.13956879e+01] [ 3.17830374e-03 9.99994890e-01 -3.43473431e-04 -9.02016815e+00] [-2.41489185e-03 3.51149462e-04 9.99997022e-01 -2.73288531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839928851 meters 0.0985607356764098 Centerline is valid? [False, True] Translation: X:91.40, Y:-9.02, Z:-2.73 [[ 9.99992133e-01 -3.21750806e-03 2.31994151e-03 9.13957775e+01] [ 3.21864181e-03 9.99994702e-01 -4.85127604e-04 -9.01977285e+00] [-2.31836832e-03 4.92590848e-04 9.99997191e-01 -2.73270328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86992885099997 meters 0.09828631091735937 Centerline is valid? [True, True] Translation: X:91.43, Y:-9.02, Z:-2.73 [[ 9.99990175e-01 -3.41599733e-03 2.82520729e-03 9.14275987e+01] [ 3.41688099e-03 9.99994115e-01 -3.08009399e-04 -9.02246771e+00] [-2.82413851e-03 3.17659769e-04 9.99995962e-01 -2.73294357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89992885099997 meters 0.09775232555940913 Centerline is valid? [True, True] Translation: X:91.46, Y:-9.03, Z:-2.73 [[ 9.99987477e-01 -3.56808032e-03 3.50920816e-03 9.14601659e+01] [ 3.56944736e-03 9.99993556e-01 -3.83371396e-04 -9.02528352e+00] [-3.50781765e-03 3.95892529e-04 9.99993769e-01 -2.73364123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92992885099997 meters 0.09773485986396493 Centerline is valid? [True, True] Translation: X:91.49, Y:-9.03, Z:-2.73 [[ 9.99985414e-01 -3.63490053e-03 3.99488081e-03 9.14924074e+01] [ 3.63667502e-03 9.99993292e-01 -4.37015646e-04 -9.02916019e+00] [-3.99326550e-03 4.51537355e-04 9.99991925e-01 -2.73430581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95992885099997 meters 0.10571926109515203 Centerline is valid? [True, False] Translation: X:91.49, Y:-9.03, Z:-2.73 [[ 9.99986349e-01 -3.31546792e-03 4.03851962e-03 9.14925314e+01] [ 3.31459855e-03 9.99994482e-01 2.21942488e-04 -9.03068549e+00] [-4.03923318e-03 -2.08553387e-04 9.99991821e-01 -2.73465203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98992885099997 meters 0.1002414070632123 Centerline is valid? [False, False] Translation: X:91.49, Y:-9.03, Z:-2.73 [[ 9.99987687e-01 -3.01172607e-03 3.94394571e-03 9.14928572e+01] [ 3.00887153e-03 9.99995207e-01 7.29510793e-04 -9.03184031e+00] [-3.94612389e-03 -7.17634985e-04 9.99991957e-01 -2.73487257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01992885099997 meters 0.0968177671667047 Centerline is valid? [False, True] Translation: X:91.49, Y:-9.03, Z:-2.73 [[ 9.99987905e-01 -2.86409395e-03 3.99838420e-03 9.14926429e+01] [ 2.85967828e-03 9.99995295e-01 1.10964458e-03 -9.03312279e+00] [-4.00154352e-03 -1.09819706e-03 9.99991391e-01 -2.73473169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04992885099998 meters 0.09990800274796656 Centerline is valid? [True, True] Translation: X:91.52, Y:-9.04, Z:-2.74 [[ 9.99980607e-01 -4.60100537e-03 4.19726994e-03 9.15220329e+01] [ 4.60305267e-03 9.99989292e-01 -4.78239399e-04 -9.04264163e+00] [-4.19502461e-03 4.97550379e-04 9.99991077e-01 -2.73597752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07992885099998 meters 0.10347442013359505 Centerline is valid? [True, False] Translation: X:91.52, Y:-9.05, Z:-2.74 [[ 9.99980113e-01 -4.33738535e-03 4.57836478e-03 9.15213458e+01] [ 4.33457314e-03 9.99990411e-01 6.23982733e-04 -9.04603515e+00] [-4.58102733e-03 -6.04125066e-04 9.99989325e-01 -2.73610199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10992885099998 meters 0.10297147349984466 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.05, Z:-2.74 [[ 9.99982104e-01 -3.87933015e-03 4.55445868e-03 9.15215439e+01] [ 3.87253996e-03 9.99991379e-01 1.49876206e-03 -9.04829323e+00] [-4.56023360e-03 -1.48109792e-03 9.99988505e-01 -2.73636531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13992885099998 meters 0.10225249960782082 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.05, Z:-2.74 [[ 9.99983409e-01 -3.46919349e-03 4.59861652e-03 9.15216560e+01] [ 3.45843075e-03 9.99991267e-01 2.34632005e-03 -9.05039976e+00] [-4.60671620e-03 -2.33037713e-03 9.99986674e-01 -2.73671781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16992885099998 meters 0.10554821343009325 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.05, Z:-2.74 [[ 9.99983179e-01 -3.13873173e-03 4.87740986e-03 9.15211091e+01] [ 3.12180171e-03 9.99989090e-01 3.47485326e-03 -9.05377037e+00] [-4.88826328e-03 -3.45956850e-03 9.99982068e-01 -2.73673175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19992885099998 meters 0.10554821343009325 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.05, Z:-2.74 [[ 9.99983179e-01 -3.13873173e-03 4.87740986e-03 9.15211091e+01] [ 3.12180171e-03 9.99989090e-01 3.47485326e-03 -9.05377037e+00] [-4.88826328e-03 -3.45956850e-03 9.99982068e-01 -2.73673175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22992885099998 meters 0.10264969193715827 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.05, Z:-2.74 [[ 9.99983256e-01 -3.06613970e-03 4.90787672e-03 9.15207534e+01] [ 3.04776259e-03 9.99988334e-01 3.74752143e-03 -9.05496404e+00] [-4.91930988e-03 -3.73250064e-03 9.99980934e-01 -2.73631135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25992885099998 meters 0.10447687249482204 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.06, Z:-2.74 [[ 9.99984045e-01 -2.89954681e-03 4.84786771e-03 9.15207432e+01] [ 2.87972138e-03 9.99987483e-01 4.09150745e-03 -9.05607971e+00] [-4.85967055e-03 -4.07748166e-03 9.99979879e-01 -2.73613885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28992885099998 meters 0.1056089988726271 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.06, Z:-2.74 [[ 9.99985094e-01 -2.68479252e-03 4.75429846e-03 9.15209557e+01] [ 2.66381735e-03 9.99986716e-01 4.41268336e-03 -9.05691121e+00] [-4.76608245e-03 -4.39995300e-03 9.99978962e-01 -2.73619464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319928851 meters 0.1061690132520419 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.06, Z:-2.74 [[ 9.99985931e-01 -2.55465121e-03 4.64887861e-03 9.15210839e+01] [ 2.53325397e-03 9.99986199e-01 4.60274943e-03 -9.05750898e+00] [-4.66057287e-03 -4.59090788e-03 9.99978601e-01 -2.73607785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.349928851 meters 0.10735220676111785 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.06, Z:-2.74 [[ 9.99986567e-01 -2.44202341e-03 4.57185201e-03 9.15211457e+01] [ 2.42028244e-03 9.99985766e-01 4.75490535e-03 -9.05805922e+00] [-4.58339853e-03 -4.74377630e-03 9.99978244e-01 -2.73593917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379928851 meters 0.1053781973315601 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.06, Z:-2.74 [[ 9.99986659e-01 -2.52567801e-03 4.50594456e-03 9.15209576e+01] [ 2.50494764e-03 9.99986281e-01 4.60039808e-03 -9.05806818e+00] [-4.51750187e-03 -4.58904955e-03 9.99979266e-01 -2.73544954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.409928851 meters 0.10180405036619083 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.06, Z:-2.74 [[ 9.99987016e-01 -2.58562615e-03 4.39117641e-03 9.15209014e+01] [ 2.56615579e-03 9.99986878e-01 4.43383331e-03 -9.05790557e+00] [-4.40258302e-03 -4.42250730e-03 9.99980529e-01 -2.73500398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439928851 meters 0.10120199258812604 Centerline is valid? [False, False] Translation: X:91.52, Y:-9.06, Z:-2.73 [[ 9.99987964e-01 -2.63052299e-03 4.14155962e-03 9.15208577e+01] [ 2.61318742e-03 9.99987826e-01 4.18561981e-03 -9.05773678e+00] [-4.15251957e-03 -4.17474676e-03 9.99982664e-01 -2.73413326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.469928851 meters 0.09911187893066259 Centerline is valid? [False, True] Translation: X:91.52, Y:-9.06, Z:-2.73 [[ 9.99988311e-01 -2.64454099e-03 4.04770452e-03 9.15207437e+01] [ 2.62787688e-03 9.99988073e-01 4.11672456e-03 -9.05793043e+00] [-4.05854309e-03 -4.10603957e-03 9.99983334e-01 -2.73368121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499928851 meters 0.094293146994982 Centerline is valid? [True, True] Translation: X:91.55, Y:-9.05, Z:-2.73 [[ 9.99995137e-01 1.11837534e-03 2.91123212e-03 9.15522729e+01] [-1.11738400e-03 9.99999317e-01 -3.42126032e-04 -9.05255132e+00] [-2.91161276e-03 3.38871404e-04 9.99995704e-01 -2.73202001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.529928851 meters 0.09640683453289764 Centerline is valid? [True, True] Translation: X:91.58, Y:-9.06, Z:-2.73 [[ 9.99992470e-01 2.94413574e-03 2.52834285e-03 9.15809241e+01] [-2.94339257e-03 9.99995624e-01 -2.97605400e-04 -9.06011315e+00] [-2.52920798e-03 2.90161253e-04 9.99996759e-01 -2.73481034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559928851 meters 0.09332097156287202 Centerline is valid? [True, True] Translation: X:91.61, Y:-9.06, Z:-2.73 [[ 9.99987096e-01 4.67692048e-03 1.98351114e-03 9.16119242e+01] [-4.67646733e-03 9.99989038e-01 -2.33035421e-04 -9.05752791e+00] [-1.98457929e-03 2.23756589e-04 9.99998006e-01 -2.73493094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.589928851 meters 0.09363855616644431 Centerline is valid? [True, True] Translation: X:91.64, Y:-9.06, Z:-2.74 [[ 9.99971443e-01 7.36121517e-03 1.71027839e-03 9.16409589e+01] [-7.36088108e-03 9.99972888e-01 -2.01558702e-04 -9.06150879e+00] [-1.71171574e-03 1.88963790e-04 9.99998517e-01 -2.73660271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61992885099997 meters 0.093780759144449 Centerline is valid? [True, True] Translation: X:91.67, Y:-9.07, Z:-2.74 [[ 9.99947613e-01 1.00664798e-02 1.85413985e-03 9.16706818e+01] [-1.00660930e-02 9.99949312e-01 -2.17832505e-04 -9.06532311e+00] [-1.85623868e-03 1.99157150e-04 9.99998257e-01 -2.73759294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64992885099997 meters 0.09271428187931045 Centerline is valid? [True, True] Translation: X:91.70, Y:-9.07, Z:-2.74 [[ 9.99890611e-01 1.47406955e-02 1.21599847e-03 9.17015754e+01] [-1.47405323e-02 9.99891342e-01 -1.43078547e-04 -9.06674703e+00] [-1.21797542e-03 1.25138431e-04 9.99999250e-01 -2.73907950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67992885099997 meters 0.0880111646336743 Centerline is valid? [True, True] Translation: X:91.73, Y:-9.06, Z:-2.74 [[ 9.99854672e-01 1.70252069e-02 8.81319987e-04 9.17326226e+01] [-1.70251218e-02 9.99855057e-01 -1.04046347e-04 -9.06067645e+00] [-8.82963657e-04 8.90266460e-05 9.99999606e-01 -2.73724259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70992885099997 meters 0.08808275164369127 Centerline is valid? [True, True] Translation: X:91.76, Y:-9.06, Z:-2.74 [[ 9.99784881e-01 2.07402026e-02 -1.90042241e-04 9.17617135e+01] [-2.07401989e-02 9.99784899e-01 2.16558441e-05 -9.06422442e+00] [ 1.90450509e-04 -1.77096717e-05 9.99999982e-01 -2.73949990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73992885099997 meters 0.08816718288254803 Centerline is valid? [True, True] Translation: X:91.79, Y:-9.07, Z:-2.74 [[ 9.99754203e-01 2.21698758e-02 -1.74685822e-04 9.17917514e+01] [-2.21698728e-02 9.99754218e-01 1.90607751e-05 -9.06785551e+00] [ 1.75065463e-04 -1.51833276e-05 9.99999985e-01 -2.74064799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76992885099997 meters 0.08874439202608739 Centerline is valid? [True, True] Translation: X:91.82, Y:-9.07, Z:-2.74 [[ 9.99716010e-01 2.38210467e-02 -6.75659825e-04 9.18199344e+01] [-2.38209997e-02 9.99716237e-01 7.76271096e-05 -9.07195734e+00] [ 6.77317257e-04 -6.15101718e-05 9.99999769e-01 -2.74247591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79992885099998 meters 0.0880900278152208 Centerline is valid? [True, True] Translation: X:91.85, Y:-9.07, Z:-2.74 [[ 9.99683278e-01 2.51477118e-02 -9.67563965e-04 9.18494395e+01] [-2.51476147e-02 9.99683742e-01 1.12394835e-04 -9.07353779e+00] [ 9.70084439e-04 -8.80273117e-05 9.99999526e-01 -2.74338499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82992885099998 meters 0.08723804794777826 Centerline is valid? [True, True] Translation: X:91.88, Y:-9.07, Z:-2.74 [[ 9.99657683e-01 2.61500892e-02 -8.30692200e-04 9.18781672e+01] [-2.61500190e-02 9.99658025e-01 9.51834076e-05 -9.07447382e+00] [ 8.32897179e-04 -7.34282079e-05 9.99999650e-01 -2.74350208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85992885099998 meters 0.08806463258618993 Centerline is valid? [True, True] Translation: X:91.91, Y:-9.08, Z:-2.74 [[ 9.99596409e-01 2.84061883e-02 -3.29326944e-04 9.19070431e+01] [-2.84061774e-02 9.99596462e-01 3.78107085e-05 -9.07876584e+00] [ 3.30268107e-04 -2.84405288e-05 9.99999945e-01 -2.74485921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88992885099998 meters 0.08830839426847714 Centerline is valid? [True, True] Translation: X:91.94, Y:-9.08, Z:-2.75 [[ 9.99574845e-01 2.91489136e-02 -6.85760149e-04 9.19359299e+01] [-2.91488667e-02 9.99575078e-01 7.81859251e-05 -9.08199553e+00] [ 6.87747789e-04 -5.81635528e-05 9.99999762e-01 -2.74607344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91992885099998 meters 0.08562322070505937 Centerline is valid? [True, True] Translation: X:91.97, Y:-9.08, Z:-2.75 [[ 9.99561183e-01 2.96166675e-02 -5.42438124e-04 9.19656647e+01] [-2.96166386e-02 9.99561329e-01 6.12961299e-05 -9.07903614e+00] [ 5.44015560e-04 -4.52040383e-05 9.99999851e-01 -2.74509486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94992885099998 meters 0.08639506980663783 Centerline is valid? [True, True] Translation: X:91.99, Y:-9.08, Z:-2.75 [[ 9.99516633e-01 3.10829859e-02 -5.90128605e-04 9.19940376e+01] [-3.10829515e-02 9.99516806e-01 6.74117600e-05 -9.08413762e+00] [ 5.91938817e-04 -4.90362366e-05 9.99999824e-01 -2.74700874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97992885099998 meters 0.08593973581851834 Centerline is valid? [True, True] Translation: X:92.02, Y:-9.09, Z:-2.75 [[ 9.99508544e-01 3.13444448e-02 -4.42472926e-04 9.20231117e+01] [-3.13444259e-02 9.99508642e-01 4.95632821e-05 -9.08647544e+00] [ 4.43809047e-04 -3.56698641e-05 9.99999901e-01 -2.74764452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00992885099998 meters 0.08609867832490438 Centerline is valid? [True, True] Translation: X:92.05, Y:-9.09, Z:-2.75 [[ 9.99494772e-01 3.17619063e-02 -1.17595859e-03 9.20507961e+01] [-3.17617696e-02 9.99495459e-01 1.34712721e-04 -9.09005848e+00] [ 1.17964401e-03 -9.72941340e-05 9.99999299e-01 -2.74888741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03992885099998 meters 0.08623202332798292 Centerline is valid? [True, True] Translation: X:92.08, Y:-9.09, Z:-2.75 [[ 9.99477668e-01 3.23025449e-02 -9.68015120e-04 9.20791372e+01] [-3.23024525e-02 9.99478133e-01 1.10900887e-04 -9.09316652e+00] [ 9.71092326e-04 -7.95736973e-05 9.99999525e-01 -2.75026533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.069928851 meters 0.08503037289880165 Centerline is valid? [True, True] Translation: X:92.11, Y:-9.09, Z:-2.75 [[ 9.99460699e-01 3.28344598e-02 -4.56852055e-04 9.21081865e+01] [-3.28344399e-02 9.99460803e-01 5.11399458e-05 -9.09399782e+00] [ 4.58284874e-04 -3.61118847e-05 9.99999894e-01 -2.75016146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099928851 meters 0.08503037289880165 Centerline is valid? [True, True] Translation: X:92.14, Y:-9.10, Z:-2.75 [[ 9.99463992e-01 3.27340813e-02 -4.56983247e-04 9.21355664e+01] [-3.27340619e-02 9.99464096e-01 5.00145711e-05 -9.09709466e+00] [ 4.58375529e-04 -3.50288450e-05 9.99999894e-01 -2.75105680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.129928851 meters 0.0837613324129626 Centerline is valid? [True, True] Translation: X:92.16, Y:-9.10, Z:-2.75 [[ 9.99438993e-01 3.34905546e-02 -2.84950903e-04 9.21646358e+01] [-3.34905471e-02 9.99439034e-01 3.09972099e-05 -9.09840228e+00] [ 2.85829168e-04 -2.14366586e-05 9.99999959e-01 -2.75070824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159928851 meters 0.08414368288438871 Centerline is valid? [True, True] Translation: X:92.19, Y:-9.10, Z:-2.75 [[ 9.99417276e-01 3.41291300e-02 -5.56725841e-04 9.21932440e+01] [-3.41291004e-02 9.99417431e-01 6.26538126e-05 -9.10300495e+00] [ 5.58539830e-04 -4.36167506e-05 9.99999843e-01 -2.75193918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.189928851 meters 0.08353603175209073 Centerline is valid? [True, True] Translation: X:92.22, Y:-9.11, Z:-2.75 [[ 9.99408177e-01 3.43970697e-02 3.70715646e-04 9.22219038e+01] [-3.43970552e-02 9.99408245e-01 -4.53739855e-05 -9.10530669e+00] [-3.72057006e-04 3.25956056e-05 9.99999930e-01 -2.75262030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219928851 meters 0.08423901760316381 Centerline is valid? [True, True] Translation: X:92.25, Y:-9.11, Z:-2.75 [[ 9.99369421e-01 3.55004790e-02 6.90513510e-04 9.22494635e+01] [-3.55004304e-02 9.99369658e-01 -8.25389616e-05 -9.11167375e+00] [-6.93008423e-04 5.79733874e-05 9.99999758e-01 -2.75394412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.249928851 meters 0.08346851979898541 Centerline is valid? [True, True] Translation: X:92.28, Y:-9.11, Z:-2.75 [[ 9.99341436e-01 3.62855046e-02 2.37579091e-04 9.22787404e+01] [-3.62854981e-02 9.99341464e-01 -3.15490580e-05 -9.11389841e+00] [-2.38567410e-04 2.29076052e-05 9.99999971e-01 -2.75436479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279928851 meters 0.08349953111142278 Centerline is valid? [True, True] Translation: X:92.31, Y:-9.12, Z:-2.76 [[ 9.99343891e-01 3.62180823e-02 1.94035816e-04 9.23068736e+01] [-3.62180780e-02 9.99343910e-01 -2.58158282e-05 -9.11790123e+00] [-1.94843511e-04 1.87712859e-05 9.99999981e-01 -2.75528282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.309928851 meters 0.08315664805143051 Centerline is valid? [True, True] Translation: X:92.34, Y:-9.12, Z:-2.76 [[ 9.99264595e-01 3.83330002e-02 9.21752453e-04 9.23367434e+01] [-3.83329171e-02 9.99265018e-01 -1.07568679e-04 -9.12218559e+00] [-9.25198411e-04 7.21561126e-05 9.99999569e-01 -2.75619937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339928851 meters 0.08255550972962337 Centerline is valid? [True, True] Translation: X:92.37, Y:-9.12, Z:-2.76 [[ 9.99221216e-01 3.94559530e-02 4.34478883e-04 9.23654729e+01] [-3.94559338e-02 9.99221310e-01 -5.26086421e-05 -9.12464159e+00] [-4.36216282e-04 3.54249013e-05 9.99999904e-01 -2.75734912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36992885099997 meters 0.08262913638213384 Centerline is valid? [True, True] Translation: X:92.39, Y:-9.13, Z:-2.76 [[ 9.99195523e-01 4.01036588e-02 6.11658139e-05 9.23943887e+01] [-4.01036583e-02 9.99195525e-01 -9.27462444e-06 -9.12842077e+00] [-6.14885539e-05 6.81419032e-06 9.99999998e-01 -2.75830969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39992885099997 meters 0.08251293386157708 Centerline is valid? [True, True] Translation: X:92.42, Y:-9.13, Z:-2.76 [[ 9.99138384e-01 4.15003882e-02 4.54410818e-04 9.24240651e+01] [-4.15003678e-02 9.99138487e-01 -5.42638233e-05 -9.13222961e+00] [-4.56271307e-04 3.53588527e-05 9.99999895e-01 -2.75900172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42992885099997 meters 0.08013431279607072 Centerline is valid? [True, True] Translation: X:92.45, Y:-9.13, Z:-2.76 [[ 9.99039048e-01 4.38239232e-02 6.66435316e-04 9.24547579e+01] [-4.38238810e-02 9.99039269e-01 -7.78043877e-05 -9.13023794e+00] [-6.69204745e-04 4.85238394e-05 9.99999775e-01 -2.75795921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45992885099997 meters 0.0811164931924136 Centerline is valid? [True, True] Translation: X:92.48, Y:-9.14, Z:-2.76 [[ 9.99015179e-01 4.43662345e-02 5.56618342e-04 9.24824757e+01] [-4.43662041e-02 9.99015333e-01 -6.67024486e-05 -9.13633879e+00] [-5.59029594e-04 4.19417156e-05 9.99999843e-01 -2.76013283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48992885099997 meters 0.0812385492053349 Centerline is valid? [True, True] Translation: X:92.51, Y:-9.14, Z:-2.76 [[ 9.98988717e-01 4.49594024e-02 4.41392380e-04 9.25108586e+01] [-4.49593832e-02 9.98988814e-01 -5.32861085e-05 -9.14012737e+00] [-4.43341762e-04 3.33874920e-05 9.99999901e-01 -2.76162392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51992885099997 meters 0.08112892911544774 Centerline is valid? [True, True] Translation: X:92.54, Y:-9.14, Z:-2.76 [[ 9.98927318e-01 4.63055945e-02 7.85992793e-05 9.25390717e+01] [-4.63055938e-02 9.98927321e-01 -1.12697030e-05 -9.14488153e+00] [-7.90368178e-05 7.61802786e-06 9.99999997e-01 -2.76316782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54992885099998 meters 0.08133763165299993 Centerline is valid? [True, True] Translation: X:92.57, Y:-9.15, Z:-2.76 [[ 9.98917273e-01 4.65206378e-02 3.34544140e-04 9.25673330e+01] [-4.65206267e-02 9.98917329e-01 -4.08447875e-05 -9.14941516e+00] [-3.36082065e-04 2.52373607e-05 9.99999943e-01 -2.76477983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57992885099998 meters 0.08141820386347318 Centerline is valid? [True, True] Translation: X:92.60, Y:-9.15, Z:-2.77 [[ 9.98883033e-01 4.72513089e-02 4.48022720e-06 9.25954952e+01] [-4.72513089e-02 9.98883033e-01 -2.66689801e-06 -9.15334726e+00] [-4.60123736e-06 2.45222257e-06 1.00000000e+00 -2.76599980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60992885099998 meters 0.08098662503362027 Centerline is valid? [True, True] Translation: X:92.62, Y:-9.16, Z:-2.77 [[ 9.98808288e-01 4.88029118e-02 -5.29222855e-04 9.26239089e+01] [-4.88028874e-02 9.98808427e-01 5.89785017e-05 -9.15631691e+00] [ 5.31470570e-04 -3.30806129e-05 9.99999858e-01 -2.76687510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63992885099998 meters 0.08140488813879868 Centerline is valid? [True, True] Translation: X:92.65, Y:-9.16, Z:-2.77 [[ 9.98764579e-01 4.96913218e-02 -2.97875846e-04 9.26511006e+01] [-4.96913146e-02 9.98764623e-01 3.17148849e-05 -9.16088062e+00] [ 2.99083811e-04 -1.68738613e-05 9.99999955e-01 -2.76889986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66992885099998 meters 0.08072100088002696 Centerline is valid? [True, True] Translation: X:92.68, Y:-9.16, Z:-2.77 [[ 9.98751775e-01 4.99443299e-02 -6.74603614e-04 9.26795456e+01] [-4.99442901e-02 9.98752002e-01 7.56691788e-05 -9.16217673e+00] [ 6.77540956e-04 -4.18821281e-05 9.99999770e-01 -2.76849978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69992885099998 meters 0.08044070709230751 Centerline is valid? [True, True] Translation: X:92.71, Y:-9.17, Z:-2.77 [[ 9.98687649e-01 5.12126966e-02 -4.89684697e-04 9.27080124e+01] [-5.12126761e-02 9.98687768e-01 5.43086018e-05 -9.16546312e+00] [ 4.91823407e-04 -2.91592661e-05 9.99999879e-01 -2.76958205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72992885099998 meters 0.0784414452750861 Centerline is valid? [True, True] Translation: X:92.74, Y:-9.16, Z:-2.77 [[ 9.98632693e-01 5.22744520e-02 -3.54010790e-04 9.27374395e+01] [-5.22744416e-02 9.98632756e-01 3.85493624e-05 -9.16329136e+00] [ 3.55541918e-04 -1.99909372e-05 9.99999937e-01 -2.76758526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75992885099998 meters 0.07781183618148306 Centerline is valid? [True, True] Translation: X:92.77, Y:-9.17, Z:-2.77 [[ 9.98511819e-01 5.45333773e-02 -5.08443912e-04 9.27671131e+01] [-5.45333551e-02 9.98511948e-01 5.74379369e-05 -9.16554499e+00] [ 5.10819606e-04 -2.96253064e-05 9.99999869e-01 -2.76736684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78992885099998 meters 0.07735020199042279 Centerline is valid? [True, True] Translation: X:92.80, Y:-9.17, Z:-2.77 [[ 9.98478013e-01 5.51510293e-02 -1.47197994e-04 9.27955660e+01] [-5.51510286e-02 9.98478024e-01 8.96479198e-06 -9.16778259e+00] [ 1.47468379e-04 -8.33026927e-07 9.99999989e-01 -2.76734874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819928851 meters 0.07816968205711844 Centerline is valid? [True, True] Translation: X:92.82, Y:-9.17, Z:-2.77 [[ 9.98435470e-01 5.59150677e-02 -3.41953623e-04 9.28226166e+01] [-5.59150585e-02 9.98435529e-01 3.64561647e-05 -9.17416815e+00] [ 3.43457095e-04 -1.72787711e-05 9.99999941e-01 -2.76962300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.849928851 meters 0.07915756507747837 Centerline is valid? [True, True] Translation: X:92.85, Y:-9.18, Z:-2.77 [[ 9.98388696e-01 5.67450615e-02 -1.00026119e-04 9.28494350e+01] [-5.67450610e-02 9.98388701e-01 7.46969604e-06 -9.18107012e+00] [ 1.00288815e-04 -1.78167187e-06 9.99999995e-01 -2.77285493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879928851 meters 0.077947004578879 Centerline is valid? [True, True] Translation: X:92.88, Y:-9.18, Z:-2.77 [[ 9.98373269e-01 5.70080866e-02 -9.45392580e-04 9.28773304e+01] [-5.70080180e-02 9.98373716e-01 9.93957714e-05 -9.18233240e+00] [ 9.49521466e-04 -4.53391240e-05 9.99999548e-01 -2.77160872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.909928851 meters 0.07781856659797011 Centerline is valid? [True, True] Translation: X:92.91, Y:-9.18, Z:-2.77 [[ 9.98402285e-01 5.64763483e-02 -1.81633942e-03 9.29061093e+01] [-5.64760783e-02 9.98403933e-01 1.99664666e-04 -9.18496637e+00] [ 1.82471675e-03 -9.67659317e-05 9.99998331e-01 -2.77247153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939928851 meters 0.07811895228500115 Centerline is valid? [True, True] Translation: X:92.93, Y:-9.19, Z:-2.77 [[ 9.98403552e-01 5.64484504e-02 -1.97996934e-03 9.29324784e+01] [-5.64481208e-02 9.98405509e-01 2.22034308e-04 -9.18977324e+00] [ 1.98934579e-03 -1.09914293e-04 9.99998015e-01 -2.77457589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.969928851 meters 0.07819697770881305 Centerline is valid? [True, True] Translation: X:92.96, Y:-9.19, Z:-2.78 [[ 9.98425335e-01 5.60354646e-02 -2.62234280e-03 9.29608304e+01] [-5.60348934e-02 9.98428769e-01 2.90853109e-04 -9.19333708e+00] [ 2.63452058e-03 -1.43452414e-04 9.99996519e-01 -2.77574577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999928851 meters 0.07857388197601524 Centerline is valid? [True, True] Translation: X:92.99, Y:-9.20, Z:-2.78 [[ 9.98451613e-01 5.55535054e-02 -2.86092447e-03 9.29876986e+01] [-5.55528096e-02 9.98455698e-01 3.22151620e-04 -9.19847943e+00] [ 2.87440299e-03 -1.62720412e-04 9.99995856e-01 -2.77759152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.029928851 meters 0.07964816634458972 Centerline is valid? [True, True] Translation: X:93.02, Y:-9.21, Z:-2.78 [[ 9.98563508e-01 5.34633525e-02 -3.54828968e-03 9.30154239e+01] [-5.34622649e-02 9.98569790e-01 4.00731118e-04 -9.20549300e+00] [ 3.56463931e-03 -2.10455868e-04 9.99993625e-01 -2.78024095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059928851 meters 0.08031413913763372 Centerline is valid? [True, True] Translation: X:93.04, Y:-9.21, Z:-2.78 [[ 9.98652413e-01 5.17671023e-02 -3.67768327e-03 9.30441957e+01] [-5.17659192e-02 9.98659159e-01 4.16243747e-04 -9.21053589e+00] [ 3.69429982e-03 -2.25304167e-04 9.99993151e-01 -2.78163272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.089928851 meters 0.08031413913763372 Centerline is valid? [True, True] Translation: X:93.07, Y:-9.21, Z:-2.78 [[ 9.98665974e-01 5.15047534e-02 -3.67857447e-03 9.30714773e+01] [-5.15035973e-02 9.98672726e-01 4.08388863e-04 -9.21353481e+00] [ 3.69472596e-03 -2.18384244e-04 9.99993151e-01 -2.78252431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11992885099997 meters 0.08121610095456189 Centerline is valid? [True, True] Translation: X:93.10, Y:-9.22, Z:-2.78 [[ 9.98771841e-01 4.94108908e-02 -3.65704933e-03 9.30991427e+01] [-4.94097131e-02 9.98778509e-01 4.11740030e-04 -9.21907086e+00] [ 3.67292672e-03 -2.30540589e-04 9.99993228e-01 -2.78395244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14992885099997 meters 0.08333673793154923 Centerline is valid? [True, True] Translation: X:93.13, Y:-9.23, Z:-2.79 [[ 9.98990517e-01 4.47860735e-02 -3.48646879e-03 9.31278609e+01] [-4.47849669e-02 9.98996572e-01 3.94852337e-04 -9.22776985e+00] [ 3.50065425e-03 -2.38312351e-04 9.99993844e-01 -2.78648826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17992885099997 meters 0.08404258726693728 Centerline is valid? [True, True] Translation: X:93.16, Y:-9.23, Z:-2.79 [[ 9.99119615e-01 4.18511413e-02 -2.91164448e-03 9.31575215e+01] [-4.18503587e-02 9.99123836e-01 3.29232615e-04 -9.23262590e+00] [ 2.92287216e-03 -2.07089398e-04 9.99995707e-01 -2.78723723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20992885099997 meters 0.08618695831126513 Centerline is valid? [True, True] Translation: X:93.19, Y:-9.24, Z:-2.79 [[ 9.99234635e-01 3.89671094e-02 -3.42192148e-03 9.31859212e+01] [-3.89660125e-02 9.99240462e-01 3.86671629e-04 -9.24045723e+00] [ 3.43438987e-03 -2.53037049e-04 9.99994070e-01 -2.78962327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23992885099997 meters 0.08940810234992053 Centerline is valid? [True, True] Translation: X:93.21, Y:-9.25, Z:-2.79 [[ 9.99397021e-01 3.45727802e-02 -3.21204626e-03 9.32149335e+01] [-3.45717904e-02 9.99402151e-01 3.63174431e-04 -9.24800556e+00] [ 3.22268189e-03 -2.51909255e-04 9.99994775e-01 -2.79181688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26992885099997 meters 0.09043345898852286 Centerline is valid? [True, True] Translation: X:93.24, Y:-9.25, Z:-2.79 [[ 9.99467152e-01 3.25355577e-02 -2.61708563e-03 9.32442655e+01] [-3.25348955e-02 9.99470557e-01 2.95211502e-04 -9.25158874e+00] [ 2.62530491e-03 -2.09907592e-04 9.99996532e-01 -2.79310118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29992885099998 meters 0.09154967259438158 Centerline is valid? [True, True] Translation: X:93.27, Y:-9.26, Z:-2.79 [[ 9.99520370e-01 3.08639522e-02 -2.53905805e-03 9.32729872e+01] [-3.08633252e-02 9.99523573e-01 2.85754084e-04 -9.25525621e+00] [ 2.54666787e-03 -2.07253254e-04 9.99996736e-01 -2.79382476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32992885099998 meters 0.09208664738721081 Centerline is valid? [True, True] Translation: X:93.30, Y:-9.26, Z:-2.79 [[ 9.99544294e-01 3.00931807e-02 -2.36731158e-03 9.33018312e+01] [-3.00926353e-02 9.99547079e-01 2.65682001e-04 -9.25753209e+00] [ 2.37423459e-03 -1.94322284e-04 9.99997163e-01 -2.79470859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35992885099998 meters 0.08606477593353073 Centerline is valid? [True, True] Translation: X:93.33, Y:-9.24, Z:-2.79 [[ 9.99546541e-01 3.00293995e-02 -2.22429406e-03 9.33327380e+01] [-3.00289188e-02 9.99548999e-01 2.49200375e-04 -9.24288701e+00] [ 2.23077424e-03 -1.82294227e-04 9.99997495e-01 -2.78991822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38992885099998 meters 0.08464775810673011 Centerline is valid? [True, True] Translation: X:93.36, Y:-9.24, Z:-2.79 [[ 9.99544898e-01 3.00423111e-02 -2.73078628e-03 9.33619103e+01] [-3.00415859e-02 9.99548603e-01 3.06206399e-04 -9.23976298e+00] [ 2.73875276e-03 -2.24029893e-04 9.99996225e-01 -2.78934160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41992885099998 meters 0.0859269952956725 Centerline is valid? [True, True] Translation: X:93.39, Y:-9.24, Z:-2.79 [[ 9.99522470e-01 3.08046958e-02 -2.42956738e-03 9.33892271e+01] [-3.08041264e-02 9.99525403e-01 2.71447150e-04 -9.24299731e+00] [ 2.43677617e-03 -1.96476825e-04 9.99997012e-01 -2.79150358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44992885099998 meters 0.08646592735528784 Centerline is valid? [True, True] Translation: X:93.42, Y:-9.24, Z:-2.79 [[ 9.99491378e-01 3.18063410e-02 -2.31148681e-03 9.34172883e+01] [-3.18058275e-02 9.99494033e-01 2.58566370e-04 -9.24457821e+00] [ 2.31854133e-03 -1.84916106e-04 9.99997295e-01 -2.79342534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47992885099998 meters 0.09497079884094992 Centerline is valid? [True, True] Translation: X:93.44, Y:-9.26, Z:-2.80 [[ 9.99455757e-01 3.29604311e-02 -1.34162633e-03 9.34436426e+01] [-3.29602597e-02 9.99456652e-01 1.49668859e-04 -9.26187078e+00] [ 1.34583051e-03 -1.05367050e-04 9.99999089e-01 -2.80160247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50992885099998 meters 0.09542583386658704 Centerline is valid? [True, True] Translation: X:93.47, Y:-9.26, Z:-2.80 [[ 9.99421689e-01 3.39398747e-02 -2.09114000e-03 9.34714141e+01] [-3.39394628e-02 9.99423864e-01 2.32186994e-04 -9.26016633e+00] [ 2.09781561e-03 -1.61080550e-04 9.99997787e-01 -2.80352223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53992885099998 meters 0.09563383111770743 Centerline is valid? [True, True] Translation: X:93.50, Y:-9.26, Z:-2.81 [[ 9.99435898e-01 3.34395822e-02 -3.11135598e-03 9.35012554e+01] [-3.34386555e-02 9.99440711e-01 3.49409939e-04 -9.26153945e+00] [ 3.12129995e-03 -2.45173275e-04 9.99995099e-01 -2.80533744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.569928851 meters 0.0983925289071536 Centerline is valid? [True, True] Translation: X:93.53, Y:-9.27, Z:-2.81 [[ 9.99507906e-01 3.12196162e-02 -3.04647737e-03 9.35304805e+01] [-3.12187162e-02 9.99512518e-01 3.42536975e-04 -9.26520775e+00] [ 3.05568614e-03 -2.47261302e-04 9.99995301e-01 -2.80807045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599928851 meters 0.0849504981462281 Centerline is valid? [True, True] Translation: X:93.56, Y:-9.24, Z:-2.80 [[ 9.99560497e-01 2.94969298e-02 -2.95690810e-03 9.35634538e+01] [-2.94960784e-02 9.99564841e-01 3.31115689e-04 -9.23901767e+00] [ 2.96538827e-03 -2.43752970e-04 9.99995574e-01 -2.79575455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.629928851 meters 0.08756439656608371 Centerline is valid? [True, True] Translation: X:93.59, Y:-9.25, Z:-2.80 [[ 9.99617547e-01 2.76006527e-02 -1.72151154e-03 9.35909889e+01] [-2.76003642e-02 9.99619019e-01 1.91094813e-04 -9.24522337e+00] [ 1.72613002e-03 -1.43507383e-04 9.99998500e-01 -2.79877451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659928851 meters 0.08607146608105945 Centerline is valid? [True, True] Translation: X:93.62, Y:-9.24, Z:-2.80 [[ 9.99676198e-01 2.53671057e-02 -2.00247418e-03 9.36215285e+01] [-2.53667063e-02 9.99678188e-01 2.24617156e-04 -9.24227636e+00] [ 2.00752765e-03 -1.73748250e-04 9.99997970e-01 -2.79724964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.689928851 meters 0.08824122233644573 Centerline is valid? [True, True] Translation: X:93.65, Y:-9.25, Z:-2.80 [[ 9.99720629e-01 2.36092174e-02 -1.12643830e-03 9.36494313e+01] [-2.36090921e-02 9.99721259e-01 1.24398769e-04 -9.24715511e+00] [ 1.12906128e-03 -9.77698303e-05 9.99999358e-01 -2.79886737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719928851 meters 0.08887379701917211 Centerline is valid? [True, True] Translation: X:93.68, Y:-9.25, Z:-2.80 [[ 9.99779594e-01 2.09940197e-02 -1.17986834e-04 9.36802078e+01] [-2.09940182e-02 9.99779601e-01 1.32589994e-05 -9.24600504e+00] [ 1.18239189e-04 -1.07790593e-05 9.99999993e-01 -2.79975997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.749928851 meters 0.08842255866686007 Centerline is valid? [True, True] Translation: X:93.71, Y:-9.24, Z:-2.80 [[ 9.99810430e-01 1.94664648e-02 4.01507075e-04 9.37097633e+01] [-1.94664474e-02 9.99810510e-01 -4.73910307e-05 -9.24498517e+00] [-4.02353529e-04 3.95661304e-05 9.99999918e-01 -2.79968628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779928851 meters 0.09038065600600152 Centerline is valid? [True, True] Translation: X:93.74, Y:-9.25, Z:-2.80 [[ 9.99821462e-01 1.88482160e-02 1.33743584e-03 9.37368023e+01] [-1.88480283e-02 9.99822348e-01 -1.52817255e-04 -9.24927426e+00] [-1.34007857e-03 1.27581942e-04 9.99999094e-01 -2.80169484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.809928851 meters 0.08958803773561419 Centerline is valid? [True, True] Translation: X:93.77, Y:-9.25, Z:-2.80 [[ 9.99837654e-01 1.79747098e-02 1.25525469e-03 9.37669958e+01] [-1.79745457e-02 9.99838435e-01 -1.41918819e-04 -9.24698674e+00] [-1.25760283e-03 1.19333146e-04 9.99999202e-01 -2.80162005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839928851 meters 0.09066874577937019 Centerline is valid? [True, True] Translation: X:93.80, Y:-9.25, Z:-2.80 [[ 9.99848872e-01 1.72607568e-02 2.07345326e-03 9.37956321e+01] [-1.72603080e-02 9.99851002e-01 -2.34151394e-04 -9.24842424e+00] [-2.07718595e-03 1.98327566e-04 9.99997823e-01 -2.80248965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86992885099997 meters 0.0916740378837732 Centerline is valid? [True, True] Translation: X:93.82, Y:-9.25, Z:-2.80 [[ 9.99854211e-01 1.69207046e-02 2.29034032e-03 9.38246172e+01] [-1.69201556e-02 9.99856810e-01 -2.58867027e-04 -9.25001724e+00] [-2.29439258e-03 2.20076373e-04 9.99997344e-01 -2.80423455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89992885099997 meters 0.0904002195803643 Centerline is valid? [True, True] Translation: X:93.85, Y:-9.24, Z:-2.80 [[ 9.99861865e-01 1.64421878e-02 2.42996509e-03 9.38541670e+01] [-1.64415691e-02 9.99864791e-01 -2.74389109e-04 -9.24387041e+00] [-2.43414809e-03 2.34398767e-04 9.99997010e-01 -2.80400641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92992885099997 meters 0.09366229097640882 Centerline is valid? [True, True] Translation: X:93.88, Y:-9.25, Z:-2.81 [[ 9.99856069e-01 1.66649585e-02 3.18120097e-03 9.38814551e+01] [-1.66639005e-02 9.99861083e-01 -3.58793234e-04 -9.25022634e+00] [-3.18673832e-03 3.05730376e-04 9.99994876e-01 -2.80741061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95992885099997 meters 0.09623093943134811 Centerline is valid? [True, True] Translation: X:93.91, Y:-9.25, Z:-2.81 [[ 9.99863964e-01 1.62436581e-02 2.86296469e-03 9.39090276e+01] [-1.62427995e-02 9.99868025e-01 -3.22879376e-04 -9.25483732e+00] [-2.86783159e-03 2.76332891e-04 9.99995850e-01 -2.80965645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98992885099997 meters 0.09568602293760764 Centerline is valid? [True, True] Translation: X:93.94, Y:-9.25, Z:-2.81 [[ 9.99859006e-01 1.61712322e-02 4.52316123e-03 9.39388193e+01] [-1.61690958e-02 9.99869142e-01 -5.08498834e-04 -9.25135823e+00] [-4.53079239e-03 4.35291712e-04 9.99989641e-01 -2.80937660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01992885099997 meters 0.09661316434397788 Centerline is valid? [True, True] Translation: X:93.97, Y:-9.25, Z:-2.81 [[ 9.99846518e-01 1.68755072e-02 4.70724935e-03 9.39668582e+01] [-1.68732078e-02 9.99857498e-01 -5.27761402e-04 -9.25393481e+00] [-4.71548480e-03 4.48254004e-04 9.99988782e-01 -2.81131984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04992885099998 meters 0.09672911029758273 Centerline is valid? [True, True] Translation: X:94.00, Y:-9.25, Z:-2.81 [[ 9.99844349e-01 1.70120901e-02 4.67612039e-03 9.39956376e+01] [-1.70098239e-02 9.99855185e-01 -5.23981401e-04 -9.25256099e+00] [-4.68435724e-03 4.44359859e-04 9.99988930e-01 -2.81277033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07992885099998 meters 0.09686855911121638 Centerline is valid? [True, True] Translation: X:94.02, Y:-9.25, Z:-2.81 [[ 9.99838673e-01 1.74177446e-02 4.38758704e-03 9.40248228e+01] [-1.74157540e-02 9.99848213e-01 -4.91494321e-04 -9.25373069e+00] [-4.39548178e-03 4.15001893e-04 9.99990254e-01 -2.81453925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10992885099998 meters 0.09302400864557385 Centerline is valid? [True, True] Translation: X:94.05, Y:-9.25, Z:-2.81 [[ 9.99839487e-01 1.73648241e-02 4.41160725e-03 9.40546157e+01] [-1.73628121e-02 9.99849133e-01 -4.93957935e-04 -9.24694371e+00] [-4.41951917e-03 4.17280741e-04 9.99990147e-01 -2.81374320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13992885099998 meters 0.09336584822756254 Centerline is valid? [True, True] Translation: X:94.08, Y:-9.25, Z:-2.81 [[ 9.99840357e-01 1.73203747e-02 4.38918828e-03 9.40839325e+01] [-1.73183840e-02 9.99849905e-01 -4.91151381e-04 -9.24664917e+00] [-4.39703641e-03 4.15059324e-04 9.99990247e-01 -2.81461299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16992885099998 meters 0.0939053467672002 Centerline is valid? [True, True] Translation: X:94.11, Y:-9.25, Z:-2.82 [[ 9.99851341e-01 1.65469767e-02 4.84707769e-03 9.41128595e+01] [-1.65445427e-02 9.99862983e-01 -5.41825646e-04 -9.24917525e+00] [-4.85537914e-03 4.61552415e-04 9.99988106e-01 -2.81568960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19992885099998 meters 0.09470173588561678 Centerline is valid? [True, True] Translation: X:94.14, Y:-9.25, Z:-2.82 [[ 9.99865819e-01 1.55345715e-02 5.19825541e-03 9.41421192e+01] [-1.55317660e-02 9.99879207e-01 -5.79631856e-04 -9.25263919e+00] [-5.20663183e-03 4.98815993e-04 9.99986321e-01 -2.81619048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22992885099998 meters 0.09458290649020665 Centerline is valid? [True, True] Translation: X:94.17, Y:-9.25, Z:-2.82 [[ 9.99879891e-01 1.45133754e-02 5.43738756e-03 9.41711475e+01] [-1.45102897e-02 9.99894536e-01 -6.06521937e-04 -9.25428270e+00] [-5.44561680e-03 5.27551019e-04 9.99985033e-01 -2.81711550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25992885099998 meters 0.09945730714472523 Centerline is valid? [True, True] Translation: X:94.20, Y:-9.26, Z:-2.82 [[ 9.99902882e-01 1.21348748e-02 6.85354447e-03 9.41990230e+01] [-1.21299285e-02 9.99926139e-01 -7.62823321e-04 -9.26410062e+00] [-6.86229502e-03 6.79616233e-04 9.99976223e-01 -2.81998425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28992885099998 meters 0.09941175649014634 Centerline is valid? [True, True] Translation: X:94.23, Y:-9.27, Z:-2.82 [[ 9.99926004e-01 1.03958167e-02 6.31770189e-03 9.42291435e+01] [-1.03915797e-02 9.99945759e-01 -7.03113486e-04 -9.26629649e+00] [-6.32466865e-03 6.37410555e-04 9.99979796e-01 -2.82031434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319928851 meters 0.10119632556733947 Centerline is valid? [True, False] Translation: X:94.23, Y:-9.27, Z:-2.82 [[ 9.99928436e-01 1.00838530e-02 6.43723957e-03 9.42286592e+01] [-1.00769857e-02 9.99948623e-01 -1.09834560e-03 -9.26543569e+00] [-6.44798440e-03 1.03339902e-03 9.99978678e-01 -2.81998376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.349928851 meters 0.10259618977011288 Centerline is valid? [False, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99990028e-01 4.38457864e-03 -8.47667547e-04 9.42372458e+01] [-4.38506380e-03 9.99990222e-01 -5.71346511e-04 -9.26277377e+00] [ 8.45154145e-04 5.75057890e-04 9.99999478e-01 -2.81461615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379928851 meters 0.10545502542896351 Centerline is valid? [False, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99992520e-01 3.83968054e-03 -4.65072968e-04 9.42363034e+01] [-3.84020192e-03 9.99991993e-01 -1.12540704e-03 -9.26144468e+00] [ 4.60748040e-04 1.12718459e-03 9.99999259e-01 -2.81446331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.409928851 meters 0.10659560013909047 Centerline is valid? [False, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99993345e-01 3.63204979e-03 -3.43871762e-04 9.42359942e+01] [-3.63251227e-03 9.99992486e-01 -1.35399924e-03 -9.26083387e+00] [ 3.38951386e-04 1.35523935e-03 9.99999024e-01 -2.81441246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439928851 meters 0.10864759820861838 Centerline is valid? [False, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99993660e-01 3.55007800e-03 -2.78803987e-04 9.42359876e+01] [-3.55047171e-03 9.99992682e-01 -1.42457948e-03 -9.26038825e+00] [ 2.73744579e-04 1.42556034e-03 9.99998946e-01 -2.81463444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.469928851 meters 0.10915574027318894 Centerline is valid? [False, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99994314e-01 3.36734130e-03 -1.80498832e-04 9.42357583e+01] [-3.36763264e-03 9.99992987e-01 -1.63884030e-03 -9.25975975e+00] [ 1.74979032e-04 1.63943883e-03 9.99998641e-01 -2.81461278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499928851 meters 0.11018204668351206 Centerline is valid? [False, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99995422e-01 3.02581048e-03 5.40139138e-06 9.42352299e+01] [-3.02579330e-03 9.99993364e-01 -2.02877014e-03 -9.25883231e+00] [-1.15400295e-05 2.02874451e-03 9.99997942e-01 -2.81444668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.529928851 meters 0.10522085815369511 Centerline is valid? [False, False] Translation: X:94.23, Y:-9.26, Z:-2.81 [[ 9.99996291e-01 2.72373733e-03 4.53225338e-06 9.42349358e+01] [-2.72371745e-03 9.99993159e-01 -2.50279016e-03 -9.25775813e+00] [-1.13491653e-05 2.50276853e-03 9.99996868e-01 -2.81399457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559928851 meters 0.10847241457844851 Centerline is valid? [False, False] Translation: X:94.23, Y:-9.26, Z:-2.81 [[ 9.99996464e-01 2.65909876e-03 4.12193301e-05 9.42349404e+01] [-2.65898295e-03 9.99993104e-01 -2.59271882e-03 -9.25733215e+00] [-4.81133413e-05 2.59260005e-03 9.99996638e-01 -2.81413033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.589928851 meters 0.1091686967825907 Centerline is valid? [False, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99996080e-01 2.79934185e-03 -6.75681447e-05 9.42352554e+01] [-2.79949958e-03 9.99993056e-01 -2.45966119e-03 -9.25754093e+00] [ 6.06822430e-05 2.45984071e-03 9.99996973e-01 -2.81423777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61992885099997 meters 0.11012975150790974 Centerline is valid? [False, False] Translation: X:94.23, Y:-9.26, Z:-2.81 [[ 9.99996796e-01 2.53138355e-03 3.37610401e-06 9.42347889e+01] [-2.53136373e-03 9.99992757e-01 -2.84227969e-03 -9.25692760e+00] [-1.05709796e-05 2.84226204e-03 9.99995961e-01 -2.81375865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64992885099997 meters 0.10780493705108049 Centerline is valid? [False, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99996696e-01 2.56126870e-03 -2.17521516e-04 9.42352078e+01] [-2.56192228e-03 9.99992038e-01 -3.05952526e-03 -9.25619827e+00] [ 2.09683518e-04 3.06007242e-03 9.99995296e-01 -2.81360923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67992885099997 meters 0.10651829195289829 Centerline is valid? [False, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99996285e-01 2.69588120e-03 -4.03764573e-04 9.42357302e+01] [-2.69710235e-03 9.99991696e-01 -3.05504097e-03 -9.25593756e+00] [ 3.95525193e-04 3.05611862e-03 9.99995252e-01 -2.81375170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70992885099997 meters 0.10341565060264124 Centerline is valid? [False, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99996281e-01 2.67558447e-03 -5.29370680e-04 9.42359425e+01] [-2.67727796e-03 9.99991217e-01 -3.22463268e-03 -9.25547643e+00] [ 5.20738253e-04 3.22603796e-03 9.99994661e-01 -2.81363746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73992885099997 meters 0.09962661876914437 Centerline is valid? [False, True] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99995003e-01 3.02802184e-03 -9.08412744e-04 9.42370050e+01] [-3.03077399e-03 9.99990775e-01 -3.04370300e-03 -9.25543378e+00] [ 8.99187965e-04 3.04644098e-03 9.99994955e-01 -2.81397185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76992885099997 meters 0.10196146702068073 Centerline is valid? [True, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99994106e-01 3.25325707e-03 -1.09726129e-03 9.42376354e+01] [-3.25638775e-03 9.99990598e-01 -2.86356862e-03 -9.25551981e+00] [ 1.08793504e-03 2.86712485e-03 9.99995298e-01 -2.81427747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79992885099998 meters 0.09923571379222355 Centerline is valid? [False, True] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99993573e-01 3.38958225e-03 -1.16850337e-03 9.42379862e+01] [-3.39274012e-03 9.99990569e-01 -2.71118182e-03 -9.25568096e+00] [ 1.15930258e-03 2.71512882e-03 9.99995642e-01 -2.81456941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82992885099998 meters 0.10090375048458793 Centerline is valid? [True, False] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99992918e-01 3.46388005e-03 -1.47142030e-03 9.42384795e+01] [-3.46815700e-03 9.99989740e-01 -2.91414909e-03 -9.25524243e+00] [ 1.46131094e-03 2.91923157e-03 9.99994671e-01 -2.81429304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85992885099998 meters 0.09870691879095038 Centerline is valid? [False, True] Translation: X:94.24, Y:-9.26, Z:-2.81 [[ 9.99992432e-01 3.55842251e-03 -1.57279062e-03 9.42388510e+01] [-3.56294440e-03 9.99989501e-01 -2.88168088e-03 -9.25503743e+00] [ 1.56251987e-03 2.88726284e-03 9.99994611e-01 -2.81449510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88992885099998 meters 0.09805326524573567 Centerline is valid? [True, True] Translation: X:94.27, Y:-9.26, Z:-2.82 [[ 9.99990862e-01 3.97378364e-03 -1.57625472e-03 9.42678738e+01] [-3.97354548e-03 9.99992094e-01 1.54190482e-04 -9.25772260e+00] [ 1.57685498e-03 -1.47925753e-04 9.99998746e-01 -2.81664820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91992885099998 meters 0.09399902015461467 Centerline is valid? [True, True] Translation: X:94.30, Y:-9.25, Z:-2.82 [[ 9.99984298e-01 5.28828738e-03 -1.85403196e-03 9.42981564e+01] [-5.28795891e-03 9.99986002e-01 1.82021349e-04 -9.25343685e+00] [ 1.85496859e-03 -1.72214446e-04 9.99998265e-01 -2.81589826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94992885099998 meters 0.09713444509830359 Centerline is valid? [True, True] Translation: X:94.33, Y:-9.26, Z:-2.82 [[ 9.99982020e-01 5.68060678e-03 -1.92121272e-03 9.43255583e+01] [-5.68025606e-03 9.99983850e-01 1.87954772e-04 -9.26285362e+00] [ 1.92224939e-03 -1.77038413e-04 9.99998137e-01 -2.81811194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97992885099998 meters 0.09425554820800769 Centerline is valid? [True, True] Translation: X:94.35, Y:-9.26, Z:-2.82 [[ 9.99984977e-01 5.14558301e-03 -1.88929867e-03 9.43541175e+01] [-5.14524381e-03 9.99986746e-01 1.84353026e-04 -9.26151509e+00] [ 1.89022223e-03 -1.74629354e-04 9.99998198e-01 -2.81759223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00992885099998 meters 0.09425554820800769 Centerline is valid? [True, True] Translation: X:94.38, Y:-9.26, Z:-2.82 [[ 9.99985324e-01 5.07757974e-03 -1.88928296e-03 9.43824113e+01] [-5.07724012e-03 9.99987094e-01 1.84512305e-04 -9.26422121e+00] [ 1.89019545e-03 -1.74917254e-04 9.99998198e-01 -2.81806116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03992885099998 meters 0.09972597964924457 Centerline is valid? [True, True] Translation: X:94.41, Y:-9.28, Z:-2.82 [[ 9.99986400e-01 4.78457318e-03 -2.07546376e-03 9.44093997e+01] [-4.78416341e-03 9.99988535e-01 2.02358168e-04 -9.27797384e+00] [ 2.07640816e-03 -1.92426059e-04 9.99997826e-01 -2.82051910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.069928851 meters 0.09772667270530869 Centerline is valid? [True, True] Translation: X:94.44, Y:-9.28, Z:-2.82 [[ 9.99991777e-01 3.46150042e-03 -2.11263794e-03 9.44390828e+01] [-3.46107121e-03 9.99993989e-01 2.06785362e-04 -9.27852868e+00] [ 2.11334103e-03 -1.99471671e-04 9.99997747e-01 -2.81982826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099928851 meters 0.09843543615402445 Centerline is valid? [True, True] Translation: X:94.47, Y:-9.28, Z:-2.82 [[ 9.99994439e-01 2.65727590e-03 -2.01515280e-03 9.44684549e+01] [-2.65688395e-03 9.99996451e-01 1.97154736e-04 -9.28373836e+00] [ 2.01566955e-03 -1.91799612e-04 9.99997950e-01 -2.82049414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.129928851 meters 0.09876159332926619 Centerline is valid? [True, True] Translation: X:94.50, Y:-9.29, Z:-2.82 [[ 9.99996845e-01 1.08018629e-03 -2.26790699e-03 9.44979236e+01] [-1.07968518e-03 9.99999392e-01 2.22168882e-04 -9.28960563e+00] [ 2.26814559e-03 -2.19719555e-04 9.99997404e-01 -2.82122998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159928851 meters 0.10083258505538725 Centerline is valid? [True, False] Translation: X:94.50, Y:-9.29, Z:-2.82 [[ 9.99997351e-01 1.22705962e-03 -1.94715340e-03 9.44972458e+01] [-1.22528105e-03 9.99998831e-01 9.14350744e-04 -9.29190754e+00] [ 1.94827309e-03 -9.11962512e-04 9.99997686e-01 -2.82130319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.189928851 meters 0.09705473774677738 Centerline is valid? [False, True] Translation: X:94.50, Y:-9.29, Z:-2.82 [[ 9.99997512e-01 1.31633954e-03 -1.80097430e-03 9.44969397e+01] [-1.31411715e-03 9.99998374e-01 1.23462146e-03 -9.29298865e+00] [ 1.80259656e-03 -1.23225170e-03 9.99997616e-01 -2.82134335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219928851 meters 0.0998549416837862 Centerline is valid? [True, True] Translation: X:94.53, Y:-9.30, Z:-2.82 [[ 9.99999065e-01 6.22592844e-04 -1.21730588e-03 9.45251103e+01] [-6.22445738e-04 9.99999799e-01 1.21220293e-04 -9.30143736e+00] [ 1.21738110e-03 -1.20462473e-04 9.99999252e-01 -2.82254193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.249928851 meters 0.0998549416837862 Centerline is valid? [True, True] Translation: X:94.55, Y:-9.30, Z:-2.82 [[ 9.99999085e-01 5.89494965e-04 -1.21728027e-03 9.45542637e+01] [-5.89347527e-04 9.99999819e-01 1.21475591e-04 -9.30432216e+00] [ 1.21735165e-03 -1.20758079e-04 9.99999252e-01 -2.82303451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279928851 meters 0.10117416898668798 Centerline is valid? [True, False] Translation: X:94.55, Y:-9.31, Z:-2.82 [[ 9.99999036e-01 7.40951542e-04 -1.17421600e-03 9.45541983e+01] [-7.40407347e-04 9.99999618e-01 4.63820674e-04 -9.30543020e+00] [ 1.17455922e-03 -4.62950828e-04 9.99999203e-01 -2.82308308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.309928851 meters 0.09890150689476794 Centerline is valid? [False, True] Translation: X:94.55, Y:-9.31, Z:-2.82 [[ 9.99999024e-01 7.98857569e-04 -1.14629592e-03 9.45540811e+01] [-7.98154359e-04 9.99999493e-01 6.13788692e-04 -9.30610781e+00] [ 1.14678567e-03 -6.12873172e-04 9.99999155e-01 -2.82300485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339928851 meters 0.09679628839188371 Centerline is valid? [True, True] Translation: X:94.58, Y:-9.31, Z:-2.82 [[ 9.99998944e-01 5.37639866e-04 -1.34995758e-03 9.45841782e+01] [-5.37457939e-04 9.99999846e-01 1.35123995e-04 -9.30566176e+00] [ 1.35003002e-03 -1.34398307e-04 9.99999080e-01 -2.82336992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36992885099997 meters 0.10050269845594567 Centerline is valid? [True, False] Translation: X:94.58, Y:-9.31, Z:-2.82 [[ 9.99998800e-01 6.21362888e-04 -1.41888836e-03 9.45842400e+01] [-6.21018391e-04 9.99999778e-01 2.43221328e-04 -9.30620746e+00] [ 1.41903917e-03 -2.42339880e-04 9.99998964e-01 -2.82325013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39992885099997 meters 0.09966325348578772 Centerline is valid? [False, True] Translation: X:94.58, Y:-9.31, Z:-2.82 [[ 9.99998623e-01 7.41994165e-04 -1.48470221e-03 9.45843769e+01] [-7.41386809e-04 9.99999641e-01 4.09584883e-04 -9.30676844e+00] [ 1.48500559e-03 -4.08483581e-04 9.99998814e-01 -2.82323417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42992885099997 meters 0.09946862150405121 Centerline is valid? [True, True] Translation: X:94.61, Y:-9.31, Z:-2.82 [[ 9.99997603e-01 1.72919246e-03 -1.34308206e-03 9.46138226e+01] [-1.72901489e-03 9.99998496e-01 1.33363438e-04 -9.31006886e+00] [ 1.34331065e-03 -1.31040909e-04 9.99999089e-01 -2.82482466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45992885099997 meters 0.09623395097297863 Centerline is valid? [True, True] Translation: X:94.64, Y:-9.31, Z:-2.82 [[ 9.99995389e-01 2.60249026e-03 -1.56510887e-03 9.46437421e+01] [-2.60225013e-03 9.99996602e-01 1.55443902e-04 -9.30771706e+00] [ 1.56550809e-03 -1.51370381e-04 9.99998763e-01 -2.82425506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48992885099997 meters 0.09663025493104246 Centerline is valid? [True, True] Translation: X:94.67, Y:-9.31, Z:-2.83 [[ 9.99986184e-01 4.78806814e-03 -2.16917012e-03 9.46726264e+01] [-4.78761159e-03 9.99988516e-01 2.15615197e-04 -9.31257116e+00] [ 2.17017759e-03 -2.05227074e-04 9.99997624e-01 -2.82594269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51992885099997 meters 0.09535467179860918 Centerline is valid? [True, True] Translation: X:94.70, Y:-9.31, Z:-2.83 [[ 9.99977104e-01 6.44289881e-03 -2.06903455e-03 9.47025230e+01] [-6.44248644e-03 9.99979226e-01 2.05911151e-04 -9.31350460e+00] [ 2.07031823e-03 -1.92576710e-04 9.99997838e-01 -2.82661150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54992885099998 meters 0.09162142623344659 Centerline is valid? [True, True] Translation: X:94.73, Y:-9.31, Z:-2.83 [[ 9.99964041e-01 8.08503033e-03 -2.55928357e-03 9.47328632e+01] [-8.08440561e-03 9.99967288e-01 2.54353415e-04 -9.30909228e+00] [ 2.56125630e-03 -2.33653982e-04 9.99996693e-01 -2.82642794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57992885099998 meters 0.09070584626439791 Centerline is valid? [True, True] Translation: X:94.76, Y:-9.31, Z:-2.83 [[ 9.99949208e-01 9.70830117e-03 -2.70755259e-03 9.47626540e+01] [-9.70760801e-03 9.99952844e-01 2.69036254e-04 -9.30984373e+00] [ 2.71003680e-03 -2.42738730e-04 9.99996298e-01 -2.82629542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60992885099998 meters 0.08932804233652657 Centerline is valid? [True, True] Translation: X:94.79, Y:-9.31, Z:-2.83 [[ 9.99904269e-01 1.33962185e-02 -3.46330954e-03 9.47936725e+01] [-1.33951040e-02 9.99910222e-01 3.44805934e-04 -9.30923260e+00] [ 3.46761770e-03 -2.98381534e-04 9.99993943e-01 -2.82786325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63992885099998 meters 0.09089770071720775 Centerline is valid? [True, True] Translation: X:94.82, Y:-9.31, Z:-2.83 [[ 9.99887163e-01 1.45299453e-02 -3.81332090e-03 9.48214987e+01] [-1.45286076e-02 9.99894383e-01 3.78245429e-04 -9.31456319e+00] [ 3.81841403e-03 -3.22800506e-04 9.99992658e-01 -2.82993838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66992885099998 meters 0.09108538476607717 Centerline is valid? [True, True] Translation: X:94.85, Y:-9.32, Z:-2.83 [[ 9.99857541e-01 1.63397022e-02 -4.23222055e-03 9.48497815e+01] [-1.63380695e-02 9.99866437e-01 4.20070480e-04 -9.31789581e+00] [ 4.23851911e-03 -3.50864323e-04 9.99990956e-01 -2.83082637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69992885099998 meters 0.08915827563190701 Centerline is valid? [True, True] Translation: X:94.88, Y:-9.32, Z:-2.83 [[ 9.99830107e-01 1.78365232e-02 -4.64917813e-03 9.48795266e+01] [-1.78345679e-02 9.99840845e-01 4.61699288e-04 -9.31640966e+00] [ 4.65667330e-03 -3.78704766e-04 9.99989086e-01 -2.83120891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72992885099998 meters 0.08824521323831375 Centerline is valid? [True, True] Translation: X:94.91, Y:-9.32, Z:-2.83 [[ 9.99828529e-01 1.80166806e-02 -4.27929851e-03 9.49088444e+01] [-1.80150299e-02 9.99837626e-01 4.23985604e-04 -9.31697517e+00] [ 4.28624248e-03 -3.46821212e-04 9.99990754e-01 -2.83157760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75992885099998 meters 0.08812234755066253 Centerline is valid? [True, True] Translation: X:94.94, Y:-9.32, Z:-2.83 [[ 9.99827263e-01 1.80499522e-02 -4.43213601e-03 9.49376856e+01] [-1.80481829e-02 9.99837022e-01 4.38870952e-04 -9.31929403e+00] [ 4.43933527e-03 -3.58803141e-04 9.99990082e-01 -2.83198836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78992885099998 meters 0.0891837553391783 Centerline is valid? [True, True] Translation: X:94.96, Y:-9.32, Z:-2.83 [[ 9.99843813e-01 1.72586656e-02 -3.80631977e-03 9.49646803e+01] [-1.72573614e-02 9.99851010e-01 3.75203990e-04 -9.32475467e+00] [ 3.81222818e-03 -3.09458352e-04 9.99992686e-01 -2.83257439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819928851 meters 0.08888310176053006 Centerline is valid? [True, True] Translation: X:94.99, Y:-9.33, Z:-2.83 [[ 9.99877483e-01 1.51049941e-02 -4.10581354e-03 9.49944259e+01] [-1.51034500e-02 9.99885854e-01 4.06832339e-04 -9.32755261e+00] [ 4.11149007e-03 -3.44770546e-04 9.99991488e-01 -2.83288494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.849928851 meters 0.09186337921056636 Centerline is valid? [True, True] Translation: X:95.02, Y:-9.34, Z:-2.84 [[ 9.99909035e-01 1.28765548e-02 -4.01439712e-03 9.50231066e+01] [-1.28750611e-02 9.99917034e-01 3.97699880e-04 -9.33752116e+00] [ 4.01918507e-03 -3.45978095e-04 9.99991863e-01 -2.83526423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879928851 meters 0.09177300366034623 Centerline is valid? [True, True] Translation: X:95.05, Y:-9.34, Z:-2.83 [[ 9.99947173e-01 9.55090821e-03 -3.79889671e-03 9.50533548e+01] [-9.54954569e-03 9.99954331e-01 3.76639317e-04 -9.34103618e+00] [ 3.80232047e-03 -3.40341682e-04 9.99992713e-01 -2.83489025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.909928851 meters 0.09582401162191566 Centerline is valid? [True, True] Translation: X:95.08, Y:-9.35, Z:-2.84 [[ 9.99986087e-01 3.12947565e-03 -4.24652870e-03 9.50814708e+01] [-3.12771719e-03 9.99995020e-01 4.20671667e-04 -9.35421783e+00] [ 4.24782403e-03 -4.07383873e-04 9.99990895e-01 -2.83643524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939928851 meters 0.09502195905636893 Centerline is valid? [True, True] Translation: X:95.11, Y:-9.36, Z:-2.84 [[ 9.99988739e-01 -2.92812235e-05 -4.74570069e-03 9.51120666e+01] [ 3.15142348e-05 9.99999889e-01 4.70459442e-04 -9.35653796e+00] [ 4.74568639e-03 -4.70603701e-04 9.99988628e-01 -2.83650955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.969928851 meters 0.09674690900510485 Centerline is valid? [True, True] Translation: X:95.14, Y:-9.36, Z:-2.84 [[ 9.99980311e-01 -3.21414935e-03 -5.38954852e-03 9.51415901e+01] [ 3.21707297e-03 9.99994683e-01 5.33880005e-04 -9.36387992e+00] [ 5.38780389e-03 -5.51208064e-04 9.99985334e-01 -2.83821153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999928851 meters 0.1016293814638226 Centerline is valid? [True, False] Translation: X:95.14, Y:-9.37, Z:-2.84 [[ 9.99982471e-01 -3.33420241e-03 -4.89299521e-03 9.51405548e+01] [ 3.33895820e-03 9.99993961e-01 9.64113377e-04 -9.36544252e+00] [ 4.88975111e-03 -9.80433983e-04 9.99987564e-01 -2.83825700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.029928851 meters 0.09995830413662059 Centerline is valid? [False, True] Translation: X:95.14, Y:-9.37, Z:-2.84 [[ 9.99985852e-01 -3.54227430e-03 -3.96847635e-03 9.51386261e+01] [ 3.54974848e-03 9.99991936e-01 1.87793002e-03 -9.36917770e+00] [ 3.96179220e-03 -1.89199055e-03 9.99990362e-01 -2.83804905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059928851 meters 0.10241383502843637 Centerline is valid? [True, False] Translation: X:95.14, Y:-9.37, Z:-2.84 [[ 9.99987658e-01 -3.24604633e-03 -3.76119328e-03 9.51383766e+01] [ 3.25615613e-03 9.99991094e-01 2.68492504e-03 -9.37141929e+00] [ 3.75244440e-03 -2.69713894e-03 9.99989322e-01 -2.83833439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.089928851 meters 0.10397659859016277 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.37, Z:-2.84 [[ 9.99988670e-01 -3.23594446e-03 -3.49114745e-03 9.51377749e+01] [ 3.24665836e-03 9.99990025e-01 3.06758651e-03 -9.37286648e+00] [ 3.48118608e-03 -3.07888632e-03 9.99989201e-01 -2.83830472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11992885099997 meters 0.10484536273421165 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99990380e-01 -3.01198095e-03 -3.18869894e-03 9.51372169e+01] [ 3.02435486e-03 9.99987888e-01 3.88286712e-03 -9.37546629e+00] [ 3.17696519e-03 -3.89247353e-03 9.99987378e-01 -2.83841245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14992885099997 meters 0.1102639863711228 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99991075e-01 -2.93551945e-03 -3.03865028e-03 9.51369051e+01] [ 2.94821881e-03 9.99986904e-01 4.18326996e-03 -9.37648308e+00] [ 3.02633041e-03 -4.19219122e-03 9.99986633e-01 -2.83843454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17992885099997 meters 0.11178046323205326 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99991685e-01 -2.80143991e-03 -2.96328670e-03 9.51367273e+01] [ 2.81478136e-03 9.99985879e-01 4.50769996e-03 -9.37758550e+00] [ 2.95061681e-03 -4.51600348e-03 9.99985450e-01 -2.83840339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20992885099997 meters 0.1086316431604861 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99992380e-01 -2.58555950e-03 -2.92482905e-03 9.51367412e+01] [ 2.59984649e-03 9.99984657e-01 4.89151571e-03 -9.37868203e+00] [ 2.91213687e-03 -4.89908254e-03 9.99983759e-01 -2.83851205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23992885099997 meters 0.10967213172056683 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99992308e-01 -2.63820440e-03 -2.90248955e-03 9.51363666e+01] [ 2.65239563e-03 9.99984495e-01 4.89639415e-03 -9.37921820e+00] [ 2.88952685e-03 -4.90405504e-03 9.99983800e-01 -2.83804353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26992885099997 meters 0.10511778792758172 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99992166e-01 -2.62001077e-03 -2.96712051e-03 9.51362534e+01] [ 2.63457461e-03 9.99984450e-01 4.91518342e-03 -9.37964809e+00] [ 2.95419654e-03 -4.92296202e-03 9.99983518e-01 -2.83768802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29992885099998 meters 0.10742495413398806 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99992235e-01 -2.21584426e-03 -3.25888288e-03 9.51368851e+01] [ 2.23309625e-03 9.99983463e-01 5.29975812e-03 -9.38073673e+00] [ 3.24708555e-03 -5.30699437e-03 9.99980646e-01 -2.83768755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32992885099998 meters 0.10284218648755342 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99991712e-01 -2.11250057e-03 -3.48043316e-03 9.51372454e+01] [ 2.13088776e-03 9.99983749e-01 5.28780718e-03 -9.38082059e+00] [ 3.46920610e-03 -5.29517977e-03 9.99979963e-01 -2.83751539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35992885099998 meters 0.0991583778015642 Centerline is valid? [False, True] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99990997e-01 -2.03158146e-03 -3.72550712e-03 9.51375979e+01] [ 2.05102820e-03 9.99984254e-01 5.22351853e-03 -9.38078154e+00] [ 3.71483645e-03 -5.23111262e-03 9.99979418e-01 -2.83728107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38992885099998 meters 0.10073888553804357 Centerline is valid? [True, False] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99990093e-01 -1.97643506e-03 -3.98836486e-03 9.51380524e+01] [ 1.99665039e-03 9.99985149e-01 5.07097632e-03 -9.38041329e+00] [ 3.97828317e-03 -5.07888945e-03 9.99979189e-01 -2.83711122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41992885099998 meters 0.09699797350658827 Centerline is valid? [False, True] Translation: X:95.14, Y:-9.38, Z:-2.84 [[ 9.99987731e-01 -1.70220766e-03 -4.65184227e-03 9.51392458e+01] [ 1.72442950e-03 9.99987102e-01 4.77716983e-03 -9.37947529e+00] [ 4.64365054e-03 -4.78513299e-03 9.99977769e-01 -2.83690134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44992885099998 meters 0.09524651125598463 Centerline is valid? [True, True] Translation: X:95.17, Y:-9.38, Z:-2.84 [[ 9.99984762e-01 8.11428063e-04 -5.46061008e-03 9.51695373e+01] [-8.08378819e-04 9.99999516e-01 5.60591092e-04 -9.37791574e+00] [ 5.46106232e-03 -5.56168308e-04 9.99984934e-01 -2.83579595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47992885099998 meters 0.09354971661342375 Centerline is valid? [True, True] Translation: X:95.20, Y:-9.38, Z:-2.84 [[ 9.99976890e-01 2.52871678e-03 -6.31064452e-03 9.51994594e+01] [-2.52468284e-03 9.99996604e-01 6.47112476e-04 -9.37807517e+00] [ 6.31225945e-03 -6.31165145e-04 9.99979878e-01 -2.83561522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50992885099998 meters 0.09455485322135894 Centerline is valid? [True, True] Translation: X:95.23, Y:-9.38, Z:-2.84 [[ 9.99960706e-01 5.08679895e-03 -7.26016491e-03 9.52280474e+01] [-5.08152548e-03 9.99986812e-01 7.44619436e-04 -9.38434508e+00] [ 7.26385689e-03 -7.07697464e-04 9.99973367e-01 -2.83746628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53992885099998 meters 0.0928359231304961 Centerline is valid? [True, True] Translation: X:95.26, Y:-9.38, Z:-2.84 [[ 9.99959238e-01 5.24936124e-03 -7.34618431e-03 9.52575182e+01] [-5.24397286e-03 9.99985967e-01 7.52563497e-04 -9.38415700e+00] [ 7.35003170e-03 -7.14009630e-04 9.99972733e-01 -2.83720526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.569928851 meters 0.09413931431707895 Centerline is valid? [True, True] Translation: X:95.29, Y:-9.39, Z:-2.84 [[ 9.99955833e-01 5.53791853e-03 -7.59363480e-03 9.52851752e+01] [-5.53218032e-03 9.99984396e-01 7.76457684e-04 -9.39061711e+00] [ 7.59781626e-03 -7.34414033e-04 9.99970866e-01 -2.83850485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599928851 meters 0.09289610362949671 Centerline is valid? [True, True] Translation: X:95.31, Y:-9.39, Z:-2.84 [[ 9.99951631e-01 5.11652946e-03 -8.39977696e-03 9.53139499e+01] [-5.10949287e-03 9.99986578e-01 8.58957536e-04 -9.39174769e+00] [ 8.40405910e-03 -8.15997388e-04 9.99964352e-01 -2.83820208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.629928851 meters 0.09494128589025387 Centerline is valid? [True, True] Translation: X:95.34, Y:-9.40, Z:-2.84 [[ 9.99959127e-01 4.38839539e-03 -7.90477891e-03 9.53409116e+01] [-4.38214923e-03 9.99990072e-01 8.07321938e-04 -9.40025210e+00] [ 7.90824328e-03 -7.72649020e-04 9.99968431e-01 -2.83945871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659928851 meters 0.0956617769926688 Centerline is valid? [True, True] Translation: X:95.37, Y:-9.41, Z:-2.84 [[ 9.99961874e-01 3.95238073e-03 -7.78651215e-03 9.53687893e+01] [-3.94631213e-03 9.99991898e-01 7.94582613e-04 -9.40547412e+00] [ 7.78958955e-03 -7.63824312e-04 9.99969369e-01 -2.84062174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.689928851 meters 0.09676889293504637 Centerline is valid? [True, True] Translation: X:95.40, Y:-9.41, Z:-2.84 [[ 9.99964696e-01 2.77207999e-03 -7.93241463e-03 9.53982120e+01] [-2.76574000e-03 9.99995847e-01 8.10109121e-04 -9.41135925e+00] [ 7.93462738e-03 -7.88141524e-04 9.99968210e-01 -2.84108821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719928851 meters 0.09791046707800193 Centerline is valid? [True, True] Translation: X:95.43, Y:-9.42, Z:-2.84 [[ 9.99967018e-01 1.86197066e-03 -7.90547541e-03 9.54272192e+01] [-1.85564758e-03 9.99997953e-01 8.07096093e-04 -9.41750223e+00] [ 7.90696201e-03 -7.92399697e-04 9.99968426e-01 -2.84233010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.749928851 meters 0.10014089793650281 Centerline is valid? [True, False] Translation: X:95.43, Y:-9.42, Z:-2.84 [[ 9.99970341e-01 1.84507538e-03 -7.47753202e-03 9.54261996e+01] [-1.83471822e-03 9.99997348e-01 1.39172603e-03 -9.41971548e+00] [ 7.48008003e-03 -1.37796559e-03 9.99971074e-01 -2.84215629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779928851 meters 0.09546607040225638 Centerline is valid? [False, True] Translation: X:95.43, Y:-9.42, Z:-2.84 [[ 9.99971348e-01 1.97428046e-03 -7.30784023e-03 9.54258912e+01] [-1.96116615e-03 9.99996455e-01 1.80128420e-03 -9.42099467e+00] [ 7.31137056e-03 -1.78690071e-03 9.99971675e-01 -2.84224447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.809928851 meters 0.10282725409075287 Centerline is valid? [True, False] Translation: X:95.43, Y:-9.42, Z:-2.84 [[ 9.99972459e-01 1.97692258e-03 -7.15360116e-03 9.54254162e+01] [-1.96216071e-03 9.99995933e-01 2.06998879e-03 -9.42215995e+00] [ 7.15766427e-03 -2.05589526e-03 9.99972270e-01 -2.84206115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83992885099997 meters 0.09616587249139984 Centerline is valid? [False, True] Translation: X:95.42, Y:-9.42, Z:-2.84 [[ 9.99974891e-01 1.95592520e-03 -6.81120338e-03 9.54246631e+01] [-1.93860099e-03 9.99994872e-01 2.54916058e-03 -9.42395809e+00] [ 6.81615442e-03 -2.53589237e-03 9.99973554e-01 -2.84202586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86992885099997 meters 0.09848114116616746 Centerline is valid? [True, True] Translation: X:95.45, Y:-9.43, Z:-2.84 [[ 9.99972563e-01 1.30261549e-03 -7.29215876e-03 9.54520777e+01] [-1.29680756e-03 9.99998838e-01 8.01133515e-04 -9.43114924e+00] [ 7.29319386e-03 -7.91655008e-04 9.99973091e-01 -2.84282625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89992885099997 meters 0.09848114116616746 Centerline is valid? [True, True] Translation: X:95.48, Y:-9.43, Z:-2.84 [[ 9.99972689e-01 1.20133147e-03 -7.29234603e-03 9.54795471e+01] [-1.19553316e-03 9.99998966e-01 7.99430162e-04 -9.43406322e+00] [ 7.29329887e-03 -7.90690087e-04 9.99973091e-01 -2.84342625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92992885099997 meters 0.10057937590917689 Centerline is valid? [True, False] Translation: X:95.48, Y:-9.43, Z:-2.84 [[ 9.99973344e-01 1.14809756e-03 -7.21059505e-03 9.54791188e+01] [-1.14193018e-03 9.99998979e-01 8.59380842e-04 -9.43464009e+00] [ 7.21157434e-03 -8.51123938e-04 9.99973634e-01 -2.84306779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95992885099997 meters 0.10090782256181918 Centerline is valid? [False, False] Translation: X:95.48, Y:-9.44, Z:-2.84 [[ 9.99975237e-01 1.23779862e-03 -6.92769590e-03 9.54785384e+01] [-1.22871201e-03 9.99998380e-01 1.31573808e-03 -9.43616285e+00] [ 6.92931330e-03 -1.30719335e-03 9.99975138e-01 -2.84305847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98992885099997 meters 0.10253388080360161 Centerline is valid? [False, False] Translation: X:95.48, Y:-9.44, Z:-2.84 [[ 9.99975990e-01 1.19845530e-03 -6.82524098e-03 9.54781542e+01] [-1.18922281e-03 9.99998373e-01 1.35659595e-03 -9.43667702e+00] [ 6.82685569e-03 -1.34844665e-03 9.99975788e-01 -2.84281375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01992885099997 meters 0.09989661011210342 Centerline is valid? [False, True] Translation: X:95.48, Y:-9.44, Z:-2.84 [[ 9.99976518e-01 1.07750714e-03 -6.76776471e-03 9.54777744e+01] [-1.06913050e-03 9.99998658e-01 1.24122327e-03 -9.43676676e+00] [ 6.76909305e-03 -1.23395850e-03 9.99976328e-01 -2.84243441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04992885099998 meters 0.09745230045026278 Centerline is valid? [True, True] Translation: X:95.51, Y:-9.44, Z:-2.84 [[ 9.99975567e-01 1.40411264e-03 -6.84795311e-03 9.55066842e+01] [-1.39894826e-03 9.99998734e-01 7.58880504e-04 -9.43535522e+00] [ 6.84900999e-03 -7.49282029e-04 9.99976265e-01 -2.84154056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07992885099998 meters 0.09985256383454712 Centerline is valid? [True, True] Translation: X:95.53, Y:-9.44, Z:-2.84 [[ 9.99977569e-01 5.53456476e-04 -6.67496382e-03 9.55346585e+01] [-5.48531236e-04 9.99999576e-01 7.39675934e-04 -9.44429190e+00] [ 6.67537037e-03 -7.35997917e-04 9.99977449e-01 -2.84246600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10992885099998 meters 0.09990543752528858 Centerline is valid? [True, True] Translation: X:95.56, Y:-9.45, Z:-2.84 [[ 9.99975738e-01 -1.54202864e-03 -6.79312254e-03 9.55647521e+01] [ 1.54718283e-03 9.99998519e-01 7.53545989e-04 -9.44946408e+00] [ 6.79195050e-03 -7.64037909e-04 9.99976643e-01 -2.84279100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13992885099998 meters 0.09936596107363418 Centerline is valid? [True, True] Translation: X:95.59, Y:-9.45, Z:-2.84 [[ 9.99973109e-01 -3.81650494e-03 -6.26227093e-03 9.55943505e+01] [ 3.82092896e-03 9.99992459e-01 6.94643202e-04 -9.45421296e+00] [ 6.25957259e-03 -7.18552214e-04 9.99980151e-01 -2.84250669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16992885099998 meters 0.10326014118434702 Centerline is valid? [True, False] Translation: X:95.59, Y:-9.46, Z:-2.84 [[ 9.99954021e-01 -7.50610902e-03 -5.96782429e-03 9.55937794e+01] [ 7.49438857e-03 9.99969949e-01 -1.98388326e-03 -9.45921850e+00] [ 5.98253620e-03 1.93906685e-03 9.99980224e-01 -2.84246975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19992885099998 meters 0.10341478524497304 Centerline is valid? [False, False] Translation: X:95.59, Y:-9.46, Z:-2.84 [[ 9.99959554e-01 -7.09319581e-03 -5.52969633e-03 9.55932260e+01] [ 7.08992705e-03 9.99974680e-01 -6.10507902e-04 -9.46308619e+00] [ 5.53388677e-03 5.71278065e-04 9.99984525e-01 -2.84297461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22992885099998 meters 0.10400711079941743 Centerline is valid? [False, False] Translation: X:95.59, Y:-9.47, Z:-2.84 [[ 9.99964624e-01 -6.59912576e-03 -5.21559146e-03 9.55929954e+01] [ 6.60291154e-03 9.99977949e-01 7.08971596e-04 -9.46650603e+00] [ 5.21079786e-03 -7.43384605e-04 9.99986147e-01 -2.84357889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25992885099998 meters 0.1062811161789521 Centerline is valid? [False, False] Translation: X:95.59, Y:-9.47, Z:-2.84 [[ 9.99967462e-01 -6.42648378e-03 -4.87589105e-03 9.55922058e+01] [ 6.43409814e-03 9.99978103e-01 1.54755715e-03 -9.46934199e+00] [ 4.86583894e-03 -1.57887876e-03 9.99986915e-01 -2.84338650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28992885099998 meters 0.11058285814584001 Centerline is valid? [False, False] Translation: X:95.59, Y:-9.47, Z:-2.84 [[ 9.99939477e-01 -9.99084666e-03 -4.60705937e-03 9.55915947e+01] [ 9.98751376e-03 9.99949845e-01 -7.45872246e-04 -9.47495413e+00] [ 4.61428020e-03 6.99814034e-04 9.99989109e-01 -2.84320651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319928851 meters 0.11290836257594593 Centerline is valid? [False, False] Translation: X:95.59, Y:-9.48, Z:-2.84 [[ 9.99947950e-01 -9.31912175e-03 -4.15357464e-03 9.55912634e+01] [ 9.32362165e-03 9.99955967e-01 1.06533669e-03 -9.47965474e+00] [ 4.14346374e-03 -1.10400760e-03 9.99990806e-01 -2.84407576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.349928851 meters 0.1086089769549862 Centerline is valid? [False, False] Translation: X:95.59, Y:-9.48, Z:-2.84 [[ 9.99955718e-01 -8.62064944e-03 -3.77437192e-03 9.55909723e+01] [ 8.63141263e-03 9.99958702e-01 2.84470924e-03 -9.48448417e+00] [ 3.74969281e-03 -2.87716143e-03 9.99988831e-01 -2.84477706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379928851 meters 0.11483391665844168 Centerline is valid? [False, False] Translation: X:95.59, Y:-9.49, Z:-2.85 [[ 9.99961666e-01 -8.02883869e-03 -3.49333213e-03 9.55907002e+01] [ 8.04393874e-03 9.99958271e-01 4.33017150e-03 -9.48855414e+00] [ 3.45842011e-03 -4.35810566e-03 9.99984523e-01 -2.84521394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.409928851 meters 0.11367050705968079 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.50, Z:-2.85 [[ 9.99986575e-01 -3.82949599e-03 3.49062179e-03 9.55800677e+01] [ 3.82544069e-03 9.99992001e-01 1.16770648e-03 -9.49571084e+00] [-3.49506559e-03 -1.15433764e-03 9.99993226e-01 -2.84838839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439928851 meters 0.11291923188325466 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.50, Z:-2.85 [[ 9.99989195e-01 -3.17879225e-03 3.39184066e-03 9.55805146e+01] [ 3.17103621e-03 9.99992351e-01 2.28960757e-03 -9.49839382e+00] [-3.39909290e-03 -2.27882718e-03 9.99991627e-01 -2.84877457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.469928851 meters 0.11144473258254252 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.50, Z:-2.85 [[ 9.99991208e-01 -2.72115787e-03 3.19056811e-03 9.55809328e+01] [ 2.71152974e-03 9.99991769e-01 3.01813679e-03 -9.50030779e+00] [-3.19875468e-03 -3.00945893e-03 9.99990356e-01 -2.84883197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499928851 meters 0.10854817217351351 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.50, Z:-2.85 [[ 9.99992788e-01 -2.31157336e-03 3.01350836e-03 9.55812907e+01] [ 2.30052305e-03 9.99990637e-01 3.66524950e-03 -9.50203183e+00] [-3.02195264e-03 -3.65829042e-03 9.99988742e-01 -2.84887348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.529928851 meters 0.12104993323603305 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.51, Z:-2.85 [[ 9.99993833e-01 -1.62323770e-03 3.11431280e-03 9.55808845e+01] [ 1.60741572e-03 9.99985824e-01 5.07620232e-03 -9.50624360e+00] [-3.12250854e-03 -5.07116502e-03 9.99982266e-01 -2.84860926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559928851 meters 0.11184595878204401 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.51, Z:-2.85 [[ 9.99993418e-01 -1.41618660e-03 3.34038115e-03 9.55801658e+01] [ 1.39686375e-03 9.99982321e-01 5.77988234e-03 -9.50865793e+00] [-3.34850748e-03 -5.77517824e-03 9.99977717e-01 -2.84821013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58992885099997 meters 0.11192513141729415 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.51, Z:-2.85 [[ 9.99982653e-01 -5.16782027e-03 2.82629881e-03 9.55811324e+01] [ 5.16184324e-03 9.99984435e-01 2.11801271e-03 -9.50984042e+00] [-2.83720033e-03 -2.10338706e-03 9.99993763e-01 -2.84812065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61992885099997 meters 0.11003790114981363 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.51, Z:-2.85 [[ 9.99985392e-01 -4.69698069e-03 2.67456871e-03 9.55814533e+01] [ 4.68922354e-03 9.99984803e-01 2.89925924e-03 -9.51188067e+00] [-2.68814582e-03 -2.88667524e-03 9.99992220e-01 -2.84818968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64992885099997 meters 0.1042062267884599 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.51, Z:-2.85 [[ 9.99988721e-01 -4.22807721e-03 2.16381886e-03 9.55821962e+01] [ 4.22070538e-03 9.99985312e-01 3.40016357e-03 -9.51321903e+00] [-2.17816323e-03 -3.39099237e-03 9.99991878e-01 -2.84788990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67992885099997 meters 0.10311143799609729 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.51, Z:-2.85 [[ 9.99989293e-01 -4.25230851e-03 1.82515074e-03 9.55825311e+01] [ 4.24657014e-03 9.99986064e-01 3.13649538e-03 -9.51273985e+00] [-1.83846266e-03 -3.12871117e-03 9.99993416e-01 -2.84742189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70992885099997 meters 0.10152752898574444 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.51, Z:-2.85 [[ 9.99990638e-01 -4.14173649e-03 1.25283099e-03 9.55832848e+01] [ 4.13813407e-03 9.99987335e-01 2.86447774e-03 -9.51203083e+00] [-1.26467903e-03 -2.85926654e-03 9.99995113e-01 -2.84693948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73992885099997 meters 0.1019677581847384 Centerline is valid? [False, False] Translation: X:95.58, Y:-9.51, Z:-2.85 [[ 9.99992110e-01 -3.90202230e-03 7.44096405e-04 9.55842345e+01] [ 3.89995206e-03 9.99988576e-01 2.76367448e-03 -9.51135425e+00] [-7.54871824e-04 -2.76075073e-03 9.99995904e-01 -2.84691802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76992885099997 meters 0.09774112486093485 Centerline is valid? [False, True] Translation: X:95.58, Y:-9.51, Z:-2.85 [[ 9.99992670e-01 -3.82145647e-03 2.38198285e-04 9.55846677e+01] [ 3.82085616e-03 9.99989646e-01 2.47166025e-03 -9.51062207e+00] [-2.47641161e-04 -2.47073201e-03 9.99996917e-01 -2.84614697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79992885099998 meters 0.09796826681837606 Centerline is valid? [True, True] Translation: X:95.61, Y:-9.51, Z:-2.85 [[ 9.99999501e-01 -9.98595461e-04 -1.01264661e-06 9.56144105e+01] [ 9.98595461e-04 9.99999501e-01 3.01103480e-07 -9.51373220e+00] [ 1.01234543e-06 -3.02114554e-07 1.00000000e+00 -2.84617195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82992885099998 meters 0.09810091476672898 Centerline is valid? [True, True] Translation: X:95.64, Y:-9.52, Z:-2.85 [[ 9.99998836e-01 1.51529323e-03 1.76528208e-04 9.56434576e+01] [-1.51528954e-03 9.99998852e-01 -2.10505511e-05 -9.51821939e+00] [-1.76559903e-04 2.07830353e-05 9.99999984e-01 -2.84782658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85992885099998 meters 0.09856045397101207 Centerline is valid? [True, True] Translation: X:95.67, Y:-9.52, Z:-2.85 [[ 9.99994472e-01 3.31423209e-03 -2.68283604e-04 9.56730461e+01] [-3.31422385e-03 9.99994507e-01 3.11550139e-05 -9.52343414e+00] [ 2.68385386e-04 -3.02656897e-05 9.99999964e-01 -2.84946610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88992885099998 meters 0.09407380468410453 Centerline is valid? [True, True] Translation: X:95.70, Y:-9.52, Z:-2.85 [[ 9.99975673e-01 6.96349422e-03 -4.02818498e-04 9.57043506e+01] [-6.96347609e-03 9.99975754e-01 4.63805834e-05 -9.51861849e+00] [ 4.03131702e-04 -4.35744382e-05 9.99999918e-01 -2.84912111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91992885099998 meters 0.09351664722302615 Centerline is valid? [True, True] Translation: X:95.73, Y:-9.52, Z:-2.85 [[ 9.99962664e-01 8.60726244e-03 -7.65457307e-04 9.57347072e+01] [-8.60719732e-03 9.99962953e-01 8.83205013e-05 -9.52053043e+00] [ 7.66189147e-04 -8.17287617e-05 9.99999703e-01 -2.85037097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94992885099998 meters 0.0941459119221747 Centerline is valid? [True, True] Translation: X:95.76, Y:-9.52, Z:-2.85 [[ 9.99947164e-01 1.01662181e-02 -1.52210490e-03 9.57629995e+01] [-1.01659633e-02 9.99948310e-01 1.75004232e-04 -9.52453930e+00] [ 1.52380535e-03 -1.59521323e-04 9.99998826e-01 -2.85199294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97992885099998 meters 0.0895137528280532 Centerline is valid? [True, True] Translation: X:95.79, Y:-9.52, Z:-2.85 [[ 9.99906760e-01 1.34699546e-02 -2.24315198e-03 9.57945003e+01] [-1.34694044e-02 9.99909250e-01 2.60213413e-04 -9.51756310e+00] [ 2.24645348e-03 -2.29975230e-04 9.99997450e-01 -2.85070582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00992885099998 meters 0.0917440110249949 Centerline is valid? [True, True] Translation: X:95.82, Y:-9.52, Z:-2.85 [[ 9.99886598e-01 1.47223833e-02 -3.16892672e-03 9.58212477e+01] [-1.47213007e-02 9.99891569e-01 3.64680969e-04 -9.52457333e+00] [ 3.17395208e-03 -3.17988891e-04 9.99994912e-01 -2.85441902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03992885099998 meters 0.09008478343633218 Centerline is valid? [True, True] Translation: X:95.85, Y:-9.52, Z:-2.85 [[ 9.99878842e-01 1.53561438e-02 -2.54763963e-03 9.58508803e+01] [-1.53554450e-02 9.99882055e-01 2.93630497e-04 -9.52398624e+00] [ 2.55184819e-03 -2.54474781e-04 9.99996712e-01 -2.85471277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.069928851 meters 0.09158314251791613 Centerline is valid? [True, True] Translation: X:95.88, Y:-9.53, Z:-2.86 [[ 9.99869797e-01 1.59748171e-02 -2.27898585e-03 9.58782559e+01] [-1.59742628e-02 9.99872369e-01 2.61210215e-04 -9.52969060e+00] [ 2.28286777e-03 -2.24771086e-04 9.99997369e-01 -2.85614946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099928851 meters 0.08952170767031764 Centerline is valid? [True, True] Translation: X:95.91, Y:-9.53, Z:-2.85 [[ 9.99876221e-01 1.55944559e-02 -2.08693962e-03 9.59077357e+01] [-1.55939900e-02 9.99878378e-01 2.39347271e-04 -9.52763826e+00] [ 2.09041829e-03 -2.06773929e-04 9.99997794e-01 -2.85487916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.129928851 meters 0.09100568517572828 Centerline is valid? [True, True] Translation: X:95.94, Y:-9.53, Z:-2.86 [[ 9.99888261e-01 1.47586379e-02 -2.37645552e-03 9.59354052e+01] [-1.47580310e-02 9.99891057e-01 2.72712535e-04 -9.53306109e+00] [ 2.38022149e-03 -2.37610258e-04 9.99997139e-01 -2.85663926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159928851 meters 0.09106229452483938 Centerline is valid? [True, True] Translation: X:95.97, Y:-9.54, Z:-2.86 [[ 9.99906512e-01 1.33615373e-02 -2.90471892e-03 9.59657485e+01] [-1.33606169e-02 9.99910687e-01 3.36027417e-04 -9.53642977e+00] [ 2.90894933e-03 -2.97187165e-04 9.99995725e-01 -2.85761270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.189928851 meters 0.09386981809505118 Centerline is valid? [True, True] Translation: X:95.99, Y:-9.55, Z:-2.86 [[ 9.99921312e-01 1.22827645e-02 -2.55003515e-03 9.59937239e+01] [-1.22820562e-02 9.99924530e-01 2.93227968e-04 -9.54561873e+00] [ 2.55344435e-03 -2.61885220e-04 9.99996706e-01 -2.86031828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219928851 meters 0.09507503401770168 Centerline is valid? [True, True] Translation: X:96.02, Y:-9.55, Z:-2.86 [[ 9.99958570e-01 8.53494912e-03 -3.16428650e-03 9.60239778e+01] [-8.53383482e-03 9.99963519e-01 3.65483559e-04 -9.55145644e+00] [ 3.16729045e-03 -3.38464919e-04 9.99994927e-01 -2.86143095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.249928851 meters 0.09368552107655753 Centerline is valid? [True, True] Translation: X:96.05, Y:-9.55, Z:-2.86 [[ 9.99970777e-01 6.78430036e-03 -3.52394511e-03 9.60546329e+01] [-6.78290615e-03 9.99976913e-01 4.07440976e-04 -9.55164807e+00] [ 3.52662795e-03 -3.83526481e-04 9.99993708e-01 -2.86176105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279928851 meters 0.09457581338426799 Centerline is valid? [True, True] Translation: X:96.08, Y:-9.56, Z:-2.86 [[ 9.99981142e-01 5.58130070e-03 -2.56233542e-03 9.60835299e+01] [-5.58056424e-03 9.99984385e-01 2.94479229e-04 -9.55689582e+00] [ 2.56393898e-03 -2.80174398e-04 9.99996674e-01 -2.86288747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.309928851 meters 0.09250680536804762 Centerline is valid? [True, True] Translation: X:96.11, Y:-9.56, Z:-2.86 [[ 9.99989045e-01 3.48729237e-03 -3.12220314e-03 9.61143009e+01] [-3.48618321e-03 9.99993858e-01 3.60618810e-04 -9.55615665e+00] [ 3.12344155e-03 -3.49730287e-04 9.99995061e-01 -2.86183487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33992885099997 meters 0.0941923282375327 Centerline is valid? [True, True] Translation: X:96.14, Y:-9.56, Z:-2.86 [[ 9.99996720e-01 -1.55888639e-04 -2.55669071e-03 9.61441758e+01] [ 1.56644687e-04 9.99999944e-01 2.95516032e-04 -9.56278990e+00] [ 2.55664449e-03 -2.95915554e-04 9.99996688e-01 -2.86270667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36992885099997 meters 0.09917950747328443 Centerline is valid? [True, True] Translation: X:96.17, Y:-9.57, Z:-2.87 [[ 9.99996825e-01 -1.95959505e-03 -1.58399820e-03 9.61725035e+01] [ 1.95988651e-03 9.99998063e-01 1.82468874e-04 -9.57486755e+00] [ 1.58363757e-03 -1.85572752e-04 9.99998729e-01 -2.86569022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39992885099997 meters 0.09866079332392094 Centerline is valid? [True, True] Translation: X:96.20, Y:-9.58, Z:-2.87 [[ 9.99990976e-01 -3.60015749e-03 -2.25517174e-03 9.62029533e+01] [ 3.60075379e-03 9.99993483e-01 2.60411724e-04 -9.57696404e+00] [ 2.25421952e-03 -2.68529693e-04 9.99997423e-01 -2.86571261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42992885099997 meters 0.0975540598664418 Centerline is valid? [True, True] Translation: X:96.23, Y:-9.58, Z:-2.87 [[ 9.99987964e-01 -4.65481940e-03 -1.55061104e-03 9.62340251e+01] [ 4.65510470e-03 9.99989149e-01 1.80438485e-04 -9.57753804e+00] [ 1.54975430e-03 -1.87654570e-04 9.99998782e-01 -2.86557911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45992885099997 meters 0.09884965779997966 Centerline is valid? [True, True] Translation: X:96.26, Y:-9.58, Z:-2.87 [[ 9.99985569e-01 -4.98986710e-03 -1.99087915e-03 9.62640648e+01] [ 4.99033613e-03 9.99987522e-01 2.30691014e-04 -9.58257458e+00] [ 1.98970319e-03 -2.40622841e-04 9.99997992e-01 -2.86698495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48992885099997 meters 0.09673960028116978 Centerline is valid? [True, True] Translation: X:96.30, Y:-9.58, Z:-2.87 [[ 9.99985139e-01 -5.04015257e-03 -2.07808658e-03 9.62960467e+01] [ 5.04066497e-03 9.99987267e-01 2.41410452e-04 -9.58176935e+00] [ 2.07684337e-03 -2.51881803e-04 9.99997812e-01 -2.86677083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51992885099997 meters 0.09772449055159897 Centerline is valid? [True, True] Translation: X:96.33, Y:-9.58, Z:-2.87 [[ 9.99988744e-01 -4.38092509e-03 -1.82188158e-03 9.63259636e+01] [ 4.38132072e-03 9.99990379e-01 2.13222906e-04 -9.58468545e+00] [ 1.82092994e-03 -2.21202754e-04 9.99998318e-01 -2.86795184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54992885099998 meters 0.09753506269503281 Centerline is valid? [True, True] Translation: X:96.36, Y:-9.59, Z:-2.87 [[ 9.99992615e-01 -3.55539291e-03 -1.45883893e-03 9.63564597e+01] [ 3.55564289e-03 9.99993664e-01 1.68798842e-04 -9.58603912e+00] [ 1.45822954e-03 -1.73984706e-04 9.99998922e-01 -2.86878798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57992885099998 meters 0.09824767108895034 Centerline is valid? [True, True] Translation: X:96.39, Y:-9.59, Z:-2.87 [[ 9.99993127e-01 -2.91846172e-03 -2.28673152e-03 9.63868650e+01] [ 2.91907564e-03 9.99995704e-01 2.65179833e-04 -9.58931383e+00] [ 2.28594778e-03 -2.71853152e-04 9.99997350e-01 -2.87098245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60992885099998 meters 0.09369838691462096 Centerline is valid? [True, True] Translation: X:96.42, Y:-9.58, Z:-2.87 [[ 9.99994613e-01 -1.96460763e-03 -2.62933865e-03 9.64186173e+01] [ 1.96541439e-03 9.99998022e-01 3.04279491e-04 -9.58307397e+00] [ 2.62873566e-03 -3.09445592e-04 9.99996497e-01 -2.86956532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63992885099998 meters 0.09526389706300713 Centerline is valid? [True, True] Translation: X:96.45, Y:-9.59, Z:-2.87 [[ 9.99995918e-01 -1.28286983e-03 -2.55318593e-03 9.64477584e+01] [ 1.28362678e-03 9.99999133e-01 2.94859302e-04 -9.58802789e+00] [ 2.55280545e-03 -2.98135436e-04 9.99996697e-01 -2.87163830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66992885099998 meters 0.09666368358676984 Centerline is valid? [True, True] Translation: X:96.48, Y:-9.59, Z:-2.87 [[ 9.99998398e-01 -2.75422218e-04 -1.76863801e-03 9.64762584e+01] [ 2.75782521e-04 9.99999941e-01 2.03476762e-04 -9.59225648e+00] [ 1.76858187e-03 -2.03964196e-04 9.99998415e-01 -2.87355942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69992885099998 meters 0.0974131055773854 Centerline is valid? [True, True] Translation: X:96.51, Y:-9.59, Z:-2.88 [[ 9.99997443e-01 8.51543752e-05 -2.25963778e-03 9.65058137e+01] [-8.45652882e-05 9.99999962e-01 2.60794002e-04 -9.59332096e+00] [ 2.25965991e-03 -2.60602248e-04 9.99997413e-01 -2.87503721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72992885099998 meters 0.097053955708857 Centerline is valid? [True, True] Translation: X:96.54, Y:-9.60, Z:-2.88 [[ 9.99996955e-01 4.08217255e-04 -2.43359609e-03 9.65358285e+01] [-4.07536345e-04 9.99999878e-01 2.80285048e-04 -9.59520299e+00] [ 2.43371021e-03 -2.79292416e-04 9.99997000e-01 -2.87545822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75992885099998 meters 0.09836345900430937 Centerline is valid? [True, True] Translation: X:96.56, Y:-9.60, Z:-2.88 [[ 9.99997548e-01 6.49701237e-04 -2.11722854e-03 9.65643787e+01] [-6.49188045e-04 9.99999760e-01 2.43066954e-04 -9.60002114e+00] [ 2.11738595e-03 -2.41691879e-04 9.99997729e-01 -2.87704471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78992885099998 meters 0.09661819743308198 Centerline is valid? [True, True] Translation: X:96.59, Y:-9.60, Z:-2.88 [[ 9.99995494e-01 -5.83277936e-04 -2.94462445e-03 9.65949665e+01] [ 5.84280765e-04 9.99999772e-01 3.39713824e-04 -9.59935591e+00] [ 2.94442563e-03 -3.41432780e-04 9.99995607e-01 -2.87679867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819928851 meters 0.09661819743308198 Centerline is valid? [True, True] Translation: X:96.62, Y:-9.60, Z:-2.88 [[ 9.99995474e-01 -6.16995411e-04 -2.94469851e-03 9.66241286e+01] [ 6.17996522e-04 9.99999752e-01 3.39072745e-04 -9.60269198e+00] [ 2.94448857e-03 -3.40891024e-04 9.99995607e-01 -2.87774977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.849928851 meters 0.09958317977386365 Centerline is valid? [True, True] Translation: X:96.65, Y:-9.61, Z:-2.88 [[ 9.99993822e-01 -2.54787464e-03 -2.42179331e-03 9.66526407e+01] [ 2.54855671e-03 9.99996714e-01 2.78591959e-04 -9.61152418e+00] [ 2.42107553e-03 -2.84762315e-04 9.99997029e-01 -2.88029805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879928851 meters 0.09889593889263869 Centerline is valid? [True, True] Translation: X:96.68, Y:-9.61, Z:-2.88 [[ 9.99988267e-01 -3.81959702e-03 -2.97938622e-03 9.66825121e+01] [ 3.82063711e-03 9.99992642e-01 3.43481095e-04 -9.61389206e+00] [ 2.97805234e-03 -3.54860219e-04 9.99995503e-01 -2.88103615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.909928851 meters 0.09832124213753139 Centerline is valid? [True, True] Translation: X:96.71, Y:-9.62, Z:-2.88 [[ 9.99976358e-01 -5.87618663e-03 -3.57119288e-03 9.67127760e+01] [ 5.87769596e-03 9.99982641e-01 4.12291336e-04 -9.61635713e+00] [ 3.56870818e-03 -4.33271975e-04 9.99993538e-01 -2.88180782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939928851 meters 0.09947833264462658 Centerline is valid? [True, True] Translation: X:96.74, Y:-9.62, Z:-2.88 [[ 9.99974793e-01 -6.40296117e-03 -3.06848369e-03 9.67429511e+01] [ 6.40407994e-03 9.99979431e-01 3.54912808e-04 -9.62202815e+00] [ 3.06614808e-03 -3.74554677e-04 9.99995229e-01 -2.88271901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.969928851 meters 0.10050955300227789 Centerline is valid? [True, False] Translation: X:96.74, Y:-9.62, Z:-2.88 [[ 9.99975845e-01 -6.22785586e-03 -3.08594390e-03 9.67430859e+01] [ 6.22996302e-03 9.99980367e-01 6.73680613e-04 -9.62270417e+00] [ 3.08168773e-03 -6.92889657e-04 9.99995012e-01 -2.88286963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999928851 meters 0.10074496827465869 Centerline is valid? [False, False] Translation: X:96.74, Y:-9.62, Z:-2.88 [[ 9.99977144e-01 -6.02192064e-03 -3.07374845e-03 9.67432259e+01] [ 6.02510997e-03 9.99981319e-01 1.02939835e-03 -9.62344048e+00] [ 3.06749208e-03 -1.04789450e-03 9.99994746e-01 -2.88310876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.029928851 meters 0.0998759724978509 Centerline is valid? [False, True] Translation: X:96.74, Y:-9.62, Z:-2.88 [[ 9.99979374e-01 -5.62707471e-03 -3.09630684e-03 9.67435736e+01] [ 5.63233474e-03 9.99982706e-01 1.69271830e-03 -9.62481137e+00] [ 3.08672824e-03 -1.71012282e-03 9.99993774e-01 -2.88356615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059928851 meters 0.10107274489602047 Centerline is valid? [True, False] Translation: X:96.74, Y:-9.63, Z:-2.88 [[ 9.99980785e-01 -5.35377295e-03 -3.12530701e-03 9.67437901e+01] [ 5.36053836e-03 9.99983299e-01 2.16037025e-03 -9.62595393e+00] [ 3.11368868e-03 -2.17708207e-03 9.99992783e-01 -2.88381798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08992885099997 meters 0.1024359829965909 Centerline is valid? [False, False] Translation: X:96.74, Y:-9.63, Z:-2.88 [[ 9.99981191e-01 -5.20621756e-03 -3.24231053e-03 9.67442678e+01] [ 5.21361515e-03 9.99983816e-01 2.27732358e-03 -9.62586414e+00] [ 3.23040181e-03 -2.29418490e-03 9.99992151e-01 -2.88415578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11992885099997 meters 0.10113964565924735 Centerline is valid? [False, False] Translation: X:96.74, Y:-9.63, Z:-2.88 [[ 9.99981063e-01 -5.12376655e-03 -3.40888732e-03 9.67446992e+01] [ 5.13149810e-03 9.99984273e-01 2.26318953e-03 -9.62552198e+00] [ 3.39723765e-03 -2.28063937e-03 9.99991629e-01 -2.88428950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14992885099997 meters 0.09992700988015184 Centerline is valid? [False, True] Translation: X:96.74, Y:-9.62, Z:-2.88 [[ 9.99979940e-01 -5.23822890e-03 -3.56095484e-03 9.67448496e+01] [ 5.24525234e-03 9.99984311e-01 1.96587991e-03 -9.62478615e+00] [ 3.55060124e-03 -1.98451858e-03 9.99991727e-01 -2.88406855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17992885099997 meters 0.09895787943465127 Centerline is valid? [True, True] Translation: X:96.78, Y:-9.62, Z:-2.88 [[ 9.99988099e-01 -2.08244248e-03 -4.41198705e-03 9.67755171e+01] [ 2.08473250e-03 9.99997695e-01 5.14509262e-04 -9.62490159e+00] [ 4.41090545e-03 -5.23700951e-04 9.99990135e-01 -2.88376494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20992885099997 meters 0.09721555808110424 Centerline is valid? [True, True] Translation: X:96.81, Y:-9.62, Z:-2.88 [[ 9.99993479e-01 -3.91191909e-05 -3.61102495e-03 9.68065507e+01] [ 4.06399512e-05 9.99999911e-01 4.21071261e-04 -9.62415326e+00] [ 3.61100815e-03 -4.21215267e-04 9.99993392e-01 -2.88458623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23992885099997 meters 0.09645138153613839 Centerline is valid? [True, True] Translation: X:96.84, Y:-9.62, Z:-2.89 [[ 9.99977766e-01 5.21486355e-03 -4.15612702e-03 9.68364573e+01] [-5.21289337e-03 9.99986295e-01 4.84734539e-04 -9.62443388e+00] [ 4.15859789e-03 -4.63058314e-04 9.99991246e-01 -2.88619622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26992885099997 meters 0.09622047041254325 Centerline is valid? [True, True] Translation: X:96.87, Y:-9.63, Z:-2.89 [[ 9.99961459e-01 7.77689460e-03 -4.07444498e-03 9.68671076e+01] [-7.77502251e-03 9.99969661e-01 4.75109566e-04 -9.62670688e+00] [ 4.07801624e-03 -4.43412353e-04 9.99991587e-01 -2.88759307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29992885099998 meters 0.096364379011178 Centerline is valid? [True, True] Translation: X:96.90, Y:-9.63, Z:-2.89 [[ 9.99939352e-01 1.02495344e-02 -4.02970747e-03 9.68968925e+01] [-1.02477232e-02 9.99947380e-01 4.69873448e-04 -9.62938577e+00] [ 4.03431141e-03 -4.28549624e-04 9.99991770e-01 -2.88890901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32992885099998 meters 0.0932779699966592 Centerline is valid? [True, True] Translation: X:96.93, Y:-9.63, Z:-2.89 [[ 9.99906500e-01 1.30797457e-02 -3.98887823e-03 9.69276560e+01] [-1.30779932e-02 9.99914371e-01 4.65113989e-04 -9.62576924e+00] [ 3.99462024e-03 -4.12903979e-04 9.99991936e-01 -2.88871712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35992885099998 meters 0.09539119117278065 Centerline is valid? [True, True] Translation: X:96.96, Y:-9.63, Z:-2.89 [[ 9.99838943e-01 1.74913836e-02 -4.01738893e-03 9.69562442e+01] [-1.74896457e-02 9.99846935e-01 4.67334433e-04 -9.63032587e+00] [ 4.02494834e-03 -3.96996457e-04 9.99991821e-01 -2.89206689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38992885099998 meters 0.09032366029383981 Centerline is valid? [True, True] Translation: X:96.99, Y:-9.62, Z:-2.89 [[ 9.99806428e-01 1.93486338e-02 -3.56879959e-03 9.69872701e+01] [-1.93472728e-02 9.99812738e-01 4.15499221e-04 -9.62268102e+00] [ 3.57617063e-03 -3.46372253e-04 9.99993545e-01 -2.88905287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41992885099998 meters 0.09001760589743213 Centerline is valid? [True, True] Translation: X:97.02, Y:-9.62, Z:-2.89 [[ 9.99775530e-01 2.09526534e-02 -3.14257439e-03 9.70170612e+01] [-2.09516062e-02 9.99780424e-01 3.65762092e-04 -9.62493035e+00] [ 3.14954804e-03 -2.99838008e-04 9.99994995e-01 -2.89009104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44992885099998 meters 0.09519046442666958 Centerline is valid? [True, True] Translation: X:97.04, Y:-9.64, Z:-2.89 [[ 9.99760234e-01 2.16911883e-02 -2.99459950e-03 9.70437526e+01] [-2.16902478e-02 9.99764679e-01 3.46187032e-04 -9.63764129e+00] [ 3.00140402e-03 -2.81150423e-04 9.99995456e-01 -2.89412835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47992885099998 meters 0.09697366291475802 Centerline is valid? [True, True] Translation: X:97.07, Y:-9.64, Z:-2.90 [[ 9.99775682e-01 2.11060760e-02 -1.76620512e-03 9.70713485e+01] [-2.11057498e-02 9.99777228e-01 2.03106657e-04 -9.64427068e+00] [ 1.77009844e-03 -1.65784013e-04 9.99998420e-01 -2.89617958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50992885099998 meters 0.09217241060343538 Centerline is valid? [True, True] Translation: X:97.10, Y:-9.64, Z:-2.89 [[ 9.99788544e-01 2.04425461e-02 -2.22942013e-03 9.71008300e+01] [-2.04420227e-02 9.99791007e-01 2.57292823e-04 -9.63889923e+00] [ 2.23421392e-03 -2.11664559e-04 9.99997482e-01 -2.89404688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53992885099998 meters 0.09228161186059801 Centerline is valid? [True, True] Translation: X:97.13, Y:-9.64, Z:-2.89 [[ 9.99819970e-01 1.88766366e-02 -1.92359022e-03 9.71296984e+01] [-1.88762438e-02 9.99821803e-01 2.22124487e-04 -9.64271534e+00] [ 1.92744040e-03 -1.85774340e-04 9.99998125e-01 -2.89410915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.569928851 meters 0.09279713519372383 Centerline is valid? [True, True] Translation: X:97.16, Y:-9.65, Z:-2.89 [[ 9.99882855e-01 1.52512741e-02 -1.29441777e-03 9.71596153e+01] [-1.52510919e-02 9.99883684e-01 1.50548764e-04 -9.64914884e+00] [ 1.29656327e-03 -1.30789844e-04 9.99999151e-01 -2.89498866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599928851 meters 0.10064705232085132 Centerline is valid? [True, False] Translation: X:97.17, Y:-9.65, Z:-2.89 [[ 9.99944930e-01 6.58181721e-03 -8.17415503e-03 9.71688307e+01] [-6.57354593e-03 9.99977855e-01 1.03833744e-03 -9.64833512e+00] [ 8.18080816e-03 -9.84547071e-04 9.99966052e-01 -2.88993378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.629928851 meters 0.09341226242054672 Centerline is valid? [False, True] Translation: X:97.17, Y:-9.65, Z:-2.89 [[ 9.99947108e-01 6.58051574e-03 -7.90424293e-03 9.71682479e+01] [-6.56981241e-03 9.99977467e-01 1.37932671e-03 -9.64958473e+00] [ 7.91314151e-03 -1.32732436e-03 9.99967810e-01 -2.88990599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659928851 meters 0.09910793766592779 Centerline is valid? [True, True] Translation: X:97.20, Y:-9.66, Z:-2.89 [[ 9.99957366e-01 4.86331323e-03 -7.84945271e-03 9.71954909e+01] [-4.85660240e-03 9.99987825e-01 8.73776639e-04 -9.66499427e+00] [ 7.85360659e-03 -8.35617716e-04 9.99968811e-01 -2.89309885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.689928851 meters 0.12212859687592492 Centerline is valid? [True, False] Translation: X:97.28, Y:-9.68, Z:-2.90 [[ 9.99995890e-01 2.49912142e-03 -1.40521494e-03 9.72794819e+01] [-2.49858158e-03 9.99996804e-01 3.85794938e-04 -9.67808128e+00] [ 1.40617460e-03 -3.82282308e-04 9.99998938e-01 -2.89933307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719928851 meters 0.09547578018135108 Centerline is valid? [False, True] Translation: X:97.20, Y:-9.67, Z:-2.90 [[ 9.99997242e-01 2.34650101e-03 -9.90755429e-05 9.72013841e+01] [-2.34660398e-03 9.99996693e-01 -1.05232431e-03 -9.67070391e+00] [ 9.66059352e-05 1.05255389e-03 9.99999441e-01 -2.89708695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.749928851 meters 0.09529466154382094 Centerline is valid? [True, True] Translation: X:97.23, Y:-9.68, Z:-2.90 [[ 9.99998779e-01 1.56277372e-03 -1.67616201e-05 9.72311648e+01] [-1.56277370e-03 9.99998779e-01 1.35765685e-06 -9.67562038e+00] [ 1.67637214e-05 -1.33146058e-06 1.00000000e+00 -2.89834464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779928851 meters 0.09519835130469799 Centerline is valid? [True, True] Translation: X:97.26, Y:-9.68, Z:-2.90 [[ 9.99999393e-01 9.44001454e-04 -5.68972622e-04 9.72616803e+01] [-9.43964822e-04 9.99999552e-01 6.46481526e-05 -9.68002723e+00] [ 5.69033396e-04 -6.41110232e-05 9.99999836e-01 -2.89924297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.809928851 meters 0.09178308140446066 Centerline is valid? [True, True] Translation: X:97.29, Y:-9.68, Z:-2.90 [[ 9.99996393e-01 1.99504643e-03 -1.79841045e-03 9.72922424e+01] [-1.99468319e-03 9.99997990e-01 2.03747460e-04 -9.67760337e+00] [ 1.79881332e-03 -2.00159466e-04 9.99998362e-01 -2.89972246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83992885099997 meters 0.09634515234914551 Centerline is valid? [True, True] Translation: X:97.32, Y:-9.69, Z:-2.90 [[ 9.99989453e-01 3.49704110e-03 -2.97748647e-03 9.73198726e+01] [-3.49605287e-03 9.99993832e-01 3.37039645e-04 -9.68948879e+00] [ 2.97864675e-03 -3.26626640e-04 9.99995510e-01 -2.90403401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86992885099997 meters 0.08898505849020932 Centerline is valid? [True, True] Translation: X:97.35, Y:-9.68, Z:-2.90 [[ 9.99978976e-01 5.79654197e-03 -2.90638373e-03 9.73522373e+01] [-5.79560721e-03 9.99983151e-01 3.29939450e-04 -9.67822061e+00] [ 2.90824727e-03 -3.13088255e-04 9.99995722e-01 -2.90072178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89992885099997 meters 0.0929924064147898 Centerline is valid? [True, True] Translation: X:97.38, Y:-9.69, Z:-2.90 [[ 9.99956640e-01 8.82831803e-03 -2.96281912e-03 9.73806271e+01] [-8.82736155e-03 9.99960982e-01 3.35749200e-04 -9.68877536e+00] [ 2.96566761e-03 -3.09580767e-04 9.99995554e-01 -2.90461986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92992885099997 meters 0.09028571425041855 Centerline is valid? [True, True] Translation: X:97.41, Y:-9.69, Z:-2.90 [[ 9.99865034e-01 1.63337560e-02 -1.76707943e-03 9.74112381e+01] [-1.63334268e-02 9.99866581e-01 2.00536902e-04 -9.68547591e+00] [ 1.77011919e-03 -1.71647374e-04 9.99998419e-01 -2.90468431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95992885099997 meters 0.0869023914990573 Centerline is valid? [True, True] Translation: X:97.44, Y:-9.68, Z:-2.90 [[ 9.99803349e-01 1.97641141e-02 -1.62594077e-03 9.74423254e+01] [-1.97638419e-02 9.99804659e-01 1.83283148e-04 -9.68055940e+00] [ 1.62924558e-03 -1.51112269e-04 9.99998661e-01 -2.90266032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98992885099997 meters 0.08664757851768412 Centerline is valid? [True, True] Translation: X:97.47, Y:-9.68, Z:-2.90 [[ 9.99711826e-01 2.39660091e-02 -1.37691881e-03 9.74716943e+01] [-2.39658177e-02 9.99712766e-01 1.55307559e-04 -9.68278582e+00] [ 1.38024542e-03 -1.22263818e-04 9.99999040e-01 -2.90355736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01992885099997 meters 0.08512151294444918 Centerline is valid? [True, True] Translation: X:97.50, Y:-9.68, Z:-2.90 [[ 9.99603434e-01 2.81507395e-02 -7.14502782e-04 9.75018896e+01] [-2.81506894e-02 9.99603688e-01 8.01306869e-05 -9.68199606e+00] [ 7.16475354e-04 -5.99851639e-05 9.99999742e-01 -2.90364170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04992885099998 meters 0.08415539824168745 Centerline is valid? [True, True] Translation: X:97.53, Y:-9.68, Z:-2.90 [[ 9.99484464e-01 3.21004553e-02 -6.05672347e-04 9.75320663e+01] [-3.21004201e-02 9.99484646e-01 6.78814426e-05 -9.68251987e+00] [ 6.07539236e-04 -4.84041105e-05 9.99999814e-01 -2.90474626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07992885099998 meters 0.08310439446052723 Centerline is valid? [True, True] Translation: X:97.56, Y:-9.68, Z:-2.91 [[ 9.99263281e-01 3.83677929e-02 -8.99144797e-04 9.75620424e+01] [-3.83677172e-02 9.99263683e-01 1.01350776e-04 -9.68175210e+00] [ 9.02371347e-04 -6.67779754e-05 9.99999591e-01 -2.90588814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10992885099998 meters 0.08232007319180523 Centerline is valid? [True, True] Translation: X:97.59, Y:-9.68, Z:-2.91 [[ 9.99183869e-01 4.03910563e-02 3.98175525e-04 9.75916247e+01] [-4.03910411e-02 9.99183948e-01 -4.62046788e-05 -9.68319602e+00] [-3.99716849e-04 3.00842457e-05 9.99999920e-01 -2.90669526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13992885099998 meters 0.08191409576453751 Centerline is valid? [True, True] Translation: X:97.62, Y:-9.69, Z:-2.91 [[ 9.99132560e-01 4.16424036e-02 1.94817786e-04 9.76207065e+01] [-4.16423994e-02 9.99132579e-01 -2.55965936e-05 -9.68583245e+00] [-1.95714700e-04 1.74617101e-05 9.99999981e-01 -2.90735146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16992885099998 meters 0.08117185005502338 Centerline is valid? [True, True] Translation: X:97.65, Y:-9.69, Z:-2.91 [[ 9.99122767e-01 4.18764279e-02 2.48397093e-04 9.76491708e+01] [-4.18764217e-02 9.99122797e-01 -3.02728587e-05 -9.68790815e+00] [-2.49446917e-04 1.98443209e-05 9.99999969e-01 -2.90778452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19992885099998 meters 0.08101821839459775 Centerline is valid? [True, True] Translation: X:97.68, Y:-9.69, Z:-2.91 [[ 9.99147000e-01 4.12861429e-02 8.52171063e-04 9.76774067e+01] [-4.12860737e-02 9.99147362e-01 -9.85726630e-05 -9.69117545e+00] [-8.55514154e-04 6.33057833e-05 9.99999632e-01 -2.90841883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22992885099998 meters 0.08183672706354554 Centerline is valid? [True, True] Translation: X:97.71, Y:-9.70, Z:-2.91 [[ 9.99214128e-01 3.96199449e-02 1.17706782e-03 9.77054087e+01] [-3.96198135e-02 9.99214818e-01 -1.34714136e-04 -9.69711849e+00] [-1.18148098e-03 8.79730605e-05 9.99999298e-01 -2.91022964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25992885099998 meters 0.08240939159647204 Centerline is valid? [True, True] Translation: X:97.74, Y:-9.70, Z:-2.91 [[ 9.99285211e-01 3.78006772e-02 4.19582690e-04 9.77352679e+01] [-3.78006604e-02 9.99285298e-01 -4.79755924e-05 -9.70260104e+00] [-4.21096324e-04 3.20807972e-05 9.99999911e-01 -2.91111364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28992885099998 meters 0.08236091909360466 Centerline is valid? [True, True] Translation: X:97.77, Y:-9.71, Z:-2.91 [[ 9.99506509e-01 3.14030905e-02 -7.64877679e-04 9.77656926e+01] [-3.14030335e-02 9.99506799e-01 8.64223914e-05 -9.70786974e+00] [ 7.67214371e-04 -6.23602633e-05 9.99999704e-01 -2.91109939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319928851 meters 0.08256337522639634 Centerline is valid? [True, True] Translation: X:97.80, Y:-9.71, Z:-2.91 [[ 9.99607585e-01 2.79800833e-02 -1.33797398e-03 9.77957020e+01] [-2.79799059e-02 9.99608474e-01 1.51087520e-04 -9.71344952e+00] [ 1.34167757e-03 -1.13591845e-04 9.99999093e-01 -2.91232074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.349928851 meters 0.08541582319386819 Centerline is valid? [True, True] Translation: X:97.82, Y:-9.73, Z:-2.92 [[ 9.99694344e-01 2.46761220e-02 -1.51901915e-03 9.78235304e+01] [-2.46758902e-02 9.99695489e-01 1.71112500e-04 -9.72548719e+00] [ 1.52277899e-03 -1.33577049e-04 9.99998832e-01 -2.91526323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379928851 meters 0.08780103935007438 Centerline is valid? [True, True] Translation: X:97.85, Y:-9.74, Z:-2.92 [[ 9.99788804e-01 2.03993489e-02 -2.49291266e-03 9.78520588e+01] [-2.03987105e-02 9.99791885e-01 2.81241522e-04 -9.73549166e+00] [ 2.49813099e-03 -2.30329921e-04 9.99996853e-01 -2.91773842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.409928851 meters 0.08935559149815869 Centerline is valid? [True, True] Translation: X:97.88, Y:-9.74, Z:-2.92 [[ 9.99918537e-01 1.24496690e-02 -2.81521821e-03 9.78818565e+01] [-1.24488224e-02 9.99922460e-01 3.18064060e-04 -9.74436398e+00] [ 2.81895971e-03 -2.82991998e-04 9.99995987e-01 -2.91861836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439928851 meters 0.09284292767086516 Centerline is valid? [True, True] Translation: X:97.91, Y:-9.76, Z:-2.92 [[ 9.99954833e-01 9.10854656e-03 -2.71408812e-03 9.79100638e+01] [-9.10774876e-03 9.99958477e-01 3.06162696e-04 -9.75504379e+00] [ 2.71676412e-03 -2.81429635e-04 9.99996270e-01 -2.92044790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.469928851 meters 0.0941120058799888 Centerline is valid? [True, True] Translation: X:97.94, Y:-9.76, Z:-2.92 [[ 9.99975551e-01 6.26822951e-03 -3.09962696e-03 9.79397666e+01] [-6.26717354e-03 9.99980300e-01 3.50271977e-04 -9.76181525e+00] [ 3.10176149e-03 -3.30837513e-04 9.99995135e-01 -2.92123169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499928851 meters 0.0920191898326392 Centerline is valid? [True, True] Translation: X:97.97, Y:-9.76, Z:-2.92 [[ 9.99989895e-01 2.24197439e-03 -3.89667588e-03 9.79701665e+01] [-2.24027758e-03 9.99997394e-01 4.39759858e-04 -9.76169573e+00] [ 3.89765166e-03 -4.31025778e-04 9.99992311e-01 -2.92029583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.529928851 meters 0.09347835399616196 Centerline is valid? [True, True] Translation: X:98.00, Y:-9.77, Z:-2.92 [[ 9.99990988e-01 1.38405157e-03 -4.01345816e-03 9.79982822e+01] [-1.38225014e-03 9.99998943e-01 4.51584619e-04 -9.76799175e+00] [ 4.01407893e-03 -4.46032946e-04 9.99991844e-01 -2.92241079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559928851 meters 0.09572441183033513 Centerline is valid? [True, True] Translation: X:98.03, Y:-9.77, Z:-2.92 [[ 9.99989086e-01 1.40300869e-03 -4.45633693e-03 9.80255027e+01] [-1.40079562e-03 9.99998894e-01 4.99692576e-04 -9.77481267e+00] [ 4.45703308e-03 -4.93444705e-04 9.99989946e-01 -2.92444235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58992885099997 meters 0.09083473680184034 Centerline is valid? [True, True] Translation: X:98.06, Y:-9.77, Z:-2.92 [[ 9.99985899e-01 1.81128476e-03 -4.99202826e-03 9.80560601e+01] [-1.80850492e-03 9.99998207e-01 5.61313493e-04 -9.76659242e+00] [ 4.99303601e-03 -5.52277470e-04 9.99987382e-01 -2.92224306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61992885099997 meters 0.09232379780591315 Centerline is valid? [True, True] Translation: X:98.08, Y:-9.77, Z:-2.92 [[ 9.99983445e-01 3.45437873e-03 -4.60179657e-03 9.80844326e+01] [-3.45203240e-03 9.99993908e-01 5.17717814e-04 -9.77145633e+00] [ 4.60355693e-03 -5.01823692e-04 9.99989278e-01 -2.92452858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64992885099997 meters 0.09265228923001459 Centerline is valid? [True, True] Translation: X:98.11, Y:-9.77, Z:-2.93 [[ 9.99976310e-01 5.77051376e-03 -3.75233834e-03 9.81139445e+01] [-5.76896913e-03 9.99983270e-01 4.22338012e-04 -9.77446286e+00] [ 3.75471267e-03 -4.00680883e-04 9.99992871e-01 -2.92593241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67992885099997 meters 0.0925623776276408 Centerline is valid? [True, True] Translation: X:98.14, Y:-9.78, Z:-2.93 [[ 9.99957507e-01 8.30088159e-03 -4.00981048e-03 9.81446757e+01] [-8.29913547e-03 9.99965459e-01 4.51904628e-04 -9.77566555e+00] [ 4.01342318e-03 -4.18607465e-04 9.99991859e-01 -2.92693399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70992885099997 meters 0.0925623776276408 Centerline is valid? [True, True] Translation: X:98.17, Y:-9.78, Z:-2.93 [[ 9.99958057e-01 8.23431594e-03 -4.01007172e-03 9.81729689e+01] [-8.23257849e-03 9.99966011e-01 4.49586327e-04 -9.77878626e+00] [ 4.01363746e-03 -4.16554240e-04 9.99991859e-01 -2.92785619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73992885099997 meters 0.08938268953715857 Centerline is valid? [True, True] Translation: X:98.20, Y:-9.77, Z:-2.93 [[ 9.99933611e-01 1.09531109e-02 -3.57802343e-03 9.82043975e+01] [-1.09517382e-02 9.99939947e-01 4.03021456e-04 -9.77372504e+00] [ 3.58222290e-03 -3.63809124e-04 9.99993518e-01 -2.92732203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76992885099997 meters 0.08821126124137434 Centerline is valid? [True, True] Translation: X:98.24, Y:-9.77, Z:-2.93 [[ 9.99848762e-01 1.69603231e-02 -3.84719440e-03 9.82355082e+01] [-1.69587800e-02 9.99856096e-01 4.33374067e-04 -9.76963097e+00] [ 3.85399093e-03 -3.68064801e-04 9.99992506e-01 -2.92792254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79992885099998 meters 0.08644820355392002 Centerline is valid? [True, True] Translation: X:98.27, Y:-9.77, Z:-2.93 [[ 9.99792020e-01 2.00477989e-02 -3.74188861e-03 9.82668184e+01] [-2.00463608e-02 9.99798963e-01 4.21426525e-04 -9.76695810e+00] [ 3.74958503e-03 -3.46327627e-04 9.99992910e-01 -2.92767587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82992885099998 meters 0.08539091534526261 Centerline is valid? [True, True] Translation: X:98.30, Y:-9.76, Z:-2.93 [[ 9.99696286e-01 2.45176719e-02 -2.49373847e-03 9.82976997e+01] [-2.45170468e-02 9.99699373e-01 2.80926428e-04 -9.76421952e+00] [ 2.49987644e-03 -2.19702004e-04 9.99996851e-01 -2.92902614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85992885099998 meters 0.08468590965630585 Centerline is valid? [True, True] Translation: X:98.33, Y:-9.76, Z:-2.93 [[ 9.99667117e-01 2.57166452e-02 -2.07612007e-03 9.83277917e+01] [-2.57162181e-02 9.99669256e-01 2.32154391e-04 -9.76395180e+00] [ 2.08140364e-03 -1.78687154e-04 9.99997818e-01 -2.92988131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88992885099998 meters 0.08578053877908252 Centerline is valid? [True, True] Translation: X:98.36, Y:-9.77, Z:-2.93 [[ 9.99639906e-01 2.67963116e-02 -1.42010174e-03 9.83565695e+01] [-2.67961129e-02 9.99640907e-01 1.58758592e-04 -9.76860180e+00] [ 1.42384594e-03 -1.20648218e-04 9.99998979e-01 -2.93198784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91992885099998 meters 0.08512970018686672 Centerline is valid? [True, True] Translation: X:98.39, Y:-9.77, Z:-2.93 [[ 9.99631760e-01 2.70915783e-02 -1.54622440e-03 9.83859863e+01] [-2.70913448e-02 9.99632947e-01 1.71766634e-04 -9.76868040e+00] [ 1.55031028e-03 -1.29814085e-04 9.99998790e-01 -2.93178393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94992885099998 meters 0.08446816942997888 Centerline is valid? [True, True] Translation: X:98.42, Y:-9.77, Z:-2.93 [[ 9.99651295e-01 2.62515850e-02 -2.85369018e-03 9.84153807e+01] [-2.62507799e-02 9.99655338e-01 3.19229356e-04 -9.76650724e+00] [ 2.86108690e-03 -2.44206446e-04 9.99995877e-01 -2.93260328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97992885099998 meters 0.08564907893338257 Centerline is valid? [True, True] Translation: X:98.44, Y:-9.77, Z:-2.93 [[ 9.99647231e-01 2.63787319e-02 -3.09464794e-03 9.84429511e+01] [-2.63777895e-02 9.99651986e-01 3.44981457e-04 -9.77091516e+00] [ 3.10267113e-03 -2.63229786e-04 9.99995152e-01 -2.93466880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00992885099998 meters 0.08651239536698917 Centerline is valid? [True, True] Translation: X:98.47, Y:-9.77, Z:-2.94 [[ 9.99654240e-01 2.60946933e-02 -3.23529307e-03 9.84704886e+01] [-2.60936620e-02 9.99659437e-01 3.60558910e-04 -9.77457058e+00] [ 3.24359993e-03 -2.76013599e-04 9.99994701e-01 -2.93677586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03992885099998 meters 0.08450585857255577 Centerline is valid? [True, True] Translation: X:98.50, Y:-9.77, Z:-2.94 [[ 9.99649934e-01 2.61892386e-02 -3.75947245e-03 9.84986903e+01] [-2.61878489e-02 9.99656952e-01 4.18399553e-04 -9.77168522e+00] [ 3.76914034e-03 -3.19800589e-04 9.99992846e-01 -2.93570628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.069928851 meters 0.08749074087534714 Centerline is valid? [True, True] Translation: X:98.53, Y:-9.78, Z:-2.94 [[ 9.99653805e-01 2.60919195e-02 -3.38851340e-03 9.85254517e+01] [-2.60907901e-02 9.99659506e-01 3.77076668e-04 -9.77970470e+00] [ 3.39719829e-03 -2.88537134e-04 9.99994188e-01 -2.93989253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099928851 meters 0.08654068776058849 Centerline is valid? [True, True] Translation: X:98.55, Y:-9.78, Z:-2.94 [[ 9.99662479e-01 2.57774795e-02 -3.23251491e-03 9.85541962e+01] [-2.57764493e-02 9.99667667e-01 3.59963327e-04 -9.77949672e+00] [ 3.24071959e-03 -2.76519075e-04 9.99994711e-01 -2.93934467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.129928851 meters 0.08545954490481966 Centerline is valid? [True, True] Translation: X:98.58, Y:-9.78, Z:-2.94 [[ 9.99661756e-01 2.58597420e-02 -2.76532029e-03 9.85828228e+01] [-2.58589899e-02 9.99665553e-01 3.07413021e-04 -9.77907599e+00] [ 2.77234506e-03 -2.35800651e-04 9.99996129e-01 -2.93912710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159928851 meters 0.08585386018789022 Centerline is valid? [True, True] Translation: X:98.61, Y:-9.78, Z:-2.94 [[ 9.99646683e-01 2.64457368e-02 -2.67052105e-03 9.86106872e+01] [-2.64450428e-02 9.99650225e-01 2.94888807e-04 -9.78038171e+00] [ 2.67738552e-03 -2.24162574e-04 9.99996391e-01 -2.94042784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.189928851 meters 0.08674551926553174 Centerline is valid? [True, True] Translation: X:98.64, Y:-9.78, Z:-2.94 [[ 9.99628476e-01 2.71133875e-02 -2.78812575e-03 9.86377966e+01] [-2.71126338e-02 9.99632338e-01 3.07759643e-04 -9.78406567e+00] [ 2.79544507e-03 -2.32051870e-04 9.99996066e-01 -2.94226673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219928851 meters 0.0844157003001771 Centerline is valid? [True, True] Translation: X:98.67, Y:-9.78, Z:-2.94 [[ 9.99629616e-01 2.70181020e-02 -3.26390269e-03 9.86668197e+01] [-2.70170623e-02 9.99634907e-01 3.62227140e-04 -9.78053621e+00] [ 3.27249775e-03 -2.73911915e-04 9.99994608e-01 -2.94084627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.249928851 meters 0.08498548235311583 Centerline is valid? [True, True] Translation: X:98.69, Y:-9.78, Z:-2.94 [[ 9.99595548e-01 2.82924142e-02 -2.87752224e-03 9.86949854e+01] [-2.82916099e-02 9.99599661e-01 3.19847181e-04 -9.78434751e+00] [ 2.88541951e-03 -2.38308082e-04 9.99995809e-01 -2.94399148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279928851 meters 0.08548204165901577 Centerline is valid? [True, True] Translation: X:98.72, Y:-9.79, Z:-2.95 [[ 9.99573032e-01 2.90166215e-02 -3.43358910e-03 9.87226533e+01] [-2.90154902e-02 9.99578890e-01 3.78858303e-04 -9.78682543e+00] [ 3.44313637e-03 -2.79069272e-04 9.99994033e-01 -2.94620088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.309928851 meters 0.08438094500029578 Centerline is valid? [True, True] Translation: X:98.75, Y:-9.79, Z:-2.95 [[ 9.99541244e-01 3.00498227e-02 -3.78291437e-03 9.87514053e+01] [-3.00484494e-02 9.99548355e-01 4.19330717e-04 -9.78657818e+00] [ 3.79380665e-03 -3.05467635e-04 9.99992757e-01 -2.94659787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33992885099997 meters 0.08451341595255618 Centerline is valid? [True, True] Translation: X:98.78, Y:-9.79, Z:-2.95 [[ 9.99505470e-01 3.11876164e-02 -4.01835420e-03 9.87803774e+01] [-3.11860766e-02 9.99513497e-01 4.45304136e-04 -9.78862790e+00] [ 4.03028723e-03 -3.19767219e-04 9.99991827e-01 -2.94873511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36992885099997 meters 0.08462617897398993 Centerline is valid? [True, True] Translation: X:98.81, Y:-9.79, Z:-2.95 [[ 9.99465690e-01 3.23356139e-02 -4.76892417e-03 9.88080654e+01] [-3.23334606e-02 9.99476998e-01 5.27962500e-04 -9.79044663e+00] [ 4.78350200e-03 -3.73484583e-04 9.99988489e-01 -2.94979351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39992885099997 meters 0.08229902694038958 Centerline is valid? [True, True] Translation: X:98.84, Y:-9.79, Z:-2.95 [[ 9.99320950e-01 3.66760252e-02 -3.53658479e-03 9.88389459e+01] [-3.66748623e-02 9.99327174e-01 3.93127647e-04 -9.78538934e+00] [ 3.54862365e-03 -2.63156933e-04 9.99993669e-01 -2.94790267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42992885099997 meters 0.08211289572746161 Centerline is valid? [True, True] Translation: X:98.87, Y:-9.79, Z:-2.95 [[ 9.99200087e-01 3.99424516e-02 -1.94579924e-03 9.88679293e+01] [-3.99421067e-02 9.99201972e-01 2.15803808e-04 -9.78706892e+00] [ 1.95286617e-03 -1.37911863e-04 9.99998084e-01 -2.94891520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45992885099997 meters 0.08097796999866749 Centerline is valid? [True, True] Translation: X:98.90, Y:-9.79, Z:-2.95 [[ 9.99082819e-01 4.28175648e-02 -4.19957006e-04 9.88986543e+01] [-4.28175490e-02 9.99082907e-01 4.66125250e-05 -9.78620573e+00] [ 4.21567701e-04 -2.85882432e-05 9.99999911e-01 -2.94840627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48992885099997 meters 0.07883657278465135 Centerline is valid? [True, True] Translation: X:98.93, Y:-9.78, Z:-2.95 [[ 9.98740081e-01 5.01547816e-02 1.65808777e-03 9.89299438e+01] [-5.01545441e-02 9.98741452e-01 -1.84561349e-04 -9.78088077e+00] [-1.66525762e-03 1.01168180e-04 9.99998608e-01 -2.94728646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51992885099997 meters 0.07950713122501583 Centerline is valid? [True, True] Translation: X:98.96, Y:-9.78, Z:-2.95 [[ 9.98591783e-01 5.30255758e-02 1.65480044e-03 9.89589764e+01] [-5.30253416e-02 9.98593150e-01 -1.85091391e-04 -9.78477085e+00] [-1.66228696e-03 9.70843836e-05 9.99998614e-01 -2.95059152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54992885099998 meters 0.07766603278152655 Centerline is valid? [True, True] Translation: X:98.99, Y:-9.78, Z:-2.95 [[ 9.98445756e-01 5.56893044e-02 2.18489830e-03 9.89900063e+01] [-5.56889046e-02 9.98448139e-01 -2.43465315e-04 -9.78151126e+00] [-2.19506605e-03 1.21412318e-04 9.99997583e-01 -2.94932868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57992885099998 meters 0.07875962695557012 Centerline is valid? [True, True] Translation: X:99.02, Y:-9.79, Z:-2.95 [[ 9.98363851e-01 5.71483575e-02 1.91972665e-03 9.90173801e+01] [-5.71480475e-02 9.98365692e-01 -2.15968223e-04 -9.78662155e+00] [-1.92893146e-03 1.05906237e-04 9.99998134e-01 -2.95328112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60992885099998 meters 0.07670454742414405 Centerline is valid? [True, True] Translation: X:99.05, Y:-9.78, Z:-2.95 [[ 9.98283410e-01 5.85320451e-02 2.05733623e-03 9.90471697e+01] [-5.85316842e-02 9.98285524e-01 -2.35240925e-04 -9.78216421e+00] [-2.06757811e-03 1.14417758e-04 9.99997856e-01 -2.95114454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63992885099998 meters 0.07716975539359999 Centerline is valid? [True, True] Translation: X:99.07, Y:-9.79, Z:-2.95 [[ 9.98308639e-01 5.81098476e-02 1.76252028e-03 9.90743373e+01] [-5.81095884e-02 9.98310191e-01 -1.97991879e-04 -9.78623703e+00] [-1.77104723e-03 9.52376759e-05 9.99998427e-01 -2.95360229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66992885099998 meters 0.07747515088716225 Centerline is valid? [True, True] Translation: X:99.10, Y:-9.79, Z:-2.96 [[ 9.98353555e-01 5.73558809e-02 6.94897936e-04 9.91016423e+01] [-5.73558393e-02 9.98353796e-01 -7.96202942e-05 -9.79052786e+00] [-6.98320684e-04 3.96327494e-05 9.99999755e-01 -2.95567380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69992885099998 meters 0.07880367836997369 Centerline is valid? [True, True] Translation: X:99.13, Y:-9.80, Z:-2.96 [[ 9.98507466e-01 5.45944030e-02 1.51367747e-03 9.91294150e+01] [-5.45942092e-02 9.98508610e-01 -1.69101932e-04 -9.79822148e+00] [-1.52065201e-03 8.62115169e-05 9.99998840e-01 -2.95904111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72992885099998 meters 0.07845943697949485 Centerline is valid? [True, True] Translation: X:99.16, Y:-9.80, Z:-2.96 [[ 9.98575220e-01 5.33367553e-02 1.64965957e-03 9.91580633e+01] [-5.33365145e-02 9.98576577e-01 -1.89675941e-04 -9.80011947e+00] [-1.65742811e-03 1.01418603e-04 9.99998621e-01 -2.95882265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75992885099998 meters 0.07848198031942998 Centerline is valid? [True, True] Translation: X:99.19, Y:-9.80, Z:-2.96 [[ 9.98614500e-01 5.26084490e-02 1.19649249e-03 9.91863095e+01] [-5.26083252e-02 9.98615214e-01 -1.34703806e-04 -9.80293941e+00] [-1.20192216e-03 7.15717076e-05 9.99999275e-01 -2.95862215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78992885099998 meters 0.07824380625337501 Centerline is valid? [True, True] Translation: X:99.21, Y:-9.80, Z:-2.96 [[ 9.98676373e-01 5.13998849e-02 1.88539397e-03 9.92145637e+01] [-5.13995786e-02 9.98678146e-01 -2.10594206e-04 -9.80472960e+00] [-1.89372627e-03 1.13407002e-04 9.99998200e-01 -2.95839799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819928851 meters 0.07900686447112337 Centerline is valid? [True, True] Translation: X:99.24, Y:-9.81, Z:-2.96 [[ 9.98733059e-01 5.03000168e-02 1.47796076e-03 9.92418708e+01] [-5.02998267e-02 9.98734149e-01 -1.65525671e-04 -9.81010679e+00] [-1.48441583e-03 9.09747896e-05 9.99998894e-01 -2.96110500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.849928851 meters 0.07971438762318922 Centerline is valid? [True, True] Translation: X:99.27, Y:-9.82, Z:-2.96 [[ 9.98756243e-01 4.98110540e-02 2.19672050e-03 9.92680429e+01] [-4.98106298e-02 9.98758649e-01 -2.47429608e-04 -9.81504659e+00] [-2.20631833e-03 1.37701834e-04 9.99997557e-01 -2.96296186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879928851 meters 0.07928515180451028 Centerline is valid? [True, True] Translation: X:99.30, Y:-9.82, Z:-2.96 [[ 9.98811117e-01 4.86653703e-02 2.83463871e-03 9.92971591e+01] [-4.86646614e-02 9.98815123e-01 -3.18570353e-04 -9.81654397e+00] [-2.84678336e-03 1.80244877e-04 9.99995932e-01 -2.96325808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.909928851 meters 0.07837712332549522 Centerline is valid? [True, True] Translation: X:99.33, Y:-9.82, Z:-2.96 [[ 9.98822628e-01 4.83484079e-02 3.97367566e-03 9.93259650e+01] [-4.83470463e-02 9.98830502e-01 -4.38062744e-04 -9.81594077e+00] [-3.99020809e-03 2.45431500e-04 9.99992009e-01 -2.96207643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939928851 meters 0.07870513901062855 Centerline is valid? [True, True] Translation: X:99.35, Y:-9.82, Z:-2.96 [[ 9.98840039e-01 4.78869619e-02 5.04135742e-03 9.93549518e+01] [-4.78847692e-02 9.98852712e-01 -5.54834661e-04 -9.81903985e+00] [-5.06214288e-03 3.12786839e-04 9.99987138e-01 -2.96307324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.969928851 meters 0.07920584761824367 Centerline is valid? [True, True] Translation: X:99.38, Y:-9.82, Z:-2.97 [[ 9.98813712e-01 4.83653785e-02 5.65315771e-03 9.93828308e+01] [-4.83626301e-02 9.98829650e-01 -6.21952802e-04 -9.82216261e+00] [-5.67662252e-03 3.47813412e-04 9.99983827e-01 -2.96549605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999928851 meters 0.08016109934534593 Centerline is valid? [True, True] Translation: X:99.41, Y:-9.83, Z:-2.97 [[ 9.98816832e-01 4.83392632e-02 5.31527162e-03 9.94098573e+01] [-4.83368348e-02 9.98830921e-01 -5.84471616e-04 -9.82670437e+00] [-5.33731057e-03 3.26856682e-04 9.99985703e-01 -2.96724627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.029928851 meters 0.08016109934534593 Centerline is valid? [True, True] Translation: X:99.44, Y:-9.83, Z:-2.97 [[ 9.98821453e-01 4.82436859e-02 5.31527599e-03 9.94372050e+01] [-4.82412564e-02 9.98835542e-01 -5.84432775e-04 -9.82959571e+00] [-5.33728177e-03 3.27328401e-04 9.99985703e-01 -2.96813830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059928851 meters 0.07799586588561679 Centerline is valid? [True, True] Translation: X:99.47, Y:-9.83, Z:-2.97 [[ 9.98821866e-01 4.82751834e-02 4.93837789e-03 9.94668793e+01] [-4.82730917e-02 9.98834028e-01 -5.41951086e-04 -9.82500269e+00] [-4.95878266e-03 3.02921826e-04 9.99987659e-01 -2.96621692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08992885099997 meters 0.07858801302136138 Centerline is valid? [True, True] Translation: X:99.49, Y:-9.83, Z:-2.97 [[ 9.98802397e-01 4.86620392e-02 5.07721129e-03 9.94948203e+01] [-4.86598330e-02 9.98815253e-01 -5.57224667e-04 -9.82804557e+00] [-5.09831177e-03 3.09501079e-04 9.99986956e-01 -2.96820465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11992885099997 meters 0.078290802307376 Centerline is valid? [True, True] Translation: X:99.52, Y:-9.83, Z:-2.97 [[ 9.98784376e-01 4.89577618e-02 5.73659953e-03 9.95240623e+01] [-4.89549348e-02 9.98800788e-01 -6.32281146e-04 -9.82927869e+00] [-5.76067520e-03 3.50677674e-04 9.99983346e-01 -2.96986481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14992885099997 meters 0.07860191027328502 Centerline is valid? [True, True] Translation: X:99.55, Y:-9.83, Z:-2.97 [[ 9.98798760e-01 4.87100467e-02 5.32612451e-03 9.95522069e+01] [-4.87076232e-02 9.98812909e-01 -5.83868331e-04 -9.83150306e+00] [-5.34824216e-03 3.23744099e-04 9.99985646e-01 -2.97157714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17992885099997 meters 0.0804696710429723 Centerline is valid? [True, True] Translation: X:99.58, Y:-9.84, Z:-2.98 [[ 9.98829442e-01 4.81329965e-02 4.79175395e-03 9.95796852e+01] [-4.81310347e-02 9.98840893e-01 -5.23948634e-04 -9.83648784e+00] [-4.81141901e-03 2.92703246e-04 9.99988382e-01 -2.97568184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20992885099997 meters 0.07886677905791589 Centerline is valid? [True, True] Translation: X:99.61, Y:-9.83, Z:-2.98 [[ 9.98849463e-01 4.77623559e-02 4.30204906e-03 9.96085090e+01] [-4.77607534e-02 9.98858691e-01 -4.74527311e-04 -9.83336678e+00] [-4.31980364e-03 2.68512246e-04 9.99990634e-01 -2.97512203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23992885099997 meters 0.07992101862291517 Centerline is valid? [True, True] Translation: X:99.64, Y:-9.84, Z:-2.98 [[ 9.98896352e-01 4.67918627e-02 4.07416635e-03 9.96356590e+01] [-4.67904370e-02 9.98904629e-01 -4.44603856e-04 -9.83723827e+00] [-4.09050747e-03 2.53481146e-04 9.99991602e-01 -2.97705186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26992885099997 meters 0.0804277373722295 Centerline is valid? [True, True] Translation: X:99.66, Y:-9.84, Z:-2.98 [[ 9.98947212e-01 4.57457384e-02 3.43452718e-03 9.96643921e+01] [-4.57447220e-02 9.98953092e-01 -3.73960481e-04 -9.84025403e+00] [-3.44803865e-03 2.16455289e-04 9.99994032e-01 -2.97823670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29992885099998 meters 0.0796048573646158 Centerline is valid? [True, True] Translation: X:99.69, Y:-9.84, Z:-2.98 [[ 9.99000620e-01 4.45049369e-02 4.13174669e-03 9.96931206e+01] [-4.45034359e-02 9.99009128e-01 -4.54551504e-04 -9.83910023e+00] [-4.14788244e-03 2.70220310e-04 9.99991361e-01 -2.97819550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32992885099998 meters 0.08301095114794085 Centerline is valid? [True, True] Translation: X:99.72, Y:-9.85, Z:-2.98 [[ 9.99147920e-01 4.10340171e-02 4.43202770e-03 9.97215782e+01] [-4.10322879e-02 9.99157706e-01 -4.80423233e-04 -9.84781736e+00] [-4.44800833e-03 2.98157637e-04 9.99990063e-01 -2.98265150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35992885099998 meters 0.08369502990038791 Centerline is valid? [True, True] Translation: X:99.75, Y:-9.85, Z:-2.98 [[ 9.99214637e-01 3.92100728e-02 5.71663803e-03 9.97506086e+01] [-3.92071667e-02 9.99230911e-01 -6.19574362e-04 -9.85164623e+00] [-5.73653499e-03 3.94954591e-04 9.99983468e-01 -2.98353245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38992885099998 meters 0.08266393164919904 Centerline is valid? [True, True] Translation: X:99.78, Y:-9.85, Z:-2.98 [[ 9.99385717e-01 3.45604943e-02 5.81037782e-03 9.97812696e+01] [-3.45574207e-02 9.99402516e-01 -6.28582383e-04 -9.84844889e+00] [-5.82863034e-03 4.27404585e-04 9.99982922e-01 -2.98267529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41992885099998 meters 0.08418232048290954 Centerline is valid? [True, True] Translation: X:99.81, Y:-9.85, Z:-2.98 [[ 9.99462801e-01 3.21504411e-02 6.36064428e-03 9.98113186e+01] [-3.21467156e-02 9.99482925e-01 -6.87104286e-04 -9.85354301e+00] [-6.37944606e-03 4.82261351e-04 9.99979535e-01 -2.98447529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44992885099998 meters 0.08872278393859644 Centerline is valid? [True, True] Translation: X:99.84, Y:-9.86, Z:-2.99 [[ 9.99498288e-01 3.09453263e-02 6.74977574e-03 9.98387079e+01] [-3.09410912e-02 9.99520943e-01 -7.31000899e-04 -9.86460403e+00] [-6.76916327e-03 5.21788721e-04 9.99976953e-01 -2.98823067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47992885099998 meters 0.08653759758904254 Centerline is valid? [True, True] Translation: X:99.87, Y:-9.86, Z:-2.99 [[ 9.99535788e-01 2.96462644e-02 7.02200181e-03 9.98691177e+01] [-2.96416549e-02 9.99560301e-01 -7.59624818e-04 -9.86112731e+00] [-7.04143428e-03 5.51128437e-04 9.99975057e-01 -2.98769446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50992885099998 meters 0.08686040169532216 Centerline is valid? [True, True] Translation: X:99.90, Y:-9.86, Z:-2.99 [[ 9.99588747e-01 2.77159611e-02 7.35946746e-03 9.98982903e+01] [-2.77108449e-02 9.99615664e-01 -7.96264258e-04 -9.86006377e+00] [-7.37870818e-03 5.91999731e-04 9.99972602e-01 -2.98898525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53992885099998 meters 0.08838500940452497 Centerline is valid? [True, True] Translation: X:99.92, Y:-9.86, Z:-2.99 [[ 9.99592851e-01 2.74362976e-02 7.83462885e-03 9.99247757e+01] [-2.74304821e-02 9.99623353e-01 -8.48797946e-04 -9.86431878e+00] [-7.85496584e-03 6.33544713e-04 9.99968949e-01 -2.99059592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.569928851 meters 0.08941310376791248 Centerline is valid? [True, True] Translation: X:99.95, Y:-9.87, Z:-2.99 [[ 9.99622870e-01 2.64704941e-02 7.30960559e-03 9.99527400e+01] [-2.64654213e-02 9.99649417e-01 -7.89861589e-04 -9.86633734e+00] [-7.32795100e-03 5.96111917e-04 9.99972973e-01 -2.99180263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599928851 meters 0.09033408901083735 Centerline is valid? [True, True] Translation: X:99.98, Y:-9.87, Z:-2.99 [[ 9.99651467e-01 2.50308253e-02 8.39060341e-03 9.99817762e+01] [-2.50240991e-02 9.99686438e-01 -9.05677849e-04 -9.86822083e+00] [-8.41064230e-03 6.95394899e-04 9.99964388e-01 -2.99221076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.629928851 meters 0.09033408901083735 Centerline is valid? [True, True] Translation: X:100.01, Y:-9.87, Z:-2.99 [[ 9.99653916e-01 2.49328514e-02 8.39052138e-03 1.00009167e+02] [-2.49261154e-02 9.99688885e-01 -9.06440261e-04 -9.87105753e+00] [-8.41051110e-03 6.96983452e-04 9.99964388e-01 -2.99310359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659928851 meters 0.08923946215210533 Centerline is valid? [True, True] Translation: X:100.04, Y:-9.87, Z:-2.99 [[ 9.99669823e-01 2.46377038e-02 7.29583912e-03 1.00038565e+02] [-2.46326112e-02 9.99696261e-01 -7.87073457e-04 -9.86898849e+00] [-7.31301477e-03 6.07098015e-04 9.99973075e-01 -2.99368151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.689928851 meters 0.08966201216074667 Centerline is valid? [True, True] Translation: X:100.07, Y:-9.87, Z:-3.00 [[ 9.99680751e-01 2.42222494e-02 7.18883722e-03 1.00067553e+02] [-2.42172977e-02 9.99706418e-01 -7.75071148e-04 -9.87093603e+00] [-7.20550067e-03 6.00729496e-04 9.99973860e-01 -2.99549710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719928851 meters 0.08834981942122662 Centerline is valid? [True, True] Translation: X:100.10, Y:-9.87, Z:-3.00 [[ 9.99710677e-01 2.33385732e-02 5.82000108e-03 1.00097600e+02] [-2.33353070e-02 9.99727497e-01 -6.28495566e-04 -9.86759925e+00] [-5.83308330e-03 4.92502216e-04 9.99982866e-01 -2.99691017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.749928851 meters 0.09011710986318812 Centerline is valid? [True, True] Translation: X:100.13, Y:-9.87, Z:-3.00 [[ 9.99724357e-01 2.25725804e-02 6.45671993e-03 1.00125112e+02] [-2.25685510e-02 9.99745055e-01 -6.96260430e-04 -9.87170985e+00] [-6.47079022e-03 5.50349698e-04 9.99978913e-01 -2.99921363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779928851 meters 0.08940290498578653 Centerline is valid? [True, True] Translation: X:100.15, Y:-9.87, Z:-3.00 [[ 9.99716039e-01 2.29051230e-02 6.57239578e-03 1.00153976e+02] [-2.29009662e-02 9.99737488e-01 -7.07026489e-04 -9.87159910e+00] [-6.58686498e-03 5.56311507e-04 9.99978152e-01 -2.99985115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.809928851 meters 0.08962906091144959 Centerline is valid? [True, True] Translation: X:100.18, Y:-9.87, Z:-3.00 [[ 9.99725418e-01 2.24781170e-02 6.61992094e-03 1.00182652e+02] [-2.24738938e-02 9.99747177e-01 -7.11670499e-04 -9.87197856e+00] [-6.63424428e-03 5.62699687e-04 9.99977835e-01 -3.00096960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83992885099997 meters 0.09130988858195313 Centerline is valid? [True, True] Translation: X:100.21, Y:-9.87, Z:-3.00 [[ 9.99711885e-01 2.33124620e-02 5.71637252e-03 1.00210882e+02] [-2.33093271e-02 9.99728112e-01 -6.14427400e-04 -9.87347904e+00] [-5.72914212e-03 4.81005578e-04 9.99983473e-01 -3.00279779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86992885099997 meters 0.09048912543932684 Centerline is valid? [True, True] Translation: X:100.24, Y:-9.87, Z:-3.00 [[ 9.99698002e-01 2.37918051e-02 6.15259250e-03 1.00240433e+02] [-2.37881890e-02 9.99716803e-01 -6.60263604e-04 -9.87267523e+00] [-6.16655896e-03 5.13705173e-04 9.99980855e-01 -3.00334275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89992885099997 meters 0.08937781979746219 Centerline is valid? [True, True] Translation: X:100.27, Y:-9.87, Z:-3.00 [[ 9.99681500e-01 2.41241933e-02 7.41087862e-03 1.00270037e+02] [-2.41189609e-02 9.99708780e-01 -7.94609451e-04 -9.87166480e+00] [-7.42788973e-03 6.15613676e-04 9.99972223e-01 -3.00371912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92992885099997 meters 0.08936901793859892 Centerline is valid? [True, True] Translation: X:100.30, Y:-9.87, Z:-3.00 [[ 9.99665884e-01 2.44629724e-02 8.34762880e-03 1.00299332e+02] [-2.44563473e-02 9.99700498e-01 -8.94828531e-04 -9.87123070e+00] [-8.36701884e-03 6.90377046e-04 9.99964758e-01 -3.00382080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95992885099997 meters 0.08888094006468006 Centerline is valid? [True, True] Translation: X:100.33, Y:-9.87, Z:-3.00 [[ 9.99655631e-01 2.45516280e-02 9.26480821e-03 1.00328674e+02] [-2.45434788e-02 9.99698271e-01 -9.92281663e-04 -9.87078720e+00] [-9.28637487e-03 7.64549329e-04 9.99956588e-01 -3.00399867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98992885099997 meters 0.08932928598572022 Centerline is valid? [True, True] Translation: X:100.36, Y:-9.87, Z:-3.00 [[ 9.99657531e-01 2.42300156e-02 9.88570122e-03 1.00357250e+02] [-2.42207302e-02 9.99706075e-01 -1.05793773e-03 -9.87280517e+00] [-9.90842942e-03 8.18136514e-04 9.99950576e-01 -3.00411177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01992885099997 meters 0.08960035976744421 Centerline is valid? [True, True] Translation: X:100.39, Y:-9.87, Z:-3.00 [[ 9.99664664e-01 2.36767740e-02 1.04866597e-02 1.00386249e+02] [-2.36663041e-02 9.99719285e-01 -1.12139325e-03 -9.87406941e+00] [-1.05102669e-02 8.72836732e-04 9.99944385e-01 -3.00463651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04992885099998 meters 0.09155883922549608 Centerline is valid? [True, True] Translation: X:100.41, Y:-9.88, Z:-3.01 [[ 9.99696211e-01 2.25114666e-02 1.00359300e-02 1.00414840e+02] [-2.25018290e-02 9.99746227e-01 -1.07221225e-03 -9.87659676e+00] [-1.00575203e-02 8.46059738e-04 9.99949064e-01 -3.00735882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07992885099998 meters 0.09150493079737404 Centerline is valid? [True, True] Translation: X:100.44, Y:-9.88, Z:-3.01 [[ 9.99721589e-01 2.13026019e-02 1.01461063e-02 1.00444134e+02] [-2.12926951e-02 9.99772698e-01 -1.08344443e-03 -9.87860675e+00] [-1.01668803e-02 8.67104837e-04 9.99947940e-01 -3.00764820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10992885099998 meters 0.09326110408667118 Centerline is valid? [True, True] Translation: X:100.47, Y:-9.88, Z:-3.01 [[ 9.99753314e-01 1.98333210e-02 9.99755340e-03 1.00472825e+02] [-1.98236343e-02 9.99802923e-01 -1.06708300e-03 -9.88351679e+00] [-1.00167469e-02 8.68631925e-04 9.99949454e-01 -3.01016516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13992885099998 meters 0.09612646737157231 Centerline is valid? [True, True] Translation: X:100.50, Y:-9.89, Z:-3.01 [[ 9.99810384e-01 1.68122127e-02 9.82573303e-03 1.00503205e+02] [-1.68027307e-02 9.99858276e-01 -1.04678186e-03 -9.88948305e+00] [-9.84193921e-03 8.81484228e-04 9.99951178e-01 -3.01213085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16992885099998 meters 0.09680746729797117 Centerline is valid? [True, True] Translation: X:100.53, Y:-9.89, Z:-3.01 [[ 9.99839626e-01 1.51487311e-02 9.55182733e-03 1.00532360e+02] [-1.51396794e-02 9.99884869e-01 -1.01924912e-03 -9.89238260e+00] [-9.56616795e-03 8.74474058e-04 9.99953861e-01 -3.01327122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19992885099998 meters 0.09817893369684505 Centerline is valid? [True, True] Translation: X:100.56, Y:-9.90, Z:-3.02 [[ 9.99871510e-01 1.34594207e-02 8.70677741e-03 1.00561802e+02] [-1.34518459e-02 9.99909089e-01 -9.27967868e-04 -9.89656262e+00] [-8.71847578e-03 8.10726405e-04 9.99961665e-01 -3.01520443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22992885099998 meters 0.0994758039180807 Centerline is valid? [True, True] Translation: X:100.59, Y:-9.90, Z:-3.02 [[ 9.99876204e-01 1.23742925e-02 9.71868381e-03 1.00589562e+02] [-1.23648063e-02 9.99923017e-01 -1.03556021e-03 -9.90110969e+00] [-9.73074996e-03 9.15262365e-04 9.99952236e-01 -3.01571257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25992885099998 meters 0.10198723600822023 Centerline is valid? [True, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99977430e-01 6.40953231e-03 2.01443949e-03 1.00597940e+02] [-6.40898087e-03 9.99979423e-01 -2.80083168e-04 -9.89768465e+00] [-2.01619324e-03 2.67166342e-04 9.99997932e-01 -3.00939869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28992885099998 meters 0.1024422511766277 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99979048e-01 6.11609566e-03 2.12060431e-03 1.00597443e+02] [-6.11474483e-03 9.99981098e-01 -6.42900116e-04 -9.89696559e+00] [-2.12449627e-03 6.29919692e-04 9.99997545e-01 -3.00902808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319928851 meters 0.10409929411393434 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99980897e-01 5.75259900e-03 2.26109437e-03 1.00596835e+02] [-5.75013009e-03 9.99982866e-01 -1.09689928e-03 -9.89602514e+00] [-2.26736565e-03 1.08387674e-03 9.99996842e-01 -3.00861114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.349928851 meters 0.10464675428786936 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99981465e-01 5.66482023e-03 2.23148715e-03 1.00596852e+02] [-5.66200666e-03 9.99983170e-01 -1.26515735e-03 -9.89544853e+00] [-2.23861648e-03 1.25249921e-03 9.99996710e-01 -3.00854940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379928851 meters 0.1032276500388829 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.89, Z:-3.01 [[ 9.99983089e-01 5.32016892e-03 2.34907101e-03 1.00596280e+02] [-5.31616253e-03 9.99984410e-01 -1.70848009e-03 -9.89458697e+00] [-2.35812379e-03 1.69596315e-03 9.99995781e-01 -3.00809508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.409928851 meters 0.10529286302794132 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.89, Z:-3.01 [[ 9.99983524e-01 5.18384188e-03 2.46576460e-03 1.00596139e+02] [-5.17929286e-03 9.99984880e-01 -1.84769136e-03 -9.89395720e+00] [-2.47530546e-03 1.83489000e-03 9.99995253e-01 -3.00827944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439928851 meters 0.10415627632972338 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.89, Z:-3.01 [[ 9.99983660e-01 5.12842058e-03 2.52558551e-03 1.00596061e+02] [-5.12373375e-03 9.99985146e-01 -1.85872528e-03 -9.89387695e+00] [-2.53508032e-03 1.84575448e-03 9.99995083e-01 -3.00838923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.469928851 meters 0.10338544352467298 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.89, Z:-3.01 [[ 9.99983060e-01 5.22307398e-03 2.56895283e-03 1.00596208e+02] [-5.21879604e-03 9.99984989e-01 -1.66914202e-03 -9.89414362e+00] [-2.57763232e-03 1.65570690e-03 9.99995307e-01 -3.00876381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499928851 meters 0.10575765321095344 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.89, Z:-3.01 [[ 9.99982830e-01 5.23051052e-03 2.64225669e-03 1.00596119e+02] [-5.22641699e-03 9.99985135e-01 -1.55379155e-03 -9.89448422e+00] [-2.65034453e-03 1.53995534e-03 9.99995302e-01 -3.00890587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.529928851 meters 0.10306286896357861 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99980487e-01 5.59060899e-03 2.78754177e-03 1.00596469e+02] [-5.58849569e-03 9.99984091e-01 -7.65334919e-04 -9.89602856e+00] [-2.79177611e-03 7.49741820e-04 9.99995822e-01 -3.00997927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559928851 meters 0.10131513649129681 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99980141e-01 5.62084771e-03 2.85010838e-03 1.00596449e+02] [-5.61912259e-03 9.99984025e-01 -6.12929454e-04 -9.89634472e+00] [-2.85350803e-03 5.96902174e-04 9.99995751e-01 -3.01019664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58992885099997 meters 0.10684581717326995 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99979999e-01 5.63457592e-03 2.87293580e-03 1.00596433e+02] [-5.63303760e-03 9.99983987e-01 -5.43263958e-04 -9.89653705e+00] [-2.87595085e-03 5.27069737e-04 9.99995726e-01 -3.01025255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61992885099997 meters 0.10454930395848377 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99979074e-01 5.84828418e-03 2.76573371e-03 1.00596876e+02] [-5.84744562e-03 9.99982855e-01 -3.11186057e-04 -9.89689085e+00] [-2.76750619e-03 2.95007068e-04 9.99996127e-01 -3.01053950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64992885099997 meters 0.10728542521642498 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99979046e-01 5.88171104e-03 2.70419658e-03 1.00596950e+02] [-5.88089556e-03 9.99982660e-01 -3.09415331e-04 -9.89704109e+00] [-2.70596958e-03 2.93505750e-04 9.99996296e-01 -3.01044255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67992885099997 meters 0.10421897048339233 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99979760e-01 5.73788957e-03 2.74874509e-03 1.00596539e+02] [-5.73652575e-03 9.99983419e-01 -5.03788257e-04 -9.89709829e+00] [-2.75159019e-03 4.88009814e-04 9.99996095e-01 -3.00995395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70992885099997 meters 0.10341540464000708 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99979986e-01 5.63497034e-03 2.87668487e-03 1.00595979e+02] [-5.63342462e-03 9.99983984e-01 -5.45147566e-04 -9.89760314e+00] [-2.87971069e-03 5.28931068e-04 9.99995714e-01 -3.00953168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73992885099997 meters 0.10507898288567029 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99980226e-01 5.52934587e-03 2.99552262e-03 1.00595440e+02] [-5.52774011e-03 9.99984574e-01 -5.44066958e-04 -9.89811328e+00] [-2.99848474e-03 5.27497729e-04 9.99995365e-01 -3.00912691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76992885099997 meters 0.11299220812683898 Centerline is valid? [False, False] Translation: X:100.59, Y:-9.90, Z:-3.01 [[ 9.99979424e-01 5.52401826e-03 3.26130159e-03 1.00594726e+02] [-5.52346881e-03 9.99984730e-01 -1.77458334e-04 -9.89975369e+00] [-3.26223207e-03 1.59440985e-04 9.99994666e-01 -3.00895059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79992885099998 meters 0.10333168528732121 Centerline is valid? [False, False] Translation: X:100.59, Y:-9.90, Z:-3.01 [[ 9.99978620e-01 5.57904779e-03 3.41096789e-03 1.00594352e+02] [-5.57944767e-03 9.99984429e-01 1.07729990e-04 -9.90089170e+00] [-3.41031375e-03 -1.26759004e-04 9.99994177e-01 -3.00890676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82992885099998 meters 0.10464054124763107 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99994932e-01 1.87481580e-03 2.57303887e-03 1.00596192e+02] [-1.86443101e-03 9.99990131e-01 -4.03248437e-03 -9.90075921e+00] [-2.58057364e-03 4.02766668e-03 9.99988559e-01 -3.00890747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85992885099998 meters 0.10879299006760138 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.90, Z:-3.01 [[ 9.99993007e-01 2.26281018e-03 2.97755857e-03 1.00595850e+02] [-2.25444576e-03 9.99993512e-01 -2.80951624e-03 -9.90403759e+00] [-2.98389666e-03 2.80278385e-03 9.99991620e-01 -3.00983082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88992885099998 meters 0.10994600083642803 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.91, Z:-3.01 [[ 9.99992211e-01 2.41172343e-03 3.12422193e-03 1.00595595e+02] [-2.40433050e-03 9.99994306e-01 -2.36792425e-03 -9.90554907e+00] [-3.12991492e-03 2.36039415e-03 9.99992316e-01 -3.00996217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91992885099998 meters 0.11123823249003974 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.91, Z:-3.01 [[ 9.99991230e-01 2.74572497e-03 3.16244908e-03 1.00595776e+02] [-2.74029002e-03 9.99994763e-01 -1.72164306e-03 -9.90724579e+00] [-3.16715967e-03 1.71296193e-03 9.99993517e-01 -3.01038598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94992885099998 meters 0.11149533963625571 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.91, Z:-3.01 [[ 9.99990086e-01 2.85989973e-03 3.41297430e-03 1.00595007e+02] [-2.85617414e-03 9.99995321e-01 -1.09597224e-03 -9.90981450e+00] [-3.41609270e-03 1.08621332e-03 9.99993575e-01 -3.01005536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97992885099998 meters 0.10999575718473686 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.91, Z:-3.01 [[ 9.99989052e-01 3.14643917e-03 3.46356680e-03 1.00595011e+02] [-3.14475095e-03 9.99994934e-01 -4.92759854e-04 -9.91155702e+00] [-3.46509970e-03 4.81862404e-04 9.99993880e-01 -3.01024752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00992885099998 meters 0.11177910224657876 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.91, Z:-3.01 [[ 9.99995673e-01 -3.75667792e-04 2.91783380e-03 1.00595928e+02] [ 3.87107575e-04 9.99992238e-01 -3.92106774e-03 -9.91436194e+00] [-2.91633813e-03 3.92218029e-03 9.99988056e-01 -3.00984023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03992885099998 meters 0.10564717140764332 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.92, Z:-3.01 [[ 9.99995439e-01 -2.04869199e-05 3.02021950e-03 1.00595838e+02] [ 3.00336096e-05 9.99995004e-01 -3.16091432e-03 -9.91668594e+00] [-3.02013965e-03 3.16099061e-03 9.99990443e-01 -3.01007482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.069928851 meters 0.10564717140764332 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.92, Z:-3.01 [[ 9.99995439e-01 -2.04869199e-05 3.02021950e-03 1.00595838e+02] [ 3.00336096e-05 9.99995004e-01 -3.16091432e-03 -9.91668594e+00] [-3.02013965e-03 3.16099061e-03 9.99990443e-01 -3.01007482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099928851 meters 0.1153499063954702 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.92, Z:-3.01 [[ 9.99995175e-01 4.18498135e-04 3.07821951e-03 1.00595944e+02] [-4.11420663e-04 9.99997272e-01 -2.29948348e-03 -9.91909799e+00] [-3.07917345e-03 2.29820594e-03 9.99992618e-01 -3.01042623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.129928851 meters 0.11112040789949731 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.92, Z:-3.01 [[ 9.99994129e-01 1.00506727e-03 3.27581151e-03 1.00595596e+02] [-1.00193708e-03 9.99999040e-01 -9.57048349e-04 -9.92348241e+00] [-3.27677027e-03 9.53760573e-04 9.99994177e-01 -3.01050989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159928851 meters 0.11720391758150732 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.93, Z:-3.01 [[ 9.99993871e-01 1.39519919e-03 3.21126671e-03 1.00595648e+02] [-1.39425834e-03 9.99998984e-01 -2.95202895e-04 -9.92578170e+00] [-3.21167532e-03 2.90723751e-04 9.99994800e-01 -3.01035464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.189928851 meters 0.1152551572014385 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.93, Z:-3.01 [[ 9.99993123e-01 1.81416685e-03 3.23470529e-03 1.00595666e+02] [-1.81579790e-03 9.99998226e-01 5.01368459e-04 -9.92828502e+00] [-3.23378998e-03 -5.07238582e-04 9.99994643e-01 -3.01045714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219928851 meters 0.11249257840631618 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.93, Z:-3.01 [[ 9.99992212e-01 2.12066945e-03 3.32837114e-03 1.00595430e+02] [-2.12458993e-03 9.99997053e-01 1.17480226e-03 -9.93060696e+00] [-3.32586997e-03 -1.18186454e-03 9.99993771e-01 -3.01041894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.249928851 meters 0.1136292844577386 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.93, Z:-3.01 [[ 9.99995678e-01 -1.29101937e-03 2.64147362e-03 1.00596432e+02] [ 1.29672691e-03 9.99996826e-01 -2.16017021e-03 -9.93391612e+00] [-2.63867642e-03 2.16358614e-03 9.99994178e-01 -3.00968834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279928851 meters 0.11597032125857945 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.94, Z:-3.01 [[ 9.99996311e-01 -6.50316844e-04 2.63726092e-03 1.00596824e+02] [ 6.53072067e-04 9.99999242e-01 -1.04400270e-03 -9.93682828e+00] [-2.63657999e-03 1.04572117e-03 9.99995977e-01 -3.01025854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30992885099997 meters 0.11230950543169613 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.94, Z:-3.01 [[ 9.99996643e-01 -1.09340133e-04 2.58865778e-03 1.00597063e+02] [ 1.09605955e-04 9.99999989e-01 -1.02545677e-04 -9.93965033e+00] [-2.58864653e-03 1.02829065e-04 9.99996644e-01 -3.01044792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33992885099997 meters 0.11120147262697207 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.94, Z:-3.01 [[ 9.99995028e-01 -1.88278631e-03 2.52957929e-03 1.00595857e+02] [ 1.88669010e-03 9.99997032e-01 -1.54175538e-03 -9.94454857e+00] [-2.52666898e-03 1.54652025e-03 9.99995612e-01 -3.00853468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36992885099997 meters 0.1084830016604906 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.95, Z:-3.01 [[ 9.99996390e-01 -1.13391019e-03 2.43616394e-03 1.00596451e+02] [ 1.13473477e-03 9.99999299e-01 -3.37121186e-04 -9.94765740e+00] [-2.43577997e-03 3.39884369e-04 9.99996976e-01 -3.00913346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39992885099997 meters 0.10987628579613896 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.95, Z:-3.01 [[ 9.99996877e-01 -6.40708769e-04 2.41581032e-03 1.00596506e+02] [ 6.39493914e-04 9.99999669e-01 5.03615723e-04 -9.95044432e+00] [-2.41613219e-03 -5.02069254e-04 9.99996955e-01 -3.00911203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42992885099997 meters 0.10758396502323711 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.95, Z:-3.01 [[ 9.99997100e-01 -1.43941991e-04 2.40398854e-03 1.00596563e+02] [ 1.40604647e-04 9.99999026e-01 1.38836432e-03 -9.95325207e+00] [-2.40418604e-03 -1.38802228e-03 9.99996147e-01 -3.00917221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45992885099997 meters 0.11201424766455013 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.96, Z:-3.01 [[ 9.99993563e-01 -3.20116628e-03 1.62054494e-03 1.00598237e+02] [ 3.20351712e-03 9.99993817e-01 -1.45013835e-03 -9.95731107e+00] [-1.61589279e-03 1.45532046e-03 9.99997635e-01 -3.00912483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48992885099997 meters 0.10994672927546657 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.96, Z:-3.01 [[ 9.99995725e-01 -2.48864305e-03 1.53492516e-03 1.00598786e+02] [ 2.48910161e-03 9.99996858e-01 -2.96911260e-04 -9.96030680e+00] [-1.53418143e-03 3.00730576e-04 9.99998778e-01 -3.00967118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51992885099997 meters 0.10994672927546657 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.96, Z:-3.01 [[ 9.99995725e-01 -2.48864305e-03 1.53492516e-03 1.00598786e+02] [ 2.48910161e-03 9.99996858e-01 -2.96911260e-04 -9.96030680e+00] [-1.53418143e-03 3.00730576e-04 9.99998778e-01 -3.00967118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54992885099998 meters 0.10982784560158701 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.96, Z:-3.01 [[ 9.99997054e-01 -1.92060086e-03 1.48404864e-03 1.00599029e+02] [ 1.91966361e-03 9.99997957e-01 6.32716106e-04 -9.96311978e+00] [-1.48526080e-03 -6.29865368e-04 9.99998699e-01 -3.00984765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57992885099998 meters 0.10771920451379488 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.97, Z:-3.01 [[ 9.99998133e-01 -1.36253080e-03 1.37015844e-03 1.00599441e+02] [ 1.36047759e-03 9.99997952e-01 1.49833680e-03 -9.96560660e+00] [-1.37219717e-03 -1.49646993e-03 9.99997939e-01 -3.01009033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60992885099998 meters 0.10926179258218857 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.97, Z:-3.01 [[ 9.99999491e-01 -3.04230245e-04 9.61717990e-04 1.00600432e+02] [ 3.01460808e-04 9.99995812e-01 2.87851097e-03 -9.96978553e+00] [-9.62589692e-04 -2.87821959e-03 9.99995395e-01 -3.01017631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63992885099998 meters 0.10909009744446022 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.97, Z:-3.01 [[ 9.99999737e-01 1.70443413e-04 7.04967566e-04 1.00600938e+02] [-1.72862965e-04 9.99994091e-01 3.43351184e-03 -9.97155173e+00] [-7.04378180e-04 -3.43363280e-03 9.99993857e-01 -3.01006572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66992885099998 meters 0.10322309893556822 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.97, Z:-3.01 [[ 9.99999742e-01 4.67224332e-04 5.46495150e-04 1.00600945e+02] [-4.69315454e-04 9.99992546e-01 3.83257402e-03 -9.97324776e+00] [-5.44700405e-04 -3.83282951e-03 9.99992506e-01 -3.00954407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69992885099998 meters 0.1034556006167145 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.97, Z:-3.01 [[ 9.99999625e-01 6.98945085e-04 5.11343324e-04 1.00600745e+02] [-7.01100470e-04 9.99990820e-01 4.22717820e-03 -9.97490621e+00] [-5.08384064e-04 -4.22753512e-03 9.99990935e-01 -3.00909182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72992885099998 meters 0.10356798657549483 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.98, Z:-3.01 [[ 9.99999035e-01 1.30594759e-03 4.73453431e-04 1.00600397e+02] [-1.30845485e-03 9.99984915e-01 5.33462447e-03 -9.97889844e+00] [-4.66479549e-04 -5.33523881e-03 9.99985659e-01 -3.00844586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75992885099998 meters 0.10615591788506265 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.98, Z:-3.01 [[ 9.99996551e-01 -2.61316563e-03 -2.62188554e-04 1.00601427e+02] [ 2.61346010e-03 9.99995947e-01 1.12916797e-03 -9.97933345e+00] [ 2.59236788e-04 -1.12984930e-03 9.99999328e-01 -3.00771238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78992885099998 meters 0.10390520906021954 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.98, Z:-3.01 [[ 9.99997586e-01 -2.18541569e-03 -2.26000761e-04 1.00601493e+02] [ 2.18584637e-03 9.99995761e-01 1.92331915e-03 -9.98166778e+00] [ 2.21796551e-04 -1.92380851e-03 9.99998125e-01 -3.00792261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819928851 meters 0.10630090956108752 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.98, Z:-3.01 [[ 9.99998516e-01 -1.70591689e-03 -2.41910469e-04 1.00601621e+02] [ 1.70658364e-03 9.99994670e-01 2.78330204e-03 -9.98421455e+00] [ 2.37161098e-04 -2.78371075e-03 9.99996097e-01 -3.00806550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.849928851 meters 0.10169354595458523 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.99, Z:-3.01 [[ 9.99999575e-01 -8.95768464e-04 -2.18448793e-04 1.00601741e+02] [ 8.96687428e-04 9.99990594e-01 4.24359682e-03 -9.98866789e+00] [ 2.14645458e-04 -4.24379090e-03 9.99990972e-01 -3.00827325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879928851 meters 0.10290253344180672 Centerline is valid? [False, False] Translation: X:100.60, Y:-9.99, Z:-3.01 [[ 9.99999816e-01 -5.31629791e-04 -2.93056343e-04 1.00601870e+02] [ 5.33039525e-04 9.99988186e-01 4.83154937e-03 -9.99051617e+00] [ 2.90484285e-04 -4.83170470e-03 9.99988285e-01 -3.00823261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.909928851 meters 0.09773098228227545 Centerline is valid? [False, True] Translation: X:100.60, Y:-9.99, Z:-3.01 [[ 9.99999904e-01 -2.38891144e-04 -3.66412223e-04 1.00601992e+02] [ 2.40834454e-04 9.99985858e-01 5.31277536e-03 -9.99204876e+00] [ 3.65137866e-04 -5.31286310e-03 9.99985820e-01 -3.00816770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939928851 meters 0.09947307340040523 Centerline is valid? [True, True] Translation: X:100.63, Y:-10.00, Z:-3.01 [[ 9.99998906e-01 6.86372167e-04 -1.31014272e-03 1.00631210e+02] [-6.86181833e-04 9.99999754e-01 1.45720927e-04 -9.99808637e+00] [ 1.31024241e-03 -1.44821772e-04 9.99999131e-01 -3.00802820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.969928851 meters 0.09668247258351574 Centerline is valid? [True, True] Translation: X:100.66, Y:-10.00, Z:-3.01 [[ 9.99993649e-01 2.31777293e-03 -2.70730438e-03 1.00660974e+02] [-2.31696505e-03 9.99997270e-01 3.01504224e-04 -1.00005538e+01] [ 2.70799581e-03 -2.95229580e-04 9.99996290e-01 -3.00787063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999928851 meters 0.09645919573583338 Centerline is valid? [True, True] Translation: X:100.69, Y:-10.01, Z:-3.01 [[ 9.99990548e-01 3.78097284e-03 -2.14645636e-03 1.00690777e+02] [-3.78046859e-03 9.99992825e-01 2.38928321e-04 -1.00057311e+01] [ 2.14734434e-03 -2.30811452e-04 9.99997668e-01 -3.00884143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.029928851 meters 0.09683035641274843 Centerline is valid? [True, True] Translation: X:100.72, Y:-10.01, Z:-3.01 [[ 9.99988120e-01 4.38022990e-03 -2.13833042e-03 1.00718119e+02] [-4.37973461e-03 9.99990381e-01 2.36253050e-04 -1.00118374e+01] [ 2.13934469e-03 -2.26884923e-04 9.99997686e-01 -3.00999409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05992885099997 meters 0.095228244175764 Centerline is valid? [True, True] Translation: X:100.75, Y:-10.02, Z:-3.01 [[ 9.99986171e-01 4.57036926e-03 -2.60178143e-03 1.00746320e+02] [-4.56963494e-03 9.99989518e-01 2.88111748e-04 -1.00158501e+01] [ 2.60307094e-03 -2.76218572e-04 9.99996574e-01 -3.00945730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08992885099997 meters 0.09693328620411103 Centerline is valid? [True, True] Translation: X:100.77, Y:-10.02, Z:-3.01 [[ 9.99986332e-01 4.68687511e-03 -2.31690995e-03 1.00774700e+02] [-4.68629281e-03 9.99988986e-01 2.56691335e-04 -1.00243511e+01] [ 2.31808751e-03 -2.45830108e-04 9.99997283e-01 -3.01098220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11992885099997 meters 0.09541038704786382 Centerline is valid? [True, True] Translation: X:100.80, Y:-10.03, Z:-3.01 [[ 9.99985650e-01 4.67670228e-03 -2.61297445e-03 1.00803737e+02] [-4.67596279e-03 9.99989026e-01 2.89046494e-04 -1.00267100e+01] [ 2.61429756e-03 -2.76824175e-04 9.99996544e-01 -3.01161564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14992885099997 meters 0.09511957643808457 Centerline is valid? [True, True] Translation: X:100.83, Y:-10.03, Z:-3.01 [[ 9.99988099e-01 3.91836496e-03 -2.90655812e-03 1.00832837e+02] [-3.91744423e-03 9.99992275e-01 3.22401556e-04 -1.00315450e+01] [ 2.90779896e-03 -3.11011440e-04 9.99995724e-01 -3.01287272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17992885099997 meters 0.09501213353292579 Centerline is valid? [True, True] Translation: X:100.86, Y:-10.04, Z:-3.02 [[ 9.99988012e-01 2.92066665e-03 -3.93007718e-03 1.00861757e+02] [-2.91897509e-03 9.99995645e-01 4.36080652e-04 -1.00399373e+01] [ 3.93133371e-03 -4.24603627e-04 9.99992182e-01 -3.01501492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20992885099997 meters 0.09706534648948598 Centerline is valid? [True, True] Translation: X:100.89, Y:-10.05, Z:-3.02 [[ 9.99991530e-01 1.71721704e-03 -3.74042740e-03 1.00888856e+02] [-1.71567758e-03 9.99998442e-01 4.14743688e-04 -1.00491880e+01] [ 3.74113377e-03 -4.08322808e-04 9.99992919e-01 -3.01606155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23992885099997 meters 0.09699764658597129 Centerline is valid? [True, True] Translation: X:100.92, Y:-10.05, Z:-3.02 [[ 9.99991357e-01 1.40466834e-03 -3.91307109e-03 1.00916776e+02] [-1.40298638e-03 9.99998922e-01 4.32541712e-04 -1.00545499e+01] [ 3.91367445e-03 -4.27047989e-04 9.99992250e-01 -3.01651230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26992885099997 meters 0.09612722634852192 Centerline is valid? [True, True] Translation: X:100.95, Y:-10.06, Z:-3.02 [[ 9.99989648e-01 4.20923485e-04 -4.53061828e-03 1.00946265e+02] [-4.18652752e-04 9.99999786e-01 5.02133780e-04 -1.00585751e+01] [ 4.53082867e-03 -5.00231827e-04 9.99989611e-01 -3.01724177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29992885099998 meters 0.09905159057458543 Centerline is valid? [True, True] Translation: X:100.97, Y:-10.07, Z:-3.02 [[ 9.99987892e-01 -6.46301827e-04 -4.87827436e-03 1.00973145e+02] [ 6.48945847e-04 9.99999643e-01 5.40435616e-04 -1.00709929e+01] [ 4.87792334e-03 -5.43594809e-04 9.99987955e-01 -3.01908991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32992885099998 meters 0.09338382649348505 Centerline is valid? [True, True] Translation: X:101.00, Y:-10.07, Z:-3.02 [[ 9.99980888e-01 -1.61014947e-03 -5.96914379e-03 1.01003860e+02] [ 1.61412559e-03 9.99998479e-01 6.61356169e-04 -1.00658900e+01] [ 5.96806983e-03 -6.70978477e-04 9.99981966e-01 -3.01717988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35992885099998 meters 0.09473602592699626 Centerline is valid? [True, True] Translation: X:101.03, Y:-10.07, Z:-3.02 [[ 9.99979552e-01 -1.88734699e-03 -6.11009253e-03 1.01030952e+02] [ 1.89150767e-03 9.99997983e-01 6.75245529e-04 -1.00735046e+01] [ 6.10880578e-03 -6.86789009e-04 9.99981105e-01 -3.01895907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38992885099998 meters 0.09745645411141318 Centerline is valid? [True, True] Translation: X:101.06, Y:-10.08, Z:-3.02 [[ 9.99967991e-01 -2.31282861e-03 -7.65950598e-03 1.01058471e+02] [ 2.31938674e-03 9.99996951e-01 8.47435246e-04 -1.00834404e+01] [ 7.65752265e-03 -8.65173477e-04 9.99970306e-01 -3.02143996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41992885099998 meters 0.09507784768160649 Centerline is valid? [True, True] Translation: X:101.09, Y:-10.09, Z:-3.02 [[ 9.99961669e-01 -2.06566832e-03 -8.50840613e-03 1.01086880e+02] [ 2.07369793e-03 9.99997413e-01 9.35012800e-04 -1.00851298e+01] [ 8.50645269e-03 -9.52620824e-04 9.99963366e-01 -3.02191799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44992885099998 meters 0.09404048838002825 Centerline is valid? [True, True] Translation: X:101.12, Y:-10.09, Z:-3.02 [[ 9.99957050e-01 -1.98538113e-03 -9.05299424e-03 1.01115747e+02] [ 1.99445144e-03 9.99997518e-01 9.92994757e-04 -1.00875359e+01] [ 9.05100030e-03 -1.01100787e-03 9.99958528e-01 -3.02236330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47992885099998 meters 0.09681282783787998 Centerline is valid? [True, True] Translation: X:101.14, Y:-10.10, Z:-3.02 [[ 9.99954574e-01 -1.45745132e-03 -9.41946258e-03 1.01142998e+02] [ 1.46726391e-03 9.99998388e-01 1.03490932e-03 -1.00965537e+01] [ 9.41793907e-03 -1.04868314e-03 9.99955100e-01 -3.02425678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50992885099998 meters 0.09237596651121402 Centerline is valid? [True, True] Translation: X:101.17, Y:-10.09, Z:-3.02 [[ 9.99962865e-01 -2.44240729e-04 -8.61448043e-03 1.01173711e+02] [ 2.52415419e-04 9.99999519e-01 9.47873083e-04 -1.00921739e+01] [ 8.61424478e-03 -9.50012311e-04 9.99962445e-01 -3.02210872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53992885099998 meters 0.09127775508365354 Centerline is valid? [True, True] Translation: X:101.20, Y:-10.09, Z:-3.02 [[ 9.99963949e-01 1.46980342e-03 -8.36298321e-03 1.01203641e+02] [-1.46215510e-03 9.99998507e-01 9.20585551e-04 -1.00934483e+01] [ 8.36432381e-03 -9.08324385e-04 9.99964606e-01 -3.02167992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.569928851 meters 0.0928231335587061 Centerline is valid? [True, True] Translation: X:101.23, Y:-10.10, Z:-3.02 [[ 9.99943742e-01 6.68176952e-03 -8.23815855e-03 1.01232415e+02] [-6.67452498e-03 9.99977314e-01 9.06568579e-04 -1.00997619e+01] [ 8.24402915e-03 -8.51531782e-04 9.99965655e-01 -3.02409350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599928851 meters 0.08985109205821368 Centerline is valid? [True, True] Translation: X:101.26, Y:-10.10, Z:-3.02 [[ 9.99908221e-01 9.82412457e-03 -9.32927628e-03 1.01263254e+02] [-9.81496473e-03 9.99951305e-01 1.02711686e-03 -1.00966640e+01] [ 9.33891251e-03 -9.35456079e-04 9.99955954e-01 -3.02431805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.629928851 meters 0.08763627477000255 Centerline is valid? [True, True] Translation: X:101.29, Y:-10.09, Z:-3.02 [[ 9.99856632e-01 1.35734724e-02 -1.01231054e-02 1.01293922e+02] [-1.35628874e-02 9.99907400e-01 1.11355197e-03 -1.00940617e+01] [ 1.01372828e-02 -9.76093785e-04 9.99948140e-01 -3.02388321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659928851 meters 0.08505050110270578 Centerline is valid? [True, True] Translation: X:101.33, Y:-10.09, Z:-3.02 [[ 9.99667063e-01 2.30340018e-02 -1.16274773e-02 1.01325475e+02] [-2.30206630e-02 9.99734170e-01 1.27973693e-03 -1.00887560e+01] [ 1.16538638e-02 -1.01163862e-03 9.99931580e-01 -3.02442675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.689928851 meters 0.08352399206268106 Centerline is valid? [True, True] Translation: X:101.36, Y:-10.09, Z:-3.03 [[ 9.99534454e-01 2.82017552e-02 -1.16420176e-02 1.01356084e+02] [-2.81887357e-02 9.99601798e-01 1.28093933e-03 -1.00871724e+01] [ 1.16735065e-02 -9.52169238e-04 9.99931409e-01 -3.02503584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719928851 meters 0.08348130425605657 Centerline is valid? [True, True] Translation: X:101.39, Y:-10.09, Z:-3.03 [[ 9.99384242e-01 3.30691207e-02 -1.17290309e-02 1.01385049e+02] [-3.30562539e-02 9.99452661e-01 1.28923217e-03 -1.00879329e+01] [ 1.17652449e-02 -9.00720487e-04 9.99930381e-01 -3.02669724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.749928851 meters 0.08235423461167102 Centerline is valid? [True, True] Translation: X:101.41, Y:-10.09, Z:-3.03 [[ 9.99191774e-01 3.86642127e-02 -1.09944461e-02 1.01414278e+02] [-3.86532468e-02 9.99251954e-01 1.20822713e-03 -1.00870206e+01] [ 1.10329369e-02 -7.82279570e-04 9.99938829e-01 -3.02730755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779928851 meters 0.07946479711116584 Centerline is valid? [True, True] Translation: X:101.45, Y:-10.08, Z:-3.03 [[ 9.98750054e-01 4.86482341e-02 -1.14751390e-02 1.01446041e+02] [-4.86369330e-02 9.98815727e-01 1.26201692e-03 -1.00790397e+01] [ 1.15229441e-02 -7.02323903e-04 9.99933362e-01 -3.02725005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80992885099997 meters 0.07810218407344838 Centerline is valid? [True, True] Translation: X:101.48, Y:-10.08, Z:-3.03 [[ 9.98518378e-01 5.30865677e-02 -1.19526291e-02 1.01476922e+02] [-5.30746261e-02 9.98589684e-01 1.31429445e-03 -1.00766134e+01] [ 1.20055435e-02 -6.77965840e-04 9.99927701e-01 -3.02727037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83992885099997 meters 0.07780922366312132 Centerline is valid? [True, True] Translation: X:101.51, Y:-10.08, Z:-3.03 [[ 9.98341304e-01 5.64384262e-02 -1.13729749e-02 1.01506052e+02] [-5.64278434e-02 9.98405898e-01 1.24952481e-03 -1.00766084e+01] [ 1.14253664e-02 -6.05699784e-04 9.99934545e-01 -3.02893976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86992885099997 meters 0.07708306359780795 Centerline is valid? [True, True] Translation: X:101.54, Y:-10.08, Z:-3.03 [[ 9.98159989e-01 5.95735661e-02 -1.12971591e-02 1.01536255e+02] [-5.95633220e-02 9.98223757e-01 1.24138669e-03 -1.00755308e+01] [ 1.13510464e-02 -5.66206203e-04 9.99935414e-01 -3.02886904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89992885099997 meters 0.07609262738374292 Centerline is valid? [True, True] Translation: X:101.57, Y:-10.07, Z:-3.03 [[ 9.97948249e-01 6.32128447e-02 -1.01699604e-02 1.01567380e+02] [-6.32047334e-02 9.97999957e-01 1.11733235e-03 -1.00717058e+01] [ 1.02202498e-02 -4.72250231e-04 9.99947660e-01 -3.02882486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92992885099997 meters 0.07626682082871708 Centerline is valid? [True, True] Translation: X:101.59, Y:-10.07, Z:-3.03 [[ 9.97907726e-01 6.39636018e-02 -9.42489953e-03 1.01594754e+02] [-6.39567037e-02 9.97952141e-01 1.03179940e-03 -1.00744673e+01] [ 9.47159627e-03 -4.26855088e-04 9.99955052e-01 -3.03103875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95992885099997 meters 0.07615127069879032 Centerline is valid? [True, True] Translation: X:101.62, Y:-10.08, Z:-3.03 [[ 9.97917451e-01 6.38419500e-02 -9.21773124e-03 1.01623062e+02] [-6.38353917e-02 9.97959936e-01 1.00425644e-03 -1.00763496e+01] [ 9.26304017e-03 -4.13747540e-04 9.99957012e-01 -3.03149760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98992885099997 meters 0.07672336552925335 Centerline is valid? [True, True] Translation: X:101.65, Y:-10.08, Z:-3.03 [[ 9.98033394e-01 6.21404231e-02 -8.24086578e-03 1.01650908e+02] [-6.21351044e-02 9.98067342e-01 9.00120781e-04 -1.00795410e+01] [ 8.28087288e-03 -3.86303543e-04 9.99965638e-01 -3.03355506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01992885099997 meters 0.07650075739368066 Centerline is valid? [True, True] Translation: X:101.68, Y:-10.08, Z:-3.03 [[ 9.98143557e-01 6.04666590e-02 -7.29544549e-03 1.01679725e+02] [-6.04624866e-02 9.98170157e-01 7.91327060e-04 -1.00808116e+01] [ 7.32994487e-03 -3.48757231e-04 9.99973075e-01 -3.03261406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04992885099998 meters 0.07727432725860604 Centerline is valid? [True, True] Translation: X:101.71, Y:-10.09, Z:-3.03 [[ 9.98239730e-01 5.88478802e-02 -7.37352808e-03 1.01706768e+02] [-5.88435553e-02 9.98266894e-01 8.02319392e-04 -1.00852172e+01] [ 7.40796377e-03 -3.67022486e-04 9.99972493e-01 -3.03443989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07992885099998 meters 0.07740756577128605 Centerline is valid? [True, True] Translation: X:101.74, Y:-10.09, Z:-3.03 [[ 9.98371454e-01 5.64594340e-02 -8.17145758e-03 1.01736159e+02] [-5.64540299e-02 9.98404802e-01 8.90681936e-04 -1.00878265e+01] [ 8.20870988e-03 -4.27919709e-04 9.99966216e-01 -3.03474002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10992885099998 meters 0.07848592460018712 Centerline is valid? [True, True] Translation: X:101.77, Y:-10.09, Z:-3.04 [[ 9.98632602e-01 5.15774248e-02 -8.52615376e-03 1.01766054e+02] [-5.15713573e-02 9.98668879e-01 9.30109155e-04 -1.00933380e+01] [ 8.56277705e-03 -4.89132003e-04 9.99963219e-01 -3.03502072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13992885099998 meters 0.07924156496441098 Centerline is valid? [True, True] Translation: X:101.80, Y:-10.10, Z:-3.04 [[ 9.98753919e-01 4.90248727e-02 -9.33651040e-03 1.01795794e+02] [-4.90174906e-02 9.98797402e-01 1.01800456e-03 -1.00991401e+01] [ 9.37518987e-03 -5.59083738e-04 9.99955896e-01 -3.03677940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16992885099998 meters 0.08035085997197956 Centerline is valid? [True, True] Translation: X:101.82, Y:-10.10, Z:-3.04 [[ 9.98871221e-01 4.64989259e-02 -9.70222636e-03 1.01824284e+02] [-4.64908345e-02 9.98918156e-01 1.05797583e-03 -1.01047806e+01] [ 9.74092480e-03 -6.05717013e-04 9.99952373e-01 -3.03803346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19992885099998 meters 0.08134984173092684 Centerline is valid? [True, True] Translation: X:101.85, Y:-10.11, Z:-3.04 [[ 9.98988292e-01 4.38531922e-02 -9.96441782e-03 1.01854414e+02] [-4.38445242e-02 9.99037775e-01 1.08679115e-03 -1.01101633e+01] [ 1.00024891e-02 -6.48806478e-04 9.99949763e-01 -3.03871881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22992885099998 meters 0.0815982158202551 Centerline is valid? [True, True] Translation: X:101.88, Y:-10.11, Z:-3.04 [[ 9.99083766e-01 4.17070103e-02 -9.59964086e-03 1.01883689e+02] [-4.16988771e-02 9.99129676e-01 1.04591897e-03 -1.01138099e+01] [ 9.63490821e-03 -6.44666417e-04 9.99953375e-01 -3.03855837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25992885099998 meters 0.08271756310834086 Centerline is valid? [True, True] Translation: X:101.91, Y:-10.12, Z:-3.04 [[ 9.99151787e-01 4.00842952e-02 -9.43163249e-03 1.01912208e+02] [-4.00763804e-02 9.99196092e-01 1.02676363e-03 -1.01186679e+01] [ 9.46520742e-03 -6.47907028e-04 9.99954994e-01 -3.03980228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28992885099998 meters 0.08278496096301509 Centerline is valid? [True, True] Translation: X:101.94, Y:-10.12, Z:-3.04 [[ 9.99240063e-01 3.75643360e-02 -1.04027837e-02 1.01942820e+02] [-3.75545581e-02 9.99293936e-01 1.13375236e-03 -1.01201382e+01] [ 1.04380273e-02 -7.42218840e-04 9.99945247e-01 -3.04012875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319928851 meters 0.085227344338989 Centerline is valid? [True, True] Translation: X:101.97, Y:-10.13, Z:-3.04 [[ 9.99300277e-01 3.60059590e-02 -1.01255742e-02 1.01970522e+02] [-3.59966324e-02 9.99351304e-01 1.10189444e-03 -1.01280603e+01] [ 1.01586806e-02 -7.36636843e-04 9.99948128e-01 -3.04322393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.349928851 meters 0.08494647668763486 Centerline is valid? [True, True] Translation: X:102.00, Y:-10.13, Z:-3.04 [[ 9.99310964e-01 3.54108330e-02 -1.11207044e-02 1.01998903e+02] [-3.53995633e-02 9.99372508e-01 1.20867399e-03 -1.01298007e+01] [ 1.11565264e-02 -8.14173090e-04 9.99937433e-01 -3.04373732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379928851 meters 0.08366547543929641 Centerline is valid? [True, True] Translation: X:102.03, Y:-10.13, Z:-3.04 [[ 9.99336643e-01 3.46510348e-02 -1.12062350e-02 1.02028264e+02] [-3.46396121e-02 9.99399134e-01 1.21187592e-03 -1.01288372e+01] [ 1.12414943e-02 -8.22892380e-04 9.99936474e-01 -3.04296167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.409928851 meters 0.08143109522702752 Centerline is valid? [True, True] Translation: X:102.06, Y:-10.12, Z:-3.04 [[ 9.99348052e-01 3.40237263e-02 -1.20771125e-02 1.02057625e+02] [-3.40104459e-02 9.99420628e-01 1.30337421e-03 -1.01230718e+01] [ 1.21144610e-02 -8.91776501e-04 9.99926220e-01 -3.04112226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439928851 meters 0.08143109522702752 Centerline is valid? [True, True] Translation: X:102.09, Y:-10.13, Z:-3.04 [[ 9.99351497e-01 3.39224798e-02 -1.20769003e-02 1.02085014e+02] [-3.39091685e-02 9.99424066e-01 1.30533041e-03 -1.01259453e+01] [ 1.21142248e-02 -8.94966255e-04 9.99926220e-01 -3.04177553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.469928851 meters 0.08320723744304856 Centerline is valid? [True, True] Translation: X:102.11, Y:-10.13, Z:-3.04 [[ 9.99368567e-01 3.34261513e-02 -1.20482243e-02 1.02112240e+02] [-3.34128747e-02 9.99440786e-01 1.30161980e-03 -1.01320192e+01] [ 1.20849949e-02 -8.98232104e-04 9.99926570e-01 -3.04387974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499928851 meters 0.08443333653358687 Centerline is valid? [True, True] Translation: X:102.14, Y:-10.13, Z:-3.05 [[ 9.99389000e-01 3.30369999e-02 -1.14097676e-02 1.02139040e+02] [-3.30250924e-02 9.99453765e-01 1.23051317e-03 -1.01346868e+01] [ 1.14441876e-02 -8.52952702e-04 9.99934149e-01 -3.04534381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.529928851 meters 0.08598107427029004 Centerline is valid? [True, True] Translation: X:102.17, Y:-10.14, Z:-3.05 [[ 9.99399581e-01 3.30208388e-02 -1.04929530e-02 1.02166714e+02] [-3.30107700e-02 9.99454356e-01 1.13137734e-03 -1.01400830e+01] [ 1.05245866e-02 -7.84317578e-04 9.99944307e-01 -3.04710181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55992885099997 meters 0.08655269297857017 Centerline is valid? [True, True] Translation: X:102.19, Y:-10.14, Z:-3.05 [[ 9.99440633e-01 3.19080416e-02 -1.00149252e-02 1.02194718e+02] [-3.18988222e-02 9.99490521e-01 1.07899258e-03 -1.01431429e+01] [ 1.00442514e-02 -7.58924703e-04 9.99949267e-01 -3.04801711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58992885099997 meters 0.08606353516634208 Centerline is valid? [True, True] Translation: X:102.22, Y:-10.14, Z:-3.05 [[ 9.99458276e-01 3.12425983e-02 -1.03466991e-02 1.02223290e+02] [-3.12327251e-02 9.99511518e-01 1.11449304e-03 -1.01438690e+01] [ 1.03764646e-02 -7.90733685e-04 9.99945850e-01 -3.04830740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61992885099997 meters 0.08459686051585419 Centerline is valid? [True, True] Translation: X:102.25, Y:-10.14, Z:-3.05 [[ 9.99566984e-01 2.75976064e-02 -1.02086622e-02 1.02254518e+02] [-2.75877908e-02 9.99618778e-01 1.10109094e-03 -1.01421170e+01] [ 1.02351579e-02 -8.18979714e-04 9.99947284e-01 -3.04714516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64992885099997 meters 0.0848983911349959 Centerline is valid? [True, True] Translation: X:102.28, Y:-10.14, Z:-3.05 [[ 9.99626720e-01 2.57363586e-02 -9.16845469e-03 1.02283755e+02] [-2.57283852e-02 9.99668483e-01 9.86569541e-04 -1.01448875e+01] [ 9.19080590e-03 -7.50311740e-04 9.99957482e-01 -3.04753499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67992885099997 meters 0.08592690232392573 Centerline is valid? [True, True] Translation: X:102.31, Y:-10.15, Z:-3.05 [[ 9.99675397e-01 2.34132881e-02 -1.00458059e-02 1.02314044e+02] [-2.34035803e-02 9.99725512e-01 1.08283794e-03 -1.01488223e+01] [ 1.00684012e-02 -8.47378627e-04 9.99948953e-01 -3.04912644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70992885099997 meters 0.0866538964040218 Centerline is valid? [True, True] Translation: X:102.34, Y:-10.15, Z:-3.05 [[ 9.99719984e-01 2.14748882e-02 -9.93898528e-03 1.02344278e+02] [-2.14652908e-02 9.99769020e-01 1.07131011e-03 -1.01525196e+01] [ 9.95969584e-03 -8.57666911e-04 9.99950033e-01 -3.04998702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73992885099997 meters 0.08892394689910849 Centerline is valid? [True, True] Translation: X:102.37, Y:-10.16, Z:-3.05 [[ 9.99816374e-01 1.70581769e-02 -8.73135240e-03 1.02372669e+02] [-1.70506121e-02 9.99854186e-01 9.40099318e-04 -1.01593343e+01] [ 8.74611563e-03 -7.91051788e-04 9.99961439e-01 -3.05079633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76992885099997 meters 0.08922917758536357 Centerline is valid? [True, True] Translation: X:102.40, Y:-10.16, Z:-3.05 [[ 9.99848864e-01 1.52556310e-02 -8.33754773e-03 1.02402802e+02] [-1.52486651e-02 9.99883329e-01 8.98423693e-04 -1.01635991e+01] [ 8.35028100e-03 -7.71151436e-04 9.99964838e-01 -3.05082771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79992885099998 meters 0.08919646656554042 Centerline is valid? [True, True] Translation: X:102.43, Y:-10.17, Z:-3.05 [[ 9.99891840e-01 1.26486163e-02 -7.50467943e-03 1.02433162e+02] [-1.26429038e-02 9.99919749e-01 8.08147702e-04 -1.01662294e+01] [ 7.51429912e-03 -7.13179353e-04 9.99971513e-01 -3.05075481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82992885099998 meters 0.09179427529824151 Centerline is valid? [True, True] Translation: X:102.46, Y:-10.17, Z:-3.05 [[ 9.99937781e-01 8.44270114e-03 -7.29078247e-03 1.02462480e+02] [-8.43719957e-03 9.99964098e-01 7.85021333e-04 -1.01738729e+01] [ 7.29714842e-03 -7.23458703e-04 9.99973114e-01 -3.05216297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85992885099998 meters 0.093151598255061 Centerline is valid? [True, True] Translation: X:102.49, Y:-10.18, Z:-3.05 [[ 9.99952934e-01 6.45943947e-03 -7.23918304e-03 1.02492280e+02] [-6.45396522e-03 9.99978869e-01 7.79304236e-04 -1.01788883e+01] [ 7.24406394e-03 -7.32546121e-04 9.99973493e-01 -3.05257430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88992885099998 meters 0.09482782583997273 Centerline is valid? [True, True] Translation: X:102.52, Y:-10.18, Z:-3.05 [[ 9.99966223e-01 4.04131101e-03 -7.15692103e-03 1.02522497e+02] [-4.03589764e-03 9.99991559e-01 7.70663352e-04 -1.01846625e+01] [ 7.15997511e-03 -7.41752720e-04 9.99974092e-01 -3.05383354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91992885099998 meters 0.0965532598712135 Centerline is valid? [True, True] Translation: X:102.55, Y:-10.19, Z:-3.06 [[ 9.99971783e-01 2.21606649e-03 -7.17791576e-03 1.02552585e+02] [-2.21057379e-03 9.99997258e-01 7.73064984e-04 -1.01911781e+01] [ 7.17960925e-03 -7.57175858e-04 9.99973940e-01 -3.05512309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94992885099998 meters 0.09666365687682596 Centerline is valid? [True, True] Translation: X:102.58, Y:-10.20, Z:-3.06 [[ 9.99980802e-01 -3.59135753e-04 -6.18602174e-03 1.02582310e+02] [ 3.63262719e-04 9.99999712e-01 6.66033042e-04 -1.01952545e+01] [ 6.18578077e-03 -6.68267407e-04 9.99980645e-01 -3.05534854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97992885099998 meters 0.09732250383674895 Centerline is valid? [True, True] Translation: X:102.61, Y:-10.20, Z:-3.06 [[ 9.99978806e-01 -1.39497740e-03 -6.35933257e-03 1.02611297e+02] [ 1.39935083e-03 9.99998787e-01 6.83319421e-04 -1.01998004e+01] [ 6.35837164e-03 -6.92203876e-04 9.99979546e-01 -3.05650267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00992885099998 meters 0.0956814173674783 Centerline is valid? [True, True] Translation: X:102.64, Y:-10.20, Z:-3.06 [[ 9.99977190e-01 -2.36203062e-03 -6.32779993e-03 1.02641157e+02] [ 2.36638094e-03 9.99996969e-01 6.80094376e-04 -1.01999682e+01] [ 6.32617434e-03 -6.95052848e-04 9.99979748e-01 -3.05585459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03992885099998 meters 0.09759711927753989 Centerline is valid? [True, True] Translation: X:102.67, Y:-10.21, Z:-3.06 [[ 9.99978659e-01 -2.71122496e-03 -5.94391238e-03 1.02668980e+02] [ 2.71506502e-03 9.99996111e-01 6.38074919e-04 -1.02063405e+01] [ 5.94215930e-03 -6.54199410e-04 9.99982131e-01 -3.05674590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.069928851 meters 0.0972213539463347 Centerline is valid? [True, True] Translation: X:102.70, Y:-10.21, Z:-3.06 [[ 9.99983490e-01 -2.19396532e-03 -5.31094142e-03 1.02697793e+02] [ 2.19701917e-03 9.99997425e-01 5.69244633e-04 -1.02082406e+01] [ 5.30967884e-03 -5.80903475e-04 9.99985735e-01 -3.05626603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099928851 meters 0.09567072924311039 Centerline is valid? [True, True] Translation: X:102.73, Y:-10.21, Z:-3.06 [[ 9.99984573e-01 -1.34877771e-03 -5.38835442e-03 1.02727649e+02] [ 1.35191253e-03 9.99998919e-01 5.78176760e-04 -1.02086905e+01] [ 5.38756876e-03 -5.85452424e-04 9.99985316e-01 -3.05643045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.129928851 meters 0.0970480049323199 Centerline is valid? [True, True] Translation: X:102.76, Y:-10.21, Z:-3.06 [[ 9.99980523e-01 -2.20470455e-04 -6.23736407e-03 1.02755596e+02] [ 2.24645630e-04 9.99999751e-01 6.68688688e-04 -1.02144412e+01] [ 6.23721509e-03 -6.70076860e-04 9.99980324e-01 -3.05865654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159928851 meters 0.0958252931239681 Centerline is valid? [True, True] Translation: X:102.79, Y:-10.22, Z:-3.06 [[ 9.99977360e-01 1.20228928e-03 -6.62074603e-03 1.02785535e+02] [-1.19761084e-03 9.99999030e-01 7.10552762e-04 -1.02154763e+01] [ 6.62159390e-03 -7.02607598e-04 9.99977830e-01 -3.05925603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.189928851 meters 0.0961468535763258 Centerline is valid? [True, True] Translation: X:102.81, Y:-10.22, Z:-3.06 [[ 9.99977265e-01 2.71120515e-03 -6.17398007e-03 1.02814843e+02] [-2.70716917e-03 9.99996117e-01 6.61971955e-04 -1.02189631e+01] [ 6.17575084e-03 -6.45242897e-04 9.99980722e-01 -3.06094441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219928851 meters 0.09218972785216423 Centerline is valid? [True, True] Translation: X:102.85, Y:-10.21, Z:-3.06 [[ 9.99952545e-01 6.16533212e-03 -7.54294070e-03 1.02845931e+02] [-6.15939845e-03 9.99980703e-01 8.09629478e-04 -1.02137137e+01] [ 7.54778678e-03 -7.63131080e-04 9.99971224e-01 -3.05944877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.249928851 meters 0.09165064630452047 Centerline is valid? [True, True] Translation: X:102.87, Y:-10.22, Z:-3.06 [[ 9.99929131e-01 8.58139101e-03 -8.25181177e-03 1.02874770e+02] [-8.57437777e-03 9.99962848e-01 8.84905729e-04 -1.02150876e+01] [ 8.25909892e-03 -8.14088865e-04 9.99965562e-01 -3.06045638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279928851 meters 0.09028970906379115 Centerline is valid? [True, True] Translation: X:102.91, Y:-10.21, Z:-3.06 [[ 9.99893440e-01 1.18804312e-02 -8.48321331e-03 1.02905460e+02] [-1.18731317e-02 9.99929098e-01 9.10307539e-04 -1.02149962e+01] [ 8.49342667e-03 -8.09488227e-04 9.99963603e-01 -3.06096078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30992885099997 meters 0.08885587667664206 Centerline is valid? [True, True] Translation: X:102.94, Y:-10.21, Z:-3.06 [[ 9.99846317e-01 1.51122379e-02 -8.88605106e-03 1.02936632e+02] [-1.51043504e-02 9.99885468e-01 9.54070322e-04 -1.02143087e+01] [ 8.89945146e-03 -8.19705669e-04 9.99960063e-01 -3.06186414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33992885099997 meters 0.08511818852622512 Centerline is valid? [True, True] Translation: X:102.97, Y:-10.21, Z:-3.06 [[ 9.99699668e-01 2.29372886e-02 -8.62875979e-03 1.02968058e+02] [-2.29301427e-02 9.99736641e-01 9.26182820e-04 -1.02073504e+01] [ 8.64773144e-03 -7.28045964e-04 9.99962343e-01 -3.06162782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36992885099997 meters 0.08393900750176599 Centerline is valid? [True, True] Translation: X:103.00, Y:-10.21, Z:-3.06 [[ 9.99578717e-01 2.77621500e-02 -8.46476983e-03 1.02998493e+02] [-2.77554460e-02 9.99614331e-01 9.08454514e-04 -1.02066619e+01] [ 8.48672588e-03 -6.73128335e-04 9.99963761e-01 -3.06270773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39992885099997 meters 0.08250719639142604 Centerline is valid? [True, True] Translation: X:103.03, Y:-10.21, Z:-3.06 [[ 9.99425018e-01 3.26649485e-02 -9.09037655e-03 1.03029132e+02] [-3.26574210e-02 9.99466128e-01 9.75331507e-04 -1.02050331e+01] [ 9.11738260e-03 -6.77902455e-04 9.99958206e-01 -3.06270898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42992885099997 meters 0.07899892616000224 Centerline is valid? [True, True] Translation: X:103.06, Y:-10.20, Z:-3.06 [[ 9.99005146e-01 4.39116454e-02 -7.77720203e-03 1.03060822e+02] [-4.39064744e-02 9.99035297e-01 8.34461438e-04 -1.01953419e+01] [ 7.80634192e-03 -4.92161749e-04 9.99969409e-01 -3.06107246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45992885099997 meters 0.07767213314691236 Centerline is valid? [True, True] Translation: X:103.09, Y:-10.19, Z:-3.06 [[ 9.98718212e-01 5.00241972e-02 -7.71449504e-03 1.03091637e+02] [-5.00192925e-02 9.98747909e-01 8.27529430e-04 -1.01927731e+01] [ 7.74623228e-03 -4.40595128e-04 9.99969900e-01 -3.06181821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48992885099997 meters 0.07636288195567185 Centerline is valid? [True, True] Translation: X:103.12, Y:-10.19, Z:-3.06 [[ 9.98431097e-01 5.55606842e-02 -6.95376080e-03 1.03122116e+02] [-5.55568365e-02 9.98455248e-01 7.45413599e-04 -1.01902719e+01] [ 6.98443465e-03 -3.57915165e-04 9.99975544e-01 -3.06167349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51992885099997 meters 0.07465032033369763 Centerline is valid? [True, True] Translation: X:103.15, Y:-10.19, Z:-3.06 [[ 9.98107643e-01 6.10823786e-02 -7.07645998e-03 1.03153424e+02] [-6.10785295e-02 9.98132675e-01 7.58985440e-04 -1.01866775e+01] [ 7.10960657e-03 -3.25329399e-04 9.99974674e-01 -3.06058824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54992885099998 meters 0.07336603828433665 Centerline is valid? [True, True] Translation: X:103.18, Y:-10.18, Z:-3.06 [[ 9.97553287e-01 6.96784727e-02 -5.68772929e-03 1.03183748e+02] [-6.96761290e-02 9.97569479e-01 6.09411055e-04 -1.01831900e+01] [ 5.71636798e-03 -2.11621041e-04 9.99983639e-01 -3.06138717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57992885099998 meters 0.07307175989513254 Centerline is valid? [True, True] Translation: X:103.21, Y:-10.18, Z:-3.06 [[ 9.97323353e-01 7.29774561e-02 -4.51881983e-03 1.03212828e+02] [-7.29760127e-02 9.97333579e-01 4.83703180e-04 -1.01848112e+01] [ 4.54207018e-03 -1.52643024e-04 9.99989673e-01 -3.06252270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60992885099998 meters 0.07241067541817359 Centerline is valid? [True, True] Translation: X:103.24, Y:-10.19, Z:-3.06 [[ 9.97197752e-01 7.46788361e-02 -4.44006825e-03 1.03241995e+02] [-7.46774856e-02 9.97207628e-01 4.69421190e-04 -1.01850108e+01] [ 4.46272575e-03 -1.36532623e-04 9.99990033e-01 -3.06152952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63992885099998 meters 0.07243082945811727 Centerline is valid? [True, True] Translation: X:103.27, Y:-10.19, Z:-3.06 [[ 9.97132978e-01 7.55292969e-02 -4.59876716e-03 1.03269288e+02] [-7.55278414e-02 9.97143573e-01 4.89607804e-04 -1.01890248e+01] [ 4.62261085e-03 -1.40869131e-04 9.99989306e-01 -3.06234373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66992885099998 meters 0.07249188108132067 Centerline is valid? [True, True] Translation: X:103.30, Y:-10.19, Z:-3.06 [[ 9.97178814e-01 7.49238059e-02 -4.56473709e-03 1.03297445e+02] [-7.49223864e-02 9.97189252e-01 4.81422608e-04 -1.01943404e+01] [ 4.58797677e-03 -1.38063429e-04 9.99989466e-01 -3.06309013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69992885099998 meters 0.07266427658317143 Centerline is valid? [True, True] Translation: X:103.33, Y:-10.20, Z:-3.06 [[ 9.97286406e-01 7.34334371e-02 -5.23010758e-03 1.03326082e+02] [-7.34315555e-02 9.97300107e-01 5.51144714e-04 -1.01989058e+01] [ 5.25645930e-03 -1.65594196e-04 9.99986171e-01 -3.06416848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72992885099998 meters 0.07302392971285408 Centerline is valid? [True, True] Translation: X:103.35, Y:-10.20, Z:-3.07 [[ 9.97409718e-01 7.17398899e-02 -5.21945114e-03 1.03354262e+02] [-7.17379992e-02 9.97423360e-01 5.48788015e-04 -1.02040479e+01] [ 5.24537249e-03 -1.72933517e-04 9.99986228e-01 -3.06530772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75992885099998 meters 0.07354575688949598 Centerline is valid? [True, True] Translation: X:103.38, Y:-10.21, Z:-3.07 [[ 9.97548458e-01 6.97360522e-02 -5.82724781e-03 1.03382232e+02] [-6.97336341e-02 9.97565456e-01 6.17366138e-04 -1.02107152e+01] [ 5.85611380e-03 -2.09497472e-04 9.99982831e-01 -3.06657393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78992885099998 meters 0.07399508287784896 Centerline is valid? [True, True] Translation: X:103.41, Y:-10.22, Z:-3.07 [[ 9.97791164e-01 6.60452204e-02 -7.12893319e-03 1.03411334e+02] [-6.60415007e-02 9.97816591e-01 7.56188424e-04 -1.02191873e+01] [ 7.16331044e-03 -2.83712681e-04 9.99974303e-01 -3.06763635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819928851 meters 0.07457081958152981 Centerline is valid? [True, True] Translation: X:103.44, Y:-10.23, Z:-3.07 [[ 9.97908008e-01 6.41618439e-02 -7.92872963e-03 1.03439641e+02] [-6.41571922e-02 9.97939452e-01 8.39906002e-04 -1.02263651e+01] [ 7.96628202e-03 -3.29463895e-04 9.99968214e-01 -3.06907055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.849928851 meters 0.07466011028532003 Centerline is valid? [True, True] Translation: X:103.47, Y:-10.23, Z:-3.07 [[ 9.98032780e-01 6.21760200e-02 -8.04436328e-03 1.03467705e+02] [-6.21712169e-02 9.98065140e-01 8.46011477e-04 -1.02317451e+01] [ 8.08140019e-03 -3.44219332e-04 9.99967286e-01 -3.06974940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879928851 meters 0.07512161143832896 Centerline is valid? [True, True] Translation: X:103.50, Y:-10.24, Z:-3.07 [[ 9.98171445e-01 5.98706097e-02 -8.32329057e-03 1.03496172e+02] [-5.98653538e-02 9.98206074e-01 8.79410286e-04 -1.02380877e+01] [ 8.36101004e-03 -3.79525500e-04 9.99964974e-01 -3.07031609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.909928851 meters 0.0760174336376186 Centerline is valid? [True, True] Translation: X:103.52, Y:-10.25, Z:-3.07 [[ 9.98383119e-01 5.62484447e-02 -8.20118160e-03 1.03524730e+02] [-5.62432148e-02 9.98416721e-01 8.67137104e-04 -1.02476952e+01] [ 8.23697196e-03 -4.04474229e-04 9.99965994e-01 -3.07120481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939928851 meters 0.07612094125193529 Centerline is valid? [True, True] Translation: X:103.55, Y:-10.25, Z:-3.07 [[ 9.98460394e-01 5.48870863e-02 -8.01561861e-03 1.03553388e+02] [-5.48821018e-02 9.98492488e-01 8.40652357e-04 -1.02528906e+01] [ 8.04967592e-03 -3.99444087e-04 9.99967521e-01 -3.07107639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.969928851 meters 0.07565275645798146 Centerline is valid? [True, True] Translation: X:103.58, Y:-10.26, Z:-3.07 [[ 9.98539573e-01 5.34588508e-02 -7.80210758e-03 1.03581585e+02] [-5.34540643e-02 9.98569972e-01 8.20881420e-04 -1.02556188e+01] [ 7.83483373e-03 -4.02628221e-04 9.99969226e-01 -3.07018467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999928851 meters 0.07591855548065252 Centerline is valid? [True, True] Translation: X:103.61, Y:-10.26, Z:-3.07 [[ 9.98586614e-01 5.25265525e-02 -8.10769412e-03 1.03609468e+02] [-5.25213966e-02 9.98619439e-01 8.47679816e-04 -1.02611908e+01] [ 8.14102666e-03 -4.20654299e-04 9.99966773e-01 -3.07103225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.029928851 meters 0.0764145930383683 Centerline is valid? [True, True] Translation: X:103.64, Y:-10.27, Z:-3.07 [[ 9.98676577e-01 5.06758144e-02 -8.77823281e-03 1.03638553e+02] [-5.06696561e-02 9.98715042e-01 9.22671803e-04 -1.02678118e+01] [ 8.81371029e-03 -4.76660680e-04 9.99961045e-01 -3.07222425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05992885099997 meters 0.07644034496423216 Centerline is valid? [True, True] Translation: X:103.67, Y:-10.27, Z:-3.07 [[ 9.98696317e-01 5.01240359e-02 -9.65642683e-03 1.03666501e+02] [-5.01165765e-02 9.98742861e-01 1.01307049e-03 -1.02719009e+01] [ 9.69506654e-03 -5.27802717e-04 9.99952862e-01 -3.07308440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08992885099997 meters 0.08028799557929586 Centerline is valid? [True, True] Translation: X:103.69, Y:-10.29, Z:-3.08 [[ 9.98721856e-01 4.97025393e-02 -9.18216704e-03 1.03693012e+02] [-4.96957846e-02 9.98763937e-01 9.62472185e-04 -1.02864914e+01] [ 9.21865462e-03 -5.04927011e-04 9.99957380e-01 -3.08019097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11992885099997 meters 0.07701372108885977 Centerline is valid? [True, True] Translation: X:103.72, Y:-10.28, Z:-3.07 [[ 9.98756438e-01 4.90287566e-02 -9.04207253e-03 1.03723003e+02] [-4.90222302e-02 9.98797243e-01 9.42146480e-04 -1.02806977e+01] [ 9.07738938e-03 -4.97712302e-04 9.99958676e-01 -3.07499549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14992885099997 meters 0.07745528200845785 Centerline is valid? [True, True] Translation: X:103.75, Y:-10.29, Z:-3.08 [[ 9.98827213e-01 4.75936587e-02 -8.89051819e-03 1.03751638e+02] [-4.75873114e-02 9.98866655e-01 9.24243398e-04 -1.02856356e+01] [ 8.92443028e-03 -5.00083601e-04 9.99960051e-01 -3.07532552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17992885099997 meters 0.07776538686356327 Centerline is valid? [True, True] Translation: X:103.78, Y:-10.29, Z:-3.08 [[ 9.98887321e-01 4.62933201e-02 -9.00272244e-03 1.03779786e+02] [-4.62867771e-02 9.98927756e-01 9.33894371e-04 -1.02915996e+01] [ 9.03630240e-03 -5.16148239e-04 9.99959039e-01 -3.07594524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20992885099997 meters 0.07731387184126451 Centerline is valid? [True, True] Translation: X:103.81, Y:-10.29, Z:-3.08 [[ 9.98945602e-01 4.51309254e-02 -8.41926696e-03 1.03808534e+02] [-4.51251822e-02 9.98980960e-01 8.70965815e-04 -1.02943052e+01] [ 8.44999489e-03 -4.90126515e-04 9.99964178e-01 -3.07557780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23992885099997 meters 0.07802699967306015 Centerline is valid? [True, True] Translation: X:103.84, Y:-10.30, Z:-3.08 [[ 9.99023412e-01 4.34385250e-02 -8.08185813e-03 1.03836743e+02] [-4.34331944e-02 9.99055985e-01 8.34002147e-04 -1.03017038e+01] [ 8.11045656e-03 -4.82166755e-04 9.99966993e-01 -3.07685937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26992885099997 meters 0.07814051346525293 Centerline is valid? [True, True] Translation: X:103.87, Y:-10.31, Z:-3.08 [[ 9.99061091e-01 4.25738367e-02 -8.02521450e-03 1.03865314e+02] [-4.25685681e-02 9.99093206e-01 8.26265790e-04 -1.03063994e+01] [ 8.05311459e-03 -4.83868112e-04 9.99967456e-01 -3.07796464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29992885099998 meters 0.07723546017981538 Centerline is valid? [True, True] Translation: X:103.89, Y:-10.31, Z:-3.08 [[ 9.99106105e-01 4.13998908e-02 -8.54628868e-03 1.03894810e+02] [-4.13938325e-02 9.99142516e-01 8.84629706e-04 -1.03073130e+01] [ 8.57558396e-03 -5.30075298e-04 9.99963089e-01 -3.07631357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32992885099998 meters 0.07723546017981538 Centerline is valid? [True, True] Translation: X:103.92, Y:-10.31, Z:-3.08 [[ 9.99117257e-01 4.11297106e-02 -8.54710339e-03 1.03922105e+02] [-4.11237096e-02 9.99153678e-01 8.76754613e-04 -1.03100526e+01] [ 8.57593045e-03 -5.24492066e-04 9.99963088e-01 -3.07696239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35992885099998 meters 0.07902944330661507 Centerline is valid? [True, True] Translation: X:103.95, Y:-10.32, Z:-3.08 [[ 9.99144800e-01 4.05017842e-02 -8.32314542e-03 1.03949311e+02] [-4.04960421e-02 9.99179331e-01 8.57344263e-04 -1.03187725e+01] [ 8.35103884e-03 -5.19556614e-04 9.99964994e-01 -3.08033334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38992885099998 meters 0.07865706611597167 Centerline is valid? [True, True] Translation: X:103.98, Y:-10.32, Z:-3.08 [[ 9.99185434e-01 3.92665553e-02 -9.30624530e-03 1.03979040e+02] [-3.92593126e-02 9.99228595e-01 9.59738443e-04 -1.03221929e+01] [ 9.33675204e-03 -5.93599879e-04 9.99956235e-01 -3.08037536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41992885099998 meters 0.08024433873138208 Centerline is valid? [True, True] Translation: X:104.01, Y:-10.33, Z:-3.08 [[ 9.99207867e-01 3.87032856e-02 -9.25709244e-03 1.04006429e+02] [-3.86961256e-02 9.99250572e-01 9.51397178e-04 -1.03304469e+01] [ 9.28697711e-03 -5.92429934e-04 9.99956700e-01 -3.08362964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44992885099998 meters 0.07918582434112471 Centerline is valid? [True, True] Translation: X:104.04, Y:-10.33, Z:-3.08 [[ 9.99240404e-01 3.77676107e-02 -9.60323802e-03 1.04035377e+02] [-3.77599072e-02 9.99286358e-01 9.82292611e-04 -1.03312996e+01] [ 9.63348359e-03 -6.18929089e-04 9.99953405e-01 -3.08257895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47992885099998 meters 0.07924088306563884 Centerline is valid? [True, True] Translation: X:104.06, Y:-10.33, Z:-3.08 [[ 9.99256285e-01 3.73035598e-02 -9.76326509e-03 1.04063748e+02] [-3.72955968e-02 9.99303780e-01 9.96471322e-04 -1.03349149e+01] [ 9.79363964e-03 -6.31603433e-04 9.99951842e-01 -3.08333267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50992885099998 meters 0.07928196331784823 Centerline is valid? [True, True] Translation: X:104.09, Y:-10.34, Z:-3.08 [[ 9.99271209e-01 3.64969543e-02 -1.11814111e-02 1.04093051e+02] [-3.64864023e-02 9.99333492e-01 1.14631911e-03 -1.03385121e+01] [ 1.12157958e-02 -7.37514213e-04 9.99936829e-01 -3.08430940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53992885099998 meters 0.0791295623427207 Centerline is valid? [True, True] Translation: X:104.12, Y:-10.34, Z:-3.09 [[ 9.99276504e-01 3.62237621e-02 -1.15891298e-02 1.04121534e+02] [-3.62124944e-02 9.99343415e-01 1.18070301e-03 -1.03413128e+01] [ 1.16242901e-02 -7.60177480e-04 9.99932147e-01 -3.08509074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.569928851 meters 0.07893349100505763 Centerline is valid? [True, True] Translation: X:104.15, Y:-10.34, Z:-3.09 [[ 9.99241067e-01 3.70033897e-02 -1.21671218e-02 1.04149976e+02] [-3.69909859e-02 9.99314826e-01 1.24299396e-03 -1.03445393e+01] [ 1.22047802e-02 -7.91976780e-04 9.99925205e-01 -3.08567667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599928851 meters 0.0791807408649721 Centerline is valid? [True, True] Translation: X:104.18, Y:-10.35, Z:-3.09 [[ 9.99261420e-01 3.64801050e-02 -1.20754684e-02 1.04178467e+02] [-3.64679313e-02 9.99334071e-01 1.22686920e-03 -1.03472329e+01] [ 1.21121833e-02 -7.85595703e-04 9.99926336e-01 -3.08631632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.629928851 meters 0.07926526218716817 Centerline is valid? [True, True] Translation: X:104.21, Y:-10.35, Z:-3.09 [[ 9.99253678e-01 3.67942222e-02 -1.17589165e-02 1.04206660e+02] [-3.67827336e-02 9.99322576e-01 1.19186223e-03 -1.03505210e+01] [ 1.17948044e-02 -7.58447619e-04 9.99930151e-01 -3.08705210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659928851 meters 0.07862113679071159 Centerline is valid? [True, True] Translation: X:104.24, Y:-10.35, Z:-3.09 [[ 9.99285462e-01 3.58327960e-02 -1.20239968e-02 1.04235254e+02] [-3.58207486e-02 9.99357491e-01 1.21588940e-03 -1.03509664e+01] [ 1.20598400e-02 -7.84312033e-04 9.99926970e-01 -3.08672197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.689928851 meters 0.07914922311889631 Centerline is valid? [True, True] Translation: X:104.26, Y:-10.36, Z:-3.09 [[ 9.99304573e-01 3.53736574e-02 -1.17929874e-02 1.04262656e+02] [-3.53620070e-02 9.99373854e-01 1.19502789e-03 -1.03552795e+01] [ 1.18278758e-02 -7.77173129e-04 9.99929746e-01 -3.08804922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719928851 meters 0.0801888125573788 Centerline is valid? [True, True] Translation: X:104.29, Y:-10.36, Z:-3.09 [[ 9.99365028e-01 3.36555539e-02 -1.16980724e-02 1.04290863e+02] [-3.36439708e-02 9.99433178e-01 1.18561339e-03 -1.03602208e+01] [ 1.17313441e-02 -7.91290950e-04 9.99930872e-01 -3.08930939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.749928851 meters 0.0796800231568178 Centerline is valid? [True, True] Translation: X:104.32, Y:-10.36, Z:-3.09 [[ 9.99385023e-01 3.31932560e-02 -1.13041550e-02 1.04319590e+02] [-3.31824240e-02 9.99448656e-01 1.14448933e-03 -1.03619364e+01] [ 1.13359118e-02 -7.68686234e-04 9.99935451e-01 -3.08943564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779928851 meters 0.08110235460562196 Centerline is valid? [True, True] Translation: X:104.35, Y:-10.37, Z:-3.09 [[ 9.99431627e-01 3.16286839e-02 -1.16640009e-02 1.04347950e+02] [-3.16170468e-02 9.99499359e-01 1.18079342e-03 -1.03678978e+01] [ 1.16955084e-02 -8.11341024e-04 9.99931276e-01 -3.09126859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80992885099997 meters 0.08102856415289669 Centerline is valid? [True, True] Translation: X:104.38, Y:-10.37, Z:-3.09 [[ 9.99445968e-01 3.12917890e-02 -1.13393265e-02 1.04376387e+02] [-3.12807823e-02 9.99509979e-01 1.14676797e-03 -1.03704618e+01] [ 1.13696544e-02 -7.91429624e-04 9.99935050e-01 -3.09225199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83992885099997 meters 0.08053320678225621 Centerline is valid? [True, True] Translation: X:104.41, Y:-10.37, Z:-3.09 [[ 9.99506112e-01 3.00779514e-02 -9.10210945e-03 1.04405005e+02] [-3.00708181e-02 9.99547348e-01 9.19571713e-04 -1.03711085e+01] [ 9.12564820e-03 -6.45409670e-04 9.99958152e-01 -3.09058225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86992885099997 meters 0.07997747679347789 Centerline is valid? [True, True] Translation: X:104.43, Y:-10.37, Z:-3.09 [[ 9.99520374e-01 2.95751705e-02 -9.18323327e-03 1.04433367e+02] [-2.95678993e-02 9.99562345e-01 9.26584920e-04 -1.03720606e+01] [ 9.20661809e-03 -6.54611589e-04 9.99957404e-01 -3.08966017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89992885099997 meters 0.08064315283225194 Centerline is valid? [True, True] Translation: X:104.46, Y:-10.38, Z:-3.09 [[ 9.99528230e-01 2.94359857e-02 -8.76587653e-03 1.04461319e+02] [-2.94293741e-02 9.99566473e-01 8.82304061e-04 -1.03754323e+01] [ 8.78804778e-03 -6.23913556e-04 9.99961190e-01 -3.09118620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92992885099997 meters 0.08123454853758007 Centerline is valid? [True, True] Translation: X:104.49, Y:-10.38, Z:-3.09 [[ 9.99530852e-01 2.91606840e-02 -9.36641703e-03 1.04488615e+02] [-2.91531193e-02 9.99574512e-01 9.43185023e-04 -1.03790556e+01] [ 9.38993566e-03 -6.69682257e-04 9.99955689e-01 -3.09164686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95992885099997 meters 0.0799957699540596 Centerline is valid? [True, True] Translation: X:104.52, Y:-10.38, Z:-3.09 [[ 9.99520091e-01 2.94389136e-02 -9.64043605e-03 1.04518080e+02] [-2.94309150e-02 9.99566346e-01 9.70542771e-04 -1.03778556e+01] [ 9.66482716e-03 -6.86350144e-04 9.99953059e-01 -3.09158901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98992885099997 meters 0.08103502323895725 Centerline is valid? [True, True] Translation: X:104.55, Y:-10.38, Z:-3.09 [[ 9.99443975e-01 3.14661247e-02 -1.10282900e-02 1.04545409e+02] [-3.14557919e-02 9.99504529e-01 1.10918353e-03 -1.03810081e+01] [ 1.10577275e-02 -7.61663201e-04 9.99938571e-01 -3.09426697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01992885099997 meters 0.08046961433378526 Centerline is valid? [True, True] Translation: X:104.57, Y:-10.38, Z:-3.09 [[ 9.99411814e-01 3.26060410e-02 -1.06241599e-02 1.04574854e+02] [-3.25965738e-02 9.99468025e-01 1.06309655e-03 -1.03809074e+01] [ 1.06531715e-02 -7.16160037e-04 9.99942997e-01 -3.09495957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04992885099998 meters 0.07999350710905107 Centerline is valid? [True, True] Translation: X:104.60, Y:-10.38, Z:-3.10 [[ 9.99355004e-01 3.40405617e-02 -1.14374828e-02 1.04604162e+02] [-3.40297067e-02 9.99420169e-01 1.14240676e-03 -1.03808268e+01] [ 1.14697391e-02 -7.52455730e-04 9.99933937e-01 -3.09593151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07992885099998 meters 0.07943245010089943 Centerline is valid? [True, True] Translation: X:104.63, Y:-10.38, Z:-3.10 [[ 9.99204457e-01 3.85936554e-02 -1.00490332e-02 1.04633002e+02] [-3.85854747e-02 9.99254796e-01 1.00675960e-03 -1.03785932e+01] [ 1.00803992e-02 -6.18211963e-04 9.99949000e-01 -3.09697203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10992885099998 meters 0.07906551136299525 Centerline is valid? [True, True] Translation: X:104.66, Y:-10.38, Z:-3.10 [[ 9.99107045e-01 4.11285661e-02 -9.67229725e-03 1.04663545e+02] [-4.11211016e-02 9.99153699e-01 9.69431144e-04 -1.03785027e+01] [ 9.70398289e-03 -5.70829968e-04 9.99952752e-01 -3.09758453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13992885099998 meters 0.0784629041296938 Centerline is valid? [True, True] Translation: X:104.69, Y:-10.38, Z:-3.10 [[ 9.98991875e-01 4.39671956e-02 -9.06197663e-03 1.04693537e+02] [-4.39607614e-02 9.99032846e-01 9.08091511e-04 -1.03779143e+01] [ 9.09313854e-03 -5.08804649e-04 9.99958527e-01 -3.09796774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16992885099998 meters 0.07810306025891228 Centerline is valid? [True, True] Translation: X:104.72, Y:-10.38, Z:-3.10 [[ 9.98877653e-01 4.67062584e-02 -7.87143180e-03 1.04722509e+02] [-4.67014939e-02 9.98908579e-01 7.88112974e-04 -1.03777458e+01] [ 7.89965056e-03 -4.19620814e-04 9.99968709e-01 -3.09900908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19992885099998 meters 0.07536893085856598 Centerline is valid? [True, True] Translation: X:104.75, Y:-10.37, Z:-3.10 [[ 9.98678113e-01 5.09758610e-02 -6.59453742e-03 1.04754174e+02] [-5.09726065e-02 9.98699833e-01 6.60757635e-04 -1.03672088e+01] [ 6.61964611e-03 -3.23743426e-04 9.99978037e-01 -3.09536765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22992885099998 meters 0.07674638622666405 Centerline is valid? [True, True] Translation: X:104.78, Y:-10.37, Z:-3.10 [[ 9.98579562e-01 5.29205084e-02 -6.18692558e-03 1.04781372e+02] [-5.29176957e-02 9.98598686e-01 6.17559909e-04 -1.03727307e+01] [ 6.21093734e-03 -2.89284859e-04 9.99980670e-01 -3.09937506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25992885099998 meters 0.07493994053029773 Centerline is valid? [True, True] Translation: X:104.81, Y:-10.37, Z:-3.10 [[ 9.98497543e-01 5.44305809e-02 -6.32203791e-03 1.04811436e+02] [-5.44277027e-02 9.98517517e-01 6.26558385e-04 -1.03665369e+01] [ 6.34676953e-03 -2.81523009e-04 9.99979819e-01 -3.09589570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28992885099998 meters 0.07465125547758113 Centerline is valid? [True, True] Translation: X:104.84, Y:-10.37, Z:-3.10 [[ 9.98442936e-01 5.54170254e-02 -6.37623541e-03 1.04839891e+02] [-5.54141296e-02 9.98463258e-01 6.30065853e-04 -1.03664224e+01] [ 6.40135316e-03 -2.75751264e-04 9.99979473e-01 -3.09657697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319928851 meters 0.07454135878006418 Centerline is valid? [True, True] Translation: X:104.87, Y:-10.37, Z:-3.10 [[ 9.98389095e-01 5.64852348e-02 -5.35095711e-03 1.04868736e+02] [-5.64831962e-02 9.98403409e-01 5.31454558e-04 -1.03656506e+01] [ 5.37243315e-03 -2.28359276e-04 9.99985542e-01 -3.09817191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.349928851 meters 0.07449822980141788 Centerline is valid? [True, True] Translation: X:104.90, Y:-10.37, Z:-3.10 [[ 9.98396194e-01 5.63508512e-02 -5.44258101e-03 1.04896913e+02] [-5.63487736e-02 9.98411003e-01 5.34435203e-04 -1.03671387e+01] [ 5.46404864e-03 -2.26895308e-04 9.99985046e-01 -3.09857163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379928851 meters 0.07459563048062215 Centerline is valid? [True, True] Translation: X:104.93, Y:-10.37, Z:-3.10 [[ 9.98423399e-01 5.58186936e-02 -5.91518562e-03 1.04925814e+02] [-5.58162302e-02 9.98440890e-01 5.80838899e-04 -1.03696013e+01] [ 5.93838487e-03 -2.49759785e-04 9.99982336e-01 -3.09920208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.409928851 meters 0.07564318069767774 Centerline is valid? [True, True] Translation: X:104.95, Y:-10.38, Z:-3.10 [[ 9.98462474e-01 5.51299326e-02 -5.77743496e-03 1.04953132e+02] [-5.51275543e-02 9.98479157e-01 5.70224469e-04 -1.03751712e+01] [ 5.80008483e-03 -2.50851875e-04 9.99983148e-01 -3.10274108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439928851 meters 0.075277627681683 Centerline is valid? [True, True] Translation: X:104.98, Y:-10.37, Z:-3.10 [[ 9.98611351e-01 5.23101376e-02 -6.24648958e-03 1.04982916e+02] [-5.23072955e-02 9.98630845e-01 6.17623225e-04 -1.03749518e+01] [ 6.27024513e-03 -2.90028587e-04 9.99980300e-01 -3.10297053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.469928851 meters 0.0756474875425936 Centerline is valid? [True, True] Translation: X:105.01, Y:-10.38, Z:-3.10 [[ 9.98678592e-01 5.10110750e-02 -6.24024705e-03 1.05011689e+02] [-5.10082513e-02 9.98698045e-01 6.10916889e-04 -1.03781531e+01] [ 6.26328606e-03 -2.91805528e-04 9.99980343e-01 -3.10410309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499928851 meters 0.07605148809495846 Centerline is valid? [True, True] Translation: X:105.04, Y:-10.38, Z:-3.11 [[ 9.98762093e-01 4.93512961e-02 -6.22343651e-03 1.05040360e+02] [-4.93484645e-02 9.98781437e-01 6.07834744e-04 -1.03811311e+01] [ 6.24585029e-03 -2.99965266e-04 9.99980449e-01 -3.10560567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.529928851 meters 0.07625441823528308 Centerline is valid? [True, True] Translation: X:105.07, Y:-10.38, Z:-3.11 [[ 9.98827484e-01 4.80193603e-02 -6.14802789e-03 1.05069295e+02] [-4.80165809e-02 9.98846359e-01 5.98982772e-04 -1.03837432e+01] [ 6.16969805e-03 -3.03073176e-04 9.99980921e-01 -3.10589041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55992885099997 meters 0.0775378158522817 Centerline is valid? [True, True] Translation: X:105.10, Y:-10.39, Z:-3.11 [[ 9.98883187e-01 4.66701909e-02 -7.36690627e-03 1.05097518e+02] [-4.66661267e-02 9.98910281e-01 7.22713109e-04 -1.03900000e+01] [ 7.39260758e-03 -3.78120993e-04 9.99972603e-01 -3.10901761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58992885099997 meters 0.07835801703664882 Centerline is valid? [True, True] Translation: X:105.13, Y:-10.39, Z:-3.11 [[ 9.98984360e-01 4.43952866e-02 -7.70116676e-03 1.05126783e+02] [-4.43907761e-02 9.99013958e-01 7.55721518e-04 -1.03943922e+01] [ 7.72712355e-03 -4.13093207e-04 9.99970060e-01 -3.11218005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61992885099997 meters 0.07810400998185679 Centerline is valid? [True, True] Translation: X:105.16, Y:-10.40, Z:-3.11 [[ 9.99036931e-01 4.31429874e-02 -7.99333447e-03 1.05155184e+02] [-4.31381022e-02 9.99068812e-01 7.82644039e-04 -1.03956627e+01] [ 8.01965678e-03 -4.37073020e-04 9.99967747e-01 -3.11219326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64992885099997 meters 0.07727234324922003 Centerline is valid? [True, True] Translation: X:105.18, Y:-10.39, Z:-3.11 [[ 9.99085649e-01 4.20211607e-02 -7.87960073e-03 1.05184067e+02] [-4.20164217e-02 9.99116627e-01 7.66074455e-04 -1.03949760e+01] [ 7.90483144e-03 -4.34301367e-04 9.99968662e-01 -3.11083274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67992885099997 meters 0.07751690993960338 Centerline is valid? [True, True] Translation: X:105.21, Y:-10.40, Z:-3.11 [[ 9.99132125e-01 4.09621225e-02 -7.55656269e-03 1.05212350e+02] [-4.09577488e-02 9.99160611e-01 7.32704812e-04 -1.03973953e+01] [ 7.58023293e-03 -4.22569120e-04 9.99971180e-01 -3.11067693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70992885099997 meters 0.07838574639226659 Centerline is valid? [True, True] Translation: X:105.24, Y:-10.40, Z:-3.11 [[ 9.99146033e-01 4.07583330e-02 -6.77965789e-03 1.05239946e+02] [-4.07547914e-02 9.99168961e-01 6.59775369e-04 -1.04015811e+01] [ 6.80091507e-03 -3.82908398e-04 9.99976800e-01 -3.11237216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73992885099997 meters 0.07920880281862563 Centerline is valid? [True, True] Translation: X:105.27, Y:-10.41, Z:-3.11 [[ 9.99156128e-01 4.05794259e-02 -6.35149995e-03 1.05267363e+02] [-4.05763254e-02 9.99176252e-01 6.16308589e-04 -1.04064047e+01] [ 6.37127736e-03 -3.58067974e-04 9.99979639e-01 -3.11408973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76992885099997 meters 0.07938470183725017 Centerline is valid? [True, True] Translation: X:105.30, Y:-10.41, Z:-3.11 [[ 9.99170175e-01 4.03707221e-02 -5.40058260e-03 1.05296050e+02] [-4.03684988e-02 9.99184725e-01 5.20096466e-04 -1.04090933e+01] [ 5.41717631e-03 -3.01651465e-04 9.99985281e-01 -3.11478157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79992885099998 meters 0.07789840304979795 Centerline is valid? [True, True] Translation: X:105.32, Y:-10.41, Z:-3.11 [[ 9.99225761e-01 3.90590175e-02 -4.71925157e-03 1.05324812e+02] [-3.90573146e-02 9.99236870e-01 4.52497463e-04 -1.04067345e+01] [ 4.73332427e-03 -2.67825828e-04 9.99988762e-01 -3.11304671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82992885099998 meters 0.07892629051552148 Centerline is valid? [True, True] Translation: X:105.35, Y:-10.41, Z:-3.11 [[ 9.99272655e-01 3.78068157e-02 -4.98054209e-03 1.05351989e+02] [-3.78048926e-02 9.99285024e-01 4.79746325e-04 -1.04116314e+01] [ 4.99511881e-03 -2.91108525e-04 9.99987482e-01 -3.11479075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85992885099998 meters 0.07936725173908452 Centerline is valid? [True, True] Translation: X:105.38, Y:-10.41, Z:-3.12 [[ 9.99297759e-01 3.70759757e-02 -5.41853009e-03 1.05380037e+02] [-3.70736842e-02 9.99312398e-01 5.22774998e-04 -1.04148259e+01] [ 5.43418669e-03 -3.21523011e-04 9.99985183e-01 -3.11641827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88992885099998 meters 0.0789236045857256 Centerline is valid? [True, True] Translation: X:105.41, Y:-10.42, Z:-3.12 [[ 9.99320439e-01 3.63730731e-02 -5.97162665e-03 1.05408620e+02] [-3.63703051e-02 9.99338218e-01 5.71495228e-04 -1.04157444e+01] [ 5.98846177e-03 -3.53916978e-04 9.99982006e-01 -3.11673891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91992885099998 meters 0.08038163072461532 Centerline is valid? [True, True] Translation: X:105.44, Y:-10.42, Z:-3.12 [[ 9.99390196e-01 3.44110136e-02 -5.92600125e-03 1.05436556e+02] [-3.44082331e-02 9.99407699e-01 5.70541571e-04 -1.04208461e+01] [ 5.94212419e-03 -3.66290421e-04 9.99982278e-01 -3.11915946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94992885099998 meters 0.07903337939698947 Centerline is valid? [True, True] Translation: X:105.47, Y:-10.42, Z:-3.12 [[ 9.99422026e-01 3.35000680e-02 -5.77575127e-03 1.05465955e+02] [-3.34974143e-02 9.99438650e-01 5.55623346e-04 -1.04196381e+01] [ 5.79112247e-03 -3.61829477e-04 9.99983166e-01 -3.11750459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97992885099998 meters 0.08075422896077959 Centerline is valid? [True, True] Translation: X:105.49, Y:-10.43, Z:-3.12 [[ 9.99454205e-01 3.26735441e-02 -4.87150443e-03 1.05492663e+02] [-3.26716514e-02 9.99466030e-01 4.67609159e-04 -1.04269654e+01] [ 4.88418164e-03 -3.08193845e-04 9.99988025e-01 -3.12036637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00992885099998 meters 0.07918323402253166 Centerline is valid? [True, True] Translation: X:105.52, Y:-10.42, Z:-3.12 [[ 9.99526261e-01 3.06562517e-02 -2.72924876e-03 1.05521415e+02] [-3.06556532e-02 9.99529971e-01 2.60870122e-04 -1.04247705e+01] [ 2.73596324e-03 -1.77079634e-04 9.99996242e-01 -3.11762011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03992885099998 meters 0.08049761246917352 Centerline is valid? [True, True] Translation: X:105.55, Y:-10.43, Z:-3.12 [[ 9.99575098e-01 2.90647868e-02 -2.20471803e-03 1.05549260e+02] [-2.90643917e-02 9.99577519e-01 2.11041125e-04 -1.04309835e+01] [ 2.20992044e-03 -1.46872664e-04 9.99997547e-01 -3.11816398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.069928851 meters 0.08143542065566618 Centerline is valid? [True, True] Translation: X:105.58, Y:-10.44, Z:-3.12 [[ 9.99615334e-01 2.76812961e-02 -1.71154331e-03 1.05578351e+02] [-2.76810558e-02 9.99616793e-01 1.63905695e-04 -1.04362916e+01] [ 1.71542455e-03 -1.16465321e-04 9.99998522e-01 -3.11988147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099928851 meters 0.08359213696094633 Centerline is valid? [True, True] Translation: X:105.61, Y:-10.44, Z:-3.12 [[ 9.99709618e-01 2.40404995e-02 -1.65372410e-03 1.05607452e+02] [-2.40402689e-02 9.99710978e-01 1.59186258e-04 -1.04438246e+01] [ 1.65707306e-03 -1.19384061e-04 9.99998620e-01 -3.12162212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.129928851 meters 0.0832812444232274 Centerline is valid? [True, True] Translation: X:105.64, Y:-10.45, Z:-3.12 [[ 9.99746445e-01 2.23194246e-02 -2.98139503e-03 1.05637905e+02] [-2.23186678e-02 9.99750866e-01 2.86876625e-04 -1.04459262e+01] [ 2.98705519e-03 -2.20263120e-04 9.99995514e-01 -3.12288037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159928851 meters 0.08370335266025573 Centerline is valid? [True, True] Translation: X:105.67, Y:-10.45, Z:-3.12 [[ 9.99783323e-01 2.05436227e-02 -3.35669538e-03 1.05667421e+02] [-2.05426564e-02 9.99788925e-01 3.22087364e-04 -1.04498018e+01] [ 3.36260370e-03 -2.53062135e-04 9.99994314e-01 -3.12428203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.189928851 meters 0.08487384091335648 Centerline is valid? [True, True] Translation: X:105.70, Y:-10.45, Z:-3.13 [[ 9.99810098e-01 1.90820255e-02 -3.95524315e-03 1.05695656e+02] [-1.90806743e-02 9.99817876e-01 3.79069100e-04 -1.04546062e+01] [ 3.96175621e-03 -3.03528408e-04 9.99992106e-01 -3.12596395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219928851 meters 0.0863918307283512 Centerline is valid? [True, True] Translation: X:105.72, Y:-10.46, Z:-3.13 [[ 9.99824042e-01 1.82057652e-02 -4.52048350e-03 1.05724461e+02] [-1.82039894e-02 9.99834200e-01 4.33674435e-04 -1.04605068e+01] [ 4.52762938e-03 -3.51307293e-04 9.99989689e-01 -3.12801054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.249928851 meters 0.0863918307283512 Centerline is valid? [True, True] Translation: X:105.75, Y:-10.46, Z:-3.13 [[ 9.99825821e-01 1.81077574e-02 -4.52067427e-03 1.05751884e+02] [-1.81059895e-02 9.99835980e-01 4.31688057e-04 -1.04630316e+01] [ 4.52774969e-03 -3.49761586e-04 9.99989689e-01 -3.12866188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279928851 meters 0.0841366819488809 Centerline is valid? [True, True] Translation: X:105.78, Y:-10.46, Z:-3.13 [[ 9.99831448e-01 1.77170091e-02 -4.81490067e-03 1.05781018e+02] [-1.77149964e-02 9.99842971e-01 4.60340241e-04 -1.04589449e+01] [ 4.82230044e-03 -3.74966701e-04 9.99988302e-01 -3.12786166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30992885099997 meters 0.08406844710468345 Centerline is valid? [True, True] Translation: X:105.81, Y:-10.46, Z:-3.13 [[ 9.99821210e-01 1.84653606e-02 -4.07162988e-03 1.05809665e+02] [-1.84639297e-02 9.99829452e-01 3.88763401e-04 -1.04605793e+01] [ 4.07811412e-03 -3.13515606e-04 9.99991635e-01 -3.12909331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33992885099997 meters 0.08320195680498188 Centerline is valid? [True, True] Translation: X:105.84, Y:-10.46, Z:-3.13 [[ 9.99795060e-01 1.96615394e-02 -4.82301951e-03 1.05838847e+02] [-1.96595456e-02 9.99806626e-01 4.60446931e-04 -1.04585162e+01] [ 4.83113996e-03 -3.65534195e-04 9.99988263e-01 -3.12918694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36992885099997 meters 0.08842183173176468 Centerline is valid? [True, True] Translation: X:105.87, Y:-10.47, Z:-3.13 [[ 9.99778970e-01 2.07683064e-02 -3.26946131e-03 1.05866362e+02] [-2.07673958e-02 9.99784286e-01 3.12196959e-04 -1.04720502e+01] [ 3.27523985e-03 -2.44229757e-04 9.99994607e-01 -3.13477717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39992885099997 meters 0.08386398588390481 Centerline is valid? [True, True] Translation: X:105.90, Y:-10.46, Z:-3.13 [[ 9.99760866e-01 2.16775307e-02 -2.88035936e-03 1.05896625e+02] [-2.16768340e-02 9.99764993e-01 2.72908598e-04 -1.04636579e+01] [ 2.88559844e-03 -2.10406264e-04 9.99995815e-01 -3.13132078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42992885099997 meters 0.08330170544847647 Centerline is valid? [True, True] Translation: X:105.93, Y:-10.46, Z:-3.13 [[ 9.99745022e-01 2.24922709e-02 -1.99703688e-03 1.05925204e+02] [-2.24919374e-02 9.99747006e-01 1.89328420e-04 -1.04646287e+01] [ 2.00079007e-03 -1.44362917e-04 9.99997988e-01 -3.13100045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45992885099997 meters 0.08542617903041065 Centerline is valid? [True, True] Translation: X:105.95, Y:-10.47, Z:-3.13 [[ 9.99754570e-01 2.21508896e-02 3.72314866e-04 1.05952393e+02] [-2.21508772e-02 9.99754639e-01 -3.74935471e-05 -1.04707600e+01] [-3.73054029e-04 2.92372442e-05 9.99999930e-01 -3.13182344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48992885099997 meters 0.08323999258701417 Centerline is valid? [True, True] Translation: X:105.98, Y:-10.47, Z:-3.13 [[ 9.99772932e-01 2.13000364e-02 6.27509288e-04 1.05981905e+02] [-2.13000020e-02 9.99773127e-01 -6.14765519e-05 -1.04677083e+01] [-6.28676376e-04 4.80966435e-05 9.99999801e-01 -3.13013148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51992885099997 meters 0.08309893959613943 Centerline is valid? [True, True] Translation: X:106.01, Y:-10.47, Z:-3.13 [[ 9.99791169e-01 2.03873500e-02 1.40482047e-03 1.06010333e+02] [-2.03871795e-02 9.99792151e-01 -1.35579622e-04 -1.04692827e+01] [-1.40729258e-03 1.06910982e-04 9.99999004e-01 -3.13066343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54992885099998 meters 0.08563978438996864 Centerline is valid? [True, True] Translation: X:106.04, Y:-10.48, Z:-3.13 [[ 9.99815120e-01 1.91557575e-02 1.66810858e-03 1.06038634e+02] [-1.91555161e-02 9.99816503e-01 -1.60581967e-04 -1.04774046e+01] [-1.67087855e-03 1.28598798e-04 9.99998596e-01 -3.13247900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57992885099998 meters 0.08555078293935889 Centerline is valid? [True, True] Translation: X:106.07, Y:-10.48, Z:-3.13 [[ 9.99834840e-01 1.81054496e-02 1.57638184e-03 1.06067987e+02] [-1.81052339e-02 9.99836075e-01 -1.50954061e-04 -1.04795264e+01] [-1.57885652e-03 1.22388367e-04 9.99998746e-01 -3.13283977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60992885099998 meters 0.08632766543988091 Centerline is valid? [True, True] Translation: X:106.10, Y:-10.48, Z:-3.13 [[ 9.99855964e-01 1.68899448e-02 1.66769878e-03 1.06097258e+02] [-1.68897025e-02 9.99857346e-01 -1.59240056e-04 -1.04832473e+01] [-1.67015043e-03 1.31050183e-04 9.99998597e-01 -3.13421049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63992885099998 meters 0.08696081363433983 Centerline is valid? [True, True] Translation: X:106.13, Y:-10.49, Z:-3.14 [[ 9.99898211e-01 1.42669782e-02 1.43151441e-04 1.06127527e+02] [-1.42669764e-02 9.99898221e-01 -1.37726805e-05 -1.04858598e+01] [-1.43333365e-04 1.17289403e-05 9.99999990e-01 -3.13602772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66992885099998 meters 0.08938345528677182 Centerline is valid? [True, True] Translation: X:106.16, Y:-10.49, Z:-3.14 [[ 9.99910841e-01 1.33309698e-02 -7.71501016e-04 1.06155492e+02] [-1.33309180e-02 9.99911137e-01 7.22637076e-05 -1.04932987e+01] [ 7.72395803e-04 -6.19724478e-05 9.99999700e-01 -3.13932363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69992885099998 meters 0.09046019033533409 Centerline is valid? [True, True] Translation: X:106.18, Y:-10.50, Z:-3.14 [[ 9.99920837e-01 1.23714366e-02 -2.29512252e-03 1.06184212e+02] [-1.23709704e-02 9.99923453e-01 2.17219845e-04 -1.04973141e+01] [ 2.29763415e-03 -1.88809757e-04 9.99997343e-01 -3.14184642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72992885099998 meters 0.08708918566244245 Centerline is valid? [True, True] Translation: X:106.21, Y:-10.49, Z:-3.14 [[ 9.99923518e-01 1.21153069e-02 -2.48535190e-03 1.06213374e+02] [-1.21147607e-02 9.99926586e-01 2.34690887e-04 -1.04924833e+01] [ 2.48801279e-03 -2.04563493e-04 9.99996884e-01 -3.14127404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75992885099998 meters 0.0879302871469378 Centerline is valid? [True, True] Translation: X:106.24, Y:-10.50, Z:-3.14 [[ 9.99919004e-01 1.21025191e-02 -3.93878744e-03 1.06242004e+02] [-1.21011445e-02 9.99926709e-01 3.72624214e-04 -1.04959991e+01] [ 3.94300846e-03 -3.24930197e-04 9.99992174e-01 -3.14394829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78992885099998 meters 0.09028336612171735 Centerline is valid? [True, True] Translation: X:106.27, Y:-10.50, Z:-3.15 [[ 9.99917698e-01 1.19429927e-02 -4.68628902e-03 1.06268916e+02] [-1.19410475e-02 9.99928605e-01 4.42851351e-04 -1.05022165e+01] [ 4.69124342e-03 -3.86855704e-04 9.99988921e-01 -3.14628207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819928851 meters 0.08837372905624302 Centerline is valid? [True, True] Translation: X:106.30, Y:-10.50, Z:-3.15 [[ 9.99910241e-01 1.27208833e-02 -4.20576071e-03 1.06298364e+02] [-1.27193288e-02 9.99919028e-01 3.96140900e-04 -1.05004477e+01] [ 4.21045942e-03 -3.42610890e-04 9.99991077e-01 -3.14552504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.849928851 meters 0.08937005999460516 Centerline is valid? [True, True] Translation: X:106.33, Y:-10.50, Z:-3.15 [[ 9.99904605e-01 1.33265733e-02 -3.63099682e-03 1.06326109e+02] [-1.33254187e-02 9.99911154e-01 3.42005704e-04 -1.05034186e+01] [ 3.63523198e-03 -2.93588526e-04 9.99993349e-01 -3.14653349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879928851 meters 0.08797498056226095 Centerline is valid? [True, True] Translation: X:106.36, Y:-10.50, Z:-3.15 [[ 9.99906016e-01 1.32192497e-02 -3.63465024e-03 1.06355443e+02] [-1.32180915e-02 9.99912579e-01 3.42487749e-04 -1.05027320e+01] [ 3.63885993e-03 -2.94412421e-04 9.99993336e-01 -3.14584749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.909928851 meters 0.08906739850345784 Centerline is valid? [True, True] Translation: X:106.38, Y:-10.51, Z:-3.15 [[ 9.99902343e-01 1.35078352e-02 -3.58364052e-03 1.06382799e+02] [-1.35067136e-02 9.99908723e-01 3.36982549e-04 -1.05068723e+01] [ 3.58786532e-03 -2.88546434e-04 9.99993522e-01 -3.14708093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939928851 meters 0.09062832123820691 Centerline is valid? [True, True] Translation: X:106.41, Y:-10.51, Z:-3.15 [[ 9.99905062e-01 1.33461437e-02 -3.42751444e-03 1.06409429e+02] [-1.33451210e-02 9.99910898e-01 3.21074407e-04 -1.05122488e+01] [ 3.43149414e-03 -2.75303330e-04 9.99994075e-01 -3.14907048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.969928851 meters 0.08627127655457587 Centerline is valid? [True, True] Translation: X:106.44, Y:-10.51, Z:-3.15 [[ 9.99907506e-01 1.34097760e-02 -2.27113987e-03 1.06439028e+02] [-1.34093271e-02 9.99910068e-01 2.12755953e-04 -1.05052849e+01] [ 2.27378863e-03 -1.82281817e-04 9.99997398e-01 -3.14663700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999928851 meters 0.08802821296541884 Centerline is valid? [True, True] Translation: X:106.47, Y:-10.51, Z:-3.15 [[ 9.99910780e-01 1.31944743e-02 -2.08296607e-03 1.06465412e+02] [-1.31940996e-02 9.99912935e-01 1.93539798e-04 -1.05118860e+01] [ 2.08533837e-03 -1.66039669e-04 9.99997812e-01 -3.14784152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.029928851 meters 0.0891716658690046 Centerline is valid? [True, True] Translation: X:106.49, Y:-10.52, Z:-3.15 [[ 9.99918495e-01 1.27518541e-02 -6.26924264e-04 1.06493379e+02] [-1.27518206e-02 9.99918691e-01 5.74966057e-05 -1.05164998e+01] [ 6.27606477e-04 -4.94974938e-05 9.99999802e-01 -3.14880471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05992885099997 meters 0.08805063117169126 Centerline is valid? [True, True] Translation: X:106.52, Y:-10.52, Z:-3.15 [[ 9.99940532e-01 1.09000974e-02 -3.47377455e-04 1.06522812e+02] [-1.09000871e-02 9.99940592e-01 3.15087212e-05 -1.05167909e+01] [ 3.47700266e-04 -2.77204029e-05 9.99999939e-01 -3.14819953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08992885099997 meters 0.08977166178223658 Centerline is valid? [True, True] Translation: X:106.55, Y:-10.52, Z:-3.15 [[ 9.99952290e-01 9.75695006e-03 -4.68369615e-04 1.06550985e+02] [-9.75693103e-03 9.99952399e-01 4.28901132e-05 -1.05229096e+01] [ 4.68765796e-04 -3.83182169e-05 9.99999889e-01 -3.14969518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11992885099997 meters 0.08903171047285245 Centerline is valid? [True, True] Translation: X:106.58, Y:-10.52, Z:-3.15 [[ 9.99966495e-01 8.18564778e-03 -6.93759961e-05 1.06580789e+02] [-8.18564740e-03 9.99966497e-01 5.71985815e-06 -1.05241559e+01] [ 6.94204926e-05 -5.15177906e-06 9.99999998e-01 -3.14911567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14992885099997 meters 0.09093287654805454 Centerline is valid? [True, True] Translation: X:106.61, Y:-10.53, Z:-3.15 [[ 9.99978728e-01 6.45594391e-03 -9.29214272e-04 1.06609140e+02] [-6.45586562e-03 9.99979157e-01 8.72347265e-05 -1.05309910e+01] [ 9.29758087e-04 -8.12339884e-05 9.99999564e-01 -3.15028274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17992885099997 meters 0.0932129283802639 Centerline is valid? [True, True] Translation: X:106.64, Y:-10.54, Z:-3.15 [[ 9.99996890e-01 2.32164535e-03 -9.11176359e-04 1.06639055e+02] [-2.32156818e-03 9.99997301e-01 8.57416051e-05 -1.05392429e+01] [ 9.11372962e-04 -8.36259804e-05 9.99999581e-01 -3.15180759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20992885099997 meters 0.09684755326582782 Centerline is valid? [True, True] Translation: X:106.67, Y:-10.55, Z:-3.15 [[ 9.99998151e-01 -1.34935866e-04 -1.91839542e-03 1.06667042e+02] [ 1.35281278e-04 9.99999975e-01 1.79923757e-04 -1.05497082e+01] [ 1.91837110e-03 -1.80182947e-04 9.99998144e-01 -3.15485434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23992885099997 meters 0.09636259447833535 Centerline is valid? [True, True] Translation: X:106.70, Y:-10.55, Z:-3.16 [[ 9.99992384e-01 -2.85027524e-03 -2.66612062e-03 1.06697704e+02] [ 2.85095372e-03 9.99995905e-01 2.50717276e-04 -1.05522792e+01] [ 2.66539509e-03 -2.58316353e-04 9.99996414e-01 -3.15531529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26992885099997 meters 0.10022833215264328 Centerline is valid? [True, False] Translation: X:106.70, Y:-10.55, Z:-3.16 [[ 9.99994014e-01 -2.76304282e-03 -2.08290499e-03 1.06696946e+02] [ 2.76559268e-03 9.99995429e-01 1.22229780e-03 -1.05549551e+01] [ 2.07951821e-03 -1.22805095e-03 9.99997084e-01 -3.15608958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29992885099998 meters 0.09973339662442891 Centerline is valid? [False, True] Translation: X:106.70, Y:-10.56, Z:-3.16 [[ 9.99994677e-01 -2.62080918e-03 -1.94359727e-03 1.06696887e+02] [ 2.62398980e-03 9.99995220e-01 1.63571732e-03 -1.05559898e+01] [ 1.93930107e-03 -1.64080859e-03 9.99996773e-01 -3.15646029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32992885099998 meters 0.10071637431053078 Centerline is valid? [True, False] Translation: X:106.70, Y:-10.56, Z:-3.16 [[ 9.99995278e-01 -2.37403917e-03 -1.95118457e-03 1.06697141e+02] [ 2.37807951e-03 9.99995028e-01 2.07100655e-03 -1.05570290e+01] [ 1.94625822e-03 -2.07563685e-03 9.99995952e-01 -3.15681713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35992885099998 meters 0.10790947820477854 Centerline is valid? [False, False] Translation: X:106.70, Y:-10.56, Z:-3.16 [[ 9.99995615e-01 -2.31080543e-03 -1.85188665e-03 1.06696851e+02] [ 2.31511566e-03 9.99994609e-01 2.32873108e-03 -1.05580499e+01] [ 1.84649542e-03 -2.33300820e-03 9.99995574e-01 -3.15670360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38992885099998 meters 0.10403928967914455 Centerline is valid? [False, False] Translation: X:106.70, Y:-10.56, Z:-3.16 [[ 9.99995405e-01 -2.37679809e-03 -1.88147244e-03 1.06696705e+02] [ 2.38088975e-03 9.99994799e-01 2.17546879e-03 -1.05580190e+01] [ 1.87629200e-03 -2.17993838e-03 9.99995864e-01 -3.15635830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41992885099998 meters 0.09731478743069943 Centerline is valid? [False, True] Translation: X:106.70, Y:-10.56, Z:-3.16 [[ 9.99995176e-01 -2.36178421e-03 -2.01761411e-03 1.06696880e+02] [ 2.36595806e-03 9.99995061e-01 2.06882997e-03 -1.05577984e+01] [ 2.01271802e-03 -2.07359358e-03 9.99995825e-01 -3.15615785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44992885099998 meters 0.10231513973685123 Centerline is valid? [True, False] Translation: X:106.70, Y:-10.56, Z:-3.16 [[ 9.99994605e-01 -2.46514193e-03 -2.17075891e-03 1.06696868e+02] [ 2.46890352e-03 9.99995453e-01 1.73187352e-03 -1.05573003e+01] [ 2.16647973e-03 -1.73722357e-03 9.99996144e-01 -3.15559145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47992885099998 meters 0.09821184609253654 Centerline is valid? [False, True] Translation: X:106.70, Y:-10.56, Z:-3.16 [[ 9.99994356e-01 -2.36740179e-03 -2.38379997e-03 1.06697196e+02] [ 2.37136184e-03 9.99995811e-01 1.65978113e-03 -1.05572132e+01] [ 2.37986062e-03 -1.66542461e-03 9.99995781e-01 -3.15534217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50992885099998 meters 0.09860403271969875 Centerline is valid? [True, True] Translation: X:106.73, Y:-10.56, Z:-3.16 [[ 9.99998923e-01 9.74140504e-04 -1.09819673e-03 1.06726189e+02] [-9.74021749e-04 9.99999520e-01 1.08666758e-04 -1.05607977e+01] [ 1.09830206e-03 -1.07596974e-04 9.99999391e-01 -3.15532005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53992885099998 meters 0.0985622468035825 Centerline is valid? [True, True] Translation: X:106.76, Y:-10.56, Z:-3.16 [[ 9.99996503e-01 2.23210885e-03 -1.41847452e-03 1.06755916e+02] [-2.23191233e-03 9.99997499e-01 1.40111524e-04 -1.05636207e+01] [ 1.41878372e-03 -1.36945123e-04 9.99998984e-01 -3.15579554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.569928851 meters 0.09433531212049522 Centerline is valid? [True, True] Translation: X:106.79, Y:-10.56, Z:-3.16 [[ 9.99990680e-01 3.84996627e-03 -1.95366712e-03 1.06786626e+02] [-3.84959536e-03 9.99992572e-01 1.93578208e-04 -1.05587817e+01] [ 1.95439788e-03 -1.86055576e-04 9.99998073e-01 -3.15554881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599928851 meters 0.09436714059340609 Centerline is valid? [True, True] Translation: X:106.82, Y:-10.56, Z:-3.16 [[ 9.99979366e-01 6.09854542e-03 -2.01881238e-03 1.06815346e+02] [-6.09815475e-03 9.99981386e-01 1.99609898e-04 -1.05624797e+01] [ 2.01999213e-03 -1.87294749e-04 9.99997942e-01 -3.15729757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.629928851 meters 0.09424164374812873 Centerline is valid? [True, True] Translation: X:106.84, Y:-10.57, Z:-3.16 [[ 9.99973874e-01 6.44334738e-03 -3.27628425e-03 1.06844213e+02] [-6.44232195e-03 9.99979196e-01 3.23443315e-04 -1.05650894e+01] [ 3.27830015e-03 -3.02327987e-04 9.99994581e-01 -3.15846634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659928851 meters 0.09273703078621025 Centerline is valid? [True, True] Translation: X:106.87, Y:-10.57, Z:-3.16 [[ 9.99970616e-01 7.19773145e-03 -2.63827679e-03 1.06873570e+02] [-7.19706928e-03 9.99974067e-01 2.60392650e-04 -1.05655678e+01] [ 2.64008260e-03 -2.41397137e-04 9.99996486e-01 -3.15859288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.689928851 meters 0.09222295234337531 Centerline is valid? [True, True] Translation: X:106.90, Y:-10.57, Z:-3.16 [[ 9.99968849e-01 7.39971782e-03 -2.74697816e-03 1.06901923e+02] [-7.39900218e-03 9.99972590e-01 2.70591100e-04 -1.05678512e+01] [ 2.74890516e-03 -2.50257773e-04 9.99996190e-01 -3.15924077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719928851 meters 0.09232445179704611 Centerline is valid? [True, True] Translation: X:106.93, Y:-10.57, Z:-3.16 [[ 9.99969536e-01 7.14108320e-03 -3.15157050e-03 1.06930949e+02] [-7.14013991e-03 9.99974461e-01 3.10457786e-04 -1.05709669e+01] [ 3.15370701e-03 -2.87945674e-04 9.99994986e-01 -3.15973687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.749928851 meters 0.09076148274825818 Centerline is valid? [True, True] Translation: X:106.96, Y:-10.57, Z:-3.16 [[ 9.99971405e-01 6.62945173e-03 -3.63861235e-03 1.06960157e+02] [-6.62819117e-03 9.99977969e-01 3.58388577e-04 -1.05710192e+01] [ 3.64090811e-03 -3.34260911e-04 9.99993316e-01 -3.16061030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77992885099997 meters 0.09550813498590104 Centerline is valid? [True, True] Translation: X:106.99, Y:-10.58, Z:-3.16 [[ 9.99973582e-01 6.39738202e-03 -3.45097607e-03 1.06986719e+02] [-6.39624937e-03 9.99979486e-01 3.39150712e-04 -1.05832153e+01] [ 3.45307496e-03 -3.17068449e-04 9.99993988e-01 -3.16378165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80992885099997 meters 0.0927149951116952 Centerline is valid? [True, True] Translation: X:107.02, Y:-10.58, Z:-3.16 [[ 9.99975587e-01 6.06003938e-03 -3.47860018e-03 1.07016082e+02] [-6.05888590e-03 9.99981586e-01 3.42037683e-04 -1.05815740e+01] [ 3.48060889e-03 -3.20952892e-04 9.99993891e-01 -3.16326663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83992885099997 meters 0.09540013388016166 Centerline is valid? [True, True] Translation: X:107.04, Y:-10.59, Z:-3.16 [[ 9.99983680e-01 4.70807297e-03 -3.23630374e-03 1.07043823e+02] [-4.70706718e-03 9.99988871e-01 3.18331043e-04 -1.05898849e+01] [ 3.23776645e-03 -3.03092349e-04 9.99994712e-01 -3.16444406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86992885099997 meters 0.0966975192961516 Centerline is valid? [True, True] Translation: X:107.07, Y:-10.60, Z:-3.17 [[ 9.99988331e-01 4.07656131e-03 -2.59215649e-03 1.07072131e+02] [-4.07591583e-03 9.99991661e-01 2.54245807e-04 -1.05951373e+01] [ 2.59317132e-03 -2.43677428e-04 9.99996608e-01 -3.16516487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89992885099997 meters 0.0993467683474628 Centerline is valid? [True, True] Translation: X:107.10, Y:-10.60, Z:-3.17 [[ 9.99996360e-01 1.95288876e-03 -1.86168018e-03 1.07100567e+02] [-1.95255168e-03 9.99998077e-01 1.82860177e-04 -1.06045379e+01] [ 1.86203371e-03 -1.79224485e-04 9.99998250e-01 -3.16576666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92992885099997 meters 0.09480876094577477 Centerline is valid? [True, True] Translation: X:107.13, Y:-10.60, Z:-3.16 [[ 9.99999240e-01 8.84450994e-04 -8.58683620e-04 1.07130268e+02] [-8.84379526e-04 9.99999605e-01 8.36054502e-05 -1.05999543e+01] [ 8.58757226e-04 -8.28459844e-05 9.99999628e-01 -3.16357727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95992885099997 meters 0.10158214684643849 Centerline is valid? [True, False] Translation: X:107.13, Y:-10.60, Z:-3.16 [[ 9.99999418e-01 8.44883614e-04 -6.70712440e-04 1.07129744e+02] [-8.44690505e-04 9.99999602e-01 2.88147750e-04 -1.06009066e+01] [ 6.70955624e-04 -2.87581038e-04 9.99999734e-01 -3.16341890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98992885099997 meters 0.09713592202759366 Centerline is valid? [False, True] Translation: X:107.13, Y:-10.60, Z:-3.16 [[ 9.99999522e-01 8.70109304e-04 -4.47071789e-04 1.07129218e+02] [-8.69829912e-04 9.99999427e-01 6.24751857e-04 -1.06021766e+01] [ 4.47615135e-04 -6.24362682e-04 9.99999705e-01 -3.16335578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01992885099997 meters 0.09676363098804537 Centerline is valid? [True, True] Translation: X:107.16, Y:-10.61, Z:-3.16 [[ 9.99996640e-01 -2.57641783e-03 -2.85261977e-04 1.07159683e+02] [ 2.57642623e-03 9.99996681e-01 2.90872027e-05 -1.06058173e+01] [ 2.85186089e-04 -2.98220615e-05 9.99999959e-01 -3.16369490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04992885099998 meters 0.09789110801647202 Centerline is valid? [True, True] Translation: X:107.19, Y:-10.61, Z:-3.17 [[ 9.99994042e-01 -3.40912298e-03 -5.41217794e-04 1.07190291e+02] [ 3.40915385e-03 9.99994187e-01 5.61326667e-05 -1.06117527e+01] [ 5.41023285e-04 -5.79774270e-05 9.99999852e-01 -3.16507237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07992885099998 meters 0.09898282320860759 Centerline is valid? [True, True] Translation: X:107.22, Y:-10.62, Z:-3.17 [[ 9.99989806e-01 -4.38930954e-03 -1.05958641e-03 1.07220366e+02] [ 4.38942723e-03 9.99990361e-01 1.08775860e-04 -1.06178438e+01] [ 1.05909874e-03 -1.13425729e-04 9.99999433e-01 -3.16719429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10992885099998 meters 0.09963275501719698 Centerline is valid? [True, True] Translation: X:107.25, Y:-10.62, Z:-3.17 [[ 9.99984078e-01 -5.28239493e-03 -1.98480102e-03 1.07251242e+02] [ 5.28280986e-03 9.99986025e-01 2.03873668e-04 -1.06227858e+01] [ 1.98369634e-03 -2.14355748e-04 9.99998009e-01 -3.16843564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13992885099998 meters 0.09963275501719698 Centerline is valid? [True, True] Translation: X:107.28, Y:-10.63, Z:-3.17 [[ 9.99984259e-01 -5.24811008e-03 -1.98479394e-03 1.07282106e+02] [ 5.24852509e-03 9.99986206e-01 2.03942725e-04 -1.06259821e+01] [ 1.98369625e-03 -2.14356755e-04 9.99998009e-01 -3.16913578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16992885099998 meters 0.09825044964303141 Centerline is valid? [True, True] Translation: X:107.31, Y:-10.63, Z:-3.17 [[ 9.99980965e-01 -5.53183709e-03 -2.73270781e-03 1.07313598e+02] [ 5.53262433e-03 9.99984656e-01 2.80608483e-04 -1.06279978e+01] [ 2.73111360e-03 -2.95722187e-04 9.99996227e-01 -3.16945730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19992885099998 meters 0.10227775123792483 Centerline is valid? [True, False] Translation: X:107.31, Y:-10.63, Z:-3.17 [[ 9.99981398e-01 -5.40872875e-03 -2.81934388e-03 1.07313874e+02] [ 5.40995756e-03 9.99985274e-01 4.28404903e-04 -1.06282113e+01] [ 2.81698524e-03 -4.43649465e-04 9.99995934e-01 -3.16959758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22992885099998 meters 0.1015730057030425 Centerline is valid? [False, False] Translation: X:107.31, Y:-10.63, Z:-3.17 [[ 9.99982299e-01 -5.10681681e-03 -3.05322092e-03 1.07314594e+02] [ 5.10899801e-03 9.99986699e-01 7.07023243e-04 -1.06285153e+01] [ 3.04956967e-03 -7.22609627e-04 9.99995089e-01 -3.16991584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25992885099998 meters 0.09887489928902646 Centerline is valid? [False, True] Translation: X:107.32, Y:-10.63, Z:-3.17 [[ 9.99982908e-01 -4.68552713e-03 -3.49716340e-03 1.07315671e+02] [ 4.68895010e-03 9.99988535e-01 9.71227695e-04 -1.06287636e+01] [ 3.49257260e-03 -9.87609119e-04 9.99993413e-01 -3.17011334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28992885099998 meters 0.09859641897228692 Centerline is valid? [True, True] Translation: X:107.35, Y:-10.63, Z:-3.17 [[ 9.99988189e-01 -2.94016660e-03 -3.87013311e-03 1.07345274e+02] [ 2.94167384e-03 9.99995600e-01 3.83818578e-04 -1.06311645e+01] [ 3.86898759e-03 -3.95198714e-04 9.99992437e-01 -3.17051196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319928851 meters 0.09937617180357079 Centerline is valid? [True, True] Translation: X:107.37, Y:-10.64, Z:-3.17 [[ 9.99989527e-01 -1.31420571e-03 -4.38383187e-03 1.07374265e+02] [ 1.31612227e-03 9.99999040e-01 4.34331632e-04 -1.06351200e+01] [ 4.38325685e-03 -4.40096742e-04 9.99990297e-01 -3.17213137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.349928851 meters 0.09868058414600916 Centerline is valid? [True, True] Translation: X:107.40, Y:-10.64, Z:-3.17 [[ 9.99990506e-01 3.86944278e-04 -4.34039523e-03 1.07404629e+02] [-3.85084719e-04 9.99999834e-01 4.29258292e-04 -1.06366962e+01] [ 4.34056061e-03 -4.27582796e-04 9.99990488e-01 -3.17291770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379928851 meters 0.09742532794032475 Centerline is valid? [True, True] Translation: X:107.43, Y:-10.64, Z:-3.17 [[ 9.99977330e-01 4.29481993e-03 -5.18600542e-03 1.07434122e+02] [-4.29221519e-03 9.99990657e-01 5.13288309e-04 -1.06371053e+01] [ 5.18816144e-03 -4.91017221e-04 9.99986421e-01 -3.17367675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.409928851 meters 0.09643081120540146 Centerline is valid? [True, True] Translation: X:107.46, Y:-10.64, Z:-3.17 [[ 9.99967243e-01 6.50432543e-03 -4.81739128e-03 1.07464310e+02] [-6.50210134e-03 9.99978747e-01 4.77198507e-04 -1.06377211e+01] [ 4.82039275e-03 -4.45859709e-04 9.99988282e-01 -3.17436445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439928851 meters 0.0957641557703641 Centerline is valid? [True, True] Translation: X:107.49, Y:-10.64, Z:-3.18 [[ 9.99948164e-01 8.58802725e-03 -5.46946690e-03 1.07494093e+02] [-8.58519287e-03 9.99963000e-01 5.41486773e-04 -1.06390486e+01] [ 5.47391483e-03 -4.94502276e-04 9.99984896e-01 -3.17548119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.469928851 meters 0.09449982127587332 Centerline is valid? [True, True] Translation: X:107.52, Y:-10.64, Z:-3.18 [[ 9.99898428e-01 1.29351769e-02 -5.98463247e-03 1.07522782e+02] [-1.29318656e-02 9.99916205e-01 5.91670732e-04 -1.06386854e+01] [ 5.99178435e-03 -5.14218171e-04 9.99981917e-01 -3.17706087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499928851 meters 0.08810153188254559 Centerline is valid? [True, True] Translation: X:107.55, Y:-10.63, Z:-3.17 [[ 9.99875121e-01 1.45626908e-02 -6.13763730e-03 1.07554023e+02] [-1.45592355e-02 9.99893824e-01 6.07289475e-04 -1.06280524e+01] [ 6.14582940e-03 -5.17854331e-04 9.99980980e-01 -3.17409218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52992885099997 meters 0.08830743345651237 Centerline is valid? [True, True] Translation: X:107.58, Y:-10.63, Z:-3.17 [[ 9.99851894e-01 1.62628219e-02 -5.63120447e-03 1.07582773e+02] [-1.62599433e-02 9.99867643e-01 5.56602895e-04 -1.06305886e+01] [ 5.63951108e-03 -4.64957394e-04 9.99983990e-01 -3.17463041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55992885099997 meters 0.08671589822484745 Centerline is valid? [True, True] Translation: X:107.61, Y:-10.63, Z:-3.17 [[ 9.99843763e-01 1.68465364e-02 -5.35204378e-03 1.07611693e+02] [-1.68439506e-02 9.99857991e-01 5.27850439e-04 -1.06294228e+01] [ 5.36017619e-03 -4.37618408e-04 9.99985538e-01 -3.17367009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58992885099997 meters 0.08719910678123435 Centerline is valid? [True, True] Translation: X:107.64, Y:-10.63, Z:-3.17 [[ 9.99841749e-01 1.71910985e-02 -4.57642986e-03 1.07639087e+02] [-1.71892159e-02 9.99852153e-01 4.50388436e-04 -1.06337824e+01] [ 4.58349592e-03 -3.71651920e-04 9.99989427e-01 -3.17491810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61992885099997 meters 0.0877919854899614 Centerline is valid? [True, True] Translation: X:107.67, Y:-10.64, Z:-3.18 [[ 9.99859638e-01 1.59438354e-02 -5.14775314e-03 1.07668532e+02] [-1.59414309e-02 9.99872798e-01 5.07780599e-04 -1.06374480e+01] [ 5.15519431e-03 -4.25646775e-04 9.99986621e-01 -3.17613624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64992885099997 meters 0.09152329887567918 Centerline is valid? [True, True] Translation: X:107.70, Y:-10.65, Z:-3.18 [[ 9.99877034e-01 1.46248856e-02 -5.65941658e-03 1.07696412e+02] [-1.46219617e-02 9.99892938e-01 5.57681241e-04 -1.06487834e+01] [ 5.66696669e-03 -4.74860893e-04 9.99983830e-01 -3.17914193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67992885099997 meters 0.0893657957869798 Centerline is valid? [True, True] Translation: X:107.73, Y:-10.65, Z:-3.18 [[ 9.99904397e-01 1.26057891e-02 -5.68249121e-03 1.07727327e+02] [-1.26028028e-02 9.99920424e-01 5.61043348e-04 -1.06475860e+01] [ 5.68911142e-03 -4.89374395e-04 9.99983697e-01 -3.17759187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70992885099997 meters 0.09271813348527905 Centerline is valid? [True, True] Translation: X:107.76, Y:-10.66, Z:-3.18 [[ 9.99949572e-01 8.14217568e-03 -5.87864312e-03 1.07755479e+02] [-8.13890220e-03 9.99966710e-01 5.80550607e-04 -1.06586649e+01] [ 5.88317437e-03 -5.32675630e-04 9.99982552e-01 -3.17985374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73992885099997 meters 0.09157392230683205 Centerline is valid? [True, True] Translation: X:107.79, Y:-10.66, Z:-3.18 [[ 9.99965073e-01 5.45376672e-03 -6.33312464e-03 1.07786226e+02] [-5.44991235e-03 9.99984953e-01 6.25703362e-04 -1.06597003e+01] [ 6.33644179e-03 -5.91166534e-04 9.99979750e-01 -3.17979479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76992885099997 meters 0.09499994897127707 Centerline is valid? [True, True] Translation: X:107.81, Y:-10.67, Z:-3.18 [[ 9.99973346e-01 1.09293399e-03 -7.21895672e-03 1.07814661e+02] [-1.08781917e-03 9.99999155e-01 7.12414900e-04 -1.06714590e+01] [ 7.21972924e-03 -7.04542992e-04 9.99973689e-01 -3.18212257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79992885099998 meters 0.09751758523078671 Centerline is valid? [True, True] Translation: X:107.84, Y:-10.68, Z:-3.18 [[ 9.99969106e-01 -1.57773601e-03 -7.70045268e-03 1.07842902e+02] [ 1.58362927e-03 9.99998458e-01 7.59275584e-04 -1.06796277e+01] [ 7.69924286e-03 -7.71446789e-04 9.99970063e-01 -3.18408054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82992885099998 meters 0.09621360241547791 Centerline is valid? [True, True] Translation: X:107.87, Y:-10.68, Z:-3.18 [[ 9.99961004e-01 -3.66370803e-03 -8.03544769e-03 1.07873557e+02] [ 3.67019820e-03 9.99992950e-01 7.93095586e-04 -1.06808960e+01] [ 8.03248538e-03 -8.22556344e-04 9.99967401e-01 -3.18323216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85992885099998 meters 0.10122593039698283 Centerline is valid? [True, False] Translation: X:107.87, Y:-10.68, Z:-3.18 [[ 9.99962358e-01 -3.49776876e-03 -7.94026054e-03 1.07873695e+02] [ 3.50724429e-03 9.99993154e-01 1.17974193e-03 -1.06815406e+01] [ 7.93607972e-03 -1.20754595e-03 9.99967780e-01 -3.18376764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88992885099998 meters 0.09665030622723467 Centerline is valid? [False, True] Translation: X:107.87, Y:-10.68, Z:-3.18 [[ 9.99963164e-01 -3.61053401e-03 -7.78685662e-03 1.07873412e+02] [ 3.61975237e-03 9.99992764e-01 1.17006725e-03 -1.06814723e+01] [ 7.78257571e-03 -1.19821064e-03 9.99968997e-01 -3.18386506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91992885099998 meters 0.09876120648481329 Centerline is valid? [True, True] Translation: X:107.90, Y:-10.69, Z:-3.19 [[ 9.99953775e-01 -4.73330905e-03 -8.36919205e-03 1.07901385e+02] [ 4.74057266e-03 9.99988404e-01 8.48274349e-04 -1.06882264e+01] [ 8.36507986e-03 -8.87909901e-04 9.99964618e-01 -3.18535286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94992885099998 meters 0.09920613820008482 Centerline is valid? [True, True] Translation: X:107.93, Y:-10.69, Z:-3.19 [[ 9.99950873e-01 -5.21185400e-03 -8.43134075e-03 1.07929614e+02] [ 5.21919418e-03 9.99986020e-01 8.48813202e-04 -1.06916279e+01] [ 8.42679898e-03 -8.92776307e-04 9.99964095e-01 -3.18586091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97992885099998 meters 0.09621535031034277 Centerline is valid? [True, True] Translation: X:107.96, Y:-10.69, Z:-3.19 [[ 9.99957081e-01 -5.01672871e-03 -7.78904930e-03 1.07959226e+02] [ 5.02299400e-03 9.99987077e-01 7.85017045e-04 -1.06893622e+01] [ 7.78501042e-03 -8.24107701e-04 9.99969357e-01 -3.18512510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00992885099998 meters 0.10144904327168862 Centerline is valid? [True, False] Translation: X:107.96, Y:-10.69, Z:-3.18 [[ 9.99955092e-01 -5.03572131e-03 -8.02846436e-03 1.07959571e+02] [ 5.03949391e-03 9.99987201e-01 4.49742206e-04 -1.06883159e+01] [ 8.02609682e-03 -4.90181406e-04 9.99967670e-01 -3.18484797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03992885099998 meters 0.09492734633979688 Centerline is valid? [False, True] Translation: X:107.96, Y:-10.69, Z:-3.18 [[ 9.99953550e-01 -5.29823683e-03 -8.05150367e-03 1.07959298e+02] [ 5.29838049e-03 9.99985963e-01 -3.48786431e-06 -1.06874178e+01] [ 8.05140914e-03 -3.91722277e-05 9.99967586e-01 -3.18435637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.069928851 meters 0.0967419613454084 Centerline is valid? [True, True] Translation: X:107.99, Y:-10.69, Z:-3.19 [[ 9.99971699e-01 -2.55197646e-03 -7.07734241e-03 1.07988554e+02] [ 2.55693747e-03 9.99996492e-01 6.92010777e-04 -1.06935502e+01] [ 7.07555158e-03 -7.10087514e-04 9.99974716e-01 -3.18645065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099928851 meters 0.09781966491944644 Centerline is valid? [True, True] Translation: X:108.02, Y:-10.70, Z:-3.19 [[ 9.99969515e-01 -1.93878898e-03 -7.56374913e-03 1.08015951e+02] [ 1.94442341e-03 9.99997838e-01 7.37644016e-04 -1.06973099e+01] [ 7.56230264e-03 -7.52328660e-04 9.99971122e-01 -3.18786451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.129928851 meters 0.09241375548208285 Centerline is valid? [True, True] Translation: X:108.05, Y:-10.69, Z:-3.19 [[ 9.99976956e-01 7.82449682e-04 -6.74353580e-03 1.08047711e+02] [-7.78022392e-04 9.99999480e-01 6.59121914e-04 -1.06899693e+01] [ 6.74404803e-03 -6.53860103e-04 9.99977045e-01 -3.18618983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159928851 meters 0.0934738040268051 Centerline is valid? [True, True] Translation: X:108.08, Y:-10.69, Z:-3.19 [[ 9.99979280e-01 1.93784718e-03 -6.13871515e-03 1.08076269e+02] [-1.93420535e-03 9.99997950e-01 5.99138478e-04 -1.06946196e+01] [ 6.13986360e-03 -5.87252528e-04 9.99980978e-01 -3.18726563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.189928851 meters 0.09438590230186553 Centerline is valid? [True, True] Translation: X:108.10, Y:-10.70, Z:-3.19 [[ 9.99976004e-01 4.60820703e-03 -5.17253787e-03 1.08104999e+02] [-4.60565633e-03 9.99989266e-01 5.04925596e-04 -1.06989834e+01] [ 5.17480916e-03 -4.81090548e-04 9.99986495e-01 -3.18936457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219928851 meters 0.09323719187640489 Centerline is valid? [True, True] Translation: X:108.13, Y:-10.70, Z:-3.19 [[ 9.99966110e-01 6.50853890e-03 -5.04158881e-03 1.08134808e+02] [-6.50614195e-03 9.99978714e-01 4.91689800e-04 -1.06988177e+01] [ 5.04468167e-03 -4.58871844e-04 9.99987170e-01 -3.18984274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.249928851 meters 0.09118604180226346 Centerline is valid? [True, True] Translation: X:108.16, Y:-10.70, Z:-3.19 [[ 9.99970936e-01 5.06195345e-03 -5.70125856e-03 1.08164220e+02] [-5.05886814e-03 9.99987050e-01 5.55453733e-04 -1.06979812e+01] [ 5.70399641e-03 -5.26595674e-04 9.99983593e-01 -3.19061238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27992885099997 meters 0.09505926713999875 Centerline is valid? [True, True] Translation: X:108.19, Y:-10.71, Z:-3.19 [[ 9.99976494e-01 3.81593476e-03 -5.69645649e-03 1.08191789e+02] [-3.81283624e-03 9.99992577e-01 5.54698797e-04 -1.07087746e+01] [ 5.69853091e-03 -5.32966102e-04 9.99983621e-01 -3.19368047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30992885099997 meters 0.09505926713999875 Centerline is valid? [True, True] Translation: X:108.22, Y:-10.71, Z:-3.19 [[ 9.99976740e-01 3.75076236e-03 -5.69652227e-03 1.08220092e+02] [-3.74766661e-03 9.99992824e-01 5.54024005e-04 -1.07114599e+01] [ 5.69855941e-03 -5.32662452e-04 9.99983621e-01 -3.19427090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33992885099997 meters 0.09505926713999875 Centerline is valid? [True, True] Translation: X:108.25, Y:-10.71, Z:-3.19 [[ 9.99976983e-01 3.68558361e-03 -5.69655841e-03 1.08248395e+02] [-3.68248890e-03 9.99993066e-01 5.53652713e-04 -1.07141436e+01] [ 5.69855945e-03 -5.32662456e-04 9.99983621e-01 -3.19486146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36992885099997 meters 0.09184839103500234 Centerline is valid? [True, True] Translation: X:108.28, Y:-10.71, Z:-3.19 [[ 9.99980313e-01 2.00608764e-03 -5.94550591e-03 1.08279165e+02] [-2.00268141e-03 9.99997827e-01 5.78806620e-04 -1.07111842e+01] [ 5.94665413e-03 -5.66888271e-04 9.99982158e-01 -3.19339397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39992885099997 meters 0.09184839103500234 Centerline is valid? [True, True] Translation: X:108.31, Y:-10.71, Z:-3.19 [[ 9.99980513e-01 1.90286538e-03 -5.94573882e-03 1.08306625e+02] [-1.89947144e-03 9.99998030e-01 5.76414206e-04 -1.07137486e+01] [ 5.94682394e-03 -5.65109213e-04 9.99982158e-01 -3.19396646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42992885099997 meters 0.09166133960139582 Centerline is valid? [True, True] Translation: X:108.34, Y:-10.72, Z:-3.19 [[ 9.99978662e-01 4.08557740e-04 -6.51987839e-03 1.08337122e+02] [-4.04429821e-04 9.99999717e-01 6.34434148e-04 -1.07168296e+01] [ 6.52013574e-03 -6.31783778e-04 9.99978544e-01 -3.19462623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45992885099997 meters 0.09456314734009522 Centerline is valid? [True, True] Translation: X:108.37, Y:-10.73, Z:-3.20 [[ 9.99978757e-01 -1.50298569e-03 -6.34249982e-03 1.08365536e+02] [ 1.50692719e-03 9.99998674e-01 6.16709922e-04 -1.07253846e+01] [ 6.34156451e-03 -6.26254506e-04 9.99979696e-01 -3.19671223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48992885099997 meters 0.09644447980554573 Centerline is valid? [True, True] Translation: X:108.40, Y:-10.73, Z:-3.20 [[ 9.99973601e-01 -4.78693932e-03 -5.46639946e-03 1.08395685e+02] [ 4.78991736e-03 9.99988387e-01 5.31828244e-04 -1.07336930e+01] [ 5.46379015e-03 -5.57997806e-04 9.99984918e-01 -3.19780081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51992885099997 meters 0.098362985007464 Centerline is valid? [True, True] Translation: X:108.42, Y:-10.74, Z:-3.20 [[ 9.99967851e-01 -6.31299762e-03 -4.94398662e-03 1.08423878e+02] [ 6.31544777e-03 9.99979942e-01 4.80126792e-04 -1.07409768e+01] [ 4.94085641e-03 -5.11334845e-04 9.99987663e-01 -3.19843553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54992885099998 meters 0.10010355179728359 Centerline is valid? [True, False] Translation: X:108.42, Y:-10.74, Z:-3.20 [[ 9.99969321e-01 -6.20957583e-03 -4.77472220e-03 1.08423666e+02] [ 6.21377182e-03 9.99980321e-01 8.64460908e-04 -1.07419907e+01] [ 4.76926030e-03 -8.94103422e-04 9.99988227e-01 -3.19868515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57992885099998 meters 0.09719767747285506 Centerline is valid? [False, True] Translation: X:108.42, Y:-10.74, Z:-3.20 [[ 9.99970882e-01 -5.97399356e-03 -4.74838989e-03 1.08423970e+02] [ 5.98026088e-03 9.99981264e-01 1.30678112e-03 -1.07428027e+01] [ 4.74049423e-03 -1.33513968e-03 9.99987872e-01 -3.19925122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60992885099998 meters 0.10148792741274512 Centerline is valid? [True, False] Translation: X:108.42, Y:-10.74, Z:-3.20 [[ 9.99971371e-01 -5.80378435e-03 -4.85528533e-03 1.08424536e+02] [ 5.81099922e-03 9.99982031e-01 1.47319697e-03 -1.07427475e+01] [ 4.84664797e-03 -1.50136885e-03 9.99987128e-01 -3.19975311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63992885099998 meters 0.10056367982966136 Centerline is valid? [False, False] Translation: X:108.42, Y:-10.74, Z:-3.20 [[ 9.99970887e-01 -5.82985031e-03 -4.92317898e-03 1.08424761e+02] [ 5.83661322e-03 9.99982041e-01 1.36043990e-03 -1.07423030e+01] [ 4.91515941e-03 -1.38913498e-03 9.99986956e-01 -3.19987130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66992885099998 meters 0.10045293473111136 Centerline is valid? [False, False] Translation: X:108.43, Y:-10.74, Z:-3.20 [[ 9.99970691e-01 -5.75321324e-03 -5.05159157e-03 1.08425253e+02] [ 5.75986551e-03 9.99982563e-01 1.30330604e-03 -1.07417547e+01] [ 5.04400528e-03 -1.33236432e-03 9.99986391e-01 -3.20019244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69992885099998 meters 0.09533490720675007 Centerline is valid? [False, True] Translation: X:108.43, Y:-10.74, Z:-3.20 [[ 9.99968733e-01 -5.45021554e-03 -5.72960892e-03 1.08426850e+02] [ 5.45529530e-03 9.99984740e-01 8.71325916e-04 -1.07396022e+01] [ 5.72477258e-03 -9.02555381e-04 9.99983206e-01 -3.20043071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72992885099998 meters 0.09602973354158524 Centerline is valid? [True, True] Translation: X:108.46, Y:-10.74, Z:-3.20 [[ 9.99986014e-01 -2.85328974e-03 -4.45313970e-03 1.08456357e+02] [ 2.85521063e-03 9.99995834e-01 4.25058857e-04 -1.07426896e+01] [ 4.45190833e-03 -4.37767564e-04 9.99989994e-01 -3.20070169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75992885099998 meters 0.09560812514716359 Centerline is valid? [True, True] Translation: X:108.49, Y:-10.74, Z:-3.20 [[ 9.99986962e-01 -8.13917742e-04 -5.04119178e-03 1.08486836e+02] [ 8.16353916e-04 9.99999551e-01 4.81214696e-04 -1.07435361e+01] [ 5.04079785e-03 -4.85323819e-04 9.99987177e-01 -3.20148578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78992885099998 meters 0.09539608637655947 Centerline is valid? [True, True] Translation: X:108.52, Y:-10.74, Z:-3.20 [[ 9.99986261e-01 3.98880276e-03 -3.40094586e-03 1.08516436e+02] [-3.98772232e-03 9.99991996e-01 3.24411405e-04 -1.07443067e+01] [ 3.40221266e-03 -3.10844921e-04 9.99994164e-01 -3.20244358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819928851 meters 0.09434026195691514 Centerline is valid? [True, True] Translation: X:108.55, Y:-10.74, Z:-3.20 [[ 9.99978589e-01 6.09489480e-03 -2.38182616e-03 1.08546576e+02] [-6.09437049e-03 9.99981403e-01 2.27325830e-04 -1.07447499e+01] [ 2.38316739e-03 -2.12805231e-04 9.99997138e-01 -3.20237906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.849928851 meters 0.08989675181047688 Centerline is valid? [True, True] Translation: X:108.58, Y:-10.74, Z:-3.20 [[ 9.99969515e-01 7.59661352e-03 -1.80574576e-03 1.08576861e+02] [-7.59631574e-03 9.99971133e-01 1.71712191e-04 -1.07382709e+01] [ 1.80699807e-03 -1.57989942e-04 9.99998355e-01 -3.20078837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879928851 meters 0.08909493831644508 Centerline is valid? [True, True] Translation: X:108.61, Y:-10.74, Z:-3.20 [[ 9.99955906e-01 9.32730198e-03 -1.08996543e-03 1.08606859e+02] [-9.32719445e-03 9.99956495e-01 1.03696223e-04 -1.07393209e+01] [ 1.09088522e-03 -9.35253313e-05 9.99999401e-01 -3.20166273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.909928851 meters 0.08867243709550761 Centerline is valid? [True, True] Translation: X:108.64, Y:-10.74, Z:-3.20 [[ 9.99936957e-01 1.11961720e-02 -8.52998137e-04 1.08636924e+02] [-1.11961073e-02 9.99937318e-01 8.05795446e-05 -1.07407346e+01] [ 8.53846852e-04 -7.10242059e-05 9.99999633e-01 -3.20205819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939928851 meters 0.09050233267326564 Centerline is valid? [True, True] Translation: X:108.66, Y:-10.75, Z:-3.20 [[ 9.99939204e-01 1.10198235e-02 3.89131714e-04 1.08663865e+02] [-1.10198093e-02 9.99939279e-01 -3.88532001e-05 -1.07469267e+01] [-3.89536241e-04 3.45626807e-05 9.99999924e-01 -3.20306121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.969928851 meters 0.08817854403275686 Centerline is valid? [True, True] Translation: X:108.69, Y:-10.75, Z:-3.20 [[ 9.99951070e-01 9.77258792e-03 1.53425062e-03 1.08692934e+02] [-9.77237307e-03 9.99952238e-01 -1.47467251e-04 -1.07451821e+01] [-1.53561848e-03 1.32466766e-04 9.99998812e-01 -3.20168383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999928851 meters 0.09090224778373032 Centerline is valid? [True, True] Translation: X:108.72, Y:-10.75, Z:-3.20 [[ 9.99988626e-01 4.29897563e-03 -2.06535809e-03 1.08722923e+02] [-4.29857846e-03 9.99990742e-01 1.96698239e-04 -1.07549637e+01] [ 2.06618456e-03 -1.87817898e-04 9.99997848e-01 -3.20475157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02992885099997 meters 0.09717815521046126 Centerline is valid? [True, True] Translation: X:108.75, Y:-10.77, Z:-3.21 [[ 9.99992334e-01 1.05145163e-03 -3.77189924e-03 1.08750683e+02] [-1.05010446e-03 9.99999384e-01 3.59123718e-04 -1.07710162e+01] [ 3.77227452e-03 -3.55160076e-04 9.99992822e-01 -3.20926088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05992885099997 meters 0.09717815521046126 Centerline is valid? [True, True] Translation: X:108.78, Y:-10.77, Z:-3.21 [[ 9.99992399e-01 9.86427903e-04 -3.77203359e-03 1.08778992e+02] [-9.85085545e-04 9.99999451e-01 3.57712504e-04 -1.07736345e+01] [ 3.77238438e-03 -3.53994010e-04 9.99992822e-01 -3.20982005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08992885099997 meters 0.09328344177154944 Centerline is valid? [True, True] Translation: X:108.81, Y:-10.77, Z:-3.21 [[ 9.99981690e-01 -2.98672121e-03 -5.26309061e-03 1.08809572e+02] [ 2.98939644e-03 9.99995406e-01 5.00507816e-04 -1.07705443e+01] [ 5.26157156e-03 -5.16232116e-04 9.99986025e-01 -3.20932193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11992885099997 meters 0.09831367644934796 Centerline is valid? [True, True] Translation: X:108.84, Y:-10.78, Z:-3.21 [[ 9.99953405e-01 -7.80103356e-03 -5.68606805e-03 1.08838045e+02] [ 7.80423342e-03 9.99969400e-01 5.40782880e-04 -1.07845104e+01] [ 5.68167540e-03 -5.85133084e-04 9.99983688e-01 -3.21170253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14992885099997 meters 0.10175184768149668 Centerline is valid? [True, False] Translation: X:108.84, Y:-10.79, Z:-3.21 [[ 9.99915207e-01 -1.19517533e-02 -5.17048263e-03 1.08837138e+02] [ 1.19391874e-02 9.99925713e-01 -2.45438999e-03 -1.07882195e+01] [ 5.19943280e-03 2.39245052e-03 9.99983621e-01 -3.21191830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17992885099997 meters 0.10252687072615485 Centerline is valid? [False, False] Translation: X:108.84, Y:-10.79, Z:-3.21 [[ 9.99921084e-01 -1.15884186e-02 -4.85115978e-03 1.08836913e+02] [ 1.15823947e-02 9.99932118e-01 -1.26800229e-03 -1.07911667e+01] [ 4.86552462e-03 1.21171418e-03 9.99987429e-01 -3.21265429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20992885099997 meters 0.11004629520088322 Centerline is valid? [False, False] Translation: X:108.84, Y:-10.79, Z:-3.21 [[ 9.99926086e-01 -1.12281880e-02 -4.66365292e-03 1.08836890e+02] [ 1.12269632e-02 9.99936934e-01 -2.88734093e-04 -1.07935486e+01] [ 4.66660076e-03 2.36354092e-04 9.99989083e-01 -3.21328290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23992885099997 meters 0.11315350580355196 Centerline is valid? [False, False] Translation: X:108.84, Y:-10.80, Z:-3.21 [[ 9.99931751e-01 -1.07579099e-02 -4.55639869e-03 1.08837096e+02] [ 1.07612399e-02 9.99941846e-01 7.06961849e-04 -1.07958726e+01] [ 4.54852828e-03 -7.55946100e-04 9.99989370e-01 -3.21397243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26992885099997 meters 0.1055406303405776 Centerline is valid? [False, False] Translation: X:108.84, Y:-10.80, Z:-3.21 [[ 9.99934475e-01 -1.06772541e-02 -4.12809233e-03 1.08836186e+02] [ 1.06834490e-02 9.99941833e-01 1.48155152e-03 -1.07984663e+01] [ 4.11203331e-03 -1.52555671e-03 9.99990382e-01 -3.21398719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29992885099998 meters 0.1076308499606208 Centerline is valid? [False, False] Translation: X:108.84, Y:-10.80, Z:-3.21 [[ 9.99937386e-01 -1.03828091e-02 -4.17392716e-03 1.08836396e+02] [ 1.03911123e-02 9.99944065e-01 1.97257349e-03 -1.07996709e+01] [ 4.15321284e-03 -2.01582172e-03 9.99989344e-01 -3.21415815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32992885099998 meters 0.10901443260213589 Centerline is valid? [False, False] Translation: X:108.84, Y:-10.80, Z:-3.21 [[ 9.99937559e-01 -1.03100371e-02 -4.31060779e-03 1.08836505e+02] [ 1.03187275e-02 9.99944763e-01 1.99868224e-03 -1.07999509e+01] [ 4.28976320e-03 -2.04303742e-03 9.99988712e-01 -3.21387023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35992885099998 meters 0.10994006782699473 Centerline is valid? [False, False] Translation: X:108.84, Y:-10.80, Z:-3.21 [[ 9.99937478e-01 -1.02313823e-02 -4.51215295e-03 1.08836597e+02] [ 1.02403363e-02 9.99945634e-01 1.96580539e-03 -1.08002363e+01] [ 4.49179473e-03 -2.01188845e-03 9.99987888e-01 -3.21335198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38992885099998 meters 0.10709757706947848 Centerline is valid? [False, False] Translation: X:108.84, Y:-10.80, Z:-3.21 [[ 9.99936256e-01 -1.02911177e-02 -4.64514072e-03 1.08836616e+02] [ 1.02993449e-02 9.99945428e-01 1.75070389e-03 -1.07999394e+01] [ 4.62687053e-03 -1.79843420e-03 9.99987679e-01 -3.21293724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41992885099998 meters 0.1092094753968487 Centerline is valid? [False, False] Translation: X:108.84, Y:-10.80, Z:-3.21 [[ 9.99937741e-01 -9.98504911e-03 -4.98126876e-03 1.08837526e+02] [ 9.99471324e-03 9.99948210e-01 1.91898757e-03 -1.07999531e+01] [ 4.96184959e-03 -1.96865445e-03 9.99985752e-01 -3.21320841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44992885099998 meters 0.10800713980920679 Centerline is valid? [False, False] Translation: X:108.83, Y:-10.80, Z:-3.22 [[ 9.99991802e-01 -3.33708939e-03 2.29350604e-03 1.08828469e+02] [ 3.33470105e-03 9.99993894e-01 1.04438437e-03 -1.08016431e+01] [-2.29697724e-03 -1.03672765e-03 9.99996825e-01 -3.21828486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47992885099998 meters 0.10564878435016703 Centerline is valid? [False, False] Translation: X:108.83, Y:-10.80, Z:-3.22 [[ 9.99995060e-01 -2.77834198e-03 1.46984445e-03 1.08830171e+02] [ 2.77683376e-03 9.99995617e-01 1.02715736e-03 -1.08011927e+01] [-1.47269181e-03 -1.02307077e-03 9.99998392e-01 -3.21829889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50992885099998 meters 0.0983972035906587 Centerline is valid? [False, True] Translation: X:108.83, Y:-10.80, Z:-3.22 [[ 9.99996850e-01 -2.34691529e-03 8.90477002e-04 1.08831534e+02] [ 2.34591853e-03 9.99996623e-01 1.11875025e-03 -1.08009888e+01] [-8.93099606e-04 -1.11665774e-03 9.99998978e-01 -3.21848492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53992885099998 meters 0.0963521213672049 Centerline is valid? [True, True] Translation: X:108.86, Y:-10.80, Z:-3.22 [[ 9.99999129e-01 5.21868312e-04 1.21230423e-03 1.08862527e+02] [-5.21712703e-04 9.99999856e-01 -1.28671015e-04 -1.08001874e+01] [-1.21237121e-03 1.28038428e-04 9.99999257e-01 -3.21877083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.569928851 meters 0.09747780140837828 Centerline is valid? [True, True] Translation: X:108.89, Y:-10.81, Z:-3.22 [[ 9.99979323e-01 6.22600715e-03 1.60958878e-03 1.08891694e+02] [-6.22574009e-03 9.99980605e-01 -1.70873617e-04 -1.08058804e+01] [-1.61062142e-03 1.60849202e-04 9.99998690e-01 -3.22106139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599928851 meters 0.09449332121439716 Centerline is valid? [True, True] Translation: X:108.92, Y:-10.80, Z:-3.22 [[ 9.99959436e-01 8.87252565e-03 1.55040205e-03 1.08922524e+02] [-8.87228096e-03 9.99960627e-01 -1.64627762e-04 -1.08036239e+01] [-1.55180167e-03 1.50865482e-04 9.99998785e-01 -3.22115430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.629928851 meters 0.09315978138934099 Centerline is valid? [True, True] Translation: X:108.95, Y:-10.80, Z:-3.22 [[ 9.99933887e-01 1.13449787e-02 1.87447460e-03 1.08952954e+02] [-1.13446252e-02 9.99935628e-01 -1.99116533e-04 -1.08041556e+01] [-1.87661291e-03 1.77838157e-04 9.99998223e-01 -3.22187794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659928851 meters 0.08923983801848286 Centerline is valid? [True, True] Translation: X:108.98, Y:-10.80, Z:-3.22 [[ 9.99879707e-01 1.54894891e-02 8.04522029e-04 1.08983803e+02] [-1.54894245e-02 9.99880028e-01 -8.63782535e-05 -1.08001866e+01] [-8.05763464e-04 7.39062796e-05 9.99999673e-01 -3.22184838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.689928851 meters 0.09358281941941184 Centerline is valid? [True, True] Translation: X:109.01, Y:-10.81, Z:-3.23 [[ 9.99845464e-01 1.75661415e-02 6.91862481e-04 1.09011063e+02] [-1.75660946e-02 9.99845702e-01 -7.38302294e-05 -1.08122221e+01] [-6.93052640e-04 6.16654982e-05 9.99999758e-01 -3.22606362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719928851 meters 0.08848674662515194 Centerline is valid? [True, True] Translation: X:109.04, Y:-10.81, Z:-3.22 [[ 9.99817409e-01 1.90773300e-02 1.09702964e-03 1.09041873e+02] [-1.90772132e-02 9.99818007e-01 -1.16793823e-04 -1.08058401e+01] [-1.09905811e-03 9.58442288e-05 9.99999391e-01 -3.22477408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.749928851 meters 0.09292309022791455 Centerline is valid? [True, True] Translation: X:109.07, Y:-10.82, Z:-3.23 [[ 9.99793591e-01 2.02404608e-02 1.76061645e-03 1.09069335e+02] [-2.02401609e-02 9.99795129e-01 -1.87975702e-04 -1.08184991e+01] [-1.76406047e-03 1.52301742e-04 9.99998432e-01 -3.22787054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77992885099997 meters 0.08719605801737432 Centerline is valid? [True, True] Translation: X:109.10, Y:-10.81, Z:-3.23 [[ 9.99764195e-01 2.15650573e-02 2.55020929e-03 1.09099811e+02] [-2.15644353e-02 9.99767424e-01 -2.71146355e-04 -1.08108843e+01] [-2.55546346e-03 2.16088594e-04 9.99996711e-01 -3.22518424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80992885099997 meters 0.08700005310970782 Centerline is valid? [True, True] Translation: X:109.13, Y:-10.81, Z:-3.23 [[ 9.99765353e-01 2.14765172e-02 2.82793339e-03 1.09128735e+02] [-2.14757502e-02 9.99769324e-01 -3.01286835e-04 -1.08139416e+01] [-2.83375164e-03 2.40484148e-04 9.99995956e-01 -3.22617070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83992885099997 meters 0.08649742754157796 Centerline is valid? [True, True] Translation: X:109.16, Y:-10.82, Z:-3.23 [[ 9.99759086e-01 2.17160155e-02 3.19136064e-03 1.09157827e+02] [-2.17150427e-02 9.99764143e-01 -3.39154394e-04 -1.08171806e+01] [-3.19797302e-03 2.69772154e-04 9.99994850e-01 -3.22646209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86992885099997 meters 0.08611862614873339 Centerline is valid? [True, True] Translation: X:109.19, Y:-10.82, Z:-3.23 [[ 9.99763920e-01 2.15779428e-02 2.54874941e-03 1.09186559e+02] [-2.15773205e-02 9.99767146e-01 -2.71430726e-04 -1.08192674e+01] [-2.55401284e-03 2.16371464e-04 9.99996715e-01 -3.22729667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89992885099997 meters 0.0875259437002204 Centerline is valid? [True, True] Translation: X:109.21, Y:-10.83, Z:-3.23 [[ 9.99775504e-01 2.10169923e-02 2.68844361e-03 1.09213584e+02] [-2.10162960e-02 9.99779092e-01 -2.86989721e-04 -1.08269145e+01] [-2.69388137e-03 2.30424166e-04 9.99996345e-01 -3.22937279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92992885099997 meters 0.08660721326090276 Centerline is valid? [True, True] Translation: X:109.24, Y:-10.83, Z:-3.23 [[ 9.99790573e-01 2.03467150e-02 2.19594156e-03 1.09242568e+02] [-2.03462503e-02 9.99792966e-01 -2.33733997e-04 -1.08288660e+01] [-2.20024265e-03 1.89005870e-04 9.99997562e-01 -3.22958605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95992885099997 meters 0.08843145350013505 Centerline is valid? [True, True] Translation: X:109.27, Y:-10.84, Z:-3.23 [[ 9.99802225e-01 1.97272526e-02 2.51914852e-03 1.09269910e+02] [-1.97266392e-02 9.99805375e-01 -2.68091130e-04 -1.08362609e+01] [-2.52394693e-03 2.18343774e-04 9.99996791e-01 -3.23200870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98992885099997 meters 0.09287332482779796 Centerline is valid? [True, True] Translation: X:109.30, Y:-10.85, Z:-3.24 [[ 9.99836634e-01 1.79963709e-02 1.68416480e-03 1.09298139e+02] [-1.79960969e-02 9.99838041e-01 -1.77708187e-04 -1.08493477e+01] [-1.68709014e-03 1.47370763e-04 9.99998566e-01 -3.23515924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01992885099997 meters 0.08971394301301773 Centerline is valid? [True, True] Translation: X:109.33, Y:-10.85, Z:-3.23 [[ 9.99854493e-01 1.69939775e-02 1.48225603e-03 1.09328296e+02] [-1.69937629e-02 9.99855583e-01 -1.57258659e-04 -1.08471436e+01] [-1.48471442e-03 1.32046669e-04 9.99998889e-01 -3.23451626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04992885099998 meters 0.09249668372303205 Centerline is valid? [True, True] Translation: X:109.36, Y:-10.86, Z:-3.24 [[ 9.99868789e-01 1.61506758e-02 1.24918750e-03 1.09355285e+02] [-1.61505210e-02 9.99869563e-01 -1.33902218e-04 -1.08566203e+01] [-1.25118718e-03 1.13709620e-04 9.99999211e-01 -3.23683769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07992885099998 meters 0.08965900991967875 Centerline is valid? [True, True] Translation: X:109.38, Y:-10.85, Z:-3.24 [[ 9.99882895e-01 1.52697669e-02 1.01493602e-03 1.09384040e+02] [-1.52696639e-02 9.99883406e-01 -1.09149774e-04 -1.08546650e+01] [-1.01648437e-03 9.36392598e-05 9.99999479e-01 -3.23644656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10992885099998 meters 0.08859034987501402 Centerline is valid? [True, True] Translation: X:109.41, Y:-10.86, Z:-3.24 [[ 9.99908838e-01 1.34996316e-02 2.74970204e-04 1.09413738e+02] [-1.34996240e-02 9.99908875e-01 -2.94856000e-05 -1.08572719e+01] [-2.75343192e-04 2.57709177e-05 9.99999962e-01 -3.23589194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13992885099998 meters 0.0903053833214061 Centerline is valid? [True, True] Translation: X:109.44, Y:-10.86, Z:-3.24 [[ 9.99922296e-01 1.24422616e-02 7.69957047e-04 1.09441587e+02] [-1.24422018e-02 9.99922589e-01 -8.24095494e-05 -1.08645655e+01] [-7.70922806e-04 7.28231849e-05 9.99999700e-01 -3.23749399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16992885099998 meters 0.09075076823647277 Centerline is valid? [True, True] Translation: X:109.47, Y:-10.87, Z:-3.24 [[ 9.99931412e-01 1.16828866e-02 8.25647916e-04 1.09470169e+02] [-1.16828173e-02 9.99931750e-01 -8.86696151e-05 -1.08694518e+01] [-8.26627482e-04 7.90176396e-05 9.99999655e-01 -3.23835617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19992885099998 meters 0.09286039787898909 Centerline is valid? [True, True] Translation: X:109.50, Y:-10.88, Z:-3.24 [[ 9.99944059e-01 1.05767593e-02 1.09668892e-04 1.09497457e+02] [-1.05767579e-02 9.99944064e-01 -1.33392004e-05 -1.08787377e+01] [-1.09803843e-04 1.21785129e-05 9.99999994e-01 -3.24027778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22992885099998 meters 0.08976739237105165 Centerline is valid? [True, True] Translation: X:109.53, Y:-10.88, Z:-3.24 [[ 9.99943968e-01 1.05709574e-02 5.61730053e-04 1.09526575e+02] [-1.05709249e-02 9.99944124e-01 -6.08314813e-05 -1.08764704e+01] [-5.62341713e-04 5.48900666e-05 9.99999840e-01 -3.23896432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25992885099998 meters 0.09108010562240713 Centerline is valid? [True, True] Translation: X:109.55, Y:-10.88, Z:-3.24 [[ 9.99945724e-01 1.04183303e-02 8.97754000e-05 1.09553979e+02] [-1.04183293e-02 9.99945728e-01 -1.16972397e-05 -1.08831971e+01] [-8.98923934e-05 1.07612952e-05 9.99999996e-01 -3.23996012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28992885099998 meters 0.09275876635090595 Centerline is valid? [True, True] Translation: X:109.58, Y:-10.89, Z:-3.24 [[ 9.99947091e-01 1.02570245e-02 7.80727665e-04 1.09580860e+02] [-1.02569618e-02 9.99947392e-01 -8.42763793e-05 -1.08905400e+01] [-7.81551018e-04 7.62640264e-05 9.99999692e-01 -3.24136249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319928851 meters 0.09279207845176034 Centerline is valid? [True, True] Translation: X:109.61, Y:-10.90, Z:-3.24 [[ 9.99943144e-01 1.04198972e-02 2.26586414e-03 1.09609759e+02] [-1.04193825e-02 9.99945688e-01 -2.38834863e-04 -1.08964971e+01] [-2.26822971e-03 2.15212379e-04 9.99997404e-01 -3.24124573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.349928851 meters 0.09281829408918493 Centerline is valid? [True, True] Translation: X:109.64, Y:-10.90, Z:-3.24 [[ 9.99936763e-01 1.08290885e-02 3.03317654e-03 1.09638473e+02] [-1.08281687e-02 9.99941323e-01 -3.19510610e-04 -1.09015859e+01] [-3.03645857e-03 2.86646658e-04 9.99995349e-01 -3.24169348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379928851 meters 0.08809965989362548 Centerline is valid? [True, True] Translation: X:109.67, Y:-10.90, Z:-3.24 [[ 9.99937665e-01 1.07580998e-02 2.98815208e-03 1.09667757e+02] [-1.07572071e-02 9.99942090e-01 -3.14672911e-04 -1.08967316e+01] [-2.99136432e-03 2.82509125e-04 9.99995486e-01 -3.23962792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.409928851 meters 0.09211923177842278 Centerline is valid? [True, True] Translation: X:109.69, Y:-10.91, Z:-3.24 [[ 9.99948353e-01 9.80537059e-03 2.67335331e-03 1.09694949e+02] [-9.80465382e-03 9.99951894e-01 -2.81092596e-04 -1.09112419e+01] [-2.67598092e-03 2.54866774e-04 9.99996387e-01 -3.24302197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439928851 meters 0.09009648072248921 Centerline is valid? [True, True] Translation: X:109.72, Y:-10.91, Z:-3.24 [[ 9.99955099e-01 9.36926569e-03 1.42041910e-03 1.09724096e+02] [-9.36906211e-03 9.99956098e-01 -1.49911343e-04 -1.09124447e+01] [-1.42176130e-03 1.36596617e-04 9.99998980e-01 -3.24324402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.469928851 meters 0.09076527028170006 Centerline is valid? [True, True] Translation: X:109.75, Y:-10.92, Z:-3.24 [[ 9.99963069e-01 8.50248415e-03 1.25224973e-03 1.09753255e+02] [-8.50232568e-03 9.99963846e-01 -1.31822370e-04 -1.09188160e+01] [-1.25332527e-03 1.21170467e-04 9.99999207e-01 -3.24443279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499928851 meters 0.0917020824521201 Centerline is valid? [True, True] Translation: X:109.78, Y:-10.93, Z:-3.25 [[ 9.99970891e-01 7.57766491e-03 8.92792714e-04 1.09781814e+02] [-7.57758341e-03 9.99971285e-01 -9.46394346e-05 -1.09262650e+01] [-8.93484223e-04 8.78714684e-05 9.99999597e-01 -3.24546644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52992885099997 meters 0.09331960315586446 Centerline is valid? [True, True] Translation: X:109.81, Y:-10.93, Z:-3.25 [[ 9.99977010e-01 6.75745667e-03 5.61948814e-04 1.09809784e+02] [-6.75742402e-03 9.99977167e-01 -5.99811426e-05 -1.09347031e+01] [-5.62341303e-04 5.61824373e-05 9.99999840e-01 -3.24775245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55992885099997 meters 0.0913739738210403 Centerline is valid? [True, True] Translation: X:109.84, Y:-10.94, Z:-3.25 [[ 9.99985360e-01 5.22189951e-03 -1.41838169e-03 1.09839623e+02] [-5.22169526e-03 9.99986356e-01 1.47670475e-04 -1.09376631e+01] [ 1.41913346e-03 -1.40261956e-04 9.99998983e-01 -3.24829417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58992885099997 meters 0.08996830982452259 Centerline is valid? [True, True] Translation: X:109.87, Y:-10.94, Z:-3.25 [[ 9.99987758e-01 4.39691446e-03 -2.26954631e-03 1.09869393e+02] [-4.39639003e-03 9.99990308e-01 2.36011449e-04 -1.09395244e+01] [ 2.27056204e-03 -2.26030749e-04 9.99997397e-01 -3.24850046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61992885099997 meters 0.09111225104456483 Centerline is valid? [True, True] Translation: X:109.90, Y:-10.95, Z:-3.25 [[ 9.99984730e-01 4.24646727e-03 -3.53653028e-03 1.09896460e+02] [-4.24519702e-03 9.99990922e-01 3.66611453e-04 -1.09466362e+01] [ 3.53805498e-03 -3.51592587e-04 9.99993679e-01 -3.25051751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64992885099997 meters 0.09115875834739258 Centerline is valid? [True, True] Translation: X:109.93, Y:-10.95, Z:-3.25 [[ 9.99985995e-01 3.50216691e-03 -3.96785919e-03 1.09925275e+02] [-3.50055605e-03 9.99993788e-01 4.12848558e-04 -1.09532963e+01] [ 3.96928041e-03 -3.98953062e-04 9.99992043e-01 -3.25181143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67992885099997 meters 0.09289494059687405 Centerline is valid? [True, True] Translation: X:109.95, Y:-10.96, Z:-3.25 [[ 9.99985913e-01 3.06954468e-03 -4.33043697e-03 1.09952759e+02] [-3.06763072e-03 9.99995194e-01 4.48552518e-04 -1.09610517e+01] [ 4.33179301e-03 -4.35262018e-04 9.99990523e-01 -3.25377691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70992885099997 meters 0.09162198389677047 Centerline is valid? [True, True] Translation: X:109.98, Y:-10.96, Z:-3.25 [[ 9.99983371e-01 3.61574120e-03 -4.49272791e-03 1.09981089e+02] [-3.61368394e-03 9.99993362e-01 4.65941335e-04 -1.09633923e+01] [ 4.49438281e-03 -4.49698288e-04 9.99989799e-01 -3.25443590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73992885099997 meters 0.09321107956447326 Centerline is valid? [True, True] Translation: X:110.01, Y:-10.97, Z:-3.26 [[ 9.99977987e-01 3.48210454e-03 -5.64803794e-03 1.10007983e+02] [-3.47885615e-03 9.99993778e-01 5.84858660e-04 -1.09708266e+01] [ 5.65003933e-03 -5.65197074e-04 9.99983879e-01 -3.25617202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76992885099997 meters 0.09128522011981559 Centerline is valid? [True, True] Translation: X:110.04, Y:-10.97, Z:-3.26 [[ 9.99980832e-01 3.74858707e-03 -4.92790849e-03 1.10037039e+02] [-3.74611674e-03 9.99992853e-01 5.10427627e-04 -1.09720292e+01] [ 4.92978665e-03 -4.91957323e-04 9.99987728e-01 -3.25589272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79992885099998 meters 0.09305053553763562 Centerline is valid? [True, True] Translation: X:110.06, Y:-10.98, Z:-3.26 [[ 9.99981022e-01 3.97512678e-03 -4.70674417e-03 1.10063969e+02] [-3.97287941e-03 9.99991990e-01 4.86732167e-04 -1.09792844e+01] [ 4.70864129e-03 -4.68023603e-04 9.99988805e-01 -3.25740912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82992885099998 meters 0.09157679619080837 Centerline is valid? [True, True] Translation: X:110.09, Y:-10.98, Z:-3.26 [[ 9.99977508e-01 4.59646277e-03 -4.88420051e-03 1.10093041e+02] [-4.59404961e-03 9.99989320e-01 5.05178846e-04 -1.09807300e+01] [ 4.88647038e-03 -4.82729224e-04 9.99987945e-01 -3.25629473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85992885099998 meters 0.09159775991553101 Centerline is valid? [True, True] Translation: X:110.12, Y:-10.99, Z:-3.26 [[ 9.99978256e-01 5.63710566e-03 -3.42194305e-03 1.10122463e+02] [-5.63592457e-03 9.99984055e-01 3.54695590e-04 -1.09868438e+01] [ 3.42388795e-03 -3.35402065e-04 9.99994082e-01 -3.25723592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88992885099998 meters 0.08809975608393497 Centerline is valid? [True, True] Translation: X:110.15, Y:-10.98, Z:-3.26 [[ 9.99976885e-01 6.03918759e-03 -3.12378098e-03 1.10151569e+02] [-6.03821053e-03 9.99981718e-01 3.22120574e-04 -1.09840794e+01] [ 3.12566921e-03 -3.03251081e-04 9.99995069e-01 -3.25504227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91992885099998 meters 0.088812647321634 Centerline is valid? [True, True] Translation: X:110.18, Y:-10.99, Z:-3.26 [[ 9.99974141e-01 6.41037595e-03 -3.25963064e-03 1.10178601e+02] [-6.40931611e-03 9.99979404e-01 3.35482304e-04 -1.09897246e+01] [ 3.26171407e-03 -3.14581625e-04 9.99994631e-01 -3.25680292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94992885099998 meters 0.088812647321634 Centerline is valid? [True, True] Translation: X:110.21, Y:-10.99, Z:-3.26 [[ 9.99974573e-01 6.34261359e-03 -3.25960525e-03 1.10206898e+02] [-6.34155261e-03 9.99979836e-01 3.35726626e-04 -1.09925920e+01] [ 3.26166890e-03 -3.15047131e-04 9.99994631e-01 -3.25757282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97992885099998 meters 0.09092349130200901 Centerline is valid? [True, True] Translation: X:110.23, Y:-11.00, Z:-3.26 [[ 9.99968904e-01 7.21830564e-03 -3.17613542e-03 1.10233990e+02] [-7.21730509e-03 9.99973902e-01 3.26369104e-04 -1.10010161e+01] [ 3.17840836e-03 -3.03435817e-04 9.99994903e-01 -3.26026497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00992885099998 meters 0.08756330234244504 Centerline is valid? [True, True] Translation: X:110.26, Y:-11.00, Z:-3.26 [[ 9.99941904e-01 1.02082806e-02 -3.46103478e-03 1.10264546e+02] [-1.02071020e-02 9.99947842e-01 3.58027961e-04 -1.10004239e+01] [ 3.46450911e-03 -3.22680026e-04 9.99993947e-01 -3.25989183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03992885099998 meters 0.09075468603083596 Centerline is valid? [True, True] Translation: X:110.29, Y:-11.01, Z:-3.26 [[ 9.99933630e-01 1.10061586e-02 -3.40582331e-03 1.10291718e+02] [-1.10050286e-02 9.99939381e-01 3.50348817e-04 -1.10111218e+01] [ 3.40947284e-03 -3.12844381e-04 9.99994139e-01 -3.26299324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.069928851 meters 0.09030875349203203 Centerline is valid? [True, True] Translation: X:110.32, Y:-11.01, Z:-3.26 [[ 9.99923496e-01 1.19625417e-02 -3.14651764e-03 1.10320564e+02] [-1.19615814e-02 9.99928405e-01 3.23856121e-04 -1.10146933e+01] [ 3.15016651e-03 -2.86194018e-04 9.99994997e-01 -3.26383092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099928851 meters 0.08612093124503564 Centerline is valid? [True, True] Translation: X:110.35, Y:-11.01, Z:-3.26 [[ 9.99881311e-01 1.51745493e-02 -2.66401172e-03 1.10351672e+02] [-1.51738693e-02 9.99884832e-01 2.75283909e-04 -1.10117608e+01] [ 2.66788222e-03 -2.34827870e-04 9.99996414e-01 -3.26234240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.129928851 meters 0.08538967609062544 Centerline is valid? [True, True] Translation: X:110.38, Y:-11.01, Z:-3.26 [[ 9.99854913e-01 1.66932913e-02 -3.38911550e-03 1.10381331e+02] [-1.66922027e-02 9.99860614e-01 3.49230820e-04 -1.10143236e+01] [ 3.39447292e-03 -2.92608348e-04 9.99994196e-01 -3.26284429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159928851 meters 0.08486834085092666 Centerline is valid? [True, True] Translation: X:110.41, Y:-11.02, Z:-3.26 [[ 9.99831234e-01 1.80671666e-02 -3.32877457e-03 1.10411378e+02] [-1.80661227e-02 9.99836735e-01 3.43402462e-04 -1.10180000e+01] [ 3.33443541e-03 -2.83206458e-04 9.99994401e-01 -3.26292759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.189928851 meters 0.08428387051000108 Centerline is valid? [True, True] Translation: X:110.44, Y:-11.02, Z:-3.26 [[ 9.99807897e-01 1.93576826e-02 -3.07408085e-03 1.10440649e+02] [-1.93568003e-02 9.99812589e-01 3.16520738e-04 -1.10210539e+01] [ 3.07963184e-03 -2.56955565e-04 9.99995225e-01 -3.26410364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219928851 meters 0.08318684947239828 Centerline is valid? [True, True] Translation: X:110.47, Y:-11.02, Z:-3.26 [[ 9.99776774e-01 2.07870437e-02 -3.78175397e-03 1.10469248e+02] [-2.07857223e-02 9.99783878e-01 3.88381766e-04 -1.10240932e+01] [ 3.78900996e-03 -3.09688581e-04 9.99992774e-01 -3.26375909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.249928851 meters 0.08435030760243438 Centerline is valid? [True, True] Translation: X:110.50, Y:-11.03, Z:-3.27 [[ 9.99762175e-01 2.16275691e-02 -2.80047268e-03 1.10496490e+02] [-2.16268511e-02 9.99766071e-01 2.86418986e-04 -1.10312725e+01] [ 2.80601212e-03 -2.25785463e-04 9.99996038e-01 -3.26574873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27992885099997 meters 0.08303222668191335 Centerline is valid? [True, True] Translation: X:110.53, Y:-11.03, Z:-3.27 [[ 9.99750637e-01 2.21390172e-02 -2.92038566e-03 1.10525847e+02] [-2.21382360e-02 9.99754874e-01 2.99566067e-04 -1.10320570e+01] [ 2.92630190e-03 -2.34839179e-04 9.99995691e-01 -3.26558855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30992885099997 meters 0.08428055459575033 Centerline is valid? [True, True] Translation: X:110.55, Y:-11.04, Z:-3.27 [[ 9.99722669e-01 2.33932519e-02 -2.70958264e-03 1.10552678e+02] [-2.33925873e-02 9.99726318e-01 2.76719730e-04 -1.10408359e+01] [ 2.71531445e-03 -2.13258839e-04 9.99996291e-01 -3.26800786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33992885099997 meters 0.08401245492956667 Centerline is valid? [True, True] Translation: X:110.58, Y:-11.04, Z:-3.27 [[ 9.99714351e-01 2.37624274e-02 -2.56208875e-03 1.10581792e+02] [-2.37618326e-02 9.99717613e-01 2.62327026e-04 -1.10438243e+01] [ 2.56759877e-03 -2.01372169e-04 9.99996683e-01 -3.26866569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36992885099997 meters 0.08503452658237921 Centerline is valid? [True, True] Translation: X:110.61, Y:-11.05, Z:-3.27 [[ 9.99704860e-01 2.41442964e-02 -2.69185491e-03 1.10609363e+02] [-2.41436464e-02 9.99708462e-01 2.73695272e-04 -1.10495333e+01] [ 2.69767831e-03 -2.08623301e-04 9.99996339e-01 -3.27036321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39992885099997 meters 0.08415633009954869 Centerline is valid? [True, True] Translation: X:110.64, Y:-11.05, Z:-3.27 [[ 9.99649962e-01 2.60519005e-02 -4.60999161e-03 1.10638437e+02] [-2.60500000e-02 9.99660530e-01 4.71831478e-04 -1.10507426e+01] [ 4.62071877e-03 -3.51576037e-04 9.99989263e-01 -3.27189582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42992885099997 meters 0.08427529368767836 Centerline is valid? [True, True] Translation: X:110.67, Y:-11.05, Z:-3.27 [[ 9.99604645e-01 2.75141280e-02 -5.79019088e-03 1.10667392e+02] [-2.75111537e-02 9.99621321e-01 5.92715130e-04 -1.10532954e+01] [ 5.80430629e-03 -4.33185966e-04 9.99983061e-01 -3.27371629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45992885099997 meters 0.08373522347253291 Centerline is valid? [True, True] Translation: X:110.70, Y:-11.05, Z:-3.27 [[ 9.99542248e-01 2.96634065e-02 -5.94778669e-03 1.10696984e+02] [-2.96603015e-02 9.99559851e-01 6.09591230e-04 -1.10546538e+01] [ 5.96325133e-03 -4.32899042e-04 9.99982126e-01 -3.27479542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48992885099997 meters 0.08273935994403592 Centerline is valid? [True, True] Translation: X:110.73, Y:-11.05, Z:-3.28 [[ 9.99469867e-01 3.20637798e-02 -5.64798979e-03 1.10727426e+02] [-3.20610164e-02 9.99485746e-01 5.79168635e-04 -1.10546302e+01] [ 5.66365563e-03 -3.97781306e-04 9.99983882e-01 -3.27523674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51992885099997 meters 0.0802186704593457 Centerline is valid? [True, True] Translation: X:110.76, Y:-11.05, Z:-3.27 [[ 9.99327822e-01 3.64375597e-02 -4.02601477e-03 1.10758547e+02] [-3.64361908e-02 9.99335896e-01 4.12880691e-04 -1.10499755e+01] [ 4.03838544e-03 -2.65910519e-04 9.99991810e-01 -3.27371080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54992885099998 meters 0.07987870938452554 Centerline is valid? [True, True] Translation: X:110.79, Y:-11.05, Z:-3.27 [[ 9.99266554e-01 3.81695084e-02 -3.07298313e-03 1.10788459e+02] [-3.81687200e-02 9.99271259e-01 3.14817105e-04 -1.10510137e+01] [ 3.08276013e-03 -1.97294371e-04 9.99995229e-01 -3.27377088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57992885099998 meters 0.07949035977208851 Centerline is valid? [True, True] Translation: X:110.82, Y:-11.05, Z:-3.27 [[ 9.99184840e-01 4.03479951e-02 -1.30207011e-03 1.10818833e+02] [-4.03478558e-02 9.99185685e-01 1.33104075e-04 -1.10521108e+01] [ 1.30638030e-03 -8.04598373e-05 9.99999143e-01 -3.27448526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60992885099998 meters 0.0794034030467301 Centerline is valid? [True, True] Translation: X:110.85, Y:-11.05, Z:-3.28 [[ 9.99113364e-01 4.20898920e-02 -9.62432286e-04 1.10848965e+02] [-4.20898169e-02 9.99113826e-01 9.82498604e-05 -1.10543421e+01] [ 9.65714729e-04 -5.76541499e-05 9.99999532e-01 -3.27507179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63992885099998 meters 0.07916803350320517 Centerline is valid? [True, True] Translation: X:110.88, Y:-11.06, Z:-3.28 [[ 9.99021837e-01 4.42058545e-02 1.10078634e-03 1.10879149e+02] [-4.42057564e-02 9.99022441e-01 -1.13342878e-04 -1.10552606e+01] [-1.10472068e-03 6.45709172e-05 9.99999388e-01 -3.27597636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66992885099998 meters 0.07886250617425858 Centerline is valid? [True, True] Translation: X:110.91, Y:-11.06, Z:-3.28 [[ 9.98995658e-01 4.47535230e-02 2.19017229e-03 1.10907809e+02] [-4.47531340e-02 9.98998051e-01 -2.26300177e-04 -1.10564467e+01] [-2.19810558e-03 1.28055820e-04 9.99997576e-01 -3.27638758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69992885099998 meters 0.07892793872310111 Centerline is valid? [True, True] Translation: X:110.94, Y:-11.06, Z:-3.28 [[ 9.98976989e-01 4.51388266e-02 2.73176656e-03 1.10936293e+02] [-4.51382247e-02 9.98980711e-01 -2.81611475e-04 -1.10587096e+01] [-2.74169372e-03 1.58016290e-04 9.99996229e-01 -3.27812955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72992885099998 meters 0.07895873440329881 Centerline is valid? [True, True] Translation: X:110.96, Y:-11.06, Z:-3.28 [[ 9.98991421e-01 4.47781631e-02 3.32530423e-03 1.10964283e+02] [-4.47772686e-02 9.98996936e-01 -3.42996999e-04 -1.10609838e+01] [-3.33732751e-03 1.93753019e-04 9.99994412e-01 -3.27879181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75992885099998 meters 0.08033527287543765 Centerline is valid? [True, True] Translation: X:110.99, Y:-11.07, Z:-3.28 [[ 9.99040888e-01 4.36287399e-02 3.71985066e-03 1.10991600e+02] [-4.36276133e-02 9.99047789e-01 -3.83510130e-04 -1.10682354e+01] [-3.73304064e-03 2.20854094e-04 9.99993008e-01 -3.28182052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78992885099998 meters 0.07983938102664566 Centerline is valid? [True, True] Translation: X:111.02, Y:-11.07, Z:-3.28 [[ 9.99102805e-01 4.21080619e-02 4.52730912e-03 1.11020480e+02] [-4.21063894e-02 9.99113025e-01 -4.64130100e-04 -1.10697866e+01] [-4.54283713e-03 2.73085043e-04 9.99989644e-01 -3.28201340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819928851 meters 0.08063416153069856 Centerline is valid? [True, True] Translation: X:111.05, Y:-11.08, Z:-3.28 [[ 9.99198178e-01 3.97881609e-02 4.46128732e-03 1.11049324e+02] [-3.97865169e-02 9.99208099e-01 -4.56685410e-04 -1.10758111e+01] [-4.47592509e-03 2.78820146e-04 9.99989944e-01 -3.28332455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.849928851 meters 0.08279470846222912 Centerline is valid? [True, True] Translation: X:111.08, Y:-11.09, Z:-3.29 [[ 9.99414203e-01 3.39174083e-02 4.56738567e-03 1.11077394e+02] [-3.39156273e-02 9.99424591e-01 -4.66857583e-04 -1.10870120e+01] [-4.58059215e-03 3.11678349e-04 9.99989460e-01 -3.28601365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879928851 meters 0.08365878348761763 Centerline is valid? [True, True] Translation: X:111.11, Y:-11.09, Z:-3.29 [[ 9.99521627e-01 3.06601819e-02 4.05839383e-03 1.11107186e+02] [-3.06587514e-02 9.99529824e-01 -4.14226334e-04 -1.10942324e+01] [-4.06918592e-03 2.89602891e-04 9.99991679e-01 -3.28764169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.909928851 meters 0.09758591894430778 Centerline is valid? [True, True] Translation: X:111.13, Y:-11.13, Z:-3.30 [[ 9.99561495e-01 2.84586916e-02 8.18055791e-03 1.11131108e+02] [-2.84527967e-02 9.99594788e-01 -8.36106395e-04 -1.11297586e+01] [-8.20103754e-03 6.02980007e-04 9.99966189e-01 -3.29528392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939928851 meters 0.08634143164658364 Centerline is valid? [True, True] Translation: X:111.16, Y:-11.11, Z:-3.29 [[ 9.99718829e-01 2.34772473e-02 3.32899820e-03 1.11163431e+02] [-2.34762459e-02 9.99724337e-01 -3.39557628e-04 -1.11089284e+01] [-3.33605239e-03 2.61309774e-04 9.99994401e-01 -3.29088642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.969928851 meters 0.08728501186213386 Centerline is valid? [True, True] Translation: X:111.19, Y:-11.12, Z:-3.29 [[ 9.99786854e-01 2.04497744e-02 2.83766376e-03 1.11193084e+02] [-2.04490351e-02 9.99790855e-01 -2.89289773e-04 -1.11150381e+01] [-2.84298618e-03 2.31200626e-04 9.99995932e-01 -3.29214179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999928851 meters 0.09018665251476411 Centerline is valid? [True, True] Translation: X:111.22, Y:-11.13, Z:-3.30 [[ 9.99875732e-01 1.56899223e-02 1.53175526e-03 1.11221189e+02] [-1.56897002e-02 9.99876897e-01 -1.56913860e-04 -1.11250342e+01] [-1.53402867e-03 1.32861580e-04 9.99998815e-01 -3.29556972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02992885099997 meters 0.08933358831505532 Centerline is valid? [True, True] Translation: X:111.25, Y:-11.13, Z:-3.30 [[ 9.99892958e-01 1.45513113e-02 1.52696548e-03 1.11250898e+02] [-1.45510892e-02 9.99894115e-01 -1.56428819e-04 -1.11261913e+01] [-1.52908005e-03 1.34193064e-04 9.99998822e-01 -3.29553629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05992885099997 meters 0.0912144762045973 Centerline is valid? [True, True] Translation: X:111.28, Y:-11.13, Z:-3.30 [[ 9.99904670e-01 1.37440834e-02 1.32305890e-03 1.11279303e+02] [-1.37439153e-02 9.99905539e-01 -1.36038059e-04 -1.11331069e+01] [-1.32480364e-03 1.17841081e-04 9.99999116e-01 -3.29767417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08992885099997 meters 0.08681093906053454 Centerline is valid? [True, True] Translation: X:111.31, Y:-11.13, Z:-3.30 [[ 9.99908375e-01 1.35101070e-02 8.48002382e-04 1.11309473e+02] [-1.35100371e-02 9.99908731e-01 -8.81533050e-05 -1.11257553e+01] [-8.49115946e-04 7.66886844e-05 9.99999637e-01 -3.29535118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11992885099997 meters 0.09231845263012997 Centerline is valid? [True, True] Translation: X:111.34, Y:-11.14, Z:-3.30 [[ 9.99893509e-01 1.45303455e-02 1.35639080e-03 1.11335870e+02] [-1.45301686e-02 9.99894422e-01 -1.40179795e-04 -1.11388104e+01] [-1.35828446e-03 1.20456280e-04 9.99999070e-01 -3.30021561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14992885099997 meters 0.08615354443955305 Centerline is valid? [True, True] Translation: X:111.37, Y:-11.13, Z:-3.30 [[ 9.99877560e-01 1.55518125e-02 1.73393463e-03 1.11366014e+02] [-1.55515270e-02 9.99879052e-01 -1.78016958e-04 -1.11261645e+01] [-1.73649340e-03 1.51029831e-04 9.99998481e-01 -3.29703212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17992885099997 meters 0.08764045885787278 Centerline is valid? [True, True] Translation: X:111.39, Y:-11.13, Z:-3.30 [[ 9.99861165e-01 1.65472731e-02 1.95920840e-03 1.11393806e+02] [-1.65469112e-02 9.99863070e-01 -2.00745938e-04 -1.11316578e+01] [-1.96226192e-03 1.68299220e-04 9.99998061e-01 -3.29889180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20992885099997 meters 0.08659037479333913 Centerline is valid? [True, True] Translation: X:111.42, Y:-11.13, Z:-3.30 [[ 9.99848276e-01 1.72851350e-02 2.15600135e-03 1.11423160e+02] [-1.72846993e-02 9.99850584e-01 -2.20561114e-04 -1.11306457e+01] [-2.15949164e-03 1.83261815e-04 9.99997652e-01 -3.29942056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23992885099997 meters 0.08682553912296069 Centerline is valid? [True, True] Translation: X:111.45, Y:-11.13, Z:-3.30 [[ 9.99824635e-01 1.84751331e-02 3.06067528e-03 1.11451963e+02] [-1.84742662e-02 9.99829288e-01 -3.11282694e-04 -1.11328266e+01] [-3.06590377e-03 2.54684377e-04 9.99995268e-01 -3.30074719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26992885099997 meters 0.08668372003989011 Centerline is valid? [True, True] Translation: X:111.48, Y:-11.13, Z:-3.30 [[ 9.99839249e-01 1.77354645e-02 2.63232650e-03 1.11480220e+02] [-1.77348172e-02 9.99842690e-01 -2.69015011e-04 -1.11340780e+01] [-2.63668352e-03 2.22287938e-04 9.99996499e-01 -3.30121484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29992885099998 meters 0.08651609753024865 Centerline is valid? [True, True] Translation: X:111.51, Y:-11.14, Z:-3.30 [[ 9.99851166e-01 1.69851303e-02 3.02517753e-03 1.11508514e+02] [-1.69842727e-02 9.99855709e-01 -3.08965576e-04 -1.11350833e+01] [-3.02998884e-03 2.57539151e-04 9.99995376e-01 -3.30171695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32992885099998 meters 0.08981919488963964 Centerline is valid? [True, True] Translation: X:111.54, Y:-11.14, Z:-3.30 [[ 9.99892218e-01 1.44120284e-02 2.80092581e-03 1.11536638e+02] [-1.44112881e-02 9.99896112e-01 -2.84316832e-04 -1.11442720e+01] [-2.80473240e-03 2.43921239e-04 9.99996037e-01 -3.30437485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35992885099998 meters 0.08725911626521007 Centerline is valid? [True, True] Translation: X:111.57, Y:-11.14, Z:-3.30 [[ 9.99913943e-01 1.29073567e-02 2.34652286e-03 1.11566812e+02] [-1.29068328e-02 9.99916675e-01 -2.38269531e-04 -1.11408517e+01] [-2.34940277e-03 2.07962848e-04 9.99997219e-01 -3.30320732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38992885099998 meters 0.09043109317257211 Centerline is valid? [True, True] Translation: X:111.59, Y:-11.15, Z:-3.30 [[ 9.99934443e-01 1.09823164e-02 3.24014329e-03 1.11594270e+02] [-1.09813085e-02 9.99939650e-01 -3.28678514e-04 -1.11507651e+01] [-3.24355740e-03 2.93075953e-04 9.99994697e-01 -3.30492951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41992885099998 meters 0.09371308137696983 Centerline is valid? [True, True] Translation: X:111.62, Y:-11.16, Z:-3.31 [[ 9.99965829e-01 7.07467999e-03 4.27656783e-03 1.11622785e+02] [-7.07289457e-03 9.99974893e-01 -4.32469719e-04 -1.11601893e+01] [-4.27952004e-03 4.02207228e-04 9.99990762e-01 -3.30645891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44992885099998 meters 0.09336382454067187 Centerline is valid? [True, True] Translation: X:111.65, Y:-11.16, Z:-3.31 [[ 9.99975804e-01 5.14681124e-03 4.67993831e-03 1.11652703e+02] [-5.14465165e-03 9.99986654e-01 -4.73377777e-04 -1.11625281e+01] [-4.68231224e-03 4.49289671e-04 9.99988937e-01 -3.30644777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47992885099998 meters 0.09221919149076427 Centerline is valid? [True, True] Translation: X:111.68, Y:-11.16, Z:-3.31 [[ 9.99981431e-01 3.50205890e-03 4.98736513e-03 1.11684245e+02] [-3.49959132e-03 9.99993750e-01 -5.03406845e-04 -1.11631125e+01] [-4.98909692e-03 4.85943757e-04 9.99987436e-01 -3.30685619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50992885099998 meters 0.09332383870110322 Centerline is valid? [True, True] Translation: X:111.71, Y:-11.17, Z:-3.31 [[ 9.99987673e-01 2.03394438e-03 4.52955158e-03 1.11713436e+02] [-2.03189796e-03 9.99997832e-01 -4.56348918e-04 -1.11686092e+01] [-4.53046995e-03 4.47139706e-04 9.99989637e-01 -3.30780641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53992885099998 meters 0.09501462627529715 Centerline is valid? [True, True] Translation: X:111.74, Y:-11.17, Z:-3.31 [[ 9.99988413e-01 4.21463811e-04 4.79536367e-03 1.11743046e+02] [-4.19141546e-04 9.99999794e-01 -4.85267687e-04 -1.11749587e+01] [-4.79556721e-03 4.83252129e-04 9.99988384e-01 -3.30935872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.569928851 meters 0.09721900483632556 Centerline is valid? [True, True] Translation: X:111.77, Y:-11.18, Z:-3.31 [[ 9.99990203e-01 -2.10221187e-03 3.89550920e-03 1.11772218e+02] [ 2.10376455e-03 9.99997709e-01 -3.94527052e-04 -1.11814090e+01] [-3.89467089e-03 4.02718421e-04 9.99992335e-01 -3.31154564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599928851 meters 0.09520792045105934 Centerline is valid? [True, True] Translation: X:111.80, Y:-11.18, Z:-3.31 [[ 9.99991694e-01 -3.42213397e-03 2.21361303e-03 1.11803422e+02] [ 3.42263603e-03 9.99994118e-01 -2.23057464e-04 -1.11803436e+01] [-2.21283667e-03 2.30632003e-04 9.99997525e-01 -3.31152036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.629928851 meters 0.0969014739887747 Centerline is valid? [True, True] Translation: X:111.83, Y:-11.19, Z:-3.31 [[ 9.99985242e-01 -5.12069404e-03 1.81525664e-03 1.11832871e+02] [ 5.12103309e-03 9.99986871e-01 -1.82180787e-04 -1.11859167e+01] [-1.81429992e-03 1.91474088e-04 9.99998336e-01 -3.31346267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659928851 meters 0.09766997513492161 Centerline is valid? [True, True] Translation: X:111.86, Y:-11.19, Z:-3.31 [[ 9.99984894e-01 -5.32791971e-03 1.35121983e-03 1.11864987e+02] [ 5.32810713e-03 9.99985796e-01 -1.35141867e-04 -1.11895964e+01] [-1.35048062e-03 1.42339270e-04 9.99999078e-01 -3.31459424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.689928851 meters 0.09840944267995073 Centerline is valid? [True, True] Translation: X:111.90, Y:-11.19, Z:-3.32 [[ 9.99982913e-01 -5.68297893e-03 1.37056333e-03 1.11897418e+02] [ 5.68317225e-03 9.99983841e-01 -1.37198569e-04 -1.11927423e+01] [-1.36976148e-03 1.44985372e-04 9.99999051e-01 -3.31596165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719928851 meters 0.09950390038339953 Centerline is valid? [True, True] Translation: X:111.93, Y:-11.20, Z:-3.32 [[ 9.99985424e-01 -5.16443034e-03 1.57462769e-03 1.11928614e+02] [ 5.16468614e-03 9.99986650e-01 -1.58426160e-04 -1.11963490e+01] [-1.57378849e-03 1.66556308e-04 9.99998748e-01 -3.31712982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.749928851 meters 0.09976535111628673 Centerline is valid? [True, True] Translation: X:111.96, Y:-11.20, Z:-3.32 [[ 9.99992460e-01 -3.73195969e-03 1.07372421e-03 1.11960760e+02] [ 3.73207743e-03 9.99993030e-01 -1.07680230e-04 -1.11955983e+01] [-1.07331487e-03 1.11686640e-04 9.99999418e-01 -3.31775598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77992885099997 meters 0.09727191448457921 Centerline is valid? [True, True] Translation: X:111.99, Y:-11.19, Z:-3.32 [[ 9.99995185e-01 -2.74413873e-03 1.44873894e-03 1.11993029e+02] [ 2.74435280e-03 9.99996224e-01 -1.45795550e-04 -1.11912893e+01] [-1.44833339e-03 1.49770699e-04 9.99998940e-01 -3.31745202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80992885099997 meters 0.10051611266501893 Centerline is valid? [True, False] Translation: X:111.99, Y:-11.19, Z:-3.32 [[ 9.99995166e-01 -2.91419300e-03 1.08418057e-03 1.11993926e+02] [ 2.91513575e-03 9.99995373e-01 -8.68989017e-04 -1.11886634e+01] [-1.08164315e-03 8.72145350e-04 9.99999035e-01 -3.31774241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83992885099997 meters 0.10034217560508021 Centerline is valid? [False, False] Translation: X:111.99, Y:-11.19, Z:-3.32 [[ 9.99994966e-01 -3.08667300e-03 7.35662140e-04 1.11994787e+02] [ 3.08790341e-03 9.99993826e-01 -1.67728701e-03 -1.11858307e+01] [-7.30480361e-04 1.67955022e-03 9.99998323e-01 -3.31800461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86992885099997 meters 0.10034217560508021 Centerline is valid? [False, False] Translation: X:111.99, Y:-11.19, Z:-3.32 [[ 9.99994966e-01 -3.08667300e-03 7.35662140e-04 1.11994787e+02] [ 3.08790341e-03 9.99993826e-01 -1.67728701e-03 -1.11858307e+01] [-7.30480361e-04 1.67955022e-03 9.99998323e-01 -3.31800461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89992885099997 meters 0.0935813594809224 Centerline is valid? [False, True] Translation: X:111.99, Y:-11.18, Z:-3.32 [[ 9.99999561e-01 6.18649846e-04 7.04338069e-04 1.11994967e+02] [-6.19629132e-04 9.99998841e-01 1.39099560e-03 -1.11821824e+01] [-7.03476713e-04 -1.39143141e-03 9.99998785e-01 -3.31822319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92992885099997 meters 0.09907057741848033 Centerline is valid? [True, True] Translation: X:112.02, Y:-11.19, Z:-3.32 [[ 9.99996560e-01 2.58949906e-03 4.18636556e-04 1.12024137e+02] [-2.58948191e-03 9.99996646e-01 -4.14892792e-05 -1.11927023e+01] [-4.18742589e-04 4.04050847e-05 9.99999912e-01 -3.32239970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95992885099997 meters 0.09264433596995543 Centerline is valid? [True, True] Translation: X:112.06, Y:-11.18, Z:-3.32 [[ 9.99994126e-01 3.42725086e-03 4.04119584e-05 1.12055890e+02] [-3.42725069e-03 9.99994127e-01 -4.45607187e-06 -1.11797011e+01] [-4.04269932e-05 4.31754378e-06 9.99999999e-01 -3.31974434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98992885099997 meters 0.09376192871283325 Centerline is valid? [True, True] Translation: X:112.09, Y:-11.18, Z:-3.32 [[ 9.99987858e-01 4.92766958e-03 -4.28946603e-05 1.12085049e+02] [-4.92766944e-03 9.99987859e-01 3.35253104e-06 -1.11787486e+01] [ 4.29106597e-05 -3.14111963e-06 9.99999999e-01 -3.32083482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01992885099997 meters 0.09363304554226701 Centerline is valid? [True, True] Translation: X:112.11, Y:-11.18, Z:-3.32 [[ 9.99985880e-01 5.29798994e-03 4.13447441e-04 1.12114398e+02] [-5.29797292e-03 9.99985965e-01 -4.22628293e-05 -1.11793679e+01] [-4.13665546e-04 4.00717992e-05 9.99999914e-01 -3.32192853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04992885099998 meters 0.09494276574178977 Centerline is valid? [True, True] Translation: X:112.14, Y:-11.18, Z:-3.32 [[ 9.99985711e-01 5.32878508e-03 4.26594098e-04 1.12143020e+02] [-5.32876699e-03 9.99985801e-01 -4.35343587e-05 -1.11834004e+01] [-4.26820026e-04 4.12605161e-05 9.99999908e-01 -3.32377709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07992885099998 meters 0.09498155063615028 Centerline is valid? [True, True] Translation: X:112.17, Y:-11.18, Z:-3.32 [[ 9.99988736e-01 4.67567540e-03 8.16409555e-04 1.12172183e+02] [-4.67560995e-03 9.99989066e-01 -8.20640322e-05 -1.11849467e+01] [-8.16784334e-04 7.82458951e-05 9.99999663e-01 -3.32390569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10992885099998 meters 0.09377928468092701 Centerline is valid? [True, True] Translation: X:112.20, Y:-11.18, Z:-3.32 [[ 9.99995353e-01 2.88074287e-03 9.97931023e-04 1.12203237e+02] [-2.88064579e-03 9.99995846e-01 -9.87037021e-05 -1.11821238e+01] [-9.98211217e-04 9.58285576e-05 9.99999497e-01 -3.32296814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13992885099998 meters 0.09762825139912922 Centerline is valid? [True, True] Translation: X:112.23, Y:-11.19, Z:-3.33 [[ 9.99998901e-01 1.29201253e-03 7.27004797e-04 1.12231155e+02] [-1.29196073e-03 9.99999163e-01 -7.17173667e-05 -1.11911270e+01] [-7.27096848e-04 7.07780263e-05 9.99999733e-01 -3.32577306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16992885099998 meters 0.09937863087373866 Centerline is valid? [True, True] Translation: X:112.26, Y:-11.20, Z:-3.33 [[ 9.99999971e-01 1.61160324e-04 1.76420501e-04 1.12260503e+02] [-1.61157172e-04 9.99999987e-01 -1.78770386e-05 -1.11963926e+01] [-1.76423380e-04 1.78486067e-05 9.99999984e-01 -3.32722253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19992885099998 meters 0.10054073943833747 Centerline is valid? [True, False] Translation: X:112.26, Y:-11.20, Z:-3.33 [[ 9.99999972e-01 1.26806559e-04 2.01145587e-04 1.12260719e+02] [-1.26789397e-04 9.99999988e-01 -8.53307648e-05 -1.11957529e+01] [-2.01156405e-04 8.53052593e-05 9.99999976e-01 -3.32761273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22992885099998 meters 0.10365080425317368 Centerline is valid? [False, False] Translation: X:112.26, Y:-11.19, Z:-3.33 [[ 9.99999939e-01 -1.18445195e-04 3.27507209e-04 1.12260754e+02] [ 1.18581564e-04 9.99999906e-01 -4.16399223e-04 -1.11943031e+01] [-3.27457858e-04 4.16438034e-04 9.99999860e-01 -3.32808244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25992885099998 meters 0.10541463429910758 Centerline is valid? [False, False] Translation: X:112.26, Y:-11.19, Z:-3.33 [[ 9.99999970e-01 -5.29404883e-05 2.40013355e-04 1.12261242e+02] [ 5.30332060e-05 9.99999924e-01 -3.86312142e-04 -1.11937891e+01] [-2.39992885e-04 3.86324859e-04 9.99999897e-01 -3.32856814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28992885099998 meters 0.09689239167553954 Centerline is valid? [False, True] Translation: X:112.26, Y:-11.19, Z:-3.33 [[ 9.99999940e-01 -3.06768001e-04 1.60869555e-04 1.12261661e+02] [ 3.06920110e-04 9.99999505e-01 -9.46375645e-04 -1.11916037e+01] [-1.60579157e-04 9.46424962e-04 9.99999539e-01 -3.32896620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319928851 meters 0.09648089425710887 Centerline is valid? [True, True] Translation: X:112.29, Y:-11.19, Z:-3.33 [[ 9.99999790e-01 6.13302274e-05 6.45225039e-04 1.12291982e+02] [-6.12874270e-05 9.99999996e-01 -6.63536824e-05 -1.11928012e+01] [-6.45229106e-04 6.63141242e-05 9.99999790e-01 -3.32931134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.349928851 meters 0.09708207829416529 Centerline is valid? [True, True] Translation: X:112.32, Y:-11.20, Z:-3.33 [[ 9.99998109e-01 1.16785246e-03 1.55503935e-03 1.12321808e+02] [-1.16760518e-03 9.99999306e-01 -1.59917209e-04 -1.11951418e+01] [-1.55522503e-03 1.58101235e-04 9.99998778e-01 -3.33060743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379928851 meters 0.09792654055440475 Centerline is valid? [True, True] Translation: X:112.35, Y:-11.20, Z:-3.33 [[ 9.99996587e-01 2.32518348e-03 1.19136855e-03 1.12351719e+02] [-2.32503915e-03 9.99997290e-01 -1.22518014e-04 -1.11983357e+01] [-1.19165019e-03 1.19747617e-04 9.99999283e-01 -3.33126369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.409928851 meters 0.09528193951990073 Centerline is valid? [True, True] Translation: X:112.38, Y:-11.19, Z:-3.33 [[ 9.99982250e-01 5.57273505e-03 2.10797016e-03 1.12382855e+02] [-5.57229018e-03 9.99984451e-01 -2.16856227e-04 -1.11925962e+01] [-2.10914586e-03 2.05106157e-04 9.99997755e-01 -3.33167585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439928851 meters 0.09669086832811258 Centerline is valid? [True, True] Translation: X:112.41, Y:-11.20, Z:-3.33 [[ 9.99970570e-01 7.22711671e-03 2.57449688e-03 1.12411810e+02] [-7.22645657e-03 9.99973854e-01 -2.65626043e-04 -1.11964575e+01] [-2.57634927e-03 2.47013736e-04 9.99996651e-01 -3.33348842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.469928851 meters 0.09622275949673118 Centerline is valid? [True, True] Translation: X:112.44, Y:-11.20, Z:-3.33 [[ 9.99957620e-01 8.87132720e-03 2.46139827e-03 1.12441601e+02] [-8.87072882e-03 9.99960622e-01 -2.53916930e-04 -1.11962581e+01] [-2.46355392e-03 2.32071772e-04 9.99996939e-01 -3.33431798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499928851 meters 0.09254569157408585 Centerline is valid? [True, True] Translation: X:112.47, Y:-11.19, Z:-3.33 [[ 9.99939450e-01 1.07719818e-02 2.24982233e-03 1.12472054e+02] [-1.07714866e-02 9.99941959e-01 -2.32121795e-04 -1.11891370e+01] [-2.25219216e-03 2.07873809e-04 9.99997442e-01 -3.33307958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52992885099997 meters 0.09369145662408823 Centerline is valid? [True, True] Translation: X:112.50, Y:-11.19, Z:-3.34 [[ 9.99896353e-01 1.39441362e-02 3.58387633e-03 1.12500724e+02] [-1.39429032e-02 9.99902725e-01 -3.68803419e-04 -1.11902054e+01] [-3.58867035e-03 3.18795553e-04 9.99993510e-01 -3.33514060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55992885099997 meters 0.09314306876040651 Centerline is valid? [True, True] Translation: X:112.53, Y:-11.19, Z:-3.34 [[ 9.99883752e-01 1.49617799e-02 2.93715515e-03 1.12529709e+02] [-1.49609526e-02 9.99888033e-01 -3.03407697e-04 -1.11894157e+01] [-2.94136581e-03 2.59429788e-04 9.99995641e-01 -3.33591757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58992885099997 meters 0.09298706601570017 Centerline is valid? [True, True] Translation: X:112.56, Y:-11.19, Z:-3.34 [[ 9.99857084e-01 1.65453518e-02 3.47316393e-03 1.12559756e+02] [-1.65442110e-02 9.99863071e-01 -3.56923462e-04 -1.11902656e+01] [-3.47859377e-03 2.99411695e-04 9.99993905e-01 -3.33725521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61992885099997 meters 0.09131251307004937 Centerline is valid? [True, True] Translation: X:112.59, Y:-11.19, Z:-3.34 [[ 9.99848876e-01 1.71232127e-02 3.00359141e-03 1.12589161e+02] [-1.71223581e-02 9.99853354e-01 -3.10014035e-04 -1.11876232e+01] [-3.00845938e-03 2.58538617e-04 9.99995441e-01 -3.33756228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64992885099997 meters 0.09349168193719937 Centerline is valid? [True, True] Translation: X:112.62, Y:-11.19, Z:-3.34 [[ 9.99848627e-01 1.72212577e-02 2.48009930e-03 1.12616726e+02] [-1.72206739e-02 9.99851680e-01 -2.56587848e-04 -1.11933405e+01] [-2.48415022e-03 2.13840026e-04 9.99996892e-01 -3.34069007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67992885099997 meters 0.09057631641441911 Centerline is valid? [True, True] Translation: X:112.65, Y:-11.19, Z:-3.34 [[ 9.99847804e-01 1.73453304e-02 1.87310186e-03 1.12646042e+02] [-1.73449976e-02 9.99849545e-01 -1.93786614e-04 -1.11867330e+01] [-1.87618133e-03 1.61268173e-04 9.99998227e-01 -3.34018089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70992885099997 meters 0.09071525158903516 Centerline is valid? [True, True] Translation: X:112.67, Y:-11.19, Z:-3.34 [[ 9.99862432e-01 1.65186433e-02 1.50050403e-03 1.12674827e+02] [-1.65184291e-02 9.99863549e-01 -1.55060476e-04 -1.11883234e+01] [-1.50286068e-03 1.30253175e-04 9.99998862e-01 -3.34093357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73992885099997 meters 0.09490004527625102 Centerline is valid? [True, True] Translation: X:112.70, Y:-11.20, Z:-3.34 [[ 9.99878159e-01 1.55704691e-02 1.10784450e-03 1.12702670e+02] [-1.55703513e-02 9.99878768e-01 -1.14826230e-04 -1.11986621e+01] [-1.10949809e-03 9.75627109e-05 9.99999380e-01 -3.34477145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76992885099997 meters 0.09196891861677303 Centerline is valid? [True, True] Translation: X:112.73, Y:-11.19, Z:-3.34 [[ 9.99905143e-01 1.36562968e-02 1.79184537e-03 1.12732677e+02] [-1.36559875e-02 9.99906736e-01 -1.84722427e-04 -1.11947794e+01] [-1.79420088e-03 1.60235487e-04 9.99998378e-01 -3.34385268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79992885099998 meters 0.09260083965828661 Centerline is valid? [True, True] Translation: X:112.76, Y:-11.20, Z:-3.34 [[ 9.99922340e-01 1.22347516e-02 2.37153908e-03 1.12761728e+02] [-1.22342073e-02 9.99925130e-01 -2.43879045e-04 -1.11987949e+01] [-2.37434533e-03 2.14846204e-04 9.99997158e-01 -3.34494137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82992885099998 meters 0.09342831569916173 Centerline is valid? [True, True] Translation: X:112.79, Y:-11.20, Z:-3.35 [[ 9.99937512e-01 1.07555103e-02 3.04813218e-03 1.12791362e+02] [-1.07546075e-02 9.99942119e-01 -3.12425864e-04 -1.12031437e+01] [-3.05131605e-03 2.79624877e-04 9.99995306e-01 -3.34534776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85992885099998 meters 0.09706366614339539 Centerline is valid? [True, True] Translation: X:112.82, Y:-11.21, Z:-3.35 [[ 9.99954118e-01 9.11932929e-03 2.93257817e-03 1.12819318e+02] [-9.11848685e-03 9.99958381e-01 -3.00513114e-04 -1.12134655e+01] [-2.93519660e-03 2.73758651e-04 9.99995655e-01 -3.34771121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88992885099998 meters 0.09532551151033779 Centerline is valid? [True, True] Translation: X:112.85, Y:-11.21, Z:-3.35 [[ 9.99972502e-01 5.69901502e-03 4.74510932e-03 1.12849620e+02] [-5.69677864e-03 9.99983656e-01 -4.84684304e-04 -1.12138589e+01] [-4.74779399e-03 4.57639139e-04 9.99988624e-01 -3.34594595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91992885099998 meters 0.09960323349856054 Centerline is valid? [True, True] Translation: X:112.88, Y:-11.23, Z:-3.35 [[ 9.99982474e-01 3.37379375e-03 4.86501688e-03 1.12878059e+02] [-3.37141450e-03 9.99994193e-01 -4.97172437e-04 -1.12259388e+01] [-4.86666599e-03 4.80761736e-04 9.99988042e-01 -3.34802899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94992885099998 meters 0.09569622611507606 Centerline is valid? [True, True] Translation: X:112.91, Y:-11.22, Z:-3.35 [[ 9.99984181e-01 1.32621034e-03 5.46624235e-03 1.12909640e+02] [-1.32318072e-03 9.99998969e-01 -5.57819472e-04 -1.12220323e+01] [-5.46697650e-03 5.50577821e-04 9.99984904e-01 -3.34694718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97992885099998 meters 0.09823900003750988 Centerline is valid? [True, True] Translation: X:112.94, Y:-11.23, Z:-3.35 [[ 9.99988178e-01 -1.25927830e-03 4.69665266e-03 1.12938887e+02] [ 1.26154380e-03 9.99999089e-01 -4.79433034e-04 -1.12305316e+01] [-4.69604465e-03 4.85352399e-04 9.99988856e-01 -3.34848957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00992885099998 meters 0.10149741543230784 Centerline is valid? [True, False] Translation: X:112.94, Y:-11.23, Z:-3.35 [[ 9.99985373e-01 -1.25784486e-03 5.26035960e-03 1.12937899e+02] [ 1.25670295e-03 9.99999186e-01 2.20377028e-04 -1.12330398e+01] [-5.26063252e-03 -2.13763095e-04 9.99986140e-01 -3.34873711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03992885099998 meters 0.10192349914566066 Centerline is valid? [False, False] Translation: X:112.94, Y:-11.23, Z:-3.35 [[ 9.99985474e-01 -9.76755916e-04 5.30074938e-03 1.12938147e+02] [ 9.72750409e-04 9.99999239e-01 7.58174924e-04 -1.12341999e+01] [-5.30148590e-03 -7.53007604e-04 9.99985664e-01 -3.34923437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.069928851 meters 0.10240970638019274 Centerline is valid? [False, False] Translation: X:112.94, Y:-11.24, Z:-3.35 [[ 9.99985728e-01 -7.20594014e-04 5.29374826e-03 1.12938408e+02] [ 7.14150708e-04 9.99999002e-01 1.21894337e-03 -1.12352057e+01] [-5.29462134e-03 -1.21514544e-03 9.99985245e-01 -3.34961528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099928851 meters 0.10271299031105316 Centerline is valid? [False, False] Translation: X:112.94, Y:-11.24, Z:-3.35 [[ 9.99985322e-01 -5.54453271e-04 5.38969029e-03 1.12938247e+02] [ 5.45656624e-04 9.99998517e-01 1.63345820e-03 -1.12366878e+01] [-5.39058797e-03 -1.63049331e-03 9.99984141e-01 -3.34966635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.129928851 meters 0.10217599576479999 Centerline is valid? [False, False] Translation: X:112.94, Y:-11.24, Z:-3.35 [[ 9.99986253e-01 -4.21093574e-04 5.22650199e-03 1.12938543e+02] [ 4.12114192e-04 9.99998438e-01 1.71900625e-03 -1.12370720e+01] [-5.22721769e-03 -1.71682871e-03 9.99984864e-01 -3.34957414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159928851 meters 0.10087454078308017 Centerline is valid? [False, False] Translation: X:112.94, Y:-11.24, Z:-3.35 [[ 9.99988088e-01 -2.44854621e-04 4.87480266e-03 1.12939371e+02] [ 2.36654062e-04 9.99998556e-01 1.68273964e-03 -1.12366017e+01] [-4.87520765e-03 -1.68156596e-03 9.99986702e-01 -3.34970949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.189928851 meters 0.10011918034434768 Centerline is valid? [False, False] Translation: X:112.94, Y:-11.24, Z:-3.35 [[ 9.99988622e-01 -4.77982174e-04 4.74640250e-03 1.12939331e+02] [ 4.72210899e-04 9.99999148e-01 1.21697260e-03 -1.12355904e+01] [-4.74698015e-03 -1.21471745e-03 9.99987995e-01 -3.34923520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219928851 meters 0.10035327402156327 Centerline is valid? [False, False] Translation: X:112.94, Y:-11.24, Z:-3.35 [[ 9.99990157e-01 -2.36262665e-04 4.43051638e-03 1.12940203e+02] [ 2.30477318e-04 9.99999120e-01 1.30626022e-03 -1.12352919e+01] [-4.43082111e-03 -1.30522623e-03 9.99989332e-01 -3.34953447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24992885099996 meters 0.09900541918048318 Centerline is valid? [False, True] Translation: X:112.94, Y:-11.23, Z:-3.35 [[ 9.99991540e-01 -1.51086632e-04 4.11057089e-03 1.12940827e+02] [ 1.46443115e-04 9.99999351e-01 1.12993027e-03 -1.12346937e+01] [-4.11073894e-03 -1.12931874e-03 9.99990913e-01 -3.34943296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27992885099997 meters 0.0979529455162033 Centerline is valid? [True, True] Translation: X:112.97, Y:-11.23, Z:-3.35 [[ 9.99985573e-01 2.01268278e-03 4.98033165e-03 1.12971911e+02] [-2.01011389e-03 9.99997844e-01 -5.20759557e-04 -1.12347423e+01] [-4.98136904e-03 5.10741010e-04 9.99987462e-01 -3.35026280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30992885099997 meters 0.09846442938080187 Centerline is valid? [True, True] Translation: X:113.00, Y:-11.24, Z:-3.35 [[ 9.99974796e-01 5.06950311e-03 4.97056800e-03 1.13001480e+02] [-5.06697795e-03 9.99987027e-01 -5.20483361e-04 -1.12382075e+01] [-4.97314211e-03 4.95284485e-04 9.99987511e-01 -3.35134240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33992885099997 meters 0.09812877052741723 Centerline is valid? [True, True] Translation: X:113.03, Y:-11.24, Z:-3.35 [[ 9.99962317e-01 6.59034736e-03 5.65090140e-03 1.13031791e+02] [-6.58711111e-03 9.99978130e-01 -5.91116044e-04 -1.12407780e+01] [-5.65467348e-03 5.53870653e-04 9.99983859e-01 -3.35236620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36992885099997 meters 0.09518686938095561 Centerline is valid? [True, True] Translation: X:113.06, Y:-11.24, Z:-3.35 [[ 9.99951359e-01 8.20577714e-03 5.47220557e-03 1.13063251e+02] [-8.20276869e-03 9.99966193e-01 -5.71985920e-04 -1.12388119e+01] [-5.47671416e-03 5.27070861e-04 9.99984864e-01 -3.35199390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39992885099997 meters 0.09567678327256218 Centerline is valid? [True, True] Translation: X:113.09, Y:-11.24, Z:-3.35 [[ 9.99950862e-01 8.22792573e-03 5.52936269e-03 1.13092363e+02] [-8.22484664e-03 9.99966008e-01 -5.79369464e-04 -1.12434621e+01] [-5.53394174e-03 5.33862835e-04 9.99984545e-01 -3.35368978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42992885099997 meters 0.10161519793490903 Centerline is valid? [True, False] Translation: X:113.09, Y:-11.24, Z:-3.35 [[ 9.99949478e-01 8.46002988e-03 5.42849085e-03 1.13092626e+02] [-8.45870090e-03 9.99964189e-01 -2.67729231e-04 -1.12442796e+01] [-5.43056144e-03 2.21797725e-04 9.99985230e-01 -3.35375378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45992885099997 meters 0.09631245074426385 Centerline is valid? [False, True] Translation: X:113.09, Y:-11.25, Z:-3.35 [[ 9.99948764e-01 8.52741961e-03 5.45456314e-03 1.13092407e+02] [-8.52691288e-03 9.99963638e-01 -1.16149702e-04 -1.12451305e+01] [-5.45535526e-03 6.96331666e-05 9.99985117e-01 -3.35350588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48992885099997 meters 0.09683585015832477 Centerline is valid? [True, True] Translation: X:113.12, Y:-11.25, Z:-3.35 [[ 9.99949499e-01 8.40565840e-03 5.50852592e-03 1.13121594e+02] [-8.40260794e-03 9.99964531e-01 -5.76682039e-04 -1.12505041e+01] [-5.51317793e-03 5.30366932e-04 9.99984662e-01 -3.35461673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51992885099997 meters 0.0950424750122464 Centerline is valid? [True, True] Translation: X:113.15, Y:-11.25, Z:-3.36 [[ 9.99964525e-01 7.00301132e-03 4.68050062e-03 1.13151985e+02] [-7.00079582e-03 9.99975374e-01 -4.89561708e-04 -1.12528012e+01] [-4.68381376e-03 4.56777111e-04 9.99988927e-01 -3.35514451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54992885099998 meters 0.0991986629723738 Centerline is valid? [True, True] Translation: X:113.18, Y:-11.27, Z:-3.36 [[ 9.99964567e-01 6.73401674e-03 5.05151934e-03 1.13180613e+02] [-6.73144358e-03 9.99977205e-01 -5.26212484e-04 -1.12658238e+01] [-5.05494772e-03 4.92189821e-04 9.99987103e-01 -3.35841818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57992885099998 meters 0.09586075434346625 Centerline is valid? [True, True] Translation: X:113.21, Y:-11.26, Z:-3.36 [[ 9.99971423e-01 6.15830661e-03 4.38491700e-03 1.13211217e+02] [-6.15635243e-03 9.99980944e-01 -4.59019192e-04 -1.12640300e+01] [-4.38766023e-03 4.32010980e-04 9.99990281e-01 -3.35767443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60992885099998 meters 0.09816522564014141 Centerline is valid? [True, True] Translation: X:113.24, Y:-11.27, Z:-3.36 [[ 9.99981829e-01 4.33653337e-03 4.18760480e-03 1.13240376e+02] [-4.33473528e-03 9.99990509e-01 -4.38364277e-04 -1.12747803e+01] [-4.18946604e-03 4.20204153e-04 9.99991136e-01 -3.36021396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63992885099998 meters 0.09796326892657786 Centerline is valid? [True, True] Translation: X:113.27, Y:-11.28, Z:-3.36 [[ 9.99985494e-01 3.96373752e-03 3.64709311e-03 1.13270758e+02] [-3.96237120e-03 9.99992077e-01 -3.81782764e-04 -1.12790861e+01] [-3.64857750e-03 3.67326089e-04 9.99993276e-01 -3.36155914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66992885099998 meters 0.09602659159603172 Centerline is valid? [True, True] Translation: X:113.30, Y:-11.28, Z:-3.36 [[ 9.99988762e-01 4.00491448e-03 2.53714397e-03 1.13301217e+02] [-4.00425339e-03 9.99991948e-01 -2.65591749e-04 -1.12796148e+01] [-2.53818722e-03 2.55429397e-04 9.99996746e-01 -3.36213793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69992885099998 meters 0.09550782631511893 Centerline is valid? [True, True] Translation: X:113.33, Y:-11.28, Z:-3.36 [[ 9.99981283e-01 6.11001014e-03 3.19416502e-04 1.13330874e+02] [-6.10999961e-03 9.99981333e-01 -3.39536531e-05 -1.12828184e+01] [-3.19617997e-04 3.20013828e-05 9.99999948e-01 -3.36496684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72992885099998 meters 0.0956000718821751 Centerline is valid? [True, True] Translation: X:113.36, Y:-11.29, Z:-3.37 [[ 9.99970243e-01 7.70649412e-03 -3.51800120e-04 1.13360662e+02] [-7.70648182e-03 9.99970304e-01 3.62982690e-05 -1.12855324e+01] [ 3.52069405e-04 -3.35860477e-05 9.99999937e-01 -3.36678224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75992885099998 meters 0.0956000718821751 Centerline is valid? [True, True] Translation: X:113.39, Y:-11.29, Z:-3.37 [[ 9.99970760e-01 7.63910730e-03 -3.51962914e-04 1.13388951e+02] [-7.63909554e-03 9.99970821e-01 3.47419489e-05 -1.12884215e+01] [ 3.52218042e-04 -3.20522547e-05 9.99999937e-01 -3.36764971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78992885099998 meters 0.09266200393835251 Centerline is valid? [True, True] Translation: X:113.42, Y:-11.28, Z:-3.37 [[ 9.99945257e-01 1.03685759e-02 -1.40563762e-03 1.13420044e+02] [-1.03683796e-02 9.99946236e-01 1.46815044e-04 -1.12848197e+01] [ 1.40708431e-03 -1.32232823e-04 9.99999001e-01 -3.36774848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819928851 meters 0.09303304075604897 Centerline is valid? [True, True] Translation: X:113.45, Y:-11.29, Z:-3.37 [[ 9.99903254e-01 1.38251403e-02 -1.53208126e-03 1.13449774e+02] [-1.38249111e-02 9.99904419e-01 1.60124126e-04 -1.12883589e+01] [ 1.53414856e-03 -1.38927747e-04 9.99998814e-01 -3.36979831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.849928851 meters 0.08970828496506299 Centerline is valid? [True, True] Translation: X:113.48, Y:-11.28, Z:-3.37 [[ 9.99758978e-01 2.19339946e-02 -9.41448085e-04 1.13481540e+02] [-2.19339115e-02 9.99759418e-01 9.84436862e-05 -1.12815662e+01] [ 9.43380853e-04 -7.77703201e-05 9.99999552e-01 -3.36904959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879928851 meters 0.08854168663998384 Centerline is valid? [True, True] Translation: X:113.51, Y:-11.28, Z:-3.37 [[ 9.99622814e-01 2.74631620e-02 -6.81133275e-05 1.13511385e+02] [-2.74631616e-02 9.99622816e-01 6.55294749e-06 -1.12801444e+01] [ 6.82676009e-05 -4.67986849e-06 9.99999998e-01 -3.36919433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.909928851 meters 0.08652178144233268 Centerline is valid? [True, True] Translation: X:113.54, Y:-11.28, Z:-3.37 [[ 9.99471355e-01 3.25059176e-02 6.12989191e-04 1.13542475e+02] [-3.25058838e-02 9.99471542e-01 -6.50285463e-05 -1.12757648e+01] [-6.14779064e-04 4.50684139e-05 9.99999810e-01 -3.36867197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939928851 meters 0.08485991689339041 Centerline is valid? [True, True] Translation: X:113.57, Y:-11.27, Z:-3.37 [[ 9.99265093e-01 3.83143292e-02 1.13366204e-03 1.13572939e+02] [-3.83142187e-02 9.99265734e-01 -1.19040495e-04 -1.12725765e+01] [-1.13739058e-03 7.55176358e-05 9.99999350e-01 -3.36823734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.969928851 meters 0.08416928193769842 Centerline is valid? [True, True] Translation: X:113.60, Y:-11.27, Z:-3.37 [[ 9.99032781e-01 4.39271800e-02 1.97637518e-03 1.13602270e+02] [-4.39268554e-02 9.99034728e-01 -2.07369351e-04 -1.12717733e+01] [-1.98357660e-03 1.20352833e-04 9.99998025e-01 -3.37003479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99992885099996 meters 0.08047897602086422 Centerline is valid? [True, True] Translation: X:113.63, Y:-11.26, Z:-3.37 [[ 9.98565304e-01 5.34871458e-02 2.54157544e-03 1.13634343e+02] [-5.34866425e-02 9.98568530e-01 -2.65642471e-04 -1.12586498e+01] [-2.55214571e-03 1.29321017e-04 9.99996735e-01 -3.36768469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02992885099997 meters 0.08137724275258502 Centerline is valid? [True, True] Translation: X:113.66, Y:-11.26, Z:-3.37 [[ 9.98349961e-01 5.73324344e-02 3.21684715e-03 1.13663223e+02] [-5.73316457e-02 9.98355132e-01 -3.36955201e-04 -1.12632974e+01] [-3.23087433e-03 1.51972071e-04 9.99994769e-01 -3.37264935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05992885099997 meters 0.07954812353797701 Centerline is valid? [True, True] Translation: X:113.69, Y:-11.26, Z:-3.37 [[ 9.98181254e-01 6.02019406e-02 3.14804166e-03 1.13693970e+02] [-6.02012012e-02 9.98186209e-01 -3.29215764e-04 -1.12581322e+01] [-3.16215119e-03 1.39101116e-04 9.99994991e-01 -3.37080048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08992885099997 meters 0.07949191473786388 Centerline is valid? [True, True] Translation: X:113.72, Y:-11.26, Z:-3.37 [[ 9.98046569e-01 6.23974616e-02 3.09893543e-03 1.13721549e+02] [-6.23967501e-02 9.98051371e-01 -3.25837378e-04 -1.12595577e+01] [-3.11322818e-03 1.31837378e-04 9.99995145e-01 -3.37273642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11992885099997 meters 0.07906808306948264 Centerline is valid? [True, True] Translation: X:113.75, Y:-11.26, Z:-3.37 [[ 9.97981505e-01 6.34453629e-02 2.75697799e-03 1.13750960e+02] [-6.34448005e-02 9.97985307e-01 -2.91069539e-04 -1.12596075e+01] [-2.76989054e-03 1.15566098e-04 9.99996157e-01 -3.37383281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14992885099997 meters 0.07965681881154053 Centerline is valid? [True, True] Translation: X:113.78, Y:-11.26, Z:-3.38 [[ 9.98051276e-01 6.23322492e-02 2.88809448e-03 1.13777796e+02] [-6.23316309e-02 9.98055447e-01 -3.03699367e-04 -1.12648607e+01] [-2.90140869e-03 1.23087901e-04 9.99995783e-01 -3.37568532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17992885099997 meters 0.07948720086784594 Centerline is valid? [True, True] Translation: X:113.81, Y:-11.27, Z:-3.38 [[ 9.98140822e-01 6.08893055e-02 2.71864467e-03 1.13806661e+02] [-6.08887424e-02 9.98144517e-01 -2.89510528e-04 -1.12675150e+01] [-2.73122837e-03 1.23437421e-04 9.99996263e-01 -3.37557886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20992885099997 meters 0.08110207408599658 Centerline is valid? [True, True] Translation: X:113.83, Y:-11.28, Z:-3.38 [[ 9.98460491e-01 5.53499071e-02 3.61060076e-03 1.13834996e+02] [-5.53489090e-02 9.98467003e-01 -3.75834770e-04 -1.12788245e+01] [-3.62586814e-03 1.75413355e-04 9.99993411e-01 -3.37769272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23992885099997 meters 0.08088086975592913 Centerline is valid? [True, True] Translation: X:113.87, Y:-11.28, Z:-3.38 [[ 9.98645526e-01 5.18971737e-02 3.71428050e-03 1.13865217e+02] [-5.18960955e-02 9.98652415e-01 -3.86159574e-04 -1.12822977e+01] [-3.72931578e-03 1.92879875e-04 9.99993027e-01 -3.37675030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26992885099997 meters 0.08213140572452818 Centerline is valid? [True, True] Translation: X:113.89, Y:-11.29, Z:-3.38 [[ 9.98806597e-01 4.86210754e-02 4.62313247e-03 1.13892670e+02] [-4.86193633e-02 9.98817263e-01 -4.82065058e-04 -1.12916359e+01] [-4.64110304e-03 2.56716003e-04 9.99989197e-01 -3.37896879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29992885099998 meters 0.08282403033997755 Centerline is valid? [True, True] Translation: X:113.92, Y:-11.30, Z:-3.38 [[ 9.98975873e-01 4.49400083e-02 5.25370291e-03 1.13922724e+02] [-4.49377611e-02 9.98989640e-01 -5.45072156e-04 -1.12982132e+01] [-5.27289033e-03 3.08424287e-04 9.99986051e-01 -3.37955550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32992885099998 meters 0.08406504993508791 Centerline is valid? [True, True] Translation: X:113.95, Y:-11.31, Z:-3.38 [[ 9.99258518e-01 3.80760766e-02 5.71195855e-03 1.13952180e+02] [-3.80733065e-02 9.99274773e-01 -5.92967653e-04 -1.13071554e+01] [-5.73039396e-03 3.75054830e-04 9.99983511e-01 -3.38041613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35992885099998 meters 0.08636201609354394 Centerline is valid? [True, True] Translation: X:113.98, Y:-11.32, Z:-3.38 [[ 9.99389912e-01 3.44744630e-02 5.59603779e-03 1.13980836e+02] [-3.44717505e-02 9.99405504e-01 -5.80477181e-04 -1.13178987e+01] [-5.61272261e-03 3.87217820e-04 9.99984174e-01 -3.38209976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38992885099998 meters 0.0860665109105798 Centerline is valid? [True, True] Translation: X:114.01, Y:-11.32, Z:-3.38 [[ 9.99489286e-01 3.15460802e-02 5.10013823e-03 1.14010334e+02] [-3.15437869e-02 9.99502231e-01 -5.29490818e-04 -1.13214260e+01] [-5.11430290e-03 3.68342726e-04 9.99986854e-01 -3.38216135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41992885099998 meters 0.08765295520741222 Centerline is valid? [True, True] Translation: X:114.04, Y:-11.33, Z:-3.38 [[ 9.99630286e-01 2.67079602e-02 5.09663891e-03 1.14039653e+02] [-2.67056081e-02 9.99643202e-01 -5.29012481e-04 -1.13309395e+01] [-5.10894928e-03 3.92708056e-04 9.99986872e-01 -3.38433753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44992885099998 meters 0.08765217401671628 Centerline is valid? [True, True] Translation: X:114.07, Y:-11.33, Z:-3.38 [[ 9.99697368e-01 2.42238639e-02 4.28670547e-03 1.14069095e+02] [-2.42221770e-02 9.99706501e-01 -4.44994110e-04 -1.13347329e+01] [-4.29622681e-03 3.41026102e-04 9.99990713e-01 -3.38489634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47992885099998 meters 0.09013717317774114 Centerline is valid? [True, True] Translation: X:114.10, Y:-11.34, Z:-3.39 [[ 9.99752387e-01 2.19418409e-02 3.70403681e-03 1.14097638e+02] [-2.19405676e-02 9.99759203e-01 -3.84065394e-04 -1.13449139e+01] [-3.71157200e-03 3.02701624e-04 9.99993066e-01 -3.38805799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50992885099998 meters 0.08990868133909866 Centerline is valid? [True, True] Translation: X:114.13, Y:-11.35, Z:-3.39 [[ 9.99802276e-01 1.96893440e-02 2.78177891e-03 1.14127410e+02] [-1.96886153e-02 9.99806119e-01 -2.89071275e-04 -1.13483870e+01] [-2.78693120e-03 2.34244744e-04 9.99996089e-01 -3.38937273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53992885099998 meters 0.09189726443419886 Centerline is valid? [True, True] Translation: X:114.16, Y:-11.36, Z:-3.39 [[ 9.99870951e-01 1.60210485e-02 1.18602463e-03 1.14156510e+02] [-1.60209133e-02 9.99871649e-01 -1.23407375e-04 -1.13571826e+01] [-1.18784951e-03 1.04390252e-04 9.99999289e-01 -3.39222575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.569928851 meters 0.09734259375852258 Centerline is valid? [True, True] Translation: X:114.18, Y:-11.37, Z:-3.40 [[ 9.99889330e-01 1.48737990e-02 3.12308922e-04 1.14183569e+02] [-1.48737891e-02 9.99889379e-01 -3.38859783e-05 -1.13718116e+01] [-3.12778387e-04 2.92370111e-05 9.99999951e-01 -3.39722065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599928851 meters 0.09299861030267759 Centerline is valid? [True, True] Translation: X:114.21, Y:-11.37, Z:-3.39 [[ 9.99903520e-01 1.38459370e-02 -1.11357529e-03 1.14214034e+02] [-1.38458182e-02 9.99904136e-01 1.14309074e-04 -1.13663443e+01] [ 1.11505126e-03 -9.88796845e-05 9.99999373e-01 -3.39485532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.629928851 meters 0.0963429631305011 Centerline is valid? [True, True] Translation: X:114.24, Y:-11.38, Z:-3.40 [[ 9.99899908e-01 1.40999830e-02 -1.16773990e-03 1.14241229e+02] [-1.40998544e-02 9.99900585e-01 1.18323085e-04 -1.13764041e+01] [ 1.16929216e-03 -1.01846280e-04 9.99999311e-01 -3.39828292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659928851 meters 0.09353048756067618 Centerline is valid? [True, True] Translation: X:114.27, Y:-11.37, Z:-3.40 [[ 9.99883354e-01 1.52054984e-02 -1.43916645e-03 1.14270655e+02] [-1.52053027e-02 9.99884382e-01 1.46812865e-04 -1.13740645e+01] [ 1.44123242e-03 -1.24912778e-04 9.99998954e-01 -3.39729412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.689928851 meters 0.0915631226996385 Centerline is valid? [True, True] Translation: X:114.30, Y:-11.37, Z:-3.40 [[ 9.99864906e-01 1.63525874e-02 -1.66227039e-03 1.14300319e+02] [-1.63523267e-02 9.99866277e-01 1.70277276e-04 -1.13730388e+01] [ 1.66483258e-03 -1.43072284e-04 9.99998604e-01 -3.39678920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719928851 meters 0.09348375521069967 Centerline is valid? [True, True] Translation: X:114.33, Y:-11.38, Z:-3.40 [[ 9.99836408e-01 1.80465551e-02 -1.21584756e-03 1.14329046e+02] [-1.80464168e-02 9.99837142e-01 1.24615350e-04 -1.13802942e+01] [ 1.21789843e-03 -1.02653272e-04 9.99999253e-01 -3.39893603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74992885099996 meters 0.08876810517934616 Centerline is valid? [True, True] Translation: X:114.36, Y:-11.37, Z:-3.40 [[ 9.99790347e-01 2.04739996e-02 -2.77682643e-04 1.14360200e+02] [-2.04739925e-02 9.99790385e-01 2.83950737e-05 -1.13730366e+01] [ 2.78205797e-04 -2.27038482e-05 9.99999961e-01 -3.39559765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77992885099997 meters 0.08784977630862292 Centerline is valid? [True, True] Translation: X:114.39, Y:-11.37, Z:-3.40 [[ 9.99690645e-01 2.48404324e-02 1.25166352e-03 1.14390407e+02] [-2.48402886e-02 9.99691424e-01 -1.30289588e-04 -1.13740491e+01] [-1.25451373e-03 9.91575990e-05 9.99999208e-01 -3.39517530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80992885099997 meters 0.08699408794972384 Centerline is valid? [True, True] Translation: X:114.42, Y:-11.38, Z:-3.40 [[ 9.99610923e-01 2.77662507e-02 2.65305702e-03 1.14419885e+02] [-2.77656192e-02 9.99614423e-01 -2.74584361e-04 -1.13756976e+01] [-2.65965824e-03 2.00813756e-04 9.99996443e-01 -3.39576885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83992885099997 meters 0.08631780095053679 Centerline is valid? [True, True] Translation: X:114.45, Y:-11.38, Z:-3.40 [[ 9.99541689e-01 3.00982622e-02 3.24142919e-03 1.14449808e+02] [-3.00973326e-02 9.99546916e-01 -3.35189596e-04 -1.13778210e+01] [-3.25004918e-03 2.37477603e-04 9.99994690e-01 -3.39611864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86992885099997 meters 0.0879610374021498 Centerline is valid? [True, True] Translation: X:114.48, Y:-11.39, Z:-3.40 [[ 9.99410254e-01 3.40098742e-02 4.74044638e-03 1.14478555e+02] [-3.40079309e-02 9.99421443e-01 -4.89967682e-04 -1.13856550e+01] [-4.75436750e-03 3.28465953e-04 9.99988644e-01 -3.39892544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89992885099997 meters 0.08470454674529068 Centerline is valid? [True, True] Translation: X:114.51, Y:-11.38, Z:-3.40 [[ 9.99370081e-01 3.51816565e-02 4.65740123e-03 1.14507986e+02] [-3.51797881e-02 9.99380883e-01 -4.82494413e-04 -1.13805932e+01] [-4.67149271e-03 3.18344092e-04 9.99989038e-01 -3.39639918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92992885099997 meters 0.08481967426006808 Centerline is valid? [True, True] Translation: X:114.54, Y:-11.38, Z:-3.40 [[ 9.99326345e-01 3.63631738e-02 4.95741847e-03 1.14536287e+02] [-3.63610738e-02 9.99338586e-01 -5.13101157e-04 -1.13842851e+01] [-4.97279755e-03 3.32498444e-04 9.99987580e-01 -3.39795369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95992885099997 meters 0.08641840259745918 Centerline is valid? [True, True] Translation: X:114.56, Y:-11.39, Z:-3.40 [[ 9.99301125e-01 3.70843772e-02 4.69158847e-03 1.14563631e+02] [-3.70825034e-02 9.99312089e-01 -4.85793180e-04 -1.13921273e+01] [-4.70637641e-03 3.11477826e-04 9.99988876e-01 -3.40047946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98992885099997 meters 0.08490228971250709 Centerline is valid? [True, True] Translation: X:114.59, Y:-11.39, Z:-3.40 [[ 9.99293879e-01 3.73346666e-02 4.22671954e-03 1.14592563e+02] [-3.73331502e-02 9.99302779e-01 -4.37128823e-04 -1.13932690e+01] [-4.24009264e-03 2.79023402e-04 9.99990972e-01 -3.40076231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01992885099997 meters 0.0837523454733784 Centerline is valid? [True, True] Translation: X:114.62, Y:-11.39, Z:-3.40 [[ 9.99286836e-01 3.75887884e-02 3.59193239e-03 1.14621216e+02] [-3.75876946e-02 9.99293264e-01 -3.71583404e-04 -1.13940330e+01] [-3.60336121e-03 2.36305947e-04 9.99993480e-01 -3.39997523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04992885099998 meters 0.08726638929308472 Centerline is valid? [True, True] Translation: X:114.65, Y:-11.41, Z:-3.41 [[ 9.99278590e-01 3.78412511e-02 3.21555178e-03 1.14647954e+02] [-3.78403744e-02 9.99283741e-01 -3.33080266e-04 -1.14066771e+01] [-3.22585279e-03 2.11162296e-04 9.99994775e-01 -3.40591241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07992885099998 meters 0.08355711557593822 Centerline is valid? [True, True] Translation: X:114.68, Y:-11.40, Z:-3.40 [[ 9.99269020e-01 3.81773154e-02 1.97938523e-03 1.14677490e+02] [-3.81769832e-02 9.99270972e-01 -2.05381663e-04 -1.13998885e+01] [-1.98578312e-03 1.29664577e-04 9.99998020e-01 -3.40278389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10992885099998 meters 0.08458066335898114 Centerline is valid? [True, True] Translation: X:114.70, Y:-11.41, Z:-3.41 [[ 9.99195577e-01 4.01016398e-02 2.39975783e-04 1.14704720e+02] [-4.01016344e-02 9.99195606e-01 -2.71524406e-05 -1.14054301e+01] [-2.40871606e-04 1.75071774e-05 9.99999971e-01 -3.40714356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13992885099998 meters 0.08332875306814286 Centerline is valid? [True, True] Translation: X:114.73, Y:-11.40, Z:-3.41 [[ 9.99141758e-01 4.14215445e-02 5.79124623e-05 1.14734030e+02] [-4.14215441e-02 9.99141760e-01 -7.95628214e-06 -1.14042042e+01] [-5.81923210e-05 5.55063011e-06 9.99999998e-01 -3.40683913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16992885099998 meters 0.08282874775449334 Centerline is valid? [True, True] Translation: X:114.76, Y:-11.41, Z:-3.41 [[ 9.99056744e-01 4.34237016e-02 -7.19600396e-05 1.14764273e+02] [-4.34237012e-02 9.99056746e-01 6.87507341e-06 -1.14052745e+01] [ 7.21907041e-05 -3.74381720e-06 9.99999997e-01 -3.40808192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19992885099998 meters 0.08152464774215958 Centerline is valid? [True, True] Translation: X:114.79, Y:-11.40, Z:-3.41 [[ 9.98831878e-01 4.83191542e-02 -3.71775643e-04 1.14794962e+02] [-4.83191434e-02 9.98831947e-01 3.80312266e-05 -1.14022682e+01] [ 3.73179026e-04 -2.00229209e-05 9.99999930e-01 -3.40838720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22992885099998 meters 0.08118924997459223 Centerline is valid? [True, True] Translation: X:114.82, Y:-11.40, Z:-3.41 [[ 9.98670315e-01 5.15519320e-02 -2.44326555e-05 1.14823854e+02] [-5.15519320e-02 9.98670315e-01 1.49029865e-06 -1.14028735e+01] [ 2.44769956e-05 -2.28766426e-07 1.00000000e+00 -3.40973642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25992885099998 meters 0.08085232701996951 Centerline is valid? [True, True] Translation: X:114.85, Y:-11.40, Z:-3.41 [[ 9.98508335e-01 5.45990978e-02 -2.10813314e-04 1.14854124e+02] [-5.45990946e-02 9.98508357e-01 2.11063362e-05 -1.14026328e+01] [ 2.11651242e-04 -9.56463654e-06 9.99999978e-01 -3.41071256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28992885099998 meters 0.080620935252975 Centerline is valid? [True, True] Translation: X:114.88, Y:-11.40, Z:-3.41 [[ 9.98321828e-01 5.79088824e-02 -2.97490367e-04 1.14882973e+02] [-5.79088761e-02 9.98321873e-01 2.94854032e-05 -1.14041275e+01] [ 2.98698607e-04 -1.22085888e-05 9.99999955e-01 -3.41289053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319928851 meters 0.07989423309339562 Centerline is valid? [True, True] Translation: X:114.91, Y:-11.40, Z:-3.41 [[ 9.98010173e-01 6.30522661e-02 -3.27397771e-04 1.14913267e+02] [-6.30522586e-02 9.98010226e-01 3.32597401e-05 -1.14021940e+01] [ 3.28843426e-04 -1.25503900e-05 9.99999946e-01 -3.41327496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.349928851 meters 0.07949442237590156 Centerline is valid? [True, True] Translation: X:114.94, Y:-11.40, Z:-3.41 [[ 9.97813782e-01 6.60882466e-02 1.72720516e-05 1.14943226e+02] [-6.60882465e-02 9.97813782e-01 -3.11983865e-06 -1.14033669e+01] [-1.74404758e-05 1.97153840e-06 1.00000000e+00 -3.41404771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379928851 meters 0.07885086589497384 Centerline is valid? [True, True] Translation: X:114.97, Y:-11.40, Z:-3.41 [[ 9.97703063e-01 6.77388880e-02 2.04066016e-04 1.14972161e+02] [-6.77388837e-02 9.97703084e-01 -2.77410161e-05 -1.14031221e+01] [-2.05476439e-04 1.38540926e-05 9.99999979e-01 -3.41343075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.409928851 meters 0.07913161738377342 Centerline is valid? [True, True] Translation: X:115.00, Y:-11.41, Z:-3.42 [[ 9.97583907e-01 6.94692367e-02 6.11583547e-04 1.14999286e+02] [-6.94692093e-02 9.97584094e-01 -6.58604724e-05 -1.14068523e+01] [-6.14681295e-04 2.32151220e-05 9.99999811e-01 -3.41657056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439928851 meters 0.0786269399049149 Centerline is valid? [True, True] Translation: X:115.03, Y:-11.41, Z:-3.41 [[ 9.97474360e-01 7.10268791e-02 2.90191423e-04 1.15028084e+02] [-7.10268715e-02 9.97474402e-01 -3.65780171e-05 -1.14070636e+01] [-2.92056538e-04 1.58742453e-05 9.99999957e-01 -3.41483893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.469928851 meters 0.07849201660025504 Centerline is valid? [True, True] Translation: X:115.06, Y:-11.41, Z:-3.42 [[ 9.97467611e-01 7.11184187e-02 7.32132676e-04 1.15057050e+02] [-7.11183780e-02 9.97467879e-01 -8.14865699e-05 -1.14100775e+01] [-7.36074023e-04 2.92121258e-05 9.99999729e-01 -3.41515915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49992885099996 meters 0.07865436918689199 Centerline is valid? [True, True] Translation: X:115.09, Y:-11.41, Z:-3.42 [[ 9.97525281e-01 7.03009064e-02 1.04737737e-03 1.15085336e+02] [-7.03008262e-02 9.97525830e-01 -1.13287959e-04 -1.14140731e+01] [-1.05275023e-03 3.93761091e-05 9.99999445e-01 -3.41629036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52992885099997 meters 0.07887254987635424 Centerline is valid? [True, True] Translation: X:115.11, Y:-11.42, Z:-3.42 [[ 9.97595530e-01 6.92961589e-02 1.09594603e-03 1.15112306e+02] [-6.92960759e-02 9.97596131e-01 -1.13540134e-04 -1.14196089e+01] [-1.10117942e-03 3.73223705e-05 9.99999393e-01 -3.41767403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55992885099997 meters 0.07910168770786434 Centerline is valid? [True, True] Translation: X:115.14, Y:-11.42, Z:-3.42 [[ 9.97724702e-01 6.74168401e-02 6.24107064e-04 1.15140315e+02] [-6.74168122e-02 9.97724897e-01 -6.57055334e-05 -1.14246398e+01] [-6.27116815e-04 2.34807250e-05 9.99999803e-01 -3.41910138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58992885099997 meters 0.07961646316010264 Centerline is valid? [True, True] Translation: X:115.17, Y:-11.43, Z:-3.42 [[ 9.98000921e-01 6.31992548e-02 1.23856943e-04 1.15169819e+02] [-6.31992536e-02 9.98000929e-01 -1.30433536e-05 -1.14330657e+01] [-1.24433674e-04 5.18961259e-06 9.99999992e-01 -3.42073803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61992885099997 meters 0.07992822687102354 Centerline is valid? [True, True] Translation: X:115.20, Y:-11.44, Z:-3.42 [[ 9.98170260e-01 6.04528958e-02 -1.25701828e-03 1.15198605e+02] [-6.04527854e-02 9.98171050e-01 1.25634806e-04 -1.14386902e+01] [ 1.26231424e-03 -4.94146709e-05 9.99999202e-01 -3.42162610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64992885099997 meters 0.08085223529695279 Centerline is valid? [True, True] Translation: X:115.23, Y:-11.45, Z:-3.42 [[ 9.98477998e-01 5.51247810e-02 -1.71632777e-03 1.15228129e+02] [-5.51245642e-02 9.98479470e-01 1.73394352e-04 -1.14476753e+01] [ 1.72327637e-03 -7.85186244e-05 9.99998512e-01 -3.42339017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67992885099997 meters 0.08085223529695279 Centerline is valid? [True, True] Translation: X:115.26, Y:-11.45, Z:-3.42 [[ 9.98492681e-01 5.48581590e-02 -1.71717147e-03 1.15255403e+02] [-5.48579562e-02 9.98494155e-01 1.65041851e-04 -1.14503435e+01] [ 1.72363956e-03 -7.05925630e-05 9.99998512e-01 -3.42422603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70992885099997 meters 0.08193462104640403 Centerline is valid? [True, True] Translation: X:115.28, Y:-11.46, Z:-3.43 [[ 9.98653242e-01 5.18093494e-02 -2.73758736e-03 1.15283593e+02] [-5.18087878e-02 9.98656985e-01 2.75715626e-04 -1.14586149e+01] [ 2.74819539e-03 -1.33513221e-04 9.99996215e-01 -3.42769696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73992885099997 meters 0.08243534531379776 Centerline is valid? [True, True] Translation: X:115.31, Y:-11.46, Z:-3.43 [[ 9.98798878e-01 4.89339525e-02 -2.50384403e-03 1.15312795e+02] [-4.89334755e-02 9.98802008e-01 2.51463583e-04 -1.14641534e+01] [ 2.51314955e-03 -1.28639755e-04 9.99996834e-01 -3.42901931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76992885099997 meters 0.08257334457168608 Centerline is valid? [True, True] Translation: X:115.34, Y:-11.47, Z:-3.43 [[ 9.98887723e-01 4.70585306e-02 -2.96838745e-03 1.15342233e+02] [-4.70578517e-02 9.98892121e-01 2.98194680e-04 -1.14685701e+01] [ 2.97913144e-03 -1.58177069e-04 9.99995550e-01 -3.42936874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79992885099998 meters 0.08450146070022659 Centerline is valid? [True, True] Translation: X:115.37, Y:-11.48, Z:-3.43 [[ 9.99040308e-01 4.37622796e-02 -1.82385645e-03 1.15370120e+02] [-4.37620196e-02 9.99041967e-01 1.82243576e-04 -1.14785134e+01] [ 1.83008453e-03 -1.02253037e-04 9.99998320e-01 -3.43215759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82992885099998 meters 0.08340450462387793 Centerline is valid? [True, True] Translation: X:115.40, Y:-11.48, Z:-3.43 [[ 9.99111743e-01 4.20683229e-02 -2.44564607e-03 1.15399800e+02] [-4.20678480e-02 9.99114726e-01 2.45298071e-04 -1.14783571e+01] [ 2.45380029e-03 -1.42197116e-04 9.99996979e-01 -3.42977714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85992885099998 meters 0.0839609418087425 Centerline is valid? [True, True] Translation: X:115.43, Y:-11.48, Z:-3.43 [[ 9.99177589e-01 4.04901826e-02 -2.16565749e-03 1.15428918e+02] [-4.04898070e-02 9.99179928e-01 2.17031679e-04 -1.14828482e+01] [ 2.17266915e-03 -1.29166136e-04 9.99997631e-01 -3.43097051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88992885099998 meters 0.08461336811568965 Centerline is valid? [True, True] Translation: X:115.46, Y:-11.49, Z:-3.43 [[ 9.99234177e-01 3.90686465e-02 -2.16782765e-03 1.15456923e+02] [-3.90682680e-02 9.99236520e-01 2.16648942e-04 -1.14880384e+01] [ 2.17463674e-03 -1.31789756e-04 9.99997627e-01 -3.43258782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91992885099998 meters 0.08503488301730859 Centerline is valid? [True, True] Translation: X:115.49, Y:-11.49, Z:-3.43 [[ 9.99319572e-01 3.67762560e-02 -2.81052971e-03 1.15487018e+02] [-3.67756054e-02 9.99323509e-01 2.82830480e-04 -1.14928001e+01] [ 2.81902986e-03 -1.79279102e-04 9.99996010e-01 -3.43342516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94992885099998 meters 0.08470990087982916 Centerline is valid? [True, True] Translation: X:115.52, Y:-11.49, Z:-3.43 [[ 9.99355407e-01 3.58153705e-02 -2.45552319e-03 1.15515558e+02] [-3.58148765e-02 9.99358412e-01 2.44897764e-04 -1.14947804e+01] [ 2.46271886e-03 -1.56795645e-04 9.99996955e-01 -3.43395045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97992885099998 meters 0.08497993069294461 Centerline is valid? [True, True] Translation: X:115.54, Y:-11.50, Z:-3.43 [[ 9.99379813e-01 3.51466955e-02 -2.16782099e-03 1.15544038e+02] [-3.51463096e-02 9.99382154e-01 2.15831923e-04 -1.14984220e+01] [ 2.17406739e-03 -1.39507159e-04 9.99997627e-01 -3.43455387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00992885099998 meters 0.0856512721811197 Centerline is valid? [True, True] Translation: X:115.57, Y:-11.50, Z:-3.44 [[ 9.99399323e-01 3.45314546e-02 -2.92776049e-03 1.15571867e+02] [-3.45307483e-02 9.99403593e-01 2.91472451e-04 -1.15015552e+01] [ 2.93607932e-03 -1.90199610e-04 9.99995672e-01 -3.43657382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03992885099998 meters 0.08506227477598123 Centerline is valid? [True, True] Translation: X:115.60, Y:-11.50, Z:-3.44 [[ 9.99393846e-01 3.46925480e-02 -2.89270543e-03 1.15600779e+02] [-3.46918584e-02 9.99398015e-01 2.88233320e-04 -1.15020965e+01] [ 2.90096361e-03 -1.87705279e-04 9.99995775e-01 -3.43644945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.069928851 meters 0.08493477642578487 Centerline is valid? [True, True] Translation: X:115.63, Y:-11.50, Z:-3.44 [[ 9.99392708e-01 3.46456715e-02 -3.72731480e-03 1.15629219e+02] [-3.46445250e-02 9.99399629e-01 3.71728132e-04 -1.15033597e+01] [ 3.73795579e-03 -2.42371334e-04 9.99992984e-01 -3.43650339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099928851 meters 0.08580442211417222 Centerline is valid? [True, True] Translation: X:115.66, Y:-11.51, Z:-3.44 [[ 9.99392117e-01 3.46783287e-02 -3.57904893e-03 1.15656300e+02] [-3.46772750e-02 9.99398499e-01 3.56077222e-04 -1.15074041e+01] [ 3.58924429e-03 -2.31749105e-04 9.99993532e-01 -3.43868331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.129928851 meters 0.08549486900097857 Centerline is valid? [True, True] Translation: X:115.68, Y:-11.51, Z:-3.44 [[ 9.99407421e-01 3.41095389e-02 -4.62019477e-03 1.15684680e+02] [-3.41077752e-02 9.99418055e-01 4.60009684e-04 -1.15071463e+01] [ 4.63319678e-03 -3.02152527e-04 9.99989221e-01 -3.43905381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159928851 meters 0.08614496444513597 Centerline is valid? [True, True] Translation: X:115.71, Y:-11.51, Z:-3.44 [[ 9.99426613e-01 3.36247601e-02 -3.97747233e-03 1.15711410e+02] [-3.36234564e-02 9.99434494e-01 3.94216730e-04 -1.15109878e+01] [ 3.98847849e-03 -2.60254324e-04 9.99992012e-01 -3.44086901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.189928851 meters 0.08537287092897651 Centerline is valid? [True, True] Translation: X:115.74, Y:-11.51, Z:-3.44 [[ 9.99470459e-01 3.22979734e-02 -3.95515192e-03 1.15740882e+02] [-3.22966669e-02 9.99478249e-01 3.93766766e-04 -1.15103503e+01] [ 3.96580618e-03 -2.65820026e-04 9.99992101e-01 -3.44013567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219928851 meters 0.08624488951305746 Centerline is valid? [True, True] Translation: X:115.77, Y:-11.51, Z:-3.44 [[ 9.99532721e-01 3.03698126e-02 -3.46606529e-03 1.15769388e+02] [-3.03687990e-02 9.99538702e-01 3.44720389e-04 -1.15143175e+01] [ 3.47493550e-03 -2.39299068e-04 9.99993934e-01 -3.44138820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24992885099996 meters 0.09123920446966963 Centerline is valid? [True, True] Translation: X:115.80, Y:-11.53, Z:-3.45 [[ 9.99624912e-01 2.71452957e-02 -3.62888068e-03 1.15797587e+02] [-2.71441578e-02 9.99631464e-01 3.62451071e-04 -1.15270731e+01] [ 3.63738214e-03 -2.63812210e-04 9.99993350e-01 -3.44708536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27992885099997 meters 0.0883968793137378 Centerline is valid? [True, True] Translation: X:115.83, Y:-11.52, Z:-3.44 [[ 9.99687597e-01 2.47906739e-02 -3.18287142e-03 1.15828284e+02] [-2.47897883e-02 9.99692636e-01 3.17395407e-04 -1.15218670e+01] [ 3.18976157e-03 -2.38393543e-04 9.99994884e-01 -3.44411489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30992885099997 meters 0.0884295173881166 Centerline is valid? [True, True] Translation: X:115.86, Y:-11.52, Z:-3.44 [[ 9.99731747e-01 2.30522870e-02 -2.24211351e-03 1.15857777e+02] [-2.30518448e-02 9.99734246e-01 2.22851575e-04 -1.15240682e+01] [ 2.24665490e-03 -1.71106941e-04 9.99997462e-01 -3.44494562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33992885099997 meters 0.0894947984896564 Centerline is valid? [True, True] Translation: X:115.89, Y:-11.53, Z:-3.45 [[ 9.99780626e-01 2.06821825e-02 -3.30875089e-03 1.15888068e+02] [-2.06812016e-02 9.99786066e-01 3.30376479e-04 -1.15282561e+01] [ 3.31487594e-03 -2.61875058e-04 9.99994471e-01 -3.44607152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36992885099997 meters 0.09004480811755569 Centerline is valid? [True, True] Translation: X:115.92, Y:-11.53, Z:-3.45 [[ 9.99841252e-01 1.75736077e-02 -2.93931296e-03 1.15918737e+02] [-1.75728210e-02 9.99845543e-01 2.93252715e-04 -1.15291077e+01] [ 2.94401247e-03 -2.41554141e-04 9.99995637e-01 -3.44709993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39992885099997 meters 0.09174625568665441 Centerline is valid? [True, True] Translation: X:115.95, Y:-11.53, Z:-3.45 [[ 9.99859545e-01 1.65301605e-02 -2.76462309e-03 1.15946686e+02] [-1.65294661e-02 9.99863342e-01 2.73821391e-04 -1.15336391e+01] [ 2.76877159e-03 -2.28085188e-04 9.99996141e-01 -3.44952991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42992885099997 meters 0.09207880954234585 Centerline is valid? [True, True] Translation: X:115.98, Y:-11.53, Z:-3.45 [[ 9.99885560e-01 1.49006144e-02 -2.61500040e-03 1.15976180e+02] [-1.48999856e-02 9.99888955e-01 2.59792426e-04 -1.15349130e+01] [ 2.61858108e-03 -2.20799227e-04 9.99996547e-01 -3.44986705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45992885099997 meters 0.09280988682394127 Centerline is valid? [True, True] Translation: X:116.00, Y:-11.54, Z:-3.45 [[ 9.99902516e-01 1.37164701e-02 -2.61075676e-03 1.16004854e+02] [-1.37158410e-02 9.99905900e-01 2.58732080e-04 -1.15372486e+01] [ 2.61405997e-03 -2.22898133e-04 9.99996558e-01 -3.45106384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48992885099997 meters 0.09597673171795745 Centerline is valid? [True, True] Translation: X:116.03, Y:-11.54, Z:-3.45 [[ 9.99925565e-01 1.20555025e-02 -1.87888730e-03 1.16032569e+02] [-1.20551747e-02 9.99927316e-01 1.85697314e-04 -1.15412545e+01] [ 1.88098941e-03 -1.63033177e-04 9.99998218e-01 -3.45309087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51992885099997 meters 0.09292674321960501 Centerline is valid? [True, True] Translation: X:116.06, Y:-11.53, Z:-3.45 [[ 9.99935594e-01 1.12348172e-02 -1.60857299e-03 1.16062382e+02] [-1.12345773e-02 9.99936878e-01 1.58089117e-04 -1.15347383e+01] [ 1.61024755e-03 -1.40007298e-04 9.99998694e-01 -3.45086342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54992885099998 meters 0.09463495495789892 Centerline is valid? [True, True] Translation: X:116.09, Y:-11.54, Z:-3.45 [[ 9.99943905e-01 1.05295421e-02 -1.14726057e-03 1.16089602e+02] [-1.05294210e-02 9.99944558e-01 1.11557631e-04 -1.15387447e+01] [ 1.14837162e-03 -9.94713834e-05 9.99999336e-01 -3.45282037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57992885099998 meters 0.09731954670570947 Centerline is valid? [True, True] Translation: X:116.12, Y:-11.54, Z:-3.46 [[ 9.99947030e-01 1.02910850e-02 -1.72848469e-04 1.16116727e+02] [-1.02910827e-02 9.99947045e-01 1.46511210e-05 -1.15446825e+01] [ 1.72990092e-04 -1.28715471e-05 9.99999985e-01 -3.45537100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60992885099998 meters 0.09431187029829341 Centerline is valid? [True, True] Translation: X:116.15, Y:-11.54, Z:-3.45 [[ 9.99955344e-01 9.42482409e-03 -6.94177559e-04 1.16146990e+02] [-9.42477917e-03 9.99955583e-01 6.79404243e-05 -1.15389622e+01] [ 6.94787053e-04 -6.13949202e-05 9.99999757e-01 -3.45446648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63992885099998 meters 0.09416800148534481 Centerline is valid? [True, True] Translation: X:116.18, Y:-11.54, Z:-3.46 [[ 9.99967342e-01 8.03790733e-03 -8.41081813e-04 1.16176625e+02] [-8.03784157e-03 9.99967693e-01 8.15382273e-05 -1.15362422e+01] [ 8.41710037e-04 -7.47750821e-05 9.99999643e-01 -3.45563381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66992885099998 meters 0.09997581646043031 Centerline is valid? [True, True] Translation: X:116.20, Y:-11.55, Z:-3.46 [[ 9.99972354e-01 7.42242247e-03 4.45039221e-04 1.16203734e+02] [-7.42240239e-03 9.99972452e-01 -4.67539101e-05 -1.15479137e+01] [-4.45373989e-04 4.34493574e-05 9.99999900e-01 -3.46015924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69992885099998 meters 0.09971172218653701 Centerline is valid? [True, True] Translation: X:116.23, Y:-11.55, Z:-3.46 [[ 9.99971540e-01 7.50947516e-03 7.26500699e-04 1.16232335e+02] [-7.50942371e-03 9.99971801e-01 -7.35252143e-05 -1.15481786e+01] [-7.27032348e-04 6.80675202e-05 9.99999733e-01 -3.46050520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72992885099998 meters 0.09671591561503654 Centerline is valid? [True, True] Translation: X:116.26, Y:-11.54, Z:-3.46 [[ 9.99976320e-01 6.77487362e-03 1.20812083e-03 1.16262238e+02] [-6.77473139e-03 9.99977044e-01 -1.21783031e-04 -1.15407454e+01] [-1.20891817e-03 1.13595453e-04 9.99999263e-01 -3.45978951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75992885099998 meters 0.0961521170327505 Centerline is valid? [True, True] Translation: X:116.29, Y:-11.54, Z:-3.46 [[ 9.99971510e-01 7.21526947e-03 2.21809176e-03 1.16290858e+02] [-7.21479521e-03 9.99973948e-01 -2.21742501e-04 -1.15404550e+01] [-2.21963391e-03 2.05733105e-04 9.99997515e-01 -3.46012396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78992885099998 meters 0.09519741760940861 Centerline is valid? [True, True] Translation: X:116.32, Y:-11.54, Z:-3.46 [[ 9.99969549e-01 7.51939162e-03 2.08801856e-03 1.16319488e+02] [-7.51897201e-03 9.99971710e-01 -2.08738358e-04 -1.15394094e+01] [-2.08952908e-03 1.93032248e-04 9.99997798e-01 -3.46086543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819928851 meters 0.0956541130503985 Centerline is valid? [True, True] Translation: X:116.35, Y:-11.54, Z:-3.46 [[ 9.99970919e-01 7.39452875e-03 1.86584205e-03 1.16347974e+02] [-7.39419239e-03 9.99972645e-01 -1.87104478e-04 -1.15386402e+01] [-1.86717456e-03 1.73302642e-04 9.99998242e-01 -3.46185711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.849928851 meters 0.0986247562481077 Centerline is valid? [True, True] Translation: X:116.38, Y:-11.55, Z:-3.46 [[ 9.99971020e-01 7.29570809e-03 2.17548349e-03 1.16375511e+02] [-7.29525198e-03 9.99973366e-01 -2.17520341e-04 -1.15455429e+01] [-2.17701252e-03 2.01643337e-04 9.99997610e-01 -3.46478700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879928851 meters 0.09596546965358647 Centerline is valid? [True, True] Translation: X:116.40, Y:-11.54, Z:-3.46 [[ 9.99968729e-01 7.51694593e-03 2.45696771e-03 1.16404886e+02] [-7.51636736e-03 9.99971722e-01 -2.44631094e-04 -1.15413486e+01] [-2.45873711e-03 2.26155973e-04 9.99996952e-01 -3.46377149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.909928851 meters 0.09748809981972169 Centerline is valid? [True, True] Translation: X:116.43, Y:-11.55, Z:-3.47 [[ 9.99974353e-01 6.86457634e-03 2.04230732e-03 1.16432711e+02] [-6.86417482e-03 9.99976421e-01 -2.03547523e-04 -1.15454350e+01] [-2.04365643e-03 1.89523548e-04 9.99997894e-01 -3.46510439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939928851 meters 0.09586333466415216 Centerline is valid? [True, True] Translation: X:116.46, Y:-11.54, Z:-3.47 [[ 9.99977479e-01 6.40400461e-03 2.00731292e-03 1.16461817e+02] [-6.40361598e-03 9.99979477e-01 -1.99976623e-04 -1.15426751e+01] [-2.00855237e-03 1.87118058e-04 9.99997965e-01 -3.46540278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969928851 meters 0.09753069057492142 Centerline is valid? [True, True] Translation: X:116.49, Y:-11.55, Z:-3.47 [[ 9.99978511e-01 6.28517216e-03 1.86401644e-03 1.16490146e+02] [-6.28483773e-03 9.99980233e-01 -1.85218303e-04 -1.15476418e+01] [-1.86514372e-03 1.73499282e-04 9.99998246e-01 -3.46793640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99992885099996 meters 0.0967703357544404 Centerline is valid? [True, True] Translation: X:116.52, Y:-11.55, Z:-3.47 [[ 9.99981438e-01 5.78577856e-03 1.91012220e-03 1.16519500e+02] [-5.78542579e-03 9.99983246e-01 -1.90158818e-04 -1.15476869e+01] [-1.91119041e-03 1.79104418e-04 9.99998158e-01 -3.46799759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02992885099997 meters 0.09807465759477894 Centerline is valid? [True, True] Translation: X:116.55, Y:-11.55, Z:-3.47 [[ 9.99984585e-01 5.41701993e-03 1.21864880e-03 1.16547571e+02] [-5.41687588e-03 9.99985321e-01 -1.21479411e-04 -1.15512216e+01] [-1.21928897e-03 1.14876269e-04 9.99999250e-01 -3.46952678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05992885099997 meters 0.09938471936778359 Centerline is valid? [True, True] Translation: X:116.58, Y:-11.55, Z:-3.47 [[ 9.99985179e-01 5.02272151e-03 2.10079662e-03 1.16575830e+02] [-5.02229417e-03 9.99987366e-01 -2.08643487e-04 -1.15538431e+01] [-2.10181804e-03 1.98089576e-04 9.99997772e-01 -3.47139860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08992885099997 meters 0.09673358809944406 Centerline is valid? [True, True] Translation: X:116.61, Y:-11.55, Z:-3.47 [[ 9.99987644e-01 4.68678170e-03 1.65697628e-03 1.16605574e+02] [-4.68651642e-03 9.99989005e-01 -1.63948662e-04 -1.15505156e+01] [-1.65772645e-03 1.56181190e-04 9.99998614e-01 -3.47064978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11992885099997 meters 0.09815680124683943 Centerline is valid? [True, True] Translation: X:116.63, Y:-11.55, Z:-3.47 [[ 9.99990244e-01 4.18388542e-03 1.41689166e-03 1.16634550e+02] [-4.18369081e-03 9.99991238e-01 -1.40287009e-04 -1.15546264e+01] [-1.41746619e-03 1.34357804e-04 9.99998986e-01 -3.47242627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14992885099997 meters 0.10054319653609275 Centerline is valid? [True, False] Translation: X:116.63, Y:-11.55, Z:-3.47 [[ 9.99992271e-01 3.67669601e-03 1.39313429e-03 1.16634471e+02] [-3.67526639e-03 9.99992718e-01 -1.02736279e-03 -1.15519019e+01] [-1.39690145e-03 1.02223471e-03 9.99998502e-01 -3.47221976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17992885099997 meters 0.1023422761205026 Centerline is valid? [False, False] Translation: X:116.63, Y:-11.55, Z:-3.47 [[ 9.99993921e-01 3.14924273e-03 1.49691185e-03 1.16633832e+02] [-3.14658844e-03 9.99993479e-01 -1.77223134e-03 -1.15501879e+01] [-1.50248327e-03 1.76751040e-03 9.99997309e-01 -3.47163475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20992885099997 meters 0.09795978772889921 Centerline is valid? [False, True] Translation: X:116.63, Y:-11.55, Z:-3.47 [[ 9.99994400e-01 3.02475518e-03 1.43201921e-03 1.16633996e+02] [-3.02184923e-03 9.99993380e-01 -2.02709813e-03 -1.15491489e+01] [-1.43814121e-03 2.02275943e-03 9.99996920e-01 -3.47166721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23992885099997 meters 0.09864241613217191 Centerline is valid? [True, True] Translation: X:116.66, Y:-11.55, Z:-3.47 [[ 9.99994415e-01 3.06002159e-03 1.34405334e-03 1.16663326e+02] [-3.05984632e-03 9.99995310e-01 -1.32437129e-04 -1.15531037e+01] [-1.34445230e-03 1.28323792e-04 9.99999088e-01 -3.47395017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26992885099997 meters 0.10334198218184185 Centerline is valid? [True, False] Translation: X:116.66, Y:-11.55, Z:-3.47 [[ 9.99995762e-01 2.55347505e-03 1.39826195e-03 1.16662875e+02] [-2.55218898e-03 9.99996319e-01 -9.20775018e-04 -1.15511158e+01] [-1.40060798e-03 9.17202487e-04 9.99998599e-01 -3.47349042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29992885099998 meters 0.10431344389370552 Centerline is valid? [False, False] Translation: X:116.66, Y:-11.55, Z:-3.47 [[ 9.99995915e-01 2.52457855e-03 1.34022124e-03 1.16663113e+02] [-2.52323224e-03 9.99996311e-01 -1.00528444e-03 -1.15505169e+01] [-1.34275422e-03 1.00189864e-03 9.99998597e-01 -3.47366772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32992885099998 meters 0.09898587194423698 Centerline is valid? [False, True] Translation: X:116.66, Y:-11.55, Z:-3.47 [[ 9.99996616e-01 2.16113395e-03 1.44797738e-03 1.16662632e+02] [-2.15899006e-03 9.99996573e-01 -1.48053968e-03 -1.15493815e+01] [-1.45117206e-03 1.47740850e-03 9.99997856e-01 -3.47332092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35992885099998 meters 0.10023073582100463 Centerline is valid? [True, False] Translation: X:116.66, Y:-11.55, Z:-3.47 [[ 9.99997004e-01 1.92947298e-03 1.50614176e-03 1.16662317e+02] [-1.92686873e-03 9.99996650e-01 -1.72862627e-03 -1.15486544e+01] [-1.50947205e-03 1.72571895e-03 9.99997372e-01 -3.47311635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38992885099998 meters 0.10022034356090362 Centerline is valid? [False, False] Translation: X:116.66, Y:-11.55, Z:-3.47 [[ 9.99996950e-01 2.03044291e-03 1.40601152e-03 1.16662815e+02] [-2.02813215e-03 9.99996594e-01 -1.64296139e-03 -1.15483086e+01] [-1.40934267e-03 1.64010480e-03 9.99997662e-01 -3.47354475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41992885099998 meters 0.10344706164243134 Centerline is valid? [False, False] Translation: X:116.66, Y:-11.55, Z:-3.47 [[ 9.99996987e-01 2.01034823e-03 1.40854541e-03 1.16663039e+02] [-2.00796405e-03 9.99996553e-01 -1.69202763e-03 -1.15477763e+01] [-1.41194212e-03 1.68919422e-03 9.99997577e-01 -3.47391416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44992885099998 meters 0.09963605073908137 Centerline is valid? [False, True] Translation: X:116.66, Y:-11.55, Z:-3.47 [[ 9.99996896e-01 2.15167933e-03 1.25666597e-03 1.16663546e+02] [-2.14968508e-03 9.99996432e-01 -1.58613623e-03 -1.15477205e+01] [-1.26007434e-03 1.58342987e-03 9.99997952e-01 -3.47418026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47992885099998 meters 0.09996239822621183 Centerline is valid? [True, True] Translation: X:116.69, Y:-11.55, Z:-3.48 [[ 9.99995969e-01 2.57035138e-03 1.20621312e-03 1.16693770e+02] [-2.57021166e-03 9.99996690e-01 -1.17375289e-04 -1.15516133e+01] [-1.20651082e-03 1.14274593e-04 9.99999266e-01 -3.47703078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50992885099998 meters 0.09676713608129076 Centerline is valid? [True, True] Translation: X:116.72, Y:-11.55, Z:-3.48 [[ 9.99996584e-01 2.58859336e-03 3.63065226e-04 1.16724166e+02] [-2.58858033e-03 9.99996649e-01 -3.63578707e-05 -1.15475918e+01] [-3.63158125e-04 3.54179230e-05 9.99999933e-01 -3.47611450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53992885099998 meters 0.0969687790388668 Centerline is valid? [True, True] Translation: X:116.75, Y:-11.55, Z:-3.48 [[ 9.99989180e-01 4.49520828e-03 1.19702451e-03 1.16753205e+02] [-4.49507090e-03 9.99989890e-01 -1.17430435e-04 -1.15495992e+01] [-1.19754029e-03 1.12048455e-04 9.99999277e-01 -3.47696717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.569928851 meters 0.0969687790388668 Centerline is valid? [True, True] Translation: X:116.78, Y:-11.55, Z:-3.48 [[ 9.99989336e-01 4.46030770e-03 1.19702859e-03 1.16782344e+02] [-4.46017035e-03 9.99990047e-01 -1.17388656e-04 -1.15523936e+01] [-1.19754027e-03 1.12048453e-04 9.99999277e-01 -3.47783148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599928851 meters 0.0992601942185822 Centerline is valid? [True, True] Translation: X:116.81, Y:-11.56, Z:-3.48 [[ 9.99987497e-01 4.83784401e-03 1.26553952e-03 1.16810144e+02] [-4.83769030e-03 9.99988291e-01 -1.24487151e-04 -1.15590233e+01] [-1.26612695e-03 1.18363306e-04 9.99999191e-01 -3.47933893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.629928851 meters 0.09694954333403855 Centerline is valid? [True, True] Translation: X:116.84, Y:-11.56, Z:-3.48 [[ 9.99984535e-01 5.35270588e-03 1.50947314e-03 1.16839535e+02] [-5.35248764e-03 9.99985664e-01 -1.48585197e-04 -1.15569419e+01] [-1.51024683e-03 1.40503463e-04 9.99998850e-01 -3.47869654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659928851 meters 0.09981202497048809 Centerline is valid? [True, True] Translation: X:116.87, Y:-11.57, Z:-3.48 [[ 9.99977893e-01 6.21211241e-03 2.37112332e-03 1.16867916e+02] [-6.21158169e-03 9.99980681e-01 -2.31122851e-04 -1.15657517e+01] [-2.37251328e-03 2.16389315e-04 9.99997162e-01 -3.48082993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.689928851 meters 0.09737127284766825 Centerline is valid? [True, True] Translation: X:116.90, Y:-11.56, Z:-3.48 [[ 9.99970843e-01 6.67050214e-03 3.71709367e-03 1.16896710e+02] [-6.66920047e-03 9.99977695e-01 -3.62471359e-04 -1.15641370e+01] [-3.71942862e-03 3.37670748e-04 9.99993026e-01 -3.47909536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719928851 meters 0.09815289488834099 Centerline is valid? [True, True] Translation: X:116.92, Y:-11.57, Z:-3.48 [[ 9.99969259e-01 7.05276874e-03 3.42620511e-03 1.16924743e+02] [-7.05166684e-03 9.99975081e-01 -3.33584508e-04 -1.15682605e+01] [-3.42847243e-03 3.09413796e-04 9.99994075e-01 -3.48005600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74992885099996 meters 0.09875937937011857 Centerline is valid? [True, True] Translation: X:116.95, Y:-11.57, Z:-3.48 [[ 9.99962796e-01 7.21986637e-03 4.72011273e-03 1.16953784e+02] [-7.21778268e-03 9.99973846e-01 -4.58333588e-04 -1.15722044e+01] [-4.72329839e-03 4.24247788e-04 9.99988755e-01 -3.48035281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77992885099997 meters 0.0940641494463707 Centerline is valid? [True, True] Translation: X:116.98, Y:-11.57, Z:-3.48 [[ 9.99963628e-01 7.11057436e-03 4.70976022e-03 1.16984237e+02] [-7.10849913e-03 9.99974630e-01 -4.57216400e-04 -1.15660069e+01] [-4.71289180e-03 4.23720444e-04 9.99988804e-01 -3.47850892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80992885099997 meters 0.0980958706607559 Centerline is valid? [True, True] Translation: X:117.01, Y:-11.58, Z:-3.48 [[ 9.99963397e-01 7.15720810e-03 4.68812720e-03 1.17012490e+02] [-7.15515522e-03 9.99974298e-01 -4.54515265e-04 -1.15775682e+01] [-4.69125977e-03 4.20954351e-04 9.99988907e-01 -3.48153720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83992885099997 meters 0.09851076404936843 Centerline is valid? [True, True] Translation: X:117.04, Y:-11.58, Z:-3.48 [[ 9.99974365e-01 5.54450370e-03 4.53073973e-03 1.17042212e+02] [-5.54257131e-03 9.99984543e-01 -4.38950307e-04 -1.15829434e+01] [-4.53310346e-03 4.13827106e-04 9.99989640e-01 -3.48290918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86992885099997 meters 0.10008523829932073 Centerline is valid? [True, False] Translation: X:117.04, Y:-11.58, Z:-3.48 [[ 9.99991269e-01 1.69262065e-03 3.82064721e-03 1.17043770e+02] [-1.67454471e-03 9.99987414e-01 -4.72937150e-03 -1.15823664e+01] [-3.82860415e-03 4.72293237e-03 9.99981518e-01 -3.48295849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89992885099997 meters 0.10173751247881874 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.58, Z:-3.48 [[ 9.99990487e-01 1.88052128e-03 3.93572392e-03 1.17043752e+02] [-1.86376240e-03 9.99989200e-01 -4.25748838e-03 -1.15835782e+01] [-3.94368771e-03 4.25011262e-03 9.99983192e-01 -3.48334298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92992885099997 meters 0.10154995126477413 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.59, Z:-3.48 [[ 9.99989573e-01 2.25414469e-03 3.97151782e-03 1.17044110e+02] [-2.24006950e-03 9.99991208e-01 -3.54492447e-03 -1.15851842e+01] [-3.97947367e-03 3.53599103e-03 9.99985830e-01 -3.48401640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95992885099997 meters 0.09764391043368234 Centerline is valid? [False, True] Translation: X:117.04, Y:-11.59, Z:-3.48 [[ 9.99988842e-01 2.25942504e-03 4.14864509e-03 1.17043822e+02] [-2.24571623e-03 9.99992013e-01 -3.30609718e-03 -1.15858105e+01] [-4.15608184e-03 3.29674361e-03 9.99985929e-01 -3.48423360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98992885099997 meters 0.10311380394045383 Centerline is valid? [True, False] Translation: X:117.04, Y:-11.59, Z:-3.48 [[ 9.99988324e-01 2.31174751e-03 4.24352760e-03 1.17043530e+02] [-2.29862731e-03 9.99992571e-01 -3.09409071e-03 -1.15867335e+01] [-4.25064883e-03 3.08430029e-03 9.99986209e-01 -3.48412722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01992885099997 meters 0.10140982995952935 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.59, Z:-3.48 [[ 9.99987507e-01 2.62001142e-03 4.25695892e-03 1.17043625e+02] [-2.60914686e-03 9.99993330e-01 -2.55573853e-03 -1.15883513e+01] [-4.26362660e-03 2.54459957e-03 9.99987673e-01 -3.48431374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04992885099998 meters 0.10559109804143967 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.59, Z:-3.48 [[ 9.99987020e-01 2.66208213e-03 4.34424236e-03 1.17043182e+02] [-2.65216119e-03 9.99993866e-01 -2.28786469e-03 -1.15896124e+01] [-4.35030619e-03 2.27631336e-03 9.99987947e-01 -3.48398491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07992885099998 meters 0.10605148540176226 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.59, Z:-3.48 [[ 9.99986374e-01 2.86977060e-03 4.36067078e-03 1.17043146e+02] [-2.86158615e-03 9.99994135e-01 -1.88196020e-03 -1.15909164e+01] [-4.36604600e-03 1.86945612e-03 9.99988721e-01 -3.48397374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10992885099998 meters 0.1039038417095453 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.59, Z:-3.48 [[ 9.99984434e-01 2.99461071e-03 4.70783334e-03 1.17042397e+02] [-2.98906059e-03 9.99994830e-01 -1.18550714e-03 -1.15933134e+01] [-4.71135913e-03 1.17141669e-03 9.99988215e-01 -3.48394491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13992885099998 meters 0.10655784898038442 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.59, Z:-3.48 [[ 9.99983723e-01 2.85451042e-03 4.94026275e-03 1.17041645e+02] [-2.84913067e-03 9.99995341e-01 -1.09565495e-03 -1.15942022e+01] [-4.94336729e-03 1.08156167e-03 9.99987197e-01 -3.48359141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16992885099998 meters 0.10800966457205233 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.60, Z:-3.48 [[ 9.99982656e-01 3.07756017e-03 5.02154600e-03 1.17041544e+02] [-3.07470812e-03 9.99995107e-01 -5.75582167e-04 -1.15958083e+01] [-5.02329282e-03 5.60132396e-04 9.99987226e-01 -3.48369043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19992885099998 meters 0.10692845508940436 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.60, Z:-3.48 [[ 9.99981543e-01 3.22071851e-03 5.15175538e-03 1.17041204e+02] [-3.21983673e-03 9.99994800e-01 -1.79445658e-04 -1.15974429e+01] [-5.15230653e-03 1.62854535e-04 9.99986714e-01 -3.48355553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22992885099998 meters 0.10867131887074813 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.60, Z:-3.48 [[ 9.99987720e-01 -6.19334542e-04 4.91692821e-03 1.17041493e+02] [ 6.38542044e-04 9.99992168e-01 -3.90579451e-03 -1.15996101e+01] [-4.91447071e-03 3.90888622e-03 9.99980284e-01 -3.48319907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25992885099998 meters 0.10833233219301037 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.60, Z:-3.48 [[ 9.99987472e-01 -1.63929651e-04 5.00288838e-03 1.17041616e+02] [ 1.78909850e-04 9.99995502e-01 -2.99400949e-03 -1.16020530e+01] [-5.00237507e-03 2.99486705e-03 9.99983003e-01 -3.48367571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28992885099998 meters 0.11030204860173229 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.60, Z:-3.48 [[ 9.99986839e-01 1.65213044e-04 5.12783310e-03 1.17041578e+02] [-1.53548614e-04 9.99997400e-01 -2.27503923e-03 -1.16040254e+01] [-5.12819564e-03 2.27422192e-03 9.99984265e-01 -3.48402902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319928851 meters 0.10824858319024158 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.61, Z:-3.48 [[ 9.99987184e-01 5.78121115e-04 5.02967221e-03 1.17041889e+02] [-5.69889718e-04 9.99998496e-01 -1.63784662e-03 -1.16059024e+01] [-5.03061152e-03 1.63495927e-03 9.99986010e-01 -3.48414841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.349928851 meters 0.10642535518119733 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.61, Z:-3.48 [[ 9.99986104e-01 9.66441759e-04 5.18254396e-03 1.17041568e+02] [-9.62608377e-04 9.99999261e-01 -7.42115093e-04 -1.16089654e+01] [-5.18325735e-03 7.37116020e-04 9.99986295e-01 -3.48412573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379928851 meters 0.1083568391809875 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.61, Z:-3.48 [[ 9.99985780e-01 1.43781089e-03 5.13544984e-03 1.17041800e+02] [-1.43800037e-03 9.99998966e-01 3.32046948e-05 -1.16113558e+01] [-5.13539679e-03 -4.05890014e-05 9.99986813e-01 -3.48427556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.409928851 meters 0.10680030375946749 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.61, Z:-3.48 [[ 9.99984544e-01 1.65553856e-03 5.30770816e-03 1.17041364e+02] [-1.65886661e-03 9.99998430e-01 6.22681823e-04 -1.16136889e+01] [-5.30666895e-03 -6.31476978e-04 9.99985720e-01 -3.48414740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439928851 meters 0.10837994598087897 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.62, Z:-3.48 [[ 9.99986619e-01 -1.91533211e-03 4.80565128e-03 1.17042319e+02] [ 1.92924987e-03 9.99993954e-01 -2.89316174e-03 -1.16162189e+01] [-4.80008086e-03 2.90239433e-03 9.99984268e-01 -3.48387307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.469928851 meters 0.11300212388633687 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.62, Z:-3.48 [[ 9.99988153e-01 -1.31735905e-03 4.68608110e-03 1.17042859e+02] [ 1.32678531e-03 9.99997102e-01 -2.00900388e-03 -1.16185369e+01] [-4.68342094e-03 2.01519751e-03 9.99987002e-01 -3.48424227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49992885099996 meters 0.11103337567692945 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.62, Z:-3.48 [[ 9.99988959e-01 -1.04531601e-03 4.58135301e-03 1.17043019e+02] [ 1.05270107e-03 9.99998150e-01 -1.60986710e-03 -1.16199498e+01] [-4.57966171e-03 1.61467212e-03 9.99988210e-01 -3.48412718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52992885099997 meters 0.1064451360393871 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.62, Z:-3.48 [[ 9.99990176e-01 -5.07300794e-04 4.40351279e-03 1.17043731e+02] [ 5.11153499e-04 9.99999488e-01 -8.73834813e-04 -1.16216926e+01] [-4.40306723e-03 8.76077099e-04 9.99989923e-01 -3.48457842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55992885099997 meters 0.1099379109825794 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.62, Z:-3.49 [[ 9.99991135e-01 2.61852955e-04 4.20247167e-03 1.17044520e+02] [-2.62644259e-04 9.99999948e-01 1.87744030e-04 -1.16246509e+01] [-4.20242229e-03 -1.88846121e-04 9.99991152e-01 -3.48501492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58992885099997 meters 0.10668870502861044 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.63, Z:-3.48 [[ 9.99991390e-01 5.84586273e-04 4.10823584e-03 1.17044739e+02] [-5.87103890e-04 9.99999641e-01 6.11642575e-04 -1.16261313e+01] [-4.10787680e-03 -6.14049270e-04 9.99991374e-01 -3.48499259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61992885099997 meters 0.1108036149535471 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.63, Z:-3.48 [[ 9.99991950e-01 8.66194659e-04 3.91791598e-03 1.17045075e+02] [-8.69838562e-04 9.99999191e-01 9.28453197e-04 -1.16272407e+01] [-3.91710859e-03 -9.31853677e-04 9.99991894e-01 -3.48484584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64992885099997 meters 0.10766740599369497 Centerline is valid? [False, False] Translation: X:117.04, Y:-11.63, Z:-3.48 [[ 9.99992212e-01 8.78359703e-04 3.84769666e-03 1.17044904e+02] [-8.81893671e-04 9.99999191e-01 9.16862822e-04 -1.16278111e+01] [-3.84688822e-03 -9.20248941e-04 9.99992177e-01 -3.48433783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67992885099997 meters 0.10508092151990829 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.63, Z:-3.48 [[ 9.99992821e-01 1.07898586e-03 3.63237581e-03 1.17045279e+02] [-1.08284727e-03 9.99998851e-01 1.06125359e-03 -1.16283270e+01] [-3.63122656e-03 -1.06517928e-03 9.99992840e-01 -3.48418147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70992885099997 meters 0.1050268675348414 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.63, Z:-3.48 [[ 9.99993704e-01 1.40256957e-03 3.25948671e-03 1.17045742e+02] [-1.40678564e-03 9.99998176e-01 1.29154371e-03 -1.16294602e+01] [-3.25766929e-03 -1.29612098e-03 9.99993854e-01 -3.48363696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73992885099997 meters 0.10355102704939786 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.63, Z:-3.48 [[ 9.99993945e-01 1.56945886e-03 3.10576835e-03 1.17045880e+02] [-1.57383875e-03 9.99997770e-01 1.40830057e-03 -1.16302267e+01] [-3.10355115e-03 -1.41318002e-03 9.99994185e-01 -3.48329842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76992885099997 meters 0.1028429022463162 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.63, Z:-3.48 [[ 9.99994110e-01 1.70563972e-03 2.97824505e-03 1.17045885e+02] [-1.71026468e-03 9.99997335e-01 1.55105957e-03 -1.16310826e+01] [-2.97559156e-03 -1.55614402e-03 9.99994362e-01 -3.48289042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79992885099998 meters 0.1036906288003438 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.63, Z:-3.48 [[ 9.99994231e-01 1.83451201e-03 2.85871094e-03 1.17045904e+02] [-1.83930231e-03 9.99996907e-01 1.67395658e-03 -1.16318687e+01] [-2.85563120e-03 -1.67920496e-03 9.99994513e-01 -3.48251502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82992885099998 meters 0.10235871283061673 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.63, Z:-3.48 [[ 9.99994044e-01 2.20047896e-03 2.65880955e-03 1.17046047e+02] [-2.20605403e-03 9.99995371e-01 2.09571695e-03 -1.16336872e+01] [-2.65418566e-03 -2.10156995e-03 9.99994269e-01 -3.48202175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85992885099998 meters 0.10121099255333255 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.63, Z:-3.48 [[ 9.99993888e-01 2.31963816e-03 2.61601985e-03 1.17045927e+02] [-2.32559879e-03 9.99994702e-01 2.27777261e-03 -1.16346383e+01] [-2.61072238e-03 -2.28384250e-03 9.99993984e-01 -3.48167328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88992885099998 meters 0.10111121783735744 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.64, Z:-3.48 [[ 9.99993779e-01 2.44601891e-03 2.54130297e-03 1.17045890e+02] [-2.45231792e-03 9.99993922e-01 2.47850200e-03 -1.16355670e+01] [-2.53522506e-03 -2.48471867e-03 9.99993699e-01 -3.48137143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91992885099998 meters 0.09981402304975324 Centerline is valid? [False, True] Translation: X:117.05, Y:-11.64, Z:-3.48 [[ 9.99993125e-01 2.75112220e-03 2.48624211e-03 1.17046055e+02] [-2.75845169e-03 9.99991846e-01 2.94941620e-03 -1.16369623e+01] [-2.47810763e-03 -2.95625410e-03 9.99992560e-01 -3.48142341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94992885099998 meters 0.10020428910152442 Centerline is valid? [True, False] Translation: X:117.05, Y:-11.64, Z:-3.48 [[ 9.99998241e-01 -8.53611724e-04 1.66999396e-03 1.17047513e+02] [ 8.55095940e-04 9.99999240e-01 -8.88243436e-04 -1.16380877e+01] [-1.66923448e-03 8.89669879e-04 9.99998211e-01 -3.48107152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97992885099998 meters 0.1028687389348656 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.64, Z:-3.48 [[ 9.99998799e-01 -2.29901356e-04 1.53278873e-03 1.17048334e+02] [ 2.29942418e-04 9.99999973e-01 -2.66128809e-05 -1.16399642e+01] [-1.53278257e-03 2.69653021e-05 9.99998825e-01 -3.48180981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00992885099998 meters 0.1017841579123341 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.64, Z:-3.48 [[ 9.99998933e-01 2.94965446e-05 1.46071650e-03 1.17048549e+02] [-3.00021364e-05 9.99999940e-01 3.46105168e-04 -1.16411782e+01] [-1.46070620e-03 -3.46148624e-04 9.99998873e-01 -3.48187868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03992885099998 meters 0.100915732607742 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.64, Z:-3.48 [[ 9.99999009e-01 4.20011333e-04 1.34380519e-03 1.17049043e+02] [-4.21199517e-04 9.99999521e-01 8.84033300e-04 -1.16425180e+01] [-1.34343324e-03 -8.84598434e-04 9.99998706e-01 -3.48220685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.069928851 meters 0.10116029539107774 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.64, Z:-3.48 [[ 9.99999071e-01 3.91713484e-04 1.30578533e-03 1.17048867e+02] [-3.92819709e-04 9.99999564e-01 8.47023031e-04 -1.16428878e+01] [-1.30545297e-03 -8.47535182e-04 9.99998789e-01 -3.48182302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099928851 meters 0.10243234350557423 Centerline is valid? [False, False] Translation: X:117.05, Y:-11.64, Z:-3.48 [[ 9.99999005e-01 8.63470683e-04 1.11554424e-03 1.17049612e+02] [-8.65067318e-04 9.99998601e-01 1.43157240e-03 -1.16441061e+01] [-1.11430656e-03 -1.43253600e-03 9.99998353e-01 -3.48228160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.129928851 meters 0.09943989792752708 Centerline is valid? [False, True] Translation: X:117.05, Y:-11.65, Z:-3.48 [[ 9.99998776e-01 1.11208906e-03 1.10020632e-03 1.17049545e+02] [-1.11414020e-03 9.99997639e-01 1.86547463e-03 -1.16457554e+01] [-1.09812915e-03 -1.86669813e-03 9.99997655e-01 -3.48209999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159928851 meters 0.09963891879005583 Centerline is valid? [True, True] Translation: X:117.08, Y:-11.65, Z:-3.48 [[ 9.99998626e-01 1.29323732e-03 1.03679051e-03 1.17080152e+02] [-1.29312335e-03 9.99999158e-01 -1.10590582e-04 -1.16494789e+01] [-1.03693265e-03 1.09249732e-04 9.99999456e-01 -3.48252815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.189928851 meters 0.10027890535124565 Centerline is valid? [True, False] Translation: X:117.08, Y:-11.65, Z:-3.48 [[ 9.99998445e-01 1.42310970e-03 1.04190082e-03 1.17079996e+02] [-1.42324184e-03 9.99998979e-01 1.26095500e-04 -1.16505435e+01] [-1.04172031e-03 -1.27578181e-04 9.99999449e-01 -3.48229890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219928851 meters 0.10521669342123377 Centerline is valid? [False, False] Translation: X:117.08, Y:-11.65, Z:-3.48 [[ 9.99998184e-01 1.59824395e-03 1.03801420e-03 1.17079753e+02] [-1.59870459e-03 9.99998624e-01 4.43091048e-04 -1.16520759e+01] [-1.03730460e-03 -4.44749721e-04 9.99999363e-01 -3.48188049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24992885099996 meters 0.10172480545524382 Centerline is valid? [False, False] Translation: X:117.08, Y:-11.65, Z:-3.48 [[ 9.99997973e-01 1.71416544e-03 1.05646625e-03 1.17079634e+02] [-1.71486359e-03 9.99998312e-01 6.60279782e-04 -1.16529849e+01] [-1.05533264e-03 -6.62090139e-04 9.99999224e-01 -3.48174468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27992885099997 meters 0.10311501799190112 Centerline is valid? [False, False] Translation: X:117.08, Y:-11.65, Z:-3.48 [[ 9.99997413e-01 2.03191218e-03 1.02242608e-03 1.17079872e+02] [-2.03308387e-03 9.99997276e-01 1.14625736e-03 -1.16542329e+01] [-1.02009420e-03 -1.14833307e-03 9.99998820e-01 -3.48195547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30992885099997 meters 0.10369659492227942 Centerline is valid? [False, False] Translation: X:117.08, Y:-11.66, Z:-3.48 [[ 9.99997384e-01 2.02528724e-03 1.06278867e-03 1.17079463e+02] [-2.02661093e-03 9.99997170e-01 1.24589050e-03 -1.16551327e+01] [-1.06026237e-03 -1.24804110e-03 9.99998659e-01 -3.48146772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33992885099997 meters 0.0998618548861281 Centerline is valid? [False, True] Translation: X:117.08, Y:-11.66, Z:-3.48 [[ 9.99996756e-01 2.19032813e-03 1.30012523e-03 1.17078806e+02] [-2.19273038e-03 9.99995886e-01 1.84916897e-03 -1.16575754e+01] [-1.29606959e-03 -1.85201379e-03 9.99997445e-01 -3.48118473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36992885099997 meters 0.09966944702338332 Centerline is valid? [True, True] Translation: X:117.11, Y:-11.66, Z:-3.48 [[ 9.99997753e-01 1.94407904e-03 8.44783318e-04 1.17108653e+02] [-1.94400157e-03 9.99998106e-01 -9.25158996e-05 -1.16608161e+01] [-8.44961576e-04 9.08734316e-05 9.99999639e-01 -3.48207169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39992885099997 meters 0.10163039914277236 Centerline is valid? [True, False] Translation: X:117.11, Y:-11.66, Z:-3.48 [[ 9.99997516e-01 1.99634875e-03 9.91414281e-04 1.17108216e+02] [-1.99655472e-03 9.99997985e-01 2.06804598e-04 -1.16622156e+01] [-9.90999430e-04 -2.08783497e-04 9.99999487e-01 -3.48186475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42992885099997 meters 0.10148473520723764 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.66, Z:-3.48 [[ 9.99997014e-01 2.18160228e-03 1.10159231e-03 1.17107958e+02] [-2.18234693e-03 9.99997391e-01 6.75224089e-04 -1.16639233e+01] [-1.10011637e-03 -6.77626129e-04 9.99999165e-01 -3.48182229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45992885099997 meters 0.1025684964347805 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.67, Z:-3.48 [[ 9.99996608e-01 2.25846310e-03 1.29729960e-03 1.17107498e+02] [-2.25982110e-03 9.99996899e-01 1.04627908e-03 -1.16654264e+01] [-1.29493259e-03 -1.04920720e-03 9.99998611e-01 -3.48173589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48992885099997 meters 0.1025684964347805 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.67, Z:-3.48 [[ 9.99996608e-01 2.25846310e-03 1.29729960e-03 1.17107498e+02] [-2.25982110e-03 9.99996899e-01 1.04627908e-03 -1.16654264e+01] [-1.29493259e-03 -1.04920720e-03 9.99998611e-01 -3.48173589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51992885099997 meters 0.10145186709546619 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.67, Z:-3.48 [[ 9.99996138e-01 2.38834725e-03 1.42135876e-03 1.17107169e+02] [-2.39039853e-03 9.99996102e-01 1.44323766e-03 -1.16669593e+01] [-1.41790626e-03 -1.44662970e-03 9.99997948e-01 -3.48161005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54992885099998 meters 0.10236483660494468 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.67, Z:-3.48 [[ 9.99994818e-01 2.67533714e-03 1.79086576e-03 1.17106407e+02] [-2.67970955e-03 9.99993424e-01 2.44357896e-03 -1.16707414e+01] [-1.78431658e-03 -2.44836530e-03 9.99995411e-01 -3.48155456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57992885099998 meters 0.10300066174148961 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.67, Z:-3.48 [[ 9.99993995e-01 2.84694438e-03 1.97620431e-03 1.17105918e+02] [-2.85281531e-03 9.99991507e-01 2.97437572e-03 -1.16728013e+01] [-1.96771964e-03 -2.97999560e-03 9.99993624e-01 -3.48138623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60992885099998 meters 0.1044560032484247 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.67, Z:-3.48 [[ 9.99993319e-01 2.96758679e-03 2.13412779e-03 1.17105405e+02] [-2.97486655e-03 9.99989740e-01 3.41607293e-03 -1.16746103e+01] [-2.12396840e-03 -3.42239885e-03 9.99991888e-01 -3.48109503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63992885099998 meters 0.1032913797038558 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.68, Z:-3.48 [[ 9.99998917e-01 -4.70641589e-04 1.39409868e-03 1.17107251e+02] [ 4.70786543e-04 9.99999884e-01 -1.03650527e-04 -1.16755118e+01] [-1.39404974e-03 1.04306738e-04 9.99999023e-01 -3.48160406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66992885099998 meters 0.10385636213644607 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.68, Z:-3.48 [[ 9.99998150e-01 -3.60154619e-04 1.88975781e-03 1.17105757e+02] [ 3.58692597e-04 9.99999636e-01 7.73937446e-04 -1.16794364e+01] [-1.89003586e-03 -7.73258172e-04 9.99997915e-01 -3.48077503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69992885099998 meters 0.10155164061365334 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.68, Z:-3.48 [[ 9.99997926e-01 -2.21151259e-04 2.02480539e-03 1.17105243e+02] [ 2.18681812e-04 9.99999232e-01 1.21973707e-03 -1.16812863e+01] [-2.02507358e-03 -1.21929175e-03 9.99997206e-01 -3.48041411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72992885099998 meters 0.10478070740180145 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.68, Z:-3.48 [[ 9.99990768e-01 -3.92280196e-03 1.75369564e-03 1.17105605e+02] [ 3.92660335e-03 9.99989938e-01 -2.16948087e-03 -1.16839024e+01] [-1.74516755e-03 2.17634691e-03 9.99996109e-01 -3.48010348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75992885099998 meters 0.10340593833539795 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.69, Z:-3.48 [[ 9.99993098e-01 -3.25433386e-03 1.79279588e-03 1.17105975e+02] [ 3.25612801e-03 9.99994200e-01 -9.98746833e-04 -1.16867040e+01] [-1.78953522e-03 1.00457751e-03 9.99997894e-01 -3.48076845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78992885099998 meters 0.10397994639181814 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.69, Z:-3.48 [[ 9.99993651e-01 -2.97964287e-03 1.95457645e-03 1.17105577e+02] [ 2.98029045e-03 9.99995505e-01 -3.28487706e-04 -1.16890476e+01] [-1.95358889e-03 3.34310826e-04 9.99998036e-01 -3.48066334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819928851 meters 0.10425539616421071 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.69, Z:-3.48 [[ 9.99994839e-01 -2.51342870e-03 2.00112264e-03 1.17105594e+02] [ 2.51234419e-03 9.99996696e-01 5.44282163e-04 -1.16915227e+01] [-2.00248405e-03 -5.39251846e-04 9.99997850e-01 -3.48083912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.849928851 meters 0.10092425953095074 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.69, Z:-3.48 [[ 9.99995763e-01 -2.00945881e-03 2.10606420e-03 1.17105337e+02] [ 2.00613078e-03 9.99996738e-01 1.58113691e-03 -1.16948358e+01] [-2.10923456e-03 -1.57690517e-03 9.99996532e-01 -3.48077953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879928851 meters 0.10063504622876077 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.70, Z:-3.48 [[ 9.99996058e-01 -1.84184487e-03 2.11954117e-03 1.17105132e+02] [ 1.83774791e-03 9.99996443e-01 1.93327591e-03 -1.16962119e+01] [-2.12309443e-03 -1.92937311e-03 9.99995885e-01 -3.48054392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.909928851 meters 0.1011176297019264 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.70, Z:-3.48 [[ 9.99996882e-01 -1.47204572e-03 2.01707666e-03 1.17105387e+02] [ 1.46696514e-03 9.99995754e-01 2.51795003e-03 -1.16978069e+01] [-2.02077463e-03 -2.51498320e-03 9.99994796e-01 -3.48063262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939928851 meters 0.10227560483442115 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.70, Z:-3.48 [[ 9.99997491e-01 -1.14429173e-03 1.92580752e-03 1.17105632e+02] [ 1.13851047e-03 9.99994851e-01 3.00041407e-03 -1.16991611e+01] [-1.92923096e-03 -2.99821399e-03 9.99993644e-01 -3.48071975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.969928851 meters 0.10289370372573313 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.70, Z:-3.48 [[ 9.99997749e-01 -1.03656868e-03 1.85108835e-03 1.17105563e+02] [ 1.03065907e-03 9.99994379e-01 3.19061034e-03 -1.17000375e+01] [-1.85438523e-03 -3.18869532e-03 9.99993197e-01 -3.48041256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99992885099996 meters 0.09915337745180183 Centerline is valid? [False, True] Translation: X:117.11, Y:-11.70, Z:-3.48 [[ 9.99998161e-01 -6.46187447e-04 1.80552690e-03 1.17105578e+02] [ 6.39286601e-04 9.99992499e-01 3.82003416e-03 -1.17021636e+01] [-1.80798181e-03 -3.81887289e-03 9.99991074e-01 -3.48029475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02992885099997 meters 0.10106355289489906 Centerline is valid? [True, False] Translation: X:117.11, Y:-11.70, Z:-3.48 [[ 9.99998334e-01 -4.86793391e-04 1.75955297e-03 1.17105630e+02] [ 4.79599717e-04 9.99991535e-01 4.08646559e-03 -1.17030086e+01] [-1.76152734e-03 -4.08561490e-03 9.99990102e-01 -3.48025572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05992885099997 meters 0.10213463257543925 Centerline is valid? [False, False] Translation: X:117.11, Y:-11.70, Z:-3.48 [[ 9.99998341e-01 -3.86499240e-04 1.78002561e-03 1.17105498e+02] [ 3.78857592e-04 9.99990720e-01 4.29133688e-03 -1.17038301e+01] [-1.78166769e-03 -4.29065539e-03 9.99989208e-01 -3.48012239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08992885099997 meters 0.09756390574530877 Centerline is valid? [False, True] Translation: X:117.11, Y:-11.70, Z:-3.48 [[ 9.99998605e-01 -2.80553187e-04 1.64654899e-03 1.17105631e+02] [ 2.73261692e-04 9.99990164e-01 4.42690509e-03 -1.17043760e+01] [-1.64777477e-03 -4.42644898e-03 9.99988846e-01 -3.47993484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11992885099997 meters 0.10184113157742473 Centerline is valid? [True, False] Translation: X:117.11, Y:-11.71, Z:-3.48 [[ 9.99998695e-01 1.50183580e-05 1.61539553e-03 1.17105436e+02] [-2.31011018e-05 9.99987481e-01 5.00366721e-03 -1.17063677e+01] [-1.61530016e-03 -5.00369800e-03 9.99986177e-01 -3.47957177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14992885099997 meters 0.09931876885934382 Centerline is valid? [False, True] Translation: X:117.11, Y:-11.71, Z:-3.48 [[ 9.99998731e-01 1.46600381e-04 1.58662860e-03 1.17105320e+02] [-1.54951488e-04 9.99986130e-01 5.26458662e-03 -1.17074267e+01] [-1.58583480e-03 -5.26482579e-03 9.99984883e-01 -3.47932212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17992885099997 meters 0.09665009036558025 Centerline is valid? [True, True] Translation: X:117.14, Y:-11.71, Z:-3.48 [[ 9.99999093e-01 7.30617285e-04 1.13174982e-03 1.17136526e+02] [-7.30471627e-04 9.99999725e-01 -1.29109477e-04 -1.17050717e+01] [-1.13184384e-03 1.28282649e-04 9.99999351e-01 -3.47707334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20992885099997 meters 0.09753869031605512 Centerline is valid? [True, True] Translation: X:117.17, Y:-11.71, Z:-3.48 [[ 9.99999469e-01 5.33619747e-04 8.81918555e-04 1.17166606e+02] [-5.33531223e-04 9.99999853e-01 -1.00608846e-04 -1.17110880e+01] [-8.81972112e-04 1.00138262e-04 9.99999606e-01 -3.47875142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23992885099997 meters 0.09963232999241162 Centerline is valid? [True, True] Translation: X:117.20, Y:-11.72, Z:-3.48 [[ 9.99995511e-01 1.60566012e-03 2.52997126e-03 1.17195383e+02] [-1.60493500e-03 9.99998670e-01 -2.88617910e-04 -1.17215053e+01] [-2.53043132e-03 2.84556175e-04 9.99996758e-01 -3.48065241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26992885099997 meters 0.09956970513135144 Centerline is valid? [True, True] Translation: X:117.23, Y:-11.73, Z:-3.48 [[ 9.99996025e-01 1.68288737e-03 2.26242778e-03 1.17226413e+02] [-1.68231010e-03 9.99998552e-01 -2.57030445e-04 -1.17264222e+01] [-2.26285705e-03 2.53223318e-04 9.99997408e-01 -3.48178322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29992885099998 meters 0.09739176595362632 Centerline is valid? [True, True] Translation: X:117.26, Y:-11.73, Z:-3.48 [[ 9.99997276e-01 1.65989536e-03 1.64114277e-03 1.17257476e+02] [-1.65959203e-03 9.99998606e-01 -1.86169687e-04 -1.17273762e+01] [-1.64144950e-03 1.83445552e-04 9.99998636e-01 -3.48190478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32992885099998 meters 0.09804521500902005 Centerline is valid? [True, True] Translation: X:117.29, Y:-11.73, Z:-3.48 [[ 9.99995525e-01 1.98899838e-03 2.23462951e-03 1.17287235e+02] [-1.98843328e-03 9.99997991e-01 -2.55077281e-04 -1.17337167e+01] [-2.23513237e-03 2.50632728e-04 9.99997471e-01 -3.48323167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35992885099998 meters 0.09872833399888493 Centerline is valid? [True, True] Translation: X:117.32, Y:-11.74, Z:-3.49 [[ 9.99998136e-01 1.31109850e-03 1.41770175e-03 1.17317391e+02] [-1.31087116e-03 9.99999128e-01 -1.61274247e-04 -1.17420527e+01] [-1.41791196e-03 1.59415522e-04 9.99998982e-01 -3.48516472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38992885099998 meters 0.10077624357458138 Centerline is valid? [True, False] Translation: X:117.32, Y:-11.74, Z:-3.49 [[ 9.99997543e-01 1.67639847e-03 1.45018910e-03 1.17317580e+02] [-1.67713030e-03 9.99998467e-01 5.03576828e-04 -1.17437500e+01] [-1.44934268e-03 -5.06007747e-04 9.99998822e-01 -3.48554900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41992885099998 meters 0.09778027192292846 Centerline is valid? [False, True] Translation: X:117.32, Y:-11.75, Z:-3.49 [[ 9.99997168e-01 1.80887866e-03 1.54631562e-03 1.17317321e+02] [-1.81021991e-03 9.99997986e-01 8.66424469e-04 -1.17450983e+01] [-1.54474525e-03 -8.69221187e-04 9.99998429e-01 -3.48544792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44992885099998 meters 0.09789043915755578 Centerline is valid? [True, True] Translation: X:117.35, Y:-11.75, Z:-3.49 [[ 9.99999558e-01 9.00705971e-04 -2.71141434e-04 1.17347606e+02] [-9.00697326e-04 9.99999594e-01 3.20047282e-05 -1.17494604e+01] [ 2.71170151e-04 -3.17604976e-05 9.99999963e-01 -3.48670449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47992885099998 meters 0.10178917419326176 Centerline is valid? [True, False] Translation: X:117.35, Y:-11.75, Z:-3.49 [[ 9.99999300e-01 1.17662015e-03 -1.26833659e-04 1.17347348e+02] [-1.17653353e-03 9.99999076e-01 6.80851296e-04 -1.17513912e+01] [ 1.27634645e-04 -6.80701595e-04 9.99999760e-01 -3.48673685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50992885099998 meters 0.09884736977304413 Centerline is valid? [False, True] Translation: X:117.35, Y:-11.75, Z:-3.49 [[ 9.99999438e-01 1.05812696e-03 -7.04890409e-05 1.17346915e+02] [-1.05808571e-03 9.99999271e-01 5.82626013e-04 -1.17516458e+01] [ 7.11054818e-05 -5.82551102e-04 9.99999828e-01 -3.48628349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53992885099998 meters 0.10332232492824471 Centerline is valid? [True, False] Translation: X:117.35, Y:-11.75, Z:-3.49 [[ 9.99999428e-01 1.06727922e-03 -7.66508028e-05 1.17346854e+02] [-1.06723130e-03 9.99999237e-01 6.22534031e-04 -1.17519379e+01] [ 7.73151620e-05 -6.22451870e-04 9.99999803e-01 -3.48616831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.569928851 meters 0.09914746423393549 Centerline is valid? [False, True] Translation: X:117.35, Y:-11.75, Z:-3.49 [[ 9.99999295e-01 1.18647950e-03 -5.46507731e-05 1.17346899e+02] [-1.18643434e-03 9.99998961e-01 8.19159479e-04 -1.17525264e+01] [ 5.56226322e-05 -8.19094062e-04 9.99999663e-01 -3.48627339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599928851 meters 0.098130158342656 Centerline is valid? [True, True] Translation: X:117.38, Y:-11.75, Z:-3.49 [[ 9.99999124e-01 1.28627398e-03 -3.11588602e-04 1.17377727e+02] [-1.28626268e-03 9.99999172e-01 3.64677823e-05 -1.17538064e+01] [ 3.11635252e-04 -3.60669656e-05 9.99999951e-01 -3.48649682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.629928851 meters 0.09859337567102235 Centerline is valid? [True, True] Translation: X:117.41, Y:-11.76, Z:-3.49 [[ 9.99998991e-01 1.40992438e-03 1.72186539e-04 1.17407085e+02] [-1.40992072e-03 9.99999006e-01 -2.13610792e-05 -1.17580136e+01] [-1.72216485e-04 2.11182883e-05 9.99999985e-01 -3.48740263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659928851 meters 0.09876935356218439 Centerline is valid? [True, True] Translation: X:117.44, Y:-11.76, Z:-3.49 [[ 9.99997580e-01 1.93851822e-03 1.04016678e-03 1.17437028e+02] [-1.93839058e-03 9.99998114e-01 -1.23702256e-04 -1.17614939e+01] [-1.04040462e-03 1.21685707e-04 9.99999451e-01 -3.48841335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.689928851 meters 0.09965028850161893 Centerline is valid? [True, True] Translation: X:117.47, Y:-11.77, Z:-3.49 [[ 9.99995638e-01 2.78565924e-03 9.82378458e-04 1.17466607e+02] [-2.78554771e-03 9.99996114e-01 -1.14885307e-04 -1.17665907e+01] [-9.82694672e-04 1.12148343e-04 9.99999511e-01 -3.49018680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71992885099996 meters 0.09737692326294621 Centerline is valid? [True, True] Translation: X:117.50, Y:-11.77, Z:-3.49 [[ 9.99992209e-01 3.82134515e-03 9.89553933e-04 1.17497318e+02] [-3.82123068e-03 9.99992692e-01 -1.17538246e-04 -1.17651644e+01] [-9.89995856e-04 1.13756017e-04 9.99999503e-01 -3.48961055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74992885099996 meters 0.0976886868492764 Centerline is valid? [True, True] Translation: X:117.53, Y:-11.77, Z:-3.49 [[ 9.99986986e-01 4.78173208e-03 1.77867172e-03 1.17527146e+02] [-4.78136872e-03 9.99988547e-01 -2.08487621e-04 -1.17689359e+01] [-1.77964828e-03 1.99980422e-04 9.99998396e-01 -3.49045283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77992885099997 meters 0.09819633927837242 Centerline is valid? [True, True] Translation: X:117.56, Y:-11.77, Z:-3.49 [[ 9.99989825e-01 4.41902807e-03 9.07008081e-04 1.17556981e+02] [-4.41893318e-03 9.99990231e-01 -1.06593277e-04 -1.17724514e+01] [-9.07470259e-04 1.02584184e-04 9.99999583e-01 -3.49209296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80992885099997 meters 0.09894955208497087 Centerline is valid? [True, True] Translation: X:117.59, Y:-11.78, Z:-3.49 [[ 9.99987920e-01 4.72361878e-03 1.35925428e-03 1.17586382e+02] [-4.72340639e-03 9.99988832e-01 -1.59415986e-04 -1.17770028e+01] [-1.35999212e-03 1.52993749e-04 9.99999064e-01 -3.49304593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83992885099997 meters 0.09181003808084631 Centerline is valid? [True, True] Translation: X:117.62, Y:-11.77, Z:-3.49 [[ 9.99992109e-01 3.91364768e-03 6.81863215e-04 1.17617963e+02] [-3.91359422e-03 9.99992339e-01 -7.97182188e-05 -1.17668677e+01] [-6.82169980e-04 7.70490539e-05 9.99999764e-01 -3.48978211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86992885099997 meters 0.09608285326500302 Centerline is valid? [True, True] Translation: X:117.65, Y:-11.78, Z:-3.49 [[ 9.99994085e-01 3.36578914e-03 7.07896282e-04 1.17645593e+02] [-3.36573264e-03 9.99994333e-01 -8.09888355e-05 -1.17789396e+01] [-7.08164861e-04 7.86057668e-05 9.99999746e-01 -3.49348585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89992885099997 meters 0.0989910799569221 Centerline is valid? [True, True] Translation: X:117.67, Y:-11.79, Z:-3.50 [[ 9.99996125e-01 2.67317533e-03 7.76622727e-04 1.17674437e+02] [-2.67310516e-03 9.99996423e-01 -9.13750271e-05 -1.17882849e+01] [-7.76864210e-04 8.92986789e-05 9.99999694e-01 -3.49568341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92992885099997 meters 0.09757581960569205 Centerline is valid? [True, True] Translation: X:117.71, Y:-11.79, Z:-3.50 [[ 9.99996645e-01 2.16043210e-03 1.42901342e-03 1.17705203e+02] [-2.16019561e-03 9.99997653e-01 -1.67014340e-04 -1.17893840e+01] [-1.42937088e-03 1.63926831e-04 9.99998965e-01 -3.49598385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95992885099997 meters 0.09960557394235876 Centerline is valid? [True, True] Translation: X:117.73, Y:-11.80, Z:-3.50 [[ 9.99996661e-01 1.16028314e-03 2.30921196e-03 1.17734800e+02] [-1.15966427e-03 9.99999291e-01 -2.69323349e-04 -1.17963053e+01] [-2.30952282e-03 2.66644539e-04 9.99997297e-01 -3.49751729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98992885099997 meters 0.09918851487506827 Centerline is valid? [True, True] Translation: X:117.77, Y:-11.80, Z:-3.50 [[ 9.99997385e-01 4.51953635e-04 2.24168026e-03 1.17766287e+02] [-4.51369894e-04 9.99999864e-01 -2.60902565e-04 -1.17986540e+01] [-2.24179787e-03 2.59890056e-04 9.99997453e-01 -3.49801406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01992885099997 meters 0.09917520183281126 Centerline is valid? [True, True] Translation: X:117.80, Y:-11.80, Z:-3.50 [[ 9.99997629e-01 1.43307486e-04 2.17291872e-03 1.17797485e+02] [-1.42758212e-04 9.99999958e-01 -2.52934374e-04 -1.18018275e+01] [-2.17295487e-03 2.52623573e-04 9.99997607e-01 -3.49896076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04992885099998 meters 0.0944083964169807 Centerline is valid? [True, True] Translation: X:117.83, Y:-11.80, Z:-3.50 [[ 9.99997854e-01 -2.81445741e-04 2.05262956e-03 1.17829350e+02] [ 2.81937889e-04 9.99999932e-01 -2.39479154e-04 -1.17957675e+01] [-2.05256202e-03 2.40057354e-04 9.99997865e-01 -3.49794252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07992885099998 meters 0.09683731006040897 Centerline is valid? [True, True] Translation: X:117.86, Y:-11.80, Z:-3.50 [[ 9.99998605e-01 -8.60616297e-04 1.43166487e-03 1.17859456e+02] [ 8.60850914e-04 9.99999616e-01 -1.63269061e-04 -1.18039438e+01] [-1.43152381e-03 1.64501283e-04 9.99998962e-01 -3.50023219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10992885099998 meters 0.09701591267897781 Centerline is valid? [True, True] Translation: X:117.89, Y:-11.81, Z:-3.50 [[ 9.99998436e-01 -1.08006892e-03 1.40071856e-03 1.17890990e+02] [ 1.08029806e-03 9.99999403e-01 -1.62838153e-04 -1.18071321e+01] [-1.40054185e-03 1.64351092e-04 9.99999006e-01 -3.50149912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13992885099998 meters 0.09638232755463724 Centerline is valid? [True, True] Translation: X:117.92, Y:-11.81, Z:-3.50 [[ 9.99997863e-01 -1.34292856e-03 1.57180235e-03 1.17922290e+02] [ 1.34321772e-03 9.99999081e-01 -1.82925786e-04 -1.18079508e+01] [-1.57155525e-03 1.85036668e-04 9.99998748e-01 -3.50184863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16992885099998 meters 0.09670899417209992 Centerline is valid? [True, True] Translation: X:117.95, Y:-11.81, Z:-3.50 [[ 9.99999260e-01 -4.35821653e-04 1.13592533e-03 1.17953441e+02] [ 4.35971749e-04 9.99999896e-01 -1.31891814e-04 -1.18103898e+01] [-1.13586773e-03 1.32386948e-04 9.99999346e-01 -3.50294319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19992885099998 meters 0.09718543805872885 Centerline is valid? [True, True] Translation: X:117.98, Y:-11.81, Z:-3.50 [[ 9.99999130e-01 5.68640386e-04 1.19047631e-03 1.17984208e+02] [-5.68475383e-04 9.99999829e-01 -1.38936872e-04 -1.18131657e+01] [-1.19055511e-03 1.38259995e-04 9.99999282e-01 -3.50436552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22992885099998 meters 0.099589822231314 Centerline is valid? [True, True] Translation: X:118.01, Y:-11.82, Z:-3.51 [[ 9.99994964e-01 2.39081164e-03 2.08733715e-03 1.18012920e+02] [-2.39030530e-03 9.99997113e-01 -2.45038639e-04 -1.18192633e+01] [-2.08791696e-03 2.40048032e-04 9.99997791e-01 -3.50675938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25992885099998 meters 0.09630139362984125 Centerline is valid? [True, True] Translation: X:118.04, Y:-11.81, Z:-3.51 [[ 9.99985125e-01 5.10988422e-03 1.90773011e-03 1.18044273e+02] [-5.10946679e-03 9.99986922e-01 -2.23621856e-04 -1.18125126e+01] [-1.90884785e-03 2.13871046e-04 9.99998155e-01 -3.50643904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28992885099998 meters 0.09782103190768335 Centerline is valid? [True, True] Translation: X:118.07, Y:-11.82, Z:-3.51 [[ 9.99971557e-01 7.22039291e-03 2.17983453e-03 1.18073566e+02] [-7.21985138e-03 9.99973904e-01 -2.56192990e-04 -1.18169470e+01] [-2.18162746e-03 2.40447622e-04 9.99997591e-01 -3.50859875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319928851 meters 0.09475232142276482 Centerline is valid? [True, True] Translation: X:118.11, Y:-11.81, Z:-3.51 [[ 9.99934413e-01 1.11462078e-02 2.63281400e-03 1.18105318e+02] [-1.11454344e-02 9.99937840e-01 -3.08249849e-04 -1.18102396e+01] [-2.63608616e-03 2.78885776e-04 9.99996487e-01 -3.50830717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.349928851 meters 0.09215098564794627 Centerline is valid? [True, True] Translation: X:118.14, Y:-11.81, Z:-3.51 [[ 9.99907167e-01 1.33579471e-02 2.68756680e-03 1.18136596e+02] [-1.33571478e-02 9.99910740e-01 -3.15124433e-04 -1.18061409e+01] [-2.69153633e-03 2.79196952e-04 9.99996339e-01 -3.50848178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379928851 meters 0.09215098564794627 Centerline is valid? [True, True] Translation: X:118.16, Y:-11.81, Z:-3.51 [[ 9.99908073e-01 1.32900008e-02 2.68732328e-03 1.18164866e+02] [-1.32891958e-02 9.99911644e-01 -3.17203074e-04 -1.18093876e+01] [-2.69130146e-03 2.81461549e-04 9.99996339e-01 -3.50950065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.409928851 meters 0.09445311620315004 Centerline is valid? [True, True] Translation: X:118.19, Y:-11.82, Z:-3.51 [[ 9.99879920e-01 1.51949681e-02 3.04294197e-03 1.18193417e+02] [-1.51939497e-02 9.99884501e-01 -3.57509154e-04 -1.18150195e+01] [-3.04802286e-03 3.11231917e-04 9.99995306e-01 -3.51149763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439928851 meters 0.0914822868849315 Centerline is valid? [True, True] Translation: X:118.22, Y:-11.81, Z:-3.51 [[ 9.99852980e-01 1.67670857e-02 3.58938376e-03 1.18223755e+02] [-1.67656799e-02 9.99859357e-01 -4.21379370e-04 -1.18102197e+01] [-3.59594424e-03 3.61138960e-04 9.99993469e-01 -3.51085641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46992885099996 meters 0.09088386967245188 Centerline is valid? [True, True] Translation: X:118.25, Y:-11.81, Z:-3.51 [[ 9.99807456e-01 1.92602045e-02 3.75451564e-03 1.18254747e+02] [-1.92586879e-02 9.99814438e-01 -4.39691433e-04 -1.18090972e+01] [-3.76228749e-03 3.67299728e-04 9.99992855e-01 -3.51119808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49992885099996 meters 0.08845358571916187 Centerline is valid? [True, True] Translation: X:118.28, Y:-11.81, Z:-3.51 [[ 9.99796631e-01 1.97385180e-02 4.13372819e-03 1.18283923e+02] [-1.97366755e-02 9.99805095e-01 -4.86051804e-04 -1.18054640e+01] [-4.14251644e-03 4.04366905e-04 9.99991338e-01 -3.50980097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52992885099997 meters 0.09059968800651183 Centerline is valid? [True, True] Translation: X:118.31, Y:-11.81, Z:-3.51 [[ 9.99790785e-01 1.98523144e-02 4.92660873e-03 1.18311059e+02] [-1.98497002e-02 9.99802808e-01 -5.78971155e-04 -1.18122172e+01] [-4.93713116e-03 4.81058320e-04 9.99987697e-01 -3.51178222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55992885099997 meters 0.09125627639212695 Centerline is valid? [True, True] Translation: X:118.34, Y:-11.82, Z:-3.51 [[ 9.99800118e-01 1.91747657e-02 5.66154040e-03 1.18339388e+02] [-1.91713112e-02 9.99815993e-01 -6.63819919e-04 -1.18167499e+01] [-5.67322723e-03 5.55148080e-04 9.99983753e-01 -3.51308884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58992885099997 meters 0.0909450145395993 Centerline is valid? [True, True] Translation: X:118.37, Y:-11.82, Z:-3.51 [[ 9.99844687e-01 1.69416431e-02 4.85616469e-03 1.18369350e+02] [-1.69390841e-02 9.99856362e-01 -5.67605615e-04 -1.18197374e+01] [-4.86508334e-03 4.85258476e-04 9.99988048e-01 -3.51397389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61992885099997 meters 0.09426360818086349 Centerline is valid? [True, True] Translation: X:118.40, Y:-11.83, Z:-3.52 [[ 9.99866122e-01 1.56550741e-02 4.76001340e-03 1.18397103e+02] [-1.56525943e-02 9.99877335e-01 -5.57769716e-04 -1.18296968e+01] [-4.76816144e-03 4.83188484e-04 9.99988516e-01 -3.51654753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64992885099997 meters 0.0937470650171918 Centerline is valid? [True, True] Translation: X:118.43, Y:-11.83, Z:-3.52 [[ 9.99885282e-01 1.42288577e-02 5.19255808e-03 1.18426722e+02] [-1.42258937e-02 9.99898622e-01 -6.07309249e-04 -1.18321444e+01] [-5.20067299e-03 5.33370800e-04 9.99986334e-01 -3.51727529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67992885099997 meters 0.09396806713348653 Centerline is valid? [True, True] Translation: X:118.46, Y:-11.84, Z:-3.52 [[ 9.99920585e-01 1.16328298e-02 4.84783328e-03 1.18456425e+02] [-1.16302209e-02 9.99932206e-01 -5.66015395e-04 -1.18368582e+01] [-4.85408899e-03 5.09589073e-04 9.99988089e-01 -3.51869485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70992885099997 meters 0.09421841303537541 Centerline is valid? [True, True] Translation: X:118.49, Y:-11.84, Z:-3.52 [[ 9.99935206e-01 1.06621929e-02 3.98773076e-03 1.18485515e+02] [-1.06604162e-02 9.99943067e-01 -4.66529313e-04 -1.18416267e+01] [-3.99247796e-03 4.23988215e-04 9.99991940e-01 -3.51983355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73992885099997 meters 0.09560516750643169 Centerline is valid? [True, True] Translation: X:118.51, Y:-11.85, Z:-3.52 [[ 9.99952939e-01 8.82465659e-03 4.03065330e-03 1.18514819e+02] [-8.82282946e-03 9.99960967e-01 -4.70866394e-04 -1.18481604e+01] [-4.03465120e-03 4.35282468e-04 9.99991766e-01 -3.52156800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76992885099997 meters 0.09627204941853279 Centerline is valid? [True, True] Translation: X:118.54, Y:-11.85, Z:-3.52 [[ 9.99957602e-01 7.90218333e-03 4.72763756e-03 1.18543928e+02] [-7.89965789e-03 9.99968645e-01 -5.52621043e-04 -1.18536455e+01] [-4.73185624e-03 5.15250894e-04 9.99988672e-01 -3.52270175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79992885099998 meters 0.09760664460153547 Centerline is valid? [True, True] Translation: X:118.57, Y:-11.86, Z:-3.52 [[ 9.99972400e-01 6.47790918e-03 3.63812521e-03 1.18573671e+02] [-6.47640572e-03 9.99978938e-01 -4.24881547e-04 -1.18598061e+01] [-3.64080093e-03 4.01307845e-04 9.99993292e-01 -3.52459196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82992885099998 meters 0.0976182402891434 Centerline is valid? [True, True] Translation: X:118.60, Y:-11.86, Z:-3.53 [[ 9.99978358e-01 5.68871257e-03 3.30481508e-03 1.18603389e+02] [-5.68746091e-03 9.99983751e-01 -3.88013819e-04 -1.18629368e+01] [-3.30696868e-03 3.69209415e-04 9.99994464e-01 -3.52538618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85992885099998 meters 0.10087297121291161 Centerline is valid? [True, False] Translation: X:118.60, Y:-11.86, Z:-3.53 [[ 9.99978998e-01 5.55641145e-03 3.33628853e-03 1.18603285e+02] [-5.55452149e-03 9.99984408e-01 -5.75482429e-04 -1.18625301e+01] [-3.33943413e-03 5.56938856e-04 9.99994269e-01 -3.52532107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88992885099998 meters 0.09875826266331972 Centerline is valid? [False, True] Translation: X:118.60, Y:-11.86, Z:-3.53 [[ 9.99979512e-01 5.43803139e-03 3.37687207e-03 1.18603146e+02] [-5.43566739e-03 9.99984975e-01 -7.08837619e-04 -1.18622442e+01] [-3.38067601e-03 6.90467543e-04 9.99994047e-01 -3.52524111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91992885099998 meters 0.09927738383042943 Centerline is valid? [True, True] Translation: X:118.63, Y:-11.87, Z:-3.53 [[ 9.99981731e-01 4.98199279e-03 3.42307939e-03 1.18633728e+02] [-4.98065109e-03 9.99987516e-01 -4.00370134e-04 -1.18666156e+01] [-3.42503130e-03 3.83313656e-04 9.99994061e-01 -3.52685755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94992885099998 meters 0.10176193148514788 Centerline is valid? [True, False] Translation: X:118.63, Y:-11.87, Z:-3.53 [[ 9.99982445e-01 4.75123874e-03 3.54047665e-03 1.18633181e+02] [-4.74897932e-03 9.99988515e-01 -6.46301782e-04 -1.18664994e+01] [-3.54350672e-03 6.29476786e-04 9.99993524e-01 -3.52639714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97992885099998 meters 0.09271219332705005 Centerline is valid? [False, True] Translation: X:118.63, Y:-11.87, Z:-3.53 [[ 9.99983192e-01 4.62925807e-03 3.49085887e-03 1.18632997e+02] [-4.62632242e-03 9.99988938e-01 -8.48558945e-04 -1.18662681e+01] [-3.49474846e-03 8.32394843e-04 9.99993547e-01 -3.52600343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00992885099998 meters 0.09709044964089476 Centerline is valid? [True, True] Translation: X:118.66, Y:-11.88, Z:-3.53 [[ 9.99981844e-01 4.28230266e-03 4.23956805e-03 1.18662009e+02] [-4.28023715e-03 9.99990717e-01 -4.96152395e-04 -1.18781417e+01] [-4.24165337e-03 4.77997030e-04 9.99990890e-01 -3.52899615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03992885099998 meters 0.09543953653925821 Centerline is valid? [True, True] Translation: X:118.69, Y:-11.88, Z:-3.53 [[ 9.99980179e-01 3.97167698e-03 4.88535201e-03 1.18693485e+02] [-3.96893225e-03 9.99991961e-01 -5.71395157e-04 -1.18788084e+01] [-4.88758213e-03 5.51994201e-04 9.99987903e-01 -3.52846249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.069928851 meters 0.09662419895707373 Centerline is valid? [True, True] Translation: X:118.72, Y:-11.88, Z:-3.53 [[ 9.99978693e-01 3.56729449e-03 5.46692887e-03 1.18723418e+02] [-3.56385571e-03 9.99993446e-01 -6.38627181e-04 -1.18849435e+01] [-5.46917120e-03 6.19130228e-04 9.99984852e-01 -3.52866514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099928851 meters 0.09756700455706518 Centerline is valid? [True, True] Translation: X:118.75, Y:-11.89, Z:-3.53 [[ 9.99976949e-01 4.06781193e-03 5.43634472e-03 1.18754046e+02] [-4.06444030e-03 9.99991541e-01 -6.31104575e-04 -1.18905994e+01] [-5.43886595e-03 6.08994329e-04 9.99985024e-01 -3.53084326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.129928851 meters 0.09566883583876333 Centerline is valid? [True, True] Translation: X:118.79, Y:-11.89, Z:-3.53 [[ 9.99974355e-01 4.51805180e-03 5.55666724e-03 1.18786116e+02] [-4.51450098e-03 9.99989597e-01 -6.51396129e-04 -1.18909390e+01] [-5.55955248e-03 6.26293844e-04 9.99984349e-01 -3.53069764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159928851 meters 0.09737775475508927 Centerline is valid? [True, True] Translation: X:118.82, Y:-11.90, Z:-3.53 [[ 9.99976150e-01 5.16642849e-03 4.58329474e-03 1.18816347e+02] [-5.16404329e-03 9.99986525e-01 -5.32092881e-04 -1.18979759e+01] [-4.58598200e-03 5.08411858e-04 9.99989355e-01 -3.53296933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.189928851 meters 0.09747736520474086 Centerline is valid? [True, True] Translation: X:118.85, Y:-11.90, Z:-3.53 [[ 9.99966125e-01 6.04802366e-03 5.58310006e-03 1.18846909e+02] [-6.04444827e-03 9.99981516e-01 -6.57047971e-04 -1.19026150e+01] [-5.58697071e-03 6.23278954e-04 9.99984199e-01 -3.53398397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21992885099996 meters 0.09730802022843428 Centerline is valid? [True, True] Translation: X:118.88, Y:-11.91, Z:-3.54 [[ 9.99967623e-01 6.20233061e-03 5.12681152e-03 1.18877653e+02] [-6.19932010e-03 9.99980602e-01 -6.02892000e-04 -1.19069018e+01] [-5.13045141e-03 5.71089734e-04 9.99986676e-01 -3.53614875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24992885099996 meters 0.0917909601790816 Centerline is valid? [True, True] Translation: X:118.91, Y:-11.90, Z:-3.53 [[ 9.99964211e-01 6.53905556e-03 5.36818251e-03 1.18908910e+02] [-6.53575315e-03 9.99978442e-01 -6.32494613e-04 -1.19010903e+01] [-5.37220270e-03 5.97386860e-04 9.99985391e-01 -3.53448662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27992885099997 meters 0.0929223259398407 Centerline is valid? [True, True] Translation: X:118.94, Y:-11.91, Z:-3.54 [[ 9.99961604e-01 7.39674770e-03 4.69888835e-03 1.18938051e+02] [-7.39422679e-03 9.99972509e-01 -5.53636461e-04 -1.19084527e+01] [-4.70285428e-03 5.18870557e-04 9.99988807e-01 -3.53694350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30992885099997 meters 0.09425965973315181 Centerline is valid? [True, True] Translation: X:118.97, Y:-11.92, Z:-3.54 [[ 9.99955937e-01 7.85441164e-03 5.14132430e-03 1.18967273e+02] [-7.85139963e-03 9.99968994e-01 -6.05765529e-04 -1.19155154e+01] [-5.14592282e-03 5.65372245e-04 9.99986600e-01 -3.53810226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33992885099997 meters 0.09379136730631268 Centerline is valid? [True, True] Translation: X:119.00, Y:-11.92, Z:-3.54 [[ 9.99959987e-01 7.45141929e-03 4.94986566e-03 1.18997869e+02] [-7.44862256e-03 9.99972089e-01 -5.83207325e-04 -1.19192522e+01] [-4.95407323e-03 5.46314308e-04 9.99987579e-01 -3.53876790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36992885099997 meters 0.09712452719893788 Centerline is valid? [True, True] Translation: X:119.03, Y:-11.93, Z:-3.54 [[ 9.99962242e-01 7.84867952e-03 3.72991857e-03 1.19025755e+02] [-7.84709223e-03 9.99969114e-01 -4.39999737e-04 -1.19308508e+01] [-3.73325678e-03 4.10714108e-04 9.99992947e-01 -3.54250250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39992885099997 meters 0.09426499145166797 Centerline is valid? [True, True] Translation: X:119.06, Y:-11.93, Z:-3.54 [[ 9.99964748e-01 7.35084237e-03 4.05795982e-03 1.19055740e+02] [-7.34895791e-03 9.99972881e-01 -4.79102179e-04 -1.19298215e+01] [-4.06137158e-03 4.49263514e-04 9.99991652e-01 -3.54223159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42992885099997 meters 0.09603657910787541 Centerline is valid? [True, True] Translation: X:119.08, Y:-11.94, Z:-3.54 [[ 9.99969452e-01 6.99141326e-03 3.49514798e-03 1.19084779e+02] [-6.99001669e-03 9.99975485e-01 -4.11629059e-04 -1.19372036e+01] [-3.49794017e-03 3.87185342e-04 9.99993807e-01 -3.54474014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45992885099997 meters 0.09557645325214861 Centerline is valid? [True, True] Translation: X:119.11, Y:-11.94, Z:-3.54 [[ 9.99960815e-01 7.69100676e-03 4.38381959e-03 1.19114595e+02] [-7.68881411e-03 9.99970307e-01 -5.16802967e-04 -1.19406355e+01] [-4.38766416e-03 4.83076342e-04 9.99990257e-01 -3.54457485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48992885099997 meters 0.09497668603481672 Centerline is valid? [True, True] Translation: X:119.15, Y:-11.94, Z:-3.55 [[ 9.99956689e-01 8.05749296e-03 4.65802071e-03 1.19145240e+02] [-8.05502427e-03 9.99967407e-01 -5.48503677e-04 -1.19431951e+01] [-4.66228845e-03 5.10959451e-04 9.99989001e-01 -3.54527638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51992885099997 meters 0.09465273297008485 Centerline is valid? [True, True] Translation: X:119.18, Y:-11.95, Z:-3.55 [[ 9.99950704e-01 8.67101008e-03 4.83767228e-03 1.19175688e+02] [-8.66835439e-03 9.99962267e-01 -5.69658489e-04 -1.19465927e+01] [-4.84242925e-03 5.27695749e-04 9.99988136e-01 -3.54621050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54992885099998 meters 0.0955584785473876 Centerline is valid? [True, True] Translation: X:119.21, Y:-11.95, Z:-3.55 [[ 9.99941305e-01 9.26993685e-03 5.60843824e-03 1.19205799e+02] [-9.26637680e-03 9.99956848e-01 -6.60419777e-04 -1.19522412e+01] [-5.61431827e-03 6.08411112e-04 9.99984055e-01 -3.54757876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57992885099998 meters 0.09543519751557525 Centerline is valid? [True, True] Translation: X:119.24, Y:-11.96, Z:-3.55 [[ 9.99933265e-01 9.96540096e-03 5.84439634e-03 1.19235967e+02] [-9.96154678e-03 9.99950146e-01 -6.88204946e-04 -1.19553639e+01] [-5.85096321e-03 6.29939790e-04 9.99982685e-01 -3.54830127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60992885099998 meters 0.09590841695451549 Centerline is valid? [True, True] Translation: X:119.27, Y:-11.96, Z:-3.55 [[ 9.99919545e-01 1.13390982e-02 5.68576587e-03 1.19265790e+02] [-1.13354724e-02 9.99935527e-01 -6.69525467e-04 -1.19599118e+01] [-5.69299111e-03 6.05020758e-04 9.99983612e-01 -3.54977955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63992885099998 meters 0.0940835904744816 Centerline is valid? [True, True] Translation: X:119.30, Y:-11.96, Z:-3.55 [[ 9.99903701e-01 1.24981082e-02 6.03202098e-03 1.19296226e+02] [-1.24940452e-02 9.99921694e-01 -7.10782415e-04 -1.19601102e+01] [-6.04043207e-03 6.35349625e-04 9.99981555e-01 -3.55081117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66992885099998 meters 0.09084815025946451 Centerline is valid? [True, True] Translation: X:119.33, Y:-11.96, Z:-3.55 [[ 9.99899789e-01 1.26506272e-02 6.35401428e-03 1.19326812e+02] [-1.26461196e-02 9.99919754e-01 -7.49097509e-04 -1.19568950e+01] [-6.36298094e-03 6.68668817e-04 9.99979532e-01 -3.54927580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69992885099998 meters 0.09242438767139355 Centerline is valid? [True, True] Translation: X:119.36, Y:-11.96, Z:-3.55 [[ 9.99908398e-01 1.19863779e-02 6.28663435e-03 1.19355055e+02] [-1.19819537e-02 9.99927939e-01 -7.40938374e-04 -1.19645808e+01] [-6.29506250e-03 6.65544341e-04 9.99979964e-01 -3.55163318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72992885099998 meters 0.09414601131395911 Centerline is valid? [True, True] Translation: X:119.38, Y:-11.97, Z:-3.55 [[ 9.99917498e-01 1.10536780e-02 6.54326387e-03 1.19383589e+02] [-1.10488705e-02 9.99938663e-01 -7.70415270e-04 -1.19717855e+01] [-6.55137844e-03 6.98056034e-04 9.99978296e-01 -3.55316374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75992885099998 meters 0.0948204122163974 Centerline is valid? [True, True] Translation: X:119.41, Y:-11.98, Z:-3.55 [[ 9.99932291e-01 9.53739454e-03 6.66721891e-03 1.19413726e+02] [-9.53237389e-03 9.99954258e-01 -7.84408776e-04 -1.19771812e+01] [-6.67439515e-03 7.20801241e-04 9.99977466e-01 -3.55455289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78992885099998 meters 0.09404831763490966 Centerline is valid? [True, True] Translation: X:119.44, Y:-11.98, Z:-3.55 [[ 9.99938553e-01 8.53833087e-03 7.07014597e-03 1.19444046e+02] [-8.53266035e-03 9.99963250e-01 -8.31813778e-04 -1.19798335e+01] [-7.07698845e-03 7.71435512e-04 9.99974660e-01 -3.55451608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819928851 meters 0.0957744737572132 Centerline is valid? [True, True] Translation: X:119.47, Y:-11.99, Z:-3.56 [[ 9.99949529e-01 7.31600482e-03 6.88594890e-03 1.19473183e+02] [-7.31061267e-03 9.99972951e-01 -8.07911623e-04 -1.19879562e+01] [-6.89167332e-03 7.57530341e-04 9.99975965e-01 -3.55587055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.849928851 meters 0.09521060876233033 Centerline is valid? [True, True] Translation: X:119.50, Y:-11.99, Z:-3.56 [[ 9.99961905e-01 4.92463686e-03 7.20666214e-03 1.19503031e+02] [-4.91864947e-03 9.99987544e-01 -8.48301550e-04 -1.19932110e+01] [-7.21074994e-03 8.12822189e-04 9.99973672e-01 -3.55731539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879928851 meters 0.09607961467183826 Centerline is valid? [True, True] Translation: X:119.53, Y:-12.00, Z:-3.56 [[ 9.99969677e-01 3.00230642e-03 7.18551953e-03 1.19533185e+02] [-2.99630562e-03 9.99995153e-01 -8.45743827e-04 -1.19994252e+01] [-7.18802388e-03 8.24188169e-04 9.99973826e-01 -3.55812237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.909928851 meters 0.09680668770102056 Centerline is valid? [True, True] Translation: X:119.56, Y:-12.01, Z:-3.56 [[ 9.99976910e-01 1.54221799e-03 6.61819044e-03 1.19563586e+02] [-1.53710082e-03 9.99998516e-01 -7.78213957e-04 -1.20058613e+01] [-6.61938079e-03 7.68023162e-04 9.99977797e-01 -3.55985431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939928851 meters 0.09835891462586906 Centerline is valid? [True, True] Translation: X:119.59, Y:-12.01, Z:-3.56 [[ 9.99983416e-01 2.16170902e-04 5.75514446e-03 1.19592633e+02] [-2.12273171e-04 9.99999748e-01 -6.77862541e-04 -1.20140352e+01] [-5.75528954e-03 6.76629636e-04 9.99983209e-01 -3.56179762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96992885099996 meters 0.10007588654788759 Centerline is valid? [True, False] Translation: X:119.59, Y:-12.02, Z:-3.56 [[ 9.99981011e-01 6.62570778e-04 6.12682452e-03 1.19592271e+02] [-6.66090533e-04 9.99999614e-01 5.72460084e-04 -1.20175725e+01] [-6.12644287e-03 -5.76530233e-04 9.99981067e-01 -3.56234327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99992885099996 meters 0.10009824220897867 Centerline is valid? [False, False] Translation: X:119.59, Y:-12.02, Z:-3.56 [[ 9.99980600e-01 8.86812569e-04 6.16543678e-03 1.19592283e+02] [-8.93243227e-04 9.99999060e-01 1.04034205e-03 -1.20188235e+01] [-6.16450839e-03 -1.04582910e-03 9.99980452e-01 -3.56251199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02992885099997 meters 0.10288725728078002 Centerline is valid? [False, False] Translation: X:119.59, Y:-12.02, Z:-3.56 [[ 9.99980443e-01 1.07319913e-03 6.16127468e-03 1.19592322e+02] [-1.08183862e-03 9.99998436e-01 1.39906205e-03 -1.20198068e+01] [-6.15976357e-03 -1.40570019e-03 9.99980040e-01 -3.56255611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05992885099997 meters 0.10400296108010537 Centerline is valid? [False, False] Translation: X:119.59, Y:-12.02, Z:-3.56 [[ 9.99980433e-01 1.10438557e-03 6.15748607e-03 1.19592060e+02] [-1.11404603e-03 9.99998154e-01 1.56568865e-03 -1.20206380e+01] [-6.15574558e-03 -1.57251773e-03 9.99979817e-01 -3.56219483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08992885099997 meters 0.10066475000632501 Centerline is valid? [False, False] Translation: X:119.59, Y:-12.02, Z:-3.56 [[ 9.99980051e-01 1.23251600e-03 6.19506539e-03 1.19591849e+02] [-1.24442607e-03 9.99997384e-01 1.91902299e-03 -1.20220036e+01] [-6.19268396e-03 -1.92669401e-03 9.99978969e-01 -3.56200877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11992885099997 meters 0.10143662340274381 Centerline is valid? [False, False] Translation: X:119.59, Y:-12.02, Z:-3.56 [[ 9.99980653e-01 1.40821540e-03 6.05894259e-03 1.19592228e+02] [-1.42097198e-03 9.99996782e-01 2.10162534e-03 -1.20222900e+01] [-6.05596355e-03 -2.11019427e-03 9.99979436e-01 -3.56218319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14992885099997 meters 0.09751921859748333 Centerline is valid? [False, True] Translation: X:119.59, Y:-12.02, Z:-3.56 [[ 9.99981863e-01 1.32624524e-03 5.87487830e-03 1.19592325e+02] [-1.33729251e-03 9.99997344e-01 1.87689629e-03 -1.20219294e+01] [-5.87237347e-03 -1.88471868e-03 9.99980981e-01 -3.56181727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17992885099997 meters 0.10006437939235543 Centerline is valid? [True, False] Translation: X:119.59, Y:-12.02, Z:-3.56 [[ 9.99982889e-01 1.23625321e-03 5.71776858e-03 1.19592330e+02] [-1.24566520e-03 9.99997875e-01 1.64282660e-03 -1.20215663e+01] [-5.71572548e-03 -1.64992092e-03 9.99982304e-01 -3.56138674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20992885099997 meters 0.09724786020590193 Centerline is valid? [False, True] Translation: X:119.59, Y:-12.02, Z:-3.56 [[ 9.99985647e-01 1.59604300e-03 5.11452489e-03 1.19593550e+02] [-1.60445337e-03 9.99997367e-01 1.64072843e-03 -1.20210592e+01] [-5.11189275e-03 -1.64891090e-03 9.99985575e-01 -3.56152982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23992885099997 meters 0.09888305072990868 Centerline is valid? [True, True] Translation: X:119.62, Y:-12.03, Z:-3.56 [[ 9.99979755e-01 4.50921123e-03 4.48970300e-03 1.19622716e+02] [-4.50689499e-03 9.99989706e-01 -5.25884125e-04 -1.20259498e+01] [-4.49202811e-03 5.05638859e-04 9.99989783e-01 -3.56306658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26992885099997 meters 0.09359151992686068 Centerline is valid? [True, True] Translation: X:119.65, Y:-12.02, Z:-3.56 [[ 9.99958164e-01 7.61522543e-03 5.06740913e-03 1.19654430e+02] [-7.61231734e-03 9.99970850e-01 -5.92922069e-04 -1.20188243e+01] [-5.07177665e-03 5.54322537e-04 9.99986985e-01 -3.56273599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29992885099998 meters 0.09359151992686068 Centerline is valid? [True, True] Translation: X:119.68, Y:-12.02, Z:-3.56 [[ 9.99958164e-01 7.61522436e-03 5.06741292e-03 1.19684399e+02] [-7.61231643e-03 9.99970850e-01 -5.92889721e-04 -1.20223308e+01] [-5.07178019e-03 5.54290166e-04 9.99986985e-01 -3.56373680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32992885099998 meters 0.09183338062828811 Centerline is valid? [True, True] Translation: X:119.72, Y:-12.02, Z:-3.57 [[ 9.99898455e-01 1.37134673e-02 3.87560083e-03 1.19715267e+02] [-1.37118112e-02 9.99905886e-01 -4.53565297e-04 -1.20216543e+01] [-3.88145604e-03 4.00377733e-04 9.99992387e-01 -3.56544910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35992885099998 meters 0.08877040254464229 Centerline is valid? [True, True] Translation: X:119.75, Y:-12.02, Z:-3.57 [[ 9.99853346e-01 1.65252787e-02 4.49460787e-03 1.19745964e+02] [-1.65230797e-02 9.99863346e-01 -5.25939850e-04 -1.20185085e+01] [-4.50268497e-03 4.51597955e-04 9.99989761e-01 -3.56525029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38992885099998 meters 0.08866687405603586 Centerline is valid? [True, True] Translation: X:119.78, Y:-12.02, Z:-3.57 [[ 9.99803433e-01 1.92926563e-02 4.57048016e-03 1.19775364e+02] [-1.92904088e-02 9.99813779e-01 -5.35308157e-04 -1.20222283e+01] [-4.57995656e-03 4.47036502e-04 9.99989412e-01 -3.56690654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41992885099998 meters 0.08740013808014413 Centerline is valid? [True, True] Translation: X:119.81, Y:-12.02, Z:-3.57 [[ 9.99696360e-01 2.38062189e-02 6.36016410e-03 1.19805586e+02] [-2.38019602e-02 9.99716416e-01 -7.44464668e-04 -1.20219118e+01] [-6.37608335e-03 5.92854246e-04 9.99979497e-01 -3.56762886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44992885099998 meters 0.08953237713653853 Centerline is valid? [True, True] Translation: X:119.83, Y:-12.03, Z:-3.57 [[ 9.99675919e-01 2.47827625e-02 5.81997441e-03 1.19832730e+02] [-2.47792026e-02 9.99692715e-01 -6.83000271e-04 -1.20293558e+01] [-5.83511265e-03 5.38564599e-04 9.99982831e-01 -3.56966041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47992885099998 meters 0.08771086830739908 Centerline is valid? [True, True] Translation: X:119.86, Y:-12.03, Z:-3.57 [[ 9.99668908e-01 2.51304049e-02 5.52598417e-03 1.19861886e+02] [-2.51272053e-02 9.99684052e-01 -6.47688907e-04 -1.20280630e+01] [-5.54051493e-03 5.08621924e-04 9.99984522e-01 -3.56972556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50992885099998 meters 0.08988917343748004 Centerline is valid? [True, True] Translation: X:119.89, Y:-12.04, Z:-3.57 [[ 9.99660204e-01 2.53996832e-02 5.85933203e-03 1.19888833e+02] [-2.53960909e-02 9.99677231e-01 -6.86690621e-04 -1.20371063e+01] [-5.87488255e-03 5.37653157e-04 9.99982598e-01 -3.57294339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53992885099998 meters 0.08964725805077899 Centerline is valid? [True, True] Translation: X:119.92, Y:-12.04, Z:-3.57 [[ 9.99668509e-01 2.50559521e-02 5.92213392e-03 1.19917440e+02] [-2.50522826e-02 9.99685902e-01 -6.93002306e-04 -1.20403389e+01] [-5.93763762e-03 5.44409610e-04 9.99982224e-01 -3.57347337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.569928851 meters 0.08934471157152349 Centerline is valid? [True, True] Translation: X:119.95, Y:-12.04, Z:-3.57 [[ 9.99698208e-01 2.39584789e-02 5.42987538e-03 1.19947171e+02] [-2.39553840e-02 9.99712827e-01 -6.34299998e-04 -1.20435310e+01] [-5.44351293e-03 5.04033821e-04 9.99985057e-01 -3.57485979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599928851 meters 0.08909948483743642 Centerline is valid? [True, True] Translation: X:119.98, Y:-12.05, Z:-3.57 [[ 9.99716797e-01 2.31147744e-02 5.65984921e-03 1.19975253e+02] [-2.31113919e-02 9.99732677e-01 -6.62326558e-04 -1.20470068e+01] [-5.67364573e-03 5.31331992e-04 9.99983764e-01 -3.57493837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.629928851 meters 0.09098996707048303 Centerline is valid? [True, True] Translation: X:120.00, Y:-12.05, Z:-3.58 [[ 9.99756436e-01 2.14611194e-02 5.14675082e-03 1.20003194e+02] [-2.14583089e-02 9.99769564e-01 -6.00672378e-04 -1.20548814e+01] [-5.15845592e-03 4.90085507e-04 9.99986575e-01 -3.57710741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659928851 meters 0.09047102637570946 Centerline is valid? [True, True] Translation: X:120.03, Y:-12.06, Z:-3.58 [[ 9.99822931e-01 1.82720417e-02 4.49868798e-03 1.20033197e+02] [-1.82698660e-02 9.99832955e-01 -5.24244546e-04 -1.20583172e+01] [-4.50751551e-03 4.41961292e-04 9.99989743e-01 -3.57712738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.689928851 meters 0.0919319599486413 Centerline is valid? [True, True] Translation: X:120.06, Y:-12.07, Z:-3.58 [[ 9.99862160e-01 1.60131874e-02 4.38626924e-03 1.20062816e+02] [-1.60110964e-02 9.99871683e-01 -5.11413051e-04 -1.20660482e+01] [-4.39389576e-03 4.41113578e-04 9.99990250e-01 -3.57891649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71992885099996 meters 0.09255223650976464 Centerline is valid? [True, True] Translation: X:120.09, Y:-12.07, Z:-3.58 [[ 9.99893345e-01 1.38040312e-02 4.76944572e-03 1.20092370e+02] [-1.38015346e-02 9.99904600e-01 -5.55976478e-04 -1.20724584e+01] [-4.77666543e-03 4.90091510e-04 9.99988472e-01 -3.58026508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74992885099996 meters 0.09550026134653473 Centerline is valid? [True, True] Translation: X:120.12, Y:-12.08, Z:-3.58 [[ 9.99952281e-01 8.80720887e-03 4.22716440e-03 1.20121103e+02] [-8.80520350e-03 9.99961112e-01 -4.92777547e-04 -1.20835534e+01] [-4.23134001e-03 4.55532989e-04 9.99990944e-01 -3.58214995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77992885099997 meters 0.09617310925583825 Centerline is valid? [True, True] Translation: X:120.15, Y:-12.09, Z:-3.58 [[ 9.99964726e-01 6.97725037e-03 4.67597412e-03 1.20150921e+02] [-6.97477759e-03 9.99975527e-01 -5.44924973e-04 -1.20885445e+01] [-4.67966176e-03 5.12291872e-04 9.99988919e-01 -3.58354007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80992885099997 meters 0.09362047783094513 Centerline is valid? [True, True] Translation: X:120.18, Y:-12.09, Z:-3.58 [[ 9.99982345e-01 5.35031105e-03 2.58533638e-03 1.20181755e+02] [-5.34955089e-03 9.99985646e-01 -3.00852425e-04 -1.20871074e+01] [-2.58690892e-03 2.87016725e-04 9.99996613e-01 -3.58350022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83992885099997 meters 0.09689850253401837 Centerline is valid? [True, True] Translation: X:120.21, Y:-12.10, Z:-3.59 [[ 9.99988397e-01 4.51167244e-03 1.68818466e-03 1.20210036e+02] [-4.51134607e-03 9.99989804e-01 -1.97083005e-04 -1.20965415e+01] [-1.68905662e-03 1.89464733e-04 9.99998556e-01 -3.58702847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86992885099997 meters 0.09568484763174238 Centerline is valid? [True, True] Translation: X:120.24, Y:-12.10, Z:-3.59 [[ 9.99985352e-01 5.22226118e-03 1.42262319e-03 1.20240000e+02] [-5.22202928e-03 9.99986351e-01 -1.66679980e-04 -1.20967012e+01] [-1.42347422e-03 1.59248559e-04 9.99998974e-01 -3.58744275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89992885099997 meters 0.09583446305030549 Centerline is valid? [True, True] Translation: X:120.27, Y:-12.10, Z:-3.59 [[ 9.99957746e-01 9.10566848e-03 1.26221541e-03 1.20269937e+02] [-9.10549012e-03 9.99958533e-01 -1.46974830e-04 -1.20984471e+01] [-1.26350137e-03 1.35475529e-04 9.99999193e-01 -3.58972936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92992885099997 meters 0.09083454925988788 Centerline is valid? [True, True] Translation: X:120.30, Y:-12.09, Z:-3.59 [[ 9.99936521e-01 1.12355301e-02 8.47135316e-04 1.20300944e+02] [-1.12354501e-02 9.99936875e-01 -9.91368616e-05 -1.20901894e+01] [-8.48195696e-04 8.96126219e-05 9.99999636e-01 -3.58822024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95992885099997 meters 0.09445506194846129 Centerline is valid? [True, True] Translation: X:120.33, Y:-12.10, Z:-3.59 [[ 9.99888135e-01 1.48453534e-02 1.82549374e-03 1.20329174e+02] [-1.48449884e-02 9.99889784e-01 -2.13329673e-04 -1.20994423e+01] [-1.82845949e-03 1.86206376e-04 9.99998311e-01 -3.59146471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98992885099997 meters 0.09043463755324113 Centerline is valid? [True, True] Translation: X:120.36, Y:-12.09, Z:-3.59 [[ 9.99825181e-01 1.86188140e-02 1.71685905e-03 1.20359983e+02] [-1.86184967e-02 9.99826641e-01 -2.00585030e-04 -1.20927842e+01] [-1.72029607e-03 1.68584629e-04 9.99998506e-01 -3.59071543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01992885099997 meters 0.08956397332128908 Centerline is valid? [True, True] Translation: X:120.39, Y:-12.09, Z:-3.59 [[ 9.99745046e-01 2.24380104e-02 2.52577958e-03 1.20390256e+02] [-2.24373384e-02 9.99748208e-01 -2.94090492e-04 -1.20922148e+01] [-2.53174242e-03 2.37343741e-04 9.99996767e-01 -3.59156905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04992885099998 meters 0.08931028026080727 Centerline is valid? [True, True] Translation: X:120.42, Y:-12.09, Z:-3.59 [[ 9.99644038e-01 2.65292994e-02 2.82722541e-03 1.20419610e+02] [-2.65284723e-02 9.99648004e-01 -3.29675123e-04 -1.20927940e+01] [-2.83497628e-03 2.54555800e-04 9.99995949e-01 -3.59292390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07992885099998 meters 0.08721222147926198 Centerline is valid? [True, True] Translation: X:120.45, Y:-12.09, Z:-3.59 [[ 9.99393557e-01 3.47237424e-02 2.60396758e-03 1.20449625e+02] [-3.47230681e-02 9.99396926e-01 -3.03718391e-04 -1.20863214e+01] [-2.61294344e-03 2.13116459e-04 9.99996564e-01 -3.59363296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10992885099998 meters 0.0867144936389026 Centerline is valid? [True, True] Translation: X:120.48, Y:-12.09, Z:-3.59 [[ 9.99265804e-01 3.81411019e-02 3.62064885e-03 1.20478974e+02] [-3.81398241e-02 9.99272323e-01 -4.21336991e-04 -1.20863920e+01] [-3.63408444e-03 2.82936737e-04 9.99993357e-01 -3.59497448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13992885099998 meters 0.0843800000360902 Centerline is valid? [True, True] Translation: X:120.51, Y:-12.08, Z:-3.59 [[ 9.99121329e-01 4.17491606e-02 3.68478005e-03 1.20509998e+02] [-4.17478636e-02 9.99128086e-01 -4.28231420e-04 -1.20822253e+01] [-3.69944554e-03 2.74023450e-04 9.99993119e-01 -3.59444891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16992885099998 meters 0.08500255322850409 Centerline is valid? [True, True] Translation: X:120.54, Y:-12.09, Z:-3.60 [[ 9.99015373e-01 4.42976792e-02 2.44933945e-03 1.20538763e+02] [-4.42971114e-02 9.99018360e-01 -2.85612607e-04 -1.20853618e+01] [-2.45958705e-03 1.76832723e-04 9.99996960e-01 -3.59731578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19992885099998 meters 0.0814940780138021 Centerline is valid? [True, True] Translation: X:120.57, Y:-12.08, Z:-3.60 [[ 9.98809539e-01 4.87282353e-02 2.25038824e-03 1.20570716e+02] [-4.87277693e-02 9.98812062e-01 -2.61501121e-04 -1.20757807e+01] [-2.26045741e-03 1.51533415e-04 9.99997434e-01 -3.59622149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22992885099998 meters 0.08124778635539638 Centerline is valid? [True, True] Translation: X:120.60, Y:-12.08, Z:-3.60 [[ 9.98747654e-01 5.00209407e-02 1.01402889e-03 1.20600057e+02] [-5.00208446e-02 9.98748167e-01 -1.19964074e-04 -1.20760295e+01] [-1.01876021e-03 6.90912564e-05 9.99999479e-01 -3.59671875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25992885099998 meters 0.0814371044160301 Centerline is valid? [True, True] Translation: X:120.63, Y:-12.08, Z:-3.60 [[ 9.98740939e-01 5.01620909e-02 5.49139321e-04 1.20626424e+02] [-5.01620613e-02 9.98741089e-01 -6.75813328e-05 -1.20779802e+01] [-5.51838025e-04 3.99502835e-05 9.99999847e-01 -3.59831973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28992885099998 meters 0.08601684211788072 Centerline is valid? [True, True] Translation: X:120.65, Y:-12.09, Z:-3.60 [[ 9.98812126e-01 4.87233804e-02 -6.07218516e-04 1.20653115e+02] [-4.87233479e-02 9.98812310e-01 6.81724808e-05 -1.20902948e+01] [ 6.09818922e-04 -3.85057814e-05 9.99999813e-01 -3.60466837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319928851 meters 0.08186183740385806 Centerline is valid? [True, True] Translation: X:120.68, Y:-12.08, Z:-3.60 [[ 9.98877265e-01 4.73689019e-02 -6.29085475e-04 1.20683599e+02] [-4.73688664e-02 9.98877463e-01 7.12018337e-05 -1.20818815e+01] [ 6.31752056e-04 -4.13228271e-05 9.99999800e-01 -3.59971662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.349928851 meters 0.08370981972558958 Centerline is valid? [True, True] Translation: X:120.71, Y:-12.09, Z:-3.60 [[ 9.98973481e-01 4.52972023e-02 -3.84139729e-04 1.20711400e+02] [-4.52971895e-02 9.98973555e-01 4.20786392e-05 -1.20890464e+01] [ 3.85651476e-04 -2.46349946e-05 9.99999925e-01 -3.60299821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379928851 meters 0.08327487861570444 Centerline is valid? [True, True] Translation: X:120.74, Y:-12.09, Z:-3.60 [[ 9.99071637e-01 4.30785964e-02 -3.13995650e-04 1.20742155e+02] [-4.30785871e-02 9.99071686e-01 3.63546096e-05 -1.20908701e+01] [ 3.15270269e-04 -2.27943704e-05 9.99999950e-01 -3.60269165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.409928851 meters 0.08451143231365457 Centerline is valid? [True, True] Translation: X:120.77, Y:-12.10, Z:-3.60 [[ 9.99183031e-01 4.04067662e-02 -7.50532049e-04 1.20770401e+02] [-4.04067131e-02 9.99183312e-01 8.57662185e-05 -1.20968745e+01] [ 7.53384634e-04 -5.53696169e-05 9.99999715e-01 -3.60466650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439928851 meters 0.08709987116352814 Centerline is valid? [True, True] Translation: X:120.80, Y:-12.11, Z:-3.61 [[ 9.99297234e-01 3.74707601e-02 -9.90043383e-04 1.20798852e+02] [-3.74706657e-02 9.99297722e-01 1.13712636e-04 -1.21057429e+01] [ 9.93608996e-04 -7.65351382e-05 9.99999503e-01 -3.60800982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46992885099996 meters 0.08534015441397462 Centerline is valid? [True, True] Translation: X:120.83, Y:-12.10, Z:-3.61 [[ 9.99459572e-01 3.28268210e-02 -1.72182693e-03 1.20829402e+02] [-3.28265270e-02 9.99461045e-01 1.98703299e-04 -1.21035396e+01] [ 1.72742174e-03 -1.42074316e-04 9.99998498e-01 -3.60599464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49992885099996 meters 0.08923328813689538 Centerline is valid? [True, True] Translation: X:120.86, Y:-12.11, Z:-3.61 [[ 9.99537454e-01 3.03357017e-02 -2.15022118e-03 1.20857080e+02] [-3.03352387e-02 9.99539750e-01 2.47600067e-04 -1.21145232e+01] [ 2.15674266e-03 -1.82258067e-04 9.99997658e-01 -3.60979595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52992885099997 meters 0.08816396545684665 Centerline is valid? [True, True] Translation: X:120.89, Y:-12.11, Z:-3.61 [[ 9.99599540e-01 2.81876095e-02 -2.49357287e-03 1.20887078e+02] [-2.81869785e-02 9.99602627e-01 2.87838065e-04 -1.21143387e+01] [ 2.50069546e-03 -2.17436512e-04 9.99996850e-01 -3.60894412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55992885099997 meters 0.08856292107966787 Centerline is valid? [True, True] Translation: X:120.92, Y:-12.12, Z:-3.61 [[ 9.99685456e-01 2.49045026e-02 -2.95872417e-03 1.20917350e+02] [-2.49035980e-02 9.99689799e-01 3.42195684e-04 -1.21172754e+01] [ 2.96632858e-03 -2.68405172e-04 9.99995564e-01 -3.61041080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58992885099997 meters 0.09032798055708012 Centerline is valid? [True, True] Translation: X:120.95, Y:-12.12, Z:-3.61 [[ 9.99724374e-01 2.32647253e-02 -3.15105069e-03 1.20945647e+02] [-2.32636918e-02 9.99729297e-01 3.64273569e-04 -1.21232989e+01] [ 3.15867242e-03 -2.90868093e-04 9.99994969e-01 -3.61239798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61992885099997 meters 0.0887136814137851 Centerline is valid? [True, True] Translation: X:120.98, Y:-12.12, Z:-3.61 [[ 9.99752493e-01 2.19074846e-02 -3.87479273e-03 1.20975483e+02] [-2.19059182e-02 9.99759937e-01 4.46225687e-04 -1.21221219e+01] [ 3.88363822e-03 -3.61234351e-04 9.99992393e-01 -3.61175140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64992885099997 meters 0.08936155146009736 Centerline is valid? [True, True] Translation: X:121.00, Y:-12.13, Z:-3.61 [[ 9.99770181e-01 2.11265397e-02 -3.64064631e-03 1.21004329e+02] [-2.11251551e-02 9.99776751e-01 4.18354766e-04 -1.21258895e+01] [ 3.64867193e-03 -3.41349402e-04 9.99993285e-01 -3.61265838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67992885099997 meters 0.09059116099435063 Centerline is valid? [True, True] Translation: X:121.03, Y:-12.13, Z:-3.61 [[ 9.99812041e-01 1.89385310e-02 -4.14910432e-03 1.21032944e+02] [-1.89367085e-02 9.99820570e-01 4.78103799e-04 -1.21307290e+01] [ 4.15741443e-03 -3.99443556e-04 9.99991278e-01 -3.61420118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70992885099997 meters 0.09139143408128403 Centerline is valid? [True, True] Translation: X:121.06, Y:-12.13, Z:-3.62 [[ 9.99820294e-01 1.83765190e-02 -4.65662899e-03 1.21061854e+02] [-1.83742234e-02 9.99831036e-01 5.35294856e-04 -1.21345224e+01] [ 4.66567904e-03 -4.49636719e-04 9.99989015e-01 -3.61572627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73992885099997 meters 0.09060160507082739 Centerline is valid? [True, True] Translation: X:121.09, Y:-12.14, Z:-3.62 [[ 9.99813999e-01 1.88563618e-02 -4.05027958e-03 1.21090623e+02] [-1.88546313e-02 9.99822127e-01 4.65015849e-04 -1.21353855e+01] [ 4.05832765e-03 -3.88562827e-04 9.99991689e-01 -3.61544760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76992885099997 meters 0.08965026421562061 Centerline is valid? [True, True] Translation: X:121.12, Y:-12.14, Z:-3.62 [[ 9.99797957e-01 1.95306442e-02 -4.75392103e-03 1.21120171e+02] [-1.95282645e-02 9.99809156e-01 5.46493543e-04 -1.21354283e+01] [ 4.76368714e-03 -4.53547301e-04 9.99988551e-01 -3.61603489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79992885099998 meters 0.0896476883936466 Centerline is valid? [True, True] Translation: X:121.15, Y:-12.14, Z:-3.62 [[ 9.99730987e-01 2.28509317e-02 -3.97351035e-03 1.21149439e+02] [-2.28492934e-02 9.99738816e-01 4.57233720e-04 -1.21359959e+01] [ 3.98292075e-03 -3.66318815e-04 9.99992001e-01 -3.61680860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82992885099998 meters 0.08667461437135408 Centerline is valid? [True, True] Translation: X:121.18, Y:-12.13, Z:-3.61 [[ 9.99675967e-01 2.52030171e-02 -3.57340463e-03 1.21180857e+02] [-2.52017049e-02 9.99682302e-01 4.11777285e-04 -1.21311995e+01] [ 3.58264740e-03 -3.21587967e-04 9.99993531e-01 -3.61495460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85992885099998 meters 0.08714810803260202 Centerline is valid? [True, True] Translation: X:121.21, Y:-12.13, Z:-3.62 [[ 9.99603725e-01 2.79623855e-02 -3.23993310e-03 1.21210208e+02] [-2.79613231e-02 9.99608936e-01 3.72749085e-04 -1.21339790e+01] [ 3.24908903e-03 -2.82008558e-04 9.99994682e-01 -3.61704746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88992885099998 meters 0.0866622709493567 Centerline is valid? [True, True] Translation: X:121.24, Y:-12.13, Z:-3.62 [[ 9.99496305e-01 3.16253279e-02 -2.64088807e-03 1.21239023e+02] [-3.16246372e-02 9.99499770e-01 3.02880947e-04 -1.21345062e+01] [ 2.64914573e-03 -2.19211260e-04 9.99996467e-01 -3.61774506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91992885099998 meters 0.08409377103393618 Centerline is valid? [True, True] Translation: X:121.27, Y:-12.13, Z:-3.62 [[ 9.99283161e-01 3.78109370e-02 -1.86998468e-03 1.21270880e+02] [-3.78106000e-02 9.99284900e-01 2.15267477e-04 -1.21274967e+01] [ 1.87678692e-03 -1.44407922e-04 9.99998228e-01 -3.61684096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94992885099998 meters 0.08372196603427356 Centerline is valid? [True, True] Translation: X:121.30, Y:-12.13, Z:-3.62 [[ 9.99139193e-01 4.14818364e-02 -3.62034350e-04 1.21300309e+02] [-4.14818244e-02 9.99139258e-01 4.07272512e-05 -1.21279826e+01] [ 3.63412173e-04 -2.56743476e-05 9.99999934e-01 -3.61792527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97992885099998 meters 0.0830504719991775 Centerline is valid? [True, True] Translation: X:121.33, Y:-12.13, Z:-3.62 [[ 9.98994985e-01 4.48182755e-02 5.84691844e-04 1.21331399e+02] [-4.48182435e-02 9.98995155e-01 -6.77142531e-05 -1.21280116e+01] [-5.87139156e-04 4.14413378e-05 9.99999827e-01 -3.61935735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00992885099998 meters 0.08165648404545499 Centerline is valid? [True, True] Translation: X:121.36, Y:-12.12, Z:-3.62 [[ 9.98692218e-01 5.11005773e-02 1.60769824e-03 1.21361927e+02] [-5.11003442e-02 9.98693507e-01 -1.85779959e-04 -1.21245337e+01] [-1.61509125e-03 1.03383066e-04 9.99998690e-01 -3.61958166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03992885099998 meters 0.08017612275716332 Centerline is valid? [True, True] Translation: X:121.39, Y:-12.12, Z:-3.62 [[ 9.98545722e-01 5.38662613e-02 2.20623249e-03 1.21392429e+02] [-5.38658298e-02 9.98548150e-01 -2.54564683e-04 -1.21221139e+01] [-2.21674182e-03 1.35353932e-04 9.99997534e-01 -3.61978017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.069928851 meters 0.07992975636887772 Centerline is valid? [True, True] Translation: X:121.42, Y:-12.12, Z:-3.62 [[ 9.98431860e-01 5.59692179e-02 1.12601354e-03 1.21421179e+02] [-5.59691047e-02 9.98432492e-01 -1.31769616e-04 -1.21228663e+01] [-1.13162354e-03 6.85410134e-05 9.99999357e-01 -3.62076942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099928851 meters 0.07963852596857862 Centerline is valid? [True, True] Translation: X:121.45, Y:-12.12, Z:-3.62 [[ 9.98314298e-01 5.80335098e-02 8.21081884e-04 1.21450917e+02] [-5.80334508e-02 9.98314635e-01 -9.55472171e-05 -1.21242117e+01] [-8.25243001e-04 4.77359378e-05 9.99999658e-01 -3.62238644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.129928851 meters 0.07893531981722657 Centerline is valid? [True, True] Translation: X:121.48, Y:-12.12, Z:-3.62 [[ 9.98108514e-01 6.14710598e-02 -8.38747467e-04 1.21480777e+02] [-6.14710014e-02 9.98108865e-01 9.53593309e-05 -1.21223301e+01] [ 8.43023121e-04 -4.36203134e-05 9.99999644e-01 -3.62375985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159928851 meters 0.0788697423570995 Centerline is valid? [True, True] Translation: X:121.51, Y:-12.12, Z:-3.63 [[ 9.98054330e-01 6.23438956e-02 -8.91013331e-04 1.21509978e+02] [-6.23438354e-02 9.98054727e-01 9.51603322e-05 -1.21238572e+01] [ 8.95212732e-04 -3.94259931e-05 9.99999599e-01 -3.62554351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.189928851 meters 0.0788697423570995 Centerline is valid? [True, True] Translation: X:121.54, Y:-12.13, Z:-3.63 [[ 9.98070687e-01 6.20814683e-02 -8.91226696e-04 1.21537222e+02] [-6.20814097e-02 9.98071085e-01 9.32911811e-05 -1.21268888e+01] [ 8.95299248e-04 -3.77825836e-05 9.99999599e-01 -3.62645565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21992885099996 meters 0.07824054908869413 Centerline is valid? [True, True] Translation: X:121.57, Y:-12.13, Z:-3.63 [[ 9.97959233e-01 6.38496035e-02 -7.73300377e-04 1.21566401e+02] [-6.38495558e-02 9.97959532e-01 8.62916493e-05 -1.21263951e+01] [ 7.77232170e-04 -3.67406626e-05 9.99999697e-01 -3.62618204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24992885099996 meters 0.07755081202192114 Centerline is valid? [True, True] Translation: X:121.59, Y:-12.13, Z:-3.63 [[ 9.97985542e-01 6.34390367e-02 -5.88592278e-04 1.21594651e+02] [-6.34390134e-02 9.97985715e-01 5.81272075e-05 -1.21265315e+01] [ 5.91094220e-04 -2.06703992e-05 9.99999825e-01 -3.62532008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27992885099997 meters 0.07865755908091233 Centerline is valid? [True, True] Translation: X:121.62, Y:-12.13, Z:-3.63 [[ 9.97957303e-01 6.38746462e-02 1.11882988e-03 1.21622003e+02] [-6.38745387e-02 9.97957928e-01 -1.31529969e-04 -1.21330818e+01] [-1.12494658e-03 5.97965511e-05 9.99999365e-01 -3.62869407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30992885099997 meters 0.07784984496855532 Centerline is valid? [True, True] Translation: X:121.65, Y:-12.13, Z:-3.63 [[ 9.97968267e-01 6.37007085e-02 1.24773893e-03 1.21650611e+02] [-6.37005701e-02 9.97969045e-01 -1.50408535e-04 -1.21329853e+01] [-1.25478596e-03 7.06212645e-05 9.99999210e-01 -3.62751335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33992885099997 meters 0.07762735524937436 Centerline is valid? [True, True] Translation: X:121.68, Y:-12.13, Z:-3.63 [[ 9.97936625e-01 6.41901753e-02 1.45358634e-03 1.21679094e+02] [-6.41899913e-02 9.97937681e-01 -1.72919212e-04 -1.21347424e+01] [-1.46168830e-03 7.92567203e-05 9.99998929e-01 -3.62787473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36992885099997 meters 0.07846142429570489 Centerline is valid? [True, True] Translation: X:121.71, Y:-12.14, Z:-3.63 [[ 9.97948083e-01 6.39904515e-02 2.20144889e-03 1.21706090e+02] [-6.39900496e-02 9.97950505e-01 -2.52585031e-04 -1.21402807e+01] [-2.21310006e-03 1.11195924e-04 9.99997545e-01 -3.63025487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39992885099997 meters 0.07820311176842569 Centerline is valid? [True, True] Translation: X:121.73, Y:-12.14, Z:-3.63 [[ 9.97945912e-01 6.39978173e-02 2.86984109e-03 1.21734635e+02] [-6.39971246e-02 9.97950028e-01 -3.32631624e-04 -1.21422319e+01] [-2.88524569e-03 1.48286791e-04 9.99995827e-01 -3.63075087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42992885099997 meters 0.07962140125090698 Centerline is valid? [True, True] Translation: X:121.76, Y:-12.15, Z:-3.63 [[ 9.97928808e-01 6.41984801e-02 4.08046849e-03 1.21761730e+02] [-6.41971163e-02 9.97937130e-01 -4.64462295e-04 -1.21504965e+01] [-4.10186878e-03 2.01545994e-04 9.99991567e-01 -3.63433079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45992885099997 meters 0.07843334012656501 Centerline is valid? [True, True] Translation: X:121.79, Y:-12.15, Z:-3.63 [[ 9.98015215e-01 6.28823798e-02 3.38173578e-03 1.21790777e+02] [-6.28814200e-02 9.98020929e-01 -3.89506554e-04 -1.21500464e+01] [-3.39953619e-03 1.76085120e-04 9.99994206e-01 -3.63154152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48992885099997 meters 0.07903455583130668 Centerline is valid? [True, True] Translation: X:121.82, Y:-12.16, Z:-3.63 [[ 9.98114310e-01 6.13076986e-02 3.03146640e-03 1.21819433e+02] [-6.13069364e-02 9.98118901e-01 -3.43824448e-04 -1.21550143e+01] [-3.04684300e-03 1.57326184e-04 9.99995346e-01 -3.63382552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51992885099997 meters 0.0795288675024016 Centerline is valid? [True, True] Translation: X:121.85, Y:-12.16, Z:-3.64 [[ 9.98192895e-01 6.00102133e-02 3.11739647e-03 1.21846607e+02] [-6.00093947e-02 9.98197749e-01 -3.55564962e-04 -1.21611295e+01] [-3.13311567e-03 1.67849343e-04 9.99995078e-01 -3.63528215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54992885099998 meters 0.0809989429968125 Centerline is valid? [True, True] Translation: X:121.88, Y:-12.17, Z:-3.64 [[ 9.98424695e-01 5.59930697e-02 3.59236085e-03 1.21875166e+02] [-5.59919701e-02 9.98431137e-01 -4.06023640e-04 -1.21701801e+01] [-3.60945943e-03 2.04240667e-04 9.99993465e-01 -3.63706917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57992885099998 meters 0.08092776766731155 Centerline is valid? [True, True] Translation: X:121.90, Y:-12.17, Z:-3.64 [[ 9.98534497e-01 5.40547082e-02 2.63561362e-03 1.21904273e+02] [-5.40541077e-02 9.98537963e-01 -2.98585706e-04 -1.21738974e+01] [-2.64790022e-03 1.55682385e-04 9.99996482e-01 -3.63778898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60992885099998 meters 0.07992968476781219 Centerline is valid? [True, True] Translation: X:121.93, Y:-12.17, Z:-3.64 [[ 9.98616974e-01 5.25138742e-02 2.53604253e-03 1.21933446e+02] [-5.25133133e-02 9.98620183e-01 -2.87300829e-04 -1.21745644e+01] [-2.54763054e-03 1.53727489e-04 9.99996743e-01 -3.63668932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63992885099998 meters 0.08072348040708881 Centerline is valid? [True, True] Translation: X:121.96, Y:-12.18, Z:-3.64 [[ 9.98709104e-01 5.07466363e-02 2.21474583e-03 1.21961584e+02] [-5.07462040e-02 9.98711550e-01 -2.50989639e-04 -1.21811453e+01] [-2.22462912e-03 1.38275694e-04 9.99997516e-01 -3.63913533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66992885099998 meters 0.08080510249204657 Centerline is valid? [True, True] Translation: X:121.99, Y:-12.19, Z:-3.64 [[ 9.98782722e-01 4.92837943e-02 2.04497763e-03 1.21990121e+02] [-4.92834109e-02 9.98784806e-01 -2.37489256e-04 -1.21854108e+01] [-2.05419696e-03 1.36416693e-04 9.99997881e-01 -3.64054350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69992885099998 meters 0.0841589004419856 Centerline is valid? [True, True] Translation: X:122.02, Y:-12.20, Z:-3.65 [[ 9.98900879e-01 4.68448067e-02 1.61156087e-03 1.22017487e+02] [-4.68445748e-02 9.98902174e-01 -1.81335522e-04 -1.21984549e+01] [-1.61828629e-03 1.05643328e-04 9.99998685e-01 -3.64590774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72992885099998 meters 0.08158165654722568 Centerline is valid? [True, True] Translation: X:122.05, Y:-12.19, Z:-3.64 [[ 9.98934946e-01 4.61293963e-02 1.02608821e-03 1.22046514e+02] [-4.61292994e-02 9.98935470e-01 -1.17953536e-04 -1.21949462e+01] [-1.03043703e-03 7.04951794e-05 9.99999467e-01 -3.64316622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75992885099998 meters 0.08241656062481163 Centerline is valid? [True, True] Translation: X:122.07, Y:-12.20, Z:-3.64 [[ 9.98980641e-01 4.51099176e-02 1.66573314e-03 1.22073415e+02] [-4.51096639e-02 9.98982023e-01 -1.89591613e-04 -1.22007254e+01] [-1.67258992e-03 1.14257689e-04 9.99998595e-01 -3.64472047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78992885099998 meters 0.08266449094230133 Centerline is valid? [True, True] Translation: X:122.10, Y:-12.20, Z:-3.65 [[ 9.99032264e-01 4.39666779e-02 1.21084870e-03 1.22103073e+02] [-4.39665442e-02 9.99032995e-01 -1.36867846e-04 -1.22047604e+01] [-1.21569542e-03 8.34985616e-05 9.99999258e-01 -3.64573310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819928851 meters 0.08290776470011099 Centerline is valid? [True, True] Translation: X:122.13, Y:-12.21, Z:-3.65 [[ 9.99079797e-01 4.28562341e-02 1.70355598e-03 1.22131626e+02] [-4.28559668e-02 9.99081242e-01 -1.93102806e-04 -1.22086830e+01] [-1.71026648e-03 1.19917573e-04 9.99998530e-01 -3.64658921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.849928851 meters 0.08289826331532756 Centerline is valid? [True, True] Translation: X:122.16, Y:-12.21, Z:-3.65 [[ 9.99153629e-01 4.10782130e-02 2.14636305e-03 1.22160400e+02] [-4.10777873e-02 9.99155922e-01 -2.42083117e-04 -1.22132332e+01] [-2.15449569e-03 1.53710380e-04 9.99997667e-01 -3.64683404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879928851 meters 0.08333008656503364 Centerline is valid? [True, True] Translation: X:122.19, Y:-12.22, Z:-3.65 [[ 9.99208209e-01 3.96836062e-02 2.85780146e-03 1.22188626e+02] [-3.96828463e-02 9.99212274e-01 -3.22131617e-04 -1.22178802e+01] [-2.86833364e-03 2.08470860e-04 9.99995865e-01 -3.64760167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.909928851 meters 0.08353434345298287 Centerline is valid? [True, True] Translation: X:122.22, Y:-12.22, Z:-3.65 [[ 9.99273196e-01 3.80225063e-02 2.71460875e-03 1.22217915e+02] [-3.80218175e-02 9.99276863e-01 -3.04914322e-04 -1.22216160e+01] [-2.72423932e-03 2.01478350e-04 9.99996269e-01 -3.64815416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939928851 meters 0.08342977576690823 Centerline is valid? [True, True] Translation: X:122.25, Y:-12.22, Z:-3.65 [[ 9.99307874e-01 3.70493511e-02 3.33444149e-03 1.22245966e+02] [-3.70482986e-02 9.99313405e-01 -3.76891055e-04 -1.22249679e+01] [-3.34611565e-03 2.53094815e-04 9.99994370e-01 -3.64823287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96992885099996 meters 0.08469513544135665 Centerline is valid? [True, True] Translation: X:122.27, Y:-12.23, Z:-3.65 [[ 9.99371086e-01 3.52310046e-02 4.02606577e-03 1.22273379e+02] [-3.52294667e-02 9.99379147e-01 -4.52294251e-04 -1.22320025e+01] [-4.03950095e-03 3.10173646e-04 9.99991793e-01 -3.65009323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99992885099996 meters 0.08424400845705371 Centerline is valid? [True, True] Translation: X:122.30, Y:-12.23, Z:-3.65 [[ 9.99403545e-01 3.42889097e-02 4.10176169e-03 1.22302349e+02] [-3.42873082e-02 9.99411911e-01 -4.60163622e-04 -1.22342936e+01] [-4.11512800e-03 3.19250788e-04 9.99991482e-01 -3.65031565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02992885099997 meters 0.08518277395400485 Centerline is valid? [True, True] Translation: X:122.33, Y:-12.24, Z:-3.65 [[ 9.99441877e-01 3.31499354e-02 4.12496012e-03 1.22330421e+02] [-3.31483071e-02 9.99450337e-01 -4.62506185e-04 -1.22399075e+01] [-4.13802484e-03 3.25512605e-04 9.99991385e-01 -3.65257353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05992885099997 meters 0.08691784891247681 Centerline is valid? [True, True] Translation: X:122.36, Y:-12.25, Z:-3.66 [[ 9.99529529e-01 3.05384965e-02 2.84981792e-03 1.22358872e+02] [-3.05377134e-02 9.99533565e-01 -3.17917010e-04 -1.22473807e+01] [-2.85819737e-03 2.30740516e-04 9.99995889e-01 -3.65502985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08992885099997 meters 0.08609665736197647 Centerline is valid? [True, True] Translation: X:122.39, Y:-12.25, Z:-3.66 [[ 9.99583861e-01 2.86873611e-02 3.02317796e-03 1.22388330e+02] [-2.86864666e-02 9.99588401e-01 -3.38833285e-04 -1.22484756e+01] [-3.03165386e-03 2.51967990e-04 9.99995373e-01 -3.65511954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11992885099997 meters 0.09064960944139963 Centerline is valid? [True, True] Translation: X:122.42, Y:-12.26, Z:-3.66 [[ 9.99630172e-01 2.70756657e-02 2.53545308e-03 1.22415787e+02] [-2.70750311e-02 9.99633364e-01 -2.84296274e-04 -1.22610995e+01] [-2.54222100e-03 2.15543662e-04 9.99996745e-01 -3.65910107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14992885099997 meters 0.08683559406138379 Centerline is valid? [True, True] Translation: X:122.45, Y:-12.26, Z:-3.66 [[ 9.99673490e-01 2.54175558e-02 2.61928091e-03 1.22445737e+02] [-2.54168733e-02 9.99676896e-01 -2.93531035e-04 -1.22554933e+01] [-2.62589545e-03 2.26861263e-04 9.99996527e-01 -3.65685251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17992885099997 meters 0.09124918499545731 Centerline is valid? [True, True] Translation: X:122.47, Y:-12.27, Z:-3.66 [[ 9.99744001e-01 2.24385761e-02 2.90573599e-03 1.22473942e+02] [-2.24377292e-02 9.99748190e-01 -3.23727719e-04 -1.22670748e+01] [-2.91226829e-03 2.58446727e-04 9.99995726e-01 -3.66047465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20992885099997 meters 0.08822673509855503 Centerline is valid? [True, True] Translation: X:122.50, Y:-12.26, Z:-3.66 [[ 9.99772057e-01 2.11023640e-02 3.24403229e-03 1.22503653e+02] [-2.11012964e-02 9.99777277e-01 -3.62994427e-04 -1.22636026e+01] [-3.25096981e-03 2.94458399e-04 9.99994672e-01 -3.65875107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23992885099997 meters 0.08897677136266773 Centerline is valid? [True, True] Translation: X:122.53, Y:-12.27, Z:-3.66 [[ 9.99788181e-01 2.02743710e-02 3.54175303e-03 1.22532318e+02] [-2.02730927e-02 9.99794401e-01 -3.96452522e-04 -1.22679533e+01] [-3.54906268e-03 3.24566259e-04 9.99993649e-01 -3.66022586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26992885099997 meters 0.08998615532270493 Centerline is valid? [True, True] Translation: X:122.56, Y:-12.27, Z:-3.66 [[ 9.99791056e-01 1.98432390e-02 4.90820425e-03 1.22560497e+02] [-1.98407849e-02 9.99803002e-01 -5.48202122e-04 -1.22717900e+01] [-4.91811544e-03 4.50704954e-04 9.99987804e-01 -3.66120655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29992885099998 meters 0.09133409383232255 Centerline is valid? [True, True] Translation: X:122.59, Y:-12.28, Z:-3.66 [[ 9.99780226e-01 2.01286278e-02 5.85979444e-03 1.22587885e+02] [-2.01251368e-02 9.99797255e-01 -6.54108687e-04 -1.22765931e+01] [-5.87177271e-03 5.36035766e-04 9.99982617e-01 -3.66263513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32992885099998 meters 0.09024340238712822 Centerline is valid? [True, True] Translation: X:122.62, Y:-12.28, Z:-3.66 [[ 9.99774016e-01 2.03394827e-02 6.18244260e-03 1.22616689e+02] [-2.03356076e-02 9.99792973e-01 -6.89030407e-04 -1.22765673e+01] [-6.19517719e-03 5.63150971e-04 9.99980651e-01 -3.66216467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35992885099998 meters 0.09077042650618483 Centerline is valid? [True, True] Translation: X:122.64, Y:-12.28, Z:-3.66 [[ 9.99759655e-01 2.07998540e-02 6.92806439e-03 1.22644680e+02] [-2.07950038e-02 9.99783463e-01 -7.71388575e-04 -1.22799607e+01] [-6.94260897e-03 6.27134050e-04 9.99975703e-01 -3.66296006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38992885099998 meters 0.08966425120551083 Centerline is valid? [True, True] Translation: X:122.67, Y:-12.28, Z:-3.66 [[ 9.99740139e-01 2.16490772e-02 7.13940531e-03 1.22673701e+02] [-2.16439519e-02 9.99765427e-01 -7.94379771e-04 -1.22789520e+01] [-7.15492818e-03 6.39648398e-04 9.99974199e-01 -3.66391491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41992885099998 meters 0.08903728082002882 Centerline is valid? [True, True] Translation: X:122.70, Y:-12.28, Z:-3.66 [[ 9.99739108e-01 2.16548770e-02 7.26517852e-03 1.22702491e+02] [-2.16495735e-02 9.99765294e-01 -8.07852858e-04 -1.22798315e+01] [-7.28096729e-03 6.50354080e-04 9.99973282e-01 -3.66460553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44992885099998 meters 0.08896535117886957 Centerline is valid? [True, True] Translation: X:122.73, Y:-12.28, Z:-3.67 [[ 9.99743226e-01 2.15550394e-02 6.99020174e-03 1.22730979e+02] [-2.15501300e-02 9.99767467e-01 -7.76893884e-04 -1.22819320e+01] [-7.00532227e-03 6.26054641e-04 9.99975266e-01 -3.66570080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47992885099998 meters 0.08941836486510947 Centerline is valid? [True, True] Translation: X:122.76, Y:-12.28, Z:-3.67 [[ 9.99752277e-01 2.10619607e-02 7.19579042e-03 1.22759857e+02] [-2.10567496e-02 9.99777963e-01 -7.99187411e-04 -1.22841861e+01] [-7.21102514e-03 6.47469476e-04 9.99973791e-01 -3.66714292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50992885099998 meters 0.08980539463094936 Centerline is valid? [True, True] Translation: X:122.79, Y:-12.29, Z:-3.67 [[ 9.99767722e-01 2.05564526e-02 6.47573989e-03 1.22787980e+02] [-2.05522203e-02 9.99788522e-01 -7.19447317e-04 -1.22871734e+01] [-6.48915970e-03 5.86189372e-04 9.99978773e-01 -3.66826221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53992885099998 meters 0.08993768184883907 Centerline is valid? [True, True] Translation: X:122.82, Y:-12.29, Z:-3.67 [[ 9.99776980e-01 2.00950536e-02 6.49452876e-03 1.22816303e+02] [-2.00907936e-02 9.99797900e-01 -7.20526159e-04 -1.22896398e+01] [-6.50769522e-03 5.89885231e-04 9.99978651e-01 -3.66947548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.569928851 meters 0.0949253563895646 Centerline is valid? [True, True] Translation: X:122.84, Y:-12.30, Z:-3.67 [[ 9.99783926e-01 1.96387407e-02 6.81336874e-03 1.22842446e+02] [-1.96340425e-02 9.99806948e-01 -7.55763835e-04 -1.23015927e+01] [-6.82689565e-03 6.21826562e-04 9.99976503e-01 -3.67311560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599928851 meters 0.09048258099369091 Centerline is valid? [True, True] Translation: X:122.87, Y:-12.29, Z:-3.67 [[ 9.99827600e-01 1.77239072e-02 5.53474697e-03 1.22873518e+02] [-1.77207879e-02 9.99842787e-01 -6.12137115e-04 -1.22928697e+01] [-5.54472630e-03 5.13951506e-04 9.99984496e-01 -3.67128031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.629928851 meters 0.09601759117129328 Centerline is valid? [True, True] Translation: X:122.90, Y:-12.31, Z:-3.68 [[ 9.99840269e-01 1.70508004e-02 5.35788662e-03 1.22900235e+02] [-1.70478686e-02 9.99854499e-01 -5.92406756e-04 -1.23060237e+01] [-5.36720805e-03 5.00971583e-04 9.99985471e-01 -3.67525208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659928851 meters 0.08999771504002964 Centerline is valid? [True, True] Translation: X:122.93, Y:-12.30, Z:-3.67 [[ 9.99860451e-01 1.58487307e-02 5.28173495e-03 1.22930830e+02] [-1.58458597e-02 9.99874275e-01 -5.84989103e-04 -1.22961694e+01] [-5.29034224e-03 5.01213838e-04 9.99985880e-01 -3.67240702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.689928851 meters 0.09401686750454669 Centerline is valid? [True, True] Translation: X:122.96, Y:-12.31, Z:-3.68 [[ 9.99878625e-01 1.44212950e-02 5.89584413e-03 1.22958322e+02] [-1.44176959e-02 9.99895847e-01 -6.52484979e-04 -1.23070904e+01] [-5.90463974e-03 5.67401296e-04 9.99982406e-01 -3.67576407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71992885099996 meters 0.09525124520959903 Centerline is valid? [True, True] Translation: X:122.99, Y:-12.31, Z:-3.68 [[ 9.99925336e-01 1.04984595e-02 6.25335662e-03 1.22988137e+02] [-1.04943434e-02 9.99944694e-01 -6.90663991e-04 -1.23118017e+01] [-6.26026169e-03 6.24987551e-04 9.99980209e-01 -3.67641717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74992885099996 meters 0.09623365044160312 Centerline is valid? [True, True] Translation: X:123.02, Y:-12.32, Z:-3.68 [[ 9.99947584e-01 8.41348299e-03 5.83465926e-03 1.23017812e+02] [-8.40986474e-03 9.99964429e-01 -6.44388426e-04 -1.23163432e+01] [-5.83987327e-03 5.95285955e-04 9.99982771e-01 -3.67716295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77992885099997 meters 0.09837854165810608 Centerline is valid? [True, True] Translation: X:123.05, Y:-12.32, Z:-3.68 [[ 9.99959588e-01 6.94972246e-03 5.70302221e-03 1.23046904e+02] [-6.94625538e-03 9.99975678e-01 -6.27518777e-04 -1.23230416e+01] [-5.70724458e-03 5.87878769e-04 9.99983541e-01 -3.67905385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80992885099997 meters 0.09816388309592201 Centerline is valid? [True, True] Translation: X:123.08, Y:-12.32, Z:-3.68 [[ 9.99981092e-01 3.49717363e-03 5.05810885e-03 1.23077193e+02] [-3.49439228e-03 9.99993739e-01 -5.58611367e-04 -1.23243684e+01] [-5.06003074e-03 5.40925789e-04 9.99987052e-01 -3.67951127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83992885099997 meters 0.09994053089478525 Centerline is valid? [True, True] Translation: X:123.11, Y:-12.33, Z:-3.68 [[ 9.99983395e-01 2.10777938e-03 5.36354741e-03 1.23107935e+02] [-2.10463821e-03 9.99997610e-01 -5.91228400e-04 -1.23306678e+01] [-5.36478077e-03 5.79930256e-04 9.99985441e-01 -3.68093446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86992885099997 meters 0.09889800092263029 Centerline is valid? [True, True] Translation: X:123.14, Y:-12.33, Z:-3.68 [[ 9.99988645e-01 8.06798069e-04 4.69674246e-03 1.23139607e+02] [-8.04375233e-04 9.99999542e-01 -5.17720542e-04 -1.23312320e+01] [-4.69715801e-03 5.13936720e-04 9.99988836e-01 -3.68199112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89992885099997 meters 0.09787761482106976 Centerline is valid? [True, True] Translation: X:123.17, Y:-12.33, Z:-3.68 [[ 9.99986319e-01 5.56380199e-04 5.20120714e-03 1.23172102e+02] [-5.53434747e-04 9.99999686e-01 -5.67723732e-04 -1.23324620e+01] [-5.20152138e-03 5.64837436e-04 9.99986312e-01 -3.68214629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92992885099997 meters 0.10008162767765805 Centerline is valid? [True, False] Translation: X:123.17, Y:-12.33, Z:-3.68 [[ 9.99986647e-01 2.96978613e-04 5.15916320e-03 1.23172155e+02] [-2.91479478e-04 9.99999389e-01 -1.06661589e-03 -1.23308176e+01] [-5.15947681e-03 1.06509786e-03 9.99986123e-01 -3.68210365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95992885099997 meters 0.10145608209132981 Centerline is valid? [False, False] Translation: X:123.17, Y:-12.33, Z:-3.68 [[ 9.99987290e-01 2.33948696e-04 5.03637865e-03 1.23172463e+02] [-2.27317507e-04 9.99999107e-01 -1.31719039e-03 -1.23298379e+01] [-5.03668230e-03 1.31602879e-03 9.99986450e-01 -3.68216550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98992885099997 meters 0.1010968981988575 Centerline is valid? [False, False] Translation: X:123.17, Y:-12.33, Z:-3.68 [[ 9.99988346e-01 1.25748882e-04 4.82621047e-03 1.23172816e+02] [-1.17367351e-04 9.99998485e-01 -1.73691303e-03 -1.23285153e+01] [-4.82642157e-03 1.73632635e-03 9.99986845e-01 -3.68201924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01992885099997 meters 0.09867211752366714 Centerline is valid? [False, True] Translation: X:123.17, Y:-12.33, Z:-3.68 [[ 9.99989359e-01 1.13409548e-04 4.61178034e-03 1.23173344e+02] [-1.03990519e-04 9.99997909e-01 -2.04257324e-03 -1.23272835e+01] [-4.61200235e-03 2.04207192e-03 9.99987280e-01 -3.68212476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04992885099998 meters 0.09882991720155346 Centerline is valid? [True, True] Translation: X:123.20, Y:-12.33, Z:-3.68 [[ 9.99983858e-01 1.42564198e-03 5.50010662e-03 1.23204872e+02] [-1.42243205e-03 9.99998816e-01 -5.87478743e-04 -1.23305008e+01] [-5.50093764e-03 5.79645732e-04 9.99984702e-01 -3.68367822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07992885099998 meters 0.09927380181574717 Centerline is valid? [True, True] Translation: X:123.24, Y:-12.33, Z:-3.69 [[ 9.99971601e-01 4.94538264e-03 5.68692905e-03 1.23235010e+02] [-4.94199926e-03 9.99987603e-01 -6.08839673e-04 -1.23314311e+01] [-5.68986949e-03 5.80717583e-04 9.99983644e-01 -3.68507138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10992885099998 meters 0.09927380181574717 Centerline is valid? [True, True] Translation: X:123.27, Y:-12.33, Z:-3.69 [[ 9.99971435e-01 4.97864912e-03 5.68698972e-03 1.23265834e+02] [-4.97526945e-03 9.99987438e-01 -6.08273349e-04 -1.23347704e+01] [-5.68994666e-03 5.79961667e-04 9.99983644e-01 -3.68601779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13992885099998 meters 0.09880819541840269 Centerline is valid? [True, True] Translation: X:123.30, Y:-12.34, Z:-3.69 [[ 9.99960090e-01 6.65660618e-03 5.95892721e-03 1.23297017e+02] [-6.65292192e-03 9.99977666e-01 -6.37883528e-04 -1.23360901e+01] [-5.96304026e-03 5.98213792e-04 9.99982042e-01 -3.68705505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16992885099998 meters 0.09879648326271151 Centerline is valid? [True, True] Translation: X:123.33, Y:-12.34, Z:-3.69 [[ 9.99952924e-01 7.61702443e-03 6.01085371e-03 1.23327799e+02] [-7.61329118e-03 9.99970811e-01 -6.43722090e-04 -1.23380829e+01] [-6.01558151e-03 5.97929407e-04 9.99981727e-01 -3.68788259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19992885099998 meters 0.09543793816880006 Centerline is valid? [True, True] Translation: X:123.36, Y:-12.33, Z:-3.69 [[ 9.99942458e-01 8.82753585e-03 6.09555558e-03 1.23358621e+02] [-8.82371324e-03 9.99960857e-01 -6.53722701e-04 -1.23338303e+01] [-6.10108774e-03 5.99899650e-04 9.99981208e-01 -3.68779114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22992885099998 meters 0.09253242327216925 Centerline is valid? [True, True] Translation: X:123.39, Y:-12.33, Z:-3.69 [[ 9.99931442e-01 1.03637014e-02 5.45015487e-03 1.23388761e+02] [-1.03606658e-02 9.99946156e-01 -5.84912390e-04 -1.23288935e+01] [-5.45592327e-03 5.28405057e-04 9.99984977e-01 -3.68754863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25992885099998 meters 0.09420447960389014 Centerline is valid? [True, True] Translation: X:123.42, Y:-12.33, Z:-3.69 [[ 9.99927337e-01 1.09035285e-02 5.14136308e-03 1.23416526e+02] [-1.09008304e-02 9.99940432e-01 -5.52509912e-04 -1.23344885e+01] [-5.14708112e-03 4.96424639e-04 9.99986630e-01 -3.68954605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28992885099998 meters 0.094405165588918 Centerline is valid? [True, True] Translation: X:123.44, Y:-12.34, Z:-3.69 [[ 9.99921408e-01 1.11263240e-02 5.77784643e-03 1.23444900e+02] [-1.11229241e-02 9.99937946e-01 -6.20238267e-04 -1.23372171e+01] [-5.78438886e-03 5.55922973e-04 9.99983116e-01 -3.69092558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319928851 meters 0.09472095802351467 Centerline is valid? [True, True] Translation: X:123.47, Y:-12.34, Z:-3.69 [[ 9.99940821e-01 9.53032100e-03 5.24662995e-03 1.23474804e+02] [-9.52750343e-03 9.99954455e-01 -5.61758183e-04 -1.23399310e+01] [-5.25174473e-03 5.11737654e-04 9.99986079e-01 -3.69296052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.349928851 meters 0.09933249009926547 Centerline is valid? [True, True] Translation: X:123.50, Y:-12.35, Z:-3.70 [[ 9.99948002e-01 8.66246543e-03 5.38096086e-03 1.23502671e+02] [-8.65948754e-03 9.99962340e-01 -5.76464750e-04 -1.23511058e+01] [-5.38575182e-03 5.29838411e-04 9.99985356e-01 -3.69584107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379928851 meters 0.09768236919477126 Centerline is valid? [True, True] Translation: X:123.53, Y:-12.35, Z:-3.70 [[ 9.99959256e-01 7.54832594e-03 4.95064241e-03 1.23532421e+02] [-7.54579229e-03 9.99971390e-01 -5.30261823e-04 -1.23507825e+01] [-4.95450335e-03 4.92883699e-04 9.99987605e-01 -3.69561958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.409928851 meters 0.09534105009814342 Centerline is valid? [True, True] Translation: X:123.56, Y:-12.35, Z:-3.70 [[ 9.99966275e-01 6.11200268e-03 5.48566622e-03 1.23562501e+02] [-6.10887188e-03 9.99981168e-01 -5.87299838e-04 -1.23488525e+01] [-5.48915249e-03 5.53768800e-04 9.99984781e-01 -3.69526931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439928851 meters 0.1022078131284073 Centerline is valid? [True, False] Translation: X:123.56, Y:-12.35, Z:-3.70 [[ 9.99966017e-01 5.86741396e-03 5.79120480e-03 1.23561684e+02] [-5.86375272e-03 9.99982597e-01 -6.48984101e-04 -1.23490814e+01] [-5.79491187e-03 6.15003853e-04 9.99983020e-01 -3.69500810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46992885099996 meters 0.10050601634818579 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99965631e-01 5.77301008e-03 5.95064382e-03 1.23561317e+02] [-5.76935085e-03 9.99983157e-01 -6.31913299e-04 -1.23492963e+01] [-5.95419164e-03 5.97560229e-04 9.99982095e-01 -3.69497719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49992885099996 meters 0.10211526658744174 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99965342e-01 5.55297524e-03 6.20312535e-03 1.23560575e+02] [-5.54869011e-03 9.99984355e-01 -7.07796843e-04 -1.23495356e+01] [-6.20695869e-03 6.73353093e-04 9.99980510e-01 -3.69469424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52992885099997 meters 0.10230315870646177 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99964256e-01 5.55416108e-03 6.37476381e-03 1.23560299e+02] [-5.55084731e-03 9.99984450e-01 -5.37401738e-04 -1.23500992e+01] [-6.37764949e-03 5.01997188e-04 9.99979537e-01 -3.69483895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55992885099997 meters 0.10237433866861047 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99963922e-01 5.60142064e-03 6.38587046e-03 1.23560288e+02] [-5.59880858e-03 9.99984235e-01 -4.26840832e-04 -1.23504756e+01] [-6.38816070e-03 3.91072166e-04 9.99979519e-01 -3.69486089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58992885099997 meters 0.10665537200879607 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99963119e-01 5.48973140e-03 6.60476080e-03 1.23559881e+02] [-5.48706058e-03 9.99984857e-01 -4.22430115e-04 -1.23505397e+01] [-6.60697981e-03 3.86173812e-04 9.99978099e-01 -3.69494666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61992885099997 meters 0.10458661611451946 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99963727e-01 5.41920747e-03 6.57095123e-03 1.23559845e+02] [-5.41549556e-03 9.99985166e-01 -5.82557535e-04 -1.23502661e+01] [-6.57401076e-03 5.46951447e-04 9.99978241e-01 -3.69477257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64992885099997 meters 0.10239378742634019 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99964543e-01 5.42243149e-03 6.44289763e-03 1.23560078e+02] [-5.41807495e-03 9.99985082e-01 -6.93437852e-04 -1.23499199e+01] [-6.44656163e-03 6.58505162e-04 9.99979004e-01 -3.69470032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67992885099997 meters 0.10397108440974812 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99965229e-01 5.25815383e-03 6.47251038e-03 1.23559890e+02] [-5.25219246e-03 9.99985768e-01 -9.37682603e-04 -1.23494035e+01] [-6.47734874e-03 9.03655129e-04 9.99978613e-01 -3.69450239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70992885099997 meters 0.10201715045500745 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99965859e-01 5.43183335e-03 6.22703893e-03 1.23560454e+02] [-5.42621256e-03 9.99984856e-01 -9.19182384e-04 -1.23492592e+01] [-6.23193747e-03 8.85361765e-04 9.99980189e-01 -3.69451804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73992885099997 meters 0.10104747955613404 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99966521e-01 5.37596504e-03 6.16901036e-03 1.23560430e+02] [-5.36950604e-03 9.99985019e-01 -1.06309309e-03 -1.23490860e+01] [-6.17463310e-03 1.02993296e-03 9.99980406e-01 -3.69428867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76992885099997 meters 0.10022239376064875 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99967244e-01 5.41446945e-03 6.01612448e-03 1.23560740e+02] [-5.40758891e-03 9.99984707e-01 -1.15936132e-03 -1.23487509e+01] [-6.02230980e-03 1.12679062e-03 9.99981231e-01 -3.69424415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79992885099998 meters 0.09989751986607061 Centerline is valid? [False, True] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99969925e-01 5.15961949e-03 5.79032548e-03 1.23560788e+02] [-5.14902542e-03 9.99985045e-01 -1.84303507e-03 -1.23471908e+01] [-5.79974825e-03 1.81316511e-03 9.99981538e-01 -3.69356355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82992885099998 meters 0.1042729110357691 Centerline is valid? [True, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99971313e-01 5.14913781e-03 5.55517097e-03 1.23561200e+02] [-5.13752269e-03 9.99984591e-01 -2.10311341e-03 -1.23464312e+01] [-5.56591459e-03 2.07451327e-03 9.99982358e-01 -3.69339238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85992885099998 meters 0.09704109179606092 Centerline is valid? [False, True] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99972220e-01 5.26046665e-03 5.28075717e-03 1.23561866e+02] [-5.24891071e-03 9.99983805e-01 -2.19979051e-03 -1.23458859e+01] [-5.29224357e-03 2.17201118e-03 9.99983637e-01 -3.69349947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88992885099998 meters 0.10036244320465382 Centerline is valid? [True, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99972210e-01 5.50145992e-03 5.03125864e-03 1.23562720e+02] [-5.49097677e-03 9.99982730e-01 -2.09504893e-03 -1.23455750e+01] [-5.04269758e-03 2.06736419e-03 9.99985148e-01 -3.69395728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91992885099998 meters 0.09632360458196235 Centerline is valid? [False, True] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99972606e-01 5.63046911e-03 4.80475813e-03 1.23563286e+02] [-5.62007029e-03 9.99981842e-01 -2.17503878e-03 -1.23451038e+01] [-4.81691738e-03 2.14797612e-03 9.99986092e-01 -3.69403874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94992885099998 meters 0.10015225431707245 Centerline is valid? [True, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99972712e-01 5.71383434e-03 4.68260498e-03 1.23563564e+02] [-5.70381839e-03 9.99981423e-01 -2.14953833e-03 -1.23450731e+01] [-4.69480009e-03 2.12277094e-03 9.99986726e-01 -3.69406671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97992885099998 meters 0.10057249502015828 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99972350e-01 5.89011205e-03 4.53942430e-03 1.23563996e+02] [-5.88115683e-03 9.99980738e-01 -1.98359584e-03 -1.23452716e+01] [-4.55102047e-03 1.95684393e-03 9.99987729e-01 -3.69425028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00992885099998 meters 0.09835382197940719 Centerline is valid? [False, True] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99972256e-01 5.81637779e-03 4.65373455e-03 1.23563650e+02] [-5.80717680e-03 9.99981162e-01 -1.98819648e-03 -1.23455192e+01] [-4.66521098e-03 1.96111626e-03 9.99987195e-01 -3.69411462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03992885099998 meters 0.10316996862789755 Centerline is valid? [True, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99970554e-01 6.01067370e-03 4.77096304e-03 1.23563587e+02] [-6.00352320e-03 9.99980836e-01 -1.51166276e-03 -1.23468074e+01] [-4.77995772e-03 1.48297566e-03 9.99987476e-01 -3.69441023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069928851 meters 0.1016597552696361 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99969221e-01 6.22087032e-03 4.78098457e-03 1.23563719e+02] [-6.21565361e-03 9.99980072e-01 -1.10522419e-03 -1.23478621e+01] [-4.78776475e-03 1.07547323e-03 9.99987960e-01 -3.69465659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099928851 meters 0.09678412639897457 Centerline is valid? [False, True] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99968063e-01 6.25141203e-03 4.97931801e-03 1.23563363e+02] [-6.24732613e-03 9.99980136e-01 -8.35707552e-04 -1.23487825e+01] [-4.98444345e-03 8.04573438e-04 9.99987254e-01 -3.69478541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129928851 meters 0.10293467547836077 Centerline is valid? [True, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99966924e-01 6.07932708e-03 5.40305604e-03 1.23562292e+02] [-6.07627301e-03 9.99981370e-01 -5.81483993e-04 -1.23502572e+01] [-5.40649041e-03 5.48634316e-04 9.99985234e-01 -3.69452365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159928851 meters 0.1014820478617116 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99965877e-01 6.09731164e-03 5.57388042e-03 1.23561861e+02] [-6.09546171e-03 9.99981362e-01 -3.48820021e-04 -1.23512567e+01] [-5.57590340e-03 3.14832743e-04 9.99984405e-01 -3.69441638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18992885099996 meters 0.09981129574753489 Centerline is valid? [False, True] Translation: X:123.56, Y:-12.35, Z:-3.69 [[ 9.99984961e-01 2.17277471e-03 5.03551930e-03 1.23563006e+02] [-2.15002498e-03 9.99987479e-01 -4.51886916e-03 -1.23511035e+01] [-5.04527473e-03 4.50797471e-03 9.99977111e-01 -3.69445310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21992885099996 meters 0.10962609111746828 Centerline is valid? [True, False] Translation: X:123.56, Y:-12.35, Z:-3.70 [[ 9.99983383e-01 2.58077476e-03 5.15491065e-03 1.23563142e+02] [-2.56183201e-03 9.99989955e-01 -3.67792743e-03 -1.23530917e+01] [-5.16435077e-03 3.66466030e-03 9.99979950e-01 -3.69506055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24992885099996 meters 0.10446495802035345 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.36, Z:-3.69 [[ 9.99979993e-01 2.37923327e-03 5.86117903e-03 1.23561492e+02] [-2.36147755e-03 9.99992608e-01 -3.03443757e-03 -1.23559456e+01] [-5.86835534e-03 3.02053581e-03 9.99978219e-01 -3.69477611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27992885099997 meters 0.10577483983509542 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.36, Z:-3.70 [[ 9.99978629e-01 2.71658503e-03 5.94654286e-03 1.23561541e+02] [-2.70287980e-03 9.99993676e-01 -2.31156305e-03 -1.23578491e+01] [-5.95278481e-03 2.29544086e-03 9.99979647e-01 -3.69512715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30992885099997 meters 0.10682259333961819 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.36, Z:-3.70 [[ 9.99977314e-01 3.18194028e-03 5.93683664e-03 1.23561841e+02] [-3.17306591e-03 9.99993835e-01 -1.50361833e-03 -1.23599213e+01] [-5.94158446e-03 1.48474625e-03 9.99981246e-01 -3.69555435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33992885099997 meters 0.10671082765537754 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.36, Z:-3.70 [[ 9.99976016e-01 3.29459804e-03 6.09197022e-03 1.23561477e+02] [-3.28793266e-03 9.99993986e-01 -1.10381659e-03 -1.23614193e+01] [-6.09557021e-03 1.08376013e-03 9.99980835e-01 -3.69551416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36992885099997 meters 0.10720381542824624 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.36, Z:-3.70 [[ 9.99973872e-01 3.59233719e-03 6.27305647e-03 1.23560985e+02] [-3.59007006e-03 9.99993486e-01 -3.72631103e-04 -1.23641688e+01] [-6.27435422e-03 3.50100654e-04 9.99980255e-01 -3.69530394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39992885099997 meters 0.10880871844911563 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.36, Z:-3.69 [[ 9.99973926e-01 3.69567687e-03 6.20393472e-03 1.23560939e+02] [-3.69425632e-03 9.99993147e-01 -2.40420799e-04 -1.23649614e+01] [-6.20478072e-03 2.17495605e-04 9.99980727e-01 -3.69499016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42992885099997 meters 0.1056481309827454 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.37, Z:-3.69 [[ 9.99973909e-01 3.81742658e-03 6.13263190e-03 1.23561057e+02] [-3.81695044e-03 9.99992711e-01 -8.93428377e-05 -1.23654850e+01] [-6.13292827e-03 6.59325546e-05 9.99981191e-01 -3.69492778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45992885099997 meters 0.10585610691868311 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.37, Z:-3.69 [[ 9.99974200e-01 4.09553861e-03 5.90134960e-03 1.23561508e+02] [-4.09671916e-03 9.99991591e-01 1.87973521e-04 -1.23663226e+01] [-5.90053012e-03 -2.12144844e-04 9.99982569e-01 -3.69484658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48992885099997 meters 0.1043183773879212 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.37, Z:-3.69 [[ 9.99974261e-01 4.28402862e-03 5.75538275e-03 1.23561874e+02] [-4.28609954e-03 9.99990754e-01 3.47538010e-04 -1.23667990e+01] [-5.75384067e-03 -3.72197208e-04 9.99983377e-01 -3.69491493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51992885099997 meters 0.1023189558045924 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.37, Z:-3.70 [[ 9.99973877e-01 4.76556941e-03 5.43453932e-03 1.23562699e+02] [-4.77002919e-03 9.99988297e-01 8.07970917e-04 -1.23680172e+01] [-5.43062528e-03 -8.33872721e-04 9.99984906e-01 -3.69506922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54992885099998 meters 0.10207387672880706 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.37, Z:-3.69 [[ 9.99974288e-01 4.92012271e-03 5.21695851e-03 1.23563022e+02] [-4.92487574e-03 9.99987469e-01 8.98618134e-04 -1.23685195e+01] [-5.21247182e-03 -9.24287901e-04 9.99985988e-01 -3.69486173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57992885099998 meters 0.10199607194183523 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.37, Z:-3.69 [[ 9.99974223e-01 5.02754423e-03 5.12603614e-03 1.23563104e+02] [-5.03282341e-03 9.99986818e-01 1.01749600e-03 -1.23691001e+01] [-5.12085306e-03 -1.04326821e-03 9.99986344e-01 -3.69468568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60992885099998 meters 0.10226631636059962 Centerline is valid? [False, False] Translation: X:123.56, Y:-12.37, Z:-3.69 [[ 9.99974185e-01 5.19170043e-03 4.96751340e-03 1.23563381e+02] [-5.19739436e-03 9.99985850e-01 1.13401069e-03 -1.23696192e+01] [-4.96155567e-03 -1.15979955e-03 9.99987019e-01 -3.69457572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63992885099998 meters 0.09931265920993805 Centerline is valid? [False, True] Translation: X:123.56, Y:-12.37, Z:-3.69 [[ 9.99973504e-01 5.48116586e-03 4.79036895e-03 1.23563614e+02] [-5.48815635e-03 9.99983893e-01 1.44735453e-03 -1.23708434e+01] [-4.78235860e-03 -1.47360648e-03 9.99987479e-01 -3.69432919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66992885099998 meters 0.09988541235617497 Centerline is valid? [True, True] Translation: X:123.59, Y:-12.38, Z:-3.69 [[ 9.99965773e-01 6.79423015e-03 4.72136867e-03 1.23593836e+02] [-6.79182274e-03 9.99976797e-01 -5.25743946e-04 -1.23753733e+01] [-4.72483114e-03 4.93659252e-04 9.99988716e-01 -3.69437614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69992885099998 meters 0.10108769308670278 Centerline is valid? [True, False] Translation: X:123.59, Y:-12.38, Z:-3.69 [[ 9.99965365e-01 6.89882002e-03 4.65558758e-03 1.23593957e+02] [-6.89687083e-03 9.99976122e-01 -4.34601452e-04 -1.23757999e+01] [-4.65847465e-03 4.02477413e-04 9.99989068e-01 -3.69432130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72992885099998 meters 0.09760527681679364 Centerline is valid? [False, True] Translation: X:123.59, Y:-12.38, Z:-3.69 [[ 9.99964142e-01 7.18315969e-03 4.48530071e-03 1.23594181e+02] [-7.18291528e-03 9.99974200e-01 -7.05974506e-05 -1.23771435e+01] [-4.48569210e-03 3.83773841e-05 9.99989938e-01 -3.69411457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75992885099998 meters 0.10336350503936678 Centerline is valid? [True, False] Translation: X:123.60, Y:-12.38, Z:-3.69 [[ 9.99986911e-01 3.66376571e-03 3.57144584e-03 1.23596256e+02] [-3.64937681e-03 9.99985232e-01 -4.02709787e-03 -1.23769393e+01] [-3.58614744e-03 4.01401160e-03 9.99985514e-01 -3.69448788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78992885099998 meters 0.09830157664265289 Centerline is valid? [False, True] Translation: X:123.60, Y:-12.38, Z:-3.69 [[ 9.99986247e-01 3.81623435e-03 3.59749359e-03 1.23596226e+02] [-3.80278437e-03 9.99985782e-01 -3.73816358e-03 -1.23779365e+01] [-3.61170815e-03 3.72443167e-03 9.99986542e-01 -3.69452392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819928851 meters 0.0957816188454971 Centerline is valid? [True, True] Translation: X:123.63, Y:-12.38, Z:-3.70 [[ 9.99990486e-01 3.35469411e-03 2.78829645e-03 1.23627199e+02] [-3.35388645e-03 9.99994332e-01 -2.94285417e-04 -1.23789911e+01] [-2.78926789e-03 2.84930987e-04 9.99996069e-01 -3.69615735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.849928851 meters 0.0974144579309736 Centerline is valid? [True, True] Translation: X:123.66, Y:-12.39, Z:-3.70 [[ 9.99994891e-01 2.45120025e-03 2.05162660e-03 1.23656305e+02] [-2.45076420e-03 9.99996974e-01 -2.15026126e-04 -1.23864487e+01] [-2.05214746e-03 2.09996974e-04 9.99997872e-01 -3.69740636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879928851 meters 0.09987823115838579 Centerline is valid? [True, True] Translation: X:123.68, Y:-12.40, Z:-3.70 [[ 9.99997390e-01 7.69055189e-04 2.15158116e-03 1.23684944e+02] [-7.68567290e-04 9.99999679e-01 -2.27580422e-04 -1.23965477e+01] [-2.15175549e-03 2.25926193e-04 9.99997659e-01 -3.69879523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.909928851 meters 0.09870924445804946 Centerline is valid? [True, True] Translation: X:123.72, Y:-12.40, Z:-3.70 [[ 9.99998573e-01 -3.43061926e-04 1.65430992e-03 1.23715525e+02] [ 3.43351264e-04 9.99999926e-01 -1.74619049e-04 -1.23989496e+01] [-1.65424989e-03 1.75186809e-04 9.99998616e-01 -3.69838841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93992885099996 meters 0.09996850164204774 Centerline is valid? [True, True] Translation: X:123.75, Y:-12.41, Z:-3.70 [[ 9.99996282e-01 -1.42721391e-03 2.32365263e-03 1.23746303e+02] [ 1.42778730e-03 9.99998951e-01 -2.45118804e-04 -1.24058447e+01] [-2.32330036e-03 2.48435574e-04 9.99997270e-01 -3.69908609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96992885099996 meters 0.09994170878799452 Centerline is valid? [True, True] Translation: X:123.78, Y:-12.41, Z:-3.70 [[ 9.99994261e-01 -2.84282960e-03 1.84271524e-03 1.23777029e+02] [ 2.84319304e-03 9.99995939e-01 -1.94641775e-04 -1.24104127e+01] [-1.84215443e-03 1.99879853e-04 9.99998283e-01 -3.69961268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99992885099996 meters 0.09994170878799452 Centerline is valid? [True, True] Translation: X:123.81, Y:-12.41, Z:-3.70 [[ 9.99994453e-01 -2.77468421e-03 1.84282599e-03 1.23808726e+02] [ 2.77504563e-03 9.99996131e-01 -1.93595885e-04 -1.24138391e+01] [-1.84228169e-03 1.98708737e-04 9.99998283e-01 -3.70034745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02992885099997 meters 0.09895079996925951 Centerline is valid? [True, True] Translation: X:123.84, Y:-12.42, Z:-3.70 [[ 9.99992539e-01 -3.57441855e-03 1.46446976e-03 1.23840949e+02] [ 3.57464729e-03 9.99993599e-01 -1.53608625e-04 -1.24169280e+01] [-1.46391133e-03 1.58842441e-04 9.99998916e-01 -3.70024844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05992885099997 meters 0.10017533617942984 Centerline is valid? [True, False] Translation: X:123.84, Y:-12.42, Z:-3.70 [[ 9.99993881e-01 -3.07744296e-03 1.66349097e-03 1.23840785e+02] [ 3.07584443e-03 9.99994806e-01 9.62654252e-04 -1.24202679e+01] [-1.66644485e-03 -9.57531723e-04 9.99998153e-01 -3.70056957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08992885099997 meters 0.1025054099330978 Centerline is valid? [False, False] Translation: X:123.84, Y:-12.42, Z:-3.70 [[ 9.99994025e-01 -2.93358085e-03 1.82889636e-03 1.23840367e+02] [ 2.93100952e-03 9.99994715e-01 1.40704513e-03 -1.24219651e+01] [-1.83301438e-03 -1.40167621e-03 9.99997338e-01 -3.70043240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11992885099997 meters 0.10255456231829141 Centerline is valid? [False, False] Translation: X:123.84, Y:-12.42, Z:-3.70 [[ 9.99995541e-01 -2.37389340e-03 1.81165362e-03 1.23840812e+02] [ 2.36959649e-03 9.99994383e-01 2.37028878e-03 -1.24242375e+01] [-1.81727025e-03 -2.36598533e-03 9.99995550e-01 -3.70103769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14992885099997 meters 0.10234636817693006 Centerline is valid? [False, False] Translation: X:123.84, Y:-12.43, Z:-3.70 [[ 9.99995355e-01 -2.33363219e-03 1.96079437e-03 1.23840286e+02] [ 2.32842517e-03 9.99993768e-01 2.65366369e-03 -1.24256277e+01] [-1.96697483e-03 -2.64908580e-03 9.99994557e-01 -3.70071819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17992885099997 meters 0.10330515687513436 Centerline is valid? [False, False] Translation: X:123.84, Y:-12.43, Z:-3.70 [[ 9.99995533e-01 -2.05293849e-03 2.17220895e-03 1.23839661e+02] [ 2.04553984e-03 9.99992118e-01 3.40280399e-03 -1.24285397e+01] [-2.17917758e-03 -3.39834545e-03 9.99991851e-01 -3.70036188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20992885099997 meters 0.09991987532158308 Centerline is valid? [False, True] Translation: X:123.84, Y:-12.43, Z:-3.70 [[ 9.99995802e-01 -1.94098779e-03 2.15129703e-03 1.23839490e+02] [ 1.93313234e-03 9.99991479e-01 3.64757841e-03 -1.24296346e+01] [-2.15835861e-03 -3.64340436e-03 9.99991034e-01 -3.70003993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23992885099997 meters 0.10189560645984969 Centerline is valid? [True, False] Translation: X:123.84, Y:-12.43, Z:-3.70 [[ 9.99996307e-01 -1.74931405e-03 2.07967644e-03 1.23839497e+02] [ 1.74111163e-03 9.99990725e-01 3.93937639e-03 -1.24307482e+01] [-2.08654835e-03 -3.93574090e-03 9.99990078e-01 -3.69981070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26992885099997 meters 0.10361401098396618 Centerline is valid? [False, False] Translation: X:123.84, Y:-12.43, Z:-3.70 [[ 9.99996415e-01 -1.71856968e-03 2.05349918e-03 1.23839235e+02] [ 1.71030870e-03 9.99990466e-01 4.01788375e-03 -1.24315064e+01] [-2.06038461e-03 -4.01435723e-03 9.99989820e-01 -3.69933060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29992885099998 meters 0.09945895549093636 Centerline is valid? [False, True] Translation: X:123.84, Y:-12.43, Z:-3.70 [[ 9.99996805e-01 -1.46348085e-03 2.06107235e-03 1.23838935e+02] [ 1.45411236e-03 9.99988639e-01 4.53963157e-03 -1.24334722e+01] [-2.06769260e-03 -4.53662003e-03 9.99987572e-01 -3.69889635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32992885099998 meters 0.10224227592176302 Centerline is valid? [True, False] Translation: X:123.84, Y:-12.43, Z:-3.70 [[ 9.99997092e-01 -1.27959685e-03 2.04428576e-03 1.23838866e+02] [ 1.26961899e-03 9.99987313e-01 4.87472117e-03 -1.24346990e+01] [-2.05049750e-03 -4.87211153e-03 9.99986029e-01 -3.69875437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35992885099998 meters 0.10167501373313845 Centerline is valid? [False, False] Translation: X:123.84, Y:-12.44, Z:-3.70 [[ 9.99997414e-01 -1.06715808e-03 2.00810354e-03 1.23838854e+02] [ 1.05657779e-03 9.99985595e-01 5.26250596e-03 -1.24360273e+01] [-2.01369054e-03 -5.26037063e-03 9.99984137e-01 -3.69864240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38992885099998 meters 0.09909934792066565 Centerline is valid? [False, True] Translation: X:123.84, Y:-12.44, Z:-3.70 [[ 9.99997577e-01 -8.49784638e-04 2.03060188e-03 1.23838730e+02] [ 8.38192429e-04 9.99983388e-01 5.70280303e-03 -1.24376310e+01] [-2.03541431e-03 -5.70108718e-03 9.99981677e-01 -3.69853090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41992885099998 meters 0.10144826377393634 Centerline is valid? [True, False] Translation: X:123.84, Y:-12.44, Z:-3.70 [[ 9.99997647e-01 -3.39879965e-04 2.14277014e-03 1.23838548e+02] [ 3.25510185e-04 9.99977482e-01 6.70295522e-03 -1.24409025e+01] [-2.14500009e-03 -6.70224195e-03 9.99975239e-01 -3.69857136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44992885099998 meters 0.10252035898376735 Centerline is valid? [False, False] Translation: X:123.84, Y:-12.44, Z:-3.70 [[ 9.99997652e-01 -1.83785135e-04 2.15918328e-03 1.23838433e+02] [ 1.68616487e-04 9.99975322e-01 7.02326122e-03 -1.24420727e+01] [-2.16042077e-03 -7.02288066e-03 9.99973006e-01 -3.69844983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47992885099998 meters 0.1011878421704038 Centerline is valid? [False, False] Translation: X:123.84, Y:-12.44, Z:-3.70 [[ 9.99997466e-01 -1.48603748e-04 2.24614151e-03 1.23838084e+02] [ 1.32427207e-04 9.99974068e-01 7.20035766e-03 -1.24429616e+01] [-2.24715326e-03 -7.20004196e-03 9.99971554e-01 -3.69820610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50992885099998 meters 0.09886704532986114 Centerline is valid? [False, True] Translation: X:123.84, Y:-12.44, Z:-3.70 [[ 9.99990441e-01 -4.08268020e-03 1.56523293e-03 1.23839362e+02] [ 4.07808832e-03 9.99987405e-01 2.92572496e-03 -1.24424963e+01] [-1.57715802e-03 -2.91931384e-03 9.99994495e-01 -3.69811111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53992885099998 meters 0.09921084711673747 Centerline is valid? [True, True] Translation: X:123.87, Y:-12.45, Z:-3.70 [[ 9.99993814e-01 -3.41946746e-03 8.24092184e-04 1.23870832e+02] [ 3.41954145e-03 9.99994149e-01 -8.83837205e-05 -1.24487738e+01] [-8.23785138e-04 9.12011911e-05 9.99999657e-01 -3.69816747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.569928851 meters 0.09594570646735567 Centerline is valid? [True, True] Translation: X:123.90, Y:-12.45, Z:-3.70 [[ 9.99991908e-01 -3.89453130e-03 1.00822592e-03 1.23902708e+02] [ 3.89464371e-03 9.99992410e-01 -1.09553532e-04 -1.24473030e+01] [-1.00779161e-03 1.13479326e-04 9.99999486e-01 -3.69746205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599928851 meters 0.0963369841499796 Centerline is valid? [True, True] Translation: X:123.93, Y:-12.45, Z:-3.70 [[ 9.99991843e-01 -4.03818742e-03 8.18406089e-05 1.23934358e+02] [ 4.03818800e-03 9.99991846e-01 -6.97047747e-06 -1.24530153e+01] [-8.18117935e-05 7.30090837e-06 9.99999997e-01 -3.69790440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.629928851 meters 0.10033146148179807 Centerline is valid? [True, False] Translation: X:123.93, Y:-12.45, Z:-3.70 [[ 9.99993289e-01 -3.66320101e-03 5.56698541e-05 1.23934543e+02] [ 3.66316541e-03 9.99993094e-01 6.26728147e-04 -1.24547348e+01] [-5.79653008e-05 -6.26520013e-04 9.99999802e-01 -3.69809218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659928851 meters 0.09635856325778792 Centerline is valid? [False, True] Translation: X:123.93, Y:-12.46, Z:-3.70 [[ 9.99994756e-01 -3.23590399e-03 1.31184063e-04 1.23934328e+02] [ 3.23569838e-03 9.99993582e-01 1.53837990e-03 -1.24576577e+01] [-1.36161270e-04 -1.53794736e-03 9.99998808e-01 -3.69801451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68992885099996 meters 0.0979706595960993 Centerline is valid? [True, True] Translation: X:123.96, Y:-12.46, Z:-3.70 [[ 9.99992300e-01 -3.90305904e-03 4.07498420e-04 1.23964418e+02] [ 3.90307619e-03 9.99992382e-01 -4.12972809e-05 -1.24644806e+01] [-4.07334130e-04 4.28874603e-05 9.99999916e-01 -3.69881513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71992885099996 meters 0.09893494102983899 Centerline is valid? [True, True] Translation: X:124.00, Y:-12.47, Z:-3.70 [[ 9.99990190e-01 -4.41292758e-03 -3.82129904e-04 1.23995350e+02] [ 4.41294455e-03 9.99990262e-01 4.36011935e-05 -1.24719190e+01] [ 3.81933774e-04 -4.52870838e-05 9.99999926e-01 -3.70032570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74992885099996 meters 0.09941876030106628 Centerline is valid? [True, True] Translation: X:124.03, Y:-12.48, Z:-3.70 [[ 9.99982226e-01 -5.89867225e-03 -8.68492238e-04 1.24025575e+02] [ 5.89875797e-03 9.99982598e-01 9.61713818e-05 -1.24805484e+01] [ 8.67909841e-04 -1.01292698e-04 9.99999618e-01 -3.70224345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77992885099997 meters 0.09935562750974582 Centerline is valid? [True, True] Translation: X:124.06, Y:-12.49, Z:-3.70 [[ 9.99976722e-01 -6.79016312e-03 -6.70114350e-04 1.24056274e+02] [ 6.79021478e-03 9.99976943e-01 7.48474572e-05 -1.24859580e+01] [ 6.69590673e-04 -7.93959353e-05 9.99999773e-01 -3.70245538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80992885099997 meters 0.10062443711449316 Centerline is valid? [True, False] Translation: X:124.06, Y:-12.49, Z:-3.70 [[ 9.99978136e-01 -6.59689075e-03 -4.56445147e-04 1.24055815e+02] [ 6.59719203e-03 9.99978019e-01 6.61736125e-04 -1.24879944e+01] [ 4.52069713e-04 -6.64732913e-04 9.99999677e-01 -3.70240507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83992885099997 meters 0.09988658357058765 Centerline is valid? [False, True] Translation: X:124.06, Y:-12.49, Z:-3.70 [[ 9.99981845e-01 -6.00806849e-03 -4.61847224e-04 1.24056075e+02] [ 6.00884213e-03 9.99980515e-01 1.69238722e-03 -1.24906166e+01] [ 4.51670246e-04 -1.69513166e-03 9.99998461e-01 -3.70276285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86992885099997 meters 0.10096251444403304 Centerline is valid? [True, False] Translation: X:124.06, Y:-12.50, Z:-3.70 [[ 9.99986705e-01 -5.14892173e-03 -2.78376887e-04 1.24056067e+02] [ 5.14984885e-03 9.99980825e-01 3.43914467e-03 -1.24953025e+01] [ 2.60663662e-04 -3.44053255e-03 9.99994047e-01 -3.70323474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89992885099997 meters 0.09936366282917605 Centerline is valid? [False, True] Translation: X:124.06, Y:-12.50, Z:-3.70 [[ 9.99989094e-01 -4.65591719e-03 -3.66174742e-04 1.24056409e+02] [ 4.65742914e-03 9.99980154e-01 4.24268383e-03 -1.24973272e+01] [ 3.46413890e-04 -4.24434299e-03 9.99990933e-01 -3.70347729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92992885099997 meters 0.0983219117831489 Centerline is valid? [True, True] Translation: X:124.09, Y:-12.50, Z:-3.70 [[ 9.99991619e-01 -3.90053262e-03 -1.24372318e-03 1.24087577e+02] [ 3.90071485e-03 9.99992382e-01 1.44126079e-04 -1.24993192e+01] [ 1.24315154e-03 -1.48976280e-04 9.99999216e-01 -3.70252930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95992885099997 meters 0.09552338271646865 Centerline is valid? [True, True] Translation: X:124.12, Y:-12.50, Z:-3.70 [[ 9.99994456e-01 -3.22090812e-03 -8.45362828e-04 1.24118854e+02] [ 3.22099193e-03 9.99994808e-01 9.78020646e-05 -1.24996810e+01] [ 8.45043427e-04 -1.00524429e-04 9.99999638e-01 -3.70170197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98992885099997 meters 0.09537899598652845 Centerline is valid? [True, True] Translation: X:124.15, Y:-12.51, Z:-3.70 [[ 9.99996486e-01 -2.44456481e-03 -1.02528869e-03 1.24149280e+02] [ 2.44468760e-03 9.99997005e-01 1.18522488e-04 -1.25053718e+01] [ 1.02499589e-03 -1.21028583e-04 9.99999467e-01 -3.70232928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01992885099997 meters 0.09923913292237148 Centerline is valid? [True, True] Translation: X:124.18, Y:-12.52, Z:-3.70 [[ 9.99999764e-01 -4.68291584e-04 -5.03053617e-04 1.24177504e+02] [ 4.68320597e-04 9.99999889e-01 5.75582033e-05 -1.25195851e+01] [ 5.03026607e-04 -5.77937801e-05 9.99999872e-01 -3.70467008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04992885099998 meters 0.09686838632825763 Centerline is valid? [True, True] Translation: X:124.21, Y:-12.52, Z:-3.70 [[ 9.99999526e-01 3.21403208e-04 -9.19526261e-04 1.24208314e+02] [-3.21306043e-04 9.99999943e-01 1.05814404e-04 -1.25206509e+01] [ 9.19560217e-04 -1.05518905e-04 9.99999572e-01 -3.70399423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07992885099998 meters 0.09811002201177851 Centerline is valid? [True, True] Translation: X:124.24, Y:-12.53, Z:-3.71 [[ 9.99999357e-01 1.02986264e-03 -4.74856975e-04 1.24237100e+02] [-1.02983706e-03 9.99999468e-01 5.41243587e-05 -1.25284465e+01] [ 4.74912463e-04 -5.36352986e-05 9.99999886e-01 -3.70597194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10992885099998 meters 0.09829138946618135 Centerline is valid? [True, True] Translation: X:124.27, Y:-12.53, Z:-3.71 [[ 9.99997178e-01 2.11106468e-03 -1.09011884e-03 1.24266485e+02] [-2.11093110e-03 9.99997764e-01 1.23674833e-04 -1.25349152e+01] [ 1.09037749e-03 -1.21373318e-04 9.99999398e-01 -3.70677948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13992885099998 meters 0.09760962514736964 Centerline is valid? [True, True] Translation: X:124.30, Y:-12.54, Z:-3.71 [[ 9.99993107e-01 3.69947149e-03 3.17509181e-04 1.24296649e+02] [-3.69946003e-03 9.99993156e-01 -3.66760382e-05 -1.25418778e+01] [-3.17642690e-04 3.55011728e-05 9.99999949e-01 -3.70747840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16992885099998 meters 0.09477043287731586 Centerline is valid? [True, True] Translation: X:124.33, Y:-12.54, Z:-3.71 [[ 9.99990481e-01 4.35894444e-03 1.95878468e-04 1.24326286e+02] [-4.35893991e-03 9.99990499e-01 -2.35509497e-05 -1.25417998e+01] [-1.95979264e-04 2.26969031e-05 9.99999981e-01 -3.70653416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19992885099998 meters 0.09988741251734776 Centerline is valid? [True, True] Translation: X:124.35, Y:-12.56, Z:-3.71 [[ 9.99983884e-01 5.56722896e-03 1.11276754e-03 1.24353321e+02] [-5.56708974e-03 9.99984495e-01 -1.28165101e-04 -1.25561467e+01] [-1.11346381e-03 1.21968158e-04 9.99999373e-01 -3.70981909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22992885099998 meters 0.09514511688120329 Centerline is valid? [True, True] Translation: X:124.38, Y:-12.55, Z:-3.71 [[ 9.99976040e-01 6.88932569e-03 6.76243300e-04 1.24383453e+02] [-6.88927400e-03 9.99976266e-01 -7.87348833e-05 -1.25520590e+01] [-6.76769680e-04 7.40741714e-05 9.99999768e-01 -3.70875643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25992885099998 meters 0.09524774878112044 Centerline is valid? [True, True] Translation: X:124.41, Y:-12.56, Z:-3.71 [[ 9.99953868e-01 9.60087316e-03 2.92168492e-04 1.24412599e+02] [-9.60086358e-03 9.99953910e-01 -3.41657112e-05 -1.25576182e+01] [-2.92483047e-04 3.13590652e-05 9.99999957e-01 -3.70984655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28992885099998 meters 0.0942650813953006 Centerline is valid? [True, True] Translation: X:124.44, Y:-12.56, Z:-3.71 [[ 9.99945928e-01 1.03713764e-02 -7.59293625e-04 1.24440966e+02] [-1.03713147e-02 9.99946213e-01 8.51612754e-05 -1.25595160e+01] [ 7.60136024e-04 -7.72817974e-05 9.99999708e-01 -3.71091086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319928851 meters 0.09438245888695992 Centerline is valid? [True, True] Translation: X:124.47, Y:-12.56, Z:-3.71 [[ 9.99932614e-01 1.14924560e-02 -1.64063255e-03 1.24469914e+02] [-1.14921667e-02 9.99933946e-01 1.85661850e-04 -1.25636254e+01] [ 1.64265789e-03 -1.66794916e-04 9.99998637e-01 -3.71258405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.349928851 meters 0.09170676344744919 Centerline is valid? [True, True] Translation: X:124.50, Y:-12.56, Z:-3.71 [[ 9.99905698e-01 1.32488523e-02 -3.61414948e-03 1.24500101e+02] [-1.32474411e-02 9.99912163e-01 4.14126078e-04 -1.25633491e+01] [ 3.61931872e-03 -3.66208793e-04 9.99993383e-01 -3.71272642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379928851 meters 0.09212861127829784 Centerline is valid? [True, True] Translation: X:124.53, Y:-12.57, Z:-3.71 [[ 9.99894070e-01 1.41298686e-02 -3.49226665e-03 1.24529127e+02] [-1.41285605e-02 9.99900107e-01 3.98946961e-04 -1.25677152e+01] [ 3.49755486e-03 -3.49564000e-04 9.99993822e-01 -3.71424344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.409928851 meters 0.09088201083455462 Centerline is valid? [True, True] Translation: X:124.56, Y:-12.57, Z:-3.71 [[ 9.99886756e-01 1.46298816e-02 -3.52735727e-03 1.24558027e+02] [-1.46285529e-02 9.99892916e-01 4.02189587e-04 -1.25688220e+01] [ 3.53286353e-03 -3.50543909e-04 9.99993698e-01 -3.71435582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43992885099996 meters 0.08989733409431631 Centerline is valid? [True, True] Translation: X:124.59, Y:-12.57, Z:-3.71 [[ 9.99880594e-01 1.50209805e-02 -3.62871249e-03 1.24587179e+02] [-1.50195777e-02 9.99887114e-01 4.13532107e-04 -1.25705143e+01] [ 3.63451451e-03 -3.58981000e-04 9.99993331e-01 -3.71435386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46992885099996 meters 0.09296410741544076 Centerline is valid? [True, True] Translation: X:124.61, Y:-12.58, Z:-3.72 [[ 9.99882508e-01 1.49265654e-02 -3.48828022e-03 1.24614324e+02] [-1.49252716e-02 9.99888533e-01 3.96645944e-04 -1.25807028e+01] [ 3.49381195e-03 -3.44535811e-04 9.99993837e-01 -3.71682354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49992885099996 meters 0.09199520037826456 Centerline is valid? [True, True] Translation: X:124.64, Y:-12.58, Z:-3.72 [[ 9.99879227e-01 1.51525793e-02 -3.45409266e-03 1.24643396e+02] [-1.51513111e-02 9.99885135e-01 3.93050889e-04 -1.25823282e+01] [ 3.45965164e-03 -3.40669387e-04 9.99993957e-01 -3.71728253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52992885099997 meters 0.09096890239023496 Centerline is valid? [True, True] Translation: X:124.67, Y:-12.58, Z:-3.72 [[ 9.99869355e-01 1.57015153e-02 -3.83861549e-03 1.24672787e+02] [-1.56999509e-02 9.99876653e-01 4.37329336e-04 -1.25836547e+01] [ 3.84500874e-03 -3.77006126e-04 9.99992537e-01 -3.71736674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55992885099997 meters 0.08886993721543027 Centerline is valid? [True, True] Translation: X:124.70, Y:-12.58, Z:-3.72 [[ 9.99871561e-01 1.56802072e-02 -3.31564408e-03 1.24701643e+02] [-1.56790433e-02 9.99877005e-01 3.76742524e-04 -1.25829911e+01] [ 3.32114368e-03 -3.24708008e-04 9.99994432e-01 -3.71641103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58992885099997 meters 0.09047031644275076 Centerline is valid? [True, True] Translation: X:124.73, Y:-12.59, Z:-3.72 [[ 9.99870339e-01 1.57333435e-02 -3.43033729e-03 1.24728668e+02] [-1.57321005e-02 9.99876167e-01 3.89042846e-04 -1.25894653e+01] [ 3.43603345e-03 -3.35025991e-04 9.99994041e-01 -3.71842413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61992885099997 meters 0.09224171674448398 Centerline is valid? [True, True] Translation: X:124.76, Y:-12.60, Z:-3.72 [[ 9.99862734e-01 1.60385543e-02 -4.15660728e-03 1.24755703e+02] [-1.60367309e-02 9.99871292e-01 4.71650419e-04 -1.25964556e+01] [ 4.16363688e-03 -4.04927285e-04 9.99991250e-01 -3.72157628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64992885099997 meters 0.09032420000967356 Centerline is valid? [True, True] Translation: X:124.78, Y:-12.60, Z:-3.72 [[ 9.99863448e-01 1.60395551e-02 -3.97727338e-03 1.24784579e+02] [-1.60378851e-02 9.99871283e-01 4.51414507e-04 -1.25960116e+01] [ 3.98400193e-03 -3.87565812e-04 9.99991989e-01 -3.72040646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67992885099997 meters 0.09333998841788137 Centerline is valid? [True, True] Translation: X:124.81, Y:-12.60, Z:-3.72 [[ 9.99867049e-01 1.57363604e-02 -4.27208080e-03 1.24811218e+02] [-1.57344340e-02 9.99876089e-01 4.84165058e-04 -1.26048805e+01] [ 4.27917044e-03 -4.16881915e-04 9.99990757e-01 -3.72325838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70992885099997 meters 0.08856351646685427 Centerline is valid? [True, True] Translation: X:124.84, Y:-12.60, Z:-3.72 [[ 9.99859867e-01 1.59526501e-02 -5.07539198e-03 1.24840045e+02] [-1.59499372e-02 9.99872627e-01 5.74555249e-04 -1.25975911e+01] [ 5.08391119e-03 -4.93522551e-04 9.99986955e-01 -3.72036809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73992885099997 meters 0.0933091248131049 Centerline is valid? [True, True] Translation: X:124.87, Y:-12.61, Z:-3.72 [[ 9.99849195e-01 1.67305791e-02 -4.65571870e-03 1.24866231e+02] [-1.67283052e-02 9.99859933e-01 5.26924159e-04 -1.26100718e+01] [ 4.66388233e-03 -4.48962412e-04 9.99989023e-01 -3.72481831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76992885099997 meters 0.09188858133202248 Centerline is valid? [True, True] Translation: X:124.90, Y:-12.61, Z:-3.72 [[ 9.99848855e-01 1.71291760e-02 -2.97621600e-03 1.24895838e+02] [-1.71282485e-02 9.99853244e-01 3.36847639e-04 -1.26101814e+01] [ 2.98154915e-03 -2.85819359e-04 9.99995514e-01 -3.72436678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79992885099998 meters 0.088984509156715 Centerline is valid? [True, True] Translation: X:124.93, Y:-12.61, Z:-3.72 [[ 9.99859099e-01 1.62588962e-02 -4.17499579e-03 1.24925598e+02] [-1.62570622e-02 9.99867733e-01 4.72858154e-04 -1.26068924e+01] [ 4.18213173e-03 -4.04918362e-04 9.99991173e-01 -3.72228834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82992885099998 meters 0.08858511517808232 Centerline is valid? [True, True] Translation: X:124.95, Y:-12.61, Z:-3.72 [[ 9.99858853e-01 1.61365406e-02 -4.67826647e-03 1.24954600e+02] [-1.61342396e-02 9.99869695e-01 5.29190971e-04 -1.26093522e+01] [ 4.68619618e-03 -4.53636005e-04 9.99988917e-01 -3.72332882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85992885099998 meters 0.09295038895471434 Centerline is valid? [True, True] Translation: X:124.98, Y:-12.62, Z:-3.73 [[ 9.99871146e-01 1.52415947e-02 -5.03837259e-03 1.24981436e+02] [-1.52389154e-02 9.99883719e-01 5.69752950e-04 -1.26199960e+01] [ 5.04647067e-03 -4.92900202e-04 9.99987145e-01 -3.72765698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88992885099998 meters 0.09006401647407716 Centerline is valid? [True, True] Translation: X:125.01, Y:-12.62, Z:-3.73 [[ 9.99874600e-01 1.44963607e-02 -6.37492077e-03 1.25011552e+02] [-1.44920475e-02 9.99894724e-01 7.22266541e-04 -1.26163100e+01] [ 6.38471988e-03 -6.29790314e-04 9.99979419e-01 -3.72609110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91992885099998 meters 0.09006401647407716 Centerline is valid? [True, True] Translation: X:125.04, Y:-12.62, Z:-3.73 [[ 9.99876088e-01 1.43932336e-02 -6.37522875e-03 1.25038991e+02] [-1.43889355e-02 9.99896215e-01 7.19550405e-04 -1.26193252e+01] [ 6.38492376e-03 -6.27728489e-04 9.99979419e-01 -3.72692264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94992885099998 meters 0.09119958705022148 Centerline is valid? [True, True] Translation: X:125.07, Y:-12.62, Z:-3.73 [[ 9.99885760e-01 1.37888406e-02 -6.19147837e-03 1.25066757e+02] [-1.37847758e-02 9.99904741e-01 6.98725681e-04 -1.26239235e+01] [ 6.20052320e-03 -6.13297717e-04 9.99980589e-01 -3.72885472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97992885099998 meters 0.09211013141849993 Centerline is valid? [True, True] Translation: X:125.10, Y:-12.63, Z:-3.73 [[ 9.99910236e-01 1.19582245e-02 -6.04324104e-03 1.25096667e+02] [-1.19543073e-02 9.99928311e-01 6.83901690e-04 -1.26278475e+01] [ 6.05098606e-03 -6.11597540e-04 9.99981506e-01 -3.73090527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00992885099998 meters 0.09225912150753027 Centerline is valid? [True, True] Translation: X:125.13, Y:-12.63, Z:-3.73 [[ 9.99916822e-01 1.12104147e-02 -6.37771648e-03 1.25125567e+02] [-1.12060453e-02 9.99936951e-01 7.20425677e-04 -1.26302618e+01] [ 6.38539064e-03 -6.48896774e-04 9.99979403e-01 -3.73219284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03992885099998 meters 0.09140332341711857 Centerline is valid? [True, True] Translation: X:125.16, Y:-12.63, Z:-3.73 [[ 9.99926844e-01 9.75892651e-03 -7.14631396e-03 1.25156615e+02] [-9.75339148e-03 9.99952107e-01 8.08973024e-04 -1.26291031e+01] [ 7.15386641e-03 -7.39213046e-04 9.99974138e-01 -3.73168257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.069928851 meters 0.0949151218147114 Centerline is valid? [True, True] Translation: X:125.18, Y:-12.64, Z:-3.73 [[ 9.99929155e-01 9.82284328e-03 -6.72284975e-03 1.25183542e+02] [-9.81796753e-03 9.99951515e-01 7.57871250e-04 -1.26382766e+01] [ 6.72996825e-03 -6.91812838e-04 9.99977114e-01 -3.73465617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099928851 meters 0.09449405366666025 Centerline is valid? [True, True] Translation: X:125.21, Y:-12.63, Z:-3.74 [[ 9.99909664e-01 1.10039904e-02 -7.71851134e-03 1.25212927e+02] [-1.09975949e-02 9.99939146e-01 8.70554448e-04 -1.26336442e+01] [ 7.72762121e-03 -7.85590745e-04 9.99969833e-01 -3.73551366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.129928851 meters 0.09268574799339956 Centerline is valid? [True, True] Translation: X:125.24, Y:-12.63, Z:-3.73 [[ 9.99900351e-01 1.12299288e-02 -8.55433706e-03 1.25241197e+02] [-1.12220959e-02 9.99936566e-01 9.63117820e-04 -1.26320441e+01] [ 8.56461018e-03 -8.67024256e-04 9.99962947e-01 -3.73486603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159928851 meters 0.09237794362052267 Centerline is valid? [True, True] Translation: X:125.27, Y:-12.63, Z:-3.73 [[ 9.99895072e-01 1.16312094e-02 -8.63477019e-03 1.25270401e+02] [-1.16232394e-02 9.99931975e-01 9.72630330e-04 -1.26333995e+01] [ 8.64549567e-03 -8.72164273e-04 9.99962247e-01 -3.73485673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18992885099996 meters 0.09237794362052267 Centerline is valid? [True, True] Translation: X:125.30, Y:-12.64, Z:-3.74 [[ 9.99896242e-01 1.15300502e-02 -8.63498270e-03 1.25297850e+02] [-1.15220925e-02 9.99933147e-01 9.70745875e-04 -1.26363973e+01] [ 8.64559817e-03 -8.71152084e-04 9.99962247e-01 -3.73568884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21992885099996 meters 0.09237794362052267 Centerline is valid? [True, True] Translation: X:125.33, Y:-12.64, Z:-3.74 [[ 9.99897403e-01 1.14288601e-02 -8.63508104e-03 1.25325299e+02] [-1.14209061e-02 9.99934309e-01 9.69872055e-04 -1.26393927e+01] [ 8.64559833e-03 -8.71152099e-04 9.99962247e-01 -3.73652126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24992885099996 meters 0.09240678118066903 Centerline is valid? [True, True] Translation: X:125.35, Y:-12.64, Z:-3.74 [[ 9.99893080e-01 1.23053652e-02 -7.89974029e-03 1.25354859e+02] [-1.22987233e-02 9.99923973e-01 8.88800423e-04 -1.26415606e+01] [ 7.91007671e-03 -7.91548673e-04 9.99968402e-01 -3.73714494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27992885099997 meters 0.08963199101313543 Centerline is valid? [True, True] Translation: X:125.38, Y:-12.64, Z:-3.74 [[ 9.99887174e-01 1.27902887e-02 -7.87705202e-03 1.25384817e+02] [-1.27837074e-02 9.99917893e-01 8.85291891e-04 -1.26376148e+01] [ 7.88772840e-03 -7.84494079e-04 9.99968584e-01 -3.73511566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30992885099997 meters 0.0921148313911165 Centerline is valid? [True, True] Translation: X:125.41, Y:-12.64, Z:-3.74 [[ 9.99881524e-01 1.31127860e-02 -8.06180797e-03 1.25411983e+02] [-1.31059162e-02 9.99913705e-01 9.04381996e-04 -1.26433319e+01] [ 8.07297124e-03 -7.98617469e-04 9.99967094e-01 -3.73767803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33992885099997 meters 0.09190126753478371 Centerline is valid? [True, True] Translation: X:125.44, Y:-12.64, Z:-3.74 [[ 9.99883914e-01 1.32625495e-02 -7.50082347e-03 1.25441211e+02] [-1.32566077e-02 9.99911773e-01 8.41324912e-04 -1.26447798e+01] [ 7.51131982e-03 -7.41791773e-04 9.99971515e-01 -3.73723880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36992885099997 meters 0.09477600288494324 Centerline is valid? [True, True] Translation: X:125.47, Y:-12.65, Z:-3.74 [[ 9.99872527e-01 1.37396499e-02 -8.13342096e-03 1.25468691e+02] [-1.37326821e-02 9.99905286e-01 9.11920791e-04 -1.26525852e+01] [ 8.14518009e-03 -8.00110860e-04 9.99966507e-01 -3.74021610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39992885099997 meters 0.09251547878183895 Centerline is valid? [True, True] Translation: X:125.50, Y:-12.65, Z:-3.74 [[ 9.99873763e-01 1.40234462e-02 -7.46998899e-03 1.25497721e+02] [-1.40175815e-02 9.99901399e-01 8.36883380e-04 -1.26502427e+01] [ 7.48098843e-03 -7.32066555e-04 9.99971749e-01 -3.73895786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42992885099997 meters 0.08820287611005186 Centerline is valid? [True, True] Translation: X:125.53, Y:-12.64, Z:-3.74 [[ 9.99869859e-01 1.40115452e-02 -7.99634375e-03 1.25527611e+02] [-1.40048286e-02 9.99901527e-01 8.95339312e-04 -1.26423896e+01] [ 8.00810141e-03 -7.83235367e-04 9.99967628e-01 -3.73702976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45992885099997 meters 0.09133490600079923 Centerline is valid? [True, True] Translation: X:125.55, Y:-12.65, Z:-3.74 [[ 9.99870208e-01 1.35972972e-02 -8.64177711e-03 1.25554072e+02] [-1.35894562e-02 9.99907193e-01 9.65410691e-04 -1.26508241e+01] [ 8.65410206e-03 -8.47848337e-04 9.99962193e-01 -3.74017653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48992885099997 meters 0.09244035920048824 Centerline is valid? [True, True] Translation: X:125.58, Y:-12.65, Z:-3.74 [[ 9.99874173e-01 1.34313108e-02 -8.44021147e-03 1.25580511e+02] [-1.34238349e-02 9.99909453e-01 9.41775898e-04 -1.26549038e+01] [ 8.45209652e-03 -8.28357392e-04 9.99963937e-01 -3.74193352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51992885099997 meters 0.09263767315001283 Centerline is valid? [True, True] Translation: X:125.61, Y:-12.66, Z:-3.74 [[ 9.99870342e-01 1.32811342e-02 -9.10553475e-03 1.25608908e+02] [-1.32724163e-02 9.99911400e-01 1.01719127e-03 -1.26579853e+01] [ 9.11823745e-03 -8.96206937e-04 9.99958026e-01 -3.74403921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54992885099998 meters 0.09041647273106092 Centerline is valid? [True, True] Translation: X:125.64, Y:-12.65, Z:-3.74 [[ 9.99886754e-01 1.16441633e-02 -9.53380195e-03 1.25639306e+02] [-1.16345198e-02 9.99931748e-01 1.06634825e-03 -1.26543456e+01] [ 9.54556798e-03 -9.55306283e-04 9.99953984e-01 -3.74255113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57992885099998 meters 0.09151379255441171 Centerline is valid? [True, True] Translation: X:125.67, Y:-12.66, Z:-3.74 [[ 9.99884182e-01 1.11333876e-02 -1.03764318e-02 1.25667377e+02] [-1.11219515e-02 9.99937477e-01 1.15917520e-03 -1.26591186e+01] [ 1.03886886e-02 -1.04363478e-03 9.99945492e-01 -3.74459651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60992885099998 meters 0.09252487635636443 Centerline is valid? [True, True] Translation: X:125.70, Y:-12.66, Z:-3.75 [[ 9.99894459e-01 1.01962392e-02 -1.03493211e-02 1.25696850e+02] [-1.01848114e-02 9.99947465e-01 1.15631718e-03 -1.26632447e+01] [ 1.03605675e-02 -1.05078925e-03 9.99945776e-01 -3.74612222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63992885099998 meters 0.09311124729451488 Centerline is valid? [True, True] Translation: X:125.73, Y:-12.67, Z:-3.75 [[ 9.99904606e-01 9.13000942e-03 -1.03644028e-02 1.25726035e+02] [-9.11849515e-03 9.99957756e-01 1.15765698e-03 -1.26667644e+01] [ 1.03745343e-02 -1.06303879e-03 9.99945618e-01 -3.74754741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66992885099998 meters 0.09187039366992608 Centerline is valid? [True, True] Translation: X:125.76, Y:-12.67, Z:-3.75 [[ 9.99915759e-01 8.09732136e-03 -1.01443739e-02 1.25755320e+02] [-8.08624909e-03 9.99966665e-01 1.13201123e-03 -1.26669909e+01] [ 1.01532020e-02 -1.04988594e-03 9.99947904e-01 -3.74750070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69992885099998 meters 0.09454039086453785 Centerline is valid? [True, True] Translation: X:125.78, Y:-12.67, Z:-3.75 [[ 9.99931535e-01 6.73144560e-03 -9.57151384e-03 1.25783036e+02] [-6.72153849e-03 9.99976841e-01 1.06685382e-03 -1.26731885e+01] [ 9.57847365e-03 -1.00244548e-03 9.99953623e-01 -3.74965040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72992885099998 meters 0.09383330134892663 Centerline is valid? [True, True] Translation: X:125.81, Y:-12.67, Z:-3.75 [[ 9.99942926e-01 6.12373828e-03 -8.75464135e-03 1.25812397e+02] [-6.11543372e-03 9.99980825e-01 9.75044968e-04 -1.26730578e+01] [ 8.76044440e-03 -9.21450890e-04 9.99961202e-01 -3.74990164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75992885099998 meters 0.09287674339583422 Centerline is valid? [True, True] Translation: X:125.84, Y:-12.67, Z:-3.75 [[ 9.99944567e-01 6.63519641e-03 -8.17542157e-03 1.25841281e+02] [-6.62797707e-03 9.99977621e-01 9.09832561e-04 -1.26728780e+01] [ 8.18127553e-03 -8.55595620e-04 9.99966167e-01 -3.74976751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78992885099998 meters 0.09464743060243655 Centerline is valid? [True, True] Translation: X:125.87, Y:-12.68, Z:-3.75 [[ 9.99953049e-01 7.00616329e-03 -6.69428006e-03 1.25869175e+02] [-7.00133649e-03 9.99975213e-01 7.44197252e-04 -1.26777515e+01] [ 6.69932810e-03 -6.97293404e-04 9.99977316e-01 -3.75195978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819928851 meters 0.09411747375483905 Centerline is valid? [True, True] Translation: X:125.90, Y:-12.68, Z:-3.75 [[ 9.99971130e-01 5.81512921e-03 -4.89106568e-03 1.25898646e+02] [-5.81254273e-03 9.99982960e-01 5.42867030e-04 -1.26767545e+01] [ 4.89413918e-03 -5.14421830e-04 9.99987891e-01 -3.74984783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.849928851 meters 0.09508100792870236 Centerline is valid? [True, True] Translation: X:125.93, Y:-12.68, Z:-3.75 [[ 9.99976097e-01 5.16967898e-03 -4.59137063e-03 1.25927289e+02] [-5.16739493e-03 9.99986519e-01 5.09188744e-04 -1.26811517e+01] [ 4.59394108e-03 -4.85451147e-04 9.99989330e-01 -3.75145475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879928851 meters 0.09242097851454553 Centerline is valid? [True, True] Translation: X:125.96, Y:-12.68, Z:-3.75 [[ 9.99976407e-01 3.82490126e-03 -5.70583592e-03 1.25957993e+02] [-3.82134150e-03 9.99992497e-01 6.34652930e-04 -1.26786312e+01] [ 5.70822059e-03 -6.12834008e-04 9.99983520e-01 -3.75077455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.909928851 meters 0.09523403091378035 Centerline is valid? [True, True] Translation: X:125.99, Y:-12.69, Z:-3.75 [[ 9.99985629e-01 5.88307527e-04 -5.32873690e-03 1.25986944e+02] [-5.85157844e-04 9.99999653e-01 5.92614736e-04 -1.26863283e+01] [ 5.32908369e-03 -5.89488067e-04 9.99985627e-01 -3.75373253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93992885099996 meters 0.09774769724063659 Centerline is valid? [True, True] Translation: X:126.02, Y:-12.69, Z:-3.76 [[ 9.99990652e-01 -1.50300625e-03 -4.05424193e-03 1.26015261e+02] [ 1.50484327e-03 9.99998766e-01 4.50098883e-04 -1.26944422e+01] [ 4.05356042e-03 -4.56195674e-04 9.99991680e-01 -3.75527223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96992885099996 meters 0.10349066434043365 Centerline is valid? [True, False] Translation: X:126.01, Y:-12.69, Z:-3.76 [[ 9.99991841e-01 -1.56985579e-03 -3.72190562e-03 1.26014781e+02] [ 1.57216931e-03 9.99998573e-01 6.18751455e-04 -1.26948625e+01] [ 3.72092895e-03 -6.24597873e-04 9.99992882e-01 -3.75552377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99992885099996 meters 0.09879134738764145 Centerline is valid? [False, True] Translation: X:126.01, Y:-12.70, Z:-3.76 [[ 9.99992779e-01 -1.51474194e-03 -3.48536271e-03 1.26014603e+02] [ 1.51775415e-03 9.99998477e-01 8.61763277e-04 -1.26953091e+01] [ 3.48405205e-03 -8.67046978e-04 9.99993555e-01 -3.75594116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02992885099997 meters 0.09988862600579912 Centerline is valid? [True, True] Translation: X:126.04, Y:-12.70, Z:-3.76 [[ 9.99995397e-01 -2.63489797e-03 -1.50457841e-03 1.26043332e+02] [ 2.63515997e-03 9.99996513e-01 1.72180247e-04 -1.27003707e+01] [ 1.50411948e-03 -1.76144259e-04 9.99998853e-01 -3.75644231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05992885099997 meters 0.10089273992387224 Centerline is valid? [True, False] Translation: X:126.04, Y:-12.70, Z:-3.76 [[ 9.99995449e-01 -2.66861952e-03 -1.40739730e-03 1.26043279e+02] [ 2.66890833e-03 9.99996418e-01 2.03364118e-04 -1.27002540e+01] [ 1.40684955e-03 -2.07119407e-04 9.99998989e-01 -3.75667723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08992885099997 meters 0.10235464321413246 Centerline is valid? [False, False] Translation: X:126.04, Y:-12.70, Z:-3.76 [[ 9.99995455e-01 -2.65814568e-03 -1.42284127e-03 1.26043344e+02] [ 2.65846120e-03 9.99996442e-01 2.19912261e-04 -1.27001947e+01] [ 1.42225165e-03 -2.23693830e-04 9.99998964e-01 -3.75674259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11992885099997 meters 0.10004897590879228 Centerline is valid? [False, False] Translation: X:126.04, Y:-12.70, Z:-3.76 [[ 9.99995922e-01 -2.42240023e-03 -1.51235583e-03 1.26043972e+02] [ 2.42315155e-03 9.99996942e-01 4.95150405e-04 -1.27003058e+01] [ 1.51115175e-03 -4.98813054e-04 9.99998734e-01 -3.75738285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14992885099997 meters 0.09851092841056687 Centerline is valid? [False, True] Translation: X:126.04, Y:-12.70, Z:-3.76 [[ 9.99995909e-01 -2.42911700e-03 -1.51055250e-03 1.26044071e+02] [ 2.42989880e-03 9.99996915e-01 5.15936450e-04 -1.27000428e+01] [ 1.50929457e-03 -5.19604829e-04 9.99998726e-01 -3.75756585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17992885099997 meters 0.09869342396505702 Centerline is valid? [True, True] Translation: X:126.07, Y:-12.70, Z:-3.76 [[ 9.99996123e-01 -2.35045589e-03 -1.49284201e-03 1.26074357e+02] [ 2.35071885e-03 9.99997222e-01 1.74414487e-04 -1.27037037e+01] [ 1.49242791e-03 -1.77923063e-04 9.99998871e-01 -3.75898491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20992885099997 meters 0.09991184460990755 Centerline is valid? [True, True] Translation: X:126.10, Y:-12.71, Z:-3.76 [[ 9.99995415e-01 -2.55455200e-03 -1.62624264e-03 1.26104517e+02] [ 2.55486432e-03 9.99996718e-01 1.90000197e-04 -1.27100743e+01] [ 1.62575194e-03 -1.94154155e-04 9.99998660e-01 -3.76052375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23992885099997 meters 0.10004850600207092 Centerline is valid? [True, False] Translation: X:126.10, Y:-12.71, Z:-3.76 [[ 9.99995999e-01 -2.25954579e-03 -1.70197566e-03 1.26104925e+02] [ 2.26066019e-03 9.99997231e-01 6.53130832e-04 -1.27108754e+01] [ 1.70049516e-03 -6.56975807e-04 9.99998338e-01 -3.76091441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26992885099997 meters 0.10022206724357084 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.71, Z:-3.76 [[ 9.99996282e-01 -2.20341235e-03 -1.60645258e-03 1.26104823e+02] [ 2.20473871e-03 9.99997230e-01 8.24343637e-04 -1.27113266e+01] [ 1.60463176e-03 -8.27882380e-04 9.99998370e-01 -3.76104816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29992885099998 meters 0.10049379686537574 Centerline is valid? [False, False] Translation: X:126.11, Y:-12.71, Z:-3.76 [[ 9.99997117e-01 -1.80194607e-03 -1.58739681e-03 1.26105202e+02] [ 1.80430646e-03 9.99997267e-01 1.48677883e-03 -1.27125910e+01] [ 1.58471337e-03 -1.48963870e-03 9.99997635e-01 -3.76165583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32992885099998 meters 0.10100986598133291 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.71, Z:-3.76 [[ 9.99997332e-01 -1.77893036e-03 -1.47325893e-03 1.26104915e+02] [ 1.78135023e-03 9.99997064e-01 1.64285113e-03 -1.27133068e+01] [ 1.47033209e-03 -1.64547114e-03 9.99997565e-01 -3.76156385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35992885099998 meters 0.10154729900300928 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.71, Z:-3.76 [[ 9.99997227e-01 -1.93584305e-03 -1.34081413e-03 1.26104459e+02] [ 1.93787152e-03 9.99996977e-01 1.51321899e-03 -1.27134443e+01] [ 1.33788072e-03 -1.51581312e-03 9.99997956e-01 -3.76127823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38992885099998 meters 0.10177077283086798 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.71, Z:-3.76 [[ 9.99998033e-01 -1.54460107e-03 -1.24434971e-03 1.26104694e+02] [ 1.54739420e-03 9.99996279e-01 2.24682910e-03 -1.27149703e+01] [ 1.24087463e-03 -2.24875018e-03 9.99996702e-01 -3.76189789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41992885099998 meters 0.10452678322060949 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.72, Z:-3.76 [[ 9.99998188e-01 -1.52342102e-03 -1.14127733e-03 1.26104377e+02] [ 1.52617135e-03 9.99995924e-01 2.41288799e-03 -1.27158374e+01] [ 1.13759683e-03 -2.41462540e-03 9.99996438e-01 -3.76173775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44992885099998 meters 0.10564411020623593 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.72, Z:-3.76 [[ 9.99998471e-01 -1.36807261e-03 -1.08953202e-03 1.26104421e+02] [ 1.37102639e-03 9.99995375e-01 2.71494267e-03 -1.27167072e+01] [ 1.08581274e-03 -2.71643230e-03 9.99995721e-01 -3.76194114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47992885099998 meters 0.10347782904247878 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.72, Z:-3.76 [[ 9.99998545e-01 -1.40819015e-03 -9.62774801e-04 1.26104124e+02] [ 1.41084542e-03 9.99995188e-01 2.76283801e-03 -1.27171371e+01] [ 9.58879567e-04 -2.76419231e-03 9.99995720e-01 -3.76188699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50992885099998 meters 0.10357876090154038 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.72, Z:-3.76 [[ 9.99998745e-01 -1.25535238e-03 -9.66545622e-04 1.26104289e+02] [ 1.25823712e-03 9.99994739e-01 2.98979013e-03 -1.27176966e+01] [ 9.62787297e-04 -2.99100252e-03 9.99995063e-01 -3.76207666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53992885099998 meters 0.10230686973603724 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.72, Z:-3.76 [[ 9.99998469e-01 -1.35822505e-03 -1.10290703e-03 1.26104346e+02] [ 1.36127085e-03 9.99995249e-01 2.76556861e-03 -1.27173827e+01] [ 1.09914552e-03 -2.76706573e-03 9.99995568e-01 -3.76174733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.569928851 meters 0.10481933246260162 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.72, Z:-3.76 [[ 9.99998232e-01 -1.35840559e-03 -1.30043019e-03 1.26104652e+02] [ 1.36181203e-03 9.99995635e-01 2.62217886e-03 -1.27170582e+01] [ 1.29686253e-03 -2.62394517e-03 9.99995717e-01 -3.76161118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599928851 meters 0.10073736007035226 Centerline is valid? [False, False] Translation: X:126.10, Y:-12.72, Z:-3.76 [[ 9.99997917e-01 -1.48305493e-03 -1.40235075e-03 1.26104736e+02] [ 1.48632486e-03 9.99996173e-01 2.33358885e-03 -1.27164235e+01] [ 1.39888454e-03 -2.33566834e-03 9.99996294e-01 -3.76143772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.629928851 meters 0.10372180010395275 Centerline is valid? [False, False] Translation: X:126.11, Y:-12.72, Z:-3.76 [[ 9.99997598e-01 -1.44427417e-03 -1.64858109e-03 1.26105211e+02] [ 1.44788253e-03 9.99996554e-01 2.18967701e-03 -1.27160218e+01] [ 1.64541291e-03 -2.19205870e-03 9.99996244e-01 -3.76138301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659928851 meters 0.09878466371943803 Centerline is valid? [False, True] Translation: X:126.11, Y:-12.72, Z:-3.76 [[ 9.99996863e-01 -1.30608235e-03 -2.13720780e-03 1.26106134e+02] [ 1.31018317e-03 9.99997301e-01 1.91850211e-03 -1.27150713e+01] [ 2.13469631e-03 -1.92129623e-03 9.99995876e-01 -3.76133021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68992885099996 meters 0.09863842739148501 Centerline is valid? [True, True] Translation: X:126.14, Y:-12.72, Z:-3.76 [[ 9.99997067e-01 8.89883772e-04 -2.25276361e-03 1.26135784e+02] [-8.89305866e-04 9.99999571e-01 2.57521028e-04 -1.27172629e+01] [ 2.25299181e-03 -2.55516877e-04 9.99997429e-01 -3.76147309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71992885099996 meters 0.09693182963076352 Centerline is valid? [True, True] Translation: X:126.17, Y:-12.72, Z:-3.76 [[ 9.99990867e-01 3.20085314e-03 -2.83197474e-03 1.26166121e+02] [-3.19994755e-03 9.99994828e-01 3.24247821e-04 -1.27173264e+01] [ 2.83299796e-03 -3.15182690e-04 9.99995937e-01 -3.76110633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74992885099996 meters 0.09655008200081396 Centerline is valid? [True, True] Translation: X:126.20, Y:-12.72, Z:-3.76 [[ 9.99985459e-01 5.15790356e-03 -1.57414436e-03 1.26196293e+02] [-5.15762621e-03 9.99986683e-01 1.80200911e-04 -1.27197068e+01] [ 1.57505286e-03 -1.72079443e-04 9.99998745e-01 -3.76171443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77992885099997 meters 0.09645224008232735 Centerline is valid? [True, True] Translation: X:126.23, Y:-12.72, Z:-3.76 [[ 9.99955974e-01 9.27495490e-03 -1.42304666e-03 1.26225839e+02] [-9.27473284e-03 9.99956976e-01 1.62569583e-04 -1.27226186e+01] [ 1.42449326e-03 -1.49364048e-04 9.99998974e-01 -3.76310774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80992885099997 meters 0.09645224008232735 Centerline is valid? [True, True] Translation: X:126.25, Y:-12.73, Z:-3.76 [[ 9.99956581e-01 9.20930636e-03 -1.42319585e-03 1.26254127e+02] [-9.20908606e-03 9.99957582e-01 1.61266219e-04 -1.27257887e+01] [ 1.42462063e-03 -1.48152883e-04 9.99998974e-01 -3.76379954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83992885099997 meters 0.09681036003172104 Centerline is valid? [True, True] Translation: X:126.28, Y:-12.73, Z:-3.76 [[ 9.99936910e-01 1.12258416e-02 -3.95412218e-04 1.26283219e+02] [-1.12258248e-02 9.99936987e-01 4.47544196e-05 -1.27295171e+01] [ 3.95889708e-04 -4.03127678e-05 9.99999921e-01 -3.76450419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86992885099997 meters 0.09692011775635069 Centerline is valid? [True, True] Translation: X:126.31, Y:-12.73, Z:-3.77 [[ 9.99929347e-01 1.18812212e-02 -3.71566967e-04 1.26311886e+02] [-1.18812068e-02 9.99929415e-01 4.09036990e-05 -1.27327050e+01] [ 3.72026726e-04 -3.64861450e-05 9.99999930e-01 -3.76555368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89992885099997 meters 0.09728562933095952 Centerline is valid? [True, True] Translation: X:126.34, Y:-12.74, Z:-3.77 [[ 9.99910407e-01 1.33818544e-02 -3.21381567e-04 1.26340924e+02] [-1.33818436e-02 9.99910458e-01 3.59548131e-05 -1.27369271e+01] [ 3.21833932e-04 -3.16509139e-05 9.99999948e-01 -3.76671643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92992885099997 meters 0.09197264656098578 Centerline is valid? [True, True] Translation: X:126.37, Y:-12.73, Z:-3.77 [[ 9.99908652e-01 1.34990902e-02 -6.79209047e-04 1.26370541e+02] [-1.34990417e-02 9.99908881e-01 7.59447934e-05 -1.27299345e+01] [ 6.80172344e-04 -6.67691847e-05 9.99999766e-01 -3.76507164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95992885099997 meters 0.092942003227961 Centerline is valid? [True, True] Translation: X:126.40, Y:-12.74, Z:-3.77 [[ 9.99915640e-01 1.29058511e-02 -1.46717509e-03 1.26398172e+02] [-1.29056221e-02 9.99916705e-01 1.65447273e-04 -1.27355011e+01] [ 1.46918812e-03 -1.46498509e-04 9.99998910e-01 -3.76643650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98992885099997 meters 0.09297848539894461 Centerline is valid? [True, True] Translation: X:126.43, Y:-12.74, Z:-3.77 [[ 9.99917827e-01 1.26948477e-02 -1.78329988e-03 1.26426199e+02] [-1.26945077e-02 9.99919401e-01 2.01834741e-04 -1.27395986e+01] [ 1.78571841e-03 -1.79180042e-04 9.99998390e-01 -3.76844910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01992885099997 meters 0.0931674788570758 Centerline is valid? [True, True] Translation: X:126.46, Y:-12.75, Z:-3.77 [[ 9.99937231e-01 1.10347280e-02 -1.94109318e-03 1.26455993e+02] [-1.10343195e-02 9.99939096e-01 2.21033571e-04 -1.27450267e+01] [ 1.94341400e-03 -1.99601055e-04 9.99998092e-01 -3.77000108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04992885099998 meters 0.09628956864994213 Centerline is valid? [True, True] Translation: X:126.48, Y:-12.76, Z:-3.77 [[ 9.99944633e-01 1.01249509e-02 -2.86639809e-03 1.26483824e+02] [-1.01240586e-02 9.99948697e-01 3.25633651e-04 -1.27554304e+01] [ 2.86954806e-03 -2.96596039e-04 9.99995839e-01 -3.77242188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07992885099998 meters 0.09509422016283965 Centerline is valid? [True, True] Translation: X:126.51, Y:-12.76, Z:-3.77 [[ 9.99956907e-01 8.77011226e-03 -3.04460902e-03 1.26513179e+02] [-8.76910082e-03 9.99961491e-01 3.45398635e-04 -1.27566246e+01] [ 3.04752096e-03 -3.18685268e-04 9.99995306e-01 -3.77228743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10992885099998 meters 0.09520471001583852 Centerline is valid? [True, True] Translation: X:126.54, Y:-12.76, Z:-3.77 [[ 9.99962068e-01 8.01456937e-03 -3.41019168e-03 1.26542373e+02] [-8.01329323e-03 9.99967818e-01 3.87714079e-04 -1.27607643e+01] [ 3.41318929e-03 -3.60372507e-04 9.99994110e-01 -3.77322763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13992885099998 meters 0.09659583800684117 Centerline is valid? [True, True] Translation: X:126.57, Y:-12.77, Z:-3.77 [[ 9.99974505e-01 6.18162534e-03 -3.57433892e-03 1.26572000e+02] [-6.18021041e-03 9.99980820e-01 4.06766953e-04 -1.27686822e+01] [ 3.57678484e-03 -3.84666416e-04 9.99993529e-01 -3.77491849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16992885099998 meters 0.09508422975647288 Centerline is valid? [True, True] Translation: X:126.60, Y:-12.77, Z:-3.77 [[ 9.99980450e-01 5.30674092e-03 -3.30725218e-03 1.26601138e+02] [-5.30552921e-03 9.99985855e-01 3.75045393e-04 -1.27696588e+01] [ 3.30919567e-03 -3.57491338e-04 9.99994461e-01 -3.77459327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19992885099998 meters 0.09509466857742285 Centerline is valid? [True, True] Translation: X:126.63, Y:-12.77, Z:-3.77 [[ 9.99985712e-01 3.81987047e-03 -3.73949466e-03 1.26631104e+02] [-3.81830652e-03 9.99992620e-01 4.25274305e-04 -1.27730891e+01] [ 3.74109156e-03 -4.10989692e-04 9.99992918e-01 -3.77486341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22992885099998 meters 0.09816901973960261 Centerline is valid? [True, True] Translation: X:126.66, Y:-12.78, Z:-3.78 [[ 9.99989583e-01 2.71506584e-03 -3.66913236e-03 1.26658762e+02] [-2.71355659e-03 9.99996232e-01 4.16252281e-04 -1.27829175e+01] [ 3.67024868e-03 -4.06291547e-04 9.99993182e-01 -3.77621090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25992885099998 meters 0.09416620808000552 Centerline is valid? [True, True] Translation: X:126.69, Y:-12.78, Z:-3.78 [[ 9.99993186e-01 1.14007026e-03 -3.51106515e-03 1.26689560e+02] [-1.13867620e-03 9.99999272e-01 3.99021186e-04 -1.27802235e+01] [ 3.51151751e-03 -3.95020501e-04 9.99993757e-01 -3.77500131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28992885099998 meters 0.09857571606546986 Centerline is valid? [True, True] Translation: X:126.72, Y:-12.79, Z:-3.78 [[ 9.99996457e-01 1.14331954e-04 -2.65963372e-03 1.26716455e+02] [-1.13528996e-04 9.99999948e-01 3.02054527e-04 -1.27920152e+01] [ 2.65966812e-03 -3.01751511e-04 9.99996418e-01 -3.77710227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319928851 meters 0.09905956243391778 Centerline is valid? [True, True] Translation: X:126.75, Y:-12.80, Z:-3.78 [[ 9.99996759e-01 -6.93208890e-05 -2.54516396e-03 1.26745620e+02] [ 7.00556515e-05 9.99999956e-01 2.88601632e-04 -1.27970722e+01] [ 2.54514384e-03 -2.88778999e-04 9.99996719e-01 -3.77680564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.349928851 meters 0.09697231579719577 Centerline is valid? [True, True] Translation: X:126.77, Y:-12.80, Z:-3.78 [[ 9.99997275e-01 -5.14276992e-04 -2.27737216e-03 1.26775000e+02] [ 5.14864968e-04 9.99999834e-01 2.57602941e-04 -1.27970072e+01] [ 2.27723930e-03 -2.58774778e-04 9.99997374e-01 -3.77679111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379928851 meters 0.09939053545159464 Centerline is valid? [True, True] Translation: X:126.80, Y:-12.81, Z:-3.78 [[ 9.99997773e-01 -6.40289838e-04 -2.01099150e-03 1.26803231e+02] [ 6.40749877e-04 9.99999769e-01 2.28126622e-04 -1.28055387e+01] [ 2.01084497e-03 -2.29414656e-04 9.99997952e-01 -3.77822936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.409928851 meters 0.10048420353708626 Centerline is valid? [True, False] Translation: X:126.80, Y:-12.81, Z:-3.78 [[ 9.99997860e-01 -5.00884679e-04 -2.00738141e-03 1.26803349e+02] [ 5.01869137e-04 9.99999754e-01 4.89945222e-04 -1.28060187e+01] [ 2.00713551e-03 -4.90951616e-04 9.99997865e-01 -3.77840797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43992885099996 meters 0.09932857293269777 Centerline is valid? [False, True] Translation: X:126.80, Y:-12.81, Z:-3.78 [[ 9.99997763e-01 -3.06442492e-04 -2.09302383e-03 1.26803646e+02] [ 3.07956124e-04 9.99999691e-01 7.22895396e-04 -1.28065514e+01] [ 2.09280166e-03 -7.23538338e-04 9.99997548e-01 -3.77855216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46992885099996 meters 0.09851476278442793 Centerline is valid? [True, True] Translation: X:126.83, Y:-12.81, Z:-3.78 [[ 9.99996131e-01 -3.51018873e-04 -2.75936681e-03 1.26833542e+02] [ 3.51883422e-04 9.99999889e-01 3.12835282e-04 -1.28091577e+01] [ 2.75925669e-03 -3.13805047e-04 9.99996144e-01 -3.77848030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49992885099996 meters 0.0986155172817453 Centerline is valid? [True, True] Translation: X:126.86, Y:-12.81, Z:-3.78 [[ 9.99994685e-01 -7.69403423e-04 -3.16820718e-03 1.26862337e+02] [ 7.70543798e-04 9.99999639e-01 3.58738473e-04 -1.28135837e+01] [ 3.16793002e-03 -3.61177809e-04 9.99994917e-01 -3.77971985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52992885099997 meters 0.09667365691490708 Centerline is valid? [True, True] Translation: X:126.89, Y:-12.81, Z:-3.78 [[ 9.99989358e-01 -1.41424276e-03 -4.39143592e-03 1.26892151e+02] [ 1.41644297e-03 9.99998873e-01 4.97954940e-04 -1.28144476e+01] [ 4.39072674e-03 -5.04169859e-04 9.99990234e-01 -3.77960683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55992885099997 meters 0.09814059697351549 Centerline is valid? [True, True] Translation: X:126.92, Y:-12.82, Z:-3.78 [[ 9.99988619e-01 -1.86159074e-03 -4.39271909e-03 1.26920237e+02] [ 1.86379375e-03 9.99998139e-01 4.97473500e-04 -1.28232104e+01] [ 4.39178482e-03 -5.05654960e-04 9.99990228e-01 -3.78186363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58992885099997 meters 0.09959198902183665 Centerline is valid? [True, True] Translation: X:126.95, Y:-12.83, Z:-3.78 [[ 9.99984462e-01 -2.17053217e-03 -5.13463904e-03 1.26947851e+02] [ 2.17354291e-03 9.99997469e-01 5.80850916e-04 -1.28303426e+01] [ 5.13336529e-03 -5.92002249e-04 9.99986649e-01 -3.78353489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61992885099997 meters 0.09743785989455175 Centerline is valid? [True, True] Translation: X:126.98, Y:-12.83, Z:-3.78 [[ 9.99981631e-01 -2.89857083e-03 -5.32321419e-03 1.26977663e+02] [ 2.90182102e-03 9.99995608e-01 6.02947147e-04 -1.28301448e+01] [ 5.32144313e-03 -6.18383086e-04 9.99985650e-01 -3.78310434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64992885099997 meters 0.09697279541988515 Centerline is valid? [True, True] Translation: X:127.01, Y:-12.83, Z:-3.78 [[ 9.99978879e-01 -2.64824696e-03 -5.93534873e-03 1.27006740e+02] [ 2.65224901e-03 9.99996261e-01 6.66503845e-04 -1.28333718e+01] [ 5.93356147e-03 -6.82231791e-04 9.99982164e-01 -3.78388381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67992885099997 meters 0.09540980392547843 Centerline is valid? [True, True] Translation: X:127.04, Y:-12.84, Z:-3.78 [[ 9.99969608e-01 -3.21410539e-03 -7.10298579e-03 1.27035944e+02] [ 3.21988505e-03 9.99994494e-01 8.02408885e-04 -1.28356827e+01] [ 7.10036766e-03 -8.25255296e-04 9.99974452e-01 -3.78462276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70992885099997 meters 0.10033050146505436 Centerline is valid? [True, False] Translation: X:127.04, Y:-12.84, Z:-3.79 [[ 9.99971360e-01 -2.76375810e-03 -7.04569314e-03 1.27036214e+02] [ 2.77484884e-03 9.99994926e-01 1.56482708e-03 -1.28374664e+01] [ 7.04133258e-03 -1.58433299e-03 9.99973954e-01 -3.78517816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73992885099997 meters 0.09911871212783929 Centerline is valid? [False, True] Translation: X:127.04, Y:-12.84, Z:-3.79 [[ 9.99972446e-01 -2.24393212e-03 -7.07619424e-03 1.27036700e+02] [ 2.26094156e-03 9.99994572e-01 2.39667200e-03 -1.28392019e+01] [ 7.07077786e-03 -2.41260482e-03 9.99972091e-01 -3.78579352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76992885099997 meters 0.09930588829336334 Centerline is valid? [True, True] Translation: X:127.07, Y:-12.84, Z:-3.79 [[ 9.99972618e-01 -2.23849423e-03 -7.05352925e-03 1.27065028e+02] [ 2.24419946e-03 9.99997161e-01 8.01036848e-04 -1.28429550e+01] [ 7.05171611e-03 -8.16844440e-04 9.99974803e-01 -3.78624569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79992885099998 meters 0.09942905168438718 Centerline is valid? [True, True] Translation: X:127.09, Y:-12.85, Z:-3.79 [[ 9.99970168e-01 -2.52259115e-03 -7.30068487e-03 1.27093535e+02] [ 2.52869948e-03 9.99996460e-01 8.27568569e-04 -1.28469699e+01] [ 7.29857142e-03 -8.46005119e-04 9.99973007e-01 -3.78651229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82992885099998 meters 0.09790688805738446 Centerline is valid? [True, True] Translation: X:127.12, Y:-12.85, Z:-3.79 [[ 9.99977595e-01 -1.38150671e-03 -6.54989728e-03 1.27123013e+02] [ 1.38642482e-03 9.99998760e-01 7.46386764e-04 -1.28490288e+01] [ 6.54885803e-03 -7.55450981e-04 9.99978271e-01 -3.78505463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85992885099998 meters 0.09913154451265926 Centerline is valid? [True, True] Translation: X:127.15, Y:-12.86, Z:-3.79 [[ 9.99977976e-01 -1.50622209e-03 -6.46368101e-03 1.27150215e+02] [ 1.51100293e-03 9.99998588e-01 7.34828222e-04 -1.28553591e+01] [ 6.46256507e-03 -7.44578679e-04 9.99978840e-01 -3.78605951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88992885099998 meters 0.09999341745284519 Centerline is valid? [True, True] Translation: X:127.18, Y:-12.86, Z:-3.79 [[ 9.99971479e-01 -1.62327304e-03 -7.37609883e-03 1.27178063e+02] [ 1.62946546e-03 9.99998325e-01 8.33593702e-04 -1.28612884e+01] [ 7.37473332e-03 -8.45589025e-04 9.99972449e-01 -3.78681023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91992885099998 meters 0.09762878316880759 Centerline is valid? [True, True] Translation: X:127.21, Y:-12.86, Z:-3.79 [[ 9.99969373e-01 -1.84456016e-03 -7.60598975e-03 1.27206457e+02] [ 1.85112952e-03 9.99997920e-01 8.56758804e-04 -1.28619612e+01] [ 7.60439358e-03 -8.70812236e-04 9.99970707e-01 -3.78634259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94992885099998 meters 0.09986466677505598 Centerline is valid? [True, True] Translation: X:127.23, Y:-12.87, Z:-3.79 [[ 9.99970594e-01 -1.97306583e-03 -7.41074243e-03 1.27232890e+02] [ 1.97932474e-03 9.99997691e-01 8.37333344e-04 -1.28705031e+01] [ 7.40907320e-03 -8.51976986e-04 9.99972189e-01 -3.78862930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97992885099998 meters 0.10248427430206025 Centerline is valid? [True, False] Translation: X:127.23, Y:-12.87, Z:-3.79 [[ 9.99972580e-01 -1.60050405e-03 -7.23033102e-03 1.27232746e+02] [ 1.61234852e-03 9.99997367e-01 1.63263169e-03 -1.28727463e+01] [ 7.22769895e-03 -1.64424474e-03 9.99972528e-01 -3.78895041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00992885099998 meters 0.1026836491914016 Centerline is valid? [False, False] Translation: X:127.23, Y:-12.87, Z:-3.79 [[ 9.99973393e-01 -1.46980737e-03 -7.14518141e-03 1.27232597e+02] [ 1.48388917e-03 9.99996967e-01 1.96590828e-03 -1.28737556e+01] [ 7.14227023e-03 -1.97645863e-03 9.99972540e-01 -3.78898570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03992885099998 meters 0.0980016971326618 Centerline is valid? [False, True] Translation: X:127.23, Y:-12.87, Z:-3.79 [[ 9.99973946e-01 -1.40894661e-03 -7.07969739e-03 1.27232284e+02] [ 1.42437353e-03 9.99996621e-01 2.17446701e-03 -1.28747397e+01] [ 7.07660976e-03 -2.18449449e-03 9.99972574e-01 -3.78872824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.069928851 meters 0.09669261245467749 Centerline is valid? [True, True] Translation: X:127.26, Y:-12.88, Z:-3.79 [[ 9.99975097e-01 -2.74076845e-03 -6.50328113e-03 1.27261551e+02] [ 2.74569485e-03 9.99995950e-01 7.48719173e-04 -1.28773444e+01] [ 6.50120273e-03 -7.66556553e-04 9.99978573e-01 -3.78750843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099928851 meters 0.09848850653666905 Centerline is valid? [True, True] Translation: X:127.29, Y:-12.89, Z:-3.79 [[ 9.99974466e-01 -3.03637740e-03 -6.46894117e-03 1.27288557e+02] [ 3.04124894e-03 9.99995099e-01 7.43362344e-04 -1.28854111e+01] [ 6.46665234e-03 -7.63017024e-04 9.99978800e-01 -3.78903068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.129928851 meters 0.10118109347726573 Centerline is valid? [True, False] Translation: X:127.29, Y:-12.89, Z:-3.79 [[ 9.99976286e-01 -2.59294621e-03 -6.37997782e-03 1.27288590e+02] [ 2.60315296e-03 9.99995345e-01 1.59202497e-03 -1.28875583e+01] [ 6.37582008e-03 -1.60859527e-03 9.99978380e-01 -3.78931634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159928851 meters 0.09727317039228939 Centerline is valid? [False, True] Translation: X:127.29, Y:-12.89, Z:-3.79 [[ 9.99979732e-01 -2.59658543e-03 -5.81324454e-03 1.27286991e+02] [ 2.61027655e-03 9.99993835e-01 2.34881136e-03 -1.28912713e+01] [ 5.80710981e-03 -2.36393793e-03 9.99980344e-01 -3.78851326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18992885099996 meters 0.09593880634940691 Centerline is valid? [True, True] Translation: X:127.32, Y:-12.89, Z:-3.79 [[ 9.99976617e-01 -3.80948443e-03 -5.67925505e-03 1.27316658e+02] [ 3.81336405e-03 9.99992503e-01 6.72450200e-04 -1.28932515e+01] [ 5.67665078e-03 -6.94091543e-04 9.99983647e-01 -3.78763750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21992885099996 meters 0.10260118078216982 Centerline is valid? [True, False] Translation: X:127.32, Y:-12.90, Z:-3.79 [[ 9.99979072e-01 -3.29551863e-03 -5.56726574e-03 1.27316823e+02] [ 3.30481330e-03 9.99993159e-01 1.66114818e-03 -1.28954932e+01] [ 5.56175332e-03 -1.67951219e-03 9.99983123e-01 -3.78820813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24992885099996 meters 0.10281922097430574 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.90, Z:-3.79 [[ 9.99981125e-01 -3.08070684e-03 -5.31593201e-03 1.27316291e+02] [ 3.09294141e-03 9.99992584e-01 2.29480677e-03 -1.28975482e+01] [ 5.30882296e-03 -2.31120532e-03 9.99983237e-01 -3.78813223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27992885099997 meters 0.10149438873634 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.90, Z:-3.79 [[ 9.99984634e-01 -2.59955601e-03 -4.89636895e-03 1.27315752e+02] [ 2.61818568e-03 9.99989344e-01 3.80223517e-03 -1.29020289e+01] [ 4.88643265e-03 -3.81499635e-03 9.99980784e-01 -3.78852457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30992885099997 meters 0.10560761984722815 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.90, Z:-3.79 [[ 9.99986319e-01 -2.38059414e-03 -4.65772510e-03 1.27315120e+02] [ 2.40144443e-03 9.99987099e-01 4.47603660e-03 -1.29044550e+01] [ 4.64700938e-03 -4.48716063e-03 9.99979135e-01 -3.78825428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33992885099997 meters 0.10163198227603881 Centerline is valid? [False, False] Translation: X:127.31, Y:-12.91, Z:-3.79 [[ 9.99987878e-01 -2.29780660e-03 -4.35473471e-03 1.27314299e+02] [ 2.31954688e-03 9.99984840e-01 4.99387385e-03 -1.29065523e+01] [ 4.34319374e-03 -5.00391433e-03 9.99978049e-01 -3.78790380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36992885099997 meters 0.10726930446836735 Centerline is valid? [False, False] Translation: X:127.31, Y:-12.91, Z:-3.79 [[ 9.99972261e-01 -5.93522918e-03 -4.50000516e-03 1.27314820e+02] [ 5.94340297e-03 9.99980708e-01 1.80520538e-03 -1.29090177e+01] [ 4.48920404e-03 -1.83190065e-03 9.99988246e-01 -3.78820011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39992885099997 meters 0.10321757732594916 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.91, Z:-3.79 [[ 9.99975282e-01 -5.44480060e-03 -4.44854275e-03 1.27315103e+02] [ 5.45674646e-03 9.99981527e-01 2.67763323e-03 -1.29109451e+01] [ 4.43388140e-03 -2.70184161e-03 9.99986520e-01 -3.78874690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42992885099997 meters 0.10310416990304005 Centerline is valid? [False, False] Translation: X:127.31, Y:-12.91, Z:-3.79 [[ 9.99977395e-01 -5.13752733e-03 -4.33769953e-03 1.27314997e+02] [ 5.15186671e-03 9.99981280e-01 3.30107994e-03 -1.29126352e+01] [ 4.32065894e-03 -3.32335257e-03 9.99985144e-01 -3.78891307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45992885099997 meters 0.10576854092216932 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.91, Z:-3.79 [[ 9.99979695e-01 -4.64307273e-03 -4.36469634e-03 1.27315424e+02] [ 4.66100342e-03 9.99980704e-01 4.10696440e-03 -1.29144377e+01] [ 4.34554319e-03 -4.12722488e-03 9.99982041e-01 -3.78944210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48992885099997 meters 0.10605122040890233 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99981019e-01 -4.30758304e-03 -4.40521254e-03 1.27315364e+02] [ 4.32840157e-03 9.99979458e-01 4.72732368e-03 -1.29163218e+01] [ 4.38475871e-03 -4.74630148e-03 9.99979123e-01 -3.78925752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51992885099997 meters 0.10635530374164423 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99981668e-01 -4.13473741e-03 -4.42344170e-03 1.27315455e+02] [ 4.15681371e-03 9.99978894e-01 4.99325475e-03 -1.29170579e+01] [ 4.40270255e-03 -5.01155064e-03 9.99977750e-01 -3.78931265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54992885099998 meters 0.10702476332575292 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99981504e-01 -4.07351018e-03 -4.51636022e-03 1.27315403e+02] [ 4.09650886e-03 9.99978631e-01 5.09480329e-03 -1.29176677e+01] [ 4.49550997e-03 -5.11321037e-03 9.99976822e-01 -3.78898692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57992885099998 meters 0.106607287482043 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99981482e-01 -3.99608816e-03 -4.58983651e-03 1.27315441e+02] [ 4.01991699e-03 9.99978430e-01 5.19421269e-03 -1.29180894e+01] [ 4.56898097e-03 -5.21256726e-03 9.99975976e-01 -3.78884604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60992885099998 meters 0.10215570603025743 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99981329e-01 -3.86804309e-03 -4.73081127e-03 1.27315552e+02] [ 3.89318866e-03 9.99978283e-01 5.31766829e-03 -1.29185401e+01] [ 4.71013956e-03 -5.33598695e-03 9.99974671e-01 -3.78859520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63992885099998 meters 0.10243879841131696 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99981348e-01 -3.77797676e-03 -4.79907319e-03 1.27315630e+02] [ 3.80409106e-03 9.99977945e-01 5.44410869e-03 -1.29189143e+01] [ 4.77839963e-03 -5.46226326e-03 9.99973665e-01 -3.78850049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66992885099998 meters 0.10206131164970152 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99981879e-01 -3.65335826e-03 -4.78479604e-03 1.27315556e+02] [ 3.68051167e-03 9.99977104e-01 5.67847831e-03 -1.29196856e+01] [ 4.76394097e-03 -5.69598591e-03 9.99972430e-01 -3.78843259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69992885099998 meters 0.10737586912141438 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99982469e-01 -3.52267347e-03 -4.75936096e-03 1.27315485e+02] [ 3.55083178e-03 9.99976167e-01 5.92096725e-03 -1.29205208e+01] [ 4.73838989e-03 -5.93776314e-03 9.99971145e-01 -3.78839859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72992885099998 meters 0.10737586912141438 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99982469e-01 -3.52267347e-03 -4.75936096e-03 1.27315485e+02] [ 3.55083178e-03 9.99976167e-01 5.92096725e-03 -1.29205208e+01] [ 4.73838989e-03 -5.93776314e-03 9.99971145e-01 -3.78839859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75992885099998 meters 0.10083001594322812 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99983490e-01 -3.13480392e-03 -4.81581392e-03 1.27315654e+02] [ 3.16635803e-03 9.99973479e-01 6.55859411e-03 -1.29223202e+01] [ 4.79512629e-03 -6.57373442e-03 9.99966896e-01 -3.78849109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78992885099998 meters 0.10936035582922772 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99983794e-01 -2.98714798e-03 -4.84657577e-03 1.27315679e+02] [ 3.02016256e-03 9.99972190e-01 6.81898116e-03 -1.29231347e+01] [ 4.82607168e-03 -6.83350809e-03 9.99965005e-01 -3.78845526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819928851 meters 0.10966006290707996 Centerline is valid? [False, False] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99983976e-01 -2.88981899e-03 -4.86791656e-03 1.27315758e+02] [ 2.92374556e-03 9.99971388e-01 6.97678363e-03 -1.29236921e+01] [ 4.84761564e-03 -6.99090439e-03 9.99963813e-01 -3.78850513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.849928851 meters 0.0945955280955275 Centerline is valid? [False, True] Translation: X:127.32, Y:-12.92, Z:-3.79 [[ 9.99983903e-01 -2.83177341e-03 -4.91674282e-03 1.27315855e+02] [ 2.86653348e-03 9.99970848e-01 7.07714147e-03 -1.29240315e+01] [ 4.89655863e-03 -7.09112156e-03 9.99962869e-01 -3.78851532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879928851 meters 0.09787969885035257 Centerline is valid? [True, True] Translation: X:127.34, Y:-12.93, Z:-3.79 [[ 9.99977179e-01 -2.35186026e-03 -6.33333926e-03 1.27343521e+02] [ 2.35647223e-03 9.99996964e-01 7.20840518e-04 -1.29307725e+01] [ 6.33162471e-03 -7.35748405e-04 9.99979684e-01 -3.78985390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.909928851 meters 0.09778203687750821 Centerline is valid? [True, True] Translation: X:127.37, Y:-12.93, Z:-3.79 [[ 9.99975860e-01 -7.22922038e-04 -6.91062623e-03 1.27373191e+02] [ 7.28384658e-04 9.99999424e-01 7.87982454e-04 -1.29345380e+01] [ 6.91005261e-03 -7.92997026e-04 9.99975811e-01 -3.79069512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93992885099996 meters 0.09463723744549073 Centerline is valid? [True, True] Translation: X:127.40, Y:-12.93, Z:-3.79 [[ 9.99972858e-01 -6.89961464e-04 -7.33540013e-03 1.27402459e+02] [ 6.96058412e-04 9.99999414e-01 8.28647265e-04 -1.29323469e+01] [ 7.33482410e-03 -8.33730640e-04 9.99972752e-01 -3.78932649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96992885099996 meters 0.09453678140138627 Centerline is valid? [True, True] Translation: X:127.43, Y:-12.94, Z:-3.79 [[ 9.99973912e-01 -3.80236896e-05 -7.22309122e-03 1.27430673e+02] [ 4.39475242e-05 9.99999663e-01 8.19967634e-04 -1.29362282e+01] [ 7.22305761e-03 -8.20263680e-04 9.99973577e-01 -3.79003987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99992885099996 meters 0.09844793740699498 Centerline is valid? [True, True] Translation: X:127.46, Y:-12.95, Z:-3.79 [[ 9.99975513e-01 -5.75494499e-04 -6.97434199e-03 1.27457809e+02] [ 5.81022499e-04 9.99999519e-01 7.90619312e-04 -1.29469427e+01] [ 6.97388364e-03 -7.94652202e-04 9.99975366e-01 -3.79244333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02992885099997 meters 0.0934077550207185 Centerline is valid? [True, True] Translation: X:127.49, Y:-12.94, Z:-3.79 [[ 9.99981282e-01 -1.27671276e-03 -5.98378503e-03 1.27486945e+02] [ 1.28078735e-03 9.99998951e-01 6.77154697e-04 -1.29422880e+01] [ 5.98291422e-03 -6.84805978e-04 9.99981868e-01 -3.79009569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05992885099997 meters 0.09943436148324737 Centerline is valid? [True, True] Translation: X:127.51, Y:-12.96, Z:-3.79 [[ 9.99981608e-01 -9.42929426e-04 -5.99121709e-03 1.27513495e+02] [ 9.47006521e-04 9.99999322e-01 6.77711412e-04 -1.29573747e+01] [ 5.99057400e-03 -6.83372669e-04 9.99981823e-01 -3.79399007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08992885099997 meters 0.09754078532556555 Centerline is valid? [True, True] Translation: X:127.54, Y:-12.96, Z:-3.79 [[ 9.99980170e-01 -1.14563436e-03 -6.19246680e-03 1.27542828e+02] [ 1.14999485e-03 9.99999093e-01 7.00646130e-04 -1.29574202e+01] [ 6.19165850e-03 -7.07753541e-04 9.99980581e-01 -3.79370849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11992885099997 meters 0.09394256790862525 Centerline is valid? [True, True] Translation: X:127.57, Y:-12.95, Z:-3.79 [[ 9.99979245e-01 -9.06905476e-04 -6.37867130e-03 1.27572090e+02] [ 9.11487893e-04 9.99999329e-01 7.15526457e-04 -1.29541802e+01] [ 6.37801811e-03 -7.21325688e-04 9.99979400e-01 -3.79208904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14992885099997 meters 0.09729234645030627 Centerline is valid? [True, True] Translation: X:127.60, Y:-12.96, Z:-3.80 [[ 9.99974195e-01 -1.17173205e-03 -7.08781379e-03 1.27599232e+02] [ 1.17741811e-03 9.99998988e-01 7.98110427e-04 -1.29635599e+01] [ 7.08687145e-03 -8.06435152e-04 9.99974563e-01 -3.79517947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17992885099997 meters 0.09693406691146204 Centerline is valid? [True, True] Translation: X:127.63, Y:-12.97, Z:-3.80 [[ 9.99974816e-01 -1.32467024e-03 -6.97228168e-03 1.27627467e+02] [ 1.33014305e-03 9.99998811e-01 7.80359115e-04 -1.29661838e+01] [ 6.97123967e-03 -7.89613594e-04 9.99975389e-01 -3.79610498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20992885099997 meters 0.09812041882253539 Centerline is valid? [True, True] Translation: X:127.66, Y:-12.97, Z:-3.80 [[ 9.99971325e-01 -8.72697050e-04 -7.52252053e-03 1.27655327e+02] [ 8.79045761e-04 9.99999260e-01 8.40695471e-04 -1.29716178e+01] [ 7.52178129e-03 -8.47284003e-04 9.99971352e-01 -3.79763302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23992885099997 meters 0.09554273193052107 Centerline is valid? [True, True] Translation: X:127.68, Y:-12.97, Z:-3.80 [[ 9.99973405e-01 -9.19032390e-04 -7.23492148e-03 1.27684393e+02] [ 9.24890915e-04 9.99999247e-01 8.06452428e-04 -1.29697600e+01] [ 7.23417488e-03 -8.13122494e-04 9.99973502e-01 -3.79628956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26992885099997 meters 0.09683564877530285 Centerline is valid? [True, True] Translation: X:127.71, Y:-12.97, Z:-3.80 [[ 9.99964156e-01 -1.64376933e-03 -8.30573263e-03 1.27712166e+02] [ 1.65155599e-03 9.99998203e-01 9.30732334e-04 -1.29747388e+01] [ 8.30418780e-03 -9.44416355e-04 9.99965074e-01 -3.79716640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29992885099998 meters 0.09687945593660864 Centerline is valid? [True, True] Translation: X:127.74, Y:-12.98, Z:-3.80 [[ 9.99971275e-01 -1.72512208e-03 -7.38063272e-03 1.27740315e+02] [ 1.73122532e-03 9.99998165e-01 8.20617607e-04 -1.29785246e+01] [ 7.37920351e-03 -8.33371573e-04 9.99972426e-01 -3.79759742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32992885099998 meters 0.09241521581286491 Centerline is valid? [True, True] Translation: X:127.77, Y:-12.97, Z:-3.80 [[ 9.99970975e-01 -2.23626893e-03 -7.28339032e-03 1.27770116e+02] [ 2.24225352e-03 9.99997155e-01 8.13614207e-04 -1.29730848e+01] [ 7.28155014e-03 -8.29921799e-04 9.99973145e-01 -3.79508027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35992885099998 meters 0.0947325268409688 Centerline is valid? [True, True] Translation: X:127.80, Y:-12.98, Z:-3.80 [[ 9.99972751e-01 -3.67863242e-03 -6.40043430e-03 1.27797951e+02] [ 3.68328252e-03 9.99992961e-01 7.14892622e-04 -1.29817788e+01] [ 6.39775942e-03 -7.38447750e-04 9.99979261e-01 -3.79750268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38992885099998 meters 0.09766675224922981 Centerline is valid? [True, True] Translation: X:127.83, Y:-12.99, Z:-3.80 [[ 9.99967950e-01 -4.17980324e-03 -6.82850442e-03 1.27825346e+02] [ 4.18510213e-03 9.99990952e-01 7.61891205e-04 -1.29906020e+01] [ 6.82525808e-03 -7.90444775e-04 9.99976395e-01 -3.79882594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41992885099998 meters 0.09368474606206592 Centerline is valid? [True, True] Translation: X:127.85, Y:-12.99, Z:-3.80 [[ 9.99970110e-01 -4.00472773e-03 -6.61366872e-03 1.27854918e+02] [ 4.00965258e-03 9.99991694e-01 7.31554905e-04 -1.29866948e+01] [ 6.61068411e-03 -7.58051553e-04 9.99977862e-01 -3.79716838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44992885099998 meters 0.09314297632035157 Centerline is valid? [True, True] Translation: X:127.88, Y:-12.99, Z:-3.80 [[ 9.99968510e-01 -4.42821610e-03 -6.58561399e-03 1.27884067e+02] [ 4.43309705e-03 9.99989910e-01 7.26741310e-04 -1.29872642e+01] [ 6.58232938e-03 -7.55913091e-04 9.99978051e-01 -3.79833184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47992885099998 meters 0.093846409445386 Centerline is valid? [True, True] Translation: X:127.91, Y:-12.99, Z:-3.80 [[ 9.99973368e-01 -3.35102795e-03 -6.48335569e-03 1.27912499e+02] [ 3.35576665e-03 9.99994110e-01 7.20162540e-04 -1.29897752e+01] [ 6.48090421e-03 -7.41899989e-04 9.99978724e-01 -3.79965102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50992885099998 meters 0.09334582078954504 Centerline is valid? [True, True] Translation: X:127.94, Y:-12.99, Z:-3.80 [[ 9.99976140e-01 -1.93917661e-03 -6.63013217e-03 1.27942700e+02] [ 1.94410725e-03 9.99997838e-01 7.37308113e-04 -1.29914023e+01] [ 6.62868807e-03 -7.50180209e-04 9.99977749e-01 -3.80020427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53992885099998 meters 0.09330113143572606 Centerline is valid? [True, True] Translation: X:127.97, Y:-12.99, Z:-3.80 [[ 9.99976712e-01 -1.64684386e-03 -6.62294743e-03 1.27971543e+02] [ 1.65170688e-03 9.99998370e-01 7.28866855e-04 -1.29929341e+01] [ 6.62173631e-03 -7.39789049e-04 9.99977802e-01 -3.80129504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.569928851 meters 0.0920732765462381 Centerline is valid? [True, True] Translation: X:128.00, Y:-12.99, Z:-3.80 [[ 9.99979128e-01 -1.16915790e-03 -6.35422638e-03 1.28001129e+02] [ 1.17361636e-03 9.99999068e-01 6.97969614e-04 -1.29925687e+01] [ 6.35340442e-03 -7.05412470e-04 9.99979568e-01 -3.80067588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599928851 meters 0.09718807614298537 Centerline is valid? [True, True] Translation: X:128.03, Y:-13.00, Z:-3.80 [[ 9.99977843e-01 -3.85657713e-04 -6.64566102e-03 1.28028000e+02] [ 3.90540345e-04 9.99999655e-01 7.33427689e-04 -1.30016131e+01] [ 6.64537588e-03 -7.36006837e-04 9.99977648e-01 -3.80448108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.629928851 meters 0.09299120895635808 Centerline is valid? [True, True] Translation: X:128.06, Y:-12.99, Z:-3.80 [[ 9.99981165e-01 -2.58658453e-04 -6.13216993e-03 1.28057645e+02] [ 2.62777567e-04 9.99999740e-01 6.70926048e-04 -1.29944696e+01] [ 6.13199480e-03 -6.72524808e-04 9.99980973e-01 -3.80294398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65992885099996 meters 0.09304820094241262 Centerline is valid? [True, True] Translation: X:128.09, Y:-13.00, Z:-3.80 [[ 9.99979906e-01 -2.63500839e-04 -6.33384354e-03 1.28086838e+02] [ 2.67887161e-04 9.99999725e-01 6.91682994e-04 -1.29959396e+01] [ 6.33365954e-03 -6.93365850e-04 9.99979702e-01 -3.80375210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68992885099996 meters 0.09669858141376984 Centerline is valid? [True, True] Translation: X:128.11, Y:-13.00, Z:-3.81 [[ 9.99986654e-01 -1.01592405e-04 -5.16533370e-03 1.28113713e+02] [ 1.04520453e-04 9.99999834e-01 5.66598408e-04 -1.30039602e+01] [ 5.16527528e-03 -5.67130729e-04 9.99986499e-01 -3.80649931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71992885099996 meters 0.09738968173630501 Centerline is valid? [True, True] Translation: X:128.14, Y:-13.00, Z:-3.81 [[ 9.99986665e-01 9.97233621e-06 -5.16431286e-03 1.28142753e+02] [-7.07336414e-06 9.99999842e-01 5.61365065e-04 -1.30034272e+01] [ 5.16431764e-03 -5.61321050e-04 9.99986507e-01 -3.80740337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74992885099996 meters 0.09524766248148026 Centerline is valid? [True, True] Translation: X:128.17, Y:-13.00, Z:-3.81 [[ 9.99990185e-01 -1.82128107e-04 -4.42691092e-03 1.28171855e+02] [ 1.84274310e-04 9.99999866e-01 4.84405122e-04 -1.29997303e+01] [ 4.42682210e-03 -4.85216133e-04 9.99990084e-01 -3.80754825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77992885099997 meters 0.0946726094448749 Centerline is valid? [True, True] Translation: X:128.20, Y:-13.00, Z:-3.81 [[ 9.99991288e-01 -9.02077383e-05 -4.17314207e-03 1.28200741e+02] [ 9.21124942e-05 9.99999892e-01 4.56242129e-04 -1.29990395e+01] [ 4.17310046e-03 -4.56622553e-04 9.99991188e-01 -3.80853204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80992885099997 meters 0.09114912264253572 Centerline is valid? [True, True] Translation: X:128.23, Y:-12.99, Z:-3.81 [[ 9.99989103e-01 8.14583019e-04 -4.59676685e-03 1.28230991e+02] [-8.12304852e-04 9.99999546e-01 4.97447138e-04 -1.29925416e+01] [ 4.59716998e-03 -4.93707741e-04 9.99989311e-01 -3.80773504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83992885099997 meters 0.09295784425521036 Centerline is valid? [True, True] Translation: X:128.26, Y:-12.99, Z:-3.81 [[ 9.99989698e-01 2.28692461e-03 -3.92084236e-03 1.28259893e+02] [-2.28526231e-03 9.99997297e-01 4.28392161e-04 -1.29932466e+01] [ 3.92181147e-03 -4.19427594e-04 9.99992222e-01 -3.81017137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86992885099997 meters 0.09128693465075895 Centerline is valid? [True, True] Translation: X:128.29, Y:-12.99, Z:-3.81 [[ 9.99990525e-01 2.85746037e-03 -3.28412513e-03 1.28289672e+02] [-2.85629974e-03 9.99995857e-01 3.58042963e-04 -1.29901227e+01] [ 3.28513462e-03 -3.48659125e-04 9.99994543e-01 -3.81078225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89992885099997 meters 0.09433571604814453 Centerline is valid? [True, True] Translation: X:128.32, Y:-13.00, Z:-3.81 [[ 9.99986260e-01 3.70112264e-03 -3.71227552e-03 1.28317152e+02] [-3.69964927e-03 9.99993075e-01 4.03678597e-04 -1.29960816e+01] [ 3.71374388e-03 -3.89938933e-04 9.99993028e-01 -3.81298589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92992885099997 meters 0.09058739599227641 Centerline is valid? [True, True] Translation: X:128.35, Y:-12.99, Z:-3.81 [[ 9.99983737e-01 4.53685023e-03 -3.45582493e-03 1.28347200e+02] [-4.53557820e-03 9.99989644e-01 3.75832026e-04 -1.29860162e+01] [ 3.45749424e-03 -3.60151749e-04 9.99993958e-01 -3.81205818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95992885099997 meters 0.09302649947292001 Centerline is valid? [True, True] Translation: X:128.37, Y:-12.99, Z:-3.82 [[ 9.99983225e-01 4.94707637e-03 -3.01262050e-03 1.28374141e+02] [-4.94611437e-03 9.99987715e-01 3.26689169e-04 -1.29915911e+01] [ 3.01419964e-03 -3.11782924e-04 9.99995409e-01 -3.81525684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98992885099997 meters 0.0910996115832864 Centerline is valid? [True, True] Translation: X:128.40, Y:-12.99, Z:-3.81 [[ 9.99985985e-01 4.38433201e-03 -2.96776858e-03 1.28403839e+02] [-4.38339536e-03 9.99990341e-01 3.22038348e-04 -1.29888566e+01] [ 2.96915184e-03 -3.09024932e-04 9.99995544e-01 -3.81498928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01992885099997 meters 0.09255260877076447 Centerline is valid? [True, True] Translation: X:128.43, Y:-12.99, Z:-3.82 [[ 9.99994584e-01 2.37369713e-03 -2.27989906e-03 1.28432389e+02] [-2.37313824e-03 9.99997153e-01 2.47815010e-04 -1.29917839e+01] [ 2.28048081e-03 -2.42403152e-04 9.99997370e-01 -3.81635092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04992885099998 meters 0.09399900427423118 Centerline is valid? [True, True] Translation: X:128.46, Y:-13.00, Z:-3.82 [[ 9.99997192e-01 1.11725101e-03 -2.08971601e-03 1.28460976e+02] [-1.11678007e-03 9.99999351e-01 2.26518452e-04 -1.29954947e+01] [ 2.08996773e-03 -2.24184063e-04 9.99997791e-01 -3.81728322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07992885099998 meters 0.09415237292835313 Centerline is valid? [True, True] Translation: X:128.49, Y:-13.00, Z:-3.82 [[ 9.99998855e-01 3.01445921e-04 -1.48296568e-03 1.28490306e+02] [-3.01207856e-04 9.99999942e-01 1.60754231e-04 -1.29969612e+01] [ 1.48301405e-03 -1.60307366e-04 9.99998887e-01 -3.81767033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10992885099998 meters 0.09299257972888977 Centerline is valid? [True, True] Translation: X:128.52, Y:-13.00, Z:-3.82 [[ 9.99999578e-01 -8.84191570e-04 -2.50395833e-04 1.28520476e+02] [ 8.84198201e-04 9.99999609e-01 2.63727734e-05 -1.29961361e+01] [ 2.50372417e-04 -2.65941618e-05 9.99999968e-01 -3.81777285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13992885099998 meters 0.09422966157253124 Centerline is valid? [True, True] Translation: X:128.55, Y:-13.00, Z:-3.82 [[ 9.99997422e-01 -2.26009535e-03 -2.17890476e-04 1.28550875e+02] [ 2.26010058e-03 9.99997446e-01 2.37443014e-05 -1.29980021e+01] [ 2.17836255e-04 -2.42366946e-05 9.99999976e-01 -3.81886703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16992885099998 meters 0.09409016567731193 Centerline is valid? [True, True] Translation: X:128.58, Y:-13.00, Z:-3.82 [[ 9.99996283e-01 -2.72482029e-03 9.51425510e-05 1.28582160e+02] [ 2.72482121e-03 9.99996288e-01 -9.46190610e-06 -1.29997756e+01] [-9.51164158e-05 9.72111737e-06 9.99999995e-01 -3.82051026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19992885099998 meters 0.09786609542885777 Centerline is valid? [True, True] Translation: X:128.61, Y:-13.01, Z:-3.82 [[ 9.99994183e-01 -3.40189082e-03 2.48135729e-04 1.28611419e+02] [ 3.40189738e-03 9.99994213e-01 -2.60129535e-05 -1.30086495e+01] [-2.48045799e-04 2.68569345e-05 9.99999969e-01 -3.82250399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22992885099998 meters 0.09781238310667181 Centerline is valid? [True, True] Translation: X:128.64, Y:-13.01, Z:-3.82 [[ 9.99991735e-01 -4.03231665e-03 -5.19940446e-04 1.28642560e+02] [ 4.03234713e-03 9.99991868e-01 5.76011171e-05 -1.30099334e+01] [ 5.19703952e-04 -5.96972214e-05 9.99999863e-01 -3.82410868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25992885099998 meters 0.09494481100098578 Centerline is valid? [True, True] Translation: X:128.67, Y:-13.01, Z:-3.82 [[ 9.99994164e-01 -3.41612188e-03 4.89197781e-05 1.28674935e+02] [ 3.41612210e-03 9.99994165e-01 -4.42715081e-06 -1.30051085e+01] [-4.89043690e-05 4.59424091e-06 9.99999999e-01 -3.82346950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28992885099998 meters 0.0924638552839557 Centerline is valid? [True, True] Translation: X:128.71, Y:-13.00, Z:-3.82 [[ 9.99993719e-01 -3.50699405e-03 -5.12449348e-04 1.28706794e+02] [ 3.50702365e-03 9.99993849e-01 5.68602194e-05 -1.30011140e+01] [ 5.12246787e-04 -5.86570342e-05 9.99999867e-01 -3.82282188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319928851 meters 0.09724109658413052 Centerline is valid? [True, True] Translation: X:128.74, Y:-13.01, Z:-3.83 [[ 9.99993324e-01 -3.61324353e-03 5.44701853e-04 1.28736345e+02] [ 3.61327619e-03 9.99993470e-01 -5.90052428e-05 -1.30110769e+01] [-5.44485096e-04 6.09730071e-05 9.99999850e-01 -3.82584411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.349928851 meters 0.09338490463359733 Centerline is valid? [True, True] Translation: X:128.77, Y:-13.00, Z:-3.82 [[ 9.99994620e-01 -3.19025379e-03 -7.63649949e-04 1.28769186e+02] [ 3.19031910e-03 9.99994907e-01 8.43119262e-05 -1.30034711e+01] [ 7.63377084e-04 -8.67477596e-05 9.99999705e-01 -3.82494862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379928851 meters 0.097216370496691 Centerline is valid? [True, True] Translation: X:128.80, Y:-13.01, Z:-3.83 [[ 9.99993896e-01 -3.43375103e-03 -6.46398516e-04 1.28798410e+02] [ 3.43379827e-03 9.99994102e-01 7.19909815e-05 -1.30122908e+01] [ 6.46147504e-04 -7.42101442e-05 9.99999788e-01 -3.82738632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40992885099996 meters 0.09670668074439089 Centerline is valid? [True, True] Translation: X:128.83, Y:-13.01, Z:-3.83 [[ 9.99993368e-01 -3.64194313e-03 -6.35427011e-06 1.28829913e+02] [ 3.64194314e-03 9.99993368e-01 1.58834715e-06 -1.30129890e+01] [ 6.34844329e-06 -1.61147851e-06 1.00000000e+00 -3.82735943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43992885099996 meters 0.0988322308695124 Centerline is valid? [True, True] Translation: X:128.86, Y:-13.02, Z:-3.83 [[ 9.99993895e-01 -3.43057053e-03 6.63643706e-04 1.28860644e+02] [ 3.43061854e-03 9.99994113e-01 -7.12288132e-05 -1.30184990e+01] [-6.63395444e-04 7.35050868e-05 9.99999777e-01 -3.82933459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46992885099996 meters 0.09747798113600001 Centerline is valid? [True, True] Translation: X:128.89, Y:-13.02, Z:-3.83 [[ 9.99994189e-01 -3.36109057e-03 5.69937046e-04 1.28892599e+02] [ 3.36112614e-03 9.99994350e-01 -6.14511949e-05 -1.30178942e+01] [-5.69727283e-04 6.33664681e-05 9.99999836e-01 -3.82927407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49992885099996 meters 0.09868745224679105 Centerline is valid? [True, True] Translation: X:128.92, Y:-13.02, Z:-3.83 [[ 9.99994208e-01 -3.03407210e-03 1.54191732e-03 1.28923690e+02] [ 3.03433378e-03 9.99995382e-01 -1.67399557e-04 -1.30204765e+01] [-1.54140230e-03 1.72077279e-04 9.99998797e-01 -3.83040590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52992885099997 meters 0.09927677274842206 Centerline is valid? [True, True] Translation: X:128.96, Y:-13.02, Z:-3.83 [[ 9.99995380e-01 -2.99422785e-03 5.23694113e-04 1.28955732e+02] [ 2.99425737e-03 9.99995516e-01 -5.55926781e-05 -1.30233798e+01] [-5.23525307e-04 5.71604963e-05 9.99999861e-01 -3.83187388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55992885099997 meters 0.09316564689564395 Centerline is valid? [True, True] Translation: X:128.99, Y:-13.01, Z:-3.83 [[ 9.99996722e-01 -2.53374084e-03 3.67979327e-04 1.28988305e+02] [ 2.53375551e-03 9.99996789e-01 -3.93862106e-05 -1.30141317e+01] [-3.67878351e-04 4.03184511e-05 9.99999932e-01 -3.83008740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58992885099997 meters 0.09411321761957066 Centerline is valid? [True, True] Translation: X:129.02, Y:-13.02, Z:-3.83 [[ 9.99997131e-01 -2.31891126e-03 5.99773037e-04 1.29018160e+02] [ 2.31895080e-03 9.99997309e-01 -6.52469647e-05 -1.30181543e+01] [-5.99620121e-04 6.66376217e-05 9.99999818e-01 -3.83165641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61992885099997 meters 0.09411321761957066 Centerline is valid? [True, True] Translation: X:129.05, Y:-13.02, Z:-3.83 [[ 9.99997210e-01 -2.28475178e-03 5.99819869e-04 1.29049011e+02] [ 2.28479106e-03 9.99997388e-01 -6.48195820e-05 -1.30215668e+01] [-5.99670206e-04 6.61898642e-05 9.99999818e-01 -3.83247660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64992885099997 meters 0.0959207803233236 Centerline is valid? [True, True] Translation: X:129.08, Y:-13.03, Z:-3.83 [[ 9.99996928e-01 -2.44716653e-03 -3.93505954e-04 1.29079031e+02] [ 2.44718387e-03 9.99997005e-01 4.35773649e-05 -1.30255698e+01] [ 3.93398134e-04 -4.45402125e-05 9.99999922e-01 -3.83456983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67992885099997 meters 0.09666810334862268 Centerline is valid? [True, True] Translation: X:129.11, Y:-13.03, Z:-3.84 [[ 9.99997419e-01 -2.27077199e-03 7.73370495e-05 1.29109727e+02] [ 2.27077259e-03 9.99997422e-01 -7.58952646e-06 -1.30294578e+01] [-7.73196161e-05 7.76512173e-06 9.99999997e-01 -3.83528827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70992885099997 meters 0.09762362845988454 Centerline is valid? [True, True] Translation: X:129.14, Y:-13.03, Z:-3.84 [[ 9.99996374e-01 -2.60854094e-03 -6.69551413e-04 1.29139804e+02] [ 2.60859097e-03 9.99996595e-01 7.38559512e-05 -1.30332029e+01] [ 6.69356477e-04 -7.56022691e-05 9.99999773e-01 -3.83626172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73992885099997 meters 0.09766630306036353 Centerline is valid? [True, True] Translation: X:129.17, Y:-13.04, Z:-3.84 [[ 9.99997239e-01 -2.29195786e-03 -5.17654881e-04 1.29170314e+02] [ 2.29198754e-03 9.99997372e-01 5.67591000e-05 -1.30356667e+01] [ 5.17523431e-04 -5.79454019e-05 9.99999864e-01 -3.83719981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76992885099997 meters 0.09639378545313276 Centerline is valid? [True, True] Translation: X:129.20, Y:-13.03, Z:-3.84 [[ 9.99996750e-01 -2.48762474e-03 -5.58658106e-04 1.29201374e+02] [ 2.48765935e-03 9.99996904e-01 6.12549643e-05 -1.30348416e+01] [ 5.58503997e-04 -6.26445163e-05 9.99999842e-01 -3.83720189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79992885099998 meters 0.09984877027780244 Centerline is valid? [True, True] Translation: X:129.23, Y:-13.04, Z:-3.84 [[ 9.99996779e-01 -2.41425887e-03 -7.82644896e-04 1.29231192e+02] [ 2.41432712e-03 9.99997082e-01 8.62679329e-05 -1.30430951e+01] [ 7.82434339e-04 -8.81572159e-05 9.99999690e-01 -3.83935909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82992885099998 meters 0.09684854772041368 Centerline is valid? [True, True] Translation: X:129.26, Y:-13.04, Z:-3.84 [[ 9.99998636e-01 -1.38513134e-03 -8.99354452e-04 1.29262430e+02] [ 1.38522059e-03 9.99999036e-01 9.86262502e-05 -1.30402375e+01] [ 8.99216975e-04 -9.98719200e-05 9.99999591e-01 -3.83891733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85992885099998 meters 0.09655494572179568 Centerline is valid? [True, True] Translation: X:129.29, Y:-13.04, Z:-3.84 [[ 9.99999154e-01 5.19263430e-05 -1.29964239e-03 1.29292973e+02] [-5.17411570e-05 9.99999989e-01 1.42523178e-04 -1.30398567e+01] [ 1.29964977e-03 -1.42455813e-04 9.99999145e-01 -3.84014001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88992885099998 meters 0.09685415725299418 Centerline is valid? [True, True] Translation: X:129.32, Y:-13.04, Z:-3.84 [[ 9.99998911e-01 1.12647611e-03 -9.53083647e-04 1.29323108e+02] [-1.12637743e-03 9.99999360e-01 1.04063566e-04 -1.30418772e+01] [ 9.53200262e-04 -1.02989921e-04 9.99999540e-01 -3.84162713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91992885099998 meters 0.09502516356337035 Centerline is valid? [True, True] Translation: X:129.35, Y:-13.04, Z:-3.84 [[ 9.99995366e-01 2.60640808e-03 -1.57283880e-03 1.29353432e+02] [-2.60614077e-03 9.99996589e-01 1.71983985e-04 -1.30399836e+01] [ 1.57328170e-03 -1.67884149e-04 9.99998748e-01 -3.84196657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94992885099998 meters 0.10438907408512942 Centerline is valid? [True, False] Translation: X:129.35, Y:-13.04, Z:-3.84 [[ 9.99994536e-01 2.70733790e-03 -1.89682609e-03 1.29354452e+02] [-2.70740162e-03 9.99996335e-01 -3.10278212e-05 -1.30385064e+01] [ 1.89673513e-03 3.61631217e-05 9.99998201e-01 -3.84251810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97992885099998 meters 0.08958886139431838 Centerline is valid? [False, True] Translation: X:129.36, Y:-13.03, Z:-3.84 [[ 9.99994748e-01 2.26947556e-03 -2.31367876e-03 1.29355079e+02] [-2.27237580e-03 9.99996635e-01 -1.25166235e-03 -1.30346753e+01] [ 2.31083036e-03 1.25691333e-03 9.99996540e-01 -3.84231524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00992885099998 meters 0.09623712127347482 Centerline is valid? [True, True] Translation: X:129.38, Y:-13.05, Z:-3.85 [[ 9.99993096e-01 3.37244688e-03 -1.56033897e-03 1.29382731e+02] [-3.37219700e-03 9.99994301e-01 1.62745761e-04 -1.30497587e+01] [ 1.56087893e-03 -1.57482867e-04 9.99998769e-01 -3.84737506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03992885099998 meters 0.09172758990330178 Centerline is valid? [True, True] Translation: X:129.41, Y:-13.04, Z:-3.85 [[ 9.99989125e-01 3.99628339e-03 -2.40395838e-03 1.29412614e+02] [-3.99569338e-03 9.99991986e-01 2.50184909e-04 -1.30425689e+01] [ 2.40493892e-03 -2.40576708e-04 9.99997079e-01 -3.84561825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.069928851 meters 0.09172832971804312 Centerline is valid? [True, True] Translation: X:129.44, Y:-13.04, Z:-3.85 [[ 9.99983851e-01 5.41148018e-03 -1.73621703e-03 1.29441651e+02] [-5.41117392e-03 9.99985343e-01 1.81043076e-04 -1.30447015e+01] [ 1.73717129e-03 -1.71645180e-04 9.99998476e-01 -3.84677014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099928851 meters 0.09096842037719571 Centerline is valid? [True, True] Translation: X:129.47, Y:-13.04, Z:-3.85 [[ 9.99980578e-01 5.95173750e-03 -1.84967807e-03 1.29470574e+02] [-5.95139261e-03 9.99982272e-01 1.91907058e-04 -1.30436484e+01] [ 1.85078746e-03 -1.80895171e-04 9.99998271e-01 -3.84700350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.129928851 meters 0.09098105070802893 Centerline is valid? [True, True] Translation: X:129.50, Y:-13.05, Z:-3.85 [[ 9.99979791e-01 6.19642992e-03 -1.42183078e-03 1.29499521e+02] [-6.19622710e-03 9.99980792e-01 1.47001858e-04 -1.30462458e+01] [ 1.42271435e-03 -1.38188900e-04 9.99998978e-01 -3.84784591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15992885099996 meters 0.09207641918843697 Centerline is valid? [True, True] Translation: X:129.53, Y:-13.05, Z:-3.85 [[ 9.99981428e-01 5.96828125e-03 -1.23422397e-03 1.29526717e+02] [-5.96812921e-03 9.99982183e-01 1.26828673e-04 -1.30505986e+01] [ 1.23495893e-03 -1.19460309e-04 9.99999230e-01 -3.84860138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18992885099996 meters 0.09314978047542218 Centerline is valid? [True, True] Translation: X:129.55, Y:-13.05, Z:-3.85 [[ 9.99985404e-01 5.40234505e-03 -8.41324197e-05 1.29553947e+02] [-5.40234452e-03 9.99985407e-01 6.58976083e-06 -1.30544641e+01] [ 8.41667922e-05 -6.13515233e-06 9.99999996e-01 -3.85052473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21992885099996 meters 0.09240788962826249 Centerline is valid? [True, True] Translation: X:129.58, Y:-13.06, Z:-3.85 [[ 9.99989703e-01 4.53463126e-03 1.78024903e-04 1.29583986e+02] [-4.53462786e-03 9.99989718e-01 -1.94840811e-05 -1.30557373e+01] [-1.78111425e-04 1.86766038e-05 9.99999984e-01 -3.84993783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24992885099996 meters 0.09337279281176147 Centerline is valid? [True, True] Translation: X:129.61, Y:-13.06, Z:-3.85 [[ 9.99992783e-01 3.79384592e-03 2.03065835e-04 1.29612993e+02] [-3.79384151e-03 9.99992803e-01 -2.20940207e-05 -1.30601377e+01] [-2.03148195e-04 2.13234616e-05 9.99999979e-01 -3.85157708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27992885099997 meters 0.09197853198755743 Centerline is valid? [True, True] Translation: X:129.64, Y:-13.06, Z:-3.85 [[ 9.99996761e-01 2.53594461e-03 2.15481717e-04 1.29642661e+02] [-2.53593962e-03 9.99996784e-01 -2.34038707e-05 -1.30602133e+01] [-2.15540375e-04 2.28573463e-05 9.99999977e-01 -3.85137792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30992885099997 meters 0.09469027763365317 Centerline is valid? [True, True] Translation: X:129.67, Y:-13.07, Z:-3.85 [[ 9.99999401e-01 9.82708457e-04 4.81433060e-04 1.29671073e+02] [-9.82683949e-04 9.99999516e-01 -5.11400871e-05 -1.30682337e+01] [-4.81483082e-04 5.06669599e-05 9.99999883e-01 -3.85343386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33992885099997 meters 0.10007254214345035 Centerline is valid? [True, False] Translation: X:129.67, Y:-13.07, Z:-3.85 [[ 9.99999344e-01 8.91562798e-04 7.19386748e-04 1.29670699e+02] [-8.91612012e-04 9.99999600e-01 6.80922810e-05 -1.30686197e+01] [-7.19325751e-04 -6.87336502e-05 9.99999739e-01 -3.85361146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36992885099997 meters 0.09820093972374751 Centerline is valid? [False, True] Translation: X:129.67, Y:-13.07, Z:-3.85 [[ 9.99999100e-01 1.08399268e-03 7.90952217e-04 1.29670943e+02] [-1.08431981e-03 9.99999327e-01 4.13267310e-04 -1.30691461e+01] [-7.90503706e-04 -4.14124583e-04 9.99999602e-01 -3.85416784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39992885099997 meters 0.09941134410978018 Centerline is valid? [True, True] Translation: X:129.70, Y:-13.07, Z:-3.85 [[ 9.99999738e-01 -6.94841492e-04 2.02068634e-04 1.29701198e+02] [ 6.94845929e-04 9.99999758e-01 -2.18893884e-05 -1.30740079e+01] [-2.02053376e-04 2.20297893e-05 9.99999979e-01 -3.85498822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42992885099997 meters 0.09870859603408104 Centerline is valid? [True, True] Translation: X:129.73, Y:-13.08, Z:-3.86 [[ 9.99997206e-01 -2.36294583e-03 -6.57337869e-05 1.29732045e+02] [ 2.36294633e-03 9.99997208e-01 7.58168896e-06 -1.30760472e+01] [ 6.57156883e-05 -7.73699319e-06 9.99999998e-01 -3.85540732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45992885099997 meters 0.10024339905079709 Centerline is valid? [True, False] Translation: X:129.73, Y:-13.08, Z:-3.86 [[ 9.99997492e-01 -2.23983202e-03 -8.84344065e-07 1.29732366e+02] [ 2.23983219e-03 9.99997452e-01 2.82557576e-04 -1.30761750e+01] [ 2.51460303e-07 -2.82558848e-04 9.99999960e-01 -3.85607627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48992885099997 meters 0.10266837021503808 Centerline is valid? [False, False] Translation: X:129.73, Y:-13.08, Z:-3.86 [[ 9.99997910e-01 -2.04280399e-03 -8.03214066e-05 1.29732946e+02] [ 2.04284516e-03 9.99997780e-01 5.15834360e-04 -1.30760747e+01] [ 7.92674799e-05 -5.15997366e-04 9.99999864e-01 -3.85669335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51992885099997 meters 0.10109748995867762 Centerline is valid? [False, False] Translation: X:129.73, Y:-13.08, Z:-3.86 [[ 9.99998042e-01 -1.96823170e-03 -2.06703132e-04 1.29733373e+02] [ 1.96833452e-03 9.99997939e-01 4.98418461e-04 -1.30757455e+01] [ 2.05721703e-04 -4.98824346e-04 9.99999854e-01 -3.85691488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54992885099998 meters 0.10194699616651483 Centerline is valid? [False, False] Translation: X:129.73, Y:-13.07, Z:-3.86 [[ 9.99997747e-01 -2.07667278e-03 -4.40757209e-04 1.29733955e+02] [ 2.07671557e-03 9.99997839e-01 9.66351304e-05 -1.30739587e+01] [ 4.40555577e-04 -9.75502400e-05 9.99999898e-01 -3.85707871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57992885099998 meters 0.10297918130652976 Centerline is valid? [False, False] Translation: X:129.73, Y:-13.07, Z:-3.86 [[ 9.99997856e-01 -1.96498354e-03 -6.53401523e-04 1.29734649e+02] [ 1.96503554e-03 9.99998066e-01 7.89552273e-05 -1.30732257e+01] [ 6.53245114e-04 -8.02390153e-05 9.99999783e-01 -3.85746546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60992885099998 meters 0.10294937440458327 Centerline is valid? [False, False] Translation: X:129.73, Y:-13.07, Z:-3.86 [[ 9.99997431e-01 -2.13581265e-03 -7.59210949e-04 1.29734784e+02] [ 2.13559550e-03 9.99997679e-01 -2.86724079e-04 -1.30721151e+01] [ 7.59821576e-04 2.85101975e-04 9.99999671e-01 -3.85735960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63992885099998 meters 0.10273046791993401 Centerline is valid? [False, False] Translation: X:129.74, Y:-13.07, Z:-3.86 [[ 9.99997449e-01 -2.03605884e-03 -9.78445157e-04 1.29735464e+02] [ 2.03572573e-03 9.99997870e-01 -3.41328089e-04 -1.30714262e+01] [ 9.79138037e-04 3.39335372e-04 9.99999463e-01 -3.85767907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66992885099998 meters 0.09973893941006595 Centerline is valid? [False, True] Translation: X:129.74, Y:-13.07, Z:-3.86 [[ 9.99997130e-01 -2.05732285e-03 -1.22759106e-03 1.29736206e+02] [ 2.05648808e-03 9.99997654e-01 -6.80881352e-04 -1.30697043e+01] [ 1.22898897e-03 6.78354872e-04 9.99999015e-01 -3.85803491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69992885099998 meters 0.10015014246128852 Centerline is valid? [True, False] Translation: X:129.74, Y:-13.07, Z:-3.86 [[ 9.99997138e-01 -2.03371541e-03 -1.25985754e-03 1.29736502e+02] [ 2.03287925e-03 9.99997713e-01 -6.64622498e-04 -1.30692304e+01] [ 1.26120631e-03 6.62059457e-04 9.99998986e-01 -3.85839315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72992885099998 meters 0.10086403935555217 Centerline is valid? [False, False] Translation: X:129.74, Y:-13.07, Z:-3.86 [[ 9.99997357e-01 -1.86801157e-03 -1.34065076e-03 1.29737031e+02] [ 1.86734640e-03 9.99998133e-01 -4.97232280e-04 -1.30690212e+01] [ 1.34157709e-03 4.94727507e-04 9.99998978e-01 -3.85892968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75992885099998 meters 0.09997472638381469 Centerline is valid? [False, True] Translation: X:129.74, Y:-13.07, Z:-3.86 [[ 9.99997555e-01 -1.72354415e-03 -1.38543015e-03 1.29737409e+02] [ 1.72311681e-03 9.99998468e-01 -3.09591062e-04 -1.30690646e+01] [ 1.38596162e-03 3.07203047e-04 9.99998992e-01 -3.85933462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78992885099998 meters 0.10867766001990775 Centerline is valid? [True, False] Translation: X:129.74, Y:-13.07, Z:-3.86 [[ 9.99997932e-01 -1.44408592e-03 -1.43209500e-03 1.29738018e+02] [ 1.44420470e-03 9.99998954e-01 8.19123873e-05 -1.30694224e+01] [ 1.43197521e-03 -8.39804563e-05 9.99998971e-01 -3.86008144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819928851 meters 0.09950449335404624 Centerline is valid? [False, True] Translation: X:129.74, Y:-13.07, Z:-3.86 [[ 9.99998016e-01 -1.50228360e-03 -1.30821215e-03 1.29737825e+02] [ 1.50242665e-03 9.99998865e-01 1.08374809e-04 -1.30695046e+01] [ 1.30804786e-03 -1.10340087e-04 9.99999138e-01 -3.86018645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.849928851 meters 0.0995675761102 Centerline is valid? [True, True] Translation: X:129.77, Y:-13.07, Z:-3.86 [[ 9.99997374e-01 -2.23715273e-03 -4.97313955e-04 1.29767892e+02] [ 2.23718009e-03 9.99997496e-01 5.44648582e-05 -1.30733067e+01] [ 4.97190864e-04 -5.55772960e-05 9.99999875e-01 -3.86090482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879928851 meters 0.1041816720652759 Centerline is valid? [True, False] Translation: X:129.77, Y:-13.07, Z:-3.86 [[ 9.99997797e-01 -2.05651404e-03 -4.21215405e-04 1.29767987e+02] [ 2.05667539e-03 9.99997812e-01 3.82989752e-04 -1.30740171e+01] [ 4.20426860e-04 -3.83855212e-04 9.99999838e-01 -3.86125929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90992885099996 meters 0.09885491344660184 Centerline is valid? [False, True] Translation: X:129.77, Y:-13.08, Z:-3.86 [[ 9.99998043e-01 -1.96167694e-03 -2.58163417e-04 1.29767612e+02] [ 1.96186132e-03 9.99997819e-01 7.15887958e-04 -1.30753155e+01] [ 2.56758513e-04 -7.16393037e-04 9.99999710e-01 -3.86119026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93992885099996 meters 0.09956887097376643 Centerline is valid? [True, True] Translation: X:129.80, Y:-13.08, Z:-3.86 [[ 9.99997554e-01 -2.14354202e-03 -5.46056260e-04 1.29798132e+02] [ 2.14357642e-03 9.99997701e-01 6.24307549e-05 -1.30804995e+01] [ 5.45921181e-04 -6.36011155e-05 9.99999849e-01 -3.86208502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96992885099996 meters 0.10019821601896632 Centerline is valid? [True, False] Translation: X:129.80, Y:-13.08, Z:-3.86 [[ 9.99997773e-01 -2.02918896e-03 -5.80213012e-04 1.29798196e+02] [ 2.02933566e-03 9.99997909e-01 2.52351995e-04 -1.30810995e+01] [ 5.79699729e-04 -2.53528880e-04 9.99999800e-01 -3.86209433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99992885099996 meters 0.10017525296361743 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.08, Z:-3.86 [[ 9.99997778e-01 -2.05917131e-03 -4.50368753e-04 1.29797700e+02] [ 2.05933026e-03 9.99997817e-01 3.52755956e-04 -1.30818668e+01] [ 4.49641385e-04 -3.53682630e-04 9.99999836e-01 -3.86175835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02992885099997 meters 0.10270161107133129 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.08, Z:-3.86 [[ 9.99998360e-01 -1.73361633e-03 -5.23502827e-04 1.29798160e+02] [ 1.73404593e-03 9.99998159e-01 8.21287582e-04 -1.30827635e+01] [ 5.22078065e-04 -8.22194013e-04 9.99999526e-01 -3.86220518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05992885099997 meters 0.10142704667568822 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.08, Z:-3.86 [[ 9.99998655e-01 -1.55642889e-03 -5.17205879e-04 1.29798363e+02] [ 1.55699271e-03 9.99998192e-01 1.09151049e-03 -1.30833232e+01] [ 5.15506085e-04 -1.09231431e-03 9.99999271e-01 -3.86249271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08992885099997 meters 0.10044449013469178 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.08, Z:-3.86 [[ 9.99998986e-01 -1.31888170e-03 -5.37834642e-04 1.29798580e+02] [ 1.31965658e-03 9.99998088e-01 1.44293449e-03 -1.30842198e+01] [ 5.35930554e-04 -1.44364279e-03 9.99998814e-01 -3.86273388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11992885099997 meters 0.10251716527166818 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.09, Z:-3.86 [[ 9.99999504e-01 -8.57062582e-04 -5.07595859e-04 1.29798787e+02] [ 8.58185004e-04 9.99997178e-01 2.21517543e-03 -1.30863300e+01] [ 5.05695883e-04 -2.21560994e-03 9.99997418e-01 -3.86305949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14992885099997 meters 0.10216068067425567 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.09, Z:-3.86 [[ 9.99999512e-01 -8.98029352e-04 -4.11271577e-04 1.29798369e+02] [ 8.98954671e-04 9.99997053e-01 2.25526752e-03 -1.30870136e+01] [ 4.09245068e-04 -2.25563613e-03 9.99997372e-01 -3.86273549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17992885099997 meters 0.10060569922533598 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.09, Z:-3.86 [[ 9.99999650e-01 -7.11647612e-04 -4.40509027e-04 1.29798487e+02] [ 7.12748413e-04 9.99996611e-01 2.50383757e-03 -1.30878059e+01] [ 4.38725684e-04 -2.50415067e-03 9.99996768e-01 -3.86277062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20992885099997 meters 0.10101038549968905 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.09, Z:-3.86 [[ 9.99999703e-01 -7.34911263e-04 -2.32284480e-04 1.29797790e+02] [ 7.35534355e-04 9.99996101e-01 2.69384899e-03 -1.30891422e+01] [ 2.30303835e-04 -2.69401904e-03 9.99996345e-01 -3.86236391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23992885099997 meters 0.10430923248775262 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.09, Z:-3.86 [[ 9.99999716e-01 -7.39355195e-04 -1.45131275e-04 1.29797492e+02] [ 7.39755061e-04 9.99995877e-01 2.77476249e-03 -1.30897724e+01] [ 1.43079141e-04 -2.77486906e-03 9.99996140e-01 -3.86219293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26992885099997 meters 0.10482331312823677 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.09, Z:-3.86 [[ 9.99999702e-01 -7.71024552e-04 -3.66084342e-05 1.29797047e+02] [ 7.71125545e-04 9.99995659e-01 2.84389096e-03 -1.30905433e+01] [ 3.44155656e-05 -2.84391834e-03 9.99995955e-01 -3.86183910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29992885099998 meters 0.10435985509824795 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.09, Z:-3.86 [[ 9.99999729e-01 -7.36223997e-04 2.85416294e-05 1.29796829e+02] [ 7.36136815e-04 9.99995399e-01 2.94287572e-03 -1.30912154e+01] [-3.07081138e-05 -2.94285391e-03 9.99995669e-01 -3.86166879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32992885099998 meters 0.10347097036504743 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.09, Z:-3.86 [[ 9.99999814e-01 -6.02022160e-04 9.35827028e-05 1.29796304e+02] [ 6.01712986e-04 9.99994474e-01 3.26939730e-03 -1.30930059e+01] [-9.55504353e-05 -3.26934038e-03 9.99994651e-01 -3.86102877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35992885099998 meters 0.10916092371366712 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.09, Z:-3.86 [[ 9.99999933e-01 -3.45669556e-04 1.18034497e-04 1.29796376e+02] [ 3.45231394e-04 9.99993124e-01 3.69221179e-03 -1.30942077e+01] [-1.19309970e-04 -3.69217079e-03 9.99993177e-01 -3.86118393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38992885099998 meters 0.10635627583490034 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.10, Z:-3.86 [[ 9.99999977e-01 -1.81844681e-04 1.12710352e-04 1.29796240e+02] [ 1.81390573e-04 9.99991919e-01 4.01597872e-03 -1.30955205e+01] [-1.13439725e-04 -4.01595818e-03 9.99991930e-01 -3.86097997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41992885099998 meters 0.10852077613338795 Centerline is valid? [False, False] Translation: X:129.79, Y:-13.10, Z:-3.86 [[ 9.99999799e-01 -2.00764092e-04 6.01155671e-04 1.29794931e+02] [ 1.98014073e-04 9.99989533e-01 4.57112438e-03 -1.30984912e+01] [-6.02067096e-04 -4.57100442e-03 9.99989372e-01 -3.86045054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44992885099998 meters 0.1096478672805329 Centerline is valid? [False, False] Translation: X:129.79, Y:-13.10, Z:-3.86 [[ 9.99999736e-01 -1.08791065e-04 7.17899249e-04 1.29794542e+02] [ 1.05272050e-04 9.99987989e-01 4.90004171e-03 -1.30999014e+01] [-7.18423707e-04 -4.89996485e-03 9.99987737e-01 -3.86023288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47992885099998 meters 0.1062299458506781 Centerline is valid? [False, False] Translation: X:129.79, Y:-13.10, Z:-3.86 [[ 9.99999670e-01 -1.65321775e-05 8.12475915e-04 1.29794233e+02] [ 1.23373433e-05 9.99986673e-01 5.16275981e-03 -1.31010811e+01] [-8.12550439e-04 -5.16274808e-03 9.99986343e-01 -3.86005393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50992885099998 meters 0.10693590079974415 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.10, Z:-3.86 [[ 9.99994449e-01 -3.33138603e-03 -6.70206794e-05 1.29796617e+02] [ 3.33149284e-03 9.99993069e-01 1.66232964e-03 -1.31012869e+01] [ 6.14823531e-05 -1.66254369e-03 9.99998616e-01 -3.86101654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53992885099998 meters 0.10693590079974415 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.10, Z:-3.86 [[ 9.99994449e-01 -3.33138603e-03 -6.70206794e-05 1.29796617e+02] [ 3.33149284e-03 9.99993069e-01 1.66232964e-03 -1.31012869e+01] [ 6.14823531e-05 -1.66254369e-03 9.99998616e-01 -3.86101654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.569928851 meters 0.10843627666471913 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.10, Z:-3.86 [[ 9.99995057e-01 -3.14410393e-03 -2.10464806e-05 1.29796167e+02] [ 3.14414104e-03 9.99992876e-01 2.08878268e-03 -1.31033455e+01] [ 1.44789809e-05 -2.08883853e-03 9.99997818e-01 -3.86047960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599928851 meters 0.10740039601323308 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.10, Z:-3.86 [[ 9.99996301e-01 -2.71346918e-03 -1.88468987e-04 1.29796818e+02] [ 2.71395950e-03 9.99992801e-01 2.65195486e-03 -1.31044932e+01] [ 1.81271632e-04 -2.65245655e-03 9.99996466e-01 -3.86089891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.629928851 meters 0.1042550419105294 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.10, Z:-3.86 [[ 9.99996931e-01 -2.44377114e-03 -4.06172467e-04 1.29797496e+02] [ 2.44494386e-03 9.99992770e-01 2.91225934e-03 -1.31048359e+01] [ 3.99052635e-04 -2.91324347e-03 9.99995677e-01 -3.86121934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65992885099996 meters 0.101468438720547 Centerline is valid? [False, False] Translation: X:129.80, Y:-13.10, Z:-3.86 [[ 9.99996794e-01 -2.46925773e-03 -5.60543432e-04 1.29797532e+02] [ 2.47079385e-03 9.99993149e-01 2.75645492e-03 -1.31048468e+01] [ 5.53733194e-04 -2.75783107e-03 9.99996044e-01 -3.86079629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68992885099996 meters 0.099998129287867 Centerline is valid? [False, True] Translation: X:129.80, Y:-13.10, Z:-3.86 [[ 9.99996548e-01 -2.53795231e-03 -6.80887327e-04 1.29797396e+02] [ 2.53968594e-03 9.99993505e-01 2.55746101e-03 -1.31047995e+01] [ 6.74392191e-04 -2.55918142e-03 9.99996498e-01 -3.86023443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71992885099996 meters 0.10192135717432879 Centerline is valid? [True, False] Translation: X:129.80, Y:-13.11, Z:-3.86 [[ 9.99996993e-01 -2.29332390e-03 -8.68206861e-04 1.29797933e+02] [ 2.29573693e-03 9.99993477e-01 2.78860415e-03 -1.31051499e+01] [ 8.61806025e-04 -2.79058894e-03 9.99995735e-01 -3.86044508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74992885099996 meters 0.09989710397662895 Centerline is valid? [False, True] Translation: X:129.80, Y:-13.10, Z:-3.86 [[ 9.99996813e-01 -2.33550054e-03 -9.58787918e-04 1.29797976e+02] [ 2.33800983e-03 9.99993823e-01 2.62442275e-03 -1.31049791e+01] [ 9.52652655e-04 -2.62665604e-03 9.99996097e-01 -3.86022242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77992885099997 meters 0.09850040854200989 Centerline is valid? [True, True] Translation: X:129.83, Y:-13.11, Z:-3.86 [[ 9.99997659e-01 -1.76512715e-03 -1.25182858e-03 1.29828500e+02] [ 1.76530888e-03 9.99998431e-01 1.44077896e-04 -1.31056305e+01] [ 1.25157230e-03 -1.46287422e-04 9.99999206e-01 -3.85990768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80992885099997 meters 0.09652341813961286 Centerline is valid? [True, True] Translation: X:129.86, Y:-13.11, Z:-3.86 [[ 9.99998302e-01 -2.07890273e-04 -1.83093191e-03 1.29859009e+02] [ 2.08276448e-04 9.99999956e-01 2.10729185e-04 -1.31061837e+01] [ 1.83088802e-03 -2.11110167e-04 9.99998302e-01 -3.86146833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83992885099997 meters 0.09420233867322736 Centerline is valid? [True, True] Translation: X:129.89, Y:-13.10, Z:-3.86 [[ 9.99996389e-01 8.46101806e-04 -2.55075567e-03 1.29889419e+02] [-8.45356982e-04 9.99999600e-01 2.93065008e-04 -1.31048232e+01] [ 2.55100261e-03 -2.90907650e-04 9.99996704e-01 -3.86116038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86992885099997 meters 0.09539898616303409 Centerline is valid? [True, True] Translation: X:129.92, Y:-13.11, Z:-3.86 [[ 9.99995356e-01 2.17721823e-03 -2.13239686e-03 1.29917547e+02] [-2.17670302e-03 9.99997601e-01 2.43899688e-04 -1.31100969e+01] [ 2.13292277e-03 -2.39256960e-04 9.99997697e-01 -3.86274862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89992885099997 meters 0.09674438723086545 Centerline is valid? [True, True] Translation: X:129.95, Y:-13.11, Z:-3.86 [[ 9.99993168e-01 3.18216067e-03 -1.88090117e-03 1.29946161e+02] [-3.18176112e-03 9.99994915e-01 2.15376657e-04 -1.31149390e+01] [ 1.88157696e-03 -2.09390607e-04 9.99998208e-01 -3.86400880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92992885099997 meters 0.09484503925749024 Centerline is valid? [True, True] Translation: X:129.98, Y:-13.11, Z:-3.86 [[ 9.99974152e-01 6.95067569e-03 -1.83936275e-03 1.29976723e+02] [-6.95029850e-03 9.99975824e-01 2.11379203e-04 -1.31144323e+01] [ 1.84078751e-03 -1.98589619e-04 9.99998286e-01 -3.86472087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95992885099997 meters 0.09533590801814565 Centerline is valid? [True, True] Translation: X:130.01, Y:-13.12, Z:-3.87 [[ 9.99968011e-01 7.88417868e-03 -1.34795175e-03 1.30006404e+02] [-7.88397746e-03 9.99968909e-01 1.54526480e-04 -1.31182552e+01] [ 1.34912815e-03 -1.43894316e-04 9.99999080e-01 -3.86563368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98992885099997 meters 0.09454257665965048 Centerline is valid? [True, True] Translation: X:130.04, Y:-13.12, Z:-3.87 [[ 9.99961993e-01 8.66120214e-03 -9.98008135e-04 1.30035428e+02] [-8.66109374e-03 9.99962486e-01 1.12883806e-04 -1.31200987e+01] [ 9.98948405e-04 -1.04235674e-04 9.99999496e-01 -3.86612546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01992885099997 meters 0.09533195011443066 Centerline is valid? [True, True] Translation: X:130.06, Y:-13.12, Z:-3.87 [[ 9.99961838e-01 8.73216982e-03 -2.66605068e-04 1.30063941e+02] [-8.73216244e-03 9.99961874e-01 2.88318679e-05 -1.31246520e+01] [ 2.66846668e-04 -2.65027289e-05 9.99999964e-01 -3.86621267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04992885099998 meters 0.09311367887083075 Centerline is valid? [True, True] Translation: X:130.09, Y:-13.12, Z:-3.87 [[ 9.99970756e-01 7.64486627e-03 2.06239653e-04 1.30093590e+02] [-7.64486136e-03 9.99970777e-01 -2.45925443e-05 -1.31246164e+01] [-2.06421633e-04 2.30151516e-05 9.99999978e-01 -3.86553213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07992885099998 meters 0.09465151934731583 Centerline is valid? [True, True] Translation: X:130.12, Y:-13.13, Z:-3.87 [[ 9.99975357e-01 6.98172866e-03 7.35509710e-04 1.30120455e+02] [-6.98166655e-03 9.99975624e-01 -8.69805895e-05 -1.31321277e+01] [-7.36099056e-04 8.18433625e-05 9.99999726e-01 -3.86685294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10992885099998 meters 0.09406994129476524 Centerline is valid? [True, True] Translation: X:130.15, Y:-13.14, Z:-3.87 [[ 9.99985928e-01 5.29667965e-03 2.98994261e-04 1.30150389e+02] [-5.29666950e-03 9.99985972e-01 -3.47469305e-05 -1.31355325e+01] [-2.99174110e-04 3.31627677e-05 9.99999955e-01 -3.86776755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13992885099998 meters 0.0968912316253156 Centerline is valid? [True, True] Translation: X:130.18, Y:-13.15, Z:-3.87 [[ 9.99994463e-01 3.32565715e-03 -1.14725550e-04 1.30178205e+02] [-3.32565567e-03 9.99994470e-01 1.30958775e-05 -1.31466560e+01] [ 1.14768468e-04 -1.27142673e-05 9.99999993e-01 -3.87043972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16992885099998 meters 0.09940465437692543 Centerline is valid? [True, True] Translation: X:130.21, Y:-13.16, Z:-3.87 [[ 9.99997888e-01 1.99193164e-03 -5.06528470e-04 1.30206808e+02] [-1.99190257e-03 9.99998014e-01 5.78734809e-05 -1.31551188e+01] [ 5.06642744e-04 -5.68644033e-05 9.99999870e-01 -3.87138002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19992885099998 meters 0.09783895315202325 Centerline is valid? [True, True] Translation: X:130.24, Y:-13.16, Z:-3.87 [[ 9.99999522e-01 5.33043791e-04 -8.19825859e-04 1.30237436e+02] [-5.32966893e-04 9.99999854e-01 9.40134322e-05 -1.31566783e+01] [ 8.19875852e-04 -9.35764473e-05 9.99999660e-01 -3.87198034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22992885099998 meters 0.09996657199146727 Centerline is valid? [True, True] Translation: X:130.27, Y:-13.17, Z:-3.87 [[ 9.99999085e-01 -2.29401580e-04 -1.33283651e-03 1.30265597e+02] [ 2.29606691e-04 9.99999962e-01 1.53740042e-04 -1.31652278e+01] [ 1.33280119e-03 -1.54045929e-04 9.99999100e-01 -3.87347679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25992885099998 meters 0.0992753725739711 Centerline is valid? [True, True] Translation: X:130.30, Y:-13.17, Z:-3.87 [[ 9.99996170e-01 -2.22417430e-03 -1.64709031e-03 1.30295858e+02] [ 2.22448816e-03 9.99997508e-01 1.88750540e-04 -1.31704280e+01] [ 1.64666640e-03 -1.92413750e-04 9.99998626e-01 -3.87372353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28992885099998 meters 0.09930862223854164 Centerline is valid? [True, True] Translation: X:130.33, Y:-13.18, Z:-3.87 [[ 9.99992686e-01 -3.69392039e-03 -9.91235072e-04 1.30325331e+02] [ 3.69403464e-03 9.99993171e-01 1.13451105e-04 -1.31752196e+01] [ 9.90809223e-04 -1.17111932e-04 9.99999502e-01 -3.87362259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319928851 meters 0.09814938345578152 Centerline is valid? [True, True] Translation: X:130.36, Y:-13.18, Z:-3.87 [[ 9.99988248e-01 -4.84094542e-03 -2.62725954e-04 1.30356676e+02] [ 4.84095375e-03 9.99988282e-01 3.10593384e-05 -1.31779834e+01] [ 2.62572519e-04 -3.23308175e-05 9.99999965e-01 -3.87407287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.349928851 meters 0.10033891650127318 Centerline is valid? [True, False] Translation: X:130.36, Y:-13.18, Z:-3.87 [[ 9.99990493e-01 -4.35717912e-03 -1.68932040e-04 1.30356853e+02] [ 4.35733466e-03 9.99990073e-01 9.31529459e-04 -1.31800759e+01] [ 1.64871522e-04 -9.32256697e-04 9.99999552e-01 -3.87459466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379928851 meters 0.10331310141911627 Centerline is valid? [False, False] Translation: X:130.36, Y:-13.18, Z:-3.88 [[ 9.99992553e-01 -3.85820337e-03 9.42197399e-05 1.30356765e+02] [ 3.85799934e-03 9.99990400e-01 2.07723912e-03 -1.31831404e+01] [-1.02233246e-04 -2.07686015e-03 9.99997838e-01 -3.87515779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40992885099996 meters 0.10365059364747817 Centerline is valid? [False, False] Translation: X:130.36, Y:-13.18, Z:-3.87 [[ 9.99992649e-01 -3.82954485e-03 1.90578913e-04 1.30356369e+02] [ 3.82910078e-03 9.99990073e-01 2.27837161e-03 -1.31842730e+01] [-1.99302147e-04 -2.27762511e-03 9.99997386e-01 -3.87484671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43992885099996 meters 0.0975897160330319 Centerline is valid? [False, True] Translation: X:130.36, Y:-13.19, Z:-3.88 [[ 9.99994189e-01 -3.40156437e-03 2.25715729e-04 1.30356695e+02] [ 3.40087178e-03 9.99989714e-01 3.00095430e-03 -1.31859207e+01] [-2.35921347e-04 -3.00016924e-03 9.99995472e-01 -3.87540981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46992885099996 meters 0.1014227380381009 Centerline is valid? [True, False] Translation: X:130.36, Y:-13.19, Z:-3.88 [[ 9.99995032e-01 -3.13957783e-03 2.79923876e-04 1.30356740e+02] [ 3.13858381e-03 9.99989007e-01 3.48346324e-03 -1.31873150e+01] [-2.90857402e-04 -3.48256737e-03 9.99993894e-01 -3.87562257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49992885099996 meters 0.09984014880858738 Centerline is valid? [False, True] Translation: X:130.36, Y:-13.19, Z:-3.88 [[ 9.99995591e-01 -2.95389619e-03 3.05368075e-04 1.30356657e+02] [ 2.95268446e-03 9.99988055e-01 3.89516827e-03 -1.31887052e+01] [-3.16870350e-04 -3.89424944e-03 9.99992367e-01 -3.87556566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52992885099997 meters 0.10470539517728819 Centerline is valid? [True, False] Translation: X:130.36, Y:-13.19, Z:-3.88 [[ 9.99996422e-01 -2.66688982e-03 2.10377536e-04 1.30357083e+02] [ 2.66596505e-03 9.99987287e-01 4.27994563e-03 -1.31895052e+01] [-2.21789005e-04 -4.27936946e-03 9.99990819e-01 -3.87588139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55992885099997 meters 0.1024015170585197 Centerline is valid? [False, False] Translation: X:130.36, Y:-13.19, Z:-3.88 [[ 9.99996352e-01 -2.69509051e-03 1.82383988e-04 1.30356941e+02] [ 2.69429057e-03 9.99987328e-01 4.25268037e-03 -1.31897705e+01] [-1.93843036e-04 -4.25217346e-03 9.99990941e-01 -3.87560769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58992885099997 meters 0.10243015239222887 Centerline is valid? [False, False] Translation: X:130.36, Y:-13.19, Z:-3.88 [[ 9.99996754e-01 -2.54793169e-03 2.29650934e-05 1.30357172e+02] [ 2.54780690e-03 9.99987193e-01 4.37301630e-03 -1.31902110e+01] [-3.41069462e-05 -4.37294360e-03 9.99990438e-01 -3.87546767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61992885099997 meters 0.09756408604319795 Centerline is valid? [False, True] Translation: X:130.36, Y:-13.19, Z:-3.88 [[ 9.99996579e-01 -2.61571396e-03 -7.42159638e-06 1.30357085e+02] [ 2.61572186e-03 9.99987522e-01 4.25596402e-03 -1.31901422e+01] [-3.71088076e-06 -4.25596888e-03 9.99990943e-01 -3.87524890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64992885099997 meters 0.10410032795132043 Centerline is valid? [True, False] Translation: X:130.36, Y:-13.19, Z:-3.87 [[ 9.99996339e-01 -2.70507059e-03 -6.56155117e-05 1.30356983e+02] [ 2.70531512e-03 9.99988067e-01 4.06776864e-03 -1.31899943e+01] [ 5.46111274e-05 -4.06793126e-03 9.99991724e-01 -3.87491621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67992885099997 meters 0.10019911239213664 Centerline is valid? [False, False] Translation: X:130.36, Y:-13.19, Z:-3.87 [[ 9.99996573e-01 -2.60223208e-03 -2.86278430e-04 1.30357308e+02] [ 2.60338664e-03 9.99988168e-01 4.10936827e-03 -1.31902249e+01] [ 2.75581512e-04 -4.11009948e-03 9.99991516e-01 -3.87475394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70992885099997 meters 0.10166926130989187 Centerline is valid? [False, False] Translation: X:130.36, Y:-13.19, Z:-3.88 [[ 9.99997397e-01 -2.19767932e-03 -6.13455977e-04 1.30358252e+02] [ 2.20040104e-03 9.99987580e-01 4.47186016e-03 -1.31907256e+01] [ 6.03620644e-04 -4.47319837e-03 9.99989813e-01 -3.87515616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73992885099997 meters 0.0985064157402908 Centerline is valid? [False, True] Translation: X:130.36, Y:-13.19, Z:-3.87 [[ 9.99997201e-01 -2.24899998e-03 -7.35249614e-04 1.30358313e+02] [ 2.25217543e-03 9.99988016e-01 4.34695746e-03 -1.31906284e+01] [ 7.25464495e-04 -4.34860120e-03 9.99990282e-01 -3.87490696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76992885099997 meters 0.0973340960472787 Centerline is valid? [True, True] Translation: X:130.39, Y:-13.19, Z:-3.87 [[ 9.99997904e-01 -6.42739352e-04 -1.94374787e-03 1.30389106e+02] [ 6.43180317e-04 9.99999768e-01 2.26246237e-04 -1.31905394e+01] [ 1.94360200e-03 -2.27495944e-04 9.99998085e-01 -3.87441475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79992885099998 meters 0.1009667650705086 Centerline is valid? [True, False] Translation: X:130.39, Y:-13.19, Z:-3.87 [[ 9.99997684e-01 -3.04746277e-04 -2.13061276e-03 1.30389639e+02] [ 3.06037702e-04 9.99999770e-01 6.05828739e-04 -1.31914034e+01] [ 2.13042764e-03 -6.06479384e-04 9.99997547e-01 -3.87464214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82992885099998 meters 0.0977582786203536 Centerline is valid? [False, True] Translation: X:130.39, Y:-13.19, Z:-3.87 [[ 9.99997618e-01 -2.46915948e-04 -2.16870908e-03 1.30389663e+02] [ 2.48395980e-04 9.99999736e-01 6.82205871e-04 -1.31917767e+01] [ 2.16854006e-03 -6.82742944e-04 9.99997416e-01 -3.87456401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85992885099998 meters 0.09835958974043554 Centerline is valid? [True, True] Translation: X:130.42, Y:-13.20, Z:-3.88 [[ 9.99998154e-01 5.93666050e-04 -1.82735770e-03 1.30418647e+02] [-5.93289897e-04 9.99999803e-01 2.06380732e-04 -1.31966852e+01] [ 1.82747986e-03 -2.05296198e-04 9.99998309e-01 -3.87563670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88992885099998 meters 0.09807776577351378 Centerline is valid? [True, True] Translation: X:130.45, Y:-13.20, Z:-3.88 [[ 9.99997338e-01 1.00259239e-03 -2.07831694e-03 1.30447995e+02] [-1.00210764e-03 9.99999470e-01 2.34272882e-04 -1.31996115e+01] [ 2.07855072e-03 -2.32189561e-04 9.99997813e-01 -3.87665005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91992885099998 meters 0.10010976530823491 Centerline is valid? [True, False] Translation: X:130.45, Y:-13.20, Z:-3.88 [[ 9.99997156e-01 1.15024942e-03 -2.08923240e-03 1.30447875e+02] [-1.14917995e-03 9.99999208e-01 5.13022320e-04 -1.32007884e+01] [ 2.08982085e-03 -5.10619957e-04 9.99997686e-01 -3.87643325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94992885099998 meters 0.10038510118914706 Centerline is valid? [False, False] Translation: X:130.45, Y:-13.20, Z:-3.88 [[ 9.99997146e-01 1.21903376e-03 -2.05467313e-03 1.30447711e+02] [-1.21762640e-03 9.99999023e-01 6.86071092e-04 -1.32015508e+01] [ 2.05550747e-03 -6.83567310e-04 9.99997654e-01 -3.87628568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97992885099998 meters 0.10106374894874103 Centerline is valid? [False, False] Translation: X:130.45, Y:-13.20, Z:-3.88 [[ 9.99996926e-01 1.44428840e-03 -2.01537258e-03 1.30447963e+02] [-1.44217607e-03 9.99998410e-01 1.04916896e-03 -1.32023996e+01] [ 2.01688468e-03 -1.04625921e-03 9.99997419e-01 -3.87670443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00992885099998 meters 0.10315342848091859 Centerline is valid? [False, False] Translation: X:130.45, Y:-13.20, Z:-3.88 [[ 9.99997120e-01 1.51422031e-03 -1.86195891e-03 1.30447531e+02] [-1.51171274e-03 9.99997950e-01 1.34740998e-03 -1.32038256e+01] [ 1.86399537e-03 -1.34459135e-03 9.99997359e-01 -3.87648716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03992885099998 meters 0.09609813126692454 Centerline is valid? [False, True] Translation: X:130.45, Y:-13.20, Z:-3.88 [[ 9.99997135e-01 1.56872235e-03 -1.80786463e-03 1.30447415e+02] [-1.56602669e-03 9.99997661e-01 1.49152634e-03 -1.32044789e+01] [ 1.81020019e-03 -1.48869091e-03 9.99997253e-01 -3.87645081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.069928851 meters 0.1042038188898886 Centerline is valid? [True, False] Translation: X:130.45, Y:-13.21, Z:-3.88 [[ 9.99996940e-01 1.74933553e-03 -1.74935049e-03 1.30447553e+02] [-1.74616420e-03 9.99996832e-01 1.81275325e-03 -1.32051208e+01] [ 1.75251607e-03 -1.80969305e-03 9.99996827e-01 -3.87680005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099928851 meters 0.0970869113603033 Centerline is valid? [False, True] Translation: X:130.45, Y:-13.21, Z:-3.88 [[ 9.99997061e-01 1.67608839e-03 -1.75189528e-03 1.30447228e+02] [-1.67304643e-03 9.99997093e-01 1.73640555e-03 -1.32054768e+01] [ 1.75480055e-03 -1.73346945e-03 9.99996958e-01 -3.87630559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.129928851 meters 0.10640506603821838 Centerline is valid? [True, False] Translation: X:130.45, Y:-13.21, Z:-3.88 [[ 9.99997280e-01 1.66451506e-03 -1.63409675e-03 1.30446622e+02] [-1.66140212e-03 9.99996806e-01 1.90450690e-03 -1.32065532e+01] [ 1.63726161e-03 -1.90178683e-03 9.99996851e-01 -3.87573380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15992885099996 meters 0.10545726398390878 Centerline is valid? [False, False] Translation: X:130.45, Y:-13.21, Z:-3.88 [[ 9.99997341e-01 1.66229766e-03 -1.59827108e-03 1.30446401e+02] [-1.65914389e-03 9.99996678e-01 1.97254319e-03 -1.32070634e+01] [ 1.60154472e-03 -1.96988618e-03 9.99996777e-01 -3.87552677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18992885099996 meters 0.09927911200436969 Centerline is valid? [False, True] Translation: X:130.45, Y:-13.21, Z:-3.88 [[ 9.99996802e-01 1.95288084e-03 -1.60674667e-03 1.30446686e+02] [-1.94895292e-03 9.99995118e-01 2.44258252e-03 -1.32080527e+01] [ 1.61150890e-03 -2.43944324e-03 9.99995726e-01 -3.87589630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21992885099996 meters 0.10882732146780949 Centerline is valid? [True, False] Translation: X:130.45, Y:-13.21, Z:-3.88 [[ 9.99996649e-01 2.03726239e-03 -1.59749394e-03 1.30446557e+02] [-2.03308329e-03 9.99994519e-01 2.61331322e-03 -1.32087800e+01] [ 1.60280918e-03 -2.61005662e-03 9.99995309e-01 -3.87573292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24992885099996 meters 0.09640961261184665 Centerline is valid? [False, True] Translation: X:130.45, Y:-13.21, Z:-3.88 [[ 9.99996502e-01 2.10839701e-03 -1.59700309e-03 1.30446328e+02] [-2.10391938e-03 9.99993866e-01 2.80027884e-03 -1.32097108e+01] [ 1.60289740e-03 -2.79690908e-03 9.99994804e-01 -3.87539620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27992885099997 meters 0.09647048262358986 Centerline is valid? [True, True] Translation: X:130.48, Y:-13.21, Z:-3.88 [[ 9.99993381e-01 2.83518311e-03 -2.28030138e-03 1.30475614e+02] [-2.83460152e-03 9.99995949e-01 2.58238783e-04 -1.32122107e+01] [ 2.28102430e-03 -2.51773328e-04 9.99997367e-01 -3.87567042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30992885099997 meters 0.09698594325012322 Centerline is valid? [True, True] Translation: X:130.50, Y:-13.22, Z:-3.88 [[ 9.99990934e-01 3.56604274e-03 -2.32701907e-03 1.30504625e+02] [-3.56543922e-03 9.99993609e-01 2.63452877e-04 -1.32168564e+01] [ 2.32794369e-03 -2.55153643e-04 9.99997258e-01 -3.87702744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33992885099997 meters 0.0957808323495644 Centerline is valid? [True, True] Translation: X:130.54, Y:-13.22, Z:-3.88 [[ 9.99981070e-01 5.64013114e-03 -2.45933358e-03 1.30535373e+02] [-5.63945985e-03 9.99984059e-01 2.79805509e-04 -1.32185573e+01] [ 2.46087252e-03 -2.65930899e-04 9.99996937e-01 -3.87688265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36992885099997 meters 0.09042603799014785 Centerline is valid? [True, True] Translation: X:130.57, Y:-13.21, Z:-3.88 [[ 9.99978351e-01 5.88131183e-03 -2.95077124e-03 1.30565658e+02] [-5.88035094e-03 9.99982655e-01 3.34211348e-04 -1.32120060e+01] [ 2.95268566e-03 -3.16852543e-04 9.99995591e-01 -3.87517307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39992885099997 meters 0.09347585075358991 Centerline is valid? [True, True] Translation: X:130.59, Y:-13.22, Z:-3.88 [[ 9.99977493e-01 6.32893603e-03 -2.22646099e-03 1.30592329e+02] [-6.32839355e-03 9.99979944e-01 2.50611867e-04 -1.32218511e+01] [ 2.22800244e-03 -2.36516305e-04 9.99997490e-01 -3.87743349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42992885099997 meters 0.09347585075358991 Centerline is valid? [True, True] Translation: X:130.62, Y:-13.23, Z:-3.88 [[ 9.99977921e-01 6.26105223e-03 -2.22641698e-03 1.30620629e+02] [-6.26050873e-03 9.99980371e-01 2.50998297e-04 -1.32250024e+01] [ 2.22794479e-03 -2.37054252e-04 9.99997490e-01 -3.87825720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45992885099997 meters 0.09544199312676598 Centerline is valid? [True, True] Translation: X:130.65, Y:-13.23, Z:-3.88 [[ 9.99975183e-01 6.69145971e-03 -2.20385114e-03 1.30647593e+02] [-6.69092971e-03 9.99977585e-01 2.47771087e-04 -1.32326073e+01] [ 2.20545969e-03 -2.33019125e-04 9.99997541e-01 -3.88050555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48992885099997 meters 0.09048507381663914 Centerline is valid? [True, True] Translation: X:130.68, Y:-13.23, Z:-3.88 [[ 9.99974541e-01 6.97519896e-03 -1.50448512e-03 1.30677260e+02] [-6.97495297e-03 9.99975660e-01 1.68692160e-04 -1.32265480e+01] [ 1.50562516e-03 -1.58194152e-04 9.99998854e-01 -3.87834729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51992885099997 meters 0.09153907098020268 Centerline is valid? [True, True] Translation: X:130.70, Y:-13.23, Z:-3.88 [[ 9.99973713e-01 7.06648226e-03 -1.62405750e-03 1.30704488e+02] [-7.06619661e-03 9.99975018e-01 1.81559486e-04 -1.32315445e+01] [ 1.62529991e-03 -1.70078803e-04 9.99998665e-01 -3.87957861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54992885099998 meters 0.09460500522512265 Centerline is valid? [True, True] Translation: X:130.73, Y:-13.24, Z:-3.88 [[ 9.99970589e-01 7.41406544e-03 -1.96297364e-03 1.30731841e+02] [-7.41364684e-03 9.99972494e-01 2.20439718e-04 -1.32408583e+01] [ 1.96455400e-03 -2.05880441e-04 9.99998049e-01 -3.88235914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57992885099998 meters 0.09242797188057328 Centerline is valid? [True, True] Translation: X:130.76, Y:-13.24, Z:-3.88 [[ 9.99969424e-01 7.48912223e-03 -2.25023842e-03 1.30760645e+02] [-7.48857202e-03 9.99971928e-01 2.52835938e-04 -1.32397703e+01] [ 2.25206877e-03 -2.35977134e-04 9.99997436e-01 -3.88236089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60992885099998 meters 0.09352630857283634 Centerline is valid? [True, True] Translation: X:130.79, Y:-13.24, Z:-3.88 [[ 9.99963853e-01 7.55809740e-03 -3.89468388e-03 1.30787994e+02] [-7.55644721e-03 9.99971354e-01 4.38245964e-04 -1.32448673e+01] [ 3.89788462e-03 -4.08800150e-04 9.99992320e-01 -3.88425278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63992885099998 meters 0.09515861570974254 Centerline is valid? [True, True] Translation: X:130.82, Y:-13.25, Z:-3.89 [[ 9.99966094e-01 7.16646333e-03 -4.05621956e-03 1.30815447e+02] [-7.16467108e-03 9.99974229e-01 4.56212262e-04 -1.32512853e+01] [ 4.05938446e-03 -4.27135314e-04 9.99991669e-01 -3.88617808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66992885099998 meters 0.09586468860355339 Centerline is valid? [True, True] Translation: X:130.84, Y:-13.26, Z:-3.89 [[ 9.99971556e-01 6.48074928e-03 -3.85840452e-03 1.30843368e+02] [-6.47912616e-03 9.99978916e-01 4.33024046e-04 -1.32552971e+01] [ 3.86112949e-03 -4.08012640e-04 9.99992463e-01 -3.88701004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69992885099998 meters 0.09676189757565434 Centerline is valid? [True, True] Translation: X:130.87, Y:-13.26, Z:-3.89 [[ 9.99975516e-01 5.46593850e-03 -4.36923725e-03 1.30872153e+02] [-5.46384062e-03 9.99984952e-01 4.91940216e-04 -1.32598140e+01] [ 4.37186041e-03 -4.68055356e-04 9.99990334e-01 -3.88851236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72992885099998 meters 0.09728536806777416 Centerline is valid? [True, True] Translation: X:130.90, Y:-13.26, Z:-3.89 [[ 9.99984015e-01 3.93541815e-03 -4.05972356e-03 1.30902626e+02] [-3.93358910e-03 9.99992158e-01 4.58422787e-04 -1.32640018e+01] [ 4.06149581e-03 -4.42446175e-04 9.99991654e-01 -3.88821373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75992885099998 meters 0.09088212689443255 Centerline is valid? [True, True] Translation: X:130.93, Y:-13.25, Z:-3.89 [[ 9.99987777e-01 2.60671808e-03 -4.20124778e-03 1.30932891e+02] [-2.60475554e-03 9.99996496e-01 4.72536786e-04 -1.32548283e+01] [ 4.20246483e-03 -4.61587787e-04 9.99991063e-01 -3.88508169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78992885099998 meters 0.09379865967785553 Centerline is valid? [True, True] Translation: X:130.96, Y:-13.26, Z:-3.89 [[ 9.99990570e-01 2.08808336e-03 -3.80786801e-03 1.30959623e+02] [-2.08647272e-03 9.99997732e-01 4.26900349e-04 -1.32638101e+01] [ 3.80875078e-03 -4.18951310e-04 9.99992659e-01 -3.88766694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819928851 meters 0.09591841610870944 Centerline is valid? [True, True] Translation: X:130.99, Y:-13.27, Z:-3.89 [[ 9.99991042e-01 1.42629529e-03 -3.98515625e-03 1.30987020e+02] [-1.42451759e-03 9.99998885e-01 4.48882942e-04 -1.32707986e+01] [ 3.98579204e-03 -4.43201996e-04 9.99991958e-01 -3.88985243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.849928851 meters 0.09708356379119817 Centerline is valid? [True, True] Translation: X:131.02, Y:-13.28, Z:-3.89 [[ 9.99991839e-01 4.74766474e-04 -4.01198868e-03 1.31016235e+02] [-4.72959698e-04 9.99999786e-01 4.51280997e-04 -1.32752248e+01] [ 4.01220208e-03 -4.49379805e-04 9.99991850e-01 -3.89151673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879928851 meters 0.09205688549952684 Centerline is valid? [True, True] Translation: X:131.05, Y:-13.27, Z:-3.89 [[ 9.99992644e-01 5.67495652e-04 -3.79349249e-03 1.31046484e+02] [-5.65886209e-04 9.99999749e-01 4.25323894e-04 -1.32683308e+01] [ 3.79373291e-03 -4.23174080e-04 9.99992714e-01 -3.88950418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90992885099996 meters 0.09698778572334256 Centerline is valid? [True, True] Translation: X:131.07, Y:-13.28, Z:-3.89 [[ 9.99994955e-01 9.69789344e-04 -3.02475688e-03 1.31073602e+02] [-9.68769756e-04 9.99999473e-01 3.38527869e-04 -1.32805724e+01] [ 3.02508359e-03 -3.35595868e-04 9.99995368e-01 -3.89298198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93992885099996 meters 0.09268215946964668 Centerline is valid? [True, True] Translation: X:131.10, Y:-13.28, Z:-3.89 [[ 9.99994951e-01 6.73889200e-04 -3.10554201e-03 1.31103446e+02] [-6.72813522e-04 9.99999713e-01 3.47405395e-04 -1.32752863e+01] [ 3.10577523e-03 -3.45314190e-04 9.99995117e-01 -3.89060758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96992885099996 meters 0.09482280623294784 Centerline is valid? [True, True] Translation: X:131.13, Y:-13.28, Z:-3.89 [[ 9.99996083e-01 4.02018395e-04 -2.76997451e-03 1.31131796e+02] [-4.01161168e-04 9.99999871e-01 3.10019454e-04 -1.32825946e+01] [ 2.77009879e-03 -3.08907033e-04 9.99996116e-01 -3.89274076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99992885099996 meters 0.1007997991744917 Centerline is valid? [True, False] Translation: X:131.13, Y:-13.28, Z:-3.89 [[ 9.99996334e-01 2.61086235e-04 -2.69519171e-03 1.31131493e+02] [-2.60695704e-04 9.99999955e-01 1.45249699e-04 -1.32825422e+01] [ 2.69522951e-03 -1.44546542e-04 9.99996357e-01 -3.89251926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02992885099997 meters 0.09558055167800017 Centerline is valid? [False, True] Translation: X:131.13, Y:-13.28, Z:-3.89 [[ 9.99996108e-01 4.52088908e-04 -2.75295984e-03 1.31131962e+02] [-4.50923551e-04 9.99999808e-01 4.23916608e-04 -1.32827482e+01] [ 2.75315097e-03 -4.22673584e-04 9.99996121e-01 -3.89301479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05992885099997 meters 0.0972869655244336 Centerline is valid? [True, True] Translation: X:131.16, Y:-13.29, Z:-3.89 [[ 9.99995708e-01 1.07295429e-05 -2.92990749e-03 1.31160337e+02] [-9.76284892e-06 9.99999946e-01 3.29954207e-04 -1.32886518e+01] [ 2.92991088e-03 -3.29924186e-04 9.99995653e-01 -3.89463943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08992885099997 meters 0.09832050653746749 Centerline is valid? [True, True] Translation: X:131.19, Y:-13.29, Z:-3.90 [[ 9.99994983e-01 -3.42714442e-05 -3.16748525e-03 1.31189044e+02] [ 3.54014310e-05 9.99999936e-01 3.56690334e-04 -1.32938102e+01] [ 3.16747283e-03 -3.56800678e-04 9.99994920e-01 -3.89576301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11992885099997 meters 0.09857145580031511 Centerline is valid? [True, True] Translation: X:131.22, Y:-13.30, Z:-3.90 [[ 9.99993701e-01 -2.26743395e-05 -3.54931814e-03 1.31218685e+02] [ 2.40950753e-05 9.99999920e-01 4.00241899e-04 -1.32972322e+01] [ 3.54930878e-03 -4.00324899e-04 9.99993621e-01 -3.89674752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14992885099997 meters 0.09907247887595035 Centerline is valid? [True, True] Translation: X:131.25, Y:-13.30, Z:-3.90 [[ 9.99995835e-01 9.05556823e-04 -2.74050359e-03 1.31248648e+02] [-9.04712655e-04 9.99999543e-01 3.09258112e-04 -1.33013509e+01] [ 2.74078239e-03 -3.06777455e-04 9.99996197e-01 -3.89791211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17992885099997 meters 0.09960383476665549 Centerline is valid? [True, True] Translation: X:131.28, Y:-13.30, Z:-3.90 [[ 9.99990676e-01 2.80797867e-03 -3.28079384e-03 1.31277229e+02] [-2.80678056e-03 9.99995993e-01 3.69736054e-04 -1.33036035e+01] [ 3.28181891e-03 -3.60524138e-04 9.99994550e-01 -3.89946446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20992885099997 meters 0.09737167511817695 Centerline is valid? [True, True] Translation: X:131.31, Y:-13.30, Z:-3.90 [[ 9.99985677e-01 4.20463717e-03 -3.31155338e-03 1.31307272e+02] [-4.20342442e-03 9.99991096e-01 3.73094316e-04 -1.33013279e+01] [ 3.31309262e-03 -3.59169108e-04 9.99994447e-01 -3.90019762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23992885099997 meters 0.09358228307635469 Centerline is valid? [True, True] Translation: X:131.34, Y:-13.30, Z:-3.90 [[ 9.99978312e-01 5.59262082e-03 -3.47833704e-03 1.31338052e+02] [-5.59128952e-03 9.99984292e-01 3.92347463e-04 -1.32966820e+01] [ 3.48047665e-03 -3.72890564e-04 9.99993874e-01 -3.89890358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26992885099997 meters 0.09730355461145858 Centerline is valid? [True, True] Translation: X:131.37, Y:-13.31, Z:-3.90 [[ 9.99966194e-01 7.18375046e-03 -4.00047629e-03 1.31366071e+02] [-7.18200427e-03 9.99974108e-01 4.50692150e-04 -1.33059728e+01] [ 4.00361036e-03 -4.21945477e-04 9.99991897e-01 -3.90185407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29992885099998 meters 0.09391551268249071 Centerline is valid? [True, True] Translation: X:131.40, Y:-13.30, Z:-3.90 [[ 9.99948183e-01 9.38931250e-03 -3.93350566e-03 1.31396963e+02] [-9.38763785e-03 9.99955837e-01 4.43986935e-04 -1.33000121e+01] [ 3.93750068e-03 -4.07037602e-04 9.99992165e-01 -3.90084104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32992885099998 meters 0.09940065242208461 Centerline is valid? [True, True] Translation: X:131.42, Y:-13.31, Z:-3.90 [[ 9.99940831e-01 1.02214903e-02 -3.72238243e-03 1.31423762e+02] [-1.02200041e-02 9.99947687e-01 4.18067943e-04 -1.33122244e+01] [ 3.72646097e-03 -3.80000442e-04 9.99992985e-01 -3.90450755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35992885099998 meters 0.10059482911305906 Centerline is valid? [True, False] Translation: X:131.42, Y:-13.31, Z:-3.90 [[ 9.99944235e-01 9.85884321e-03 -3.78557613e-03 1.31423635e+02] [-9.85981030e-03 9.99951363e-01 -2.36888097e-04 -1.33107191e+01] [ 3.78305656e-03 2.74199949e-04 9.99992807e-01 -3.90413407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38992885099998 meters 0.09439225331216451 Centerline is valid? [False, True] Translation: X:131.42, Y:-13.31, Z:-3.90 [[ 9.99946920e-01 9.54661728e-03 -3.87554648e-03 1.31423813e+02] [-9.55009831e-03 9.99954009e-01 -8.80694989e-04 -1.33089046e+01] [ 3.86696058e-03 9.17660092e-04 9.99992102e-01 -3.90409430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41992885099998 meters 0.09264196090940202 Centerline is valid? [True, True] Translation: X:131.45, Y:-13.31, Z:-3.90 [[ 9.99952216e-01 8.86609054e-03 -4.11793382e-03 1.31452370e+02] [-8.86428305e-03 9.99960607e-01 4.56976429e-04 -1.33082345e+01] [ 4.12182320e-03 -4.20452062e-04 9.99991417e-01 -3.90497109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44992885099998 meters 0.09323318682412805 Centerline is valid? [True, True] Translation: X:131.48, Y:-13.31, Z:-3.91 [[ 9.99961706e-01 7.81565846e-03 -3.93734162e-03 1.31481812e+02] [-7.81399327e-03 9.99969374e-01 4.38127525e-04 -1.33119172e+01] [ 3.94064529e-03 -4.07344386e-04 9.99992153e-01 -3.90590115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47992885099998 meters 0.09253379519191816 Centerline is valid? [True, True] Translation: X:131.51, Y:-13.31, Z:-3.91 [[ 9.99965961e-01 7.10416722e-03 -4.19606411e-03 1.31510434e+02] [-7.10227477e-03 9.99974670e-01 4.65734289e-04 -1.33128420e+01] [ 4.19926648e-03 -4.35916836e-04 9.99991088e-01 -3.90602054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50992885099998 meters 0.09728994257065074 Centerline is valid? [True, True] Translation: X:131.54, Y:-13.32, Z:-3.91 [[ 9.99976665e-01 6.13141120e-03 -3.01267624e-03 1.31537525e+02] [-6.13043509e-03 9.99981153e-01 3.33129349e-04 -1.33227222e+01] [ 3.01466202e-03 -3.14652559e-04 9.99995406e-01 -3.90942006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53992885099998 meters 0.09352496234698329 Centerline is valid? [True, True] Translation: X:131.57, Y:-13.32, Z:-3.91 [[ 9.99981698e-01 4.79289350e-03 -3.69206680e-03 1.31569015e+02] [-4.79140775e-03 9.99988437e-01 4.11157348e-04 -1.33175021e+01] [ 3.69399474e-03 -3.93459626e-04 9.99993100e-01 -3.90728824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.569928851 meters 0.09413235722191121 Centerline is valid? [True, True] Translation: X:131.60, Y:-13.32, Z:-3.91 [[ 9.99986821e-01 4.28709250e-03 -2.82450172e-03 1.31597319e+02] [-4.28622686e-03 9.99990765e-01 3.12455121e-04 -1.33206814e+01] [ 2.82581516e-03 -3.00344548e-04 9.99995962e-01 -3.90827491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599928851 meters 0.09500066676615229 Centerline is valid? [True, True] Translation: X:131.63, Y:-13.32, Z:-3.91 [[ 9.99990979e-01 3.54343372e-03 -2.34238319e-03 1.31625513e+02] [-3.54283866e-03 9.99993691e-01 2.58139655e-04 -1.33235222e+01] [ 2.34328312e-03 -2.49838641e-04 9.99997223e-01 -3.90883341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.629928851 meters 0.0953176247441561 Centerline is valid? [True, True] Translation: X:131.65, Y:-13.33, Z:-3.91 [[ 9.99993675e-01 3.01745667e-03 -1.88256394e-03 1.31654353e+02] [-3.01707161e-03 9.99995427e-01 2.07349796e-04 -1.33259317e+01] [ 1.88318100e-03 -2.01668655e-04 9.99998206e-01 -3.91038091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65992885099996 meters 0.09394428706995729 Centerline is valid? [True, True] Translation: X:131.68, Y:-13.33, Z:-3.91 [[ 9.99995457e-01 2.63663780e-03 -1.46112310e-03 1.31683683e+02] [-2.63640625e-03 9.99996512e-01 1.60383173e-04 -1.33250206e+01] [ 1.46154088e-03 -1.56530331e-04 9.99998920e-01 -3.90917699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68992885099996 meters 0.09659527328561322 Centerline is valid? [True, True] Translation: X:131.71, Y:-13.33, Z:-3.91 [[ 9.99996074e-01 2.34582417e-03 -1.53241856e-03 1.31712094e+02] [-2.34556835e-03 9.99997235e-01 1.68713437e-04 -1.33322033e+01] [ 1.53281009e-03 -1.65118382e-04 9.99998812e-01 -3.91111104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71992885099996 meters 0.09224011268185615 Centerline is valid? [True, True] Translation: X:131.74, Y:-13.32, Z:-3.91 [[ 9.99997102e-01 1.95654537e-03 -1.40285113e-03 1.31743060e+02] [-1.95633020e-03 9.99998074e-01 1.54730845e-04 -1.33245319e+01] [ 1.40315116e-03 -1.51985956e-04 9.99999004e-01 -3.90955897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74992885099996 meters 0.09535310717884582 Centerline is valid? [True, True] Translation: X:131.77, Y:-13.33, Z:-3.91 [[ 9.99995704e-01 1.92776396e-03 -2.20815045e-03 1.31771007e+02] [-1.92723086e-03 9.99998113e-01 2.43522642e-04 -1.33322437e+01] [ 2.20861573e-03 -2.39265981e-04 9.99997532e-01 -3.91210761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77992885099997 meters 0.09872019660365448 Centerline is valid? [True, True] Translation: X:131.80, Y:-13.34, Z:-3.91 [[ 9.99996626e-01 2.12938705e-03 -1.48808624e-03 1.31798507e+02] [-2.12914665e-03 9.99997720e-01 1.63111876e-04 -1.33405204e+01] [ 1.48843018e-03 -1.59942972e-04 9.99998879e-01 -3.91447467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80992885099997 meters 0.09277862291528058 Centerline is valid? [True, True] Translation: X:131.83, Y:-13.33, Z:-3.91 [[ 9.99996349e-01 2.49142105e-03 -1.04628540e-03 1.31829380e+02] [-2.49130207e-03 9.99996890e-01 1.15001978e-04 -1.33317332e+01] [ 1.04656866e-03 -1.12394945e-04 9.99999446e-01 -3.91196564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83992885099997 meters 0.09266492696240167 Centerline is valid? [True, True] Translation: X:131.86, Y:-13.33, Z:-3.91 [[ 9.99993938e-01 3.12810321e-03 -1.52918517e-03 1.31858853e+02] [-3.12784997e-03 9.99995094e-01 1.67965760e-04 -1.33319522e+01] [ 1.52970309e-03 -1.63181680e-04 9.99998817e-01 -3.91366645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86992885099997 meters 0.09356859550065623 Centerline is valid? [True, True] Translation: X:131.89, Y:-13.34, Z:-3.92 [[ 9.99993647e-01 3.26734896e-03 -1.42466951e-03 1.31887195e+02] [-3.26712886e-03 9.99994651e-01 1.56790115e-04 -1.33357254e+01] [ 1.42517418e-03 -1.52134540e-04 9.99998973e-01 -3.91508875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89992885099997 meters 0.09373715747970941 Centerline is valid? [True, True] Translation: X:131.92, Y:-13.34, Z:-3.92 [[ 9.99988781e-01 4.19759078e-03 -2.19510469e-03 1.31916058e+02] [-4.19707163e-03 9.99991163e-01 2.41055978e-04 -1.33382627e+01] [ 2.19609714e-03 -2.31840262e-04 9.99997562e-01 -3.91620967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92992885099997 meters 0.09557736287850181 Centerline is valid? [True, True] Translation: X:131.94, Y:-13.34, Z:-3.92 [[ 9.99987580e-01 4.65776012e-03 -1.77357028e-03 1.31943363e+02] [-4.65742366e-03 9.99989135e-01 1.93794507e-04 -1.33433775e+01] [ 1.77445366e-03 -1.85531832e-04 9.99998408e-01 -3.91809861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95992885099997 meters 0.09437492594612407 Centerline is valid? [True, True] Translation: X:131.97, Y:-13.34, Z:-3.92 [[ 9.99976648e-01 6.55477115e-03 -1.93343049e-03 1.31973296e+02] [-6.55437177e-03 9.99978497e-01 2.12833503e-04 -1.33413529e+01] [ 1.93478399e-03 -2.00156111e-04 9.99998108e-01 -3.91779478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98992885099997 meters 0.09422161396138802 Centerline is valid? [True, True] Translation: X:132.00, Y:-13.34, Z:-3.92 [[ 9.99967793e-01 7.77412177e-03 -1.99414603e-03 1.32003136e+02] [-7.77369837e-03 9.99969760e-01 2.19983328e-04 -1.33432628e+01] [ 1.99579591e-03 -2.04474353e-04 9.99997987e-01 -3.91893356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01992885099997 meters 0.09432320224149142 Centerline is valid? [True, True] Translation: X:132.03, Y:-13.35, Z:-3.92 [[ 9.99961236e-01 8.72529513e-03 -1.18158442e-03 1.32032478e+02] [-8.72514795e-03 9.99961927e-01 1.29654835e-04 -1.33461522e+01] [ 1.18267071e-03 -1.19340310e-04 9.99999294e-01 -3.91958933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04992885099998 meters 0.09519532044021954 Centerline is valid? [True, True] Translation: X:132.06, Y:-13.35, Z:-3.92 [[ 9.99947041e-01 1.02910722e-02 -9.81924998e-05 1.32061692e+02] [-1.02910713e-02 9.99947045e-01 9.92865393e-06 -1.33488749e+01] [ 9.82894766e-05 -8.91762211e-06 9.99999995e-01 -3.92015109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07992885099998 meters 0.09197684883303664 Centerline is valid? [True, True] Translation: X:132.09, Y:-13.35, Z:-3.92 [[ 9.99939679e-01 1.09801613e-02 -2.72598421e-04 1.32091708e+02] [-1.09801539e-02 9.99939716e-01 2.86888869e-05 -1.33452834e+01] [ 2.72896996e-04 -2.56939837e-05 9.99999962e-01 -3.91985965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10992885099998 meters 0.09150357032555782 Centerline is valid? [True, True] Translation: X:132.12, Y:-13.35, Z:-3.92 [[ 9.99941342e-01 1.07960983e-02 -8.70306880e-04 1.32120635e+02] [-1.07960204e-02 9.99941717e-01 9.41540863e-05 -1.33459016e+01] [ 8.71272653e-04 -8.47527126e-05 9.99999617e-01 -3.91978930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13992885099998 meters 0.0923128025401297 Centerline is valid? [True, True] Translation: X:132.15, Y:-13.35, Z:-3.92 [[ 9.99931660e-01 1.16907665e-02 2.02361089e-05 1.32149565e+02] [-1.16907664e-02 9.99931661e-01 -3.17149038e-06 -1.33498579e+01] [-2.02718032e-05 2.93469802e-06 1.00000000e+00 -3.92077672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16992885099998 meters 0.09080104068651494 Centerline is valid? [True, True] Translation: X:132.18, Y:-13.35, Z:-3.92 [[ 9.99926067e-01 1.21598293e-02 4.23389217e-06 1.32178808e+02] [-1.21598293e-02 9.99926067e-01 -2.36612338e-06 -1.33484677e+01] [-4.26235081e-06 2.31446504e-06 1.00000000e+00 -3.92091423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19992885099998 meters 0.09402067059372847 Centerline is valid? [True, True] Translation: X:132.21, Y:-13.36, Z:-3.92 [[ 9.99923300e-01 1.23848633e-02 -9.61627505e-05 1.32205857e+02] [-1.23848626e-02 9.99923305e-01 8.15567991e-06 -1.33561863e+01] [ 9.62563822e-05 -6.96409192e-06 9.99999995e-01 -3.92339759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22992885099998 meters 0.0934243730912417 Centerline is valid? [True, True] Translation: X:132.24, Y:-13.36, Z:-3.92 [[ 9.99915312e-01 1.30121224e-02 -2.29281277e-04 1.32235034e+02] [-1.30121173e-02 9.99915339e-01 2.38720132e-05 -1.33582174e+01] [ 2.29572492e-04 -2.08865567e-05 9.99999973e-01 -3.92423660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25992885099998 meters 0.09272725718094944 Centerline is valid? [True, True] Translation: X:132.26, Y:-13.36, Z:-3.92 [[ 9.99921026e-01 1.25668458e-02 -1.27195886e-04 1.32263541e+02] [-1.25668443e-02 9.99921034e-01 1.21427522e-05 -1.33591574e+01] [ 1.27338438e-04 -1.05433423e-05 9.99999992e-01 -3.92459825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28992885099998 meters 0.09267079830753192 Centerline is valid? [True, True] Translation: X:132.29, Y:-13.36, Z:-3.93 [[ 9.99920294e-01 1.26217984e-02 -3.11020342e-04 1.32292184e+02] [-1.26217889e-02 9.99920342e-01 3.23501340e-05 -1.33616588e+01] [ 3.11403883e-04 -2.84219224e-05 9.99999951e-01 -3.92560401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319928851 meters 0.09036861975530654 Centerline is valid? [True, True] Translation: X:132.32, Y:-13.36, Z:-3.92 [[ 9.99926831e-01 1.20833613e-02 -5.69830668e-04 1.32321291e+02] [-1.20833287e-02 9.99926992e-01 6.07306691e-05 -1.33581351e+01] [ 5.70522896e-04 -5.38407742e-05 9.99999836e-01 -3.92499704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.349928851 meters 0.09036861975530654 Centerline is valid? [True, True] Translation: X:132.35, Y:-13.36, Z:-3.93 [[ 9.99927638e-01 1.20163924e-02 -5.69834021e-04 1.32349569e+02] [-1.20163597e-02 9.99927799e-01 6.06995691e-05 -1.33611773e+01] [ 5.70522269e-04 -5.38478462e-05 9.99999836e-01 -3.92580114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379928851 meters 0.09320791633971826 Centerline is valid? [True, True] Translation: X:132.38, Y:-13.37, Z:-3.93 [[ 9.99929607e-01 1.18407642e-02 -7.59741744e-04 1.32376898e+02] [-1.18407061e-02 9.99929893e-01 8.10403114e-05 -1.33694465e+01] [ 7.60648060e-04 -7.20387281e-05 9.99999708e-01 -3.92840923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40992885099996 meters 0.09141338139043613 Centerline is valid? [True, True] Translation: X:132.41, Y:-13.37, Z:-3.93 [[ 9.99935877e-01 1.12901211e-02 -8.80420297e-04 1.32405650e+02] [-1.12900425e-02 9.99936261e-01 9.41972271e-05 -1.33676695e+01] [ 8.81427678e-04 -8.42512043e-05 9.99999608e-01 -3.92778929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43992885099996 meters 0.09241262533294498 Centerline is valid? [True, True] Translation: X:132.43, Y:-13.37, Z:-3.93 [[ 9.99939360e-01 1.10116440e-02 -1.41312677e-04 1.32433929e+02] [-1.10116422e-02 9.99939370e-01 1.36047475e-05 -1.33714446e+01] [ 1.41453920e-04 -1.20478378e-05 9.99999990e-01 -3.92916022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46992885099996 meters 0.0922143334288492 Centerline is valid? [True, True] Translation: X:132.46, Y:-13.37, Z:-3.93 [[ 9.99945930e-01 1.03983605e-02 -1.10120940e-04 1.32462408e+02] [-1.03983595e-02 9.99945936e-01 1.01633265e-05 -1.33736892e+01] [ 1.10220668e-04 -9.01769986e-06 9.99999994e-01 -3.93018042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49992885099996 meters 0.09326390738198528 Centerline is valid? [True, True] Translation: X:132.49, Y:-13.38, Z:-3.93 [[ 9.99950889e-01 9.86046482e-03 -9.95122890e-04 1.32491242e+02] [-9.86036311e-03 9.99951380e-01 1.07066859e-04 -1.33779188e+01] [ 9.96130235e-04 -9.72493278e-05 9.99999499e-01 -3.93162676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52992885099997 meters 0.09182507503369049 Centerline is valid? [True, True] Translation: X:132.52, Y:-13.38, Z:-3.93 [[ 9.99953835e-01 9.58217906e-03 -7.13642283e-04 1.32520333e+02] [-9.58212711e-03 9.99954087e-01 7.61733557e-05 -1.33770191e+01] [ 7.14339424e-04 -6.93316282e-05 9.99999742e-01 -3.93129237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55992885099997 meters 0.09131832938316357 Centerline is valid? [True, True] Translation: X:132.55, Y:-13.38, Z:-3.93 [[ 9.99957717e-01 9.17631444e-03 5.99028806e-04 1.32549130e+02] [-9.17627568e-03 9.99957895e-01 -6.74259064e-05 -1.33766740e+01] [-5.99622305e-04 6.19262020e-05 9.99999818e-01 -3.93101579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58992885099997 meters 0.0932798942828572 Centerline is valid? [True, True] Translation: X:132.58, Y:-13.38, Z:-3.93 [[ 9.99956910e-01 9.25465725e-03 7.27825639e-04 1.32576597e+02] [-9.25460005e-03 9.99957172e-01 -8.19131848e-05 -1.33820488e+01] [-7.28552546e-04 7.51739199e-05 9.99999732e-01 -3.93233329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61992885099997 meters 0.09270461447120948 Centerline is valid? [True, True] Translation: X:132.61, Y:-13.38, Z:-3.93 [[ 9.99955002e-01 9.48650318e-03 2.59856160e-05 1.32605668e+02] [-9.48650306e-03 9.99955002e-01 -4.76060901e-06 -1.33826251e+01] [-2.60296082e-05 4.51388217e-06 1.00000000e+00 -3.93259707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64992885099997 meters 0.09484832590319417 Centerline is valid? [True, True] Translation: X:132.63, Y:-13.39, Z:-3.93 [[ 9.99950699e-01 9.90147754e-03 -7.48528394e-04 1.32633041e+02] [-9.90142094e-03 9.99950977e-01 7.92780460e-05 -1.33869124e+01] [ 7.49276668e-04 -7.18626428e-05 9.99999717e-01 -3.93487856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67992885099997 meters 0.09327237789746526 Centerline is valid? [True, True] Translation: X:132.66, Y:-13.39, Z:-3.93 [[ 9.99952997e-01 9.69245196e-03 -2.46547420e-04 1.32662296e+02] [-9.69244609e-03 9.99953027e-01 2.49927705e-05 -1.33855146e+01] [ 2.46778080e-04 -2.26019482e-05 9.99999969e-01 -3.93493674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70992885099997 meters 0.09391742586716276 Centerline is valid? [True, True] Translation: X:132.69, Y:-13.39, Z:-3.94 [[ 9.99952093e-01 9.77395605e-03 -5.29616049e-04 1.32691270e+02] [-9.77392784e-03 9.99952232e-01 5.58250139e-05 -1.33886519e+01] [ 5.30136382e-04 -5.06459105e-05 9.99999858e-01 -3.93616890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73992885099997 meters 0.09452355833974255 Centerline is valid? [True, True] Translation: X:132.72, Y:-13.39, Z:-3.94 [[ 9.99949450e-01 9.98120444e-03 -1.21357718e-03 1.32719414e+02] [-9.98105360e-03 9.99950180e-01 1.30287090e-04 -1.33914960e+01] [ 1.21481714e-03 -1.18167725e-04 9.99999255e-01 -3.93720933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76992885099997 meters 0.09610578092008984 Centerline is valid? [True, True] Translation: X:132.75, Y:-13.40, Z:-3.94 [[ 9.99958759e-01 8.99427542e-03 -1.25818636e-03 1.32747958e+02] [-8.99411233e-03 9.99959543e-01 1.35220283e-04 -1.33953741e+01] [ 1.25935167e-03 -1.23898437e-04 9.99999199e-01 -3.93856657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79992885099998 meters 0.09395113707348221 Centerline is valid? [True, True] Translation: X:132.78, Y:-13.39, Z:-3.94 [[ 9.99961121e-01 8.71046074e-03 -1.37285166e-03 1.32777488e+02] [-8.71026648e-03 9.99962054e-01 1.47423775e-04 -1.33931284e+01] [ 1.37408369e-03 -1.35460140e-04 9.99999047e-01 -3.93798693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82992885099998 meters 0.09583144006336454 Centerline is valid? [True, True] Translation: X:132.81, Y:-13.40, Z:-3.94 [[ 9.99964204e-01 8.37062581e-03 -1.23400778e-03 1.32805109e+02] [-8.37046987e-03 9.99964958e-01 1.31479522e-04 -1.33989611e+01] [ 1.23506510e-03 -1.21145590e-04 9.99999230e-01 -3.93970603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85992885099998 meters 0.09389037715917699 Centerline is valid? [True, True] Translation: X:132.83, Y:-13.40, Z:-3.94 [[ 9.99969035e-01 7.82044441e-03 -8.77763035e-04 1.32834522e+02] [-7.82036538e-03 9.99969416e-01 9.34389858e-05 -1.33976327e+01] [ 8.78466924e-04 -8.65716648e-05 9.99999610e-01 -3.93913740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88992885099998 meters 0.09523628968287436 Centerline is valid? [True, True] Translation: X:132.86, Y:-13.40, Z:-3.94 [[ 9.99979514e-01 6.26968730e-03 -1.28938682e-03 1.32864329e+02] [-6.26951188e-03 9.99980337e-01 1.40051166e-04 -1.34022766e+01] [ 1.29023954e-03 -1.31964471e-04 9.99999159e-01 -3.94069196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91992885099998 meters 0.09561264333558779 Centerline is valid? [True, True] Translation: X:132.89, Y:-13.41, Z:-3.94 [[ 9.99981790e-01 5.69811255e-03 -1.98782058e-03 1.32892629e+02] [-5.69769849e-03 9.99983745e-01 2.13897835e-04 -1.34055975e+01] [ 1.98900708e-03 -2.02567938e-04 9.99998001e-01 -3.94177717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94992885099998 meters 0.09729822729398996 Centerline is valid? [True, True] Translation: X:132.92, Y:-13.41, Z:-3.94 [[ 9.99983530e-01 5.59035819e-03 -1.29889736e-03 1.32919664e+02] [-5.59018294e-03 9.99984365e-01 1.38514415e-04 -1.34113883e+01] [ 1.29965140e-03 -1.31251060e-04 9.99999147e-01 -3.94329198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97992885099998 meters 0.09355788482655936 Centerline is valid? [True, True] Translation: X:132.95, Y:-13.41, Z:-3.94 [[ 9.99988277e-01 4.57892423e-03 -1.57442817e-03 1.32949645e+02] [-4.57866343e-03 9.99989504e-01 1.69215987e-04 -1.34054335e+01] [ 1.57518648e-03 -1.62005227e-04 9.99998746e-01 -3.94242100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00992885099998 meters 0.09552352987508873 Centerline is valid? [True, True] Translation: X:132.98, Y:-13.41, Z:-3.94 [[ 9.99987767e-01 4.47761373e-03 -2.10183960e-03 1.32976810e+02] [-4.47715005e-03 9.99989952e-01 2.25262320e-04 -1.34109620e+01] [ 2.10282712e-03 -2.15849313e-04 9.99997766e-01 -3.94385171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03992885099998 meters 0.09583245696277051 Centerline is valid? [True, True] Translation: X:133.01, Y:-13.41, Z:-3.94 [[ 9.99988172e-01 4.50922153e-03 -1.82300862e-03 1.33005251e+02] [-4.50887267e-03 9.99989816e-01 1.95432387e-04 -1.34137575e+01] [ 1.82387130e-03 -1.87210361e-04 9.99998319e-01 -3.94491050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.069928851 meters 0.09550883910997293 Centerline is valid? [True, True] Translation: X:133.03, Y:-13.41, Z:-3.95 [[ 9.99988123e-01 4.40599298e-03 -2.08359438e-03 1.33034174e+02] [-4.40553677e-03 9.99990271e-01 2.23496574e-04 -1.34148577e+01] [ 2.08455883e-03 -2.14314568e-04 9.99997804e-01 -3.94575415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099928851 meters 0.0980490582529308 Centerline is valid? [True, True] Translation: X:133.06, Y:-13.42, Z:-3.95 [[ 9.99989664e-01 3.89524955e-03 -2.34506507e-03 1.33061167e+02] [-3.89467197e-03 9.99992384e-01 2.50810455e-04 -1.34203055e+01] [ 2.34602418e-03 -2.41674603e-04 9.99997219e-01 -3.94802043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12992885099996 meters 0.0954515015396037 Centerline is valid? [True, True] Translation: X:133.09, Y:-13.42, Z:-3.95 [[ 9.99989379e-01 4.08370934e-03 -2.13667800e-03 1.33090683e+02] [-4.08322952e-03 9.99991637e-01 2.28875354e-04 -1.34183677e+01] [ 2.13759479e-03 -2.20148376e-04 9.99997691e-01 -3.94695316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15992885099996 meters 0.09609709229847456 Centerline is valid? [True, True] Translation: X:133.12, Y:-13.42, Z:-3.95 [[ 9.99990823e-01 3.64429829e-03 -2.25226096e-03 1.33119291e+02] [-3.64376417e-03 9.99993332e-01 2.41206375e-04 -1.34214408e+01] [ 2.25312497e-03 -2.32997454e-04 9.99997435e-01 -3.94842223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18992885099996 meters 0.09565973538524594 Centerline is valid? [True, True] Translation: X:133.15, Y:-13.42, Z:-3.95 [[ 9.99992351e-01 3.58525289e-03 -1.56323656e-03 1.33148520e+02] [-3.58499662e-03 9.99993560e-01 1.66707296e-04 -1.34225089e+01] [ 1.56382418e-03 -1.61101823e-04 9.99998764e-01 -3.94877880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21992885099996 meters 0.09713445963092852 Centerline is valid? [True, True] Translation: X:133.18, Y:-13.43, Z:-3.95 [[ 9.99993066e-01 3.45115548e-03 -1.39917447e-03 1.33176229e+02] [-3.45095115e-03 9.99994034e-01 1.48426803e-04 -1.34274246e+01] [ 1.39967836e-03 -1.43597291e-04 9.99999010e-01 -3.95088192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24992885099996 meters 0.09892711412601854 Centerline is valid? [True, True] Translation: X:133.20, Y:-13.43, Z:-3.95 [[ 9.99991983e-01 3.53526304e-03 -1.88039846e-03 1.33203884e+02] [-3.53489092e-03 9.99993732e-01 2.01180517e-04 -1.34331353e+01] [ 1.88109790e-03 -1.94531901e-04 9.99998212e-01 -3.95270452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27992885099997 meters 0.0971290502238085 Centerline is valid? [True, True] Translation: X:133.23, Y:-13.43, Z:-3.95 [[ 9.99991853e-01 3.63190753e-03 -1.76168823e-03 1.33233337e+02] [-3.63158229e-03 9.99993388e-01 1.87785723e-04 -1.34321314e+01] [ 1.76235860e-03 -1.81386477e-04 9.99998431e-01 -3.95292222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30992885099997 meters 0.09769453582350868 Centerline is valid? [True, True] Translation: X:133.26, Y:-13.44, Z:-3.95 [[ 9.99990480e-01 4.12228345e-03 -1.43029914e-03 1.33262166e+02] [-4.12207019e-03 9.99991493e-01 1.52014451e-04 -1.34351494e+01] [ 1.43091362e-03 -1.46117211e-04 9.99998966e-01 -3.95378323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33992885099997 meters 0.09828397026275824 Centerline is valid? [True, True] Translation: X:133.29, Y:-13.44, Z:-3.95 [[ 9.99989061e-01 4.48286095e-03 -1.33492626e-03 1.33289471e+02] [-4.48267646e-03 9.99989943e-01 1.41162152e-04 -1.34376336e+01] [ 1.33554564e-03 -1.35176566e-04 9.99999099e-01 -3.95379795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36992885099997 meters 0.10184614778710484 Centerline is valid? [True, False] Translation: X:133.29, Y:-13.44, Z:-3.95 [[ 9.99989911e-01 4.29449753e-03 -1.31739004e-03 1.33289270e+02] [-4.29466126e-03 9.99990771e-01 -1.21479357e-04 -1.34370730e+01] [ 1.31685619e-03 1.27135876e-04 9.99999125e-01 -3.95358385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39992885099997 meters 0.10239249976348191 Centerline is valid? [False, False] Translation: X:133.29, Y:-13.44, Z:-3.95 [[ 9.99996822e-01 9.01763739e-04 -2.35429957e-03 1.33291924e+02] [-9.11257021e-04 9.99991447e-01 -4.03436339e-03 -1.34357843e+01] [ 2.35064139e-03 4.03649594e-03 9.99989091e-01 -3.95443546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42992885099997 meters 0.0966719999314285 Centerline is valid? [False, True] Translation: X:133.29, Y:-13.44, Z:-3.95 [[ 9.99997121e-01 7.49630840e-04 -2.27940050e-03 1.33291627e+02] [-7.59191331e-04 9.99990907e-01 -4.19633208e-03 -1.34354443e+01] [ 2.27623408e-03 4.19805050e-03 9.99988598e-01 -3.95425628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45992885099997 meters 0.09728769034813971 Centerline is valid? [True, True] Translation: X:133.32, Y:-13.44, Z:-3.96 [[ 9.99998556e-01 4.83134368e-05 -1.69858627e-03 1.33320418e+02] [-4.80167590e-05 9.99999984e-01 1.74701964e-04 -1.34409006e+01] [ 1.69859468e-03 -1.74620151e-04 9.99998542e-01 -3.95681154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48992885099997 meters 0.0975505348035378 Centerline is valid? [True, True] Translation: X:133.35, Y:-13.44, Z:-3.96 [[ 9.99998786e-01 -1.21928978e-03 -9.70338689e-04 1.33350212e+02] [ 1.21938748e-03 9.99999252e-01 1.00101371e-04 -1.34448353e+01] [ 9.70215910e-04 -1.01284468e-04 9.99999524e-01 -3.95706907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51992885099997 meters 0.09640952327442522 Centerline is valid? [True, True] Translation: X:133.38, Y:-13.45, Z:-3.96 [[ 9.99998153e-01 -1.39121712e-03 -1.32575798e-03 1.33381029e+02] [ 1.39140046e-03 9.99999023e-01 1.37377996e-04 -1.34465081e+01] [ 1.32556556e-03 -1.39222403e-04 9.99999112e-01 -3.95796272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54992885099998 meters 0.09809136080069092 Centerline is valid? [True, True] Translation: X:133.41, Y:-13.45, Z:-3.96 [[ 9.99994782e-01 -2.99630067e-03 -1.20735827e-03 1.33410329e+02] [ 2.99645657e-03 9.99995503e-01 1.27338029e-04 -1.34523340e+01] [ 1.20697130e-03 -1.30955161e-04 9.99999263e-01 -3.96037238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57992885099998 meters 0.09982016350411362 Centerline is valid? [True, True] Translation: X:133.44, Y:-13.46, Z:-3.96 [[ 9.99987187e-01 -4.37836362e-03 -2.54069550e-03 1.33440342e+02] [ 4.37904839e-03 9.99990377e-01 2.64022480e-04 -1.34579515e+01] [ 2.53951507e-03 -2.75144926e-04 9.99996738e-01 -3.96179938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60992885099998 meters 0.09987619336964551 Centerline is valid? [True, True] Translation: X:133.47, Y:-13.46, Z:-3.96 [[ 9.99982701e-01 -5.46043715e-03 -2.18647154e-03 1.33470828e+02] [ 5.46094592e-03 9.99985063e-01 2.26786495e-04 -1.34616256e+01] [ 2.18520053e-03 -2.38722775e-04 9.99997584e-01 -3.96292897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63992885099998 meters 0.10376513572158558 Centerline is valid? [True, False] Translation: X:133.47, Y:-13.46, Z:-3.96 [[ 9.99983852e-01 -5.35522874e-03 -1.90201294e-03 1.33470511e+02] [ 5.35644369e-03 9.99985453e-01 6.34255481e-04 -1.34629303e+01] [ 1.89858869e-03 -6.44433264e-04 9.99997990e-01 -3.96325561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66992885099998 meters 0.1039339790156703 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.46, Z:-3.96 [[ 9.99984542e-01 -5.26649030e-03 -1.78303210e-03 1.33470392e+02] [ 5.26806896e-03 9.99985735e-01 8.81845473e-04 -1.34635998e+01] [ 1.77836243e-03 -8.91224978e-04 9.99998022e-01 -3.96342074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69992885099998 meters 0.10433366768190597 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.46, Z:-3.96 [[ 9.99985608e-01 -5.06727256e-03 -1.76244380e-03 1.33470647e+02] [ 5.06937583e-03 9.99986441e-01 1.19096987e-03 -1.34641748e+01] [ 1.75638494e-03 -1.19988722e-03 9.99997738e-01 -3.96382466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72992885099998 meters 0.10747384862250756 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.46, Z:-3.96 [[ 9.99987306e-01 -4.67558669e-03 -1.87796142e-03 1.33471352e+02] [ 4.67872556e-03 9.99987659e-01 1.67052395e-03 -1.34648908e+01] [ 1.87012757e-03 -1.67928921e-03 9.99996841e-01 -3.96445991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75992885099998 meters 0.10417503204736682 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.46, Z:-3.96 [[ 9.99987664e-01 -4.56845944e-03 -1.94975175e-03 1.33471708e+02] [ 4.57185622e-03 9.99988033e-01 1.74127739e-03 -1.34647807e+01] [ 1.94177346e-03 -1.75016990e-03 9.99996583e-01 -3.96473704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78992885099998 meters 0.10395587489989641 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.46, Z:-3.97 [[ 9.99988127e-01 -4.33157459e-03 -2.23235182e-03 1.33472503e+02] [ 4.33570600e-03 9.99988891e-01 1.84919222e-03 -1.34644104e+01] [ 2.22431711e-03 -1.85884909e-03 9.99995799e-01 -3.96502861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819928851 meters 0.1008336075628444 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.46, Z:-3.97 [[ 9.99988522e-01 -4.24521836e-03 -2.22128577e-03 1.33472658e+02] [ 4.24966414e-03 9.99988969e-01 2.00056469e-03 -1.34645353e+01] [ 2.21276844e-03 -2.00998145e-03 9.99995532e-01 -3.96530791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849928851 meters 0.1074801790286271 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.47, Z:-3.97 [[ 9.99989629e-01 -3.90217520e-03 -2.34845298e-03 1.33473241e+02] [ 3.90775304e-03 9.99989544e-01 2.37522843e-03 -1.34653029e+01] [ 2.33915986e-03 -2.38438097e-03 9.99994422e-01 -3.96569710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87992885099996 meters 0.10155899558755282 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.47, Z:-3.97 [[ 9.99990085e-01 -3.93011206e-03 -2.09366230e-03 1.33472626e+02] [ 3.93550903e-03 9.99988928e-01 2.57991545e-03 -1.34664966e+01] [ 2.08349976e-03 -2.58812950e-03 9.99994480e-01 -3.96551983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90992885099996 meters 0.10951751230292472 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.47, Z:-3.97 [[ 9.99991471e-01 -3.55070558e-03 -2.10946649e-03 1.33473016e+02] [ 3.55736347e-03 9.99988677e-01 3.16087374e-03 -1.34677659e+01] [ 2.09821927e-03 -3.16835092e-03 9.99992779e-01 -3.96598449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93992885099996 meters 0.10236348058484576 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.47, Z:-3.97 [[ 9.99991530e-01 -3.61802619e-03 -1.96215315e-03 1.33472568e+02] [ 3.62430030e-03 9.99988301e-01 3.20349305e-03 -1.34683451e+01] [ 1.95053987e-03 -3.21057735e-03 9.99992944e-01 -3.96576430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96992885099996 meters 0.10479773127733613 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.47, Z:-3.97 [[ 9.99993066e-01 -3.16509015e-03 -1.96228319e-03 1.33473058e+02] [ 3.17270540e-03 9.99987401e-01 3.88992296e-03 -1.34698264e+01] [ 1.94994651e-03 -3.89612173e-03 9.99990509e-01 -3.96641066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99992885099996 meters 0.10608353000735828 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.47, Z:-3.97 [[ 9.99993336e-01 -3.27257370e-03 -1.61805240e-03 1.33471955e+02] [ 3.27923509e-03 9.99986088e-01 4.13155512e-03 -1.34717791e+01] [ 1.60450907e-03 -4.13683356e-03 9.99990156e-01 -3.96576222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02992885099997 meters 0.10580770161738176 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.47, Z:-3.97 [[ 9.99993983e-01 -3.12425329e-03 -1.50793419e-03 1.33471750e+02] [ 3.13093285e-03 9.99985207e-01 4.44776386e-03 -1.34730547e+01] [ 1.49401594e-03 -4.45245833e-03 9.99988972e-01 -3.96575575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05992885099997 meters 0.10275395150182176 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.47, Z:-3.97 [[ 9.99994541e-01 -2.98744915e-03 -1.41199021e-03 1.33471470e+02] [ 2.99416233e-03 9.99984110e-01 4.77645026e-03 -1.34745340e+01] [ 1.39769837e-03 -4.78065191e-03 9.99987596e-01 -3.96561107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08992885099997 meters 0.1042220314684263 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.48, Z:-3.97 [[ 9.99995039e-01 -2.87038086e-03 -1.29757840e-03 1.33471149e+02] [ 2.87694590e-03 9.99982927e-01 5.08622221e-03 -1.34760180e+01] [ 1.28295685e-03 -5.08993004e-03 9.99986223e-01 -3.96543489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11992885099997 meters 0.10556498131679502 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.48, Z:-3.97 [[ 9.99995784e-01 -2.73440047e-03 -9.76911990e-04 1.33470274e+02] [ 2.73991336e-03 9.99980075e-01 5.68712353e-03 -1.34788120e+01] [ 9.61341651e-04 -5.68977621e-03 9.99983351e-01 -3.96502055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14992885099997 meters 0.11023947693009307 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.48, Z:-3.96 [[ 9.99995922e-01 -2.72812539e-03 -8.45115808e-04 1.33469727e+02] [ 2.73302477e-03 9.99979146e-01 5.85141193e-03 -1.34799427e+01] [ 8.29134798e-04 -5.85369779e-03 9.99982523e-01 -3.96458881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17992885099997 meters 0.10533457651789677 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.48, Z:-3.96 [[ 9.99996466e-01 -2.56083603e-03 -7.13521909e-04 1.33469020e+02] [ 2.56528462e-03 9.99976832e-01 6.30513259e-03 -1.34825092e+01] [ 6.97358967e-04 -6.30694070e-03 9.99979868e-01 -3.96383229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20992885099997 meters 0.10430204065488269 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.48, Z:-3.96 [[ 9.99996949e-01 -2.36625742e-03 -7.08398872e-04 1.33468835e+02] [ 2.37091429e-03 9.99975099e-01 6.64675890e-03 -1.34840450e+01] [ 6.92653290e-04 -6.64841817e-03 9.99977659e-01 -3.96353918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23992885099997 meters 0.10430204065488269 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.48, Z:-3.96 [[ 9.99996949e-01 -2.36625742e-03 -7.08398872e-04 1.33468835e+02] [ 2.37091429e-03 9.99975099e-01 6.64675890e-03 -1.34840450e+01] [ 6.92653290e-04 -6.64841817e-03 9.99977659e-01 -3.96353918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26992885099997 meters 0.10655471565056797 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.49, Z:-3.96 [[ 9.99997414e-01 -2.17592237e-03 -6.62061398e-04 1.33468598e+02] [ 2.18049956e-03 9.99973170e-01 6.99320829e-03 -1.34856052e+01] [ 6.46826956e-04 -6.99463383e-03 9.99975328e-01 -3.96326520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29992885099998 meters 0.10840464611581921 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.49, Z:-3.96 [[ 9.99997718e-01 -2.05818514e-03 -5.71943426e-04 1.33468286e+02] [ 2.06229616e-03 9.99971354e-01 7.28266344e-03 -1.34869743e+01] [ 5.56937973e-04 -7.28382634e-03 9.99973317e-01 -3.96303897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32992885099998 meters 0.10523893362333803 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.49, Z:-3.96 [[ 9.99998058e-01 -1.88429189e-03 -5.78057044e-04 1.33468106e+02] [ 1.88863717e-03 9.99969253e-01 7.61091820e-03 -1.34883784e+01] [ 5.63698079e-04 -7.61199515e-03 9.99970869e-01 -3.96275215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35992885099998 meters 0.10178940234748356 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.49, Z:-3.96 [[ 9.99998683e-01 -1.48264595e-03 -6.60328698e-04 1.33468145e+02] [ 1.48804533e-03 9.99964838e-01 8.25278956e-03 -1.34906622e+01] [ 6.48069514e-04 -8.25376129e-03 9.99965727e-01 -3.96251637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38992885099998 meters 0.10026357667728192 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.49, Z:-3.96 [[ 9.99998886e-01 -1.26975006e-03 -7.84422865e-04 1.33468312e+02] [ 1.27637218e-03 9.99963060e-01 8.50002090e-03 -1.34916499e+01] [ 7.73600986e-04 -8.50101265e-03 9.99963566e-01 -3.96236316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41992885099998 meters 0.09971563769818101 Centerline is valid? [False, True] Translation: X:133.47, Y:-13.49, Z:-3.96 [[ 9.99998909e-01 -1.15106852e-03 -9.26304101e-04 1.33468375e+02] [ 1.15902533e-03 9.99962040e-01 8.63565135e-03 -1.34924322e+01] [ 9.16328713e-04 -8.63671553e-03 9.99962283e-01 -3.96202410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44992885099998 meters 0.1017283585105982 Centerline is valid? [True, False] Translation: X:133.47, Y:-13.49, Z:-3.96 [[ 9.99998965e-01 -9.97827030e-04 -1.03619151e-03 1.33468419e+02] [ 1.00690982e-03 9.99960752e-01 8.80234064e-03 -1.34933007e+01] [ 1.02736763e-03 -8.80337489e-03 9.99960722e-01 -3.96173412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47992885099998 meters 0.1004330758982219 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.50, Z:-3.96 [[ 9.99998979e-01 -5.78639534e-04 -1.30639465e-03 1.33468812e+02] [ 5.90735787e-04 9.99956784e-01 9.27794371e-03 -1.34950120e+01] [ 1.30096961e-03 -9.27870598e-03 9.99956106e-01 -3.96144412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50992885099998 meters 0.10029383589784881 Centerline is valid? [False, False] Translation: X:133.47, Y:-13.50, Z:-3.96 [[ 9.99998802e-01 -4.36431403e-04 -1.48540292e-03 1.33469026e+02] [ 4.50349646e-04 9.99955881e-01 9.38261132e-03 -1.34956337e+01] [ 1.48124252e-03 -9.38326903e-03 9.99954879e-01 -3.96117864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53992885099998 meters 0.09772078536695854 Centerline is valid? [False, True] Translation: X:133.47, Y:-13.49, Z:-3.96 [[ 9.99987803e-01 -4.30357397e-03 -2.42331971e-03 1.33470671e+02] [ 4.31548043e-03 9.99978537e-01 4.92967743e-03 -1.34944616e+01] [ 2.40205247e-03 -4.94007509e-03 9.99984913e-01 -3.96093336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.569928851 meters 0.09828950444078988 Centerline is valid? [True, True] Translation: X:133.50, Y:-13.50, Z:-3.96 [[ 9.99995901e-01 -1.73971589e-03 -2.27417179e-03 1.33499596e+02] [ 1.74026605e-03 9.99998457e-01 2.39962984e-04 -1.34984102e+01] [ 2.27375081e-03 -2.43919664e-04 9.99997385e-01 -3.96045846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599928851 meters 0.0961285815402331 Centerline is valid? [True, True] Translation: X:133.53, Y:-13.50, Z:-3.96 [[ 9.99995691e-01 -7.78102336e-04 -2.83074352e-03 1.33530397e+02] [ 7.78952212e-04 9.99999652e-01 2.99140534e-04 -1.34987442e+01] [ 2.83050977e-03 -3.01344259e-04 9.99995949e-01 -3.96013564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62992885099996 meters 0.09605649243798037 Centerline is valid? [True, True] Translation: X:133.56, Y:-13.50, Z:-3.96 [[ 9.99996183e-01 9.86400297e-05 -2.76107428e-03 1.33558669e+02] [-9.78382016e-05 9.99999953e-01 2.90537974e-04 -1.35022761e+01] [ 2.76110281e-03 -2.90266726e-04 9.99996146e-01 -3.96104171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65992885099996 meters 0.09374314142169433 Centerline is valid? [True, True] Translation: X:133.59, Y:-13.50, Z:-3.96 [[ 9.99997592e-01 1.21353065e-03 -1.82828830e-03 1.33588223e+02] [-1.21318105e-03 9.99999246e-01 1.92313565e-04 -1.35027400e+01] [ 1.82852030e-03 -1.90095057e-04 9.99998310e-01 -3.96114066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68992885099996 meters 0.09357690718397663 Centerline is valid? [True, True] Translation: X:133.62, Y:-13.51, Z:-3.96 [[ 9.99994400e-01 2.49612244e-03 -2.22940512e-03 1.33618065e+02] [-2.49560626e-03 9.99996859e-01 2.34285368e-04 -1.35077044e+01] [ 2.22998292e-03 -2.28720339e-04 9.99997487e-01 -3.96180242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71992885099996 meters 0.0925867215738281 Centerline is valid? [True, True] Translation: X:133.65, Y:-13.51, Z:-3.96 [[ 9.99995567e-01 2.33357981e-03 -1.84927128e-03 1.33646750e+02] [-2.33322581e-03 9.99997259e-01 1.93562848e-04 -1.35092245e+01] [ 1.84971791e-03 -1.89247222e-04 9.99998271e-01 -3.96258681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74992885099996 meters 0.09415351546329745 Centerline is valid? [True, True] Translation: X:133.68, Y:-13.52, Z:-3.96 [[ 9.99993218e-01 2.16270634e-03 -2.98101004e-03 1.33675108e+02] [-2.16178226e-03 9.99997614e-01 3.13175291e-04 -1.35158974e+01] [ 2.98168024e-03 -3.06728873e-04 9.99995508e-01 -3.96431077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77992885099997 meters 0.09262222908181321 Centerline is valid? [True, True] Translation: X:133.70, Y:-13.52, Z:-3.96 [[ 9.99991071e-01 2.61266671e-03 -3.32133084e-03 1.33703722e+02] [-2.61152365e-03 9.99996529e-01 3.48449162e-04 -1.35167243e+01] [ 3.32222970e-03 -3.39772317e-04 9.99994424e-01 -3.96415520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80992885099997 meters 0.0934090138252766 Centerline is valid? [True, True] Translation: X:133.73, Y:-13.52, Z:-3.97 [[ 9.99990146e-01 2.63878070e-03 -3.56999694e-03 1.33732457e+02] [-2.63746067e-03 9.99996452e-01 3.74415288e-04 -1.35226683e+01] [ 3.57097227e-03 -3.64995872e-04 9.99993557e-01 -3.96520939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83992885099997 meters 0.09465730884909389 Centerline is valid? [True, True] Translation: X:133.76, Y:-13.53, Z:-3.97 [[ 9.99993173e-01 2.16858736e-03 -2.99173797e-03 1.33759483e+02] [-2.16766151e-03 9.99997602e-01 3.12676821e-04 -1.35285995e+01] [ 2.99240887e-03 -3.06189611e-04 9.99995476e-01 -3.96628123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86992885099997 meters 0.09592256685313458 Centerline is valid? [True, True] Translation: X:133.79, Y:-13.54, Z:-3.97 [[ 9.99996009e-01 4.46176162e-04 -2.78977434e-03 1.33789272e+02] [-4.45360281e-04 9.99999858e-01 2.93068416e-04 -1.35354684e+01] [ 2.78990471e-03 -2.91824791e-04 9.99996066e-01 -3.96751026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89992885099997 meters 0.09651285410118525 Centerline is valid? [True, True] Translation: X:133.82, Y:-13.54, Z:-3.97 [[ 9.99996905e-01 -1.39590512e-04 -2.48405916e-03 1.33818248e+02] [ 1.40237969e-04 9.99999956e-01 2.60472369e-04 -1.35404091e+01] [ 2.48402269e-03 -2.60819922e-04 9.99996881e-01 -3.96854112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92992885099997 meters 0.09704026695807141 Centerline is valid? [True, True] Translation: X:133.85, Y:-13.54, Z:-3.97 [[ 9.99997200e-01 -8.26210912e-04 -2.21768431e-03 1.33847702e+02] [ 8.26728293e-04 9.99999631e-01 2.32391196e-04 -1.35449508e+01] [ 2.21749149e-03 -2.34223967e-04 9.99997514e-01 -3.96902987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95992885099997 meters 0.09355699734371542 Centerline is valid? [True, True] Translation: X:133.88, Y:-13.54, Z:-3.97 [[ 9.99996304e-01 -1.24474236e-03 -2.41696047e-03 1.33877612e+02] [ 1.24535800e-03 9.99999192e-01 2.53230850e-04 -1.35417193e+01] [ 2.41664331e-03 -2.56239896e-04 9.99997047e-01 -3.96848115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98992885099997 meters 0.09603758064682166 Centerline is valid? [True, True] Translation: X:133.91, Y:-13.55, Z:-3.97 [[ 9.99995463e-01 -1.83003736e-03 -2.39266012e-03 1.33906001e+02] [ 1.83064215e-03 9.99998293e-01 2.50601395e-04 -1.35496422e+01] [ 2.39219742e-03 -2.54980363e-04 9.99997106e-01 -3.97023983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01992885099997 meters 0.09499562867282843 Centerline is valid? [True, True] Translation: X:133.94, Y:-13.55, Z:-3.97 [[ 9.99992801e-01 -1.99280096e-03 -3.22892066e-03 1.33936499e+02] [ 1.99390645e-03 9.99997955e-01 3.39188378e-04 -1.35513411e+01] [ 3.22823812e-03 -3.45624102e-04 9.99994729e-01 -3.97065501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04992885099998 meters 0.09740655123846097 Centerline is valid? [True, True] Translation: X:133.97, Y:-13.56, Z:-3.97 [[ 9.99992010e-01 -2.62910635e-03 -3.01119381e-03 1.33965323e+02] [ 2.63006937e-03 9.99996491e-01 3.15900147e-04 -1.35588471e+01] [ 3.01035271e-03 -3.23817271e-04 9.99995416e-01 -3.97244942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07992885099998 meters 0.0963626909157176 Centerline is valid? [True, True] Translation: X:134.00, Y:-13.56, Z:-3.97 [[ 9.99988287e-01 -2.76520002e-03 -3.97233689e-03 1.33995278e+02] [ 2.76687549e-03 9.99996086e-01 4.16350660e-04 -1.35602269e+01] [ 3.97117004e-03 -4.27336745e-04 9.99992024e-01 -3.97322663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10992885099998 meters 0.09739928025982375 Centerline is valid? [True, True] Translation: X:134.02, Y:-13.57, Z:-3.97 [[ 9.99991524e-01 -2.79846844e-03 -3.02013301e-03 1.34024461e+02] [ 2.79943751e-03 9.99996031e-01 3.16690473e-04 -1.35655455e+01] [ 3.01923477e-03 -3.25142463e-04 9.99995389e-01 -3.97434648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13992885099998 meters 0.098468514553813 Centerline is valid? [True, True] Translation: X:134.05, Y:-13.57, Z:-3.98 [[ 9.99990947e-01 -3.01622780e-03 -3.00134676e-03 1.34053117e+02] [ 3.01719019e-03 9.99995398e-01 3.16177072e-04 -1.35707796e+01] [ 3.00037929e-03 -3.25229844e-04 9.99995446e-01 -3.97543265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16992885099998 meters 0.09300884991053995 Centerline is valid? [True, True] Translation: X:134.08, Y:-13.56, Z:-3.97 [[ 9.99992747e-01 -2.82519943e-03 -2.55429693e-03 1.34084186e+02] [ 2.82589377e-03 9.99995971e-01 2.68262947e-04 -1.35641463e+01] [ 2.55352875e-03 -2.75479173e-04 9.99996702e-01 -3.97359256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19992885099998 meters 0.09596532808998613 Centerline is valid? [True, True] Translation: X:134.11, Y:-13.57, Z:-3.98 [[ 9.99986117e-01 -4.03109044e-03 -3.39359259e-03 1.34112801e+02] [ 4.03232244e-03 9.99991807e-01 3.56273358e-04 -1.35723150e+01] [ 3.39212862e-03 -3.69952472e-04 9.99994178e-01 -3.97558204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22992885099998 meters 0.09610673879282249 Centerline is valid? [True, True] Translation: X:134.14, Y:-13.58, Z:-3.98 [[ 9.99983280e-01 -4.13356707e-03 -4.04397795e-03 1.34142748e+02] [ 4.13531794e-03 9.99991359e-01 4.24693711e-04 -1.35758848e+01] [ 4.04218751e-03 -4.41409745e-04 9.99991733e-01 -3.97642557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25992885099998 meters 0.09745261644724021 Centerline is valid? [True, True] Translation: X:134.17, Y:-13.58, Z:-3.98 [[ 9.99980241e-01 -4.64189430e-03 -4.23914172e-03 1.34171591e+02] [ 4.64381906e-03 9.99989119e-01 4.44312947e-04 -1.35813195e+01] [ 4.23703313e-03 -4.63989975e-04 9.99990916e-01 -3.97820520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28992885099998 meters 0.09665323900149694 Centerline is valid? [True, True] Translation: X:134.20, Y:-13.58, Z:-3.98 [[ 9.99978204e-01 -5.26921461e-03 -3.97832896e-03 1.34202237e+02] [ 5.27091745e-03 9.99986021e-01 4.17665706e-04 -1.35836032e+01] [ 3.97607257e-03 -4.38626046e-04 9.99991999e-01 -3.97889743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319928851 meters 0.09759972029848474 Centerline is valid? [True, True] Translation: X:134.23, Y:-13.59, Z:-3.98 [[ 9.99975798e-01 -5.48768082e-03 -4.27645632e-03 1.34232494e+02] [ 5.48965041e-03 9.99984831e-01 4.48964670e-04 -1.35894027e+01] [ 4.27392767e-03 -4.72430055e-04 9.99990755e-01 -3.98027228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.349928851 meters 0.09569256824670985 Centerline is valid? [True, True] Translation: X:134.26, Y:-13.59, Z:-3.98 [[ 9.99980987e-01 -5.42083558e-03 -2.93942006e-03 1.34263317e+02] [ 5.42176582e-03 9.99985255e-01 3.08595636e-04 -1.35890639e+01] [ 2.93770387e-03 -3.24526616e-04 9.99995632e-01 -3.97947096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37992885099996 meters 0.09780089095923003 Centerline is valid? [True, True] Translation: X:134.29, Y:-13.60, Z:-3.98 [[ 9.99978007e-01 -5.80293434e-03 -3.21110097e-03 1.34293219e+02] [ 5.80405024e-03 9.99983099e-01 3.38303099e-04 -1.35958309e+01] [ 3.20908355e-03 -3.56933050e-04 9.99994787e-01 -3.97989037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40992885099996 meters 0.09312662160699083 Centerline is valid? [True, True] Translation: X:134.32, Y:-13.59, Z:-3.98 [[ 9.99979972e-01 -5.60821159e-03 -2.93327051e-03 1.34324673e+02] [ 5.60913915e-03 9.99984221e-01 3.08088663e-04 -1.35908640e+01] [ 2.93149640e-03 -3.24535615e-04 9.99995650e-01 -3.97871932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43992885099996 meters 0.09742207583904519 Centerline is valid? [True, True] Translation: X:134.35, Y:-13.60, Z:-3.98 [[ 9.99966045e-01 -7.56606594e-03 -3.26552082e-03 1.34353070e+02] [ 7.56722843e-03 9.99971309e-01 3.43780560e-04 -1.36036472e+01] [ 3.26282607e-03 -3.68479829e-04 9.99994609e-01 -3.98085153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46992885099996 meters 0.09881684928801522 Centerline is valid? [True, True] Translation: X:134.38, Y:-13.61, Z:-3.98 [[ 9.99960760e-01 -8.36542840e-03 -2.91511624e-03 1.34384176e+02] [ 8.36635878e-03 9.99964954e-01 3.07107140e-04 -1.36102503e+01] [ 2.91244499e-03 -3.31483998e-04 9.99995704e-01 -3.98217753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49992885099996 meters 0.09873344170964236 Centerline is valid? [True, True] Translation: X:134.42, Y:-13.61, Z:-3.98 [[ 9.99950835e-01 -9.54868524e-03 -2.67408396e-03 1.34415313e+02] [ 9.54947272e-03 9.99954363e-01 2.81868922e-04 -1.36143810e+01] [ 2.67127045e-03 -3.07391156e-04 9.99996385e-01 -3.98269387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52992885099997 meters 0.09754116870782314 Centerline is valid? [True, True] Translation: X:134.45, Y:-13.62, Z:-3.98 [[ 9.99939494e-01 -1.06481957e-02 -2.76130104e-03 1.34446086e+02] [ 1.06490385e-02 9.99943255e-01 2.90721297e-04 -1.36160848e+01] [ 2.75804870e-03 -3.20108908e-04 9.99996145e-01 -3.98295565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55992885099997 meters 0.09991285270969026 Centerline is valid? [True, True] Translation: X:134.48, Y:-13.62, Z:-3.98 [[ 9.99921154e-01 -1.22116227e-02 -2.92616619e-03 1.34475170e+02] [ 1.22125747e-02 9.99925376e-01 3.07682373e-04 -1.36239244e+01] [ 2.92219052e-03 -3.43394136e-04 9.99995671e-01 -3.98455655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58992885099997 meters 0.10126770359775261 Centerline is valid? [True, False] Translation: X:134.48, Y:-13.63, Z:-3.99 [[ 9.99926196e-01 -1.18348085e-02 -2.74583381e-03 1.34475181e+02] [ 1.18379744e-02 9.99929279e-01 1.13959876e-03 -1.36260097e+01] [ 2.73215269e-03 -1.17201976e-03 9.99995581e-01 -3.98507642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61992885099997 meters 0.0993293778331612 Centerline is valid? [False, True] Translation: X:134.48, Y:-13.63, Z:-3.99 [[ 9.99928060e-01 -1.16861811e-02 -2.70317518e-03 1.34475297e+02] [ 1.16900845e-02 9.99930642e-01 1.43274635e-03 -1.36265735e+01] [ 2.68624436e-03 -1.46424363e-03 9.99995320e-01 -3.98538631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64992885099997 meters 0.09959327011578384 Centerline is valid? [True, True] Translation: X:134.51, Y:-13.63, Z:-3.99 [[ 9.99923694e-01 -1.18593665e-02 -3.45853635e-03 1.34507643e+02] [ 1.18607390e-02 9.99929588e-01 3.76604289e-04 -1.36305099e+01] [ 3.45382654e-03 -4.17596349e-04 9.99993948e-01 -3.98556532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67992885099997 meters 0.09978728012333724 Centerline is valid? [True, True] Translation: X:134.54, Y:-13.63, Z:-3.99 [[ 9.99911807e-01 -1.26700054e-02 -3.98114713e-03 1.34538308e+02] [ 1.26718251e-02 9.99919616e-01 4.32190269e-04 -1.36337065e+01] [ 3.97535125e-03 -4.82600553e-04 9.99991982e-01 -3.98614501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70992885099997 meters 0.10245152588078693 Centerline is valid? [True, False] Translation: X:134.54, Y:-13.63, Z:-3.99 [[ 9.99911776e-01 -1.26674509e-02 -3.99698486e-03 1.34538298e+02] [ 1.26694067e-02 9.99919632e-01 4.64364578e-04 -1.36336250e+01] [ 3.99078131e-03 -5.14963036e-04 9.99991904e-01 -3.98613832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73992885099997 meters 0.09912946268473706 Centerline is valid? [False, True] Translation: X:134.54, Y:-13.63, Z:-3.99 [[ 9.99911663e-01 -1.26511533e-02 -4.07615836e-03 1.34538430e+02] [ 1.26531967e-02 9.99919832e-01 4.75918727e-04 -1.36335583e+01] [ 4.06981066e-03 -5.27453119e-04 9.99991579e-01 -3.98615337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76992885099997 meters 0.10022013484073053 Centerline is valid? [True, False] Translation: X:134.54, Y:-13.63, Z:-3.99 [[ 9.99954209e-01 -8.94289057e-03 -3.40665288e-03 1.34536632e+02] [ 8.95789317e-03 9.99950133e-01 4.41440886e-03 -1.36344101e+01] [ 3.36700542e-03 -4.44472315e-03 9.99984454e-01 -3.98548123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79992885099998 meters 0.1002162976489711 Centerline is valid? [False, False] Translation: X:134.54, Y:-13.63, Z:-3.99 [[ 9.99953308e-01 -8.95181298e-03 -3.63961945e-03 1.34537003e+02] [ 8.96692890e-03 9.99951150e-01 4.15827361e-03 -1.36334808e+01] [ 3.60221757e-03 -4.19071567e-03 9.99984731e-01 -3.98538808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82992885099998 meters 0.09940841278683285 Centerline is valid? [False, True] Translation: X:134.54, Y:-13.63, Z:-3.99 [[ 9.99954504e-01 -8.71953877e-03 -3.86770007e-03 1.34537770e+02] [ 8.73625855e-03 9.99952475e-01 4.32730447e-03 -1.36332707e+01] [ 3.82978416e-03 -4.36089682e-03 9.99983158e-01 -3.98584966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85992885099998 meters 0.09713252904085823 Centerline is valid? [True, True] Translation: X:134.57, Y:-13.63, Z:-3.99 [[ 9.99963438e-01 -7.39216163e-03 -4.29858513e-03 1.34569018e+02] [ 7.39421402e-03 9.99972556e-01 4.61760753e-04 -1.36302059e+01] [ 4.29505375e-03 -4.93528529e-04 9.99990654e-01 -3.98519963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88992885099998 meters 0.09459774904233582 Centerline is valid? [True, True] Translation: X:134.60, Y:-13.63, Z:-3.99 [[ 9.99970879e-01 -6.36749557e-03 -4.20672012e-03 1.34599890e+02] [ 6.36945078e-03 9.99979613e-01 4.51549057e-04 -1.36280697e+01] [ 4.20375912e-03 -4.78330404e-04 9.99991050e-01 -3.98537539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91992885099998 meters 0.09424981397000858 Centerline is valid? [True, True] Translation: X:134.63, Y:-13.63, Z:-3.99 [[ 9.99978020e-01 -4.31799620e-03 -5.03130232e-03 1.34629287e+02] [ 4.32076518e-03 9.99990520e-01 5.39612349e-04 -1.36305096e+01] [ 5.02892458e-03 -5.61339565e-04 9.99987197e-01 -3.98575328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94992885099998 meters 0.0998777299473618 Centerline is valid? [True, True] Translation: X:134.66, Y:-13.64, Z:-3.99 [[ 9.99976957e-01 -3.75462995e-03 -5.65579068e-03 1.34657163e+02] [ 3.75811728e-03 9.99992755e-01 6.06093847e-04 -1.36439305e+01] [ 5.65347405e-03 -6.27335005e-04 9.99983822e-01 -3.98903230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97992885099998 meters 0.0949153500723049 Centerline is valid? [True, True] Translation: X:134.69, Y:-13.64, Z:-3.99 [[ 9.99982392e-01 -3.21127151e-03 -4.99040849e-03 1.34687695e+02] [ 3.21397860e-03 9.99994692e-01 5.34534496e-04 -1.36373922e+01] [ 4.98866546e-03 -5.50564150e-04 9.99987405e-01 -3.98782570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00992885099998 meters 0.09457949796273317 Centerline is valid? [True, True] Translation: X:134.72, Y:-13.64, Z:-3.99 [[ 9.99979558e-01 -2.58106150e-03 -5.84996458e-03 1.34717094e+02] [ 2.58477036e-03 9.99996463e-01 6.26525993e-04 -1.36398097e+01] [ 5.84832679e-03 -6.41634000e-04 9.99982693e-01 -3.98847482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03992885099998 meters 0.09411301951775801 Centerline is valid? [True, True] Translation: X:134.75, Y:-13.64, Z:-3.99 [[ 9.99978324e-01 -1.38321219e-03 -6.43727955e-03 1.34746740e+02] [ 1.38767767e-03 9.99998800e-01 6.89275748e-04 -1.36413769e+01] [ 6.43631840e-03 -6.98193676e-04 9.99979043e-01 -3.98959470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.069928851 meters 0.09693598916172143 Centerline is valid? [True, True] Translation: X:134.77, Y:-13.65, Z:-3.99 [[ 9.99981937e-01 -8.85787800e-04 -5.94490770e-03 1.34773663e+02] [ 8.89578059e-04 9.99999403e-01 6.34949881e-04 -1.36495487e+01] [ 5.94434171e-03 -6.40226872e-04 9.99982127e-01 -3.99162030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099928851 meters 0.09415229157042891 Centerline is valid? [True, True] Translation: X:134.80, Y:-13.65, Z:-3.99 [[ 9.99983342e-01 -1.01676105e-03 -5.68168017e-03 1.34802831e+02] [ 1.02019889e-03 9.99999298e-01 6.02209582e-04 -1.36467006e+01] [ 5.68106388e-03 -6.07995995e-04 9.99983678e-01 -3.99056310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12992885099996 meters 0.09712728926615788 Centerline is valid? [True, True] Translation: X:134.83, Y:-13.65, Z:-3.99 [[ 9.99981001e-01 -1.62147000e-03 -5.94712107e-03 1.34830122e+02] [ 1.62526443e-03 9.99998479e-01 6.33250233e-04 -1.36540646e+01] [ 5.94608523e-03 -6.42903847e-04 9.99982115e-01 -3.99244061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15992885099996 meters 0.09712728926615788 Centerline is valid? [True, True] Translation: X:134.86, Y:-13.66, Z:-3.99 [[ 9.99980596e-01 -1.85286587e-03 -5.94758995e-03 1.34858381e+02] [ 1.85663849e-03 9.99998079e-01 6.28852177e-04 -1.36570095e+01] [ 5.94641335e-03 -6.39882499e-04 9.99982115e-01 -3.99302812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18992885099996 meters 0.09239277929325737 Centerline is valid? [True, True] Translation: X:134.89, Y:-13.65, Z:-3.99 [[ 9.99977650e-01 -2.53011359e-03 -6.18859315e-03 1.34887732e+02] [ 2.53423036e-03 9.99996573e-01 6.57467065e-04 -1.36506630e+01] [ 6.18690847e-03 -6.73135691e-04 9.99980634e-01 -3.99125556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21992885099996 meters 0.09676346273164763 Centerline is valid? [True, True] Translation: X:134.92, Y:-13.66, Z:-3.99 [[ 9.99971093e-01 -3.55840069e-03 -6.71948038e-03 1.34915299e+02] [ 3.56327797e-03 9.99993397e-01 7.14009088e-04 -1.36621633e+01] [ 6.71689527e-03 -7.37931824e-04 9.99977169e-01 -3.99364696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24992885099996 meters 0.09515570633563188 Centerline is valid? [True, True] Translation: X:134.95, Y:-13.66, Z:-3.99 [[ 9.99957224e-01 -6.32486258e-03 -6.74884007e-03 1.34946269e+02] [ 6.32985202e-03 9.99979708e-01 7.18199825e-04 -1.36622800e+01] [ 6.74416061e-03 -7.60888262e-04 9.99976968e-01 -3.99319634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27992885099997 meters 0.09617471916648954 Centerline is valid? [True, True] Translation: X:134.97, Y:-13.67, Z:-3.99 [[ 9.99954294e-01 -7.33446111e-03 -6.13320416e-03 1.34974969e+02] [ 7.33859208e-03 9.99972860e-01 6.51308567e-04 -1.36670947e+01] [ 6.12826071e-03 -6.96287881e-04 9.99980980e-01 -3.99464536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30992885099997 meters 0.0987380194518553 Centerline is valid? [True, True] Translation: X:135.00, Y:-13.67, Z:-4.00 [[ 9.99940082e-01 -9.00527647e-03 -6.22389616e-03 1.35003134e+02] [ 9.00956345e-03 9.99959195e-01 6.61099454e-04 -1.36744918e+01] [ 6.21768881e-03 -7.17134429e-04 9.99980413e-01 -3.99573960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33992885099997 meters 0.09949629760867891 Centerline is valid? [True, True] Translation: X:135.03, Y:-13.68, Z:-4.00 [[ 9.99931037e-01 -9.97708693e-03 -6.19508567e-03 1.35033655e+02] [ 9.98135704e-03 9.99949968e-01 6.58738870e-04 -1.36787425e+01] [ 6.18820342e-03 -7.20528803e-04 9.99980593e-01 -3.99590370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36992885099997 meters 0.09901520478612635 Centerline is valid? [True, True] Translation: X:135.06, Y:-13.68, Z:-4.00 [[ 9.99921202e-01 -1.11664067e-02 -5.73592000e-03 1.35064283e+02] [ 1.11700891e-02 9.99937426e-01 6.10365609e-04 -1.36806560e+01] [ 5.72874549e-03 -6.74388251e-04 9.99983363e-01 -3.99595258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39992885099997 meters 0.10271550449730803 Centerline is valid? [True, False] Translation: X:135.06, Y:-13.68, Z:-4.00 [[ 9.99958361e-01 -7.70599530e-03 -4.88820001e-03 1.35062219e+02] [ 7.72747175e-03 9.99960506e-01 4.38996334e-03 -1.36812793e+01] [ 4.85417792e-03 -4.42755397e-03 9.99978417e-01 -3.99530222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42992885099997 meters 0.10103000850058493 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.68, Z:-4.00 [[ 9.99958736e-01 -7.66570171e-03 -4.87474548e-03 1.35062528e+02] [ 7.68730246e-03 9.99960648e-01 4.42796346e-03 -1.36809804e+01] [ 4.84061020e-03 -4.46525438e-03 9.99978315e-01 -3.99576657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45992885099997 meters 0.1013301772757744 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.68, Z:-4.00 [[ 9.99957546e-01 -7.87118300e-03 -4.79074258e-03 1.35062613e+02] [ 7.89106920e-03 9.99960269e-01 4.14631488e-03 -1.36797302e+01] [ 4.75791583e-03 -4.18394294e-03 9.99979928e-01 -3.99612894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48992885099997 meters 0.10219315542904565 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.68, Z:-4.00 [[ 9.99956981e-01 -7.94700524e-03 -4.78334969e-03 1.35062776e+02] [ 7.96623649e-03 9.99960209e-01 4.01492112e-03 -1.36790527e+01] [ 4.75125276e-03 -4.05285370e-03 9.99980500e-01 -3.99639014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51992885099997 meters 0.1023169449331941 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.68, Z:-4.00 [[ 9.99956821e-01 -8.01104970e-03 -4.70946332e-03 1.35062883e+02] [ 8.02947310e-03 9.99960134e-01 3.90619181e-03 -1.36784223e+01] [ 4.67798288e-03 -3.94383766e-03 9.99981281e-01 -3.99674911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54992885099998 meters 0.09956160998420824 Centerline is valid? [False, True] Translation: X:135.06, Y:-13.68, Z:-4.00 [[ 9.99955971e-01 -8.17249000e-03 -4.61162374e-03 1.35062742e+02] [ 8.18955924e-03 9.99959639e-01 3.69468704e-03 -1.36777981e+01] [ 4.58124282e-03 -3.73229153e-03 9.99982541e-01 -3.99682779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57992885099998 meters 0.10366903657632821 Centerline is valid? [True, False] Translation: X:135.06, Y:-13.68, Z:-4.00 [[ 9.99956714e-01 -8.05921024e-03 -4.64972183e-03 1.35063181e+02] [ 8.07701751e-03 9.99960069e-01 3.82376741e-03 -1.36774873e+01] [ 4.61871962e-03 -3.86115777e-03 9.99981879e-01 -3.99734446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60992885099998 meters 0.10141575159813732 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.68, Z:-4.00 [[ 9.99953125e-01 -8.40226994e-03 -4.81137409e-03 1.35063090e+02] [ 8.41762973e-03 9.99959511e-01 3.18108944e-03 -1.36758838e+01] [ 4.78445092e-03 -3.22144070e-03 9.99983366e-01 -3.99680114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63992885099998 meters 0.10533597789169134 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.68, Z:-4.00 [[ 9.99953261e-01 -8.26513491e-03 -5.01635246e-03 1.35063828e+02] [ 8.28113503e-03 9.99960663e-01 3.17724663e-03 -1.36752404e+01] [ 4.98989476e-03 -3.21863922e-03 9.99982371e-01 -3.99726291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66992885099998 meters 0.09936320433789236 Centerline is valid? [False, True] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99952203e-01 -8.33973217e-03 -5.10305391e-03 1.35064185e+02] [ 8.35496293e-03 9.99960684e-01 2.97063323e-03 -1.36742998e+01] [ 5.07807899e-03 -3.01312707e-03 9.99982567e-01 -3.99753079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69992885099998 meters 0.1027199214698655 Centerline is valid? [True, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99953138e-01 -8.10175655e-03 -5.29934807e-03 1.35064992e+02] [ 8.11861382e-03 9.99962028e-01 3.16726778e-03 -1.36740716e+01] [ 5.27348641e-03 -3.21014271e-03 9.99980942e-01 -3.99811250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72992885099998 meters 0.10180150976981513 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99992871e-01 -3.11424306e-03 2.13545314e-03 1.35055770e+02] [ 3.11242522e-03 9.99994792e-01 8.54061090e-04 -1.36747016e+01] [-2.13810177e-03 -8.47408562e-04 9.99997355e-01 -4.00291444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75992885099998 meters 0.10127920398981519 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99993303e-01 -3.04403109e-03 2.03170868e-03 1.35056189e+02] [ 3.04222990e-03 9.99994977e-01 8.89042995e-04 -1.36743447e+01] [-2.03440475e-03 -8.82856116e-04 9.99997541e-01 -4.00323086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78992885099998 meters 0.09882322860706134 Centerline is valid? [False, True] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99994036e-01 -2.82845890e-03 1.98186304e-03 1.35056627e+02] [ 2.82605641e-03 9.99995270e-01 1.21398889e-03 -1.36746509e+01] [-1.98528738e-03 -1.20838080e-03 9.99997299e-01 -4.00372559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819928851 meters 0.10117734415983921 Centerline is valid? [True, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99993812e-01 -2.94859759e-03 1.91878909e-03 1.35056533e+02] [ 2.94662719e-03 9.99995129e-01 1.02891680e-03 -1.36742994e+01] [-1.92181361e-03 -1.02325648e-03 9.99997630e-01 -4.00344358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.849928851 meters 0.10207792301468097 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99994444e-01 -2.77486674e-03 1.84721841e-03 1.35056889e+02] [ 2.77256799e-03 9.99995380e-01 1.24583906e-03 -1.36745304e+01] [-1.85066691e-03 -1.24071059e-03 9.99997518e-01 -4.00374819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87992885099996 meters 0.10142025455241575 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99994584e-01 -2.80589352e-03 1.72019213e-03 1.35057173e+02] [ 2.80403979e-03 9.99995486e-01 1.07909799e-03 -1.36738098e+01] [-1.72321220e-03 -1.07426866e-03 9.99997938e-01 -4.00377641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90992885099996 meters 0.1026075557000356 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99995021e-01 -2.72608065e-03 1.58965061e-03 1.35057674e+02] [ 2.72433459e-03 9.99995685e-01 1.09952917e-03 -1.36733316e+01] [-1.59264115e-03 -1.09519295e-03 9.99998132e-01 -4.00412022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93992885099996 meters 0.10121061181048178 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99995208e-01 -2.71695830e-03 1.48392728e-03 1.35058126e+02] [ 2.71543453e-03 9.99995785e-01 1.02789707e-03 -1.36726047e+01] [-1.48671378e-03 -1.02386264e-03 9.99998371e-01 -4.00447038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96992885099996 meters 0.09644217974487884 Centerline is valid? [False, True] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997306e-01 5.89082976e-04 2.24521723e-03 1.35055924e+02] [-5.99066273e-04 9.99989926e-01 4.44839701e-03 -1.36723782e+01] [-2.24257414e-03 -4.44973006e-03 9.99987585e-01 -4.00345068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99992885099996 meters 0.10063009752938849 Centerline is valid? [True, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997425e-01 7.21381824e-04 2.15187161e-03 1.35056450e+02] [-7.31174895e-04 9.99989365e-01 4.55364525e-03 -1.36721247e+01] [-2.14856381e-03 -4.55520692e-03 9.99987317e-01 -4.00391211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02992885099997 meters 0.10236345896513917 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997636e-01 5.25288879e-04 2.11005201e-03 1.35056278e+02] [-5.34204503e-04 9.99990924e-01 4.22697105e-03 -1.36715352e+01] [-2.10781248e-03 -4.22808825e-03 9.99988840e-01 -4.00356437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05992885099997 meters 0.1003402279462614 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997768e-01 5.90326386e-04 2.02889390e-03 1.35056698e+02] [-5.98887952e-04 9.99990909e-01 4.22180578e-03 -1.36711041e+01] [-2.02638322e-03 -4.22301143e-03 9.99989030e-01 -4.00389075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08992885099997 meters 0.0998567606054765 Centerline is valid? [False, True] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997859e-01 1.15471061e-04 2.06612623e-03 1.35056052e+02] [-1.22845863e-04 9.99993621e-01 3.56961522e-03 -1.36699323e+01] [-2.06570087e-03 -3.56986139e-03 9.99991494e-01 -4.00310914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11992885099997 meters 0.10071573622422449 Centerline is valid? [True, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997965e-01 1.72582003e-04 2.00982280e-03 1.35056263e+02] [-1.79785632e-04 9.99993559e-01 3.58458187e-03 -1.36698832e+01] [-2.00919122e-03 -3.58493591e-03 9.99991556e-01 -4.00319334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14992885099997 meters 0.10141131390156245 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997991e-01 -6.53544585e-06 2.00468276e-03 1.35055969e+02] [-1.24242412e-07 9.99994482e-01 3.32204780e-03 -1.36696594e+01] [-2.00469341e-03 -3.32204138e-03 9.99992473e-01 -4.00274519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17992885099997 meters 0.10266983666386142 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997976e-01 8.49460614e-05 2.01022239e-03 1.35056038e+02] [-9.18684806e-05 9.99994066e-01 3.44376689e-03 -1.36700173e+01] [-2.00991793e-03 -3.44394459e-03 9.99992050e-01 -4.00281722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20992885099997 meters 0.10044726888151037 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997327e-01 -6.91123991e-05 2.31099319e-03 1.35055106e+02] [ 6.10119212e-05 9.99993855e-01 3.50508014e-03 -1.36711055e+01] [-2.31122123e-03 -3.50492977e-03 9.99991187e-01 -4.00231256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23992885099997 meters 0.10167491986175274 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.67, Z:-4.00 [[ 9.99997244e-01 -4.14474881e-05 2.34745337e-03 1.35054895e+02] [ 3.30207069e-05 9.99993557e-01 3.58967946e-03 -1.36717927e+01] [-2.34758702e-03 -3.58959205e-03 9.99990802e-01 -4.00207895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26992885099997 meters 0.10114729937011589 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.67, Z:-4.00 [[ 9.99997160e-01 -1.38610119e-04 2.37923220e-03 1.35054508e+02] [ 1.30307991e-04 9.99993904e-01 3.48921491e-03 -1.36721444e+01] [-2.37970134e-03 -3.48889496e-03 9.99991082e-01 -4.00159535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29992885099998 meters 0.10372378982335938 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.67, Z:-4.00 [[ 9.99997202e-01 -4.54863683e-05 2.36513064e-03 1.35054554e+02] [ 3.69606701e-05 9.99993502e-01 3.60466604e-03 -1.36727374e+01] [-2.36527924e-03 -3.60456854e-03 9.99990706e-01 -4.00157007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32992885099998 meters 0.10287053312541349 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.67, Z:-4.00 [[ 9.99997405e-01 -4.73540439e-05 2.27777580e-03 1.35054640e+02] [ 3.92670332e-05 9.99993697e-01 3.55031172e-03 -1.36727970e+01] [-2.27792956e-03 -3.55021307e-03 9.99991103e-01 -4.00142749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35992885099998 meters 0.1032845352189187 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.67, Z:-4.00 [[ 9.99997541e-01 -9.85075441e-05 2.21550349e-03 1.35054660e+02] [ 9.08751310e-05 9.99994062e-01 3.44483852e-03 -1.36726817e+01] [-2.21582967e-03 -3.44462871e-03 9.99991612e-01 -4.00128813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38992885099998 meters 0.10225548126739721 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997809e-01 1.14191557e-04 2.09016693e-03 1.35055265e+02] [-1.21834239e-04 9.99993307e-01 3.65673157e-03 -1.36728230e+01] [-2.08973537e-03 -3.65697821e-03 9.99991130e-01 -4.00175321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41992885099998 meters 0.10163497529262262 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99997872e-01 -3.08367283e-05 2.06270922e-03 1.35055190e+02] [ 2.37817085e-05 9.99994151e-01 3.42020583e-03 -1.36723877e+01] [-2.06280263e-03 -3.42014949e-03 9.99992024e-01 -4.00157410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44992885099998 meters 0.10177038070050398 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998241e-01 -5.76888823e-05 1.87450742e-03 1.35055627e+02] [ 5.16780373e-05 9.99994858e-01 3.20651664e-03 -1.36715533e+01] [-1.87468276e-03 -3.20641413e-03 9.99993102e-01 -4.00163827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47992885099998 meters 0.10642842536062781 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998415e-01 3.96539816e-05 1.77982612e-03 1.35056049e+02] [-4.54567335e-05 9.99994684e-01 3.26036947e-03 -1.36713017e+01] [-1.77968737e-03 -3.26044521e-03 9.99993101e-01 -4.00194402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50992885099998 meters 0.1016832075850605 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998397e-01 -2.20744406e-04 1.77672059e-03 1.35055770e+02] [ 2.15653295e-04 9.99995872e-01 2.86513539e-03 -1.36705298e+01] [-1.77734572e-03 -2.86474764e-03 9.99994317e-01 -4.00155298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53992885099998 meters 0.10162757950907961 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998300e-01 -4.79304029e-04 1.78059466e-03 1.35055448e+02] [ 4.74937694e-04 9.99996882e-01 2.45179193e-03 -1.36698044e+01] [-1.78176426e-03 -2.45094209e-03 9.99995409e-01 -4.00109977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.569928851 meters 0.10019913148508697 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998407e-01 -4.99431401e-04 1.71371615e-03 1.35055725e+02] [ 4.95399540e-04 9.99997111e-01 2.35231904e-03 -1.36690772e+01] [-1.71488602e-03 -2.35146631e-03 9.99995765e-01 -4.00132437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599928851 meters 0.09941720631875096 Centerline is valid? [False, True] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998239e-01 -6.69710331e-04 1.75315648e-03 1.35055669e+02] [ 6.66055869e-04 9.99997606e-01 2.08425903e-03 -1.36682969e+01] [-1.75454814e-03 -2.08308766e-03 9.99996291e-01 -4.00135214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62992885099996 meters 0.100787514049434 Centerline is valid? [True, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998300e-01 -6.57120700e-04 1.72282543e-03 1.35055900e+02] [ 6.53589123e-04 9.99997686e-01 2.04963695e-03 -1.36679465e+01] [-1.72416831e-03 -2.04850744e-03 9.99996415e-01 -4.00158585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65992885099996 meters 0.10125194601120735 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998384e-01 -5.24044827e-04 1.71942252e-03 1.35056272e+02] [ 5.20239632e-04 9.99997417e-01 2.21276739e-03 -1.36677745e+01] [-1.72057766e-03 -2.21186930e-03 9.99996074e-01 -4.00210002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68992885099996 meters 0.09951614257521839 Centerline is valid? [False, True] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998352e-01 -6.58179105e-04 1.69187904e-03 1.35056069e+02] [ 6.54804267e-04 9.99997797e-01 1.99450812e-03 -1.36675847e+01] [-1.69318806e-03 -1.99339698e-03 9.99996580e-01 -4.00173153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71992885099996 meters 0.10353005588271781 Centerline is valid? [True, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998338e-01 -7.24367933e-04 1.67312836e-03 1.35056032e+02] [ 7.21211540e-04 9.99997961e-01 1.88635536e-03 -1.36673726e+01] [-1.67449136e-03 -1.88514554e-03 9.99996821e-01 -4.00162537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74992885099996 meters 0.10168072697679227 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998614e-01 -5.29043022e-04 1.57842127e-03 1.35056557e+02] [ 5.25742993e-04 9.99997677e-01 2.09039764e-03 -1.36675347e+01] [-1.57952351e-03 -2.08956490e-03 9.99996569e-01 -4.00207026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77992885099997 meters 0.10177807631922518 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998882e-01 -2.82483031e-04 1.46831014e-03 1.35057087e+02] [ 2.78992396e-04 9.99997136e-01 2.37697607e-03 -1.36679242e+01] [-1.46897739e-03 -2.37656376e-03 9.99996097e-01 -4.00246451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80992885099997 meters 0.10178275461998129 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998801e-01 -4.80416463e-04 1.47180282e-03 1.35056777e+02] [ 4.77345018e-04 9.99997709e-01 2.08649994e-03 -1.36676224e+01] [-1.47280184e-03 -2.08579488e-03 9.99996740e-01 -4.00201153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83992885099997 meters 0.1029924653219726 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998793e-01 -5.99602207e-04 1.43345529e-03 1.35056662e+02] [ 5.96875331e-04 9.99998013e-01 1.90198131e-03 -1.36673759e+01] [-1.43459288e-03 -1.90112342e-03 9.99997164e-01 -4.00174710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86992885099997 meters 0.10024983546073427 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99999113e-01 -2.88052600e-04 1.30054362e-03 1.35057264e+02] [ 2.85072011e-04 9.99997334e-01 2.29140653e-03 -1.36678544e+01] [-1.30120020e-03 -2.29103375e-03 9.99996529e-01 -4.00220909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89992885099997 meters 0.09889536130554258 Centerline is valid? [False, True] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99999002e-01 -3.67071653e-04 1.36400378e-03 1.35056965e+02] [ 3.64065536e-04 9.99997506e-01 2.20348747e-03 -1.36680125e+01] [-1.36480922e-03 -2.20298868e-03 9.99996642e-01 -4.00195138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92992885099997 meters 0.10032780875329954 Centerline is valid? [True, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99999109e-01 -4.05336760e-04 1.27185479e-03 1.35056885e+02] [ 4.02670803e-04 9.99997723e-01 2.09567424e-03 -1.36682068e+01] [-1.27270135e-03 -2.09516024e-03 9.99996995e-01 -4.00154408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95992885099997 meters 0.10023481335920749 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99999177e-01 -2.09351340e-04 1.26563643e-03 1.35057067e+02] [ 2.06260959e-04 9.99996999e-01 2.44139865e-03 -1.36689368e+01] [-1.26614374e-03 -2.44113559e-03 9.99996219e-01 -4.00178749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98992885099997 meters 0.10175427144174912 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99999152e-01 -7.58078244e-05 1.29985755e-03 1.35057076e+02] [ 7.23395286e-05 9.99996438e-01 2.66805166e-03 -1.36697087e+01] [-1.30005518e-03 -2.66795537e-03 9.99995596e-01 -4.00186310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01992885099997 meters 0.10150696428081682 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998536e-01 -2.40766487e-04 1.69411664e-03 1.35056027e+02] [ 2.35905839e-04 9.99995857e-01 2.86874936e-03 -1.36711389e+01] [-1.69480032e-03 -2.86834551e-03 9.99994450e-01 -4.00146972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.04992885099998 meters 0.10150696428081682 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998536e-01 -2.40766487e-04 1.69411664e-03 1.35056027e+02] [ 2.35905839e-04 9.99995857e-01 2.86874936e-03 -1.36711389e+01] [-1.69480032e-03 -2.86834551e-03 9.99994450e-01 -4.00146972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07992885099998 meters 0.1023968303454262 Centerline is valid? [False, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998413e-01 -2.29036149e-04 1.76673839e-03 1.35055732e+02] [ 2.23770537e-04 9.99995535e-01 2.98003616e-03 -1.36718516e+01] [-1.76741303e-03 -2.97963609e-03 9.99993999e-01 -4.00124614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10992885099998 meters 0.09830786996013757 Centerline is valid? [False, True] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998300e-01 -2.24449524e-04 1.83023996e-03 1.35055446e+02] [ 2.18794768e-04 9.99995204e-01 3.08924033e-03 -1.36725529e+01] [-1.83092456e-03 -3.08883463e-03 9.99993553e-01 -4.00101037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13992885099998 meters 0.10228830563180351 Centerline is valid? [True, False] Translation: X:135.06, Y:-13.67, Z:-4.00 [[ 9.99998133e-01 -1.87296962e-04 1.92338027e-03 1.35055193e+02] [ 1.81037899e-04 9.99994690e-01 3.25385805e-03 -1.36733157e+01] [-1.92397949e-03 -3.25350377e-03 9.99992856e-01 -4.00090252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16992885099998 meters 0.10320207006530561 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.67, Z:-4.00 [[ 9.99997577e-01 -3.62951065e-04 2.17143446e-03 1.35054269e+02] [ 3.55950947e-04 9.99994742e-01 3.22324818e-03 -1.36743782e+01] [-2.17259292e-03 -3.22246744e-03 9.99992448e-01 -4.00021991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19992885099998 meters 0.10435218443703662 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.67, Z:-4.00 [[ 9.99997612e-01 -4.10068017e-04 2.14657309e-03 1.35054159e+02] [ 4.03293799e-04 9.99994941e-01 3.15531165e-03 -1.36744225e+01] [-2.14785613e-03 -3.15443841e-03 9.99992718e-01 -3.99996948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22992885099998 meters 0.10348833139930498 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.67, Z:-4.00 [[ 9.99997402e-01 -6.40524892e-04 2.18766281e-03 1.35053616e+02] [ 6.34245134e-04 9.99995680e-01 2.87002124e-03 -1.36743922e+01] [-2.18949168e-03 -2.86862627e-03 9.99993489e-01 -3.99928143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25992885099998 meters 0.10348833139930498 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.67, Z:-4.00 [[ 9.99997402e-01 -6.40524892e-04 2.18766281e-03 1.35053616e+02] [ 6.34245134e-04 9.99995680e-01 2.87002124e-03 -1.36743922e+01] [-2.18949168e-03 -2.86862627e-03 9.99993489e-01 -3.99928143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28992885099998 meters 0.10349470545133616 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.67, Z:-4.00 [[ 9.99997603e-01 -4.96426604e-04 2.13260857e-03 1.35053736e+02] [ 4.89959004e-04 9.99995283e-01 3.03217054e-03 -1.36749762e+01] [-2.13410376e-03 -3.03111838e-03 9.99993129e-01 -3.99924453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319928851 meters 0.10624875403809236 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.68, Z:-4.00 [[ 9.99997677e-01 -3.39481183e-04 2.12869004e-03 1.35053863e+02] [ 3.32546928e-04 9.99994641e-01 3.25703039e-03 -1.36756455e+01] [-2.12978433e-03 -3.25631493e-03 9.99992430e-01 -3.99938534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.349928851 meters 0.10450653402294574 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.68, Z:-4.00 [[ 9.99997685e-01 -2.94328870e-04 2.13138566e-03 1.35053558e+02] [ 2.87226640e-04 9.99994408e-01 3.33175245e-03 -1.36765945e+01] [-2.13235437e-03 -3.33113254e-03 9.99992178e-01 -3.99888773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37992885099996 meters 0.10536849063009374 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.68, Z:-4.00 [[ 9.99997644e-01 -4.28872019e-04 2.12792139e-03 1.35053266e+02] [ 4.22210622e-04 9.99995013e-01 3.12993376e-03 -1.36765455e+01] [-2.12925311e-03 -3.12902795e-03 9.99992838e-01 -3.99846890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40992885099996 meters 0.10412790023533784 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.68, Z:-4.00 [[ 9.99997790e-01 -4.79263480e-04 2.04724205e-03 1.35053064e+02] [ 4.73125709e-04 9.99995396e-01 2.99750109e-03 -1.36766855e+01] [-2.04866922e-03 -2.99652586e-03 9.99993412e-01 -3.99791695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43992885099996 meters 0.09902270409741114 Centerline is valid? [False, True] Translation: X:135.05, Y:-13.68, Z:-4.00 [[ 9.99998205e-01 -4.09504426e-04 1.85013249e-03 1.35053298e+02] [ 4.04006866e-04 9.99995505e-01 2.97083868e-03 -1.36768286e+01] [-1.85134074e-03 -2.97008588e-03 9.99993876e-01 -3.99766115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46992885099996 meters 0.1050073817637363 Centerline is valid? [True, False] Translation: X:135.05, Y:-13.68, Z:-4.00 [[ 9.99998281e-01 -4.59226163e-04 1.79623249e-03 1.35053250e+02] [ 4.54101154e-04 9.99995828e-01 2.85256716e-03 -1.36767988e+01] [-1.79753497e-03 -2.85174658e-03 9.99994318e-01 -3.99742220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49992885099996 meters 0.10177623911133164 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.68, Z:-4.00 [[ 9.99998486e-01 -3.01815078e-04 1.71351538e-03 1.35053584e+02] [ 2.96686923e-04 9.99995479e-01 2.99223442e-03 -1.36770343e+01] [-1.71441073e-03 -2.99172151e-03 9.99994055e-01 -3.99763188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52992885099997 meters 0.1034725459064095 Centerline is valid? [False, False] Translation: X:135.05, Y:-13.68, Z:-4.00 [[ 9.99998745e-01 -1.40816406e-04 1.57779124e-03 1.35053822e+02] [ 1.35870700e-04 9.99995079e-01 3.13424438e-03 -1.36776028e+01] [-1.57822483e-03 -3.13402607e-03 9.99993844e-01 -3.99753683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55992885099997 meters 0.09906924234983404 Centerline is valid? [False, True] Translation: X:135.05, Y:-13.68, Z:-4.00 [[ 9.99998794e-01 -2.17702281e-04 1.53748898e-03 1.35053723e+02] [ 2.13080411e-04 9.99995460e-01 3.00564021e-03 -1.36775987e+01] [-1.53813634e-03 -3.00530897e-03 9.99994301e-01 -3.99728203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58992885099997 meters 0.0991410271078057 Centerline is valid? [True, True] Translation: X:135.08, Y:-13.68, Z:-4.00 [[ 9.99998214e-01 8.98870904e-05 1.88796134e-03 1.35084658e+02] [-8.94627093e-05 9.99999971e-01 -2.24865961e-04 -1.36804423e+01] [-1.88798150e-03 2.24696657e-04 9.99998193e-01 -3.99758990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61992885099997 meters 0.09991827408432556 Centerline is valid? [True, True] Translation: X:135.11, Y:-13.69, Z:-4.00 [[ 9.99998637e-01 9.74099576e-04 1.33311253e-03 1.35114441e+02] [-9.73888472e-04 9.99999513e-01 -1.58993988e-04 -1.36855696e+01] [-1.33326675e-03 1.57695468e-04 9.99999099e-01 -3.99827655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64992885099997 meters 0.10007876716139123 Centerline is valid? [True, False] Translation: X:135.12, Y:-13.69, Z:-4.00 [[ 9.99998544e-01 1.32998751e-03 1.06878090e-03 1.35115386e+02] [-1.33017977e-03 9.99999099e-01 1.79204604e-04 -1.36858385e+01] [-1.06854160e-03 -1.80626014e-04 9.99999413e-01 -3.99885844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67992885099997 meters 0.10042162791515917 Centerline is valid? [False, False] Translation: X:135.12, Y:-13.69, Z:-4.00 [[ 9.99998731e-01 1.23950102e-03 1.00059727e-03 1.35115370e+02] [-1.23951643e-03 9.99999232e-01 1.47827839e-05 -1.36856154e+01] [-1.00057817e-03 -1.60230219e-05 9.99999499e-01 -3.99864366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70992885099997 meters 0.1000363553780929 Centerline is valid? [False, False] Translation: X:135.12, Y:-13.69, Z:-4.00 [[ 9.99998782e-01 1.29857854e-03 8.65910726e-04 1.35115806e+02] [-1.29858374e-03 9.99999157e-01 5.44172823e-06 -1.36852207e+01] [-8.65902929e-04 -6.56617919e-06 9.99999625e-01 -3.99889547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73992885099997 meters 0.10056787460094094 Centerline is valid? [False, False] Translation: X:135.12, Y:-13.68, Z:-4.00 [[ 9.99998619e-01 1.56267452e-03 5.66077692e-04 1.35116843e+02] [-1.56274548e-03 9.99998771e-01 1.24936261e-04 -1.36846637e+01] [-5.65881762e-04 -1.25820724e-04 9.99999832e-01 -3.99954256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76992885099997 meters 0.09949705460707704 Centerline is valid? [False, True] Translation: X:135.12, Y:-13.68, Z:-4.00 [[ 9.99999025e-01 1.31011319e-03 4.84188215e-04 1.35116747e+02] [-1.30995015e-03 9.99999085e-01 -3.36903303e-04 -1.36837101e+01] [-4.84629154e-04 3.36268712e-04 9.99999826e-01 -3.99918581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79992885099998 meters 0.10043404276816265 Centerline is valid? [True, False] Translation: X:135.12, Y:-13.68, Z:-4.00 [[ 9.99998818e-01 1.50813472e-03 2.98624209e-04 1.35117495e+02] [-1.50807413e-03 9.99998842e-01 -2.03031695e-04 -1.36833249e+01] [-2.98930062e-04 2.02581107e-04 9.99999935e-01 -3.99973398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82992885099998 meters 0.10374702640466205 Centerline is valid? [False, False] Translation: X:135.12, Y:-13.68, Z:-4.00 [[ 9.99998770e-01 1.55666574e-03 1.93408111e-04 1.35117839e+02] [-1.55662441e-03 9.99998766e-01 -2.13670814e-04 -1.36829367e+01] [-1.93740486e-04 2.13369487e-04 9.99999958e-01 -3.99991872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85992885099998 meters 0.09706847472358508 Centerline is valid? [False, True] Translation: X:135.12, Y:-13.68, Z:-4.00 [[ 9.99999079e-01 1.34355739e-03 1.91190435e-04 1.35117608e+02] [-1.34346111e-03 9.99998971e-01 -5.02821720e-04 -1.36824213e+01] [-1.91865808e-04 5.02564400e-04 9.99999855e-01 -3.99960135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88992885099998 meters 0.09847537507082682 Centerline is valid? [True, True] Translation: X:135.15, Y:-13.69, Z:-4.00 [[ 9.99999006e-01 1.40980491e-03 -3.25440921e-06 1.35146460e+02] [-1.40980491e-03 9.99999006e-01 7.84229930e-07 -1.36883947e+01] [ 3.25551158e-06 -7.79641069e-07 1.00000000e+00 -4.00099844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91992885099998 meters 0.09693958100677365 Centerline is valid? [True, True] Translation: X:135.18, Y:-13.69, Z:-4.00 [[ 9.99998971e-01 1.43331705e-03 -5.27835136e-05 1.35176847e+02] [-1.43331673e-03 9.99998973e-01 6.13065311e-06 -1.36894142e+01] [ 5.27922465e-05 -6.05499131e-06 9.99999999e-01 -4.00128867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94992885099998 meters 0.09488297954688563 Centerline is valid? [True, True] Translation: X:135.21, Y:-13.69, Z:-4.00 [[ 9.99999309e-01 1.14001661e-03 -2.87737563e-04 1.35207054e+02] [-1.14000717e-03 9.99999350e-01 3.29724568e-05 -1.36890726e+01] [ 2.87774965e-04 -3.26444111e-05 9.99999958e-01 -4.00121545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97992885099998 meters 0.09574811092401617 Centerline is valid? [True, True] Translation: X:135.24, Y:-13.69, Z:-4.00 [[ 9.99999516e-01 9.83432219e-04 2.47200560e-05 1.35236184e+02] [-9.83432127e-04 9.99999516e-01 -3.74595996e-06 -1.36942721e+01] [-2.47237280e-05 3.72164765e-06 1.00000000e+00 -4.00199635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00992885099998 meters 0.0997278106414593 Centerline is valid? [True, True] Translation: X:135.26, Y:-13.70, Z:-4.00 [[ 9.99998786e-01 1.55733268e-03 4.80316513e-05 1.35264543e+02] [-1.55733240e-03 9.99998787e-01 -6.01111788e-06 -1.37049121e+01] [-4.80409544e-05 5.93630934e-06 9.99999999e-01 -4.00421739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03992885099998 meters 0.10051736568607197 Centerline is valid? [True, False] Translation: X:135.26, Y:-13.70, Z:-4.00 [[ 9.99998981e-01 1.42682676e-03 3.79031353e-05 1.35264504e+02] [-1.42681786e-03 9.99998955e-01 -2.33718726e-04 -1.37045056e+01] [-3.82365718e-05 2.33664407e-04 9.99999972e-01 -4.00411886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.069928851 meters 0.09580981548155307 Centerline is valid? [False, True] Translation: X:135.26, Y:-13.70, Z:-4.00 [[ 9.99998787e-01 1.55644126e-03 -5.04876447e-05 1.35264913e+02] [-1.55644716e-03 9.99998782e-01 -1.17040614e-04 -1.37045333e+01] [ 5.03054164e-05 1.17119053e-04 9.99999992e-01 -4.00443016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099928851 meters 0.11060170972857276 Centerline is valid? [True, False] Translation: X:135.27, Y:-13.70, Z:-4.00 [[ 9.99998466e-01 1.73167825e-03 -2.62655448e-04 1.35265571e+02] [-1.73169431e-03 9.99998499e-01 -6.09077083e-05 -1.37044983e+01] [ 2.62549581e-04 6.13624538e-05 9.99999964e-01 -4.00471470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12992885099996 meters 0.09786862127062333 Centerline is valid? [False, True] Translation: X:135.27, Y:-13.70, Z:-4.00 [[ 9.99998665e-01 1.60088406e-03 -3.28879114e-04 1.35265509e+02] [-1.60097993e-03 9.99998676e-01 -2.91447259e-04 -1.37040860e+01] [ 3.28412105e-04 2.91973399e-04 9.99999903e-01 -4.00443455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15992885099996 meters 0.09790658814515961 Centerline is valid? [True, True] Translation: X:135.30, Y:-13.71, Z:-4.01 [[ 9.99999170e-01 1.27514588e-03 -1.83923261e-04 1.35295014e+02] [-1.27514220e-03 9.99999187e-01 2.00979609e-05 -1.37072405e+01] [ 1.83948739e-04 -1.98634159e-05 9.99999983e-01 -4.00508851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18992885099996 meters 0.09766424510706244 Centerline is valid? [True, True] Translation: X:135.32, Y:-13.71, Z:-4.01 [[ 9.99998302e-01 1.81133045e-03 -3.39825089e-04 1.35324906e+02] [-1.81131753e-03 9.99998359e-01 3.83096957e-05 -1.37101544e+01] [ 3.39893923e-04 -3.76940995e-05 9.99999942e-01 -4.00565369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21992885099996 meters 0.09810813036312903 Centerline is valid? [True, True] Translation: X:135.35, Y:-13.71, Z:-4.01 [[ 9.99998784e-01 1.29864220e-03 8.63374052e-04 1.35353976e+02] [-1.29855698e-03 9.99999152e-01 -9.92589687e-05 -1.37146013e+01] [-8.63502222e-04 9.81377076e-05 9.99999622e-01 -4.00645593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24992885099996 meters 0.09904854164062096 Centerline is valid? [True, True] Translation: X:135.38, Y:-13.72, Z:-4.01 [[ 9.99998230e-01 1.15725043e-03 1.48332880e-03 1.35384094e+02] [-1.15700091e-03 9.99999316e-01 -1.69057158e-04 -1.37196143e+01] [-1.48352342e-03 1.67340646e-04 9.99998886e-01 -4.00791200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27992885099997 meters 0.09981931172554617 Centerline is valid? [True, True] Translation: X:135.41, Y:-13.72, Z:-4.01 [[ 9.99999379e-01 4.35523060e-04 1.02580570e-03 1.35414628e+02] [-4.35403357e-04 9.99999898e-01 -1.16912580e-04 -1.37239587e+01] [-1.02585651e-03 1.16465868e-04 9.99999467e-01 -4.00878555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30992885099997 meters 0.09970593909548914 Centerline is valid? [True, True] Translation: X:135.45, Y:-13.73, Z:-4.01 [[ 9.99999958e-01 -1.73088029e-05 2.90537923e-04 1.35445440e+02] [ 1.73183008e-05 9.99999999e-01 -3.26879815e-05 -1.37271633e+01] [-2.90537357e-04 3.26930118e-05 9.99999957e-01 -4.00963154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33992885099997 meters 0.09667665434098874 Centerline is valid? [True, True] Translation: X:135.48, Y:-13.72, Z:-4.01 [[ 9.99999924e-01 -3.64151668e-04 -1.42660535e-04 1.35476301e+02] [ 3.64153992e-04 9.99999934e-01 1.62616330e-05 -1.37246143e+01] [ 1.42654604e-04 -1.63135822e-05 9.99999990e-01 -4.00962976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36992885099997 meters 0.1217224693040853 Centerline is valid? [True, False] Translation: X:135.48, Y:-13.72, Z:-4.01 [[ 9.99999847e-01 -5.26599465e-04 -1.72215164e-04 1.35476297e+02] [ 5.26554843e-04 9.99999828e-01 -2.59053730e-04 -1.37239220e+01] [ 1.72351552e-04 2.58963009e-04 9.99999952e-01 -4.00954379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39992885099997 meters 0.10158165541650883 Centerline is valid? [False, False] Translation: X:135.48, Y:-13.72, Z:-4.01 [[ 9.99999857e-01 -4.37020356e-04 -3.08408567e-04 1.35476907e+02] [ 4.36946210e-04 9.99999876e-01 -2.40442030e-04 -1.37233334e+01] [ 3.08513607e-04 2.40307238e-04 9.99999924e-01 -4.01002249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42992885099997 meters 0.1228291048387043 Centerline is valid? [False, False] Translation: X:135.48, Y:-13.72, Z:-4.01 [[ 9.99999724e-01 -6.39291738e-04 -3.77235606e-04 1.35476889e+02] [ 6.39069953e-04 9.99999623e-01 -5.87748202e-04 -1.37224609e+01] [ 3.77611206e-04 5.87506960e-04 9.99999756e-01 -4.00982440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45992885099997 meters 0.1255376422102444 Centerline is valid? [False, False] Translation: X:135.48, Y:-13.72, Z:-4.01 [[ 9.99999747e-01 -4.61650434e-04 -5.40975450e-04 1.35477593e+02] [ 4.61406809e-04 9.99999792e-01 -4.50382946e-04 -1.37221056e+01] [ 5.41183257e-04 4.50133222e-04 9.99999752e-01 -4.01038490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48992885099997 meters 0.09868599693593551 Centerline is valid? [False, True] Translation: X:135.48, Y:-13.72, Z:-4.01 [[ 9.99999673e-01 -5.92860361e-04 -5.49816068e-04 1.35477623e+02] [ 5.92511665e-04 9.99999623e-01 -6.34150608e-04 -1.37213734e+01] [ 5.50191824e-04 6.33824628e-04 9.99999648e-01 -4.01043433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51992885099997 meters 0.09893442708446952 Centerline is valid? [True, True] Translation: X:135.51, Y:-13.73, Z:-4.01 [[ 9.99999592e-01 -7.40884302e-04 -5.16752689e-04 1.35508227e+02] [ 7.40914622e-04 9.99999724e-01 5.84850836e-05 -1.37253866e+01] [ 5.16709216e-04 -5.88679293e-05 9.99999865e-01 -4.01121047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54992885099998 meters 0.1026467363440213 Centerline is valid? [True, False] Translation: X:135.51, Y:-13.72, Z:-4.01 [[ 9.99999499e-01 -8.37125472e-04 -5.48914710e-04 1.35508262e+02] [ 8.37083412e-04 9.99999647e-01 -7.68497437e-05 -1.37248807e+01] [ 5.48978849e-04 7.63902178e-05 9.99999846e-01 -4.01120011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57992885099998 meters 0.09688125681509493 Centerline is valid? [False, True] Translation: X:135.51, Y:-13.72, Z:-4.01 [[ 9.99999550e-01 -7.42605100e-04 -5.90179243e-04 1.35508601e+02] [ 7.42628672e-04 9.99999723e-01 3.97228510e-05 -1.37247482e+01] [ 5.90149581e-04 -4.01611172e-05 9.99999825e-01 -4.01155909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60992885099998 meters 0.09962048696748284 Centerline is valid? [True, True] Translation: X:135.54, Y:-13.73, Z:-4.01 [[ 9.99999466e-01 -9.50795814e-04 4.05852275e-04 1.35537385e+02] [ 9.50814883e-04 9.99999547e-01 -4.67935839e-05 -1.37320503e+01] [-4.05807600e-04 4.71794492e-05 9.99999917e-01 -4.01258384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63992885099998 meters 0.10103255305420848 Centerline is valid? [True, False] Translation: X:135.54, Y:-13.73, Z:-4.01 [[ 9.99999651e-01 -7.85988901e-04 2.84094740e-04 1.35537886e+02] [ 7.85955353e-04 9.99999684e-01 1.18178469e-04 -1.37319613e+01] [-2.84187537e-04 -1.17955142e-04 9.99999953e-01 -4.01294811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66992885099998 meters 0.10180806083333893 Centerline is valid? [False, False] Translation: X:135.54, Y:-13.73, Z:-4.01 [[ 9.99999811e-01 -6.04065779e-04 1.18022045e-04 1.35538390e+02] [ 6.04036515e-04 9.99999787e-01 2.47828366e-04 -1.37320273e+01] [-1.18171724e-04 -2.47757029e-04 9.99999962e-01 -4.01317726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69992885099998 meters 0.1009335329609293 Centerline is valid? [False, False] Translation: X:135.54, Y:-13.73, Z:-4.01 [[ 9.99999801e-01 -6.31127585e-04 1.61216292e-05 1.35538624e+02] [ 6.31125082e-04 9.99999789e-01 1.54795591e-04 -1.37315451e+01] [-1.62193215e-05 -1.54785385e-04 9.99999988e-01 -4.01322684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72992885099998 meters 0.0962519668946023 Centerline is valid? [False, True] Translation: X:135.54, Y:-13.73, Z:-4.01 [[ 9.99999750e-01 -6.91341929e-04 -1.50944148e-04 1.35539227e+02] [ 6.91327101e-04 9.99999756e-01 -9.82694225e-05 -1.37301593e+01] [ 1.51012049e-04 9.81650461e-05 9.99999984e-01 -4.01365148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75992885099998 meters 0.09609679337500687 Centerline is valid? [True, True] Translation: X:135.57, Y:-13.73, Z:-4.01 [[ 9.99999483e-01 -3.53241957e-04 -9.53542793e-04 1.35569464e+02] [ 3.53344719e-04 9.99999932e-01 1.07602460e-04 -1.37327034e+01] [ 9.53504718e-04 -1.07939334e-04 9.99999540e-01 -4.01484046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78992885099998 meters 0.0977580684592183 Centerline is valid? [True, True] Translation: X:135.60, Y:-13.74, Z:-4.02 [[ 9.99999522e-01 4.02276093e-04 -8.90654252e-04 1.35598192e+02] [-4.02187120e-04 9.99999914e-01 1.00073091e-04 -1.37390321e+01] [ 8.90694432e-04 -9.97148336e-05 9.99999598e-01 -4.01698582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819928851 meters 0.0966011728938375 Centerline is valid? [True, True] Translation: X:135.63, Y:-13.74, Z:-4.02 [[ 9.99999233e-01 8.74878102e-04 -8.77150825e-04 1.35628468e+02] [-8.74791998e-04 9.99999613e-01 9.85423601e-05 -1.37395457e+01] [ 8.77236698e-04 -9.77749599e-05 9.99999610e-01 -4.01802362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.849928851 meters 0.09747320780314445 Centerline is valid? [True, True] Translation: X:135.66, Y:-13.74, Z:-4.02 [[ 9.99999103e-01 5.81699542e-04 -1.20635759e-03 1.35658032e+02] [-5.81536826e-04 9.99999822e-01 1.35228960e-04 -1.37434946e+01] [ 1.20643604e-03 -1.34527297e-04 9.99999263e-01 -4.01935789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87992885099996 meters 0.09761721097583984 Centerline is valid? [True, True] Translation: X:135.69, Y:-13.75, Z:-4.02 [[ 9.99999119e-01 8.64559520e-04 -1.00719894e-03 1.35687773e+02] [-8.64446408e-04 9.99999620e-01 1.12732793e-04 -1.37469323e+01] [ 1.00729602e-03 -1.11862024e-04 9.99999486e-01 -4.01988270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90992885099996 meters 0.098461472640725 Centerline is valid? [True, True] Translation: X:135.72, Y:-13.75, Z:-4.02 [[ 9.99999629e-01 7.08516390e-04 -4.89389576e-04 1.35716918e+02] [-7.08489675e-04 9.99999748e-01 5.47594832e-05 -1.37513909e+01] [ 4.89428250e-04 -5.44127354e-05 9.99999879e-01 -4.02064904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93992885099996 meters 0.09990104593219265 Centerline is valid? [True, True] Translation: X:135.75, Y:-13.76, Z:-4.02 [[ 9.99999758e-01 -1.01586395e-04 -6.88814735e-04 1.35745854e+02] [ 1.01639617e-04 9.99999992e-01 7.72323416e-05 -1.37567535e+01] [ 6.88806884e-04 -7.73023337e-05 9.99999760e-01 -4.02159426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96992885099996 meters 0.09990104593219265 Centerline is valid? [True, True] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999758e-01 -1.01595950e-04 -6.88769999e-04 1.35775855e+02] [ 1.01649443e-04 9.99999992e-01 7.76292607e-05 -1.37601350e+01] [ 6.88762107e-04 -7.76992550e-05 9.99999760e-01 -4.02231638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99992885099996 meters 0.10455042692675731 Centerline is valid? [True, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999741e-01 9.19990773e-05 -7.14421787e-04 1.35776287e+02] [-9.17407647e-05 9.99999930e-01 3.61593139e-04 -1.37603475e+01] [ 7.14455003e-04 -3.61527504e-04 9.99999679e-01 -4.02286058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02992885099997 meters 0.10011096669103721 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999757e-01 -7.82411893e-05 -6.92323974e-04 1.35776077e+02] [ 7.83223095e-05 9.99999990e-01 1.17144494e-04 -1.37599947e+01] [ 6.92314802e-04 -1.17198690e-04 9.99999753e-01 -4.02261829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05992885099997 meters 0.10192812911047937 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999718e-01 1.75622578e-04 -7.29705987e-04 1.35776695e+02] [-1.75305017e-04 9.99999890e-01 4.35230512e-04 -1.37601151e+01] [ 7.29782343e-04 -4.35102468e-04 9.99999639e-01 -4.02336558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08992885099997 meters 0.09975676831672174 Centerline is valid? [False, True] Translation: X:135.77, Y:-13.76, Z:-4.02 [[ 9.99993449e-01 3.61790004e-03 1.12939272e-04 1.35774466e+02] [-3.61834369e-03 9.99984582e-01 4.21224676e-03 -1.37608318e+01] [-9.76980433e-05 -4.21262782e-03 9.99991122e-01 -4.02245984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11992885099997 meters 0.1010460759521872 Centerline is valid? [True, False] Translation: X:135.77, Y:-13.76, Z:-4.02 [[ 9.99993381e-01 3.63793914e-03 5.97182375e-05 1.35774881e+02] [-3.63815545e-03 9.99984789e-01 4.14548546e-03 -1.37601593e+01] [-4.46363054e-05 -4.14567528e-03 9.99991406e-01 -4.02288395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14992885099997 meters 0.1003219776627306 Centerline is valid? [False, False] Translation: X:135.77, Y:-13.76, Z:-4.02 [[ 9.99994006e-01 3.46176758e-03 5.67203217e-05 1.35774680e+02] [-3.46196157e-03 9.99986482e-01 3.87940481e-03 -1.37596840e+01] [-4.32899572e-05 -3.87957792e-03 9.99992473e-01 -4.02259349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17992885099997 meters 0.10069320487438403 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999580e-01 2.42161599e-05 -9.15675030e-04 1.35777300e+02] [-2.42436095e-05 9.99999999e-01 -2.99662956e-05 -1.37584066e+01] [ 9.15674303e-04 2.99884823e-05 9.99999580e-01 -4.02365404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20992885099997 meters 0.10074463680665303 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999618e-01 -8.56922610e-05 -8.70129959e-04 1.35777154e+02] [ 8.55497292e-05 9.99999983e-01 -1.63841086e-04 -1.37581603e+01] [ 8.70143984e-04 1.63766584e-04 9.99999608e-01 -4.02359025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23992885099997 meters 0.10110344364582922 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999598e-01 -2.92288960e-04 -8.47934174e-04 1.35776835e+02] [ 2.91931371e-04 9.99999868e-01 -4.21810658e-04 -1.37577886e+01] [ 8.48057353e-04 4.21562949e-04 9.99999552e-01 -4.02322842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26992885099997 meters 0.10453597259607933 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999577e-01 -1.29939864e-04 -9.10596251e-04 1.35777230e+02] [ 1.29751222e-04 9.99999970e-01 -2.07219115e-04 -1.37579430e+01] [ 9.10623150e-04 2.07100877e-04 9.99999564e-01 -4.02358720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29992885099998 meters 0.10428307902446847 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999455e-01 2.73738146e-04 -1.00743945e-03 1.35777987e+02] [-2.73396573e-04 9.99999905e-01 3.39172068e-04 -1.37586123e+01] [ 1.00753220e-03 -3.38896453e-04 9.99999435e-01 -4.02437238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32992885099998 meters 0.10549395990394572 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999524e-01 1.50451252e-04 -9.64477960e-04 1.35777715e+02] [-1.50267445e-04 9.99999971e-01 1.90646044e-04 -1.37585660e+01] [ 9.64506614e-04 -1.90501023e-04 9.99999517e-01 -4.02410403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35992885099998 meters 0.10628451669860861 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999578e-01 1.56260994e-04 -9.05170455e-04 1.35777404e+02] [-1.56020425e-04 9.99999952e-01 2.65836142e-04 -1.37593552e+01] [ 9.05211951e-04 -2.65694805e-04 9.99999555e-01 -4.02378507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38992885099998 meters 0.10705949574624662 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999600e-01 1.85536360e-04 -8.74791780e-04 1.35777292e+02] [-1.85224531e-04 9.99999919e-01 3.56528755e-04 -1.37598593e+01] [ 8.74857859e-04 -3.56366579e-04 9.99999554e-01 -4.02369593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41992885099998 meters 0.09977014221279722 Centerline is valid? [False, True] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999287e-01 6.76183670e-04 -9.84450380e-04 1.35777972e+02] [-6.75172516e-04 9.99999245e-01 1.02709605e-03 -1.37611001e+01] [ 9.85144142e-04 -1.02643065e-03 9.99998988e-01 -4.02433317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44992885099998 meters 0.10885731291535244 Centerline is valid? [True, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999218e-01 6.77249816e-04 -1.05130902e-03 1.35777925e+02] [-6.76214742e-04 9.99999287e-01 9.84600842e-04 -1.37613329e+01] [ 1.05197509e-03 -9.83889162e-04 9.99998963e-01 -4.02403884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47992885099998 meters 0.10955553870974423 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999253e-01 6.23915131e-04 -1.05132694e-03 1.35777747e+02] [-6.22986473e-04 9.99999416e-01 8.83415481e-04 -1.37614463e+01] [ 1.05187750e-03 -8.82759858e-04 9.99999057e-01 -4.02374328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50992885099998 meters 0.10100510809551157 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99999319e-01 6.10687573e-04 -9.94985900e-04 1.35777636e+02] [-6.09767039e-04 9.99999386e-01 9.25213686e-04 -1.37616749e+01] [ 9.95550305e-04 -9.24606346e-04 9.99999077e-01 -4.02371539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53992885099998 meters 0.10207894711193245 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99998810e-01 1.05203618e-03 -1.12821561e-03 1.35778141e+02] [-1.05031418e-03 9.99998284e-01 1.52581364e-03 -1.37632073e+01] [ 1.12981889e-03 -1.52462684e-03 9.99998200e-01 -4.02400632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.569928851 meters 0.10137765031389297 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99998770e-01 1.08991413e-03 -1.12765539e-03 1.35778036e+02] [-1.08813442e-03 9.99998163e-01 1.57764707e-03 -1.37637271e+01] [ 1.12937282e-03 -1.57641808e-03 9.99998120e-01 -4.02381579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59992885099996 meters 0.10261413854965842 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99998480e-01 1.28806291e-03 -1.17550311e-03 1.35778316e+02] [-1.28587412e-03 9.99997442e-01 1.86086120e-03 -1.37643552e+01] [ 1.17789700e-03 -1.85934682e-03 9.99997578e-01 -4.02405266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62992885099996 meters 0.10310891619790584 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99998364e-01 1.32077504e-03 -1.23608459e-03 1.35778300e+02] [-1.31844681e-03 9.99997359e-01 1.88247324e-03 -1.37646824e+01] [ 1.23856765e-03 -1.88084045e-03 9.99997464e-01 -4.02383679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65992885099996 meters 0.10444277661192647 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.76, Z:-4.02 [[ 9.99998269e-01 1.34931416e-03 -1.28121878e-03 1.35778352e+02] [-1.34688359e-03 9.99997295e-01 1.89604600e-03 -1.37649496e+01] [ 1.28377368e-03 -1.89431707e-03 9.99997382e-01 -4.02374703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68992885099996 meters 0.10423926449928315 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.77, Z:-4.02 [[ 9.99998253e-01 1.35030392e-03 -1.29255306e-03 1.35778243e+02] [-1.34787574e-03 9.99997329e-01 1.87762001e-03 -1.37653426e+01] [ 1.29508496e-03 -1.87587453e-03 9.99997402e-01 -4.02350768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71992885099996 meters 0.10485818993221936 Centerline is valid? [False, False] Translation: X:135.78, Y:-13.77, Z:-4.02 [[ 9.99998193e-01 1.36033695e-03 -1.32792362e-03 1.35778149e+02] [-1.35781289e-03 9.99997274e-01 1.89980990e-03 -1.37657002e+01] [ 1.33050438e-03 -1.89800339e-03 9.99997314e-01 -4.02328787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74992885099996 meters 0.09460184197551177 Centerline is valid? [False, True] Translation: X:135.78, Y:-13.77, Z:-4.02 [[ 9.99998261e-01 1.29899557e-03 -1.33778148e-03 1.35777972e+02] [-1.29658471e-03 9.99997537e-01 1.80142221e-03 -1.37658757e+01] [ 1.34011823e-03 -1.79968453e-03 9.99997483e-01 -4.02298006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77992885099997 meters 0.09665644453296303 Centerline is valid? [True, True] Translation: X:135.81, Y:-13.77, Z:-4.02 [[ 9.99997988e-01 1.62741926e-03 -1.17315274e-03 1.35806284e+02] [-1.62726883e-03 9.99998668e-01 1.29166406e-04 -1.37718887e+01] [ 1.17336138e-03 -1.27257111e-04 9.99999304e-01 -4.02408568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80992885099997 meters 0.0984499253297028 Centerline is valid? [True, True] Translation: X:135.83, Y:-13.78, Z:-4.03 [[ 9.99998132e-01 1.48047972e-03 -1.24252795e-03 1.35834475e+02] [-1.48031153e-03 9.99998895e-01 1.36269497e-04 -1.37790052e+01] [ 1.24272832e-03 -1.34429914e-04 9.99999219e-01 -4.02540176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83992885099997 meters 0.0977697587035453 Centerline is valid? [True, True] Translation: X:135.86, Y:-13.78, Z:-4.03 [[ 9.99997669e-01 1.53109012e-03 -1.52210586e-03 1.35863670e+02] [-1.53083684e-03 9.99998814e-01 1.67553184e-04 -1.37811809e+01] [ 1.52236060e-03 -1.65222698e-04 9.99998828e-01 -4.02592275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86992885099997 meters 0.09916129881560583 Centerline is valid? [True, True] Translation: X:135.89, Y:-13.79, Z:-4.03 [[ 9.99997808e-01 6.61777383e-04 -1.98635566e-03 1.35892385e+02] [-6.61343987e-04 9.99999757e-01 2.18835525e-04 -1.37877042e+01] [ 1.98650000e-03 -2.17521381e-04 9.99998003e-01 -4.02722423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89992885099997 meters 0.09453349818380574 Centerline is valid? [True, True] Translation: X:135.92, Y:-13.78, Z:-4.03 [[ 9.99997542e-01 6.17333906e-04 -2.12960536e-03 1.35922449e+02] [-6.16835757e-04 9.99999782e-01 2.34564603e-04 -1.37833006e+01] [ 2.12974970e-03 -2.33250410e-04 9.99997705e-01 -4.02590092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92992885099997 meters 0.09544841331163623 Centerline is valid? [True, True] Translation: X:135.95, Y:-13.79, Z:-4.03 [[ 9.99999510e-01 1.16032403e-04 -9.83513925e-04 1.35952122e+02] [-1.15926371e-04 9.99999987e-01 1.07865758e-04 -1.37887954e+01] [ 9.83526429e-04 -1.07751690e-04 9.99999511e-01 -4.02664407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95992885099997 meters 0.09359845334979702 Centerline is valid? [True, True] Translation: X:135.98, Y:-13.79, Z:-4.03 [[ 9.99998975e-01 1.49767986e-04 -1.42396906e-03 1.35983279e+02] [-1.49544090e-04 9.99999976e-01 1.57338444e-04 -1.37887809e+01] [ 1.42399259e-03 -1.57125337e-04 9.99998974e-01 -4.02674457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98992885099997 meters 0.09501724355583102 Centerline is valid? [True, True] Translation: X:136.01, Y:-13.79, Z:-4.03 [[ 9.99998182e-01 2.10075935e-04 -1.89503894e-03 1.36011992e+02] [-2.09680334e-04 9.99999956e-01 2.08951893e-04 -1.37949390e+01] [ 1.89508276e-03 -2.08554161e-04 9.99998183e-01 -4.02819480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01992885099997 meters 0.09546325273948174 Centerline is valid? [True, True] Translation: X:136.04, Y:-13.80, Z:-4.03 [[ 9.99996705e-01 4.95045218e-05 -2.56676264e-03 1.36041057e+02] [-4.87791262e-05 9.99999959e-01 2.82672931e-04 -1.37990684e+01] [ 2.56677652e-03 -2.82546796e-04 9.99996666e-01 -4.02930119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04992885099998 meters 0.09491616914155826 Centerline is valid? [True, True] Translation: X:136.07, Y:-13.80, Z:-4.03 [[ 9.99997515e-01 5.19972814e-04 -2.16805551e-03 1.36070910e+02] [-5.19456804e-04 9.99999837e-01 2.38562195e-04 -1.38016066e+01] [ 2.16817920e-03 -2.37435390e-04 9.99997621e-01 -4.02933814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07992885099998 meters 0.09609338116741446 Centerline is valid? [True, True] Translation: X:136.10, Y:-13.81, Z:-4.03 [[ 9.99996057e-01 3.32243287e-04 -2.78863746e-03 1.36099909e+02] [-3.31388481e-04 9.99999898e-01 3.06988110e-04 -1.38066611e+01] [ 2.78873917e-03 -3.06062777e-04 9.99996065e-01 -4.03081796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10992885099998 meters 0.0968346059382463 Centerline is valid? [True, True] Translation: X:136.13, Y:-13.81, Z:-4.03 [[ 9.99997581e-01 6.43218906e-04 -2.10346673e-03 1.36128449e+02] [-6.42734703e-04 9.99999767e-01 2.30861099e-04 -1.38109883e+01] [ 2.10361474e-03 -2.29508570e-04 9.99997761e-01 -4.03216966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13992885099998 meters 0.0972240687520785 Centerline is valid? [True, True] Translation: X:136.16, Y:-13.82, Z:-4.03 [[ 9.99996513e-01 7.22536856e-04 -2.54006661e-03 1.36157900e+02] [-7.21829597e-04 9.99999700e-01 2.79346888e-04 -1.38152017e+01] [ 2.54026768e-03 -2.77512418e-04 9.99996735e-01 -4.03342947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16992885099998 meters 0.09633224590025 Centerline is valid? [True, True] Translation: X:136.19, Y:-13.82, Z:-4.03 [[ 9.99996842e-01 4.39271675e-04 -2.47445351e-03 1.36187650e+02] [-4.38599900e-04 9.99999867e-01 2.72020375e-04 -1.38168663e+01] [ 2.47457267e-03 -2.70934221e-04 9.99996902e-01 -4.03336586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19992885099998 meters 0.09872927758478306 Centerline is valid? [True, True] Translation: X:136.22, Y:-13.82, Z:-4.04 [[ 9.99994548e-01 -1.48818773e-03 -2.94770603e-03 1.36215940e+02] [ 1.48915189e-03 9.99998838e-01 3.24920842e-04 -1.38240112e+01] [ 2.94721907e-03 -3.29308653e-04 9.99995603e-01 -4.03515233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.22992885099998 meters 0.09581435021164661 Centerline is valid? [True, True] Translation: X:136.25, Y:-13.82, Z:-4.03 [[ 9.99992214e-01 -2.56926577e-03 -2.99498190e-03 1.36246108e+02] [ 2.57026336e-03 9.99996643e-01 3.29285838e-04 -1.38223394e+01] [ 2.99412582e-03 -3.36981166e-04 9.99995461e-01 -4.03433290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25992885099998 meters 0.0947174690317849 Centerline is valid? [True, True] Translation: X:136.28, Y:-13.82, Z:-4.03 [[ 9.99985367e-01 -4.53779706e-03 -2.94511121e-03 1.36276550e+02] [ 4.53877110e-03 9.99989647e-01 3.24132068e-04 -1.38239010e+01] [ 2.94360988e-03 -3.37494511e-04 9.99995611e-01 -4.03435556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28992885099998 meters 0.09653266682616872 Centerline is valid? [True, True] Translation: X:136.31, Y:-13.83, Z:-4.04 [[ 9.99975110e-01 -6.11062080e-03 -3.52701449e-03 1.36305464e+02] [ 6.11202919e-03 9.99981246e-01 3.88673664e-04 -1.38312415e+01] [ 3.52457331e-03 -4.10221205e-04 9.99993705e-01 -4.03583605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319928851 meters 0.09878842672188207 Centerline is valid? [True, True] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99962606e-01 -7.68302061e-03 -3.96972992e-03 1.36335102e+02] [ 7.68481879e-03 9.99970375e-01 4.37919945e-04 -1.38394424e+01] [ 3.96624777e-03 -4.68410225e-04 9.99992025e-01 -4.03796277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34992885099996 meters 0.10042510196472003 Centerline is valid? [True, False] Translation: X:136.33, Y:-13.84, Z:-4.04 [[ 9.99964700e-01 -7.61081194e-03 -3.56005503e-03 1.36334363e+02] [ 7.61431919e-03 9.99970538e-01 9.72654519e-04 -1.38414405e+01] [ 3.55254745e-03 -9.99727580e-04 9.99993190e-01 -4.03799860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37992885099996 meters 0.10339372530613516 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.84, Z:-4.04 [[ 9.99967188e-01 -7.29922824e-03 -3.51351351e-03 1.36334649e+02] [ 7.30459792e-03 9.99972169e-01 1.51789386e-03 -1.38424932e+01] [ 3.50233627e-03 -1.54350885e-03 9.99992676e-01 -4.03852119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40992885099996 meters 0.10318187849566705 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99969485e-01 -6.96565985e-03 -3.53667594e-03 1.36335112e+02] [ 6.97291636e-03 9.99973601e-01 2.04362199e-03 -1.38434439e+01] [ 3.52234740e-03 -2.06822058e-03 9.99991658e-01 -4.03909721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43992885099996 meters 0.10488452160699009 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99971851e-01 -6.60734738e-03 -3.55523284e-03 1.36335653e+02] [ 6.61650061e-03 9.99974811e-01 2.56900780e-03 -1.38443738e+01] [ 3.53816896e-03 -2.59245868e-03 9.99990380e-01 -4.03977943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46992885099996 meters 0.10513105158524248 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99972870e-01 -6.49152098e-03 -3.48141423e-03 1.36335803e+02] [ 6.50146190e-03 9.99974799e-01 2.85175122e-03 -1.38448036e+01] [ 3.46281430e-03 -2.87430814e-03 9.99989874e-01 -4.04021678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49992885099996 meters 0.1048822006858555 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.85, Z:-4.04 [[ 9.99974193e-01 -6.18172250e-03 -3.66043251e-03 1.36336561e+02] [ 6.19316878e-03 9.99975942e-01 3.12399510e-03 -1.38451272e+01] [ 3.64103278e-03 -3.14658415e-03 9.99988421e-01 -4.04071175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52992885099997 meters 0.1105568947465735 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.85, Z:-4.04 [[ 9.99974965e-01 -6.00051270e-03 -3.75014470e-03 1.36337052e+02] [ 6.01284594e-03 9.99976523e-01 3.28615965e-03 -1.38451907e+01] [ 3.73033802e-03 -3.30862642e-03 9.99987569e-01 -4.04112040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55992885099997 meters 0.10593098435193044 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99974123e-01 -6.13387288e-03 -3.75876015e-03 1.36336939e+02] [ 6.14541827e-03 9.99976411e-01 3.06778302e-03 -1.38447280e+01] [ 3.73985409e-03 -3.09080279e-03 9.99988230e-01 -4.04092093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58992885099997 meters 0.10648650968127389 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99974346e-01 -5.87323759e-03 -4.10039123e-03 1.36337974e+02] [ 5.88595166e-03 9.99977886e-01 3.09554462e-03 -1.38437526e+01] [ 4.08211969e-03 -3.11959991e-03 9.99986802e-01 -4.04141280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61992885099997 meters 0.10310910809742461 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99972618e-01 -6.02365570e-03 -4.29872518e-03 1.36338187e+02] [ 6.03539000e-03 9.99978082e-01 2.72198512e-03 -1.38426272e+01] [ 4.28223466e-03 -2.74785507e-03 9.99987056e-01 -4.04116890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64992885099997 meters 0.10414897803195196 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99972085e-01 -5.96055461e-03 -4.50558322e-03 1.36338767e+02] [ 5.97248502e-03 9.99978682e-01 2.63911512e-03 -1.38417806e+01] [ 4.48975658e-03 -2.66595098e-03 9.99986367e-01 -4.04140818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67992885099997 meters 0.10062423248950667 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99971117e-01 -6.05518117e-03 -4.59349888e-03 1.36338924e+02] [ 6.06631236e-03 9.99978688e-01 2.41319801e-03 -1.38409935e+01] [ 4.57878863e-03 -2.44099391e-03 9.99986538e-01 -4.04140894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70992885099997 meters 0.10260007229372804 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99971234e-01 -5.80077231e-03 -4.88697287e-03 1.36339821e+02] [ 5.81314496e-03 9.99979925e-01 2.52137217e-03 -1.38403771e+01] [ 4.87224886e-03 -2.54970832e-03 9.99984880e-01 -4.04190646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73992885099997 meters 0.1012029623840524 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99971120e-01 -5.78125302e-03 -4.93315614e-03 1.36340137e+02] [ 5.79371965e-03 9.99980050e-01 2.51657166e-03 -1.38400164e+01] [ 4.91850879e-03 -2.54508031e-03 9.99984665e-01 -4.04225996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76992885099997 meters 0.10085614018974014 Centerline is valid? [False, False] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99972032e-01 -5.43293950e-03 -5.13981077e-03 1.36341055e+02] [ 5.44786628e-03 9.99980971e-01 2.89462081e-03 -1.38402462e+01] [ 5.12398667e-03 -2.92254085e-03 9.99982602e-01 -4.04296620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79992885099998 meters 0.09804890056093563 Centerline is valid? [False, True] Translation: X:136.34, Y:-13.84, Z:-4.04 [[ 9.99972265e-01 -5.35348431e-03 -5.17772333e-03 1.36341404e+02] [ 5.36905709e-03 9.99981091e-01 2.99844137e-03 -1.38401092e+01] [ 5.16157332e-03 -3.02615770e-03 9.99982100e-01 -4.04339085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82992885099998 meters 0.09890114419142375 Centerline is valid? [True, True] Translation: X:136.37, Y:-13.84, Z:-4.04 [[ 9.99978159e-01 -4.89253263e-03 -4.44350609e-03 1.36370548e+02] [ 4.89476238e-03 9.99987900e-01 4.91062619e-04 -1.38438970e+01] [ 4.44104978e-03 -5.12801800e-04 9.99990007e-01 -4.04402239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85992885099998 meters 0.09890114419142375 Centerline is valid? [True, True] Translation: X:136.40, Y:-13.85, Z:-4.04 [[ 9.99978159e-01 -4.89252367e-03 -4.44354992e-03 1.36400568e+02] [ 4.89475167e-03 9.99987900e-01 4.90665648e-04 -1.38472117e+01] [ 4.44109556e-03 -5.12405004e-04 9.99990007e-01 -4.04469840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88992885099998 meters 0.09836359326288154 Centerline is valid? [True, True] Translation: X:136.43, Y:-13.85, Z:-4.05 [[ 9.99978348e-01 -4.60312192e-03 -4.70268904e-03 1.36431115e+02] [ 4.60561421e-03 9.99989259e-01 5.19280306e-04 -1.38495420e+01] [ 4.70024822e-03 -5.40927833e-04 9.99988807e-01 -4.04507151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91992885099998 meters 0.09815414784394863 Centerline is valid? [True, True] Translation: X:136.46, Y:-13.85, Z:-4.05 [[ 9.99972571e-01 -4.67755128e-03 -5.74260554e-03 1.36460743e+02] [ 4.68126337e-03 9.99988842e-01 6.33140297e-04 -1.38517297e+01] [ 5.73957992e-03 -6.60005579e-04 9.99983311e-01 -4.04604373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94992885099998 meters 0.0989155532080253 Centerline is valid? [True, True] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99966441e-01 -5.70850152e-03 -5.87624779e-03 1.36490062e+02] [ 5.71240488e-03 9.99983474e-01 6.47692098e-04 -1.38566849e+01] [ 5.87245333e-03 -6.81237868e-04 9.99982525e-01 -4.04678170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97992885099998 meters 0.10112216863508669 Centerline is valid? [True, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99968585e-01 -5.34598277e-03 -5.85239018e-03 1.36490536e+02] [ 5.35326834e-03 9.99984915e-01 1.22993129e-03 -1.38577335e+01] [ 5.84572670e-03 -1.26122206e-03 9.99982118e-01 -4.04748940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00992885099998 meters 0.09948388241007396 Centerline is valid? [False, True] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99969825e-01 -5.31034320e-03 -5.66997152e-03 1.36490217e+02] [ 5.31884333e-03 9.99984752e-01 1.48512227e-03 -1.38585389e+01] [ 5.66199856e-03 -1.51523515e-03 9.99982823e-01 -4.04757587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03992885099998 meters 0.1002033008660339 Centerline is valid? [True, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99972034e-01 -4.94879024e-03 -5.60715336e-03 1.36490458e+02] [ 4.96072622e-03 9.99985455e-01 2.11680281e-03 -1.38599705e+01] [ 5.59659619e-03 -2.14455916e-03 9.99982039e-01 -4.04807077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.069928851 meters 0.10031883241046521 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99974133e-01 -4.88547663e-03 -5.27885703e-03 1.36489957e+02] [ 4.89896673e-03 9.99984760e-01 2.54559616e-03 -1.38613919e+01] [ 5.26634013e-03 -2.57139126e-03 9.99982827e-01 -4.04825652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09992885099996 meters 0.10082532063694252 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99975513e-01 -4.58372052e-03 -5.28809079e-03 1.36490294e+02] [ 4.59956860e-03 9.99984956e-01 2.98867885e-03 -1.38623266e+01] [ 5.27431196e-03 -3.01292860e-03 9.99981552e-01 -4.04865682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12992885099996 meters 0.10114910021723764 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99975758e-01 -4.62920416e-03 -5.20137848e-03 1.36489860e+02] [ 4.64523700e-03 9.99984484e-01 3.07457947e-03 -1.38631123e+01] [ 5.18706492e-03 -3.09866657e-03 9.99981746e-01 -4.04828630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15992885099996 meters 0.10180404553338492 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99977031e-01 -4.26115604e-03 -5.27058306e-03 1.36490625e+02] [ 4.27986793e-03 9.99984561e-01 3.54408124e-03 -1.38636575e+01] [ 5.25539980e-03 -3.56655723e-03 9.99979830e-01 -4.04912520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18992885099996 meters 0.10454538579479106 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99977270e-01 -4.31712140e-03 -5.17907040e-03 1.36490493e+02] [ 4.33525878e-03 9.99984492e-01 3.49595450e-03 -1.38637078e+01] [ 5.16389762e-03 -3.51832765e-03 9.99980478e-01 -4.04916589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21992885099996 meters 0.10441488256349607 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99977826e-01 -4.17448425e-03 -5.18860664e-03 1.36490891e+02] [ 4.19356974e-03 9.99984462e-01 3.67292515e-03 -1.38638156e+01] [ 5.17319345e-03 -3.69460249e-03 9.99979794e-01 -4.04965670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24992885099996 meters 0.10334625586528833 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99977220e-01 -4.07532579e-03 -5.38056190e-03 1.36491118e+02] [ 4.09489789e-03 9.99985022e-01 3.63156471e-03 -1.38640541e+01] [ 5.36568150e-03 -3.65351483e-03 9.99978930e-01 -4.04936271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27992885099997 meters 0.1044062556402616 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99976993e-01 -4.12788567e-03 -5.38274208e-03 1.36490946e+02] [ 4.14691009e-03 9.99985178e-01 3.52797754e-03 -1.38640838e+01] [ 5.36809920e-03 -3.55021812e-03 9.99979290e-01 -4.04908905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30992885099997 meters 0.10468085921756043 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99976780e-01 -4.04660791e-03 -5.48309906e-03 1.36491268e+02] [ 4.06641714e-03 9.99985229e-01 3.60646054e-03 -1.38641451e+01] [ 5.46842414e-03 -3.62867336e-03 9.99978464e-01 -4.04926641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33992885099997 meters 0.1007175349613745 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99976829e-01 -3.83366959e-03 -5.62528386e-03 1.36491842e+02] [ 3.85468134e-03 9.99985617e-01 3.72915740e-03 -1.38643313e+01] [ 5.61090660e-03 -3.75075467e-03 9.99977225e-01 -4.04958699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36992885099997 meters 0.09928718250133858 Centerline is valid? [False, True] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99975769e-01 -3.76532755e-03 -5.85518577e-03 1.36492088e+02] [ 3.78654833e-03 9.99986288e-01 3.61741782e-03 -1.38639849e+01] [ 5.84148472e-03 -3.63950111e-03 9.99976315e-01 -4.04930114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39992885099997 meters 0.10313588114954635 Centerline is valid? [True, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99975461e-01 -3.58928486e-03 -6.01619833e-03 1.36492633e+02] [ 3.61184664e-03 9.99986470e-01 3.74351209e-03 -1.38640412e+01] [ 6.00268040e-03 -3.76514981e-03 9.99974895e-01 -4.04957972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42992885099997 meters 0.10340416194013345 Centerline is valid? [False, False] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99974885e-01 -3.71053488e-03 -6.03826863e-03 1.36492500e+02] [ 3.73175370e-03 9.99986889e-01 3.50659333e-03 -1.38638152e+01] [ 6.02517813e-03 -3.52903859e-03 9.99975621e-01 -4.04926651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45992885099997 meters 0.09977598661489138 Centerline is valid? [False, True] Translation: X:136.49, Y:-13.86, Z:-4.05 [[ 9.99973307e-01 -3.66694516e-03 -6.31967030e-03 1.36492848e+02] [ 3.68834250e-03 9.99987494e-01 3.37750941e-03 -1.38635315e+01] [ 6.30720613e-03 -3.40072836e-03 9.99974327e-01 -4.04898201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48992885099997 meters 0.09933634071804284 Centerline is valid? [True, True] Translation: X:136.52, Y:-13.86, Z:-4.05 [[ 9.99971874e-01 -2.61861103e-03 -7.02814572e-03 1.36522346e+02] [ 2.62377473e-03 9.99996295e-01 7.25597763e-04 -1.38647383e+01] [ 7.02621962e-03 -7.44017626e-04 9.99975039e-01 -4.04909090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51992885099997 meters 0.09539495811163796 Centerline is valid? [True, True] Translation: X:136.55, Y:-13.86, Z:-4.05 [[ 9.99973676e-01 -1.46433388e-03 -7.10661800e-03 1.36552250e+02] [ 1.46959393e-03 9.99998650e-01 7.34997066e-04 -1.38611542e+01] [ 7.10553212e-03 -7.45421560e-04 9.99974478e-01 -4.04864717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54992885099998 meters 0.09973420590962465 Centerline is valid? [True, True] Translation: X:136.58, Y:-13.87, Z:-4.05 [[ 9.99979088e-01 -1.39905920e-04 -6.46565296e-03 1.36580589e+02] [ 1.44230736e-04 9.99999766e-01 6.68429494e-04 -1.38723419e+01] [ 6.46555793e-03 -6.69348061e-04 9.99978874e-01 -4.05157388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57992885099998 meters 0.09407841756263716 Centerline is valid? [True, True] Translation: X:136.61, Y:-13.87, Z:-4.05 [[ 9.99977877e-01 1.09079528e-04 -6.65089275e-03 1.36610380e+02] [-1.04547785e-04 9.99999762e-01 6.81717545e-04 -1.38656184e+01] [ 6.65096553e-03 -6.81007127e-04 9.99977650e-01 -4.04997025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60992885099998 meters 0.10173642280812478 Centerline is valid? [True, False] Translation: X:136.61, Y:-13.87, Z:-4.05 [[ 9.99978092e-01 1.09554367e-04 -6.61838285e-03 1.36610232e+02] [-1.04707115e-04 9.99999726e-01 7.32734251e-04 -1.38659658e+01] [ 6.61846131e-03 -7.32025206e-04 9.99977830e-01 -4.04984370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63992885099998 meters 0.09229738527380933 Centerline is valid? [False, True] Translation: X:136.61, Y:-13.87, Z:-4.05 [[ 9.99978213e-01 1.23948951e-04 -6.59986633e-03 1.36610116e+02] [-1.18745417e-04 9.99999682e-01 7.88816172e-04 -1.38663815e+01] [ 6.59996200e-03 -7.88015282e-04 9.99977910e-01 -4.04972801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66992885099998 meters 0.09079295484228743 Centerline is valid? [True, True] Translation: X:136.64, Y:-13.87, Z:-4.05 [[ 9.99975589e-01 -1.60705483e-04 -6.98540657e-03 1.36639238e+02] [ 1.65768928e-04 9.99999724e-01 7.24287461e-04 -1.38671630e+01] [ 6.98528824e-03 -7.25427744e-04 9.99975339e-01 -4.04962747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69992885099998 meters 0.09447384123943342 Centerline is valid? [True, True] Translation: X:136.67, Y:-13.88, Z:-4.05 [[ 9.99977547e-01 -1.48516275e-03 -6.53443130e-03 1.36666997e+02] [ 1.48961839e-03 9.99998661e-01 6.77057109e-04 -1.38787001e+01] [ 6.53341701e-03 -6.86775717e-04 9.99978421e-01 -4.05255574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72992885099998 meters 0.09504738201903962 Centerline is valid? [True, True] Translation: X:136.70, Y:-13.88, Z:-4.05 [[ 9.99979959e-01 -1.65747628e-03 -6.11022829e-03 1.36695522e+02] [ 1.66134265e-03 9.99998423e-01 6.27749027e-04 -1.38835305e+01] [ 6.10917817e-03 -6.37887629e-04 9.99981135e-01 -4.05321328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75992885099998 meters 0.09625817339119329 Centerline is valid? [True, True] Translation: X:136.72, Y:-13.89, Z:-4.05 [[ 9.99981345e-01 -2.02871046e-03 -5.76137397e-03 1.36722468e+02] [ 2.03216932e-03 9.99997758e-01 5.94563340e-04 -1.38888791e+01] [ 5.76015486e-03 -6.06260336e-04 9.99983226e-01 -4.05451631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78992885099998 meters 0.09347767229095108 Centerline is valid? [True, True] Translation: X:136.75, Y:-13.89, Z:-4.05 [[ 9.99984065e-01 -2.06581540e-03 -5.25384076e-03 1.36751304e+02] [ 2.06866633e-03 9.99997716e-01 5.37261404e-04 -1.38869505e+01] [ 5.25271887e-03 -5.48121286e-04 9.99986054e-01 -4.05324349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819928851 meters 0.09536562313194255 Centerline is valid? [True, True] Translation: X:136.78, Y:-13.89, Z:-4.05 [[ 9.99989565e-01 -1.55260066e-03 -4.29648823e-03 1.36779010e+02] [ 1.55451380e-03 9.99998694e-01 4.41976069e-04 -1.38935141e+01] [ 4.29579640e-03 -4.48650407e-04 9.99990672e-01 -4.05453964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84992885099996 meters 0.09458724541616392 Centerline is valid? [True, True] Translation: X:136.81, Y:-13.90, Z:-4.05 [[ 9.99992991e-01 -5.12941863e-04 -3.70864531e-03 1.36808403e+02] [ 5.14361828e-04 9.99999795e-01 3.81935930e-04 -1.38950984e+01] [ 3.70844864e-03 -3.83840839e-04 9.99993050e-01 -4.05456983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87992885099996 meters 0.09647529091535803 Centerline is valid? [True, True] Translation: X:136.84, Y:-13.90, Z:-4.06 [[ 9.99991413e-01 4.49398548e-04 -4.11966731e-03 1.36836173e+02] [-4.47656471e-04 9.99999810e-01 4.23780731e-04 -1.39016957e+01] [ 4.11985698e-03 -4.21932896e-04 9.99991424e-01 -4.05680464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90992885099996 meters 0.0905746135795718 Centerline is valid? [True, True] Translation: X:136.87, Y:-13.89, Z:-4.05 [[ 9.99984734e-01 1.52583277e-03 -5.31069902e-03 1.36865774e+02] [-1.52295536e-03 9.99998691e-01 5.45814953e-04 -1.38927957e+01] [ 5.31152489e-03 -5.37718663e-04 9.99985749e-01 -4.05495196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93992885099996 meters 0.091883002348283 Centerline is valid? [True, True] Translation: X:136.89, Y:-13.90, Z:-4.06 [[ 9.99975516e-01 4.48190543e-03 -5.37393200e-03 1.36894677e+02] [-4.47899587e-03 9.99989816e-01 5.53333104e-04 -1.38986739e+01] [ 5.37635726e-03 -5.29249737e-04 9.99985407e-01 -4.05698053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96992885099996 meters 0.09093675482496415 Centerline is valid? [True, True] Translation: X:136.92, Y:-13.90, Z:-4.06 [[ 9.99967182e-01 5.55996626e-03 -5.89257230e-03 1.36923466e+02] [-5.55649491e-03 9.99984379e-01 6.05313028e-04 -1.38990265e+01] [ 5.89584577e-03 -5.72551115e-04 9.99982455e-01 -4.05747959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99992885099996 meters 0.08811170546871055 Centerline is valid? [True, True] Translation: X:136.95, Y:-13.90, Z:-4.06 [[ 9.99959646e-01 6.99952387e-03 -5.63146516e-03 1.36954029e+02] [-6.99637046e-03 9.99975357e-01 5.79467871e-04 -1.38967471e+01] [ 5.63538239e-03 -5.40044671e-04 9.99983975e-01 -4.05628320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02992885099997 meters 0.09708546129634452 Centerline is valid? [True, True] Translation: X:136.98, Y:-13.92, Z:-4.06 [[ 9.99948366e-01 7.50232394e-03 -6.85422470e-03 1.36980244e+02] [-7.49767122e-03 9.99971644e-01 7.04255184e-04 -1.39169864e+01] [ 6.85931389e-03 -6.52828097e-04 9.99976262e-01 -4.06336065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05992885099997 meters 0.08651511307814438 Centerline is valid? [True, True] Translation: X:137.01, Y:-13.90, Z:-4.06 [[ 9.99935909e-01 9.85751493e-03 -5.56850171e-03 1.37012746e+02] [-9.85447595e-03 9.99951279e-01 5.72919492e-04 -1.38999223e+01] [ 5.57387797e-03 -5.18008107e-04 9.99984332e-01 -4.05757433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08992885099997 meters 0.08712729911489991 Centerline is valid? [True, True] Translation: X:137.04, Y:-13.90, Z:-4.06 [[ 9.99931391e-01 1.02816389e-02 -5.61263170e-03 1.37040173e+02] [-1.02785740e-02 9.99947009e-01 5.74647775e-04 -1.39038336e+01] [ 5.61824260e-03 -5.16918499e-04 9.99984084e-01 -4.05876847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11992885099997 meters 0.092992588644383 Centerline is valid? [True, True] Translation: X:137.07, Y:-13.92, Z:-4.06 [[ 9.99923395e-01 1.10195739e-02 -5.63675582e-03 1.37066509e+02] [-1.10164944e-02 9.99939150e-01 5.77087347e-04 -1.39187884e+01] [ 5.64277208e-03 -5.14945850e-04 9.99983947e-01 -4.06305002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14992885099997 meters 0.08746299559114881 Centerline is valid? [True, True] Translation: X:137.10, Y:-13.91, Z:-4.06 [[ 9.99917016e-01 1.17032626e-02 -5.38460923e-03 1.37096679e+02] [-1.17004626e-02 9.99931395e-01 5.51210281e-04 -1.39106837e+01] [ 5.39069077e-03 -4.88162120e-04 9.99985351e-01 -4.06038038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17992885099997 meters 0.08725489727885315 Centerline is valid? [True, True] Translation: X:137.13, Y:-13.91, Z:-4.06 [[ 9.99908839e-01 1.26122130e-02 -4.82129222e-03 1.37125783e+02] [-1.26099788e-02 9.99920369e-01 4.93527156e-04 -1.39140550e+01] [ 4.82713277e-03 -4.32685773e-04 9.99988256e-01 -4.06131812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20992885099997 meters 0.08729505891742281 Centerline is valid? [True, True] Translation: X:137.15, Y:-13.92, Z:-4.06 [[ 9.99900398e-01 1.32833244e-02 -4.76938747e-03 1.37154146e+02] [-1.32811491e-02 9.99911683e-01 4.87495636e-04 -1.39174511e+01] [ 4.77544182e-03 -4.24104135e-04 9.99988508e-01 -4.06182046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23992885099997 meters 0.0881396528827012 Centerline is valid? [True, True] Translation: X:137.18, Y:-13.92, Z:-4.06 [[ 9.99901529e-01 1.32774036e-02 -4.54343981e-03 1.37181134e+02] [-1.32754346e-02 9.99911770e-01 4.63244776e-04 -1.39228146e+01] [ 4.54918964e-03 -4.02883021e-04 9.99989571e-01 -4.06291790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26992885099997 meters 0.08851331044336032 Centerline is valid? [True, True] Translation: X:137.21, Y:-13.93, Z:-4.06 [[ 9.99902246e-01 1.32390236e-02 -4.49746487e-03 1.37209432e+02] [-1.32370923e-02 9.99912281e-01 4.58916407e-04 -1.39280019e+01] [ 4.50314596e-03 -3.99338188e-04 9.99989781e-01 -4.06424638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29992885099998 meters 0.08887985602279518 Centerline is valid? [True, True] Translation: X:137.24, Y:-13.93, Z:-4.07 [[ 9.99911715e-01 1.26708832e-02 -4.00132533e-03 1.37237869e+02] [-1.26693517e-02 9.99919657e-01 4.07863645e-04 -1.39325829e+01] [ 4.00617185e-03 -3.57133439e-04 9.99991911e-01 -4.06518989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32992885099998 meters 0.08943284114779787 Centerline is valid? [True, True] Translation: X:137.27, Y:-13.94, Z:-4.07 [[ 9.99914757e-01 1.22987918e-02 -4.38390128e-03 1.37266171e+02] [-1.22969505e-02 9.99924290e-01 4.46725562e-04 -1.39373644e+01] [ 4.38906356e-03 -3.92778865e-04 9.99990291e-01 -4.06606407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35992885099998 meters 0.08644730081820909 Centerline is valid? [True, True] Translation: X:137.30, Y:-13.93, Z:-4.06 [[ 9.99919221e-01 1.20310142e-02 -4.09946527e-03 1.37295782e+02] [-1.20294036e-02 9.99927557e-01 4.17307704e-04 -1.39343350e+01] [ 4.10418893e-03 -3.67959872e-04 9.99991510e-01 -4.06496903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38992885099998 meters 0.08815736135390405 Centerline is valid? [True, True] Translation: X:137.32, Y:-13.94, Z:-4.07 [[ 9.99919043e-01 1.21500681e-02 -3.77920126e-03 1.37322413e+02] [-1.21487037e-02 9.99926128e-01 3.83760746e-04 -1.39428749e+01] [ 3.78358480e-03 -3.37817281e-04 9.99992785e-01 -4.06771893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41992885099998 meters 0.0880576595911407 Centerline is valid? [True, True] Translation: X:137.35, Y:-13.95, Z:-4.07 [[ 9.99920062e-01 1.21495374e-02 -3.50131002e-03 1.37350935e+02] [-1.21483658e-02 9.99926143e-01 3.55676939e-04 -1.39461576e+01] [ 3.50537273e-03 -3.13113312e-04 9.99993807e-01 -4.06879137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44992885099998 meters 0.08923694779900884 Centerline is valid? [True, True] Translation: X:137.38, Y:-13.95, Z:-4.07 [[ 9.99918568e-01 1.23619242e-02 -3.16847471e-03 1.37378706e+02] [-1.23609670e-02 9.99923549e-01 3.21523937e-04 -1.39520124e+01] [ 3.17220713e-03 -2.82332343e-04 9.99994929e-01 -4.06961526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47992885099998 meters 0.08864373263218903 Centerline is valid? [True, True] Translation: X:137.41, Y:-13.95, Z:-4.07 [[ 9.99917998e-01 1.24487598e-02 -3.00411139e-03 1.37407726e+02] [-1.24479005e-02 9.99922475e-01 3.04571557e-04 -1.39539217e+01] [ 3.00767003e-03 -2.67151702e-04 9.99995441e-01 -4.07042442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50992885099998 meters 0.08656282710074795 Centerline is valid? [True, True] Translation: X:137.44, Y:-13.95, Z:-4.07 [[ 9.99912503e-01 1.27274550e-02 -3.60522819e-03 1.37436562e+02] [-1.27262191e-02 9.99918952e-01 3.65536618e-04 -1.39524062e+01] [ 3.60958835e-03 -3.19623711e-04 9.99993434e-01 -4.06891243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53992885099998 meters 0.0896924191650219 Centerline is valid? [True, True] Translation: X:137.46, Y:-13.96, Z:-4.07 [[ 9.99906062e-01 1.35750519e-02 -1.89334310e-03 1.37464212e+02] [-1.35747134e-02 9.99907841e-01 1.91530339e-04 -1.39623284e+01] [ 1.89576864e-03 -1.65810758e-04 9.99998189e-01 -4.07147501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.569928851 meters 0.08655480556934736 Centerline is valid? [True, True] Translation: X:137.49, Y:-13.96, Z:-4.07 [[ 9.99897707e-01 1.41566341e-02 -2.04082916e-03 1.37493809e+02] [-1.41562429e-02 9.99899774e-01 2.06022763e-04 -1.39590692e+01] [ 2.04354120e-03 -1.77111215e-04 9.99997896e-01 -4.07035388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59992885099996 meters 0.0859485752003849 Centerline is valid? [True, True] Translation: X:137.52, Y:-13.96, Z:-4.07 [[ 9.99886026e-01 1.50239551e-02 -1.48845037e-03 1.37522825e+02] [-1.50237481e-02 9.99887126e-01 1.50153743e-04 -1.39626001e+01] [ 1.49053826e-03 -1.27774526e-04 9.99998881e-01 -4.07124710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62992885099996 meters 0.09102498126979316 Centerline is valid? [True, True] Translation: X:137.55, Y:-13.98, Z:-4.07 [[ 9.99881622e-01 1.53512668e-02 -1.03978711e-03 1.37549708e+02] [-1.53511668e-02 9.99882158e-01 1.04104891e-04 -1.39763064e+01] [ 1.04126272e-03 -8.81306221e-05 9.99999454e-01 -4.07494076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65992885099996 meters 0.08609848980853682 Centerline is valid? [True, True] Translation: X:137.58, Y:-13.97, Z:-4.07 [[ 9.99865817e-01 1.63461043e-02 -1.07351680e-03 1.37579060e+02] [-1.63459983e-02 9.99866389e-01 1.07464362e-04 -1.39698038e+01] [ 1.07512999e-03 -8.99022388e-05 9.99999418e-01 -4.07314929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68992885099996 meters 0.09125689575572275 Centerline is valid? [True, True] Translation: X:137.61, Y:-13.98, Z:-4.08 [[ 9.99865677e-01 1.63598000e-02 -9.92616580e-04 1.37605439e+02] [-1.63597099e-02 9.99866166e-01 9.88048251e-05 -1.39832012e+01] [ 9.94100161e-04 -8.25526340e-05 9.99999502e-01 -4.07674890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71992885099996 meters 0.08737113693019503 Centerline is valid? [True, True] Translation: X:137.63, Y:-13.98, Z:-4.08 [[ 9.99858413e-01 1.66685199e-02 -2.30521044e-03 1.37634123e+02] [-1.66680305e-02 9.99861052e-01 2.31366010e-04 -1.39794664e+01] [ 2.30874666e-03 -1.92909934e-04 9.99997316e-01 -4.07649106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74992885099996 meters 0.08467134780705934 Centerline is valid? [True, True] Translation: X:137.66, Y:-13.98, Z:-4.08 [[ 9.99860770e-01 1.64594013e-02 -2.74373314e-03 1.37663007e+02] [-1.64587046e-02 9.99864508e-01 2.76306983e-04 -1.39770001e+01] [ 2.74790924e-03 -2.31110219e-04 9.99996198e-01 -4.07598118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77992885099997 meters 0.08467134780705934 Centerline is valid? [True, True] Translation: X:137.69, Y:-13.98, Z:-4.08 [[ 9.99862420e-01 1.63588530e-02 -2.74383811e-03 1.37690438e+02] [-1.63581588e-02 9.99866158e-01 2.75269187e-04 -1.39796791e+01] [ 2.74797396e-03 -2.30347176e-04 9.99996198e-01 -4.07661413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80992885099997 meters 0.08516366156583317 Centerline is valid? [True, True] Translation: X:137.72, Y:-13.98, Z:-4.08 [[ 9.99853870e-01 1.67254298e-02 -3.53547628e-03 1.37717555e+02] [-1.67242767e-02 9.99860076e-01 3.55460488e-04 -1.39849461e+01] [ 3.54092682e-03 -2.96280261e-04 9.99993687e-01 -4.07912373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83992885099997 meters 0.08613059666581124 Centerline is valid? [True, True] Translation: X:137.75, Y:-13.99, Z:-4.08 [[ 9.99851397e-01 1.66654868e-02 -4.40968162e-03 1.37745170e+02] [-1.66636919e-02 9.99861053e-01 4.43480677e-04 -1.39912185e+01] [ 4.41645973e-03 -3.69933199e-04 9.99990179e-01 -4.08100635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86992885099997 meters 0.08445253989385999 Centerline is valid? [True, True] Translation: X:137.77, Y:-13.99, Z:-4.08 [[ 9.99845424e-01 1.68918224e-02 -4.87805251e-03 1.37773795e+02] [-1.68896274e-02 9.99857240e-01 4.90821785e-04 -1.39904359e+01] [ 4.88564699e-03 -4.08357426e-04 9.99987982e-01 -4.08060684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89992885099997 meters 0.08635235812473238 Centerline is valid? [True, True] Translation: X:137.80, Y:-14.00, Z:-4.08 [[ 9.99845639e-01 1.69693231e-02 -4.55420182e-03 1.37801384e+02] [-1.69674146e-02 9.99855938e-01 4.57384414e-04 -1.39979681e+01] [ 4.56130724e-03 -3.80040782e-04 9.99989525e-01 -4.08218630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92992885099997 meters 0.08476521806278205 Centerline is valid? [True, True] Translation: X:137.83, Y:-14.00, Z:-4.08 [[ 9.99839738e-01 1.74515922e-02 -3.99245810e-03 1.37830110e+02] [-1.74501297e-02 9.99847655e-01 4.00851579e-04 -1.39979563e+01] [ 3.99884537e-03 -3.31118426e-04 9.99991950e-01 -4.08183683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95992885099997 meters 0.08437136420664712 Centerline is valid? [True, True] Translation: X:137.86, Y:-14.00, Z:-4.08 [[ 9.99829966e-01 1.79283240e-02 -4.31441418e-03 1.37858940e+02] [-1.79266213e-02 9.99839211e-01 4.33008864e-04 -1.40020309e+01] [ 4.32148359e-03 -3.55592368e-04 9.99990599e-01 -4.08217277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98992885099997 meters 0.08264979127874386 Centerline is valid? [True, True] Translation: X:137.89, Y:-14.00, Z:-4.08 [[ 9.99826763e-01 1.80873973e-02 -4.39199383e-03 1.37888405e+02] [-1.80856336e-02 9.99836344e-01 4.40954118e-04 -1.40023249e+01] [ 4.39925076e-03 -3.61445737e-04 9.99990258e-01 -4.08184130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01992885099997 meters 0.08344633798805529 Centerline is valid? [True, True] Translation: X:137.92, Y:-14.01, Z:-4.08 [[ 9.99827354e-01 1.81249499e-02 -4.09246045e-03 1.37915491e+02] [-1.81234238e-02 9.99835673e-01 4.09692696e-04 -1.40082313e+01] [ 4.09921361e-03 -3.35452569e-04 9.99991542e-01 -4.08323469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04992885099998 meters 0.08340935236914133 Centerline is valid? [True, True] Translation: X:137.94, Y:-14.01, Z:-4.08 [[ 9.99822401e-01 1.82971303e-02 -4.51449382e-03 1.37944041e+02] [-1.82952736e-02 9.99832525e-01 4.52236470e-04 -1.40119341e+01] [ 4.52201239e-03 -3.69562254e-04 9.99989707e-01 -4.08386023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07992885099998 meters 0.08384422715330334 Centerline is valid? [True, True] Translation: X:137.97, Y:-14.02, Z:-4.08 [[ 9.99825217e-01 1.83220577e-02 -3.71988145e-03 1.37972198e+02] [-1.83207992e-02 9.99832091e-01 3.72131088e-04 -1.40163820e+01] [ 3.72607505e-03 -3.03914845e-04 9.99993012e-01 -4.08436347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10992885099998 meters 0.08460782464705495 Centerline is valid? [True, True] Translation: X:138.00, Y:-14.02, Z:-4.09 [[ 9.99827058e-01 1.82086397e-02 -3.78158573e-03 1.37998890e+02] [-1.82073440e-02 9.99834162e-01 3.76770705e-04 -1.40215096e+01] [ 3.78781908e-03 -3.07852913e-04 9.99992779e-01 -4.08558304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13992885099998 meters 0.08444109810524258 Centerline is valid? [True, True] Translation: X:138.03, Y:-14.02, Z:-4.09 [[ 9.99822428e-01 1.85550089e-02 -3.29013371e-03 1.38027508e+02] [-1.85540281e-02 9.99827805e-01 3.28389579e-04 -1.40246656e+01] [ 3.29566044e-03 -2.67286032e-04 9.99994534e-01 -4.08625963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16992885099998 meters 0.0848734640055281 Centerline is valid? [True, True] Translation: X:138.06, Y:-14.03, Z:-4.09 [[ 9.99817571e-01 1.87220360e-02 -3.78273568e-03 1.38055874e+02] [-1.87207407e-02 9.99824680e-01 3.77545926e-04 -1.40285363e+01] [ 3.78914092e-03 -3.06661436e-04 9.99992774e-01 -4.08750155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19992885099998 meters 0.08280482797839007 Centerline is valid? [True, True] Translation: X:138.08, Y:-14.03, Z:-4.09 [[ 9.99807506e-01 1.92137612e-02 -3.97266394e-03 1.38084498e+02] [-1.92123373e-02 9.99815347e-01 3.96273601e-04 -1.40278608e+01] [ 3.97954428e-03 -3.19873161e-04 9.99992030e-01 -4.08732359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22992885099998 meters 0.08191529103503004 Centerline is valid? [True, True] Translation: X:138.11, Y:-14.03, Z:-4.09 [[ 9.99789965e-01 2.01197270e-02 -3.90160993e-03 1.38113485e+02] [-2.01183616e-02 9.99797530e-01 3.88895925e-04 -1.40301661e+01] [ 3.90864445e-03 -3.10320244e-04 9.99992313e-01 -4.08824354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25992885099998 meters 0.08166942906162537 Centerline is valid? [True, True] Translation: X:138.14, Y:-14.03, Z:-4.09 [[ 9.99785676e-01 2.04138157e-02 -3.44646260e-03 1.38142373e+02] [-2.04127534e-02 9.99791579e-01 3.43123099e-04 -1.40326977e+01] [ 3.45274873e-03 -2.72697768e-04 9.99994002e-01 -4.08857196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28992885099998 meters 0.0830506079827844 Centerline is valid? [True, True] Translation: X:138.17, Y:-14.04, Z:-4.09 [[ 9.99791013e-01 2.01218928e-02 -3.61098847e-03 1.38169964e+02] [-2.01207300e-02 9.99797494e-01 3.58052518e-04 -1.40387420e+01] [ 3.61746191e-03 -2.85321966e-04 9.99993416e-01 -4.09018932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319928851 meters 0.08110328322249456 Centerline is valid? [True, True] Translation: X:138.20, Y:-14.04, Z:-4.09 [[ 9.99785752e-01 2.04705134e-02 -3.06717278e-03 1.38199548e+02] [-2.04696732e-02 9.99790428e-01 3.05065845e-04 -1.40380196e+01] [ 3.07277484e-03 -2.42216461e-04 9.99995250e-01 -4.08904306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34992885099996 meters 0.08244890332163723 Centerline is valid? [True, True] Translation: X:138.23, Y:-14.05, Z:-4.09 [[ 9.99794979e-01 2.00276932e-02 -2.98194648e-03 1.38226505e+02] [-2.00269002e-02 9.99799398e-01 2.95553276e-04 -1.40457596e+01] [ 2.98726755e-03 -2.35773537e-04 9.99995510e-01 -4.09120642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37992885099996 meters 0.0837116668139084 Centerline is valid? [True, True] Translation: X:138.25, Y:-14.05, Z:-4.09 [[ 9.99807690e-01 1.94145444e-02 -2.76726229e-03 1.38253261e+02] [-1.94138612e-02 9.99811496e-01 2.73547535e-04 -1.40516963e+01] [ 2.77205145e-03 -2.19771684e-04 9.99996134e-01 -4.09237661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40992885099996 meters 0.0822355880313645 Centerline is valid? [True, True] Translation: X:138.28, Y:-14.05, Z:-4.09 [[ 9.99818175e-01 1.89473358e-02 -2.14854073e-03 1.38282017e+02] [-1.89469226e-02 9.99820468e-01 2.12479224e-04 -1.40524047e+01] [ 2.15218092e-03 -1.71732355e-04 9.99997669e-01 -4.09187762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43992885099996 meters 0.08388812727423779 Centerline is valid? [True, True] Translation: X:138.31, Y:-14.06, Z:-4.09 [[ 9.99833689e-01 1.79880060e-02 -3.00422775e-03 1.38309749e+02] [-1.79871928e-02 9.99838173e-01 2.97509939e-04 -1.40594924e+01] [ 3.00909320e-03 -2.43422836e-04 9.99995443e-01 -4.09299083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46992885099996 meters 0.08153546399523183 Centerline is valid? [True, True] Translation: X:138.34, Y:-14.06, Z:-4.09 [[ 9.99862001e-01 1.64993932e-02 -1.93630015e-03 1.38339060e+02] [-1.64990531e-02 9.99863863e-01 1.91483393e-04 -1.40589035e+01] [ 1.93919590e-03 -1.59509849e-04 9.99998107e-01 -4.09191628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49992885099996 meters 0.08212638677168362 Centerline is valid? [True, True] Translation: X:138.37, Y:-14.06, Z:-4.09 [[ 9.99879631e-01 1.52333332e-02 -2.94423245e-03 1.38367819e+02] [-1.52325401e-02 9.99883936e-01 2.91602852e-04 -1.40634570e+01] [ 2.94833281e-03 -2.46719613e-04 9.99995623e-01 -4.09337341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52992885099997 meters 0.07851039905799324 Centerline is valid? [True, True] Translation: X:138.40, Y:-14.06, Z:-4.09 [[ 9.99890708e-01 1.42025688e-02 -4.10595994e-03 1.38397918e+02] [-1.42010152e-02 9.99899078e-01 4.07307221e-04 -1.40610799e+01] [ 4.11133037e-03 -3.48953906e-04 9.99991488e-01 -4.09261103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55992885099997 meters 0.08124622160797602 Centerline is valid? [True, True] Translation: X:138.42, Y:-14.07, Z:-4.10 [[ 9.99890143e-01 1.43118067e-02 -3.85658075e-03 1.38424794e+02] [-1.43104428e-02 9.99897528e-01 3.81032849e-04 -1.40709371e+01] [ 3.86163882e-03 -3.25801612e-04 9.99992491e-01 -4.09547037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58992885099997 meters 0.07885025494971859 Centerline is valid? [True, True] Translation: X:138.45, Y:-14.07, Z:-4.09 [[ 9.99891939e-01 1.43776996e-02 -3.06473859e-03 1.38454045e+02] [-1.43768392e-02 9.99896602e-01 3.02590321e-04 -1.40695135e+01] [ 3.06877226e-03 -2.58496369e-04 9.99995258e-01 -4.09424901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61992885099997 meters 0.0878010398731948 Centerline is valid? [True, True] Translation: X:138.48, Y:-14.09, Z:-4.10 [[ 9.99889044e-01 1.46580741e-02 -2.65343427e-03 1.38479800e+02] [-1.46574322e-02 9.99892540e-01 2.61180165e-04 -1.40900524e+01] [ 2.65697753e-03 -2.22258652e-04 9.99996446e-01 -4.10034663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64992885099997 meters 0.07751698627305 Centerline is valid? [True, True] Translation: X:138.51, Y:-14.07, Z:-4.09 [[ 9.99882781e-01 1.50349317e-02 -2.89384991e-03 1.38510275e+02] [-1.50341689e-02 9.99886940e-01 2.85182940e-04 -1.40728179e+01] [ 2.89781043e-03 -2.41642883e-04 9.99995772e-01 -4.09430752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67992885099997 meters 0.07625978564517626 Centerline is valid? [True, True] Translation: X:138.54, Y:-14.08, Z:-4.09 [[ 9.99848535e-01 1.73739093e-02 -1.02638440e-03 1.38540901e+02] [-1.73738141e-02 9.99849059e-01 1.01607841e-04 -1.40753256e+01] [ 1.02799480e-03 -8.37602396e-05 9.99999468e-01 -4.09413665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70992885099997 meters 0.08658578528204469 Centerline is valid? [True, True] Translation: X:138.57, Y:-14.10, Z:-4.10 [[ 9.99825218e-01 1.86876989e-02 -5.51016584e-04 1.38567464e+02] [-1.86876720e-02 9.99825369e-01 5.38073588e-05 -1.40991371e+01] [ 5.51925895e-04 -4.35007370e-05 9.99999847e-01 -4.10096511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73992885099997 meters 0.07647965293989778 Centerline is valid? [True, True] Translation: X:138.60, Y:-14.08, Z:-4.10 [[ 9.99803155e-01 1.98348355e-02 4.80196613e-04 1.38598625e+02] [-1.98348146e-02 9.99803270e-01 -4.83044874e-05 -1.40836487e+01] [-4.81060256e-04 3.87703681e-05 9.99999884e-01 -4.09604811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76992885099997 meters 0.08612839793457738 Centerline is valid? [True, True] Translation: X:138.62, Y:-14.11, Z:-4.10 [[ 9.99778863e-01 2.10287988e-02 1.19989361e-04 1.38624115e+02] [-2.10287973e-02 9.99778870e-01 -1.37519456e-05 -1.41057058e+01] [-1.20252014e-04 1.12256726e-05 9.99999993e-01 -4.10228325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79992885099998 meters 0.08501285129859627 Centerline is valid? [True, True] Translation: X:138.65, Y:-14.11, Z:-4.10 [[ 9.99737994e-01 2.28856198e-02 4.38915264e-04 1.38654111e+02] [-2.28856028e-02 9.99738089e-01 -4.37499187e-05 -1.41081113e+01] [-4.39801552e-04 3.36936155e-05 9.99999903e-01 -4.10407099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82992885099998 meters 0.0743992320219581 Centerline is valid? [True, True] Translation: X:138.69, Y:-14.09, Z:-4.10 [[ 9.99718478e-01 2.37207896e-02 5.38400271e-04 1.38685375e+02] [-2.37207638e-02 9.99718622e-01 -5.43553612e-05 -1.40912567e+01] [-5.39538129e-04 4.15687933e-05 9.99999854e-01 -4.09884886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85992885099998 meters 0.07451949607295565 Centerline is valid? [True, True] Translation: X:138.71, Y:-14.09, Z:-4.10 [[ 9.99712989e-01 2.39565516e-02 -1.50662539e-04 1.38713602e+02] [-2.39565499e-02 9.99713001e-01 1.33965432e-05 -1.40949091e+01] [ 1.50940234e-04 -9.78334363e-06 9.99999989e-01 -4.10009540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88992885099998 meters 0.07369032303173856 Centerline is valid? [True, True] Translation: X:138.74, Y:-14.10, Z:-4.10 [[ 9.99707165e-01 2.41920597e-02 -5.72359529e-04 1.38742605e+02] [-2.41920322e-02 9.99707328e-01 5.50147768e-05 -1.40969738e+01] [ 5.73522936e-04 -4.11521264e-05 9.99999835e-01 -4.10072285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91992885099998 meters 0.07133376164829561 Centerline is valid? [True, True] Translation: X:138.77, Y:-14.10, Z:-4.10 [[ 9.99717031e-01 2.37818190e-02 -5.31057714e-04 1.38771578e+02] [-2.37817953e-02 9.99717172e-01 5.08588334e-05 -1.40965036e+01] [ 5.32117031e-04 -3.82149361e-05 9.99999858e-01 -4.09999308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94992885099998 meters 0.06961023504436314 Centerline is valid? [True, True] Translation: X:138.80, Y:-14.10, Z:-4.10 [[ 9.99727039e-01 2.33633576e-02 -9.24228566e-06 1.38800418e+02] [-2.33633576e-02 9.99727040e-01 -6.63544130e-07 -1.40965666e+01] [ 9.22426026e-06 8.79293835e-07 1.00000000e+00 -4.09960606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97992885099998 meters 0.0693661236668463 Centerline is valid? [True, True] Translation: X:138.83, Y:-14.10, Z:-4.10 [[ 9.99740640e-01 2.27733080e-02 -1.71253177e-04 1.38828839e+02] [-2.27733057e-02 9.99740655e-01 1.52964946e-05 -1.40994465e+01] [ 1.71557115e-04 -1.13925263e-05 9.99999985e-01 -4.09995354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00992885099998 meters 0.06941998901029167 Centerline is valid? [True, True] Translation: X:138.86, Y:-14.10, Z:-4.10 [[ 9.99748570e-01 2.24230967e-02 -4.80430010e-05 1.38857202e+02] [-2.24230966e-02 9.99748571e-01 3.16788332e-06 -1.41034180e+01] [ 4.81019554e-05 -2.08981396e-06 9.99999999e-01 -4.10053212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03992885099998 meters 0.07100842270958514 Centerline is valid? [True, True] Translation: X:138.88, Y:-14.11, Z:-4.10 [[ 9.99757678e-01 2.20046288e-02 6.17719604e-04 1.38883981e+02] [-2.20045943e-02 9.99757868e-01 -6.27115137e-05 -1.41110423e+01] [-6.18949978e-04 4.91036481e-05 9.99999807e-01 -4.10190489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.069928851 meters 0.06812284843099099 Centerline is valid? [True, True] Translation: X:138.91, Y:-14.11, Z:-4.10 [[ 9.99747381e-01 2.24629842e-02 7.67373441e-04 1.38913739e+02] [-2.24629319e-02 9.99747674e-01 -7.66319844e-05 -1.41088438e+01] [-7.68901195e-04 5.93751683e-05 9.99999703e-01 -4.10040471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09992885099996 meters 0.06787611602273316 Centerline is valid? [True, True] Translation: X:138.94, Y:-14.11, Z:-4.10 [[ 9.99752132e-01 2.22527700e-02 6.98945613e-04 1.38942622e+02] [-2.22527263e-02 9.99752375e-01 -7.02487110e-05 -1.41111305e+01] [-7.00335765e-04 5.46778532e-05 9.99999753e-01 -4.10175850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12992885099996 meters 0.06955275159948451 Centerline is valid? [True, True] Translation: X:138.97, Y:-14.12, Z:-4.10 [[ 9.99755402e-01 2.21142595e-02 3.08875182e-04 1.38969451e+02] [-2.21142506e-02 9.99755450e-01 -3.23875094e-05 -1.41178180e+01] [-3.09515872e-04 2.55490443e-05 9.99999952e-01 -4.10348253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15992885099996 meters 0.06710766656819561 Centerline is valid? [True, True] Translation: X:139.00, Y:-14.12, Z:-4.10 [[ 9.99739148e-01 2.28294880e-02 6.70645433e-04 1.38998779e+02] [-2.28294479e-02 9.99739372e-01 -6.73525674e-05 -1.41163892e+01] [-6.72008269e-04 5.20245334e-05 9.99999773e-01 -4.10233335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18992885099996 meters 0.06708297691430598 Centerline is valid? [True, True] Translation: X:139.03, Y:-14.12, Z:-4.10 [[ 9.99730580e-01 2.31792963e-02 1.21968471e-03 1.39026023e+02] [-2.31791652e-02 9.99731320e-01 -1.21485550e-04 -1.41196950e+01] [-1.22217296e-03 9.31815460e-05 9.99999249e-01 -4.10252460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21992885099996 meters 0.06742821469076593 Centerline is valid? [True, True] Translation: X:139.05, Y:-14.12, Z:-4.10 [[ 9.99721913e-01 2.35129081e-02 1.79970199e-03 1.39053873e+02] [-2.35126247e-02 9.99723524e-01 -1.78489899e-04 -1.41233846e+01] [-1.80340123e-03 1.36124546e-04 9.99998365e-01 -4.10334703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24992885099996 meters 0.06600689513788192 Centerline is valid? [True, True] Translation: X:139.08, Y:-14.12, Z:-4.10 [[ 9.99709790e-01 2.39796332e-02 2.30515513e-03 1.39082841e+02] [-2.39791729e-02 9.99712432e-01 -2.27097913e-04 -1.41238246e+01] [-2.30993797e-03 1.71756293e-04 9.99997317e-01 -4.10280024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27992885099997 meters 0.06665236048840108 Centerline is valid? [True, True] Translation: X:139.11, Y:-14.13, Z:-4.10 [[ 9.99712061e-01 2.38681856e-02 2.47090606e-03 1.39110388e+02] [-2.38676558e-02 9.99715097e-01 -2.43691150e-04 -1.41286410e+01] [-2.47601856e-03 1.84646246e-04 9.99996918e-01 -4.10321306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30992885099997 meters 0.06435801307478457 Centerline is valid? [True, True] Translation: X:139.14, Y:-14.13, Z:-4.10 [[ 9.99717122e-01 2.36649098e-02 2.37662540e-03 1.39139731e+02] [-2.36644206e-02 9.99719931e-01 -2.33724032e-04 -1.41274502e+01] [-2.38149084e-03 1.77416453e-04 9.99997149e-01 -4.10278126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33992885099997 meters 0.065935630589077 Centerline is valid? [True, True] Translation: X:139.17, Y:-14.13, Z:-4.10 [[ 9.99718511e-01 2.36032597e-02 2.40524124e-03 1.39166624e+02] [-2.36027576e-02 9.99721388e-01 -2.36920996e-04 -1.41341570e+01] [-2.41016322e-03 1.80083979e-04 9.99997079e-01 -4.10462151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36992885099997 meters 0.06511452588490771 Centerline is valid? [True, True] Translation: X:139.20, Y:-14.14, Z:-4.11 [[ 9.99734462e-01 2.30180747e-02 1.08359446e-03 1.39195395e+02] [-2.30179719e-02 9.99735046e-01 -1.07210354e-04 -1.41361956e+01] [-1.08577514e-03 8.22397387e-05 9.99999407e-01 -4.10545439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39992885099997 meters 0.06240806580684261 Centerline is valid? [True, True] Translation: X:139.22, Y:-14.13, Z:-4.10 [[ 9.99716458e-01 2.37867943e-02 1.09216959e-03 1.39224884e+02] [-2.37866908e-02 9.99717051e-01 -1.07637837e-04 -1.41349142e+01] [-1.09442092e-03 8.16282163e-05 9.99999398e-01 -4.10495161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42992885099997 meters 0.06450610571149107 Centerline is valid? [True, True] Translation: X:139.25, Y:-14.14, Z:-4.11 [[ 9.99719778e-01 2.36488925e-02 1.04668924e-03 1.39251675e+02] [-2.36487966e-02 9.99720323e-01 -1.03885481e-04 -1.41415225e+01] [-1.04885328e-03 7.91034291e-05 9.99999447e-01 -4.10684117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45992885099997 meters 0.062228947779213 Centerline is valid? [True, True] Translation: X:139.28, Y:-14.14, Z:-4.11 [[ 9.99714409e-01 2.38771486e-02 9.91109836e-04 1.39281005e+02] [-2.38770631e-02 9.99714897e-01 -9.80102252e-05 -1.41415365e+01] [-9.93167473e-04 7.43174422e-05 9.99999504e-01 -4.10599019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48992885099997 meters 0.06862125058091995 Centerline is valid? [True, True] Translation: X:139.31, Y:-14.16, Z:-4.11 [[ 9.99704540e-01 2.42660840e-02 1.41094926e-03 1.39307507e+02] [-2.42659117e-02 9.99705530e-01 -1.39122684e-04 -1.41574679e+01] [-1.41390974e-03 1.04843608e-04 9.99998995e-01 -4.11007297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51992885099997 meters 0.061703688314111285 Centerline is valid? [True, True] Translation: X:139.34, Y:-14.15, Z:-4.11 [[ 9.99695372e-01 2.46410589e-02 1.40788300e-03 1.39337452e+02] [-2.46408884e-02 9.99696358e-01 -1.38341039e-04 -1.41480948e+01] [-1.41086438e-03 1.03607409e-04 9.99998999e-01 -4.10632896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54992885099998 meters 0.06183299626494689 Centerline is valid? [True, True] Translation: X:139.36, Y:-14.15, Z:-4.11 [[ 9.99685030e-01 2.50284208e-02 1.84916361e-03 1.39364911e+02] [-2.50281278e-02 9.99686731e-01 -1.81431040e-04 -1.41515432e+01] [-1.85312526e-03 1.35092792e-04 9.99998274e-01 -4.10668119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57992885099998 meters 0.06263081792220164 Centerline is valid? [True, True] Translation: X:139.39, Y:-14.16, Z:-4.11 [[ 9.99659821e-01 2.59118197e-02 2.96975332e-03 1.39392216e+02] [-2.59110721e-02 9.99664210e-01 -2.89949980e-04 -1.41576508e+01] [-2.97626923e-03 2.12901853e-04 9.99995548e-01 -4.10663591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60992885099998 meters 0.06169283786738281 Centerline is valid? [True, True] Translation: X:139.42, Y:-14.16, Z:-4.11 [[ 9.99653748e-01 2.60873347e-02 3.44020648e-03 1.39421315e+02] [-2.60863357e-02 9.99659638e-01 -3.34954857e-04 -1.41591535e+01] [-3.44777364e-03 2.45096498e-04 9.99994026e-01 -4.10643909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63992885099998 meters 0.06167422674394963 Centerline is valid? [True, True] Translation: X:139.45, Y:-14.16, Z:-4.11 [[ 9.99649228e-01 2.62422410e-02 3.57284451e-03 1.39449807e+02] [-2.62411655e-02 9.99655581e-01 -3.47569659e-04 -1.41623411e+01] [-3.58073496e-03 2.53692137e-04 9.99993557e-01 -4.10687421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66992885099998 meters 0.06167422674394963 Centerline is valid? [True, True] Translation: X:139.48, Y:-14.16, Z:-4.11 [[ 9.99651786e-01 2.61446358e-02 3.57280653e-03 1.39477218e+02] [-2.61435583e-02 9.99658138e-01 -3.47962664e-04 -1.41648949e+01] [-3.58068249e-03 2.54435623e-04 9.99993557e-01 -4.10750639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69992885099998 meters 0.061421393569343126 Centerline is valid? [True, True] Translation: X:139.51, Y:-14.17, Z:-4.11 [[ 9.99649368e-01 2.62268060e-02 3.64645308e-03 1.39506293e+02] [-2.62256880e-02 9.99655985e-01 -3.54092958e-04 -1.41680476e+01] [-3.65448538e-03 2.58338061e-04 9.99993289e-01 -4.10759651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72992885099998 meters 0.06099358300997843 Centerline is valid? [True, True] Translation: X:139.54, Y:-14.17, Z:-4.11 [[ 9.99635822e-01 2.65820104e-02 4.64972096e-03 1.39535011e+02] [-2.65801997e-02 9.99646582e-01 -4.50796252e-04 -1.41716853e+01] [-4.66006074e-03 3.27041570e-04 9.99989088e-01 -4.10708573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75992885099998 meters 0.060933283705958734 Centerline is valid? [True, True] Translation: X:139.56, Y:-14.18, Z:-4.11 [[ 9.99623626e-01 2.68867315e-02 5.45074625e-03 1.39564056e+02] [-2.68842525e-02 9.99638414e-01 -5.27560840e-04 -1.41751648e+01] [-5.46295972e-03 3.80823041e-04 9.99985005e-01 -4.10791156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78992885099998 meters 0.05692634061164991 Centerline is valid? [True, True] Translation: X:139.59, Y:-14.17, Z:-4.11 [[ 9.99620336e-01 2.71512523e-02 4.68971586e-03 1.39593784e+02] [-2.71494188e-02 9.99631283e-01 -4.54184251e-04 -1.41713257e+01] [-4.70031836e-03 3.26688754e-04 9.99988900e-01 -4.10610785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819928851 meters 0.0622074569632562 Centerline is valid? [True, True] Translation: X:139.62, Y:-14.18, Z:-4.11 [[ 9.99618798e-01 2.72548424e-02 4.40822272e-03 1.39620823e+02] [-2.72532230e-02 9.99628471e-01 -4.27016737e-04 -1.41846440e+01] [-4.41822321e-03 3.06715680e-04 9.99990193e-01 -4.10952581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84992885099996 meters 0.06214413263060731 Centerline is valid? [True, True] Translation: X:139.65, Y:-14.19, Z:-4.11 [[ 9.99610241e-01 2.75559171e-02 4.47627063e-03 1.39649979e+02] [-2.75542552e-02 9.99620216e-01 -4.32512060e-04 -1.41878577e+01] [-4.48648888e-03 3.09003181e-04 9.99989888e-01 -4.11022327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87992885099996 meters 0.06195561550646023 Centerline is valid? [True, True] Translation: X:139.68, Y:-14.19, Z:-4.11 [[ 9.99610310e-01 2.75695336e-02 4.37597229e-03 1.39679072e+02] [-2.75679451e-02 9.99619843e-01 -4.22925928e-04 -1.41906442e+01] [-4.38596860e-03 3.02124554e-04 9.99990336e-01 -4.11016455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90992885099996 meters 0.06388119152939828 Centerline is valid? [True, True] Translation: X:139.71, Y:-14.20, Z:-4.11 [[ 9.99615307e-01 2.73641231e-02 4.52133130e-03 1.39706529e+02] [-2.73624255e-02 9.99625483e-01 -4.36919271e-04 -1.41973063e+01] [-4.53159390e-03 3.13036601e-04 9.99989683e-01 -4.11120684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93992885099996 meters 0.0631805525910639 Centerline is valid? [True, True] Translation: X:139.73, Y:-14.20, Z:-4.11 [[ 9.99632268e-01 2.66185154e-02 5.17519133e-03 1.39734998e+02] [-2.66162862e-02 9.99645599e-01 -4.99157427e-04 -1.42005667e+01] [-5.18664407e-03 3.61229498e-04 9.99986484e-01 -4.11079087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96992885099996 meters 0.05605566469252558 Centerline is valid? [True, True] Translation: X:139.76, Y:-14.19, Z:-4.11 [[ 9.99650746e-01 2.58152215e-02 5.65336816e-03 1.39764346e+02] [-2.58125491e-02 9.99666652e-01 -5.45185293e-04 -1.41926615e+01] [-5.66555770e-03 3.99067042e-04 9.99983871e-01 -4.10781629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99992885099996 meters 0.06170551354639602 Centerline is valid? [True, True] Translation: X:139.79, Y:-14.21, Z:-4.11 [[ 9.99671362e-01 2.48555004e-02 6.27476550e-03 1.39790932e+02] [-2.48521928e-02 9.99690954e-01 -6.04575628e-04 -1.42064477e+01] [-6.28785333e-03 4.48435260e-04 9.99980131e-01 -4.11064988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02992885099997 meters 0.05512957608985203 Centerline is valid? [True, True] Translation: X:139.82, Y:-14.20, Z:-4.11 [[ 9.99692954e-01 2.40105492e-02 6.12304481e-03 1.39820153e+02] [-2.40073881e-02 9.99711607e-01 -5.89239909e-04 -1.41986447e+01] [-6.13542694e-03 4.42060672e-04 9.99981080e-01 -4.10801948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05992885099997 meters 0.05576757243642376 Centerline is valid? [True, True] Translation: X:139.85, Y:-14.20, Z:-4.11 [[ 9.99707653e-01 2.32414277e-02 6.66672876e-03 1.39847887e+02] [-2.32376683e-02 9.99729764e-01 -6.40812908e-04 -1.42042356e+01] [-6.67982057e-03 4.85706336e-04 9.99977572e-01 -4.10788499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08992885099997 meters 0.056255932483767486 Centerline is valid? [True, True] Translation: X:139.88, Y:-14.21, Z:-4.11 [[ 9.99722368e-01 2.26783975e-02 6.39355640e-03 1.39875312e+02] [-2.26749315e-02 9.99742702e-01 -6.14080505e-04 -1.42083068e+01] [-6.40583772e-03 4.68936563e-04 9.99979372e-01 -4.10833351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11992885099997 meters 0.056164936244751384 Centerline is valid? [True, True] Translation: X:139.90, Y:-14.21, Z:-4.11 [[ 9.99755275e-01 2.15164770e-02 5.14119641e-03 1.39904874e+02] [-2.15142255e-02 9.99768421e-01 -4.92856665e-04 -1.42120456e+01] [-5.15061036e-03 3.82127192e-04 9.99986663e-01 -4.10928263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14992885099997 meters 0.057065542708635696 Centerline is valid? [True, True] Translation: X:139.93, Y:-14.22, Z:-4.11 [[ 9.99747621e-01 2.16438941e-02 6.01957833e-03 1.39932312e+02] [-2.16408067e-02 9.99765643e-01 -5.77560935e-04 -1.42171884e+01] [-6.03066827e-03 4.47146639e-04 9.99981715e-01 -4.11003572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17992885099997 meters 0.057550249645248325 Centerline is valid? [True, True] Translation: X:139.96, Y:-14.22, Z:-4.11 [[ 9.99771037e-01 2.08175850e-02 4.94995842e-03 1.39961775e+02] [-2.08154921e-02 9.99783222e-01 -4.73968868e-04 -1.42214244e+01] [-4.95875227e-03 3.70824526e-04 9.99987637e-01 -4.11059405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20992885099997 meters 0.057335100268181505 Centerline is valid? [True, True] Translation: X:139.99, Y:-14.22, Z:-4.11 [[ 9.99779991e-01 2.01638991e-02 5.77814960e-03 1.39990175e+02] [-2.01610349e-02 9.99796592e-01 -5.53516880e-04 -1.42240155e+01] [-5.78813534e-03 4.36901625e-04 9.99983153e-01 -4.11082143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23992885099997 meters 0.0547213596475024 Centerline is valid? [True, True] Translation: X:140.02, Y:-14.22, Z:-4.11 [[ 9.99806465e-01 1.88336921e-02 5.68548180e-03 1.40020339e+02] [-1.88309028e-02 9.99822535e-01 -5.43746123e-04 -1.42236994e+01] [-5.69471357e-03 4.36578134e-04 9.99983690e-01 -4.10928017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26992885099997 meters 0.059185137480780185 Centerline is valid? [True, True] Translation: X:140.05, Y:-14.23, Z:-4.11 [[ 9.99818778e-01 1.77736596e-02 6.81967951e-03 1.40048284e+02] [-1.77696226e-02 9.99841895e-01 -6.52099899e-04 -1.42339897e+01] [-6.83019149e-03 5.30798593e-04 9.99976533e-01 -4.11078947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29992885099998 meters 0.05540761708736987 Centerline is valid? [True, True] Translation: X:140.08, Y:-14.23, Z:-4.11 [[ 9.99828503e-01 1.73874021e-02 6.37518941e-03 1.40077277e+02] [-1.73838662e-02 9.99848703e-01 -6.09629702e-04 -1.42306440e+01] [-6.38482474e-03 4.98699713e-04 9.99979492e-01 -4.11001401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32992885099998 meters 0.055712849728581974 Centerline is valid? [True, True] Translation: X:140.11, Y:-14.23, Z:-4.11 [[ 9.99848236e-01 1.60106481e-02 6.86766098e-03 1.40106308e+02] [-1.60065184e-02 9.99871672e-01 -6.55870730e-04 -1.42341270e+01] [-6.87728059e-03 5.45843851e-04 9.99976202e-01 -4.10943145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35992885099998 meters 0.056642872813302755 Centerline is valid? [True, True] Translation: X:140.14, Y:-14.24, Z:-4.11 [[ 9.99863140e-01 1.51987406e-02 6.53442624e-03 1.40135080e+02] [-1.51949866e-02 9.99884355e-01 -6.23768220e-04 -1.42382211e+01] [-6.54315105e-03 5.24392332e-04 9.99978456e-01 -4.11013217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38992885099998 meters 0.05792291158581111 Centerline is valid? [True, True] Translation: X:140.16, Y:-14.24, Z:-4.11 [[ 9.99880242e-01 1.39670228e-02 6.66507923e-03 1.40163691e+02] [-1.39630923e-02 9.99902309e-01 -6.35879218e-04 -1.42426620e+01] [-6.67330945e-03 5.42737950e-04 9.99977586e-01 -4.11056375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41992885099998 meters 0.05874613614109202 Centerline is valid? [True, True] Translation: X:140.19, Y:-14.25, Z:-4.11 [[ 9.99887708e-01 1.35603254e-02 6.37878519e-03 1.40192012e+02] [-1.35567189e-02 9.99907918e-01 -6.08285229e-04 -1.42462198e+01] [-6.38644637e-03 5.21741526e-04 9.99979470e-01 -4.11099387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44992885099998 meters 0.05955795260281697 Centerline is valid? [True, True] Translation: X:140.22, Y:-14.25, Z:-4.11 [[ 9.99886409e-01 1.34240155e-02 6.85310366e-03 1.40221446e+02] [-1.34198543e-02 9.99909737e-01 -6.52831034e-04 -1.42499079e+01] [-6.86124869e-03 5.60789226e-04 9.99976304e-01 -4.11161543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47992885099998 meters 0.05343394776728032 Centerline is valid? [True, True] Translation: X:140.25, Y:-14.24, Z:-4.11 [[ 9.99890752e-01 1.31661136e-02 6.71842939e-03 1.40252333e+02] [-1.31621097e-02 9.99913171e-01 -6.39829656e-04 -1.42427237e+01] [-6.72627010e-03 5.51331052e-04 9.99977226e-01 -4.10935118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50992885099998 meters 0.05922866113881139 Centerline is valid? [True, True] Translation: X:140.28, Y:-14.25, Z:-4.11 [[ 9.99895719e-01 1.31454197e-02 5.97911357e-03 1.40279826e+02] [-1.31422472e-02 9.99913475e-01 -5.69584873e-04 -1.42532879e+01] [-5.98608366e-03 4.90946488e-04 9.99981963e-01 -4.11199330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53992885099998 meters 0.06235943396861439 Centerline is valid? [True, True] Translation: X:140.31, Y:-14.26, Z:-4.11 [[ 9.99885788e-01 1.37253068e-02 6.32663658e-03 1.40308050e+02] [-1.37217690e-02 9.99905671e-01 -6.02250892e-04 -1.42601202e+01] [-6.33430587e-03 5.15369462e-04 9.99979805e-01 -4.11281152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.569928851 meters 0.05542656788225346 Centerline is valid? [True, True] Translation: X:140.34, Y:-14.25, Z:-4.11 [[ 9.99874583e-01 1.42997123e-02 6.80703697e-03 1.40338268e+02] [-1.42956328e-02 9.99897603e-01 -6.47595676e-04 -1.42515283e+01] [-6.81560038e-03 5.50203556e-04 9.99976622e-01 -4.11083655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59992885099996 meters 0.05369063822700178 Centerline is valid? [True, True] Translation: X:140.37, Y:-14.25, Z:-4.11 [[ 9.99839753e-01 1.56908257e-02 8.61777953e-03 1.40368543e+02] [-1.56843487e-02 9.99876658e-01 -8.18657518e-04 -1.42503429e+01] [-8.62956201e-03 6.83362071e-04 9.99962531e-01 -4.10977939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62992885099996 meters 0.05026579594517944 Centerline is valid? [True, True] Translation: X:140.40, Y:-14.25, Z:-4.11 [[ 9.99828959e-01 1.62738961e-02 8.78711431e-03 1.40398378e+02] [-1.62671837e-02 9.99867332e-01 -8.34838287e-04 -1.42473495e+01] [-8.79953462e-03 6.91753893e-04 9.99961044e-01 -4.10936847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65992885099996 meters 0.05099409624810463 Centerline is valid? [True, True] Translation: X:140.43, Y:-14.25, Z:-4.11 [[ 9.99817208e-01 1.69959194e-02 8.75728726e-03 1.40427039e+02] [-1.69892805e-02 9.99855326e-01 -8.31942160e-04 -1.42508180e+01] [-8.77015993e-03 6.83010078e-04 9.99961308e-01 -4.11038370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68992885099996 meters 0.049699038659539035 Centerline is valid? [True, True] Translation: X:140.46, Y:-14.25, Z:-4.11 [[ 9.99786791e-01 1.83442393e-02 9.47954367e-03 1.40457381e+02] [-1.83365302e-02 9.99831467e-01 -8.99516826e-04 -1.42516066e+01] [-9.49444701e-03 7.25503102e-04 9.99954664e-01 -4.11124544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71992885099996 meters 0.0496043734634046 Centerline is valid? [True, True] Translation: X:140.49, Y:-14.25, Z:-4.11 [[ 9.99795249e-01 1.79107005e-02 9.41633455e-03 1.40486772e+02] [-1.79030741e-02 9.99839328e-01 -8.93587564e-04 -1.42548021e+01] [-9.43082638e-03 7.24823266e-04 9.99955266e-01 -4.11104287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74992885099996 meters 0.04755907245428156 Centerline is valid? [True, True] Translation: X:140.52, Y:-14.25, Z:-4.11 [[ 9.99786491e-01 1.81871509e-02 9.80817851e-03 1.40516123e+02] [-1.81788889e-02 9.99834317e-01 -9.30869154e-04 -1.42541647e+01] [-9.82348332e-03 7.52368618e-04 9.99951465e-01 -4.11102243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77992885099997 meters 0.05001976189360157 Centerline is valid? [True, True] Translation: X:140.54, Y:-14.26, Z:-4.11 [[ 9.99784407e-01 1.82592845e-02 9.88621080e-03 1.40544158e+02] [-1.82509032e-02 9.99832999e-01 -9.37337283e-04 -1.42610322e+01] [-9.90167491e-03 7.56702923e-04 9.99950691e-01 -4.11238128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80992885099997 meters 0.05218911487604991 Centerline is valid? [True, True] Translation: X:140.57, Y:-14.27, Z:-4.11 [[ 9.99779318e-01 1.89616854e-02 9.04271640e-03 1.40572612e+02] [-1.89547055e-02 9.99819976e-01 -8.56971101e-04 -1.42672367e+01] [-9.05733811e-03 6.85379956e-04 9.99958747e-01 -4.11426462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83992885099997 meters 0.05001661409268823 Centerline is valid? [True, True] Translation: X:140.60, Y:-14.27, Z:-4.11 [[ 9.99777153e-01 1.92331631e-02 8.70230740e-03 1.40602112e+02] [-1.92267125e-02 9.99814810e-01 -8.24312993e-04 -1.42668215e+01] [-8.71654996e-03 6.56812534e-04 9.99961794e-01 -4.11476764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86992885099997 meters 0.04624098701123315 Centerline is valid? [True, True] Translation: X:140.63, Y:-14.26, Z:-4.11 [[ 9.99772195e-01 1.96141858e-02 8.41672486e-03 1.40631466e+02] [-1.96081660e-02 9.99807424e-01 -7.97156384e-04 -1.42635142e+01] [-8.43073957e-03 6.31938250e-04 9.99964261e-01 -4.11464028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89992885099997 meters 0.04846385500585659 Centerline is valid? [True, True] Translation: X:140.66, Y:-14.27, Z:-4.12 [[ 9.99758849e-01 2.04461005e-02 8.01253980e-03 1.40659217e+02] [-2.04406754e-02 9.99790780e-01 -7.58385263e-04 -1.42696808e+01] [-8.02636943e-03 5.94420653e-04 9.99967612e-01 -4.11622031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92992885099997 meters 0.04469275013751118 Centerline is valid? [True, True] Translation: X:140.69, Y:-14.27, Z:-4.12 [[ 9.99696781e-01 2.29520301e-02 8.91909982e-03 1.40689582e+02] [-2.29454208e-02 9.99736364e-01 -8.42667354e-04 -1.42661322e+01] [-8.93608935e-03 6.37759343e-04 9.99959869e-01 -4.11523340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95992885099997 meters 0.04647199221032424 Centerline is valid? [True, True] Translation: X:140.72, Y:-14.27, Z:-4.12 [[ 9.99661997e-01 2.42530454e-02 9.36384129e-03 1.40717421e+02] [-2.42458125e-02 9.99705635e-01 -8.85194044e-04 -1.42708637e+01] [-9.38255356e-03 6.57860906e-04 9.99955766e-01 -4.11580882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98992885099997 meters 0.04257623554594372 Centerline is valid? [True, True] Translation: X:140.75, Y:-14.27, Z:-4.11 [[ 9.99587318e-01 2.67765950e-02 1.04022946e-02 1.40747801e+02] [-2.67678181e-02 9.99641195e-01 -9.82088421e-04 -1.42674227e+01] [-1.04248592e-02 7.03236400e-04 9.99945412e-01 -4.11436748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01992885099997 meters 0.04244172952994277 Centerline is valid? [True, True] Translation: X:140.78, Y:-14.27, Z:-4.11 [[ 9.99512070e-01 2.90204798e-02 1.15513604e-02 1.40777436e+02] [-2.90098123e-02 9.99578533e-01 -1.09000988e-03 -1.42690272e+01] [-1.15781245e-02 7.54375239e-04 9.99932687e-01 -4.11419889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04992885099998 meters 0.04260505834391141 Centerline is valid? [True, True] Translation: X:140.81, Y:-14.27, Z:-4.11 [[ 9.99343028e-01 3.39244135e-02 1.27533059e-02 1.40807285e+02] [-3.39118187e-02 9.99424105e-01 -1.20258798e-03 -1.42707647e+01] [-1.27867584e-02 7.69310113e-04 9.99917950e-01 -4.11364424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07992885099998 meters 0.04174494909215563 Centerline is valid? [True, True] Translation: X:140.84, Y:-14.27, Z:-4.11 [[ 9.99265915e-01 3.59917639e-02 1.31234397e-02 1.40836972e+02] [-3.59786018e-02 9.99351794e-01 -1.23773842e-03 -1.42719492e+01] [-1.31594813e-02 7.64666808e-04 9.99913118e-01 -4.11353080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10992885099998 meters 0.039824232206781066 Centerline is valid? [True, True] Translation: X:140.87, Y:-14.27, Z:-4.11 [[ 9.99199651e-01 3.76833528e-02 1.34172211e-02 1.40865902e+02] [-3.76697486e-02 9.99289442e-01 -1.26530896e-03 -1.42707700e+01] [-1.34553684e-02 7.58872926e-04 9.99909184e-01 -4.11318457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13992885099998 meters 0.039413505491929436 Centerline is valid? [True, True] Translation: X:140.89, Y:-14.27, Z:-4.11 [[ 9.99113036e-01 3.98446721e-02 1.36214106e-02 1.40894683e+02] [-3.98308681e-02 9.99205612e-01 -1.28330607e-03 -1.42732740e+01] [-1.36617229e-02 7.39615210e-04 9.99906401e-01 -4.11361047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16992885099998 meters 0.039750179597379524 Centerline is valid? [True, True] Translation: X:140.92, Y:-14.28, Z:-4.11 [[ 9.99091255e-01 4.03829796e-02 1.36337423e-02 1.40922745e+02] [-4.03692027e-02 9.99184006e-01 -1.28431067e-03 -1.42766823e+01] [-1.36744816e-02 7.32760252e-04 9.99906231e-01 -4.11456220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19992885099998 meters 0.040560245955120026 Centerline is valid? [True, True] Translation: X:140.95, Y:-14.28, Z:-4.12 [[ 9.99103165e-01 4.03469458e-02 1.28448687e-02 1.40951188e+02] [-4.03347241e-02 9.99185492e-01 -1.20923013e-03 -1.42803339e+01] [-1.28831952e-02 6.90051415e-04 9.99916770e-01 -4.11587503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22992885099998 meters 0.03847063463990756 Centerline is valid? [True, True] Translation: X:140.98, Y:-14.28, Z:-4.12 [[ 9.99116809e-01 4.00723580e-02 1.26415159e-02 1.40979807e+02] [-4.00605084e-02 9.99196548e-01 -1.18929727e-03 -1.42803386e+01] [-1.26790169e-02 6.81821337e-04 9.99919386e-01 -4.11565802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25992885099998 meters 0.03928200497166855 Centerline is valid? [True, True] Translation: X:141.01, Y:-14.28, Z:-4.12 [[ 9.99156191e-01 3.91070424e-02 1.25517216e-02 1.41006939e+02] [-3.90952929e-02 9.99234790e-01 -1.18018573e-03 -1.42849326e+01] [-1.25882705e-02 6.88476645e-04 9.99920528e-01 -4.11569647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28992885099998 meters 0.04001855968664237 Centerline is valid? [True, True] Translation: X:141.03, Y:-14.29, Z:-4.12 [[ 9.99173823e-01 3.86707190e-02 1.24998577e-02 1.41034192e+02] [-3.86590454e-02 9.99251770e-01 -1.17426924e-03 -1.42889766e+01] [-1.25359147e-02 6.90066518e-04 9.99921184e-01 -4.11632324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319928851 meters 0.0405915292439187 Centerline is valid? [True, True] Translation: X:141.06, Y:-14.29, Z:-4.12 [[ 9.99203585e-01 3.78609929e-02 1.25992073e-02 1.41062819e+02] [-3.78490843e-02 9.99282767e-01 -1.18238098e-03 -1.42926829e+01] [-1.26349369e-02 7.04570855e-04 9.99919928e-01 -4.11697115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34992885099996 meters 0.04103718483638187 Centerline is valid? [True, True] Translation: X:141.09, Y:-14.30, Z:-4.12 [[ 9.99233397e-01 3.72674113e-02 1.19898961e-02 1.41091425e+02] [-3.72565926e-02 9.99305099e-01 -1.12448957e-03 -1.42957599e+01] [-1.20234711e-02 6.76924864e-04 9.99927486e-01 -4.11758647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37992885099996 meters 0.03765268882428883 Centerline is valid? [True, True] Translation: X:141.12, Y:-14.29, Z:-4.12 [[ 9.99291023e-01 3.54607746e-02 1.26485266e-02 1.41121322e+02] [-3.54486057e-02 9.99370798e-01 -1.18504627e-03 -1.42926991e+01] [-1.26825908e-02 7.35833470e-04 9.99919302e-01 -4.11511135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40992885099996 meters 0.03811745199862434 Centerline is valid? [True, True] Translation: X:141.15, Y:-14.30, Z:-4.11 [[ 9.99332308e-01 3.40553374e-02 1.32352504e-02 1.41150277e+02] [-3.40418927e-02 9.99419638e-01 -1.23985835e-03 -1.42953120e+01] [-1.32697930e-02 7.88477535e-04 9.99911642e-01 -4.11439212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43992885099996 meters 0.03929916453212804 Centerline is valid? [True, True] Translation: X:141.18, Y:-14.30, Z:-4.11 [[ 9.99357488e-01 3.28181598e-02 1.44075942e-02 1.41177222e+02] [-3.28021116e-02 9.99460956e-01 -1.34883524e-03 -1.42997390e+01] [-1.44440941e-02 8.75369088e-04 9.99895295e-01 -4.11388867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46992885099996 meters 0.04001502092968364 Centerline is valid? [True, True] Translation: X:141.21, Y:-14.30, Z:-4.11 [[ 9.99425541e-01 2.94427737e-02 1.67842530e-02 1.41206888e+02] [-2.94205629e-02 9.99565891e-01 -1.56874646e-03 -1.43043078e+01] [-1.68231550e-02 1.07404311e-03 9.99857904e-01 -4.11195715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49992885099996 meters 0.043467303521253726 Centerline is valid? [True, True] Translation: X:141.23, Y:-14.31, Z:-4.11 [[ 9.99464197e-01 2.75669556e-02 1.76460057e-02 1.41234924e+02] [-2.75421187e-02 9.99619284e-01 -1.64903272e-03 -1.43120255e+01] [-1.76847464e-02 1.16214078e-03 9.99842937e-01 -4.11254094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52992885099997 meters 0.04521523097296681 Centerline is valid? [True, True] Translation: X:141.26, Y:-14.32, Z:-4.11 [[ 9.99512025e-01 2.57532831e-02 1.76770918e-02 1.41263438e+02] [-2.57280994e-02 9.99667615e-01 -1.65062882e-03 -1.43177092e+01] [-1.77137253e-02 1.19502538e-03 9.99842386e-01 -4.11336576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55992885099997 meters 0.04647396916171725 Centerline is valid? [True, True] Translation: X:141.29, Y:-14.32, Z:-4.11 [[ 9.99627325e-01 2.17038916e-02 1.65575210e-02 1.41293235e+02] [-2.16812347e-02 9.99763738e-01 -1.54667224e-03 -1.43231884e+01] [-1.65871779e-02 1.18710833e-03 9.99861719e-01 -4.11471415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58992885099997 meters 0.04647396916171725 Centerline is valid? [True, True] Translation: X:141.32, Y:-14.33, Z:-4.12 [[ 9.99627325e-01 2.17038914e-02 1.65575216e-02 1.41323174e+02] [-2.16812347e-02 9.99763738e-01 -1.54666592e-03 -1.43259851e+01] [-1.65871783e-02 1.18710201e-03 9.99861719e-01 -4.11540414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61992885099997 meters 0.04773823482066759 Centerline is valid? [True, True] Translation: X:141.35, Y:-14.33, Z:-4.12 [[ 9.99664902e-01 2.02913844e-02 1.60730450e-02 1.41352117e+02] [-2.02698509e-02 9.99793418e-01 -1.50152172e-03 -1.43304561e+01] [-1.61001926e-02 1.17522034e-03 9.99869693e-01 -4.11603368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64992885099997 meters 0.043682066421773184 Centerline is valid? [True, True] Translation: X:141.38, Y:-14.33, Z:-4.12 [[ 9.99697443e-01 1.88954061e-02 1.57475846e-02 1.41383307e+02] [-1.88745696e-02 9.99820778e-01 -1.47074874e-03 -1.43265180e+01] [-1.57725527e-02 1.17307487e-03 9.99874917e-01 -4.11564311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67992885099997 meters 0.04922734998745935 Centerline is valid? [True, True] Translation: X:141.41, Y:-14.34, Z:-4.12 [[ 9.99722251e-01 1.79519802e-02 1.52691388e-02 1.41413034e+02] [-1.79322833e-02 9.99838187e-01 -1.42593453e-03 -1.43363631e+01] [-1.52922664e-02 1.15172796e-03 9.99882403e-01 -4.11677403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70992885099997 meters 0.04798100229354205 Centerline is valid? [True, True] Translation: X:141.44, Y:-14.34, Z:-4.12 [[ 9.99732251e-01 1.72480533e-02 1.54250125e-02 1.41443960e+02] [-1.72278626e-02 9.99850551e-01 -1.44088622e-03 -1.43359069e+01] [-1.54475597e-02 1.17476043e-03 9.99879989e-01 -4.11594978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73992885099997 meters 0.047205134413746574 Centerline is valid? [True, True] Translation: X:141.48, Y:-14.34, Z:-4.12 [[ 9.99720521e-01 1.71595661e-02 1.62612845e-02 1.41475245e+02] [-1.71371185e-02 9.99851995e-01 -1.51878285e-03 -1.43366534e+01] [-1.62849394e-02 1.23968683e-03 9.99866623e-01 -4.11562565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76992885099997 meters 0.04756995414572901 Centerline is valid? [True, True] Translation: X:141.51, Y:-14.34, Z:-4.12 [[ 9.99696894e-01 1.78296923e-02 1.69770897e-02 1.41505199e+02] [-1.78053088e-02 9.99840214e-01 -1.58634259e-03 -1.43387427e+01] [-1.70026610e-02 1.28357944e-03 9.99854620e-01 -4.11543864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79992885099998 meters 0.04745445537831641 Centerline is valid? [True, True] Translation: X:141.54, Y:-14.34, Z:-4.12 [[ 9.99687230e-01 1.81070506e-02 1.72504303e-02 1.41536558e+02] [-1.80819130e-02 9.99835209e-01 -1.61208623e-03 -1.43402763e+01] [-1.72767777e-02 1.29966123e-03 9.99849901e-01 -4.11537174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82992885099998 meters 0.04670994417016873 Centerline is valid? [True, True] Translation: X:141.57, Y:-14.34, Z:-4.11 [[ 9.99645980e-01 1.93026215e-02 1.83118321e-02 1.41567837e+02] [-1.92744809e-02 9.99812764e-01 -1.71200871e-03 -1.43391285e+01] [-1.83414497e-02 1.35845157e-03 9.99830859e-01 -4.11471028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85992885099998 meters 0.04824461450836835 Centerline is valid? [True, True] Translation: X:141.60, Y:-14.34, Z:-4.11 [[ 9.99640205e-01 1.97369590e-02 1.81634869e-02 1.41597855e+02] [-1.97093384e-02 9.99804309e-01 -1.69843956e-03 -1.43424022e+01] [-1.81934545e-02 1.33983816e-03 9.99833588e-01 -4.11499298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88992885099998 meters 0.04601728956768951 Centerline is valid? [True, True] Translation: X:141.63, Y:-14.34, Z:-4.11 [[ 9.99615547e-01 2.04223524e-02 1.87533011e-02 1.41629752e+02] [-2.03930237e-02 9.99790502e-01 -1.75384639e-03 -1.43407070e+01] [-1.87851900e-02 1.37073561e-03 9.99822603e-01 -4.11493318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91992885099998 meters 0.046326239359818305 Centerline is valid? [True, True] Translation: X:141.66, Y:-14.34, Z:-4.11 [[ 9.99579398e-01 2.12928598e-02 1.96886122e-02 1.41660318e+02] [-2.12606853e-02 9.99772269e-01 -1.84206712e-03 -1.43418284e+01] [-1.97233514e-02 1.42269895e-03 9.99804464e-01 -4.11415583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94992885099998 meters 0.04670168321074834 Centerline is valid? [True, True] Translation: X:141.69, Y:-14.34, Z:-4.11 [[ 9.99590904e-01 2.10482717e-02 1.93647797e-02 1.41691311e+02] [-2.10170965e-02 9.99777474e-01 -1.81202656e-03 -1.43439455e+01] [-1.93986106e-02 1.40429382e-03 9.99810843e-01 -4.11441186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97992885099998 meters 0.04515401989657956 Centerline is valid? [True, True] Translation: X:141.72, Y:-14.34, Z:-4.12 [[ 9.99605625e-01 2.08566660e-02 1.88041108e-02 1.41722311e+02] [-2.08272239e-02 9.99781540e-01 -1.76022692e-03 -1.43433182e+01] [-1.88367154e-02 1.36789530e-03 9.99821638e-01 -4.11512989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00992885099998 meters 0.0483687316641281 Centerline is valid? [True, True] Translation: X:141.75, Y:-14.35, Z:-4.12 [[ 9.99633821e-01 2.03016855e-02 1.78903957e-02 1.41752566e+02] [-2.02749421e-02 9.99793039e-01 -1.67497713e-03 -1.43495697e+01] [-1.79206979e-02 1.31163706e-03 9.99838551e-01 -4.11670388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03992885099998 meters 0.05062349973168208 Centerline is valid? [True, True] Translation: X:141.78, Y:-14.35, Z:-4.12 [[ 9.99682303e-01 1.96891119e-02 1.57363033e-02 1.41782666e+02] [-1.96683426e-02 9.99805474e-01 -1.47352085e-03 -1.43534612e+01] [-1.57622545e-02 1.16354571e-03 9.99875091e-01 -4.11929436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06992885099996 meters 0.04699119421863443 Centerline is valid? [True, True] Translation: X:141.81, Y:-14.35, Z:-4.12 [[ 9.99703859e-01 1.90873863e-02 1.50952526e-02 1.41813353e+02] [-1.90682014e-02 9.99817186e-01 -1.41384806e-03 -1.43502357e+01] [-1.51194796e-02 1.12559004e-03 9.99885061e-01 -4.11997162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09992885099996 meters 0.04457415857708075 Centerline is valid? [True, True] Translation: X:141.84, Y:-14.35, Z:-4.12 [[ 9.99716396e-01 1.88138044e-02 1.46003062e-02 1.41843294e+02] [-1.87958239e-02 9.99822407e-01 -1.36777095e-03 -1.43484727e+01] [-1.46234463e-02 1.09295825e-03 9.99892474e-01 -4.12072454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12992885099996 meters 0.04931561353074284 Centerline is valid? [True, True] Translation: X:141.87, Y:-14.36, Z:-4.12 [[ 9.99739289e-01 1.77560431e-02 1.43554093e-02 1.41872015e+02] [-1.77385613e-02 9.99841756e-01 -1.34420765e-03 -1.43554636e+01] [-1.43770054e-02 1.08921289e-03 9.99896052e-01 -4.12189279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3451.86 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%| | 0/6838 [00:00