+ python -m lidar_slam --no-model /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf Lidar SLAM 0.0.12 ===================================================== The recording path: /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf 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 0.017628 Adjusted end_distance from 9.223372036854776e+18 to 343.987628 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017628 meters 0.10976554817553826 Centerline is valid? [0, False] SLAMing on 0.047628000000000004 meters 0.12374483092275344 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 9.99995920e-01 2.08104079e-03 1.95702307e-03 1.89865806e-02] [-2.07208398e-03 9.99987421e-01 -4.56770008e-03 -4.38657963e-04] [-1.96650402e-03 4.56362633e-03 9.99987653e-01 -2.45300256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.077628 meters 0.12792877547351195 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 9.99982385e-01 5.72330944e-03 1.57293774e-03 2.07545818e-02] [-5.72208181e-03 9.99983322e-01 -7.83865362e-04 -8.62017305e-04] [-1.57739781e-03 7.74851076e-04 9.99998456e-01 -3.85282478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10762800000000002 meters 0.15037705370282628 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 0.9999869 0.00483548 0.00167858 0.02172564] [-0.00483114 0.999985 -0.00257897 0.00292765] [-0.00169103 0.00257083 0.99999527 -0.00558917] [ 0. 0. 0. 1. ]] SLAMing on 0.137628 meters 0.1578698255395132 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 0.99998984 0.00421339 0.00160373 0.02289938] [-0.00420763 0.99998475 -0.0035762 0.0045292 ] [-0.00161878 0.00356942 0.99999232 -0.00700915] [ 0. 0. 0. 1. ]] SLAMing on 0.16762800000000003 meters 0.18053178227336017 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 0.9999912 0.00391282 0.00151546 0.02380248] [-0.003907 0.99998506 -0.00382392 0.00425448] [-0.0015304 0.00381796 0.99999154 -0.00801093] [ 0. 0. 0. 1. ]] SLAMing on 0.19762800000000003 meters 0.20147479272319763 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 9.99994607e-01 3.13329913e-03 9.84033726e-04 2.60876482e-02] [-3.12952087e-03 9.99987815e-01 -3.81791365e-03 1.49961931e-03] [-9.95984401e-04 3.81481350e-03 9.99992228e-01 -9.65539751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22762800000000002 meters 0.21608088758149085 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99995238e-01 3.00618494e-03 6.97890350e-04 2.69990290e-02] [-3.00371721e-03 9.99989327e-01 -3.51050341e-03 -2.23005655e-04] [-7.08436124e-04 3.50839043e-03 9.99993595e-01 -1.00914690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.257628 meters 0.2209492811537772 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99995452e-01 2.98273223e-03 4.46401538e-04 2.77558050e-02] [-2.98135903e-03 9.99990917e-01 -3.04583860e-03 -2.27163715e-03] [-4.55482404e-04 3.04449386e-03 9.99995262e-01 -1.04113157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.287628 meters 0.23019156652396616 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99995643e-01 2.92816539e-03 3.74908158e-04 2.82281694e-02] [-2.92706197e-03 9.99991480e-01 -2.91065150e-03 -3.10179784e-03] [-3.83427833e-04 2.90954144e-03 9.99995694e-01 -1.08452801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.317628 meters 0.24577526697687274 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99996629e-01 2.56497976e-03 4.03018603e-04 2.85608547e-02] [-2.56350693e-03 9.99990186e-01 -3.61346771e-03 -1.32792709e-03] [-4.12283119e-04 3.61242239e-03 9.99993390e-01 -1.13577171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.347628 meters 0.2537324060937178 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99997259e-01 2.31298026e-03 3.64302424e-04 2.92177885e-02] [-2.31149596e-03 9.99989235e-01 -4.02339083e-03 -7.29255222e-04] [-3.73604526e-04 4.02253772e-03 9.99991840e-01 -1.20774779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.377628 meters 0.2660984309569159 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 9.99998099e-01 1.91918537e-03 3.44267239e-04 2.98416202e-02] [-1.91746151e-03 9.99985961e-01 -4.93966436e-03 1.54709650e-03] [-3.53742537e-04 4.93899485e-03 9.99987741e-01 -1.28183386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.407628 meters 0.268987106394601 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 9.99994095e-01 3.43210573e-03 -1.72164039e-04 3.31482225e-02] [-3.43268443e-03 9.99988046e-01 -3.48192640e-03 1.15315013e-03] [ 1.60211641e-04 3.48249682e-03 9.99993923e-01 -1.54815102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.437628 meters 0.28333860520917437 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 9.99995140e-01 3.11238707e-03 -1.82273566e-04 3.38455983e-02] [-3.11313346e-03 9.99986128e-01 -4.24875863e-03 2.98359139e-03] [ 1.69047257e-04 4.24930543e-03 9.99990957e-01 -1.63268095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.467628 meters 0.2898286397274129 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 9.99996215e-01 2.72598306e-03 -3.72118475e-04 3.49938456e-02] [-2.72767128e-03 9.99985634e-01 -4.61427585e-03 3.35789053e-03] [ 3.59534692e-04 4.61527341e-03 9.99989285e-01 -1.72547969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.497628 meters 0.2941757678548239 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99997457e-01 2.14933748e-03 -6.83326977e-04 3.66373751e-02] [-2.15277030e-03 9.99984864e-01 -5.06328158e-03 3.65187936e-03] [ 6.72433933e-04 5.06473975e-03 9.99986948e-01 -1.84833716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.527628 meters 0.3003305804112616 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99998156e-01 1.66144982e-03 -9.63412626e-04 3.79831023e-02] [-1.66662933e-03 9.99984028e-01 -5.40055865e-03 3.98324675e-03] [ 9.54424481e-04 5.40215434e-03 9.99984953e-01 -1.93851629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.557628 meters 0.31577354158599474 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99998596e-01 5.56976884e-04 -1.58032763e-03 4.04856123e-02] [-5.66377250e-04 9.99982113e-01 -5.95416678e-03 4.47631176e-03] [ 1.57698303e-03 5.95505349e-03 9.99981025e-01 -2.06902556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.587628 meters 0.32049285902867963 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99998325e-01 2.08742168e-04 -1.81827064e-03 4.16425121e-02] [-2.19892763e-04 9.99981160e-01 -6.13448838e-03 4.44309369e-03] [ 1.81695586e-03 6.13487793e-03 9.99979531e-01 -2.14343813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6176280000000001 meters 0.32833730569083097 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99997839e-01 -9.66732064e-05 -2.07687579e-03 4.27207101e-02] [ 8.35685808e-05 9.99980095e-01 -6.30893865e-03 4.41532554e-03] [ 2.07744436e-03 6.30875145e-03 9.99977942e-01 -2.19831946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.647628 meters 0.33444200950098096 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99997226e-01 -3.81000894e-04 -2.32455326e-03 4.37257315e-02] [ 3.65925289e-04 9.99978922e-01 -6.48235935e-03 4.57863694e-03] [ 2.32697405e-03 6.48149075e-03 9.99976287e-01 -2.24469783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.677628 meters 0.34008325595644195 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 0.99999556 -0.00125996 -0.00270146 0.04508892] [ 0.00123946 0.99997053 -0.00757673 0.00820762] [ 0.00271092 0.00757335 0.99996765 -0.02281991] [ 0. 0. 0. 1. ]] SLAMing on 0.707628 meters 0.34277272533519276 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 0.99999153 0.00261631 -0.00317608 0.04616547] [-0.00262718 0.99999069 -0.00342278 0.0082339 ] [ 0.0031671 0.0034311 0.9999891 -0.02267164] [ 0. 0. 0. 1. ]] SLAMing on 0.7376280000000001 meters 0.3465432815239155 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 0.9999926 0.00177517 -0.00341435 0.04716825] [-0.00179131 0.9999872 -0.00473217 0.01276218] [ 0.0034059 0.00473825 0.99998297 -0.02302505] [ 0. 0. 0. 1. ]] SLAMing on 0.7676280000000001 meters 0.339936634806313 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.02 [[ 0.99998112 0.00467331 -0.0039896 0.04863689] [-0.0046827 0.99998628 -0.00234623 0.01985462] [ 0.00397858 0.00236486 0.99998929 -0.02263601] [ 0. 0. 0. 1. ]] SLAMing on 0.797628 meters 0.34232341847120834 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.9999837 0.00388924 -0.00417984 0.0494467 ] [-0.00390569 0.99998464 -0.00393332 0.02562811] [ 0.00416448 0.00394958 0.99998353 -0.0228338 ] [ 0. 0. 0. 1. ]] SLAMing on 0.827628 meters 0.3412309741137593 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 9.99961322e-01 7.48991693e-03 -4.61043481e-03 5.05089920e-02] [-7.49201176e-03 9.99971839e-01 -4.37263925e-04 2.81282034e-02] [ 4.60702990e-03 4.71788444e-04 9.99989276e-01 -2.25681437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8576280000000001 meters 0.342329850054372 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.99996573 0.00680622 -0.00471345 0.05105697] [-0.00681612 0.99997459 -0.00208753 0.0343272 ] [ 0.00469912 0.00211959 0.99998671 -0.0226836 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8876280000000001 meters 0.342329850054372 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.99996573 0.00680622 -0.00471345 0.05105697] [-0.00681612 0.99997459 -0.00208753 0.0343272 ] [ 0.00469912 0.00211959 0.99998671 -0.0226836 ] [ 0. 0. 0. 1. ]] SLAMing on 0.917628 meters 0.34536783576534 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 0.99996893 0.00620273 -0.00486546 0.05157017] [-0.00622055 0.99997397 -0.00365684 0.04037706] [ 0.00484265 0.00368699 0.99998148 -0.02261367] [ 0. 0. 0. 1. ]] SLAMing on 0.947628 meters 0.34109248995533636 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.02 [[ 0.9999422 0.0094667 -0.00509761 0.05191694] [-0.00947434 0.99995403 -0.0014753 0.04906174] [ 0.00508341 0.00152351 0.99998592 -0.02183947] [ 0. 0. 0. 1. ]] SLAMing on 0.977628 meters 0.3380846585332462 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.02 [[ 0.9999452 0.00926416 -0.0048765 0.05141281] [-0.00927813 0.9999529 -0.00284973 0.05444924] [ 0.00484987 0.00289482 0.99998405 -0.02178736] [ 0. 0. 0. 1. ]] SLAMing on 1.0076280000000002 meters 0.3380286421421406 Centerline is valid? [False, False] Translation: X:0.05, Y:0.06, Z:-0.02 [[ 0.99995131 0.00855719 -0.00491499 0.05203448] [-0.00857903 0.99995334 -0.00443965 0.05972261] [ 0.00487677 0.00448159 0.99997807 -0.02231027] [ 0. 0. 0. 1. ]] SLAMing on 1.037628 meters 0.3364996037627524 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.02 [[ 0.99995167 0.00857368 -0.00481194 0.05098005] [-0.00860146 0.99994629 -0.0057819 0.0668978 ] [ 0.00476211 0.00582301 0.99997171 -0.02133064] [ 0. 0. 0. 1. ]] SLAMing on 1.067628 meters 0.33707829090400665 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.02 [[ 0.99995325 0.00838533 -0.00481549 0.05070038] [-0.00841527 0.99994518 -0.0062307 0.06879568] [ 0.00476298 0.00627093 0.99996899 -0.02090486] [ 0. 0. 0. 1. ]] SLAMing on 1.097628 meters 0.3351267919325578 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.02 [[ 0.99995448 0.00822048 -0.00484329 0.05045299] [-0.00825225 0.99994433 -0.00657475 0.07026911] [ 0.00478897 0.00661442 0.99996666 -0.02047008] [ 0. 0. 0. 1. ]] SLAMing on 1.127628 meters 0.3201539753082889 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.02 [[ 9.99997811e-01 1.97444984e-03 -6.92417912e-04 3.81476569e-02] [-1.97830157e-03 9.99982325e-01 -5.60686911e-03 7.83734569e-02] [ 6.81335191e-04 5.60822665e-03 9.99984042e-01 -2.25502390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.157628 meters 0.30618682312153994 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.02 [[ 9.99998208e-01 1.70398942e-03 -8.24423691e-04 3.85454021e-02] [-1.70881969e-03 9.99981169e-01 -5.89417305e-03 7.95096217e-02] [ 8.14364558e-04 5.89557128e-03 9.99982289e-01 -2.26100079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1876280000000001 meters 0.2948262347922084 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.02 [[ 0.99999846 0.00142607 -0.0010198 0.03905434] [-0.00143228 0.99998026 -0.00611801 0.08035576] [ 0.00101106 0.00611946 0.99998076 -0.02258397] [ 0. 0. 0. 1. ]] SLAMing on 1.2176280000000002 meters 0.2938673372079224 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.02 [[ 0.99999858 0.00126041 -0.00112265 0.03924405] [-0.00126743 0.99997952 -0.00627359 0.08093844] [ 0.00111472 0.00627501 0.99997969 -0.02249441] [ 0. 0. 0. 1. ]] SLAMing on 1.2476280000000002 meters 0.2738896489750803 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.02 [[ 0.99999857 0.00117998 -0.00121002 0.03920375] [-0.00118759 0.99997943 -0.00630247 0.08129885] [ 0.00120256 0.0063039 0.99997941 -0.02213208] [ 0. 0. 0. 1. ]] SLAMing on 1.277628 meters 0.22311370324348884 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.02 [[ 0.99998427 -0.00385197 -0.00407589 0.02839646] [ 0.00385883 0.99999115 0.00167753 0.08343469] [ 0.0040694 -0.00169323 0.99999029 -0.01833015] [ 0. 0. 0. 1. ]] SLAMing on 1.307628 meters 0.19497080744825565 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:-0.02 [[ 9.99982967e-01 -4.20918216e-03 -4.04337331e-03 2.85149296e-02] [ 4.21218091e-03 9.99990860e-01 7.33417575e-04 8.60406509e-02] [ 4.04024927e-03 -7.50436502e-04 9.99991557e-01 -1.87653508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.337628 meters 0.15608180030132393 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:-0.02 [[ 9.99991835e-01 -5.34689031e-04 -4.00540364e-03 2.86265069e-02] [ 5.47894169e-04 9.99994417e-01 3.29645941e-03 9.08613065e-02] [ 4.00361869e-03 -3.29862703e-03 9.99986545e-01 -1.94780397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.367628 meters 0.1359425778605806 Centerline is valid? [False, False] Translation: X:0.03, Y:0.10, Z:-0.02 [[ 9.99993192e-01 -4.28445586e-04 -3.66503837e-03 2.77245713e-02] [ 4.36370316e-04 9.99997568e-01 2.16172398e-03 9.51613143e-02] [ 3.66410327e-03 -2.16330858e-03 9.99990947e-01 -1.94962053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.397628 meters 0.12797035911320145 Centerline is valid? [False, False] Translation: X:0.03, Y:0.10, Z:-0.02 [[ 9.99994211e-01 -3.01554122e-04 -3.38923648e-03 2.69059219e-02] [ 3.05513933e-04 9.99999271e-01 1.16789184e-03 9.88597262e-02] [ 3.38888183e-03 -1.16892053e-03 9.99993575e-01 -1.93698780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4276280000000001 meters 0.12321044667885112 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.02 [[ 9.99995589e-01 3.93108517e-04 -2.94412272e-03 2.49497208e-02] [-3.90264049e-04 9.99999457e-01 9.66663651e-04 1.02216417e-01] [ 2.94450112e-03 -9.65510401e-04 9.99995199e-01 -1.81600344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4576280000000001 meters 0.11560845982576673 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:-0.02 [[ 0.99998592 0.0045446 -0.00273962 0.02384735] [-0.00453365 0.99998176 0.00398999 0.10667902] [ 0.0027577 -0.00397752 0.99998829 -0.01746618] [ 0. 0. 0. 1. ]] SLAMing on 1.4876280000000002 meters 0.11264002749648906 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:-0.02 [[ 0.99998848 0.0038932 -0.00280609 0.02438014] [-0.0038868 0.99998984 0.00228407 0.11041951] [ 0.00281495 -0.00227314 0.99999345 -0.01839013] [ 0. 0. 0. 1. ]] SLAMing on 1.5176280000000002 meters 0.10354352119113812 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:-0.02 [[ 9.99990264e-01 3.32193173e-03 -2.90447256e-03 2.49482937e-02] [-3.31940561e-03 9.99994109e-01 8.74120729e-04 1.13470440e-01] [ 2.90735922e-03 -8.64471096e-04 9.99995400e-01 -1.91978862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.547628 meters 0.09891412803161649 Centerline is valid? [False, True] Translation: X:0.02, Y:0.12, Z:-0.02 [[ 9.99991078e-01 3.04046477e-03 -2.93239209e-03 2.49792020e-02] [-3.04047017e-03 9.99995378e-01 2.61647685e-06 1.15696563e-01] [ 2.93238649e-03 6.29939718e-06 9.99995701e-01 -1.93278959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.577628 meters 0.09519492596089735 Centerline is valid? [True, True] Translation: X:0.06, Y:0.12, Z:-0.02 [[ 9.99953818e-01 8.46359072e-03 -4.55288429e-03 5.60196877e-02] [-8.46183606e-03 9.99964116e-01 4.04521571e-04 1.15712921e-01] [ 4.55614462e-03 -3.65977129e-04 9.99989554e-01 -1.85824554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.607628 meters 0.09027425192481991 Centerline is valid? [True, True] Translation: X:0.09, Y:0.11, Z:-0.02 [[ 9.99917330e-01 1.16933198e-02 -5.34785858e-03 8.63105250e-02] [-1.16909447e-02 9.99931546e-01 4.75171956e-04 1.14690498e-01] [ 5.35304883e-03 -4.12611155e-04 9.99985587e-01 -1.82855701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.637628 meters 0.08820351224367388 Centerline is valid? [True, True] Translation: X:0.12, Y:0.11, Z:-0.02 [[ 9.99866429e-01 1.50686552e-02 -6.32920999e-03 1.16869177e-01] [-1.50653954e-02 9.99886352e-01 5.62407618e-04 1.13781944e-01] [ 6.33696541e-03 -4.66980446e-04 9.99979812e-01 -1.82254169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.667628 meters 0.0831191492219613 Centerline is valid? [True, True] Translation: X:0.15, Y:0.11, Z:-0.02 [[ 9.99729428e-01 2.15374380e-02 -8.78692076e-03 1.47384290e-01] [-2.15314037e-02 9.99767868e-01 7.80770184e-04 1.14147334e-01] [ 8.80169682e-03 -5.91364191e-04 9.99961089e-01 -1.92178833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6976280000000001 meters 0.08056521743599272 Centerline is valid? [True, True] Translation: X:0.18, Y:0.11, Z:-0.02 [[ 9.99663060e-01 2.39153787e-02 -1.00906893e-02 1.79205936e-01] [-2.39075330e-02 9.99713771e-01 8.97453553e-04 1.13565796e-01] [ 1.01092640e-02 -6.55907677e-04 9.99948685e-01 -2.00138586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7276280000000002 meters 0.07868348469588442 Centerline is valid? [True, True] Translation: X:0.21, Y:0.11, Z:-0.02 [[ 9.99570222e-01 2.66347525e-02 -1.22458745e-02 2.10978130e-01] [-2.66233896e-02 9.99644940e-01 1.09000805e-03 1.11614277e-01] [ 1.22705586e-02 -7.63512898e-04 9.99924422e-01 -2.12412891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7576280000000002 meters 0.07517961933289115 Centerline is valid? [True, True] Translation: X:0.24, Y:0.11, Z:-0.02 [[ 9.99479137e-01 2.92947683e-02 -1.35378017e-02 2.43173152e-01] [-2.92811108e-02 9.99570489e-01 1.20599768e-03 1.12560261e-01] [ 1.35673165e-02 -8.08967648e-04 9.99907632e-01 -2.12548709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7876280000000002 meters 0.07309355375989901 Centerline is valid? [True, True] Translation: X:0.27, Y:0.11, Z:-0.02 [[ 9.99296492e-01 3.38819176e-02 -1.60790994e-02 2.72638343e-01] [-3.38632445e-02 9.99425450e-01 1.43225291e-03 1.07845168e-01] [ 1.61183886e-02 -8.86754834e-04 9.99869697e-01 -2.26224487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.817628 meters 0.06953722991337766 Centerline is valid? [True, True] Translation: X:0.30, Y:0.10, Z:-0.02 [[ 9.99235102e-01 3.56492881e-02 -1.60729094e-02 3.03596052e-01] [-3.56308479e-02 9.99363993e-01 1.43228580e-03 1.03300535e-01] [ 1.61137468e-02 -8.58498864e-04 9.99869797e-01 -2.23941081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.847628 meters 0.06924992395418522 Centerline is valid? [True, True] Translation: X:0.34, Y:0.10, Z:-0.02 [[ 9.99150249e-01 3.74399534e-02 -1.72345634e-02 3.35096561e-01] [-3.74189432e-02 9.99298479e-01 1.54005331e-03 9.78643638e-02] [ 1.72801326e-02 -8.93845498e-04 9.99850288e-01 -2.28573139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.877628 meters 0.0659812450232034 Centerline is valid? [True, True] Translation: X:0.37, Y:0.09, Z:-0.02 [[ 9.99072722e-01 3.87922498e-02 -1.86777472e-02 3.66870403e-01] [-3.87677286e-02 9.99246848e-01 1.67328536e-03 8.96376923e-02] [ 1.87285905e-02 -9.47639921e-04 9.99824155e-01 -2.32803206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.907628 meters 0.06589008317792099 Centerline is valid? [True, True] Translation: X:0.40, Y:0.08, Z:-0.02 [[ 0.9990423 0.03904232 -0.01975303 0.39707125] [-0.03901486 0.99923706 0.00177377 0.08298952] [ 0.01980722 -0.00100141 0.99980332 -0.02355576] [ 0. 0. 0. 1. ]] SLAMing on 1.9376280000000001 meters 0.06373001487793824 Centerline is valid? [True, True] Translation: X:0.43, Y:0.08, Z:-0.02 [[ 9.99098771e-01 3.83775811e-02 -1.81330164e-02 4.28814914e-01] [-3.83542564e-02 9.99262871e-01 1.63245830e-03 7.56528729e-02] [ 1.81822999e-02 -9.35508719e-04 9.99834251e-01 -2.30875251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9676280000000002 meters 0.06270290812196912 Centerline is valid? [True, True] Translation: X:0.46, Y:0.07, Z:-0.02 [[ 9.99106973e-01 3.82315270e-02 -1.79890966e-02 4.60571347e-01] [-3.82084740e-02 9.99268471e-01 1.62357878e-03 6.83629908e-02] [ 1.80380089e-02 -9.34792952e-04 9.99836865e-01 -2.22986659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9976280000000002 meters 0.06124223869335389 Centerline is valid? [True, True] Translation: X:0.49, Y:0.06, Z:-0.02 [[ 9.99171114e-01 3.72314134e-02 -1.64592242e-02 4.90356148e-01] [-3.72119489e-02 9.99306289e-01 1.48738295e-03 5.59778475e-02] [ 1.65031836e-02 -8.73670270e-04 9.99863431e-01 -1.99660586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0276280000000004 meters 0.05899318188231646 Centerline is valid? [True, True] Translation: X:0.52, Y:0.05, Z:-0.02 [[ 9.99200131e-01 3.65487358e-02 -1.62261343e-02 5.21772234e-01] [-3.65296678e-02 9.99331488e-01 1.47007857e-03 4.89481012e-02] [ 1.62690164e-02 -8.76167403e-04 9.99867267e-01 -1.88390983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0576280000000002 meters 0.056757376559544666 Centerline is valid? [True, True] Translation: X:0.55, Y:0.05, Z:-0.02 [[ 9.99229085e-01 3.61244777e-02 -1.53706899e-02 5.53298176e-01] [-3.61072626e-02 9.99346945e-01 1.39612297e-03 4.58841969e-02] [ 1.54110862e-02 -8.40053135e-04 9.99880889e-01 -1.67658059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0876280000000005 meters 0.05796160324663004 Centerline is valid? [True, True] Translation: X:0.58, Y:0.03, Z:-0.02 [[ 9.99362065e-01 3.25365958e-02 -1.47252561e-02 5.82087597e-01] [-3.25203988e-02 9.99470176e-01 1.33812339e-03 3.00532592e-02] [ 1.47609923e-02 -8.58398551e-04 9.99890682e-01 -1.59757960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1176280000000003 meters 0.054619578584348974 Centerline is valid? [True, True] Translation: X:0.61, Y:0.03, Z:-0.01 [[ 9.99455000e-01 2.94392424e-02 -1.49343266e-02 6.13609956e-01] [-2.94222307e-02 9.99566151e-01 1.35758984e-03 2.91900151e-02] [ 1.49678138e-02 -9.17448752e-04 9.99887555e-01 -1.33898165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1476280000000005 meters 0.06002977868725977 Centerline is valid? [True, True] Translation: X:0.64, Y:0.01, Z:-0.02 [[ 9.99560747e-01 2.56051045e-02 -1.49228562e-02 6.41672109e-01] [-2.55876893e-02 9.99671661e-01 1.35681009e-03 9.27960563e-03] [ 1.49526977e-02 -9.74372700e-04 9.99887727e-01 -1.51925092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1776280000000003 meters 0.05518829773582858 Centerline is valid? [True, True] Translation: X:0.67, Y:0.00, Z:-0.01 [[ 0.99975678 0.0167601 -0.0143347 0.67161112] [-0.01674312 0.99985897 0.00130338 0.00293916] [ 0.01435452 -0.00106305 0.9998964 -0.01176105] [ 0. 0. 0. 1. ]] SLAMing on 2.2076280000000006 meters 0.05397358405909327 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.00, Z:-0.01 [[ 0.99983298 0.01212475 -0.01367511 0.70201173] [-0.01210887 0.99992591 0.00124353 -0.00333838] [ 0.01368918 -0.00107774 0.99990572 -0.00943436] [ 0. 0. 0. 1. ]] SLAMing on 2.2376280000000004 meters 0.054680299860100735 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.01, Z:-0.01 [[ 0.99988035 0.00869116 -0.0127962 0.73172107] [-0.00867698 0.99996168 0.00116357 -0.01165636] [ 0.01280582 -0.00105239 0.99991745 -0.00778546] [ 0. 0. 0. 1. ]] SLAMing on 2.267628 meters 0.05582795195738804 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.02, Z:-0.01 [[ 0.99989368 0.00646804 -0.01306857 0.76049697] [-0.00645306 0.99997847 0.00118809 -0.02077457] [ 0.01307597 -0.00110364 0.9999139 -0.00682742] [ 0. 0. 0. 1. ]] SLAMing on 2.2976280000000004 meters 0.05520597962301648 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.03, Z:-0.00 [[ 9.99925083e-01 4.53588476e-03 -1.13690050e-02 7.89150965e-01] [-4.52443176e-03 9.99989231e-01 1.03290504e-03 -3.06567123e-02] [ 1.13735677e-02 -9.81389366e-04 9.99934837e-01 -4.04650870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3276280000000003 meters 0.05280349928608528 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.03, Z:-0.00 [[ 9.99926592e-01 5.57023758e-03 -1.07602671e-02 8.17932521e-01] [-5.56004573e-03 9.99984066e-01 9.76857055e-04 -3.31332587e-02] [ 1.07655370e-02 -9.16957769e-04 9.99941629e-01 -2.47201809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3576280000000005 meters 0.051238329693856985 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.04, Z:-0.00 [[ 9.99930419e-01 7.38582285e-03 -9.19816764e-03 8.48057745e-01] [-7.37845470e-03 9.99972430e-01 8.34723745e-04 -3.75642364e-02] [ 9.20407917e-03 -7.66797401e-04 9.99957348e-01 -1.42314407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3876280000000003 meters 0.05031429716886754 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.04, Z:-0.00 [[ 9.99906413e-01 1.03476814e-02 -8.94937832e-03 8.78302493e-01] [-1.03408241e-02 9.99946202e-01 8.12164346e-04 -4.05004026e-02] [ 8.95730089e-03 -7.19544390e-04 9.99959624e-01 -6.67592700e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4176280000000006 meters 0.048545118372721775 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.05, Z:0.00 [[ 9.99819927e-01 1.77466613e-02 -6.72076809e-03 9.07807768e-01] [-1.77429601e-02 9.99842395e-01 6.09931818e-04 -4.50988664e-02] [ 6.73053312e-03 -4.90575666e-04 9.99977229e-01 1.65873808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4476280000000004 meters 0.047532116622098365 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.05, Z:0.00 [[ 9.99751651e-01 2.16593865e-02 -5.24467796e-03 9.38665315e-01] [-2.16571861e-02 9.99765342e-01 4.75970206e-04 -4.67776256e-02] [ 5.25375648e-03 -3.62267033e-04 9.99986133e-01 2.64942848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4776280000000006 meters 0.045077611388981996 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.05, Z:0.00 [[ 9.99657873e-01 2.57594834e-02 -4.53722994e-03 9.68776258e-01] [-2.57578787e-02 9.99668126e-01 4.11770516e-04 -4.97935129e-02] [ 4.54633115e-03 -2.94760220e-04 9.99989622e-01 3.81342908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5076280000000004 meters 0.04269643643228032 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.05, Z:0.00 [[ 9.99528819e-01 3.05895145e-02 -2.53391034e-03 9.97972273e-01] [-3.05890296e-02 9.99532020e-01 2.29893325e-04 -5.20137965e-02] [ 2.53975684e-03 -1.52275146e-04 9.99996763e-01 4.68461808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.537628 meters 0.04252790528461885 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.06, Z:0.00 [[ 9.99484964e-01 3.20138200e-02 -2.21877307e-03 1.02889347e+00] [-3.20134500e-02 9.99487418e-01 2.02090245e-04 -5.53916433e-02] [ 2.22410544e-03 -1.30955581e-04 9.99997518e-01 3.99602728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5676280000000005 meters 0.0421512739429821 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.06, Z:0.00 [[ 9.99473466e-01 3.23598218e-02 -2.37351061e-03 1.06125704e+00] [-3.23593994e-02 9.99476274e-01 2.16170396e-04 -5.96979941e-02] [ 2.37926278e-03 -1.39251198e-04 9.99997160e-01 3.42523936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5976280000000003 meters 0.042360544501307336 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.07, Z:0.00 [[ 9.99506395e-01 3.13594628e-02 -1.88435725e-03 1.09170873e+00] [-3.13591937e-02 9.99508165e-01 1.72218284e-04 -6.56576732e-02] [ 1.88883113e-03 -1.13041352e-04 9.99998210e-01 3.39222634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6276280000000005 meters 0.04274043910840967 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.07, Z:0.00 [[ 9.99573926e-01 2.91698627e-02 -1.04144985e-03 1.12217980e+00] [-2.91697794e-02 9.99574467e-01 9.51205518e-05 -7.25054778e-02] [ 1.04378133e-03 -6.47011612e-05 9.99999453e-01 3.89673841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6576280000000003 meters 0.04380985296315736 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.08, Z:0.00 [[ 9.99655740e-01 2.62232273e-02 -8.63003686e-04 1.15261306e+00] [-2.62231690e-02 9.99656110e-01 7.88095386e-05 -7.97928176e-02] [ 8.64773549e-04 -5.61517160e-05 9.99999625e-01 4.36361245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6876280000000006 meters 0.04739489163269638 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.09, Z:0.01 [[ 9.99822562e-01 1.87913728e-02 -1.31495599e-03 1.18098627e+00] [-1.87912311e-02 9.99823422e-01 1.20013275e-04 -9.39945743e-02] [ 1.31697902e-03 -9.52823382e-05 9.99999128e-01 5.96679800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7176280000000004 meters 0.04961019575756733 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.10, Z:0.01 [[ 9.99898077e-01 1.42626032e-02 -6.42783450e-04 1.21067527e+00] [-1.42625684e-02 9.99898283e-01 5.87436529e-05 -1.02660349e-01] [ 6.43555905e-04 -4.95699226e-05 9.99999792e-01 6.83685390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7476280000000006 meters 0.051834426096632975 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.11, Z:0.01 [[ 9.99956808e-01 9.29202870e-03 2.00257328e-04 1.24113103e+00] [-9.29202523e-03 9.99956828e-01 -1.82698325e-05 -1.10220583e-01] [-2.00418446e-04 1.64082472e-05 9.99999980e-01 7.07109113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7776280000000004 meters 0.05446621868664453 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.12, Z:0.01 [[ 9.99984420e-01 5.58085453e-03 -1.13533232e-04 1.27113958e+00] [-5.58085339e-03 9.99984427e-01 1.04230847e-05 -1.17280809e-01] [ 1.13589634e-04 -9.78930996e-06 9.99999994e-01 7.03378632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8076280000000002 meters 0.05446621868664453 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.12, Z:0.01 [[ 9.99983027e-01 5.82522034e-03 -1.13503480e-04 1.30351956e+00] [-5.82521915e-03 9.99983033e-01 1.07482201e-05 -1.20347822e-01] [ 1.13564165e-04 -1.00868550e-05 9.99999994e-01 6.98735914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8376280000000005 meters 0.05844519029234865 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.13, Z:0.01 [[ 9.99994959e-01 -1.80976712e-03 2.60892278e-03 1.33184420e+00] [ 1.81039673e-03 9.99998333e-01 -2.38989053e-04 -1.31146400e-01] [-2.60848592e-03 2.43711033e-04 9.99996568e-01 7.48707577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8676280000000003 meters 0.06102153951933606 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.14, Z:0.01 [[ 9.99982266e-01 -5.10341335e-03 3.06982576e-03 1.36218942e+00] [ 5.10430039e-03 9.99986933e-01 -2.81188920e-04 -1.37682812e-01] [-3.06835062e-03 2.96853246e-04 9.99995249e-01 7.90881873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8976280000000005 meters 0.06188480327935196 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.14, Z:0.01 [[ 9.99968873e-01 -6.68298129e-03 4.19404476e-03 1.39161973e+00] [ 6.68465059e-03 9.99977584e-01 -3.84124372e-04 -1.43257919e-01] [-4.19138365e-03 4.12148139e-04 9.99991131e-01 9.35292938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9276280000000003 meters 0.06463140473686285 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.15, Z:0.01 [[ 9.99948168e-01 -9.16403118e-03 4.43636321e-03 1.42114368e+00] [ 9.16592281e-03 9.99957910e-01 -4.06246456e-04 -1.48112152e-01] [-4.43245363e-03 4.46888762e-04 9.99990077e-01 9.36984337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9576280000000006 meters 0.06465972373460267 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.15, Z:0.01 [[ 9.99949563e-01 -9.25152245e-03 3.90908905e-03 1.44991272e+00] [ 9.25298970e-03 9.99957126e-01 -3.57424919e-04 -1.49723192e-01] [-3.90561472e-03 3.93577652e-04 9.99992296e-01 8.92472797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9876280000000004 meters 0.06587780825604753 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.15, Z:0.01 [[ 9.99950386e-01 -9.58387564e-03 2.71572437e-03 1.47923766e+00] [ 9.58458371e-03 9.99954036e-01 -2.47837121e-04 -1.51170968e-01] [-2.71322430e-03 2.73853912e-04 9.99996282e-01 7.29356691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0176280000000006 meters 0.06602485102313654 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.15, Z:0.01 [[ 9.99958155e-01 -9.09485296e-03 9.86151805e-04 1.50876575e+00] [ 9.09494607e-03 9.99958636e-01 -8.99726392e-05 -1.52044777e-01] [-9.85292726e-04 9.89378717e-05 9.99999510e-01 5.52765210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0476280000000004 meters 0.06686006952344799 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.15, Z:0.00 [[ 9.99972019e-01 -7.38201796e-03 -1.21108379e-03 1.53829965e+00] [ 7.38215665e-03 9.99972745e-01 1.10083979e-04 -1.51134009e-01] [ 1.21023814e-03 -1.19021309e-04 9.99999261e-01 2.83010815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0776280000000003 meters 0.06686006952344799 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.15, Z:0.00 [[ 9.99970282e-01 -7.61373838e-03 -1.21113543e-03 1.56592276e+00] [ 7.61387656e-03 9.99971008e-01 1.09515235e-04 -1.53520106e-01] [ 1.21026650e-03 -1.18733416e-04 9.99999261e-01 2.79057054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1076280000000005 meters 0.06685742947023732 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.15, Z:0.00 [[ 9.99977428e-01 -6.29551625e-03 -2.34742550e-03 1.59603208e+00] [ 6.29603297e-03 9.99980157e-01 2.12796864e-04 -1.51799091e-01] [ 2.34603925e-03 -2.27571529e-04 9.99997222e-01 1.82608373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1376280000000003 meters 0.0668684582751798 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.15, Z:0.00 [[ 9.99985245e-01 -4.80693347e-03 -2.53034330e-03 1.62588432e+00] [ 4.80752896e-03 9.99988417e-01 2.29309138e-04 -1.52196576e-01] [ 2.52921172e-03 -2.41470453e-04 9.99996772e-01 1.93397833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1676280000000006 meters 0.0663252348853245 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.15, Z:0.00 [[ 9.99991996e-01 -3.01193279e-03 -2.63371716e-03 1.65597015e+00] [ 3.01257171e-03 9.99995434e-01 2.38661667e-04 -1.51322911e-01] [ 2.63298630e-03 -2.46594018e-04 9.99996503e-01 1.80221705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1976280000000004 meters 0.06411868615293068 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.15, Z:0.00 [[ 9.99996435e-01 2.60144175e-03 -6.02286721e-04 1.68598424e+00] [-2.60140935e-03 9.99996615e-01 5.45732293e-05 -1.45389823e-01] [ 6.02426651e-04 -5.30062404e-05 9.99999817e-01 3.41979336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2276280000000006 meters 0.062300878990216496 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.14, Z:0.00 [[ 9.99976892e-01 6.78306838e-03 -4.52848578e-04 1.71731428e+00] [-6.78305048e-03 9.99976994e-01 4.10425624e-05 -1.43229151e-01] [ 4.53116554e-04 -3.79699193e-05 9.99999897e-01 3.88546334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2576280000000004 meters 0.05982063457348513 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.14, Z:0.00 [[ 9.99934997e-01 1.13860431e-02 -6.00305934e-04 1.74860387e+00] [-1.13860125e-02 9.99935176e-01 5.44272920e-05 -1.40469527e-01] [ 6.00886732e-04 -4.75886632e-05 9.99999818e-01 3.72667315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2876280000000007 meters 0.057195245722077244 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.14, Z:0.00 [[ 9.99866566e-01 1.63250615e-02 -5.86063845e-04 1.77992235e+00] [-1.63250332e-02 9.99866736e-01 5.31436588e-05 -1.37444536e-01] [ 5.86853318e-04 -4.35690559e-05 9.99999827e-01 3.94488267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3176280000000005 meters 0.054150316763779995 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.13, Z:0.00 [[ 9.99763724e-01 2.17219587e-02 -8.08220540e-04 1.81088153e+00] [-2.17219065e-02 9.99764049e-01 7.32920886e-05 -1.33804461e-01] [ 8.09621888e-04 -5.57186804e-05 9.99999671e-01 3.76625824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3476280000000003 meters 0.04826785627357117 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.12, Z:0.00 [[ 9.99504735e-01 3.14677441e-02 -2.55269585e-04 1.84196188e+00] [-3.14677392e-02 9.99504768e-01 2.31450238e-05 -1.24094241e-01] [ 2.55871489e-04 -1.51008041e-05 9.99999967e-01 3.23095234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3776280000000005 meters 0.04629666818309403 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.12, Z:0.00 [[ 9.99381566e-01 3.51634133e-02 -1.39090743e-04 1.87251382e+00] [-3.51634119e-02 9.99381576e-01 1.26137059e-05 -1.22466119e-01] [ 1.39448266e-04 -7.71500010e-06 9.99999990e-01 3.17170983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4076280000000003 meters 0.028212149406528515 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.10, Z:0.00 [[ 9.99268578e-01 3.82371586e-02 4.77921494e-04 1.90516739e+00] [-3.82371423e-02 9.99268692e-01 -4.33305500e-05 -9.99593431e-02] [-4.79228823e-04 2.50245049e-05 9.99999885e-01 4.11291237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4376280000000006 meters 0.02564016890511949 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.10, Z:0.00 [[ 9.99174547e-01 4.06108027e-02 9.93663384e-04 1.93690937e+00] [-4.06107331e-02 9.99175040e-01 -9.00753586e-05 -9.89492637e-02] [-9.96501684e-04 4.96476071e-05 9.99999502e-01 4.60331851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4676280000000004 meters 0.023826261149573744 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.10, Z:0.00 [[ 9.99101928e-01 4.23630683e-02 8.41757282e-04 1.96961556e+00] [-4.23630191e-02 9.99102281e-01 -7.62691508e-05 -9.98467994e-02] [-8.44232617e-04 4.05412758e-05 9.99999643e-01 4.28576163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4976280000000006 meters 0.023920389200360305 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.10, Z:0.00 [[ 9.99088430e-01 4.26803163e-02 8.36830985e-04 2.00235090e+00] [-4.26802677e-02 9.99088779e-01 -7.58488058e-05 -1.04115241e-01] [-8.39305698e-04 4.00634938e-05 9.99999647e-01 4.01703503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5276280000000004 meters 0.024467950109850815 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.11, Z:0.00 [[ 9.99099411e-01 4.24301503e-02 -2.20062940e-04 2.03400127e+00] [-4.24301468e-02 9.99099436e-01 2.04476373e-05 -1.08382884e-01] [ 2.20732355e-04 -1.10919195e-05 9.99999976e-01 3.07851714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5576280000000007 meters 0.02573955120935008 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.11, Z:0.00 [[ 9.99190729e-01 4.02002055e-02 -1.35265334e-03 2.06324973e+00] [-4.02000750e-02 9.99191643e-01 1.23569688e-04 -1.14688616e-01] [ 1.35652744e-03 -6.90929212e-05 9.99999078e-01 1.00342411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5876280000000005 meters 0.026537808313686986 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.12, Z:0.00 [[ 9.99240036e-01 3.89167399e-02 -2.19972358e-03 2.09534694e+00] [-3.89163910e-02 9.99242450e-01 2.01199649e-04 -1.20706440e-01] [ 2.20588722e-03 -1.15441441e-04 9.99997560e-01 3.34947918e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6176280000000003 meters 0.027492094283393692 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.13, Z:-0.00 [[ 9.99295930e-01 3.74337606e-02 -2.52139125e-03 2.12695431e+00] [-3.74332971e-02 9.99299102e-01 2.30777645e-04 -1.26951852e-01] [ 2.52826288e-03 -1.36231173e-04 9.99996795e-01 -8.97864945e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6476280000000005 meters 0.02866511567291091 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.13, Z:-0.00 [[ 9.99349112e-01 3.59413751e-02 -3.09337872e-03 2.15816958e+00] [-3.59406676e-02 9.99353885e-01 2.83997987e-04 -1.33685800e-01] [ 3.10158732e-03 -1.72635040e-04 9.99995175e-01 -4.52424808e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6776280000000003 meters 0.029606777449530844 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.14, Z:-0.00 [[ 9.99409643e-01 3.41518058e-02 -3.74427551e-03 2.18944277e+00] [-3.41507540e-02 9.99416634e-01 3.44501489e-04 -1.40136688e-01] [ 3.75385658e-03 -2.16428278e-04 9.99992931e-01 -7.27328498e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7076280000000006 meters 0.030959942612180817 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.15, Z:-0.00 [[ 9.99494259e-01 3.15173192e-02 -4.22902887e-03 2.22004155e+00] [-3.15159551e-02 9.99503173e-01 3.88848212e-04 -1.47434170e-01] [ 4.23918323e-03 -2.55369672e-04 9.99990982e-01 -1.01248119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7376280000000004 meters 0.035025221801978895 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.16, Z:-0.00 [[ 9.99707002e-01 2.38200961e-02 -4.30265659e-03 2.24805705e+00] [-2.38186127e-02 9.99716218e-01 3.95698033e-04 -1.60880809e-01] [ 4.31086114e-03 -2.93098784e-04 9.99990665e-01 -1.22364368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7676280000000006 meters 0.03701530421121962 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.17, Z:-0.00 [[ 9.99796151e-01 1.95315289e-02 -5.11630891e-03 2.27810254e+00] [-1.95293755e-02 9.99809173e-01 4.70513917e-04 -1.69002844e-01] [ 5.12452243e-03 -3.70499685e-04 9.99986801e-01 -1.12008840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7976280000000004 meters 0.04284094091627618 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.19, Z:-0.00 [[ 9.99941574e-01 9.23426708e-03 -5.61931801e-03 2.30589858e+00] [-9.23150585e-03 9.99957255e-01 5.17120911e-04 -1.85287428e-01] [ 5.62385305e-03 -4.65215931e-04 9.99984078e-01 -1.19581671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8276280000000007 meters 0.046182846067718275 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.20, Z:-0.00 [[ 9.99975150e-01 3.77487912e-03 -5.95393343e-03 2.33462977e+00] [-3.77168423e-03 9.99992737e-01 5.47738755e-04 -1.95964711e-01] [ 5.95595783e-03 -5.25268787e-04 9.99982125e-01 -7.16190525e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8576280000000005 meters 0.0491748525985687 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.21, Z:0.00 [[ 9.99982642e-01 -1.46343395e-03 -5.70733482e-03 2.36378317e+00] [ 1.46645422e-03 9.99998787e-01 5.25042485e-04 -2.06027531e-01] [ 5.70655953e-03 -5.33402917e-04 9.99983575e-01 6.04184959e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8876280000000003 meters 0.05214668177147337 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.22, Z:0.00 [[ 9.99963456e-01 -6.58505135e-03 -5.45202409e-03 2.39388207e+00] [ 6.58788273e-03 9.99978174e-01 5.01530148e-04 -2.15948126e-01] [ 5.44860249e-03 -5.37429115e-04 9.99985012e-01 8.75188618e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9176280000000006 meters 0.055774423337791014 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.23, Z:0.00 [[ 9.99921427e-01 -1.13271446e-02 -5.36991399e-03 2.42201323e+00] [ 1.13299592e-02 9.99935692e-01 4.93999256e-04 -2.26033361e-01] [ 5.36397306e-03 -5.54801347e-04 9.99985460e-01 1.25507072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9476280000000004 meters 0.0604412005216311 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.24, Z:0.00 [[ 9.99824503e-01 -1.79686745e-02 -5.30004244e-03 2.45058345e+00] [ 1.79715085e-02 9.99838381e-01 4.87581891e-04 -2.38944023e-01] [ 5.29042465e-03 -5.82746080e-04 9.99985836e-01 1.60592153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9776280000000006 meters 0.0625306104501842 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.25, Z:0.00 [[ 9.99786964e-01 -2.00998890e-02 -4.69259603e-03 2.47925985e+00] [ 2.01021333e-02 9.99797839e-01 4.31579807e-04 -2.45740484e-01] [ 4.68297266e-03 -5.25819056e-04 9.99988897e-01 2.08500061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.007628 meters 0.06387083611070621 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.25, Z:0.00 [[ 9.99765598e-01 -2.12786606e-02 -3.99588223e-03 2.50855081e+00] [ 2.12802967e-02 9.99773481e-01 3.67360114e-04 -2.51479604e-01] [ 3.98716015e-03 -4.52307564e-04 9.99991949e-01 2.83873680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037628000000001 meters 0.06558883817741601 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.26, Z:0.01 [[ 9.99767933e-01 -2.14174542e-02 -2.31812081e-03 2.53474594e+00] [ 2.14180043e-02 9.99770586e-01 2.12743211e-04 -2.59223400e-01] [ 2.31303258e-03 -2.62343362e-04 9.99997291e-01 5.33884414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.067628000000001 meters 0.0653264869765949 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.26, Z:0.01 [[ 9.99798404e-01 -1.99357999e-02 -2.39064358e-03 2.56440477e+00] [ 1.99363808e-02 9.99801227e-01 2.19431034e-04 -2.62116273e-01] [ 2.38579385e-03 -2.67047579e-04 9.99997118e-01 5.74128870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.097628 meters 0.06481630623455861 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.26, Z:0.00 [[ 9.99834749e-01 -1.79233078e-02 -3.03809318e-03 2.59479194e+00] [ 1.79242370e-02 9.99839309e-01 2.78902977e-04 -2.63860504e-01] [ 3.03260612e-03 -3.33312390e-04 9.99995346e-01 4.14627225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1276280000000005 meters 0.06499624175623848 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.27, Z:0.00 [[ 9.99870465e-01 -1.56004263e-02 -3.95987060e-03 2.62547657e+00] [ 1.56019869e-02 9.99878216e-01 3.63516480e-04 -2.66111334e-01] [ 3.95371734e-03 -4.25251241e-04 9.99992094e-01 2.76451566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157628000000001 meters 0.06370914451090734 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.27, Z:0.00 [[ 9.99918404e-01 -1.22422523e-02 -3.64861030e-03 2.65532581e+00] [ 1.22435549e-02 9.99924989e-01 3.34868523e-04 -2.67353482e-01] [ 3.64423707e-03 -3.79513160e-04 9.99993288e-01 3.34369586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.187628 meters 0.0629415795551833 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.27, Z:0.00 [[ 9.99956988e-01 -8.46155996e-03 -3.79794997e-03 2.68448396e+00] [ 8.46294411e-03 9.99964128e-01 3.48522773e-04 -2.69052005e-01] [ 3.79486469e-03 -3.80649620e-04 9.99992727e-01 2.84000339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217628 meters 0.0605787533914123 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.27, Z:0.00 [[ 9.99988338e-01 -5.74217744e-04 -4.79532233e-03 2.71437790e+00] [ 5.76334613e-04 9.99999737e-01 4.40074401e-04 -2.68095800e-01] [ 4.79506837e-03 -4.42832979e-04 9.99988406e-01 2.17846644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.247628000000001 meters 0.06026632602492052 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.27, Z:-0.00 [[ 9.99974522e-01 2.68706333e-03 -6.61326258e-03 2.74408058e+00] [-2.68310928e-03 9.99996216e-01 6.06697290e-04 -2.68654545e-01] [ 6.61486779e-03 -5.88937726e-04 9.99977948e-01 -1.12028395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277628000000001 meters 0.05750376873001819 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.27, Z:-0.00 [[ 9.99954776e-01 7.05937118e-03 -6.37265993e-03 2.77520087e+00] [-7.05578742e-03 9.99974937e-01 5.84673213e-04 -2.68769774e-01] [ 6.37662763e-03 -5.39682638e-04 9.99979523e-01 -3.75961430e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.307628 meters 0.054681109001406464 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.27, Z:-0.00 [[ 9.99864801e-01 1.48193914e-02 -7.12500946e-03 2.80525426e+00] [-1.48151069e-02 9.99890037e-01 6.53741802e-04 -2.67859147e-01] [ 7.13391403e-03 -5.48095640e-04 9.99974403e-01 -1.28303807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3376280000000005 meters 0.05319098224006667 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.27, Z:-0.00 [[ 9.99816307e-01 1.79928722e-02 -6.60364022e-03 2.83552147e+00] [-1.79892606e-02 9.99837997e-01 6.05901904e-04 -2.68368592e-01] [ 6.61347232e-03 -4.86995999e-04 9.99978012e-01 -1.48025794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.367628000000001 meters 0.05156560860739689 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.27, Z:-0.00 [[ 9.99748657e-01 2.15489617e-02 -6.18581154e-03 2.86606987e+00] [-2.15458604e-02 9.99767700e-01 5.67564012e-04 -2.69165806e-01] [ 6.19660499e-03 -4.34142727e-04 9.99980707e-01 -1.10472432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397628000000001 meters 0.03314651760909044 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.25, Z:0.00 [[ 9.99691738e-01 2.41433171e-02 -5.79052575e-03 2.89936474e+00] [-2.41406421e-02 9.99708431e-01 5.31415346e-04 -2.48550353e-01] [ 5.80166755e-03 -3.91464521e-04 9.99983094e-01 1.33324447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.427628 meters 0.049325234231514636 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.27, Z:-0.00 [[ 9.99578174e-01 2.83900965e-02 -6.12184321e-03 2.92657301e+00] [-2.83871869e-02 9.99596845e-01 5.61676352e-04 -2.73431644e-01] [ 6.13532120e-03 -3.87657515e-04 9.99981104e-01 -9.78168081e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457628000000001 meters 0.0316485992785482 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.25, Z:0.00 [[ 9.99539334e-01 2.97328927e-02 -6.08891833e-03 2.96016368e+00] [-2.97300283e-02 9.99557808e-01 5.60418978e-04 -2.54615135e-01] [ 6.10288873e-03 -3.79137098e-04 9.99981305e-01 1.74370608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.487628000000001 meters 0.03144992395076209 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.26, Z:0.00 [[ 9.99531830e-01 3.00302837e-02 -5.85686573e-03 2.99264318e+00] [-3.00276369e-02 9.99548923e-01 5.39347658e-04 -2.58134974e-01] [ 5.87042060e-03 -3.63227314e-04 9.99982703e-01 2.50595013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517628 meters 0.03216865433629718 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.26, Z:0.00 [[ 9.99534408e-01 3.01105561e-02 -4.93167631e-03 3.02548665e+00] [-3.01086726e-02 9.99546527e-01 4.55723181e-04 -2.63038573e-01] [ 4.94316200e-03 -3.07024772e-04 9.99987735e-01 3.28447837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5476280000000004 meters 0.03356362455532992 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.27, Z:0.00 [[ 9.99579160e-01 2.88375215e-02 -3.14631044e-03 3.05609438e+00] [-2.88367478e-02 9.99584092e-01 2.91011405e-04 -2.69861243e-01] [ 3.15339391e-03 -2.00159576e-04 9.99995008e-01 4.52749723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577628000000001 meters 0.03515003985972289 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.28, Z:0.00 [[ 9.99600058e-01 2.81116370e-02 -3.07567570e-03 3.08670219e+00] [-2.81108917e-02 9.99604770e-01 2.85267568e-04 -2.75827566e-01] [ 3.08247944e-03 -1.98693491e-04 9.99995229e-01 4.68613613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.607628000000001 meters 0.03597854699318324 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.28, Z:0.00 [[ 9.99632194e-01 2.69586382e-02 -2.95088668e-03 3.11828914e+00] [-2.69579473e-02 9.99636531e-01 2.73688088e-04 -2.81203317e-01] [ 2.95719239e-03 -1.94037576e-04 9.99995609e-01 4.35909665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.637628 meters 0.03828955062399047 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.29, Z:0.00 [[ 9.99671472e-01 2.52916998e-02 -4.15674055e-03 3.14748914e+00] [-2.52903149e-02 9.99680075e-01 3.85399789e-04 -2.89952512e-01] [ 4.16515811e-03 -2.80147897e-04 9.99991286e-01 2.99459124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6676280000000006 meters 0.040535608448943126 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.30, Z:0.00 [[ 9.99690674e-01 2.41134460e-02 -6.09085126e-03 3.17858934e+00] [-2.41104414e-02 9.99709141e-01 5.66257373e-04 -2.95911904e-01] [ 6.10273410e-03 -4.19229102e-04 9.99981290e-01 4.66204221e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697628000000001 meters 0.040535608448943126 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.30, Z:0.00 [[ 9.99684623e-01 2.43630400e-02 -6.09070348e-03 3.21091990e+00] [-2.43600303e-02 9.99703089e-01 5.67845274e-04 -2.99019616e-01] [ 6.10272952e-03 -4.19296467e-04 9.99981290e-01 1.46477523e-07] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.727628 meters 0.039732910700503075 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.30, Z:0.00 [[ 9.99678501e-01 2.47347657e-02 -5.57554187e-03 3.24292839e+00] [-2.47322427e-02 9.99693976e-01 5.21024148e-04 -3.04352710e-01] [ 5.58672303e-03 -3.82960985e-04 9.99984321e-01 1.41736801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757628 meters 0.02772549129772792 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.30, Z:0.00 [[ 9.99682559e-01 2.42575946e-02 -6.80813105e-03 3.27614198e+00] [-2.42538104e-02 9.99705630e-01 6.37861169e-04 -2.95202405e-01] [ 6.82159992e-03 -4.72535566e-04 9.99976621e-01 2.23587606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.787628000000001 meters 0.025386655290765114 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.29, Z:-0.00 [[ 9.99692712e-01 2.33332853e-02 -8.36897635e-03 3.30781797e+00] [-2.33275187e-02 9.99727567e-01 7.86015606e-04 -2.94669022e-01] [ 8.38503670e-03 -5.90546620e-04 9.99964671e-01 -7.09980388e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817628000000001 meters 0.025716831850685275 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.30, Z:0.00 [[ 9.99683752e-01 2.35781793e-02 -8.74449039e-03 3.33882442e+00] [-2.35718715e-02 9.99721805e-01 8.23728151e-04 -3.02322231e-01] [ 8.76147974e-03 -6.17343645e-04 9.99961427e-01 7.68414918e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.847628 meters 0.028420743164410997 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.31, Z:-0.00 [[ 9.99704280e-01 2.20311061e-02 -1.02948083e-02 3.36810658e+00] [-2.20222756e-02 9.99757009e-01 9.70348628e-04 -3.09414972e-01] [ 1.03136846e-02 -7.43346571e-04 9.99946536e-01 -2.20868513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8776280000000005 meters 0.030535593892735195 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.32, Z:-0.00 [[ 9.99755661e-01 1.90126180e-02 -1.12755568e-02 3.39712532e+00] [-1.90018309e-02 9.99818884e-01 1.06305503e-03 -3.21100395e-01] [ 1.12937261e-02 -8.48539062e-04 9.99935864e-01 -2.58615286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.907628000000001 meters 0.028644967572874606 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.33, Z:-0.00 [[ 9.99786794e-01 1.77551686e-02 -1.05414043e-02 3.42896529e+00] [-1.77456624e-02 9.99842039e-01 9.94655054e-04 -3.25921514e-01] [ 1.05573994e-02 -8.07378786e-04 9.99943943e-01 -2.48809356e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937628000000001 meters 0.030053120567092268 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.33, Z:0.00 [[ 9.99822442e-01 1.57118354e-02 -1.04030484e-02 3.45877714e+00] [-1.57024660e-02 9.99876227e-01 9.81709312e-04 -3.33587497e-01] [ 1.04171852e-02 -8.18181488e-04 9.99945405e-01 2.81627500e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.967628 meters 0.032882548074420336 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.34, Z:-0.00 [[ 9.99864052e-01 1.31096326e-02 -1.00007276e-02 3.48814677e+00] [-1.31008376e-02 9.99913734e-01 9.44445085e-04 -3.42556986e-01] [ 1.00122462e-02 -8.13298781e-04 9.99949545e-01 -1.82136497e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997628000000001 meters 0.02904787251768478 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.34, Z:0.00 [[ 9.99906584e-01 1.02896349e-02 -8.99709100e-03 3.51894015e+00] [-1.02824023e-02 9.99946774e-01 8.49768624e-04 -3.43579378e-01] [ 9.00535592e-03 -7.57177533e-04 9.99959164e-01 2.97039426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.027628000000001 meters 0.03213526392241723 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.35, Z:0.00 [[ 9.99940675e-01 7.58231021e-03 -7.82015497e-03 3.54821400e+00] [-7.57676413e-03 9.99971023e-01 7.38585860e-04 -3.53412325e-01] [ 7.82552856e-03 -6.79290574e-04 9.99969149e-01 3.75007160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.057628 meters 0.03003671434439281 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.35, Z:0.01 [[ 9.99966956e-01 6.23270075e-03 -5.21926285e-03 3.57860867e+00] [-6.23021211e-03 9.99980471e-01 4.92940837e-04 -3.54459966e-01] [ 5.22223327e-03 -4.60407434e-04 9.99986258e-01 7.16049575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0876280000000005 meters 0.028880431366709307 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.36, Z:0.01 [[ 9.99963258e-01 7.52175178e-03 -4.11173941e-03 3.61002319e+00] [-7.52021724e-03 9.99971647e-01 3.88541783e-04 -3.55853723e-01] [ 4.11454534e-03 -3.57606333e-04 9.99991471e-01 7.66932223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.117628000000001 meters 0.029861558616705006 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.36, Z:0.01 [[ 9.99950860e-01 9.21759371e-03 -3.64883275e-03 3.64068821e+00] [-9.21639595e-03 9.99957469e-01 3.44937194e-04 -3.60748638e-01] [ 3.65185705e-03 -3.11291156e-04 9.99993283e-01 8.09948436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.147628000000001 meters 0.033345028546504965 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.37, Z:0.01 [[ 9.99931294e-01 1.06453613e-02 -4.90757957e-03 3.67068994e+00] [-1.06432115e-02 9.99943252e-01 4.63976011e-04 -3.67430092e-01] [ 4.91224026e-03 -4.11711725e-04 9.99987850e-01 6.08732079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177628 meters 0.029916666298929404 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.37, Z:0.01 [[ 9.99825900e-01 1.77284813e-02 -5.81992134e-03 3.70147084e+00] [-1.77255769e-02 9.99842738e-01 5.50239542e-04 -3.65493406e-01] [ 5.82876100e-03 -4.46982282e-04 9.99982913e-01 6.80639427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.207628000000001 meters 0.02717308141560221 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.36, Z:0.01 [[ 9.99746512e-01 2.15679728e-02 -6.46014277e-03 3.73226293e+00] [-2.15644740e-02 9.99767273e-01 6.10777552e-04 -3.63343624e-01] [ 6.47181255e-03 -4.71313147e-04 9.99978947e-01 6.34350050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237628000000001 meters 0.026568493762023724 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.36, Z:0.01 [[ 9.99579472e-01 2.81651371e-02 -6.89960778e-03 3.76226756e+00] [-2.81613025e-02 9.99603179e-01 6.52309548e-04 -3.62704111e-01] [ 6.91524226e-03 -4.57733292e-04 9.99975985e-01 5.23511175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.267628 meters 0.025485551814506163 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.36, Z:0.01 [[ 9.99513813e-01 3.05120098e-02 -6.41518476e-03 3.79395092e+00] [-3.05087402e-02 9.99534316e-01 6.06933971e-04 -3.63750491e-01] [ 6.43071608e-03 -4.10919682e-04 9.99979238e-01 5.58536509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2976280000000004 meters 0.02484257875425802 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.37, Z:0.01 [[ 9.99474462e-01 3.19469925e-02 -5.49452971e-03 3.82564800e+00] [-3.19446065e-02 9.99489505e-01 5.21499308e-04 -3.66191075e-01] [ 5.50838511e-03 -3.45704651e-04 9.99984769e-01 6.57023007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.327628000000001 meters 0.024306601103470674 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.37, Z:0.01 [[ 9.99457101e-01 3.25955057e-02 -4.79956310e-03 3.85728229e+00] [-3.25936864e-02 9.99468580e-01 4.56795417e-04 -3.69434883e-01] [ 4.81190200e-03 -3.00111969e-04 9.99988378e-01 7.82675903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357628000000001 meters 0.025635942536905414 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.38, Z:0.01 [[ 9.99442417e-01 3.30780689e-02 -4.54925779e-03 3.88756495e+00] [-3.30764346e-02 9.99452731e-01 4.34019902e-04 -3.75596825e-01] [ 4.56112467e-03 -2.83304672e-04 9.99989558e-01 8.32945403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.387628 meters 0.0257942805482638 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.38, Z:0.01 [[ 9.99415325e-01 3.37456880e-02 -5.49881775e-03 3.91924905e+00] [-3.37433032e-02 9.99430394e-01 5.25920705e-04 -3.80632576e-01] [ 5.51343314e-03 -3.40064938e-04 9.99984743e-01 7.45384348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4176280000000006 meters 0.02586092170284853 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.38, Z:0.00 [[ 9.99425326e-01 3.32691907e-02 -6.49458946e-03 3.95097528e+00] [-3.32658436e-02 9.99446345e-01 6.22732371e-04 -3.82085349e-01] [ 6.51171150e-03 -4.06326505e-04 9.99978716e-01 4.31344008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.447628000000001 meters 0.025575673304603315 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.39, Z:0.01 [[ 9.99384538e-01 3.44740916e-02 -6.48705618e-03 3.98178191e+00] [-3.44707680e-02 9.99405512e-01 6.23484948e-04 -3.87043468e-01] [ 6.50469378e-03 -3.99487408e-04 9.99978764e-01 5.57458401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477628000000001 meters 0.025841797908963803 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.39, Z:0.00 [[ 9.99367575e-01 3.49341942e-02 -6.63720327e-03 4.01321569e+00] [-3.49307141e-02 9.99389532e-01 6.39567316e-04 -3.91168306e-01] [ 6.65549424e-03 -4.07320588e-04 9.99977769e-01 4.92186169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.507628 meters 0.026114516422023646 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.40, Z:0.00 [[ 9.99345705e-01 3.55533286e-02 -6.64247215e-03 4.04534151e+00] [-3.55498458e-02 9.99367698e-01 6.41703099e-04 -3.95455970e-01] [ 6.66108678e-03 -4.05144375e-04 9.99977733e-01 4.46778209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537628000000001 meters 0.023813218487087683 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.40, Z:0.01 [[ 9.99298981e-01 3.69118258e-02 -6.25006358e-03 4.07714372e+00] [-3.69087587e-02 9.99318456e-01 6.05399064e-04 -3.98566292e-01] [ 6.26815027e-03 -3.74292579e-04 9.99980285e-01 5.58035819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.567628000000001 meters 0.024238955500953296 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.40, Z:0.01 [[ 9.99233859e-01 3.87450227e-02 -5.52428483e-03 4.10773889e+00] [-3.87426549e-02 9.99249078e-01 5.35031770e-04 -4.03050446e-01] [ 5.54086634e-03 -3.20596400e-04 9.99984598e-01 6.60814333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.597628 meters 0.024056513796570977 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.41, Z:0.01 [[ 9.99171377e-01 4.04203648e-02 -4.77005067e-03 4.13932243e+00] [-4.04186171e-02 9.99182727e-01 4.62269390e-04 -4.06362965e-01] [ 4.78483733e-03 -2.69087492e-04 9.99988516e-01 6.92428404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6276280000000005 meters 0.023473962341253242 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.41, Z:0.01 [[ 9.99099644e-01 4.21579274e-02 -4.75499394e-03 4.17112901e+00] [-4.21562033e-02 9.99110925e-01 4.62269080e-04 -4.09263941e-01] [ 4.77025470e-03 -2.61400382e-04 9.99988588e-01 6.92940907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657628000000001 meters 0.022576092398842215 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.41, Z:0.01 [[ 9.98901429e-01 4.66383115e-02 -4.56097765e-03 4.20207340e+00] [-4.66367727e-02 9.98911815e-01 4.43217725e-04 -4.09875104e-01] [ 4.57668539e-03 -2.30021541e-04 9.99989500e-01 6.25763272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.687628000000001 meters 0.02255213677629525 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.41, Z:0.01 [[ 9.98777212e-01 4.92319754e-02 -4.50490400e-03 4.23225196e+00] [-4.92305002e-02 9.98787348e-01 4.37839215e-04 -4.12476449e-01] [ 4.52099681e-03 -2.15525153e-04 9.99989757e-01 5.68219665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.717628 meters 0.021198591039633955 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.41, Z:0.01 [[ 9.98658134e-01 5.15553857e-02 -4.89637512e-03 4.26382809e+00] [-5.15536699e-02 9.98670112e-01 4.76083990e-04 -4.13784482e-01] [ 4.91440818e-03 -2.23019043e-04 9.99987899e-01 5.63786507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.747628000000001 meters 0.02015353618601042 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.42, Z:0.00 [[ 9.98467372e-01 5.49903421e-02 -6.24251266e-03 4.29553951e+00] [-5.49876179e-02 9.98486852e-01 6.07317417e-04 -4.16391087e-01] [ 6.26646340e-03 -2.63125724e-04 9.99980331e-01 4.59224233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777628000000001 meters 0.02017562150838816 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.42, Z:0.00 [[ 9.98414517e-01 5.58451114e-02 -7.05525714e-03 4.32618106e+00] [-5.58416398e-02 9.98439401e-01 6.88254307e-04 -4.19756119e-01] [ 7.08268235e-03 -2.93185963e-04 9.99974875e-01 4.23442681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.807628 meters 0.020713780272154314 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.42, Z:0.00 [[ 9.98244527e-01 5.89385248e-02 -5.84084939e-03 4.35766075e+00] [-5.89361984e-02 9.98261589e-01 5.69772915e-04 -4.19485883e-01] [ 5.86427717e-03 -2.24535236e-04 9.99982780e-01 3.02943154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8376280000000005 meters 0.01955464326012579 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.42, Z:0.01 [[ 9.98174297e-01 6.01785851e-02 -5.15860267e-03 4.38871170e+00] [-6.01767795e-02 9.98187608e-01 5.04671821e-04 -4.23197361e-01] [ 5.17962370e-03 -1.93322345e-04 9.99986567e-01 5.25722265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.867628000000001 meters 0.01903149280283477 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.43, Z:0.01 [[ 9.98192181e-01 5.98434680e-02 -5.57942772e-03 4.42108442e+00] [-5.98413427e-02 9.98207751e-01 5.47224725e-04 -4.26175922e-01] [ 5.60217582e-03 -2.12354995e-04 9.99984285e-01 5.65477769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897628000000001 meters 0.020900321356861998 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.43, Z:0.00 [[ 9.98233762e-01 5.91807190e-02 -5.19603495e-03 4.45170318e+00] [-5.91788607e-02 9.98247265e-01 5.10803579e-04 -4.32734201e-01] [ 5.21715740e-03 -2.02405950e-04 9.99986370e-01 4.96521218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.927628 meters 0.021229613715764893 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.44, Z:0.00 [[ 9.98287890e-01 5.82447670e-02 -5.36989033e-03 4.48390789e+00] [-5.82427617e-02 9.98302309e-01 5.29188077e-04 -4.36846417e-01] [ 5.39159636e-03 -2.15524806e-04 9.99985442e-01 4.56438445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957628000000001 meters 0.0224987117210806 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.44, Z:0.00 [[ 9.98352986e-01 5.70527912e-02 -6.02450929e-03 4.51454388e+00] [-5.70502379e-02 9.98371132e-01 5.94962626e-04 -4.42530731e-01] [ 6.04864044e-03 -2.50283026e-04 9.99981675e-01 4.00723771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.987628000000001 meters 0.020623754232169514 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.44, Z:0.00 [[ 9.98399307e-01 5.62144201e-02 -6.22594766e-03 4.54619288e+00] [-5.62116680e-02 9.98418684e-01 6.16282027e-04 -4.42814646e-01] [ 6.25074641e-03 -2.65324646e-04 9.99980429e-01 4.04667428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017628000000001 meters 0.02011440533462666 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.44, Z:0.00 [[ 9.98351998e-01 5.70646501e-02 -6.07561309e-03 4.57858333e+00] [-5.70620356e-02 9.98370453e-01 6.02944438e-04 -4.44204990e-01] [ 6.10011941e-03 -2.55263934e-04 9.99981362e-01 4.15141929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0476280000000004 meters 0.01912130434156418 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.45, Z:0.00 [[ 9.98283840e-01 5.82802342e-02 -5.72612906e-03 4.61042029e+00] [-5.82779234e-02 9.98300235e-01 5.69727508e-04 -4.45041937e-01] [ 5.74959984e-03 -2.35042853e-04 9.99983443e-01 4.81328181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077628000000001 meters 0.021500427613698317 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.45, Z:0.00 [[ 9.98162095e-01 6.03078915e-02 -5.94892844e-03 4.64096010e+00] [-6.03054254e-02 9.98179795e-01 5.93232331e-04 -4.51900352e-01] [ 5.97387676e-03 -2.33389367e-04 9.99982129e-01 4.26774007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.107628000000001 meters 0.020674129361715667 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.45, Z:0.00 [[ 9.98125256e-01 6.08975492e-02 -6.12066857e-03 4.67290113e+00] [-6.08949406e-02 9.98143994e-01 6.11834609e-04 -4.54139440e-01] [ 6.14656780e-03 -2.37969827e-04 9.99981081e-01 4.02551238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.137628 meters 0.019778024813636875 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.46, Z:0.00 [[ 9.98090982e-01 6.14033649e-02 -6.63456655e-03 4.70599357e+00] [-6.14002984e-02 9.98113000e-01 6.65094539e-04 -4.56115997e-01] [ 6.66288617e-03 -2.56460496e-04 9.99977770e-01 3.81512037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1676280000000006 meters 0.01966827924202826 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.46, Z:0.00 [[ 9.98070318e-01 6.17601787e-02 -6.42808712e-03 4.73921689e+00] [-6.17572958e-02 9.98090987e-01 6.46215318e-04 -4.59114992e-01] [ 6.45572620e-03 -2.47987050e-04 9.99979131e-01 3.65804445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197628000000001 meters 0.020227391696268804 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.46, Z:0.00 [[ 9.98076850e-01 6.17310271e-02 -5.64631472e-03 4.77224481e+00] [-6.17287928e-02 9.98092797e-01 5.69301969e-04 -4.60454538e-01] [ 5.67068964e-03 -2.19666925e-04 9.99983897e-01 1.98497833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.227628000000001 meters 0.018663868452691246 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.46, Z:0.00 [[ 9.98006144e-01 6.29488478e-02 -4.60203271e-03 4.80399699e+00] [-6.29473710e-02 9.98016739e-01 4.65180474e-04 -4.63678151e-01] [ 4.62218825e-03 -1.74567111e-04 9.99989302e-01 4.58929497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257628 meters 0.018980213809198322 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.47, Z:0.00 [[ 9.97946794e-01 6.39303022e-02 -3.88742602e-03 4.83441532e+00] [-6.39292523e-02 9.97954355e-01 3.93870160e-04 -4.67473726e-01] [ 3.90465396e-03 -1.44541225e-04 9.99992366e-01 4.78536960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.287628000000001 meters 0.019537106165307565 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.47, Z:0.00 [[ 9.97921923e-01 6.43183784e-02 -3.87051545e-03 4.86683844e+00] [-6.43173360e-02 9.97929419e-01 3.93336333e-04 -4.70719717e-01] [ 3.88779999e-03 -1.43577708e-04 9.99992432e-01 3.54011640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317628000000001 meters 0.01944363745544499 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.47, Z:0.00 [[ 9.97835223e-01 6.56262464e-02 -4.25021618e-03 4.89907396e+00] [-6.56249970e-02 9.97844263e-01 4.32890752e-04 -4.74745377e-01] [ 4.26946282e-03 -1.53033215e-04 9.99990874e-01 2.61901443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.347628 meters 0.0171024921795581 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.48, Z:0.00 [[ 9.97722369e-01 6.73384716e-02 -3.95029689e-03 4.93135507e+00] [-6.73374017e-02 9.97730180e-01 4.03382786e-04 -4.75975151e-01] [ 3.96849361e-03 -1.36461300e-04 9.99992116e-01 4.41953102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3776280000000005 meters 0.01733310198082606 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.48, Z:0.00 [[ 9.97568228e-01 6.96094629e-02 -3.48601602e-03 4.96215249e+00] [-6.96086407e-02 9.97574313e-01 3.56804159e-04 -4.78496578e-01] [ 3.50239698e-03 -1.13279656e-04 9.99993860e-01 3.67550644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.407628000000001 meters 0.018873199532037067 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.48, Z:-0.00 [[ 9.97329061e-01 7.29372587e-02 -3.86015450e-03 4.99404903e+00] [-7.29362757e-02 9.97336525e-01 3.95012479e-04 -4.78668556e-01] [ 3.87868420e-03 -1.12412132e-04 9.99992472e-01 -9.68793685e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437628000000001 meters 0.018182856819700766 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.48, Z:-0.00 [[ 9.97189977e-01 7.47825178e-02 -4.44116136e-03 5.02586799e+00] [-7.47812288e-02 9.97199860e-01 4.55830485e-04 -4.80867577e-01] [ 4.46281363e-03 -1.22434087e-04 9.99990034e-01 -3.30985725e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.467628 meters 0.016228243120513706 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.48, Z:0.00 [[ 9.97062425e-01 7.64221473e-02 -5.11622282e-03 5.05804430e+00] [-7.64204520e-02 9.97075543e-01 5.26319515e-04 -4.84629178e-01] [ 5.14148311e-03 -1.33789351e-04 9.99986774e-01 1.06251059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497628000000001 meters 0.017420451156163384 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.49, Z:-0.00 [[ 9.97081129e-01 7.60067400e-02 -7.22482543e-03 5.08884541e+00] [-7.60033378e-02 9.97107285e-01 7.44701680e-04 -4.91949664e-01] [ 7.26052842e-03 -1.93417144e-04 9.99973623e-01 -9.57843281e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.527628000000001 meters 0.016664011358629598 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.49, Z:-0.00 [[ 9.97120383e-01 7.55306037e-02 -6.78743720e-03 5.12075180e+00] [-7.55275782e-02 9.97143467e-01 7.01337473e-04 -4.94876176e-01] [ 6.82102110e-03 -1.86679196e-04 9.99976719e-01 -4.23991471e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.557628000000001 meters 0.019331441671598622 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.50, Z:-0.00 [[ 9.97245354e-01 7.38704978e-02 -6.69734143e-03 5.15114355e+00] [-7.38675046e-02 9.97267823e-01 6.93525977e-04 -5.00262541e-01] [ 6.73027422e-03 -1.96899659e-04 9.99977332e-01 -2.53679829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5876280000000005 meters 0.017158707152811817 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.50, Z:0.00 [[ 9.97285417e-01 7.34869777e-02 -4.63255225e-03 5.18334949e+00] [-7.34855346e-02 9.97296167e-01 4.81202541e-04 -5.04075481e-01] [ 4.65538872e-03 -1.39470699e-04 9.99989154e-01 1.61683218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617628000000001 meters 0.017158707152811817 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.51, Z:0.00 [[ 9.97264804e-01 7.37661980e-02 -4.63241742e-03 5.21556955e+00] [-7.37647518e-02 9.97275553e-01 4.82499356e-04 -5.07488268e-01] [ 4.65538879e-03 -1.39470505e-04 9.99989154e-01 1.57041537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.647628000000001 meters 0.018880795609562493 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.52, Z:0.00 [[ 9.97392509e-01 7.21634292e-02 -7.89300749e-04 5.24632924e+00] [-7.21633863e-02 9.97392821e-01 8.26461892e-05 -5.15459071e-01] [ 7.93206933e-04 -2.54720751e-05 9.99999685e-01 4.38909686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677628 meters 0.017734197812731105 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.52, Z:0.01 [[ 9.97418435e-01 7.18084602e-02 1.01002589e-04 5.27806189e+00] [-7.18084595e-02 9.97418440e-01 -1.02090522e-05 -5.17294439e-01] [-1.01474941e-04 2.92985661e-06 9.99999995e-01 5.73993227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.707628000000001 meters 0.01825877311213671 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.52, Z:0.01 [[ 9.97385282e-01 7.22610512e-02 9.69418511e-04 5.30916031e+00] [-7.22609868e-02 9.97385753e-01 -1.01285678e-04 -5.21664729e-01] [-9.74203221e-04 3.09697065e-05 9.99999525e-01 5.96900093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737628000000001 meters 0.01825395513146425 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.52, Z:0.01 [[ 9.97303877e-01 7.33760028e-02 9.69086958e-04 5.34055458e+00] [-7.33759390e-02 9.97304347e-01 -1.01339063e-04 -5.24985215e-01] [-9.73910491e-04 2.99581748e-05 9.99999525e-01 5.36771080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.767628000000001 meters 0.016695574985780653 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.52, Z:0.00 [[ 9.96981570e-01 7.76385729e-02 -2.67433361e-05 5.37269501e+00] [-7.76385729e-02 9.96981571e-01 2.91456544e-06 -5.24769579e-01] [ 2.68888959e-05 -8.29453581e-07 1.00000000e+00 3.94696780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7976280000000004 meters 0.016695574985780653 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.53, Z:0.00 [[ 9.96960146e-01 7.79132007e-02 -2.67125266e-05 5.40490851e+00] [-7.79132007e-02 9.96960146e-01 3.20745870e-06 -5.28227314e-01] [ 2.68812278e-05 -1.11645005e-06 1.00000000e+00 3.90069344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.827628000000001 meters 0.016101891396863948 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.53, Z:0.00 [[ 9.96604296e-01 8.23228858e-02 -1.67901721e-03 5.43502564e+00] [-8.23227042e-02 9.96605710e-01 1.77086998e-04 -5.29323094e-01] [ 1.68789645e-03 -3.82644260e-05 9.99998575e-01 1.87425227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857628000000001 meters 0.015263876072908893 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.53, Z:0.00 [[ 9.96389422e-01 8.48702252e-02 -2.27265008e-03 5.46699871e+00] [-8.48698975e-02 9.96392013e-01 2.40386305e-04 -5.31163247e-01] [ 2.28485203e-03 -4.66387915e-05 9.99997389e-01 1.05771906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.887628 meters 0.014837995302695266 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.53, Z:0.00 [[ 9.96236228e-01 8.66237112e-02 -3.11604051e-03 5.49950629e+00] [-8.66231041e-02 9.96241100e-01 3.29516707e-04 -5.33892084e-01] [ 3.13287159e-03 -5.83553797e-05 9.99995091e-01 7.18932089e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9176280000000006 meters 0.01457190385982391 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.54, Z:0.00 [[ 9.96067494e-01 8.85254757e-02 -3.57591037e-03 5.53130905e+00] [-8.85246847e-02 9.96073911e-01 3.79201897e-04 -5.36500083e-01] [ 3.59544006e-03 -6.11543450e-05 9.99993535e-01 3.68663580e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.947628000000001 meters 0.014131574248605505 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.54, Z:-0.00 [[ 9.95826921e-01 9.11489631e-02 -4.53986113e-03 5.56265234e+00] [-9.11477113e-02 9.95837267e-01 4.82306765e-04 -5.38526974e-01] [ 4.56492467e-03 -6.64961088e-05 9.99989578e-01 -6.63440304e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977628000000001 meters 0.014039970203765965 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.54, Z:0.00 [[ 9.95732334e-01 9.21862929e-02 -4.33660124e-03 5.59413013e+00] [-9.21851559e-02 9.95741776e-01 4.61771048e-04 -5.41530839e-01] [ 4.36070398e-03 -6.00301020e-05 9.99990490e-01 5.50503045e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.007628 meters 0.014130000926134818 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.55, Z:0.00 [[ 9.95717216e-01 9.23708715e-02 -3.85318760e-03 5.62611588e+00] [-9.23699730e-02 9.95724670e-01 4.10884733e-04 -5.45938672e-01] [ 3.87466773e-03 -5.32061689e-05 9.99992492e-01 1.04573986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037628000000001 meters 0.013600732418279233 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.55, Z:0.00 [[ 9.95729163e-01 9.22616746e-02 -3.34923148e-03 5.65855021e+00] [-9.22609912e-02 9.95734795e-01 3.58290060e-04 -5.48751075e-01] [ 3.36800276e-03 -4.77564448e-05 9.99994327e-01 1.83997928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.067628000000001 meters 0.014414005015132833 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.55, Z:0.00 [[ 9.95763449e-01 9.19053538e-02 -2.92568397e-03 5.69005780e+00] [-9.19048285e-02 9.95767746e-01 3.13772855e-04 -5.54674257e-01] [ 2.94213914e-03 -4.35590566e-05 9.99995671e-01 1.67043261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.097628000000001 meters 0.013802030373247431 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.56, Z:0.00 [[ 9.95701851e-01 9.26126438e-02 -8.49829935e-04 5.72233791e+00] [-9.26125994e-02 9.95702214e-01 9.15814335e-05 -5.56191758e-01] [ 8.54659146e-04 -1.24828435e-05 9.99999635e-01 3.68661418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1276280000000005 meters 0.013341728614317101 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.56, Z:0.00 [[ 9.95575678e-01 9.39624989e-02 -3.45108327e-04 5.75448850e+00] [-9.39624916e-02 9.95575737e-01 3.74832238e-05 -5.58388842e-01] [ 3.47103495e-04 -4.89014769e-06 9.99999940e-01 4.56071471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157628000000001 meters 0.013046531948931229 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.56, Z:0.01 [[ 9.95392008e-01 9.58884997e-02 3.83221449e-04 5.78627817e+00] [-9.58884911e-02 9.95392081e-01 -4.09802787e-05 -5.59998728e-01] [-3.85385134e-04 4.04491541e-06 9.99999926e-01 5.22565589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.187628000000001 meters 0.012939132658614353 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.56, Z:0.01 [[ 9.95302341e-01 9.68149588e-02 3.37904321e-04 5.81813018e+00] [-9.68149521e-02 9.95302398e-01 -3.61597746e-05 -5.63087069e-01] [-3.39817788e-04 3.27571769e-06 9.99999942e-01 5.66121533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.217628 meters 0.012625630831634347 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.56, Z:0.01 [[ 9.95161055e-01 9.82567221e-02 3.01602235e-04 5.85035232e+00] [-9.82567168e-02 9.95161101e-01 -3.23282224e-05 -5.64680935e-01] [-3.03319277e-04 2.53734256e-06 9.99999954e-01 6.20439976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.247628000000001 meters 0.012940149318285701 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.57, Z:0.01 [[ 9.95095162e-01 9.89220039e-02 2.37815486e-04 5.88185183e+00] [-9.89220006e-02 9.95095190e-01 -2.54567633e-05 -5.68959944e-01] [-2.39167280e-04 1.80671836e-06 9.99999971e-01 5.58209224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277628000000001 meters 0.012755783308455346 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.57, Z:0.00 [[ 9.95186950e-01 9.79908043e-02 -8.58073562e-04 5.91342191e+00] [-9.79907598e-02 9.95187320e-01 9.37902085e-05 -5.72081529e-01] [ 8.63134507e-04 -9.25551128e-06 9.99999627e-01 4.51090485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.307628000000001 meters 0.013154603041451902 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.58, Z:0.00 [[ 9.95309600e-01 9.67269896e-02 -1.63995268e-03 5.94427065e+00] [-9.67268255e-02 9.95310951e-01 1.79280172e-04 -5.77110919e-01] [ 1.64960409e-03 -1.98118602e-05 9.99998639e-01 3.70652783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3376280000000005 meters 0.013638079025590418 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.58, Z:0.00 [[ 9.95626357e-01 9.33848507e-02 -2.72507714e-03 5.97573192e+00] [-9.33843837e-02 9.95630086e-01 2.98391772e-04 -5.83776825e-01] [ 2.74103406e-03 -4.26070630e-05 9.99996242e-01 3.16130212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.367628000000001 meters 0.0139629921604409 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.59, Z:0.00 [[ 9.95718602e-01 9.23865579e-02 -3.03145117e-03 6.00763529e+00] [-9.23859732e-02 9.95723215e-01 3.32654430e-04 -5.87733632e-01] [ 3.04921911e-03 -5.11666375e-05 9.99995350e-01 3.10405899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397628000000001 meters 0.01499320575938719 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.59, Z:0.00 [[ 9.95796273e-01 9.15017754e-02 -4.14816294e-03 6.03865350e+00] [-9.15006695e-02 9.95804910e-01 4.55990087e-04 -5.93422209e-01] [ 4.17248493e-03 -7.45135430e-05 9.99991292e-01 1.65781965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.427628 meters 0.014802829395811587 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.60, Z:0.00 [[ 9.95847383e-01 9.09243711e-02 -4.55494584e-03 6.07070507e+00] [-9.09230267e-02 9.95857797e-01 5.01793696e-04 -5.95606706e-01] [ 4.58170361e-03 -8.55604768e-05 9.99989500e-01 1.11163215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457628000000001 meters 0.017574123985449254 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.60, Z:-0.00 [[ 9.96086250e-01 8.80243840e-02 -7.99310925e-03 6.10291779e+00] [-8.80201501e-02 9.96118305e-01 8.80621938e-04 -5.99534110e-01] [ 8.03959864e-03 -1.73620728e-04 9.99967667e-01 -3.19534232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.487628000000001 meters 0.015311835312448497 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.60, Z:-0.00 [[ 9.96002087e-01 8.91066270e-02 -6.31282433e-03 6.13403377e+00] [-8.91039971e-02 9.96022084e-01 6.97184180e-04 -6.01720023e-01] [ 6.34983617e-03 -1.31899018e-04 9.99979831e-01 -6.14499421e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517628000000001 meters 0.015141867795659125 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.60, Z:-0.00 [[ 9.96102320e-01 8.79634571e-02 -6.52676301e-03 6.16596259e+00] [-8.79606106e-02 9.96123692e-01 7.22461942e-04 -6.04697121e-01] [ 6.56501351e-03 -1.45547958e-04 9.99978439e-01 -2.85454023e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5476280000000004 meters 0.016601033544708946 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.61, Z:-0.00 [[ 9.96263752e-01 8.61249105e-02 -6.40589874e-03 6.19642788e+00] [-8.61221261e-02 9.96284335e-01 7.09759952e-04 -6.11585052e-01] [ 6.44322458e-03 -1.55418493e-04 9.99979230e-01 -2.56037860e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577628000000001 meters 0.017492169354737176 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.62, Z:0.00 [[ 9.96664936e-01 8.14604605e-02 -4.81660017e-03 6.22764275e+00] [-8.14588258e-02 9.96676564e-01 5.34932728e-04 -6.16713945e-01] [ 4.84416837e-03 -1.40794099e-04 9.99988257e-01 2.27205888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.607628000000001 meters 0.017217221218451356 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.62, Z:0.00 [[ 9.96871710e-01 7.89566036e-02 -3.55643159e-03 6.25918046e+00] [-7.89556931e-02 9.96878048e-01 3.95898228e-04 -6.19436714e-01] [ 3.57658735e-03 -1.13859222e-04 9.99993598e-01 3.60684207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.637628000000001 meters 0.01909796203010436 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.63, Z:0.00 [[ 9.97067662e-01 7.64950015e-02 -2.14277652e-03 6.28947077e+00] [-7.64946640e-02 9.97069962e-01 2.39153674e-04 -6.25627262e-01] [ 2.15479216e-03 -7.45414253e-05 9.99997676e-01 4.51902241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6676280000000006 meters 0.019236227506429747 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.63, Z:0.01 [[ 9.97438956e-01 7.15068551e-02 -1.51585545e-03 6.32038685e+00] [-7.15066807e-02 9.97440106e-01 1.69004733e-04 -6.29191109e-01] [ 1.52406002e-03 -6.01781133e-05 9.99998837e-01 6.16489332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697628000000001 meters 0.021278006080314698 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.64, Z:0.01 [[ 9.97558610e-01 6.98228350e-02 -1.26178814e-03 6.35067916e+00] [-6.98227127e-02 9.97559406e-01 1.40753064e-04 -6.35091751e-01] [ 1.26853640e-03 -5.23079599e-05 9.99999194e-01 6.35922125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.727628000000001 meters 0.022064266542095777 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.64, Z:0.01 [[ 9.97765418e-01 6.67619328e-02 -2.64849580e-03 6.38140732e+00] [-6.67613831e-02 9.97768926e-01 2.95526179e-04 -6.37731636e-01] [ 2.66231671e-03 -1.18048559e-04 9.99996449e-01 5.47355903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.757628 meters 0.02101283748076752 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.64, Z:0.01 [[ 9.97904188e-01 6.45949124e-02 -3.83792016e-03 6.41376497e+00] [-6.45937410e-02 9.97911552e-01 4.28526249e-04 -6.39578500e-01] [ 3.85758548e-03 -1.79722517e-04 9.99992543e-01 5.11469247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.787628000000001 meters 0.021666362337385642 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.64, Z:0.00 [[ 9.98079054e-01 6.18002359e-02 -4.35109715e-03 6.44487040e+00] [-6.17987033e-02 9.98088515e-01 4.85917198e-04 -6.43998461e-01] [ 4.37280989e-03 -2.16091616e-04 9.99990416e-01 4.67536999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817628000000001 meters 0.023211686827567544 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.65, Z:0.00 [[ 9.98257088e-01 5.88125231e-02 -4.88604057e-03 6.47495182e+00] [-5.88105546e-02 9.98269012e-01 5.45713194e-04 -6.49673074e-01] [ 4.90967766e-03 -2.57411308e-04 9.99987914e-01 4.76631118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.847628000000001 meters 0.023584988965920827 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.65, Z:0.00 [[ 9.98422003e-01 5.59232179e-02 -5.10855999e-03 6.50620022e+00] [-5.59210273e-02 9.98435032e-01 5.70772373e-04 -6.53744854e-01] [ 5.13248468e-03 -2.84195774e-04 9.99986788e-01 4.90313423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8776280000000005 meters 0.02402369177531585 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.66, Z:0.00 [[ 9.98566736e-01 5.32681495e-02 -5.19399739e-03 6.53727704e+00] [-5.32658482e-02 9.98580198e-01 5.80503341e-04 -6.57680787e-01] [ 5.21754528e-03 -3.03008650e-04 9.99986343e-01 4.92463314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.907628000000001 meters 0.02666668625887671 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.66, Z:0.01 [[ 9.98751180e-01 4.97367216e-02 -4.72636446e-03 6.56708517e+00] [-4.97347763e-02 9.98762321e-01 5.28301548e-04 -6.63878191e-01] [ 4.74679072e-03 -2.92577115e-04 9.99988691e-01 5.74745701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937628000000001 meters 0.025422264825605 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.67, Z:0.01 [[ 9.98773088e-01 4.93621120e-02 -3.96232226e-03 6.59938984e+00] [-4.93607366e-02 9.98780917e-01 4.44223432e-04 -6.65047509e-01] [ 3.97941967e-03 -2.48095263e-04 9.99992051e-01 6.92388146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.967628000000001 meters 0.02693396470838109 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.67, Z:0.01 [[ 9.98758988e-01 4.96514270e-02 -3.90112971e-03 6.63130285e+00] [-4.96500918e-02 9.98766577e-01 4.38429463e-04 -6.69753676e-01] [ 3.91808662e-03 -2.44193919e-04 9.99992294e-01 7.57633276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997628000000001 meters 0.027286259034951355 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.67, Z:0.01 [[ 9.98684238e-01 5.11948123e-02 -2.98073018e-03 6.66343151e+00] [-5.11940373e-02 9.98688669e-01 3.35783794e-04 -6.69635564e-01] [ 2.99401185e-03 -1.82746370e-04 9.99995501e-01 6.29421040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.027628 meters 0.02471237847255174 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.67, Z:0.01 [[ 9.98582272e-01 5.32005664e-02 -1.77353110e-03 6.69477722e+00] [-5.32002953e-02 9.98583842e-01 1.99697702e-04 -6.70226758e-01] [ 1.78164353e-03 -1.05062206e-04 9.99998407e-01 8.83123302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057628000000001 meters 0.02420043665800645 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.67, Z:0.01 [[ 9.98486927e-01 5.49389860e-02 -2.35896132e-03 6.72660928e+00] [-5.49385108e-02 9.98489704e-01 2.65822020e-04 -6.71516438e-01] [ 2.37000258e-03 -1.35821990e-04 9.99997182e-01 8.66504099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.087628 meters 0.02221765859116203 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.67, Z:0.01 [[ 9.98378996e-01 5.68337743e-02 -3.04987169e-03 6.75829917e+00] [-5.68329887e-02 9.98383640e-01 3.43708952e-04 -6.70612256e-01] [ 3.06447628e-03 -1.69818476e-04 9.99995290e-01 8.08355385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117628000000002 meters 0.023234414420156245 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.67, Z:0.01 [[ 9.98267427e-01 5.87352037e-02 -3.50998820e-03 6.78856270e+00] [-5.87341747e-02 9.98273580e-01 3.95591556e-04 -6.74044455e-01] [ 3.52716364e-03 -1.88749904e-04 9.99993762e-01 7.14221010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.147628000000001 meters 0.021223466440048907 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.67, Z:0.01 [[ 9.98016983e-01 6.27966547e-02 -4.32213971e-03 6.82025912e+00] [-6.27951323e-02 9.98026319e-01 4.87196562e-04 -6.71576419e-01] [ 4.34420350e-03 -2.14821109e-04 9.99990541e-01 6.41117480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177628 meters 0.0213163014611294 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.67, Z:0.01 [[ 9.97864388e-01 6.51776569e-02 -4.30541256e-03 6.85078299e+00] [-6.51761675e-02 9.97873655e-01 4.85491614e-04 -6.73916046e-01] [ 4.32790097e-03 -2.03844502e-04 9.99990614e-01 6.02259506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.207628000000001 meters 0.020417933086086946 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.67, Z:0.01 [[ 9.97719668e-01 6.73452529e-02 -4.48111499e-03 6.88235921e+00] [-6.73436605e-02 9.97729711e-01 5.05463967e-04 -6.74928457e-01] [ 4.50498216e-03 -2.02536655e-04 9.99989832e-01 5.90652387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237628 meters 0.020163655782692073 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.68, Z:0.01 [[ 9.97582490e-01 6.93607252e-02 -4.27387571e-03 6.91329696e+00] [-6.93592945e-02 9.97591628e-01 4.82242910e-04 -6.77680894e-01] [ 4.29703134e-03 -1.84644079e-04 9.99990751e-01 5.85966396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.267628 meters 0.019864776921213047 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.68, Z:0.01 [[ 9.97293076e-01 7.34214390e-02 -3.97662066e-03 6.94250033e+00] [-7.34202332e-02 9.97300992e-01 4.48559512e-04 -6.79930996e-01] [ 3.99882161e-03 -1.55380879e-04 9.99991993e-01 5.72896509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297628000000001 meters 0.018897653918797 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.68, Z:0.01 [[ 9.97111978e-01 7.58363784e-02 -4.06787028e-03 6.97489055e+00] [-7.58351310e-02 9.97120264e-01 4.60232200e-04 -6.81526417e-01] [ 4.09105823e-03 -1.50415563e-04 9.99991620e-01 5.40716609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.327628 meters 0.017158241140982636 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.68, Z:0.01 [[ 9.96910744e-01 7.84250393e-02 -4.29893516e-03 7.00702997e+00] [-7.84236656e-02 9.96920002e-01 4.87452198e-04 -6.81881794e-01] [ 4.32392291e-03 -1.48808080e-04 9.99990641e-01 5.19944944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357628 meters 0.016838456845101414 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.68, Z:0.00 [[ 9.96445110e-01 8.40844358e-02 -5.19131531e-03 7.03705390e+00] [-8.40825115e-02 9.96458622e-01 5.88204841e-04 -6.84184540e-01] [ 5.22238977e-03 -1.49615008e-04 9.99986352e-01 4.11152613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.387628000000001 meters 0.015306826697819912 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.69, Z:0.00 [[ 9.96186718e-01 8.71091971e-02 -4.89997790e-03 7.06922387e+00] [-8.71075114e-02 9.96198761e-01 5.56783682e-04 -6.85077374e-01] [ 4.92985289e-03 -1.27835628e-04 9.99987840e-01 3.95591662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417628 meters 0.01511843676095146 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.69, Z:0.00 [[ 9.95932765e-01 8.99184299e-02 -5.70996220e-03 7.10025730e+00] [-8.99161799e-02 9.95949124e-01 6.50059434e-04 -6.88282078e-01] [ 5.74528417e-03 -1.33997501e-04 9.99983487e-01 3.11907136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.447628000000002 meters 0.014965761917266888 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.69, Z:0.00 [[ 9.95702465e-01 9.24371215e-02 -5.65514024e-03 7.13089973e+00] [-9.24349513e-02 9.95718517e-01 6.44489080e-04 -6.91589215e-01] [ 5.69050257e-03 -1.18986752e-04 9.99983802e-01 2.25197389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477628000000001 meters 0.013994834728090235 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.69, Z:0.00 [[ 9.95476784e-01 9.48615333e-02 -5.22124998e-03 7.16268673e+00] [-9.48597090e-02 9.95490472e-01 5.96501403e-04 -6.94292351e-01] [ 5.25428965e-03 -9.85170450e-05 9.99986191e-01 2.69727632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.507628 meters 0.013994834728090235 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.70, Z:0.00 [[ 9.95450167e-01 9.51404520e-02 -5.22107693e-03 7.19486899e+00] [-9.51386236e-02 9.95463854e-01 5.98014719e-04 -6.98037141e-01] [ 5.25428875e-03 -9.85677789e-05 9.99986191e-01 2.65089523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537628000000002 meters 0.013232861132979334 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.70, Z:0.00 [[ 9.95159553e-01 9.81585172e-02 -4.72966149e-03 7.22730196e+00] [-9.81570499e-02 9.95170789e-01 5.41917300e-04 -7.01335407e-01] [ 4.76001476e-03 -7.50445593e-05 9.99988668e-01 3.52005483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.567628000000001 meters 0.012944062910010809 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.71, Z:0.00 [[ 9.95026092e-01 9.95027375e-02 -4.72024595e-03 7.25946116e+00] [-9.95012844e-02 9.95037286e-01 5.42267673e-04 -7.05246379e-01] [ 4.75077784e-03 -6.98999484e-05 9.99988713e-01 3.80388637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597628 meters 0.013042725590186894 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.71, Z:0.00 [[ 9.94806621e-01 1.01680826e-01 -4.56023130e-03 7.29052188e+00] [-1.01679488e-01 9.94817072e-01 5.25040350e-04 -7.11332057e-01] [ 4.58998249e-03 -5.86316339e-05 9.99989464e-01 3.81264719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.627628000000001 meters 0.012602901813744391 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.71, Z:0.00 [[ 9.94685926e-01 1.02873367e-01 -4.12048587e-03 7.32296257e+00] [-1.02872283e-01 9.94694460e-01 4.74585024e-04 -7.14932308e-01] [ 4.14744662e-03 -4.81792534e-05 9.99991398e-01 4.81163015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657628 meters 0.012565086795418002 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.72, Z:0.00 [[ 9.94587609e-01 1.03831629e-01 -3.80529707e-03 7.35361620e+00] [-1.03830708e-01 9.94594888e-01 4.39373234e-04 -7.19480200e-01] [ 3.83034986e-03 -4.18884854e-05 9.99992663e-01 4.92908568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.687628 meters 0.012381678569892873 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.72, Z:0.01 [[ 9.94512172e-01 1.04573144e-01 -3.16184214e-03 7.38598553e+00] [-1.04572509e-01 9.94517198e-01 3.66099202e-04 -7.24437041e-01] [ 3.18279053e-03 -3.34483479e-05 9.99994934e-01 5.10441762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717628000000001 meters 0.01245374555765392 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.73, Z:0.00 [[ 9.94437237e-01 1.05267437e-01 -3.65363405e-03 7.41876299e+00] [-1.05266589e-01 9.94443948e-01 4.24006692e-04 -7.30746100e-01] [ 3.67796837e-03 -3.70424473e-05 9.99993236e-01 3.96790383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.747628 meters 0.012497365216652291 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.74, Z:0.00 [[ 9.94446074e-01 1.05181138e-01 -3.73291057e-03 7.45139570e+00] [-1.05180248e-01 9.94453079e-01 4.34247720e-04 -7.36251850e-01] [ 3.75787908e-03 -3.92074790e-05 9.99992938e-01 3.14885162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777628000000002 meters 0.012631296039961187 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.74, Z:0.00 [[ 9.94477429e-01 1.04869608e-01 -4.12408213e-03 7.48414006e+00] [-1.04868515e-01 9.94485979e-01 4.80866653e-04 -7.42388395e-01] [ 4.15177015e-03 -4.57246636e-05 9.99991380e-01 2.68035416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.807628000000001 meters 0.012665949482475599 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.75, Z:0.00 [[ 9.94494583e-01 1.04684651e-01 -4.65272342e-03 7.51617985e+00] [-1.04683252e-01 9.94505466e-01 5.43795309e-04 -7.48747183e-01] [ 4.68408589e-03 -5.37392699e-05 9.99989028e-01 2.75471031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837628 meters 0.013011087020474604 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.76, Z:0.00 [[ 9.94586523e-01 1.03802123e-01 -4.77163513e-03 7.54696353e+00] [-1.03800637e-01 9.94597967e-01 5.58703853e-04 -7.56352379e-01] [ 4.80385324e-03 -6.03805571e-05 9.99988460e-01 2.74615531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.867628000000002 meters 0.013456277543443725 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.77, Z:0.00 [[ 9.94818638e-01 1.01552748e-01 -4.78724478e-03 7.57839358e+00] [-1.01551220e-01 9.94830153e-01 5.61732492e-04 -7.66658807e-01] [ 4.81954094e-03 -7.26714038e-05 9.99988383e-01 4.17144655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897628000000001 meters 0.013158542251452968 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.77, Z:0.01 [[ 9.94742777e-01 1.02351202e-01 -3.32240767e-03 7.60999083e+00] [-1.02350468e-01 9.94748324e-01 3.90790555e-04 -7.70335042e-01] [ 3.34495734e-03 -4.86861034e-05 9.99994404e-01 5.56974208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.927628 meters 0.013083034487481287 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.77, Z:0.01 [[ 9.94654663e-01 1.03226875e-01 -2.51272460e-03 7.64210359e+00] [-1.03226456e-01 9.94657836e-01 2.96268512e-04 -7.74159280e-01] [ 2.52988409e-03 -3.53052023e-05 9.99996799e-01 6.16792623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957628000000001 meters 0.012651214786047162 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.78, Z:0.01 [[ 9.94313817e-01 1.06475595e-01 -1.72631171e-03 7.67279083e+00] [-1.06475402e-01 9.94315316e-01 2.04025863e-04 -7.76856930e-01] [ 1.73822194e-03 -1.90560023e-05 9.99998489e-01 6.74319855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.987628 meters 0.012419849762749393 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.78, Z:0.01 [[ 9.94088492e-01 1.08560165e-01 -1.66145614e-03 7.70473936e+00] [-1.08559987e-01 9.94089880e-01 1.96805958e-04 -7.79262140e-01] [ 1.67300202e-03 -1.52748815e-05 9.99998600e-01 6.99001779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017628 meters 0.012190772099271432 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.78, Z:0.01 [[ 9.93870997e-01 1.10537235e-01 -1.40046049e-03 7.73640470e+00] [-1.10537110e-01 9.93871984e-01 1.66297457e-04 -7.81714062e-01] [ 1.41026051e-03 -1.04753635e-05 9.99999006e-01 6.48950623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.047628000000001 meters 0.012240316838188194 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.79, Z:0.01 [[ 9.93734605e-01 1.11746619e-01 -2.05610519e-03 7.76774188e+00] [-1.11746352e-01 9.93736732e-01 2.44557475e-04 -7.86406150e-01] [ 2.07055573e-03 -1.32629709e-05 9.99997856e-01 5.83501499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077628 meters 0.012157365013525726 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.79, Z:0.01 [[ 9.93746133e-01 1.11635583e-01 -2.47397149e-03 7.80053329e+00] [-1.11635194e-01 9.93749212e-01 2.94916477e-04 -7.89908245e-01] [ 2.49143039e-03 -1.68898204e-05 9.99996896e-01 5.36620769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.107628 meters 0.012198818592935303 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.79, Z:0.00 [[ 9.93816227e-01 1.11003611e-01 -2.73950582e-03 7.83277878e+00] [-1.11003130e-01 9.93820003e-01 3.27323000e-04 -7.93971429e-01] [ 2.75890972e-03 -2.12051873e-05 9.99996194e-01 4.81594459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137628000000001 meters 0.012449836271314267 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.80, Z:0.00 [[ 9.93920984e-01 1.10050162e-01 -3.16855625e-03 7.86478495e+00] [-1.10049511e-01 9.93926034e-01 3.79343905e-04 -7.98514048e-01] [ 3.19105741e-03 -2.83397996e-05 9.99994908e-01 4.55886977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.167628 meters 0.012999576469219754 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.80, Z:0.00 [[ 9.94300003e-01 1.06557496e-01 -3.60600047e-03 7.89533248e+00] [-1.06556629e-01 9.94306541e-01 4.32439775e-04 -8.04802347e-01] [ 3.63154956e-03 -4.57316164e-05 9.99993405e-01 4.93788029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197628000000002 meters 0.013561541676106414 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.81, Z:0.00 [[ 9.94408862e-01 1.05534085e-01 -3.68407532e-03 7.92569912e+00] [-1.05533169e-01 9.94415685e-01 4.42632756e-04 -8.09565644e-01] [ 3.71021512e-03 -5.13657906e-05 9.99993116e-01 4.94524904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.227628000000001 meters 0.01335041805671902 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.81, Z:0.01 [[ 9.94536428e-01 1.04339098e-01 -3.26268925e-03 7.95789253e+00] [-1.04338371e-01 9.94541779e-01 3.92892567e-04 -8.12266295e-01] [ 3.28587483e-03 -5.03222898e-05 9.99994600e-01 5.49322868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257628 meters 0.013732071264210789 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.82, Z:0.01 [[ 9.94599930e-01 1.03728129e-01 -3.38445575e-03 7.98862493e+00] [-1.03727342e-01 9.94605687e-01 4.07847336e-04 -8.16897501e-01] [ 3.40850418e-03 -5.45843333e-05 9.99994190e-01 5.73107720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.287628000000002 meters 0.013791858242086978 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.82, Z:0.01 [[ 9.94708252e-01 1.02694613e-01 -3.05103183e-03 8.02091296e+00] [-1.02693966e-01 9.94712930e-01 3.68609751e-04 -8.20183889e-01] [ 3.07275504e-03 -5.33366035e-05 9.99995278e-01 5.87665319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317628000000001 meters 0.013842963393150168 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.82, Z:0.01 [[ 9.94773281e-01 1.02058041e-01 -3.20556101e-03 8.05261425e+00] [-1.02057320e-01 9.94778444e-01 3.88072122e-04 -8.23709466e-01] [ 3.22842888e-03 -5.88928131e-05 9.99994787e-01 5.78175784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.347628 meters 0.013805250068920399 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.83, Z:0.01 [[ 9.94846539e-01 1.01348186e-01 -2.98470646e-03 8.08415683e+00] [-1.01347556e-01 9.94851015e-01 3.62120493e-04 -8.27580317e-01] [ 3.00603850e-03 -5.77616144e-05 9.99995480e-01 5.24428088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377628000000001 meters 0.014495765055001063 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.83, Z:0.00 [[ 9.94882679e-01 1.00995536e-01 -2.89095315e-03 8.11557750e+00] [-1.00994941e-01 9.94886877e-01 3.51562933e-04 -8.32368220e-01] [ 2.91167764e-03 -5.77922300e-05 9.99995759e-01 4.88689944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.407628 meters 0.01460206360658883 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.84, Z:0.01 [[ 9.94901580e-01 1.00810014e-01 -2.86143136e-03 8.14842840e+00] [-1.00809427e-01 9.94905693e-01 3.48797612e-04 -8.36969765e-01] [ 2.88201664e-03 -5.85600390e-05 9.99995845e-01 5.07799782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437628 meters 0.014531916620847228 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.84, Z:0.01 [[ 9.94981004e-01 1.00029509e-01 -2.62656424e-03 8.17976296e+00] [-1.00029011e-01 9.94984469e-01 3.20742441e-04 -8.40675741e-01] [ 2.64547433e-03 -5.64000135e-05 9.99996499e-01 5.35784876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.467628000000001 meters 0.014535572737693252 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.85, Z:0.01 [[ 9.95011643e-01 9.97350312e-02 -2.18015286e-03 8.21184340e+00] [-9.97346857e-02 9.95014031e-01 2.66925988e-04 -8.45083165e-01] [ 2.19590455e-03 -4.81576059e-05 9.99997588e-01 5.68854300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497628 meters 0.014665460584535312 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.85, Z:0.01 [[ 9.95022833e-01 9.96331619e-02 -1.67162829e-03 8.24465307e+00] [-9.96329576e-02 9.95024237e-01 2.05258990e-04 -8.49367354e-01] [ 1.68376127e-03 -3.76881113e-05 9.99998582e-01 6.38970805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.527628000000002 meters 0.01472589762731019 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.85, Z:0.01 [[ 9.94946054e-01 1.00399216e-01 -1.53210539e-03 8.27642133e+00] [-1.00399045e-01 9.94947233e-01 1.88488166e-04 -8.53520015e-01] [ 1.54328808e-03 -3.37136393e-05 9.99998809e-01 6.33489942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557628000000001 meters 0.015367642522869701 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.86, Z:0.01 [[ 9.94900580e-01 1.00848976e-01 -1.52312932e-03 8.30762403e+00] [-1.00848807e-01 9.94901745e-01 1.87442421e-04 -8.58578783e-01] [ 1.53426740e-03 -3.28807989e-05 9.99998822e-01 5.97248161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.587628 meters 0.014720990793196394 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.86, Z:0.01 [[ 9.94844638e-01 1.01386728e-01 -2.20833569e-03 8.34036068e+00] [-1.01386373e-01 9.94847088e-01 2.72506092e-04 -8.61612435e-01] [ 2.22458483e-03 -4.72060797e-05 9.99997524e-01 6.04419071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617628000000002 meters 0.014904320621728147 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.87, Z:0.01 [[ 9.94836993e-01 1.01464670e-01 -2.06846013e-03 8.37293426e+00] [-1.01464358e-01 9.94839142e-01 2.55851348e-04 -8.66595867e-01] [ 2.08374497e-03 -4.46554075e-05 9.99997828e-01 6.26292400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.647628000000001 meters 0.015115407001139615 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.87, Z:0.01 [[ 9.94852138e-01 1.01320906e-01 -1.81579422e-03 8.40558437e+00] [-1.01320664e-01 9.94853794e-01 2.25152150e-04 -8.71521580e-01] [ 1.82926239e-03 -4.00156224e-05 9.99998326e-01 6.33030154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677628 meters 0.015372185091073338 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.88, Z:0.01 [[ 9.94917074e-01 1.00676857e-01 -2.04612109e-03 8.43726616e+00] [-1.00676547e-01 9.94919177e-01 2.54112922e-04 -8.75942725e-01] [ 2.06130840e-03 -4.68248790e-05 9.99997874e-01 6.19643098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.707628000000001 meters 0.015459102137427544 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.88, Z:0.01 [[ 9.94969376e-01 1.00159541e-01 -2.00167519e-03 8.46870794e+00] [-1.00159242e-01 9.94971389e-01 2.49095192e-04 -8.79812535e-01] [ 2.01655880e-03 -4.73558177e-05 9.99997966e-01 6.06691251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737628 meters 0.01663921421043949 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.89, Z:0.01 [[ 9.95204626e-01 9.77839230e-02 -2.46092425e-03 8.49923562e+00] [-9.77834633e-02 9.95207667e-01 3.06694973e-04 -8.85797540e-01] [ 2.47912051e-03 -6.45865599e-05 9.99996925e-01 5.22104974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.767628 meters 0.01700206477565376 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.89, Z:0.01 [[ 9.95175144e-01 9.80783602e-02 -2.65871911e-03 8.53141784e+00] [-9.80778229e-02 9.95178693e-01 3.32046858e-04 -8.89359566e-01] [ 2.67846722e-03 -6.96833981e-05 9.99996410e-01 5.43909191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797628000000001 meters 0.01686675890664707 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.89, Z:0.01 [[ 9.95158569e-01 9.82521181e-02 -2.43781021e-03 8.56441718e+00] [-9.82516651e-02 9.95161553e-01 3.05178608e-04 -8.91920070e-01] [ 2.45599944e-03 -6.41821949e-05 9.99996982e-01 5.06206598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.827628 meters 0.016137209989819993 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.89, Z:0.00 [[ 9.95188512e-01 9.79153226e-02 -3.52338383e-03 8.59629380e+00] [-9.79143719e-02 9.95194745e-01 4.41738309e-04 -8.94505385e-01] [ 3.54970602e-03 -9.46229758e-05 9.99993695e-01 4.77983154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857628000000002 meters 0.018898944113099447 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.90, Z:0.00 [[ 9.95459418e-01 9.50742880e-02 -4.62896850e-03 8.62623329e+00] [-9.50726150e-02 9.95470171e-01 5.80632300e-04 -9.02989676e-01] [ 4.66320327e-03 -1.37907751e-04 9.99989118e-01 3.68987381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.887628000000001 meters 0.017099964834467154 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.90, Z:0.00 [[ 9.95572758e-01 9.38889514e-02 -4.44395211e-03 8.65859543e+00] [-9.38873919e-02 9.95582666e-01 5.58715660e-04 -9.03383839e-01] [ 4.47677892e-03 -1.39011018e-04 9.99989970e-01 4.75527235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917628 meters 0.018046362134794675 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.91, Z:0.01 [[ 9.95867636e-01 9.07207633e-02 -4.17068553e-03 8.69006899e+00] [-9.07193616e-02 9.95876359e-01 5.24427151e-04 -9.08650156e-01] [ 4.20106355e-03 -1.43898098e-04 9.99991165e-01 5.68616042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.947628000000002 meters 0.018288851930091735 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.91, Z:0.01 [[ 9.96006483e-01 8.92006461e-02 -3.78546119e-03 8.72135385e+00] [-8.91994762e-02 9.96013667e-01 4.77104119e-04 -9.12594646e-01] [ 3.81292908e-03 -1.37537640e-04 9.99992721e-01 6.22478865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977628000000001 meters 0.019050469575299486 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.92, Z:0.01 [[ 9.96169535e-01 8.73752202e-02 -3.43937087e-03 8.75280562e+00] [-8.73742407e-02 9.96175463e-01 4.34307380e-04 -9.16352057e-01] [ 3.46416458e-03 -1.32131362e-04 9.99993991e-01 6.84679411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.007628 meters 0.019690292102985535 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.92, Z:0.01 [[ 9.96211276e-01 8.68801985e-02 -3.86319517e-03 8.78386833e+00] [-8.68789557e-02 9.96218755e-01 4.88669308e-04 -9.20662693e-01] [ 3.89104317e-03 -1.51187513e-04 9.99992418e-01 6.54547342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037628000000002 meters 0.0192857375781458 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.92, Z:0.01 [[ 9.96207719e-01 8.69238788e-02 -3.79740946e-03 8.81676295e+00] [-8.69226739e-02 9.96214945e-01 4.81515554e-04 -9.23708742e-01] [ 3.82489126e-03 -1.49608527e-04 9.99992674e-01 6.50167880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.067628000000001 meters 0.020414198183703207 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.93, Z:0.01 [[ 9.96181486e-01 8.72087743e-02 -4.13237548e-03 8.84806157e+00] [-8.72073455e-02 9.96190044e-01 5.25024005e-04 -9.28951387e-01] [ 4.16241801e-03 -1.62645697e-04 9.99991324e-01 5.78667517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097628 meters 0.019025845617350087 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.93, Z:0.01 [[ 9.96128886e-01 8.78040979e-02 -4.20516905e-03 8.88006532e+00] [-8.78026193e-02 9.96137748e-01 5.35300192e-04 -9.30205736e-01] [ 4.23592918e-03 -1.64003126e-04 9.99991015e-01 5.93033109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.127628000000001 meters 0.019020889057347726 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.93, Z:0.01 [[ 9.95939536e-01 8.98902792e-02 -4.91724903e-03 8.91075717e+00] [-8.98882776e-02 9.95951658e-01 6.26992817e-04 -9.33036556e-01] [ 4.95370288e-03 -1.82443888e-04 9.99987714e-01 5.12800670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157628 meters 0.019655823019439495 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.94, Z:0.00 [[ 9.95781639e-01 9.15893634e-02 -5.50592073e-03 8.94200991e+00] [-9.15868725e-02 9.95796842e-01 7.03387710e-04 -9.37413459e-01] [ 5.54720131e-03 -1.96150507e-04 9.99984595e-01 4.50651012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.187628 meters 0.01910465544897157 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.94, Z:0.00 [[ 9.95594326e-01 9.36170254e-02 -5.27159789e-03 8.97371769e+00] [-9.36147635e-02 9.95608267e-01 6.74738349e-04 -9.39883488e-01] [ 5.31161344e-03 -1.78266282e-04 9.99985877e-01 4.45822816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217628000000001 meters 0.01875797566844197 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.94, Z:0.00 [[ 9.95377235e-01 9.59170207e-02 -4.90764586e-03 9.00459570e+00] [-9.59150829e-02 9.95389321e-01 6.29245387e-04 -9.43102315e-01] [ 4.94537362e-03 -1.55619274e-04 9.99987759e-01 4.91480702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.247628 meters 0.01625812445964709 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.94, Z:0.01 [[ 9.95042950e-01 9.94082427e-02 -2.74398207e-03 9.03674511e+00] [-9.94076498e-02 9.95046730e-01 3.51970537e-04 -9.42764863e-01] [ 2.76537916e-03 -7.74529918e-05 9.99996173e-01 7.28075553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277628000000002 meters 0.016045108022863873 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.95, Z:0.01 [[ 9.94874947e-01 1.01100580e-01 -1.58484229e-03 9.06841455e+00] [-1.01100383e-01 9.94876209e-01 2.03974927e-04 -9.46603034e-01] [ 1.59734388e-03 -4.27013819e-05 9.99998723e-01 8.00812103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.307628000000001 meters 0.01528440981896611 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.95, Z:0.01 [[ 9.94639543e-01 1.03402949e-01 -1.01306179e-04 9.10015080e+00] [-1.03402948e-01 9.94639548e-01 1.34012422e-05 -9.48236111e-01] [ 1.02148860e-04 -2.85404795e-06 9.99999995e-01 7.97546869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337628 meters 0.015387513592739164 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.95, Z:0.01 [[ 9.94487873e-01 1.04850904e-01 3.97082053e-04 9.13061915e+00] [-1.04850892e-01 9.94487953e-01 -5.08799842e-05 -9.52223243e-01] [-4.00228131e-04 8.96511963e-06 9.99999920e-01 7.52207626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.367628000000002 meters 0.015157088576464894 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.96, Z:0.01 [[ 9.94315224e-01 1.06476441e-01 -4.95770884e-05 9.16303176e+00] [-1.06476440e-01 9.94315225e-01 6.52444999e-06 -9.55910443e-01] [ 4.99899541e-05 -1.20856805e-06 9.99999999e-01 7.16604277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397628000000001 meters 0.014692255905603127 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.96, Z:0.01 [[ 9.94048871e-01 1.08934317e-01 -3.95317912e-04 9.19523751e+00] [-1.08934305e-01 9.94048950e-01 5.14678907e-05 -9.59741123e-01] [ 3.98571975e-04 -8.09791650e-06 9.99999921e-01 6.79799904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.427628 meters 0.014692255905603127 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.96, Z:0.01 [[ 9.94018407e-01 1.09211952e-01 -3.95297109e-04 9.22735667e+00] [-1.09211941e-01 9.94018485e-01 5.16282239e-05 -9.63965525e-01] [ 3.98571052e-04 -8.14824055e-06 9.99999921e-01 6.75161857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457628000000001 meters 0.013845624006367413 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.97, Z:0.01 [[ 9.93508175e-01 1.13757983e-01 -7.92259793e-04 9.25965538e+00] [-1.13757937e-01 9.93508491e-01 1.03220105e-04 -9.66115754e-01] [ 7.98858943e-04 -1.24241787e-05 9.99999681e-01 6.61578895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.487628 meters 0.013502127760591629 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.97, Z:0.01 [[ 9.93315677e-01 1.15426579e-01 -8.18631841e-04 9.29221071e+00] [-1.15426531e-01 9.93316015e-01 1.06493705e-04 -9.69019757e-01] [ 8.25452321e-04 -1.12900331e-05 9.99999659e-01 6.17415932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517628 meters 0.013424490294790386 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.97, Z:0.01 [[ 9.93171890e-01 1.16659054e-01 -5.11212596e-04 9.32258173e+00] [-1.16659035e-01 9.93172022e-01 6.68719758e-05 -9.73426021e-01] [ 5.15523269e-04 -6.77779845e-06 9.99999867e-01 5.91385259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.547628000000001 meters 0.013269340243519575 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.98, Z:0.01 [[ 9.93140962e-01 1.16923155e-01 -6.72529130e-05 9.35544863e+00] [-1.16923155e-01 9.93140965e-01 9.18193017e-06 -9.78806474e-01] [ 6.78652031e-05 -1.25552822e-06 9.99999998e-01 5.97035058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577628 meters 0.013420974887927485 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.98, Z:0.01 [[ 9.93110215e-01 1.17183321e-01 -4.13302920e-04 9.38701637e+00] [-1.17183308e-01 9.93110301e-01 5.44070419e-05 -9.84383236e-01] [ 4.16830985e-04 -5.59998548e-06 9.99999913e-01 5.69525630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.607628000000002 meters 0.01338896140045513 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.99, Z:0.00 [[ 9.93090830e-01 1.17342969e-01 -1.10931597e-03 9.41943694e+00] [-1.17342879e-01 9.93091450e-01 1.45726661e-04 -9.89683369e-01] [ 1.11875221e-03 -1.45494802e-05 9.99999374e-01 4.90219181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637628000000001 meters 0.013386364710147374 Centerline is valid? [True, True] Translation: X:9.45, Y:-1.00, Z:0.00 [[ 9.93043761e-01 1.17719138e-01 -2.50850131e-03 9.45172718e+00] [-1.17718681e-01 9.93046929e-01 3.29739909e-04 -9.95058175e-01] [ 2.52987622e-03 -3.21486952e-05 9.99996799e-01 3.35156743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.667628 meters 0.012789688765546776 Centerline is valid? [True, True] Translation: X:9.48, Y:-1.00, Z:0.00 [[ 9.92472713e-01 1.22395830e-01 -4.14424281e-03 9.48430929e+00] [-1.22394620e-01 9.92481365e-01 5.45495410e-04 -9.96056623e-01] [ 4.17985013e-03 -3.41562869e-05 9.99991264e-01 2.27918031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697628000000002 meters 0.015618994370929036 Centerline is valid? [True, True] Translation: X:9.52, Y:-1.00, Z:-0.00 [[ 9.92256321e-01 1.24096271e-01 -5.24494766e-03 9.51685852e+00] [-1.24094348e-01 9.92270182e-01 6.91842077e-04 -1.00000528e+00] [ 5.29026020e-03 -3.56163132e-05 9.99986006e-01 -1.04302515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.727628000000001 meters 0.015823277673561224 Centerline is valid? [True, True] Translation: X:9.55, Y:-1.00, Z:-0.00 [[ 9.91960515e-01 1.26418591e-01 -5.71631832e-03 9.54931125e+00] [-1.26416336e-01 9.91976985e-01 7.55649766e-04 -1.00394310e+00] [ 5.76598439e-03 -2.69387164e-05 9.99983376e-01 -1.12414606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757628 meters 0.01592536928627129 Centerline is valid? [True, True] Translation: X:9.58, Y:-1.01, Z:-0.00 [[ 9.91796725e-01 1.27712610e-01 -5.36150241e-03 9.58158905e+00] [-1.27710636e-01 9.91811216e-01 7.10322879e-04 -1.00844993e+00] [ 5.40831542e-03 -1.97750222e-05 9.99985375e-01 -1.18436025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.787628000000002 meters 0.014806298073446923 Centerline is valid? [True, True] Translation: X:9.61, Y:-1.01, Z:-0.00 [[ 9.91804808e-01 1.27689488e-01 -4.31481896e-03 9.61410814e+00] [-1.27688204e-01 9.91814193e-01 5.72973994e-04 -1.01328447e+00] [ 4.35266144e-03 -1.73268811e-05 9.99990527e-01 -2.32106663e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817628000000001 meters 0.012673524162327473 Centerline is valid? [True, True] Translation: X:9.65, Y:-1.02, Z:0.00 [[ 9.91774829e-01 1.27958403e-01 -3.05532791e-03 9.64530213e+00] [-1.27957758e-01 9.91779535e-01 4.06634582e-04 -1.01834727e+00] [ 3.08224400e-03 -1.23370349e-05 9.99995250e-01 2.40388229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.847628 meters 0.012641487443791649 Centerline is valid? [True, True] Translation: X:9.68, Y:-1.02, Z:0.00 [[ 9.91724354e-01 1.28369402e-01 -2.02539866e-03 9.67773284e+00] [-1.28369118e-01 9.91726422e-01 2.70284184e-04 -1.02256589e+00] [ 2.04333759e-03 -8.04876902e-06 9.99997912e-01 3.79136768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877628000000001 meters 0.012606502562294848 Centerline is valid? [True, True] Translation: X:9.71, Y:-1.03, Z:0.00 [[ 9.91592325e-01 1.29391690e-01 -1.56549718e-03 9.71001756e+00] [-1.29391520e-01 9.91593561e-01 2.09447419e-04 -1.02753001e+00] [ 1.57943768e-03 -5.12439337e-06 9.99998753e-01 4.87774685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.907628 meters 0.012618631229367653 Centerline is valid? [True, True] Translation: X:9.74, Y:-1.03, Z:0.01 [[ 9.91495396e-01 1.30137293e-01 -1.07887178e-03 9.74291857e+00] [-1.30137213e-01 9.91495983e-01 1.44790076e-04 -1.03159250e+00] [ 1.08853962e-03 -3.15732762e-06 9.99999408e-01 5.32322917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937628000000002 meters 0.012560455190338422 Centerline is valid? [True, True] Translation: X:9.77, Y:-1.04, Z:0.01 [[ 9.91440511e-01 1.30558540e-01 -4.24263287e-04 9.77485382e+00] [-1.30558527e-01 9.91440602e-01 5.72749287e-05 -1.03585613e+00] [ 4.28109580e-04 -1.39349466e-06 9.99999908e-01 5.33925159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.967628000000001 meters 0.012618557606471239 Centerline is valid? [True, True] Translation: X:9.81, Y:-1.04, Z:0.01 [[ 9.91476072e-01 1.30288769e-01 1.85807397e-04 9.80669804e+00] [-1.30288766e-01 9.91476090e-01 -2.45874376e-05 -1.04015159e+00] [-1.87427059e-04 1.69239507e-07 9.99999982e-01 5.67437241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997628 meters 0.012630973502457881 Centerline is valid? [True, True] Translation: X:9.84, Y:-1.04, Z:0.01 [[ 9.91540371e-01 1.29797769e-01 4.81991438e-04 9.83893972e+00] [-1.29797753e-01 9.91540488e-01 -6.44974634e-05 -1.04432057e+00] [-4.86285652e-04 1.39043307e-06 9.99999882e-01 5.36820595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.027628000000002 meters 0.01285831489404502 Centerline is valid? [True, True] Translation: X:9.87, Y:-1.05, Z:0.00 [[ 9.91891077e-01 1.27090625e-01 -2.52041183e-04 9.86935292e+00] [-1.27090621e-01 9.91891109e-01 3.41613647e-05 -1.04947419e+00] [ 2.54338998e-04 -1.85228255e-06 9.99999968e-01 4.27039381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057628000000001 meters 0.01285831489404502 Centerline is valid? [True, True] Translation: X:9.90, Y:-1.05, Z:0.00 [[ 9.91856331e-01 1.27361515e-01 -2.52005082e-04 9.90144485e+00] [-1.27361511e-01 9.91856363e-01 3.44287457e-05 -1.05388281e+00] [ 2.54337741e-04 -2.05262151e-06 9.99999968e-01 4.22409034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.087628 meters 0.012920435181445037 Centerline is valid? [True, True] Translation: X:9.93, Y:-1.06, Z:0.00 [[ 9.92021497e-01 1.26064678e-01 -1.02256796e-03 9.93298298e+00] [-1.26064602e-01 9.92022024e-01 1.38714182e-04 -1.05841466e+00] [ 1.03189689e-03 -8.69782768e-06 9.99999468e-01 3.45624708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117628000000002 meters 0.013112606555649912 Centerline is valid? [True, True] Translation: X:9.96, Y:-1.06, Z:0.00 [[ 9.92287075e-01 1.23946695e-01 -1.89166798e-03 9.96469147e+00] [-1.23946431e-01 9.92288877e-01 2.56789773e-04 -1.06336159e+00] [ 1.90890934e-03 -2.03436781e-05 9.99998178e-01 3.08760416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.147628000000001 meters 0.014033112858052319 Centerline is valid? [True, True] Translation: X:10.00, Y:-1.07, Z:0.00 [[ 9.92956405e-01 1.18458307e-01 -2.28215167e-03 9.99546968e+00] [-1.18457906e-01 9.92959026e-01 3.10226062e-04 -1.07074691e+00] [ 2.30283195e-03 -3.77020458e-05 9.99997348e-01 3.18909959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177628 meters 0.015042977121341873 Centerline is valid? [True, True] Translation: X:10.03, Y:-1.08, Z:0.00 [[ 9.93414935e-01 1.14540745e-01 -2.68038879e-03 1.00256414e+01] [-1.14540177e-01 9.93418550e-01 3.64918228e-04 -1.07801636e+00] [ 2.70454595e-03 -5.55030105e-05 9.99996341e-01 3.79775035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.207628000000001 meters 0.015849166873854157 Centerline is valid? [True, True] Translation: X:10.06, Y:-1.08, Z:0.00 [[ 9.93816107e-01 1.11022702e-01 -1.87205523e-03 1.00569141e+01] [-1.11022418e-01 9.93817869e-01 2.55398240e-04 -1.08328797e+00] [ 1.88883694e-03 -4.59787865e-05 9.99998215e-01 4.56361065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237628 meters 0.01642984920862676 Centerline is valid? [True, True] Translation: X:10.09, Y:-1.09, Z:0.00 [[ 9.94369395e-01 1.05965090e-01 -9.52215030e-04 1.00879748e+01] [-1.05965014e-01 9.94369850e-01 1.29827742e-04 -1.08818015e+00] [ 9.60611125e-04 -2.81952541e-05 9.99999538e-01 4.99848334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.267628 meters 0.019320812961430935 Centerline is valid? [True, True] Translation: X:10.12, Y:-1.10, Z:0.01 [[ 9.95470715e-01 9.50624971e-02 1.08454324e-03 1.01179611e+01] [-9.50623924e-02 9.95471305e-01 -1.47807809e-04 -1.09634258e+00] [-1.09368265e-03 4.40390706e-05 9.99999401e-01 5.01349245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297628000000001 meters 0.021273923248237046 Centerline is valid? [True, True] Translation: X:10.15, Y:-1.10, Z:0.01 [[ 9.95900690e-01 9.04245684e-02 2.28304964e-03 1.01472389e+01] [-9.04240921e-02 9.95903302e-01 -3.11178686e-04 -1.10257626e+00] [-2.30183488e-03 1.03460377e-04 9.99997345e-01 5.12810021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.327628 meters 0.022246181979027654 Centerline is valid? [True, True] Translation: X:10.18, Y:-1.11, Z:0.00 [[ 9.96284456e-01 8.60907811e-02 2.37890998e-03 1.01777553e+01] [-8.60902517e-02 9.96287290e-01 -3.24261648e-04 -1.10771977e+00] [-2.39799372e-03 1.18255880e-04 9.99997118e-01 4.66616167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357628000000002 meters 0.022874327193264033 Centerline is valid? [True, True] Translation: X:10.21, Y:-1.11, Z:0.00 [[ 9.96555775e-01 8.29022797e-02 1.94943346e-03 1.02082152e+01] [-8.29019180e-02 9.96557676e-01 -2.65751365e-04 -1.11293762e+00] [-1.96475427e-03 1.03224285e-04 9.99998065e-01 4.80321683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.387628000000001 meters 0.0245644362347163 Centerline is valid? [True, True] Translation: X:10.24, Y:-1.12, Z:0.00 [[ 9.96918621e-01 7.84421007e-02 3.14770089e-04 1.02381419e+01] [-7.84420911e-02 9.96918671e-01 -4.29020763e-05 -1.11882860e+00] [-3.17165508e-04 1.80786548e-05 9.99999950e-01 3.79196299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417628 meters 0.024243784104140985 Centerline is valid? [True, True] Translation: X:10.27, Y:-1.12, Z:0.00 [[ 9.96985443e-01 7.75876004e-02 -4.36394497e-04 1.02697977e+01] [-7.75875815e-02 9.96985538e-01 5.99663950e-05 -1.12151082e+00] [ 4.39731651e-04 -2.59268293e-05 9.99999903e-01 2.52050631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.447628000000002 meters 0.024437999162260145 Centerline is valid? [True, True] Translation: X:10.30, Y:-1.12, Z:0.00 [[ 9.97013912e-01 7.72132932e-02 -1.16870049e-03 1.03013506e+01] [-7.72131582e-02 9.97014595e-01 1.60292284e-04 -1.12469410e+00] [ 1.17758814e-03 -6.95745810e-05 9.99999304e-01 1.60313394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477628000000001 meters 0.02523716379807531 Centerline is valid? [True, True] Translation: X:10.33, Y:-1.13, Z:0.00 [[ 9.96971643e-01 7.77636131e-02 -6.02195037e-04 1.03319927e+01] [-7.77635772e-02 9.96971825e-01 8.28782494e-05 -1.12663534e+00] [ 6.06816397e-04 -3.57984243e-05 9.99999815e-01 6.86662191e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.507628 meters 0.024778847553445678 Centerline is valid? [True, True] Translation: X:10.36, Y:-1.13, Z:0.00 [[ 9.96903260e-01 7.86376822e-02 6.93860404e-05 1.03641952e+01] [-7.86376817e-02 9.96903263e-01 -9.17584205e-06 -1.12887168e+00] [-6.98927370e-05 3.69106949e-06 9.99999998e-01 2.94303071e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537628000000002 meters 0.02597545562377373 Centerline is valid? [True, True] Translation: X:10.40, Y:-1.13, Z:0.00 [[ 9.96787992e-01 8.00848478e-02 3.39858344e-04 1.03954527e+01] [-8.00848367e-02 9.96788050e-01 -4.64071227e-05 -1.13389277e+00] [-3.42483243e-04 1.90405627e-05 9.99999941e-01 2.47527348e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.567628000000001 meters 0.024287202993191523 Centerline is valid? [True, True] Translation: X:10.43, Y:-1.14, Z:0.00 [[ 9.96670234e-01 8.15374428e-02 3.00163963e-04 1.04280424e+01] [-8.15374340e-02 9.96670279e-01 -4.11972208e-05 -1.13547945e+00] [-3.02523617e-04 1.65854443e-05 9.99999954e-01 8.30018375e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597628 meters 0.02361082630634879 Centerline is valid? [True, True] Translation: X:10.46, Y:-1.14, Z:0.00 [[ 9.96330894e-01 8.55838586e-02 3.91151092e-04 1.04583481e+01] [-8.55838440e-02 9.96330970e-01 -5.38493406e-05 -1.13830618e+00] [-3.94324581e-04 2.01755476e-05 9.99999922e-01 1.43907403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.627628000000001 meters 0.022560025311877518 Centerline is valid? [True, True] Translation: X:10.49, Y:-1.14, Z:0.00 [[ 9.96116989e-01 8.80376258e-02 5.66830699e-04 1.04901096e+01] [-8.80375957e-02 9.96117150e-01 -7.79702081e-05 -1.14026287e+00] [-5.71494092e-04 2.77650370e-05 9.99999836e-01 1.55544976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657628 meters 0.020921666515707708 Centerline is valid? [True, True] Translation: X:10.52, Y:-1.14, Z:0.00 [[ 9.95899125e-01 9.04602249e-02 1.37100922e-03 1.05215556e+01] [-9.04600505e-02 9.95900067e-01 -1.88848660e-04 -1.14066265e+00] [-1.38247147e-03 6.40526517e-05 9.99999042e-01 1.35004378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.687628000000002 meters 0.022662594832218948 Centerline is valid? [True, True] Translation: X:10.55, Y:-1.14, Z:-0.00 [[ 9.95687469e-01 9.27580514e-02 1.55198660e-03 1.05517243e+01] [-9.27578305e-02 9.95688676e-01 -2.13837787e-04 -1.14340999e+00] [-1.56513066e-03 6.89566951e-05 9.99998773e-01 -1.30414815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717628000000001 meters 0.019106385125607483 Centerline is valid? [True, True] Translation: X:10.58, Y:-1.14, Z:0.00 [[ 9.95036276e-01 9.94652600e-02 3.07765135e-03 1.05828371e+01] [-9.94644233e-02 9.95041029e-01 -4.24113697e-04 -1.14207675e+00] [-3.10457394e-03 1.15891697e-04 9.99995174e-01 4.25364896e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.747628 meters 0.018145031518517395 Centerline is valid? [True, True] Translation: X:10.61, Y:-1.14, Z:0.00 [[ 9.94774422e-01 1.02032475e-01 3.63644951e-03 1.06141195e+01] [-1.02031324e-01 9.94781060e-01 -5.01212724e-04 -1.14420535e+00] [-3.66861107e-03 1.27561841e-04 9.99993262e-01 7.38531473e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777628000000002 meters 0.019348208916467574 Centerline is valid? [True, True] Translation: X:10.64, Y:-1.15, Z:-0.00 [[ 9.94582816e-01 1.03883317e-01 3.64406110e-03 1.06448733e+01] [-1.03882172e-01 9.94589484e-01 -5.02631160e-04 -1.14839234e+00] [-3.67655984e-03 1.21355334e-04 9.99993234e-01 -3.24186192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.807628000000001 meters 0.017430914034638628 Centerline is valid? [True, True] Translation: X:10.68, Y:-1.15, Z:0.00 [[ 9.94346846e-01 1.06096095e-01 4.23892907e-03 1.06772552e+01] [-1.06094563e-01 9.94355873e-01 -5.85168100e-04 -1.15155526e+00] [-4.27708806e-03 1.32132727e-04 9.99990844e-01 1.61048484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837628 meters 0.018543693848757283 Centerline is valid? [True, True] Translation: X:10.71, Y:-1.16, Z:-0.00 [[ 9.94159329e-01 1.07879789e-01 3.02983338e-03 1.07088481e+01] [-1.07879013e-01 9.94163942e-01 -4.18749121e-04 -1.15523828e+00] [-3.05732566e-03 8.94479101e-05 9.99995322e-01 -5.46355413e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.867628000000002 meters 0.017373386749072177 Centerline is valid? [True, True] Translation: X:10.74, Y:-1.16, Z:0.00 [[ 9.94036100e-01 1.08999839e-01 3.35672924e-03 1.07396122e+01] [-1.08998890e-01 9.94041763e-01 -4.64764583e-04 -1.15980070e+00] [-3.38738831e-03 9.61130107e-05 9.99994258e-01 1.54097983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897628000000001 meters 0.01737152659695486 Centerline is valid? [True, True] Translation: X:10.77, Y:-1.16, Z:0.00 [[ 9.94021900e-01 1.09140155e-01 2.98143848e-03 1.07719878e+01] [-1.09139405e-01 9.94026367e-01 -4.13529931e-04 -1.16370454e+00] [-3.00876118e-03 8.56653856e-05 9.99995470e-01 7.34456425e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.927628 meters 0.018297351743153813 Centerline is valid? [True, True] Translation: X:10.80, Y:-1.17, Z:0.00 [[ 9.94231698e-01 1.07205687e-01 3.20503866e-03 1.08022656e+01] [-1.07204808e-01 9.94236859e-01 -4.45373042e-04 -1.17001829e+00] [-3.23431409e-03 9.92084419e-05 9.99994765e-01 7.22983197e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957628000000001 meters 0.019338503057679854 Centerline is valid? [True, True] Translation: X:10.83, Y:-1.18, Z:0.00 [[ 9.94408870e-01 1.05538908e-01 3.54092943e-03 1.08325193e+01] [-1.05537821e-01 9.94415168e-01 -4.92876617e-04 -1.17723308e+00] [-3.57317159e-03 1.16418904e-04 9.99993609e-01 1.56106656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.987628 meters 0.021068498106080705 Centerline is valid? [True, True] Translation: X:10.86, Y:-1.19, Z:0.00 [[ 9.94874616e-01 1.01065422e-01 3.20601669e-03 1.08627940e+01] [-1.01064507e-01 9.94879775e-01 -4.46606071e-04 -1.18626912e+00] [-3.23473759e-03 1.20302548e-04 9.99994761e-01 1.56475121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017628000000002 meters 0.022222188778192188 Centerline is valid? [True, True] Translation: X:10.89, Y:-1.19, Z:0.00 [[ 9.95104960e-01 9.87990189e-02 2.20742173e-03 1.08935472e+01] [-9.87985790e-02 9.95107404e-01 -3.07707457e-04 -1.19328303e+00] [-2.22702291e-03 8.81110865e-05 9.99997516e-01 3.37192403e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.047628000000001 meters 0.022403286095397178 Centerline is valid? [True, True] Translation: X:10.92, Y:-1.20, Z:-0.00 [[ 9.95307629e-01 9.67525791e-02 1.28900947e-03 1.09247568e+01] [-9.67524271e-02 9.95308462e-01 -1.79837839e-04 -1.19940550e+00] [-1.30036181e-03 5.42791786e-05 9.99999153e-01 -8.03644323e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077628 meters 0.023747612267118617 Centerline is valid? [True, True] Translation: X:10.95, Y:-1.21, Z:-0.00 [[ 9.95487235e-01 9.48950883e-02 2.94583882e-04 1.09547429e+01] [-9.48950803e-02 9.95487279e-01 -4.11329452e-05 -1.20725903e+00] [-2.97157822e-04 1.29927607e-05 9.99999956e-01 -1.61814025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.107628000000002 meters 0.02111976629928231 Centerline is valid? [True, True] Translation: X:10.99, Y:-1.21, Z:-0.00 [[ 9.95585104e-01 9.38624802e-02 -3.67138826e-04 1.09866366e+01] [-9.38624674e-02 9.95585172e-01 5.17707225e-05 -1.20959059e+00] [ 3.70377300e-04 -1.70816040e-05 9.99999931e-01 -1.48520493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137628000000001 meters 0.0267386789419476 Centerline is valid? [True, True] Translation: X:11.02, Y:-1.22, Z:-0.00 [[ 9.95598755e-01 9.37123582e-02 -1.05538326e-03 1.10154644e+01] [-9.37122535e-02 9.95599313e-01 1.48286886e-04 -1.22453397e+00] [ 1.06463516e-03 -4.87318957e-05 9.99999432e-01 -1.70128654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.167628 meters 0.02291146571126021 Centerline is valid? [True, True] Translation: X:11.05, Y:-1.22, Z:-0.00 [[ 9.95551756e-01 9.41809806e-02 -2.57743606e-03 1.10490848e+01] [-9.41803567e-02 9.95555086e-01 3.62612998e-04 -1.22134495e+00] [ 2.60013083e-03 -1.18256160e-04 9.99996613e-01 -4.81279450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197628000000002 meters 0.0220010542631396 Centerline is valid? [True, True] Translation: X:11.08, Y:-1.23, Z:-0.01 [[ 9.95369883e-01 9.60666821e-02 -3.16051952e-03 1.10810855e+01] [-9.60657515e-02 9.95374891e-01 4.45297666e-04 -1.22534411e+00] [ 3.18868004e-03 -1.39618203e-04 9.99994906e-01 -5.02980614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.227628000000001 meters 0.019627781582180554 Centerline is valid? [True, True] Translation: X:11.11, Y:-1.23, Z:-0.00 [[ 9.95082795e-01 9.89936981e-02 -3.23711571e-03 1.11123495e+01] [-9.89927379e-02 9.95088051e-01 4.55894091e-04 -1.22933867e+00] [ 3.26634581e-03 -1.33201419e-04 9.99994657e-01 -3.09983824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257628 meters 0.02263424697890789 Centerline is valid? [True, True] Translation: X:11.14, Y:-1.24, Z:-0.01 [[ 9.94910866e-01 1.00657278e-01 -4.52552924e-03 1.11429100e+01] [-1.00655413e-01 9.94921143e-01 6.38653063e-04 -1.23583293e+00] [ 4.56682981e-03 -1.79883859e-04 9.99989556e-01 -6.27574121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.287628000000002 meters 0.018134727487403367 Centerline is valid? [True, True] Translation: X:11.17, Y:-1.24, Z:-0.00 [[ 9.94290226e-01 1.06624069e-01 -4.27251764e-03 1.11735585e+01] [-1.06622462e-01 9.94299395e-01 6.02777065e-04 -1.23881838e+00] [ 4.31243225e-03 -1.43788994e-04 9.99990691e-01 -2.95284209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317628000000001 meters 0.018134727487403367 Centerline is valid? [True, True] Translation: X:11.21, Y:-1.24, Z:-0.00 [[ 9.94260393e-01 1.06901910e-01 -4.27229808e-03 1.12056369e+01] [-1.06900299e-01 9.94269561e-01 6.04331774e-04 -1.24341325e+00] [ 4.31242016e-03 -1.44153206e-04 9.99990691e-01 -2.99909221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.347628000000002 meters 0.01903965310222731 Centerline is valid? [True, True] Translation: X:11.24, Y:-1.25, Z:-0.00 [[ 9.94039075e-01 1.08906206e-01 -5.07491658e-03 1.12373412e+01] [-1.08903953e-01 9.94052017e-01 7.19025553e-04 -1.24744699e+00] [ 5.12303741e-03 -1.62061020e-04 9.99986864e-01 -4.25455788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377628000000001 meters 0.017022524385545846 Centerline is valid? [True, True] Translation: X:11.27, Y:-1.25, Z:-0.00 [[ 9.93701014e-01 1.11984306e-01 -4.22011268e-03 1.12677306e+01] [-1.11982776e-01 9.93709968e-01 5.97821405e-04 -1.25199143e+00] [ 4.26051465e-03 -1.21475804e-04 9.99990917e-01 -2.57498191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.407628 meters 0.016519099360786587 Centerline is valid? [True, True] Translation: X:11.30, Y:-1.26, Z:-0.00 [[ 9.93381244e-01 1.14821154e-01 -3.13157493e-03 1.12987264e+01] [-1.14820322e-01 9.93386177e-01 4.44627060e-04 -1.25700995e+00] [ 3.16191584e-03 -8.21157404e-05 9.99994998e-01 -1.85119020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437628000000002 meters 0.015197656950718017 Centerline is valid? [True, True] Translation: X:11.33, Y:-1.26, Z:-0.00 [[ 9.92711282e-01 1.20508523e-01 -1.41681054e-03 1.13290668e+01] [-1.20508358e-01 9.92712292e-01 2.01310390e-04 -1.26001042e+00] [ 1.43074485e-03 -2.91055839e-05 9.99998976e-01 -1.41757097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.467628000000001 meters 0.014278597711249444 Centerline is valid? [True, True] Translation: X:11.36, Y:-1.26, Z:-0.00 [[ 9.92293771e-01 1.23905737e-01 -6.63916295e-04 1.13612074e+01] [-1.23905701e-01 9.92293993e-01 9.47683922e-05 -1.26367950e+00] [ 6.70542499e-04 -1.17750709e-05 9.99999775e-01 -9.03605163e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497628 meters 0.016758097580777356 Centerline is valid? [True, True] Translation: X:11.39, Y:-1.27, Z:-0.00 [[ 9.91976681e-01 1.26413751e-01 -1.35172523e-03 1.13926790e+01] [-1.26413606e-01 9.91977602e-01 1.92916450e-04 -1.26831439e+00] [ 1.36526844e-03 -2.04921607e-05 9.99999068e-01 -2.99753351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.527628000000002 meters 0.012221647723059649 Centerline is valid? [True, True] Translation: X:11.42, Y:-1.27, Z:0.00 [[ 9.90917508e-01 1.34471155e-01 -4.02005999e-06 1.14249475e+01] [-1.34471155e-01 9.90917508e-01 9.28989278e-07 -1.27020622e+00] [ 4.10847009e-06 -3.79969629e-07 1.00000000e+00 1.34407150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557628000000001 meters 0.011996263057472232 Centerline is valid? [True, True] Translation: X:11.46, Y:-1.27, Z:0.00 [[ 9.90348517e-01 1.38599383e-01 -1.62547019e-04 1.14569421e+01] [-1.38599381e-01 9.90348530e-01 2.35975675e-05 -1.27272993e+00] [ 1.64248810e-04 -8.40899837e-07 9.99999987e-01 9.75664905e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.587628 meters 0.011891093993083862 Centerline is valid? [True, True] Translation: X:11.49, Y:-1.28, Z:0.00 [[ 9.89817672e-01 1.42337488e-01 -1.00736075e-03 1.14898194e+01] [-1.42337415e-01 9.89818185e-01 1.44723437e-04 -1.27573678e+00] [ 1.01770356e-03 1.35309142e-07 9.99999482e-01 7.26486144e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617628000000002 meters 0.012287528492530566 Centerline is valid? [True, True] Translation: X:11.52, Y:-1.28, Z:-0.00 [[ 9.88852423e-01 1.48882492e-01 -2.21113000e-03 1.15213884e+01] [-1.48882155e-01 9.88854895e-01 3.17261322e-04 -1.27626211e+00] [ 2.23372138e-03 1.54731735e-05 9.99997505e-01 -1.86183693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.647628000000001 meters 0.0125651069862739 Centerline is valid? [True, True] Translation: X:11.55, Y:-1.28, Z:-0.00 [[ 9.88439074e-01 1.51583795e-01 -3.24796037e-03 1.15534985e+01] [-1.51583079e-01 9.88444410e-01 4.66927975e-04 -1.27984145e+00] [ 3.28120698e-03 3.08059759e-05 9.99994616e-01 -2.38864503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677628 meters 0.012724886006954882 Centerline is valid? [True, True] Translation: X:11.59, Y:-1.28, Z:-0.00 [[ 9.88138355e-01 1.53516159e-01 -3.92176168e-03 1.15856575e+01] [-1.53515126e-01 9.88146136e-01 5.64714356e-04 -1.28349180e+00] [ 3.96196643e-03 4.40338248e-05 9.99992150e-01 -2.68368607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.707628000000001 meters 0.013005180821258013 Centerline is valid? [True, True] Translation: X:11.62, Y:-1.29, Z:-0.00 [[ 9.87938464e-01 1.54776666e-01 -4.66629512e-03 1.16172421e+01] [-1.54775213e-01 9.87949483e-01 6.73020264e-04 -1.28672238e+00] [ 4.71423168e-03 5.73242151e-05 9.99988886e-01 -3.09442390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737628 meters 0.012919483686533772 Centerline is valid? [True, True] Translation: X:11.65, Y:-1.29, Z:-0.00 [[ 9.87937201e-01 1.54742612e-01 -5.90007807e-03 1.16494297e+01] [-1.54740284e-01 9.87954816e-01 8.51830018e-04 -1.29078305e+00] [ 5.96082494e-03 7.14251937e-05 9.99982232e-01 -3.87424115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.767628000000002 meters 0.012495192265748247 Centerline is valid? [True, True] Translation: X:11.68, Y:-1.30, Z:-0.01 [[ 9.88344969e-01 1.52042634e-01 -7.56702672e-03 1.16801009e+01] [-1.52038718e-01 9.88373934e-01 1.09344153e-03 -1.29567902e+00] [ 7.64530169e-03 6.97836075e-05 9.99970772e-01 -6.28410375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797628000000001 meters 0.012322412243965087 Centerline is valid? [True, True] Translation: X:11.71, Y:-1.30, Z:-0.01 [[ 9.88597880e-01 1.50369377e-01 -7.95496242e-03 1.17107249e+01] [-1.50364980e-01 9.88629884e-01 1.15141485e-03 -1.30117379e+00] [ 8.03765110e-03 5.78614863e-05 9.99967696e-01 -6.26579725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.827628 meters 0.012199679110558269 Centerline is valid? [True, True] Translation: X:11.74, Y:-1.31, Z:-0.01 [[ 9.88676252e-01 1.49880269e-01 -7.42791453e-03 1.17415929e+01] [-1.49876409e-01 9.88704153e-01 1.07681765e-03 -1.30591199e+00] [ 7.50540366e-03 4.86451135e-05 9.99971833e-01 -5.77521177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857628000000002 meters 0.011943127135427407 Centerline is valid? [True, True] Translation: X:11.77, Y:-1.31, Z:-0.00 [[ 9.88845783e-01 1.48791352e-01 -6.71948360e-03 1.17733232e+01] [-1.48788155e-01 9.88868612e-01 9.75889236e-04 -1.31245665e+00] [ 6.78989030e-03 3.47756122e-05 9.99976948e-01 -4.06832511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.887628000000001 meters 0.011735605662199741 Centerline is valid? [True, True] Translation: X:11.80, Y:-1.32, Z:-0.00 [[ 9.89300132e-01 1.45810560e-01 -4.95277661e-03 1.18036166e+01] [-1.45808780e-01 9.89312529e-01 7.20525196e-04 -1.31923157e+00] [ 5.00490413e-03 9.34264239e-06 9.99987475e-01 -2.49693607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917628 meters 0.011680384864145136 Centerline is valid? [True, True] Translation: X:11.83, Y:-1.32, Z:-0.00 [[ 9.89582186e-01 1.43917855e-01 -3.84038172e-03 1.18344539e+01] [-1.43916767e-01 9.89589638e-01 5.59606147e-04 -1.32412991e+00] [ 3.88093927e-03 -1.08095501e-06 9.99992469e-01 -2.52902793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.947628000000002 meters 0.011717745323063074 Centerline is valid? [True, True] Translation: X:11.87, Y:-1.33, Z:-0.00 [[ 9.89915603e-01 1.41623625e-01 -3.13822770e-03 1.18672249e+01] [-1.41622884e-01 9.89920577e-01 4.58329085e-04 -1.32985975e+00] [ 3.17150640e-03 -9.26225660e-06 9.99994971e-01 -2.71028870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977628000000001 meters 0.011898513614934807 Centerline is valid? [True, True] Translation: X:11.90, Y:-1.34, Z:-0.00 [[ 9.90209810e-01 1.39545995e-01 -3.38335574e-03 1.18985862e+01] [-1.39545118e-01 9.90215590e-01 4.94963999e-04 -1.33607352e+00] [ 3.41932185e-03 -1.79874294e-05 9.99994154e-01 -3.53808798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.007628 meters 0.011925765435859501 Centerline is valid? [True, True] Translation: X:11.93, Y:-1.34, Z:-0.00 [[ 9.90275096e-01 1.39093698e-01 -2.85978376e-03 1.19310849e+01] [-1.39093067e-01 9.90279225e-01 4.19246311e-04 -1.34003362e+00] [ 2.89029897e-03 -1.73930866e-05 9.99995823e-01 -3.32101662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037628000000002 meters 0.01226990382705427 Centerline is valid? [True, True] Translation: X:11.96, Y:-1.35, Z:-0.00 [[ 9.90659212e-01 1.36306033e-01 -3.87175823e-03 1.19620582e+01] [-1.36304853e-01 9.90666778e-01 5.68276076e-04 -1.34638834e+00] [ 3.91308171e-03 -3.52284943e-05 9.99992343e-01 -3.13443027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.067628000000001 meters 0.012748963534146073 Centerline is valid? [True, True] Translation: X:11.99, Y:-1.35, Z:-0.00 [[ 9.90990082e-01 1.33856716e-01 -4.58655977e-03 1.19930198e+01] [-1.33855029e-01 9.91000695e-01 6.74177758e-04 -1.35334766e+00] [ 4.63552714e-03 -5.41693797e-05 9.99989254e-01 -3.15005015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097628000000002 meters 0.01344101550383732 Centerline is valid? [True, True] Translation: X:12.02, Y:-1.36, Z:-0.00 [[ 9.91345618e-01 1.31174784e-01 -5.20022371e-03 1.20245603e+01] [-1.31172573e-01 9.91359254e-01 7.65633317e-04 -1.35985675e+00] [ 5.25572168e-03 -7.68805120e-05 9.99986186e-01 -3.01861067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.127628000000001 meters 0.015252850253126898 Centerline is valid? [True, True] Translation: X:12.06, Y:-1.37, Z:-0.00 [[ 9.92059633e-01 1.25663553e-01 -5.13390087e-03 1.20552213e+01] [-1.25661317e-01 9.92072911e-01 7.57000940e-04 -1.36628186e+00] [ 5.18833140e-03 -1.05857328e-04 9.99986535e-01 -4.58561941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157628 meters 0.016323444161675107 Centerline is valid? [True, True] Translation: X:12.09, Y:-1.37, Z:-0.01 [[ 9.92404345e-01 1.22905133e-01 -5.28626831e-03 1.20867503e+01] [-1.22902717e-01 9.92418416e-01 7.80736813e-04 -1.37218696e+00] [ 5.34214659e-03 -1.25109867e-04 9.99985723e-01 -5.11434176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.187628000000002 meters 0.01750377448760517 Centerline is valid? [True, True] Translation: X:12.12, Y:-1.38, Z:-0.01 [[ 9.92770418e-01 1.19897786e-01 -5.60520447e-03 1.21186435e+01] [-1.19895021e-01 9.92786230e-01 8.27960712e-04 -1.37860481e+00] [ 5.66404047e-03 -1.49938796e-04 9.99983948e-01 -5.40279358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217628000000001 meters 0.01854816929689051 Centerline is valid? [True, True] Translation: X:12.15, Y:-1.39, Z:-0.01 [[ 9.93159231e-01 1.16654857e-01 -5.13672570e-03 1.21503141e+01] [-1.16652490e-01 9.93172503e-01 7.59119055e-04 -1.38503735e+00] [ 5.19020964e-03 -1.54714254e-04 9.99986519e-01 -5.63770098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.247628 meters 0.020901583618358293 Centerline is valid? [True, True] Translation: X:12.18, Y:-1.39, Z:-0.00 [[ 9.93809973e-01 1.11001430e-01 -4.51891215e-03 1.21805681e+01] [-1.10999539e-01 9.93820233e-01 6.67832372e-04 -1.39368089e+00] [ 4.56511667e-03 -1.62101307e-04 9.99989567e-01 -4.36308532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277628000000002 meters 0.02207336135455571 Centerline is valid? [True, True] Translation: X:12.21, Y:-1.40, Z:-0.00 [[ 9.93990828e-01 1.09403778e-01 -3.61209103e-03 1.22105071e+01] [-1.09402558e-01 9.93997382e-01 5.34387251e-04 -1.40004012e+00] [ 3.64887301e-03 -1.36004029e-04 9.99993334e-01 -3.47907535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.307628000000001 meters 0.02289993796151072 Centerline is valid? [True, True] Translation: X:12.24, Y:-1.41, Z:-0.00 [[ 9.94147906e-01 1.07971195e-01 -3.48730682e-03 1.22415316e+01] [-1.07970045e-01 9.94154013e-01 5.16827651e-04 -1.40597735e+00] [ 3.52272257e-03 -1.37278453e-04 9.99993786e-01 -2.68229357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337628 meters 0.02397546649985514 Centerline is valid? [True, True] Translation: X:12.27, Y:-1.41, Z:-0.00 [[ 9.94255164e-01 1.06983334e-01 -3.35188672e-03 1.22716468e+01] [-1.06982265e-01 9.94260805e-01 4.97017573e-04 -1.41201689e+00] [ 3.38582219e-03 -1.35569855e-04 9.99994259e-01 -2.12329580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.367628000000002 meters 0.024396333071585046 Centerline is valid? [True, True] Translation: X:12.30, Y:-1.42, Z:-0.00 [[ 9.94291261e-01 1.06668143e-01 -2.60671561e-03 1.23030809e+01] [-1.06667494e-01 9.94294672e-01 3.87316286e-04 -1.41647334e+00] [ 2.63315775e-03 -1.07053376e-04 9.99996528e-01 -1.58200030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397628000000001 meters 0.02210792451165739 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.42, Z:-0.00 [[ 9.94173407e-01 1.07768237e-01 -2.28971906e-03 1.23350748e+01] [-1.07767738e-01 9.94176040e-01 3.40810180e-04 -1.41748861e+00] [ 2.31311234e-03 -9.20665746e-05 9.99997321e-01 -1.23364292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.427628000000002 meters 0.01832154478052667 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.41, Z:-0.00 [[ 9.93918750e-01 1.10104819e-01 -1.56429395e-03 1.23672490e+01] [-1.10104589e-01 9.93919979e-01 2.32714500e-04 -1.41460312e+00] [ 1.58040600e-03 -5.90633624e-05 9.99998749e-01 -6.96897463e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457628000000001 meters 0.02098072128988258 Centerline is valid? [True, True] Translation: X:12.40, Y:-1.42, Z:-0.00 [[ 9.93798526e-01 1.11173164e-01 -2.23984302e-03 1.23980215e+01] [-1.11172693e-01 9.93801047e-01 3.33989441e-04 -1.41844417e+00] [ 2.26308900e-03 -8.29088338e-05 9.99997436e-01 -4.28434705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.487628 meters 0.016930902198850097 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.42, Z:-0.00 [[ 9.93491187e-01 1.13889449e-01 -2.11064477e-03 1.24300351e+01] [-1.13889035e-01 9.93493426e-01 3.15314673e-04 -1.42000447e+00] [ 2.13282272e-03 -7.28830521e-05 9.99997723e-01 -1.61618457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517628000000002 meters 0.01722360836810988 Centerline is valid? [True, True] Translation: X:12.46, Y:-1.42, Z:-0.00 [[ 9.93244264e-01 1.16008663e-01 -2.79671950e-03 1.24605244e+01] [-1.16007944e-01 9.93248198e-01 4.18325660e-04 -1.42459280e+00] [ 2.82636600e-03 -9.10578823e-05 9.99996002e-01 -2.46897444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.547628000000001 meters 0.016861995722099607 Centerline is valid? [True, True] Translation: X:12.49, Y:-1.43, Z:-0.00 [[ 9.92963787e-01 1.18366801e-01 -3.49533909e-03 1.24925607e+01] [-1.18365690e-01 9.92969934e-01 5.23627931e-04 -1.42890405e+00] [ 3.53274679e-03 -1.06215349e-04 9.99993754e-01 -2.79335837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577628 meters 0.01880272307018811 Centerline is valid? [True, True] Translation: X:12.52, Y:-1.43, Z:-0.01 [[ 9.92784427e-01 1.19819484e-01 -4.73008068e-03 1.25244855e+01] [-1.19817462e-01 9.92795685e-01 7.09666875e-04 -1.43272083e+00] [ 4.78103561e-03 -1.37799960e-04 9.99988561e-01 -5.46726780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.607628000000002 meters 0.015424343468416849 Centerline is valid? [True, True] Translation: X:12.56, Y:-1.44, Z:-0.00 [[ 9.92170384e-01 1.24797297e-01 -4.85420705e-03 1.25550643e+01] [-1.24795227e-01 9.92182252e-01 7.28150921e-04 -1.43578925e+00] [ 4.90712934e-03 -1.16667910e-04 9.99987953e-01 -2.79569976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637628000000001 meters 0.01760704466898152 Centerline is valid? [True, True] Translation: X:12.59, Y:-1.44, Z:-0.01 [[ 9.92033451e-01 1.25838456e-01 -5.85794327e-03 1.25874240e+01] [-1.25835449e-01 9.92050737e-01 8.80492718e-04 -1.43866124e+00] [ 5.92217678e-03 -1.36341306e-04 9.99982454e-01 -5.75723153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.667628 meters 0.014239585532395765 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.44, Z:-0.00 [[ 9.91673234e-01 1.28699653e-01 -4.53828477e-03 1.26195414e+01] [-1.28697873e-01 9.91683614e-01 6.83370749e-04 -1.44214196e+00] [ 4.58849222e-03 -9.36128842e-05 9.99989468e-01 -3.04617077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697628000000002 meters 0.013863252516816594 Centerline is valid? [True, True] Translation: X:12.65, Y:-1.45, Z:-0.00 [[ 9.91513238e-01 1.29945694e-01 -3.95163921e-03 1.26516123e+01] [-1.29944350e-01 9.91521110e-01 5.96094644e-04 -1.44573605e+00] [ 3.99559362e-03 -7.75425434e-05 9.99992015e-01 -3.12081116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.727628000000001 meters 0.014138301269406852 Centerline is valid? [True, True] Translation: X:12.68, Y:-1.45, Z:-0.00 [[ 9.91433960e-01 1.30595169e-01 -1.89878197e-03 1.26817606e+01] [-1.30594858e-01 9.91435777e-01 2.87034024e-04 -1.45138634e+00] [ 1.92000564e-03 -3.66041162e-05 9.99998156e-01 -2.43984434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757628 meters 0.014237539456714594 Centerline is valid? [True, True] Translation: X:12.71, Y:-1.46, Z:-0.00 [[ 9.91464854e-01 1.30370111e-01 -1.03777694e-03 1.27143649e+01] [-1.30370018e-01 9.91465397e-01 1.57396885e-04 -1.45789142e+00] [ 1.04943978e-03 -2.07584815e-05 9.99999449e-01 -1.71953514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.787628000000002 meters 0.014339741005276033 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.46, Z:-0.00 [[ 9.91585197e-01 1.29453595e-01 -7.50234357e-04 1.27453985e+01] [-1.29453546e-01 9.91585481e-01 1.14039384e-04 -1.46420273e+00] [ 7.58684304e-04 -1.59592674e-05 9.99999712e-01 -9.80229759e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817628000000001 meters 0.01534798807048933 Centerline is valid? [True, True] Translation: X:12.78, Y:-1.47, Z:-0.00 [[ 9.91807159e-01 1.27740621e-01 -9.44735554e-04 1.27755530e+01] [-1.27740542e-01 9.91807609e-01 1.43471036e-04 -1.47428415e+00] [ 9.55322991e-04 -2.16145692e-05 9.99999543e-01 -1.31067880e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.847628000000002 meters 0.01490355723994599 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.48, Z:-0.00 [[ 9.91900491e-01 1.27011762e-01 -1.19523489e-03 1.28074553e+01] [-1.27011635e-01 9.91901211e-01 1.81938445e-04 -1.47915544e+00] [ 1.20866325e-03 -2.86560959e-05 9.99999269e-01 -2.51693022e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877628000000001 meters 0.015194521731111526 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.49, Z:-0.00 [[ 9.91983436e-01 1.26358021e-01 -1.58558451e-03 1.28390013e+01] [-1.26357796e-01 9.91984702e-01 2.41643255e-04 -1.48534454e+00] [ 1.60340914e-03 -3.93551433e-05 9.99998714e-01 -1.03829296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.907628 meters 0.015107112012464308 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.49, Z:-0.00 [[ 9.91830571e-01 1.27554370e-01 -1.41433610e-03 1.28709928e+01] [-1.27554192e-01 9.91831579e-01 2.15938855e-04 -1.48975241e+00] [ 1.43032716e-03 -3.37702588e-05 9.99998977e-01 -1.03513610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937628000000002 meters 0.014665338198817053 Centerline is valid? [True, True] Translation: X:12.90, Y:-1.49, Z:-0.00 [[ 9.91407858e-01 1.30794681e-01 -1.79163499e-03 1.29026215e+01] [-1.30794400e-01 9.91409476e-01 2.73895175e-04 -1.49186290e+00] [ 1.81206794e-03 -3.72060060e-05 9.99998358e-01 -2.43737544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.967628000000001 meters 0.014273220484840485 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.50, Z:-0.00 [[ 9.91324668e-01 1.31403246e-01 -2.93096435e-03 1.29347554e+01] [-1.31402493e-01 9.91328999e-01 4.48759719e-04 -1.49631085e+00] [ 2.96451843e-03 -5.97305576e-05 9.99995604e-01 -3.28299444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997628 meters 0.014201939849186707 Centerline is valid? [True, True] Translation: X:12.97, Y:-1.50, Z:-0.00 [[ 9.91077216e-01 1.33254809e-01 -3.01799190e-03 1.29660696e+01] [-1.33254017e-01 9.91081809e-01 4.62781014e-04 -1.50038984e+00] [ 3.05274467e-03 -5.64921743e-05 9.99995339e-01 -3.46198917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.027628000000002 meters 0.01394479317865881 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.50, Z:-0.00 [[ 9.90928231e-01 1.34358149e-01 -3.02140853e-03 1.29981451e+01] [-1.34357358e-01 9.90932836e-01 4.64067586e-04 -1.50376933e+00] [ 3.05636418e-03 -5.39092041e-05 9.99995328e-01 -4.00502293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057628000000001 meters 0.014036262581758656 Centerline is valid? [True, True] Translation: X:13.03, Y:-1.51, Z:-0.01 [[ 9.90817893e-01 1.35115537e-01 -4.86764158e-03 1.30290880e+01] [-1.35113489e-01 9.90829846e-01 7.48754425e-04 -1.51047094e+00] [ 4.92417291e-03 -8.41952459e-05 9.99987873e-01 -5.03111467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.087628 meters 0.014049180095700492 Centerline is valid? [True, True] Translation: X:13.06, Y:-1.52, Z:-0.00 [[ 9.90771727e-01 1.35451055e-01 -4.93922161e-03 1.30620117e+01] [-1.35448943e-01 9.90784035e-01 7.61189879e-04 -1.51510298e+00] [ 4.99680588e-03 -8.51530638e-05 9.99987512e-01 -4.89813225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117628000000002 meters 0.014223937582508497 Centerline is valid? [True, True] Translation: X:13.09, Y:-1.52, Z:-0.01 [[ 9.90803244e-01 1.35232205e-01 -4.60245001e-03 1.30937075e+01] [-1.35230363e-01 9.90813930e-01 7.10512399e-04 -1.52047361e+00] [ 4.65625574e-03 -8.15870053e-05 9.99989156e-01 -5.07015403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.147628000000001 meters 0.014536349912684076 Centerline is valid? [True, True] Translation: X:13.13, Y:-1.53, Z:-0.01 [[ 9.90914825e-01 1.34388442e-01 -5.24934949e-03 1.31255634e+01] [-1.34386027e-01 9.90928724e-01 8.11593764e-04 -1.52616698e+00] [ 5.31080001e-03 -9.87810700e-05 9.99985893e-01 -5.25864743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177628000000002 meters 0.015058193811051442 Centerline is valid? [True, True] Translation: X:13.16, Y:-1.53, Z:-0.01 [[ 9.91089146e-01 1.33126592e-01 -4.42881497e-03 1.31558043e+01] [-1.33124856e-01 9.91099038e-01 6.85766447e-04 -1.53123537e+00] [ 4.48068800e-03 -9.00703260e-05 9.99989958e-01 -5.60686806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.207628000000001 meters 0.01831790195537064 Centerline is valid? [True, True] Translation: X:13.19, Y:-1.54, Z:-0.01 [[ 9.91319764e-01 1.31381206e-01 -4.90964432e-03 1.31871228e+01] [-1.31379046e-01 9.91331915e-01 7.61389554e-04 -1.53658070e+00] [ 4.96711939e-03 -1.09756126e-04 9.99987658e-01 -8.91809991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237628 meters 0.01831790195537064 Centerline is valid? [True, True] Translation: X:13.22, Y:-1.54, Z:-0.01 [[ 9.91284263e-01 1.31648803e-01 -4.90943119e-03 1.32191288e+01] [-1.31646639e-01 9.91296414e-01 7.62762974e-04 -1.54162646e+00] [ 4.96711837e-03 -1.09804816e-04 9.99987658e-01 -8.96448409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.267628000000002 meters 0.016145260703642843 Centerline is valid? [True, True] Translation: X:13.25, Y:-1.55, Z:-0.01 [[ 9.91313812e-01 1.31454225e-01 -4.08815024e-03 1.32516074e+01] [-1.31452718e-01 9.91322237e-01 6.36347954e-04 -1.54838181e+00] [ 4.13632487e-03 -9.34220552e-05 9.99991441e-01 -6.48401517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297628000000001 meters 0.016928182578395824 Centerline is valid? [True, True] Translation: X:13.28, Y:-1.56, Z:-0.01 [[ 9.91521381e-01 1.29889170e-01 -3.76214891e-03 1.32831725e+01] [-1.29887879e-01 9.91528514e-01 5.86481006e-04 -1.55576044e+00] [ 3.80645545e-03 -9.28509149e-05 9.99992751e-01 -5.43464610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.327628 meters 0.01725422138082993 Centerline is valid? [True, True] Translation: X:13.32, Y:-1.56, Z:-0.00 [[ 9.91558887e-01 1.29616806e-01 -3.23387511e-03 1.33156511e+01] [-1.29615847e-01 9.91564157e-01 5.05101240e-04 -1.56168837e+00] [ 3.27206425e-03 -8.16761607e-05 9.99994643e-01 -4.67681686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357628000000002 meters 0.01782460645541936 Centerline is valid? [True, True] Translation: X:13.35, Y:-1.57, Z:-0.00 [[ 9.91636629e-01 1.29029780e-01 -2.84797079e-03 1.33457249e+01] [-1.29029033e-01 9.91640716e-01 4.45419928e-04 -1.56785276e+00] [ 2.88163623e-03 -7.42238002e-05 9.99995845e-01 -4.56251032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.387628000000001 meters 0.01810645811368715 Centerline is valid? [True, True] Translation: X:13.38, Y:-1.57, Z:-0.00 [[ 9.91703685e-01 1.28512458e-01 -2.88966284e-03 1.33775524e+01] [-1.28511685e-01 9.91707891e-01 4.52634303e-04 -1.57329693e+00] [ 2.92387059e-03 -7.75236661e-05 9.99995722e-01 -4.76856216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417628 meters 0.017281464620003666 Centerline is valid? [True, True] Translation: X:13.41, Y:-1.58, Z:-0.00 [[ 9.91702813e-01 1.28512842e-01 -3.15907755e-03 1.34105376e+01] [-1.28511915e-01 9.91707841e-01 4.95733405e-04 -1.57662683e+00] [ 3.19659009e-03 -8.56411083e-05 9.99994887e-01 -4.73994975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.447628000000002 meters 0.018144489006744577 Centerline is valid? [True, True] Translation: X:13.44, Y:-1.58, Z:-0.01 [[ 9.91594699e-01 1.29360058e-01 -2.43484781e-03 1.34407319e+01] [-1.29359508e-01 9.91597686e-01 3.82638610e-04 -1.58193793e+00] [ 2.46388760e-03 -6.44517026e-05 9.99996963e-01 -5.53130205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477628000000001 meters 0.015735296918511724 Centerline is valid? [True, True] Translation: X:13.47, Y:-1.58, Z:-0.01 [[ 9.91400853e-01 1.30832618e-01 -2.67866973e-03 1.34735831e+01] [-1.30831956e-01 9.91404469e-01 4.21631947e-04 -1.58218962e+00] [ 2.71080835e-03 -6.75506702e-05 9.99996323e-01 -6.63169553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.507628000000002 meters 0.015026973324704103 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.59, Z:-0.01 [[ 9.91252482e-01 1.31941995e-01 -3.13471538e-03 1.35054072e+01] [-1.31941091e-01 9.91257436e-01 4.94164405e-04 -1.58628967e+00] [ 3.17251096e-03 -7.62439252e-05 9.99994965e-01 -6.74904558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537628000000002 meters 0.014805381753633868 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.59, Z:-0.01 [[ 9.91006073e-01 1.33781387e-01 -3.08286827e-03 1.35359149e+01] [-1.33780520e-01 9.91010866e-01 4.86694550e-04 -1.59056320e+00] [ 3.12026663e-03 -6.98895342e-05 9.99995130e-01 -6.63028311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.567628000000001 meters 0.01400512326422456 Centerline is valid? [True, True] Translation: X:13.57, Y:-1.59, Z:-0.01 [[ 9.90555034e-01 1.37091821e-01 -2.56060444e-03 1.35681941e+01] [-1.37091232e-01 9.90558343e-01 4.04982394e-04 -1.59321893e+00] [ 2.59194787e-03 -5.01209300e-05 9.99996640e-01 -6.46011780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597628000000002 meters 0.014010967692010367 Centerline is valid? [True, True] Translation: X:13.60, Y:-1.60, Z:-0.01 [[ 9.90370433e-01 1.38424268e-01 -2.26449476e-03 1.35992869e+01] [-1.38423810e-01 9.90373021e-01 3.58763726e-04 -1.59844359e+00] [ 2.29235613e-03 -4.18489940e-05 9.99997372e-01 -6.96663772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.627628000000001 meters 0.01469438875288074 Centerline is valid? [True, True] Translation: X:13.63, Y:-1.61, Z:-0.01 [[ 9.90225039e-01 1.39463820e-01 -2.05305210e-03 1.36293127e+01] [-1.39463444e-01 9.90227167e-01 3.25744322e-04 -1.60535334e+00] [ 2.07841751e-03 -3.62344682e-05 9.99997839e-01 -7.15373083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657628 meters 0.013529731495001984 Centerline is valid? [True, True] Translation: X:13.66, Y:-1.61, Z:-0.01 [[ 9.90081508e-01 1.40481564e-01 -1.88094303e-03 1.36616041e+01] [-1.40481249e-01 9.90083294e-01 2.98975771e-04 -1.60857972e+00] [ 1.90429085e-03 -3.17731560e-05 9.99998186e-01 -6.22823903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.687628000000002 meters 0.013123944169474277 Centerline is valid? [True, True] Translation: X:13.69, Y:-1.61, Z:-0.01 [[ 9.89675725e-01 1.43318155e-01 -1.36591955e-03 1.36935833e+01] [-1.43317992e-01 9.89676667e-01 2.17554549e-04 -1.61249903e+00] [ 1.38299822e-03 -1.95476099e-05 9.99999043e-01 -6.02116120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717628000000001 meters 0.014937851597061748 Centerline is valid? [True, True] Translation: X:13.72, Y:-1.62, Z:-0.01 [[ 9.89501634e-01 1.44499289e-01 -2.54378896e-03 1.37243139e+01] [-1.44498725e-01 9.89504904e-01 4.05056275e-04 -1.61593350e+00] [ 2.57562199e-03 -3.32295847e-05 9.99996683e-01 -8.54681562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.747628 meters 0.01257467133936904 Centerline is valid? [True, True] Translation: X:13.76, Y:-1.62, Z:-0.01 [[ 9.89215817e-01 1.46454665e-01 -1.76000412e-03 1.37563987e+01] [-1.46454397e-01 9.89217383e-01 2.80926571e-04 -1.61918956e+00] [ 1.78216967e-03 -2.01366660e-05 9.99998412e-01 -7.74763230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777628000000002 meters 0.012417926369360016 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.62, Z:-0.01 [[ 9.89056113e-01 1.47516401e-01 -2.62998331e-03 1.37887433e+01] [-1.47515804e-01 9.89059609e-01 4.20442402e-04 -1.62362655e+00] [ 2.66323241e-03 -2.78770245e-05 9.99996453e-01 -8.58534755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.807628000000001 meters 0.012393568213524296 Centerline is valid? [True, True] Translation: X:13.82, Y:-1.63, Z:-0.01 [[ 9.88908830e-01 1.48496078e-01 -2.87080111e-03 1.38200306e+01] [-1.48495369e-01 9.88912996e-01 4.59662846e-04 -1.62829693e+00] [ 2.90723066e-03 -2.82639750e-05 9.99995774e-01 -8.83947117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837628 meters 0.012400912482709654 Centerline is valid? [True, True] Translation: X:13.85, Y:-1.63, Z:-0.01 [[ 9.88840185e-01 1.48965274e-01 -2.10603964e-03 1.38521521e+01] [-1.48964892e-01 9.88842428e-01 3.37954550e-04 -1.63312764e+00] [ 2.13288485e-03 -2.04570720e-05 9.99997725e-01 -8.80756726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.867628000000002 meters 0.012491688173272265 Centerline is valid? [True, True] Translation: X:13.88, Y:-1.64, Z:-0.01 [[ 9.88890982e-01 1.48629245e-01 -1.99341350e-03 1.38849907e+01] [-1.48628900e-01 9.88892991e-01 3.20484097e-04 -1.63857645e+00] [ 2.01890595e-03 -2.06449766e-05 9.99997962e-01 -8.72872765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897628000000001 meters 0.012698192355614365 Centerline is valid? [True, True] Translation: X:13.92, Y:-1.64, Z:-0.01 [[ 9.89058141e-01 1.47514326e-01 -1.87538624e-03 1.39158635e+01] [-1.47514019e-01 9.89059919e-01 3.01892258e-04 -1.64457084e+00] [ 1.89940279e-03 -2.19432347e-05 9.99998196e-01 -9.07034468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.927628000000002 meters 0.01282034730241219 Centerline is valid? [True, True] Translation: X:13.95, Y:-1.65, Z:-0.01 [[ 9.89185584e-01 1.46663388e-01 -1.31546141e-03 1.39477712e+01] [-1.46663236e-01 9.89186459e-01 2.12313906e-04 -1.65037762e+00] [ 1.33237529e-03 -1.70880292e-05 9.99999112e-01 -8.24570338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957628000000001 meters 0.013214397529694513 Centerline is valid? [True, True] Translation: X:13.98, Y:-1.66, Z:-0.01 [[ 9.89608834e-01 1.43785790e-01 -4.41058689e-05 1.39796199e+01] [-1.43785790e-01 9.89608835e-01 7.47802954e-06 -1.65648670e+00] [ 4.47227919e-05 -1.05852689e-06 9.99999999e-01 -7.09444939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.987628 meters 0.013552055076881675 Centerline is valid? [True, True] Translation: X:14.01, Y:-1.66, Z:-0.01 [[ 9.89970989e-01 1.41269962e-01 4.89329395e-04 1.40109601e+01] [-1.41269941e-01 9.89971110e-01 -7.87135590e-05 -1.66269000e+00] [-4.95541825e-04 8.79660525e-06 9.99999877e-01 -6.89244600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017628000000002 meters 0.01555451439251706 Centerline is valid? [True, True] Translation: X:14.04, Y:-1.67, Z:-0.01 [[ 9.90443671e-01 1.37915943e-01 7.26577008e-04 1.40412936e+01] [-1.37915894e-01 9.90443937e-01 -1.17329191e-04 -1.67161962e+00] [-7.35815359e-04 1.60014365e-05 9.99999729e-01 -7.32530464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.047628000000001 meters 0.015719500573335404 Centerline is valid? [True, True] Translation: X:14.07, Y:-1.68, Z:-0.01 [[ 9.91453359e-01 1.30448607e-01 1.84331178e-03 1.40721247e+01] [-1.30448278e-01 9.91455071e-01 -2.98136234e-04 -1.67584334e+00] [-1.86645227e-03 5.51313228e-05 9.99998257e-01 -8.24600830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077628 meters 0.017175711116638355 Centerline is valid? [True, True] Translation: X:14.10, Y:-1.68, Z:-0.01 [[ 9.91968816e-01 1.26459425e-01 2.42541104e-03 1.41018035e+01] [-1.26458844e-01 9.91971777e-01 -3.92337653e-04 -1.68290924e+00] [-2.45555409e-03 8.24720417e-05 9.99996982e-01 -7.74634051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.107628000000002 meters 0.018289363044025744 Centerline is valid? [True, True] Translation: X:14.13, Y:-1.69, Z:-0.01 [[ 9.92455635e-01 1.22574807e-01 2.68867681e-03 1.41324734e+01] [-1.22574077e-01 9.92459272e-01 -4.34999142e-04 -1.68992014e+00] [-2.72172217e-03 1.02155271e-04 9.99996291e-01 -7.09136059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137628000000001 meters 0.020999125206966715 Centerline is valid? [True, True] Translation: X:14.16, Y:-1.70, Z:-0.01 [[ 9.92999537e-01 1.18098040e-01 2.18461558e-03 1.41627760e+01] [-1.18097547e-01 9.93001936e-01 -3.53503216e-04 -1.69651922e+00] [-2.21107554e-03 9.30307877e-05 9.99997551e-01 -8.73971461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.167628 meters 0.021623310555220928 Centerline is valid? [True, True] Translation: X:14.19, Y:-1.70, Z:-0.01 [[ 9.93629930e-01 1.12650716e-01 3.06236560e-03 1.41914224e+01] [-1.12649722e-01 9.93634638e-01 -4.95643645e-04 -1.70326912e+00] [-3.09870715e-03 1.47511728e-04 9.99995188e-01 -6.58430394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197628000000002 meters 0.020889021271864955 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.71, Z:-0.01 [[ 9.93937658e-01 1.09909997e-01 2.77924235e-03 1.42223330e+01] [-1.09909168e-01 9.93941534e-01 -4.49900678e-04 -1.70658833e+00] [-2.81185299e-03 1.41709012e-04 9.99996037e-01 -6.91431707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.227628000000001 meters 0.02249647409845243 Centerline is valid? [True, True] Translation: X:14.25, Y:-1.71, Z:-0.01 [[ 9.94136332e-01 1.08116555e-01 1.94009079e-03 1.42527027e+01] [-1.08116147e-01 9.94138220e-01 -3.14203923e-04 -1.71277566e+00] [-1.96268905e-03 1.02606395e-04 9.99998069e-01 -7.70498342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257628000000002 meters 0.023090474812863672 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.72, Z:-0.01 [[ 9.94295991e-01 1.06641207e-01 1.77058046e-03 1.42846531e+01] [-1.06640864e-01 9.94297563e-01 -2.87082199e-04 -1.71726537e+00] [-1.79109863e-03 9.66284490e-05 9.99998391e-01 -9.18160371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.287628000000002 meters 0.025179841126139864 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.72, Z:-0.01 [[ 9.94471167e-01 1.05006626e-01 8.40299051e-04 1.43162827e+01] [-1.05006549e-01 9.94471521e-01 -1.36160835e-04 -1.72020190e+00] [-8.49951266e-04 4.71711207e-05 9.99999638e-01 -1.20036236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317628000000001 meters 0.02313532849769 Centerline is valid? [True, True] Translation: X:14.35, Y:-1.72, Z:-0.01 [[ 9.94351300e-01 1.06120009e-01 2.00898364e-03 1.43484861e+01] [-1.06119565e-01 9.94353323e-01 -3.26478333e-04 -1.72408795e+00] [-2.03228544e-03 1.11441685e-04 9.99997929e-01 -9.45161994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.347628000000002 meters 0.022834389608112515 Centerline is valid? [True, True] Translation: X:14.38, Y:-1.73, Z:-0.01 [[ 9.94265002e-01 1.06921728e-01 2.20213695e-03 1.43807121e+01] [-1.06921196e-01 9.94267434e-01 -3.58461341e-04 -1.72744642e+00] [-2.22784036e-03 1.20950450e-04 9.99997511e-01 -8.98114985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377628000000001 meters 0.02461241349345493 Centerline is valid? [True, True] Translation: X:14.41, Y:-1.73, Z:-0.01 [[ 9.94042952e-01 1.08983027e-01 1.14461864e-03 1.44114467e+01] [-1.08982885e-01 9.94043609e-01 -1.86500848e-04 -1.72869733e+00] [-1.15812627e-03 6.06460126e-05 9.99999328e-01 -1.18024766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.407628 meters 0.02212006737437332 Centerline is valid? [True, True] Translation: X:14.44, Y:-1.73, Z:-0.01 [[ 9.93706588e-01 1.12001386e-01 1.70476623e-03 1.44426686e+01] [-1.12001074e-01 9.93708047e-01 -2.77818707e-04 -1.73104680e+00] [-1.72515600e-03 8.51346312e-05 9.99998508e-01 -1.01805001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437628000000002 meters 0.020716413363552743 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.73, Z:-0.01 [[ 9.93465022e-01 1.14121996e-01 1.84960092e-03 1.44741337e+01] [-1.14121632e-01 9.93466739e-01 -3.01493124e-04 -1.73198610e+00] [-1.87192399e-03 8.84433979e-05 9.99998244e-01 -1.09812757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.467628000000001 meters 0.020184726836937422 Centerline is valid? [True, True] Translation: X:14.51, Y:-1.73, Z:-0.01 [[ 9.93123477e-01 1.17058941e-01 1.72151133e-03 1.45056591e+01] [-1.17058630e-01 9.93124966e-01 -2.80678998e-04 -1.73479813e+00] [-1.74253187e-03 7.72311451e-05 9.99998479e-01 -1.14559371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497628 meters 0.01903286042980865 Centerline is valid? [True, True] Translation: X:14.54, Y:-1.74, Z:-0.01 [[ 9.92482337e-01 1.22369755e-01 2.11023448e-03 1.45367143e+01] [-1.22369300e-01 9.92484577e-01 -3.44163908e-04 -1.73507246e+00] [-2.13649042e-03 8.33486846e-05 9.99997714e-01 -1.16135515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.527628000000002 meters 0.019157534443722264 Centerline is valid? [True, True] Translation: X:14.57, Y:-1.74, Z:-0.01 [[ 9.92183597e-01 1.24769556e-01 2.06584507e-03 1.45673502e+01] [-1.24769124e-01 9.92185745e-01 -3.37101689e-04 -1.73902670e+00] [-2.09176205e-03 7.67130869e-05 9.99997809e-01 -1.15345833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557628000000001 meters 0.01739975575498948 Centerline is valid? [True, True] Translation: X:14.60, Y:-1.74, Z:-0.01 [[ 9.91917423e-01 1.26865951e-01 2.20371834e-03 1.46001008e+01] [-1.26865463e-01 9.91919868e-01 -3.60020832e-04 -1.74053410e+00] [-2.23158639e-03 7.75351880e-05 9.99997507e-01 -1.16479551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.587628000000002 meters 0.017214544217998392 Centerline is valid? [True, True] Translation: X:14.63, Y:-1.74, Z:-0.01 [[ 9.91743376e-01 1.28220054e-01 2.16642184e-03 1.46317314e+01] [-1.28219586e-01 9.91745740e-01 -3.54247254e-04 -1.74423782e+00] [-2.19396123e-03 7.35446565e-05 9.99997591e-01 -1.18929222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617628000000002 meters 0.0168782256924367 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.75, Z:-0.01 [[ 9.91599361e-01 1.29334961e-01 1.78164999e-03 1.46639359e+01] [-1.29334645e-01 9.91600960e-01 -2.91720598e-04 -1.74794369e+00] [-1.80441551e-03 5.88408893e-05 9.99998370e-01 -1.25695785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.647628000000001 meters 0.0163330906522067 Centerline is valid? [True, True] Translation: X:14.70, Y:-1.75, Z:-0.01 [[ 9.91568645e-01 1.29572456e-01 1.61260225e-03 1.46968256e+01] [-1.29572197e-01 9.91569955e-01 -2.64427222e-04 -1.75259688e+00] [-1.63327043e-03 5.32493258e-05 9.99998665e-01 -1.29790328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677628000000002 meters 0.017436289857755888 Centerline is valid? [True, True] Translation: X:14.73, Y:-1.76, Z:-0.01 [[ 9.91570455e-01 1.29564927e-01 9.81064534e-04 1.47275609e+01] [-1.29564831e-01 9.91570940e-01 -1.61006994e-04 -1.75996909e+00] [-9.93655942e-04 3.25383185e-05 9.99999506e-01 -1.33684076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.707628000000001 meters 0.017469606775006363 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.77, Z:-0.01 [[ 9.91596393e-01 1.29367132e-01 8.59144999e-04 1.47590862e+01] [-1.29367058e-01 9.91596765e-01 -1.41200258e-04 -1.76577945e+00] [-8.70192074e-04 2.88686053e-05 9.99999621e-01 -1.34405569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737628 meters 0.018407632475344514 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.77, Z:-0.01 [[ 9.91809585e-01 1.27720986e-01 1.04717580e-03 1.47890957e+01] [-1.27720875e-01 9.91810137e-01 -1.72522561e-04 -1.77279671e+00] [-1.06063432e-03 3.73633207e-05 9.99999437e-01 -1.35752854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.767628000000002 meters 0.017502583677560975 Centerline is valid? [True, True] Translation: X:14.82, Y:-1.78, Z:-0.01 [[ 9.91881720e-01 1.27148847e-01 1.95532959e-03 1.48213797e+01] [-1.27148458e-01 9.91883645e-01 -3.22376068e-04 -1.77654716e+00] [-1.98044919e-03 7.11417858e-05 9.99998036e-01 -1.37144879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797628000000001 meters 0.017719568073222777 Centerline is valid? [True, True] Translation: X:14.85, Y:-1.78, Z:-0.01 [[ 9.91884274e-01 1.27127833e-01 2.02533370e-03 1.48540622e+01] [-1.27127414e-01 9.91886339e-01 -3.34471368e-04 -1.78213365e+00] [-2.05142144e-03 7.42814535e-05 9.99997893e-01 -1.44362378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.827628 meters 0.018936086748843037 Centerline is valid? [True, True] Translation: X:14.89, Y:-1.79, Z:-0.02 [[ 9.91880261e-01 1.27165356e-01 1.58715782e-03 1.48866675e+01] [-1.27165099e-01 9.91881530e-01 -2.62483541e-04 -1.78803588e+00] [-1.60765134e-03 5.85211621e-05 9.99998706e-01 -1.61561393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857628000000002 meters 0.01726153748528105 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.79, Z:-0.01 [[ 9.91709255e-01 1.28483811e-01 2.15936805e-03 1.49181681e+01] [-1.28483336e-01 9.91711603e-01 -3.57866619e-04 -1.79291505e+00] [-2.18745042e-03 7.74568262e-05 9.99997605e-01 -1.48708510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.887628000000001 meters 0.02037779461122941 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.80, Z:-0.02 [[ 9.91549162e-01 1.29730159e-01 5.87031201e-04 1.49478003e+01] [-1.29730124e-01 9.91549336e-01 -9.71912405e-05 -1.80196032e+00] [-5.94679032e-04 2.02142628e-05 9.99999823e-01 -1.69638793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917628000000002 meters 0.01780762314059392 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.81, Z:-0.01 [[ 9.91266582e-01 1.31867016e-01 1.28559728e-03 1.49793902e+01] [-1.31866850e-01 9.91267415e-01 -2.13548175e-04 -1.80793473e+00] [-1.30253065e-03 4.21555065e-05 9.99999151e-01 -1.45653867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.947628000000002 meters 0.01645032643338231 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.81, Z:-0.01 [[ 9.91107550e-01 1.33060762e-01 8.11263727e-04 1.50108381e+01] [-1.33060696e-01 9.91107882e-01 -1.34825636e-04 -1.81157832e+00] [-8.21989875e-04 2.56793896e-05 9.99999662e-01 -1.49176943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977628000000001 meters 0.016533047509262898 Centerline is valid? [True, True] Translation: X:15.04, Y:-1.82, Z:-0.02 [[ 9.90716326e-01 1.35945427e-01 -3.93829098e-05 1.50417401e+01] [-1.35945427e-01 9.90716327e-01 6.93084055e-06 -1.81736050e+00] [ 3.99595078e-05 -1.51257040e-06 9.99999999e-01 -1.70095017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.007628 meters 0.015866570268518333 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.82, Z:-0.02 [[ 9.90513694e-01 1.37410436e-01 -9.96675907e-04 1.50740579e+01] [-1.37410338e-01 9.90514195e-01 1.66555728e-04 -1.82212671e+00] [ 1.01010813e-03 -2.80221565e-05 9.99999489e-01 -1.82157800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037627999999998 meters 0.01610942477505748 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.83, Z:-0.02 [[ 9.90284366e-01 1.39048291e-01 -1.56454538e-03 1.51046803e+01] [-1.39048051e-01 9.90285601e-01 2.61947808e-04 -1.82902102e+00] [ 1.58577015e-03 -4.18558338e-05 9.99998742e-01 -1.93313318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.067628 meters 0.015362649186785336 Centerline is valid? [True, True] Translation: X:15.14, Y:-1.83, Z:-0.02 [[ 9.90024657e-01 1.40873780e-01 -2.39944683e-03 1.51364564e+01] [-1.40873219e-01 9.90027562e-01 4.02188596e-04 -1.83435738e+00] [ 2.43217633e-03 -6.01588277e-05 9.99997040e-01 -1.95352611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097628 meters 0.015362649186785336 Centerline is valid? [True, True] Translation: X:15.17, Y:-1.84, Z:-0.02 [[ 9.89985060e-01 1.41151774e-01 -2.39932550e-03 1.51684031e+01] [-1.41151212e-01 9.89987966e-01 4.02912184e-04 -1.83977699e+00] [ 2.43217514e-03 -6.02093411e-05 9.99997040e-01 -1.95816476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.127628 meters 0.017451070484208728 Centerline is valid? [True, True] Translation: X:15.20, Y:-1.85, Z:-0.02 [[ 9.89707534e-01 1.43050275e-01 -3.95180603e-03 1.51996568e+01] [-1.43048762e-01 9.89715419e-01 6.64306570e-04 -1.84692198e+00] [ 4.00619260e-03 -9.21682552e-05 9.99991971e-01 -2.21926811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157628 meters 0.01816677583096828 Centerline is valid? [True, True] Translation: X:15.23, Y:-1.85, Z:-0.02 [[ 9.89554751e-01 1.44081514e-01 -4.68105724e-03 1.52297338e+01] [-1.44079398e-01 9.89565817e-01 7.87895039e-04 -1.85430787e+00] [ 4.74573534e-03 -1.05221370e-04 9.99988733e-01 -2.30384866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.187628 meters 0.01733752325843222 Centerline is valid? [True, True] Translation: X:15.26, Y:-1.86, Z:-0.02 [[ 9.89397975e-01 1.45145072e-01 -4.95524154e-03 1.52617161e+01] [-1.45142708e-01 9.89410378e-01 8.35327765e-04 -1.85927147e+00] [ 5.02401112e-03 -1.07254422e-04 9.99987374e-01 -2.26752584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217628 meters 0.016984403477432856 Centerline is valid? [True, True] Translation: X:15.29, Y:-1.87, Z:-0.02 [[ 9.89251738e-01 1.46146586e-01 -4.70895189e-03 1.52932418e+01] [-1.46144456e-01 9.89262941e-01 7.95022681e-04 -1.86528025e+00] [ 4.77458144e-03 -9.82903557e-05 9.99988597e-01 -2.27959937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.247628 meters 0.013826956228017764 Centerline is valid? [True, True] Translation: X:15.32, Y:-1.87, Z:-0.02 [[ 9.88666866e-01 1.50123624e-01 -8.52124263e-04 1.53243766e+01] [-1.50123555e-01 9.88667233e-01 1.44370185e-04 -1.87013752e+00] [ 8.64140713e-04 -1.48100951e-05 9.99999627e-01 -1.93681948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277628 meters 0.0135322699675118 Centerline is valid? [True, True] Translation: X:15.36, Y:-1.88, Z:-0.02 [[ 9.88402136e-01 1.51859205e-01 1.66330526e-05 1.53563504e+01] [-1.51859205e-01 9.88402136e-01 -2.46071369e-06 -1.87599698e+00] [-1.68138267e-05 -9.37074714e-08 1.00000000e+00 -1.80600011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.307628 meters 0.013260681499531662 Centerline is valid? [True, True] Translation: X:15.39, Y:-1.88, Z:-0.02 [[ 9.88107276e-01 1.53762526e-01 1.04719226e-03 1.53876856e+01] [-1.53762425e-01 9.88107831e-01 -1.77157052e-04 -1.88156974e+00] [-1.06197899e-03 1.40313510e-05 9.99999436e-01 -1.66371659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337628 meters 0.012955502548675403 Centerline is valid? [True, True] Translation: X:15.42, Y:-1.89, Z:-0.02 [[ 9.87769793e-01 1.55899761e-01 2.46991278e-03 1.54192341e+01] [-1.55899200e-01 9.87772881e-01 -4.18951493e-04 -1.88601627e+00] [-2.50502730e-03 2.87702025e-05 9.99996862e-01 -1.59188844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.367628 meters 0.013095196115960607 Centerline is valid? [True, True] Translation: X:15.45, Y:-1.89, Z:-0.02 [[ 9.87545247e-01 1.57296184e-01 3.50651345e-03 1.54500813e+01] [-1.57295060e-01 9.87551472e-01 -5.95779047e-04 -1.89187147e+00] [-3.55657628e-03 3.68015232e-05 9.99993675e-01 -1.56471593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397628 meters 0.0157186658965987 Centerline is valid? [True, True] Translation: X:15.48, Y:-1.89, Z:-0.02 [[ 9.86999746e-01 1.60663038e-01 4.34621642e-03 1.54825345e+01] [-1.60661339e-01 9.87009315e-01 -7.39600713e-04 -1.89375034e+00] [-4.40858259e-03 3.17167679e-05 9.99990282e-01 -1.78890726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.427628 meters 0.012308763817875197 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.90, Z:-0.02 [[ 9.86488460e-01 1.63765181e-01 4.63509048e-03 1.55138555e+01] [-1.63763278e-01 9.86499349e-01 -7.89600134e-04 -1.89732734e+00] [-4.70182275e-03 1.98738072e-05 9.99988946e-01 -1.57867281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457628 meters 0.01318515385167313 Centerline is valid? [True, True] Translation: X:15.55, Y:-1.90, Z:-0.02 [[ 9.86140063e-01 1.65868999e-01 3.90542415e-03 1.55467547e+01] [-1.65867661e-01 9.86147796e-01 -6.66195485e-04 -1.90129311e+00] [-3.96182659e-03 9.17848762e-06 9.99992152e-01 -1.78192645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.487628 meters 0.012221468099402137 Centerline is valid? [True, True] Translation: X:15.58, Y:-1.91, Z:-0.02 [[ 9.85727650e-01 1.68339273e-01 1.69958465e-03 1.55786819e+01] [-1.68339023e-01 9.85729116e-01 -2.90176006e-04 -1.90518211e+00] [-1.72417809e-03 -7.19063581e-08 9.99998514e-01 -1.96205187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517628 meters 0.012273136089104294 Centerline is valid? [True, True] Translation: X:15.61, Y:-1.91, Z:-0.02 [[ 9.85558839e-01 1.69333238e-01 1.69946523e-04 1.56110446e+01] [-1.69333236e-01 9.85558854e-01 -2.86991440e-05 -1.91089649e+00] [-1.72352020e-04 -4.92899677e-07 9.99999985e-01 -2.08588887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.547628 meters 0.015662356909528663 Centerline is valid? [True, True] Translation: X:15.64, Y:-1.92, Z:-0.02 [[ 9.85657169e-01 1.68753026e-01 -1.53650136e-03 1.56420862e+01] [-1.68752820e-01 9.85658367e-01 2.63640189e-04 -1.91676492e+00] [ 1.55895550e-03 -5.69905176e-07 9.99998785e-01 -2.48499370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577628 meters 0.012253187968193215 Centerline is valid? [True, True] Translation: X:15.67, Y:-1.92, Z:-0.02 [[ 9.85578006e-01 1.69213358e-01 -1.68324552e-03 1.56744636e+01] [-1.69213110e-01 9.85579444e-01 2.89419088e-04 -1.92231428e+00] [ 1.70794576e-03 -4.17877776e-07 9.99998541e-01 -2.28088282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.607628 meters 0.012338828608566055 Centerline is valid? [True, True] Translation: X:15.71, Y:-1.93, Z:-0.02 [[ 9.85911870e-01 1.67255111e-01 -1.87393506e-03 1.57060812e+01] [-1.67254800e-01 9.85913651e-01 3.22626618e-04 -1.92886530e+00] [ 1.90149911e-03 -4.65677771e-06 9.99998192e-01 -2.35528863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637628 meters 0.012479614344005447 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.94, Z:-0.02 [[ 9.86258471e-01 1.65201025e-01 -1.68791374e-03 1.57384271e+01] [-1.65200768e-01 9.86259916e-01 2.91127130e-04 -1.93628411e+00] [ 1.71281616e-03 -8.28195192e-06 9.99998533e-01 -2.32432165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.667628 meters 0.012737998984419694 Centerline is valid? [True, True] Translation: X:15.77, Y:-1.94, Z:-0.02 [[ 9.86651931e-01 1.62839435e-01 -1.13344761e-03 1.57700482e+01] [-1.62839317e-01 9.86652582e-01 1.95882821e-04 -1.94265721e+00] [ 1.15021646e-03 -8.69832771e-06 9.99999338e-01 -2.25483306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697627999999998 meters 0.012923208626436708 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.95, Z:-0.02 [[ 9.87039423e-01 1.60477099e-01 -5.26785830e-04 1.58014594e+01] [-1.60477073e-01 9.87039564e-01 9.13713176e-05 -1.94916377e+00] [ 5.34621460e-04 -5.65004466e-06 9.99999857e-01 -2.21825598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.727628 meters 0.013423175987168422 Centerline is valid? [True, True] Translation: X:15.83, Y:-1.96, Z:-0.02 [[ 9.87497154e-01 1.57636122e-01 -4.73551996e-04 1.58312533e+01] [-1.57636101e-01 9.87497267e-01 8.21919401e-05 -1.95666249e+00] [ 4.80587721e-04 -6.51541687e-06 9.99999884e-01 -2.20965837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757628 meters 0.013886698391088652 Centerline is valid? [True, True] Translation: X:15.86, Y:-1.96, Z:-0.02 [[ 9.88053246e-01 1.54112722e-01 2.29434060e-04 1.58629814e+01] [-1.54112717e-01 9.88053272e-01 -3.93792979e-05 -1.96312750e+00] [-2.32761924e-04 3.55013681e-06 9.99999973e-01 -2.10371030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.787627999999998 meters 0.014677147564536768 Centerline is valid? [True, True] Translation: X:15.89, Y:-1.97, Z:-0.02 [[ 9.88332680e-01 1.52310370e-01 -2.53466255e-04 1.58928321e+01] [-1.52310364e-01 9.88332713e-01 4.43013282e-05 -1.97052428e+00] [ 2.57256544e-04 -5.17891278e-06 9.99999967e-01 -2.13888807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817628 meters 0.015109184361936314 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.98, Z:-0.02 [[ 9.88736533e-01 1.49664557e-01 -7.67591259e-04 1.59244740e+01] [-1.49664498e-01 9.88736831e-01 1.33699118e-04 -1.97646530e+00] [ 7.78955768e-04 -1.73120411e-05 9.99999696e-01 -2.17959076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.847628 meters 0.015167927577427678 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.98, Z:-0.02 [[ 9.88836277e-01 1.49005615e-01 -3.78255409e-04 1.59564840e+01] [-1.49005601e-01 9.88836350e-01 6.61636173e-05 -1.98074349e+00] [ 3.83891448e-04 -9.06281043e-06 9.99999926e-01 -2.24210700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877628 meters 0.01572744831212725 Centerline is valid? [True, True] Translation: X:15.99, Y:-1.99, Z:-0.02 [[ 9.89036926e-01 1.47666741e-01 -7.01179664e-04 1.59866857e+01] [-1.47666691e-01 9.89037175e-01 1.22478866e-04 -1.98706627e+00] [ 7.11578809e-04 -1.75952403e-05 9.99999747e-01 -2.27366996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.907628 meters 0.016417577909077868 Centerline is valid? [True, True] Translation: X:16.02, Y:-1.99, Z:-0.02 [[ 9.89412732e-01 1.45124564e-01 -1.14348154e-03 1.60175605e+01] [-1.45124431e-01 9.89413392e-01 1.99527014e-04 -1.99415929e+00] [ 1.16033222e-03 -3.14674603e-05 9.99999326e-01 -2.27114738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937628 meters 0.018811964486257493 Centerline is valid? [True, True] Translation: X:16.05, Y:-2.00, Z:-0.02 [[ 9.90371909e-01 1.38421010e-01 -1.76215998e-03 1.60467115e+01] [-1.38420682e-01 9.90373475e-01 3.07202608e-04 -2.00294010e+00] [ 1.78771980e-03 -6.03254474e-05 9.99998400e-01 -2.27078983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.967628 meters 0.020282990443608328 Centerline is valid? [True, True] Translation: X:16.08, Y:-2.01, Z:-0.02 [[ 9.90898119e-01 1.34602565e-01 -1.75112254e-03 1.60760031e+01] [-1.34602236e-01 9.90899664e-01 3.05334154e-04 -2.01049173e+00] [ 1.77628550e-03 -6.68500304e-05 9.99998420e-01 -2.24986557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997628 meters 0.02159411542872305 Centerline is valid? [True, True] Translation: X:16.11, Y:-2.01, Z:-0.02 [[ 9.91346296e-01 1.31262081e-01 -1.66965654e-03 1.61066945e+01] [-1.31261776e-01 9.91347699e-01 2.91161296e-04 -2.01470006e+00] [ 1.69342861e-03 -6.94795888e-05 9.99998564e-01 -2.36077141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.027628 meters 0.020249317408605482 Centerline is valid? [True, True] Translation: X:16.14, Y:-2.02, Z:-0.02 [[ 9.91581872e-01 1.29480522e-01 -4.31960737e-04 1.61381131e+01] [-1.29480501e-01 9.91581965e-01 7.57544143e-05 -2.01938238e+00] [ 4.38133197e-04 -1.91862113e-05 9.99999904e-01 -2.08771766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057628 meters 0.0220233503667023 Centerline is valid? [True, True] Translation: X:16.17, Y:-2.02, Z:-0.02 [[ 9.92147549e-01 1.25069293e-01 9.55360764e-04 1.61685383e+01] [-1.25069190e-01 9.92148008e-01 -1.66802553e-04 -2.02490460e+00] [-9.68721156e-04 4.60065466e-05 9.99999530e-01 -1.98539145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.087628 meters 0.02261347368363976 Centerline is valid? [True, True] Translation: X:16.20, Y:-2.03, Z:-0.02 [[ 9.92384511e-01 1.23171709e-01 1.30826797e-03 1.62004884e+01] [-1.23171514e-01 9.92385372e-01 -2.28446572e-04 -2.03041142e+00] [-1.32644415e-03 6.55654925e-05 9.99999118e-01 -1.95718921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117628 meters 0.023641470594905744 Centerline is valid? [True, True] Translation: X:16.23, Y:-2.04, Z:-0.02 [[ 9.92564983e-01 1.21706785e-01 1.48737471e-03 1.62310353e+01] [-1.21706532e-01 9.92566095e-01 -2.59847385e-04 -2.03660657e+00] [-1.50794290e-03 7.68921968e-05 9.99998860e-01 -1.92531047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.147628 meters 0.024138512843217604 Centerline is valid? [True, True] Translation: X:16.26, Y:-2.04, Z:-0.02 [[ 9.92695408e-01 1.20643895e-01 9.36826327e-04 1.62629495e+01] [-1.20643794e-01 9.92695849e-01 -1.63656052e-04 -2.04060181e+00] [-9.49727709e-04 4.94383286e-05 9.99999548e-01 -2.00976617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177628 meters 0.022715908308502453 Centerline is valid? [True, True] Translation: X:16.30, Y:-2.04, Z:-0.02 [[ 9.92606883e-01 1.21373453e-01 2.45855067e-04 1.62950490e+01] [-1.21373446e-01 9.92606914e-01 -4.27464799e-05 -2.04228757e+00] [-2.49225727e-04 1.25901735e-05 9.99999969e-01 -2.10890193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.207628 meters 0.023296742243078525 Centerline is valid? [True, True] Translation: X:16.33, Y:-2.05, Z:-0.02 [[ 9.92413145e-01 1.22944428e-01 -9.03664544e-04 1.63258299e+01] [-1.22944334e-01 9.92413556e-01 1.58970604e-04 -2.04669012e+00] [ 9.16353494e-04 -4.66640818e-05 9.99999579e-01 -2.20498206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237628 meters 0.023600692714558336 Centerline is valid? [True, True] Translation: X:16.36, Y:-2.05, Z:-0.02 [[ 9.92163233e-01 1.24936178e-01 -1.75222396e-03 1.63560204e+01] [-1.24935829e-01 9.92164777e-01 3.07665711e-04 -2.05080132e+00] [ 1.77693347e-03 -8.63390543e-05 9.99998418e-01 -2.28759257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.267628 meters 0.021871398573491165 Centerline is valid? [True, True] Translation: X:16.39, Y:-2.05, Z:-0.02 [[ 9.91444215e-01 1.30484978e-01 -3.46972865e-03 1.63872161e+01] [-1.30483644e-01 9.91450275e-01 6.09283022e-04 -2.05114772e+00] [ 3.51956571e-03 -1.51327290e-04 9.99993795e-01 -2.33917995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297628 meters 0.02049492413253263 Centerline is valid? [True, True] Translation: X:16.42, Y:-2.05, Z:-0.02 [[ 9.91004541e-01 1.33764615e-01 -4.12649590e-03 1.64186168e+01] [-1.33762755e-01 9.91013118e-01 7.24775590e-04 -2.05322088e+00] [ 4.18636090e-03 -1.66284442e-04 9.99991223e-01 -2.37517245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.327628 meters 0.019970374930015262 Centerline is valid? [True, True] Translation: X:16.45, Y:-2.06, Z:-0.02 [[ 9.90535759e-01 1.37188181e-01 -4.27939595e-03 1.64490837e+01] [-1.37186212e-01 9.90544991e-01 7.51680351e-04 -2.05596286e+00] [ 4.34205588e-03 -1.57492149e-04 9.99990561e-01 -2.42012438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357628 meters 0.017815792105803342 Centerline is valid? [True, True] Translation: X:16.48, Y:-2.06, Z:-0.02 [[ 9.90030137e-01 1.40769587e-01 -4.92450509e-03 1.64813694e+01] [-1.40767023e-01 9.90042371e-01 8.65310488e-04 -2.05639994e+00] [ 4.99727810e-03 -1.63475542e-04 9.99987500e-01 -2.44513940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.387628 meters 0.016714752790036345 Centerline is valid? [True, True] Translation: X:16.51, Y:-2.06, Z:-0.03 [[ 9.89085603e-01 1.47242311e-01 -5.41958838e-03 1.65115831e+01] [-1.47239302e-01 9.89100440e-01 9.52219880e-04 -2.05730512e+00] [ 5.50072431e-03 -1.43850563e-04 9.99984861e-01 -2.51217366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417628 meters 0.016100305720188543 Centerline is valid? [True, True] Translation: X:16.54, Y:-2.06, Z:-0.03 [[ 9.88584112e-01 1.50579558e-01 -5.22016150e-03 1.65429248e+01] [-1.50576804e-01 9.88597887e-01 9.18812939e-04 -2.06103332e+00] [ 5.29899508e-03 -1.22288638e-04 9.99985953e-01 -2.52134094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.447627999999998 meters 0.01447061043173595 Centerline is valid? [True, True] Translation: X:16.58, Y:-2.06, Z:-0.02 [[ 9.88148601e-01 1.53403377e-01 -5.45397550e-03 1.65753493e+01] [-1.53400406e-01 9.88163646e-01 9.61379081e-04 -2.06296037e+00] [ 5.53689911e-03 -1.13343337e-04 9.99984665e-01 -2.43706831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477628 meters 0.013585753157314471 Centerline is valid? [True, True] Translation: X:16.61, Y:-2.07, Z:-0.02 [[ 9.87341906e-01 1.58496341e-01 -5.90511554e-03 1.66073155e+01] [-1.58492941e-01 9.87359560e-01 1.04239404e-03 -2.06625680e+00] [ 5.99568793e-03 -9.32801887e-05 9.99982021e-01 -2.44599293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.507628 meters 0.01325841700403048 Centerline is valid? [True, True] Translation: X:16.64, Y:-2.07, Z:-0.02 [[ 9.86958821e-01 1.60874163e-01 -5.63818578e-03 1.66396931e+01] [-1.60871100e-01 9.86974923e-01 9.95579131e-04 -2.07085476e+00] [ 5.72491093e-03 -7.55744577e-05 9.99983610e-01 -2.45781813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537628 meters 0.01315500878361192 Centerline is valid? [True, True] Translation: X:16.67, Y:-2.08, Z:-0.02 [[ 9.86577583e-01 1.63204845e-01 -5.37125699e-03 1.66708715e+01] [-1.63202091e-01 9.86592203e-01 9.50058151e-04 -2.07574413e+00] [ 5.45429436e-03 -6.07057021e-05 9.99985123e-01 -2.46576852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.567628 meters 0.012599426678643525 Centerline is valid? [True, True] Translation: X:16.70, Y:-2.08, Z:-0.02 [[ 9.86198554e-01 1.65491136e-01 -5.00957144e-03 1.67030221e+01] [-1.65488763e-01 9.86211277e-01 8.87431507e-04 -2.08029052e+00] [ 5.08735789e-03 -4.61558900e-05 9.99987058e-01 -2.37484443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597628 meters 0.01248225751314204 Centerline is valid? [True, True] Translation: X:16.73, Y:-2.09, Z:-0.02 [[ 9.85864684e-01 1.67483607e-01 -4.47946226e-03 1.67333318e+01] [-1.67481725e-01 9.85874860e-01 7.94618408e-04 -2.08585157e+00] [ 4.54927479e-03 -3.31581578e-05 9.99989651e-01 -2.34721336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.627628 meters 0.012360786260239594 Centerline is valid? [True, True] Translation: X:16.76, Y:-2.09, Z:-0.02 [[ 9.85555634e-01 1.69302343e-01 -4.09992320e-03 1.67646404e+01] [-1.69300778e-01 9.85564161e-01 7.28402124e-04 -2.09122758e+00] [ 4.16405756e-03 -2.37606289e-05 9.99991330e-01 -2.28098322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657628 meters 0.012206057573522814 Centerline is valid? [True, True] Translation: X:16.80, Y:-2.10, Z:-0.02 [[ 9.84943483e-01 1.72844398e-01 -3.33913180e-03 1.67951176e+01] [-1.72843378e-01 9.84949143e-01 5.94072882e-04 -2.09606608e+00] [ 3.39155718e-03 -7.98139463e-06 9.99994249e-01 -2.29487769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.687628 meters 0.012132888734139842 Centerline is valid? [True, True] Translation: X:16.83, Y:-2.10, Z:-0.02 [[ 9.84621727e-01 1.74667636e-01 -3.35734429e-03 1.68278677e+01] [-1.74666611e-01 9.84627451e-01 5.98357122e-04 -2.10196524e+00] [ 3.41024697e-03 -2.73947569e-06 9.99994185e-01 -2.33902987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717628 meters 0.012186855131952338 Centerline is valid? [True, True] Translation: X:16.86, Y:-2.11, Z:-0.02 [[ 9.84283443e-01 1.76550962e-01 -3.98256119e-03 1.68603362e+01] [-1.76549531e-01 9.84291500e-01 7.10880009e-04 -2.10830220e+00] [ 4.04550767e-03 3.41188634e-06 9.99991817e-01 -2.38846863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.747628 meters 0.012364961445347033 Centerline is valid? [True, True] Translation: X:16.89, Y:-2.12, Z:-0.02 [[ 9.83657981e-01 1.79952303e-01 -5.84341347e-03 1.68914354e+01] [-1.79949275e-01 9.83675337e-01 1.04429872e-03 -2.11570623e+00] [ 5.93594567e-03 2.42852405e-05 9.99982382e-01 -2.46822061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777628 meters 0.012537794480926952 Centerline is valid? [True, True] Translation: X:16.92, Y:-2.12, Z:-0.03 [[ 9.83405033e-01 1.81282042e-01 -7.16676091e-03 1.69217003e+01] [-1.81277510e-01 9.83431146e-01 1.28238952e-03 -2.12207073e+00] [ 7.28049009e-03 3.80642656e-05 9.99973496e-01 -2.57927220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.807628 meters 0.012618797670872407 Centerline is valid? [True, True] Translation: X:16.95, Y:-2.13, Z:-0.03 [[ 9.83223011e-01 1.82208704e-01 -8.51460432e-03 1.69534145e+01] [-1.82202324e-01 9.83259877e-01 1.52569258e-03 -2.12886186e+00] [ 8.65006327e-03 5.12846442e-05 9.99962586e-01 -2.70303855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837628 meters 0.01277539554226842 Centerline is valid? [True, True] Translation: X:16.98, Y:-2.14, Z:-0.03 [[ 9.83138903e-01 1.82536668e-01 -1.08748116e-02 1.69837320e+01] [-1.82526253e-01 9.83199044e-01 1.95102892e-03 -2.13736198e+00] [ 1.10482387e-02 6.68061817e-05 9.99938964e-01 -3.03556807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.867628 meters 0.01274106949677526 Centerline is valid? [True, True] Translation: X:17.02, Y:-2.15, Z:-0.03 [[ 9.83190970e-01 1.82219003e-01 -1.14782942e-02 1.70155218e+01] [-1.82207338e-01 9.83257968e-01 2.06271225e-03 -2.14579303e+00] [ 1.16619896e-02 6.33893770e-05 9.99931995e-01 -3.09859325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897628 meters 0.012750303707507264 Centerline is valid? [True, True] Translation: X:17.05, Y:-2.15, Z:-0.03 [[ 9.83243796e-01 1.81895715e-01 -1.20658952e-02 1.70473522e+01] [-1.81882759e-01 9.83317825e-01 2.17179159e-03 -2.15463247e+00] [ 1.22596494e-02 5.91776930e-05 9.99924846e-01 -3.13032894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.927628 meters 0.012731689523117432 Centerline is valid? [True, True] Translation: X:17.08, Y:-2.16, Z:-0.03 [[ 9.83409899e-01 1.80968710e-01 -1.24618077e-02 1.70789971e+01] [-1.80954769e-01 9.83488853e-01 2.24668102e-03 -2.16418908e+00] [ 1.26626280e-02 4.56151924e-05 9.99919825e-01 -3.09596896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957628 meters 0.012845003595871778 Centerline is valid? [True, True] Translation: X:17.11, Y:-2.17, Z:-0.03 [[ 9.83605952e-01 1.79900593e-01 -1.24542541e-02 1.71099550e+01] [-1.79886541e-01 9.83684795e-01 2.24867377e-03 -2.17387826e+00] [ 1.26555982e-02 2.85437912e-05 9.99919914e-01 -3.07713207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.987628 meters 0.01258663019651418 Centerline is valid? [True, True] Translation: X:17.14, Y:-2.18, Z:-0.03 [[ 9.83433033e-01 1.81015334e-01 -9.63947100e-03 1.71413467e+01] [-1.81006945e-01 9.83480273e-01 1.74296849e-03 -2.18137264e+00] [ 9.79573359e-03 3.07184036e-05 9.99952020e-01 -2.72222970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017628 meters 0.01258663019651418 Centerline is valid? [True, True] Translation: X:17.17, Y:-2.19, Z:-0.03 [[ 9.83381767e-01 1.81293658e-01 -9.63896814e-03 1.71732127e+01] [-1.81285255e-01 9.83429005e-01 1.74574758e-03 -2.18720801e+00] [ 9.79573382e-03 3.06664561e-05 9.99952020e-01 -2.72686720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.047628 meters 0.01256379357624763 Centerline is valid? [True, True] Translation: X:17.20, Y:-2.19, Z:-0.03 [[ 9.83285359e-01 1.81870778e-01 -8.53948901e-03 1.72043521e+01] [-1.81864185e-01 9.83322439e-01 1.54881182e-03 -2.19369906e+00] [ 8.67875477e-03 3.01032229e-05 9.99962338e-01 -2.59166743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077628 meters 0.012516393050255606 Centerline is valid? [True, True] Translation: X:17.24, Y:-2.20, Z:-0.03 [[ 9.83249910e-01 1.82094800e-01 -7.81658643e-03 1.72355764e+01] [-1.82089266e-01 9.83280979e-01 1.41988634e-03 -2.19983251e+00] [ 7.94445467e-03 2.72133740e-05 9.99968442e-01 -2.56294638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.107628 meters 0.012432529453650372 Centerline is valid? [True, True] Translation: X:17.27, Y:-2.21, Z:-0.02 [[ 9.83105132e-01 1.82939018e-01 -6.13311417e-03 1.72670216e+01] [-1.82935617e-01 9.83124262e-01 1.11571541e-03 -2.20521079e+00] [ 6.23372123e-03 2.50994841e-05 9.99980570e-01 -2.44259952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137628 meters 0.012473250081591804 Centerline is valid? [True, True] Translation: X:17.30, Y:-2.21, Z:-0.03 [[ 9.83142587e-01 1.82731218e-01 -6.32104851e-03 1.72980719e+01] [-1.82727591e-01 9.83162907e-01 1.15163873e-03 -2.21091514e+00] [ 6.42506078e-03 2.28048842e-05 9.99979359e-01 -2.52500094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.167628 meters 0.012355692545415943 Centerline is valid? [True, True] Translation: X:17.33, Y:-2.22, Z:-0.02 [[ 9.83199228e-01 1.82428265e-01 -6.26156576e-03 1.73306490e+01] [-1.82424687e-01 9.83219166e-01 1.14267402e-03 -2.21765330e+00] [ 6.36494750e-03 1.87879573e-05 9.99979743e-01 -2.45180775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197627999999998 meters 0.0123226456826056 Centerline is valid? [True, True] Translation: X:17.36, Y:-2.22, Z:-0.03 [[ 9.83583122e-01 1.80349154e-01 -6.19870719e-03 1.73616711e+01] [-1.80345601e-01 9.83602655e-01 1.13218107e-03 -2.22339343e+00] [ 6.30125275e-03 4.31537553e-06 9.99980147e-01 -2.53005013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.227628 meters 0.012342848195986938 Centerline is valid? [True, True] Translation: X:17.39, Y:-2.23, Z:-0.03 [[ 9.83977879e-01 1.78164359e-01 -6.70787868e-03 1.73927661e+01] [-1.78160135e-01 9.84000742e-01 1.22698294e-03 -2.23027503e+00] [ 6.81916223e-03 -1.22475017e-05 9.99976749e-01 -2.63009569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257628 meters 0.012372821818679072 Centerline is valid? [True, True] Translation: X:17.43, Y:-2.24, Z:-0.03 [[ 9.84406767e-01 1.75783818e-01 -6.58538225e-03 1.74253998e+01] [-1.75779680e-01 9.84428793e-01 1.20656396e-03 -2.23686925e+00] [ 6.69493432e-03 -3.01733381e-05 9.99977588e-01 -2.54331554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.287628 meters 0.012659336499247782 Centerline is valid? [True, True] Translation: X:17.46, Y:-2.24, Z:-0.03 [[ 9.84963747e-01 1.72630539e-01 -6.71666075e-03 1.74562999e+01] [-1.72626150e-01 9.84986647e-01 1.23226494e-03 -2.24399859e+00] [ 6.82854770e-03 -5.42650078e-05 9.99976684e-01 -2.55404028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317628 meters 0.013216946144288907 Centerline is valid? [True, True] Translation: X:17.49, Y:-2.25, Z:-0.03 [[ 9.85590075e-01 1.69016338e-01 -6.75887605e-03 1.74877351e+01] [-1.69011796e-01 9.85613246e-01 1.24172111e-03 -2.25162284e+00] [ 6.87150892e-03 -8.14982180e-05 9.99976388e-01 -2.56308596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.347628 meters 0.01502718018810646 Centerline is valid? [True, True] Translation: X:17.52, Y:-2.26, Z:-0.03 [[ 9.87021802e-01 1.60463937e-01 -6.26790479e-03 1.75161762e+01] [-1.60459861e-01 9.87041695e-01 1.15119114e-03 -2.26073876e+00] [ 6.37140803e-03 -1.30503621e-04 9.99979694e-01 -2.56250452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377628 meters 0.01619217274890249 Centerline is valid? [True, True] Translation: X:17.55, Y:-2.27, Z:-0.03 [[ 9.87867327e-01 1.55166280e-01 -6.44743483e-03 1.75460365e+01] [-1.55161853e-01 9.87888352e-01 1.18430627e-03 -2.26814457e+00] [ 6.55311017e-03 -1.69541536e-04 9.99978514e-01 -2.54306375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.407628 meters 0.019196230161084734 Centerline is valid? [True, True] Translation: X:17.58, Y:-2.28, Z:-0.03 [[ 9.89508956e-01 1.44310106e-01 -6.82786979e-03 1.75761128e+01] [-1.44304880e-01 9.89532479e-01 1.25442846e-03 -2.27713956e+00] [ 6.93742563e-03 -2.55973263e-04 9.99975903e-01 -2.59226172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437628 meters 0.020522989261759172 Centerline is valid? [True, True] Translation: X:17.61, Y:-2.28, Z:-0.03 [[ 9.90322271e-01 1.38626787e-01 -6.66437091e-03 1.76064177e+01] [-1.38621680e-01 9.90344652e-01 1.22447189e-03 -2.28425840e+00] [ 6.76976870e-03 -2.88795491e-04 9.99977043e-01 -2.62768000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.467628 meters 0.023099606694676342 Centerline is valid? [True, True] Translation: X:17.64, Y:-2.29, Z:-0.03 [[ 9.91085858e-01 1.33071284e-01 -6.39190170e-03 1.76351830e+01] [-1.33066468e-01 9.91106420e-01 1.17471079e-03 -2.29331123e+00] [ 6.49137508e-03 -3.13691462e-04 9.99978882e-01 -2.62509025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497628 meters 0.024810197773627446 Centerline is valid? [True, True] Translation: X:17.67, Y:-2.30, Z:-0.03 [[ 9.91797073e-01 1.27641631e-01 -6.79553501e-03 1.76655139e+01] [-1.27636060e-01 9.91820284e-01 1.24895011e-03 -2.29885676e+00] [ 6.89936749e-03 -3.71349747e-04 9.99976130e-01 -2.87610188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.527628 meters 0.025244159685556686 Centerline is valid? [True, True] Translation: X:17.70, Y:-2.31, Z:-0.02 [[ 9.92660155e-01 1.20811373e-01 -5.51629550e-03 1.76955903e+01] [-1.20807596e-01 9.92675424e-01 1.01402615e-03 -2.30765477e+00] [ 5.59839686e-03 -3.40172955e-04 9.99984271e-01 -2.48877177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557628 meters 0.025921836531157042 Centerline is valid? [True, True] Translation: X:17.73, Y:-2.31, Z:-0.02 [[ 9.92929658e-01 1.18562474e-01 -5.79950347e-03 1.77259275e+01] [-1.18558261e-01 9.92946525e-01 1.06617414e-03 -2.31378710e+00] [ 5.88500506e-03 -3.71056882e-04 9.99982614e-01 -2.48835038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.587628 meters 0.026916761241953115 Centerline is valid? [True, True] Translation: X:17.76, Y:-2.32, Z:-0.02 [[ 9.93055082e-01 1.17500568e-01 -5.93472711e-03 1.77566724e+01] [-1.17496127e-01 9.93072740e-01 1.09273147e-03 -2.32001208e+00] [ 6.02201228e-03 -3.87835091e-04 9.99981792e-01 -2.49863481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617628 meters 0.027860033154240082 Centerline is valid? [True, True] Translation: X:17.79, Y:-2.32, Z:-0.03 [[ 9.93091281e-01 1.17165936e-01 -6.46931840e-03 1.77886375e+01] [-1.17160640e-01 9.93112260e-01 1.19280817e-03 -2.32393307e+00] [ 6.56451590e-03 -4.26617903e-04 9.99978362e-01 -2.82857681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.647628 meters 0.0254631495905376 Centerline is valid? [True, True] Translation: X:17.82, Y:-2.33, Z:-0.03 [[ 9.92553858e-01 1.21707175e-01 -4.91958154e-03 1.78195255e+01] [-1.21704169e-01 9.92566004e-01 9.06848273e-04 -2.32578314e+00] [ 4.99337933e-03 -3.01362168e-04 9.99987488e-01 -2.53569519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677628 meters 0.024794009594714315 Centerline is valid? [True, True] Translation: X:17.85, Y:-2.33, Z:-0.02 [[ 9.92060090e-01 1.25675726e-01 -4.73176684e-03 1.78500887e+01] [-1.25672990e-01 9.92071337e-01 8.72373941e-04 -2.32933263e+00] [ 4.80388649e-03 -2.70792086e-04 9.99988425e-01 -2.46909403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.707628 meters 0.02396194328116797 Centerline is valid? [True, True] Translation: X:17.88, Y:-2.33, Z:-0.02 [[ 9.91432695e-01 1.30551153e-01 -4.19621360e-03 1.78797262e+01] [-1.30549045e-01 9.91441551e-01 7.73567377e-04 -2.33218240e+00] [ 4.26129063e-03 -2.19128311e-04 9.99990897e-01 -2.44644024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737628 meters 0.02348365546653209 Centerline is valid? [True, True] Translation: X:17.91, Y:-2.33, Z:-0.03 [[ 9.90027366e-01 1.40801118e-01 -4.56722494e-03 1.79107877e+01] [-1.40798730e-01 9.90037882e-01 8.41962256e-04 -2.33012289e+00] [ 4.64027494e-03 -1.90506203e-04 9.99989216e-01 -2.81557456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.767628 meters 0.019502275061218814 Centerline is valid? [True, True] Translation: X:17.94, Y:-2.33, Z:-0.03 [[ 9.89031588e-01 1.47649297e-01 -4.02529862e-03 1.79404846e+01] [-1.47647499e-01 9.89039769e-01 7.42032141e-04 -2.33114716e+00] [ 4.09074094e-03 -1.39567955e-04 9.99991623e-01 -2.53046019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797628 meters 0.016762577812948053 Centerline is valid? [True, True] Translation: X:17.97, Y:-2.33, Z:-0.03 [[ 9.88179284e-01 1.53247808e-01 -4.10031054e-03 1.79718646e+01] [-1.53245989e-01 9.88187783e-01 7.55966418e-04 -2.33052446e+00] [ 4.16772698e-03 -1.18674210e-04 9.99991308e-01 -2.55886153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.827628 meters 0.01480921508026475 Centerline is valid? [True, True] Translation: X:18.00, Y:-2.33, Z:-0.03 [[ 9.87284724e-01 1.58921038e-01 -3.60243362e-03 1.80037971e+01] [-1.58919671e-01 9.87291293e-01 6.64428404e-04 -2.33134494e+00] [ 3.66224300e-03 -8.34824481e-05 9.99993290e-01 -2.57109669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857628 meters 0.015590839824854215 Centerline is valid? [True, True] Translation: X:18.04, Y:-2.33, Z:-0.03 [[ 9.86539424e-01 1.63475384e-01 -3.97048596e-03 1.80355284e+01] [-1.63473755e-01 9.86547411e-01 7.33596493e-04 -2.33406012e+00] [ 4.03699761e-03 -7.46516145e-05 9.99991849e-01 -2.75331083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.887628 meters 0.012420576484210537 Centerline is valid? [True, True] Translation: X:18.07, Y:-2.33, Z:-0.03 [[ 9.84932928e-01 1.72923172e-01 -2.16873203e-03 1.80663181e+01] [-1.72922709e-01 9.84935316e-01 4.00570392e-04 -2.33372616e+00] [ 2.20532867e-03 -1.95119517e-05 9.99997568e-01 -2.52896514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917628 meters 0.011976952214282029 Centerline is valid? [True, True] Translation: X:18.10, Y:-2.34, Z:-0.03 [[ 9.84240911e-01 1.76818558e-01 -2.24188077e-03 1.80984596e+01] [-1.76818072e-01 9.84243464e-01 4.14976531e-04 -2.33711822e+00] [ 2.27993205e-03 -1.20318437e-05 9.99997401e-01 -2.51810841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.947627999999998 meters 0.011800051438729033 Centerline is valid? [True, True] Translation: X:18.13, Y:-2.34, Z:-0.03 [[ 9.83695630e-01 1.79830991e-01 -1.92929077e-03 1.81300862e+01] [-1.79830635e-01 9.83697522e-01 3.57661073e-04 -2.34110949e+00] [ 1.96215709e-03 -4.88405002e-06 9.99998075e-01 -2.55836033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977628 meters 0.011764022609727023 Centerline is valid? [True, True] Translation: X:18.16, Y:-2.35, Z:-0.03 [[ 9.83242458e-01 1.82292084e-01 -1.96588932e-03 1.81622907e+01] [-1.82291719e-01 9.83244423e-01 3.65063435e-04 -2.34578306e+00] [ 1.99949788e-03 -5.80526900e-07 9.99998001e-01 -2.58375279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.007628 meters 0.011696799642783593 Centerline is valid? [True, True] Translation: X:18.19, Y:-2.35, Z:-0.03 [[ 9.82845297e-01 1.84424506e-01 -1.65059948e-03 1.81942884e+01] [-1.84424250e-01 9.82846683e-01 3.07059239e-04 -2.35134860e+00] [ 1.67891547e-03 2.61884248e-06 9.99998591e-01 -2.62269166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037628 meters 0.01182211370524443 Centerline is valid? [True, True] Translation: X:18.23, Y:-2.36, Z:-0.03 [[ 9.82471322e-01 1.86397195e-01 -2.48754571e-03 1.82256661e+01] [-1.86396619e-01 9.82474471e-01 4.63192602e-04 -2.35785700e+00] [ 2.53028796e-03 8.59666347e-06 9.99996799e-01 -2.68797982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.067628 meters 0.011845180517699653 Centerline is valid? [True, True] Translation: X:18.26, Y:-2.36, Z:-0.03 [[ 9.82336651e-01 1.87104076e-01 -2.60189218e-03 1.82573358e+01] [-1.87103447e-01 9.82340096e-01 4.85234708e-04 -2.36489004e+00] [ 2.64673241e-03 1.01591576e-05 9.99996497e-01 -2.69683221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097628 meters 0.011893694791353496 Centerline is valid? [True, True] Translation: X:18.29, Y:-2.37, Z:-0.03 [[ 9.82205755e-01 1.87785013e-01 -2.94006449e-03 1.82892519e+01] [-1.87784210e-01 9.82210155e-01 5.49085005e-04 -2.37223557e+00] [ 2.99087113e-03 1.27832358e-05 9.99995527e-01 -2.73333946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.127628 meters 0.01184659491489931 Centerline is valid? [True, True] Translation: X:18.32, Y:-2.38, Z:-0.03 [[ 9.82308579e-01 1.87224486e-01 -4.10454792e-03 1.83213635e+01] [-1.87222913e-01 9.82317154e-01 7.67636699e-04 -2.38195589e+00] [ 4.17568822e-03 1.44093034e-05 9.99991282e-01 -2.79773380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157628 meters 0.01187251192799724 Centerline is valid? [True, True] Translation: X:18.35, Y:-2.39, Z:-0.03 [[ 9.82439238e-01 1.86529492e-01 -4.46013283e-03 1.83520236e+01] [-1.86527625e-01 9.82449362e-01 8.34765135e-04 -2.38972601e+00] [ 4.53756297e-03 1.18319614e-05 9.99989705e-01 -2.90570121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.187628 meters 0.01184560796368588 Centerline is valid? [True, True] Translation: X:18.38, Y:-2.40, Z:-0.03 [[ 9.82606350e-01 1.85635261e-01 -4.93051508e-03 1.83832367e+01] [-1.85632960e-01 9.82618721e-01 9.24173864e-04 -2.39843517e+00] [ 5.01637568e-03 7.16700243e-06 9.99987418e-01 -2.99286464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217628 meters 0.01175581653079253 Centerline is valid? [True, True] Translation: X:18.42, Y:-2.41, Z:-0.03 [[ 9.82753504e-01 1.84846479e-01 -5.22783471e-03 1.84153572e+01] [-1.84843873e-01 9.82767409e-01 9.81456782e-04 -2.40754539e+00] [ 5.31916440e-03 1.80312413e-06 9.99985853e-01 -2.96773227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.247628 meters 0.011890185380461429 Centerline is valid? [True, True] Translation: X:18.45, Y:-2.42, Z:-0.03 [[ 9.83120286e-01 1.82859547e-01 -6.07359815e-03 1.84452766e+01] [-1.82855983e-01 9.83139047e-01 1.14179593e-03 -2.42012589e+00] [ 6.17997978e-03 -1.19289896e-05 9.99980904e-01 -2.99339995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277628 meters 0.015966646706185427 Centerline is valid? [True, True] Translation: X:18.48, Y:-2.43, Z:-0.03 [[ 9.83388754e-01 1.81393071e-01 -6.56591524e-03 1.84754435e+01] [-1.81388862e-01 9.83410674e-01 1.23606584e-03 -2.42978089e+00] [ 6.68120490e-03 -2.45493571e-05 9.99977680e-01 -3.45403843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.307628 meters 0.015432073781122525 Centerline is valid? [True, True] Translation: X:18.51, Y:-2.44, Z:-0.03 [[ 9.83470501e-01 1.80945238e-01 -6.67796001e-03 1.85071647e+01] [-1.80940859e-01 9.83493172e-01 1.25917365e-03 -2.43827523e+00] [ 6.79556955e-03 -3.00443169e-05 9.99976909e-01 -3.27255696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337628 meters 0.012101573984042982 Centerline is valid? [True, True] Translation: X:18.54, Y:-2.45, Z:-0.03 [[ 9.83211292e-01 1.82421378e-01 -4.24217104e-03 1.85374623e+01] [-1.82419620e-01 9.83220444e-01 8.00974405e-04 -2.44726370e+00] [ 4.31710415e-03 -1.36718491e-05 9.99990681e-01 -2.82052336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.367628 meters 0.01190332454541039 Centerline is valid? [True, True] Translation: X:18.57, Y:-2.45, Z:-0.03 [[ 9.82976612e-01 1.83695500e-01 -3.59770174e-03 1.85702105e+01] [-1.83694240e-01 9.82983196e-01 6.80459183e-04 -2.45288525e+00] [ 3.66147765e-03 -7.99837331e-06 9.99993297e-01 -2.70620310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397628 meters 0.01188257996780335 Centerline is valid? [True, True] Translation: X:18.60, Y:-2.46, Z:-0.03 [[ 9.82713050e-01 1.85101524e-01 -3.53369571e-03 1.86023035e+01] [-1.85100314e-01 9.82719403e-01 6.69394799e-04 -2.45913680e+00] [ 3.59653734e-03 -3.73482070e-06 9.99993532e-01 -2.67962493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.427628 meters 0.011884593308944901 Centerline is valid? [True, True] Translation: X:18.64, Y:-2.46, Z:-0.03 [[ 9.82418468e-01 1.86668049e-01 -2.99897876e-03 1.86352824e+01] [-1.86667184e-01 9.82423045e-01 5.68321786e-04 -2.46477719e+00] [ 3.05235337e-03 1.48110272e-06 9.99995342e-01 -2.62954435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457628 meters 0.011942850577794347 Centerline is valid? [True, True] Translation: X:18.67, Y:-2.47, Z:-0.03 [[ 9.82298806e-01 1.87290782e-01 -3.34933902e-03 1.86671732e+01] [-1.87289703e-01 9.82304516e-01 6.35912889e-04 -2.47118124e+00] [ 3.40917147e-03 2.64023813e-06 9.99994189e-01 -2.61305013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.487628 meters 0.01413502998252189 Centerline is valid? [True, True] Translation: X:18.70, Y:-2.48, Z:-0.03 [[ 9.82347150e-01 1.87027264e-01 -3.85728141e-03 1.86997766e+01] [-1.87025826e-01 9.82354723e-01 7.33417688e-04 -2.47722859e+00] [ 3.92638771e-03 9.40466530e-07 9.99992292e-01 -2.86468206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517628 meters 0.011889515556064609 Centerline is valid? [True, True] Translation: X:18.73, Y:-2.48, Z:-0.03 [[ 9.82326538e-01 1.87150269e-01 -3.05778256e-03 1.87317998e+01] [-1.87149363e-01 9.82331297e-01 5.82393237e-04 -2.48369242e+00] [ 3.11275056e-03 1.61727543e-07 9.99995155e-01 -2.55505054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.547628 meters 0.011864711229792303 Centerline is valid? [True, True] Translation: X:18.76, Y:-2.49, Z:-0.03 [[ 9.82471095e-01 1.86391996e-01 -2.92761370e-03 1.87640321e+01] [-1.86391159e-01 9.82475457e-01 5.58474372e-04 -2.49019923e+00] [ 2.98040376e-03 -3.00361691e-06 9.99995559e-01 -2.55942509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577628 meters 0.012087393190371803 Centerline is valid? [True, True] Translation: X:18.80, Y:-2.50, Z:-0.03 [[ 9.83330512e-01 1.81797377e-01 -3.28892465e-03 1.87953275e+01] [-1.81796293e-01 9.83336012e-01 6.28134533e-04 -2.49838555e+00] [ 3.34831126e-03 -1.97495443e-05 9.99994394e-01 -2.56173439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.607628 meters 0.012471205399124965 Centerline is valid? [True, True] Translation: X:18.83, Y:-2.51, Z:-0.03 [[ 9.83998282e-01 1.78152097e-01 -3.03514608e-03 1.88261833e+01] [-1.78151153e-01 9.84002962e-01 5.80475179e-04 -2.50640592e+00] [ 3.09000560e-03 -3.04718047e-05 9.99995225e-01 -2.51100317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637628 meters 0.01322410023534874 Centerline is valid? [True, True] Translation: X:18.86, Y:-2.51, Z:-0.02 [[ 9.84697654e-01 1.74256829e-01 -2.25549191e-03 1.88570098e+01] [-1.74256296e-01 9.84700237e-01 4.32030343e-04 -2.51448697e+00] [ 2.29626765e-03 -3.23855996e-05 9.99997363e-01 -2.44265869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.667628 meters 0.014110622633055337 Centerline is valid? [True, True] Translation: X:18.89, Y:-2.52, Z:-0.02 [[ 9.85596065e-01 1.69105775e-01 -1.90632976e-03 1.88884225e+01] [-1.69105385e-01 9.85597908e-01 3.65091095e-04 -2.52285974e+00] [ 1.94061364e-03 -3.74617178e-05 9.99998116e-01 -2.33909684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697628 meters 0.017439486101194765 Centerline is valid? [True, True] Translation: X:18.92, Y:-2.53, Z:-0.02 [[ 9.87478153e-01 1.57753390e-01 -8.74468861e-04 1.89165166e+01] [-1.57753303e-01 9.87478540e-01 1.67536001e-04 -2.53393075e+00] [ 8.89948606e-04 -2.74877893e-05 9.99999604e-01 -2.22175110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.727628 meters 0.01801059000633929 Centerline is valid? [True, True] Translation: X:18.95, Y:-2.54, Z:-0.02 [[ 9.88350521e-01 1.52194320e-01 -3.68706034e-04 1.89469529e+01] [-1.52194305e-01 9.88350590e-01 7.06431445e-05 -2.54006389e+00] [ 3.75162312e-04 -1.37052302e-05 9.99999930e-01 -2.18529632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757628 meters 0.02335934230419134 Centerline is valid? [True, True] Translation: X:18.98, Y:-2.55, Z:-0.02 [[ 9.89231477e-01 1.46358679e-01 -4.70302617e-04 1.89751659e+01] [-1.46358652e-01 9.89231589e-01 9.00716304e-05 -2.55285692e+00] [ 4.78420970e-04 -2.02688348e-05 9.99999885e-01 -2.26354879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.787628 meters 0.020992200592910897 Centerline is valid? [True, True] Translation: X:19.01, Y:-2.55, Z:-0.02 [[ 9.90119199e-01 1.40225943e-01 -8.10667512e-04 1.90058122e+01] [-1.40225863e-01 9.90119530e-01 1.55259676e-04 -2.55429842e+00] [ 8.24429171e-04 -4.00490340e-05 9.99999659e-01 -2.25897604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817628 meters 0.022586407498732995 Centerline is valid? [True, True] Translation: X:19.04, Y:-2.56, Z:-0.02 [[ 9.90916546e-01 1.34475951e-01 -7.85515616e-04 1.90356712e+01] [-1.34475874e-01 9.90916857e-01 1.50506526e-04 -2.56162536e+00] [ 7.98620173e-04 -4.35065077e-05 9.99999680e-01 -2.30356029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.847628 meters 0.025689073946048954 Centerline is valid? [True, True] Translation: X:19.07, Y:-2.57, Z:-0.02 [[ 9.92247904e-01 1.24266610e-01 -1.38106277e-03 1.90652961e+01] [-1.24266362e-01 9.92248861e-01 2.64610080e-04 -2.57060343e+00] [ 1.40324016e-03 -9.09391514e-05 9.99999011e-01 -2.31213983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877628 meters 0.02684088457211454 Centerline is valid? [True, True] Translation: X:19.10, Y:-2.58, Z:-0.02 [[ 9.92760409e-01 1.20103683e-01 -1.36932831e-03 1.90957368e+01] [-1.20103434e-01 9.92761349e-01 2.62369396e-04 -2.57731407e+00] [ 1.39092775e-03 -9.60089161e-05 9.99999028e-01 -2.26318150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.907628 meters 0.02684088457211454 Centerline is valid? [True, True] Translation: X:19.13, Y:-2.58, Z:-0.02 [[ 9.92726409e-01 1.20384395e-01 -1.36918185e-03 1.91276089e+01] [-1.20384146e-01 9.92727348e-01 2.63133245e-04 -2.58347921e+00] [ 1.39090141e-03 -9.63915326e-05 9.99999028e-01 -2.26781396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937628 meters 0.029081920018668165 Centerline is valid? [True, True] Translation: X:19.16, Y:-2.59, Z:-0.02 [[ 9.93135054e-01 1.16960352e-01 -1.74384394e-03 1.91573958e+01] [-1.16959944e-01 9.93136576e-01 3.34688766e-04 -2.58954390e+00] [ 1.77102051e-03 -1.28431256e-04 9.99998423e-01 -2.48873886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.967628 meters 0.02854569642144551 Centerline is valid? [True, True] Translation: X:19.19, Y:-2.59, Z:-0.02 [[ 9.93366386e-01 1.14983922e-01 -1.38618820e-03 1.91881254e+01] [-1.14983662e-01 9.93367347e-01 2.66152340e-04 -2.59200177e+00] [ 1.40759734e-03 -1.04997793e-04 9.99999004e-01 -2.20469247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997628 meters 0.031441109864969494 Centerline is valid? [True, True] Translation: X:19.22, Y:-2.60, Z:-0.03 [[ 9.93341357e-01 1.15193239e-01 -1.86163956e-03 1.92198102e+01] [-1.15192769e-01 9.93343092e-01 3.58239301e-04 -2.59827801e+00] [ 1.89051354e-03 -1.41406498e-04 9.99998203e-01 -2.53231507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.027628 meters 0.028540890598389976 Centerline is valid? [True, True] Translation: X:19.25, Y:-2.60, Z:-0.02 [[ 9.93113580e-01 1.17145516e-01 -1.53122591e-03 1.92515827e+01] [-1.17145200e-01 9.93114754e-01 2.94450752e-04 -2.59937956e+00] [ 1.55517663e-03 -1.13047275e-04 9.99998784e-01 -2.32646909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057628 meters 0.026902822943352365 Centerline is valid? [True, True] Translation: X:19.28, Y:-2.60, Z:-0.02 [[ 9.92771963e-01 1.20008203e-01 -1.36404367e-03 1.92827516e+01] [-1.20007955e-01 9.92772895e-01 2.62306882e-04 -2.60136194e+00] [ 1.38566456e-03 -9.67148263e-05 9.99999035e-01 -2.18651003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.087628 meters 0.026365984906245955 Centerline is valid? [True, True] Translation: X:19.31, Y:-2.60, Z:-0.02 [[ 9.91940879e-01 1.26668434e-01 -2.89824299e-03 1.93146637e+01] [-1.26667344e-01 9.91945096e-01 5.57355384e-04 -2.59835095e+00] [ 2.94549725e-03 -1.85750848e-04 9.99995645e-01 -2.46875309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117628 meters 0.02542582602221376 Centerline is valid? [True, True] Translation: X:19.34, Y:-2.60, Z:-0.02 [[ 9.91327191e-01 1.31397316e-01 -2.26822823e-03 1.93445555e+01] [-1.31396661e-01 9.91329777e-01 4.36149136e-04 -2.60190912e+00] [ 2.30587101e-03 -1.34328883e-04 9.99997332e-01 -2.26075911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.147628 meters 0.024997856971176666 Centerline is valid? [True, True] Translation: X:19.37, Y:-2.60, Z:-0.02 [[ 9.90815721e-01 1.35195633e-01 -2.51948857e-03 1.93747806e+01] [-1.35194836e-01 9.90818915e-01 4.84475860e-04 -2.60389699e+00] [ 2.56185595e-03 -1.39404454e-04 9.99996709e-01 -2.31008526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177628 meters 0.02348951927522157 Centerline is valid? [True, True] Translation: X:19.41, Y:-2.60, Z:-0.02 [[ 9.89955067e-01 1.41341291e-01 -3.40659822e-03 1.94068178e+01] [-1.41339871e-01 9.89960914e-01 6.55179738e-04 -2.60193376e+00] [ 3.46500303e-03 -1.67110349e-04 9.99993983e-01 -2.35656748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.207628 meters 0.021950475523445902 Centerline is valid? [True, True] Translation: X:19.44, Y:-2.60, Z:-0.02 [[ 9.89621434e-01 1.43661980e-01 -3.26381071e-03 1.94389898e+01] [-1.43660688e-01 9.89626805e-01 6.27936615e-04 -2.60351120e+00] [ 3.32016518e-03 -1.52538240e-04 9.99994477e-01 -2.35967347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237628 meters 0.019935748072466467 Centerline is valid? [True, True] Translation: X:19.47, Y:-2.60, Z:-0.02 [[ 9.89405175e-01 1.45147059e-01 -3.11957932e-03 1.94716546e+01] [-1.45145883e-01 9.89410082e-01 6.01285210e-04 -2.60478394e+00] [ 3.17381801e-03 -1.42120602e-04 9.99994953e-01 -2.30585565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.267628 meters 0.01995478453119693 Centerline is valid? [True, True] Translation: X:19.50, Y:-2.61, Z:-0.02 [[ 9.89280746e-01 1.45993904e-01 -3.06340573e-03 1.95037718e+01] [-1.45992772e-01 9.89285480e-01 5.91254503e-04 -2.60931795e+00] [ 3.11690236e-03 -1.37681601e-04 9.99995133e-01 -2.27922673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297628 meters 0.019799459170207246 Centerline is valid? [True, True] Translation: X:19.54, Y:-2.61, Z:-0.02 [[ 9.89313465e-01 1.45770616e-01 -3.12989686e-03 1.95365011e+01] [-1.45769430e-01 9.89318405e-01 6.04893603e-04 -2.61124520e+00] [ 3.18464028e-03 -1.42186105e-04 9.99994919e-01 -2.28242643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.327628 meters 0.02071268179097291 Centerline is valid? [True, True] Translation: X:19.57, Y:-2.62, Z:-0.02 [[ 9.89400867e-01 1.45161936e-01 -3.73329126e-03 1.95676427e+01] [-1.45160242e-01 9.89407895e-01 7.22299862e-04 -2.61616066e+00] [ 3.79859829e-03 -1.72718648e-04 9.99992770e-01 -2.34669707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357628 meters 0.021008136176201748 Centerline is valid? [True, True] Translation: X:19.60, Y:-2.62, Z:-0.02 [[ 9.89550450e-01 1.44128819e-01 -4.09751159e-03 1.95988769e+01] [-1.44126765e-01 9.89558915e-01 7.93709838e-04 -2.62074864e+00] [ 4.16912558e-03 -1.94854838e-04 9.99991290e-01 -2.42495897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.387628 meters 0.024446656801805713 Centerline is valid? [True, True] Translation: X:19.63, Y:-2.63, Z:-0.03 [[ 9.89798000e-01 1.42364162e-01 -5.68905685e-03 1.96287255e+01] [-1.42360172e-01 9.89814309e-01 1.10244085e-03 -2.62721944e+00] [ 5.78805794e-03 -2.81298640e-04 9.99983209e-01 -2.72783053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417628 meters 0.023255794814021853 Centerline is valid? [True, True] Translation: X:19.66, Y:-2.63, Z:-0.02 [[ 9.89888903e-01 1.41758233e-01 -4.95616597e-03 1.96602030e+01] [-1.41755189e-01 9.89901278e-01 9.61860198e-04 -2.63364662e+00] [ 5.04246664e-03 -2.49572490e-04 9.99987256e-01 -2.43795318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.447628 meters 0.021958212185658313 Centerline is valid? [True, True] Translation: X:19.69, Y:-2.64, Z:-0.02 [[ 9.90062775e-01 1.40534151e-01 -5.08476615e-03 1.96917984e+01] [-1.40530925e-01 9.90075797e-01 9.88011577e-04 -2.63708334e+00] [ 5.17315326e-03 -2.63626595e-04 9.99986584e-01 -2.38636021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477628 meters 0.023075986664803903 Centerline is valid? [True, True] Translation: X:19.72, Y:-2.64, Z:-0.02 [[ 9.90443548e-01 1.37758415e-01 -6.64804964e-03 1.97224399e+01] [-1.37752839e-01 9.90465793e-01 1.29162637e-03 -2.64287972e+00] [ 6.76259816e-03 -3.63495291e-04 9.99977067e-01 -2.41896000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.507628 meters 0.023389861830397873 Centerline is valid? [True, True] Translation: X:19.75, Y:-2.65, Z:-0.02 [[ 9.90566818e-01 1.36848184e-01 -7.06784789e-03 1.97536796e+01] [-1.36841851e-01 9.90591954e-01 1.37425669e-03 -2.64845308e+00] [ 7.18941778e-03 -3.94115694e-04 9.99974078e-01 -2.45689282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537628 meters 0.025275848387648188 Centerline is valid? [True, True] Translation: X:19.78, Y:-2.65, Z:-0.03 [[ 9.90714182e-01 1.35635458e-01 -9.40389035e-03 1.97849613e+01] [-1.35624170e-01 9.90758665e-01 1.83081130e-03 -2.65325195e+00] [ 9.56530878e-03 -5.38415901e-04 9.99954106e-01 -2.76373672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.567628 meters 0.02303834021206453 Centerline is valid? [True, True] Translation: X:19.82, Y:-2.66, Z:-0.02 [[ 9.90764560e-01 1.35317363e-01 -8.64857182e-03 1.98164098e+01] [-1.35307783e-01 9.90802181e-01 1.68606680e-03 -2.65796419e+00] [ 8.79717793e-03 -5.00276145e-04 9.99961179e-01 -2.40024876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597628 meters 0.024340469779010943 Centerline is valid? [True, True] Translation: X:19.85, Y:-2.66, Z:-0.03 [[ 9.90935408e-01 1.33958378e-01 -1.01079523e-02 1.98485193e+01] [-1.33945217e-01 9.90986778e-01 1.97101782e-03 -2.66262299e+00] [ 1.02808814e-02 -5.99239484e-04 9.99946971e-01 -2.59082201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.627628 meters 0.023953009107255726 Centerline is valid? [True, True] Translation: X:19.88, Y:-2.67, Z:-0.02 [[ 9.90967145e-01 1.33770435e-01 -9.46506197e-03 1.98799869e+01] [-1.33758860e-01 9.91012185e-01 1.84839434e-03 -2.66869025e+00] [ 9.62725226e-03 -5.65662157e-04 9.99953497e-01 -2.48815083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657628 meters 0.024711618777935342 Centerline is valid? [True, True] Translation: X:19.91, Y:-2.67, Z:-0.03 [[ 9.91071075e-01 1.33002496e-01 -9.40535267e-03 1.99118379e+01] [-1.32991009e-01 9.91115538e-01 1.83919139e-03 -2.67388972e+00] [ 9.56640821e-03 -5.71942051e-04 9.99954077e-01 -2.58556742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.687628 meters 0.02617279863760405 Centerline is valid? [True, True] Translation: X:19.94, Y:-2.68, Z:-0.02 [[ 9.91153941e-01 1.32452113e-01 -8.38474229e-03 1.99421508e+01] [-1.32442946e-01 9.91189271e-01 1.64164134e-03 -2.68008971e+00] [ 8.52830547e-03 -5.16619306e-04 9.99963500e-01 -2.46938831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717628 meters 0.02546163627121121 Centerline is valid? [True, True] Translation: X:19.97, Y:-2.69, Z:-0.02 [[ 9.91114104e-01 1.32838350e-01 -6.84147438e-03 1.99738363e+01] [-1.32832244e-01 9.91137627e-01 1.34131332e-03 -2.68605525e+00] [ 6.95902053e-03 -4.20626160e-04 9.99975697e-01 -2.22636674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.747628 meters 0.02416787865231664 Centerline is valid? [True, True] Translation: X:20.01, Y:-2.69, Z:-0.02 [[ 9.91064613e-01 1.33241891e-01 -6.12635279e-03 2.00062271e+01] [-1.33236992e-01 9.91083476e-01 1.20273703e-03 -2.68942536e+00] [ 6.23198198e-03 -3.75733294e-04 9.99980510e-01 -2.16409299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777628 meters 0.02452057626538069 Centerline is valid? [True, True] Translation: X:20.04, Y:-2.69, Z:-0.02 [[ 9.91018000e-01 1.33591044e-01 -6.06276051e-03 2.00387213e+01] [-1.33586242e-01 9.91036475e-01 1.19209260e-03 -2.69480793e+00] [ 6.16766970e-03 -3.71483839e-04 9.99980911e-01 -2.15497130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.807628 meters 0.024576977192272403 Centerline is valid? [True, True] Translation: X:20.07, Y:-2.70, Z:-0.02 [[ 9.90823257e-01 1.35044459e-01 -5.68050760e-03 2.00709354e+01] [-1.35040258e-01 9.90839481e-01 1.11836070e-03 -2.69811775e+00] [ 5.77949962e-03 -3.41000575e-04 9.99983240e-01 -2.13946294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837628 meters 0.02352062635183843 Centerline is valid? [True, True] Translation: X:20.10, Y:-2.70, Z:-0.02 [[ 9.90634214e-01 1.36437708e-01 -5.34848170e-03 2.01028890e+01] [-1.36433997e-01 9.90648602e-01 1.05440083e-03 -2.70102953e+00] [ 5.44232595e-03 -3.14810802e-04 9.99985141e-01 -2.12151672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.867628 meters 0.024403775528117556 Centerline is valid? [True, True] Translation: X:20.13, Y:-2.70, Z:-0.02 [[ 9.90257126e-01 1.39146404e-01 -5.39472934e-03 2.01329474e+01] [-1.39142670e-01 9.90271774e-01 1.06327896e-03 -2.70417076e+00] [ 5.49019964e-03 -3.02282529e-04 9.99984883e-01 -2.12785788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897628 meters 0.02391620251036345 Centerline is valid? [True, True] Translation: X:20.16, Y:-2.71, Z:-0.02 [[ 9.90002083e-01 1.40938066e-01 -5.68661563e-03 2.01646177e+01] [-1.40933936e-01 9.90018366e-01 1.12257485e-03 -2.70760447e+00] [ 5.78806745e-03 -3.09914321e-04 9.99983201e-01 -2.15872599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.927628 meters 0.02491231364889588 Centerline is valid? [True, True] Translation: X:20.20, Y:-2.71, Z:-0.02 [[ 9.89806745e-01 1.42301861e-01 -5.72607251e-03 2.01951034e+01] [-1.42297692e-01 9.89823261e-01 1.13103554e-03 -2.71226672e+00] [ 5.82874823e-03 -3.04699698e-04 9.99982966e-01 -2.20851750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957628 meters 0.022008963812114365 Centerline is valid? [True, True] Translation: X:20.23, Y:-2.71, Z:-0.02 [[ 9.89392864e-01 1.45173227e-01 -5.14737597e-03 2.02280073e+01] [-1.45169897e-01 9.89406219e-01 1.01690771e-03 -2.70915890e+00] [ 5.24047357e-03 -2.58877190e-04 9.99986235e-01 -2.17020375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.987628 meters 0.02471055687731157 Centerline is valid? [True, True] Translation: X:20.26, Y:-2.72, Z:-0.02 [[ 9.89141670e-01 1.46901631e-01 -4.32066338e-03 2.02584906e+01] [-1.46899295e-01 9.89151084e-01 8.54868337e-04 -2.71681214e+00] [ 4.39937042e-03 -2.10883491e-04 9.99990300e-01 -2.19327355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017628 meters 0.021860569517390356 Centerline is valid? [True, True] Translation: X:20.29, Y:-2.71, Z:-0.02 [[ 9.88678302e-01 1.50012192e-01 -3.39964074e-03 2.02906505e+01] [-1.50010765e-01 9.88684135e-01 6.72551459e-04 -2.71492205e+00] [ 3.46206178e-03 -1.54954327e-04 9.99993995e-01 -2.12468576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.047628 meters 0.021860569517390356 Centerline is valid? [True, True] Translation: X:20.32, Y:-2.72, Z:-0.02 [[ 9.88636928e-01 1.50284627e-01 -3.39938853e-03 2.03224678e+01] [-1.50283197e-01 9.88642760e-01 6.73825463e-04 -2.72128777e+00] [ 3.46204647e-03 -1.55297759e-04 9.99993995e-01 -2.12931699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077628 meters 0.01853895922658616 Centerline is valid? [True, True] Translation: X:20.35, Y:-2.72, Z:-0.02 [[ 9.88399386e-01 1.51849447e-01 -2.89801352e-03 2.03549626e+01] [-1.51848412e-01 9.88403627e-01 5.75236693e-04 -2.72031264e+00] [ 2.95175644e-03 -1.28504845e-04 9.99995635e-01 -2.12861220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.107628000000002 meters 0.019036962953345605 Centerline is valid? [True, True] Translation: X:20.39, Y:-2.73, Z:-0.02 [[ 9.88162182e-01 1.53394677e-01 -2.36107888e-03 2.03859940e+01] [-1.53393993e-01 9.88164998e-01 4.69273281e-04 -2.72502953e+00] [ 2.40511953e-03 -1.01542793e-04 9.99997103e-01 -2.17069716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137628 meters 0.01929476702538419 Centerline is valid? [True, True] Translation: X:20.42, Y:-2.73, Z:-0.02 [[ 9.87847149e-01 1.55417973e-01 -1.80646441e-03 2.04172037e+01] [-1.55417575e-01 9.87848798e-01 3.59548923e-04 -2.72755738e+00] [ 1.84039406e-03 -7.44230613e-05 9.99998304e-01 -2.23738447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.167628 meters 0.01961216731021714 Centerline is valid? [True, True] Translation: X:20.45, Y:-2.73, Z:-0.02 [[ 9.87709050e-01 1.56292792e-01 -1.84274204e-03 2.04480094e+01] [-1.56292378e-01 9.87710766e-01 3.67190501e-04 -2.73254341e+00] [ 1.87748538e-03 -7.46708459e-05 9.99998235e-01 -2.27808649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197628 meters 0.02030130945108943 Centerline is valid? [True, True] Translation: X:20.48, Y:-2.74, Z:-0.02 [[ 9.87593507e-01 1.57011448e-01 -2.54371378e-03 2.04797430e+01] [-1.57010661e-01 9.87596777e-01 5.07414242e-04 -2.73731715e+00] [ 2.59183338e-03 -1.01728827e-04 9.99996636e-01 -2.47178450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.227628 meters 0.018273515860962403 Centerline is valid? [True, True] Translation: X:20.51, Y:-2.74, Z:-0.02 [[ 9.87406926e-01 1.58188905e-01 -1.95770838e-03 2.05121262e+01] [-1.58188441e-01 9.87408864e-01 3.90556049e-04 -2.74146205e+00] [ 1.99484024e-03 -7.59509104e-05 9.99998007e-01 -2.31262733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257628 meters 0.016842416164949553 Centerline is valid? [True, True] Translation: X:20.54, Y:-2.74, Z:-0.02 [[ 9.86998476e-01 1.60723273e-01 -1.42769734e-03 2.05436280e+01] [-1.60723029e-01 9.86999507e-01 2.84833245e-04 -2.74494000e+00] [ 1.45491590e-03 -5.16661389e-05 9.99998940e-01 -2.23345637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.287628 meters 0.016970829622206807 Centerline is valid? [True, True] Translation: X:20.57, Y:-2.75, Z:-0.02 [[ 9.86740288e-01 1.62303092e-01 -1.14467329e-03 2.05743086e+01] [-1.62302936e-01 9.86740951e-01 2.28706595e-04 -2.75084660e+00] [ 1.16661579e-03 -3.98901771e-05 9.99999319e-01 -2.22177078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317628 meters 0.016117913354722083 Centerline is valid? [True, True] Translation: X:20.61, Y:-2.75, Z:-0.02 [[ 9.86381508e-01 1.64470837e-01 -9.29450902e-04 2.06060598e+01] [-1.64470734e-01 9.86381946e-01 1.86143351e-04 -2.75499039e+00] [ 9.47408742e-04 -3.07408868e-05 9.99999551e-01 -2.18653554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.347628 meters 0.01638901142913785 Centerline is valid? [True, True] Translation: X:20.64, Y:-2.76, Z:-0.02 [[ 9.85957766e-01 1.66993871e-01 -5.75864964e-04 2.06369304e+01] [-1.66993832e-01 9.85957934e-01 1.15579079e-04 -2.76042004e+00] [ 5.87079628e-04 -1.77901934e-05 9.99999828e-01 -2.25866344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377628 meters 0.014548716954971607 Centerline is valid? [True, True] Translation: X:20.67, Y:-2.76, Z:-0.02 [[ 9.84947462e-01 1.72849563e-01 -1.23519258e-03 2.06687637e+01] [-1.72849389e-01 9.84948236e-01 2.47332509e-04 -2.76246543e+00] [ 1.25935207e-03 -3.01072452e-05 9.99999207e-01 -2.35874688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.407628 meters 0.014096223155390133 Centerline is valid? [True, True] Translation: X:20.70, Y:-2.77, Z:-0.02 [[ 9.84399185e-01 1.75943794e-01 -1.42353175e-03 2.07006839e+01] [-1.75943565e-01 9.84400213e-01 2.85679894e-04 -2.76774567e+00] [ 1.45158856e-03 -3.07618043e-05 9.99998946e-01 -2.39766941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437628 meters 0.01327932076653274 Centerline is valid? [True, True] Translation: X:20.73, Y:-2.77, Z:-0.02 [[ 9.83878766e-01 1.78827548e-01 -1.81155524e-03 2.07325528e+01] [-1.78827181e-01 9.83880433e-01 3.63928852e-04 -2.77283671e+00] [ 1.84743426e-03 -3.41065533e-05 9.99998293e-01 -2.42145786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.467628 meters 0.012958386097693918 Centerline is valid? [True, True] Translation: X:20.76, Y:-2.78, Z:-0.02 [[ 9.83045471e-01 1.83354444e-01 -1.65846392e-03 2.07628670e+01] [-1.83354142e-01 9.83046869e-01 3.33574356e-04 -2.77917418e+00] [ 1.69151011e-03 -2.38325305e-05 9.99998569e-01 -2.48960627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497628 meters 0.01261675598910949 Centerline is valid? [True, True] Translation: X:20.79, Y:-2.79, Z:-0.02 [[ 9.82760910e-01 1.84872286e-01 -1.79790060e-03 2.07946498e+01] [-1.84871933e-01 9.82762554e-01 3.62054055e-04 -2.78565066e+00] [ 1.83384315e-03 -2.34312130e-05 9.99998318e-01 -2.49034496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.527628 meters 0.012515895240213005 Centerline is valid? [True, True] Translation: X:20.83, Y:-2.79, Z:-0.02 [[ 9.82568314e-01 1.85890684e-01 -2.04017751e-03 2.08255094e+01] [-1.85890231e-01 9.82570432e-01 4.11303891e-04 -2.79267691e+00] [ 2.08107565e-03 -2.48851033e-05 9.99997834e-01 -2.49502840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557628 meters 0.012420909913130154 Centerline is valid? [True, True] Translation: X:20.86, Y:-2.80, Z:-0.02 [[ 9.82513098e-01 1.86185416e-01 -1.73323574e-03 2.08570488e+01] [-1.86185089e-01 9.82514626e-01 3.49410437e-04 -2.80139580e+00] [ 1.76798460e-03 -2.05976793e-05 9.99998437e-01 -2.38625065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.587628 meters 0.012383553059409927 Centerline is valid? [True, True] Translation: X:20.89, Y:-2.81, Z:-0.02 [[ 9.82462885e-01 1.86455043e-01 -1.09369843e-03 2.08885921e+01] [-1.86454913e-01 9.82463494e-01 2.21124567e-04 -2.80967176e+00] [ 1.11574857e-03 -1.33212345e-05 9.99999377e-01 -2.34029140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617628 meters 0.01221721315147721 Centerline is valid? [True, True] Translation: X:20.92, Y:-2.82, Z:-0.02 [[ 9.82461990e-01 1.86461328e-01 -7.82455541e-04 2.09204053e+01] [-1.86461260e-01 9.82462301e-01 1.58565386e-04 -2.81734441e+00] [ 7.98299384e-04 -9.88681846e-06 9.99999681e-01 -2.24544713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.647628 meters 0.015592635997457705 Centerline is valid? [True, True] Translation: X:20.95, Y:-2.83, Z:-0.02 [[ 9.82582629e-01 1.85811576e-01 -2.33144647e-03 2.09497855e+01] [-1.85810980e-01 9.82585394e-01 4.71751016e-04 -2.82684615e+00] [ 2.37850205e-03 -3.03260006e-05 9.99997171e-01 -2.49118815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677628 meters 0.012231804740405071 Centerline is valid? [True, True] Translation: X:20.98, Y:-2.83, Z:-0.02 [[ 9.82522543e-01 1.86129976e-01 -2.25486432e-03 2.09815216e+01] [-1.86129416e-01 9.82525130e-01 4.57184219e-04 -2.83378548e+00] [ 2.30055655e-03 -2.94972215e-05 9.99997353e-01 -2.24580280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.707628 meters 0.013890086186150124 Centerline is valid? [True, True] Translation: X:21.01, Y:-2.85, Z:-0.02 [[ 9.83073480e-01 1.83177199e-01 -3.55627283e-03 2.10101187e+01] [-1.83175786e-01 9.83079911e-01 7.21598945e-04 -2.84785152e+00] [ 3.62828085e-03 -5.79617137e-05 9.99993416e-01 -2.44447379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737628 meters 0.013315291233796657 Centerline is valid? [True, True] Translation: X:21.04, Y:-2.86, Z:-0.02 [[ 9.83571220e-01 1.80486874e-01 -3.48479204e-03 2.10408135e+01] [-1.80485498e-01 9.83577391e-01 7.07961022e-04 -2.85513810e+00] [ 3.55534034e-03 -6.73756606e-05 9.99993677e-01 -2.39764742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.767628 meters 0.014627779749045736 Centerline is valid? [True, True] Translation: X:21.07, Y:-2.87, Z:-0.02 [[ 9.84232832e-01 1.76851998e-01 -3.01706601e-03 2.10698630e+01] [-1.76850950e-01 9.84237454e-01 6.12807537e-04 -2.86646366e+00] [ 3.07788561e-03 -6.95743069e-05 9.99995261e-01 -2.42858735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797628 meters 0.015980956458122544 Centerline is valid? [True, True] Translation: X:21.10, Y:-2.88, Z:-0.02 [[ 9.85919256e-01 1.67211674e-01 -1.86479465e-03 2.10986073e+01] [-1.67211256e-01 9.85921017e-01 3.78782476e-04 -2.88057968e+00] [ 1.90187709e-03 -6.16342803e-05 9.99998190e-01 -2.37027320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.827628 meters 0.015980956458122544 Centerline is valid? [True, True] Translation: X:21.13, Y:-2.89, Z:-0.02 [[ 9.85870473e-01 1.67499058e-01 -1.86460549e-03 2.11303733e+01] [-1.67498639e-01 9.85872234e-01 3.79713081e-04 -2.88708429e+00] [ 1.90186436e-03 -6.20290336e-05 9.99998190e-01 -2.37490012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857628000000002 meters 0.0175243021257499 Centerline is valid? [True, True] Translation: X:21.16, Y:-2.90, Z:-0.02 [[ 9.86716991e-01 1.62440352e-01 -1.64690858e-03 2.11582417e+01] [-1.62440018e-01 9.86718363e-01 3.35258844e-04 -2.89914635e+00] [ 1.67949450e-03 -6.32817385e-05 9.99998588e-01 -2.35313976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.887628 meters 0.018655426927490892 Centerline is valid? [True, True] Translation: X:21.19, Y:-2.91, Z:-0.02 [[ 9.87600080e-01 1.56983769e-01 -1.47588642e-03 2.11871282e+01] [-1.56983495e-01 9.87601181e-01 3.00446863e-04 -2.91033559e+00] [ 1.50475245e-03 -6.50315385e-05 9.99998866e-01 -2.28524098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917628 meters 0.019924464521472448 Centerline is valid? [True, True] Translation: X:21.22, Y:-2.92, Z:-0.02 [[ 9.88342585e-01 1.52241151e-01 -1.25146950e-03 2.12165918e+01] [-1.52240950e-01 9.88343376e-01 2.54767986e-04 -2.92172973e+00] [ 1.27566776e-03 -6.12731433e-05 9.99999184e-01 -2.22725066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.947628 meters 0.02331282855216922 Centerline is valid? [True, True] Translation: X:21.24, Y:-2.94, Z:-0.02 [[ 9.89420919e-01 1.45073068e-01 -2.24690647e-04 2.12444104e+01] [-1.45073062e-01 9.89420944e-01 4.58035387e-05 -2.93683808e+00] [ 2.28958492e-04 -1.27224193e-05 9.99999974e-01 -2.16931155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977628 meters 0.02310085971706708 Centerline is valid? [True, True] Translation: X:21.27, Y:-2.94, Z:-0.02 [[ 9.89764728e-01 1.42708494e-01 2.63100216e-04 2.12748272e+01] [-1.42708484e-01 9.89764763e-01 -5.35237815e-05 -2.94457278e+00] [-2.68045621e-04 1.54293179e-05 9.99999964e-01 -2.11674303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.007628 meters 0.02441933263282788 Centerline is valid? [True, True] Translation: X:21.30, Y:-2.95, Z:-0.02 [[ 9.89997053e-01 1.41086791e-01 5.93401695e-04 2.13042669e+01] [-1.41086744e-01 9.89997230e-01 -1.20805937e-04 -2.95418682e+00] [-6.04510156e-04 3.58764091e-05 9.99999817e-01 -2.09432451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037628 meters 0.02536864005761825 Centerline is valid? [True, True] Translation: X:21.33, Y:-2.96, Z:-0.02 [[ 9.90123588e-01 1.40194554e-01 8.75886489e-04 2.13342778e+01] [-1.40194451e-01 9.90123974e-01 -1.78267555e-04 -2.96293906e+00] [-8.92228352e-04 5.37124852e-05 9.99999601e-01 -2.08382624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.067628 meters 0.024823984438788974 Centerline is valid? [True, True] Translation: X:21.37, Y:-2.97, Z:-0.02 [[ 9.90110003e-01 1.40292813e-01 3.28068287e-04 2.13660952e+01] [-1.40292799e-01 9.90110058e-01 -6.65810606e-05 -2.97028844e+00] [-3.34164554e-04 1.98969560e-05 9.99999944e-01 -2.20632093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097628 meters 0.024737312645987847 Centerline is valid? [True, True] Translation: X:21.40, Y:-2.98, Z:-0.02 [[ 9.89971585e-01 1.41266591e-01 -1.03833913e-04 2.13972241e+01] [-1.41266590e-01 9.89971591e-01 2.15880106e-05 -2.97701987e+00] [ 1.05842288e-04 -6.70325428e-06 9.99999994e-01 -2.26071091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.127628 meters 0.023315855383775088 Centerline is valid? [True, True] Translation: X:21.43, Y:-2.98, Z:-0.02 [[ 9.89776949e-01 1.42622181e-01 -7.10370120e-04 2.14291099e+01] [-1.42622113e-01 9.89777203e-01 1.45788684e-04 -2.98202851e+00] [ 7.23900851e-04 -4.29837912e-05 9.99999737e-01 -2.27073756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157628 meters 0.023023811707732433 Centerline is valid? [True, True] Translation: X:21.46, Y:-2.99, Z:-0.02 [[ 9.89527864e-01 1.44339017e-01 -9.24031846e-04 2.14607344e+01] [-1.44338902e-01 9.89528294e-01 1.89768236e-04 -2.98838608e+00] [ 9.41746618e-04 -5.44072153e-05 9.99999555e-01 -2.26226995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.187628 meters 0.024265164313655184 Centerline is valid? [True, True] Translation: X:21.49, Y:-3.00, Z:-0.02 [[ 9.88926317e-01 1.48399750e-01 -1.50138104e-03 2.14898600e+01] [-1.48399453e-01 9.88927453e-01 3.07748392e-04 -2.99572109e+00] [ 1.53042672e-03 -8.15363584e-05 9.99998826e-01 -2.38064276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217628 meters 0.022767498497388235 Centerline is valid? [True, True] Translation: X:21.52, Y:-3.00, Z:-0.02 [[ 9.88515981e-01 1.51106671e-01 -1.71168537e-03 2.15214125e+01] [-1.51106289e-01 9.88517459e-01 3.51101374e-04 -2.99984338e+00] [ 1.74508463e-03 -8.84228955e-05 9.99998473e-01 -2.40101929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.247628 meters 0.021156797488922914 Centerline is valid? [True, True] Translation: X:21.55, Y:-3.00, Z:-0.02 [[ 9.88088469e-01 1.53874842e-01 -1.92602075e-03 2.15526028e+01] [-1.53874364e-01 9.88090342e-01 3.95064694e-04 -3.00364292e+00] [ 1.96387302e-03 -9.39936518e-05 9.99998067e-01 -2.43247727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277628 meters 0.019603624958999588 Centerline is valid? [True, True] Translation: X:21.58, Y:-3.01, Z:-0.02 [[ 9.87589099e-01 1.57042396e-01 -2.33616559e-03 2.15835160e+01] [-1.57041700e-01 9.87591856e-01 4.79270805e-04 -3.00751429e+00] [ 2.38244395e-03 -1.06447206e-04 9.99997156e-01 -2.43642731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.307628 meters 0.018345247665376874 Centerline is valid? [True, True] Translation: X:21.61, Y:-3.01, Z:-0.02 [[ 9.86577344e-01 1.63269920e-01 -2.84216298e-03 2.16130708e+01] [-1.63268917e-01 9.86581431e-01 5.82997742e-04 -3.01056200e+00] [ 2.89921122e-03 -1.11135493e-04 9.99995791e-01 -2.49734389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337628 meters 0.018090471282991242 Centerline is valid? [True, True] Translation: X:21.64, Y:-3.02, Z:-0.03 [[ 9.86025115e-01 1.66573906e-01 -2.75792226e-03 2.16431094e+01] [-1.66572974e-01 9.86028967e-01 5.65800288e-04 -3.01584040e+00] [ 2.81363880e-03 -9.84979804e-05 9.99996037e-01 -2.53600468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.367628 meters 0.016633312857600332 Centerline is valid? [True, True] Translation: X:21.67, Y:-3.02, Z:-0.03 [[ 9.85501199e-01 1.69644146e-01 -2.87249460e-03 2.16742350e+01] [-1.69643148e-01 9.85505380e-01 5.89438010e-04 -3.01951240e+00] [ 2.93085360e-03 -9.35928378e-05 9.99995701e-01 -2.50276288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397628 meters 0.01843661666916708 Centerline is valid? [True, True] Translation: X:21.71, Y:-3.02, Z:-0.03 [[ 9.85090580e-01 1.71994271e-01 -3.81043102e-03 2.17056610e+01] [-1.71992527e-01 9.85097943e-01 7.83185947e-04 -3.02492149e+00] [ 3.88835126e-03 -1.16143440e-04 9.99992434e-01 -2.66978059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.427628 meters 0.016201858606141643 Centerline is valid? [True, True] Translation: X:21.74, Y:-3.03, Z:-0.02 [[ 9.84470347e-01 1.75535707e-01 -2.31339170e-03 2.17353809e+01] [-1.75535074e-01 9.84473063e-01 4.75337347e-04 -3.03173722e+00] [ 2.36091049e-03 -6.18741394e-05 9.99997211e-01 -2.44789502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457628 meters 0.014269255185136356 Centerline is valid? [True, True] Translation: X:21.77, Y:-3.04, Z:-0.02 [[ 9.83474034e-01 1.81033774e-01 -2.36565963e-03 2.17664038e+01] [-1.81033128e-01 9.83476878e-01 4.86189255e-04 -3.03516648e+00] [ 2.41458823e-03 -4.98917443e-05 9.99997084e-01 -2.49551114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.487628 meters 0.013388162323960671 Centerline is valid? [True, True] Translation: X:21.80, Y:-3.04, Z:-0.03 [[ 9.82933177e-01 1.83937628e-01 -3.05260029e-03 2.17981619e+01] [-1.83936563e-01 9.82937916e-01 6.28471867e-04 -3.04006115e+00] [ 3.11611619e-03 -5.62610430e-05 9.99995143e-01 -2.54201230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517628 meters 0.013191406934987656 Centerline is valid? [True, True] Translation: X:21.83, Y:-3.05, Z:-0.03 [[ 9.82420320e-01 1.86659964e-01 -2.89347698e-03 2.18286832e+01] [-1.86659018e-01 9.82424580e-01 5.96005920e-04 -3.04646190e+00] [ 2.95387335e-03 -4.54347551e-05 9.99995636e-01 -2.60060692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.547628 meters 0.012877038093009078 Centerline is valid? [True, True] Translation: X:21.86, Y:-3.05, Z:-0.03 [[ 9.81957941e-01 1.89082449e-01 -2.53579914e-03 2.18588734e+01] [-1.89081730e-01 9.81961214e-01 5.22725845e-04 -3.05288401e+00] [ 2.58889469e-03 -3.38215069e-05 9.99996648e-01 -2.61034974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577628 meters 0.012233927656445175 Centerline is valid? [True, True] Translation: X:21.89, Y:-3.06, Z:-0.03 [[ 9.81104163e-01 1.93475174e-01 -1.40672594e-03 2.18905495e+01] [-1.93474956e-01 9.81105171e-01 2.90582686e-04 -3.06007216e+00] [ 1.43636663e-03 -1.29256442e-05 9.99998968e-01 -2.59982777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.607628000000002 meters 0.012043160977325712 Centerline is valid? [True, True] Translation: X:21.92, Y:-3.07, Z:-0.03 [[ 9.80680902e-01 1.95611395e-01 -1.07277257e-03 2.19222519e+01] [-1.95611269e-01 9.80681489e-01 2.21955114e-04 -3.06717418e+00] [ 1.09546515e-03 -7.82073671e-06 9.99999400e-01 -2.58565859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637628 meters 0.011790601531984917 Centerline is valid? [True, True] Translation: X:21.95, Y:-3.08, Z:-0.03 [[ 9.79872322e-01 1.99623371e-01 -8.61464429e-04 2.19533734e+01] [-1.99623291e-01 9.79872701e-01 1.78537444e-04 -3.07591574e+00] [ 8.79765723e-04 -2.97553560e-06 9.99999613e-01 -2.54002211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.667628 meters 0.011796071993369977 Centerline is valid? [True, True] Translation: X:21.98, Y:-3.08, Z:-0.03 [[ 9.79525166e-01 2.01320842e-01 -6.06632513e-04 2.19843766e+01] [-2.01320802e-01 9.79525354e-01 1.26023143e-04 -3.08418983e+00] [ 6.19583012e-04 -1.31509646e-06 9.99999808e-01 -2.58143090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697628 meters 0.011753282097038669 Centerline is valid? [True, True] Translation: X:22.02, Y:-3.09, Z:-0.03 [[ 9.79158283e-01 2.03096270e-01 -9.80915925e-04 2.20158362e+01] [-2.03096168e-01 9.79158774e-01 2.03854640e-04 -3.09278978e+00] [ 1.00187455e-03 -3.85693458e-07 9.99999498e-01 -2.60218756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.727628 meters 0.011774677962860672 Centerline is valid? [True, True] Translation: X:22.05, Y:-3.10, Z:-0.03 [[ 9.78805570e-01 2.04790574e-01 -6.90918558e-04 2.20474163e+01] [-2.04790523e-01 9.78805814e-01 1.43920739e-04 -3.10191300e+00] [ 7.05748713e-04 6.23151815e-07 9.99999751e-01 -2.63209563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757628 meters 0.011884833198196349 Centerline is valid? [True, True] Translation: X:22.08, Y:-3.11, Z:-0.03 [[ 9.78355146e-01 2.06929113e-01 -1.24542544e-03 2.20789747e+01] [-2.06928951e-01 9.78355938e-01 2.59469128e-04 -3.11400719e+00] [ 1.27216109e-03 3.86162198e-06 9.99999191e-01 -2.73824496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.787628 meters 0.011864208700852134 Centerline is valid? [True, True] Translation: X:22.11, Y:-3.12, Z:-0.03 [[ 9.78176224e-01 2.07773263e-01 -1.24357698e-03 2.21096387e+01] [-2.07773101e-01 9.78177014e-01 2.59403705e-04 -3.12274897e+00] [ 1.27033557e-03 4.63930938e-06 9.99999193e-01 -2.83066925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817628 meters 0.011834666633944965 Centerline is valid? [True, True] Translation: X:22.14, Y:-3.13, Z:-0.03 [[ 9.78008450e-01 2.08560499e-01 -1.41054938e-03 2.21407645e+01] [-2.08560291e-01 9.78009467e-01 2.94632913e-04 -3.13233123e+00] [ 1.44097944e-03 6.03111126e-06 9.99998962e-01 -2.90173498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.847628 meters 0.011976355648400107 Centerline is valid? [True, True] Translation: X:22.17, Y:-3.14, Z:-0.03 [[ 9.77942569e-01 2.08869619e-01 -1.34708268e-03 2.21715492e+01] [-2.08869429e-01 9.77943496e-01 2.81742764e-04 -3.14187250e+00] [ 1.37621825e-03 5.83614922e-06 9.99999053e-01 -2.97773184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877628 meters 0.011785497530182999 Centerline is valid? [True, True] Translation: X:22.20, Y:-3.16, Z:-0.03 [[ 9.78127578e-01 2.07994114e-01 -2.21150620e-03 2.22020115e+01] [-2.07993598e-01 9.78130078e-01 4.62959764e-04 -3.15842183e+00] [ 2.25943364e-03 7.14542070e-06 9.99997447e-01 -2.97729556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.907628 meters 0.011801735463894744 Centerline is valid? [True, True] Translation: X:22.23, Y:-3.17, Z:-0.03 [[ 9.78343282e-01 2.06971002e-01 -2.72526035e-03 2.22333876e+01] [-2.06970213e-01 9.78347078e-01 5.71212904e-04 -3.17136132e+00] [ 2.78447500e-03 5.20540824e-06 9.99996123e-01 -2.94614115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937628 meters 0.011800103898371377 Centerline is valid? [True, True] Translation: X:22.26, Y:-3.18, Z:-0.03 [[ 9.78684006e-01 2.05349834e-01 -3.01028198e-03 2.22639820e+01] [-2.05348862e-01 9.78688636e-01 6.31786469e-04 -3.18431525e+00] [ 3.07586601e-03 -1.61333620e-07 9.99995270e-01 -2.88320425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.967628 meters 0.014940343443087754 Centerline is valid? [True, True] Translation: X:22.29, Y:-3.20, Z:-0.03 [[ 9.79582003e-01 2.01011925e-01 -3.64757687e-03 2.22923736e+01] [-2.01010465e-01 9.79588794e-01 7.66233136e-04 -3.20243891e+00] [ 3.72714743e-03 -1.73870659e-05 9.99993054e-01 -3.16854868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997628 meters 0.011942230755433075 Centerline is valid? [True, True] Translation: X:22.32, Y:-3.21, Z:-0.03 [[ 9.79675073e-01 2.00573536e-01 -2.64730133e-03 2.23234296e+01] [-2.00572763e-01 9.79678650e-01 5.57074962e-04 -3.21258397e+00] [ 2.70523909e-03 -1.47759118e-05 9.99996341e-01 -2.86298959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.027628 meters 0.011749732306153091 Centerline is valid? [True, True] Translation: X:22.36, Y:-3.22, Z:-0.03 [[ 9.78985018e-01 2.03931270e-01 -6.09775550e-04 2.23553918e+01] [-2.03931229e-01 9.78985208e-01 1.28741731e-04 -3.21707281e+00] [ 6.23215709e-04 -1.68394805e-06 9.99999806e-01 -2.77195573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057628 meters 0.011691005106628603 Centerline is valid? [True, True] Translation: X:22.39, Y:-3.22, Z:-0.03 [[ 9.78230756e-01 2.07518812e-01 7.28521187e-04 2.23874133e+01] [-2.07518755e-01 9.78231027e-01 -1.53193646e-04 -3.22180097e+00] [-7.44452593e-04 -1.32307410e-06 9.99999723e-01 -2.77540889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.087628 meters 0.01176426401847448 Centerline is valid? [True, True] Translation: X:22.42, Y:-3.23, Z:-0.03 [[ 9.77789934e-01 2.09586484e-01 5.91965436e-04 2.24194162e+01] [-2.09586447e-01 9.77790113e-01 -1.24559206e-04 -3.22886934e+00] [-6.04923877e-04 -2.27519457e-06 9.99999817e-01 -2.75802829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117628 meters 0.01198029758078483 Centerline is valid? [True, True] Translation: X:22.45, Y:-3.24, Z:-0.03 [[ 9.77320721e-01 2.11764404e-01 2.14534685e-04 2.24520126e+01] [-2.11764399e-01 9.77320744e-01 -4.49419226e-05 -3.23576226e+00] [-2.19186298e-04 -1.50813648e-06 9.99999976e-01 -2.71033314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.147628 meters 0.011898352043479311 Centerline is valid? [True, True] Translation: X:22.48, Y:-3.24, Z:-0.03 [[ 9.77503466e-01 2.10919339e-01 -7.95755296e-05 2.24830021e+01] [-2.10919338e-01 9.77503469e-01 1.70921196e-05 -3.24238107e+00] [ 8.13904148e-05 7.64118777e-08 9.99999997e-01 -2.79306052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177628 meters 0.011858356619323511 Centerline is valid? [True, True] Translation: X:22.52, Y:-3.25, Z:-0.03 [[ 9.77748752e-01 2.09777840e-01 -7.97311852e-04 2.25151558e+01] [-2.09777772e-01 9.77749077e-01 1.69303252e-04 -3.24989429e+00] [ 8.15086998e-04 1.72226031e-06 9.99999668e-01 -2.85034849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.207628 meters 0.014309711832941425 Centerline is valid? [True, True] Translation: X:22.55, Y:-3.26, Z:-0.03 [[ 9.78142167e-01 2.07932939e-01 -1.33966299e-03 2.25473230e+01] [-2.07932745e-01 9.78143084e-01 2.84618871e-04 -3.25725190e+00] [ 1.36956372e-03 1.62082445e-07 9.99999062e-01 -3.14266095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237628 meters 0.011884221813780316 Centerline is valid? [True, True] Translation: X:22.58, Y:-3.27, Z:-0.03 [[ 9.78823368e-01 2.04705988e-01 -5.22345592e-04 2.25783346e+01] [-2.04705958e-01 9.78823507e-01 1.11340166e-04 -3.26573317e+00] [ 5.34076143e-04 -2.05510175e-06 9.99999857e-01 -2.88024141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.267628000000002 meters 0.011963594103364086 Centerline is valid? [True, True] Translation: X:22.61, Y:-3.27, Z:-0.03 [[ 9.79279928e-01 2.02511277e-01 -6.71857919e-05 2.26099603e+01] [-2.02511276e-01 9.79279931e-01 1.46924218e-05 -3.27467094e+00] [ 6.87690787e-05 -7.82113294e-07 9.99999998e-01 -2.80414496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297628 meters 0.012284099927398111 Centerline is valid? [True, True] Translation: X:22.64, Y:-3.28, Z:-0.03 [[ 9.79772148e-01 2.00114601e-01 8.27329725e-04 2.26408482e+01] [-2.00114524e-01 9.79772497e-01 -1.75839647e-04 -3.28318269e+00] [-8.45782992e-04 6.72209541e-06 9.99999642e-01 -2.72669530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.327628 meters 0.012501910645801535 Centerline is valid? [True, True] Translation: X:22.67, Y:-3.29, Z:-0.03 [[ 9.80187920e-01 1.98062027e-01 1.75352427e-03 2.26722260e+01] [-1.98061676e-01 9.80189488e-01 -3.73524366e-04 -3.29106027e+00] [-1.79276705e-03 1.88181155e-05 9.99998393e-01 -2.61795010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357628000000002 meters 0.013173344095194503 Centerline is valid? [True, True] Translation: X:22.70, Y:-3.30, Z:-0.03 [[ 9.80637738e-01 1.95818999e-01 2.13213406e-03 2.27026342e+01] [-1.95818473e-01 9.80640056e-01 -4.54777446e-04 -3.29946223e+00] [-2.17991013e-03 2.84606899e-05 9.99997624e-01 -2.60365664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.387628 meters 0.014205010485990722 Centerline is valid? [True, True] Translation: X:22.73, Y:-3.31, Z:-0.03 [[ 9.81687541e-01 1.90484145e-01 2.31558060e-03 2.27333044e+01] [-1.90483509e-01 9.81690271e-01 -4.94476809e-04 -3.30731945e+00] [-2.36737294e-03 4.43418046e-05 9.99997197e-01 -2.66195274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417628 meters 0.015505110880967518 Centerline is valid? [True, True] Translation: X:22.76, Y:-3.32, Z:-0.03 [[ 9.82311096e-01 1.87247859e-01 1.77464561e-03 2.27630557e+01] [-1.87247479e-01 9.82312699e-01 -3.79301846e-04 -3.31593534e+00] [-1.81428038e-03 4.02944944e-05 9.99998353e-01 -2.74907966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.447628 meters 0.016192583688019957 Centerline is valid? [True, True] Translation: X:22.79, Y:-3.32, Z:-0.03 [[ 9.83491499e-01 1.80948664e-01 1.43289259e-03 2.27935552e+01] [-1.80948409e-01 9.83492541e-01 -3.06519612e-04 -3.32209327e+00] [-1.46470349e-03 4.21797966e-05 9.99998926e-01 -2.86720315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477628 meters 0.01618425690732919 Centerline is valid? [True, True] Translation: X:22.83, Y:-3.33, Z:-0.03 [[ 9.83971093e-01 1.78320277e-01 1.66337626e-03 2.28252055e+01] [-1.78319930e-01 9.83972498e-01 -3.55873960e-04 -3.32850245e+00] [-1.70017604e-03 5.35565509e-05 9.99998553e-01 -2.86287796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.507628 meters 0.017093495097244536 Centerline is valid? [True, True] Translation: X:22.86, Y:-3.34, Z:-0.03 [[ 9.84331301e-01 1.76315151e-01 2.20380948e-03 2.28555720e+01] [-1.76314536e-01 9.84333765e-01 -4.71832903e-04 -3.33538402e+00] [-2.25247538e-03 7.58762485e-05 9.99997460e-01 -2.80969411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537628 meters 0.01758684853584994 Centerline is valid? [True, True] Translation: X:22.89, Y:-3.34, Z:-0.03 [[ 9.84599440e-01 1.74798895e-01 3.04778860e-03 2.28872958e+01] [-1.74797709e-01 9.84604151e-01 -6.53423967e-04 -3.34217277e+00] [-3.11508309e-03 1.10614409e-04 9.99995142e-01 -2.76535751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.567628 meters 0.018754946545325096 Centerline is valid? [True, True] Translation: X:22.92, Y:-3.35, Z:-0.03 [[ 9.85385834e-01 1.70316942e-01 2.62622552e-03 2.29176504e+01] [-1.70316045e-01 9.85389328e-01 -5.63379025e-04 -3.34923733e+00] [-2.68380760e-03 1.07857367e-04 9.99996393e-01 -2.74681967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597628 meters 0.01853989194378054 Centerline is valid? [True, True] Translation: X:22.95, Y:-3.35, Z:-0.03 [[ 9.85708977e-01 1.68434570e-01 2.75837898e-03 2.29493548e+01] [-1.68433572e-01 9.85712829e-01 -5.91858948e-04 -3.35455824e+00] [-2.81865906e-03 1.18797052e-04 9.99996021e-01 -2.81647478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.627628 meters 0.019689731640865973 Centerline is valid? [True, True] Translation: X:22.98, Y:-3.36, Z:-0.03 [[ 9.85965205e-01 1.66928343e-01 2.74648903e-03 2.29796864e+01] [-1.66927346e-01 9.85969022e-01 -5.89741579e-04 -3.36182912e+00] [-2.80639769e-03 1.23000552e-04 9.99996054e-01 -2.87694424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657628 meters 0.021889344327776963 Centerline is valid? [True, True] Translation: X:23.01, Y:-3.37, Z:-0.03 [[ 9.86116727e-01 1.66033799e-01 2.56497803e-03 2.30097793e+01] [-1.66032926e-01 9.86120055e-01 -5.51363587e-04 -3.37072129e+00] [-2.62092127e-03 1.17838048e-04 9.99996558e-01 -2.91032788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.687628 meters 0.022966455030310907 Centerline is valid? [True, True] Translation: X:23.04, Y:-3.38, Z:-0.03 [[ 9.86223205e-01 1.65388592e-01 3.22530498e-03 2.30404731e+01] [-1.65387204e-01 9.86228468e-01 -6.94150480e-04 -3.37690165e+00] [-3.29569216e-03 1.51163138e-04 9.99994558e-01 -2.93546430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717628 meters 0.022966455030310907 Centerline is valid? [True, True] Translation: X:23.07, Y:-3.38, Z:-0.03 [[ 9.86178272e-01 1.65656317e-01 3.22513141e-03 2.30721566e+01] [-1.65654928e-01 9.86183534e-01 -6.94956249e-04 -3.38380271e+00] [-3.29569538e-03 1.51091842e-04 9.99994558e-01 -2.94010529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.747628 meters 0.02055572451334932 Centerline is valid? [True, True] Translation: X:23.11, Y:-3.39, Z:-0.03 [[ 9.86130241e-01 1.65945691e-01 3.02913731e-03 2.31052876e+01] [-1.65944465e-01 9.86134883e-01 -6.53579372e-04 -3.38573564e+00] [-3.09559665e-03 1.41845812e-04 9.99995199e-01 -2.97440997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777628 meters 0.02088533190036154 Centerline is valid? [True, True] Translation: X:23.14, Y:-3.39, Z:-0.03 [[ 9.85984010e-01 1.66810164e-01 3.14655446e-03 2.31359936e+01] [-1.66808843e-01 9.85989020e-01 -6.79760740e-04 -3.39204381e+00] [-3.21585915e-03 1.45360112e-04 9.99994819e-01 -2.99796414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.807628 meters 0.01921518096665182 Centerline is valid? [True, True] Translation: X:23.17, Y:-3.40, Z:-0.03 [[ 9.85529489e-01 1.69476593e-01 3.05133078e-03 2.31673798e+01] [-1.69475361e-01 9.85534204e-01 -6.59573834e-04 -3.39523694e+00] [-3.11897317e-03 1.32904078e-04 9.99995127e-01 -2.95575572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837628 meters 0.02028274588710813 Centerline is valid? [True, True] Translation: X:23.20, Y:-3.40, Z:-0.03 [[ 9.85306870e-01 1.70774475e-01 2.53969055e-03 2.31989887e+01] [-1.70773625e-01 9.85310138e-01 -5.49321909e-04 -3.40020172e+00] [-2.59619300e-03 1.07538489e-04 9.99996624e-01 -3.20664788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.867628 meters 0.01854454615123934 Centerline is valid? [True, True] Translation: X:23.23, Y:-3.41, Z:-0.03 [[ 9.84787631e-01 1.73725408e-01 3.57823277e-03 2.32285407e+01] [-1.73723738e-01 9.84794122e-01 -7.74713019e-04 -3.40574406e+00] [-3.65840994e-03 1.41303825e-04 9.99993298e-01 -2.98744527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897628 meters 0.017491683164380503 Centerline is valid? [True, True] Translation: X:23.26, Y:-3.41, Z:-0.03 [[ 9.84432396e-01 1.75715620e-01 4.10834689e-03 2.32609758e+01] [-1.75713433e-01 9.84440957e-01 -8.90053493e-04 -3.40993740e+00] [-4.20082124e-03 1.54305755e-04 9.99991165e-01 -3.04362291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.927628 meters 0.018204579752986547 Centerline is valid? [True, True] Translation: X:23.29, Y:-3.42, Z:-0.03 [[ 9.83812670e-01 1.79152118e-01 4.14116820e-03 2.32904200e+01] [-1.79149925e-01 9.83821375e-01 -8.97416715e-04 -3.41596433e+00] [-4.23494390e-03 1.40999960e-04 9.99991023e-01 -3.15201820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957628 meters 0.018350466159190847 Centerline is valid? [True, True] Translation: X:23.32, Y:-3.42, Z:-0.03 [[ 9.83518684e-01 1.80771476e-01 3.55987216e-03 2.33212114e+01] [-1.80769865e-01 9.83525119e-01 -7.71779692e-04 -3.42257873e+00] [-3.64073944e-03 1.15542137e-04 9.99993366e-01 -3.24881115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.987628 meters 0.016637991807626522 Centerline is valid? [True, True] Translation: X:23.35, Y:-3.43, Z:-0.03 [[ 9.83279263e-01 1.82075953e-01 3.19976033e-03 2.33527048e+01] [-1.82074657e-01 9.83284464e-01 -6.94352740e-04 -3.42674304e+00] [-3.27269956e-03 1.00147386e-04 9.99994640e-01 -3.30940928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017628000000002 meters 0.016696715567272806 Centerline is valid? [True, True] Translation: X:23.38, Y:-3.43, Z:-0.03 [[ 9.83063085e-01 1.83245685e-01 2.82671825e-03 2.33836466e+01] [-1.83244677e-01 9.83067145e-01 -6.14086646e-04 -3.43411688e+00] [-2.89138257e-03 8.57048413e-05 9.99995816e-01 -3.31262227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.047628 meters 0.01631028490844828 Centerline is valid? [True, True] Translation: X:23.41, Y:-3.44, Z:-0.03 [[ 9.82696721e-01 1.85197376e-01 3.01437686e-03 2.34146734e+01] [-1.85196236e-01 9.82701340e-01 -6.55650135e-04 -3.44200748e+00] [-3.08365687e-03 8.60539899e-05 9.99995242e-01 -3.29217659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077628 meters 0.015878726901494628 Centerline is valid? [True, True] Translation: X:23.45, Y:-3.45, Z:-0.03 [[ 9.82546293e-01 1.85996720e-01 2.82888800e-03 2.34457760e+01] [-1.85995717e-01 9.82550362e-01 -6.16010778e-04 -3.44869200e+00] [-2.89410092e-03 7.90980548e-05 9.99995809e-01 -3.28379647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.107628000000002 meters 0.015890155748211742 Centerline is valid? [True, True] Translation: X:23.48, Y:-3.46, Z:-0.03 [[ 9.82377524e-01 1.86890047e-01 2.55169915e-03 2.34768893e+01] [-1.86889232e-01 9.82380835e-01 -5.56273571e-04 -3.45556262e+00] [-2.61070234e-03 6.95855587e-05 9.99996590e-01 -3.32690088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137628 meters 0.01610531894664675 Centerline is valid? [True, True] Translation: X:23.51, Y:-3.46, Z:-0.04 [[ 9.82100603e-01 1.88346345e-01 2.01505362e-03 2.35071415e+01] [-1.88345839e-01 9.82102669e-01 -4.39714340e-04 -3.46301602e+00] [-2.06180813e-03 5.23167539e-05 9.99997873e-01 -3.53970368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.167628 meters 0.016842922435669552 Centerline is valid? [True, True] Translation: X:23.54, Y:-3.47, Z:-0.04 [[ 9.82028762e-01 1.88726993e-01 1.27770796e-03 2.35376084e+01] [-1.88726790e-01 9.82029593e-01 -2.78992913e-04 -3.47149468e+00] [-1.30740052e-03 3.28413437e-05 9.99999145e-01 -3.63452974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197628 meters 0.015547057613730077 Centerline is valid? [True, True] Translation: X:23.57, Y:-3.48, Z:-0.04 [[ 9.81975908e-01 1.89003235e-01 1.04564777e-03 2.35695784e+01] [-1.89003099e-01 9.81976464e-01 -2.28525028e-04 -3.47710193e+00] [-1.06999347e-03 2.67754034e-05 9.99999427e-01 -3.68084037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.227628 meters 0.016543866889153887 Centerline is valid? [True, True] Translation: X:23.60, Y:-3.49, Z:-0.04 [[ 9.81993997e-01 1.88910292e-01 8.31242983e-04 2.35994071e+01] [-1.88910206e-01 9.81994349e-01 -1.81839992e-04 -3.48839785e+00] [-8.50627358e-04 2.15354970e-05 9.99999638e-01 -3.71749802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257628 meters 0.016160402513442907 Centerline is valid? [True, True] Translation: X:23.63, Y:-3.50, Z:-0.04 [[ 9.82051759e-01 1.88609881e-01 8.09198093e-04 2.36303945e+01] [-1.88609799e-01 9.82052093e-01 -1.77243094e-04 -3.49588587e+00] [-8.28104480e-04 2.14392032e-05 9.99999657e-01 -3.71985589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.287628 meters 0.01742125702195174 Centerline is valid? [True, True] Translation: X:23.66, Y:-3.51, Z:-0.04 [[ 9.82075423e-01 1.88487350e-01 6.19225387e-04 2.36610132e+01] [-1.88487302e-01 9.82075618e-01 -1.35693990e-04 -3.50598905e+00] [-6.33702755e-04 1.65456107e-05 9.99999799e-01 -3.69393207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317628 meters 0.017240472481568316 Centerline is valid? [True, True] Translation: X:23.69, Y:-3.51, Z:-0.04 [[ 9.81949968e-01 1.89138514e-01 9.39172099e-04 2.36921322e+01] [-1.89138403e-01 9.81950417e-01 -2.06267614e-04 -3.51277993e+00] [-9.61233585e-04 2.49109658e-05 9.99999538e-01 -3.66226972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.347628 meters 0.016314765358773135 Centerline is valid? [True, True] Translation: X:23.72, Y:-3.52, Z:-0.04 [[ 9.81597956e-01 1.90955319e-01 1.23224959e-03 2.37235373e+01] [-1.90955129e-01 9.81598729e-01 -2.71044511e-04 -3.51760891e+00] [-1.26133202e-03 3.07523576e-05 9.99999204e-01 -3.65096200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377628 meters 0.015566903630103632 Centerline is valid? [True, True] Translation: X:23.75, Y:-3.52, Z:-0.04 [[ 9.81328155e-01 1.92337744e-01 1.11597131e-03 2.37548542e+01] [-1.92337588e-01 9.81328789e-01 -2.45712394e-04 -3.52275805e+00] [-1.14239454e-03 2.64812603e-05 9.99999347e-01 -3.70996310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.407628 meters 0.01683764841323683 Centerline is valid? [True, True] Translation: X:23.78, Y:-3.53, Z:-0.04 [[ 9.81120332e-01 1.93397127e-01 6.67914999e-04 2.37842430e+01] [-1.93397072e-01 9.81120559e-01 -1.47102273e-04 -3.53174841e+00] [-6.83754294e-04 1.51522260e-05 9.99999766e-01 -3.76755217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437628 meters 0.015064505991976654 Centerline is valid? [True, True] Translation: X:23.82, Y:-3.54, Z:-0.04 [[ 9.80981238e-01 1.94101405e-01 6.74320826e-04 2.38158865e+01] [-1.94101348e-01 9.80981470e-01 -1.48658538e-04 -3.53525996e+00] [-6.90351066e-04 1.49446553e-05 9.99999762e-01 -3.81507674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.467628 meters 0.01472172009320693 Centerline is valid? [True, True] Translation: X:23.85, Y:-3.54, Z:-0.04 [[ 9.80802108e-01 1.95004161e-01 7.75844707e-04 2.38478255e+01] [-1.95004086e-01 9.80802415e-01 -1.71291443e-04 -3.54056558e+00] [-7.94352906e-04 1.67101204e-05 9.99999684e-01 -3.86735291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497628 meters 0.014870743552746568 Centerline is valid? [True, True] Translation: X:23.88, Y:-3.55, Z:-0.04 [[ 9.80729809e-01 1.95368797e-01 2.72438382e-04 2.38798093e+01] [-1.95368788e-01 9.80729847e-01 -5.99447141e-05 -3.54729454e+00] [-2.78899779e-04 5.56361163e-06 9.99999961e-01 -3.94372158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.527628 meters 0.015001977532517573 Centerline is valid? [True, True] Translation: X:23.91, Y:-3.55, Z:-0.04 [[ 9.80823225e-01 1.94899161e-01 -3.43984392e-04 2.39115830e+01] [-1.94899147e-01 9.80823285e-01 7.66559344e-05 -3.55379783e+00] [ 3.52328079e-04 -8.14365634e-06 9.99999938e-01 -4.02743964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557628 meters 0.016068758938387953 Centerline is valid? [True, True] Translation: X:23.94, Y:-3.56, Z:-0.04 [[ 9.81065730e-01 1.93673958e-01 -6.56443694e-04 2.39416269e+01] [-1.93673904e-01 9.81065950e-01 1.45884031e-04 -3.56209142e+00] [ 6.72268494e-04 -1.59858101e-05 9.99999774e-01 -4.07757229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.587628 meters 0.01803677933402051 Centerline is valid? [True, True] Translation: X:23.97, Y:-3.57, Z:-0.04 [[ 9.81294502e-01 1.92510155e-01 -9.70326743e-04 2.39728185e+01] [-1.92510035e-01 9.81294981e-01 2.15963836e-04 -3.56806455e+00] [ 9.93751995e-04 -2.51264894e-05 9.99999506e-01 -4.28024261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617628 meters 0.016836474153725123 Centerline is valid? [True, True] Translation: X:24.00, Y:-3.58, Z:-0.04 [[ 9.81272554e-01 1.92624360e-01 1.73773558e-04 2.40032778e+01] [-1.92624356e-01 9.81272570e-01 -3.82774966e-05 -3.57690252e+00] [-1.77892404e-04 4.08763712e-06 9.99999984e-01 -3.93504617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.647628 meters 0.0163260655937263 Centerline is valid? [True, True] Translation: X:24.04, Y:-3.58, Z:-0.04 [[ 9.81468153e-01 1.91623936e-01 7.29617948e-04 2.40350611e+01] [-1.91623868e-01 9.81468424e-01 -1.62150678e-04 -3.58270353e+00] [-7.47168929e-04 1.93335129e-05 9.99999721e-01 -3.90782954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677628000000002 meters 0.016785230533462578 Centerline is valid? [True, True] Translation: X:24.07, Y:-3.59, Z:-0.04 [[ 9.81672937e-01 1.90567634e-01 1.49014489e-03 2.40664033e+01] [-1.90567350e-01 9.81674068e-01 -3.31921822e-04 -3.58997430e+00] [-1.52609015e-03 4.18657068e-05 9.99998835e-01 -3.87359034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.707628 meters 0.01784270440597291 Centerline is valid? [True, True] Translation: X:24.10, Y:-3.60, Z:-0.04 [[ 9.81992457e-01 1.88904043e-01 2.46510493e-03 2.40963065e+01] [-1.88903257e-01 9.81995548e-01 -5.49927453e-04 -3.59841984e+00] [-2.52460558e-03 7.43582620e-05 9.99996810e-01 -3.78376398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737628 meters 0.0181765731132698 Centerline is valid? [True, True] Translation: X:24.13, Y:-3.61, Z:-0.04 [[ 9.82008712e-01 1.88813846e-01 2.86728846e-03 2.41287196e+01] [-1.88812780e-01 9.82012894e-01 -6.40447265e-04 -3.60631828e+00] [-2.93663955e-03 8.75440866e-05 9.99995684e-01 -3.77207458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.767628000000002 meters 0.01834524571898653 Centerline is valid? [True, True] Translation: X:24.16, Y:-3.61, Z:-0.04 [[ 9.81950626e-01 1.89111560e-01 3.12833404e-03 2.41612961e+01] [-1.89110290e-01 9.81955604e-01 -6.99677964e-04 -3.61356745e+00] [-3.20420233e-03 9.54490568e-05 9.99994862e-01 -3.81438736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797628 meters 0.018127659356477574 Centerline is valid? [True, True] Translation: X:24.19, Y:-3.62, Z:-0.04 [[ 9.81747553e-01 1.90171611e-01 2.54949071e-03 2.41922565e+01] [-1.90170769e-01 9.81750861e-01 -5.70821562e-04 -3.62010220e+00] [-2.61151875e-03 7.55640630e-05 9.99996587e-01 -3.87216910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.827628 meters 0.01758350676017893 Centerline is valid? [True, True] Translation: X:24.22, Y:-3.63, Z:-0.04 [[ 9.81162169e-01 1.93170298e-01 2.45628532e-03 2.42225748e+01] [-1.93169524e-01 9.81165242e-01 -5.50527029e-04 -3.62571440e+00] [-2.51636725e-03 6.56768264e-05 9.99996832e-01 -3.93879201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857628000000002 meters 0.016922468005617614 Centerline is valid? [True, True] Translation: X:24.25, Y:-3.63, Z:-0.04 [[ 9.80705719e-01 1.95477635e-01 2.18780696e-03 2.42546506e+01] [-1.95477027e-01 9.80708158e-01 -4.90740789e-04 -3.63183874e+00] [-2.24152898e-03 5.36062987e-05 9.99997486e-01 -3.94110785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.887628 meters 0.016363580355123197 Centerline is valid? [True, True] Translation: X:24.29, Y:-3.64, Z:-0.04 [[ 9.80203863e-01 1.97974345e-01 2.55846694e-03 2.42854167e+01] [-1.97973520e-01 9.80207200e-01 -5.74358721e-04 -3.63783180e+00] [-2.62153601e-03 5.64799308e-05 9.99996562e-01 -3.91588533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917628 meters 0.015684243293776354 Centerline is valid? [True, True] Translation: X:24.32, Y:-3.64, Z:-0.04 [[ 9.79693165e-01 2.00478512e-01 3.10939811e-03 2.43169397e+01] [-2.00477303e-01 9.79698098e-01 -6.98829555e-04 -3.64356574e+00] [-3.18637172e-03 6.12747917e-05 9.99994922e-01 -3.90121179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.947628 meters 0.013755453904958153 Centerline is valid? [True, True] Translation: X:24.35, Y:-3.65, Z:-0.04 [[ 9.78939454e-01 2.04115390e-01 3.80158019e-03 2.43494540e+01] [-2.04113607e-01 9.78946834e-01 -8.55423286e-04 -3.64659773e+00] [-3.89614995e-03 6.14533606e-05 9.99992408e-01 -3.99106679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977628 meters 0.013573696303556424 Centerline is valid? [True, True] Translation: X:24.38, Y:-3.65, Z:-0.04 [[ 9.78629917e-01 2.05598124e-01 3.59122455e-03 2.43805498e+01] [-2.05596539e-01 9.78636505e-01 -8.08988938e-04 -3.65404172e+00] [-3.68083005e-03 5.33574373e-05 9.99993224e-01 -4.00194347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.007628 meters 0.013561512033902635 Centerline is valid? [True, True] Translation: X:24.41, Y:-3.66, Z:-0.04 [[ 9.78385591e-01 2.06756319e-01 3.66867603e-03 2.44103766e+01] [-2.06754670e-01 9.78392468e-01 -8.27334520e-04 -3.66195446e+00] [-3.76046164e-03 5.09362708e-05 9.99992928e-01 -4.02138617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037628 meters 0.013260057582997035 Centerline is valid? [True, True] Translation: X:24.44, Y:-3.67, Z:-0.04 [[ 9.78000640e-01 2.08578225e-01 3.14205443e-03 2.44411616e+01] [-2.08577022e-01 9.78005686e-01 -7.09294367e-04 -3.67080996e+00] [-3.22089046e-03 3.83299865e-05 9.99994812e-01 -4.03263132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.067628 meters 0.013097510775894662 Centerline is valid? [True, True] Translation: X:24.47, Y:-3.68, Z:-0.04 [[ 9.77627985e-01 2.10310471e-01 3.60954678e-03 2.44718481e+01] [-2.10308893e-01 9.77634648e-01 -8.15544606e-04 -3.67625949e+00] [-3.70033556e-03 3.81794436e-05 9.99993153e-01 -4.00609150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097628 meters 0.012936268360521343 Centerline is valid? [True, True] Translation: X:24.50, Y:-3.68, Z:-0.04 [[ 9.77404546e-01 2.11347344e-01 3.55732012e-03 2.45039981e+01] [-2.11345815e-01 9.77411019e-01 -8.04555273e-04 -3.68236228e+00] [-3.64700450e-03 3.45512611e-05 9.99993349e-01 -4.08271282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.127628 meters 0.013058276331345035 Centerline is valid? [True, True] Translation: X:24.54, Y:-3.69, Z:-0.04 [[ 9.77454536e-01 2.11122955e-01 3.11909625e-03 2.45353223e+01] [-2.11121776e-01 9.77459512e-01 -7.06094274e-04 -3.68956654e+00] [-3.19786301e-03 3.16659103e-05 9.99994886e-01 -4.18915585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157628 meters 0.01358319809034742 Centerline is valid? [True, True] Translation: X:24.57, Y:-3.70, Z:-0.04 [[ 9.77902772e-01 2.09034206e-01 3.29686664e-03 2.45655758e+01] [-2.09032875e-01 9.77908329e-01 -7.47028916e-04 -3.69716687e+00] [-3.38018794e-03 4.13681360e-05 9.99994286e-01 -4.24944116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.187628 meters 0.014163978499778568 Centerline is valid? [True, True] Translation: X:24.60, Y:-3.71, Z:-0.04 [[ 9.78305271e-01 2.07141716e-01 3.33248422e-03 2.45968345e+01] [-2.07140342e-01 9.78310946e-01 -7.55889814e-04 -3.70578690e+00] [-3.41678211e-03 4.91990679e-05 9.99994162e-01 -4.22130425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217628 meters 0.014890467763068349 Centerline is valid? [True, True] Translation: X:24.63, Y:-3.72, Z:-0.04 [[ 9.78848707e-01 2.04547394e-01 3.94628357e-03 2.46277751e+01] [-2.04545443e-01 9.78856659e-01 -8.96137367e-04 -3.71510842e+00] [-4.04614851e-03 6.99885839e-05 9.99991812e-01 -4.17595900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.247628 meters 0.015584793882536056 Centerline is valid? [True, True] Translation: X:24.66, Y:-3.72, Z:-0.04 [[ 9.79193039e-01 2.02873309e-01 4.83868339e-03 2.46591127e+01] [-2.02870349e-01 9.79204990e-01 -1.10003877e-03 -3.72297538e+00] [-4.96123142e-03 9.55249241e-05 9.99987688e-01 -4.08201879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277628 meters 0.015509801221493102 Centerline is valid? [True, True] Translation: X:24.69, Y:-3.73, Z:-0.04 [[ 9.80021606e-01 1.98829177e-01 4.96095923e-03 2.46903421e+01] [-1.98826010e-01 9.80034155e-01 -1.12862733e-03 -3.72883128e+00] [-5.08631353e-03 1.19711437e-04 9.99987057e-01 -4.16393311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.307628 meters 0.016118203933962804 Centerline is valid? [True, True] Translation: X:24.72, Y:-3.74, Z:-0.04 [[ 9.80456459e-01 1.96693711e-01 4.08839760e-03 2.47211906e+01] [-1.96691538e-01 9.80464978e-01 -9.30952717e-04 -3.73644675e+00] [-4.19164320e-03 1.08605392e-04 9.99991209e-01 -4.26098074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337628 meters 0.016869064254979582 Centerline is valid? [True, True] Translation: X:24.75, Y:-3.74, Z:-0.04 [[ 9.80833812e-01 1.94818466e-01 3.28614636e-03 2.47521070e+01] [-1.94817049e-01 9.80839312e-01 -7.49045789e-04 -3.74432142e+00] [-3.36910948e-03 9.44920997e-05 9.99994320e-01 -4.37118222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.367628 meters 0.01806077411260088 Centerline is valid? [True, True] Translation: X:24.78, Y:-3.75, Z:-0.05 [[ 9.81424401e-01 1.91833789e-01 2.43768082e-03 2.47826397e+01] [-1.91832999e-01 9.81427425e-01 -5.56037115e-04 -3.75172908e+00] [-2.49907351e-03 7.80807707e-05 9.99996874e-01 -4.52733617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397628 meters 0.018494839713580805 Centerline is valid? [True, True] Translation: X:24.81, Y:-3.76, Z:-0.05 [[ 9.81614950e-01 1.90862444e-01 1.90181578e-03 2.48136189e+01] [-1.90861960e-01 9.81616791e-01 -4.34067262e-04 -3.75878931e+00] [-1.94970144e-03 6.31026261e-05 9.99998097e-01 -4.52941733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.427628000000002 meters 0.017629037560874194 Centerline is valid? [True, True] Translation: X:24.84, Y:-3.76, Z:-0.05 [[ 9.81681958e-01 1.90518581e-01 1.79003524e-03 2.48448710e+01] [-1.90518152e-01 9.81683588e-01 -4.08989347e-04 -3.76399257e+00] [-1.83516828e-03 6.04632573e-05 9.99998314e-01 -4.55439327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457628 meters 0.019294419681387828 Centerline is valid? [True, True] Translation: X:24.88, Y:-3.77, Z:-0.05 [[ 9.81697278e-01 1.90442418e-01 1.46279597e-03 2.48756301e+01] [-1.90442131e-01 9.81698367e-01 -3.34537221e-04 -3.77338269e+00] [-1.49973449e-03 4.98362980e-05 9.99998874e-01 -4.57338394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.487628 meters 0.019600337795867975 Centerline is valid? [True, True] Translation: X:24.91, Y:-3.78, Z:-0.05 [[ 9.81563227e-01 1.91134955e-01 1.02938749e-03 2.49064525e+01] [-1.91134813e-01 9.81563767e-01 -2.35606261e-04 -3.77920635e+00] [-1.05544205e-03 3.45106568e-05 9.99999442e-01 -4.63037617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517628000000002 meters 0.017765903961330373 Centerline is valid? [True, True] Translation: X:24.94, Y:-3.78, Z:-0.05 [[ 9.81332792e-01 1.92313993e-01 1.13122430e-03 2.49387463e+01] [-1.92313822e-01 9.81333443e-01 -2.59199591e-04 -3.78284943e+00] [-1.15995595e-03 3.68109891e-05 9.99999327e-01 -4.64707257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.547628 meters 0.018190012575460893 Centerline is valid? [True, True] Translation: X:24.97, Y:-3.79, Z:-0.05 [[ 9.81089185e-01 1.93551641e-01 1.33150615e-03 2.49686869e+01] [-1.93551404e-01 9.81090088e-01 -3.05497010e-04 -3.78988172e+00] [-1.36545694e-03 4.20049275e-05 9.99999067e-01 -4.66933830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577628 meters 0.016668913156579736 Centerline is valid? [True, True] Translation: X:25.00, Y:-3.79, Z:-0.05 [[ 9.80824327e-01 1.94884636e-01 1.90232628e-03 2.50007085e+01] [-1.94884155e-01 9.80826170e-01 -4.37068679e-04 -3.79413605e+00] [-1.95102937e-03 5.79543440e-05 9.99998095e-01 -4.67433655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.607628000000002 meters 0.01671526191110811 Centerline is valid? [True, True] Translation: X:25.03, Y:-3.80, Z:-0.05 [[ 9.80278265e-01 1.97610271e-01 2.16889493e-03 2.50308964e+01] [-1.97609651e-01 9.80280662e-01 -4.98845413e-04 -3.80081097e+00] [-2.22470273e-03 6.04127465e-05 9.99997524e-01 -4.66349028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637628 meters 0.01671526191110811 Centerline is valid? [True, True] Translation: X:25.06, Y:-3.81, Z:-0.05 [[ 9.80223486e-01 1.97881818e-01 2.16879994e-03 2.50624627e+01] [-1.97881198e-01 9.80225883e-01 -4.99258113e-04 -3.80814833e+00] [-2.22470794e-03 6.02197993e-05 9.99997524e-01 -4.66812289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.667628 meters 0.016311986802879586 Centerline is valid? [True, True] Translation: X:25.09, Y:-3.81, Z:-0.05 [[ 9.79872713e-01 1.99612484e-01 2.07891099e-03 2.50942017e+01] [-1.99611917e-01 9.79874917e-01 -4.79129763e-04 -3.81448447e+00] [-2.13271301e-03 5.45107743e-05 9.99997724e-01 -4.72695724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697628 meters 0.01609276671830141 Centerline is valid? [True, True] Translation: X:25.13, Y:-3.82, Z:-0.05 [[ 9.79426657e-01 2.01794817e-01 1.50837957e-03 2.51250394e+01] [-2.01794521e-01 9.79427818e-01 -3.47925234e-04 -3.82101288e+00] [-1.54755842e-03 3.63845161e-05 9.99998802e-01 -4.83550691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.727628 meters 0.014405482681918798 Centerline is valid? [True, True] Translation: X:25.16, Y:-3.83, Z:-0.05 [[ 9.78501202e-01 2.06240253e-01 5.96571496e-04 2.51565525e+01] [-2.06240207e-01 9.78501384e-01 -1.37700833e-04 -3.82524383e+00] [-6.12145489e-04 1.17034020e-05 9.99999813e-01 -4.93042083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757628 meters 0.014174182951234581 Centerline is valid? [True, True] Translation: X:25.19, Y:-3.83, Z:-0.05 [[ 9.77938720e-01 2.08890384e-01 8.17213799e-04 2.51866272e+01] [-2.08890299e-01 9.77939061e-01 -1.88598771e-04 -3.83204947e+00] [-8.38581765e-04 1.37300052e-05 9.99999648e-01 -4.93708141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.787628 meters 0.013529598772947415 Centerline is valid? [True, True] Translation: X:25.22, Y:-3.84, Z:-0.05 [[ 9.77302933e-01 2.11844258e-01 9.93546237e-04 2.52178377e+01] [-2.11844134e-01 9.77303438e-01 -2.29594584e-04 -3.83786871e+00] [-1.01963445e-03 1.39065183e-05 9.99999480e-01 -4.91753271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817628 meters 0.012873123902592667 Centerline is valid? [True, True] Translation: X:25.25, Y:-3.84, Z:-0.05 [[ 9.76116012e-01 2.17244727e-01 1.50345388e-03 2.52493633e+01] [-2.17244449e-01 9.76117169e-01 -3.48002468e-04 -3.84344229e+00] [-1.54314884e-03 1.30737721e-05 9.99998809e-01 -4.89677321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.847628 meters 0.0126420304441243 Centerline is valid? [True, True] Translation: X:25.28, Y:-3.85, Z:-0.05 [[ 9.75548862e-01 2.19771994e-01 2.16517924e-03 2.52796923e+01] [-2.19771422e-01 9.75551265e-01 -5.01878718e-04 -3.84984651e+00] [-2.22254223e-03 1.37626929e-05 9.99997530e-01 -4.91274107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877628 meters 0.012487479280049452 Centerline is valid? [True, True] Translation: X:25.31, Y:-3.86, Z:-0.05 [[ 9.75016497e-01 2.22112099e-01 3.00770895e-03 2.53113016e+01] [-2.22111002e-01 9.75021136e-01 -6.98052757e-04 -3.85663209e+00] [-3.08762576e-03 1.25677037e-05 9.99995233e-01 -4.91888827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.907628 meters 0.012448097353874261 Centerline is valid? [True, True] Translation: X:25.34, Y:-3.86, Z:-0.05 [[ 9.74583784e-01 2.24004566e-01 2.89865810e-03 2.53437946e+01] [-2.24003554e-01 9.74588095e-01 -6.73529895e-04 -3.86406371e+00] [-2.97587144e-03 7.10159819e-06 9.99995572e-01 -4.92669239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937628 meters 0.012392932652895622 Centerline is valid? [True, True] Translation: X:25.38, Y:-3.87, Z:-0.05 [[ 9.73790494e-01 2.27419049e-01 3.55657866e-03 2.53755489e+01] [-2.27417544e-01 9.73796989e-01 -8.27550738e-04 -3.87201172e+00] [-3.65158639e-03 -2.96733943e-06 9.99993333e-01 -4.89131412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.967628 meters 0.01242775070486867 Centerline is valid? [True, True] Translation: X:25.41, Y:-3.88, Z:-0.05 [[ 9.73398802e-01 2.29081962e-01 4.02838990e-03 2.54079207e+01] [-2.29080039e-01 9.73407137e-01 -9.38584881e-04 -3.88000462e+00] [-4.13627634e-03 -9.20631808e-06 9.99991446e-01 -4.89779366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997628 meters 0.012517920279525982 Centerline is valid? [True, True] Translation: X:25.44, Y:-3.89, Z:-0.05 [[ 9.72961821e-01 2.30923465e-01 4.43258991e-03 2.54398029e+01] [-2.30921151e-01 9.72971918e-01 -1.03411373e-03 -3.88773793e+00] [-4.55158664e-03 -1.74255820e-05 9.99989641e-01 -4.87507730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.027628 meters 0.012655677865858125 Centerline is valid? [True, True] Translation: X:25.47, Y:-3.90, Z:-0.05 [[ 9.72579098e-01 2.32524704e-01 4.70737704e-03 2.54720500e+01] [-2.32522105e-01 9.72590490e-01 -1.09963610e-03 -3.89522333e+00] [-4.83404270e-03 -2.50861319e-05 9.99988316e-01 -4.92996622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057628 meters 0.01307839009092032 Centerline is valid? [True, True] Translation: X:25.50, Y:-3.90, Z:-0.05 [[ 9.71623222e-01 2.36477782e-01 5.15488864e-03 2.55033813e+01] [-2.36474714e-01 9.71636895e-01 -1.20551600e-03 -3.89909872e+00] [-5.29375774e-03 -4.76934761e-05 9.99985987e-01 -5.00762206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.087628 meters 0.013162514262440998 Centerline is valid? [True, True] Translation: X:25.54, Y:-3.91, Z:-0.05 [[ 9.71177505e-01 2.38319510e-01 4.25021691e-03 2.55350746e+01] [-2.38317438e-01 9.71186804e-01 -9.94978084e-04 -3.90500390e+00] [-4.36487727e-03 -4.66004693e-05 9.99990473e-01 -5.16457224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117628 meters 0.013356218392549296 Centerline is valid? [True, True] Translation: X:25.57, Y:-3.91, Z:-0.05 [[ 9.70958531e-01 2.39223209e-01 3.43326404e-03 2.55667154e+01] [-2.39221859e-01 9.70964600e-01 -8.04601483e-04 -3.91019179e+00] [-3.52605719e-03 -4.00771332e-05 9.99993783e-01 -5.30122195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.147628 meters 0.01324276099703386 Centerline is valid? [True, True] Translation: X:25.60, Y:-3.92, Z:-0.05 [[ 9.70958481e-01 2.39238661e-01 2.11907947e-03 2.55992652e+01] [-2.39238145e-01 9.70960794e-01 -4.97076234e-04 -3.91718670e+00] [-2.17646294e-03 -2.43242574e-05 9.99997631e-01 -5.44529615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177628000000002 meters 0.01299364224854956 Centerline is valid? [True, True] Translation: X:25.63, Y:-3.92, Z:-0.06 [[ 9.71498434e-01 2.37045730e-01 3.37578781e-04 2.56299003e+01] [-2.37045717e-01 9.71498493e-01 -7.89990251e-05 -3.92346093e+00] [-3.46683659e-04 -3.27417487e-06 9.99999940e-01 -5.68580540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.207628 meters 0.012647729680162192 Centerline is valid? [True, True] Translation: X:25.66, Y:-3.93, Z:-0.06 [[ 9.71814739e-01 2.35745600e-01 -3.53022299e-04 2.56605962e+01] [-2.35745585e-01 9.71814803e-01 8.34119356e-05 -3.93198948e+00] [ 3.62736293e-04 2.16250005e-06 9.99999934e-01 -5.74288250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237628 meters 0.01245695908526285 Centerline is valid? [True, True] Translation: X:25.69, Y:-3.94, Z:-0.06 [[ 9.72251193e-01 2.33938518e-01 -6.22947914e-04 2.56917735e+01] [-2.33938472e-01 9.72251392e-01 1.47077992e-04 -3.94119135e+00] [ 6.40069184e-04 2.73473003e-06 9.99999795e-01 -5.76782195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.267628000000002 meters 0.012326461102829188 Centerline is valid? [True, True] Translation: X:25.72, Y:-3.95, Z:-0.06 [[ 9.72694494e-01 2.32088326e-01 -6.55962674e-04 2.57229086e+01] [-2.32088274e-01 9.72694715e-01 1.55119457e-04 -3.95149414e+00] [ 6.74052842e-04 1.35740306e-06 9.99999773e-01 -5.72219943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297628 meters 0.012360806731981375 Centerline is valid? [True, True] Translation: X:25.75, Y:-3.96, Z:-0.06 [[ 9.73707553e-01 2.27801670e-01 -3.34283320e-05 2.57532957e+01] [-2.27801670e-01 9.73707553e-01 8.28697696e-06 -3.96266951e+00] [ 3.44372065e-05 -4.54062223e-07 9.99999999e-01 -5.69983501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.327628 meters 0.012411797459154106 Centerline is valid? [True, True] Translation: X:25.79, Y:-3.97, Z:-0.06 [[ 9.74057685e-01 2.26298425e-01 8.05763877e-04 2.57852410e+01] [-2.26298345e-01 9.74058018e-01 -1.90077233e-04 -3.97097659e+00] [-8.27874944e-04 2.80315763e-06 9.99999657e-01 -5.68790833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357628000000002 meters 0.012564208228674743 Centerline is valid? [True, True] Translation: X:25.82, Y:-3.98, Z:-0.06 [[ 9.74561534e-01 2.24114947e-01 1.51851829e-03 2.58158997e+01] [-2.24114660e-01 9.74562717e-01 -3.59032719e-04 -3.97902989e+00] [-1.56035591e-03 9.57726681e-06 9.99998783e-01 -5.65961937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.387628 meters 0.012821268032878077 Centerline is valid? [True, True] Translation: X:25.85, Y:-3.99, Z:-0.06 [[ 9.75150076e-01 2.21538504e-01 1.73828616e-03 2.58458353e+01] [-2.21538122e-01 9.75151625e-01 -4.11503311e-04 -3.98812324e+00] [-1.78625640e-03 1.61808323e-05 9.99998405e-01 -5.60591633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417628 meters 0.014708574149991625 Centerline is valid? [True, True] Translation: X:25.87, Y:-4.00, Z:-0.05 [[ 9.76696070e-01 2.14606609e-01 2.96484949e-03 2.58746185e+01] [-2.14605464e-01 9.76700569e-01 -7.02825597e-04 -4.00107738e+00] [-3.04660120e-03 5.01741004e-05 9.99995358e-01 -5.47898113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.447628 meters 0.014681108694291452 Centerline is valid? [True, True] Translation: X:25.91, Y:-4.01, Z:-0.05 [[ 9.77516041e-01 2.10823302e-01 3.99046508e-03 2.59057469e+01] [-2.10821194e-01 9.77524183e-01 -9.46592786e-04 -4.00872768e+00] [-4.10033993e-03 8.40350191e-05 9.99991590e-01 -5.42793508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477628 meters 0.015554864525868848 Centerline is valid? [True, True] Translation: X:25.94, Y:-4.02, Z:-0.05 [[ 9.78309231e-01 2.07093113e-01 4.84674615e-03 2.59358467e+01] [-2.07089952e-01 9.78321229e-01 -1.15067801e-03 -4.01816388e+00] [-4.97997214e-03 1.22006489e-04 9.99987592e-01 -5.31435573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.507628 meters 0.01768997574373882 Centerline is valid? [True, True] Translation: X:25.96, Y:-4.03, Z:-0.05 [[ 9.79682022e-01 2.00439257e-01 6.87317500e-03 2.59641631e+01] [-2.00432733e-01 9.79706107e-01 -1.63225456e-03 -4.02713038e+00] [-7.06085941e-03 2.21481200e-04 9.99975047e-01 -5.06572256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537628 meters 0.018824506459354084 Centerline is valid? [True, True] Translation: X:25.99, Y:-4.04, Z:-0.05 [[ 9.80381228e-01 1.96989115e-01 6.92354875e-03 2.59944891e+01] [-1.96982408e-01 9.80405644e-01 -1.64441989e-03 -4.03565955e+00] [-7.11181909e-03 2.48341091e-04 9.99974680e-01 -5.07669046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.567628 meters 0.020489807094817666 Centerline is valid? [True, True] Translation: X:26.02, Y:-4.04, Z:-0.05 [[ 9.81202852e-01 1.92870234e-01 6.48349126e-03 2.60234758e+01] [-1.92864261e-01 9.81224238e-01 -1.54004132e-03 -4.04442198e+00] [-6.65878690e-03 2.60659186e-04 9.99977796e-01 -5.12052881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597628 meters 0.021327946742952294 Centerline is valid? [True, True] Translation: X:26.05, Y:-4.05, Z:-0.05 [[ 9.82749071e-01 1.84857538e-01 5.65270926e-03 2.60534242e+01] [-1.84852864e-01 9.82765290e-01 -1.34293382e-03 -4.05076204e+00] [-5.80353789e-03 2.74847470e-04 9.99983122e-01 -5.33143470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.627628 meters 0.022512910075725038 Centerline is valid? [True, True] Translation: X:26.08, Y:-4.06, Z:-0.05 [[ 9.83435186e-01 1.81192672e-01 4.94472134e-03 2.60831578e+01] [-1.81189048e-01 9.83447583e-01 -1.17495262e-03 -4.05802611e+00] [-5.07576706e-03 2.59560394e-04 9.99987085e-01 -5.42566310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657628 meters 0.024361499375177943 Centerline is valid? [True, True] Translation: X:26.11, Y:-4.07, Z:-0.06 [[ 9.84029711e-01 1.77968847e-01 3.55217263e-03 2.61120291e+01] [-1.77966955e-01 9.84036102e-01 -8.44280883e-04 -4.06574958e+00] [-3.64572180e-03 1.98628126e-04 9.99993335e-01 -5.55382502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.687628 meters 0.024269847459896306 Centerline is valid? [True, True] Translation: X:26.14, Y:-4.07, Z:-0.06 [[ 9.84467360e-01 1.75560697e-01 1.56806798e-03 2.61428138e+01] [-1.75560325e-01 9.84468605e-01 -3.72755642e-04 -4.07135232e+00] [-1.60915494e-03 9.16752388e-05 9.99998701e-01 -5.70033990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717628 meters 0.0273779585568058 Centerline is valid? [True, True] Translation: X:26.17, Y:-4.08, Z:-0.06 [[ 9.84962766e-01 1.72765748e-01 -5.88541836e-04 2.61713633e+01] [-1.72765695e-01 9.84962941e-01 1.40087477e-04 -4.08026337e+00] [ 6.03894215e-04 -3.63011094e-05 9.99999817e-01 -5.78585701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.747628 meters 0.02551944517627992 Centerline is valid? [True, True] Translation: X:26.20, Y:-4.08, Z:-0.06 [[ 9.84996614e-01 1.72570198e-01 -1.09428654e-03 2.62030998e+01] [-1.72570014e-01 9.84997219e-01 2.60899075e-04 -4.08449917e+00] [ 1.12289260e-03 -6.81436614e-05 9.99999367e-01 -5.72111073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777628 meters 0.026167622759560003 Centerline is valid? [True, True] Translation: X:26.24, Y:-4.09, Z:-0.06 [[ 9.84947399e-01 1.72850018e-01 -1.22152479e-03 2.62355675e+01] [-1.72849789e-01 9.84948154e-01 2.91609899e-04 -4.09079670e+00] [ 1.25354336e-03 -7.60801100e-05 9.99999211e-01 -5.80202771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.807628 meters 0.02510445026498344 Centerline is valid? [True, True] Translation: X:26.27, Y:-4.10, Z:-0.06 [[ 9.84713924e-01 1.74177996e-01 -7.16203703e-04 2.62675789e+01] [-1.74177918e-01 9.84714184e-01 1.71280334e-04 -4.09624470e+00] [ 7.35089210e-04 -4.39152599e-05 9.99999729e-01 -5.60296204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837628000000002 meters 0.024481349625892757 Centerline is valid? [True, True] Translation: X:26.30, Y:-4.10, Z:-0.06 [[ 9.84057559e-01 1.77850168e-01 1.97367476e-04 2.62992007e+01] [-1.77850162e-01 9.84057578e-01 -4.70715301e-05 -4.09760957e+00] [-2.02592640e-04 1.12192575e-05 9.99999979e-01 -5.56706620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.867628 meters 0.024468618550104713 Centerline is valid? [True, True] Translation: X:26.33, Y:-4.10, Z:-0.06 [[ 9.83663242e-01 1.80016436e-01 8.42290453e-04 2.63297788e+01] [-1.80016330e-01 9.83663601e-01 -2.01011547e-04 -4.10229148e+00] [-8.64715843e-04 4.61016346e-05 9.99999625e-01 -5.52837223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897628 meters 0.024230550283980416 Centerline is valid? [True, True] Translation: X:26.36, Y:-4.11, Z:-0.05 [[ 9.83196911e-01 1.82540495e-01 1.67416750e-03 2.63597010e+01] [-1.82540078e-01 9.83198332e-01 -3.99644525e-04 -4.10718959e+00] [-1.71899001e-03 8.73265956e-05 9.99998519e-01 -5.46521934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.927628000000002 meters 0.02328909261791052 Centerline is valid? [True, True] Translation: X:26.39, Y:-4.11, Z:-0.05 [[ 9.82685414e-01 1.85265714e-01 2.44793305e-03 2.63910980e+01] [-1.85264832e-01 9.82688455e-01 -5.84447021e-04 -4.11161062e+00] [-2.51383355e-03 1.20811658e-04 9.99996833e-01 -5.36572097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957628 meters 0.0198015517125542 Centerline is valid? [True, True] Translation: X:26.42, Y:-4.11, Z:-0.05 [[ 9.81501157e-01 1.91433970e-01 2.91795985e-03 2.64232491e+01] [-1.91432743e-01 9.81505486e-01 -6.96784408e-04 -4.11016489e+00] [-2.99738180e-03 1.25301645e-04 9.99995500e-01 -5.18953617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.987628 meters 0.01882635738084889 Centerline is valid? [True, True] Translation: X:26.46, Y:-4.11, Z:-0.05 [[ 9.80777139e-01 1.95107517e-01 3.04314703e-03 2.64551473e+01] [-1.95106200e-01 9.80781853e-01 -7.26796695e-04 -4.11373166e+00] [-3.12646688e-03 1.19088731e-04 9.99995105e-01 -5.19024767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017628000000002 meters 0.01800295338542673 Centerline is valid? [True, True] Translation: X:26.49, Y:-4.12, Z:-0.05 [[ 9.80027621e-01 1.98845733e-01 2.49734011e-03 2.64866750e+01] [-1.98844858e-01 9.80030799e-01 -5.96546086e-04 -4.11733956e+00] [-2.56609087e-03 8.80484022e-05 9.99996704e-01 -5.18313162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.047628 meters 0.015448505595296527 Centerline is valid? [True, True] Translation: X:26.52, Y:-4.12, Z:-0.05 [[ 9.79185496e-01 2.02955566e-01 2.19150514e-03 2.65190088e+01] [-2.02954902e-01 9.79187946e-01 -5.23582397e-04 -4.11797986e+00] [-2.25215938e-03 6.79075788e-05 9.99997462e-01 -5.27195903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077628 meters 0.014480873842880075 Centerline is valid? [True, True] Translation: X:26.55, Y:-4.12, Z:-0.05 [[ 9.77534410e-01 2.10775072e-01 5.88660804e-04 2.65498009e+01] [-2.10775025e-01 9.77534587e-01 -1.40661270e-04 -4.11835374e+00] [-6.05084185e-04 1.34262358e-05 9.99999817e-01 -5.44176476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.107628000000002 meters 0.014111857754669084 Centerline is valid? [True, True] Translation: X:26.58, Y:-4.12, Z:-0.06 [[ 9.76860359e-01 2.13877725e-01 -3.97350632e-04 2.65806985e+01] [-2.13877704e-01 9.76860440e-01 9.53764025e-05 -4.12239652e+00] [ 4.08555001e-04 -8.18498605e-06 9.99999917e-01 -5.56421688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137628 meters 0.014014868354795927 Centerline is valid? [True, True] Translation: X:26.61, Y:-4.13, Z:-0.06 [[ 9.76270979e-01 2.16544096e-01 -1.90543092e-03 2.66110969e+01] [-2.16543617e-01 9.76272838e-01 4.56544092e-04 -4.12797199e+00] [ 1.95908238e-03 -3.31018443e-05 9.99998080e-01 -5.73038178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.167628 meters 0.0130829983271345 Centerline is valid? [True, True] Translation: X:26.64, Y:-4.13, Z:-0.06 [[ 9.75716747e-01 2.18961484e-01 -5.71815945e-03 2.66434857e+01] [-2.18957209e-01 9.75733499e-01 1.37092908e-03 -4.13147744e+00] [ 5.87958039e-03 -8.56062240e-05 9.99982711e-01 -5.98002020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197628 meters 0.013202553726693454 Centerline is valid? [True, True] Translation: X:26.68, Y:-4.14, Z:-0.06 [[ 9.75623696e-01 2.19343312e-01 -6.84951086e-03 2.66756308e+01] [-2.19337173e-01 9.75647734e-01 1.64418959e-03 -4.13890026e+00] [ 7.04335174e-03 -1.01757975e-04 9.99975190e-01 -6.08590858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.227628 meters 0.013275835106687773 Centerline is valid? [True, True] Translation: X:26.71, Y:-4.15, Z:-0.06 [[ 9.75774877e-01 2.18644612e-01 -7.61070165e-03 2.67070345e+01] [-2.18636997e-01 9.75804550e-01 1.82881178e-03 -4.14666818e+00] [ 7.82641714e-03 -1.20527638e-04 9.99969366e-01 -6.13918525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257628 meters 0.01363580876611513 Centerline is valid? [True, True] Translation: X:26.74, Y:-4.16, Z:-0.06 [[ 9.76180160e-01 2.16816503e-01 -7.93090077e-03 2.67378204e+01] [-2.16808156e-01 9.76212366e-01 1.90782672e-03 -4.15534459e+00] [ 8.15589173e-03 -1.42898618e-04 9.99966730e-01 -6.16147570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.287628 meters 0.015178921662371954 Centerline is valid? [True, True] Translation: X:26.77, Y:-4.17, Z:-0.06 [[ 9.77904525e-01 2.08913669e-01 -7.60387660e-03 2.67663762e+01] [-2.08905757e-01 9.77934067e-01 1.82923240e-03 -4.16743847e+00] [ 7.81824162e-03 -2.00321045e-04 9.99969417e-01 -6.06672481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317628 meters 0.01655897299522806 Centerline is valid? [True, True] Translation: X:26.80, Y:-4.18, Z:-0.06 [[ 9.78999464e-01 2.03740848e-01 -7.05101563e-03 2.67957053e+01] [-2.03733908e-01 9.79024829e-01 1.69649063e-03 -4.17920607e+00] [ 7.24876381e-03 -2.24332447e-04 9.99973702e-01 -5.99148460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.347628 meters 0.01853235189242035 Centerline is valid? [True, True] Translation: X:26.82, Y:-4.19, Z:-0.06 [[ 9.80107473e-01 1.98369103e-01 -6.24825929e-03 2.68233252e+01] [-1.98363545e-01 9.80127361e-01 1.50329925e-03 -4.19174454e+00] [ 6.42229802e-03 -2.33967964e-04 9.99979349e-01 -5.90067026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377628 meters 0.021375003540789472 Centerline is valid? [True, True] Translation: X:26.85, Y:-4.21, Z:-0.06 [[ 9.82344959e-01 1.87018099e-01 -4.75516747e-03 2.68510566e+01] [-1.87014746e-01 9.82356440e-01 1.14427166e-03 -4.20720134e+00] [ 4.88526890e-03 -2.34783063e-04 9.99988039e-01 -5.64616221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.407628 meters 0.0243643284815797 Centerline is valid? [True, True] Translation: X:26.88, Y:-4.22, Z:-0.06 [[ 9.83323749e-01 1.81800994e-01 -4.77533216e-03 2.68799001e+01] [-1.81797550e-01 9.83335309e-01 1.14925752e-03 -4.21830664e+00] [ 4.90468888e-03 -2.61948526e-04 9.99987938e-01 -5.77511706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437628 meters 0.023610982540429037 Centerline is valid? [True, True] Translation: X:26.91, Y:-4.23, Z:-0.06 [[ 9.84032949e-01 1.77935081e-01 -4.27344894e-03 2.69099221e+01] [-1.77932287e-01 9.84042196e-01 1.02854160e-03 -4.22711054e+00] [ 4.38826771e-03 -2.51734286e-04 9.99990340e-01 -5.56379061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.467628 meters 0.02670869502033477 Centerline is valid? [True, True] Translation: X:26.94, Y:-4.24, Z:-0.06 [[ 9.84895379e-01 1.73083696e-01 -4.80892023e-03 2.69378935e+01] [-1.73080099e-01 9.84907071e-01 1.15768719e-03 -4.23890959e+00] [ 4.93671632e-03 -3.07872375e-04 9.99987767e-01 -5.55589679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497628 meters 0.027917527574014438 Centerline is valid? [True, True] Translation: X:26.97, Y:-4.25, Z:-0.06 [[ 9.85040890e-01 1.72210211e-01 -6.17159470e-03 2.69688388e+01] [-1.72204257e-01 9.85060141e-01 1.48746251e-03 -4.24590055e+00] [ 6.33554818e-03 -4.02436512e-04 9.99979849e-01 -5.76833409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.527628 meters 0.027917527574014438 Centerline is valid? [True, True] Translation: X:27.00, Y:-4.25, Z:-0.06 [[ 9.84992719e-01 1.72485535e-01 -6.17116113e-03 2.70003856e+01] [-1.72479576e-01 9.85011969e-01 1.48926056e-03 -4.25356669e+00] [ 6.33554347e-03 -4.02511555e-04 9.99979849e-01 -5.77297973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557628 meters 0.027724985246444483 Centerline is valid? [True, True] Translation: X:27.03, Y:-4.26, Z:-0.06 [[ 9.84803476e-01 1.73566181e-01 -6.07399719e-03 2.70303477e+01] [-1.73560424e-01 9.84822130e-01 1.46650684e-03 -4.26244372e+00] [ 6.23634284e-03 -3.90015509e-04 9.99980478e-01 -5.60309348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.587628000000002 meters 0.026197839480135068 Centerline is valid? [True, True] Translation: X:27.06, Y:-4.27, Z:-0.06 [[ 9.84502452e-01 1.75235642e-01 -6.88415537e-03 2.70620586e+01] [-1.75228273e-01 9.84526426e-01 1.66400908e-03 -4.26715446e+00] [ 7.06922658e-03 -4.31922358e-04 9.99974919e-01 -5.63673483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617628 meters 0.024394701766154957 Centerline is valid? [True, True] Translation: X:27.09, Y:-4.27, Z:-0.06 [[ 9.84044994e-01 1.77755808e-01 -7.63698259e-03 2.70939229e+01] [-1.77746812e-01 9.84074520e-01 1.84631710e-03 -4.27098070e+00] [ 7.84355356e-03 -4.59409786e-04 9.99969133e-01 -5.67153202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.647628 meters 0.024207111066723096 Centerline is valid? [True, True] Translation: X:27.12, Y:-4.27, Z:-0.06 [[ 9.82825307e-01 1.84324300e-01 -8.88636513e-03 2.71234842e+01] [-1.84312390e-01 9.82865366e-01 2.14813458e-03 -4.27469895e+00] [ 9.13005392e-03 -4.73373828e-04 9.99958208e-01 -5.77117908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677628000000002 meters 0.022638963639264723 Centerline is valid? [True, True] Translation: X:27.15, Y:-4.28, Z:-0.06 [[ 9.82098460e-01 1.88125419e-01 -9.56247733e-03 2.71539435e+01] [-1.88111807e-01 9.82144900e-01 2.31158856e-03 -4.27843683e+00] [ 9.82660691e-03 -4.71392670e-04 9.99951607e-01 -5.79791028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.707628 meters 0.022191176000095673 Centerline is valid? [True, True] Translation: X:27.19, Y:-4.28, Z:-0.06 [[ 9.81420248e-01 1.91542473e-01 -1.12150402e-02 2.71855981e+01] [-1.91523967e-01 9.81484191e-01 2.71154546e-03 -4.28133894e+00] [ 1.15267607e-02 -5.13216639e-04 9.99933433e-01 -5.99190357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737628 meters 0.018978393548774536 Centerline is valid? [True, True] Translation: X:27.22, Y:-4.28, Z:-0.06 [[ 9.79869212e-01 1.99378671e-01 -1.02212435e-02 2.72156823e+01] [-1.99363725e-01 9.79922445e-01 2.47113310e-03 -4.28387441e+00] [ 1.05087171e-02 -3.83642066e-04 9.99944708e-01 -5.74507789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.767628000000002 meters 0.018547345805960857 Centerline is valid? [True, True] Translation: X:27.25, Y:-4.29, Z:-0.06 [[ 9.79159307e-01 2.02863188e-01 -9.67363794e-03 2.72457553e+01] [-2.02849969e-01 9.79207036e-01 2.33895681e-03 -4.28904817e+00] [ 9.94698256e-03 -3.27914167e-04 9.99950474e-01 -5.70748708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797628 meters 0.017632960052388087 Centerline is valid? [True, True] Translation: X:27.28, Y:-4.29, Z:-0.06 [[ 9.78508781e-01 2.06008305e-01 -9.00803935e-03 2.72772439e+01] [-2.05996970e-01 9.78550204e-01 2.17856709e-03 -4.29419087e+00] [ 9.26362166e-03 -2.76118215e-04 9.99957054e-01 -5.60737602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.827628 meters 0.015678456575515358 Centerline is valid? [True, True] Translation: X:27.31, Y:-4.30, Z:-0.05 [[ 9.77499847e-01 2.10853248e-01 -5.91249978e-03 2.73082762e+01] [-2.10848454e-01 9.77517716e-01 1.42995869e-03 -4.29626182e+00] [ 6.08108472e-03 -1.51142963e-04 9.99981499e-01 -5.35408927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857628000000002 meters 0.016111654869558466 Centerline is valid? [True, True] Translation: X:27.34, Y:-4.30, Z:-0.05 [[ 9.77062994e-01 2.12888396e-01 -5.14156369e-03 2.73390026e+01] [-2.12884790e-01 9.77076515e-01 1.24515107e-03 -4.30366055e+00] [ 5.28877934e-03 -1.22030327e-04 9.99986007e-01 -5.29910027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.887628 meters 0.014372630162256008 Centerline is valid? [True, True] Translation: X:27.37, Y:-4.31, Z:-0.05 [[ 9.76708117e-01 2.14528618e-01 -4.32734270e-03 2.73711194e+01] [-2.14526074e-01 9.76717699e-01 1.04915642e-03 -4.30781444e+00] [ 4.45166628e-03 -9.63917481e-05 9.99990087e-01 -5.15654353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917628 meters 0.014134491959734652 Centerline is valid? [True, True] Translation: X:27.40, Y:-4.31, Z:-0.05 [[ 9.76429670e-01 2.15811426e-01 -3.24457083e-03 2.74024517e+01] [-2.15810000e-01 9.76435059e-01 7.87577670e-04 -4.31470399e+00] [ 3.33808097e-03 -6.88033736e-05 9.99994426e-01 -5.12199874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.947628 meters 0.014162614625910532 Centerline is valid? [True, True] Translation: X:27.43, Y:-4.32, Z:-0.05 [[ 9.76182163e-01 2.16931318e-01 -3.03106174e-03 2.74322110e+01] [-2.16930078e-01 9.76186867e-01 7.36067834e-04 -4.32213174e+00] [ 3.11855883e-03 -6.10078322e-05 9.99995135e-01 -5.07562876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977628 meters 0.013720154092939064 Centerline is valid? [True, True] Translation: X:27.46, Y:-4.33, Z:-0.05 [[ 9.75845505e-01 2.18441312e-01 -2.99063443e-03 2.74636949e+01] [-2.18440109e-01 9.75850086e-01 7.27181873e-04 -4.32821345e+00] [ 3.07725743e-03 -5.63426525e-05 9.99995264e-01 -5.04966465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.007628 meters 0.013594452739347195 Centerline is valid? [True, True] Translation: X:27.50, Y:-4.34, Z:-0.05 [[ 9.75682428e-01 2.19166064e-01 -3.16802817e-03 2.74961635e+01] [-2.19164714e-01 9.75687569e-01 7.71287834e-04 -4.33538390e+00] [ 3.26004582e-03 -5.82119994e-05 9.99994684e-01 -5.12169898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037628 meters 0.013803790425886588 Centerline is valid? [True, True] Translation: X:27.53, Y:-4.34, Z:-0.05 [[ 9.75552108e-01 2.19719866e-01 -4.61143490e-03 2.75270656e+01] [-2.19717008e-01 9.75563003e-01 1.12375814e-03 -4.34271945e+00] [ 4.74565727e-03 -8.30739478e-05 9.99988736e-01 -5.27222938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.067628 meters 0.013416853364683389 Centerline is valid? [True, True] Translation: X:27.56, Y:-4.35, Z:-0.05 [[ 9.75582304e-01 2.19575641e-01 -5.07003350e-03 2.75591491e+01] [-2.19572176e-01 9.75595474e-01 1.23704716e-03 -4.34942409e+00] [ 5.21792716e-03 -9.36030250e-05 9.99986382e-01 -5.29553788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097628 meters 0.013706280486901607 Centerline is valid? [True, True] Translation: X:27.59, Y:-4.36, Z:-0.05 [[ 9.75719649e-01 2.18953808e-01 -5.51333029e-03 2.75900035e+01] [-2.18949694e-01 9.75735219e-01 1.34656283e-03 -4.35773051e+00] [ 5.67438560e-03 -1.06725832e-04 9.99983895e-01 -5.36324632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.127628 meters 0.014195611141815577 Centerline is valid? [True, True] Translation: X:27.62, Y:-4.37, Z:-0.05 [[ 9.75954629e-01 2.17899419e-01 -5.69250499e-03 2.76206315e+01] [-2.17895006e-01 9.75971224e-01 1.39179391e-03 -4.36658823e+00] [ 5.85899215e-03 -1.17959299e-04 9.99982829e-01 -5.40745289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157628 meters 0.014673772554338013 Centerline is valid? [True, True] Translation: X:27.65, Y:-4.38, Z:-0.05 [[ 9.76971040e-01 2.13259349e-01 -6.93095281e-03 2.76511974e+01] [-2.13252688e-01 9.76995608e-01 1.69478379e-03 -4.37717391e+00] [ 7.13293895e-03 -1.77710357e-04 9.99974544e-01 -5.38940285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.187628 meters 0.01719976198819521 Centerline is valid? [True, True] Translation: X:27.68, Y:-4.39, Z:-0.05 [[ 9.77612040e-01 2.10288066e-01 -7.32317590e-03 2.76799695e+01] [-2.10280532e-01 9.77639445e-01 1.79273578e-03 -4.39044233e+00] [ 7.53641656e-03 -2.12678761e-04 9.99971578e-01 -5.48468389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217628 meters 0.020513176821240552 Centerline is valid? [True, True] Translation: X:27.71, Y:-4.40, Z:-0.06 [[ 9.78443052e-01 2.06382979e-01 -7.43367688e-03 2.77081261e+01] [-2.06375104e-01 9.78471259e-01 1.81959706e-03 -4.40396348e+00] [ 7.64917304e-03 -2.46246264e-04 9.99970714e-01 -5.58740356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.247628000000002 meters 0.01813993270279903 Centerline is valid? [True, True] Translation: X:27.74, Y:-4.41, Z:-0.05 [[ 9.79370877e-01 2.01930096e-01 -7.54465662e-03 2.77389195e+01] [-2.01921851e-01 9.79399895e-01 1.84690557e-03 -4.40924679e+00] [ 7.76218172e-03 -2.85374500e-04 9.99969833e-01 -5.43665300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277628 meters 0.021660342861338295 Centerline is valid? [True, True] Translation: X:27.77, Y:-4.42, Z:-0.05 [[ 9.81314925e-01 1.92289527e-01 -6.76428120e-03 2.77665091e+01] [-1.92282671e-01 9.81338185e-01 1.65595530e-03 -4.42373266e+00] [ 6.95647030e-03 -3.24359598e-04 9.99975751e-01 -5.42934979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.307628 meters 0.021247279921164163 Centerline is valid? [True, True] Translation: X:27.80, Y:-4.43, Z:-0.05 [[ 9.82247449e-01 1.87483222e-01 -6.32372840e-03 2.77960424e+01] [-1.87477129e-01 9.82267748e-01 1.54822149e-03 -4.43146333e+00] [ 6.50186001e-03 -3.35182163e-04 9.99978807e-01 -5.36808169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337628000000002 meters 0.02278414008743183 Centerline is valid? [True, True] Translation: X:27.83, Y:-4.44, Z:-0.05 [[ 9.83007686e-01 1.83460368e-01 -6.17913232e-03 2.78253853e+01] [-1.83454470e-01 9.83027043e-01 1.51307994e-03 -4.44248959e+00] [ 6.35184438e-03 -3.53779768e-04 9.99979764e-01 -5.39595284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.367628 meters 0.02630530069284786 Centerline is valid? [True, True] Translation: X:27.85, Y:-4.46, Z:-0.05 [[ 9.84123436e-01 1.77352665e-01 -6.86250794e-03 2.78524120e+01] [-1.77345237e-01 9.84147266e-01 1.68107609e-03 -4.45767460e+00] [ 7.05186175e-03 -4.37353287e-04 9.99975040e-01 -5.32292855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397628 meters 0.025252106786919793 Centerline is valid? [True, True] Translation: X:27.88, Y:-4.46, Z:-0.05 [[ 9.84284781e-01 1.76455905e-01 -6.83980224e-03 2.78832369e+01] [-1.76448491e-01 9.84308446e-01 1.67740344e-03 -4.46499786e+00] [ 7.02846286e-03 -4.44169889e-04 9.99975201e-01 -5.26441961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.427628000000002 meters 0.02586563736743116 Centerline is valid? [True, True] Translation: X:27.91, Y:-4.47, Z:-0.05 [[ 9.84377801e-01 1.75901630e-01 -7.67865962e-03 2.79143002e+01] [-1.75892254e-01 9.84407620e-01 1.88511900e-03 -4.47342297e+00] [ 7.89052654e-03 -5.05052551e-04 9.99968742e-01 -5.31615583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457628 meters 0.02597474316434965 Centerline is valid? [True, True] Translation: X:27.95, Y:-4.48, Z:-0.05 [[ 9.84281170e-01 1.76420118e-01 -8.15602695e-03 2.79454681e+01] [-1.76409539e-01 9.84314816e-01 2.00442102e-03 -4.48069468e+00] [ 8.38171836e-03 -5.34112913e-04 9.99964730e-01 -5.42399783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.487628 meters 0.02652373531095523 Centerline is valid? [True, True] Translation: X:27.98, Y:-4.49, Z:-0.06 [[ 9.83819084e-01 1.78942112e-01 -8.92920185e-03 2.79757813e+01] [-1.78929536e-01 9.83859444e-01 2.19442398e-03 -4.48695412e+00] [ 9.17775443e-03 -5.61218244e-04 9.99957726e-01 -5.62578027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517628000000002 meters 0.024690379612589203 Centerline is valid? [True, True] Translation: X:28.01, Y:-4.49, Z:-0.06 [[ 9.83391611e-01 1.81264433e-01 -9.17304539e-03 2.80072871e+01] [-1.81251256e-01 9.83434237e-01 2.25489122e-03 -4.49144911e+00] [ 9.42981847e-03 -5.54815113e-04 9.99955384e-01 -5.59270323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.547628 meters 0.024807538480871857 Centerline is valid? [True, True] Translation: X:28.04, Y:-4.50, Z:-0.06 [[ 9.82867263e-01 1.84090428e-01 -9.09160765e-03 2.80359740e+01] [-1.84077607e-01 9.82909172e-01 2.23468120e-03 -4.49807779e+00] [ 9.34760797e-03 -5.22833614e-04 9.99956173e-01 -5.60207408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577628 meters 0.02310661253645336 Centerline is valid? [True, True] Translation: X:28.07, Y:-4.50, Z:-0.05 [[ 9.81647564e-01 1.90512900e-01 -8.53790594e-03 2.80668959e+01] [-1.90501832e-01 9.81684596e-01 2.09886860e-03 -4.50222305e+00] [ 8.78139228e-03 -4.33862523e-04 9.99961349e-01 -5.46897199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.607628000000002 meters 0.02301525384946317 Centerline is valid? [True, True] Translation: X:28.10, Y:-4.51, Z:-0.05 [[ 9.80988034e-01 1.93914769e-01 -7.71621985e-03 2.80962354e+01] [-1.93905834e-01 9.81018313e-01 1.89683979e-03 -4.50833145e+00] [ 7.93757823e-03 -3.64557087e-04 9.99968430e-01 -5.43869957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637628 meters 0.023135059549643275 Centerline is valid? [True, True] Translation: X:28.13, Y:-4.51, Z:-0.05 [[ 9.80284271e-01 1.97472857e-01 -6.87165307e-03 2.81255259e+01] [-1.97465858e-01 9.80308309e-01 1.68923320e-03 -4.51436542e+00] [ 7.06991631e-03 -2.99011867e-04 9.99974963e-01 -5.46212174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.667628 meters 0.021690090728883143 Centerline is valid? [True, True] Translation: X:28.16, Y:-4.52, Z:-0.05 [[ 9.79592409e-01 2.00884425e-01 -6.64525474e-03 2.81568385e+01] [-2.00877956e-01 9.79614913e-01 1.63386343e-03 -4.51821095e+00] [ 6.83800836e-03 -2.65635024e-04 9.99976585e-01 -5.47669687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697628 meters 0.01777879151651768 Centerline is valid? [True, True] Translation: X:28.19, Y:-4.52, Z:-0.05 [[ 9.78113713e-01 2.07998036e-01 -5.51196559e-03 2.81884873e+01] [-2.07993698e-01 9.78129227e-01 1.35529628e-03 -4.51742588e+00] [ 5.67331361e-03 -1.79179772e-04 9.99983891e-01 -5.43468231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.727628 meters 0.016135002634478555 Centerline is valid? [True, True] Translation: X:28.22, Y:-4.52, Z:-0.05 [[ 9.77251807e-01 2.12029567e-01 -4.72957200e-03 2.82197362e+01] [-2.12026419e-01 9.77263242e-01 1.16312838e-03 -4.52174997e+00] [ 4.86865448e-03 -1.33875098e-04 9.99988139e-01 -5.38018216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757628 meters 0.016098445078135213 Centerline is valid? [True, True] Translation: X:28.25, Y:-4.53, Z:-0.05 [[ 9.76385002e-01 2.15992717e-01 -4.41302108e-03 2.82492680e+01] [-2.15990016e-01 9.76394969e-01 1.08534030e-03 -4.52848217e+00] [ 4.54327718e-03 -1.06541490e-04 9.99989674e-01 -5.40700588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.787628 meters 0.013417011166000603 Centerline is valid? [True, True] Translation: X:28.28, Y:-4.53, Z:-0.05 [[ 9.74628682e-01 2.23775768e-01 -4.83100680e-03 2.82807672e+01] [-2.23772626e-01 9.74640651e-01 1.18834294e-03 -4.53079582e+00] [ 4.97441797e-03 -7.71460309e-05 9.99987625e-01 -5.37766744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817628 meters 0.012861105332098681 Centerline is valid? [True, True] Translation: X:28.31, Y:-4.54, Z:-0.05 [[ 9.73839599e-01 2.27183841e-01 -4.89251741e-03 2.83119265e+01] [-2.27180654e-01 9.73851887e-01 1.20504561e-03 -4.53676104e+00] [ 5.03835421e-03 -6.20358256e-05 9.99987305e-01 -5.38346953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.847628 meters 0.012029015716925794 Centerline is valid? [True, True] Translation: X:28.34, Y:-4.54, Z:-0.05 [[ 9.72524943e-01 2.32762943e-01 -4.08004074e-03 2.83433541e+01] [-2.32760771e-01 9.72533501e-01 1.00606623e-03 -4.54163446e+00] [ 4.20215124e-03 -2.87510791e-05 9.99991171e-01 -5.39974895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877628 meters 0.011928762672498979 Centerline is valid? [True, True] Translation: X:28.37, Y:-4.55, Z:-0.05 [[ 9.71886519e-01 2.35405730e-01 -4.55383415e-03 2.83734790e+01] [-2.35403048e-01 9.71897187e-01 1.12392874e-03 -4.54911665e+00] [ 4.69043787e-03 -2.03447572e-05 9.99989000e-01 -5.44630190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.907628 meters 0.011759033596474087 Centerline is valid? [True, True] Translation: X:28.41, Y:-4.56, Z:-0.05 [[ 9.71240835e-01 2.38052091e-01 -4.73741396e-03 2.84051768e+01] [-2.38049212e-01 9.71252388e-01 1.17067329e-03 -4.55663349e+00] [ 4.87990585e-03 -9.26804556e-06 9.99988093e-01 -5.45404879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937628 meters 0.011659321897422036 Centerline is valid? [True, True] Translation: X:28.44, Y:-4.56, Z:-0.05 [[ 9.70604998e-01 2.40619195e-01 -5.32358465e-03 2.84372536e+01] [-2.40615590e-01 9.70619598e-01 1.31709612e-03 -4.56452032e+00] [ 5.48409420e-03 2.55737974e-06 9.99984962e-01 -5.45969786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.967628 meters 0.011974237806167208 Centerline is valid? [True, True] Translation: X:28.47, Y:-4.57, Z:-0.06 [[ 9.69571262e-01 2.44730551e-01 -6.20685666e-03 2.84672544e+01] [-2.44725731e-01 9.69591128e-01 1.53623057e-03 -4.57263127e+00] [ 6.39407571e-03 2.94925247e-05 9.99979557e-01 -5.62454511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997628000000002 meters 0.012006004422536538 Centerline is valid? [True, True] Translation: X:28.50, Y:-4.58, Z:-0.06 [[ 9.69174677e-01 2.46272475e-01 -7.09316666e-03 2.84983333e+01] [-2.46266207e-01 9.69200633e-01 1.75760793e-03 -4.58205714e+00] [ 7.30755207e-03 4.33781467e-05 9.99973299e-01 -5.63453293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.027628 meters 0.01217996472780062 Centerline is valid? [True, True] Translation: X:28.53, Y:-4.59, Z:-0.06 [[ 9.68723007e-01 2.48038214e-01 -7.26493927e-03 2.85287797e+01] [-2.48031671e-01 9.68750247e-01 1.80246539e-03 -4.59428868e+00] [ 7.48499201e-03 5.58453389e-05 9.99971985e-01 -5.63077411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057628 meters 0.012285131405982783 Centerline is valid? [True, True] Translation: X:28.56, Y:-4.60, Z:-0.06 [[ 9.68682320e-01 2.48204208e-01 -7.01669484e-03 2.85597164e+01] [-2.48198095e-01 9.68707731e-01 1.74287635e-03 -4.60415785e+00] [ 7.22971578e-03 5.32367834e-05 9.99973864e-01 -5.67507552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.087628000000002 meters 0.012254035537056451 Centerline is valid? [True, True] Translation: X:28.59, Y:-4.62, Z:-0.06 [[ 9.68810720e-01 2.47703459e-01 -6.98463113e-03 2.85903205e+01] [-2.47697374e-01 9.68835896e-01 1.73686673e-03 -4.61520917e+00] [ 7.19718926e-03 4.73796840e-05 9.99974099e-01 -5.67243145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117628 meters 0.012079585945372477 Centerline is valid? [True, True] Translation: X:28.62, Y:-4.63, Z:-0.06 [[ 9.69092538e-01 2.46611910e-01 -6.49753246e-03 2.86207861e+01] [-2.46606608e-01 9.69114320e-01 1.61747317e-03 -4.62727349e+00] [ 6.69573990e-03 3.48532545e-05 9.99977583e-01 -5.59488978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.147628 meters 0.012127068836486638 Centerline is valid? [True, True] Translation: X:28.65, Y:-4.64, Z:-0.06 [[ 9.69403326e-01 2.45394919e-01 -6.20687110e-03 2.86501917e+01] [-2.45390046e-01 9.69423196e-01 1.54662073e-03 -4.63900269e+00] [ 6.39661769e-03 2.38051050e-05 9.99979541e-01 -5.58688681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177628000000002 meters 0.012152125060223068 Centerline is valid? [True, True] Translation: X:28.68, Y:-4.66, Z:-0.06 [[ 9.70320427e-01 2.41739910e-01 -6.33128170e-03 2.86797379e+01] [-2.41734749e-01 9.70341082e-01 1.57960278e-03 -4.65633943e+00] [ 6.52535577e-03 -2.23004869e-06 9.99978710e-01 -5.56932373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.207628 meters 0.012226730937390119 Centerline is valid? [True, True] Translation: X:28.71, Y:-4.67, Z:-0.06 [[ 9.70756736e-01 2.39969258e-01 -6.79075975e-03 2.87088963e+01] [-2.39963266e-01 9.70780487e-01 1.69592797e-03 -4.66927212e+00] [ 6.99930764e-03 -1.68006158e-05 9.99975504e-01 -5.60373412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237628 meters 0.012400977979433356 Centerline is valid? [True, True] Translation: X:28.74, Y:-4.68, Z:-0.06 [[ 9.71128872e-01 2.38433742e-01 -7.61999181e-03 2.87388999e+01] [-2.38426134e-01 9.71158767e-01 1.90498385e-03 -4.68267252e+00] [ 7.85443428e-03 -3.31796356e-05 9.99969153e-01 -5.58650717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.267628000000002 meters 0.01280466143088932 Centerline is valid? [True, True] Translation: X:28.77, Y:-4.70, Z:-0.06 [[ 9.71980089e-01 2.34895566e-01 -8.87583185e-03 2.87671193e+01] [-2.34885076e-01 9.72020611e-01 2.22123733e-03 -4.70063287e+00] [ 9.14925029e-03 -7.41980202e-05 9.99958142e-01 -5.61611773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297628 meters 0.013219801978988152 Centerline is valid? [True, True] Translation: X:28.80, Y:-4.71, Z:-0.06 [[ 9.72380621e-01 2.33221698e-01 -9.14149645e-03 2.87964621e+01] [-2.33210475e-01 9.72423586e-01 2.28991328e-03 -4.71310896e+00] [ 9.42346422e-03 -9.47745625e-05 9.99955594e-01 -5.68169938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.327628 meters 0.012890290033622989 Centerline is valid? [True, True] Translation: X:28.83, Y:-4.72, Z:-0.06 [[ 9.71815580e-01 2.35617146e-01 -7.68372363e-03 2.88277880e+01] [-2.35609275e-01 9.71845953e-01 1.92685804e-03 -4.71958552e+00] [ 7.92139650e-03 -6.21941137e-05 9.99968623e-01 -5.53242605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357628000000002 meters 0.012630855865075731 Centerline is valid? [True, True] Translation: X:28.86, Y:-4.73, Z:-0.06 [[ 9.71000806e-01 2.38978190e-01 -6.84533458e-03 2.88577862e+01] [-2.38972015e-01 9.71024935e-01 1.71829229e-03 -4.72764052e+00] [ 7.05762494e-03 -3.26197984e-05 9.99975094e-01 -5.52622802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.387628 meters 0.012484779276888965 Centerline is valid? [True, True] Translation: X:28.89, Y:-4.74, Z:-0.05 [[ 9.70629106e-01 2.40473201e-01 -7.19570818e-03 2.88893116e+01] [-2.40466402e-01 9.70655778e-01 1.80843097e-03 -4.73531829e+00] [ 7.41943491e-03 -2.49896787e-05 9.99972475e-01 -5.39979839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417628 meters 0.012605104881821044 Centerline is valid? [True, True] Translation: X:28.92, Y:-4.74, Z:-0.05 [[ 9.70382050e-01 2.41448219e-01 -7.83796405e-03 2.89214449e+01] [-2.41440166e-01 9.70413704e-01 1.97212389e-03 -4.74342157e+00] [ 8.08223353e-03 -2.13142849e-05 9.99967338e-01 -5.44603918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.447628 meters 0.012684061711331764 Centerline is valid? [True, True] Translation: X:28.95, Y:-4.75, Z:-0.05 [[ 9.70406703e-01 2.41327409e-01 -8.48012381e-03 2.89527989e+01] [-2.41317955e-01 9.70443755e-01 2.13618483e-03 -4.75202183e+00] [ 8.74500314e-03 -2.65619368e-05 9.99961761e-01 -5.49010215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477628 meters 0.012684061711331764 Centerline is valid? [True, True] Translation: X:28.98, Y:-4.76, Z:-0.05 [[ 9.70339265e-01 2.41598446e-01 -8.47952687e-03 2.89841960e+01] [-2.41588982e-01 9.70376314e-01 2.13855337e-03 -4.76000586e+00] [ 8.74500320e-03 -2.65620343e-05 9.99961761e-01 -5.49474182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.507628 meters 0.01274494221490884 Centerline is valid? [True, True] Translation: X:29.02, Y:-4.77, Z:-0.05 [[ 9.70582602e-01 2.40627006e-01 -8.24964044e-03 2.90159185e+01] [-2.40617992e-01 9.70617660e-01 2.08305604e-03 -4.76801716e+00] [ 8.50848625e-03 -3.67660334e-05 9.99963801e-01 -5.45828592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537628 meters 0.012954526775690573 Centerline is valid? [True, True] Translation: X:29.05, Y:-4.78, Z:-0.05 [[ 9.70926255e-01 2.39238150e-01 -8.20462575e-03 2.90465271e+01] [-2.39229166e-01 9.70960918e-01 2.07394369e-03 -4.77666629e+00] [ 8.46253740e-03 -5.08606073e-05 9.99964191e-01 -5.47349598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.567628 meters 0.016527050375699768 Centerline is valid? [True, True] Translation: X:29.08, Y:-4.79, Z:-0.06 [[ 9.71461089e-01 2.37025235e-01 -9.07692798e-03 2.90771035e+01] [-2.37014121e-01 9.71503490e-01 2.29670008e-03 -4.78518213e+00] [ 9.36264309e-03 -7.97946580e-05 9.99956166e-01 -5.84581921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597628 meters 0.013916431987000677 Centerline is valid? [True, True] Translation: X:29.11, Y:-4.79, Z:-0.06 [[ 9.72020556e-01 2.34748494e-01 -8.31764003e-03 2.91073078e+01] [-2.34739069e-01 9.72056138e-01 2.10561219e-03 -4.79402313e+00] [ 8.57950234e-03 -9.42232535e-05 9.99963191e-01 -5.61406544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.627628 meters 0.01720693252988072 Centerline is valid? [True, True] Translation: X:29.14, Y:-4.80, Z:-0.06 [[ 9.73491236e-01 2.28572340e-01 -8.33655518e-03 2.91382044e+01] [-2.28562642e-01 9.73526919e-01 2.11091991e-03 -4.80381613e+00] [ 8.59835879e-03 -1.49536955e-04 9.99963022e-01 -5.87104939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657628 meters 0.01611821883025125 Centerline is valid? [True, True] Translation: X:29.17, Y:-4.81, Z:-0.06 [[ 9.74116283e-01 2.25937872e-01 -7.03885381e-03 2.91681351e+01] [-2.25930875e-01 9.74141702e-01 1.78422646e-03 -4.81377505e+00] [ 7.25996536e-03 -1.47749648e-04 9.99973635e-01 -5.60545844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.687628 meters 0.01730792371689765 Centerline is valid? [True, True] Translation: X:29.20, Y:-4.82, Z:-0.06 [[ 9.74875055e-01 2.22640605e-01 -7.05604601e-03 2.91989632e+01] [-2.22633485e-01 9.74900575e-01 1.78885641e-03 -4.82401250e+00] [ 7.27721539e-03 -1.72999380e-04 9.99973506e-01 -5.54631999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717628 meters 0.018424516338854197 Centerline is valid? [True, True] Translation: X:29.23, Y:-4.83, Z:-0.05 [[ 9.76534159e-01 2.15274142e-01 -6.17086161e-03 2.92282692e+01] [-2.15268549e-01 9.76553636e-01 1.56449656e-03 -4.83322254e+00] [ 6.36297300e-03 -1.99391909e-04 9.99979736e-01 -5.36813410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.747628000000002 meters 0.02170212984545239 Centerline is valid? [True, True] Translation: X:29.26, Y:-4.85, Z:-0.05 [[ 9.77257981e-01 2.11981873e-01 -5.52478890e-03 2.92572205e+01] [-2.11977328e-01 9.77273578e-01 1.40231187e-03 -4.84577710e+00] [ 5.69649492e-03 -1.99290477e-04 9.99983755e-01 -5.38131930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777628 meters 0.019498254578469 Centerline is valid? [True, True] Translation: X:29.29, Y:-4.85, Z:-0.05 [[ 9.77877651e-01 2.09118039e-01 -4.99451710e-03 2.92891855e+01] [-2.09114287e-01 9.77890386e-01 1.26789863e-03 -4.85039716e+00] [ 5.14923073e-03 -1.95424852e-04 9.99986724e-01 -5.24605873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.807628 meters 0.022939882935501484 Centerline is valid? [True, True] Translation: X:29.32, Y:-4.86, Z:-0.05 [[ 9.78704353e-01 2.05223407e-01 -4.59804726e-03 2.93168181e+01] [-2.05220185e-01 9.78715134e-01 1.16715623e-03 -4.86202454e+00] [ 4.73970622e-03 -1.98688771e-04 9.99988748e-01 -5.26942876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837628000000002 meters 0.02036583196228729 Centerline is valid? [True, True] Translation: X:29.35, Y:-4.87, Z:-0.05 [[ 9.78834255e-01 2.04606733e-01 -4.42558303e-03 2.93488265e+01] [-2.04603734e-01 9.78844240e-01 1.12490856e-03 -4.86546110e+00] [ 4.56212033e-03 -1.95608217e-04 9.99989574e-01 -5.22424108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.867628 meters 0.021705235116270632 Centerline is valid? [True, True] Translation: X:29.38, Y:-4.87, Z:-0.05 [[ 9.78937225e-01 2.04113175e-01 -4.44084117e-03 2.93786759e+01] [-2.04110146e-01 9.78947277e-01 1.12983639e-03 -4.87410089e+00] [ 4.57796386e-03 -1.99618159e-04 9.99989501e-01 -5.24252025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897628 meters 0.020890381283783815 Centerline is valid? [True, True] Translation: X:29.41, Y:-4.88, Z:-0.05 [[ 9.78838469e-01 2.04586896e-01 -4.41058052e-03 2.94102353e+01] [-2.04583908e-01 9.78848386e-01 1.12331878e-03 -4.88006306e+00] [ 4.54710592e-03 -1.97213840e-04 9.99989642e-01 -5.24520654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.927628000000002 meters 0.020679442414031673 Centerline is valid? [True, True] Translation: X:29.44, Y:-4.89, Z:-0.05 [[ 9.78533531e-01 2.06030501e-01 -4.85401486e-03 2.94424513e+01] [-2.06026898e-01 9.78545548e-01 1.23643930e-03 -4.88555495e+00] [ 5.00461884e-03 -2.09839688e-04 9.99987455e-01 -5.31664162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957628 meters 0.022538422726327008 Centerline is valid? [True, True] Translation: X:29.47, Y:-4.89, Z:-0.05 [[ 9.78229420e-01 2.07468284e-01 -4.91048415e-03 2.94720793e+01] [-2.07464608e-01 9.78241723e-01 1.25220635e-03 -4.89430294e+00] [ 5.06343358e-03 -2.06193423e-04 9.99987159e-01 -5.45559560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.987628 meters 0.01895005776247664 Centerline is valid? [True, True] Translation: X:29.51, Y:-4.90, Z:-0.05 [[ 9.77832938e-01 2.09332643e-01 -4.75290497e-03 2.95052577e+01] [-2.09329219e-01 9.77844470e-01 1.21228374e-03 -4.89596875e+00] [ 4.90137240e-03 -1.90489088e-04 9.99987970e-01 -5.42495466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017628000000002 meters 0.01946629403952079 Centerline is valid? [True, True] Translation: X:29.53, Y:-4.90, Z:-0.05 [[ 9.77085457e-01 2.12799373e-01 -4.52072128e-03 2.95348580e+01] [-2.12796313e-01 9.77095901e-01 1.15305034e-03 -4.90312143e+00] [ 4.66254662e-03 -1.64635897e-04 9.99989117e-01 -5.43684035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.047628 meters 0.018938530513732548 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.91, Z:-0.05 [[ 9.76772911e-01 2.14228876e-01 -4.54624692e-03 2.95659867e+01] [-2.14225790e-01 9.76783478e-01 1.16106139e-03 -4.90971432e+00] [ 4.68943176e-03 -1.60169976e-04 9.99988992e-01 -5.43308007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077628 meters 0.017905287358724285 Centerline is valid? [True, True] Translation: X:29.60, Y:-4.91, Z:-0.05 [[ 9.76429680e-01 2.15776055e-01 -5.07675186e-03 2.95979125e+01] [-2.15772221e-01 9.76442863e-01 1.29783991e-03 -4.91463780e+00] [ 5.23720090e-03 -1.71827383e-04 9.99986271e-01 -5.46604729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.107628000000002 meters 0.018455603976257832 Centerline is valid? [True, True] Translation: X:29.63, Y:-4.92, Z:-0.06 [[ 9.76316701e-01 2.16287322e-01 -5.04905916e-03 2.96277611e+01] [-2.16283529e-01 9.76329742e-01 1.29195214e-03 -4.92257405e+00] [ 5.20897950e-03 -1.69326116e-04 9.99986419e-01 -5.54350574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137628 meters 0.018306327026259714 Centerline is valid? [True, True] Translation: X:29.66, Y:-4.93, Z:-0.06 [[ 9.76151338e-01 2.17017981e-01 -5.63579803e-03 2.96588591e+01] [-2.17013260e-01 9.76167589e-01 1.44352239e-03 -4.93012096e+00] [ 5.81475369e-03 -1.86053412e-04 9.99983077e-01 -5.58131330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.167628 meters 0.02101299613681484 Centerline is valid? [True, True] Translation: X:29.69, Y:-4.94, Z:-0.06 [[ 9.76079275e-01 2.17306148e-01 -6.87652046e-03 2.96907278e+01] [-2.17299112e-01 9.76103471e-01 1.76329913e-03 -4.93868533e+00] [ 7.09537123e-03 -2.26857946e-04 9.99974802e-01 -5.97853923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197628 meters 0.017310368583205997 Centerline is valid? [True, True] Translation: X:29.72, Y:-4.95, Z:-0.06 [[ 9.75661436e-01 2.19211607e-01 -5.57071143e-03 2.97222362e+01] [-2.19207012e-01 9.75677324e-01 1.42995263e-03 -4.94529238e+00] [ 5.74867904e-03 -1.74010626e-04 9.99983461e-01 -5.66035400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.227628 meters 0.018295827413769616 Centerline is valid? [True, True] Translation: X:29.75, Y:-4.96, Z:-0.06 [[ 9.75472486e-01 2.20055677e-01 -5.37853595e-03 2.97519421e+01] [-2.20051399e-01 9.75487300e-01 1.38190489e-03 -4.95517523e+00] [ 5.55078953e-03 -1.64455833e-04 9.99984581e-01 -5.72181040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257628 meters 0.016877928197159497 Centerline is valid? [True, True] Translation: X:29.78, Y:-4.96, Z:-0.06 [[ 9.75246687e-01 2.21049527e-01 -5.56830855e-03 2.97829551e+01] [-2.21044950e-01 9.75262569e-01 1.43214160e-03 -4.96221790e+00] [ 5.74713713e-03 -1.65844867e-04 9.99983471e-01 -5.67385176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.287628 meters 0.017169378480356715 Centerline is valid? [True, True] Translation: X:29.81, Y:-4.97, Z:-0.06 [[ 9.75174485e-01 2.21367019e-01 -5.60067115e-03 2.98136744e+01] [-2.21362385e-01 9.75190553e-01 1.44205404e-03 -4.97126011e+00] [ 5.78094480e-03 -1.66476390e-04 9.99983276e-01 -5.68518530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317628 meters 0.01790466407421399 Centerline is valid? [True, True] Translation: X:29.84, Y:-4.98, Z:-0.06 [[ 9.75221382e-01 2.21161823e-01 -5.54120371e-03 2.98437976e+01] [-2.21157280e-01 9.75237110e-01 1.42734862e-03 -4.98070449e+00] [ 5.71966251e-03 -1.66503351e-04 9.99983629e-01 -5.72846042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.347628 meters 0.016833600037667058 Centerline is valid? [True, True] Translation: X:29.88, Y:-4.99, Z:-0.06 [[ 9.75196312e-01 2.21282840e-01 -5.10461011e-03 2.98755418e+01] [-2.21278977e-01 9.75209660e-01 1.31666136e-03 -4.98802465e+00] [ 5.26941966e-03 -1.54460405e-04 9.99986105e-01 -5.61434981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377628 meters 0.016563421626790295 Centerline is valid? [True, True] Translation: X:29.91, Y:-5.00, Z:-0.06 [[ 9.75173755e-01 2.21384180e-01 -5.01919025e-03 2.99067989e+01] [-2.21380439e-01 9.75186660e-01 1.29616816e-03 -4.99688310e+00] [ 5.18159850e-03 -1.52838635e-04 9.99986564e-01 -5.58211291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.407628000000003 meters 0.016639927417222557 Centerline is valid? [True, True] Translation: X:29.94, Y:-5.01, Z:-0.05 [[ 9.75098447e-01 2.21725957e-01 -4.54079086e-03 2.99378301e+01] [-2.21722892e-01 9.75109010e-01 1.17404206e-03 -5.00756610e+00] [ 4.68808168e-03 -1.38009311e-04 9.99989001e-01 -5.47257912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437628 meters 0.0179806884121813 Centerline is valid? [True, True] Translation: X:29.97, Y:-5.02, Z:-0.06 [[ 9.74973898e-01 2.22279720e-01 -4.19814230e-03 2.99667286e+01] [-2.22277103e-01 9.74982928e-01 1.08589499e-03 -5.01838574e+00] [ 4.33448951e-03 -1.25568364e-04 9.99990598e-01 -5.51610424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.467628 meters 0.017388458142860462 Centerline is valid? [True, True] Translation: X:30.00, Y:-5.03, Z:-0.06 [[ 9.74800178e-01 2.23037545e-01 -4.34351582e-03 2.99975040e+01] [-2.23034745e-01 9.74809847e-01 1.12475538e-03 -5.02576566e+00] [ 4.48496467e-03 -1.27656797e-04 9.99989934e-01 -5.52280540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497628000000002 meters 0.016833918781581487 Centerline is valid? [True, True] Translation: X:30.03, Y:-5.03, Z:-0.06 [[ 9.74583884e-01 2.23968503e-01 -4.93589730e-03 3.00291824e+01] [-2.23964893e-01 9.74596373e-01 1.27939427e-03 -5.03290902e+00] [ 5.09705162e-03 -1.41409324e-04 9.99987000e-01 -5.59734714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.527628 meters 0.01600699585232556 Centerline is valid? [True, True] Translation: X:30.06, Y:-5.04, Z:-0.06 [[ 9.74124012e-01 2.25949538e-01 -5.40522554e-03 3.00603303e+01] [-2.25945232e-01 9.74138997e-01 1.40243759e-03 -5.03978304e+00] [ 5.58232111e-03 -1.44863189e-04 9.99984408e-01 -5.70625326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557628 meters 0.016148316475969187 Centerline is valid? [True, True] Translation: X:30.09, Y:-5.05, Z:-0.06 [[ 9.73877470e-01 2.27011997e-01 -5.31286449e-03 3.00898322e+01] [-2.27007846e-01 9.73891952e-01 1.37974006e-03 -5.04836749e+00] [ 5.48737352e-03 -1.37635840e-04 9.99984935e-01 -5.71066297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.587628000000002 meters 0.01609594711777029 Centerline is valid? [True, True] Translation: X:30.12, Y:-5.06, Z:-0.06 [[ 9.73371348e-01 2.29187231e-01 -4.62959258e-03 3.01190929e+01] [-2.29184098e-01 9.73382351e-01 1.20344366e-03 -5.05862954e+00] [ 4.78217763e-03 -1.10368585e-04 9.99988559e-01 -5.57691668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617628 meters 0.015053600230762128 Centerline is valid? [True, True] Translation: X:30.15, Y:-5.07, Z:-0.05 [[ 9.73111131e-01 2.30302374e-01 -3.94241643e-03 3.01500452e+01] [-2.30300106e-01 9.73119113e-01 1.02594330e-03 -5.06601924e+00] [ 4.07271796e-03 -9.04179238e-05 9.99991702e-01 -5.43711276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.647628 meters 0.014886360551051026 Centerline is valid? [True, True] Translation: X:30.18, Y:-5.07, Z:-0.05 [[ 9.72938165e-01 2.31046467e-01 -2.97620408e-03 3.01814112e+01] [-2.31045178e-01 9.72942715e-01 7.74639537e-04 -5.07492462e+00] [ 3.07465380e-03 -6.60387693e-05 9.99995271e-01 -5.33879903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677628000000002 meters 0.014703048522634916 Centerline is valid? [True, True] Translation: X:30.21, Y:-5.08, Z:-0.05 [[ 9.72367941e-01 2.33432071e-01 -3.17105656e-03 3.02108887e+01] [-2.33430617e-01 9.72373109e-01 8.26324260e-04 -5.08338275e+00] [ 3.27634071e-03 -6.32695291e-05 9.99994631e-01 -5.39333160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.707628 meters 0.014595943305554715 Centerline is valid? [True, True] Translation: X:30.24, Y:-5.09, Z:-0.05 [[ 9.72058852e-01 2.34708771e-01 -3.65808312e-03 3.02406917e+01] [-2.34706843e-01 9.72065733e-01 9.53596357e-04 -5.09106516e+00] [ 3.77971468e-03 -6.83746385e-05 9.99992855e-01 -5.49199145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737628 meters 0.014316786367659737 Centerline is valid? [True, True] Translation: X:30.27, Y:-5.10, Z:-0.06 [[ 9.71676855e-01 2.36273575e-01 -4.34594655e-03 3.02719862e+01] [-2.36270865e-01 9.71686571e-01 1.13414482e-03 -5.09894377e+00] [ 4.49086636e-03 -7.52017251e-05 9.99989913e-01 -5.59882640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.767628000000002 meters 0.013758310567139057 Centerline is valid? [True, True] Translation: X:30.30, Y:-5.11, Z:-0.06 [[ 9.70560359e-01 2.40792221e-01 -5.62993055e-03 3.03022268e+01] [-2.40787742e-01 9.70576685e-01 1.47042806e-03 -5.10598496e+00] [ 5.81834696e-03 -7.15209218e-05 9.99983071e-01 -5.77425252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797628 meters 0.013070804324512107 Centerline is valid? [True, True] Translation: X:30.33, Y:-5.11, Z:-0.06 [[ 9.69897127e-01 2.43441786e-01 -5.97164429e-03 3.03335150e+01] [-2.43436787e-01 9.69915508e-01 1.56122854e-03 -5.11241275e+00] [ 6.17205867e-03 -6.05131797e-05 9.99980951e-01 -5.72851333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.827628 meters 0.012758811254704459 Centerline is valid? [True, True] Translation: X:30.36, Y:-5.12, Z:-0.06 [[ 9.69336301e-01 2.45661132e-01 -6.14358075e-03 3.03647859e+01] [-2.45655876e-01 9.69355768e-01 1.60776081e-03 -5.12002087e+00] [ 6.35027978e-03 -4.92542019e-05 9.99979836e-01 -5.71112078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857628000000002 meters 0.012300397973762624 Centerline is valid? [True, True] Translation: X:30.40, Y:-5.13, Z:-0.06 [[ 9.68341812e-01 2.49574537e-01 -5.16587609e-03 3.03963708e+01] [-2.49570869e-01 9.68355591e-01 1.35333418e-03 -5.12602012e+00] [ 5.34016274e-03 -2.12378851e-05 9.99985741e-01 -5.59258917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.887628 meters 0.01228977794672007 Centerline is valid? [True, True] Translation: X:30.43, Y:-5.13, Z:-0.06 [[ 9.68089892e-01 2.50566414e-01 -4.29325404e-03 3.04269619e+01] [-2.50563886e-01 9.68099412e-01 1.12581393e-03 -5.13351094e+00] [ 4.43838787e-03 -1.41546720e-05 9.99990150e-01 -5.60780005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917628 meters 0.012176448828583512 Centerline is valid? [True, True] Translation: X:30.46, Y:-5.14, Z:-0.06 [[ 9.67901210e-01 2.51310508e-01 -3.20580920e-03 3.04590137e+01] [-2.51309098e-01 9.67906519e-01 8.41779656e-04 -5.14113680e+00] [ 3.31447170e-03 -9.11052745e-06 9.99994507e-01 -5.58112725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.947628 meters 0.012163005220232573 Centerline is valid? [True, True] Translation: X:30.49, Y:-5.15, Z:-0.06 [[ 9.67793943e-01 2.51734646e-01 -2.13347983e-03 3.04901035e+01] [-2.51734021e-01 9.67796295e-01 5.60915113e-04 -5.14955792e+00] [ 2.20597564e-03 -5.78079413e-06 9.99997567e-01 -5.57374244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977628 meters 0.012138774524630596 Centerline is valid? [True, True] Translation: X:30.52, Y:-5.16, Z:-0.06 [[ 9.67797481e-01 2.51727993e-01 -1.02687430e-03 3.05202283e+01] [-2.51727847e-01 9.67798025e-01 2.70439978e-04 -5.15886487e+00] [ 1.06188423e-03 -3.23827240e-06 9.99999436e-01 -5.50050667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.007628 meters 0.012141347560622701 Centerline is valid? [True, True] Translation: X:30.55, Y:-5.17, Z:-0.05 [[ 9.67739969e-01 2.51949231e-01 -9.68331052e-04 3.05520670e+01] [-2.51949102e-01 9.67740453e-01 2.55344542e-04 -5.16841629e+00] [ 1.00142699e-03 -3.13698070e-06 9.99999499e-01 -5.42081959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037628 meters 0.012077912691523652 Centerline is valid? [True, True] Translation: X:30.58, Y:-5.18, Z:-0.05 [[ 9.67787413e-01 2.51767304e-01 -8.64981074e-04 3.05823041e+01] [-2.51767200e-01 9.67787799e-01 2.28335325e-04 -5.17754476e+00] [ 8.94605500e-04 -3.20619053e-06 9.99999600e-01 -5.40448618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.067628 meters 0.012094505262969759 Centerline is valid? [True, True] Translation: X:30.61, Y:-5.19, Z:-0.05 [[ 9.67679243e-01 2.52181287e-01 -1.21731832e-03 3.06146694e+01] [-2.52181082e-01 9.67680008e-01 3.21586193e-04 -5.18543639e+00] [ 1.25907262e-03 -4.20763157e-06 9.99999207e-01 -5.40788649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097628 meters 0.01213308434737456 Centerline is valid? [True, True] Translation: X:30.65, Y:-5.19, Z:-0.06 [[ 9.67614688e-01 2.52425156e-01 -1.83221217e-03 3.06457830e+01] [-2.52424691e-01 9.67616422e-01 4.84291834e-04 -5.19340145e+00] [ 1.89512602e-03 -6.11230080e-06 9.99998204e-01 -5.51225027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.127628 meters 0.012165564402192248 Centerline is valid? [True, True] Translation: X:30.68, Y:-5.20, Z:-0.06 [[ 9.67612139e-01 2.52430943e-01 -2.31677790e-03 3.06771946e+01] [-2.52430199e-01 9.67614912e-01 6.12899312e-04 -5.20135766e+00] [ 2.39646360e-03 -8.22410777e-06 9.99997128e-01 -5.60540063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157628000000003 meters 0.012063750433976898 Centerline is valid? [True, True] Translation: X:30.71, Y:-5.21, Z:-0.06 [[ 9.67601282e-01 2.52458516e-01 -3.52935589e-03 3.07093273e+01] [-2.52456787e-01 9.67607719e-01 9.34574183e-04 -5.20880901e+00] [ 3.65097322e-03 -1.32853302e-05 9.99993335e-01 -5.76145677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.187628 meters 0.01199184213610138 Centerline is valid? [True, True] Translation: X:30.74, Y:-5.22, Z:-0.06 [[ 9.67454496e-01 2.53016464e-01 -3.80366573e-03 3.07411502e+01] [-2.53014455e-01 9.67461973e-01 1.00835395e-03 -5.21694656e+00] [ 3.93503210e-03 -1.31541476e-05 9.99992258e-01 -5.81021630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217628 meters 0.0122038527415252 Centerline is valid? [True, True] Translation: X:30.77, Y:-5.23, Z:-0.06 [[ 9.67451362e-01 2.53017330e-01 -4.48240843e-03 3.07720348e+01] [-2.53014535e-01 9.67461746e-01 1.18945905e-03 -5.22573213e+00] [ 4.63751244e-03 -1.66292988e-05 9.99989247e-01 -5.95826350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.247628000000002 meters 0.012084149128073568 Centerline is valid? [True, True] Translation: X:30.80, Y:-5.23, Z:-0.06 [[ 9.67458156e-01 2.52985953e-01 -4.77740682e-03 3.08035951e+01] [-2.52982771e-01 9.67469951e-01 1.26915121e-03 -5.23375880e+00] [ 4.94307498e-03 -1.92490743e-05 9.99987783e-01 -5.90765881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277628 meters 0.011988706076849171 Centerline is valid? [True, True] Translation: X:30.84, Y:-5.24, Z:-0.06 [[ 9.67263028e-01 2.53728868e-01 -4.88828976e-03 3.08355832e+01] [-2.53725538e-01 9.67275380e-01 1.30009385e-03 -5.24102206e+00] [ 5.05819368e-03 -1.72487628e-05 9.99987207e-01 -5.90396663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.307628 meters 0.012028372435503056 Centerline is valid? [True, True] Translation: X:30.87, Y:-5.25, Z:-0.06 [[ 9.67403498e-01 2.53162648e-01 -6.25665790e-03 3.08663297e+01] [-2.53157172e-01 9.67423730e-01 1.66535651e-03 -5.24815083e+00] [ 6.47444538e-03 -2.71538927e-05 9.99979040e-01 -6.01721396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337628000000002 meters 0.012169977817691911 Centerline is valid? [True, True] Translation: X:30.90, Y:-5.26, Z:-0.06 [[ 9.67624598e-01 2.52305889e-01 -6.66146626e-03 3.08976649e+01] [-2.52299647e-01 9.67647527e-01 1.77514648e-03 -5.25665604e+00] [ 6.89383127e-03 -3.69898137e-05 9.99976237e-01 -6.09210718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.367628 meters 0.012169977817691911 Centerline is valid? [True, True] Translation: X:30.93, Y:-5.27, Z:-0.06 [[ 9.67554204e-01 2.52575719e-01 -6.66097098e-03 3.09289506e+01] [-2.52569471e-01 9.67577131e-01 1.77700429e-03 -5.26506785e+00] [ 6.89383133e-03 -3.69900524e-05 9.99976237e-01 -6.09674682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397628 meters 0.012719623671545404 Centerline is valid? [True, True] Translation: X:30.96, Y:-5.28, Z:-0.06 [[ 9.67808041e-01 2.51600362e-01 -6.69728239e-03 3.09591936e+01] [-2.51594009e-01 9.67831213e-01 1.78852256e-03 -5.27519693e+00] [ 6.93183186e-03 -4.59503910e-05 9.99975974e-01 -6.19149301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.427628000000002 meters 0.012790134933541553 Centerline is valid? [True, True] Translation: X:30.99, Y:-5.29, Z:-0.06 [[ 9.68722514e-01 2.48090663e-01 -5.26432590e-03 3.09892560e+01] [-2.48086678e-01 9.68736816e-01 1.40729574e-03 -5.28535377e+00] [ 5.44888325e-03 -5.72699370e-05 9.99985153e-01 -5.81795247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457628 meters 0.013213924412683532 Centerline is valid? [True, True] Translation: X:31.02, Y:-5.30, Z:-0.06 [[ 9.69258801e-01 2.46010139e-01 -4.04822984e-03 3.10185612e+01] [-2.46007760e-01 9.69267253e-01 1.08323686e-03 -5.29574064e+00] [ 4.19030387e-03 -5.40409070e-05 9.99991219e-01 -5.70295540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.487628 meters 0.013637588040794017 Centerline is valid? [True, True] Translation: X:31.05, Y:-5.31, Z:-0.06 [[ 9.69846240e-01 2.43691810e-01 -3.54564934e-03 3.10488328e+01] [-2.43689966e-01 9.69852720e-01 9.49748526e-04 -5.30555047e+00] [ 3.67020360e-03 -5.70708698e-05 9.99993263e-01 -5.62994928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517628000000002 meters 0.015377630609947048 Centerline is valid? [True, True] Translation: X:31.08, Y:-5.32, Z:-0.06 [[ 9.71307255e-01 2.37809902e-01 -2.94413157e-03 3.10775543e+01] [-2.37808604e-01 9.71311714e-01 7.88484097e-04 -5.31676742e+00] [ 3.04717881e-03 -6.57205070e-05 9.99995355e-01 -5.67643168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.547628 meters 0.016457936330942977 Centerline is valid? [True, True] Translation: X:31.11, Y:-5.33, Z:-0.06 [[ 9.71948964e-01 2.35174653e-01 -2.84509980e-03 3.11067475e+01] [-2.35173427e-01 9.71953125e-01 7.62911337e-04 -5.32673748e+00] [ 2.94472105e-03 -7.24190144e-05 9.99995662e-01 -5.71251216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577628 meters 0.01737515743727469 Centerline is valid? [True, True] Translation: X:31.14, Y:-5.34, Z:-0.06 [[ 9.72458316e-01 2.33064153e-01 -2.43399736e-03 3.11374472e+01] [-2.33063248e-01 9.72461360e-01 6.53357689e-04 -5.33629648e+00] [ 2.51924264e-03 -6.80877895e-05 9.99996824e-01 -5.70886153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.607628000000002 meters 0.018285213015543894 Centerline is valid? [True, True] Translation: X:31.17, Y:-5.35, Z:-0.06 [[ 9.72902177e-01 2.31202629e-01 -2.58822750e-03 3.11683751e+01] [-2.31201596e-01 9.72905616e-01 6.95383503e-04 -5.34588289e+00] [ 2.67887557e-03 -7.81377926e-05 9.99996409e-01 -5.69721323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637628 meters 0.018042736598341942 Centerline is valid? [True, True] Translation: X:31.20, Y:-5.35, Z:-0.06 [[ 9.73601031e-01 2.28235286e-01 -3.11241899e-03 3.11991892e+01] [-2.28233776e-01 9.73606000e-01 8.36887452e-04 -5.35361441e+00] [ 3.22127705e-03 -1.04435347e-04 9.99994806e-01 -5.62036150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.667628 meters 0.01841233659936848 Centerline is valid? [True, True] Translation: X:31.23, Y:-5.36, Z:-0.06 [[ 9.73899725e-01 2.26939598e-01 -4.21235454e-03 3.12303360e+01] [-2.26936815e-01 9.73908824e-01 1.13364991e-03 -5.36277477e+00] [ 4.35971931e-03 -1.48123010e-04 9.99990485e-01 -5.63077103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697628 meters 0.019106229680748994 Centerline is valid? [True, True] Translation: X:31.26, Y:-5.37, Z:-0.06 [[ 9.74121661e-01 2.25982542e-01 -4.34504437e-03 3.12614068e+01] [-2.25979566e-01 9.74131339e-01 1.17047267e-03 -5.37217096e+00] [ 4.49715028e-03 -1.58291538e-04 9.99989875e-01 -5.62133942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.727628 meters 0.01870058625673279 Centerline is valid? [True, True] Translation: X:31.29, Y:-5.38, Z:-0.06 [[ 9.74255900e-01 2.25405183e-01 -4.23607456e-03 3.12922708e+01] [-2.25402345e-01 9.74265097e-01 1.14224650e-03 -5.37932742e+00] [ 4.38452787e-03 -1.58019254e-04 9.99990375e-01 -5.60163330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757628 meters 0.019386572172314733 Centerline is valid? [True, True] Translation: X:31.32, Y:-5.39, Z:-0.06 [[ 9.74408071e-01 2.24723134e-01 -5.33142163e-03 3.13229725e+01] [-2.24718621e-01 9.74422635e-01 1.43877102e-03 -5.38588214e+00] [ 5.51838304e-03 -2.03880378e-04 9.99984753e-01 -5.75097401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.787628 meters 0.018691473468164615 Centerline is valid? [True, True] Translation: X:31.36, Y:-5.39, Z:-0.06 [[ 9.74300110e-01 2.25186694e-01 -5.49983627e-03 3.13550153e+01] [-2.25181897e-01 9.74315611e-01 1.48452578e-03 -5.39228794e+00] [ 5.69287179e-03 -2.07910069e-04 9.99983774e-01 -5.81724814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817628000000003 meters 0.02086878861953738 Centerline is valid? [True, True] Translation: X:31.38, Y:-5.40, Z:-0.06 [[ 9.74183256e-01 2.25683525e-01 -5.82493091e-03 3.13848770e+01] [-2.25678142e-01 9.74200646e-01 1.57416248e-03 -5.40254656e+00] [ 6.02991399e-03 -2.18963152e-04 9.99981796e-01 -5.90698486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.847628 meters 0.02237530070917322 Centerline is valid? [True, True] Translation: X:31.42, Y:-5.41, Z:-0.06 [[ 9.73724785e-01 2.27632395e-01 -6.59819793e-03 3.14159431e+01] [-2.27625521e-01 9.73747111e-01 1.78467967e-03 -5.40890389e+00] [ 6.83122708e-03 -2.35868583e-04 9.99976639e-01 -6.07499632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877628 meters 0.01865348435463052 Centerline is valid? [True, True] Translation: X:31.45, Y:-5.41, Z:-0.06 [[ 9.73287893e-01 2.29512845e-01 -5.87632088e-03 3.14480151e+01] [-2.29507418e-01 9.73305612e-01 1.59098907e-03 -5.41383190e+00] [ 6.08460851e-03 -1.99831166e-04 9.99981469e-01 -5.73531212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.907628000000003 meters 0.018241730976761496 Centerline is valid? [True, True] Translation: X:31.48, Y:-5.42, Z:-0.06 [[ 9.72895133e-01 2.31185515e-01 -5.32153138e-03 3.14796310e+01] [-2.31181081e-01 9.72909671e-01 1.44218080e-03 -5.42098684e+00] [ 5.51078066e-03 -1.72853303e-04 9.99984801e-01 -5.72307652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937628 meters 0.01867972568429537 Centerline is valid? [True, True] Translation: X:31.51, Y:-5.43, Z:-0.06 [[ 9.72446246e-01 2.33071187e-01 -5.11072656e-03 3.15102762e+01] [-2.33067117e-01 9.72459664e-01 1.38636067e-03 -5.42884926e+00] [ 5.29309616e-03 -1.57018927e-04 9.99985979e-01 -5.70500043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.967628 meters 0.016873183083833135 Centerline is valid? [True, True] Translation: X:31.54, Y:-5.43, Z:-0.06 [[ 9.71631492e-01 2.36453205e-01 -4.70385594e-03 3.15422881e+01] [-2.36449797e-01 9.71642869e-01 1.27589142e-03 -5.43136940e+00] [ 4.87215670e-03 -1.27470503e-04 9.99988123e-01 -5.66152958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997628000000002 meters 0.015104260202956087 Centerline is valid? [True, True] Translation: X:31.57, Y:-5.44, Z:-0.06 [[ 9.71257732e-01 2.37982230e-01 -4.78299068e-03 3.15739788e+01] [-2.37978717e-01 9.71269501e-01 1.29896183e-03 -5.43552794e+00] [ 4.95470280e-03 -1.23376733e-04 9.99987718e-01 -5.60065708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.02762800000001 meters 0.015018263051545752 Centerline is valid? [True, True] Translation: X:31.60, Y:-5.44, Z:-0.06 [[ 9.70930986e-01 2.39306977e-01 -5.01912926e-03 3.16042499e+01] [-2.39303120e-01 9.70943951e-01 1.36429200e-03 -5.44256539e+00] [ 5.19977779e-03 -1.23540081e-04 9.99986473e-01 -5.65495657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.057628 meters 0.016702938014685045 Centerline is valid? [True, True] Translation: X:31.63, Y:-5.45, Z:-0.06 [[ 9.70656041e-01 2.40409588e-01 -5.48454216e-03 3.16335246e+01] [-2.40404992e-01 9.70671527e-01 1.49211467e-03 -5.45288030e+00] [ 5.68240759e-03 -1.29818806e-04 9.99983847e-01 -5.79026153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.087628 meters 0.014792619928741337 Centerline is valid? [True, True] Translation: X:31.67, Y:-5.46, Z:-0.06 [[ 9.70276124e-01 2.41902551e-01 -6.88471911e-03 3.16656940e+01] [-2.41895335e-01 9.70300537e-01 1.87481595e-03 -5.45835219e+00] [ 7.13376941e-03 -1.53707717e-04 9.99974543e-01 -5.67551045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.117628 meters 0.014757897908315944 Centerline is valid? [True, True] Translation: X:31.70, Y:-5.47, Z:-0.06 [[ 9.70140957e-01 2.42425299e-01 -7.51655600e-03 3.16972494e+01] [-2.42416695e-01 9.70170061e-01 2.04918085e-03 -5.46798054e+00] [ 7.78911087e-03 -1.65855602e-04 9.99969651e-01 -5.63777025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.147628000000005 meters 0.014963683676644543 Centerline is valid? [True, True] Translation: X:31.73, Y:-5.48, Z:-0.06 [[ 9.70033852e-01 2.42841431e-01 -7.89722436e-03 3.17290096e+01] [-2.42831928e-01 9.70065982e-01 2.15532169e-03 -5.47656723e+00] [ 8.18423011e-03 -1.73036790e-04 9.99966494e-01 -5.68598618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.177628000000006 meters 0.015016221332289127 Centerline is valid? [True, True] Translation: X:31.76, Y:-5.48, Z:-0.06 [[ 9.69899654e-01 2.43383794e-01 -7.68050268e-03 3.17606156e+01] [-2.43374804e-01 9.69930050e-01 2.09849098e-03 -5.48454105e+00] [ 7.96028904e-03 -1.66084845e-04 9.99968303e-01 -5.72441255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.20762800000001 meters 0.015080228640813886 Centerline is valid? [True, True] Translation: X:31.79, Y:-5.49, Z:-0.06 [[ 9.69777405e-01 2.43878500e-01 -7.42036139e-03 3.17918502e+01] [-2.43870107e-01 9.69805781e-01 2.02947478e-03 -5.49290331e+00] [ 7.69125463e-03 -1.58534461e-04 9.99970409e-01 -5.74103592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23762800000001 meters 0.014761973210859492 Centerline is valid? [True, True] Translation: X:31.82, Y:-5.50, Z:-0.06 [[ 9.69688859e-01 2.44243279e-01 -6.98125930e-03 3.18235342e+01] [-2.44235844e-01 9.69713978e-01 1.91155457e-03 -5.50097143e+00] [ 7.23670908e-03 -1.48539411e-04 9.99973804e-01 -5.66997793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.267628 meters 0.014433109982468948 Centerline is valid? [True, True] Translation: X:31.85, Y:-5.51, Z:-0.05 [[ 9.69503658e-01 2.45013128e-01 -5.58780980e-03 3.18540878e+01] [-2.45008368e-01 9.69519754e-01 1.53153943e-03 -5.51035008e+00] [ 5.79273925e-03 -1.15772924e-04 9.99983215e-01 -5.46251507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.297628 meters 0.014236735025314534 Centerline is valid? [True, True] Translation: X:31.89, Y:-5.52, Z:-0.05 [[ 9.69338287e-01 2.45687113e-01 -4.59658440e-03 3.18853284e+01] [-2.45683894e-01 9.69349181e-01 1.26115874e-03 -5.51946624e+00] [ 4.76554577e-03 -9.31826947e-05 9.99988640e-01 -5.33511165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.327628000000004 meters 0.014234123548040108 Centerline is valid? [True, True] Translation: X:31.92, Y:-5.53, Z:-0.05 [[ 9.69128812e-01 2.46521392e-01 -4.06797965e-03 3.19157474e+01] [-2.46518874e-01 9.69137347e-01 1.11725527e-03 -5.52832142e+00] [ 4.21785833e-03 -7.99305141e-05 9.99991102e-01 -5.28165599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.357628000000005 meters 0.013911317125291037 Centerline is valid? [True, True] Translation: X:31.95, Y:-5.54, Z:-0.05 [[ 9.68442233e-01 2.49215688e-01 -3.34398180e-03 3.19459152e+01] [-2.49213999e-01 9.68448005e-01 9.19274232e-04 -5.53557870e+00] [ 3.46757006e-03 -5.68969114e-05 9.99993986e-01 -5.31209349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.38762800000001 meters 0.013711307539881873 Centerline is valid? [True, True] Translation: X:31.98, Y:-5.54, Z:-0.05 [[ 9.67968698e-01 2.51047935e-01 -3.39611129e-03 3.19762171e+01] [-2.51046202e-01 9.67974654e-01 9.34424939e-04 -5.54259123e+00] [ 3.52193510e-03 -5.19132520e-05 9.99993797e-01 -5.36731637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41762800000001 meters 0.013650489027280128 Centerline is valid? [True, True] Translation: X:32.01, Y:-5.55, Z:-0.05 [[ 9.67315931e-01 2.53547221e-01 -3.70079277e-03 3.20061295e+01] [-2.53545178e-01 9.67323009e-01 1.01911432e-03 -5.55058669e+00] [ 3.83825560e-03 -4.74873624e-05 9.99992633e-01 -5.43716060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.447628 meters 0.012774925421017738 Centerline is valid? [True, True] Translation: X:32.04, Y:-5.56, Z:-0.05 [[ 9.66134908e-01 2.57977402e-01 -5.56775142e-03 3.20374755e+01] [-2.57972842e-01 9.66150950e-01 1.53452886e-03 -5.55675932e+00] [ 5.77516209e-03 -4.62332396e-05 9.99983323e-01 -5.49609839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.477628 meters 0.01253512354844908 Centerline is valid? [True, True] Translation: X:32.07, Y:-5.56, Z:-0.06 [[ 9.65475854e-01 2.60409897e-01 -6.56202622e-03 3.20698048e+01] [-2.60403606e-01 9.65498153e-01 1.81054779e-03 -5.56474974e+00] [ 6.80710876e-03 -3.92648827e-05 9.99976831e-01 -5.54629568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.507628000000004 meters 0.012508865872629431 Centerline is valid? [True, True] Translation: X:32.10, Y:-5.57, Z:-0.06 [[ 9.64993237e-01 2.62162967e-01 -7.65706877e-03 3.21018744e+01] [-2.62154439e-01 9.65023615e-01 2.11491923e-03 -5.57310393e+00] [ 7.94370569e-03 -3.35481865e-05 9.99968448e-01 -5.65359150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.537628000000005 meters 0.012470944444611502 Centerline is valid? [True, True] Translation: X:32.13, Y:-5.58, Z:-0.06 [[ 9.64628366e-01 2.63467388e-01 -8.77790803e-03 3.21337167e+01] [-2.63456210e-01 9.64668303e-01 2.42707839e-03 -5.58131256e+00] [ 9.10722565e-03 -2.86342759e-05 9.99958528e-01 -5.76401884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.567628000000006 meters 0.012413516058803819 Centerline is valid? [True, True] Translation: X:32.16, Y:-5.59, Z:-0.06 [[ 9.64183509e-01 2.65059109e-01 -9.68661168e-03 3.21645019e+01] [-2.65045551e-01 9.64232165e-01 2.68097397e-03 -5.59008786e+00] [ 1.00507591e-02 -1.75575629e-05 9.99949490e-01 -5.93529589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59762800000001 meters 0.012491028298253314 Centerline is valid? [True, True] Translation: X:32.20, Y:-5.60, Z:-0.06 [[ 9.64110035e-01 2.65320412e-01 -9.84479402e-03 3.21954449e+01] [-2.65306391e-01 9.64160297e-01 2.72768382e-03 -5.59993286e+00] [ 1.02156697e-02 -1.79005737e-05 9.99947819e-01 -5.91300333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.627628 meters 0.012463598478961248 Centerline is valid? [True, True] Translation: X:32.23, Y:-5.61, Z:-0.06 [[ 9.64202204e-01 2.64985062e-01 -9.85018046e-03 3.22267071e+01] [-2.64970977e-01 9.64252517e-01 2.73217608e-03 -5.61056032e+00] [ 1.02220472e-02 -2.43582498e-05 9.99947753e-01 -5.84761999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.657628 meters 0.012828079038852901 Centerline is valid? [True, True] Translation: X:32.26, Y:-5.62, Z:-0.06 [[ 9.64748242e-01 2.63012024e-01 -9.24691559e-03 3.22560432e+01] [-2.62999506e-01 9.64792555e-01 2.56645734e-03 -5.62499409e+00] [ 9.59636445e-03 -4.40509770e-05 9.99953953e-01 -5.82806115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.687628000000004 meters 0.012750457128851462 Centerline is valid? [True, True] Translation: X:32.29, Y:-5.64, Z:-0.06 [[ 9.65058253e-01 2.61897772e-01 -8.49259911e-03 3.22872674e+01] [-2.61887146e-01 9.65095619e-01 2.35979009e-03 -5.63583407e+00] [ 8.81419396e-03 -5.32323583e-05 9.99961153e-01 -5.65776043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.717628000000005 meters 0.012844115507838552 Centerline is valid? [True, True] Translation: X:32.32, Y:-5.65, Z:-0.06 [[ 9.65224570e-01 2.61317075e-01 -7.41050537e-03 3.23169295e+01] [-2.61308951e-01 9.65253015e-01 2.06118659e-03 -5.64662526e+00] [ 7.69163591e-03 -5.30765565e-05 9.99970418e-01 -5.68012404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.747628000000006 meters 0.012641178598267841 Centerline is valid? [True, True] Translation: X:32.35, Y:-5.66, Z:-0.05 [[ 9.65292005e-01 2.61115122e-01 -5.49892131e-03 3.23470206e+01] [-2.61110637e-01 9.65307667e-01 1.53102006e-03 -5.65714886e+00] [ 5.70792339e-03 -4.20545731e-05 9.99983709e-01 -5.49751537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.77762800000001 meters 0.012560024006783356 Centerline is valid? [True, True] Translation: X:32.38, Y:-5.67, Z:-0.05 [[ 9.65019497e-01 2.62143165e-01 -4.28148099e-03 3.23777594e+01] [-2.62140451e-01 9.65028995e-01 1.19326562e-03 -5.66617323e+00] [ 4.44455972e-03 -2.91752306e-05 9.99990122e-01 -5.44919004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.807628 meters 0.012401375845779708 Centerline is valid? [True, True] Translation: X:32.41, Y:-5.68, Z:-0.05 [[ 9.64729926e-01 2.63216536e-01 -3.63673548e-03 3.24089750e+01] [-2.63214580e-01 9.64736780e-01 1.01476674e-03 -5.67534423e+00] [ 3.77559586e-03 -2.17340413e-05 9.99992872e-01 -5.39247570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.837628 meters 0.012357112789080372 Centerline is valid? [True, True] Translation: X:32.44, Y:-5.68, Z:-0.05 [[ 9.64221734e-01 2.65075012e-01 -3.41847213e-03 3.24396108e+01] [-2.65073293e-01 9.64227794e-01 9.54736002e-04 -5.68433504e+00] [ 3.54926249e-03 -1.44315390e-05 9.99993701e-01 -5.36464597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.867628 meters 0.012260911927872207 Centerline is valid? [True, True] Translation: X:32.47, Y:-5.69, Z:-0.05 [[ 9.63192788e-01 2.68786695e-01 -3.65593472e-03 3.24709639e+01] [-2.68784751e-01 9.63199726e-01 1.02217947e-03 -5.69321972e+00] [ 3.79614357e-03 -1.89639270e-06 9.99992795e-01 -5.32756418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.897628000000005 meters 0.015201396306126234 Centerline is valid? [True, True] Translation: X:32.50, Y:-5.70, Z:-0.06 [[ 9.62869881e-01 2.69927335e-01 -4.56355538e-03 3.25026179e+01] [-2.69924313e-01 9.62880696e-01 1.27722238e-03 -5.70196341e+00] [ 4.73891661e-03 2.01559316e-06 9.99988771e-01 -5.66093106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.927628000000006 meters 0.012275400644365001 Centerline is valid? [True, True] Translation: X:32.53, Y:-5.71, Z:-0.05 [[ 9.62172437e-01 2.72406864e-01 -4.32445389e-03 3.25346612e+01] [-2.72404170e-01 9.62182155e-01 1.21162820e-03 -5.71008687e+00] [ 4.49096820e-03 1.22040108e-05 9.99989915e-01 -5.40467063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.95762800000001 meters 0.012464374247301 Centerline is valid? [True, True] Translation: X:32.57, Y:-5.72, Z:-0.05 [[ 9.61534841e-01 2.74647770e-01 -4.39908707e-03 3.25665390e+01] [-2.74644999e-01 9.61544904e-01 1.23386190e-03 -5.71782027e+00] [ 4.56879717e-03 2.17860585e-05 9.99989563e-01 -5.45186549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98762800000001 meters 0.0128816687294218 Centerline is valid? [True, True] Translation: X:32.60, Y:-5.72, Z:-0.06 [[ 9.60361846e-01 2.78691348e-01 -6.02141406e-03 3.25981585e+01] [-2.78686227e-01 9.60380721e-01 1.69028370e-03 -5.72480876e+00] [ 6.25391742e-03 5.48011921e-05 9.99980443e-01 -5.53572508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.017628 meters 0.013116022092171846 Centerline is valid? [True, True] Translation: X:32.63, Y:-5.73, Z:-0.06 [[ 9.59759572e-01 2.80734615e-01 -7.04552786e-03 3.26291123e+01] [-2.80727646e-01 9.59785429e-01 1.97956866e-03 -5.73241464e+00] [ 7.31792842e-03 7.79644776e-05 9.99973221e-01 -5.61432005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.047628 meters 0.013327041393936173 Centerline is valid? [True, True] Translation: X:32.66, Y:-5.74, Z:-0.06 [[ 9.59271969e-01 2.82370695e-01 -8.00497471e-03 3.26607320e+01] [-2.82361739e-01 9.59305363e-01 2.25123883e-03 -5.73998896e+00] [ 8.31489905e-03 1.00748274e-04 9.99965426e-01 -5.69913575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.077628000000004 meters 0.013568223770904216 Centerline is valid? [True, True] Translation: X:32.69, Y:-5.75, Z:-0.06 [[ 9.58905780e-01 2.83579625e-01 -9.07205306e-03 3.26912160e+01] [-2.83568155e-01 9.58948685e-01 2.55349976e-03 -5.74672095e+00] [ 9.42375386e-03 1.23979669e-04 9.99955588e-01 -5.83144108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.107628000000005 meters 0.014003743427959753 Centerline is valid? [True, True] Translation: X:32.72, Y:-5.75, Z:-0.06 [[ 9.58504150e-01 2.84897601e-01 -1.01563286e-02 3.27216595e+01] [-2.84883273e-01 9.58557945e-01 2.86112978e-03 -5.75280880e+00] [ 1.05505585e-02 1.50963360e-04 9.99944330e-01 -5.97896096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13762800000001 meters 0.01656915594155564 Centerline is valid? [True, True] Translation: X:32.75, Y:-5.76, Z:-0.06 [[ 9.58652788e-01 2.84366800e-01 -1.09706651e-02 3.27535781e+01] [-2.84350010e-01 9.58715547e-01 3.09392716e-03 -5.76261636e+00] [ 1.13975574e-02 1.53506831e-04 9.99935034e-01 -6.21565369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16762800000001 meters 0.01354969735550699 Centerline is valid? [True, True] Translation: X:32.78, Y:-5.77, Z:-0.06 [[ 9.58510556e-01 2.84896546e-01 -9.56414020e-03 3.27838318e+01] [-2.84883786e-01 9.58558261e-01 2.69986577e-03 -5.77238664e+00] [ 9.93696803e-03 1.36818625e-04 9.99950618e-01 -5.79789340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.197628 meters 0.013410189871696752 Centerline is valid? [True, True] Translation: X:32.81, Y:-5.78, Z:-0.06 [[ 9.59220567e-01 2.82571032e-01 -7.03682025e-03 3.28130051e+01] [-2.82564048e-01 9.59246374e-01 1.98825758e-03 -5.78247438e+00] [ 7.31186830e-03 8.11748557e-05 9.99973265e-01 -5.62632759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.227628 meters 0.012887044923802396 Centerline is valid? [True, True] Translation: X:32.84, Y:-5.79, Z:-0.05 [[ 9.59749840e-01 2.80796134e-01 -5.81161967e-03 3.28432992e+01] [-2.80791329e-01 9.59767434e-01 1.64369907e-03 -5.79358515e+00] [ 6.03934765e-03 5.43124857e-05 9.99981761e-01 -5.46327888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.257628000000004 meters 0.012651512227644013 Centerline is valid? [True, True] Translation: X:32.87, Y:-5.80, Z:-0.05 [[ 9.60423008e-01 2.78504823e-01 -4.76533334e-03 3.28727346e+01] [-2.78501561e-01 9.60434830e-01 1.34840768e-03 -5.80451742e+00] [ 4.95233016e-03 3.21110081e-05 9.99987737e-01 -5.35529233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.287628000000005 meters 0.012651512227644013 Centerline is valid? [True, True] Translation: X:32.90, Y:-5.81, Z:-0.05 [[ 9.60345439e-01 2.78772189e-01 -4.76490403e-03 3.29038852e+01] [-2.78768923e-01 9.60357259e-01 1.34992421e-03 -5.81341268e+00] [ 4.95233150e-03 3.19136020e-05 9.99987737e-01 -5.35992310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317628000000006 meters 0.012404042807663397 Centerline is valid? [True, True] Translation: X:32.93, Y:-5.82, Z:-0.05 [[ 9.61059653e-01 2.76313807e-01 -3.87608011e-03 3.29340568e+01] [-2.76311621e-01 9.61067469e-01 1.09917783e-03 -5.82478496e+00] [ 4.02889251e-03 1.46305184e-05 9.99991884e-01 -5.24359853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.34762800000001 meters 0.012313364753512569 Centerline is valid? [True, True] Translation: X:32.96, Y:-5.84, Z:-0.05 [[ 9.62215273e-01 2.72272230e-01 -3.09853030e-03 3.29632129e+01] [-2.72270810e-01 9.62220262e-01 8.79485224e-04 -5.83557235e+00] [ 3.22092804e-03 -2.61476195e-06 9.99994813e-01 -5.21343444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.377628 meters 0.012409764128055004 Centerline is valid? [True, True] Translation: X:32.99, Y:-5.84, Z:-0.05 [[ 9.62531090e-01 2.71160757e-01 -2.39688733e-03 3.29946454e+01] [-2.71159902e-01 9.62534074e-01 6.81210158e-04 -5.84418453e+00] [ 2.49180319e-03 -5.74622338e-06 9.99996895e-01 -5.23033598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.407628 meters 0.012397732246639285 Centerline is valid? [True, True] Translation: X:33.03, Y:-5.85, Z:-0.05 [[ 9.62784142e-01 2.70248580e-01 -3.52162680e-03 3.30264584e+01] [-2.70246724e-01 9.62790582e-01 1.00173577e-03 -5.85341508e+00] [ 3.66130679e-03 -1.27472101e-05 9.99993297e-01 -5.32781998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.437628000000004 meters 0.01272550820615412 Centerline is valid? [True, True] Translation: X:33.06, Y:-5.86, Z:-0.05 [[ 9.63621201e-01 2.67209938e-01 -5.74714688e-03 3.30564191e+01] [-2.67204938e-01 9.63638339e-01 1.63513524e-03 -5.86359830e+00] [ 5.97509546e-03 -3.99849629e-05 9.99982148e-01 -5.42173015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.467628000000005 meters 0.012882845224056727 Centerline is valid? [True, True] Translation: X:33.09, Y:-5.87, Z:-0.05 [[ 9.63976305e-01 2.65901480e-01 -6.78863873e-03 3.30872691e+01] [-2.65894457e-01 9.64000207e-01 1.93337403e-03 -5.87333480e+00] [ 7.05833615e-03 -5.86653467e-05 9.99975088e-01 -5.46474565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497628000000006 meters 0.013201791794456923 Centerline is valid? [True, True] Translation: X:33.12, Y:-5.88, Z:-0.06 [[ 9.64382071e-01 2.64401578e-01 -7.68286323e-03 3.31177934e+01] [-2.64392521e-01 9.64412670e-01 2.19002800e-03 -5.88280396e+00] [ 7.98849751e-03 -8.07321640e-05 9.99968088e-01 -5.54215209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.52762800000001 meters 0.014008815448000336 Centerline is valid? [True, True] Translation: X:33.15, Y:-5.89, Z:-0.06 [[ 9.65340378e-01 2.60848034e-01 -8.73259116e-03 3.31470473e+01] [-2.60836168e-01 9.65379867e-01 2.49130858e-03 -5.89223140e+00] [ 9.08012064e-03 -1.27185153e-04 9.99958767e-01 -5.70290433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.557628 meters 0.014355798764242008 Centerline is valid? [True, True] Translation: X:33.18, Y:-5.90, Z:-0.06 [[ 9.65755650e-01 2.59291125e-01 -9.17265270e-03 3.31773584e+01] [-2.59277939e-01 9.65799197e-01 2.61925143e-03 -5.90134113e+00] [ 9.53808926e-03 -1.51290373e-04 9.99954500e-01 -5.73098321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.587628 meters 0.01490938335861664 Centerline is valid? [True, True] Translation: X:33.21, Y:-5.91, Z:-0.06 [[ 9.66156440e-01 2.57799215e-01 -9.01657884e-03 3.32072159e+01] [-2.57786390e-01 9.66198498e-01 2.57683026e-03 -5.91052629e+00] [ 9.37610975e-03 -1.65269840e-04 9.99956030e-01 -5.72645650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.617628 meters 0.015083424316213193 Centerline is valid? [True, True] Translation: X:33.24, Y:-5.92, Z:-0.06 [[ 9.66532583e-01 2.56410681e-01 -8.26609678e-03 3.32381245e+01] [-2.56399831e-01 9.66567916e-01 2.36457359e-03 -5.91889641e+00] [ 8.59604586e-03 -1.66011601e-04 9.99963040e-01 -5.63130424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.647628000000005 meters 0.016136674587682663 Centerline is valid? [True, True] Translation: X:33.27, Y:-5.93, Z:-0.06 [[ 9.66949109e-01 2.54857374e-01 -7.55910221e-03 3.32674500e+01] [-2.54848247e-01 9.66978641e-01 2.16326419e-03 -5.92809637e+00] [ 7.86081421e-03 -1.65342430e-04 9.99969090e-01 -5.54009125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.677628000000006 meters 0.01603935936481411 Centerline is valid? [True, True] Translation: X:33.30, Y:-5.94, Z:-0.05 [[ 9.66862455e-01 2.55185767e-01 -7.56419945e-03 3.32989725e+01] [-2.55176619e-01 9.66892030e-01 2.16713579e-03 -5.93623071e+00] [ 7.86678637e-03 -1.65115395e-04 9.99969043e-01 -5.49571557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.70762800000001 meters 0.015686606890208975 Centerline is valid? [True, True] Translation: X:33.33, Y:-5.94, Z:-0.05 [[ 9.66731954e-01 2.55687818e-01 -7.28485540e-03 3.33313040e+01] [-2.55679331e-01 9.66759388e-01 2.08926703e-03 -5.94426923e+00] [ 7.57690248e-03 -1.57174245e-04 9.99971283e-01 -5.41952785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73762800000001 meters 0.014507597998882583 Centerline is valid? [True, True] Translation: X:33.36, Y:-5.95, Z:-0.05 [[ 9.65978403e-01 2.58534346e-01 -6.76139963e-03 3.33633327e+01] [-2.58527091e-01 9.66002058e-01 1.94091855e-03 -5.94854222e+00] [ 7.03332006e-03 -1.26880418e-04 9.99975258e-01 -5.27410462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.767628 meters 0.014668451165260658 Centerline is valid? [True, True] Translation: X:33.39, Y:-5.96, Z:-0.05 [[ 9.65432490e-01 2.60568273e-01 -6.65448760e-03 3.33938380e+01] [-2.60561289e-01 9.65455417e-01 1.91107983e-03 -5.95624426e+00] [ 6.92257787e-03 -1.11116698e-04 9.99976032e-01 -5.35410853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.797628 meters 0.015597889393937019 Centerline is valid? [True, True] Translation: X:33.43, Y:-5.96, Z:-0.06 [[ 9.64970463e-01 2.62258852e-01 -7.23188632e-03 3.34256691e+01] [-2.62250636e-01 9.64997556e-01 2.07884668e-03 -5.96279840e+00] [ 7.52394857e-03 -1.09458861e-04 9.99971689e-01 -5.57089372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.827628000000004 meters 0.014656825743970503 Centerline is valid? [True, True] Translation: X:33.46, Y:-5.97, Z:-0.06 [[ 9.63736176e-01 2.66737932e-01 -7.96613024e-03 3.34582100e+01] [-2.66728098e-01 9.63769095e-01 2.29199679e-03 -5.96556358e+00] [ 8.28887262e-03 -8.40894541e-05 9.99965643e-01 -5.65160460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.857628000000005 meters 0.012537191234515603 Centerline is valid? [True, True] Translation: X:33.49, Y:-5.97, Z:-0.06 [[ 9.63015610e-01 2.69341610e-01 -7.48543873e-03 3.34901493e+01] [-2.69332990e-01 9.63044700e-01 2.15572824e-03 -5.97209173e+00] [ 7.78943941e-03 -5.99243516e-05 9.99969660e-01 -5.50394464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.88762800000001 meters 0.012410890481150693 Centerline is valid? [True, True] Translation: X:33.52, Y:-5.98, Z:-0.06 [[ 9.62379944e-01 2.71580028e-01 -8.31453760e-03 3.35219892e+01] [-2.71569454e-01 9.62415859e-01 2.39705613e-03 -5.97955374e+00] [ 8.65303542e-03 -4.89043138e-05 9.99962561e-01 -5.62568628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91762800000001 meters 0.015027547644468954 Centerline is valid? [True, True] Translation: X:33.55, Y:-5.99, Z:-0.06 [[ 9.61842880e-01 2.73427111e-01 -9.79227411e-03 3.35539595e+01] [-2.73412509e-01 9.61892724e-01 2.82600798e-03 -5.98767038e+00] [ 1.01918244e-02 -4.08454226e-05 9.99948061e-01 -5.91935710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.947628 meters 0.01220663990563439 Centerline is valid? [True, True] Translation: X:33.59, Y:-6.00, Z:-0.06 [[ 9.60534757e-01 2.77990831e-01 -9.69943842e-03 3.35861777e+01] [-2.77976707e-01 9.60583728e-01 2.80218531e-03 -5.99508210e+00] [ 1.00961045e-02 4.62156358e-06 9.99949033e-01 -5.62561709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.977628 meters 0.015010152912240305 Centerline is valid? [True, True] Translation: X:33.62, Y:-6.00, Z:-0.06 [[ 9.60217327e-01 2.79051066e-01 -1.06389398e-02 3.36158043e+01] [-2.79034111e-01 9.60276264e-01 3.07610839e-03 -6.00305733e+00] [ 1.10747127e-02 1.48945439e-05 9.99938673e-01 -5.86161766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.007628000000004 meters 0.015679871649786025 Centerline is valid? [True, True] Translation: X:33.65, Y:-6.01, Z:-0.06 [[ 9.59967391e-01 2.79926913e-01 -1.01750256e-02 3.36474075e+01] [-2.79911419e-01 9.60021314e-01 2.94520779e-03 -6.01194258e+00] [ 1.05926844e-02 2.08024235e-05 9.99943896e-01 -5.81930100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.037628000000005 meters 0.012084392546929815 Centerline is valid? [True, True] Translation: X:33.68, Y:-6.02, Z:-0.05 [[ 9.60108494e-01 2.79529606e-01 -7.40800071e-03 3.36768831e+01] [-2.79521367e-01 9.60137073e-01 2.14615258e-03 -6.02071255e+00] [ 7.71260930e-03 1.01551604e-05 9.99970257e-01 -5.45765236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.067628000000006 meters 0.012038442308125062 Centerline is valid? [True, True] Translation: X:33.71, Y:-6.03, Z:-0.05 [[ 9.60402724e-01 2.78533663e-01 -6.75321587e-03 3.37085689e+01] [-2.78526777e-01 9.60426467e-01 1.95860104e-03 -6.03118382e+00] [ 7.03150358e-03 -9.43232976e-08 9.99975279e-01 -5.42495292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.09762800000001 meters 0.012111838826001123 Centerline is valid? [True, True] Translation: X:33.74, Y:-6.04, Z:-0.05 [[ 9.61011503e-01 2.76436265e-01 -6.31534507e-03 3.37386435e+01] [-2.76430190e-01 9.61032253e-01 1.83266352e-03 -6.04230989e+00] [ 6.57586496e-03 -1.54586865e-05 9.99978379e-01 -5.42222549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.127628 meters 0.015740685264469995 Centerline is valid? [True, True] Translation: X:33.77, Y:-6.05, Z:-0.06 [[ 9.61855036e-01 2.73469196e-01 -7.03475487e-03 3.37689928e+01] [-2.73461565e-01 9.61880760e-01 2.04339225e-03 -6.05433317e+00] [ 7.32540020e-03 -4.17120577e-05 9.99973168e-01 -5.63482109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.157628 meters 0.013314748107680376 Centerline is valid? [True, True] Translation: X:33.80, Y:-6.07, Z:-0.05 [[ 9.63544527e-01 2.67470200e-01 -6.45267835e-03 3.37969609e+01] [-2.67463634e-01 9.63566129e-01 1.87590767e-03 -6.07042593e+00] [ 6.71933170e-03 -8.16637743e-05 9.99977422e-01 -5.31207847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.187628000000004 meters 0.014236272166128267 Centerline is valid? [True, True] Translation: X:33.83, Y:-6.08, Z:-0.05 [[ 9.64522273e-01 2.63917214e-01 -6.66994038e-03 3.38255584e+01] [-2.63910109e-01 9.64545329e-01 1.93980861e-03 -6.08331664e+00] [ 6.94540872e-03 -1.10723920e-04 9.99975874e-01 -5.27480619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.217628000000005 meters 0.014909398953319185 Centerline is valid? [True, True] Translation: X:33.86, Y:-6.10, Z:-0.05 [[ 9.65469247e-01 2.60436346e-01 -6.48411025e-03 3.38557238e+01] [-2.60429539e-01 9.65491011e-01 1.88765145e-03 -6.09561127e+00] [ 6.75196320e-03 -1.33815582e-04 9.99977196e-01 -5.20564608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.247628000000006 meters 0.015256618017816347 Centerline is valid? [True, True] Translation: X:33.89, Y:-6.11, Z:-0.05 [[ 9.66279709e-01 2.57408864e-01 -6.64844740e-03 3.38854943e+01] [-2.57401625e-01 9.66302567e-01 1.93712554e-03 -6.10655202e+00] [ 6.92304507e-03 -1.60483943e-04 9.99976023e-01 -5.15340372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.27762800000001 meters 0.018517623887857652 Centerline is valid? [True, True] Translation: X:33.91, Y:-6.12, Z:-0.05 [[ 9.67650989e-01 2.52200751e-01 -6.80772956e-03 3.39125225e+01] [-2.52193034e-01 9.67674914e-01 1.98334039e-03 -6.12199724e+00] [ 7.08786905e-03 -2.02319320e-04 9.99974860e-01 -5.29050325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.307628 meters 0.019355932870208217 Centerline is valid? [True, True] Translation: X:33.94, Y:-6.13, Z:-0.05 [[ 9.67993506e-01 2.50873416e-01 -7.14853964e-03 3.39429284e+01] [-2.50864855e-01 9.68019875e-01 2.08474323e-03 -6.13341775e+00] [ 7.44293510e-03 -2.24700551e-04 9.99972276e-01 -5.32596670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.337628 meters 0.017490255561489452 Centerline is valid? [True, True] Translation: X:33.97, Y:-6.14, Z:-0.05 [[ 9.68094348e-01 2.50430548e-01 -8.82462962e-03 3.39739869e+01] [-2.50417461e-01 9.68134526e-01 2.57583805e-03 -6.14202309e+00] [ 9.18849714e-03 -2.83812911e-04 9.99957745e-01 -5.25639834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.367628 meters 0.019602742896805518 Centerline is valid? [True, True] Translation: X:34.00, Y:-6.15, Z:-0.05 [[ 9.67905444e-01 2.51103451e-01 -1.03008882e-02 3.40032702e+01] [-2.51085627e-01 9.67960201e-01 3.00963461e-03 -6.15475110e+00] [ 1.07265794e-02 -3.26636756e-04 9.99942415e-01 -5.44444185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.397628000000005 meters 0.017966757501910888 Centerline is valid? [True, True] Translation: X:34.03, Y:-6.16, Z:-0.05 [[ 9.67601888e-01 2.52232237e-01 -1.12020288e-02 3.40346022e+01] [-2.52211200e-01 9.67666668e-01 3.27578809e-03 -6.16162888e+00] [ 1.16660892e-02 -3.44381625e-04 9.99931890e-01 -5.47168673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.427628000000006 meters 0.01711350197252025 Centerline is valid? [True, True] Translation: X:34.07, Y:-6.17, Z:-0.05 [[ 9.67285081e-01 2.53406084e-01 -1.20386384e-02 3.40659739e+01] [-2.53381837e-01 9.67359927e-01 3.52363416e-03 -6.16957048e+00] [ 1.25386067e-02 -3.57986448e-04 9.99921324e-01 -5.49097705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45762800000001 meters 0.019882387442031454 Centerline is valid? [True, True] Translation: X:34.10, Y:-6.18, Z:-0.06 [[ 9.67032966e-01 2.54339979e-01 -1.25864031e-02 3.40950698e+01] [-2.54313515e-01 9.67114803e-01 3.68702322e-03 -6.17990260e+00] [ 1.31102542e-02 -3.64580575e-04 9.99913990e-01 -5.85004814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48762800000001 meters 0.016460733237846793 Centerline is valid? [True, True] Translation: X:34.13, Y:-6.19, Z:-0.05 [[ 9.66341205e-01 2.57065640e-01 -1.00961135e-02 3.41256487e+01] [-2.57048759e-01 9.66393909e-01 2.95768913e-03 -6.18660643e+00] [ 1.05171428e-02 -2.62943433e-04 9.99944659e-01 -5.41031533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.517628 meters 0.01578351391316353 Centerline is valid? [True, True] Translation: X:34.16, Y:-6.19, Z:-0.05 [[ 9.65973774e-01 2.58488700e-01 -8.84650374e-03 3.41571776e+01] [-2.58475790e-01 9.66014257e-01 2.59254216e-03 -6.19478408e+00] [ 9.21599159e-03 -2.17720693e-04 9.99957508e-01 -5.23486300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.547628 meters 0.015619060554261597 Centerline is valid? [True, True] Translation: X:34.19, Y:-6.20, Z:-0.05 [[ 9.65518250e-01 2.60236357e-01 -7.17959243e-03 3.41866700e+01] [-2.60227887e-01 9.65544930e-01 2.10603360e-03 -6.20333939e+00] [ 7.48028558e-03 -1.65083705e-04 9.99972009e-01 -5.12726298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.577628000000004 meters 0.01448798936941597 Centerline is valid? [True, True] Translation: X:34.22, Y:-6.21, Z:-0.05 [[ 9.64434342e-01 2.64269486e-01 -5.29505182e-03 3.42173836e+01] [-2.64264940e-01 9.64448873e-01 1.55336133e-03 -6.21094801e+00] [ 5.51731276e-03 -9.88184610e-05 9.99984775e-01 -4.79817879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.607628000000005 meters 0.013830775737344673 Centerline is valid? [True, True] Translation: X:34.25, Y:-6.22, Z:-0.05 [[ 9.63671239e-01 2.67049170e-01 -4.74170221e-03 3.42481934e+01] [-2.67045549e-01 9.63682902e-01 1.39258462e-03 -6.21837880e+00] [ 4.94138591e-03 -7.57432720e-05 9.99987788e-01 -4.75069614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.63762800000001 meters 0.013408984295765449 Centerline is valid? [True, True] Translation: X:34.28, Y:-6.23, Z:-0.05 [[ 9.62889776e-01 2.69854512e-01 -4.67135783e-03 3.42801003e+01] [-2.69851030e-01 9.62901105e-01 1.37214138e-03 -6.22565798e+00] [ 4.86833416e-03 -6.06501789e-05 9.99988148e-01 -4.75238074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66762800000001 meters 0.012714894522223595 Centerline is valid? [True, True] Translation: X:34.31, Y:-6.23, Z:-0.05 [[ 9.61301096e-01 2.75454459e-01 -5.00443908e-03 3.43110032e+01] [-2.75450532e-01 9.61314121e-01 1.47139939e-03 -6.22951644e+00] [ 5.21614148e-03 -3.59824387e-05 9.99986395e-01 -5.00732453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.697628 meters 0.012351948025697735 Centerline is valid? [True, True] Translation: X:34.34, Y:-6.24, Z:-0.05 [[ 9.60473642e-01 2.78312845e-01 -5.68710465e-03 3.43424731e+01] [-2.78307814e-01 9.60490479e-01 1.67363671e-03 -6.23650050e+00] [ 5.92820446e-03 -2.47182832e-05 9.99982428e-01 -5.07258240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.727628 meters 0.012206032749297316 Centerline is valid? [True, True] Translation: X:34.37, Y:-6.24, Z:-0.05 [[ 9.59764398e-01 2.80732468e-01 -6.44837537e-03 3.43730151e+01] [-2.80726047e-01 9.59786060e-01 1.89874896e-03 -6.24406957e+00] [ 6.72210127e-03 -1.21247255e-05 9.99977406e-01 -5.19631232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.757628000000004 meters 0.015537880191754437 Centerline is valid? [True, True] Translation: X:34.41, Y:-6.25, Z:-0.06 [[ 9.59213230e-01 2.82573889e-01 -7.87256934e-03 3.44051204e+01] [-2.82564360e-01 9.59245535e-01 2.32065218e-03 -6.25274000e+00] [ 8.20748270e-03 -1.49275331e-06 9.99966318e-01 -5.50306597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.787628000000005 meters 0.012317293371276171 Centerline is valid? [True, True] Translation: X:34.44, Y:-6.26, Z:-0.05 [[ 9.57888035e-01 2.87047472e-01 -7.36622714e-03 3.44370416e+01] [-2.87039243e-01 9.57916357e-01 2.17370749e-03 -6.26135469e+00] [ 7.68018671e-03 3.22278602e-05 9.99970506e-01 -5.16246074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817628000000006 meters 0.012359347746171244 Centerline is valid? [True, True] Translation: X:34.47, Y:-6.27, Z:-0.05 [[ 9.57508709e-01 2.88316647e-01 -7.11215090e-03 3.44680973e+01] [-2.88309002e-01 9.57535122e-01 2.09995989e-03 -6.27023036e+00] [ 7.41558767e-03 3.97672413e-05 9.99972503e-01 -5.17686605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84762800000001 meters 0.012449860399064842 Centerline is valid? [True, True] Translation: X:34.50, Y:-6.28, Z:-0.05 [[ 9.57208635e-01 2.89301804e-01 -7.48972170e-03 3.44998362e+01] [-2.89293336e-01 9.57237935e-01 2.21389750e-03 -6.27944571e+00] [ 7.80993028e-03 4.75647764e-05 9.99969501e-01 -5.17149067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.877628 meters 0.012415945384864617 Centerline is valid? [True, True] Translation: X:34.53, Y:-6.29, Z:-0.05 [[ 9.56799514e-01 2.90660327e-01 -7.15992885e-03 3.45313359e+01] [-2.90652610e-01 9.56826302e-01 2.11864359e-03 -6.28955703e+00] [ 7.46661388e-03 5.39348495e-05 9.99972123e-01 -5.15664413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.907628 meters 0.012530865029759046 Centerline is valid? [True, True] Translation: X:34.56, Y:-6.30, Z:-0.05 [[ 9.56762579e-01 2.90797227e-01 -6.50700143e-03 3.45616069e+01] [-2.90790844e-01 9.56784704e-01 1.92731931e-03 -6.29906513e+00] [ 6.78625855e-03 4.81894423e-05 9.99976972e-01 -5.18977831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.937628000000004 meters 0.012390329392529025 Centerline is valid? [True, True] Translation: X:34.59, Y:-6.31, Z:-0.05 [[ 9.56707614e-01 2.90981171e-01 -6.36389573e-03 3.45923550e+01] [-2.90975056e-01 9.56728779e-01 1.88691619e-03 -6.30960519e+00] [ 6.63757927e-03 4.65078303e-05 9.99977970e-01 -5.14512123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.967628000000005 meters 0.012312042034062836 Centerline is valid? [True, True] Translation: X:34.62, Y:-6.32, Z:-0.05 [[ 9.56747992e-01 2.90850010e-01 -6.28905827e-03 3.46239764e+01] [-2.90844023e-01 9.56768661e-01 1.86668681e-03 -6.32027584e+00] [ 6.56009974e-03 4.31861537e-05 9.99978481e-01 -5.15335619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997628000000006 meters 0.01218034514830026 Centerline is valid? [True, True] Translation: X:34.65, Y:-6.33, Z:-0.05 [[ 9.57015779e-01 2.89967966e-01 -6.27511705e-03 3.46547226e+01] [-2.89961974e-01 9.57036351e-01 1.86448482e-03 -6.33215696e+00] [ 6.54615600e-03 3.52039329e-05 9.99978573e-01 -5.24616406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.02762800000001 meters 0.012086569271960201 Centerline is valid? [True, True] Translation: X:34.69, Y:-6.34, Z:-0.05 [[ 9.57151053e-01 2.89520405e-01 -6.30845716e-03 3.46851026e+01] [-2.89514328e-01 9.57171841e-01 1.87615937e-03 -6.34277857e+00] [ 6.58146397e-03 3.06208173e-05 9.99978341e-01 -5.26849753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05762800000001 meters 0.012130097629417422 Centerline is valid? [True, True] Translation: X:34.72, Y:-6.35, Z:-0.05 [[ 9.57291733e-01 2.89058816e-01 -6.12693819e-03 3.47157119e+01] [-2.89053063e-01 9.57311339e-01 1.82391693e-03 -6.35301966e+00] [ 6.39260667e-03 2.49896515e-05 9.99979567e-01 -5.32425355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.087628 meters 0.012082256852457096 Centerline is valid? [True, True] Translation: X:34.75, Y:-6.36, Z:-0.05 [[ 9.57066320e-01 2.89816061e-01 -5.54171855e-03 3.47473006e+01] [-2.89811356e-01 9.57082363e-01 1.65147036e-03 -6.36284796e+00] [ 5.78250372e-03 2.54863138e-05 9.99983281e-01 -5.14828751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.117628 meters 0.012113233872038559 Centerline is valid? [True, True] Translation: X:34.78, Y:-6.37, Z:-0.05 [[ 9.56935161e-01 2.90252703e-01 -5.33527575e-03 3.47781136e+01] [-2.90248342e-01 9.56950034e-01 1.59145492e-03 -6.37249246e+00] [ 5.56751640e-03 2.56357726e-05 9.99984501e-01 -5.05131143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.147628000000005 meters 0.012125839971843577 Centerline is valid? [True, True] Translation: X:34.81, Y:-6.38, Z:-0.05 [[ 9.56985290e-01 2.90081860e-01 -5.62760597e-03 3.48097371e+01] [-2.90076994e-01 9.57001836e-01 1.68035322e-03 -6.38192005e+00] [ 5.87306923e-03 2.43657130e-05 9.99982753e-01 -5.09424809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.177628000000006 meters 0.012125839971843577 Centerline is valid? [True, True] Translation: X:34.84, Y:-6.39, Z:-0.05 [[ 9.56904838e-01 2.90347148e-01 -5.62713990e-03 3.48407539e+01] [-2.90342277e-01 9.56921383e-01 1.68191352e-03 -6.39126243e+00] [ 5.87306929e-03 2.43654257e-05 9.99982753e-01 -5.09888761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.20762800000001 meters 0.012057860010756712 Centerline is valid? [True, True] Translation: X:34.87, Y:-6.40, Z:-0.05 [[ 9.57137524e-01 2.89577863e-01 -5.69400270e-03 3.48724463e+01] [-2.89572853e-01 9.57154460e-01 1.70361589e-03 -6.40071638e+00] [ 5.94336953e-03 1.82339136e-05 9.99982338e-01 -5.19182895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23762800000001 meters 0.011985249201555878 Centerline is valid? [True, True] Translation: X:34.90, Y:-6.41, Z:-0.05 [[ 9.57937157e-01 2.86915845e-01 -5.97497939e-03 3.49025763e+01] [-2.86910266e-01 9.57955791e-01 1.78930957e-03 -6.41027894e+00] [ 6.23714737e-03 2.36805008e-07 9.99980549e-01 -5.32049645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.267628 meters 0.01204099676182186 Centerline is valid? [True, True] Translation: X:34.93, Y:-6.42, Z:-0.05 [[ 9.58590153e-01 2.84725255e-01 -6.03722454e-03 3.49340351e+01] [-2.84719504e-01 9.58609164e-01 1.80974079e-03 -6.42127904e+00] [ 6.30261767e-03 -1.58841261e-05 9.99980138e-01 -5.29859597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.297628 meters 0.015355854602093115 Centerline is valid? [True, True] Translation: X:34.96, Y:-6.43, Z:-0.05 [[ 9.59610252e-01 2.81262512e-01 -6.29004881e-03 3.49638782e+01] [-2.81256184e-01 9.59630865e-01 1.88706457e-03 -6.43279470e+00] [ 6.56688551e-03 -4.17313816e-05 9.99978437e-01 -5.49658397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.327628000000004 meters 0.01293676428418852 Centerline is valid? [True, True] Translation: X:34.99, Y:-6.44, Z:-0.05 [[ 9.60410075e-01 2.78542158e-01 -5.17251888e-03 3.49940228e+01] [-2.78537832e-01 9.60424002e-01 1.55316638e-03 -6.44367659e+00] [ 5.40043360e-03 -5.09344378e-05 9.99985416e-01 -5.16118131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.357628000000005 meters 0.015360516292841474 Centerline is valid? [True, True] Translation: X:35.02, Y:-6.46, Z:-0.05 [[ 9.63013777e-01 2.69420471e-01 -4.13211928e-03 3.50211247e+01] [-2.69417628e-01 9.63022639e-01 1.24048618e-03 -6.45779813e+00] [ 4.31353679e-03 -8.13395093e-05 9.99990693e-01 -4.99469931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.38762800000001 meters 0.015296840206608361 Centerline is valid? [True, True] Translation: X:35.05, Y:-6.47, Z:-0.05 [[ 9.64332578e-01 2.64662918e-01 -4.02726110e-03 3.50518857e+01] [-2.64660173e-01 9.64340982e-01 1.20942361e-03 -6.46633629e+00] [ 4.20374250e-03 -1.00430969e-04 9.99991159e-01 -4.81531991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41762800000001 meters 0.017171951913330055 Centerline is valid? [True, True] Translation: X:35.08, Y:-6.48, Z:-0.05 [[ 9.65761077e-01 2.59407151e-01 -3.67038324e-03 3.50798993e+01] [-2.59404832e-01 9.65768045e-01 1.10263075e-03 -6.47727652e+00] [ 3.83076914e-03 -1.12762715e-04 9.99992656e-01 -4.85373428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.447628 meters 0.02018314391536972 Centerline is valid? [True, True] Translation: X:35.11, Y:-6.49, Z:-0.05 [[ 9.68684943e-01 2.48252013e-01 -4.51866770e-03 3.51086301e+01] [-2.48248377e-01 9.68695463e-01 1.35742620e-03 -6.48839316e+00] [ 4.71419669e-03 -1.93166391e-04 9.99988869e-01 -4.88302934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.477628 meters 0.021040201312278566 Centerline is valid? [True, True] Translation: X:35.14, Y:-6.50, Z:-0.05 [[ 9.69918317e-01 2.43389813e-01 -4.45610811e-03 3.51379911e+01] [-2.43386225e-01 9.69928530e-01 1.33876208e-03 -6.49743688e+00] [ 4.64794744e-03 -2.13934530e-04 9.99989175e-01 -4.87955260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.507628000000004 meters 0.02460960118383058 Centerline is valid? [True, True] Translation: X:35.17, Y:-6.51, Z:-0.05 [[ 9.71129397e-01 2.38520374e-01 -3.96564935e-03 3.51659965e+01] [-2.38517491e-01 9.71137471e-01 1.19152015e-03 -6.51032655e+00] [ 4.13539251e-03 -2.11243513e-04 9.99991427e-01 -4.87237312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.537628000000005 meters 0.02309554087202667 Centerline is valid? [True, True] Translation: X:35.20, Y:-6.52, Z:-0.05 [[ 9.72092115e-01 2.34575847e-01 -3.33045592e-03 3.51969230e+01] [-2.34573790e-01 9.72097801e-01 1.00082150e-03 -6.51612114e+00] [ 3.47229743e-03 -1.91653018e-04 9.99993953e-01 -4.80582478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.567628000000006 meters 0.03685627457048706 Centerline is valid? [True, True] Translation: X:35.22, Y:-6.54, Z:-0.05 [[ 9.73360199e-01 2.29266224e-01 -2.63095575e-03 3.52216234e+01] [-2.29264921e-01 9.73363740e-01 7.90626124e-04 -6.54006695e+00] [ 2.74214080e-03 -1.66378139e-04 9.99996226e-01 -4.84829372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59762800000001 meters 0.025681786155029775 Centerline is valid? [True, True] Translation: X:35.26, Y:-6.53, Z:-0.05 [[ 9.73507679e-01 2.28639937e-01 -2.56479738e-03 3.52575875e+01] [-2.28638694e-01 9.73511044e-01 7.71783036e-04 -6.53326559e+00] [ 2.67331900e-03 -1.64924789e-04 9.99996413e-01 -4.73189254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.627628 meters 0.024614838579799625 Centerline is valid? [True, True] Translation: X:35.29, Y:-6.54, Z:-0.05 [[ 9.73465560e-01 2.28820518e-01 -2.44433413e-03 3.52900097e+01] [-2.28819387e-01 9.73468616e-01 7.36370834e-04 -6.53942637e+00] [ 2.54797932e-03 -1.57520608e-04 9.99996741e-01 -4.68698682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.657628 meters 0.02481381011707264 Centerline is valid? [True, True] Translation: X:35.32, Y:-6.54, Z:-0.05 [[ 9.72711310e-01 2.32011798e-01 -1.79792638e-03 3.53198298e+01] [-2.32011193e-01 9.72712966e-01 5.41350306e-04 -6.54449952e+00] [ 1.87446596e-03 -1.09438521e-04 9.99998237e-01 -4.64654850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.687628000000004 meters 0.02471925829629685 Centerline is valid? [True, True] Translation: X:35.35, Y:-6.55, Z:-0.05 [[ 9.72198909e-01 2.34146442e-01 -2.17382938e-03 3.53513528e+01] [-2.34145562e-01 9.72201331e-01 6.54724406e-04 -6.55049409e+00] [ 2.26670121e-03 -1.27529851e-04 9.99997423e-01 -4.75250002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.717628000000005 meters 0.026882805231317197 Centerline is valid? [True, True] Translation: X:35.38, Y:-6.56, Z:-0.05 [[ 9.71389904e-01 2.37482458e-01 -1.93329006e-03 3.53798111e+01] [-2.37481768e-01 9.71391822e-01 5.82244591e-04 -6.56102985e+00] [ 2.01625503e-03 -1.06465376e-04 9.99997962e-01 -4.65352273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.747628000000006 meters 0.02297786103388482 Centerline is valid? [True, True] Translation: X:35.41, Y:-6.56, Z:-0.05 [[ 9.70614527e-01 2.40631301e-01 -2.00411865e-03 3.54122345e+01] [-2.40630566e-01 9.70616591e-01 6.03704102e-04 -6.56252376e+00] [ 2.09050091e-03 -1.03711767e-04 9.99997810e-01 -4.61938373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77762800000001 meters 0.023488700637795817 Centerline is valid? [True, True] Translation: X:35.44, Y:-6.56, Z:-0.05 [[ 9.69477743e-01 2.45166433e-01 -2.51525975e-03 3.54444392e+01] [-2.45165290e-01 9.69480998e-01 7.57744857e-04 -6.56307803e+00] [ 2.62427014e-03 -1.17962387e-04 9.99996550e-01 -4.94724992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80762800000001 meters 0.022161922081400824 Centerline is valid? [True, True] Translation: X:35.48, Y:-6.57, Z:-0.05 [[ 9.68936513e-01 2.47299136e-01 -2.27406639e-03 3.54761431e+01] [-2.47298208e-01 9.68939176e-01 6.85247337e-04 -6.56820081e+00] [ 2.37289309e-03 -1.01588622e-04 9.99997180e-01 -4.93410322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.837628 meters 0.02093853705748735 Centerline is valid? [True, True] Translation: X:35.51, Y:-6.58, Z:-0.05 [[ 9.68403733e-01 2.49383741e-01 -1.39973055e-03 3.55066606e+01] [-2.49383391e-01 9.68404743e-01 4.22467849e-04 -6.57626409e+00] [ 1.46086231e-03 -6.00498923e-05 9.99998931e-01 -4.70896350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.867628 meters 0.01951960816808496 Centerline is valid? [True, True] Translation: X:35.54, Y:-6.58, Z:-0.05 [[ 9.68550807e-01 2.48815412e-01 -4.74929177e-04 3.55389670e+01] [-2.48815371e-01 9.68550923e-01 1.43720897e-04 -6.58081373e+00] [ 4.95753067e-04 -2.10313108e-05 9.99999877e-01 -4.54626628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.897628000000005 meters 0.02299595354848471 Centerline is valid? [True, True] Translation: X:35.57, Y:-6.59, Z:-0.05 [[ 9.68870910e-01 2.47566310e-01 -2.85396794e-04 3.55672601e+01] [-2.47566296e-01 9.68870952e-01 8.62064410e-05 -6.59350760e+00] [ 2.97854474e-04 -1.28682858e-05 9.99999956e-01 -4.52432663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.927628000000006 meters 0.02189922035620793 Centerline is valid? [True, True] Translation: X:35.60, Y:-6.60, Z:-0.05 [[ 9.69458211e-01 2.45256177e-01 -4.29578541e-04 3.55994049e+01] [-2.45256144e-01 9.69458306e-01 1.29907102e-04 -6.59707412e+00] [ 4.48319004e-04 -2.05827307e-05 9.99999899e-01 -4.69821983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95762800000001 meters 0.022250337210714705 Centerline is valid? [True, True] Translation: X:35.63, Y:-6.61, Z:-0.05 [[ 9.69712725e-01 2.44247779e-01 5.02969283e-04 3.56288295e+01] [-2.44247734e-01 9.69712855e-01 -1.51680712e-04 -6.60713076e+00] [-5.24783457e-04 2.42376095e-05 9.99999862e-01 -4.51655067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98762800000001 meters 0.02201456269820754 Centerline is valid? [True, True] Translation: X:35.66, Y:-6.61, Z:-0.05 [[ 9.70386530e-01 2.41556023e-01 8.19213447e-04 3.56594373e+01] [-2.41555900e-01 9.70386874e-01 -2.47597249e-04 -6.61183420e+00] [-8.54762583e-04 4.23791940e-05 9.99999634e-01 -4.51644858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.017628 meters 0.02256972231266682 Centerline is valid? [True, True] Translation: X:35.69, Y:-6.62, Z:-0.05 [[ 9.70469604e-01 2.41221350e-01 1.00401227e-03 3.56904852e+01] [-2.41221165e-01 9.70470122e-01 -3.03385593e-04 -6.62009063e+00] [-1.04754699e-03 5.22374878e-05 9.99999450e-01 -4.55409021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.047628 meters 0.02233614423747173 Centerline is valid? [True, True] Translation: X:35.72, Y:-6.63, Z:-0.05 [[ 9.70377607e-01 2.41592071e-01 7.55494124e-04 3.57228638e+01] [-2.41591966e-01 9.70377900e-01 -2.28377569e-04 -6.62730786e+00] [-7.88289012e-04 3.90911681e-05 9.99999689e-01 -4.57851917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.077628000000004 meters 0.02263700075182064 Centerline is valid? [True, True] Translation: X:35.75, Y:-6.63, Z:-0.05 [[ 9.69803707e-01 2.43886219e-01 -5.31659320e-04 3.57531862e+01] [-2.43886167e-01 9.69803852e-01 1.61084489e-04 -6.63281126e+00] [ 5.54891543e-04 -2.65559812e-05 9.99999846e-01 -4.70176943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.107628000000005 meters 0.021368342752692802 Centerline is valid? [True, True] Translation: X:35.78, Y:-6.64, Z:-0.05 [[ 9.69197192e-01 2.46279405e-01 -1.80500911e-03 3.57841601e+01] [-2.46278813e-01 9.69198869e-01 5.46833423e-04 -6.63778866e+00] [ 1.88408660e-03 -8.54539168e-05 9.99998221e-01 -4.79222325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.13762800000001 meters 0.01943861205842059 Centerline is valid? [True, True] Translation: X:35.82, Y:-6.64, Z:-0.05 [[ 9.68424915e-01 2.49291549e-01 -2.62810803e-03 3.58161134e+01] [-2.49290304e-01 9.68428474e-01 7.96455439e-04 -6.64182285e+00] [ 2.74368426e-03 -1.16145440e-04 9.99996229e-01 -4.86625430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16762800000001 meters 0.019054152379642704 Centerline is valid? [True, True] Translation: X:35.85, Y:-6.65, Z:-0.05 [[ 9.67563615e-01 2.52603255e-01 -3.49952915e-03 3.58458185e+01] [-2.52601069e-01 9.67569933e-01 1.06048391e-03 -6.64782894e+00] [ 3.65392088e-03 -1.42100839e-04 9.99993314e-01 -4.96300931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.197628 meters 0.017996287703221366 Centerline is valid? [True, True] Translation: X:35.88, Y:-6.65, Z:-0.05 [[ 9.65674412e-01 2.59708900e-01 -4.92107090e-03 3.58765860e+01] [-2.59704669e-01 9.65686937e-01 1.49125120e-03 -6.65135765e+00] [ 5.13950509e-03 -1.62038043e-04 9.99986780e-01 -5.07603965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.227628 meters 0.017253759501742346 Centerline is valid? [True, True] Translation: X:35.91, Y:-6.66, Z:-0.05 [[ 9.64772380e-01 2.63043437e-01 -4.73339560e-03 3.59065792e+01] [-2.63039562e-01 9.64783982e-01 1.43449022e-03 -6.65758432e+00] [ 4.94403749e-03 -1.38886243e-04 9.99987769e-01 -5.06389934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.257628000000004 meters 0.01872913146973989 Centerline is valid? [True, True] Translation: X:35.94, Y:-6.66, Z:-0.05 [[ 9.63963184e-01 2.65984034e-01 -5.24147902e-03 3.59371138e+01] [-2.65979318e-01 9.63977424e-01 1.59004740e-03 -6.66398857e+00] [ 5.47559466e-03 -1.38622145e-04 9.99984999e-01 -5.22531932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.287628000000005 meters 0.014941178855884831 Centerline is valid? [True, True] Translation: X:35.97, Y:-6.67, Z:-0.05 [[ 9.62080817e-01 2.72743280e-01 -3.40662058e-03 3.59675898e+01] [-2.72741331e-01 9.62086846e-01 1.03328773e-03 -6.66796052e+00] [ 3.55928714e-03 -6.49800717e-05 9.99993664e-01 -5.00916827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317628000000006 meters 0.013850976383121594 Centerline is valid? [True, True] Translation: X:36.00, Y:-6.67, Z:-0.05 [[ 9.61158095e-01 2.75983254e-01 -2.89141463e-03 3.59995386e+01] [-2.75981861e-01 9.61162443e-01 8.78125340e-04 -6.67424428e+00] [ 3.02146704e-03 -4.60392891e-05 9.99995434e-01 -4.95972997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34762800000001 meters 0.01298617009462449 Centerline is valid? [True, True] Translation: X:36.03, Y:-6.68, Z:-0.05 [[ 9.60141477e-01 2.79503149e-01 -2.51685718e-03 3.60308942e+01] [-2.79502103e-01 9.60144775e-01 7.65113227e-04 -6.68072984e+00] [ 2.63039883e-03 -3.11500678e-05 9.99996540e-01 -4.92920569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.377628 meters 0.012761635195499858 Centerline is valid? [True, True] Translation: X:36.06, Y:-6.69, Z:-0.05 [[ 9.59103190e-01 2.83044954e-01 -2.57399261e-03 3.60608992e+01] [-2.83043872e-01 9.59106643e-01 7.83090142e-04 -6.68845721e+00] [ 2.69038312e-03 -2.25114188e-05 9.99996381e-01 -4.96147082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.407628 meters 0.012005774535021036 Centerline is valid? [True, True] Translation: X:36.09, Y:-6.69, Z:-0.05 [[ 9.57064877e-01 2.89867524e-01 -1.90766593e-03 3.60928779e+01] [-2.89866942e-01 9.57066779e-01 5.81007638e-04 -6.69279502e+00] [ 1.99417893e-03 -3.09271435e-06 9.99998012e-01 -4.88402430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.437628000000004 meters 0.012065563360011869 Centerline is valid? [True, True] Translation: X:36.12, Y:-6.70, Z:-0.05 [[ 9.55961671e-01 2.93486849e-01 -1.65917856e-03 3.61243556e+01] [-2.93486413e-01 9.55963111e-01 5.05940365e-04 -6.70078786e+00] [ 1.73460034e-03 3.28676541e-06 9.99998496e-01 -4.86572293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.467628000000005 meters 0.012172737000084958 Centerline is valid? [True, True] Translation: X:36.16, Y:-6.71, Z:-0.05 [[ 9.55075880e-01 2.96355987e-01 -1.78667028e-03 3.61557487e+01] [-2.96355485e-01 9.55077551e-01 5.45271729e-04 -6.70851613e+00] [ 1.86800322e-03 8.71366196e-06 9.99998255e-01 -4.89410682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497628000000006 meters 0.012455893446737823 Centerline is valid? [True, True] Translation: X:36.19, Y:-6.72, Z:-0.05 [[ 9.54296411e-01 2.98856409e-01 -1.79099303e-03 3.61867542e+01] [-2.98855909e-01 9.54298091e-01 5.47037139e-04 -6.71646183e+00] [ 1.87262679e-03 1.32132728e-05 9.99998247e-01 -4.93205412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52762800000001 meters 0.014637869525435466 Centerline is valid? [True, True] Translation: X:36.22, Y:-6.73, Z:-0.05 [[ 9.53620687e-01 3.00993447e-01 -3.24505283e-03 3.62171966e+01] [-3.00991814e-01 9.53626208e-01 9.91755124e-04 -6.72579538e+00] [ 3.39307922e-03 3.09761350e-05 9.99994243e-01 -5.15165224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55762800000001 meters 0.012739516721473708 Centerline is valid? [True, True] Translation: X:36.25, Y:-6.74, Z:-0.05 [[ 9.53462596e-01 3.01498780e-01 -2.75026036e-03 3.62487228e+01] [-3.01497607e-01 9.53466562e-01 8.41501654e-04 -6.73684454e+00] [ 2.87599301e-03 2.68565658e-05 9.99995864e-01 -5.02821639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.587628 meters 0.015515005838851455 Centerline is valid? [True, True] Translation: X:36.28, Y:-6.75, Z:-0.05 [[ 9.53512911e-01 3.01316246e-01 -4.65277761e-03 3.62792957e+01] [-3.01312881e-01 9.53524262e-01 1.42476689e-03 -6.74800448e+00] [ 4.86584175e-03 4.34081949e-05 9.99988161e-01 -5.31686021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.617628 meters 0.012428462502554612 Centerline is valid? [True, True] Translation: X:36.31, Y:-6.76, Z:-0.05 [[ 9.54266900e-01 2.98900249e-01 -5.77284374e-03 3.63076156e+01] [-2.98895020e-01 9.54284360e-01 1.76831570e-03 -6.76169532e+00] [ 6.03748450e-03 3.80291106e-05 9.99981774e-01 -5.42227869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.647628000000005 meters 0.012479662474436406 Centerline is valid? [True, True] Translation: X:36.34, Y:-6.77, Z:-0.06 [[ 9.54778819e-01 2.97232656e-01 -7.08196126e-03 3.63369107e+01] [-2.97224732e-01 9.54805083e-01 2.17067732e-03 -6.77393233e+00] [ 7.40708879e-03 3.24173088e-05 9.99972567e-01 -5.58809529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.677628000000006 meters 0.012456143525614805 Centerline is valid? [True, True] Translation: X:36.37, Y:-6.79, Z:-0.06 [[ 9.55350104e-01 2.95368755e-01 -7.96729371e-03 3.63673719e+01] [-2.95358639e-01 9.55383325e-01 2.44465192e-03 -6.78702054e+00] [ 8.33389336e-03 1.77105577e-05 9.99965272e-01 -5.65821493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.70762800000001 meters 0.014908028121196886 Centerline is valid? [True, True] Translation: X:36.40, Y:-6.80, Z:-0.06 [[ 9.56081253e-01 2.92944010e-01 -9.61477880e-03 3.63961343e+01] [-2.92929143e-01 9.56129597e-01 2.95127370e-03 -6.79980251e+00] [ 1.00575325e-02 -5.20854187e-06 9.99949422e-01 -5.95862053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73762800000001 meters 0.01305954594515116 Centerline is valid? [True, True] Translation: X:36.42, Y:-6.82, Z:-0.06 [[ 9.57480631e-01 2.88335949e-01 -9.65513865e-03 3.64236827e+01] [-2.88320698e-01 9.57529309e-01 2.96613881e-03 -6.81758208e+00] [ 1.01003227e-02 -5.62441473e-05 9.99948989e-01 -5.86528060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.767628 meters 0.013378731313473313 Centerline is valid? [True, True] Translation: X:36.45, Y:-6.83, Z:-0.06 [[ 9.58093785e-01 2.86300661e-01 -9.39308525e-03 3.64529340e+01] [-2.86286104e-01 9.58139826e-01 2.88808546e-03 -6.83185411e+00] [ 9.82674984e-03 -7.79469446e-05 9.99951713e-01 -5.80143854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.797628 meters 0.01360407699797222 Centerline is valid? [True, True] Translation: X:36.48, Y:-6.85, Z:-0.06 [[ 9.58838362e-01 2.83817727e-01 -8.74605682e-03 3.64827366e+01] [-2.83804982e-01 9.58878245e-01 2.69150739e-03 -6.84557490e+00] [ 9.15030112e-03 -9.85460383e-05 9.99958130e-01 -5.63300651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.827628000000004 meters 0.015095768654874183 Centerline is valid? [True, True] Translation: X:36.51, Y:-6.86, Z:-0.06 [[ 9.59473967e-01 2.81667424e-01 -8.55385552e-03 3.65120554e+01] [-2.81655127e-01 9.59512089e-01 2.63466569e-03 -6.85941031e+00] [ 8.94962727e-03 -1.18655884e-04 9.99959944e-01 -5.63507495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.857628000000005 meters 0.01712280018081723 Centerline is valid? [True, True] Translation: X:36.54, Y:-6.88, Z:-0.06 [[ 9.61039870e-01 2.76310757e-01 -7.39824984e-03 3.65403632e+01] [-2.76301397e-01 9.61068335e-01 2.27908666e-03 -6.87767682e+00] [ 7.73995981e-03 -1.46146383e-04 9.99970035e-01 -5.58213963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.88762800000001 meters 0.015833224848653304 Centerline is valid? [True, True] Translation: X:36.57, Y:-6.89, Z:-0.05 [[ 9.61750500e-01 2.73856385e-01 -6.21745228e-03 3.65682495e+01] [-2.73849711e-01 9.61770586e-01 1.91711925e-03 -6.89148654e+00] [ 6.50477807e-03 -1.41142879e-04 9.99978834e-01 -5.35608128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91762800000001 meters 0.01712961870605736 Centerline is valid? [True, True] Translation: X:36.60, Y:-6.90, Z:-0.05 [[ 9.62427748e-01 2.71474605e-01 -5.86243760e-03 3.65980766e+01] [-2.71468617e-01 9.62445591e-01 1.80931241e-03 -6.90354831e+00] [ 6.13345959e-03 -1.49864643e-04 9.99981179e-01 -5.43281941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.947628 meters 0.017213405561164054 Centerline is valid? [True, True] Translation: X:36.62, Y:-6.92, Z:-0.05 [[ 9.63798361e-01 2.66597217e-01 -4.31774062e-03 3.66236976e+01] [-2.66593921e-01 9.63808023e-01 1.33236620e-03 -6.92201233e+00] [ 4.51667818e-03 -1.33048956e-04 9.99989791e-01 -5.16354111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.977628 meters 0.01778467044068279 Centerline is valid? [True, True] Translation: X:36.65, Y:-6.94, Z:-0.05 [[ 9.64143855e-01 2.65344419e-01 -4.35501044e-03 3.66529196e+01] [-2.65341046e-01 9.64153680e-01 1.34539210e-03 -6.93536369e+00] [ 4.55589163e-03 -1.41588497e-04 9.99989612e-01 -5.17545806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.007628000000004 meters 0.02024354944650036 Centerline is valid? [True, True] Translation: X:36.68, Y:-6.95, Z:-0.05 [[ 9.64366729e-01 2.64510542e-01 -5.56644808e-03 3.66827946e+01] [-2.64505010e-01 9.64382776e-01 1.72103601e-03 -6.94770690e+00] [ 5.82341881e-03 -1.87356462e-04 9.99983026e-01 -5.43835727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.037628000000005 meters 0.019512742421538453 Centerline is valid? [True, True] Translation: X:36.71, Y:-6.96, Z:-0.05 [[ 9.64370454e-01 2.64472424e-01 -6.63052282e-03 3.67123805e+01] [-2.64464561e-01 9.64393222e-01 2.05172865e-03 -6.95912400e+00] [ 6.93705692e-03 -2.25088184e-04 9.99975913e-01 -5.47391111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.067628000000006 meters 0.01747690474364183 Centerline is valid? [True, True] Translation: X:36.74, Y:-6.97, Z:-0.05 [[ 9.63967137e-01 2.65927093e-01 -7.08090533e-03 3.67421022e+01] [-2.65918151e-01 9.63993116e-01 2.19300135e-03 -6.97033839e+00] [ 7.40912247e-03 -2.31039982e-04 9.99972525e-01 -5.45660761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09762800000001 meters 0.01747690474364183 Centerline is valid? [True, True] Translation: X:36.77, Y:-6.98, Z:-0.05 [[ 9.63891517e-01 2.66201078e-01 -7.08026660e-03 3.67730401e+01] [-2.66192128e-01 9.63917493e-01 2.19506289e-03 -6.97998320e+00] [ 7.40912093e-03 -2.31091268e-04 9.99972525e-01 -5.46124710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.127628 meters 0.019624140960538553 Centerline is valid? [True, True] Translation: X:36.80, Y:-6.99, Z:-0.06 [[ 9.63547595e-01 2.67436026e-01 -7.34877953e-03 3.68022313e+01] [-2.67426407e-01 9.63575590e-01 2.28005338e-03 -6.99211692e+00] [ 7.69087298e-03 -2.31682243e-04 9.99970398e-01 -5.69931041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.157628 meters 0.01996208844089132 Centerline is valid? [True, True] Translation: X:36.83, Y:-7.00, Z:-0.06 [[ 9.63123262e-01 2.68949221e-01 -7.73947795e-03 3.68314462e+01] [-2.68938585e-01 9.63154329e-01 2.40313298e-03 -7.00342136e+00] [ 8.10063244e-03 -2.33069027e-04 9.99967162e-01 -5.73406085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.187628000000004 meters 0.019157904879477747 Centerline is valid? [True, True] Translation: X:36.86, Y:-7.01, Z:-0.06 [[ 9.62284877e-01 2.71932562e-01 -7.77796839e-03 3.68616078e+01] [-2.71921901e-01 9.62316288e-01 2.41719058e-03 -7.01374255e+00] [ 8.14217849e-03 -2.11025993e-04 9.99966830e-01 -5.70448079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.217628000000005 meters 0.0170733254161285 Centerline is valid? [True, True] Translation: X:36.89, Y:-7.02, Z:-0.06 [[ 9.61807448e-01 2.73654055e-01 -6.31594097e-03 3.68909719e+01] [-2.73647052e-01 9.61828172e-01 1.96442217e-03 -7.02495263e+00] [ 6.61242205e-03 -1.61057254e-04 9.99978125e-01 -5.50000055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.247628000000006 meters 0.01580569879353274 Centerline is valid? [True, True] Translation: X:36.92, Y:-7.03, Z:-0.05 [[ 9.61310385e-01 2.75413220e-01 -5.46835390e-03 3.69220713e+01] [-2.75407990e-01 9.61325929e-01 1.70234611e-03 -7.03343801e+00] [ 5.72571901e-03 -1.30454645e-04 9.99983599e-01 -5.42098074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27762800000001 meters 0.01575093479399222 Centerline is valid? [True, True] Translation: X:36.95, Y:-7.04, Z:-0.05 [[ 9.60842243e-01 2.77058321e-01 -4.56840998e-03 3.69512821e+01] [-2.77054684e-01 9.60853098e-01 1.42335059e-03 -7.04330298e+00] [ 4.78392200e-03 -1.01915988e-04 9.99988552e-01 -5.38745972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30762800000001 meters 0.014915610454830645 Centerline is valid? [True, True] Translation: X:36.98, Y:-7.05, Z:-0.05 [[ 9.59962940e-01 2.80107705e-01 -3.29043386e-03 3.69819402e+01] [-2.80105832e-01 9.59968577e-01 1.02617945e-03 -7.05318467e+00] [ 3.44615388e-03 -6.34245258e-05 9.99994060e-01 -5.30095654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.337628 meters 0.015141313022792237 Centerline is valid? [True, True] Translation: X:37.01, Y:-7.06, Z:-0.05 [[ 9.59495505e-01 2.81707203e-01 -3.07056097e-03 3.70115153e+01] [-2.81705578e-01 9.59500416e-01 9.58444527e-04 -7.06442453e+00] [ 3.21620526e-03 -5.46290626e-05 9.99994827e-01 -5.34451740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.367628 meters 0.01485559557966265 Centerline is valid? [True, True] Translation: X:37.04, Y:-7.07, Z:-0.05 [[ 9.59042366e-01 2.83245279e-01 -3.13885517e-03 3.70417444e+01] [-2.83243586e-01 9.59047501e-01 9.80548551e-04 -7.07473617e+00] [ 3.28804696e-03 -5.13270083e-05 9.99994593e-01 -5.35336422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.397628000000005 meters 0.014239081187240474 Centerline is valid? [True, True] Translation: X:37.07, Y:-7.09, Z:-0.05 [[ 9.58165517e-01 2.86191603e-01 -3.63450474e-03 3.70715355e+01] [-2.86189351e-01 9.58172408e-01 1.13626652e-03 -7.08570070e+00] [ 3.80767210e-03 -4.85748455e-05 9.99992750e-01 -5.41594252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.427628000000006 meters 0.013927575389132092 Centerline is valid? [True, True] Translation: X:37.10, Y:-7.10, Z:-0.05 [[ 9.57762288e-01 2.87531161e-01 -4.15112591e-03 3.71018199e+01] [-2.87528231e-01 9.57771282e-01 1.29882383e-03 -7.09507626e+00] [ 4.34928151e-03 -5.03985940e-05 9.99990541e-01 -5.49171776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45762800000001 meters 0.01371982540298445 Centerline is valid? [True, True] Translation: X:37.13, Y:-7.10, Z:-0.06 [[ 9.57356199e-01 2.88878970e-01 -4.24835184e-03 3.71327174e+01] [-2.88875911e-01 9.57365624e-01 1.33034212e-03 -7.10455749e+00] [ 4.45153388e-03 -4.63647680e-05 9.99990091e-01 -5.63985449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48762800000001 meters 0.013487671325555685 Centerline is valid? [True, True] Translation: X:37.16, Y:-7.11, Z:-0.06 [[ 9.56767681e-01 2.90818333e-01 -4.50579234e-03 3.71642586e+01] [-2.90814907e-01 9.56778290e-01 1.41213377e-03 -7.11228148e+00] [ 4.72171868e-03 -4.07323662e-05 9.99988852e-01 -5.74540453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.517628 meters 0.013276473237743915 Centerline is valid? [True, True] Translation: X:37.20, Y:-7.12, Z:-0.06 [[ 9.56068057e-01 2.93089167e-01 -5.71056761e-03 3.71959104e+01] [-2.93083695e-01 9.56085110e-01 1.79141232e-03 -7.12101732e+00] [ 5.98483221e-03 -3.90378435e-05 9.99982090e-01 -5.84952403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.547628 meters 0.013171393104914665 Centerline is valid? [True, True] Translation: X:37.23, Y:-7.13, Z:-0.06 [[ 9.55759237e-01 2.94095004e-01 -5.69288889e-03 3.72266386e+01] [-2.94089575e-01 9.55776191e-01 1.78744974e-03 -7.13010379e+00] [ 5.96680769e-03 -3.41523320e-05 9.99982198e-01 -5.78355943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.577628000000004 meters 0.013344617265064642 Centerline is valid? [True, True] Translation: X:37.26, Y:-7.14, Z:-0.06 [[ 9.56390916e-01 2.92025587e-01 -6.12151300e-03 3.72572660e+01] [-2.92019256e-01 9.56410505e-01 1.92364267e-03 -7.14094409e+00] [ 6.41643222e-03 -5.21547005e-05 9.99979413e-01 -5.69810132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.607628000000005 meters 0.013942449304350605 Centerline is valid? [True, True] Translation: X:37.29, Y:-7.15, Z:-0.06 [[ 9.57253444e-01 2.89190218e-01 -5.90434824e-03 3.72855887e+01] [-2.89184267e-01 9.57271651e-01 1.85658616e-03 -7.15270394e+00] [ 6.18897175e-03 -6.97788807e-05 9.99980846e-01 -5.69138514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63762800000001 meters 0.014494536712517056 Centerline is valid? [True, True] Translation: X:37.32, Y:-7.16, Z:-0.06 [[ 9.58136402e-01 2.86272433e-01 -4.76740712e-03 3.73160576e+01] [-2.86268510e-01 9.58148260e-01 1.50045824e-03 -7.16380697e+00] [ 4.99742267e-03 -7.28851272e-05 9.99987510e-01 -5.59726444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66762800000001 meters 0.016407264221712146 Centerline is valid? [True, True] Translation: X:37.34, Y:-7.18, Z:-0.05 [[ 9.60271325e-01 2.79061058e-01 -1.97696734e-03 3.73442138e+01] [-2.79060367e-01 9.60273359e-01 6.22640871e-04 -7.17593504e+00] [ 2.07218389e-03 -4.62109420e-05 9.99997852e-01 -5.43990695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.697628 meters 0.016646731110515428 Centerline is valid? [True, True] Translation: X:37.38, Y:-7.18, Z:-0.05 [[ 9.61359009e-01 2.75297117e-01 -5.94034582e-04 3.73750009e+01] [-2.75297054e-01 9.61359193e-01 1.87170506e-04 -7.18486094e+00] [ 6.22608107e-04 -1.64020818e-05 9.99999806e-01 -5.37238604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.727628 meters 0.01830524204560332 Centerline is valid? [True, True] Translation: X:37.40, Y:-7.20, Z:-0.05 [[ 9.62571643e-01 2.71027247e-01 -2.52550460e-04 3.74034138e+01] [-2.71027235e-01 9.62571676e-01 7.98045229e-05 -7.19632080e+00] [ 2.64727119e-04 -8.36951795e-06 9.99999965e-01 -5.35810241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.757628000000004 meters 0.018778145897932287 Centerline is valid? [True, True] Translation: X:37.43, Y:-7.21, Z:-0.05 [[ 9.63771641e-01 2.66728324e-01 -4.75473919e-04 3.74324956e+01] [-2.66728282e-01 9.63771758e-01 1.50080966e-04 -7.20592712e+00] [ 4.98279179e-04 -1.78214376e-05 9.99999876e-01 -5.36718401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.787628000000005 meters 0.020706574446292435 Centerline is valid? [True, True] Translation: X:37.46, Y:-7.22, Z:-0.05 [[ 9.65671161e-01 2.59753083e-01 -2.74664068e-03 3.74619822e+01] [-2.59751669e-01 9.65675060e-01 8.65941814e-04 -7.21706457e+00] [ 2.87729346e-03 -1.22770535e-04 9.99995853e-01 -5.42481607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817628000000006 meters 0.021696800913421205 Centerline is valid? [True, True] Translation: X:37.49, Y:-7.23, Z:-0.05 [[ 9.66170138e-01 2.57876917e-01 -3.84184619e-03 3.74918442e+01] [-2.57874132e-01 9.66177760e-01 1.21183911e-03 -7.22764802e+00] [ 4.02441168e-03 -1.80130007e-04 9.99991886e-01 -5.48305138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84762800000001 meters 0.022696675612405213 Centerline is valid? [True, True] Translation: X:37.52, Y:-7.24, Z:-0.06 [[ 9.66642646e-01 2.56063955e-01 -5.76599641e-03 3.75229744e+01] [-2.56057649e-01 9.66659801e-01 1.81906820e-03 -7.23643869e+00] [ 6.03955474e-03 -2.81961411e-04 9.99981722e-01 -5.70613295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.877628 meters 0.023240408326682834 Centerline is valid? [True, True] Translation: X:37.55, Y:-7.25, Z:-0.06 [[ 9.66794218e-01 2.55465054e-01 -6.82253673e-03 3.75537855e+01] [-2.55456195e-01 9.66818230e-01 2.15448269e-03 -7.24530941e+00] [ 7.14654793e-03 -3.40082137e-04 9.99974405e-01 -5.83513787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.907628 meters 0.022317411139698092 Centerline is valid? [True, True] Translation: X:37.58, Y:-7.25, Z:-0.06 [[ 9.66424409e-01 2.56832531e-01 -7.80469504e-03 3.75840644e+01] [-2.56820967e-01 9.66455849e-01 2.46650602e-03 -7.25233773e+00] [ 8.17637215e-03 -3.79282299e-04 9.99966501e-01 -5.79373665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.937628000000004 meters 0.021482044035533252 Centerline is valid? [True, True] Translation: X:37.62, Y:-7.26, Z:-0.06 [[ 9.65917442e-01 2.58713256e-01 -8.42303623e-03 3.76155839e+01] [-2.58699838e-01 9.65954086e-01 2.66419367e-03 -7.25961581e+00] [ 8.82552848e-03 -3.94353020e-04 9.99960977e-01 -5.81413042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.967628000000005 meters 0.023899275388109164 Centerline is valid? [True, True] Translation: X:37.64, Y:-7.27, Z:-0.06 [[ 9.65222550e-01 2.61271357e-01 -9.09435920e-03 3.76443107e+01] [-2.61255829e-01 9.65265309e-01 2.87653836e-03 -7.27079545e+00] [ 9.53002653e-03 -4.00545336e-04 9.99954508e-01 -5.98972939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997628000000006 meters 0.021235941759928136 Centerline is valid? [True, True] Translation: X:37.68, Y:-7.27, Z:-0.06 [[ 9.63330183e-01 2.68130122e-01 -1.00596698e-02 3.76765076e+01] [-2.68111492e-01 9.63382635e-01 3.18209560e-03 -7.27351501e+00] [ 1.05445269e-02 -3.68295653e-04 9.99944337e-01 -6.01459679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02762800000001 meters 0.018242150995046107 Centerline is valid? [True, True] Translation: X:37.71, Y:-7.28, Z:-0.06 [[ 9.62098602e-01 2.72508832e-01 -1.02575321e-02 3.77084869e+01] [-2.72489703e-01 9.62153226e-01 3.24531221e-03 -7.27764731e+00] [ 1.07536938e-02 -3.27238455e-04 9.99942124e-01 -5.92377291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05762800000001 meters 0.017982462755224998 Centerline is valid? [True, True] Translation: X:37.74, Y:-7.29, Z:-0.06 [[ 9.60777103e-01 2.77139913e-01 -1.00412185e-02 3.77383010e+01] [-2.77121832e-01 9.60829535e-01 3.17722985e-03 -7.28608039e+00] [ 1.05284365e-02 -2.69968836e-04 9.99944538e-01 -5.95554971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.087628 meters 0.015782534232925537 Centerline is valid? [True, True] Translation: X:37.77, Y:-7.29, Z:-0.06 [[ 9.59445002e-01 2.81750339e-01 -9.05725522e-03 3.77696601e+01] [-2.81735829e-01 9.59487732e-01 2.86623192e-03 -7.29154459e+00] [ 9.49788709e-03 -1.98238581e-04 9.99954874e-01 -5.77314192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.117628 meters 0.013544334487690988 Centerline is valid? [True, True] Translation: X:37.80, Y:-7.29, Z:-0.06 [[ 9.56721643e-01 2.90940866e-01 -6.09182099e-03 3.78007880e+01] [-2.90934488e-01 9.56741035e-01 1.92784193e-03 -7.29432333e+00] [ 6.38918311e-03 -7.20872787e-05 9.99979586e-01 -5.54988028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.147628000000005 meters 0.012724728767468 Centerline is valid? [True, True] Translation: X:37.83, Y:-7.30, Z:-0.05 [[ 9.55290404e-01 2.95637040e-01 -4.35704651e-03 3.78329088e+01] [-2.95633820e-01 9.55300340e-01 1.38030891e-03 -7.30009705e+00] [ 4.57035845e-03 -3.05055539e-05 9.99989555e-01 -5.44765600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.177628000000006 meters 0.012273967961229601 Centerline is valid? [True, True] Translation: X:37.86, Y:-7.31, Z:-0.05 [[ 9.53914539e-01 3.00067107e-01 -2.60449355e-03 3.78646452e+01] [-3.00065971e-01 9.53918095e-01 8.25913426e-04 -7.30593884e+00] [ 2.73230298e-03 -6.33093910e-06 9.99996267e-01 -5.35809972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20762800000001 meters 0.01258702811821165 Centerline is valid? [True, True] Translation: X:37.90, Y:-7.31, Z:-0.05 [[ 9.51483864e-01 3.07698643e-01 2.49936976e-05 3.78965639e+01] [-3.07698643e-01 9.51483865e-01 -7.55564014e-06 -7.30969767e+00] [-2.61059602e-05 -5.01457152e-07 1.00000000e+00 -5.14671891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23762800000001 meters 0.01282227389117965 Centerline is valid? [True, True] Translation: X:37.93, Y:-7.32, Z:-0.05 [[ 9.50513761e-01 3.10682014e-01 5.25880435e-04 3.79279122e+01] [-3.10681969e-01 9.50513906e-01 -1.66615022e-04 -7.31835285e+00] [-5.51620957e-04 -5.01169836e-06 9.99999848e-01 -5.10005442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.267628 meters 0.015303038337527337 Centerline is valid? [True, True] Translation: X:37.96, Y:-7.33, Z:-0.05 [[ 9.49840174e-01 3.12735740e-01 3.64137347e-05 3.79580655e+01] [-3.12735740e-01 9.49840174e-01 -1.12386218e-05 -7.32693750e+00] [-3.81019468e-05 -7.12981794e-07 9.99999999e-01 -5.27041560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.297628 meters 0.013376628785655464 Centerline is valid? [True, True] Translation: X:37.99, Y:-7.34, Z:-0.05 [[ 9.49310362e-01 3.14339483e-01 7.25376140e-04 3.79881409e+01] [-3.14339399e-01 9.49310639e-01 -2.30328101e-04 -7.33671822e+00] [-7.61008503e-04 -9.36144695e-06 9.99999710e-01 -5.10332251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.327628000000004 meters 0.016377093487642404 Centerline is valid? [True, True] Translation: X:38.02, Y:-7.35, Z:-0.06 [[ 9.49234759e-01 3.14564986e-01 -1.49711780e-03 3.80186578e+01] [-3.14564625e-01 9.49235940e-01 4.76658617e-04 -7.34764986e+00] [ 1.57105813e-03 1.84793718e-05 9.99998766e-01 -5.51914231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.357628000000005 meters 0.013411120497607714 Centerline is valid? [True, True] Translation: X:38.05, Y:-7.36, Z:-0.05 [[ 9.49132838e-01 3.14871984e-01 -1.57794420e-03 3.80495357e+01] [-3.14871583e-01 9.49134149e-01 5.03015414e-04 -7.35846886e+00] [ 1.65606618e-03 1.94213398e-05 9.99998629e-01 -5.41242884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.38762800000001 meters 0.013196219616746588 Centerline is valid? [True, True] Translation: X:38.08, Y:-7.37, Z:-0.06 [[ 9.49357705e-01 3.14187251e-01 -2.51372839e-03 3.80808879e+01] [-3.14186229e-01 9.49361033e-01 8.01838380e-04 -7.36993166e+00] [ 2.63836318e-03 2.85473993e-05 9.99996519e-01 -5.61679564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41762800000001 meters 0.012780278127310429 Centerline is valid? [True, True] Translation: X:38.11, Y:-7.38, Z:-0.06 [[ 9.50261534e-01 3.11410628e-01 -5.14179491e-03 3.81086658e+01] [-3.11406311e-01 9.50275444e-01 1.64027412e-03 -7.38448290e+00] [ 5.39692023e-03 4.24979793e-05 9.99985436e-01 -5.96950552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.447628 meters 0.01263561568625599 Centerline is valid? [True, True] Translation: X:38.14, Y:-7.40, Z:-0.06 [[ 9.50793952e-01 3.09757967e-01 -6.39239276e-03 3.81388961e+01] [-3.09751243e-01 9.50815440e-01 2.04127184e-03 -7.39836058e+00] [ 6.71028595e-03 3.92226889e-05 9.99977485e-01 -6.10289773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.477628 meters 0.012494945063613087 Centerline is valid? [True, True] Translation: X:38.17, Y:-7.41, Z:-0.06 [[ 9.51438105e-01 3.07751692e-01 -7.37750168e-03 3.81687445e+01] [-3.07742660e-01 9.51466707e-01 2.35796824e-03 -7.41296808e+00] [ 7.74511595e-03 2.69111561e-05 9.99970006e-01 -6.17265852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.507628000000004 meters 0.012570143318675711 Centerline is valid? [True, True] Translation: X:38.20, Y:-7.43, Z:-0.06 [[ 9.52870780e-01 3.03253475e-01 -8.63754056e-03 3.81959777e+01] [-3.03240888e-01 9.52909927e-01 2.76297662e-03 -7.43234440e+00] [ 9.06868041e-03 -1.35042131e-05 9.99958879e-01 -6.31159101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.537628000000005 meters 0.01571814973754419 Centerline is valid? [True, True] Translation: X:38.22, Y:-7.45, Z:-0.07 [[ 9.53710091e-01 3.00558536e-01 -1.00810776e-02 3.82247849e+01] [-3.00541213e-01 9.53763369e-01 3.22720585e-03 -7.44652617e+00] [ 1.05849268e-02 -4.80394872e-05 9.99943977e-01 -6.56056951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.567628000000006 meters 0.012501257488628126 Centerline is valid? [True, True] Translation: X:38.26, Y:-7.45, Z:-0.06 [[ 9.52946504e-01 3.03050431e-01 -7.30730301e-03 3.82558372e+01] [-3.03041388e-01 9.52974520e-01 2.34119357e-03 -7.45480958e+00] [ 7.67317330e-03 -1.66169762e-05 9.99970561e-01 -6.19593734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59762800000001 meters 0.015426190355580616 Centerline is valid? [True, True] Translation: X:38.29, Y:-7.46, Z:-0.06 [[ 9.52626268e-01 3.04061192e-01 -7.06995725e-03 3.82873888e+01] [-3.04052739e-01 9.52652503e-01 2.26724810e-03 -7.46400432e+00] [ 7.42459463e-03 -1.02002271e-05 9.99972437e-01 -6.34937538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62762800000001 meters 0.012275513504663375 Centerline is valid? [True, True] Translation: X:38.32, Y:-7.47, Z:-0.06 [[ 9.51893939e-01 3.06375846e-01 -5.63647895e-03 3.83165397e+01] [-3.06370506e-01 9.51910627e-01 1.80886511e-03 -7.47427209e+00] [ 5.91961679e-03 5.00316902e-06 9.99982479e-01 -5.97226314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.657628 meters 0.01222432011914254 Centerline is valid? [True, True] Translation: X:38.35, Y:-7.48, Z:-0.06 [[ 9.51721011e-01 3.06926039e-01 -4.85014686e-03 3.83474477e+01] [-3.06922085e-01 9.51733369e-01 1.55801468e-03 -7.48443967e+00] [ 5.09424189e-03 5.82187632e-06 9.99987024e-01 -5.86096149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.687628000000004 meters 0.012190457378232008 Centerline is valid? [True, True] Translation: X:38.38, Y:-7.49, Z:-0.06 [[ 9.51548811e-01 3.07474633e-01 -3.76954759e-03 3.83785430e+01] [-3.07472244e-01 9.51556278e-01 1.21205316e-03 -7.49426264e+00] [ 3.95961227e-03 5.70351192e-06 9.99992161e-01 -5.75227574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.717628000000005 meters 0.012218790419603439 Centerline is valid? [True, True] Translation: X:38.41, Y:-7.50, Z:-0.06 [[ 9.51748241e-01 3.06875304e-01 -1.68320684e-03 3.84076776e+01] [-3.06874825e-01 9.51749730e-01 5.41740764e-04 -7.50394927e+00] [ 1.76823852e-03 9.32986269e-07 9.99998437e-01 -5.60293487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.747628000000006 meters 0.012224917258007102 Centerline is valid? [True, True] Translation: X:38.44, Y:-7.51, Z:-0.06 [[ 9.51861476e-01 3.06526991e-01 -9.66186537e-04 3.84385494e+01] [-3.06526833e-01 9.51861967e-01 3.11435812e-04 -7.51387019e+00] [ 1.01513970e-03 -2.81652550e-07 9.99999485e-01 -5.57593225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77762800000001 meters 0.012160494050708466 Centerline is valid? [True, True] Translation: X:38.47, Y:-7.52, Z:-0.06 [[ 9.51980544e-01 3.06157740e-01 -6.94200333e-04 3.84702255e+01] [-3.06157658e-01 9.51980797e-01 2.24061456e-04 -7.52381674e+00] [ 7.29463535e-04 -7.67398456e-07 9.99999734e-01 -5.60635478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80762800000001 meters 0.012260697606742404 Centerline is valid? [True, True] Translation: X:38.50, Y:-7.53, Z:-0.06 [[ 9.52540121e-01 3.04408950e-01 -1.58396781e-03 3.85005408e+01] [-3.04408521e-01 9.52541438e-01 5.11144462e-04 -7.53377123e+00] [ 1.66439192e-03 -4.71231033e-06 9.99998615e-01 -5.81959859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.837628 meters 0.012330159146471852 Centerline is valid? [True, True] Translation: X:38.53, Y:-7.54, Z:-0.06 [[ 9.52888931e-01 3.03312763e-01 -2.01294896e-03 3.85309742e+01] [-3.03312067e-01 9.52891058e-01 6.49990320e-04 -7.54453332e+00] [ 2.11527142e-03 -8.81687180e-06 9.99997763e-01 -5.86967493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.867628 meters 0.012599327767970932 Centerline is valid? [True, True] Translation: X:38.56, Y:-7.56, Z:-0.06 [[ 9.53242148e-01 3.02200161e-01 -2.11421377e-03 3.85615441e+01] [-3.02199389e-01 9.53244493e-01 6.82921375e-04 -7.55540544e+00] [ 2.22174158e-03 -1.20753293e-05 9.99997532e-01 -5.89146194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.897628000000005 meters 0.012490477438776156 Centerline is valid? [True, True] Translation: X:38.59, Y:-7.56, Z:-0.06 [[ 9.53526379e-01 3.01299413e-01 -2.47150445e-03 3.85933674e+01] [-3.01298354e-01 9.53529582e-01 7.99207436e-04 -7.56481546e+00] [ 2.59745334e-03 -1.74051500e-05 9.99996626e-01 -5.85595457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.927628000000006 meters 0.013565672569830668 Centerline is valid? [True, True] Translation: X:38.62, Y:-7.58, Z:-0.06 [[ 9.54256683e-01 2.98964877e-01 -3.76642283e-03 3.86219222e+01] [-2.98962396e-01 9.54264115e-01 1.21855699e-03 -7.57659753e+00] [ 3.95846789e-03 -3.67973539e-05 9.99992165e-01 -6.03623707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95762800000001 meters 0.016071795795518134 Centerline is valid? [True, True] Translation: X:38.65, Y:-7.58, Z:-0.06 [[ 9.54838692e-01 2.97084809e-01 -4.86718852e-03 3.86526544e+01] [-2.97080635e-01 9.54851095e-01 1.57594997e-03 -7.58469676e+00] [ 5.11563108e-03 -5.88305478e-05 9.99986913e-01 -6.13294776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98762800000001 meters 0.016071795795518134 Centerline is valid? [True, True] Translation: X:38.68, Y:-7.59, Z:-0.06 [[ 9.54755437e-01 2.97352268e-01 -4.86673137e-03 3.86834502e+01] [-2.97348090e-01 9.54767839e-01 1.57736133e-03 -7.59474082e+00] [ 5.11563056e-03 -5.88810331e-05 9.99986913e-01 -6.13758521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.017628 meters 0.01477659630512257 Centerline is valid? [True, True] Translation: X:38.71, Y:-7.61, Z:-0.06 [[ 9.54921870e-01 2.96830889e-01 -3.95532494e-03 3.87124667e+01] [-2.96828120e-01 9.54930061e-01 1.28315347e-03 -7.60871768e+00] [ 4.15793827e-03 -5.12596404e-05 9.99991354e-01 -6.07359141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.047628 meters 0.0152635901951772 Centerline is valid? [True, True] Translation: X:38.74, Y:-7.62, Z:-0.06 [[ 9.55272133e-01 2.95707864e-01 -3.46570264e-03 3.87423165e+01] [-2.95705728e-01 9.55278418e-01 1.12500645e-03 -7.61903645e+00] [ 3.64338419e-03 -4.98591898e-05 9.99993362e-01 -6.05462912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.077628000000004 meters 0.01936955483095768 Centerline is valid? [True, True] Translation: X:38.77, Y:-7.63, Z:-0.06 [[ 9.56159659e-01 2.92818460e-01 -4.00706150e-03 3.87715317e+01] [-2.92815576e-01 9.56168052e-01 1.30154334e-03 -7.62930535e+00] [ 4.21254011e-03 -7.11532144e-05 9.99991125e-01 -6.35554979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.107628000000005 meters 0.013886002933985413 Centerline is valid? [True, True] Translation: X:38.80, Y:-7.63, Z:-0.06 [[ 9.56222937e-01 2.92623492e-01 -3.03089333e-03 3.88045597e+01] [-2.92621838e-01 9.56227739e-01 9.85631668e-04 -7.63335411e+00] [ 3.18664326e-03 -5.55780309e-05 9.99994921e-01 -5.94123951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13762800000001 meters 0.014617739456612778 Centerline is valid? [True, True] Translation: X:38.83, Y:-7.64, Z:-0.06 [[ 9.56496523e-01 2.91724884e-01 -3.31573146e-03 3.88338069e+01] [-2.91722898e-01 9.56502268e-01 1.07849054e-03 -7.64456775e+00] [ 3.48612718e-03 -6.42976628e-05 9.99993921e-01 -5.95892322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16762800000001 meters 0.01438276242160556 Centerline is valid? [True, True] Translation: X:38.86, Y:-7.65, Z:-0.06 [[ 9.56897690e-01 2.90409521e-01 -3.02021852e-03 3.88647523e+01] [-2.90407863e-01 9.56902454e-01 9.83388389e-04 -7.65395641e+00] [ 3.17563987e-03 -6.39068700e-05 9.99994956e-01 -5.87520576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.197628 meters 0.01575708566808519 Centerline is valid? [True, True] Translation: X:38.89, Y:-7.67, Z:-0.06 [[ 9.56928298e-01 2.90311871e-01 -2.69275327e-03 3.88944191e+01] [-2.90310550e-01 9.56932084e-01 8.77617454e-04 -7.66688178e+00] [ 2.83156476e-03 -5.80822935e-05 9.99995989e-01 -5.88181714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.227628 meters 0.014682884976563114 Centerline is valid? [True, True] Translation: X:38.93, Y:-7.67, Z:-0.06 [[ 9.56806309e-01 2.90717931e-01 -2.18450383e-03 3.89261231e+01] [-2.90717061e-01 9.56808801e-01 7.12742073e-04 -7.67498835e+00] [ 2.29735939e-03 -4.68835797e-05 9.99997360e-01 -5.81576574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.257628000000004 meters 0.015378932639864708 Centerline is valid? [True, True] Translation: X:38.96, Y:-7.68, Z:-0.06 [[ 9.56141746e-01 2.92896580e-01 -2.13442987e-03 3.89558647e+01] [-2.92895754e-01 9.56144127e-01 6.96863410e-04 -7.68433131e+00] [ 2.24493149e-03 -4.11347504e-05 9.99997479e-01 -5.87619038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.287628000000005 meters 0.013774234185533378 Centerline is valid? [True, True] Translation: X:38.99, Y:-7.69, Z:-0.06 [[ 9.55435993e-01 2.95191837e-01 -1.96040948e-03 3.89879525e+01] [-2.95191144e-01 9.55438003e-01 6.40632440e-04 -7.69049330e+00] [ 2.06215919e-03 -3.33877734e-05 9.99997873e-01 -5.84947516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317628000000006 meters 0.013361794101491749 Centerline is valid? [True, True] Translation: X:39.02, Y:-7.70, Z:-0.06 [[ 9.54563155e-01 2.98002024e-01 -1.99424770e-03 3.90195464e+01] [-2.98001313e-01 9.54565238e-01 6.51639612e-04 -7.69874330e+00] [ 2.09782945e-03 -2.77427316e-05 9.99997799e-01 -5.84621576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34762800000001 meters 0.012314730095885955 Centerline is valid? [True, True] Translation: X:39.05, Y:-7.70, Z:-0.06 [[ 9.52652739e-01 3.04056825e-01 -1.48508844e-03 3.90517377e+01] [-3.04056437e-01 9.52653897e-01 4.85940337e-04 -7.70412954e+00] [ 1.56252877e-03 -1.13816938e-05 9.99998779e-01 -5.87683698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37762800000001 meters 0.012038230337177887 Centerline is valid? [True, True] Translation: X:39.08, Y:-7.71, Z:-0.06 [[ 9.51683557e-01 3.07076535e-01 -1.55236001e-03 3.90830425e+01] [-3.07076114e-01 9.51684823e-01 5.08361550e-04 -7.71196440e+00] [ 1.63346336e-03 -7.10664832e-06 9.99998666e-01 -5.90804993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.407628 meters 0.011998889583730818 Centerline is valid? [True, True] Translation: X:39.11, Y:-7.72, Z:-0.06 [[ 9.50745009e-01 3.09968915e-01 -1.78871822e-03 3.91149306e+01] [-3.09968360e-01 9.50746692e-01 5.86315226e-04 -7.72071912e+00] [ 1.88235742e-03 -2.99022306e-06 9.99998228e-01 -5.92635849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.437628000000004 meters 0.014562944742740133 Centerline is valid? [True, True] Translation: X:39.15, Y:-7.73, Z:-0.06 [[ 9.49768227e-01 3.12945005e-01 -2.39569847e-03 3.91463807e+01] [-3.12944018e-01 9.49771248e-01 7.85895364e-04 -7.72892883e+00] [ 2.52130755e-03 3.30105872e-06 9.99996821e-01 -6.17124575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.467628000000005 meters 0.01194440637422608 Centerline is valid? [True, True] Translation: X:39.18, Y:-7.74, Z:-0.06 [[ 9.49361996e-01 3.14176281e-01 -2.25054837e-03 3.91767277e+01] [-3.14175412e-01 9.49364663e-01 7.38933734e-04 -7.73883468e+00] [ 2.36874655e-03 5.55135886e-06 9.99997194e-01 -5.98971875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497628000000006 meters 0.011937343031128483 Centerline is valid? [True, True] Translation: X:39.21, Y:-7.75, Z:-0.06 [[ 9.49312207e-01 3.14322862e-01 -2.73358819e-03 3.92080237e+01] [-3.14321578e-01 9.49316143e-01 8.98324442e-04 -7.74998452e+00] [ 2.87740330e-03 6.43539330e-06 9.99995860e-01 -6.02991339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52762800000001 meters 0.011988135581920035 Centerline is valid? [True, True] Translation: X:39.24, Y:-7.76, Z:-0.06 [[ 9.49513627e-01 3.13709085e-01 -3.23755576e-03 3.92391140e+01] [-3.13707277e-01 9.49519147e-01 1.06486459e-03 -7.76208513e+00] [ 3.40817888e-03 4.54136163e-06 9.99994192e-01 -6.04871558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55762800000001 meters 0.01204657532112975 Centerline is valid? [True, True] Translation: X:39.27, Y:-7.78, Z:-0.06 [[ 9.50342526e-01 3.11185116e-01 -3.59261338e-03 3.92693143e+01] [-3.11182869e-01 9.50349316e-01 1.18272857e-03 -7.77658939e+00] [ 3.78228520e-03 -6.03751961e-06 9.99992847e-01 -6.10058022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.587628 meters 0.012639734431860502 Centerline is valid? [True, True] Translation: X:39.30, Y:-7.79, Z:-0.06 [[ 9.50926987e-01 3.09388355e-01 -4.08803865e-03 3.92987748e+01] [-3.09385423e-01 9.50935774e-01 1.34693230e-03 -7.78915457e+00] [ 4.30418736e-03 -1.60547021e-05 9.99990737e-01 -6.17937586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.617628 meters 0.012317500707218732 Centerline is valid? [True, True] Translation: X:39.33, Y:-7.80, Z:-0.06 [[ 9.51347267e-01 3.08095770e-01 -3.92087025e-03 3.93297161e+01] [-3.08093057e-01 9.51355347e-01 1.29311371e-03 -7.80143193e+00] [ 4.12854374e-03 -2.22072900e-05 9.99991477e-01 -6.11130265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.647628000000005 meters 0.012447934471078441 Centerline is valid? [True, True] Translation: X:39.36, Y:-7.81, Z:-0.06 [[ 9.51495227e-01 3.07647843e-01 -3.10446077e-03 3.93603895e+01] [-3.07646137e-01 9.51500291e-01 1.02481556e-03 -7.81180795e+00] [ 3.26917762e-03 -2.00317555e-05 9.99994656e-01 -6.09699042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.677628000000006 meters 0.015692104171019235 Centerline is valid? [True, True] Translation: X:39.39, Y:-7.82, Z:-0.06 [[ 9.51776252e-01 3.06761366e-01 -4.40795610e-03 3.93907458e+01] [-3.06757911e-01 9.51786459e-01 1.45611240e-03 -7.82173964e+00] [ 4.64211196e-03 -3.37178010e-05 9.99989225e-01 -6.34529177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70762800000001 meters 0.01261822786350015 Centerline is valid? [True, True] Translation: X:39.42, Y:-7.83, Z:-0.06 [[ 9.51872373e-01 3.06460512e-01 -4.57610979e-03 3.94217040e+01] [-3.06456779e-01 9.51883372e-01 1.51311357e-03 -7.83286496e+00] [ 4.81963238e-03 -3.79111340e-05 9.99988385e-01 -6.13475661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73762800000001 meters 0.012807631714128602 Centerline is valid? [True, True] Translation: X:39.45, Y:-7.84, Z:-0.06 [[ 9.52421111e-01 3.04732281e-01 -5.68016580e-03 3.94510707e+01] [-3.04726491e-01 9.52438047e-01 1.87943012e-03 -7.84478790e+00] [ 5.98272905e-03 -5.91119272e-05 9.99982102e-01 -6.10458616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.767628 meters 0.016080896632542373 Centerline is valid? [True, True] Translation: X:39.48, Y:-7.86, Z:-0.06 [[ 9.52597314e-01 3.04174811e-01 -6.00349390e-03 3.94821003e+01] [-3.04168320e-01 9.52616229e-01 1.98832608e-03 -7.85554434e+00] [ 6.32382443e-03 -6.80014332e-05 9.99980002e-01 -6.31338013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.797628 meters 0.012957222920843888 Centerline is valid? [True, True] Translation: X:39.51, Y:-7.87, Z:-0.06 [[ 9.52354621e-01 3.04956995e-01 -4.68056374e-03 3.95120733e+01] [-3.04953053e-01 9.52366121e-01 1.55135645e-03 -7.86509381e+00] [ 4.93070734e-03 -5.00892825e-05 9.99987843e-01 -6.01172049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.827628000000004 meters 0.012845162307481282 Centerline is valid? [True, True] Translation: X:39.54, Y:-7.87, Z:-0.06 [[ 9.52297026e-01 3.05138379e-01 -4.57641575e-03 3.95435622e+01] [-3.05134606e-01 9.52308021e-01 1.51833602e-03 -7.87425912e+00] [ 4.82146002e-03 -4.94840591e-05 9.99988375e-01 -5.99309978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.857628000000005 meters 0.01522505535162858 Centerline is valid? [True, True] Translation: X:39.57, Y:-7.88, Z:-0.06 [[ 9.52683241e-01 3.03914329e-01 -5.54283788e-03 3.95740575e+01] [-3.03908765e-01 9.52699363e-01 1.84033224e-03 -7.88292127e+00] [ 5.83996146e-03 -6.87366672e-05 9.99982945e-01 -6.36648896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.88762800000001 meters 0.013392126482085818 Centerline is valid? [True, True] Translation: X:39.60, Y:-7.89, Z:-0.06 [[ 9.52834519e-01 3.03442662e-01 -5.37871693e-03 3.96039718e+01] [-3.03437406e-01 9.52849697e-01 1.78742840e-03 -7.89354052e+00] [ 5.66749083e-03 -7.10195637e-05 9.99983937e-01 -6.21555392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91762800000001 meters 0.014079493141117776 Centerline is valid? [True, True] Translation: X:39.63, Y:-7.90, Z:-0.06 [[ 9.53259543e-01 3.02098489e-01 -5.72251635e-03 3.96333270e+01] [-3.02092508e-01 9.53276715e-01 1.90300695e-03 -7.90498760e+00] [ 6.03003711e-03 -8.53302184e-05 9.99981816e-01 -6.25172873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.947628 meters 0.013861497729305158 Centerline is valid? [True, True] Translation: X:39.66, Y:-7.92, Z:-0.06 [[ 9.53759125e-01 3.00514395e-01 -5.88468096e-03 3.96641577e+01] [-3.00508029e-01 9.53777274e-01 1.95856117e-03 -7.91502149e+00] [ 6.20125079e-03 -9.96017090e-05 9.99980767e-01 -6.15034234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.977628 meters 0.01497641333629694 Centerline is valid? [True, True] Translation: X:39.69, Y:-7.93, Z:-0.06 [[ 9.55223329e-01 2.95834584e-01 -5.50366472e-03 3.96942301e+01] [-2.95828937e-01 9.55239176e-01 1.83193785e-03 -7.92709733e+00] [ 5.79926672e-03 -1.21766485e-04 9.99983177e-01 -6.06243351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.007628000000004 meters 0.0156327190997267 Centerline is valid? [True, True] Translation: X:39.72, Y:-7.94, Z:-0.06 [[ 9.55935984e-01 2.93533412e-01 -4.95281862e-03 3.97238864e+01] [-2.93528800e-01 9.55948807e-01 1.65007450e-03 -7.93775127e+00] [ 5.21899305e-03 -1.23570686e-04 9.99986373e-01 -6.03644968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.037628000000005 meters 0.016655481803627244 Centerline is valid? [True, True] Translation: X:39.75, Y:-7.95, Z:-0.06 [[ 9.56972432e-01 2.90145917e-01 -4.37163098e-03 3.97543345e+01] [-2.90142288e-01 9.56982409e-01 1.45658771e-03 -7.94855864e+00] [ 4.60619692e-03 -1.25519266e-04 9.99989384e-01 -5.98476212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.067628000000006 meters 0.016310617693306644 Centerline is valid? [True, True] Translation: X:39.79, Y:-7.96, Z:-0.06 [[ 9.57202404e-01 2.89391897e-01 -3.98592007e-03 3.97851360e+01] [-2.89388868e-01 9.57210696e-01 1.32944250e-03 -7.95755436e+00] [ 4.20009521e-03 -1.19064663e-04 9.99991172e-01 -5.95883299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09762800000001 meters 0.016808788864972644 Centerline is valid? [True, True] Translation: X:39.81, Y:-7.97, Z:-0.06 [[ 9.57300833e-01 2.89058585e-01 -4.50001230e-03 3.98145776e+01] [-2.89054716e-01 9.57311399e-01 1.50197104e-03 -7.96817709e+00] [ 4.74207069e-03 -1.37088349e-04 9.99988747e-01 -5.99586993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12762800000001 meters 0.018426243571150046 Centerline is valid? [True, True] Translation: X:39.84, Y:-7.98, Z:-0.06 [[ 9.57393716e-01 2.88736591e-01 -5.33416805e-03 3.98448414e+01] [-2.88731141e-01 9.57408561e-01 1.78180409e-03 -7.97814184e+00] [ 5.62145020e-03 -1.65747614e-04 9.99984186e-01 -6.25023660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.157628 meters 0.016938958156215645 Centerline is valid? [True, True] Translation: X:39.88, Y:-7.99, Z:-0.06 [[ 9.57369685e-01 2.88812180e-01 -5.55071325e-03 3.98761647e+01] [-2.88806269e-01 9.57385760e-01 1.85590353e-03 -7.98761088e+00] [ 5.85018137e-03 -1.73704991e-04 9.99982872e-01 -6.10071020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.187628000000004 meters 0.019627759296482455 Centerline is valid? [True, True] Translation: X:39.91, Y:-8.00, Z:-0.06 [[ 9.57388087e-01 2.88738301e-01 -6.18423806e-03 3.99066712e+01] [-2.88730952e-01 9.57408040e-01 2.06929350e-03 -7.99726048e+00] [ 6.51832353e-03 -1.95536003e-04 9.99978736e-01 -6.40974734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.217628000000005 meters 0.018719593961105264 Centerline is valid? [True, True] Translation: X:39.94, Y:-8.01, Z:-0.06 [[ 9.57260222e-01 2.89172711e-01 -5.65781260e-03 3.99378516e+01] [-2.89166558e-01 9.57276925e-01 1.89473187e-03 -8.00601763e+00] [ 5.96399820e-03 -1.77701254e-04 9.99982199e-01 -6.36532938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.247628000000006 meters 0.01755761990503667 Centerline is valid? [True, True] Translation: X:39.97, Y:-8.02, Z:-0.06 [[ 9.57033210e-01 2.89938872e-01 -4.78391609e-03 3.99670348e+01] [-2.89934479e-01 9.57045155e-01 1.60271519e-03 -8.01690931e+00] [ 5.04311315e-03 -1.46829441e-04 9.99987273e-01 -6.12255299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27762800000001 meters 0.017663966645125626 Centerline is valid? [True, True] Translation: X:40.00, Y:-8.03, Z:-0.06 [[ 9.56412981e-01 2.91982405e-01 -4.52598022e-03 3.99967259e+01] [-2.91978490e-01 9.56423681e-01 1.51754301e-03 -8.02659131e+00] [ 4.77185052e-03 -1.29908962e-04 9.99988606e-01 -6.01731943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30762800000001 meters 0.015738177877926134 Centerline is valid? [True, True] Translation: X:40.03, Y:-8.03, Z:-0.06 [[ 9.55831510e-01 2.93884105e-01 -4.27290604e-03 4.00281046e+01] [-2.93880630e-01 9.55841053e-01 1.43390649e-03 -8.03287515e+00] [ 4.50562134e-03 -1.14848684e-04 9.99989843e-01 -6.00556150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.337628 meters 0.01547840677262212 Centerline is valid? [True, True] Translation: X:40.06, Y:-8.04, Z:-0.06 [[ 9.54566261e-01 2.97958000e-01 -4.92790931e-03 4.00591595e+01] [-2.97953432e-01 9.54578974e-01 1.65353863e-03 -8.03828403e+00] [ 5.19676368e-03 -1.10124697e-04 9.99986491e-01 -6.20408674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.367628 meters 0.015691152552070375 Centerline is valid? [True, True] Translation: X:40.09, Y:-8.05, Z:-0.06 [[ 9.53766760e-01 3.00511882e-01 -4.64512313e-03 4.00892947e+01] [-3.00507846e-01 9.53778067e-01 1.56013117e-03 -8.04691411e+00] [ 4.89925452e-03 -9.21053043e-05 9.99987994e-01 -6.29545408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.397628000000005 meters 0.015160540076079579 Centerline is valid? [True, True] Translation: X:40.12, Y:-8.06, Z:-0.06 [[ 9.52800535e-01 3.03566945e-01 -4.27213300e-03 4.01203584e+01] [-3.03563557e-01 9.52810110e-01 1.43606156e-03 -8.05521581e+00] [ 4.50647233e-03 -7.14163380e-05 9.99989843e-01 -6.31336489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.427628000000006 meters 0.012566045273412731 Centerline is valid? [True, True] Translation: X:40.15, Y:-8.06, Z:-0.06 [[ 9.50967316e-01 3.09275382e-01 -3.14672569e-03 4.01517589e+01] [-3.09273575e-01 9.50972522e-01 1.05775058e-03 -8.06122721e+00] [ 3.31958588e-03 -3.26871273e-05 9.99994490e-01 -6.11808200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45762800000001 meters 0.012201249821340179 Centerline is valid? [True, True] Translation: X:40.18, Y:-8.07, Z:-0.06 [[ 9.50158043e-01 3.11755049e-01 -2.91252876e-03 4.01823992e+01] [-3.11753509e-01 9.50162507e-01 9.80115749e-04 -8.06943846e+00] [ 3.07293166e-03 -2.32738011e-05 9.99995278e-01 -6.13360850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48762800000001 meters 0.011954052881077737 Centerline is valid? [True, True] Translation: X:40.21, Y:-8.08, Z:-0.06 [[ 9.49311485e-01 3.14324633e-01 -2.78015912e-03 4.02122014e+01] [-3.14323239e-01 9.49315556e-01 9.36257257e-04 -8.07841090e+00] [ 2.93353702e-03 -1.49311475e-05 9.99995697e-01 -6.16545641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.517628 meters 0.011667042731897316 Centerline is valid? [True, True] Translation: X:40.24, Y:-8.09, Z:-0.06 [[ 9.47928740e-01 3.18472634e-01 -2.50697661e-03 4.02431862e+01] [-3.18471513e-01 9.47932055e-01 8.45011925e-04 -8.08592361e+00] [ 2.64555666e-03 -2.61045639e-06 9.99996501e-01 -6.18046710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.547628 meters 0.014005456362982137 Centerline is valid? [True, True] Translation: X:40.27, Y:-8.10, Z:-0.06 [[ 9.47476238e-01 3.19808277e-01 -3.38291479e-03 4.02746532e+01] [-3.19806241e-01 9.47482277e-01 1.14126761e-03 -8.09571457e+00] [ 3.57023864e-03 5.53316198e-07 9.99993627e-01 -6.45436740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.577628000000004 meters 0.011774867414338603 Centerline is valid? [True, True] Translation: X:40.30, Y:-8.11, Z:-0.06 [[ 9.46845528e-01 3.21675944e-01 -2.85186260e-03 4.03049973e+01] [-3.21674503e-01 9.46849823e-01 9.62992838e-04 -8.10551372e+00] [ 3.01005723e-03 5.56602158e-06 9.99995470e-01 -6.35604600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.607628000000005 meters 0.01174972650953082 Centerline is valid? [True, True] Translation: X:40.34, Y:-8.12, Z:-0.06 [[ 9.46385940e-01 3.23021608e-01 -3.27008121e-03 4.03361735e+01] [-3.23019717e-01 9.46391590e-01 1.10521077e-03 -8.11634347e+00] [ 3.45178432e-03 1.03447785e-05 9.99994043e-01 -6.38460535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63762800000001 meters 0.011838359623236188 Centerline is valid? [True, True] Translation: X:40.37, Y:-8.13, Z:-0.07 [[ 9.46204514e-01 3.23551303e-01 -3.40175632e-03 4.03662902e+01] [-3.23549259e-01 9.46210629e-01 1.15020407e-03 -8.12778617e+00] [ 3.59092801e-03 1.23074525e-05 9.99993553e-01 -6.50977718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66762800000001 meters 0.011828266396793321 Centerline is valid? [True, True] Translation: X:40.40, Y:-8.14, Z:-0.07 [[ 9.46164185e-01 3.23665868e-01 -3.70688067e-03 4.03972772e+01] [-3.23663437e-01 9.46171446e-01 1.25467122e-03 -8.13977517e+00] [ 3.91343890e-03 1.26567682e-05 9.99992342e-01 -6.50539268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.697628 meters 0.011813932694339897 Centerline is valid? [True, True] Translation: X:40.43, Y:-8.15, Z:-0.07 [[ 9.46139076e-01 3.23738885e-01 -3.73944561e-03 4.04277993e+01] [-3.23736407e-01 9.46146466e-01 1.26685043e-03 -8.15220551e+00] [ 3.94819199e-03 1.19779872e-05 9.99992206e-01 -6.51626211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.727628 meters 0.011803650239466631 Centerline is valid? [True, True] Translation: X:40.46, Y:-8.16, Z:-0.07 [[ 9.46314657e-01 3.23224257e-01 -3.82736348e-03 4.04575235e+01] [-3.23221652e-01 9.46322397e-01 1.29770965e-03 -8.16494621e+00] [ 4.04137102e-03 9.04508896e-06 9.99991834e-01 -6.50466797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.757628000000004 meters 0.01186213084216953 Centerline is valid? [True, True] Translation: X:40.49, Y:-8.18, Z:-0.07 [[ 9.46771609e-01 3.21873825e-01 -4.55646114e-03 4.04861034e+01] [-3.21870111e-01 9.46782573e-01 1.54615163e-03 -8.17993772e+00] [ 4.81164374e-03 2.73619068e-06 9.99988424e-01 -6.57868740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.787628000000005 meters 0.011819438397351636 Centerline is valid? [True, True] Translation: X:40.52, Y:-8.19, Z:-0.07 [[ 9.46958580e-01 3.21324193e-01 -4.49575371e-03 4.05167961e+01] [-3.21320564e-01 9.46969251e-01 1.52699274e-03 -8.19285736e+00] [ 4.74800023e-03 -1.42075389e-06 9.99988728e-01 -6.58125427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817628000000006 meters 0.011855444010129739 Centerline is valid? [True, True] Translation: X:40.55, Y:-8.21, Z:-0.07 [[ 9.47080099e-01 3.20973271e-01 -3.93001725e-03 4.05467123e+01] [-3.20970490e-01 9.47088253e-01 1.33610595e-03 -8.20548942e+00] [ 4.15092747e-03 -3.97979786e-06 9.99991385e-01 -6.57493262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84762800000001 meters 0.01185028621715193 Centerline is valid? [True, True] Translation: X:40.58, Y:-8.22, Z:-0.06 [[ 9.46902073e-01 3.21514264e-01 -2.24549705e-03 4.05770918e+01] [-3.21513356e-01 9.46904735e-01 7.64318740e-04 -8.21777126e+00] [ 2.37201117e-03 -1.77770800e-06 9.99997187e-01 -6.39815899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87762800000001 meters 0.011891596568900544 Centerline is valid? [True, True] Translation: X:40.61, Y:-8.23, Z:-0.06 [[ 9.46678493e-01 3.22174573e-01 -1.83742923e-03 4.06071600e+01] [-3.22173965e-01 9.46680276e-01 6.25701100e-04 -8.22789762e+00] [ 1.94104300e-03 -3.65911525e-07 9.99998116e-01 -6.40980860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.907628 meters 0.011891596568900544 Centerline is valid? [True, True] Translation: X:40.64, Y:-8.24, Z:-0.06 [[ 9.46591132e-01 3.22431162e-01 -1.83721665e-03 4.06378006e+01] [-3.22430554e-01 9.46592914e-01 6.26325245e-04 -8.23841805e+00] [ 1.94104304e-03 -4.99139420e-07 9.99998116e-01 -6.41444198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.937628000000004 meters 0.01180434480685046 Centerline is valid? [True, True] Translation: X:40.67, Y:-8.25, Z:-0.06 [[ 9.46300131e-01 3.23283006e-01 -2.03967382e-03 4.06687591e+01] [-3.23282257e-01 9.46302329e-01 6.95918808e-04 -8.24881092e+00] [ 2.15512681e-03 8.42294912e-07 9.99997678e-01 -6.42953550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.967628000000005 meters 0.011944373828134397 Centerline is valid? [True, True] Translation: X:40.70, Y:-8.26, Z:-0.07 [[ 9.46060015e-01 3.23974501e-01 -3.31232844e-03 4.06989169e+01] [-3.23972528e-01 9.46065813e-01 1.13079255e-03 -8.25947929e+00] [ 3.50002865e-03 3.30580293e-06 9.99993875e-01 -6.54890646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997628000000006 meters 0.011965473121921378 Centerline is valid? [True, True] Translation: X:40.73, Y:-8.27, Z:-0.07 [[ 9.46201021e-01 3.23554861e-01 -3.98505577e-03 4.07299906e+01] [-3.23551996e-01 9.46209412e-01 1.36158850e-03 -8.27103906e+00] [ 4.21124585e-03 1.03632004e-06 9.99991133e-01 -6.60435448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02762800000001 meters 0.012089028299740071 Centerline is valid? [True, True] Translation: X:40.76, Y:-8.28, Z:-0.07 [[ 9.47005382e-01 3.21190887e-01 -4.14969822e-03 4.07604416e+01] [-3.21187752e-01 9.47014474e-01 1.41914940e-03 -8.28418934e+00] [ 4.38564213e-03 -1.11098734e-05 9.99990383e-01 -6.61212562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05762800000001 meters 0.012179347281811165 Centerline is valid? [True, True] Translation: X:40.79, Y:-8.30, Z:-0.07 [[ 9.47488054e-01 3.19768439e-01 -3.81220189e-03 4.07898682e+01] [-3.19765779e-01 9.47495723e-01 1.30434671e-03 -8.29560810e+00] [ 4.02913390e-03 -1.68412178e-05 9.99991883e-01 -6.56202679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.087628 meters 0.012307917699297314 Centerline is valid? [True, True] Translation: X:40.82, Y:-8.31, Z:-0.06 [[ 9.47798263e-01 3.18853166e-01 -3.33338857e-03 4.08209851e+01] [-3.18851123e-01 9.47804124e-01 1.14174189e-03 -8.30685356e+00] [ 3.52344745e-03 -1.92862871e-05 9.99993792e-01 -6.48745805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.117628 meters 0.014863760537460382 Centerline is valid? [True, True] Translation: X:40.85, Y:-8.32, Z:-0.07 [[ 9.48200241e-01 3.17657573e-01 -3.15733548e-03 4.08525414e+01] [-3.17655730e-01 9.48205498e-01 1.08245767e-03 -8.31771637e+00] [ 3.33765373e-03 -2.34409185e-05 9.99994430e-01 -6.64477037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.147628000000005 meters 0.01253525375757157 Centerline is valid? [True, True] Translation: X:40.88, Y:-8.33, Z:-0.06 [[ 9.48579937e-01 3.16524725e-01 -2.86366776e-03 4.08825920e+01] [-3.16523201e-01 9.48584260e-01 9.82621576e-04 -8.32843951e+00] [ 3.02745418e-03 -2.56778274e-05 9.99995417e-01 -6.36251440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.177628000000006 meters 0.012621964900250394 Centerline is valid? [True, True] Translation: X:40.91, Y:-8.34, Z:-0.06 [[ 9.48853080e-01 3.15699169e-01 -3.44496966e-03 4.09128239e+01] [-3.15696954e-01 9.48859333e-01 1.18294153e-03 -8.33856223e+00] [ 3.64224527e-03 -3.48712854e-05 9.99993366e-01 -6.32304651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20762800000001 meters 0.012856664479488751 Centerline is valid? [True, True] Translation: X:40.94, Y:-8.35, Z:-0.06 [[ 9.49138931e-01 3.14832839e-01 -3.94636244e-03 4.09427867e+01] [-3.14829922e-01 9.49147134e-01 1.35613875e-03 -8.34879598e+00] [ 4.17263561e-03 -4.47311012e-05 9.99991294e-01 -6.39577493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23762800000001 meters 0.01302954995266756 Centerline is valid? [True, True] Translation: X:40.97, Y:-8.36, Z:-0.06 [[ 9.49728318e-01 3.13054140e-01 -3.63703552e-03 4.09730634e+01] [-3.13051644e-01 9.49735281e-01 1.25090037e-03 -8.35824650e+00] [ 3.84582049e-03 -4.94355559e-05 9.99992604e-01 -6.35720044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.267628 meters 0.013369440123608323 Centerline is valid? [True, True] Translation: X:41.00, Y:-8.37, Z:-0.06 [[ 9.50036814e-01 3.12121546e-01 -3.19258173e-03 4.10025871e+01] [-3.12119617e-01 9.50042177e-01 1.09840335e-03 -8.36946738e+00] [ 3.37592265e-03 -4.70562397e-05 9.99994300e-01 -6.32986040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.297628 meters 0.013763615369440783 Centerline is valid? [True, True] Translation: X:41.03, Y:-8.38, Z:-0.06 [[ 9.50246036e-01 3.11487749e-01 -2.80257062e-03 4.10323701e+01] [-3.11486256e-01 9.50250167e-01 9.65251634e-04 -8.38070037e+00] [ 2.96380726e-03 -4.42643090e-05 9.99995607e-01 -6.27150576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.327628000000004 meters 0.013757569595588444 Centerline is valid? [True, True] Translation: X:41.06, Y:-8.39, Z:-0.06 [[ 9.50416018e-01 3.10973302e-01 -2.23573167e-03 4.10638804e+01] [-3.10972349e-01 9.50418647e-01 7.70825164e-04 -8.39155263e+00] [ 2.36458712e-03 -3.73538528e-05 9.99997204e-01 -6.18242831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.357628000000005 meters 0.014480573905285777 Centerline is valid? [True, True] Translation: X:41.09, Y:-8.40, Z:-0.06 [[ 9.50780985e-01 3.09861345e-01 -1.21067853e-03 4.10931497e+01] [-3.09861064e-01 9.50781755e-01 4.17827636e-04 -8.40194574e+00] [ 1.28055969e-03 -2.21204335e-05 9.99999180e-01 -6.10772636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38762800000001 meters 0.013979075952653625 Centerline is valid? [True, True] Translation: X:41.12, Y:-8.41, Z:-0.06 [[ 9.50797073e-01 3.09811888e-01 -1.23302605e-03 4.11249089e+01] [-3.09811596e-01 9.50797872e-01 4.26007156e-04 -8.41103284e+00] [ 1.30434063e-03 -2.30405878e-05 9.99999149e-01 -6.12226138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41762800000001 meters 0.01404742216053533 Centerline is valid? [True, True] Translation: X:41.16, Y:-8.42, Z:-0.06 [[ 9.50705415e-01 3.10091195e-01 -1.63229449e-03 4.11562662e+01] [-3.10090683e-01 9.50706816e-01 5.64327487e-04 -8.42158846e+00] [ 1.72682648e-03 -3.03498837e-05 9.99998509e-01 -6.15870641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.447628 meters 0.01465680203527975 Centerline is valid? [True, True] Translation: X:41.19, Y:-8.43, Z:-0.06 [[ 9.50571163e-01 3.10497662e-01 -2.38048650e-03 4.11862992e+01] [-3.10496574e-01 9.50574142e-01 8.23107673e-04 -8.43299223e+00] [ 2.51840192e-03 -4.32895149e-05 9.99996828e-01 -6.24564024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.477628 meters 0.017543345014597186 Centerline is valid? [True, True] Translation: X:41.22, Y:-8.44, Z:-0.07 [[ 9.50672525e-01 3.10172723e-01 -3.82525389e-03 4.12168060e+01] [-3.10169908e-01 9.50680218e-01 1.32363917e-03 -8.44290795e+00] [ 4.04714997e-03 -7.18687449e-05 9.99991808e-01 -6.55467976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.507628000000004 meters 0.01383320579931186 Centerline is valid? [True, True] Translation: X:41.25, Y:-8.45, Z:-0.06 [[ 9.50267220e-01 3.11408817e-01 -4.09378352e-03 4.12475470e+01] [-3.11405598e-01 9.50276036e-01 1.41769636e-03 -8.45187257e+00] [ 4.33170752e-03 -7.23632746e-05 9.99990615e-01 -6.31734005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.537628000000005 meters 0.01664181623656492 Centerline is valid? [True, True] Translation: X:41.28, Y:-8.46, Z:-0.07 [[ 9.50143388e-01 3.11764344e-01 -5.52595245e-03 4.12776584e+01] [-3.11758480e-01 9.50159452e-01 1.91452389e-03 -8.46149875e+00] [ 5.84741624e-03 -9.63096765e-05 9.99982899e-01 -6.72932123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.567628000000006 meters 0.01669462403997594 Centerline is valid? [True, True] Translation: X:41.31, Y:-8.47, Z:-0.07 [[ 9.49957946e-01 3.12327578e-01 -5.60228824e-03 4.13074341e+01] [-3.12321550e-01 9.49974460e-01 1.94274107e-03 -8.47161619e+00] [ 5.92880236e-03 -9.58069652e-05 9.99982420e-01 -6.79918425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59762800000001 meters 0.013828327553102688 Centerline is valid? [True, True] Translation: X:41.34, Y:-8.48, Z:-0.07 [[ 9.49592218e-01 3.13444925e-01 -5.18644409e-03 4.13374481e+01] [-3.13439768e-01 9.49606377e-01 1.79997824e-03 -8.48175316e+00] [ 5.48927443e-03 -8.36074929e-05 9.99984930e-01 -6.50955265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62762800000001 meters 0.014726406135199733 Centerline is valid? [True, True] Translation: X:41.37, Y:-8.49, Z:-0.07 [[ 9.49620334e-01 3.13361959e-01 -5.05017978e-03 4.13665575e+01] [-3.13357060e-01 9.49633759e-01 1.75421059e-03 -8.49477269e+00] [ 5.34552407e-03 -8.33245592e-05 9.99985709e-01 -6.53756510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.657628 meters 0.013956679970317938 Centerline is valid? [True, True] Translation: X:41.40, Y:-8.50, Z:-0.06 [[ 9.49698967e-01 3.13126906e-01 -4.83866889e-03 4.13981046e+01] [-3.13122397e-01 9.49711290e-01 1.68232761e-03 -8.50450106e+00] [ 5.12212051e-03 -8.26091909e-05 9.99986878e-01 -6.38261759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.687628000000004 meters 0.015283557724471493 Centerline is valid? [True, True] Translation: X:41.43, Y:-8.52, Z:-0.06 [[ 9.50321006e-01 3.11240989e-01 -4.36251759e-03 4.14266470e+01] [-3.11237302e-01 9.50331016e-01 1.51724162e-03 -8.51781119e+00] [ 4.61806355e-03 -8.40883765e-05 9.99989333e-01 -6.42017306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.717628000000005 meters 0.01454309557763163 Centerline is valid? [True, True] Translation: X:41.46, Y:-8.53, Z:-0.06 [[ 9.50704420e-01 3.10080508e-01 -3.34436240e-03 4.14571876e+01] [-3.10078330e-01 9.50710299e-01 1.16429132e-03 -8.52683684e+00] [ 3.54054383e-03 -6.98825973e-05 9.99993730e-01 -6.33346109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.747628000000006 meters 0.015501026306157874 Centerline is valid? [True, True] Translation: X:41.49, Y:-8.54, Z:-0.06 [[ 9.51328416e-01 3.08173722e-01 -1.78936334e-03 4.14857264e+01] [-3.08173094e-01 9.51330098e-01 6.23545833e-04 -8.53930189e+00] [ 1.89443564e-03 -4.17632352e-05 9.99998205e-01 -6.26914994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77762800000001 meters 0.015674588779700505 Centerline is valid? [True, True] Translation: X:41.52, Y:-8.55, Z:-0.06 [[ 9.51509327e-01 3.07617732e-01 -1.15396441e-03 4.15153889e+01] [-3.07617470e-01 9.51510026e-01 4.02583681e-04 -8.55067858e+00] [ 1.22185059e-03 -2.80825140e-05 9.99999253e-01 -6.20199027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80762800000001 meters 0.01711768511489218 Centerline is valid? [True, True] Translation: X:41.55, Y:-8.56, Z:-0.06 [[ 9.51771306e-01 3.06806723e-01 -1.00823047e-03 4.15459926e+01] [-3.06806522e-01 9.51771839e-01 3.52076034e-04 -8.56125316e+00] [ 1.06762467e-03 -2.57641815e-05 9.99999430e-01 -6.35920421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.837628 meters 0.017411507875832094 Centerline is valid? [True, True] Translation: X:41.58, Y:-8.57, Z:-0.06 [[ 9.51932370e-01 3.06306742e-01 -9.70572853e-04 4.15756466e+01] [-3.06306556e-01 9.51932865e-01 3.39168371e-04 -8.57205737e+00] [ 1.02780976e-03 -2.55725238e-05 9.99999471e-01 -6.36237846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.867628 meters 0.01571750459712791 Centerline is valid? [True, True] Translation: X:41.61, Y:-8.58, Z:-0.06 [[ 9.51615725e-01 3.07288487e-01 -1.13909285e-03 4.16051939e+01] [-3.07288231e-01 9.51616406e-01 3.98287613e-04 -8.58282699e+00] [ 1.20636864e-03 -2.89869311e-05 9.99999272e-01 -6.21652793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.897628000000005 meters 0.015300656725260039 Centerline is valid? [True, True] Translation: X:41.64, Y:-8.59, Z:-0.06 [[ 9.51198653e-01 3.08571583e-01 -2.16814335e-03 4.16364519e+01] [-3.08570657e-01 9.51201123e-01 7.57787251e-04 -8.59212299e+00] [ 2.29617200e-03 -5.17807937e-05 9.99997362e-01 -6.41239506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.927628000000006 meters 0.01744270564825625 Centerline is valid? [True, True] Translation: X:41.67, Y:-8.60, Z:-0.07 [[ 9.50908725e-01 3.09456249e-01 -3.07036796e-03 4.16653990e+01] [-3.09454393e-01 9.50913679e-01 1.07406685e-03 -8.60218382e+00] [ 3.25203159e-03 -7.12006843e-05 9.99994710e-01 -6.73632534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95762800000001 meters 0.017016286646704612 Centerline is valid? [True, True] Translation: X:41.70, Y:-8.61, Z:-0.07 [[ 9.50420444e-01 3.10947781e-01 -3.52953268e-03 4.16957949e+01] [-3.10945335e-01 9.50426994e-01 1.23564113e-03 -8.61153422e+00] [ 3.73878301e-03 -7.68868702e-05 9.99993008e-01 -6.79875927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98762800000001 meters 0.01466835832238808 Centerline is valid? [True, True] Translation: X:41.73, Y:-8.62, Z:-0.07 [[ 9.49786263e-01 3.12873980e-01 -3.99085107e-03 4.17260125e+01] [-3.12870866e-01 9.49794644e-01 1.39820136e-03 -8.62131455e+00] [ 4.22794980e-03 -7.93714150e-05 9.99991059e-01 -6.58185235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.017628 meters 0.016656940216450887 Centerline is valid? [True, True] Translation: X:41.76, Y:-8.63, Z:-0.07 [[ 9.49026190e-01 3.15147046e-01 -5.62401618e-03 4.17561065e+01] [-3.15140894e-01 9.49042849e-01 1.97164078e-03 -8.62972433e+00] [ 5.95878911e-03 -9.87812519e-05 9.99982241e-01 -6.93726252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.047628 meters 0.014612259527594802 Centerline is valid? [True, True] Translation: X:41.79, Y:-8.64, Z:-0.07 [[ 9.48458001e-01 3.16856402e-01 -5.42590757e-03 4.17855369e+01] [-3.16850695e-01 9.48473517e-01 1.90357827e-03 -8.63976575e+00] [ 5.74949060e-03 -8.62614523e-05 9.99983468e-01 -6.76462229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.077628000000004 meters 0.014327374023836235 Centerline is valid? [True, True] Translation: X:41.82, Y:-8.65, Z:-0.07 [[ 9.48083686e-01 3.17972493e-01 -5.55144170e-03 4.18158346e+01] [-3.17966530e-01 9.48099935e-01 1.94912641e-03 -8.64927409e+00] [ 5.88309010e-03 -8.27622960e-05 9.99982691e-01 -6.70827470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.107628000000005 meters 0.013936796958690448 Centerline is valid? [True, True] Translation: X:41.85, Y:-8.66, Z:-0.07 [[ 9.47865957e-01 3.18644225e-01 -3.99811702e-03 4.18461618e+01] [-3.18641133e-01 9.47874388e-01 1.40495801e-03 -8.65902933e+00] [ 4.23739448e-03 -5.77473326e-05 9.99991021e-01 -6.53477684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13762800000001 meters 0.014018240201574422 Centerline is valid? [True, True] Translation: X:41.88, Y:-8.67, Z:-0.06 [[ 9.47968284e-01 3.18347639e-01 -3.30360652e-03 4.18776413e+01] [-3.18345522e-01 9.47974039e-01 1.16207299e-03 -8.67004139e+00] [ 3.50167641e-03 -4.99199981e-05 9.99993868e-01 -6.46593430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16762800000001 meters 0.017714635930968222 Centerline is valid? [True, True] Translation: X:41.91, Y:-8.68, Z:-0.07 [[ 9.48431867e-01 3.16965238e-01 -3.16720747e-03 4.19068241e+01] [-3.16963282e-01 9.48437154e-01 1.11483683e-03 -8.68146417e+00] [ 3.35726176e-03 -5.34583066e-05 9.99994363e-01 -6.77438486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19762800000001 meters 0.01740780444664546 Centerline is valid? [True, True] Translation: X:41.94, Y:-8.69, Z:-0.07 [[ 9.49398327e-01 3.14067727e-01 -2.06884631e-03 4.19370254e+01] [-3.14066884e-01 9.49400580e-01 7.28922570e-04 -8.69326970e+00] [ 2.19309494e-03 -4.22817542e-05 9.99997594e-01 -6.77439261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.227628 meters 0.01554770725107659 Centerline is valid? [True, True] Translation: X:41.97, Y:-8.71, Z:-0.06 [[ 9.49843991e-01 3.12720855e-01 -1.43496202e-03 4.19670927e+01] [-3.12720447e-01 9.49845075e-01 5.06084596e-04 -8.70569073e+00] [ 1.52125481e-03 -3.19594488e-05 9.99998842e-01 -6.41346190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.257628000000004 meters 0.015832530438352272 Centerline is valid? [True, True] Translation: X:42.00, Y:-8.72, Z:-0.06 [[ 9.50607090e-01 3.10395988e-01 -7.01008291e-04 4.19972620e+01] [-3.10395889e-01 9.50607348e-01 2.47619394e-04 -8.71731615e+00] [ 7.43243699e-04 -1.77986595e-05 9.99999724e-01 -6.33643072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.287628000000005 meters 0.018088803141495816 Centerline is valid? [True, True] Translation: X:42.02, Y:-8.73, Z:-0.06 [[ 9.52144520e-01 3.05644742e-01 1.45059637e-03 4.20238315e+01] [-3.05644317e-01 9.52145624e-01 -5.11635167e-04 -8.73230183e+00] [-1.53755759e-03 4.37840837e-05 9.99998817e-01 -6.04584180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.317628000000006 meters 0.019019800653438963 Centerline is valid? [True, True] Translation: X:42.05, Y:-8.74, Z:-0.06 [[ 9.52941969e-01 3.03144029e-01 2.30238782e-03 4.20533263e+01] [-3.03142950e-01 9.52944748e-01 -8.12404079e-04 -8.74403906e+00] [-2.44032382e-03 7.62213090e-05 9.99997019e-01 -5.96109569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34762800000001 meters 0.02005970230120946 Centerline is valid? [True, True] Translation: X:42.08, Y:-8.76, Z:-0.06 [[ 9.53751526e-01 3.00581118e-01 3.00287149e-03 4.20833021e+01] [-3.00579268e-01 9.53756248e-01 -1.06013176e-03 -8.75563572e+00] [-3.18266303e-03 1.08501367e-04 9.99994929e-01 -5.96226272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37762800000001 meters 0.019878433005618482 Centerline is valid? [True, True] Translation: X:42.11, Y:-8.76, Z:-0.06 [[ 9.55439815e-01 2.95174377e-01 2.61666821e-03 4.21133311e+01] [-2.95172952e-01 9.55443392e-01 -9.23961130e-04 -8.76340174e+00] [-2.77280800e-03 1.10419572e-04 9.99996150e-01 -6.10098389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.407628 meters 0.020802452252854275 Centerline is valid? [True, True] Translation: X:42.14, Y:-8.77, Z:-0.06 [[ 9.56097088e-01 2.93041779e-01 2.20762516e-03 4.21431709e+01] [-2.93040758e-01 9.56099632e-01 -7.79669756e-04 -8.77481614e+00] [-2.33918541e-03 9.85158337e-05 9.99997259e-01 -6.14064959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.437628000000004 meters 0.020758203786622877 Centerline is valid? [True, True] Translation: X:42.17, Y:-8.79, Z:-0.06 [[ 9.56632252e-01 2.91293487e-01 1.68498098e-03 4.21739218e+01] [-2.91292889e-01 9.56633733e-01 -5.95194816e-04 -8.78537085e+00] [-1.78528602e-03 7.85595788e-05 9.99998403e-01 -6.15683485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.467628000000005 meters 0.021984973576776583 Centerline is valid? [True, True] Translation: X:42.20, Y:-8.80, Z:-0.06 [[ 9.57370104e-01 2.88864100e-01 -1.25640073e-04 4.22035491e+01] [-2.88864097e-01 9.57370112e-01 4.44812325e-05 -8.79628758e+00] [ 1.33133082e-04 -6.29209595e-06 9.99999991e-01 -6.25485100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497628000000006 meters 0.025118173518982958 Centerline is valid? [True, True] Translation: X:42.23, Y:-8.81, Z:-0.06 [[ 9.57489935e-01 2.88463530e-01 -1.34747201e-03 4.22323015e+01] [-2.88463144e-01 9.57490881e-01 4.76829583e-04 -8.80936771e+00] [ 1.42774011e-03 -6.78635135e-05 9.99998978e-01 -6.36825049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52762800000001 meters 0.023070702091047467 Centerline is valid? [True, True] Translation: X:42.27, Y:-8.82, Z:-0.07 [[ 9.57366648e-01 2.88868253e-01 -2.05767377e-03 4.22651583e+01] [-2.88867352e-01 9.57368854e-01 7.28683642e-04 -8.81539989e+00] [ 2.18044635e-03 -1.03222642e-04 9.99997617e-01 -6.50060613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55762800000001 meters 0.0249742906703787 Centerline is valid? [True, True] Translation: X:42.30, Y:-8.82, Z:-0.07 [[ 9.57255274e-01 2.89220499e-01 -3.72067364e-03 4.22975059e+01] [-2.89217554e-01 9.57262487e-01 1.31841376e-03 -8.82403340e+00] [ 3.94297359e-03 -1.85974394e-04 9.99992209e-01 -6.89843157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.587628 meters 0.020812399187415925 Centerline is valid? [True, True] Translation: X:42.33, Y:-8.83, Z:-0.07 [[ 9.56203950e-01 2.92690464e-01 -2.50965226e-03 4.23303165e+01] [-2.92689136e-01 9.56207236e-01 8.89271917e-04 -8.82660888e+00] [ 2.66002906e-03 -1.15777367e-04 9.99996455e-01 -6.60602380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.617628 meters 0.020836975896994823 Centerline is valid? [True, True] Translation: X:42.36, Y:-8.84, Z:-0.07 [[ 9.55424592e-01 2.95230969e-01 -1.58891056e-03 4.23594908e+01] [-2.95230440e-01 9.55425910e-01 5.63016204e-04 -8.83533301e+00] [ 1.68430614e-03 -6.88247641e-05 9.99998579e-01 -6.50493512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.647628000000005 meters 0.019531925826438253 Centerline is valid? [True, True] Translation: X:42.39, Y:-8.84, Z:-0.06 [[ 9.54589085e-01 2.97924251e-01 -9.04897911e-04 4.23907203e+01] [-2.97924080e-01 9.54589514e-01 3.20760759e-04 -8.84266327e+00] [ 9.59368465e-04 -3.66038421e-05 9.99999539e-01 -6.35378462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.677628000000006 meters 0.01898687730375978 Centerline is valid? [True, True] Translation: X:42.42, Y:-8.85, Z:-0.06 [[ 9.53563411e-01 3.01192070e-01 -3.97321473e-04 4.24198223e+01] [-3.01192037e-01 9.53563494e-01 1.40838719e-04 -8.85046941e+00] [ 4.21290758e-04 -1.46285857e-05 9.99999911e-01 -6.22972849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70762800000001 meters 0.01617344199028127 Centerline is valid? [True, True] Translation: X:42.45, Y:-8.85, Z:-0.06 [[ 9.50901096e-01 3.09494054e-01 7.31880081e-04 4.24524779e+01] [-3.09493946e-01 9.50901378e-01 -2.59361841e-04 -8.85195018e+00] [-7.76216725e-04 2.01150042e-05 9.99999699e-01 -6.11479505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73762800000001 meters 0.015587691370239841 Centerline is valid? [True, True] Translation: X:42.48, Y:-8.86, Z:-0.06 [[ 9.49399047e-01 3.14070091e-01 1.19471700e-03 4.24823376e+01] [-3.14069807e-01 9.49399798e-01 -4.23445612e-04 -8.85789830e+00] [-1.26725568e-03 2.67943229e-05 9.99999197e-01 -6.11601621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.767628 meters 0.014166508027026459 Centerline is valid? [True, True] Translation: X:42.51, Y:-8.86, Z:-0.06 [[ 9.47851568e-01 3.18709091e-01 1.38592318e-03 4.25140455e+01] [-3.18708714e-01 9.47852581e-01 -4.91247875e-04 -8.86190069e+00] [-1.47021603e-03 2.39242731e-05 9.99998919e-01 -6.13357937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.797628 meters 0.014166508027026459 Centerline is valid? [True, True] Translation: X:42.54, Y:-8.87, Z:-0.06 [[ 9.47762091e-01 3.18975074e-01 1.38590226e-03 4.25445651e+01] [-3.18974697e-01 9.47763104e-01 -4.91306888e-04 -8.87279279e+00] [-1.47022168e-03 2.35742897e-05 9.99998919e-01 -6.13820465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.827628000000004 meters 0.012863276805982647 Centerline is valid? [True, True] Translation: X:42.58, Y:-8.87, Z:-0.06 [[ 9.44816294e-01 3.27589592e-01 2.68882431e-03 4.25764275e+01] [-3.27588203e-01 9.44820120e-01 -9.54179325e-04 -8.87431853e+00] [-2.85303452e-03 2.06970517e-05 9.99995930e-01 -6.09493430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.857628000000005 meters 0.012488208344985301 Centerline is valid? [True, True] Translation: X:42.61, Y:-8.88, Z:-0.06 [[ 9.43541015e-01 3.31244257e-01 2.75600431e-03 4.26074996e+01] [-3.31242811e-01 9.43545040e-01 -9.78582324e-04 -8.88152063e+00] [-2.92456397e-03 1.04259446e-05 9.99995723e-01 -6.02118497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88762800000001 meters 0.012392568994837523 Centerline is valid? [True, True] Translation: X:42.64, Y:-8.89, Z:-0.06 [[ 9.41748419e-01 3.36306746e-01 2.77249499e-03 4.26398269e+01] [-3.36305303e-01 9.41752501e-01 -9.85254132e-04 -8.88722319e+00] [-2.94235171e-03 -4.54324805e-06 9.99995671e-01 -6.05437727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91762800000001 meters 0.012480055891696632 Centerline is valid? [True, True] Translation: X:42.67, Y:-8.90, Z:-0.06 [[ 9.41217326e-01 3.37792541e-01 2.47878301e-03 4.26717675e+01] [-3.37791390e-01 9.41220590e-01 -8.81600512e-04 -8.89668612e+00] [-2.63087968e-03 -7.53388165e-06 9.99996539e-01 -6.15776153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94762800000001 meters 0.012570085911440489 Centerline is valid? [True, True] Translation: X:42.70, Y:-8.91, Z:-0.06 [[ 9.40929426e-01 3.38595775e-01 2.17172291e-03 4.27019186e+01] [-3.38594893e-01 9.40931932e-01 -7.72926129e-04 -8.90592945e+00] [-2.30515296e-03 -8.06534848e-06 9.99997343e-01 -6.23180003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.977628 meters 0.012465738408269339 Centerline is valid? [True, True] Translation: X:42.73, Y:-8.92, Z:-0.06 [[ 9.40840282e-01 3.38847544e-01 1.38082257e-03 4.27330175e+01] [-3.38847187e-01 9.40841295e-01 -4.91620361e-04 -8.91623472e+00] [-1.46571925e-03 -5.35160451e-06 9.99998926e-01 -6.40585130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.007628000000004 meters 0.012470946572663785 Centerline is valid? [True, True] Translation: X:42.76, Y:-8.93, Z:-0.07 [[ 9.40855720e-01 3.38806665e-01 7.46910068e-04 4.27641584e+01] [-3.38806560e-01 9.40856017e-01 -2.65960792e-04 -8.92784359e+00] [-7.92844120e-04 -2.82729833e-06 9.99999686e-01 -6.50369931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.037628000000005 meters 0.012443942976366652 Centerline is valid? [True, True] Translation: X:42.79, Y:-8.94, Z:-0.07 [[ 9.40952302e-01 3.38539074e-01 -2.44993584e-04 4.27935961e+01] [-3.38539063e-01 9.40952334e-01 8.77044087e-05 -8.93941744e+00] [ 2.60218654e-04 4.14232970e-07 9.99999966e-01 -6.55122336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.067628000000006 meters 0.01236913205135088 Centerline is valid? [True, True] Translation: X:42.82, Y:-8.95, Z:-0.07 [[ 9.41360616e-01 3.37400587e-01 -1.01697903e-03 4.28236895e+01] [-3.37400391e-01 9.41361165e-01 3.63679236e-04 -8.95304567e+00] [ 1.08005015e-03 7.75812881e-07 9.99999417e-01 -6.59283441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09762800000001 meters 0.012410991710386562 Centerline is valid? [True, True] Translation: X:42.85, Y:-8.97, Z:-0.07 [[ 9.41464975e-01 3.37108566e-01 -1.23111020e-03 4.28545318e+01] [-3.37108278e-01 9.41465780e-01 4.40553420e-04 -8.96513067e+00] [ 1.30756245e-03 2.51823602e-07 9.99999145e-01 -6.66149261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12762800000001 meters 0.012420193350959997 Centerline is valid? [True, True] Translation: X:42.88, Y:-8.98, Z:-0.07 [[ 9.41581170e-01 3.36780556e-01 -1.93858632e-03 4.28847035e+01] [-3.36779841e-01 9.41583165e-01 6.94097767e-04 -8.97708712e+00] [ 2.05909887e-03 -6.72595642e-07 9.99997880e-01 -6.74779860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.157628 meters 0.012394524688012538 Centerline is valid? [True, True] Translation: X:42.91, Y:-8.99, Z:-0.07 [[ 9.41670584e-01 3.36527914e-01 -2.33963249e-03 4.29148097e+01] [-3.36526869e-01 9.41673491e-01 8.38341451e-04 -8.98919285e+00] [ 2.48529519e-03 -2.09228696e-06 9.99996912e-01 -6.85375139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.187628000000004 meters 0.012384509145626143 Centerline is valid? [True, True] Translation: X:42.95, Y:-9.00, Z:-0.07 [[ 9.41676908e-01 3.36503218e-01 -3.19149769e-03 4.29452176e+01] [-3.36501272e-01 9.41682316e-01 1.14445857e-03 -9.00166069e+00] [ 3.39049093e-03 -3.76718073e-06 9.99994252e-01 -6.90872153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.217628000000005 meters 0.012499598565547887 Centerline is valid? [True, True] Translation: X:42.98, Y:-9.02, Z:-0.07 [[ 9.41664101e-01 3.36529497e-01 -4.07658751e-03 4.29756141e+01] [-3.36526317e-01 9.41672925e-01 1.46302746e-03 -9.01570782e+00] [ 4.33116398e-03 -5.80145808e-06 9.99990620e-01 -7.04145208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.247628000000006 meters 0.012521112561225935 Centerline is valid? [True, True] Translation: X:43.01, Y:-9.03, Z:-0.07 [[ 9.41576455e-01 3.36771688e-01 -4.31377126e-03 4.30059741e+01] [-3.36768124e-01 9.41586337e-01 1.54949585e-03 -9.02824507e+00] [ 4.58361442e-03 -6.22815927e-06 9.99989495e-01 -7.10390976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27762800000001 meters 0.012532832355898091 Centerline is valid? [True, True] Translation: X:43.04, Y:-9.04, Z:-0.07 [[ 9.41564588e-01 3.36800263e-01 -4.65937648e-03 4.30356387e+01] [-3.36796098e-01 9.41576116e-01 1.67507908e-03 -9.04276949e+00] [ 4.95132469e-03 -7.93533007e-06 9.99987742e-01 -7.12210845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30762800000001 meters 0.012574537552966229 Centerline is valid? [True, True] Translation: X:43.07, Y:-9.06, Z:-0.07 [[ 9.41627241e-01 3.36625471e-01 -4.62948165e-03 4.30657864e+01] [-3.36621349e-01 9.41638621e-01 1.66580680e-03 -9.05606021e+00] [ 4.92005172e-03 -1.01867009e-05 9.99987896e-01 -7.08475128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.337628 meters 0.01259741288584134 Centerline is valid? [True, True] Translation: X:43.10, Y:-9.07, Z:-0.07 [[ 9.41709978e-01 3.36398654e-01 -4.27361495e-03 4.30958185e+01] [-3.36395133e-01 9.41719675e-01 1.53914017e-03 -9.06944979e+00] [ 4.54231196e-03 -1.18003836e-05 9.99989684e-01 -7.06663767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.367628 meters 0.012632913303102677 Centerline is valid? [True, True] Translation: X:43.12, Y:-9.08, Z:-0.07 [[ 9.41989461e-01 3.35614837e-01 -4.30545206e-03 4.31246323e+01] [-3.35611250e-01 9.41999300e-01 1.55184196e-03 -9.08491606e+00] [ 4.57655401e-03 -1.68606245e-05 9.99989527e-01 -7.06859565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.397628000000005 meters 0.0161177281304892 Centerline is valid? [True, True] Translation: X:43.15, Y:-9.10, Z:-0.07 [[ 9.42245925e-01 3.34869993e-01 -5.89109679e-03 4.31526622e+01] [-3.34863254e-01 9.42264340e-01 2.12464965e-03 -9.09757179e+00] [ 6.26245184e-03 -2.92306310e-05 9.99980390e-01 -7.37257676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.427628000000006 meters 0.012823717915413646 Centerline is valid? [True, True] Translation: X:43.18, Y:-9.11, Z:-0.07 [[ 9.42041061e-01 3.35451840e-01 -5.54094635e-03 4.31815301e+01] [-3.35445878e-01 9.42057356e-01 2.00016963e-03 -9.11319492e+00] [ 5.89084986e-03 -2.55543086e-05 9.99982648e-01 -7.21687718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45762800000001 meters 0.012806847545969615 Centerline is valid? [True, True] Translation: X:43.21, Y:-9.13, Z:-0.07 [[ 9.42035318e-01 3.35455529e-01 -6.24881475e-03 4.32111601e+01] [-3.35447935e-01 9.42056042e-01 2.25749057e-03 -9.12654654e+00] [ 6.64402139e-03 -3.04838420e-05 9.99977928e-01 -7.23436945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48762800000001 meters 0.012803849956888508 Centerline is valid? [True, True] Translation: X:43.24, Y:-9.14, Z:-0.07 [[ 9.42047589e-01 3.35406910e-01 -6.96740366e-03 4.32407866e+01] [-3.35397450e-01 9.42073353e-01 2.51932967e-03 -9.13999479e+00] [ 7.40880592e-03 -3.64790201e-05 9.99972554e-01 -7.22272348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.517628 meters 0.015154215278001058 Centerline is valid? [True, True] Translation: X:43.27, Y:-9.15, Z:-0.08 [[ 9.42379510e-01 3.34447115e-01 -8.12319320e-03 4.32692939e+01] [-3.34434204e-01 9.42414518e-01 2.93920122e-03 -9.15340348e+00] [ 8.63842257e-03 -5.31693514e-05 9.99962687e-01 -7.54564021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.547628 meters 0.013007162292330742 Centerline is valid? [True, True] Translation: X:43.30, Y:-9.17, Z:-0.07 [[ 9.42717414e-01 3.33539185e-01 -5.95737293e-03 4.32977364e+01] [-3.33532211e-01 9.42736236e-01 2.15733371e-03 -9.16941908e+00] [ 6.33578666e-03 -4.67802859e-05 9.99979928e-01 -7.24510689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.577628000000004 meters 0.013121830732936466 Centerline is valid? [True, True] Translation: X:43.33, Y:-9.18, Z:-0.07 [[ 9.43035015e-01 3.32651874e-01 -5.26220348e-03 4.33261473e+01] [-3.32646410e-01 9.43049696e-01 1.90723140e-03 -9.18332710e+00] [ 5.59696349e-03 -4.81328940e-05 9.99984336e-01 -7.19329956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.607628000000005 meters 0.013230363393366262 Centerline is valid? [True, True] Translation: X:43.36, Y:-9.20, Z:-0.07 [[ 9.43418168e-01 3.31572167e-01 -4.69650316e-03 4.33561283e+01] [-3.31567794e-01 9.43429857e-01 1.70376165e-03 -9.19811549e+00] [ 4.99574124e-03 -5.01505035e-05 9.99987520e-01 -7.12230997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63762800000001 meters 0.013306462207596452 Centerline is valid? [True, True] Translation: X:43.38, Y:-9.21, Z:-0.07 [[ 9.43270563e-01 3.32016381e-01 -2.40175751e-03 4.33842028e+01] [-3.32015237e-01 9.43273620e-01 8.72030729e-04 -9.21049206e+00] [ 2.55504299e-03 -2.51408280e-05 9.99996736e-01 -6.85689740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66762800000001 meters 0.01315275580174136 Centerline is valid? [True, True] Translation: X:43.41, Y:-9.22, Z:-0.07 [[ 9.42938829e-01 3.32961601e-01 -1.71359902e-03 4.34140809e+01] [-3.32961019e-01 9.42940386e-01 6.22772664e-04 -9.22077447e+00] [ 1.82318110e-03 -1.66748525e-05 9.99998338e-01 -6.81125132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69762800000001 meters 0.013130584098176266 Centerline is valid? [True, True] Translation: X:43.44, Y:-9.23, Z:-0.07 [[ 9.42757200e-01 3.33476322e-01 -1.55044233e-03 4.34447376e+01] [-3.33475845e-01 9.42758475e-01 5.64048804e-04 -9.23203898e+00] [ 1.64978957e-03 -1.47260038e-05 9.99998639e-01 -6.82645089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.727628 meters 0.013130417254708959 Centerline is valid? [True, True] Translation: X:43.48, Y:-9.24, Z:-0.07 [[ 9.42372755e-01 3.34557015e-01 -2.27933761e-03 4.34759731e+01] [-3.34555986e-01 9.42375511e-01 8.29728759e-04 -9.24182375e+00] [ 2.42558352e-03 -1.93477338e-05 9.99997058e-01 -6.91385856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.757628000000004 meters 0.01308122506049378 Centerline is valid? [True, True] Translation: X:43.51, Y:-9.25, Z:-0.07 [[ 9.42428578e-01 3.34398428e-01 -2.46326751e-03 4.35063893e+01] [-3.34397224e-01 9.42431796e-01 8.97441697e-04 -9.25304005e+00] [ 2.62156472e-03 -2.20648847e-05 9.99996563e-01 -6.99839211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.787628000000005 meters 0.013275779732892455 Centerline is valid? [True, True] Translation: X:43.54, Y:-9.26, Z:-0.07 [[ 9.42790057e-01 3.33377082e-01 -2.57471864e-03 4.35350646e+01] [-3.33375763e-01 9.42793572e-01 9.38197016e-04 -9.26431885e+00] [ 2.74020157e-03 -2.61740261e-05 9.99996245e-01 -7.00894777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.817628000000006 meters 0.013958818601348734 Centerline is valid? [True, True] Translation: X:43.56, Y:-9.28, Z:-0.07 [[ 9.44143777e-01 3.29526827e-01 -2.14421844e-03 4.35647664e+01] [-3.29525901e-01 9.44146212e-01 7.82112082e-04 -9.27614318e+00] [ 2.28218263e-03 -3.18507432e-05 9.99997395e-01 -7.01212389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84762800000001 meters 0.014907998334041448 Centerline is valid? [True, True] Translation: X:43.59, Y:-9.29, Z:-0.07 [[ 9.45398380e-01 3.25908724e-01 -2.32519787e-03 4.35942650e+01] [-3.25907622e-01 9.45401238e-01 8.48727372e-04 -9.28838151e+00] [ 2.47485260e-03 -4.45857744e-05 9.99996937e-01 -7.02655140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87762800000001 meters 0.01597597253172033 Centerline is valid? [True, True] Translation: X:43.62, Y:-9.30, Z:-0.07 [[ 9.46942028e-01 3.21396079e-01 -2.31407735e-03 4.36239725e+01] [-3.21394975e-01 9.46944854e-01 8.44590507e-04 -9.30025256e+00] [ 2.46275171e-03 -5.60454188e-05 9.99996966e-01 -7.05965895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.907628 meters 0.017433698775122082 Centerline is valid? [True, True] Translation: X:43.65, Y:-9.31, Z:-0.07 [[ 9.48612266e-01 3.16431665e-01 -2.40228658e-03 4.36531334e+01] [-3.16430458e-01 9.48615305e-01 8.76866207e-04 -9.31217426e+00] [ 2.55631405e-03 -7.16493969e-05 9.99996730e-01 -7.14920783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.937628000000004 meters 0.02214089418105519 Centerline is valid? [True, True] Translation: X:43.68, Y:-9.33, Z:-0.07 [[ 9.51901145e-01 3.06392136e-01 -2.84074222e-03 4.36798314e+01] [-3.06390402e-01 9.51905376e-01 1.03717546e-03 -9.32812903e+00] [ 3.02190019e-03 -1.16912359e-04 9.99995427e-01 -7.20861986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.967628000000005 meters 0.023087397412621443 Centerline is valid? [True, True] Translation: X:43.71, Y:-9.34, Z:-0.07 [[ 9.53498838e-01 3.01375845e-01 -3.54483533e-03 4.37094633e+01] [-3.01373108e-01 9.53505413e-01 1.29512049e-03 -9.33768247e+00] [ 3.77033771e-03 -1.66577840e-04 9.99992878e-01 -7.36845388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.997628000000006 meters 0.022033131126070006 Centerline is valid? [True, True] Translation: X:43.74, Y:-9.35, Z:-0.07 [[ 9.54531801e-01 2.98095211e-01 -2.87862110e-03 4.37386094e+01] [-2.98093390e-01 9.54536130e-01 1.05216618e-03 -9.34869410e+00] [ 3.06139355e-03 -1.46228152e-04 9.99995303e-01 -7.15720344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02762800000001 meters 0.029527546676479402 Centerline is valid? [True, True] Translation: X:43.76, Y:-9.37, Z:-0.07 [[ 9.56194107e-01 2.92722399e-01 -2.53508576e-03 4.37637787e+01] [-2.92720968e-01 9.56197457e-01 9.26725640e-04 -9.36685338e+00] [ 2.69531591e-03 -1.44056839e-04 9.99996357e-01 -7.32373856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05762800000001 meters 0.022864123192481614 Centerline is valid? [True, True] Translation: X:43.80, Y:-9.37, Z:-0.07 [[ 9.56518217e-01 2.91660977e-01 -2.60304536e-03 4.37979539e+01] [-2.91659461e-01 9.56521746e-01 9.52567244e-04 -9.36773763e+00] [ 2.76769619e-03 -1.51945115e-04 9.99996158e-01 -7.30022254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.087628 meters 0.025193134245921484 Centerline is valid? [True, True] Translation: X:43.83, Y:-9.38, Z:-0.08 [[ 9.56707650e-01 2.91027890e-01 -3.63854579e-03 4.38286388e+01] [-2.91024920e-01 9.56714545e-01 1.33237920e-03 -9.37826131e+00] [ 3.86880919e-03 -2.15789873e-04 9.99992493e-01 -7.53727196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.117628 meters 0.023756784102069873 Centerline is valid? [True, True] Translation: X:43.86, Y:-9.39, Z:-0.07 [[ 9.55548059e-01 2.94825149e-01 -2.45734714e-03 4.38580706e+01] [-2.94823807e-01 9.55551209e-01 8.99648592e-04 -9.38683283e+00] [ 2.61336006e-03 -1.35173027e-04 9.99996576e-01 -7.30498197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.147628000000005 meters 0.021391604830869236 Centerline is valid? [True, True] Translation: X:43.89, Y:-9.39, Z:-0.07 [[ 9.54630853e-01 2.97784127e-01 -2.13271117e-03 4.38896980e+01] [-2.97783123e-01 9.54633229e-01 7.80990718e-04 -9.39277945e+00] [ 2.26852359e-03 -1.10472441e-04 9.99997421e-01 -7.24517277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.177628000000006 meters 0.021716453197348717 Centerline is valid? [True, True] Translation: X:43.92, Y:-9.40, Z:-0.07 [[ 9.53475631e-01 3.01462641e-01 -2.12045162e-03 4.39185973e+01] [-3.01461658e-01 9.53477984e-01 7.76505492e-04 -9.40169688e+00] [ 2.25589133e-03 -1.01144203e-04 9.99997450e-01 -7.24947759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20762800000001 meters 0.020999972943621832 Centerline is valid? [True, True] Translation: X:43.95, Y:-9.41, Z:-0.07 [[ 9.52008598e-01 3.06065942e-01 -1.80790452e-03 4.39482853e+01] [-3.06065235e-01 9.52010312e-01 6.62075358e-04 -9.40905495e+00] [ 1.92378246e-03 -7.69647121e-05 9.99998147e-01 -7.30241560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23762800000001 meters 0.017473286171128092 Centerline is valid? [True, True] Translation: X:43.98, Y:-9.41, Z:-0.07 [[ 9.48758249e-01 3.15993067e-01 -2.48322730e-03 4.39811154e+01] [-3.15991768e-01 9.48761496e-01 9.09465692e-04 -9.41031567e+00] [ 2.64337530e-03 -7.81836939e-05 9.99996503e-01 -7.36605404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.267628 meters 0.0160070766792623 Centerline is valid? [True, True] Translation: X:44.01, Y:-9.42, Z:-0.07 [[ 9.47036867e-01 3.21118386e-01 -2.03817635e-03 4.40119014e+01] [-3.21117522e-01 9.47039059e-01 7.46572370e-04 -9.41683396e+00] [ 2.16997072e-03 -5.25374213e-05 9.99997644e-01 -7.35439069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.297628 meters 0.015049046726189109 Centerline is valid? [True, True] Translation: X:44.04, Y:-9.42, Z:-0.07 [[ 9.45377652e-01 3.25971466e-01 -1.92334820e-03 4.40415765e+01] [-3.25970707e-01 9.45379607e-01 7.04526249e-04 -9.42354885e+00] [ 2.04794962e-03 -3.90881975e-05 9.99997902e-01 -7.34347387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.327628000000004 meters 0.013360786254181472 Centerline is valid? [True, True] Translation: X:44.07, Y:-9.43, Z:-0.07 [[ 9.42606899e-01 3.33901172e-01 -1.49672182e-03 4.40737764e+01] [-3.33900723e-01 9.42608088e-01 5.48343870e-04 -9.42660560e+00] [ 1.59391476e-03 -1.71162160e-05 9.99998730e-01 -7.42726071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.357628000000005 meters 0.013002920511599403 Centerline is valid? [True, True] Translation: X:44.10, Y:-9.44, Z:-0.07 [[ 9.41458909e-01 3.37122790e-01 -1.82971108e-03 4.41046273e+01] [-3.37122122e-01 9.41460686e-01 6.71144372e-04 -9.43522773e+00] [ 1.94885912e-03 -1.50187642e-05 9.99998101e-01 -7.49072724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38762800000001 meters 0.012727898872573034 Centerline is valid? [True, True] Translation: X:44.14, Y:-9.44, Z:-0.08 [[ 9.40588185e-01 3.39544289e-01 -1.88195284e-03 4.41358210e+01] [-3.39543586e-01 9.40590068e-01 6.90818050e-04 -9.44450324e+00] [ 2.00470947e-03 -1.07702802e-05 9.99997991e-01 -7.51955218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41762800000001 meters 0.01261669417243502 Centerline is valid? [True, True] Translation: X:44.17, Y:-9.45, Z:-0.08 [[ 9.39773748e-01 3.41794316e-01 -1.39560976e-03 4.41665509e+01] [-3.41793932e-01 9.39774784e-01 5.12769090e-04 -9.45362852e+00] [ 1.48682042e-03 -4.87598245e-06 9.99998895e-01 -7.55904439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44762800000001 meters 0.012565726805090284 Centerline is valid? [True, True] Translation: X:44.20, Y:-9.47, Z:-0.08 [[ 9.39583468e-01 3.42318803e-01 -8.62183286e-04 4.41969863e+01] [-3.42318656e-01 9.39583864e-01 3.17246124e-04 -9.46521260e+00] [ 9.18692817e-04 -2.93778939e-06 9.99999578e-01 -7.55163857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.477628 meters 0.012649527101834363 Centerline is valid? [True, True] Translation: X:44.23, Y:-9.48, Z:-0.08 [[ 9.39752875e-01 3.41853625e-01 -7.95387472e-04 4.42279096e+01] [-3.41853499e-01 9.39753212e-01 2.92967802e-04 -9.47754361e+00] [ 8.47620036e-04 -3.41134315e-06 9.99999641e-01 -7.56978851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.507628000000004 meters 0.012915400740766081 Centerline is valid? [True, True] Translation: X:44.26, Y:-9.49, Z:-0.08 [[ 9.40802291e-01 3.38953945e-01 -1.12770956e-03 4.42554331e+01] [-3.38953691e-01 9.40802967e-01 4.15401327e-04 -9.49196816e+00] [ 1.20175442e-03 -8.56920305e-06 9.99999278e-01 -7.58399777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.537628000000005 meters 0.013155532572958706 Centerline is valid? [True, True] Translation: X:44.28, Y:-9.51, Z:-0.08 [[ 9.41524034e-01 3.36943142e-01 -1.34639567e-03 4.42844842e+01] [-3.36942777e-01 9.41524996e-01 4.96291181e-04 -9.50560538e+00] [ 1.43488709e-03 -1.36117793e-05 9.99998970e-01 -7.59893800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.567628000000006 meters 0.01389101990785615 Centerline is valid? [True, True] Translation: X:44.31, Y:-9.52, Z:-0.08 [[ 9.42231533e-01 3.34958379e-01 -1.61969470e-03 4.43116921e+01] [-3.34957847e-01 9.42232924e-01 5.97342937e-04 -9.52047910e+00] [ 1.72621469e-03 -2.03059022e-05 9.99998510e-01 -7.66090359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59762800000001 meters 0.013934903230352685 Centerline is valid? [True, True] Translation: X:44.34, Y:-9.53, Z:-0.08 [[ 9.42830794e-01 3.33264693e-01 -2.17661449e-03 4.43407775e+01] [-3.33263727e-01 9.42833306e-01 8.03252733e-04 -9.53337685e+00] [ 2.31988041e-03 -3.19447554e-05 9.99997309e-01 -7.64205234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62762800000001 meters 0.014606775049633336 Centerline is valid? [True, True] Translation: X:44.37, Y:-9.55, Z:-0.08 [[ 9.43759548e-01 3.30621015e-01 -2.76762552e-03 4.43693222e+01] [-3.30619439e-01 9.43763605e-01 1.02202039e-03 -9.54944501e+00] [ 2.94988565e-03 -4.95107012e-05 9.99995648e-01 -7.66680422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.657628 meters 0.014707643202890423 Centerline is valid? [True, True] Translation: X:44.40, Y:-9.56, Z:-0.08 [[ 9.43982806e-01 3.29981083e-01 -2.99131984e-03 4.43987149e+01] [-3.29979236e-01 9.43987543e-01 1.10542571e-03 -9.56213537e+00] [ 3.18853824e-03 -5.64294224e-05 9.99994915e-01 -7.74783793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.687628000000004 meters 0.01480031841008414 Centerline is valid? [True, True] Translation: X:44.43, Y:-9.58, Z:-0.08 [[ 9.44212588e-01 3.29306911e-01 -4.42115301e-03 4.44276837e+01] [-3.29302865e-01 9.44222935e-01 1.63487243e-03 -9.57604248e+00] [ 4.71292886e-03 -8.77687746e-05 9.99988890e-01 -7.91179159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.717628000000005 meters 0.01480031841008414 Centerline is valid? [True, True] Translation: X:44.46, Y:-9.59, Z:-0.08 [[ 9.44119981e-01 3.29572326e-01 -4.42067579e-03 4.44580523e+01] [-3.29568277e-01 9.44130327e-01 1.63616256e-03 -9.58734226e+00] [ 4.71292798e-03 -8.78192629e-05 9.99988890e-01 -7.91642966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.747628000000006 meters 0.014817171381483982 Centerline is valid? [True, True] Translation: X:44.49, Y:-9.60, Z:-0.08 [[ 9.44231605e-01 3.29239304e-01 -5.30628730e-03 4.44871066e+01] [-3.29233456e-01 9.44246509e-01 1.96529871e-03 -9.60046140e+00] [ 5.65749684e-03 -1.08689847e-04 9.99983990e-01 -7.95353238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77762800000001 meters 0.01503375096084479 Centerline is valid? [True, True] Translation: X:44.52, Y:-9.61, Z:-0.08 [[ 9.44370858e-01 3.28837105e-01 -5.46265354e-03 4.45165923e+01] [-3.28830892e-01 9.44386650e-01 2.02473768e-03 -9.61452076e+00] [ 5.82466596e-03 -1.15814025e-04 9.99983030e-01 -7.97646057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80762800000001 meters 0.015318702043358641 Centerline is valid? [True, True] Translation: X:44.54, Y:-9.63, Z:-0.08 [[ 9.44857895e-01 3.27431254e-01 -5.68619369e-03 4.45447513e+01] [-3.27424487e-01 9.44874995e-01 2.10918207e-03 -9.63045676e+00] [ 6.06335437e-03 -1.31078275e-04 9.99981609e-01 -7.99678295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.837628 meters 0.015459184394339992 Centerline is valid? [True, True] Translation: X:44.57, Y:-9.64, Z:-0.08 [[ 9.44988279e-01 3.27049320e-01 -5.99122464e-03 4.45738750e+01] [-3.27041789e-01 9.45007260e-01 2.22399978e-03 -9.64323199e+00] [ 6.38910840e-03 -1.42272897e-04 9.99979579e-01 -8.01357353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.867628 meters 0.017086922997031607 Centerline is valid? [True, True] Translation: X:44.60, Y:-9.66, Z:-0.08 [[ 9.44859380e-01 3.27408536e-01 -6.66357670e-03 4.46029420e+01] [-3.27399215e-01 9.44882864e-01 2.47556720e-03 -9.65598279e+00] [ 7.10682127e-03 -1.57413106e-04 9.99974734e-01 -8.19941114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.897628000000005 meters 0.015139922828946197 Centerline is valid? [True, True] Translation: X:44.63, Y:-9.67, Z:-0.08 [[ 9.43978671e-01 3.29956697e-01 -5.73114425e-03 4.46324090e+01] [-3.29949840e-01 9.43996061e-01 2.13063708e-03 -9.66627905e+00] [ 6.11319557e-03 -1.20285831e-04 9.99981307e-01 -8.01017486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.927628000000006 meters 0.015757067554928478 Centerline is valid? [True, True] Translation: X:44.66, Y:-9.68, Z:-0.08 [[ 9.42577072e-01 3.33923361e-01 -6.60704828e-03 4.46629897e+01] [-3.33914332e-01 9.42600221e-01 2.45810399e-03 -9.67632443e+00] [ 7.04862352e-03 -1.10764355e-04 9.99975152e-01 -8.12577303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95762800000001 meters 0.013784118614837573 Centerline is valid? [True, True] Translation: X:44.69, Y:-9.69, Z:-0.08 [[ 9.41620650e-01 3.36623992e-01 -5.90254947e-03 4.46921133e+01] [-3.36616829e-01 9.41639146e-01 2.19754090e-03 -9.68615497e+00] [ 6.29781664e-03 -8.23524115e-05 9.99980165e-01 -7.93796758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98762800000001 meters 0.013335921068383707 Centerline is valid? [True, True] Translation: X:44.72, Y:-9.70, Z:-0.08 [[ 9.40782437e-01 3.38965796e-01 -5.53139020e-03 4.47225298e+01] [-3.38959537e-01 9.40798695e-01 2.06095816e-03 -9.69583518e+00] [ 5.90251900e-03 -6.39957811e-05 9.99982578e-01 -7.89809356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.017628 meters 0.012873595270700493 Centerline is valid? [True, True] Translation: X:44.75, Y:-9.71, Z:-0.08 [[ 9.39271898e-01 3.43146839e-01 -4.30674812e-03 4.47537940e+01] [-3.43143087e-01 9.39281771e-01 1.60493359e-03 -9.70520701e+00] [ 4.59597789e-03 -2.96381756e-05 9.99989438e-01 -7.83139891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.047628 meters 0.012589006484207084 Centerline is valid? [True, True] Translation: X:44.78, Y:-9.71, Z:-0.08 [[ 9.38537302e-01 3.45158235e-01 -3.67776948e-03 4.47830119e+01] [-3.45155509e-01 9.38544508e-01 1.37171433e-03 -9.71484030e+00] [ 3.92520884e-03 -1.80026734e-05 9.99992296e-01 -7.84167475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.077628000000004 meters 0.015139515552308903 Centerline is valid? [True, True] Translation: X:44.81, Y:-9.72, Z:-0.08 [[ 9.38216789e-01 3.46029035e-01 -3.62821070e-03 4.48142371e+01] [-3.46026384e-01 9.38223804e-01 1.35450278e-03 -9.72473362e+00] [ 3.87277094e-03 -1.53606172e-05 9.99992501e-01 -8.04477481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.107628000000005 meters 0.012376022318006606 Centerline is valid? [True, True] Translation: X:44.84, Y:-9.73, Z:-0.08 [[ 9.37246584e-01 3.48667201e-01 1.55576826e-04 4.48444369e+01] [-3.48667197e-01 9.37246597e-01 -5.77537991e-05 -9.73249278e+00] [-1.65950707e-04 -1.14984996e-07 9.99999986e-01 -7.70844037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13762800000001 meters 0.012293100786004586 Centerline is valid? [True, True] Translation: X:44.88, Y:-9.74, Z:-0.08 [[ 9.36842547e-01 3.49748994e-01 1.29742677e-03 4.48751615e+01] [-3.49748658e-01 9.36843445e-01 -4.84533252e-04 -9.74305235e+00] [-1.38495078e-03 1.58095303e-07 9.99999041e-01 -7.61308984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16762800000001 meters 0.012384924582498036 Centerline is valid? [True, True] Translation: X:44.91, Y:-9.75, Z:-0.07 [[ 9.36286534e-01 3.51221701e-01 3.29288523e-03 4.49063458e+01] [-3.51219542e-01 9.36292324e-01 -1.23147825e-03 -9.75371172e+00] [-3.51562505e-03 -3.50913778e-06 9.99993820e-01 -7.43995499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19762800000001 meters 0.01246934634951323 Centerline is valid? [True, True] Translation: X:44.94, Y:-9.76, Z:-0.07 [[ 9.36072991e-01 3.51786472e-01 3.69238857e-03 4.49369371e+01] [-3.51783757e-01 9.36080273e-01 -1.38207950e-03 -9.76433167e+00] [-3.94256897e-03 -5.19503410e-06 9.99992228e-01 -7.39106975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.227628 meters 0.012401279953941146 Centerline is valid? [True, True] Translation: X:44.97, Y:-9.78, Z:-0.07 [[ 9.35925376e-01 3.52178089e-01 3.77946481e-03 4.49675790e+01] [-3.52175243e-01 9.35933007e-01 -1.41584232e-03 -9.77525609e+00] [-4.03595451e-03 -5.91118254e-06 9.99991855e-01 -7.45890588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.257628000000004 meters 0.012417723156444446 Centerline is valid? [True, True] Translation: X:45.00, Y:-9.79, Z:-0.07 [[ 9.35769874e-01 3.52596996e-01 3.17821967e-03 4.49984521e+01] [-3.52594983e-01 9.35775271e-01 -1.19152395e-03 -9.78647483e+00] [-3.39422714e-03 -5.63209013e-06 9.99994240e-01 -7.49674869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.287628000000005 meters 0.012331134243986255 Centerline is valid? [True, True] Translation: X:45.03, Y:-9.80, Z:-0.08 [[ 9.35854465e-01 3.52379828e-01 2.20855009e-03 4.50297042e+01] [-3.52378854e-01 9.35857071e-01 -8.28552399e-04 -9.79778354e+00] [-2.35885237e-03 -2.84188904e-06 9.99997218e-01 -7.75170934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.317628000000006 meters 0.012366327593602865 Centerline is valid? [True, True] Translation: X:45.06, Y:-9.81, Z:-0.08 [[ 9.35964756e-01 3.52090674e-01 1.46043014e-03 4.50601347e+01] [-3.52090247e-01 9.35965895e-01 -5.48206542e-04 -9.80933832e+00] [-1.55993121e-03 -1.10120562e-06 9.99998783e-01 -7.88105708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34762800000001 meters 0.012181487061985036 Centerline is valid? [True, True] Translation: X:45.09, Y:-9.82, Z:-0.08 [[ 9.36164099e-01 3.51562950e-01 5.21514757e-04 4.50908222e+01] [-3.51562895e-01 9.36164244e-01 -1.95658108e-04 -9.82157742e+00] [-5.57009610e-04 -1.77141453e-07 9.99999845e-01 -7.97815179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37762800000001 meters 0.012233806437782555 Centerline is valid? [True, True] Translation: X:45.12, Y:-9.83, Z:-0.08 [[ 9.36438661e-01 3.50831117e-01 -4.01058670e-04 4.51204307e+01] [-3.50831084e-01 9.36438747e-01 1.51290275e-04 -9.83435591e+00] [ 4.28644214e-04 -9.70214219e-07 9.99999908e-01 -8.04783602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.407628 meters 0.01253029920076364 Centerline is valid? [True, True] Translation: X:45.15, Y:-9.85, Z:-0.08 [[ 9.37585946e-01 3.47751873e-01 -1.10792493e-03 4.51487556e+01] [-3.47751623e-01 9.37586601e-01 4.17550008e-04 -9.84881524e+00] [ 1.18397937e-03 -6.20632548e-06 9.99999299e-01 -8.15514183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.437628000000004 meters 0.012797028264822381 Centerline is valid? [True, True] Translation: X:45.18, Y:-9.86, Z:-0.08 [[ 9.38309577e-01 3.45793857e-01 -1.32182779e-03 4.51768811e+01] [-3.45793498e-01 9.38310508e-01 4.98403918e-04 -9.86206092e+00] [ 1.41262992e-03 -1.05777145e-05 9.99999002e-01 -8.23693655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.467628000000005 meters 0.013129376812664186 Centerline is valid? [True, True] Translation: X:45.21, Y:-9.88, Z:-0.08 [[ 9.39779298e-01 3.41781245e-01 -6.71397278e-04 4.52057328e+01] [-3.41781151e-01 9.39779538e-01 2.53545505e-04 -9.87532737e+00] [ 7.17622522e-04 -8.80588239e-06 9.99999742e-01 -8.21316305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.497628000000006 meters 0.014062091675004681 Centerline is valid? [True, True] Translation: X:45.23, Y:-9.89, Z:-0.08 [[ 9.40332704e-01 3.40256344e-01 -1.63767355e-04 4.52336833e+01] [-3.40256338e-01 9.40332718e-01 6.21418699e-05 -9.88906021e+00] [ 1.75139968e-04 -2.71115204e-06 9.99999985e-01 -8.26065360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52762800000001 meters 0.013809596203790395 Centerline is valid? [True, True] Translation: X:45.26, Y:-9.90, Z:-0.08 [[ 9.40810877e-01 3.38931978e-01 8.45747543e-05 4.52639123e+01] [-3.38931977e-01 9.40810881e-01 -3.15610267e-05 -9.90017393e+00] [-9.02658903e-05 1.02786858e-06 9.99999996e-01 -8.24901608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55762800000001 meters 0.01454450076739015 Centerline is valid? [True, True] Translation: X:45.29, Y:-9.91, Z:-0.08 [[ 9.41173860e-01 3.37922644e-01 2.27312010e-04 4.52916670e+01] [-3.37922633e-01 9.41173888e-01 -8.55502788e-05 -9.91348565e+00] [-2.42849504e-04 3.70381340e-06 9.99999971e-01 -8.25149846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.587628 meters 0.0142961085019482 Centerline is valid? [True, True] Translation: X:45.32, Y:-9.92, Z:-0.08 [[ 9.41689429e-01 3.36483313e-01 -1.02114049e-05 4.53216427e+01] [-3.36483313e-01 9.41689429e-01 4.23981982e-06 -9.92456382e+00] [ 1.10426007e-05 -5.56626133e-07 1.00000000e+00 -8.19568797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.617628 meters 0.01453028076745696 Centerline is valid? [True, True] Translation: X:45.35, Y:-9.94, Z:-0.08 [[ 9.41722118e-01 3.36391703e-01 2.72300942e-04 4.53514599e+01] [-3.36391688e-01 9.41722158e-01 -1.02759724e-04 -9.93600599e+00] [-2.90999349e-04 5.17133122e-06 9.99999958e-01 -8.24541532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.647628000000005 meters 0.014685109311439034 Centerline is valid? [True, True] Translation: X:45.38, Y:-9.95, Z:-0.08 [[ 9.41702681e-01 3.36445993e-01 3.93219336e-04 4.53822486e+01] [-3.36445960e-01 9.41702763e-01 -1.48481023e-04 -9.94738215e+00] [-4.20251581e-04 7.52792021e-06 9.99999912e-01 -8.26987409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677628000000006 meters 0.01466863910211984 Centerline is valid? [True, True] Translation: X:45.41, Y:-9.96, Z:-0.08 [[ 9.41715374e-01 3.36410370e-01 4.65743116e-04 4.54129605e+01] [-3.36410324e-01 9.41715489e-01 -1.76091422e-04 -9.95861336e+00] [-4.97836487e-04 9.14720686e-06 9.99999876e-01 -8.31958677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70762800000001 meters 0.014520725323466162 Centerline is valid? [True, True] Translation: X:45.44, Y:-9.97, Z:-0.08 [[ 9.41611672e-01 3.36700845e-01 1.04501723e-05 4.54444196e+01] [-3.36700845e-01 9.41611672e-01 -3.53416370e-06 -9.96925281e+00] [-1.10299601e-05 -1.90772058e-07 1.00000000e+00 -8.36894727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73762800000001 meters 0.014562751880056575 Centerline is valid? [True, True] Translation: X:45.48, Y:-9.98, Z:-0.08 [[ 9.41409952e-01 3.37264304e-01 -3.02002560e-04 4.54752811e+01] [-3.37264284e-01 9.41410001e-01 1.15080369e-04 -9.98050970e+00] [ 3.23120731e-04 -6.48312756e-06 9.99999948e-01 -8.38706784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76762800000001 meters 0.014540728204474844 Centerline is valid? [True, True] Translation: X:45.51, Y:-9.99, Z:-0.08 [[ 9.41287232e-01 3.37606470e-01 -4.66872605e-04 4.55063807e+01] [-3.37606424e-01 9.41287348e-01 1.77820415e-04 -9.99170664e+00] [ 4.99494599e-04 -9.76089547e-06 9.99999875e-01 -8.38970979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.797628 meters 0.014221942757238598 Centerline is valid? [True, True] Translation: X:45.54, Y:-10.00, Z:-0.08 [[ 9.41049202e-01 3.38269585e-01 -2.94710957e-04 4.55374855e+01] [-3.38269567e-01 9.41049248e-01 1.12506455e-04 -1.00012867e+01] [ 3.15395037e-04 -6.18236176e-06 9.99999950e-01 -8.34075622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.827628000000004 meters 0.016541446815673457 Centerline is valid? [True, True] Translation: X:45.57, Y:-10.01, Z:-0.08 [[ 9.41095142e-01 3.38140040e-01 -1.11679720e-03 4.55685787e+01] [-3.38139773e-01 9.41095804e-01 4.25493393e-04 -1.00125923e+01] [ 1.19488951e-03 -2.27962113e-05 9.99999286e-01 -8.48025578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.857628000000005 meters 0.014372731132892702 Centerline is valid? [True, True] Translation: X:45.60, Y:-10.02, Z:-0.08 [[ 9.40898593e-01 3.38688335e-01 2.22781172e-04 4.55993382e+01] [-3.38688324e-01 9.40898619e-01 -8.44812275e-05 -1.00230896e+01] [-2.38227303e-04 4.03488642e-06 9.99999972e-01 -8.26430418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88762800000001 meters 0.014480819390714737 Centerline is valid? [True, True] Translation: X:45.63, Y:-10.03, Z:-0.08 [[ 9.40873581e-01 3.38757859e-01 -1.34086284e-04 4.56311629e+01] [-3.38757855e-01 9.40873590e-01 5.15400320e-05 -1.00331361e+01] [ 1.43617834e-04 -3.06987242e-06 9.99999990e-01 -8.31877557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91762800000001 meters 0.014195098920206761 Centerline is valid? [True, True] Translation: X:45.66, Y:-10.04, Z:-0.08 [[ 9.40784584e-01 3.39004280e-01 -6.82032446e-04 4.56626442e+01] [-3.39004180e-01 9.40784831e-01 2.60649213e-04 -1.00436191e+01] [ 7.30006978e-04 -1.40029111e-05 9.99999733e-01 -8.38322763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94762800000001 meters 0.014256559550867685 Centerline is valid? [True, True] Translation: X:45.69, Y:-10.05, Z:-0.08 [[ 9.40618536e-01 3.39463294e-01 -1.20098037e-03 4.56926207e+01] [-3.39462985e-01 9.40619302e-01 4.58976559e-04 -1.00547127e+01] [ 1.28547101e-03 -2.40334772e-05 9.99999173e-01 -8.45314403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.977628 meters 0.014005209115233555 Centerline is valid? [True, True] Translation: X:45.72, Y:-10.07, Z:-0.08 [[ 9.40063197e-01 3.40997653e-01 -1.33652111e-03 4.57227778e+01] [-3.40997271e-01 9.40064147e-01 5.11076588e-04 -1.00653971e+01] [ 1.43069149e-03 -2.46942403e-05 9.99998976e-01 -8.40952470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.007628000000004 meters 0.014296860799801362 Centerline is valid? [True, True] Translation: X:45.75, Y:-10.08, Z:-0.08 [[ 9.39657291e-01 3.42115475e-01 -1.08517690e-03 4.57513738e+01] [-3.42115223e-01 9.39657917e-01 4.15286177e-04 -1.00769078e+01] [ 1.16177090e-03 -1.89711453e-05 9.99999325e-01 -8.39945427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.037628000000005 meters 0.013796870915953217 Centerline is valid? [True, True] Translation: X:45.78, Y:-10.09, Z:-0.08 [[ 9.39372235e-01 3.42898339e-01 -7.29972153e-04 4.57824399e+01] [-3.42898225e-01 9.39372519e-01 2.79324769e-04 -1.00870008e+01] [ 7.81495779e-04 -1.20837767e-05 9.99999695e-01 -8.41339124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.067628000000006 meters 0.013311382641975459 Centerline is valid? [True, True] Translation: X:45.81, Y:-10.10, Z:-0.08 [[ 9.38538113e-01 3.45175067e-01 -6.20120530e-04 4.58126828e+01] [-3.45174985e-01 9.38538317e-01 2.37723083e-04 -1.00980300e+01] [ 6.64062960e-04 -9.06207894e-06 9.99999779e-01 -8.35644230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09762800000001 meters 0.012992709690796342 Centerline is valid? [True, True] Translation: X:45.84, Y:-10.11, Z:-0.08 [[ 9.37994444e-01 3.46648668e-01 -1.06040757e-03 4.58427373e+01] [-3.46648430e-01 9.37995043e-01 4.06541839e-04 -1.01092958e+01] [ 1.13558423e-03 -1.37453685e-05 9.99999355e-01 -8.35704922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.12762800000001 meters 0.012861800263901822 Centerline is valid? [True, True] Translation: X:45.87, Y:-10.12, Z:-0.08 [[ 9.37253867e-01 3.48645172e-01 -1.31657205e-03 4.58717253e+01] [-3.48644806e-01 9.37254791e-01 5.04971154e-04 -1.01205142e+01] [ 1.41001922e-03 -1.42701596e-05 9.99999006e-01 -8.35376444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.157628 meters 0.012553254612882783 Centerline is valid? [True, True] Translation: X:45.90, Y:-10.13, Z:-0.08 [[ 9.36307877e-01 3.51176765e-01 -1.56213191e-03 4.59021589e+01] [-3.51176253e-01 9.36309180e-01 5.99544284e-04 -1.01313346e+01] [ 1.67318447e-03 -1.27744033e-05 9.99998600e-01 -8.35133804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.187628000000004 meters 0.012136595163940203 Centerline is valid? [True, True] Translation: X:45.93, Y:-10.14, Z:-0.08 [[ 9.34473784e-01 3.56020876e-01 -2.80756298e-03 4.59330581e+01] [-3.56019244e-01 9.34478002e-01 1.07801372e-03 -1.01404440e+01] [ 3.00740124e-03 -7.82910836e-06 9.99995478e-01 -8.47877125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.217628000000005 meters 0.012154226087557141 Centerline is valid? [True, True] Translation: X:45.96, Y:-10.15, Z:-0.09 [[ 9.33383643e-01 3.58866890e-01 -3.08727935e-03 4.59628986e+01] [-3.58864929e-01 9.33388748e-01 1.18630507e-03 -1.01504873e+01] [ 3.30735742e-03 6.38533407e-07 9.99994531e-01 -8.53063557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.247628000000006 meters 0.012194516955703547 Centerline is valid? [True, True] Translation: X:45.99, Y:-10.16, Z:-0.09 [[ 9.32352175e-01 3.61534148e-01 -3.53296171e-03 4.59939768e+01] [-3.61531596e-01 9.32358868e-01 1.35862352e-03 -1.01612585e+01] [ 3.78517698e-03 1.05616895e-05 9.99992836e-01 -8.55110909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27762800000001 meters 0.012558297907821397 Centerline is valid? [True, True] Translation: X:46.02, Y:-10.17, Z:-0.09 [[ 9.30664168e-01 3.65852223e-01 -4.04438003e-03 4.60232054e+01] [-3.65848916e-01 9.30672955e-01 1.55596188e-03 -1.01704767e+01] [ 4.33324723e-03 3.15540757e-05 9.99990611e-01 -8.62404892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30762800000001 meters 0.012876022769714696 Centerline is valid? [True, True] Translation: X:46.05, Y:-10.18, Z:-0.09 [[ 9.29943814e-01 3.67680473e-01 -3.94624135e-03 4.60535863e+01] [-3.67677336e-01 9.29952186e-01 1.51934774e-03 -1.01821688e+01] [ 4.22845027e-03 3.80354757e-05 9.99991059e-01 -8.60242425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.337628 meters 0.0129798525309 Centerline is valid? [True, True] Translation: X:46.08, Y:-10.19, Z:-0.09 [[ 9.29259492e-01 3.69407493e-01 -3.86015858e-03 4.60829880e+01] [-3.69404501e-01 9.29267509e-01 1.48729975e-03 -1.01948544e+01] [ 4.13653961e-03 4.38725417e-05 9.99991444e-01 -8.50400253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.367628 meters 0.013260216802043468 Centerline is valid? [True, True] Translation: X:46.11, Y:-10.21, Z:-0.08 [[ 9.28294678e-01 3.71828913e-01 -3.50005467e-03 4.61117581e+01] [-3.71826467e-01 9.28301275e-01 1.34959264e-03 -1.02083797e+01] [ 3.75092277e-03 4.85932958e-05 9.99992964e-01 -8.34773401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.397628000000005 meters 0.013559330359180817 Centerline is valid? [True, True] Translation: X:46.14, Y:-10.22, Z:-0.08 [[ 9.27988412e-01 3.72592851e-01 -3.47480328e-03 4.61414624e+01] [-3.72590441e-01 9.27994917e-01 1.34093665e-03 -1.02199331e+01] [ 3.72422319e-03 5.03048168e-05 9.99993064e-01 -8.35646496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.427628000000006 meters 0.013480389670066015 Centerline is valid? [True, True] Translation: X:46.17, Y:-10.23, Z:-0.08 [[ 9.28181575e-01 3.72100255e-01 -4.51264603e-03 4.61718143e+01] [-3.72096179e-01 9.28192543e-01 1.74276725e-03 -1.02334537e+01] [ 4.83708853e-03 6.15338897e-05 9.99988299e-01 -8.45910681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45762800000001 meters 0.013007533819135535 Centerline is valid? [True, True] Translation: X:46.20, Y:-10.25, Z:-0.08 [[ 9.28549309e-01 3.71172702e-01 -5.19673427e-03 4.62009276e+01] [-3.71167274e-01 9.28563849e-01 2.00833509e-03 -1.02464145e+01] [ 5.57093874e-03 6.40195328e-05 9.99984480e-01 -8.47156454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48762800000001 meters 0.012925184676082158 Centerline is valid? [True, True] Translation: X:46.23, Y:-10.26, Z:-0.09 [[ 9.29020039e-01 3.69974559e-01 -6.37121377e-03 4.62303608e+01] [-3.69966359e-01 9.29041884e-01 2.46410148e-03 -1.02579179e+01] [ 6.83077930e-03 6.79351064e-05 9.99976668e-01 -8.63307069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51762800000001 meters 0.012513951078965798 Centerline is valid? [True, True] Translation: X:46.26, Y:-10.27, Z:-0.09 [[ 9.30252010e-01 3.66812124e-01 -8.94778527e-03 4.62606511e+01] [-3.66795779e-01 9.30295040e-01 3.46332450e-03 -1.02697972e+01] [ 9.59446968e-03 6.02452942e-05 9.99953970e-01 -8.87945841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.547628 meters 0.012469411329206294 Centerline is valid? [True, True] Translation: X:46.29, Y:-10.28, Z:-0.09 [[ 9.30902834e-01 3.65123635e-01 -1.02296305e-02 4.62912285e+01] [-3.65102134e-01 9.30959037e-01 3.96268204e-03 -1.02820365e+01] [ 1.09702358e-02 4.59879668e-05 9.99939824e-01 -8.97108265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.577628000000004 meters 0.012403748660718377 Centerline is valid? [True, True] Translation: X:46.32, Y:-10.29, Z:-0.09 [[ 9.31441044e-01 3.63725715e-01 -1.10084716e-02 4.63216883e+01] [-3.63700675e-01 9.31506094e-01 4.26793053e-03 -1.02946267e+01] [ 1.18068145e-02 2.84628820e-05 9.99930297e-01 -8.92773719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.607628000000005 meters 0.012403748660718377 Centerline is valid? [True, True] Translation: X:46.35, Y:-10.31, Z:-0.09 [[ 9.31338354e-01 3.63988612e-01 -1.10072666e-02 4.63518716e+01] [-3.63963554e-01 9.31403398e-01 4.27103760e-03 -1.03064037e+01] [ 1.18068145e-02 2.84627372e-05 9.99930297e-01 -8.93237697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63762800000001 meters 0.012393825711010475 Centerline is valid? [True, True] Translation: X:46.38, Y:-10.32, Z:-0.09 [[ 9.32046491e-01 3.62160168e-01 -1.13732406e-02 4.63813625e+01] [-3.62133239e-01 9.32115879e-01 4.41643575e-03 -1.03187001e+01] [ 1.22006353e-02 2.30501929e-06 9.99925569e-01 -8.95226236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66762800000001 meters 0.012414898635480426 Centerline is valid? [True, True] Translation: X:46.41, Y:-10.33, Z:-0.09 [[ 9.33289171e-01 3.58954335e-01 -1.10954244e-02 4.64111815e+01] [-3.58928434e-01 9.33355122e-01 4.31223358e-03 -1.03332454e+01] [ 1.19038661e-02 -4.20976116e-05 9.99929146e-01 -8.68974065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69762800000001 meters 0.012629938781133146 Centerline is valid? [True, True] Translation: X:46.44, Y:-10.35, Z:-0.09 [[ 9.33900446e-01 3.57377749e-01 -1.05404414e-02 4.64403867e+01] [-3.57354238e-01 9.33959925e-01 4.09974138e-03 -1.03466693e+01] [ 1.13095062e-02 -6.20788920e-05 9.99936044e-01 -8.66861839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.727628 meters 0.01271570090413925 Centerline is valid? [True, True] Translation: X:46.47, Y:-10.36, Z:-0.09 [[ 9.34508004e-01 3.55793431e-01 -1.02870783e-02 4.64708322e+01] [-3.55770904e-01 9.34564619e-01 4.00456320e-03 -1.03599347e+01] [ 1.10387367e-02 -8.24532066e-05 9.99939068e-01 -8.53549547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.757628000000004 meters 0.012957582375190378 Centerline is valid? [True, True] Translation: X:46.50, Y:-10.37, Z:-0.08 [[ 9.35234850e-01 3.53904777e-01 -9.33729036e-03 4.65012431e+01] [-3.53886093e-01 9.35281455e-01 3.63789570e-03 -1.03727578e+01] [ 1.00204632e-02 -9.79496393e-05 9.99949789e-01 -8.49698133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.787628000000005 meters 0.013649420747028821 Centerline is valid? [True, True] Translation: X:46.53, Y:-10.39, Z:-0.08 [[ 9.36650452e-01 3.50184762e-01 -7.52087456e-03 4.65308510e+01] [-3.50172502e-01 9.36680639e-01 2.93235027e-03 -1.03857531e+01] [ 8.07152197e-03 -1.12983737e-04 9.99967418e-01 -8.48742163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.817628000000006 meters 0.0138520180433207 Centerline is valid? [True, True] Translation: X:46.56, Y:-10.40, Z:-0.08 [[ 9.37247960e-01 3.48589259e-01 -7.19651674e-03 4.65606123e+01] [-3.48577971e-01 9.37275580e-01 2.80794360e-03 -1.03978367e+01] [ 7.72393838e-03 -1.23192211e-04 9.99970162e-01 -8.45382436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84762800000001 meters 0.01448936249310101 Centerline is valid? [True, True] Translation: X:46.59, Y:-10.41, Z:-0.08 [[ 9.37847115e-01 3.46982598e-01 -6.77246432e-03 4.65895207e+01] [-3.46972546e-01 9.37871558e-01 2.64425148e-03 -1.04104725e+01] [ 7.26921091e-03 -1.30044434e-04 9.99973570e-01 -8.40911796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87762800000001 meters 0.014886026157481804 Centerline is valid? [True, True] Translation: X:46.62, Y:-10.42, Z:-0.08 [[ 9.38842860e-01 3.44294714e-01 -5.93583762e-03 4.66193306e+01] [-3.44286928e-01 9.38861615e-01 2.31934697e-03 -1.04234648e+01] [ 6.37146899e-03 -1.33871046e-04 9.99979693e-01 -8.19775507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.907628 meters 0.015311789208678959 Centerline is valid? [True, True] Translation: X:46.65, Y:-10.44, Z:-0.08 [[ 9.39047566e-01 3.43730123e-01 -6.26669502e-03 4.66488330e+01] [-3.43721421e-01 9.39068464e-01 2.45035915e-03 -1.04356241e+01] [ 6.72711793e-03 -1.47006482e-04 9.99977362e-01 -8.16422337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.937628000000004 meters 0.0155580403418986 Centerline is valid? [True, True] Translation: X:46.68, Y:-10.45, Z:-0.08 [[ 9.39191803e-01 3.43335087e-01 -6.30677814e-03 4.66790125e+01] [-3.43326252e-01 9.39212966e-01 2.46779619e-03 -1.04469216e+01] [ 6.77068882e-03 -1.52451458e-04 9.99977067e-01 -8.21724913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.967628000000005 meters 0.016025245112642958 Centerline is valid? [True, True] Translation: X:46.71, Y:-10.46, Z:-0.08 [[ 9.39182844e-01 3.43351029e-01 -6.75690722e-03 4.67084114e+01] [-3.43340880e-01 9.39207136e-01 2.64498016e-03 -1.04580929e+01] [ 7.25429214e-03 -1.64197521e-04 9.99973674e-01 -8.30514516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.997628000000006 meters 0.016115564814071424 Centerline is valid? [True, True] Translation: X:46.74, Y:-10.47, Z:-0.09 [[ 9.38901160e-01 3.44092025e-01 -8.08027386e-03 4.67393637e+01] [-3.44077517e-01 9.38935909e-01 3.16548397e-03 -1.04668799e+01] [ 8.67607707e-03 -1.91836005e-04 9.99962344e-01 -8.54723994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02762800000001 meters 0.016098744193959447 Centerline is valid? [True, True] Translation: X:46.77, Y:-10.48, Z:-0.09 [[ 9.38582630e-01 3.44945696e-01 -8.66676590e-03 4.67702513e+01] [-3.44929018e-01 9.38622622e-01 3.39792745e-03 -1.04776992e+01] [ 9.30692299e-03 -1.99816632e-04 9.99956670e-01 -8.65297891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05762800000001 meters 0.01629521059159622 Centerline is valid? [True, True] Translation: X:46.80, Y:-10.49, Z:-0.09 [[ 9.38322339e-01 3.45638006e-01 -9.24969757e-03 4.68002765e+01] [-3.45619026e-01 9.38367905e-01 3.62807516e-03 -1.04887478e+01] [ 9.93361999e-03 -2.07432509e-04 9.99950639e-01 -8.70595561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.087628 meters 0.016004980468659905 Centerline is valid? [True, True] Translation: X:46.83, Y:-10.50, Z:-0.09 [[ 9.37865124e-01 3.46868654e-01 -9.54705584e-03 4.68306252e+01] [-3.46848471e-01 9.37913693e-01 3.74734267e-03 -1.04991076e+01] [ 1.02541501e-02 -2.03120282e-04 9.99947404e-01 -8.64242798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.117628 meters 0.01561150065896555 Centerline is valid? [True, True] Translation: X:46.86, Y:-10.51, Z:-0.09 [[ 9.37647640e-01 3.47453453e-01 -9.64371288e-03 4.68621312e+01] [-3.47432859e-01 9.37697210e-01 3.78830941e-03 -1.05102279e+01] [ 1.03591438e-02 -2.01556647e-04 9.99946322e-01 -8.54890985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.147628000000005 meters 0.014299450543006713 Centerline is valid? [True, True] Translation: X:46.89, Y:-10.52, Z:-0.08 [[ 9.36867954e-01 3.49576694e-01 -8.63546151e-03 4.68936133e+01] [-3.49560249e-01 9.36907738e-01 3.39466549e-03 -1.05177733e+01] [ 9.27732665e-03 -1.61739239e-04 9.99956952e-01 -8.32553231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177628000000006 meters 0.015018725385701596 Centerline is valid? [True, True] Translation: X:46.92, Y:-10.53, Z:-0.08 [[ 9.36274588e-01 3.51176909e-01 -8.04207941e-03 4.69227322e+01] [-3.51162687e-01 9.36309116e-01 3.16347744e-03 -1.05290710e+01] [ 8.64081249e-03 -1.37805320e-04 9.99962658e-01 -8.44701906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20762800000001 meters 0.013515427813944138 Centerline is valid? [True, True] Translation: X:46.95, Y:-10.54, Z:-0.08 [[ 9.35635897e-01 3.52896237e-01 -7.05084083e-03 4.69541016e+01] [-3.52885339e-01 9.35662457e-01 2.77561956e-03 -1.05368248e+01] [ 7.57671276e-03 -1.08830937e-04 9.99971290e-01 -8.26718916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23762800000001 meters 0.012803716808965925 Centerline is valid? [True, True] Translation: X:46.98, Y:-10.55, Z:-0.08 [[ 9.34141974e-01 3.56846360e-01 -6.28081536e-03 4.69847415e+01] [-3.56837788e-01 9.34163086e-01 2.47432557e-03 -1.05459774e+01] [ 6.75025993e-03 -7.01391071e-05 9.99977214e-01 -8.12685805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26762800000001 meters 0.012709413915997815 Centerline is valid? [True, True] Translation: X:47.01, Y:-10.56, Z:-0.08 [[ 9.33425143e-01 3.58718551e-01 -6.20509691e-03 4.70142986e+01] [-3.58710215e-01 9.33445766e-01 2.44610142e-03 -1.05568372e+01] [ 6.66958339e-03 -5.74209179e-05 9.99977756e-01 -8.17832899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.297628 meters 0.012509786272430226 Centerline is valid? [True, True] Translation: X:47.04, Y:-10.57, Z:-0.08 [[ 9.32693584e-01 3.60610841e-01 -6.51911265e-03 4.70448522e+01] [-3.60601674e-01 9.32716366e-01 2.57173907e-03 -1.05669238e+01] [ 7.00788005e-03 -4.78415950e-05 9.99975443e-01 -8.17045047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.327628000000004 meters 0.012137475537520016 Centerline is valid? [True, True] Translation: X:47.08, Y:-10.58, Z:-0.08 [[ 9.31339356e-01 3.64096032e-01 -6.40963343e-03 4.70755173e+01] [-3.64087240e-01 9.31361411e-01 2.53035209e-03 -1.05753926e+01] [ 6.89097640e-03 -2.29507417e-05 9.99976257e-01 -8.29450295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.357628000000005 meters 0.012172141873153002 Centerline is valid? [True, True] Translation: X:47.11, Y:-10.59, Z:-0.08 [[ 9.30598632e-01 3.65989442e-01 -6.15747718e-03 4.71062926e+01] [-3.65981356e-01 9.30619003e-01 2.43284826e-03 -1.05863298e+01] [ 6.62066205e-03 -1.04834137e-05 9.99978083e-01 -8.32011961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38762800000001 meters 0.012086931919186453 Centerline is valid? [True, True] Translation: X:47.14, Y:-10.60, Z:-0.08 [[ 9.29754898e-01 3.68133973e-01 -5.76254490e-03 4.71362106e+01] [-3.68126922e-01 9.29772756e-01 2.27852447e-03 -1.05972703e+01] [ 6.19665952e-03 2.87862471e-06 9.99980801e-01 -8.31651039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41762800000001 meters 0.012073250248078194 Centerline is valid? [True, True] Translation: X:47.17, Y:-10.61, Z:-0.08 [[ 9.29035227e-01 3.69953773e-01 -5.26809882e-03 4.71669641e+01] [-3.69947898e-01 9.29050163e-01 2.08479856e-03 -1.06086763e+01] [ 5.66560716e-03 1.20707815e-05 9.99983950e-01 -8.24776026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44762800000001 meters 0.012360440506493387 Centerline is valid? [True, True] Translation: X:47.20, Y:-10.62, Z:-0.08 [[ 9.27583341e-01 3.73568201e-01 -5.99529534e-03 4.71974950e+01] [-3.73560659e-01 9.27602715e-01 2.37416189e-03 -1.06198172e+01] [ 6.44816362e-03 3.73734585e-05 9.99979210e-01 -8.34081825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.477628 meters 0.012621478228456136 Centerline is valid? [True, True] Translation: X:47.23, Y:-10.63, Z:-0.08 [[ 9.26965639e-01 3.75089381e-01 -6.53157516e-03 4.72267905e+01] [-3.75080455e-01 9.26988648e-01 2.58816999e-03 -1.06305093e+01] [ 7.02549111e-03 5.07215281e-05 9.99975320e-01 -8.48636240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.507628000000004 meters 0.012666315649852657 Centerline is valid? [True, True] Translation: X:47.26, Y:-10.64, Z:-0.09 [[ 9.26234132e-01 3.76876121e-01 -7.39749362e-03 4.72562574e+01] [-3.76864711e-01 9.26263669e-01 2.93340456e-03 -1.06423835e+01] [ 7.95755972e-03 7.08348692e-05 9.99968336e-01 -8.52414457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.537628000000005 meters 0.012998198749829094 Centerline is valid? [True, True] Translation: X:47.29, Y:-10.65, Z:-0.09 [[ 9.25879980e-01 3.77724676e-01 -8.38637819e-03 4.72852583e+01] [-3.77710028e-01 9.25917956e-01 3.32767435e-03 -1.06538201e+01] [ 9.02204287e-03 8.65920827e-05 9.99959297e-01 -8.70023915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.567628000000006 meters 0.012954063007253068 Centerline is valid? [True, True] Translation: X:47.31, Y:-10.67, Z:-0.09 [[ 9.25651600e-01 3.78243131e-01 -1.00622963e-02 4.73133964e+01] [-3.78222043e-01 9.25706283e-01 3.99552544e-03 -1.06687713e+01] [ 1.08260109e-02 1.07317731e-04 9.99941391e-01 -8.77640842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59762800000001 meters 0.012953479885696216 Centerline is valid? [True, True] Translation: X:47.34, Y:-10.68, Z:-0.09 [[ 9.25732524e-01 3.78045049e-01 -1.00615476e-02 4.73424263e+01] [-3.78023918e-01 9.25787195e-01 3.99835263e-03 -1.06821268e+01] [ 1.08264093e-02 1.02100550e-04 9.99941388e-01 -8.77165677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62762800000001 meters 0.012777106087741276 Centerline is valid? [True, True] Translation: X:47.37, Y:-10.70, Z:-0.09 [[ 9.26182445e-01 3.76966740e-01 -9.06398755e-03 4.73707419e+01] [-3.76949515e-01 9.26226792e-01 3.60451806e-03 -1.06974234e+01] [ 9.75409153e-03 7.82243650e-05 9.99952425e-01 -8.66379549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.657628 meters 0.01251802259650535 Centerline is valid? [True, True] Translation: X:47.40, Y:-10.71, Z:-0.09 [[ 9.26553475e-01 3.76071972e-01 -8.27824082e-03 4.73997159e+01] [-3.76057546e-01 9.26590453e-01 3.29449229e-03 -1.07117170e+01] [ 8.90950513e-03 6.05716504e-05 9.99960308e-01 -8.54495822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.687628000000004 meters 0.012457439702772296 Centerline is valid? [True, True] Translation: X:47.43, Y:-10.73, Z:-0.08 [[ 9.26869582e-01 3.75302866e-01 -7.78047840e-03 4.74272099e+01] [-3.75290079e-01 9.26902237e-01 3.09847993e-03 -1.07255278e+01] [ 8.37461123e-03 4.80495494e-05 9.99964931e-01 -8.47902116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.717628000000005 meters 0.012229435931929152 Centerline is valid? [True, True] Translation: X:47.46, Y:-10.74, Z:-0.08 [[ 9.28303447e-01 3.71761632e-01 -6.78225697e-03 4.74554152e+01] [-3.71751814e-01 9.28328223e-01 2.70189504e-03 -1.07429562e+01] [ 7.30062147e-03 1.31378453e-05 9.99973350e-01 -8.36031626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.747628000000006 meters 0.012285172787705233 Centerline is valid? [True, True] Translation: X:47.48, Y:-10.76, Z:-0.08 [[ 9.29021595e-01 3.69971283e-01 -6.33449609e-03 4.74847530e+01] [-3.69962661e-01 9.29043191e-01 2.52582166e-03 -1.07573569e+01] [ 6.81950193e-03 -3.01583918e-06 9.99976747e-01 -8.37733865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77762800000001 meters 0.012424383298424175 Centerline is valid? [True, True] Translation: X:47.51, Y:-10.77, Z:-0.08 [[ 9.29918148e-01 3.67716842e-01 -6.04663158e-03 4.75134176e+01] [-3.67708926e-01 9.29937806e-01 2.41286140e-03 -1.07719094e+01] [ 6.51024108e-03 -2.03632029e-05 9.99978808e-01 -8.42017055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80762800000001 meters 0.012425503645431334 Centerline is valid? [True, True] Translation: X:47.54, Y:-10.78, Z:-0.08 [[ 9.30595597e-01 3.66008389e-01 -5.44922948e-03 4.75433594e+01] [-3.66001920e-01 9.30611551e-01 2.17631105e-03 -1.07847113e+01] [ 5.86766400e-03 -3.08370318e-05 9.99982785e-01 -8.33597363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.837628 meters 0.01263769993069249 Centerline is valid? [True, True] Translation: X:47.57, Y:-10.80, Z:-0.08 [[ 9.31065047e-01 3.64807093e-01 -5.80206325e-03 4.75733790e+01] [-3.64799724e-01 9.31083124e-01 2.31911078e-03 -1.07977032e+01] [ 6.24823124e-03 -4.26519133e-05 9.99980479e-01 -8.31209345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.867628 meters 0.012898350106442885 Centerline is valid? [True, True] Translation: X:47.60, Y:-10.81, Z:-0.08 [[ 9.31377586e-01 3.63999038e-01 -6.36338966e-03 4.76019120e+01] [-3.63990150e-01 9.31399322e-01 2.54420840e-03 -1.08100900e+01] [ 6.85294623e-03 -5.34075249e-05 9.99976517e-01 -8.35780257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.897628000000005 meters 0.013438656973013554 Centerline is valid? [True, True] Translation: X:47.63, Y:-10.82, Z:-0.08 [[ 9.32623931e-01 3.60769799e-01 -7.59976491e-03 4.76312666e+01] [-3.60756996e-01 9.32654890e-01 3.04081980e-03 -1.08230825e+01] [ 8.18499385e-03 -9.42729569e-05 9.99966498e-01 -8.34466864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.927628000000006 meters 0.013787291390506119 Centerline is valid? [True, True] Translation: X:47.66, Y:-10.84, Z:-0.08 [[ 9.33547870e-01 3.58370816e-01 -7.66374327e-03 4.76603722e+01] [-3.58357698e-01 9.33579319e-01 3.06861516e-03 -1.08360540e+01] [ 8.25441434e-03 -1.18337754e-04 9.99965925e-01 -8.33991022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95762800000001 meters 0.014309040908088204 Centerline is valid? [True, True] Translation: X:47.69, Y:-10.85, Z:-0.08 [[ 9.34478820e-01 3.55938216e-01 -7.57104734e-03 4.76893993e+01] [-3.55925316e-01 9.34509479e-01 3.03367128e-03 -1.08489652e+01] [ 8.15501505e-03 -1.40174139e-04 9.99966737e-01 -8.33428716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98762800000001 meters 0.014957399638047394 Centerline is valid? [True, True] Translation: X:47.72, Y:-10.86, Z:-0.08 [[ 9.35299572e-01 3.53781635e-01 -7.29836834e-03 4.77179488e+01] [-3.53769566e-01 9.35328034e-01 2.92631936e-03 -1.08608709e+01] [ 7.86164656e-03 -1.55044641e-04 9.99969085e-01 -8.34213729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01762800000001 meters 0.016685156980603206 Centerline is valid? [True, True] Translation: X:47.75, Y:-10.87, Z:-0.08 [[ 9.37426523e-01 3.48122492e-01 -6.49949117e-03 4.77459820e+01] [-3.48112775e-01 9.37449037e-01 2.60747123e-03 -1.08734263e+01] [ 7.00066112e-03 -1.81756785e-04 9.99975479e-01 -8.41015900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.047628 meters 0.020011261638985624 Centerline is valid? [True, True] Translation: X:47.78, Y:-10.89, Z:-0.09 [[ 9.38801962e-01 3.44383291e-01 -7.14318259e-03 4.77750987e+01] [-3.44371442e-01 9.38829109e-01 2.86596173e-03 -1.08864775e+01] [ 7.69321708e-03 -2.30662407e-04 9.99970380e-01 -8.67173743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.077628000000004 meters 0.021573123534280456 Centerline is valid? [True, True] Translation: X:47.80, Y:-10.90, Z:-0.09 [[ 9.40070442e-01 3.40913597e-01 -6.74417568e-03 4.78039145e+01] [-3.40902943e-01 9.40094601e-01 2.70636724e-03 -1.08999219e+01] [ 7.26280054e-03 -2.45066507e-04 9.99973595e-01 -8.69098072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.107628000000005 meters 0.021907028765254417 Centerline is valid? [True, True] Translation: X:47.83, Y:-10.91, Z:-0.08 [[ 9.41940312e-01 3.35737304e-01 -5.37692242e-03 4.78309567e+01] [-3.35730439e-01 9.41955631e-01 2.15909332e-03 -1.09145737e+01] [ 5.78971052e-03 -2.28540513e-04 9.99983213e-01 -8.24813835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13762800000001 meters 0.02311827357583491 Centerline is valid? [True, True] Translation: X:47.86, Y:-10.93, Z:-0.08 [[ 9.42476018e-01 3.34246118e-01 -4.29992283e-03 4.78594663e+01] [-3.34241706e-01 9.42485807e-01 1.72780936e-03 -1.09274749e+01] [ 4.63012980e-03 -1.91205341e-04 9.99989263e-01 -8.13172720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16762800000001 meters 0.023480218475794568 Centerline is valid? [True, True] Translation: X:47.89, Y:-10.94, Z:-0.08 [[ 9.42715362e-01 3.33580482e-01 -3.43647530e-03 4.78898384e+01] [-3.33577656e-01 9.42721612e-01 1.38187566e-03 -1.09390711e+01] [ 3.70060628e-03 -1.56384033e-04 9.99993141e-01 -8.03590819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19762800000001 meters 0.01964875710326281 Centerline is valid? [True, True] Translation: X:47.92, Y:-10.94, Z:-0.08 [[ 9.42167959e-01 3.35135068e-01 -2.00606290e-03 4.79232744e+01] [-3.35134107e-01 9.42170090e-01 8.07428020e-04 -1.09417467e+01] [ 2.16064991e-03 -8.84327105e-05 9.99997662e-01 -7.93565728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.227628 meters 0.01895852387644738 Centerline is valid? [True, True] Translation: X:47.95, Y:-10.95, Z:-0.08 [[ 9.41412317e-01 3.37253756e-01 -1.65899732e-03 4.79546467e+01] [-3.37253101e-01 9.41413777e-01 6.68281881e-04 -1.09499843e+01] [ 1.78718351e-03 -6.96268025e-05 9.99998401e-01 -7.97241324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.257628000000004 meters 0.018520812616220034 Centerline is valid? [True, True] Translation: X:47.99, Y:-10.96, Z:-0.08 [[ 9.40501400e-01 3.39787226e-01 -1.32559629e-03 4.79851027e+01] [-3.39786811e-01 9.40502333e-01 5.33784587e-04 -1.09581950e+01] [ 1.42809959e-03 -5.16050148e-05 9.99998979e-01 -8.03403261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.287628000000005 meters 0.01777740607383895 Centerline is valid? [True, True] Translation: X:48.02, Y:-10.96, Z:-0.08 [[ 9.38080509e-01 3.46414327e-01 -1.43950469e-03 4.80150724e+01] [-3.46413845e-01 9.38081613e-01 5.79646560e-04 -1.09645002e+01] [ 1.55117075e-03 -4.50907868e-05 9.99998796e-01 -8.06401956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.317628000000006 meters 0.016427868229062774 Centerline is valid? [True, True] Translation: X:48.05, Y:-10.97, Z:-0.08 [[ 9.36740356e-01 3.50019878e-01 -1.89496871e-03 4.80461676e+01] [-3.50019050e-01 9.36742271e-01 7.63293919e-04 -1.09724345e+01] [ 2.04226534e-03 -5.17330691e-05 9.99997913e-01 -8.03035604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34762800000001 meters 0.015350082005393464 Centerline is valid? [True, True] Translation: X:48.08, Y:-10.98, Z:-0.08 [[ 9.35443131e-01 3.53468265e-01 -2.51682888e-03 4.80772459e+01] [-3.53466816e-01 9.35446515e-01 1.01386259e-03 -1.09802984e+01] [ 2.71272706e-03 -5.87953031e-05 9.99996319e-01 -8.07414612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37762800000001 meters 0.014075909157144895 Centerline is valid? [True, True] Translation: X:48.11, Y:-10.98, Z:-0.08 [[ 9.33141095e-01 3.59494113e-01 -3.41752310e-03 4.81087387e+01] [-3.59491481e-01 9.33147351e-01 1.37667916e-03 -1.09832707e+01] [ 3.68396068e-03 -5.60654551e-05 9.99993213e-01 -8.30695544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.407628 meters 0.013593197478624175 Centerline is valid? [True, True] Translation: X:48.14, Y:-10.99, Z:-0.08 [[ 9.31923107e-01 3.62634464e-01 -3.94557761e-03 4.81397750e+01] [-3.62630978e-01 9.31931458e-01 1.59084940e-03 -1.09910766e+01] [ 4.25390472e-03 -5.17606502e-05 9.99990951e-01 -8.42449694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.437628000000004 meters 0.013242862024064916 Centerline is valid? [True, True] Translation: X:48.17, Y:-11.00, Z:-0.08 [[ 9.30802288e-01 3.65499040e-01 -4.18959441e-03 4.81700532e+01] [-3.65495134e-01 9.30811716e-01 1.69027671e-03 -1.09997215e+01] [ 4.51751807e-03 -4.20370615e-05 9.99989795e-01 -8.49871323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.467628000000005 meters 0.012892039785479066 Centerline is valid? [True, True] Translation: X:48.20, Y:-11.01, Z:-0.09 [[ 9.29758194e-01 3.68144689e-01 -4.38040110e-03 4.82006728e+01] [-3.68140443e-01 9.29768513e-01 1.76850525e-03 -1.10088870e+01] [ 4.72382483e-03 -3.16794490e-05 9.99988842e-01 -8.52807354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.497628000000006 meters 0.012643638672165294 Centerline is valid? [True, True] Translation: X:48.23, Y:-11.02, Z:-0.09 [[ 9.28589441e-01 3.71077199e-01 -4.83350821e-03 4.82319935e+01] [-3.71072062e-01 9.28602020e-01 1.95279904e-03 -1.10178272e+01] [ 5.21304469e-03 -1.97687113e-05 9.99986412e-01 -8.50335607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52762800000001 meters 0.012643638672165294 Centerline is valid? [True, True] Translation: X:48.26, Y:-11.03, Z:-0.09 [[ 9.28484245e-01 3.71340341e-01 -4.83293546e-03 4.82620161e+01] [-3.71335199e-01 9.28496823e-01 1.95421624e-03 -1.10300278e+01] [ 5.21304455e-03 -1.98199389e-05 9.99986412e-01 -8.50799353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55762800000001 meters 0.012651879826102623 Centerline is valid? [True, True] Translation: X:48.29, Y:-11.04, Z:-0.09 [[ 9.28151066e-01 3.72167178e-01 -5.21449605e-03 4.82916161e+01] [-3.72161196e-01 9.28165713e-01 2.11003712e-03 -1.10410929e+01] [ 5.62520301e-03 -1.78001179e-05 9.99984178e-01 -8.63643373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.587628 meters 0.01268089200415717 Centerline is valid? [True, True] Translation: X:48.32, Y:-11.05, Z:-0.09 [[ 9.27781849e-01 3.73075411e-01 -5.96482612e-03 4.83225708e+01] [-3.73067592e-01 9.27801022e-01 2.41549747e-03 -1.10521664e+01] [ 6.43533449e-03 -1.57713906e-05 9.99979293e-01 -8.70435672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.617628 meters 0.012619897976404084 Centerline is valid? [True, True] Translation: X:48.35, Y:-11.06, Z:-0.09 [[ 9.27505155e-01 3.73763318e-01 -5.93046372e-03 4.83538660e+01] [-3.73755590e-01 9.27524114e-01 2.40350681e-03 -1.10634602e+01] [ 6.39899079e-03 -1.27209856e-05 9.99979526e-01 -8.72168145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.647628000000005 meters 0.012625355810841704 Centerline is valid? [True, True] Translation: X:48.38, Y:-11.07, Z:-0.09 [[ 9.26816853e-01 3.75485901e-01 -4.56711195e-03 4.83834418e+01] [-3.75481333e-01 9.26828106e-01 1.85216573e-03 -1.10740550e+01] [ 4.92838984e-03 -1.75312534e-06 9.99987855e-01 -8.63540029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677628000000006 meters 0.012603333831605735 Centerline is valid? [True, True] Translation: X:48.41, Y:-11.09, Z:-0.08 [[ 9.26379636e-01 3.76571065e-01 -3.87347395e-03 4.84139786e+01] [-3.76567783e-01 9.26387734e-01 1.57218050e-03 -1.10864711e+01] [ 4.18037644e-03 2.18950492e-06 9.99991262e-01 -8.49126882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70762800000001 meters 0.012614165204354657 Centerline is valid? [True, True] Translation: X:48.44, Y:-11.10, Z:-0.08 [[ 9.26017066e-01 3.77474926e-01 -2.25262998e-03 4.84440374e+01] [-3.77473816e-01 9.26019806e-01 9.15235647e-04 -1.10996362e+01] [ 2.43145849e-03 2.78500788e-06 9.99997044e-01 -8.23550938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73762800000001 meters 0.012686769131622326 Centerline is valid? [True, True] Translation: X:48.47, Y:-11.11, Z:-0.08 [[ 9.25958312e-01 3.77621208e-01 -1.85164705e-03 4.84739711e+01] [-3.77620457e-01 9.25960163e-01 7.53009968e-04 -1.11124078e+01] [ 1.99890393e-03 1.96396459e-06 9.99998002e-01 -8.17716958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76762800000001 meters 0.012651139001555959 Centerline is valid? [True, True] Translation: X:48.50, Y:-11.13, Z:-0.08 [[ 9.26045039e-01 3.77408611e-01 -1.82380354e-03 4.85039521e+01] [-3.77407881e-01 9.26046835e-01 7.42293461e-04 -1.11253395e+01] [ 1.96907544e-03 9.20652726e-07 9.99998061e-01 -8.22030138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.797628 meters 0.01258872719672203 Centerline is valid? [True, True] Translation: X:48.53, Y:-11.14, Z:-0.08 [[ 9.26131221e-01 3.77196065e-01 -2.02238061e-03 4.85329501e+01] [-3.77195166e-01 9.26133429e-01 8.23657447e-04 -1.11385975e+01] [ 2.18367464e-03 1.73135088e-08 9.99997616e-01 -8.21198400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.827628000000004 meters 0.012811298916067977 Centerline is valid? [True, True] Translation: X:48.56, Y:-11.15, Z:-0.08 [[ 9.26787669e-01 3.75576706e-01 -2.59889555e-03 4.85615115e+01] [-3.75575213e-01 9.26791313e-01 1.05923790e-03 -1.11544990e+01] [ 2.80645890e-03 -5.60787619e-06 9.99996062e-01 -8.25823268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857628000000005 meters 0.012952420067758933 Centerline is valid? [True, True] Translation: X:48.59, Y:-11.17, Z:-0.08 [[ 9.27134141e-01 3.74713885e-01 -3.43352280e-03 4.85898614e+01] [-3.74711271e-01 9.27140499e-01 1.39981093e-03 -1.11685395e+01] [ 3.70788664e-03 -1.12328091e-05 9.99993126e-01 -8.36500455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88762800000001 meters 0.012994141562435044 Centerline is valid? [True, True] Translation: X:48.62, Y:-11.18, Z:-0.08 [[ 9.27514110e-01 3.73760654e-01 -4.53316225e-03 4.86186155e+01] [-3.73756079e-01 9.27525187e-01 1.84953614e-03 -1.11829308e+01] [ 4.89590600e-03 -2.11739156e-05 9.99988015e-01 -8.46438220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91762800000001 meters 0.013147951239452095 Centerline is valid? [True, True] Translation: X:48.65, Y:-11.20, Z:-0.09 [[ 9.27952000e-01 3.72659018e-01 -5.50832264e-03 4.86472395e+01] [-3.72652234e-01 9.27968348e-01 2.24882225e-03 -1.11973055e+01] [ 5.94959296e-03 -3.41103708e-05 9.99982300e-01 -8.54376374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94762800000001 meters 0.013518756092868185 Centerline is valid? [True, True] Translation: X:48.67, Y:-11.21, Z:-0.09 [[ 9.29380554e-01 3.69056418e-01 -7.01046790e-03 4.86745414e+01] [-3.69045312e-01 9.29406991e-01 2.86404709e-03 -1.12144837e+01] [ 7.57257284e-03 -7.46093594e-05 9.99971325e-01 -8.57998719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.977628 meters 0.01385150544822861 Centerline is valid? [True, True] Translation: X:48.70, Y:-11.23, Z:-0.09 [[ 9.30176030e-01 3.67034814e-01 -7.61565243e-03 4.87030071e+01] [-3.67021622e-01 9.30207200e-01 3.11348077e-03 -1.12295403e+01] [ 8.22689056e-03 -1.00976072e-04 9.99966153e-01 -8.57888029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.007628000000004 meters 0.014802122041824309 Centerline is valid? [True, True] Translation: X:48.73, Y:-11.25, Z:-0.09 [[ 9.31945716e-01 3.62515915e-01 -7.70673714e-03 4.87292092e+01] [-3.62502234e-01 9.31977570e-01 3.15275676e-03 -1.12479729e+01] [ 8.32543065e-03 -1.44488732e-04 9.99965333e-01 -8.56462627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.037628000000005 meters 0.015273447835565045 Centerline is valid? [True, True] Translation: X:48.76, Y:-11.26, Z:-0.09 [[ 9.32739166e-01 3.60471412e-01 -7.61639025e-03 4.87577716e+01] [-3.60457964e-01 9.32770247e-01 3.11802353e-03 -1.12635820e+01] [ 8.22830056e-03 -1.62914146e-04 9.99966134e-01 -8.51982835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.067628000000006 meters 0.018850811331994115 Centerline is valid? [True, True] Translation: X:48.78, Y:-11.28, Z:-0.09 [[ 9.33737824e-01 3.57875600e-01 -7.66364182e-03 4.87847866e+01] [-3.57861879e-01 9.33769254e-01 3.13936838e-03 -1.12793997e+01] [ 8.27957645e-03 -1.88821735e-04 9.99965706e-01 -8.75812518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09762800000001 meters 0.01904365281898505 Centerline is valid? [True, True] Translation: X:48.81, Y:-11.30, Z:-0.08 [[ 9.34899705e-01 3.54872403e-01 -5.30280371e-03 4.88101394e+01] [-3.54865782e-01 9.34914731e-01 2.17298668e-03 -1.13006728e+01] [ 5.72880231e-03 -1.49741018e-04 9.99983579e-01 -8.31914867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12762800000001 meters 0.01768970438453874 Centerline is valid? [True, True] Translation: X:48.84, Y:-11.31, Z:-0.08 [[ 9.35493892e-01 3.53316402e-01 -4.32412494e-03 4.88395139e+01] [-3.53311976e-01 9.35503877e-01 1.77325974e-03 -1.13125108e+01] [ 4.67175739e-03 -1.31108526e-04 9.99989079e-01 -8.13241927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.157628 meters 0.018324237687085302 Centerline is valid? [True, True] Translation: X:48.87, Y:-11.33, Z:-0.08 [[ 9.36042158e-01 3.51872977e-01 -3.23836488e-03 4.88681024e+01] [-3.51870483e-01 9.36047754e-01 1.32902288e-03 -1.13274987e+01] [ 3.49891141e-03 -1.04536429e-04 9.99993873e-01 -8.05270011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.187628000000004 meters 0.01868347741175208 Centerline is valid? [True, True] Translation: X:48.90, Y:-11.34, Z:-0.08 [[ 9.37247724e-01 3.48658896e-01 -1.91772047e-03 4.88964207e+01] [-3.48658013e-01 9.37249684e-01 7.87670004e-04 -1.13421939e+01] [ 2.07201106e-03 -6.96133088e-05 9.99997851e-01 -7.98291053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.217628000000005 meters 0.01843083747443216 Centerline is valid? [True, True] Translation: X:48.93, Y:-11.35, Z:-0.08 [[ 9.37650153e-01 3.47575369e-01 -1.88511710e-03 4.89258543e+01] [-3.47574512e-01 9.37652045e-01 7.74863102e-04 -1.13545137e+01] [ 2.03690723e-03 -7.13318491e-05 9.99997923e-01 -8.03111604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.247628000000006 meters 0.01858115644332618 Centerline is valid? [True, True] Translation: X:48.95, Y:-11.37, Z:-0.08 [[ 9.37935791e-01 3.46801290e-01 -2.30596853e-03 4.89548583e+01] [-3.46800005e-01 9.37938621e-01 9.48436536e-04 -1.13673846e+01] [ 2.49177596e-03 -8.98626757e-05 9.99996891e-01 -8.05474987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27762800000001 meters 0.01906476402328084 Centerline is valid? [True, True] Translation: X:48.98, Y:-11.38, Z:-0.08 [[ 9.38092978e-01 3.46376387e-01 -2.22790886e-03 4.89835220e+01] [-3.46375185e-01 9.38095619e-01 9.16983976e-04 -1.13810712e+01] [ 2.40761314e-03 -8.85238841e-05 9.99997098e-01 -8.05446647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30762800000001 meters 0.019869519761338127 Centerline is valid? [True, True] Translation: X:49.01, Y:-11.39, Z:-0.08 [[ 9.38498992e-01 3.45275641e-01 -2.09120936e-03 4.90109277e+01] [-3.45274579e-01 9.38501318e-01 8.60695649e-04 -1.13948619e+01] [ 2.25977998e-03 -8.57205700e-05 9.99997443e-01 -7.92911651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33762800000001 meters 0.020400198837931833 Centerline is valid? [True, True] Translation: X:49.04, Y:-11.41, Z:-0.08 [[ 9.38569315e-01 3.45084649e-01 -2.05574670e-03 4.90399128e+01] [-3.45083620e-01 9.38571562e-01 8.46861248e-04 -1.14068661e+01] [ 2.22170421e-03 -8.54334669e-05 9.99997528e-01 -7.94387353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.367628 meters 0.020683739789195747 Centerline is valid? [True, True] Translation: X:49.07, Y:-11.42, Z:-0.08 [[ 9.38411772e-01 3.45514211e-01 -1.81005716e-03 4.90702444e+01] [-3.45513413e-01 9.38413515e-01 7.46348092e-04 -1.14186787e+01] [ 1.95645597e-03 -7.49828082e-05 9.99998083e-01 -7.98915236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.397628000000005 meters 0.02052573640554254 Centerline is valid? [True, True] Translation: X:49.10, Y:-11.43, Z:-0.08 [[ 9.38128619e-01 3.46281260e-01 -1.99566867e-03 4.91002211e+01] [-3.46280290e-01 9.38130739e-01 8.23345678e-04 -1.14291123e+01] [ 2.15730731e-03 -8.13434154e-05 9.99997670e-01 -8.02109318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.427628000000006 meters 0.019623276576389275 Centerline is valid? [True, True] Translation: X:49.13, Y:-11.44, Z:-0.08 [[ 9.36985752e-01 3.49357014e-01 -2.71603668e-03 4.91307490e+01] [-3.49355233e-01 9.36989683e-01 1.12028396e-03 -1.14383166e+01] [ 2.93627741e-03 -1.00828487e-04 9.99995684e-01 -8.09605967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45762800000001 meters 0.01805637948440934 Centerline is valid? [True, True] Translation: X:49.16, Y:-11.45, Z:-0.08 [[ 9.36196676e-01 3.51461301e-01 -3.27683999e-03 4.91615460e+01] [-3.51458716e-01 9.36202404e-01 1.35282292e-03 -1.14468761e+01] [ 3.54325038e-03 -1.14834344e-04 9.99993716e-01 -8.11292582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48762800000001 meters 0.016372547316077544 Centerline is valid? [True, True] Translation: X:49.19, Y:-11.45, Z:-0.08 [[ 9.34343394e-01 3.56353732e-01 -3.80011516e-03 4.91926761e+01] [-3.56350297e-01 9.34351115e-01 1.56862849e-03 -1.14533090e+01] [ 4.10962845e-03 -1.11465505e-04 9.99991549e-01 -8.17597819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51762800000001 meters 0.016580678203430125 Centerline is valid? [True, True] Translation: X:49.22, Y:-11.46, Z:-0.08 [[ 9.33388082e-01 3.58846304e-01 -4.00226603e-03 4.92220419e+01] [-3.58842513e-01 9.33396657e-01 1.65289546e-03 -1.14634880e+01] [ 4.32883716e-03 -1.06609727e-04 9.99990625e-01 -8.26881519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.547628 meters 0.015472256748120887 Centerline is valid? [True, True] Translation: X:49.25, Y:-11.47, Z:-0.08 [[ 9.32302171e-01 3.61656104e-01 -4.18612407e-03 4.92532759e+01] [-3.61651979e-01 9.32311564e-01 1.73017374e-03 -1.14716275e+01] [ 4.52849977e-03 -9.91246767e-05 9.99989741e-01 -8.36157203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.577628000000004 meters 0.014358429713984884 Centerline is valid? [True, True] Translation: X:49.28, Y:-11.48, Z:-0.09 [[ 9.30333474e-01 3.66684860e-01 -4.67336869e-03 4.92835358e+01] [-3.66679784e-01 9.30345208e-01 1.93125968e-03 -1.14778548e+01] [ 5.05600985e-03 -8.30857069e-05 9.99987215e-01 -8.51530352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.607628000000005 meters 0.013725014560019368 Centerline is valid? [True, True] Translation: X:49.31, Y:-11.49, Z:-0.08 [[ 9.29407440e-01 3.69023065e-01 -4.87724339e-03 4.93137258e+01] [-3.69017559e-01 9.29420234e-01 2.01727190e-03 -1.14880114e+01] [ 5.27742855e-03 -7.50790600e-05 9.99986071e-01 -8.47852978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63762800000001 meters 0.012999932736448349 Centerline is valid? [True, True] Translation: X:49.34, Y:-11.50, Z:-0.08 [[ 9.27520922e-01 3.73733075e-01 -5.34106012e-03 4.93447742e+01] [-3.73726541e-01 9.27536299e-01 2.21060992e-03 -1.14977335e+01] [ 5.78020518e-03 -5.42910266e-05 9.99983293e-01 -8.38869646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66762800000001 meters 0.012812976862786568 Centerline is valid? [True, True] Translation: X:49.38, Y:-11.51, Z:-0.08 [[ 9.26530570e-01 3.76180380e-01 -5.42450243e-03 4.93752378e+01] [-3.76173673e-01 9.26546448e-01 2.24668873e-03 -1.15081362e+01] [ 5.87121368e-03 -4.10707863e-05 9.99982763e-01 -8.42883258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69762800000001 meters 0.012518866989558949 Centerline is valid? [True, True] Translation: X:49.41, Y:-11.52, Z:-0.09 [[ 9.25572781e-01 3.78529176e-01 -5.53984933e-03 4.94062455e+01] [-3.78522214e-01 9.25589359e-01 2.29603769e-03 -1.15182837e+01] [ 5.99674285e-03 -2.81939564e-05 9.99982019e-01 -8.50237790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.727628 meters 0.012379110744600587 Centerline is valid? [True, True] Translation: X:49.44, Y:-11.53, Z:-0.09 [[ 9.24644867e-01 3.80790258e-01 -5.53618906e-03 4.94370963e+01] [-3.80783334e-01 9.24661440e-01 2.29637320e-03 -1.15287492e+01] [ 5.99353709e-03 -1.52411657e-05 9.99982038e-01 -8.59191847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.757628000000004 meters 0.012270767737162014 Centerline is valid? [True, True] Translation: X:49.47, Y:-11.54, Z:-0.09 [[ 9.22809461e-01 3.85219363e-01 -5.36110120e-03 4.94682490e+01] [-3.85212935e-01 9.22825033e-01 2.22550781e-03 -1.15385890e+01] [ 5.80466710e-03 1.14458609e-05 9.99983153e-01 -8.62820395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.787628000000005 meters 0.012257967732298583 Centerline is valid? [True, True] Translation: X:49.50, Y:-11.55, Z:-0.09 [[ 9.22118376e-01 3.86878368e-01 -4.77802689e-03 4.94983873e+01] [-3.86873280e-01 9.22130754e-01 1.98431323e-03 -1.15502916e+01] [ 5.17365341e-03 1.87192466e-05 9.99986616e-01 -8.60169594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.817628000000006 meters 0.012422097840471774 Centerline is valid? [True, True] Translation: X:49.53, Y:-11.56, Z:-0.09 [[ 9.21461071e-01 3.88446246e-01 -4.35986851e-03 4.95284177e+01] [-3.88442020e-01 9.21471385e-01 1.81222724e-03 -1.15627769e+01] [ 4.72144694e-03 2.36592796e-05 9.99988854e-01 -8.54537513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84762800000001 meters 0.012464447826299858 Centerline is valid? [True, True] Translation: X:49.56, Y:-11.58, Z:-0.08 [[ 9.20906804e-01 3.89763821e-01 -3.85000897e-03 4.95582869e+01] [-3.89760531e-01 9.20914851e-01 1.60158832e-03 -1.15754249e+01] [ 4.16977162e-03 2.56679616e-05 9.99991306e-01 -8.45647893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87762800000001 meters 0.012463603619649415 Centerline is valid? [True, True] Translation: X:49.59, Y:-11.59, Z:-0.08 [[ 9.20510688e-01 3.90708236e-01 -2.67339400e-03 4.95881434e+01] [-3.90706651e-01 9.20514570e-01 1.11314000e-03 -1.15889800e+01] [ 2.89581110e-03 1.98555472e-05 9.99995807e-01 -8.37115534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.907628 meters 0.012537712302688367 Centerline is valid? [True, True] Translation: X:49.62, Y:-11.60, Z:-0.08 [[ 9.20329600e-01 3.91137393e-01 -2.22855361e-03 4.96178765e+01] [-3.91136291e-01 9.20332298e-01 9.28644265e-04 -1.16018648e+01] [ 2.41423737e-03 1.70093893e-05 9.99997086e-01 -8.33031160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.937628000000004 meters 0.012642761257120189 Centerline is valid? [True, True] Translation: X:49.65, Y:-11.61, Z:-0.08 [[ 9.20222540e-01 3.91389403e-01 -2.19365705e-03 4.96470369e+01] [-3.91388335e-01 9.20225154e-01 9.14410533e-04 -1.16146000e+01] [ 2.37654899e-03 1.71105986e-05 9.99997176e-01 -8.32923011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.967628000000005 meters 0.01261917140819296 Centerline is valid? [True, True] Translation: X:49.68, Y:-11.63, Z:-0.08 [[ 9.20022721e-01 3.91856964e-01 -2.51238315e-03 4.96762595e+01] [-3.91855562e-01 9.20026152e-01 1.04822397e-03 -1.16292436e+01] [ 2.72221206e-03 2.01014403e-05 9.99996295e-01 -8.36955684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.997628000000006 meters 0.012545860195793426 Centerline is valid? [True, True] Translation: X:49.71, Y:-11.64, Z:-0.08 [[ 9.19871040e-01 3.92204048e-01 -3.64056107e-03 4.97057316e+01] [-3.92201104e-01 9.19878244e-01 1.51994473e-03 -1.16430984e+01] [ 3.94500140e-03 2.96789347e-05 9.99992218e-01 -8.41746062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02762800000001 meters 0.012504636667000826 Centerline is valid? [True, True] Translation: X:49.74, Y:-11.66, Z:-0.08 [[ 9.19854872e-01 3.92235392e-01 -4.29103635e-03 4.97352533e+01] [-3.92231295e-01 9.19864879e-01 1.79286390e-03 -1.16566697e+01] [ 4.65039831e-03 3.39041535e-05 9.99989186e-01 -8.49416329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05762800000001 meters 0.012460052512519828 Centerline is valid? [True, True] Translation: X:49.77, Y:-11.67, Z:-0.09 [[ 9.19792422e-01 3.92371901e-01 -5.11778157e-03 4.97651380e+01] [-3.92366067e-01 9.19806659e-01 2.13990153e-03 -1.16700085e+01] [ 5.54700679e-03 3.97786164e-05 9.99984614e-01 -8.54500373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08762800000001 meters 0.012407226827626204 Centerline is valid? [True, True] Translation: X:49.79, Y:-11.68, Z:-0.09 [[ 9.20256376e-01 3.91262515e-01 -6.46892205e-03 4.97942037e+01] [-3.91253155e-01 9.20279111e-01 2.70669829e-03 -1.16837466e+01] [ 7.01224342e-03 4.01298013e-05 9.99975413e-01 -8.72503458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.117628 meters 0.012239804395180812 Centerline is valid? [True, True] Translation: X:49.82, Y:-11.70, Z:-0.09 [[ 9.20672520e-01 3.90269938e-01 -7.17541389e-03 4.98235807e+01] [-3.90258373e-01 9.20700480e-01 3.00466608e-03 -1.16988685e+01] [ 7.77903786e-03 3.39518611e-05 9.99969742e-01 -8.73710965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.147628000000005 meters 0.012225678314133554 Centerline is valid? [True, True] Translation: X:49.85, Y:-11.71, Z:-0.09 [[ 9.21319957e-01 3.88723882e-01 -7.95485986e-03 4.98526995e+01] [-3.88709588e-01 9.21354298e-01 3.33366260e-03 -1.17149557e+01] [ 8.62511860e-03 2.07604153e-05 9.99962803e-01 -8.68093735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177628000000006 meters 0.012256190913175877 Centerline is valid? [True, True] Translation: X:49.88, Y:-11.73, Z:-0.09 [[ 9.23407397e-01 3.83742432e-01 -7.77980457e-03 4.98803128e+01] [-3.83728560e-01 9.23440169e-01 3.26290736e-03 -1.17340197e+01] [ 8.43630005e-03 -2.76595797e-05 9.99964413e-01 -8.52674539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20762800000001 meters 0.012414251971808146 Centerline is valid? [True, True] Translation: X:49.91, Y:-11.75, Z:-0.08 [[ 9.24668528e-01 3.80709180e-01 -6.97370461e-03 4.99079996e+01] [-3.80697932e-01 9.24694824e-01 2.92700151e-03 -1.17496442e+01] [ 7.56288490e-03 -5.16312602e-05 9.99971400e-01 -8.49814090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23762800000001 meters 0.012936894589343665 Centerline is valid? [True, True] Translation: X:49.94, Y:-11.77, Z:-0.08 [[ 9.26175558e-01 3.77045305e-01 -5.97272460e-03 4.99361689e+01] [-3.77036966e-01 9.26194814e-01 2.50863909e-03 -1.17653625e+01] [ 6.47777713e-03 -7.15022467e-05 9.99979016e-01 -8.43744961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26762800000001 meters 0.013642663534467985 Centerline is valid? [True, True] Translation: X:49.96, Y:-11.78, Z:-0.08 [[ 9.27798168e-01 3.73040004e-01 -5.63158833e-03 4.99636813e+01] [-3.73032508e-01 9.27815254e-01 2.36686454e-03 -1.17815000e+01] [ 6.10800872e-03 -9.52070634e-05 9.99981341e-01 -8.41025404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.297628 meters 0.015740072070043108 Centerline is valid? [True, True] Translation: X:49.99, Y:-11.80, Z:-0.08 [[ 9.31456993e-01 3.63827996e-01 -4.13044764e-03 4.99892084e+01] [-3.63823867e-01 9.31466143e-01 1.73708433e-03 -1.18013209e+01] [ 4.47937204e-03 -1.15263917e-04 9.99989961e-01 -8.32506830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.327628000000004 meters 0.017667680492128027 Centerline is valid? [True, True] Translation: X:50.02, Y:-11.82, Z:-0.08 [[ 9.33259126e-01 3.59187819e-01 -3.39324093e-03 5.00152409e+01] [-3.59184999e-01 9.33265288e-01 1.42786220e-03 -1.18179646e+01] [ 3.67966468e-03 -1.13764186e-04 9.99993224e-01 -8.24642634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357628000000005 meters 0.02120542191735342 Centerline is valid? [True, True] Translation: X:50.04, Y:-11.84, Z:-0.08 [[ 9.36616930e-01 3.50345926e-01 -2.54128495e-03 5.00398199e+01] [-3.50344311e-01 9.36620371e-01 1.06968504e-03 -1.18383217e+01] [ 2.75497905e-03 -1.11560396e-04 9.99996199e-01 -8.08106842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38762800000001 meters 0.021898455999842744 Centerline is valid? [True, True] Translation: X:50.07, Y:-11.85, Z:-0.08 [[ 9.37982322e-01 3.46676790e-01 -2.08990480e-03 5.00673270e+01] [-3.46675688e-01 9.37984645e-01 8.79791428e-04 -1.18526473e+01] [ 2.26530188e-03 -1.00709622e-04 9.99997429e-01 -7.96523684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41762800000001 meters 0.021898455999842744 Centerline is valid? [True, True] Translation: X:50.10, Y:-11.87, Z:-0.08 [[ 9.37886790e-01 3.46935156e-01 -2.08954537e-03 5.00971817e+01] [-3.46934053e-01 9.37889113e-01 8.80644983e-04 -1.18652920e+01] [ 2.26528855e-03 -1.01010854e-04 9.99997429e-01 -7.96986668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44762800000001 meters 0.022746913763443864 Centerline is valid? [True, True] Translation: X:50.13, Y:-11.88, Z:-0.08 [[ 9.38812471e-01 3.44425935e-01 -1.38512017e-03 5.01250775e+01] [-3.44425448e-01 9.38813490e-01 5.84125631e-04 -1.18793076e+01] [ 1.50155752e-03 -7.13137928e-05 9.99998870e-01 -7.89365547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.477628 meters 0.02479463265830611 Centerline is valid? [True, True] Translation: X:50.15, Y:-11.89, Z:-0.08 [[ 9.39951333e-01 3.41307371e-01 -8.77217123e-04 5.01522651e+01] [-3.41307174e-01 9.39951741e-01 3.69778274e-04 -1.18928278e+01] [ 9.50749813e-04 -4.81730842e-05 9.99999547e-01 -7.84567152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.507628000000004 meters 0.025222541627242665 Centerline is valid? [True, True] Translation: X:50.18, Y:-11.90, Z:-0.08 [[ 9.40008060e-01 3.41151079e-01 -8.87760997e-04 5.01823989e+01] [-3.41150877e-01 9.40008478e-01 3.74811111e-04 -1.19047055e+01] [ 9.62370079e-04 -4.94650222e-05 9.99999536e-01 -7.89587122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537628000000005 meters 0.025339093036200803 Centerline is valid? [True, True] Translation: X:50.21, Y:-11.92, Z:-0.08 [[ 9.39759910e-01 3.41834410e-01 -7.40469283e-04 5.02121525e+01] [-3.41834270e-01 9.39760200e-01 3.12888913e-04 -1.19162761e+01] [ 8.02819759e-04 -4.09226801e-05 9.99999677e-01 -7.89900804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.567628000000006 meters 0.025421926770506295 Centerline is valid? [True, True] Translation: X:50.24, Y:-11.93, Z:-0.08 [[ 9.38996786e-01 3.43924245e-01 -1.07182068e-03 5.02414646e+01] [-3.43923952e-01 9.38997396e-01 4.52470007e-04 -1.19257941e+01] [ 1.16205224e-03 -5.62430763e-05 9.99999323e-01 -7.83956270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59762800000001 meters 0.025010148250184758 Centerline is valid? [True, True] Translation: X:50.27, Y:-11.94, Z:-0.08 [[ 9.38328870e-01 3.45741212e-01 -1.39490257e-03 5.02712557e+01] [-3.45740717e-01 9.38329904e-01 5.88897748e-04 -1.19359661e+01] [ 1.51248501e-03 -7.03051434e-05 9.99998854e-01 -7.86110169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62762800000001 meters 0.02512898928922147 Centerline is valid? [True, True] Translation: X:50.30, Y:-11.95, Z:-0.08 [[ 9.37664723e-01 3.47536114e-01 -1.87544613e-03 5.03010965e+01] [-3.47535223e-01 9.37666594e-01 7.92566276e-04 -1.19461825e+01] [ 2.03398858e-03 -9.13778501e-05 9.99997927e-01 -7.87433821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.657628 meters 0.024643219214467067 Centerline is valid? [True, True] Translation: X:50.33, Y:-11.96, Z:-0.08 [[ 9.36932129e-01 3.49502336e-01 -2.51040660e-03 5.03313718e+01] [-3.49500745e-01 9.36935485e-01 1.06115024e-03 -1.19554649e+01] [ 2.72296351e-03 -1.16836775e-04 9.99996286e-01 -7.93592527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.687628000000004 meters 0.02292838770205543 Centerline is valid? [True, True] Translation: X:50.36, Y:-11.96, Z:-0.08 [[ 9.35135829e-01 3.54274712e-01 -3.22630951e-03 5.03621449e+01] [-3.54272113e-01 9.35141385e-01 1.36353190e-03 -1.19596509e+01] [ 3.50012041e-03 -1.32096045e-04 9.99993866e-01 -8.05099490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.717628000000005 meters 0.01761292189618904 Centerline is valid? [True, True] Translation: X:50.40, Y:-11.96, Z:-0.08 [[ 9.34069363e-01 3.57074650e-01 -3.48129497e-03 5.03952607e+01] [-3.57071643e-01 9.34075841e-01 1.47147066e-03 -1.19612227e+01] [ 3.77721840e-03 -1.31383946e-04 9.99992858e-01 -8.01432322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.747628000000006 meters 0.017229450085904655 Centerline is valid? [True, True] Translation: X:50.42, Y:-11.97, Z:-0.08 [[ 9.32941988e-01 3.60008550e-01 -3.61822229e-03 5.04249977e+01] [-3.60005322e-01 9.32948996e-01 1.52949596e-03 -1.19695932e+01] [ 3.92624848e-03 -1.24351722e-04 9.99992285e-01 -8.06722073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77762800000001 meters 0.015843077584319895 Centerline is valid? [True, True] Translation: X:50.46, Y:-11.98, Z:-0.08 [[ 9.31837831e-01 3.62852429e-01 -4.04619561e-03 5.04563614e+01] [-3.62848417e-01 9.31846607e-01 1.71082010e-03 -1.19767223e+01] [ 4.39120888e-03 -1.26051220e-04 9.99990351e-01 -8.11651744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80762800000001 meters 0.014724692512593432 Centerline is valid? [True, True] Translation: X:50.49, Y:-11.98, Z:-0.08 [[ 9.29859961e-01 3.67876647e-01 -5.21775552e-03 5.04878913e+01] [-3.67870054e-01 9.29874591e-01 2.20630774e-03 -1.19819135e+01] [ 5.66350737e-03 -1.32101223e-04 9.99983953e-01 -8.22114573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83762800000001 meters 0.014284508076582382 Centerline is valid? [True, True] Translation: X:50.52, Y:-11.99, Z:-0.08 [[ 9.28956835e-01 3.70146672e-01 -5.53539855e-03 5.05189508e+01] [-3.70139281e-01 9.28973318e-01 2.34257178e-03 -1.19917719e+01] [ 6.00933270e-03 -1.27279622e-04 9.99981936e-01 -8.24169734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.867628 meters 0.013439931248157039 Centerline is valid? [True, True] Translation: X:50.55, Y:-12.00, Z:-0.08 [[ 9.27055533e-01 3.74867335e-01 -6.52076823e-03 5.05503974e+01] [-3.74857182e-01 9.27078458e-01 2.76141099e-03 -1.19997225e+01] [ 7.08042653e-03 -1.15624530e-04 9.99974927e-01 -8.21468571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.897628000000005 meters 0.01302492668052461 Centerline is valid? [True, True] Translation: X:50.58, Y:-12.01, Z:-0.08 [[ 9.26007366e-01 3.77446374e-01 -6.67780052e-03 5.05806728e+01] [-3.77435779e-01 9.26031438e-01 2.82983939e-03 -1.20097482e+01] [ 7.25196583e-03 -1.00011278e-04 9.99973699e-01 -8.21557249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.927628000000006 meters 0.012585360475295208 Centerline is valid? [True, True] Translation: X:50.61, Y:-12.02, Z:-0.08 [[ 9.24708553e-01 3.80610571e-01 -7.04881053e-03 5.06111055e+01] [-3.80598842e-01 9.24735414e-01 2.98907305e-03 -1.20190083e+01] [ 7.65595752e-03 -8.12522858e-05 9.99970689e-01 -8.25324949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95762800000001 meters 0.01174103049139834 Centerline is valid? [True, True] Translation: X:50.64, Y:-12.02, Z:-0.08 [[ 9.21960810e-01 3.87220391e-01 -6.97378158e-03 5.06436313e+01] [-3.87209083e-01 9.21987184e-01 2.95930969e-03 -1.20237325e+01] [ 7.57564229e-03 -2.80559837e-05 9.99971304e-01 -8.28517845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98762800000001 meters 0.011597461345729662 Centerline is valid? [True, True] Translation: X:50.67, Y:-12.03, Z:-0.08 [[ 9.20508775e-01 3.90664172e-01 -6.71562853e-03 5.06735861e+01] [-3.90653765e-01 9.20533272e-01 2.85156121e-03 -1.20327283e+01] [ 7.29596230e-03 -1.40154624e-06 9.99973384e-01 -8.30883707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01762800000001 meters 0.011620378462114058 Centerline is valid? [True, True] Translation: X:50.71, Y:-12.04, Z:-0.08 [[ 9.19157358e-01 3.93838325e-01 -6.41282022e-03 5.07051505e+01] [-3.93828897e-01 9.19179728e-01 2.72523581e-03 -1.20427629e+01] [ 6.96783666e-03 2.06333684e-05 9.99975724e-01 -8.31999401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.047628 meters 0.01214692211226745 Centerline is valid? [True, True] Translation: X:50.74, Y:-12.05, Z:-0.08 [[ 9.16872185e-01 3.99131265e-01 -6.29511632e-03 5.07354963e+01] [-3.99122293e-01 9.16893794e-01 2.67683895e-03 -1.20506875e+01] [ 6.84036320e-03 5.82020853e-05 9.99976603e-01 -8.29486654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.077628000000004 meters 0.0122927861990823 Centerline is valid? [True, True] Translation: X:50.77, Y:-12.06, Z:-0.08 [[ 9.15916325e-01 4.01324854e-01 -5.97056424e-03 5.07651928e+01] [-4.01316818e-01 9.15935782e-01 2.54062832e-03 -1.20622385e+01] [ 6.48827071e-03 6.90848905e-05 9.99978949e-01 -8.23113092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.107628000000005 meters 0.012640250752147275 Centerline is valid? [True, True] Translation: X:50.79, Y:-12.07, Z:-0.08 [[ 9.15179747e-01 4.03005177e-01 -5.73227492e-03 5.07946319e+01] [-4.02997798e-01 9.15197695e-01 2.43998581e-03 -1.20734771e+01] [ 6.22949170e-03 7.70685769e-05 9.99980594e-01 -8.20265132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13762800000001 meters 0.015983345049094842 Centerline is valid? [True, True] Translation: X:50.82, Y:-12.09, Z:-0.08 [[ 9.14453129e-01 4.04641495e-01 -6.38237851e-03 5.08247093e+01] [-4.04632373e-01 9.14475397e-01 2.71874653e-03 -1.20850798e+01] [ 6.93664578e-03 9.63506854e-05 9.99975937e-01 -8.42563275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16762800000001 meters 0.01309510358757789 Centerline is valid? [True, True] Translation: X:50.85, Y:-12.10, Z:-0.08 [[ 9.13905023e-01 4.05885484e-01 -5.88076667e-03 5.08535129e+01] [-4.05877760e-01 9.13923938e-01 2.50587673e-03 -1.20963826e+01] [ 6.39167243e-03 9.67390764e-05 9.99979568e-01 -8.25655970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19762800000001 meters 0.013289403681318005 Centerline is valid? [True, True] Translation: X:50.88, Y:-12.11, Z:-0.08 [[ 9.13821223e-01 4.06064369e-01 -6.51927192e-03 5.08828472e+01] [-4.06054871e-01 9.13844471e-01 2.77934849e-03 -1.21085545e+01] [ 7.08619499e-03 1.07354479e-04 9.99974887e-01 -8.37116859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.227628 meters 0.013261111208992964 Centerline is valid? [True, True] Translation: X:50.91, Y:-12.12, Z:-0.08 [[ 9.13826799e-01 4.06046651e-01 -6.83361717e-03 5.09125159e+01] [-4.06036197e-01 9.13852343e-01 2.91579183e-03 -1.21223875e+01] [ 7.42886457e-03 1.10167205e-04 9.99972400e-01 -8.40272466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.257628000000004 meters 0.012886684192955425 Centerline is valid? [True, True] Translation: X:50.94, Y:-12.14, Z:-0.09 [[ 9.14688375e-01 4.04064026e-01 -8.79992706e-03 5.09401592e+01] [-4.04046588e-01 9.14730697e-01 3.75587621e-03 -1.21374454e+01] [ 9.56717788e-03 1.20124188e-04 9.99954226e-01 -8.56653342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.287628000000005 meters 0.012676254308807706 Centerline is valid? [True, True] Translation: X:50.97, Y:-12.15, Z:-0.09 [[ 9.15244608e-01 4.02772949e-01 -1.00627717e-02 5.09690136e+01] [-4.02750029e-01 9.15299917e-01 4.29838849e-03 -1.21524738e+01] [ 1.09417287e-02 1.18704731e-04 9.99940130e-01 -8.69715352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.317628000000006 meters 0.01235667626159464 Centerline is valid? [True, True] Translation: X:51.00, Y:-12.17, Z:-0.09 [[ 9.15931057e-01 4.01166563e-01 -1.16485195e-02 5.09984256e+01] [-4.01135672e-01 9.16005118e-01 4.97958936e-03 -1.21682078e+01] [ 1.26677483e-02 1.11676178e-04 9.99919755e-01 -8.79741584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34762800000001 meters 0.01216727530533253 Centerline is valid? [True, True] Translation: X:51.02, Y:-12.19, Z:-0.09 [[ 9.17921175e-01 3.96507035e-01 -1.42438600e-02 5.10241679e+01] [-3.96460252e-01 9.18031681e-01 6.09102126e-03 -1.21860353e+01] [ 1.54914475e-02 5.60469202e-05 9.99879999e-01 -9.00924834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37762800000001 meters 0.012240603978691544 Centerline is valid? [True, True] Translation: X:51.05, Y:-12.20, Z:-0.09 [[ 9.19134171e-01 3.93671755e-01 -1.46603111e-02 5.10522800e+01] [-3.93621787e-01 9.19251080e-01 6.27218363e-03 -1.22027044e+01] [ 1.59456883e-02 5.63954137e-06 9.99872859e-01 -9.08815680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.407628 meters 0.012264571099031412 Centerline is valid? [True, True] Translation: X:51.08, Y:-12.22, Z:-0.09 [[ 9.20493114e-01 3.90481931e-01 -1.47067566e-02 5.10808529e+01] [-3.90431156e-01 9.20610590e-01 6.29713771e-03 -1.22203296e+01] [ 1.59981144e-02 -5.44959011e-05 9.99872020e-01 -8.95710544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.437628000000004 meters 0.012698305828982598 Centerline is valid? [True, True] Translation: X:51.11, Y:-12.24, Z:-0.09 [[ 9.21958193e-01 3.87015537e-01 -1.45624565e-02 5.11085885e+01] [-3.86965254e-01 9.22073186e-01 6.23954552e-03 -1.22380598e+01] [ 1.58424518e-02 -1.17435411e-04 9.99874494e-01 -8.86016253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.467628000000005 meters 0.01678344413632737 Centerline is valid? [True, True] Translation: X:51.13, Y:-12.26, Z:-0.09 [[ 9.25653661e-01 3.78125541e-01 -1.36519516e-02 5.11316456e+01] [-3.78080360e-01 9.25754293e-01 5.85069756e-03 -1.22618624e+01] [ 1.48506510e-02 -2.54184837e-04 9.99889691e-01 -8.96276795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.497628000000006 meters 0.01547845921858663 Centerline is valid? [True, True] Translation: X:51.16, Y:-12.28, Z:-0.09 [[ 9.27237227e-01 3.74285836e-01 -1.18843915e-02 5.11594288e+01] [-3.74251234e-01 9.27313343e-01 5.09684766e-03 -1.22786133e+01] [ 1.29282327e-02 -2.78238696e-04 9.99916388e-01 -8.54770622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52762800000001 meters 0.01734336836470523 Centerline is valid? [True, True] Translation: X:51.19, Y:-12.30, Z:-0.08 [[ 9.29139672e-01 3.69569977e-01 -1.08398105e-02 5.11862254e+01] [-3.69540836e-01 9.29202848e-01 4.65176940e-03 -1.22960955e+01] [ 1.17915371e-02 -3.16390844e-04 9.99930427e-01 -8.49775360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55762800000001 meters 0.02095647962729528 Centerline is valid? [True, True] Translation: X:51.21, Y:-12.32, Z:-0.08 [[ 9.32557611e-01 3.60925569e-01 -8.30883794e-03 5.12081173e+01] [-3.60908097e-01 9.32594567e-01 3.56628106e-03 -1.23209554e+01] [ 9.03593914e-03 -3.27035647e-04 9.99959122e-01 -8.14213377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58762800000001 meters 0.02112080446629504 Centerline is valid? [True, True] Translation: X:51.24, Y:-12.33, Z:-0.08 [[ 9.34291521e-01 3.56423696e-01 -7.84241480e-03 5.12371027e+01] [-3.56407969e-01 9.34324369e-01 3.36650034e-03 -1.23337824e+01] [ 8.52725976e-03 -3.50193596e-04 9.99963581e-01 -8.15402100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.617628 meters 0.021976729750277584 Centerline is valid? [True, True] Translation: X:51.26, Y:-12.35, Z:-0.08 [[ 9.35582305e-01 3.53040691e-01 -6.92975480e-03 5.12646005e+01] [-3.53028316e-01 9.35607907e-01 2.97512384e-03 -1.23501285e+01] [ 7.53387317e-03 -3.37073552e-04 9.99971563e-01 -8.07496034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.647628000000005 meters 0.022009607277177184 Centerline is valid? [True, True] Translation: X:51.29, Y:-12.37, Z:-0.08 [[ 9.37127631e-01 3.48952964e-01 -4.86135860e-03 5.12898333e+01] [-3.48946816e-01 9.37140204e-01 2.08752084e-03 -1.23690209e+01] [ 5.28422118e-03 -2.59917851e-04 9.99986005e-01 -7.73877365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677628000000006 meters 0.021945595664775063 Centerline is valid? [True, True] Translation: X:51.32, Y:-12.38, Z:-0.08 [[ 9.37356077e-01 3.48340054e-01 -4.77408098e-03 5.13188147e+01] [-3.48334109e-01 9.37368198e-01 2.05173079e-03 -1.23832764e+01] [ 5.18977170e-03 -2.60227083e-04 9.99986499e-01 -7.69608547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70762800000001 meters 0.02311661164679713 Centerline is valid? [True, True] Translation: X:51.35, Y:-12.40, Z:-0.08 [[ 9.37245145e-01 3.48632432e-01 -5.19285859e-03 5.13473942e+01] [-3.48625394e-01 9.37259488e-01 2.23331897e-03 -1.23983607e+01] [ 5.64566341e-03 -2.82804995e-04 9.99984023e-01 -7.77955253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73762800000001 meters 0.02282742390475552 Centerline is valid? [True, True] Translation: X:51.38, Y:-12.41, Z:-0.08 [[ 9.36756286e-01 3.49934776e-01 -5.77178304e-03 5.13770021e+01] [-3.49926095e-01 9.36774017e-01 2.48388493e-03 -1.24112169e+01] [ 6.27605410e-03 -3.07097316e-04 9.99980258e-01 -7.83259611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76762800000001 meters 0.02033166140959574 Centerline is valid? [True, True] Translation: X:51.41, Y:-12.42, Z:-0.08 [[ 9.34921015e-01 3.54793075e-01 -6.67604625e-03 5.14070572e+01] [-3.54781585e-01 9.34944797e-01 2.87291396e-03 -1.24195496e+01] [ 7.26102469e-03 -3.17409365e-04 9.99973588e-01 -7.96940519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.797628 meters 0.021626960212834993 Centerline is valid? [True, True] Translation: X:51.43, Y:-12.43, Z:-0.08 [[ 9.33778056e-01 3.57783563e-01 -7.03309081e-03 5.14342433e+01] [-3.57770895e-01 9.33804490e-01 3.02668258e-03 -1.24328513e+01] [ 7.65042906e-03 -3.10014574e-04 9.99970687e-01 -8.17015594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.827628000000004 meters 0.018509436068708706 Centerline is valid? [True, True] Translation: X:51.46, Y:-12.44, Z:-0.08 [[ 9.32640208e-01 3.60728422e-01 -7.56627254e-03 5.14647902e+01] [-3.60713854e-01 9.32670848e-01 3.25648216e-03 -1.24406773e+01] [ 8.23154749e-03 -3.07866870e-04 9.99966073e-01 -8.17541350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857628000000005 meters 0.01788198519418537 Centerline is valid? [True, True] Translation: X:51.49, Y:-12.45, Z:-0.08 [[ 9.30819380e-01 3.65388921e-01 -8.13743068e-03 5.14937484e+01] [-3.65372246e-01 9.30854905e-01 3.50259291e-03 -1.24516391e+01] [ 8.85457591e-03 -2.87090041e-04 9.99960756e-01 -8.21367160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88762800000001 meters 0.016897593226461827 Centerline is valid? [True, True] Translation: X:51.52, Y:-12.46, Z:-0.08 [[ 9.29905042e-01 3.67713666e-01 -7.95445790e-03 5.15240098e+01] [-3.67697793e-01 9.29939026e-01 3.42649532e-03 -1.24622785e+01] [ 8.65712998e-03 -2.61478658e-04 9.99962492e-01 -8.15983474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91762800000001 meters 0.016513470283521892 Centerline is valid? [True, True] Translation: X:51.55, Y:-12.47, Z:-0.08 [[ 9.28983435e-01 3.70035113e-01 -7.98706237e-03 5.15545678e+01] [-3.70019191e-01 9.29017738e-01 3.44111894e-03 -1.24738708e+01] [ 8.69345745e-03 -2.41376138e-04 9.99962182e-01 -8.18202791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94762800000001 meters 0.015049597018953052 Centerline is valid? [True, True] Translation: X:51.59, Y:-12.48, Z:-0.08 [[ 9.27008380e-01 3.74980092e-01 -6.73755192e-03 5.15856158e+01] [-3.74968889e-01 9.27032849e-01 2.90317151e-03 -1.24820704e+01] [ 7.33456347e-03 -1.64891956e-04 9.99973088e-01 -8.09387274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.977628 meters 0.014511353689421747 Centerline is valid? [True, True] Translation: X:51.62, Y:-12.49, Z:-0.08 [[ 9.25960818e-01 3.77576849e-01 -5.68219638e-03 5.16157874e+01] [-3.77568918e-01 9.25978244e-01 2.45037761e-03 -1.24922873e+01] [ 6.18679608e-03 -1.23532915e-04 9.99980854e-01 -8.06360411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.007628000000004 meters 0.013276005379085791 Centerline is valid? [True, True] Translation: X:51.65, Y:-12.50, Z:-0.08 [[ 9.24241111e-01 3.81790333e-01 -3.80915877e-03 5.16469599e+01] [-3.81786804e-01 9.24248959e-01 1.64272227e-03 -1.24998693e+01] [ 4.14778651e-03 -6.39849073e-05 9.99991396e-01 -7.97803856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037628000000005 meters 0.013054481314346526 Centerline is valid? [True, True] Translation: X:51.68, Y:-12.51, Z:-0.08 [[ 9.23498550e-01 3.83588697e-01 -3.18440390e-03 5.16770744e+01] [-3.83586237e-01 9.23504039e-01 1.37453964e-03 -1.25109748e+01] [ 3.46806773e-03 -4.78918541e-05 9.99993985e-01 -7.95595128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.067628000000006 meters 0.012955120821369879 Centerline is valid? [True, True] Translation: X:51.71, Y:-12.52, Z:-0.08 [[ 9.22984236e-01 3.84827795e-01 -2.76927331e-03 5.17057739e+01] [-3.84825938e-01 9.22988389e-01 1.19611659e-03 -1.25217273e+01] [ 3.01630602e-03 -3.83085546e-05 9.99995450e-01 -7.94225967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09762800000001 meters 0.012588968659111015 Centerline is valid? [True, True] Translation: X:51.74, Y:-12.53, Z:-0.08 [[ 9.22530805e-01 3.85919183e-01 -1.81573729e-03 5.17362029e+01] [-3.85918386e-01 9.22532592e-01 7.84955620e-04 -1.25325921e+01] [ 1.97800626e-03 -2.34193375e-05 9.99998043e-01 -7.90761084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.12762800000001 meters 0.012637521082990013 Centerline is valid? [True, True] Translation: X:51.76, Y:-12.54, Z:-0.08 [[ 9.22146593e-01 3.86837675e-01 -1.50832598e-03 5.17648846e+01] [-3.86837125e-01 9.22147826e-01 6.52506859e-04 -1.25443784e+01] [ 1.64331376e-03 -1.82304911e-05 9.99998650e-01 -7.92629673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.157628 meters 0.012528965418753464 Centerline is valid? [True, True] Translation: X:51.80, Y:-12.56, Z:-0.08 [[ 9.21890505e-01 3.87447596e-01 -1.50242043e-03 5.17956340e+01] [-3.87447050e-01 9.21891729e-01 6.50526645e-04 -1.25556105e+01] [ 1.63711396e-03 -1.76059721e-05 9.99998660e-01 -7.99289909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.187628000000004 meters 0.012556438881652159 Centerline is valid? [True, True] Translation: X:51.83, Y:-12.57, Z:-0.08 [[ 9.21762510e-01 3.87748351e-01 -2.25650591e-03 5.18263955e+01] [-3.87747120e-01 9.21765271e-01 9.77564126e-04 -1.25685304e+01] [ 2.45901766e-03 -2.61282946e-05 9.99996976e-01 -8.05036712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217628000000005 meters 0.012756315805981765 Centerline is valid? [True, True] Translation: X:51.86, Y:-12.58, Z:-0.08 [[ 9.22341898e-01 3.86361141e-01 -3.23907733e-03 5.18559255e+01] [-3.86358592e-01 9.22347585e-01 1.40393976e-03 -1.25819345e+01] [ 3.52998292e-03 -4.34671004e-05 9.99993769e-01 -8.15008600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.247628000000006 meters 0.013056988793177977 Centerline is valid? [True, True] Translation: X:51.88, Y:-12.60, Z:-0.08 [[ 9.22889361e-01 3.85052253e-01 -3.16067382e-03 5.18847666e+01] [-3.85049816e-01 9.22894772e-01 1.37088952e-03 -1.25955022e+01] [ 3.44483344e-03 -4.81624766e-05 9.99994065e-01 -8.16930129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27762800000001 meters 0.013575515446079081 Centerline is valid? [True, True] Translation: X:51.91, Y:-12.61, Z:-0.08 [[ 9.23556004e-01 3.83450665e-01 -3.14562576e-03 5.19129461e+01] [-3.83448240e-01 9.23561359e-01 1.36468292e-03 -1.26093926e+01] [ 3.42846698e-03 -5.41764446e-05 9.99994121e-01 -8.20220006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30762800000001 meters 0.014289415331784199 Centerline is valid? [True, True] Translation: X:51.94, Y:-12.62, Z:-0.08 [[ 9.25263405e-01 3.79309075e-01 -3.50103310e-03 5.19415179e+01] [-3.79306041e-01 9.25270025e-01 1.51904501e-03 -1.26241434e+01] [ 3.81558854e-03 -7.75537534e-05 9.99992718e-01 -8.25783022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33762800000001 meters 0.014289415331784199 Centerline is valid? [True, True] Translation: X:51.97, Y:-12.64, Z:-0.08 [[ 9.25156691e-01 3.79569288e-01 -3.50048606e-03 5.19712167e+01] [-3.79566251e-01 9.25163310e-01 1.52030537e-03 -1.26371020e+01] [ 3.81558250e-03 -7.78543087e-05 9.99992718e-01 -8.26245744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.367628 meters 0.01512190535169437 Centerline is valid? [True, True] Translation: X:52.00, Y:-12.65, Z:-0.08 [[ 9.26059346e-01 3.77359786e-01 -3.69854893e-03 5.20000251e+01] [-3.77356375e-01 9.26066727e-01 1.60731676e-03 -1.26522502e+01] [ 4.03163982e-03 -9.27996936e-05 9.99991869e-01 -8.28401987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.397628000000005 meters 0.01496342122172704 Centerline is valid? [True, True] Translation: X:52.03, Y:-12.67, Z:-0.08 [[ 9.26814268e-01 3.75501218e-01 -3.76149751e-03 5.20288274e+01] [-3.75497669e-01 9.26821895e-01 1.63580327e-03 -1.26656369e+01] [ 4.10048437e-03 -1.03652264e-04 9.99991588e-01 -8.21841880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.427628000000006 meters 0.01611820625235727 Centerline is valid? [True, True] Translation: X:52.06, Y:-12.68, Z:-0.08 [[ 9.27955445e-01 3.72682946e-01 -2.47262961e-03 5.20554693e+01] [-3.72681402e-01 9.27958736e-01 1.07536685e-03 -1.26810569e+01] [ 2.69526913e-03 -7.63894487e-05 9.99996365e-01 -8.07003449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45762800000001 meters 0.016812096792901503 Centerline is valid? [True, True] Translation: X:52.08, Y:-12.70, Z:-0.08 [[ 9.28192771e-01 3.72094865e-01 -1.89539492e-03 5.20836617e+01] [-3.72093955e-01 9.28194704e-01 8.25102841e-04 -1.26950143e+01] [ 2.06631206e-03 -6.05894990e-05 9.99997863e-01 -8.02401017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48762800000001 meters 0.016593086469765178 Centerline is valid? [True, True] Translation: X:52.11, Y:-12.71, Z:-0.08 [[ 9.28166553e-01 3.72159898e-01 -1.96485856e-03 5.21140067e+01] [-3.72158918e-01 9.28168630e-01 8.56067579e-04 -1.27077344e+01] [ 2.14231410e-03 -6.33336582e-05 9.99997703e-01 -8.00633011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51762800000001 meters 0.016417364517523726 Centerline is valid? [True, True] Translation: X:52.14, Y:-12.72, Z:-0.08 [[ 9.27578897e-01 3.73619335e-01 -2.44592682e-03 5.21434613e+01] [-3.73617821e-01 9.27582119e-01 1.06612852e-03 -1.27186724e+01] [ 2.66712422e-03 -7.50764691e-05 9.99996440e-01 -8.05403317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.547628 meters 0.015790100067612712 Centerline is valid? [True, True] Translation: X:52.17, Y:-12.73, Z:-0.08 [[ 9.26943562e-01 3.75190980e-01 -2.71333752e-03 5.21733864e+01] [-3.75189122e-01 9.26947529e-01 1.18347149e-03 -1.27295036e+01] [ 2.95914934e-03 -7.89965571e-05 9.99995619e-01 -8.11409361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.577628000000004 meters 0.015228255345495054 Centerline is valid? [True, True] Translation: X:52.20, Y:-12.74, Z:-0.08 [[ 9.26200829e-01 3.77015311e-01 -3.38808093e-03 5.22038345e+01] [-3.77012422e-01 9.26207022e-01 1.47867459e-03 -1.27409273e+01] [ 3.69554730e-03 -9.22010335e-05 9.99993167e-01 -8.19539592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.607628000000005 meters 0.01446251539305931 Centerline is valid? [True, True] Translation: X:52.23, Y:-12.75, Z:-0.08 [[ 9.25355847e-01 3.79078520e-01 -4.00392167e-03 5.22345203e+01] [-3.79074505e-01 9.25364504e-01 1.74756114e-03 -1.27520988e+01] [ 4.36754989e-03 -9.93312935e-05 9.99990457e-01 -8.20969850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63762800000001 meters 0.013835756083368395 Centerline is valid? [True, True] Translation: X:52.26, Y:-12.76, Z:-0.08 [[ 9.23636592e-01 3.83241841e-01 -4.59746308e-03 5.22645821e+01] [-3.83236591e-01 9.23648030e-01 2.00820384e-03 -1.27620174e+01] [ 5.01606545e-03 -9.29344708e-05 9.99987415e-01 -8.17797629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66762800000001 meters 0.013492647857920181 Centerline is valid? [True, True] Translation: X:52.29, Y:-12.77, Z:-0.08 [[ 9.22781565e-01 3.85297777e-01 -4.45051206e-03 5.22946069e+01] [-3.85292875e-01 9.22792293e-01 1.94532254e-03 -1.27725880e+01] [ 4.85642668e-03 -8.03571944e-05 9.99988204e-01 -8.21628107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69762800000001 meters 0.013381050014861682 Centerline is valid? [True, True] Translation: X:52.32, Y:-12.78, Z:-0.08 [[ 9.21961202e-01 3.87251601e-01 -4.87236258e-03 5.23242436e+01] [-3.87245745e-01 9.21974073e-01 2.13095962e-03 -1.27834484e+01] [ 5.31740950e-03 -7.78604148e-05 9.99985859e-01 -8.27847106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.727628 meters 0.012620698047374802 Centerline is valid? [True, True] Translation: X:52.36, Y:-12.79, Z:-0.08 [[ 9.20469736e-01 3.90786078e-01 -4.65890294e-03 5.23551395e+01] [-3.90780763e-01 9.20481525e-01 2.03898765e-03 -1.27924697e+01] [ 5.08524207e-03 -5.62167788e-05 9.99987068e-01 -8.30207877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.757628000000004 meters 0.012518199866390594 Centerline is valid? [True, True] Translation: X:52.38, Y:-12.80, Z:-0.08 [[ 9.19812728e-01 3.92331889e-01 -4.49821547e-03 5.23839432e+01] [-3.92326947e-01 9.19823726e-01 1.96984334e-03 -1.28045118e+01] [ 4.91039767e-03 -4.71158344e-05 9.99987943e-01 -8.31072246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.787628000000005 meters 0.01221586106171667 Centerline is valid? [True, True] Translation: X:52.41, Y:-12.82, Z:-0.08 [[ 9.19265552e-01 3.93613710e-01 -4.36954580e-03 5.24133375e+01] [-3.93609054e-01 9.19275936e-01 1.91479834e-03 -1.28162700e+01] [ 4.77050918e-03 -4.03153657e-05 9.99988620e-01 -8.25934221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.817628000000006 meters 0.012139760795164095 Centerline is valid? [True, True] Translation: X:52.44, Y:-12.83, Z:-0.08 [[ 9.18753230e-01 3.94810638e-01 -4.13076203e-03 5.24415173e+01] [-3.94806485e-01 9.18762515e-01 1.81124907e-03 -1.28293524e+01] [ 4.51028971e-03 -3.32392978e-05 9.99989828e-01 -8.20335895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84762800000001 meters 0.012210845328582536 Centerline is valid? [True, True] Translation: X:52.47, Y:-12.84, Z:-0.08 [[ 9.18800324e-01 3.94706057e-01 -3.61838563e-03 5.24712027e+01] [-3.94702864e-01 9.18807449e-01 1.58786765e-03 -1.28428057e+01] [ 3.95134065e-03 -3.07461441e-05 9.99992193e-01 -8.21403247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87762800000001 meters 0.012371683687674502 Centerline is valid? [True, True] Translation: X:52.50, Y:-12.86, Z:-0.08 [[ 9.18946003e-01 3.94370731e-01 -3.15756233e-03 5.25002125e+01] [-3.94368296e-01 9.18951427e-01 1.38617009e-03 -1.28565470e+01] [ 3.44831133e-03 -2.85729901e-05 9.99994054e-01 -8.22334725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90762800000001 meters 0.012230899540683932 Centerline is valid? [True, True] Translation: X:52.53, Y:-12.87, Z:-0.08 [[ 9.19253925e-01 3.93661721e-01 -1.63446674e-03 5.25298289e+01] [-3.93661065e-01 9.19255378e-01 7.18391379e-04 -1.28706038e+01] [ 1.78529553e-03 -1.69581755e-05 9.99998406e-01 -8.07110386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.937628000000004 meters 0.01221755655085826 Centerline is valid? [True, True] Translation: X:52.56, Y:-12.88, Z:-0.08 [[ 9.19362043e-01 3.93411621e-01 -8.54141690e-04 5.25591960e+01] [-3.93411442e-01 9.19362440e-01 3.75918653e-04 -1.28849171e+01] [ 9.33156555e-04 -9.57622730e-06 9.99999565e-01 -7.99088764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.967628000000005 meters 0.01227683595703949 Centerline is valid? [True, True] Translation: X:52.59, Y:-12.90, Z:-0.08 [[ 9.19388869e-01 3.93349381e-01 -6.08947918e-04 5.25879406e+01] [-3.93349290e-01 9.19389071e-01 2.68294658e-04 -1.28994490e+01] [ 6.65393598e-04 -7.13789072e-06 9.99999779e-01 -7.90678106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.997628000000006 meters 0.012393072390089566 Centerline is valid? [True, True] Translation: X:52.62, Y:-12.91, Z:-0.08 [[ 9.19341398e-01 3.93460015e-01 -7.80978130e-04 5.26172841e+01] [-3.93459864e-01 9.19341730e-01 3.44261640e-04 -1.29144039e+01] [ 8.53438975e-04 -9.21042870e-06 9.99999636e-01 -7.90076952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02762800000001 meters 0.012263286857628217 Centerline is valid? [True, True] Translation: X:52.65, Y:-12.93, Z:-0.08 [[ 9.19032994e-01 3.94179526e-01 -9.26254866e-04 5.26477708e+01] [-3.94179314e-01 9.19033460e-01 4.08532000e-04 -1.29280093e+01] [ 1.01229417e-03 -1.03438795e-05 9.99999488e-01 -7.92900615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05762800000001 meters 0.012162210286074957 Centerline is valid? [True, True] Translation: X:52.68, Y:-12.94, Z:-0.08 [[ 9.18557009e-01 3.95286572e-01 -1.24385894e-03 5.26762808e+01] [-3.95286192e-01 9.18557851e-01 5.48444245e-04 -1.29409745e+01] [ 1.35934904e-03 -1.20970439e-05 9.99999076e-01 -7.97809564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08762800000001 meters 0.011994676554860546 Centerline is valid? [True, True] Translation: X:52.71, Y:-12.95, Z:-0.08 [[ 9.17719281e-01 3.97223441e-01 -2.20425227e-03 5.27061410e+01] [-3.97222251e-01 9.17721928e-01 9.72545313e-04 -1.29530805e+01] [ 2.40920844e-03 -1.69455363e-05 9.99997098e-01 -8.14131633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.117628 meters 0.014330503753758005 Centerline is valid? [True, True] Translation: X:52.74, Y:-12.97, Z:-0.09 [[ 9.17446804e-01 3.97837000e-01 -4.13325658e-03 5.27360409e+01] [-3.97832817e-01 9.17456114e-01 1.82474102e-03 -1.29661424e+01] [ 4.51803101e-03 -2.97577127e-05 9.99989793e-01 -8.50233541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.147628000000005 meters 0.011922123343015689 Centerline is valid? [True, True] Translation: X:52.77, Y:-12.98, Z:-0.08 [[ 9.16888087e-01 3.99124586e-01 -3.97505245e-03 5.27664052e+01] [-3.99120723e-01 9.16896703e-01 1.75624508e-03 -1.29791732e+01] [ 4.34567308e-03 -2.37543807e-05 9.99990557e-01 -8.40157799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177628000000006 meters 0.011947331214116818 Centerline is valid? [True, True] Translation: X:52.80, Y:-12.99, Z:-0.09 [[ 9.16716816e-01 3.99504949e-01 -5.10643329e-03 5.27954640e+01] [-3.99498571e-01 9.16731038e-01 2.25754274e-03 -1.29922468e+01] [ 5.58312538e-03 -2.95145895e-05 9.99984414e-01 -8.52167457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20762800000001 meters 0.015619909755641273 Centerline is valid? [True, True] Translation: X:52.82, Y:-13.01, Z:-0.09 [[ 9.17193379e-01 3.98372918e-01 -7.43805942e-03 5.28243036e+01] [-3.98359333e-01 9.17223536e-01 3.29032505e-03 -1.30066559e+01] [ 8.13313955e-03 -5.48439620e-05 9.99966924e-01 -8.89990455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23762800000001 meters 0.012143635362190834 Centerline is valid? [True, True] Translation: X:52.85, Y:-13.02, Z:-0.09 [[ 9.17300932e-01 3.98144637e-01 -6.31252049e-03 5.28542424e+01] [-3.98134832e-01 9.17322651e-01 2.79465543e-03 -1.30213203e+01] [ 6.90329510e-03 -5.03057440e-05 9.99976171e-01 -8.63430619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26762800000001 meters 0.012322176980932608 Centerline is valid? [True, True] Translation: X:52.88, Y:-13.04, Z:-0.09 [[ 9.17765056e-01 3.97072679e-01 -6.37098543e-03 5.28838829e+01] [-3.97062651e-01 9.17787167e-01 2.82266270e-03 -1.30367693e+01] [ 6.96801091e-03 -6.08608262e-05 9.99975721e-01 -8.59386483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.297628 meters 0.012670386226783561 Centerline is valid? [True, True] Translation: X:52.91, Y:-13.05, Z:-0.09 [[ 9.18324626e-01 3.95779184e-01 -6.22240292e-03 5.29117331e+01] [-3.95769577e-01 9.18345704e-01 2.75843356e-03 -1.30516285e+01] [ 6.80604758e-03 -7.04996928e-05 9.99976836e-01 -8.56445155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.327628000000004 meters 0.013489203443614296 Centerline is valid? [True, True] Translation: X:52.94, Y:-13.07, Z:-0.09 [[ 9.19628090e-01 3.92751344e-01 -5.52793399e-03 5.29381724e+01] [-3.92743699e-01 9.19644700e-01 2.45207594e-03 -1.30676800e+01] [ 6.04679132e-03 -8.39366707e-05 9.99981714e-01 -8.59236967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357628000000005 meters 0.013330204619935943 Centerline is valid? [True, True] Translation: X:52.97, Y:-13.08, Z:-0.09 [[ 9.20347924e-01 3.91064882e-01 -5.28739172e-03 5.29675287e+01] [-3.91057850e-01 9.20363107e-01 2.34700055e-03 -1.30812613e+01] [ 5.78414976e-03 -9.23810413e-05 9.99983267e-01 -8.56436407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38762800000001 meters 0.014867828547833131 Centerline is valid? [True, True] Translation: X:52.99, Y:-13.10, Z:-0.09 [[ 9.21938558e-01 3.87310523e-01 -4.45584606e-03 5.29933862e+01] [-3.87305479e-01 9.21949320e-01 1.97913462e-03 -1.30993948e+01] [ 4.87460392e-03 -9.88669226e-05 9.99988114e-01 -8.56066156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41762800000001 meters 0.01493972740271737 Centerline is valid? [True, True] Translation: X:53.02, Y:-13.11, Z:-0.08 [[ 9.22708375e-01 3.85477673e-01 -4.02716358e-03 5.30215877e+01] [-3.85473530e-01 9.22717158e-01 1.78996449e-03 -1.31141110e+01] [ 4.40592428e-03 -9.92502676e-05 9.99990289e-01 -8.44307057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44762800000001 meters 0.015484796559722945 Centerline is valid? [True, True] Translation: X:53.05, Y:-13.13, Z:-0.08 [[ 9.23325457e-01 3.84004776e-01 -3.22996182e-03 5.30493193e+01] [-3.84002099e-01 9.23331102e-01 1.43655026e-03 -1.31294115e+01] [ 3.53396637e-03 -8.60913059e-05 9.99993752e-01 -8.37673200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.477628 meters 0.016070869991700185 Centerline is valid? [True, True] Translation: X:53.08, Y:-13.14, Z:-0.08 [[ 9.23723318e-01 3.83049310e-01 -2.90834834e-03 5.30766040e+01] [-3.83047131e-01 9.23727893e-01 1.29432306e-03 -1.31439100e+01] [ 3.18231204e-03 -8.15618998e-05 9.99994933e-01 -8.31106523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.507628000000004 meters 0.01622079564840752 Centerline is valid? [True, True] Translation: X:53.11, Y:-13.16, Z:-0.08 [[ 9.23617042e-01 3.83302800e-01 -3.24387818e-03 5.31064856e+01] [-3.83300088e-01 9.23622734e-01 1.44475064e-03 -1.31586458e+01] [ 3.54989660e-03 -9.10175202e-05 9.99993695e-01 -8.39809677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537628000000005 meters 0.01621731401107946 Centerline is valid? [True, True] Translation: X:53.13, Y:-13.17, Z:-0.08 [[ 9.23059804e-01 3.84637960e-01 -3.77321520e-03 5.31346562e+01] [-3.84634298e-01 9.23067511e-01 1.68135287e-03 -1.31716938e+01] [ 4.12964450e-03 -1.00681275e-04 9.99991468e-01 -8.46369711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.567628000000006 meters 0.015686085461269067 Centerline is valid? [True, True] Translation: X:53.16, Y:-13.18, Z:-0.09 [[ 9.22318672e-01 3.86405461e-01 -4.36874283e-03 5.31647464e+01] [-3.86400571e-01 9.22329013e-01 1.94689636e-03 -1.31843385e+01] [ 4.78170965e-03 -1.07574143e-04 9.99988562e-01 -8.53850564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59762800000001 meters 0.013852568912649204 Centerline is valid? [True, True] Translation: X:53.20, Y:-13.19, Z:-0.09 [[ 9.20620280e-01 3.90428077e-01 -4.92115892e-03 5.31959701e+01] [-3.90421925e-01 9.20633427e-01 2.19393262e-03 -1.31946757e+01] [ 5.38715629e-03 -9.84505256e-05 9.99985484e-01 -8.55795021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62762800000001 meters 0.014403181944717725 Centerline is valid? [True, True] Translation: X:53.22, Y:-13.21, Z:-0.09 [[ 9.19744907e-01 3.92486797e-01 -4.83938150e-03 5.32242945e+01] [-3.92480868e-01 9.19757635e-01 2.15907534e-03 -1.32085705e+01] [ 5.29846665e-03 -8.64339022e-05 9.99985959e-01 -8.66426324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65762800000001 meters 0.013602944694158764 Centerline is valid? [True, True] Translation: X:53.25, Y:-13.22, Z:-0.09 [[ 9.18828903e-01 3.94626927e-01 -4.79947593e-03 5.32541645e+01] [-3.94621117e-01 9.18841435e-01 2.14262129e-03 -1.32200853e+01] [ 5.25549341e-03 -7.47278140e-05 9.99986187e-01 -8.61828342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.687628000000004 meters 0.012716297632525053 Centerline is valid? [True, True] Translation: X:53.28, Y:-13.23, Z:-0.09 [[ 9.17336668e-01 3.98092737e-01 -3.95096142e-03 5.32844513e+01] [-3.98088827e-01 9.17345175e-01 1.76504693e-03 -1.32308295e+01] [ 4.32704776e-03 -4.63086702e-05 9.99990637e-01 -8.54422678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717628000000005 meters 0.012548383598351434 Centerline is valid? [True, True] Translation: X:53.31, Y:-13.24, Z:-0.09 [[ 9.16523691e-01 3.99966759e-01 -3.30380547e-03 5.33128055e+01] [-3.99964033e-01 9.16529645e-01 1.47685661e-03 -1.32424778e+01] [ 3.61872920e-03 -3.21707077e-05 9.99993452e-01 -8.54057037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.747628000000006 meters 0.012191478996602109 Centerline is valid? [True, True] Translation: X:53.34, Y:-13.25, Z:-0.09 [[ 9.15603700e-01 4.02069952e-01 -3.10122838e-03 5.33428273e+01] [-4.02067559e-01 9.15608952e-01 1.38726554e-03 -1.32544839e+01] [ 3.39729026e-03 -2.32821387e-05 9.99994229e-01 -8.50137895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77762800000001 meters 0.012026839244273618 Centerline is valid? [True, True] Translation: X:53.37, Y:-13.27, Z:-0.09 [[ 9.13777081e-01 4.06200460e-01 -3.55417912e-03 5.33715210e+01] [-4.06197346e-01 9.13783993e-01 1.59075974e-03 -1.32657793e+01] [ 3.89391933e-03 -9.90166787e-06 9.99992419e-01 -8.58216663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80762800000001 meters 0.011979811536753272 Centerline is valid? [True, True] Translation: X:53.40, Y:-13.28, Z:-0.09 [[ 9.12658568e-01 4.08708553e-01 -3.41411855e-03 5.34013194e+01] [-4.08705693e-01 9.12664954e-01 1.52909649e-03 -1.32772062e+01] [ 3.74090117e-03 -1.73322046e-07 9.99993003e-01 -8.61142169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83762800000001 meters 0.011945930233813 Centerline is valid? [True, True] Translation: X:53.43, Y:-13.29, Z:-0.09 [[ 9.11649800e-01 4.10953211e-01 -3.47851001e-03 5.34325094e+01] [-4.10950253e-01 9.11656437e-01 1.55910485e-03 -1.32889540e+01] [ 3.81192518e-03 8.13694890e-06 9.99992735e-01 -8.62623170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.867628 meters 0.01225070400681501 Centerline is valid? [True, True] Translation: X:53.46, Y:-13.30, Z:-0.09 [[ 9.09609146e-01 4.15444711e-01 -4.11016415e-03 5.34628994e+01] [-4.15440622e-01 9.09618432e-01 1.84330140e-03 -1.32986485e+01] [ 4.50447089e-03 3.08453369e-05 9.99989854e-01 -8.75572880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897628000000005 meters 0.01258185483947431 Centerline is valid? [True, True] Translation: X:53.49, Y:-13.31, Z:-0.09 [[ 9.08725751e-01 4.17370627e-01 -4.38960999e-03 5.34920393e+01] [-4.17365985e-01 9.08736352e-01 1.96912805e-03 -1.33099144e+01] [ 4.81085437e-03 4.26765263e-05 9.99988427e-01 -8.88929825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.927628000000006 meters 0.012702660908136614 Centerline is valid? [True, True] Translation: X:53.52, Y:-13.32, Z:-0.09 [[ 9.08003346e-01 4.18938732e-01 -4.50137176e-03 5.35212409e+01] [-4.18933861e-01 9.08014502e-01 2.02075826e-03 -1.33223249e+01] [ 4.93388474e-03 5.09217876e-05 9.99987827e-01 -8.96778878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95762800000001 meters 0.01288742007947557 Centerline is valid? [True, True] Translation: X:53.55, Y:-13.34, Z:-0.09 [[ 9.07463695e-01 4.20103263e-01 -4.78442059e-03 5.35501731e+01] [-4.20097774e-01 9.07476305e-01 2.14840110e-03 -1.33352843e+01] [ 5.24429864e-03 6.03284395e-05 9.99986247e-01 -8.97527838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98762800000001 meters 0.013208651339993271 Centerline is valid? [True, True] Translation: X:53.58, Y:-13.35, Z:-0.09 [[ 9.07055081e-01 4.20984984e-01 -4.76694327e-03 5.35780124e+01] [-4.20979543e-01 9.07067604e-01 2.14134971e-03 -1.33486632e+01] [ 5.22541589e-03 6.44634660e-05 9.99986345e-01 -8.89252024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01762800000001 meters 0.013072700618120337 Centerline is valid? [True, True] Translation: X:53.61, Y:-13.36, Z:-0.09 [[ 9.07193817e-01 4.20687179e-01 -4.65578270e-03 5.36072768e+01] [-4.20681975e-01 9.07205762e-01 2.09318908e-03 -1.33626560e+01] [ 5.10433070e-03 5.96756691e-05 9.99986971e-01 -8.85755662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.047628 meters 0.012806257168894629 Centerline is valid? [True, True] Translation: X:53.64, Y:-13.38, Z:-0.09 [[ 9.07456554e-01 4.20117695e-01 -4.87081607e-03 5.36371110e+01] [-4.20111983e-01 9.07469624e-01 2.19150136e-03 -1.33773165e+01] [ 5.34080613e-03 5.75959268e-05 9.99985736e-01 -8.90999356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.077628000000004 meters 0.012425072784175022 Centerline is valid? [True, True] Translation: X:53.66, Y:-13.39, Z:-0.09 [[ 9.08741725e-01 4.17321494e-01 -5.58999355e-03 5.36647454e+01] [-4.17313909e-01 9.08758917e-01 2.51659738e-03 -1.33937272e+01] [ 6.13018666e-03 4.58450102e-05 9.99981209e-01 -8.97549232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.107628000000005 meters 0.01215052379125943 Centerline is valid? [True, True] Translation: X:53.69, Y:-13.41, Z:-0.09 [[ 9.09558561e-01 4.15536448e-01 -5.71694050e-03 5.36933884e+01] [-4.15528468e-01 9.09576527e-01 2.57545195e-03 -1.34088183e+01] [ 6.27018905e-03 3.30271568e-05 9.99980342e-01 -8.96684463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13762800000001 meters 0.012152099221357454 Centerline is valid? [True, True] Translation: X:53.72, Y:-13.42, Z:-0.09 [[ 9.10256186e-01 4.14008121e-01 -5.56342904e-03 5.37217485e+01] [-4.14000525e-01 9.10273187e-01 2.50796395e-03 -1.34229357e+01] [ 6.10255772e-03 2.03728461e-05 9.99981379e-01 -8.99900403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16762800000001 meters 0.01200945428301635 Centerline is valid? [True, True] Translation: X:53.75, Y:-13.44, Z:-0.09 [[ 9.11362384e-01 4.11580654e-01 -4.46885180e-03 5.37497059e+01] [-4.11575718e-01 9.11373340e-01 2.01580808e-03 -1.34360059e+01] [ 4.90246000e-03 2.13923251e-06 9.99987983e-01 -8.89591188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19762800000001 meters 0.011992262199578043 Centerline is valid? [True, True] Translation: X:53.78, Y:-13.45, Z:-0.09 [[ 9.12024062e-01 4.10116244e-01 -4.09602351e-03 5.37797020e+01] [-4.10112075e-01 9.12033260e-01 1.84911695e-03 -1.34504737e+01] [ 4.49406258e-03 -6.61045102e-06 9.99989902e-01 -8.81046331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.227628 meters 0.011992262199578043 Centerline is valid? [True, True] Translation: X:53.81, Y:-13.46, Z:-0.09 [[ 9.11909814e-01 4.10370221e-01 -4.09550870e-03 5.38091985e+01] [-4.10366049e-01 9.11919011e-01 1.85025704e-03 -1.34638685e+01] [ 4.49406263e-03 -6.60982496e-06 9.99989902e-01 -8.81510276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.257628000000004 meters 0.012121076572802286 Centerline is valid? [True, True] Translation: X:53.84, Y:-13.48, Z:-0.09 [[ 9.12750841e-01 4.08499682e-01 -3.72993259e-03 5.38374430e+01] [-4.08496202e-01 9.12758462e-01 1.68627098e-03 -1.34780733e+01] [ 4.09336869e-03 -1.54819601e-05 9.99991622e-01 -8.73234065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.287628000000005 meters 0.012719282283639846 Centerline is valid? [True, True] Translation: X:53.87, Y:-13.49, Z:-0.09 [[ 9.15438099e-01 4.02453642e-01 -2.03784418e-03 5.38653324e+01] [-4.02452586e-01 9.15440367e-01 9.22055821e-04 -1.34936496e+01] [ 2.23660955e-03 -2.39493657e-05 9.99997498e-01 -8.61294024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.317628000000006 meters 0.013393553975457259 Centerline is valid? [True, True] Translation: X:53.89, Y:-13.51, Z:-0.09 [[ 9.16983818e-01 3.98919563e-01 -1.96477259e-03 5.38932040e+01] [-3.98918572e-01 9.16985922e-01 8.89517362e-04 -1.35087862e+01] [ 2.15651468e-03 -3.18887520e-05 9.99997674e-01 -8.58618899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34762800000001 meters 0.014478708146207043 Centerline is valid? [True, True] Translation: X:53.92, Y:-13.52, Z:-0.09 [[ 9.18541752e-01 3.95318754e-01 -2.03281971e-03 5.39207029e+01] [-3.95317684e-01 9.18544001e-01 9.20451945e-04 -1.35240100e+01] [ 2.23110626e-03 -4.18639630e-05 9.99997510e-01 -8.62107046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37762800000001 meters 0.016441913694896882 Centerline is valid? [True, True] Translation: X:53.95, Y:-13.54, Z:-0.09 [[ 9.21420876e-01 3.88552721e-01 -3.21748915e-03 5.39483098e+01] [-3.88550000e-01 9.21426489e-01 1.45686589e-03 -1.35403145e+01] [ 3.53074893e-03 -9.22312391e-05 9.99993763e-01 -8.71692023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40762800000001 meters 0.017390428948834153 Centerline is valid? [True, True] Translation: X:53.98, Y:-13.55, Z:-0.09 [[ 9.22660505e-01 3.85589011e-01 -4.32506540e-03 5.39769938e+01] [-3.85584062e-01 9.22670632e-01 1.95872085e-03 -1.35545154e+01] [ 4.74587206e-03 -1.39558086e-04 9.99988729e-01 -8.81000411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.437628000000004 meters 0.019140039467020455 Centerline is valid? [True, True] Translation: X:54.00, Y:-13.57, Z:-0.09 [[ 9.23806521e-01 3.82817971e-01 -5.64924141e-03 5.40045798e+01] [-3.82809464e-01 9.23823771e-01 2.56012424e-03 -1.35684045e+01] [ 6.19896507e-03 -2.02476394e-04 9.99980766e-01 -8.90755225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.467628000000005 meters 0.02010038567204205 Centerline is valid? [True, True] Translation: X:54.03, Y:-13.58, Z:-0.09 [[ 9.26121647e-01 3.77156587e-01 -7.18358433e-03 5.40335105e+01] [-3.77142648e-01 9.26149456e-01 3.25716654e-03 -1.35803169e+01] [ 7.88153453e-03 -3.07296427e-04 9.99968893e-01 -9.07772449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.497628000000006 meters 0.022354200784531243 Centerline is valid? [True, True] Translation: X:54.06, Y:-13.59, Z:-0.09 [[ 9.27395248e-01 3.73996873e-01 -8.02455824e-03 5.40604603e+01] [-3.73979362e-01 9.27429889e-01 3.63833388e-03 -1.35938090e+01] [ 8.80294066e-03 -3.73154384e-04 9.99961184e-01 -9.30222390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52762800000001 meters 0.021073304486355846 Centerline is valid? [True, True] Translation: X:54.09, Y:-13.61, Z:-0.09 [[ 9.28246966e-01 3.71888112e-01 -7.53676195e-03 5.40902815e+01] [-3.71872589e-01 9.28277489e-01 3.41788673e-03 -1.36056713e+01] [ 8.26727790e-03 -3.69927810e-04 9.99965757e-01 -9.04238037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55762800000001 meters 0.022033004586483957 Centerline is valid? [True, True] Translation: X:54.12, Y:-13.62, Z:-0.09 [[ 9.28865240e-01 3.70355104e-01 -6.81640313e-03 5.41181337e+01] [-3.70342350e-01 9.28890185e-01 3.09332036e-03 -1.36189252e+01] [ 7.47731694e-03 -3.48875010e-04 9.99971984e-01 -8.96511036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58762800000001 meters 0.025112268235905573 Centerline is valid? [True, True] Translation: X:54.15, Y:-13.63, Z:-0.09 [[ 9.29363618e-01 3.69137836e-01 -4.53030046e-03 5.41457934e+01] [-3.69132181e-01 9.29374629e-01 2.05721457e-03 -1.36327886e+01] [ 4.96974205e-03 -2.39620688e-04 9.99987622e-01 -8.80472879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.617628 meters 0.025389630839184184 Centerline is valid? [True, True] Translation: X:54.18, Y:-13.64, Z:-0.09 [[ 9.29151169e-01 3.69686563e-01 -3.15425835e-03 5.41762141e+01] [-3.69683825e-01 9.29156509e-01 1.43255324e-03 -1.36448123e+01] [ 3.46039536e-03 -1.64980224e-04 9.99993999e-01 -8.71772759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.647628000000005 meters 0.0225293444781892 Centerline is valid? [True, True] Translation: X:54.21, Y:-13.65, Z:-0.09 [[ 9.28687120e-01 3.70858216e-01 -2.10159091e-03 5.42082027e+01] [-3.70857001e-01 9.28689492e-01 9.55369831e-04 -1.36524342e+01] [ 2.30603215e-03 -1.07849954e-04 9.99997335e-01 -8.57122433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677628000000006 meters 0.025118708551160978 Centerline is valid? [True, True] Translation: X:54.24, Y:-13.67, Z:-0.08 [[ 9.28067918e-01 3.72410022e-01 -8.45649351e-04 5.42359868e+01] [-3.72409825e-01 9.28068302e-01 3.84849378e-04 -1.36663546e+01] [ 9.28142123e-04 -4.22382335e-05 9.99999568e-01 -8.49906820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70762800000001 meters 0.01943496120971147 Centerline is valid? [True, True] Translation: X:54.27, Y:-13.67, Z:-0.08 [[ 9.26772901e-01 3.75620956e-01 9.41890898e-04 5.42704574e+01] [-3.75620714e-01 9.26773379e-01 -4.28227478e-04 -1.36674248e+01] [-1.03377062e-03 4.30758909e-05 9.99999465e-01 -8.26363405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73762800000001 meters 0.01934604062840282 Centerline is valid? [True, True] Translation: X:54.30, Y:-13.68, Z:-0.08 [[ 9.25935775e-01 3.77675176e-01 2.09835968e-03 5.43001121e+01] [-3.77673980e-01 9.25938148e-01 -9.54501789e-04 -1.36775190e+01] [-2.30344291e-03 9.13114991e-05 9.99997343e-01 -8.20257431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76762800000001 meters 0.018977157751386736 Centerline is valid? [True, True] Translation: X:54.33, Y:-13.68, Z:-0.08 [[ 9.24413908e-01 3.81378577e-01 3.05080296e-03 5.43312474e+01] [-3.81376068e-01 9.24418935e-01 -1.38834176e-03 -1.36832588e+01] [-3.34970383e-03 1.19899192e-04 9.99994383e-01 -8.15334598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.797628 meters 0.017833536413269544 Centerline is valid? [True, True] Translation: X:54.36, Y:-13.69, Z:-0.08 [[ 9.23595784e-01 3.83352085e-01 3.46515782e-03 5.43624240e+01] [-3.83348860e-01 9.23602275e-01 -1.57760288e-03 -1.36914483e+01] [-3.80520500e-03 1.28703066e-04 9.99992752e-01 -8.23042981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.827628000000004 meters 0.01769284054346481 Centerline is valid? [True, True] Translation: X:54.39, Y:-13.70, Z:-0.08 [[ 9.22878936e-01 3.85077699e-01 3.10408554e-03 5.43928594e+01] [-3.85075118e-01 9.22884150e-01 -1.41408495e-03 -1.37012129e+01] [-3.40924393e-03 1.09723106e-04 9.99994182e-01 -8.28641299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857628000000005 meters 0.017360671794345774 Centerline is valid? [True, True] Translation: X:54.42, Y:-13.71, Z:-0.08 [[ 9.22194101e-01 3.86717552e-01 2.75225319e-03 5.44237021e+01] [-3.86715528e-01 9.22198203e-01 -1.25456551e-03 -1.37109196e+01] [-3.02328545e-03 9.26138647e-05 9.99995426e-01 -8.36007178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88762800000001 meters 0.01609136543941221 Centerline is valid? [True, True] Translation: X:54.46, Y:-13.72, Z:-0.09 [[ 9.21174873e-01 3.89147797e-01 9.19125255e-04 5.44564645e+01] [-3.89147572e-01 9.21175332e-01 -4.18980772e-04 -1.37160733e+01] [-1.00972096e-03 2.82791982e-05 9.99999490e-01 -8.62907246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91762800000001 meters 0.01603907869233556 Centerline is valid? [True, True] Translation: X:54.49, Y:-13.73, Z:-0.09 [[ 9.20798092e-01 3.90039576e-01 5.07356007e-05 5.44871227e+01] [-3.90039575e-01 9.20798094e-01 -2.27801145e-05 -1.37265648e+01] [-5.56023906e-05 1.18699381e-06 9.99999998e-01 -8.73915297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94762800000001 meters 0.015471880022141213 Centerline is valid? [True, True] Translation: X:54.52, Y:-13.73, Z:-0.09 [[ 9.20380886e-01 3.91018385e-01 -1.90992821e-03 5.45188354e+01] [-3.91017415e-01 9.20382866e-01 8.72960126e-04 -1.37332274e+01] [ 2.09920866e-03 -5.66406204e-05 9.99997795e-01 -8.93793527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.977628 meters 0.01593950140760759 Centerline is valid? [True, True] Translation: X:54.55, Y:-13.74, Z:-0.09 [[ 9.20151570e-01 3.91555054e-01 -2.39335278e-03 5.45478041e+01] [-3.91553532e-01 9.20154680e-01 1.09404895e-03 -1.37441347e+01] [ 2.63063516e-03 -6.95651214e-05 9.99996537e-01 -9.01439643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.007628000000004 meters 0.015390146941937301 Centerline is valid? [True, True] Translation: X:54.58, Y:-13.75, Z:-0.09 [[ 9.19695394e-01 3.92626085e-01 -2.26711213e-03 5.45786676e+01] [-3.92624720e-01 9.19698186e-01 1.03719192e-03 -1.37547978e+01] [ 2.49228751e-03 -6.37763648e-05 9.99996892e-01 -9.01681080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037628000000005 meters 0.015140058467338516 Centerline is valid? [True, True] Translation: X:54.61, Y:-13.77, Z:-0.09 [[ 9.19142247e-01 3.93921061e-01 -1.93059720e-03 5.46088430e+01] [-3.93920073e-01 9.19144273e-01 8.83864911e-04 -1.37656986e+01] [ 2.12267036e-03 -5.18965928e-05 9.99997746e-01 -8.97622803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.067628000000006 meters 0.01454499811143761 Centerline is valid? [True, True] Translation: X:54.64, Y:-13.77, Z:-0.09 [[ 9.17521206e-01 3.97685551e-01 -1.01893685e-03 5.46383430e+01] [-3.97685278e-01 9.17521772e-01 4.66335220e-04 -1.37735776e+01] [ 1.12035153e-03 -2.26562674e-05 9.99999372e-01 -8.90220874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09762800000001 meters 0.013839178543826837 Centerline is valid? [True, True] Translation: X:54.67, Y:-13.78, Z:-0.09 [[ 9.16346933e-01 4.00385146e-01 -1.83005406e-04 5.46692517e+01] [-4.00385137e-01 9.16346951e-01 8.39034197e-05 -1.37841836e+01] [ 2.01290129e-04 -3.61199658e-06 9.99999980e-01 -8.87601408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12762800000001 meters 0.012837528906781435 Centerline is valid? [True, True] Translation: X:54.70, Y:-13.79, Z:-0.09 [[ 9.15117595e-01 4.03186962e-01 2.47223403e-04 5.46997937e+01] [-4.03186947e-01 9.15117628e-01 -1.12853541e-04 -1.37936911e+01] [-2.71739570e-04 3.59701192e-06 9.99999963e-01 -8.87262610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15762800000001 meters 0.011854946704444423 Centerline is valid? [True, True] Translation: X:54.73, Y:-13.80, Z:-0.09 [[ 9.12754566e-01 4.08508040e-01 5.31350576e-04 5.47311969e+01] [-4.08507968e-01 9.12754721e-01 -2.43148340e-04 -1.38016170e+01] [-5.84320798e-04 4.87381330e-06 9.99999829e-01 -8.86098930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.187628000000004 meters 0.011838408245328174 Centerline is valid? [True, True] Translation: X:54.76, Y:-13.81, Z:-0.09 [[ 9.11977646e-01 4.10238655e-01 1.00985465e-03 5.47601524e+01] [-4.10238394e-01 9.11978205e-01 -4.62781450e-04 -1.38136441e+01] [-1.11081627e-03 7.76518898e-06 9.99999383e-01 -8.81251909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217628000000005 meters 0.01171248108388446 Centerline is valid? [True, True] Translation: X:54.79, Y:-13.83, Z:-0.09 [[ 9.11347060e-01 4.11635559e-01 1.64427516e-03 5.47911073e+01] [-4.11634868e-01 9.11348543e-01 -7.54225829e-04 -1.38258379e+01] [-1.80897394e-03 1.05205022e-05 9.99998364e-01 -8.75951445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.247628000000006 meters 0.011554606461473374 Centerline is valid? [True, True] Translation: X:54.82, Y:-13.84, Z:-0.09 [[ 9.10867126e-01 4.12686678e-01 3.28400746e-03 5.48221009e+01] [-4.12683924e-01 9.10873046e-01 -1.50796182e-03 -1.38382577e+01] [-3.61362963e-03 1.82957706e-05 9.99993471e-01 -8.66067446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27762800000001 meters 0.011741840461139645 Centerline is valid? [True, True] Translation: X:54.85, Y:-13.85, Z:-0.09 [[ 9.10702527e-01 4.13049092e-01 3.36960181e-03 5.48510650e+01] [-4.13046190e-01 9.10708761e-01 -1.54841038e-03 -1.38526296e+01] [-3.70829539e-03 1.83400504e-05 9.99993124e-01 -8.54839432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30762800000001 meters 0.011767429870124212 Centerline is valid? [True, True] Translation: X:54.88, Y:-13.87, Z:-0.09 [[ 9.10511555e-01 4.13470213e-01 3.33027516e-03 5.48809980e+01] [-4.13467377e-01 9.10517645e-01 -1.53140895e-03 -1.38668892e+01] [-3.66546629e-03 1.74054083e-05 9.99993282e-01 -8.54053876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33762800000001 meters 0.011666763896316016 Centerline is valid? [True, True] Translation: X:54.91, Y:-13.88, Z:-0.09 [[ 9.10321976e-01 4.13891108e-01 2.83737650e-03 5.49113499e+01] [-4.13889049e-01 9.10326398e-01 -1.30563056e-03 -1.38802047e+01] [-3.12332761e-03 1.41851296e-05 9.99995122e-01 -8.57742242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.367628 meters 0.011654492244515395 Centerline is valid? [True, True] Translation: X:54.94, Y:-13.89, Z:-0.09 [[ 9.10155683e-01 4.14259237e-01 2.43267361e-03 5.49410706e+01] [-4.14257722e-01 9.10158934e-01 -1.12017062e-03 -1.38934616e+01] [-2.67816064e-03 1.17758310e-05 9.99996414e-01 -8.66841693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397628000000005 meters 0.011573288391682375 Centerline is valid? [True, True] Translation: X:54.97, Y:-13.91, Z:-0.09 [[ 9.09952603e-01 4.14708846e-01 1.68336663e-03 5.49708544e+01] [-4.14708120e-01 9.09954160e-01 -7.75578526e-04 -1.39069282e+01] [-1.85342574e-03 7.63388830e-06 9.99998282e-01 -8.76262322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.427628000000006 meters 0.011637363649745549 Centerline is valid? [True, True] Translation: X:55.00, Y:-13.92, Z:-0.09 [[ 9.09763964e-01 4.15125915e-01 -5.83684815e-05 5.49993650e+01] [-4.15125915e-01 9.09763966e-01 2.73467839e-05 -1.39205518e+01] [ 6.44538999e-05 -6.48849238e-07 9.99999998e-01 -8.94727997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45762800000001 meters 0.011688191608836315 Centerline is valid? [True, True] Translation: X:55.03, Y:-13.94, Z:-0.09 [[ 9.09610959e-01 4.15460544e-01 -6.62746200e-04 5.50294257e+01] [-4.15460431e-01 9.09611200e-01 3.06411340e-04 -1.39350108e+01] [ 7.30143189e-04 -3.37029023e-06 9.99999733e-01 -8.99828565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48762800000001 meters 0.011693627132573547 Centerline is valid? [True, True] Translation: X:55.06, Y:-13.95, Z:-0.09 [[ 9.09611429e-01 4.15458725e-01 -1.04702415e-03 5.50590968e+01] [-4.15458443e-01 9.09612032e-01 4.84175186e-04 -1.39504112e+01] [ 1.15354057e-03 -5.41626160e-06 9.99999335e-01 -9.03823792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51762800000001 meters 0.011939054942856457 Centerline is valid? [True, True] Translation: X:55.09, Y:-13.97, Z:-0.09 [[ 9.10138515e-01 4.14300004e-01 -1.84123116e-03 5.50871663e+01] [-4.14299129e-01 9.10140377e-01 8.51728804e-04 -1.39686621e+01] [ 2.02865007e-03 -1.23707224e-05 9.99997942e-01 -9.05182640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.547628 meters 0.012089172921827308 Centerline is valid? [True, True] Translation: X:55.12, Y:-13.98, Z:-0.09 [[ 9.10530957e-01 4.13437065e-01 -1.78037298e-03 5.51155999e+01] [-4.13436243e-01 9.10532698e-01 8.24192753e-04 -1.39845464e+01] [ 1.96183964e-03 -1.43823012e-05 9.99998075e-01 -9.04454259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577628000000004 meters 0.012237593287926661 Centerline is valid? [True, True] Translation: X:55.14, Y:-14.00, Z:-0.09 [[ 9.11089765e-01 4.12206076e-01 -1.26109015e-03 5.51449338e+01] [-4.12205662e-01 9.11090638e-01 5.84373469e-04 -1.40004569e+01] [ 1.38984972e-03 -1.25881867e-05 9.99999034e-01 -9.01581072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.607628000000005 meters 0.012639425890204345 Centerline is valid? [True, True] Translation: X:55.17, Y:-14.02, Z:-0.09 [[ 9.11783695e-01 4.10669820e-01 -8.90528238e-04 5.51721469e+01] [-4.10669613e-01 9.11784130e-01 4.12951690e-04 -1.40168055e+01] [ 9.81556310e-04 -1.08097318e-05 9.99999518e-01 -9.01264771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63762800000001 meters 0.013244271571591172 Centerline is valid? [True, True] Translation: X:55.20, Y:-14.04, Z:-0.09 [[ 9.13469543e-01 4.06906720e-01 -5.61155150e-04 5.51986453e+01] [-4.06906637e-01 9.13469716e-01 2.60548057e-04 -1.40362659e+01] [ 6.18616991e-04 -9.66495960e-06 9.99999809e-01 -8.94094330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66762800000001 meters 0.01373383383905548 Centerline is valid? [True, True] Translation: X:55.23, Y:-14.05, Z:-0.09 [[ 9.14264752e-01 4.05117191e-01 1.54631637e-04 5.52260803e+01] [-4.05117185e-01 9.14264765e-01 -7.13475673e-05 -1.40530226e+01] [-1.70278384e-04 2.58663226e-06 9.99999985e-01 -8.88543574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69762800000001 meters 0.013930165826037958 Centerline is valid? [True, True] Translation: X:55.25, Y:-14.07, Z:-0.09 [[ 9.14870304e-01 4.03747016e-01 8.21539493e-04 5.52536453e+01] [-4.03746836e-01 9.14870672e-01 -3.80978281e-04 -1.40693077e+01] [-9.05421233e-04 1.68517440e-05 9.99999590e-01 -8.83468882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.727628 meters 0.014578689988005633 Centerline is valid? [True, True] Translation: X:55.28, Y:-14.09, Z:-0.09 [[ 9.15732850e-01 4.01784640e-01 1.56518411e-03 5.52788604e+01] [-4.01783985e-01 9.15734187e-01 -7.26622366e-04 -1.40876447e+01] [-1.72523830e-03 3.65260618e-05 9.99998511e-01 -8.69228165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.757628000000004 meters 0.014926859968982496 Centerline is valid? [True, True] Translation: X:55.31, Y:-14.10, Z:-0.09 [[ 9.15751797e-01 4.01740808e-01 1.72309462e-03 5.53067393e+01] [-4.01740013e-01 9.15753418e-01 -8.00282629e-04 -1.41029548e+01] [-1.89943598e-03 4.06241998e-05 9.99998195e-01 -8.73038168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.787628000000005 meters 0.014791385421471355 Centerline is valid? [True, True] Translation: X:55.34, Y:-14.12, Z:-0.09 [[ 9.15574884e-01 4.02144557e-01 1.54487288e-03 5.53362598e+01] [-4.02143918e-01 9.15576187e-01 -7.17964555e-04 -1.41172270e+01] [-1.70317436e-03 3.60890828e-05 9.99998549e-01 -8.78587820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.817628000000006 meters 0.014904706571935471 Centerline is valid? [True, True] Translation: X:55.36, Y:-14.13, Z:-0.09 [[ 9.14934839e-01 4.03601499e-01 2.64394228e-04 5.53637777e+01] [-4.03601481e-01 9.14934877e-01 -1.22667655e-04 -1.41324281e+01] [-2.91412350e-04 5.52300932e-06 9.99999958e-01 -8.90286684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84762800000001 meters 0.014199316780305102 Centerline is valid? [True, True] Translation: X:55.39, Y:-14.15, Z:-0.09 [[ 9.14452696e-01 4.04692644e-01 -3.61891702e-04 5.53932201e+01] [-4.04692609e-01 9.14452767e-01 1.68886555e-04 -1.41456289e+01] [ 3.99280015e-04 -7.98386866e-06 9.99999920e-01 -8.90340961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87762800000001 meters 0.014197835594343807 Centerline is valid? [True, True] Translation: X:55.42, Y:-14.16, Z:-0.09 [[ 9.14000234e-01 4.05713344e-01 -5.05088657e-04 5.54213994e+01] [-4.05713276e-01 9.14000373e-01 2.35668655e-04 -1.41596147e+01] [ 5.57265140e-04 -1.04800324e-05 9.99999845e-01 -8.92916635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90762800000001 meters 0.013495533715704253 Centerline is valid? [True, True] Translation: X:55.45, Y:-14.17, Z:-0.09 [[ 9.12929382e-01 4.08116598e-01 -8.86330403e-04 5.54511612e+01] [-4.08116390e-01 9.12929812e-01 4.13157387e-04 -1.41731360e+01] [ 9.77773835e-04 -1.54575540e-05 9.99999522e-01 -8.97628759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.937628000000004 meters 0.01352492010896776 Centerline is valid? [True, True] Translation: X:55.48, Y:-14.19, Z:-0.09 [[ 9.12382665e-01 4.09336085e-01 -1.35715040e-03 5.54791563e+01] [-4.09335596e-01 9.12383674e-01 6.33150015e-04 -1.41867857e+01] [ 1.49741302e-03 -2.21451310e-05 9.99998879e-01 -8.99167180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.967628000000005 meters 0.013222883757105782 Centerline is valid? [True, True] Translation: X:55.51, Y:-14.20, Z:-0.09 [[ 9.11863023e-01 4.10491158e-01 -1.68418554e-03 5.55088558e+01] [-4.10490407e-01 9.11864578e-01 7.85595162e-04 -1.42003229e+01] [ 1.85822900e-03 -2.50131716e-05 9.99998273e-01 -9.04455164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.997628000000006 meters 0.01322599617733143 Centerline is valid? [True, True] Translation: X:55.54, Y:-14.21, Z:-0.09 [[ 9.10895989e-01 4.12628247e-01 -2.53526732e-03 5.55360714e+01] [-4.12626551e-01 9.10899516e-01 1.18343771e-03 -1.42145257e+01] [ 2.79769361e-03 -3.18700566e-05 9.99996086e-01 -9.20742134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02762800000001 meters 0.013164923391120515 Centerline is valid? [True, True] Translation: X:55.57, Y:-14.23, Z:-0.09 [[ 9.10488229e-01 4.13525309e-01 -2.82916868e-03 5.55655877e+01] [-4.13523198e-01 9.10492624e-01 1.32156832e-03 -1.42295794e+01] [ 3.12243917e-03 -3.33455158e-05 9.99995125e-01 -9.26331298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05762800000001 meters 0.012775288984804026 Centerline is valid? [True, True] Translation: X:55.59, Y:-14.24, Z:-0.09 [[ 9.10157726e-01 4.14252018e-01 -2.85981686e-03 5.55948793e+01] [-4.14249865e-01 9.10162219e-01 1.33589895e-03 -1.42439630e+01] [ 3.15629610e-03 -3.12000045e-05 9.99995018e-01 -9.24316517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08762800000001 meters 0.012507735374991592 Centerline is valid? [True, True] Translation: X:55.62, Y:-14.26, Z:-0.09 [[ 9.09426292e-01 4.15855862e-01 -2.77876577e-03 5.56229535e+01] [-4.15853833e-01 9.09430537e-01 1.29913417e-03 -1.42589768e+01] [ 3.06734700e-03 -2.59063712e-05 9.99995295e-01 -9.24999728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.117628 meters 0.012528503482207718 Centerline is valid? [True, True] Translation: X:55.65, Y:-14.27, Z:-0.09 [[ 9.08825181e-01 4.17166860e-01 -2.93291152e-03 5.56516642e+01] [-4.17164604e-01 9.08829913e-01 1.37214962e-03 -1.42738769e+01] [ 3.23793308e-03 -2.35372565e-05 9.99994758e-01 -9.32564255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.147628000000005 meters 0.012528503482207718 Centerline is valid? [True, True] Translation: X:55.68, Y:-14.29, Z:-0.09 [[ 9.08710590e-01 4.17416416e-01 -2.93252842e-03 5.56809856e+01] [-4.17414158e-01 9.08715321e-01 1.37296833e-03 -1.42876786e+01] [ 3.23793302e-03 -2.35519770e-05 9.99994758e-01 -9.33028141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177628000000006 meters 0.012385231969557134 Centerline is valid? [True, True] Translation: X:55.71, Y:-14.30, Z:-0.09 [[ 9.08157316e-01 4.18616879e-01 -3.19346582e-03 5.57105572e+01] [-4.18614206e-01 9.08162930e-01 1.49618550e-03 -1.43022765e+01] [ 3.52651578e-03 -2.19416510e-05 9.99993782e-01 -9.35968327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20762800000001 meters 0.012244817599829915 Centerline is valid? [True, True] Translation: X:55.74, Y:-14.32, Z:-0.09 [[ 9.07433575e-01 4.20183719e-01 -3.15430213e-03 5.57398956e+01] [-4.20181117e-01 9.07439057e-01 1.47892937e-03 -1.43167518e+01] [ 3.48375900e-03 -1.66519685e-05 9.99993932e-01 -9.40104680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23762800000001 meters 0.012208341875993046 Centerline is valid? [True, True] Translation: X:55.77, Y:-14.33, Z:-0.09 [[ 9.06038639e-01 4.23181774e-01 -3.34235691e-03 5.57672627e+01] [-4.23178869e-01 9.06044804e-01 1.56791139e-03 -1.43317227e+01] [ 3.69183664e-03 -6.17347854e-06 9.99993185e-01 -9.45552846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26762800000001 meters 0.0122774934664843 Centerline is valid? [True, True] Translation: X:55.80, Y:-14.35, Z:-0.09 [[ 9.05345259e-01 4.24664039e-01 -3.22738057e-03 5.57969581e+01] [-4.24661336e-01 9.05351012e-01 1.51521225e-03 -1.43468412e+01] [ 3.56536842e-03 -1.24648044e-06 9.99993644e-01 -9.45841012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.297628 meters 0.012263960086637332 Centerline is valid? [True, True] Translation: X:55.82, Y:-14.36, Z:-0.10 [[ 9.04570197e-01 4.26313713e-01 -3.06214286e-03 5.58248456e+01] [-4.26311286e-01 9.04575380e-01 1.43862714e-03 -1.43629188e+01] [ 3.38324552e-03 4.08682677e-06 9.99994277e-01 -9.53908003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.327628000000004 meters 0.012286995489740198 Centerline is valid? [True, True] Translation: X:55.85, Y:-14.38, Z:-0.10 [[ 9.04573984e-01 4.26303857e-01 -3.30572395e-03 5.58533498e+01] [-4.26301025e-01 9.04580025e-01 1.55410510e-03 -1.43788401e+01] [ 3.65281285e-03 3.43045857e-06 9.99993328e-01 -9.58582530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357628000000005 meters 0.012292363533245676 Centerline is valid? [True, True] Translation: X:55.88, Y:-14.40, Z:-0.10 [[ 9.04874237e-01 4.25668579e-01 -2.97926466e-03 5.58819951e+01] [-4.25666271e-01 9.04879142e-01 1.40174141e-03 -1.43955228e+01] [ 3.29255172e-03 -2.27214786e-07 9.99994580e-01 -9.56438161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38762800000001 meters 0.012546264656389649 Centerline is valid? [True, True] Translation: X:55.91, Y:-14.42, Z:-0.10 [[ 9.06032398e-01 4.23196710e-01 -3.13669489e-03 5.59082507e+01] [-4.23194134e-01 9.06037827e-01 1.47677502e-03 -1.44152483e+01] [ 3.46693055e-03 -1.05751360e-05 9.99993990e-01 -9.67400533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41762800000001 meters 0.012755188281190051 Centerline is valid? [True, True] Translation: X:55.94, Y:-14.43, Z:-0.10 [[ 9.06678232e-01 4.21809731e-01 -3.33690115e-03 5.59366765e+01] [-4.21806801e-01 9.06684372e-01 1.57205888e-03 -1.44327247e+01] [ 3.68862586e-03 -1.78239639e-05 9.99993197e-01 -9.72799565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44762800000001 meters 0.012632989496386032 Centerline is valid? [True, True] Translation: X:55.97, Y:-14.45, Z:-0.10 [[ 9.07092191e-01 4.20921900e-01 -2.91742541e-03 5.59651680e+01] [-4.20919652e-01 9.07096882e-01 1.37554458e-03 -1.44488956e+01] [ 3.22538434e-03 -1.97440591e-05 9.99994798e-01 -9.65979087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47762800000001 meters 0.013010942182526889 Centerline is valid? [True, True] Translation: X:55.99, Y:-14.47, Z:-0.10 [[ 9.07949961e-01 4.19066962e-01 -3.12255581e-03 5.59907076e+01] [-4.19064376e-01 9.07955330e-01 1.47251344e-03 -1.44680529e+01] [ 3.45222292e-03 -2.84166167e-05 9.99994041e-01 -9.67802873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.507628000000004 meters 0.013106399538110707 Centerline is valid? [True, True] Translation: X:56.02, Y:-14.48, Z:-0.10 [[ 9.07931908e-01 4.19103933e-01 -3.39762094e-03 5.60195202e+01] [-4.19100866e-01 9.07938265e-01 1.60359559e-03 -1.44836673e+01] [ 3.75690328e-03 -3.20097222e-05 9.99992942e-01 -9.66557624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537628000000005 meters 0.012851117478361916 Centerline is valid? [True, True] Translation: X:56.05, Y:-14.50, Z:-0.10 [[ 9.07245155e-01 4.20590933e-01 -3.08156768e-03 5.60489690e+01] [-4.20588416e-01 9.07250388e-01 1.45533090e-03 -1.44959016e+01] [ 3.40785246e-03 -2.42702400e-05 9.99994193e-01 -9.63568787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.567628000000006 meters 0.012681614081546297 Centerline is valid? [True, True] Translation: X:56.08, Y:-14.51, Z:-0.10 [[ 9.06018118e-01 4.23219212e-01 -4.08274666e-03 5.60788711e+01] [-4.23214815e-01 9.06027316e-01 1.92925286e-03 -1.45075812e+01] [ 4.51557687e-03 -2.00591698e-05 9.99989805e-01 -9.79954918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59762800000001 meters 0.01264377939889011 Centerline is valid? [True, True] Translation: X:56.11, Y:-14.52, Z:-0.10 [[ 9.05486135e-01 4.24346247e-01 -5.01223255e-03 5.61075749e+01] [-4.24339629e-01 9.05500007e-01 2.37000455e-03 -1.45209247e+01] [ 5.54427915e-03 -1.91173527e-05 9.99984630e-01 -9.87625745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.62762800000001 meters 0.012679855232737493 Centerline is valid? [True, True] Translation: X:56.14, Y:-14.53, Z:-0.10 [[ 9.05159218e-01 4.25032833e-01 -5.82077456e-03 5.61370909e+01] [-4.25023910e-01 9.05177933e-01 2.75422276e-03 -1.45349733e+01] [ 6.43947179e-03 -1.90417570e-05 9.99979266e-01 -9.94176706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65762800000001 meters 0.014433182676341796 Centerline is valid? [True, True] Translation: X:56.17, Y:-14.55, Z:-0.10 [[ 9.04924769e-01 4.25516828e-01 -6.82581850e-03 5.61663701e+01] [-4.25504555e-01 9.04950512e-01 3.23180691e-03 -1.45487927e+01] [ 7.55221617e-03 -2.01252568e-05 9.99971481e-01 -1.01486817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.687628000000004 meters 0.012671853978466213 Centerline is valid? [True, True] Translation: X:56.20, Y:-14.56, Z:-0.10 [[ 9.04721395e-01 4.25962243e-01 -5.94685186e-03 5.61953310e+01] [-4.25952926e-01 9.04740939e-01 2.81740807e-03 -1.45625721e+01] [ 6.58046980e-03 -1.58904068e-05 9.99978348e-01 -9.93377612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717628000000005 meters 0.012722107144205195 Centerline is valid? [True, True] Translation: X:56.22, Y:-14.58, Z:-0.10 [[ 9.05034604e-01 4.25292849e-01 -6.19340633e-03 5.62238908e+01] [-4.25282714e-01 9.05055795e-01 2.93615378e-03 -1.45769507e+01] [ 6.85410349e-03 -2.33721190e-05 9.99976510e-01 -9.97850359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.747628000000006 meters 0.015294162196823734 Centerline is valid? [True, True] Translation: X:56.25, Y:-14.59, Z:-0.10 [[ 9.05876506e-01 4.23478249e-01 -7.34359017e-03 5.62529683e+01] [-4.23463924e-01 9.05906270e-01 3.48355095e-03 -1.45910386e+01] [ 8.12781243e-03 -4.59214588e-05 9.99966968e-01 -1.01778639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77762800000001 meters 0.013216662716917602 Centerline is valid? [True, True] Translation: X:56.28, Y:-14.61, Z:-0.10 [[ 9.07300998e-01 4.20432206e-01 -6.45439411e-03 5.62814956e+01] [-4.20421048e-01 9.07323953e-01 3.06372668e-03 -1.46060300e+01] [ 7.14431575e-03 -6.61591313e-05 9.99974477e-01 -1.00592074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80762800000001 meters 0.013524084350550988 Centerline is valid? [True, True] Translation: X:56.31, Y:-14.62, Z:-0.10 [[ 9.08193079e-01 4.18505421e-01 -6.20837789e-03 5.63095462e+01] [-4.18495039e-01 9.08214295e-01 2.94881169e-03 -1.46208305e+01] [ 6.87263123e-03 -7.99150151e-05 9.99976380e-01 -1.00249264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83762800000001 meters 0.016292593969056437 Centerline is valid? [True, True] Translation: X:56.34, Y:-14.64, Z:-0.10 [[ 9.09355025e-01 4.15967804e-01 -6.65010128e-03 5.63381646e+01] [-4.15955811e-01 9.09379334e-01 3.16057619e-03 -1.46361894e+01] [ 7.36216261e-03 -1.07937569e-04 9.99972893e-01 -1.01839390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.867628 meters 0.014258372093885686 Centerline is valid? [True, True] Translation: X:56.37, Y:-14.65, Z:-0.10 [[ 9.09978881e-01 4.14628700e-01 -4.63433570e-03 5.63670585e+01] [-4.14622850e-01 9.09990678e-01 2.20417808e-03 -1.46508702e+01] [ 5.13111778e-03 -8.42540222e-05 9.99986832e-01 -9.88649870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897628000000005 meters 0.0164642744192392 Centerline is valid? [True, True] Translation: X:56.39, Y:-14.67, Z:-0.10 [[ 9.11579653e-01 4.11112125e-01 -3.05905088e-03 5.63947137e+01] [-4.11109555e-01 9.11584783e-01 1.45533208e-03 -1.46659701e+01] [ 3.38688889e-03 -6.90460736e-05 9.99994262e-01 -9.84337001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.927628000000006 meters 0.015431139743664193 Centerline is valid? [True, True] Translation: X:56.42, Y:-14.68, Z:-0.10 [[ 9.11655986e-01 4.10952127e-01 -1.30834232e-03 5.64240715e+01] [-4.10951656e-01 9.11656925e-01 6.23230778e-04 -1.46800878e+01] [ 1.44887735e-03 -3.05066291e-05 9.99998950e-01 -9.58314307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95762800000001 meters 0.014881210955610541 Centerline is valid? [True, True] Translation: X:56.45, Y:-14.69, Z:-0.09 [[ 9.11733931e-01 4.10781234e-01 1.28187046e-04 5.64545561e+01] [-4.10781230e-01 9.11733940e-01 -6.06166960e-05 -1.46927839e+01] [-1.41772682e-04 2.60946621e-06 9.99999990e-01 -9.45230084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98762800000001 meters 0.015587539921686166 Centerline is valid? [True, True] Translation: X:56.48, Y:-14.71, Z:-0.09 [[ 9.11360860e-01 4.11608007e-01 4.80802420e-04 5.64819939e+01] [-4.11607943e-01 9.11360987e-01 -2.28899759e-04 -1.47075140e+01] [-5.32401541e-04 1.07081860e-05 9.99999858e-01 -9.38588339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01762800000001 meters 0.01452020601867473 Centerline is valid? [True, True] Translation: X:56.51, Y:-14.72, Z:-0.09 [[ 9.10842448e-01 4.12752356e-01 1.23587105e-03 5.65118505e+01] [-4.12751936e-01 9.10843286e-01 -5.88923999e-04 -1.47190734e+01] [-1.36876462e-03 2.63088071e-05 9.99999063e-01 -9.33235369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.047628 meters 0.014108902583849085 Centerline is valid? [True, True] Translation: X:56.54, Y:-14.73, Z:-0.09 [[ 9.09379113e-01 4.15964030e-01 1.88526771e-03 5.65414979e+01] [-4.15963060e-01 9.09381067e-01 -8.99154147e-04 -1.47301638e+01] [-2.08844254e-03 3.34702765e-05 9.99997819e-01 -9.32130558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077628000000004 meters 0.01383569172484948 Centerline is valid? [True, True] Translation: X:56.57, Y:-14.74, Z:-0.09 [[ 9.08322960e-01 4.18264454e-01 2.06056740e-03 5.65705217e+01] [-4.18263299e-01 9.08325297e-01 -9.83397587e-04 -1.47420634e+01] [-2.28298575e-03 3.13828892e-05 9.99997393e-01 -9.33357782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.107628000000005 meters 0.012973902403700015 Centerline is valid? [True, True] Translation: X:56.60, Y:-14.75, Z:-0.09 [[ 9.07220098e-01 4.20650987e-01 2.10752326e-03 5.66013826e+01] [-4.20649784e-01 9.07222545e-01 -1.00641978e-03 -1.47524418e+01] [-2.33534409e-03 2.65150511e-05 9.99997273e-01 -9.38510565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13762800000001 meters 0.014838859563785313 Centerline is valid? [True, True] Translation: X:56.63, Y:-14.76, Z:-0.10 [[ 9.06217206e-01 4.22811064e-01 1.08618764e-03 5.66313069e+01] [-4.22810746e-01 9.06217857e-01 -5.18835465e-04 -1.47643819e+01] [-1.20369201e-03 1.09258185e-05 9.99999276e-01 -9.62983398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16762800000001 meters 0.012248260429041612 Centerline is valid? [True, True] Translation: X:56.66, Y:-14.78, Z:-0.10 [[ 9.03787281e-01 4.27979790e-01 1.36016690e-03 5.66617715e+01] [-4.27979296e-01 9.03788305e-01 -6.50219213e-04 -1.47751592e+01] [-1.50758362e-03 5.53658311e-06 9.99998864e-01 -9.52278289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19762800000001 meters 0.01208798741138052 Centerline is valid? [True, True] Translation: X:56.69, Y:-14.79, Z:-0.10 [[ 9.02813340e-01 4.30031533e-01 9.76802691e-04 5.66923188e+01] [-4.30031279e-01 9.02813868e-01 -4.67126143e-04 -1.47881680e+01] [-1.08274999e-03 1.67200192e-06 9.99999414e-01 -9.61414151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22762800000001 meters 0.012148941654488094 Centerline is valid? [True, True] Translation: X:56.72, Y:-14.80, Z:-0.10 [[ 9.01992641e-01 4.31751357e-01 2.04404077e-04 5.67218160e+01] [-4.31751346e-01 9.01992664e-01 -9.74928158e-05 -1.48012955e+01] [-2.26463633e-04 -3.13932817e-07 9.99999974e-01 -9.73162823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257628000000004 meters 0.012126557759204225 Centerline is valid? [True, True] Translation: X:56.75, Y:-14.82, Z:-0.10 [[ 9.01632646e-01 4.32499991e-01 -1.52604400e-03 5.67504924e+01] [-4.32499371e-01 9.01633938e-01 7.31937629e-04 -1.48165514e+01] [ 1.69249608e-03 7.42097498e-08 9.99998568e-01 -9.97921213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.287628000000005 meters 0.012201150564675346 Centerline is valid? [True, True] Translation: X:56.78, Y:-14.83, Z:-0.10 [[ 9.02073708e-01 4.31577267e-01 -2.02175063e-03 5.67796987e+01] [-4.31576177e-01 9.02075974e-01 9.70266038e-04 -1.48326591e+01] [ 2.24251743e-03 -2.71207528e-06 9.99997486e-01 -1.00489073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.317628000000006 meters 0.012290514696966954 Centerline is valid? [True, True] Translation: X:56.81, Y:-14.85, Z:-0.10 [[ 9.02868061e-01 4.29911664e-01 -2.28604222e-03 5.68069334e+01] [-4.29910263e-01 9.02870955e-01 1.09775421e-03 -1.48486411e+01] [ 2.53593846e-03 -8.33419904e-06 9.99996784e-01 -1.01080126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34762800000001 meters 0.01274451713785795 Centerline is valid? [True, True] Translation: X:56.83, Y:-14.87, Z:-0.10 [[ 9.05177664e-01 4.25027679e-01 -2.20644099e-03 5.68331734e+01] [-4.25026357e-01 9.05180353e-01 1.06019091e-03 -1.48686535e+01] [ 2.44783752e-03 -2.18655603e-05 9.99997004e-01 -1.00172233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37762800000001 meters 0.012953103021521807 Centerline is valid? [True, True] Translation: X:56.86, Y:-14.88, Z:-0.10 [[ 9.05833377e-01 4.23633793e-01 -5.49947879e-04 5.68611308e+01] [-4.23633710e-01 9.05833544e-01 2.64459096e-04 -1.48835127e+01] [ 6.10195047e-04 -6.57941545e-06 9.99999814e-01 -9.88810735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40762800000001 meters 0.013197297365532587 Centerline is valid? [True, True] Translation: X:56.89, Y:-14.90, Z:-0.10 [[ 9.06122306e-01 4.23015232e-01 6.93347197e-04 5.68902821e+01] [-4.23015101e-01 9.06122571e-01 -3.32954248e-04 -1.48975335e+01] [-7.69102263e-04 8.40093627e-06 9.99999704e-01 -9.81310072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.437628000000004 meters 0.013379713839884075 Centerline is valid? [True, True] Translation: X:56.92, Y:-14.91, Z:-0.10 [[ 9.06870963e-01 4.21407414e-01 9.21022990e-04 5.69188975e+01] [-4.21407182e-01 9.06871430e-01 -4.42726889e-04 -1.49118694e+01] [-1.02181783e-03 1.33704576e-05 9.99999478e-01 -9.81171982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.467628000000005 meters 0.013593382486906001 Centerline is valid? [True, True] Translation: X:56.95, Y:-14.93, Z:-0.10 [[ 9.07225471e-01 4.20644211e-01 6.26927558e-04 5.69460909e+01] [-4.20644103e-01 9.07225687e-01 -3.01513996e-04 -1.49261835e+01] [-6.95594902e-04 9.82779599e-06 9.99999758e-01 -9.80273201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.497628000000006 meters 0.013769465570794831 Centerline is valid? [True, True] Translation: X:56.98, Y:-14.94, Z:-0.10 [[ 9.07773544e-01 4.19459346e-01 1.02459444e-03 5.69750154e+01] [-4.19459056e-01 9.07774122e-01 -4.93038322e-04 -1.49409213e+01] [-1.13690985e-03 1.77917297e-05 9.99999354e-01 -9.72006020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52762800000001 meters 0.013829994160657428 Centerline is valid? [True, True] Translation: X:57.00, Y:-14.96, Z:-0.10 [[ 9.07863051e-01 4.19265429e-01 1.08648652e-03 5.70041937e+01] [-4.19265103e-01 9.07863701e-01 -5.23165071e-04 -1.49552316e+01] [-1.20572670e-03 1.94363568e-05 9.99999273e-01 -9.71648865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55762800000001 meters 0.014029061982437661 Centerline is valid? [True, True] Translation: X:57.03, Y:-14.97, Z:-0.10 [[ 9.07886979e-01 4.19213828e-01 9.99565449e-04 5.70337047e+01] [-4.19213552e-01 9.07887529e-01 -4.81623056e-04 -1.49691234e+01] [-1.10939605e-03 1.82279193e-05 9.99999384e-01 -9.78317210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58762800000001 meters 0.014039769739427872 Centerline is valid? [True, True] Translation: X:57.06, Y:-14.98, Z:-0.10 [[ 9.07920010e-01 4.19143133e-01 5.37684408e-04 5.70641970e+01] [-4.19143053e-01 9.07920170e-01 -2.59052681e-04 -1.49822253e+01] [-5.96754671e-04 9.83242842e-06 9.99999822e-01 -9.84765519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.617628 meters 0.013921535630634736 Centerline is valid? [True, True] Translation: X:57.09, Y:-14.99, Z:-0.10 [[ 9.07435656e-01 4.20188843e-01 -1.36616420e-03 5.70943295e+01] [-4.20188326e-01 9.07436684e-01 6.60138656e-04 -1.49936990e+01] [ 1.51709041e-03 -2.49871043e-05 9.99998849e-01 -1.00880504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.647628000000005 meters 0.013897766966015976 Centerline is valid? [True, True] Translation: X:57.12, Y:-15.01, Z:-0.10 [[ 9.06926981e-01 4.21281805e-01 -2.25646150e-03 5.71228692e+01] [-4.21280395e-01 9.06929788e-01 1.09067896e-03 -1.50060962e+01] [ 2.50593535e-03 -3.85631832e-05 9.99996859e-01 -1.01829403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677628000000006 meters 0.013678473189219073 Centerline is valid? [True, True] Translation: X:57.15, Y:-15.02, Z:-0.10 [[ 9.06420954e-01 4.22363048e-01 -3.24179078e-03 5.71529139e+01] [-4.22360141e-01 9.06426750e-01 1.56778950e-03 -1.50183769e+01] [ 3.60062224e-03 -5.18740465e-05 9.99993516e-01 -1.02674741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70762800000001 meters 0.013326127584712905 Centerline is valid? [True, True] Translation: X:57.18, Y:-15.03, Z:-0.10 [[ 9.05802729e-01 4.23678729e-01 -4.21324587e-03 5.71828758e+01] [-4.23673828e-01 9.05812525e-01 2.03876781e-03 -1.50306054e+01] [ 4.68019344e-03 -6.16794399e-05 9.99989046e-01 -1.03057342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73762800000001 meters 0.012974829098415396 Centerline is valid? [True, True] Translation: X:57.21, Y:-15.04, Z:-0.10 [[ 9.04767647e-01 4.25883179e-01 -4.36137987e-03 5.72130597e+01] [-4.25877947e-01 9.04778158e-01 2.11174496e-03 -1.50422835e+01] [ 4.84543790e-03 -5.32230092e-05 9.99988259e-01 -1.02598907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76762800000001 meters 0.01512648131972661 Centerline is valid? [True, True] Translation: X:57.24, Y:-15.06, Z:-0.10 [[ 9.04712070e-01 4.26001823e-01 -4.30320459e-03 5.72427934e+01] [-4.25996724e-01 9.04722302e-01 2.08511600e-03 -1.50558695e+01] [ 4.78146838e-03 -5.32785571e-05 9.99988567e-01 -1.04390981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.797628 meters 0.012760439381669552 Centerline is valid? [True, True] Translation: X:57.27, Y:-15.07, Z:-0.10 [[ 9.04436664e-01 4.26595597e-01 -3.24292848e-03 5.72716380e+01] [-4.26592701e-01 9.04442477e-01 1.57240769e-03 -1.50689544e+01] [ 3.60382447e-03 -3.87335468e-05 9.99993505e-01 -1.02181665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.827628000000004 meters 0.013096954759833785 Centerline is valid? [True, True] Translation: X:57.30, Y:-15.08, Z:-0.10 [[ 9.04852743e-01 4.25715951e-01 -2.72802195e-03 5.73000871e+01] [-4.25713894e-01 9.04856855e-01 1.32371908e-03 -1.50842229e+01] [ 3.03199769e-03 -3.64139893e-05 9.99995403e-01 -1.02526193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857628000000005 meters 0.01337108580855643 Centerline is valid? [True, True] Translation: X:57.33, Y:-15.10, Z:-0.10 [[ 9.05095166e-01 4.25199648e-01 -2.82853055e-03 5.73288688e+01] [-4.25197431e-01 9.05099584e-01 1.37346737e-03 -1.50997230e+01] [ 3.14409967e-03 -4.04347553e-05 9.99995056e-01 -1.02422918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88762800000001 meters 0.013715919156444214 Centerline is valid? [True, True] Translation: X:57.36, Y:-15.11, Z:-0.10 [[ 9.05564670e-01 4.24202200e-01 -2.26319925e-03 5.73559719e+01] [-4.24200777e-01 9.05567497e-01 1.09958394e-03 -1.51146890e+01] [ 2.51592561e-03 -3.56934894e-05 9.99996834e-01 -1.02228309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91762800000001 meters 0.014279738174401636 Centerline is valid? [True, True] Translation: X:57.38, Y:-15.13, Z:-0.10 [[ 9.06974578e-01 4.21184566e-01 -8.22255432e-04 5.73840116e+01] [-4.21184376e-01 9.06974951e-01 4.00002796e-04 -1.51303657e+01] [ 9.14240084e-04 -1.64712264e-05 9.99999582e-01 -1.01535907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94762800000001 meters 0.015230728033626807 Centerline is valid? [True, True] Translation: X:57.41, Y:-15.15, Z:-0.10 [[ 9.07636013e-01 4.19758061e-01 -1.93823563e-04 5.74102669e+01] [-4.19758050e-01 9.07636034e-01 9.45473836e-05 -1.51463706e+01] [ 2.15608276e-04 -4.45560952e-06 9.99999977e-01 -1.01210776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97762800000001 meters 0.01636654575506575 Centerline is valid? [True, True] Translation: X:57.44, Y:-15.16, Z:-0.10 [[ 9.08627915e-01 4.17606380e-01 4.72878385e-04 5.74358650e+01] [-4.17606317e-01 9.08628038e-01 -2.29712653e-04 -1.51640306e+01] [-5.25600029e-04 1.12463282e-05 9.99999862e-01 -9.98837955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.007628000000004 meters 0.015359019060669292 Centerline is valid? [True, True] Translation: X:57.47, Y:-15.18, Z:-0.10 [[ 9.08858036e-01 4.17104474e-01 9.63337532e-04 5.74654342e+01] [-4.17104211e-01 9.08858546e-01 -4.68570752e-04 -1.51771032e+01] [-1.07098051e-03 2.40521520e-05 9.99999426e-01 -9.91456603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037628000000005 meters 0.015359019060669292 Centerline is valid? [True, True] Translation: X:57.49, Y:-15.19, Z:-0.10 [[ 9.08740849e-01 4.17359727e-01 9.63228179e-04 5.74945386e+01] [-4.17359465e-01 9.08741359e-01 -4.68795418e-04 -1.51913481e+01] [-1.07098161e-03 2.40011494e-05 9.99999426e-01 -9.91920429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.067628000000006 meters 0.015591153751209863 Centerline is valid? [True, True] Translation: X:57.52, Y:-15.21, Z:-0.10 [[ 9.08584100e-01 4.17699314e-01 1.48870686e-03 5.75227814e+01] [-4.17698686e-01 9.08585319e-01 -7.25297231e-04 -1.52065255e+01] [-1.65557335e-03 3.71626328e-05 9.99998629e-01 -9.84434740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09762800000001 meters 0.015210643951562493 Centerline is valid? [True, True] Translation: X:57.55, Y:-15.22, Z:-0.10 [[ 9.07695907e-01 4.19620347e-01 2.62775748e-03 5.75524277e+01] [-4.19618395e-01 9.07699708e-01 -1.28137487e-03 -1.52196416e+01] [-2.92290567e-03 6.04433511e-05 9.99995726e-01 -9.84263824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.12762800000001 meters 0.014790920719914004 Centerline is valid? [True, True] Translation: X:57.58, Y:-15.23, Z:-0.10 [[ 9.06886772e-01 4.21364452e-01 2.89503472e-03 5.75816474e+01] [-4.21362089e-01 9.06891391e-01 -1.41260843e-03 -1.52330840e+01] [-3.22070504e-03 6.12180270e-05 9.99994812e-01 -9.84447737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15762800000001 meters 0.014291585876332343 Centerline is valid? [True, True] Translation: X:57.61, Y:-15.25, Z:-0.10 [[ 9.05991026e-01 4.23285533e-01 3.10126259e-03 5.76107419e+01] [-4.23282829e-01 9.05996332e-01 -1.51419151e-03 -1.52461261e+01] [-3.45066789e-03 5.91327152e-05 9.99994045e-01 -9.84739255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.187628000000004 meters 0.013443276935890511 Centerline is valid? [True, True] Translation: X:57.64, Y:-15.26, Z:-0.10 [[ 9.04145786e-01 4.27214644e-01 2.83641906e-03 5.76407543e+01] [-4.27212398e-01 9.04150234e-01 -1.38570547e-03 -1.52580472e+01] [-3.15654262e-03 4.11263709e-05 9.99995017e-01 -9.96946290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217628000000005 meters 0.013443276935890511 Centerline is valid? [True, True] Translation: X:57.67, Y:-15.27, Z:-0.10 [[ 9.04025980e-01 4.27468110e-01 2.83605267e-03 5.76698334e+01] [-4.27465863e-01 9.04030427e-01 -1.38645507e-03 -1.52723350e+01] [-3.15654323e-03 4.10757031e-05 9.99995017e-01 -9.97410042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.247628000000006 meters 0.012924735799891418 Centerline is valid? [True, True] Translation: X:57.70, Y:-15.29, Z:-0.10 [[ 9.02244604e-01 4.31219811e-01 2.03695535e-03 5.76994457e+01] [-4.31218660e-01 9.02246903e-01 -9.96203488e-04 -1.52858683e+01] [-2.26741934e-03 2.04460625e-05 9.99997429e-01 -1.01009812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27762800000001 meters 0.012677938014943326 Centerline is valid? [True, True] Translation: X:57.73, Y:-15.30, Z:-0.10 [[ 9.01242161e-01 4.33312952e-01 1.56648850e-03 5.77284032e+01] [-4.33312274e-01 9.01243522e-01 -7.66307474e-04 -1.53000266e+01] [-1.74383856e-03 1.18499104e-05 9.99998479e-01 -1.01359971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30762800000001 meters 0.012451915744719388 Centerline is valid? [True, True] Translation: X:57.76, Y:-15.31, Z:-0.10 [[ 8.99353877e-01 4.37221262e-01 4.15873661e-04 5.77573368e+01] [-4.37221214e-01 8.99353973e-01 -2.03280778e-04 -1.53128959e+01] [-4.62896308e-04 9.92568714e-07 9.99999893e-01 -1.02627538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33762800000001 meters 0.012381571125854758 Centerline is valid? [True, True] Translation: X:57.79, Y:-15.33, Z:-0.10 [[ 8.97919771e-01 4.40159083e-01 -2.59395988e-04 5.77881957e+01] [-4.40159064e-01 8.97919808e-01 1.27568996e-04 -1.53256418e+01] [ 2.89067448e-04 -3.71228247e-07 9.99999958e-01 -1.03630334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.367628 meters 0.0124160156141327 Centerline is valid? [True, True] Translation: X:57.82, Y:-15.34, Z:-0.10 [[ 8.96355844e-01 4.43334207e-01 -9.90932819e-04 5.78189656e+01] [-4.43333940e-01 8.96356392e-01 4.86440009e-04 -1.53381746e+01] [ 1.10388446e-03 3.29080595e-06 9.99999391e-01 -1.04524102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397628000000005 meters 0.012879391110223369 Centerline is valid? [True, True] Translation: X:57.85, Y:-15.35, Z:-0.11 [[ 8.94090930e-01 4.47878506e-01 -2.50045855e-03 5.78492614e+01] [-4.47876824e-01 8.94094426e-01 1.22748609e-03 -1.53495421e+01] [ 2.78541069e-03 2.24132579e-05 9.99996120e-01 -1.05972868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.427628000000006 meters 0.013119141241939197 Centerline is valid? [True, True] Translation: X:57.88, Y:-15.36, Z:-0.11 [[ 8.93394090e-01 4.49264351e-01 -2.92274714e-03 5.78775898e+01] [-4.49262059e-01 8.93398871e-01 1.43552671e-03 -1.53615279e+01] [ 3.25610997e-03 3.05883202e-05 9.99994698e-01 -1.07376324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45762800000001 meters 0.01307698581397789 Centerline is valid? [True, True] Translation: X:57.91, Y:-15.38, Z:-0.11 [[ 8.93602086e-01 4.48847083e-01 -3.40710352e-03 5.79074573e+01] [-4.48843961e-01 8.93608580e-01 1.67460495e-03 -1.53764135e+01] [ 3.79625849e-03 3.28273572e-05 9.99992794e-01 -1.08306454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48762800000001 meters 0.012821485925448082 Centerline is valid? [True, True] Translation: X:57.94, Y:-15.39, Z:-0.11 [[ 8.94067297e-01 4.47920267e-01 -3.33205385e-03 5.79355993e+01] [-4.47917270e-01 8.94073506e-01 1.63868577e-03 -1.53913945e+01] [ 3.71310164e-03 2.73891050e-05 9.99993106e-01 -1.07571436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51762800000001 meters 0.012708698695332352 Centerline is valid? [True, True] Translation: X:57.96, Y:-15.41, Z:-0.11 [[ 8.94674140e-01 4.46712982e-01 -2.38651653e-03 5.79641377e+01] [-4.46711438e-01 8.94677323e-01 1.17451867e-03 -1.54053236e+01] [ 2.65983496e-03 1.52727562e-05 9.99996463e-01 -1.06892685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.547628 meters 0.012643713625508148 Centerline is valid? [True, True] Translation: X:57.99, Y:-15.42, Z:-0.11 [[ 8.95468054e-01 4.45123733e-01 -1.35165046e-03 5.79931027e+01] [-4.45123235e-01 8.95469074e-01 6.65792056e-04 -1.54199209e+01] [ 1.50672103e-03 5.45550951e-06 9.99998865e-01 -1.06418427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577628000000004 meters 0.012454627327130992 Centerline is valid? [True, True] Translation: X:58.02, Y:-15.44, Z:-0.10 [[ 8.97902090e-01 4.40194677e-01 6.95498991e-04 5.80203599e+01] [-4.40194544e-01 8.97902359e-01 -3.42208372e-04 -1.54370641e+01] [-7.75128489e-04 1.11475145e-06 9.99999700e-01 -1.04676388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.607628000000005 meters 0.0126703334019556 Centerline is valid? [True, True] Translation: X:58.05, Y:-15.45, Z:-0.10 [[ 8.99219693e-01 4.37493211e-01 1.90642951e-03 5.80483124e+01] [-4.37492202e-01 8.99221714e-01 -9.39311230e-04 -1.54540121e+01] [-2.12524510e-03 1.05991096e-05 9.99997742e-01 -1.03545646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63762800000001 meters 0.013000969007839992 Centerline is valid? [True, True] Translation: X:58.08, Y:-15.47, Z:-0.10 [[ 9.00502048e-01 4.34844001e-01 2.59918598e-03 5.80756427e+01] [-4.34842113e-01 9.00505799e-01 -1.28164501e-03 -1.54706975e+01] [-2.89789769e-03 2.38884297e-05 9.99995801e-01 -1.02351108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66762800000001 meters 0.013866283998348954 Centerline is valid? [True, True] Translation: X:58.10, Y:-15.49, Z:-0.10 [[ 9.02962010e-01 4.29702649e-01 3.90411303e-03 5.81020373e+01] [-4.29698335e-01 9.02970448e-01 -1.92642407e-03 -1.54883878e+01] [-4.35308822e-03 6.18968817e-05 9.99990523e-01 -1.01793662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69762800000001 meters 0.014448187086480973 Centerline is valid? [True, True] Translation: X:58.13, Y:-15.50, Z:-0.10 [[ 9.04025028e-01 4.27457451e-01 4.34478621e-03 5.81293245e+01] [-4.27452078e-01 9.04035464e-01 -2.14476247e-03 -1.55036706e+01] [-4.84463552e-03 8.17310576e-05 9.99988261e-01 -1.01857158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72762800000001 meters 0.0151942772727004 Centerline is valid? [True, True] Translation: X:58.16, Y:-15.52, Z:-0.10 [[ 9.04824339e-01 4.25761332e-01 4.49489515e-03 5.81564841e+01] [-4.25755555e-01 9.04835499e-01 -2.21996606e-03 -1.55184346e+01] [-5.01231639e-03 9.49527437e-05 9.99987434e-01 -1.02121828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757628000000004 meters 0.015386232593485366 Centerline is valid? [True, True] Translation: X:58.19, Y:-15.53, Z:-0.10 [[ 9.05798603e-01 4.23687842e-01 4.18370274e-03 5.81860654e+01] [-4.23682810e-01 9.05808259e-01 -2.06748240e-03 -1.55310132e+01] [-4.66559966e-03 1.00159741e-04 9.99989111e-01 -1.03869984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.787628000000005 meters 0.015495805041283473 Centerline is valid? [True, True] Translation: X:58.22, Y:-15.55, Z:-0.10 [[ 9.05828106e-01 4.23630343e-01 3.57422811e-03 5.82154725e+01] [-4.23626665e-01 9.05835153e-01 -1.76741952e-03 -1.55455099e+01] [-3.98639401e-03 8.68399434e-05 9.99992051e-01 -1.04966269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.817628000000006 meters 0.015595464205510093 Centerline is valid? [True, True] Translation: X:58.24, Y:-15.56, Z:-0.11 [[ 9.05602053e-01 4.24121955e-01 2.34275957e-03 5.82441859e+01] [-4.24120375e-01 9.05605082e-01 -1.15907974e-03 -1.55596318e+01] [-2.61320614e-03 5.60529260e-05 9.99996584e-01 -1.05656719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84762800000001 meters 0.015054844771828797 Centerline is valid? [True, True] Translation: X:58.27, Y:-15.57, Z:-0.11 [[ 9.04716316e-01 4.26014492e-01 -2.02446655e-04 5.82742294e+01] [-4.26014480e-01 9.04716338e-01 1.00638349e-04 -1.55719165e+01] [ 2.26030191e-04 -4.80394943e-06 9.99999974e-01 -1.08102745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87762800000001 meters 0.014760684485583873 Centerline is valid? [True, True] Translation: X:58.30, Y:-15.58, Z:-0.11 [[ 9.03990344e-01 4.27550791e-01 -1.33418622e-03 5.83036995e+01] [-4.27550280e-01 9.03991328e-01 6.61490816e-04 -1.55847859e+01] [ 1.48891370e-03 -2.75496162e-05 9.99998891e-01 -1.09919009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.90762800000001 meters 0.013931051023073527 Centerline is valid? [True, True] Translation: X:58.33, Y:-15.60, Z:-0.11 [[ 9.02031552e-01 4.31659335e-01 -3.04923050e-03 5.83342331e+01] [-4.31656688e-01 9.02036705e-01 1.51222980e-03 -1.55957202e+01] [ 3.40328594e-03 -4.78582523e-05 9.99994208e-01 -1.11724918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937628000000004 meters 0.013226668018760601 Centerline is valid? [True, True] Translation: X:58.36, Y:-15.61, Z:-0.11 [[ 9.00693051e-01 4.34444195e-01 -3.20462792e-03 5.83645985e+01] [-4.34441286e-01 9.00698751e-01 1.59026420e-03 -1.56074744e+01] [ 3.57728542e-03 -4.01172372e-05 9.99993601e-01 -1.12079348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.967628000000005 meters 0.012943301300424842 Centerline is valid? [True, True] Translation: X:58.39, Y:-15.62, Z:-0.11 [[ 8.99325373e-01 4.37264049e-01 -3.74499832e-03 5.83932283e+01] [-4.37260097e-01 8.99333170e-01 1.85937561e-03 -1.56189017e+01] [ 4.18103932e-03 -3.46453404e-05 9.99991259e-01 -1.13002997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.997628000000006 meters 0.012597652607568541 Centerline is valid? [True, True] Translation: X:58.42, Y:-15.63, Z:-0.11 [[ 8.97811296e-01 4.40364712e-01 -3.71438791e-03 5.84218905e+01] [-4.40360847e-01 8.97818979e-01 1.84521282e-03 -1.56308576e+01] [ 4.14741458e-03 -2.09819122e-05 9.99991399e-01 -1.13097462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02762800000001 meters 0.01227577360436171 Centerline is valid? [True, True] Translation: X:58.45, Y:-15.64, Z:-0.11 [[ 8.95468784e-01 4.45119325e-01 -2.10773018e-03 5.84507461e+01] [-4.45118093e-01 8.95471265e-01 1.04744166e-03 -1.56423258e+01] [ 2.35364834e-03 2.37530898e-07 9.99997230e-01 -1.11689393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05762800000001 meters 0.012199231291521393 Centerline is valid? [True, True] Translation: X:58.48, Y:-15.66, Z:-0.11 [[ 8.94494682e-01 4.47078323e-01 -4.87492439e-04 5.84804240e+01] [-4.47078257e-01 8.94494815e-01 2.42836959e-04 -1.56565569e+01] [ 5.44626599e-04 7.30901695e-07 9.99999852e-01 -1.09979367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08762800000001 meters 0.012358494420299154 Centerline is valid? [True, True] Translation: X:58.51, Y:-15.67, Z:-0.11 [[ 8.93667957e-01 4.48727158e-01 1.23319148e-03 5.85093100e+01] [-4.48726739e-01 8.93668808e-01 -6.13133263e-04 -1.56702584e+01] [-1.37719430e-03 -5.42844044e-06 9.99999052e-01 -1.08620619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.117628 meters 0.01259972078698249 Centerline is valid? [True, True] Translation: X:58.54, Y:-15.68, Z:-0.11 [[ 8.92285767e-01 4.51450020e-01 4.35761687e-03 5.85383875e+01] [-4.51444810e-01 8.92296407e-01 -2.16903418e-03 -1.56845180e+01] [-4.86749640e-03 -3.18252001e-05 9.99988153e-01 -1.06230146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.147628000000005 meters 0.012678142305954668 Centerline is valid? [True, True] Translation: X:58.57, Y:-15.70, Z:-0.11 [[ 8.91670005e-01 4.52656732e-01 5.14645579e-03 5.85677277e+01] [-4.52649475e-01 8.91684855e-01 -2.56353845e-03 -1.56988942e+01] [-5.74941963e-03 -4.37101739e-05 9.99983471e-01 -1.06018797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177628000000006 meters 0.0128244867564814 Centerline is valid? [True, True] Translation: X:58.60, Y:-15.71, Z:-0.11 [[ 8.91259479e-01 4.53459793e-01 5.54598556e-03 5.85965764e+01] [-4.53451369e-01 8.91276732e-01 -2.76446188e-03 -1.57130917e+01] [-6.19658020e-03 -5.09818879e-05 9.99980800e-01 -1.06205180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20762800000001 meters 0.012732483281495382 Centerline is valid? [True, True] Translation: X:58.62, Y:-15.73, Z:-0.11 [[ 8.91474816e-01 4.53049216e-01 4.36585878e-03 5.86242085e+01] [-4.53043985e-01 8.91485505e-01 -2.17750379e-03 -1.57285998e+01] [-4.87861621e-03 -3.67362721e-05 9.99988099e-01 -1.08749652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23762800000001 meters 0.012639603253666629 Centerline is valid? [True, True] Translation: X:58.65, Y:-15.74, Z:-0.11 [[ 8.91536097e-01 4.52935168e-01 3.62224954e-03 5.86532687e+01] [-4.52931561e-01 8.91543455e-01 -1.80778096e-03 -1.57444160e+01] [-4.04820045e-03 -2.89291544e-05 9.99991806e-01 -1.10145143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26762800000001 meters 0.012516842890725877 Centerline is valid? [True, True] Translation: X:58.68, Y:-15.76, Z:-0.11 [[ 8.91823012e-01 4.52382052e-01 1.48125572e-03 5.86803801e+01] [-4.52381448e-01 8.91824242e-01 -7.39503455e-04 -1.57592208e+01] [-1.65555785e-03 -1.05864088e-05 9.99998630e-01 -1.12925424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.297628 meters 0.012551287568919817 Centerline is valid? [True, True] Translation: X:58.71, Y:-15.77, Z:-0.11 [[ 8.91271707e-01 4.53469216e-01 6.44507957e-04 5.87101964e+01] [-4.53469101e-01 8.91271940e-01 -3.21703451e-04 -1.57729357e+01] [-7.20314468e-04 -5.53926060e-06 9.99999741e-01 -1.14065457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.327628000000004 meters 0.012734212268635494 Centerline is valid? [True, True] Translation: X:58.74, Y:-15.79, Z:-0.11 [[ 8.90437836e-01 4.55104854e-01 -1.78134326e-04 5.87400566e+01] [-4.55104845e-01 8.90437854e-01 8.94754890e-05 -1.57858154e+01] [ 1.99338276e-04 1.39743411e-06 9.99999980e-01 -1.14685076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357628000000005 meters 0.013083225359226493 Centerline is valid? [True, True] Translation: X:58.77, Y:-15.80, Z:-0.12 [[ 8.89586144e-01 4.56766796e-01 -7.65155605e-04 5.87694068e+01] [-4.56766636e-01 8.89586473e-01 3.83251059e-04 -1.57977611e+01] [ 8.55728435e-04 8.56271935e-06 9.99999634e-01 -1.15562443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38762800000001 meters 0.0138302847298708 Centerline is valid? [True, True] Translation: X:58.80, Y:-15.81, Z:-0.12 [[ 8.87969526e-01 4.59899027e-01 -1.73403912e-03 5.88000956e+01] [-4.59898208e-01 8.87971218e-01 8.68213839e-04 -1.58058356e+01] [ 1.93906753e-03 2.65340531e-05 9.99998120e-01 -1.17843437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41762800000001 meters 0.014151232201239641 Centerline is valid? [True, True] Translation: X:58.83, Y:-15.82, Z:-0.12 [[ 8.87354070e-01 4.61083135e-01 -2.25790989e-03 5.88301977e+01] [-4.61081748e-01 8.87356941e-01 1.13129338e-03 -1.58183719e+01] [ 2.52519231e-03 3.72232503e-05 9.99996811e-01 -1.18614589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44762800000001 meters 0.014142563542098743 Centerline is valid? [True, True] Translation: X:58.86, Y:-15.83, Z:-0.12 [[ 8.87159341e-01 4.61457579e-01 -2.28185382e-03 5.88599557e+01] [-4.61456163e-01 8.87162274e-01 1.14411369e-03 -1.58324541e+01] [ 2.55233455e-03 3.79643637e-05 9.99996742e-01 -1.18918907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47762800000001 meters 0.013652034605971326 Centerline is valid? [True, True] Translation: X:58.89, Y:-15.85, Z:-0.12 [[ 8.87869333e-01 4.60094926e-01 -8.40005482e-04 5.88877233e+01] [-4.60094733e-01 8.87869731e-01 4.21644351e-04 -1.58486262e+01] [ 9.39811868e-04 1.21170087e-05 9.99999558e-01 -1.17651510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.507628000000004 meters 0.013580308302424111 Centerline is valid? [True, True] Translation: X:58.91, Y:-15.86, Z:-0.12 [[ 8.88276521e-01 4.59309044e-01 -1.53110736e-04 5.89149818e+01] [-4.59309038e-01 8.88276535e-01 7.71758644e-05 -1.58642331e+01] [ 1.71452247e-04 1.77163649e-06 9.99999985e-01 -1.16861959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537628000000005 meters 0.012860805569052877 Centerline is valid? [True, True] Translation: X:58.94, Y:-15.88, Z:-0.12 [[ 8.88770904e-01 4.58351697e-01 -4.68914113e-05 5.89418191e+01] [-4.58351696e-01 8.88770905e-01 2.39394750e-05 -1.58819881e+01] [ 5.26484211e-05 2.16049062e-07 9.99999999e-01 -1.16504089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.567628000000006 meters 0.012660718897843906 Centerline is valid? [True, True] Translation: X:58.97, Y:-15.90, Z:-0.12 [[ 8.89317423e-01 4.57290231e-01 4.06086141e-04 5.89695227e+01] [-4.57290186e-01 8.89317516e-01 -2.03622223e-04 -1.58982685e+01] [-4.54253972e-04 -4.61441622e-06 9.99999897e-01 -1.16607754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59762800000001 meters 0.012349738353611778 Centerline is valid? [True, True] Translation: X:59.00, Y:-15.92, Z:-0.12 [[ 8.90724924e-01 4.54542685e-01 -2.40728374e-04 5.89959979e+01] [-4.54542669e-01 8.90724956e-01 1.21372536e-04 -1.59156858e+01] [ 2.69591769e-04 1.31177456e-06 9.99999964e-01 -1.18156793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.62762800000001 meters 0.012351192565210627 Centerline is valid? [True, True] Translation: X:59.02, Y:-15.93, Z:-0.12 [[ 8.91398265e-01 4.53220015e-01 -8.66349734e-04 5.90232223e+01] [-4.53219806e-01 8.91398686e-01 4.35863708e-04 -1.59305111e+01] [ 9.69805170e-04 4.11870531e-06 9.99999530e-01 -1.18869857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65762800000001 meters 0.012269720221177024 Centerline is valid? [True, True] Translation: X:59.05, Y:-15.95, Z:-0.12 [[ 8.91684753e-01 4.52656360e-01 -7.21956062e-04 5.90520611e+01] [-4.52656214e-01 8.91685045e-01 3.63747629e-04 -1.59455364e+01] [ 8.08410102e-04 2.44968373e-06 9.99999673e-01 -1.18953783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.687628000000004 meters 0.012271876669484824 Centerline is valid? [True, True] Translation: X:59.08, Y:-15.96, Z:-0.12 [[ 8.92128810e-01 4.51781037e-01 -2.84882529e-04 5.90820873e+01] [-4.51781014e-01 8.92128856e-01 1.43910056e-04 -1.59593197e+01] [ 3.19167759e-04 3.18210524e-07 9.99999949e-01 -1.17991889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717628000000005 meters 0.012200500079954029 Centerline is valid? [True, True] Translation: X:59.11, Y:-15.97, Z:-0.12 [[ 8.92326926e-01 4.51389645e-01 2.12824577e-04 5.91120074e+01] [-4.51389632e-01 8.92326951e-01 -1.06794896e-04 -1.59733060e+01] [-2.38115216e-04 -7.70846220e-07 9.99999972e-01 -1.17331902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.747628000000006 meters 0.012260794081221302 Centerline is valid? [True, True] Translation: X:59.14, Y:-15.99, Z:-0.12 [[ 8.93114384e-01 4.49826109e-01 1.77992644e-03 5.91416812e+01] [-4.49825215e-01 8.93116158e-01 -8.97048318e-04 -1.59860700e+01] [-1.99319682e-03 5.10962182e-07 9.99998014e-01 -1.16107362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77762800000001 meters 0.012377959794047615 Centerline is valid? [True, True] Translation: X:59.17, Y:-16.00, Z:-0.12 [[ 8.93454481e-01 4.49147723e-01 2.32653797e-03 5.91712735e+01] [-4.49146191e-01 8.93457510e-01 -1.17326208e-03 -1.60005236e+01] [-2.60563081e-03 3.30060073e-06 9.99996605e-01 -1.15855162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80762800000001 meters 0.012284449609499138 Centerline is valid? [True, True] Translation: X:59.20, Y:-16.02, Z:-0.12 [[ 8.93739435e-01 4.48576657e-01 2.96732023e-03 5.92006391e+01] [-4.48574157e-01 8.93744361e-01 -1.49756579e-03 -1.60154825e+01] [-3.32379878e-03 7.37043121e-06 9.99994476e-01 -1.15925438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83762800000001 meters 0.01233617360874055 Centerline is valid? [True, True] Translation: X:59.23, Y:-16.03, Z:-0.12 [[ 8.94069949e-01 4.47913123e-01 3.57208399e-03 5.92295127e+01] [-4.47909490e-01 8.94077085e-01 -1.80413129e-03 -1.60310138e+01] [-4.00181252e-03 1.30492478e-05 9.99991993e-01 -1.16015541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.867628 meters 0.012503005068912484 Centerline is valid? [True, True] Translation: X:59.26, Y:-16.05, Z:-0.12 [[ 8.94946384e-01 4.46164049e-01 2.93428651e-03 5.92566988e+01] [-4.46161585e-01 8.94951195e-01 -1.48291624e-03 -1.60478926e+01] [-3.28766714e-03 1.79646087e-05 9.99994595e-01 -1.16324484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897628000000005 meters 0.012625377103297817 Centerline is valid? [True, True] Translation: X:59.29, Y:-16.06, Z:-0.12 [[ 8.95060132e-01 4.45939803e-01 2.24768102e-03 5.92856779e+01] [-4.45938355e-01 8.95062954e-01 -1.13658926e-03 -1.60635485e+01] [-2.51866640e-03 1.49885611e-05 9.99996828e-01 -1.17342723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.927628000000006 meters 0.012643706126192495 Centerline is valid? [True, True] Translation: X:59.31, Y:-16.08, Z:-0.12 [[ 8.95015795e-01 4.46033260e-01 1.02808212e-03 5.93148833e+01] [-4.46032957e-01 8.95016386e-01 -5.19992972e-04 -1.60789406e+01] [-1.15208450e-03 6.84341624e-06 9.99999336e-01 -1.18539051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95762800000001 meters 0.012643706126192495 Centerline is valid? [True, True] Translation: X:59.34, Y:-16.09, Z:-0.12 [[ 8.94890422e-01 4.46284749e-01 1.02793595e-03 5.93437587e+01] [-4.46284445e-01 8.94891012e-01 -5.20281736e-04 -1.60936373e+01] [-1.15208445e-03 6.84331737e-06 9.99999336e-01 -1.18585444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98762800000001 meters 0.015889766999627946 Centerline is valid? [True, True] Translation: X:59.37, Y:-16.11, Z:-0.12 [[ 8.94488787e-01 4.47079623e-01 -3.10175685e-03 5.93719325e+01] [-4.47076858e-01 8.94494165e-01 1.57224583e-03 -1.61078403e+01] [ 3.47742247e-03 -1.96325622e-05 9.99993954e-01 -1.24100905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01762800000001 meters 0.012409083369952282 Centerline is valid? [True, True] Translation: X:59.40, Y:-16.12, Z:-0.12 [[ 8.93479719e-01 4.49091355e-01 -3.30861569e-03 5.94018376e+01] [-4.49088219e-01 8.93485845e-01 1.67840343e-03 -1.61219300e+01] [ 3.70995776e-03 -1.37590990e-05 9.99993118e-01 -1.22423827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.04762800000001 meters 0.012307133580687036 Centerline is valid? [True, True] Translation: X:59.43, Y:-16.14, Z:-0.12 [[ 8.92626742e-01 4.50777759e-01 -4.11226769e-03 5.94315932e+01] [-4.50772926e-01 8.92636215e-01 2.08742896e-03 -1.61357258e+01] [ 4.61172561e-03 -9.59597411e-06 9.99989366e-01 -1.22468862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077628000000004 meters 0.012204458233669925 Centerline is valid? [True, True] Translation: X:59.46, Y:-16.15, Z:-0.12 [[ 8.90881459e-01 4.54212159e-01 -4.64126646e-03 5.94620170e+01] [-4.54206040e-01 8.90893549e-01 2.35754598e-03 -1.61481117e+01] [ 5.20570040e-03 7.79725540e-06 9.99986450e-01 -1.22474762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.107628000000005 meters 0.01224166015421377 Centerline is valid? [True, True] Translation: X:59.49, Y:-16.16, Z:-0.12 [[ 8.89939278e-01 4.56055805e-01 -4.60261768e-03 5.94909221e+01] [-4.56049806e-01 8.89951180e-01 2.33940821e-03 -1.61612158e+01] [ 5.16300573e-03 1.70916489e-05 9.99986671e-01 -1.22791226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13762800000001 meters 0.012277287272157529 Centerline is valid? [True, True] Translation: X:59.52, Y:-16.18, Z:-0.12 [[ 8.89288437e-01 4.57329561e-01 -3.96832090e-03 5.95209288e+01] [-4.57325107e-01 8.89297291e-01 2.01848905e-03 -1.61753140e+01] [ 4.45213174e-03 1.97938090e-05 9.99990089e-01 -1.22511762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16762800000001 meters 0.012301544142484942 Centerline is valid? [True, True] Translation: X:59.55, Y:-16.19, Z:-0.12 [[ 8.88628499e-01 4.58623851e-01 -1.88523988e-03 5.95507610e+01] [-4.58622847e-01 8.88630498e-01 9.59840725e-04 -1.61895244e+01] [ 2.11548750e-03 1.16722568e-05 9.99997762e-01 -1.21065886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19762800000001 meters 0.012315440723028717 Centerline is valid? [True, True] Translation: X:59.58, Y:-16.20, Z:-0.12 [[ 8.88564226e-01 4.58751788e-01 -6.42701268e-04 5.95790217e+01] [-4.58751671e-01 8.88564458e-01 3.27701877e-04 -1.62040393e+01] [ 7.21415326e-04 3.65611609e-06 9.99999740e-01 -1.20306527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22762800000001 meters 0.012246811074970651 Centerline is valid? [True, True] Translation: X:59.61, Y:-16.22, Z:-0.12 [[ 8.88767715e-01 4.58357228e-01 7.75057267e-04 5.96081458e+01] [-4.58357058e-01 8.88768053e-01 -3.94502313e-04 -1.62196382e+01] [-8.69669124e-04 -4.63204963e-06 9.99999622e-01 -1.19673584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257628000000004 meters 0.01209251766356995 Centerline is valid? [True, True] Translation: X:59.63, Y:-16.24, Z:-0.12 [[ 8.89662346e-01 4.56609943e-01 2.87573198e-03 5.96346681e+01] [-4.56607590e-01 8.89666994e-01 -1.46570224e-03 -1.62352570e+01] [-3.22769804e-03 -9.10095235e-06 9.99994791e-01 -1.18171304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.287628000000005 meters 0.012169147498677762 Centerline is valid? [True, True] Translation: X:59.66, Y:-16.25, Z:-0.12 [[ 8.89665306e-01 4.56601183e-01 3.31704944e-03 5.96639446e+01] [-4.56598050e-01 8.89671490e-01 -1.69160417e-03 -1.62508588e+01] [-3.72347278e-03 -9.59676184e-06 9.99993068e-01 -1.18048309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.317628000000006 meters 0.012261607073974246 Centerline is valid? [True, True] Translation: X:59.69, Y:-16.27, Z:-0.12 [[ 8.89646080e-01 4.56636026e-01 3.65945861e-03 5.96918594e+01] [-4.56632208e-01 8.89653606e-01 -1.86749160e-03 -1.62652924e+01] [-4.10841450e-03 -9.62008111e-06 9.99991560e-01 -1.17852389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34762800000001 meters 0.012213941977526005 Centerline is valid? [True, True] Translation: X:59.72, Y:-16.28, Z:-0.12 [[ 8.88999046e-01 4.57891551e-01 4.00304877e-03 5.97219372e+01] [-4.57886988e-01 8.89008058e-01 -2.04422903e-03 -1.62790026e+01] [-4.49477782e-03 -1.56262857e-05 9.99989898e-01 -1.18144181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37762800000001 meters 0.01223329259838679 Centerline is valid? [True, True] Translation: X:59.75, Y:-16.29, Z:-0.12 [[ 8.88538550e-01 4.58788488e-01 3.51681388e-03 5.97514033e+01] [-4.58784968e-01 8.88545510e-01 -1.79710458e-03 -1.62925914e+01] [-3.94934008e-03 -1.66646453e-05 9.99992201e-01 -1.19615600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40762800000001 meters 0.012252593316697927 Centerline is valid? [True, True] Translation: X:59.78, Y:-16.31, Z:-0.12 [[ 8.88183811e-01 4.59481357e-01 2.52992242e-03 5.97808733e+01] [-4.59479536e-01 8.88187414e-01 -1.29357160e-03 -1.63063474e+01] [-2.84141729e-03 -1.35182284e-05 9.99995963e-01 -1.21683141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437628000000004 meters 0.012229679080307879 Centerline is valid? [True, True] Translation: X:59.81, Y:-16.32, Z:-0.13 [[ 8.87827802e-01 4.60175162e-01 -7.83574809e-04 5.98100815e+01] [-4.60174987e-01 8.87828148e-01 4.01469714e-04 -1.63197272e+01] [ 8.80426162e-04 4.14555418e-06 9.99999612e-01 -1.26380704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.467628000000005 meters 0.012210109129466793 Centerline is valid? [True, True] Translation: X:59.84, Y:-16.33, Z:-0.13 [[ 8.87789621e-01 4.60240292e-01 -2.90894729e-03 5.98396712e+01] [-4.60237879e-01 8.87794387e-01 1.49036253e-03 -1.63349756e+01] [ 3.26847196e-03 1.56793481e-05 9.99994658e-01 -1.28654975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.497628000000006 meters 0.012315806443775714 Centerline is valid? [True, True] Translation: X:59.87, Y:-16.35, Z:-0.13 [[ 8.87394693e-01 4.60984587e-01 -4.88557834e-03 5.98678256e+01] [-4.60977787e-01 8.87408142e-01 2.50408637e-03 -1.63480606e+01] [ 5.48984721e-03 3.00301354e-05 9.99984930e-01 -1.30909106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52762800000001 meters 0.012362706130845018 Centerline is valid? [True, True] Translation: X:59.90, Y:-16.36, Z:-0.13 [[ 8.87255668e-01 4.61232022e-01 -6.51165987e-03 5.98956719e+01] [-4.61219936e-01 8.87279561e-01 3.33927298e-03 -1.63611482e+01] [ 7.31784234e-03 4.05184628e-05 9.99973223e-01 -1.32622004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55762800000001 meters 0.012479233018439617 Centerline is valid? [True, True] Translation: X:59.92, Y:-16.37, Z:-0.13 [[ 8.87118544e-01 4.61449431e-01 -9.22555490e-03 5.99233968e+01] [-4.61425157e-01 8.87166511e-01 4.73345398e-03 -1.63743444e+01] [ 1.03688530e-02 5.77683107e-05 9.99946240e-01 -1.33873522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58762800000001 meters 0.012362702126836881 Centerline is valid? [True, True] Translation: X:59.95, Y:-16.39, Z:-0.13 [[ 8.87309885e-01 4.61077174e-01 -9.43440694e-03 5.99524302e+01] [-4.61051731e-01 8.87360038e-01 4.84403535e-03 -1.63888899e+01] [ 1.06051898e-02 5.15891995e-05 9.99943762e-01 -1.33250766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617628 meters 0.012368403317409803 Centerline is valid? [True, True] Translation: X:59.98, Y:-16.40, Z:-0.13 [[ 8.87520279e-01 4.60670762e-01 -9.49756351e-03 5.99820373e+01] [-4.60644918e-01 8.87571094e-01 4.87986273e-03 -1.64035063e+01] [ 1.06777729e-02 4.40272336e-05 9.99942990e-01 -1.32663630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.647628000000005 meters 0.015271600693262822 Centerline is valid? [True, True] Translation: X:60.01, Y:-16.42, Z:-0.13 [[ 8.88743113e-01 4.58300781e-01 -9.80165600e-03 6.00119913e+01] [-4.58273072e-01 8.88797161e-01 5.03960856e-03 -1.64175305e+01] [ 1.10213406e-02 1.29176088e-05 9.99939263e-01 -1.33847435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677628000000006 meters 0.015684336456583615 Centerline is valid? [True, True] Translation: X:60.04, Y:-16.43, Z:-0.13 [[ 8.89300637e-01 4.57232404e-01 -9.10522518e-03 6.00408426e+01] [-4.57208408e-01 8.89347248e-01 4.68433783e-03 -1.64318682e+01] [ 1.02395380e-02 -2.79910371e-06 9.99947575e-01 -1.33615014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70762800000001 meters 0.014365705017386765 Centerline is valid? [True, True] Translation: X:60.07, Y:-16.45, Z:-0.13 [[ 8.89690686e-01 4.56487587e-01 -8.34062101e-03 6.00697508e+01] [-4.56467390e-01 8.89729781e-01 4.29405220e-03 -1.64470123e+01] [ 9.38108043e-03 -1.31567399e-05 9.99955997e-01 -1.32188227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73762800000001 meters 0.012108301333460192 Centerline is valid? [True, True] Translation: X:60.10, Y:-16.46, Z:-0.13 [[ 8.90507642e-01 4.54915344e-01 -6.94039454e-03 6.00962777e+01] [-4.54901296e-01 8.90534687e-01 3.57515221e-03 -1.64626293e+01] [ 7.80705368e-03 -2.65058856e-05 9.99969524e-01 -1.29563577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.76762800000001 meters 0.015389334147412753 Centerline is valid? [True, True] Translation: X:60.12, Y:-16.48, Z:-0.13 [[ 8.90906393e-01 4.54106258e-01 -8.56191017e-03 6.01236185e+01] [-4.54084818e-01 8.90947532e-01 4.41278611e-03 -1.64780286e+01] [ 9.63208652e-03 -4.35459325e-05 9.99953609e-01 -1.31778045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79762800000001 meters 0.012267911591157943 Centerline is valid? [True, True] Translation: X:60.15, Y:-16.49, Z:-0.13 [[ 8.90893512e-01 4.54150640e-01 -7.47975547e-03 6.01523898e+01] [-4.54134260e-01 8.90924910e-01 3.85738384e-03 -1.64931212e+01] [ 8.41573381e-03 -3.97050226e-05 9.99964586e-01 -1.30520744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.827628000000004 meters 0.012274739036726507 Centerline is valid? [True, True] Translation: X:60.18, Y:-16.51, Z:-0.13 [[ 8.90786876e-01 4.54353815e-01 -7.83274488e-03 6.01812320e+01] [-4.54335835e-01 8.90821312e-01 4.04220457e-03 -1.65083026e+01] [ 8.81416714e-03 -4.20460954e-05 9.99961154e-01 -1.31075299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857628000000005 meters 0.012227279654264882 Centerline is valid? [True, True] Translation: X:60.21, Y:-16.52, Z:-0.13 [[ 8.90405628e-01 4.55097562e-01 -8.00168497e-03 6.02104731e+01] [-4.55078803e-01 8.90441580e-01 4.13219771e-03 -1.65230335e+01] [ 9.00558611e-03 -3.79348825e-05 9.99959448e-01 -1.30849601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88762800000001 meters 0.01216606276467968 Centerline is valid? [True, True] Translation: X:60.24, Y:-16.54, Z:-0.13 [[ 8.89839254e-01 4.56208904e-01 -7.71605498e-03 6.02386836e+01] [-4.56191480e-01 8.89872707e-01 3.98720551e-03 -1.65374829e+01] [ 8.68530539e-03 -2.79734299e-05 9.99962282e-01 -1.30502656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91762800000001 meters 0.015417548866241748 Centerline is valid? [True, True] Translation: X:60.27, Y:-16.55, Z:-0.13 [[ 8.88900925e-01 4.58011680e-01 -8.96918021e-03 6.02664105e+01] [-4.57988201e-01 8.88946174e-01 4.63757861e-03 -1.65525829e+01] [ 1.00971836e-02 -1.45692083e-05 9.99949022e-01 -1.32570539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.94762800000001 meters 0.012143728890354996 Centerline is valid? [True, True] Translation: X:60.29, Y:-16.57, Z:-0.13 [[ 8.88061592e-01 4.59650511e-01 -8.24720470e-03 6.02948624e+01] [-4.59630706e-01 8.88099886e-01 4.26682717e-03 -1.65674501e+01] [ 9.28559085e-03 1.46319257e-06 9.99956888e-01 -1.29838617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97762800000001 meters 0.012291190666798494 Centerline is valid? [True, True] Translation: X:60.32, Y:-16.58, Z:-0.13 [[ 8.87215993e-01 4.61254935e-01 -9.57429533e-03 6.03222016e+01] [-4.61228309e-01 8.87267651e-01 4.95604094e-03 -1.65816228e+01] [ 1.07809609e-02 1.88572605e-05 9.99941884e-01 -1.31169626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.007628000000004 meters 0.012470029531153917 Centerline is valid? [True, True] Translation: X:60.35, Y:-16.60, Z:-0.13 [[ 8.86283400e-01 4.63013887e-01 -1.09487368e-02 6.03504482e+01] [-4.62979161e-01 8.86351024e-01 5.67081928e-03 -1.65962674e+01] [ 1.23300921e-02 4.30839766e-05 9.99923981e-01 -1.32232783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037628000000005 meters 0.01284179917695705 Centerline is valid? [True, True] Translation: X:60.38, Y:-16.61, Z:-0.13 [[ 8.84614267e-01 4.66125720e-01 -1.35798409e-02 6.03788069e+01] [-4.66072634e-01 8.84718487e-01 7.03546901e-03 -1.66105600e+01] [ 1.52937494e-02 1.05515958e-04 9.99883038e-01 -1.34600047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.067628000000006 meters 0.012862265226122157 Centerline is valid? [True, True] Translation: X:60.41, Y:-16.62, Z:-0.13 [[ 8.83432243e-01 4.68346427e-01 -1.41101502e-02 6.04074247e+01] [-4.68289322e-01 8.83544907e-01 7.31490531e-03 -1.66249939e+01] [ 1.58928611e-02 1.45409468e-04 9.99873690e-01 -1.34128849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09762800000001 meters 0.014981623480961164 Centerline is valid? [True, True] Translation: X:60.44, Y:-16.64, Z:-0.13 [[ 8.82326703e-01 4.70415992e-01 -1.44354935e-02 6.04368264e+01] [-4.70356425e-01 8.82444764e-01 7.48815550e-03 -1.66386081e+01] [ 1.62610738e-02 1.82827567e-04 9.99867763e-01 -1.34904258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12762800000001 meters 0.014114445692213377 Centerline is valid? [True, True] Translation: X:60.47, Y:-16.65, Z:-0.13 [[ 8.79849059e-01 4.75117761e-01 -1.13466442e-02 6.04661756e+01] [-4.75081306e-01 8.79922195e-01 5.88925612e-03 -1.66492495e+01] [ 1.27822542e-02 2.08922078e-04 9.99918282e-01 -1.30887858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15762800000001 meters 0.014826243124118229 Centerline is valid? [True, True] Translation: X:60.50, Y:-16.66, Z:-0.13 [[ 8.79005896e-01 4.76713452e-01 -9.63945199e-03 6.04955011e+01] [-4.76687201e-01 8.79058728e-01 5.00646750e-03 -1.66615862e+01] [ 1.08602948e-02 1.94288937e-04 9.99941006e-01 -1.29236643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.187628000000004 meters 0.01428581300192934 Centerline is valid? [True, True] Translation: X:60.53, Y:-16.68, Z:-0.13 [[ 8.78494167e-01 4.77689285e-01 -7.80675256e-03 6.05250333e+01] [-4.77672080e-01 8.78528839e-01 4.05756451e-03 -1.66770433e+01] [ 8.79671235e-03 1.64520975e-04 9.99961295e-01 -1.26194769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217628000000005 meters 0.015836875251407284 Centerline is valid? [True, True] Translation: X:60.55, Y:-16.69, Z:-0.13 [[ 8.78495877e-01 4.77704695e-01 -6.57404253e-03 6.05539706e+01] [-4.77692480e-01 8.78520464e-01 3.41895400e-03 -1.66912980e+01] [ 7.40868127e-03 1.36833684e-04 9.99972546e-01 -1.25940853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.247628000000006 meters 0.017518191837136102 Centerline is valid? [True, True] Translation: X:60.58, Y:-16.71, Z:-0.12 [[ 8.79259038e-01 4.76321135e-01 -4.66053959e-03 6.05825773e+01] [-4.76314972e-01 8.79271385e-01 2.42452926e-03 -1.67069967e+01] [ 5.25273363e-03 8.80955241e-05 9.99986200e-01 -1.24845818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27762800000001 meters 0.013814268765554624 Centerline is valid? [True, True] Translation: X:60.61, Y:-16.72, Z:-0.12 [[ 8.79360242e-01 4.76149501e-01 -2.68635768e-03 6.06101276e+01] [-4.76147450e-01 8.79364344e-01 1.39862706e-03 -1.67228585e+01] [ 3.02824274e-03 4.92053290e-05 9.99995414e-01 -1.22032698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30762800000001 meters 0.013443312966983667 Centerline is valid? [True, True] Translation: X:60.64, Y:-16.74, Z:-0.12 [[ 8.80502992e-01 4.74027412e-01 -3.53454501e-03 6.06361531e+01] [-4.74023840e-01 8.80510085e-01 1.84109391e-03 -1.67410606e+01] [ 3.98493150e-03 5.43699031e-05 9.99992059e-01 -1.23003353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33762800000001 meters 0.013317430634894177 Centerline is valid? [True, True] Translation: X:60.66, Y:-16.76, Z:-0.12 [[ 8.80994158e-01 4.73102581e-01 -4.82098503e-03 6.06630717e+01] [-4.73095918e-01 8.81007346e-01 2.51173927e-03 -1.67568003e+01] [ 5.43563356e-03 6.79607178e-05 9.99985225e-01 -1.24749886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.367628 meters 0.012832581191732318 Centerline is valid? [True, True] Translation: X:60.69, Y:-16.77, Z:-0.13 [[ 8.81306957e-01 4.72499873e-01 -6.47438632e-03 6.06916426e+01] [-4.72487821e-01 8.81330734e-01 3.37570240e-03 -1.67741659e+01] [ 7.30109461e-03 8.40386781e-05 9.99973343e-01 -1.25883060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397628000000005 meters 0.012867702181467006 Centerline is valid? [True, True] Translation: X:60.72, Y:-16.79, Z:-0.13 [[ 8.81556237e-01 4.71968456e-01 -1.02165726e-02 6.07187286e+01] [-4.71938380e-01 8.81615427e-01 5.32951162e-03 -1.67897229e+01] [ 1.15224494e-02 1.23328529e-04 9.99933607e-01 -1.29971629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.427628000000006 meters 0.013188666505715319 Centerline is valid? [True, True] Translation: X:60.75, Y:-16.80, Z:-0.13 [[ 8.81225336e-01 4.72539451e-01 -1.21809086e-02 6.07463096e+01] [-4.72496730e-01 8.81309505e-01 6.35588188e-03 -1.68031714e+01] [ 1.37385555e-02 1.54475345e-04 9.99905610e-01 -1.31929953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45762800000001 meters 0.013395847809412689 Centerline is valid? [True, True] Translation: X:60.78, Y:-16.82, Z:-0.13 [[ 8.80501525e-01 4.73836205e-01 -1.40112349e-02 6.07751811e+01] [-4.73779772e-01 8.80612975e-01 7.31548035e-03 -1.68168155e+01] [ 1.58048147e-02 1.96948053e-04 9.99875077e-01 -1.33184460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48762800000001 meters 0.013691713170800889 Centerline is valid? [True, True] Translation: X:60.81, Y:-16.83, Z:-0.13 [[ 8.79141632e-01 4.76299740e-01 -1.57654293e-02 6.08051871e+01] [-4.76228597e-01 8.79282939e-01 8.23633477e-03 -1.68282898e+01] [ 1.77852371e-02 2.67043501e-04 9.99841794e-01 -1.34381823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51762800000001 meters 0.01436767522763479 Centerline is valid? [True, True] Translation: X:60.83, Y:-16.84, Z:-0.14 [[ 8.78581709e-01 4.77329793e-01 -1.58256018e-02 6.08339269e+01] [-4.77258190e-01 8.78724182e-01 8.27237234e-03 -1.68405802e+01] [ 1.78549887e-02 2.84943039e-04 9.99840546e-01 -1.35353555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.54762800000001 meters 0.013979997599702783 Centerline is valid? [True, True] Translation: X:60.86, Y:-16.86, Z:-0.13 [[ 8.78276654e-01 4.77916083e-01 -1.50445188e-02 6.08626066e+01] [-4.77851378e-01 8.78405454e-01 7.86889594e-03 -1.68552229e+01] [ 1.69758593e-02 2.77976460e-04 9.99855861e-01 -1.33456309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577628000000004 meters 0.013985520817359617 Centerline is valid? [True, True] Translation: X:60.89, Y:-16.87, Z:-0.13 [[ 8.78102524e-01 4.78275821e-01 -1.37184841e-02 6.08910316e+01] [-4.78221997e-01 8.78209641e-01 7.17968042e-03 -1.68698702e+01] [ 1.54815726e-02 2.55985365e-04 9.99880121e-01 -1.31943010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.607628000000005 meters 0.013715877088793276 Centerline is valid? [True, True] Translation: X:60.92, Y:-16.89, Z:-0.13 [[ 8.78726230e-01 4.77203545e-01 -1.08161456e-02 6.09183471e+01] [-4.77169964e-01 8.78792776e-01 5.66418222e-03 -1.68867003e+01] [ 1.22081184e-02 1.83874301e-04 9.99925461e-01 -1.27917088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63762800000001 meters 0.013445357846677115 Centerline is valid? [True, True] Translation: X:60.94, Y:-16.90, Z:-0.13 [[ 8.79288058e-01 4.76202428e-01 -9.15201683e-03 6.09449562e+01] [-4.76178303e-01 8.79335674e-01 4.79538185e-03 -1.69025932e+01] [ 1.03312674e-02 1.41469848e-04 9.99946621e-01 -1.26614134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66762800000001 meters 0.013164391750011993 Centerline is valid? [True, True] Translation: X:60.97, Y:-16.92, Z:-0.13 [[ 8.79991222e-01 4.74919047e-01 -8.20657474e-03 6.09723185e+01] [-4.74899570e-01 8.80029480e-01 4.30259364e-03 -1.69189462e+01] [ 9.26541138e-03 1.11054175e-04 9.99957069e-01 -1.26003165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69762800000001 meters 0.012633927644825464 Centerline is valid? [True, True] Translation: X:61.00, Y:-16.94, Z:-0.13 [[ 8.81608786e-01 4.71946725e-01 -5.67777280e-03 6.09988796e+01] [-4.71937330e-01 8.81627067e-01 2.97848245e-03 -1.69358303e+01] [ 6.41136322e-03 5.36966413e-05 9.99979446e-01 -1.25845543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72762800000001 meters 0.012232865734063519 Centerline is valid? [True, True] Translation: X:61.03, Y:-16.95, Z:-0.12 [[ 8.82308663e-01 4.70644975e-01 -4.97288505e-03 6.10262524e+01] [-4.70637738e-01 8.82322677e-01 2.61034687e-03 -1.69526803e+01] [ 5.61623588e-03 3.72957166e-05 9.99984228e-01 -1.24868265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757628000000004 meters 0.012121882724057871 Centerline is valid? [True, True] Translation: X:61.05, Y:-16.97, Z:-0.12 [[ 8.82710719e-01 4.69894698e-01 -4.55619624e-03 6.10541036e+01] [-4.69888605e-01 8.82722477e-01 2.39309313e-03 -1.69693411e+01] [ 5.14635861e-03 2.84957437e-05 9.99986757e-01 -1.24633018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.787628000000005 meters 0.012081375091601159 Centerline is valid? [True, True] Translation: X:61.08, Y:-16.99, Z:-0.12 [[ 8.83030643e-01 4.69292807e-01 -4.59842959e-03 6.10826995e+01] [-4.69286583e-01 8.83042616e-01 2.41698326e-03 -1.69861148e+01] [ 5.19488215e-03 2.37110288e-05 9.99986506e-01 -1.24348414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.817628000000006 meters 0.01203685730023073 Centerline is valid? [True, True] Translation: X:61.11, Y:-17.00, Z:-0.12 [[ 8.83059809e-01 4.69231955e-01 -5.17162642e-03 6.11106403e+01] [-4.69224073e-01 8.83074952e-01 2.71994014e-03 -1.70026144e+01] [ 5.84321659e-03 2.47817881e-05 9.99982928e-01 -1.23822675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84762800000001 meters 0.01203685730023073 Centerline is valid? [True, True] Translation: X:61.14, Y:-17.02, Z:-0.12 [[ 8.82926554e-01 4.69482654e-01 -5.17084256e-03 6.11392867e+01] [-4.69474767e-01 8.82941695e-01 2.72143017e-03 -1.70177557e+01] [ 5.84321675e-03 2.47571455e-05 9.99982928e-01 -1.23869059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87762800000001 meters 0.012069019379890912 Centerline is valid? [True, True] Translation: X:61.17, Y:-17.03, Z:-0.12 [[ 8.82538459e-01 4.70202129e-01 -5.98553187e-03 6.11689492e+01] [-4.70191563e-01 8.82558756e-01 3.15229765e-03 -1.70324517e+01] [ 6.76480062e-03 3.23226809e-05 9.99977118e-01 -1.24204452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90762800000001 meters 0.012224668265378236 Centerline is valid? [True, True] Translation: X:61.20, Y:-17.05, Z:-0.13 [[ 8.82166036e-01 4.70889193e-01 -6.81563298e-03 6.11971424e+01] [-4.70875507e-01 8.82192364e-01 3.59035530e-03 -1.70458511e+01] [ 7.70335888e-03 4.20251328e-05 9.99970328e-01 -1.25475093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937628000000004 meters 0.012358505267267847 Centerline is valid? [True, True] Translation: X:61.23, Y:-17.06, Z:-0.13 [[ 8.81711076e-01 4.71720360e-01 -8.09196634e-03 6.12256902e+01] [-4.71701079e-01 8.81748206e-01 4.26534968e-03 -1.70595780e+01] [ 9.14712909e-03 5.61831923e-05 9.99958163e-01 -1.26866187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.967628000000005 meters 0.012476311859001103 Centerline is valid? [True, True] Translation: X:61.25, Y:-17.07, Z:-0.13 [[ 8.81460459e-01 4.72137661e-01 -1.06531095e-02 6.12545687e+01] [-4.72104235e-01 8.81524828e-01 5.61857637e-03 -1.70731687e+01] [ 1.20437220e-02 7.68251915e-05 9.99927469e-01 -1.29493983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.997628000000006 meters 0.012396476308891494 Centerline is valid? [True, True] Translation: X:61.28, Y:-17.09, Z:-0.13 [[ 8.81660732e-01 4.71743284e-01 -1.15164031e-02 6.12834326e+01] [-4.71704131e-01 8.81735941e-01 6.07812347e-03 -1.70886970e+01] [ 1.30217405e-02 7.34921397e-05 9.99915211e-01 -1.29915719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02762800000001 meters 0.012433678777362064 Centerline is valid? [True, True] Translation: X:61.31, Y:-17.10, Z:-0.13 [[ 8.83269874e-01 4.68716050e-01 -1.18150139e-02 6.13102805e+01] [-4.68674525e-01 8.83348891e-01 6.23909440e-03 -1.71048717e+01] [ 1.33611431e-02 2.65919012e-05 9.99910736e-01 -1.31362169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05762800000001 meters 0.012408844199882918 Centerline is valid? [True, True] Translation: X:61.34, Y:-17.12, Z:-0.13 [[ 8.84396634e-01 4.66593994e-01 -1.15168589e-02 6.13373673e+01] [-4.66554308e-01 8.84471619e-01 6.08551270e-03 -1.71213131e+01] [ 1.30257986e-02 -8.76679750e-06 9.99915161e-01 -1.31142478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.08762800000001 meters 0.012418752565067578 Centerline is valid? [True, True] Translation: X:61.37, Y:-17.14, Z:-0.13 [[ 8.85737151e-01 4.64050423e-01 -1.12651493e-02 6.13655692e+01] [-4.64012194e-01 8.85808784e-01 5.95658816e-03 -1.71383302e+01] [ 1.27429254e-02 -4.88047982e-05 9.99918804e-01 -1.30136013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117628 meters 0.015936798342668635 Centerline is valid? [True, True] Translation: X:61.39, Y:-17.16, Z:-0.13 [[ 8.88653361e-01 4.58477868e-01 -9.65656485e-03 6.13922594e+01] [-4.58449414e-01 8.88705818e-01 5.10907021e-03 -1.71556977e+01] [ 1.09242410e-02 -1.13145913e-04 9.99940322e-01 -1.30649676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.147628000000005 meters 0.013259516007825526 Centerline is valid? [True, True] Translation: X:61.42, Y:-17.17, Z:-0.13 [[ 8.89245517e-01 4.57349631e-01 -8.58637745e-03 6.14207402e+01] [-4.57327052e-01 8.89286962e-01 4.54603063e-03 -1.71719349e+01] [ 9.71487895e-03 -1.15754676e-04 9.99952803e-01 -1.26967177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177628000000006 meters 0.015272703462671011 Centerline is valid? [True, True] Translation: X:61.45, Y:-17.19, Z:-0.13 [[ 8.90026450e-01 4.55838212e-01 -8.02764584e-03 6.14488328e+01] [-4.55818391e-01 8.90062643e-01 4.25269799e-03 -1.71880745e+01] [ 9.08364993e-03 -1.25865081e-04 9.99958735e-01 -1.27883081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20762800000001 meters 0.013419000946904274 Centerline is valid? [True, True] Translation: X:61.48, Y:-17.20, Z:-0.12 [[ 8.90046915e-01 4.55828234e-01 -6.09189332e-03 6.14774043e+01] [-4.55816806e-01 8.90067757e-01 3.22922594e-03 -1.72027343e+01] [ 6.89417018e-03 -9.73752340e-05 9.99976230e-01 -1.24668207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23762800000001 meters 0.013366866853399285 Centerline is valid? [True, True] Translation: X:61.51, Y:-17.22, Z:-0.12 [[ 8.89584819e-01 4.56733573e-01 -5.77008392e-03 6.15058212e+01] [-4.56723327e-01 8.89603527e-01 3.06045219e-03 -1.72174853e+01] [ 6.53089827e-03 -8.71998848e-05 9.99978670e-01 -1.24661172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26762800000001 meters 0.01330049498842571 Centerline is valid? [True, True] Translation: X:61.53, Y:-17.23, Z:-0.13 [[ 8.89034548e-01 4.57801189e-01 -5.97031578e-03 6.15336388e+01] [-4.57790232e-01 8.89054590e-01 3.16832509e-03 -1.72318628e+01] [ 6.75839964e-03 -8.35982161e-05 9.99977158e-01 -1.25092819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29762800000001 meters 0.012995168882621536 Centerline is valid? [True, True] Translation: X:61.56, Y:-17.25, Z:-0.13 [[ 8.87678014e-01 4.60412197e-01 -6.95351982e-03 6.15612335e+01] [-4.60397408e-01 8.87705245e-01 3.69110651e-03 -1.72458163e+01] [ 7.87210648e-03 -7.51316002e-05 9.99969012e-01 -1.26433039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.327628000000004 meters 0.012761644960717976 Centerline is valid? [True, True] Translation: X:61.59, Y:-17.26, Z:-0.13 [[ 8.86924439e-01 4.61838633e-01 -8.37359370e-03 6.15906175e+01] [-4.61817220e-01 8.86963962e-01 4.44800528e-03 -1.72605519e+01] [ 9.48133653e-03 -7.79748237e-05 9.99955048e-01 -1.27295748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357628000000005 meters 0.012746733651333504 Centerline is valid? [True, True] Translation: X:61.62, Y:-17.28, Z:-0.13 [[ 8.86102808e-01 4.63388093e-01 -9.65863030e-03 6.16203755e+01] [-4.63359659e-01 8.86155443e-01 5.13388875e-03 -1.72751505e+01] [ 1.09380307e-02 -7.37336031e-05 9.99940175e-01 -1.28703011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38762800000001 meters 0.012736734317867527 Centerline is valid? [True, True] Translation: X:61.65, Y:-17.29, Z:-0.13 [[ 8.85169097e-01 4.65131754e-01 -1.13191168e-02 6.16487901e+01] [-4.65092806e-01 8.85241463e-01 6.01949810e-03 -1.72888505e+01] [ 1.28200112e-02 -6.38339078e-05 9.99917818e-01 -1.30902626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41762800000001 meters 0.012323913415759878 Centerline is valid? [True, True] Translation: X:61.68, Y:-17.30, Z:-0.13 [[ 8.83302161e-01 4.68606658e-01 -1.36048652e-02 6.16785009e+01] [-4.68550736e-01 8.83406928e-01 7.23932420e-03 -1.73011834e+01] [ 1.54110277e-02 -1.99410857e-05 9.99881243e-01 -1.32143046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.44762800000001 meters 0.012242834686188097 Centerline is valid? [True, True] Translation: X:61.71, Y:-17.32, Z:-0.13 [[ 8.82176117e-01 4.70724776e-01 -1.35456236e-02 6.17080118e+01] [-4.70669514e-01 8.82280106e-01 7.21275140e-03 -1.73161306e+01] [ 1.53462550e-02 1.25950562e-05 9.99882239e-01 -1.32096317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47762800000001 meters 0.012269932996690148 Centerline is valid? [True, True] Translation: X:61.74, Y:-17.33, Z:-0.13 [[ 8.80623276e-01 4.73645350e-01 -1.27565278e-02 6.17359000e+01] [-4.73596615e-01 8.80715663e-01 6.79461965e-03 -1.73305155e+01] [ 1.44531139e-02 5.79481883e-05 9.99895547e-01 -1.30773778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.507628000000004 meters 0.012189961360529012 Centerline is valid? [True, True] Translation: X:61.77, Y:-17.35, Z:-0.13 [[ 8.80009648e-01 4.74795534e-01 -1.23377925e-02 6.17652694e+01] [-4.74749995e-01 8.80096129e-01 6.57620711e-03 -1.73461694e+01] [ 1.39807971e-02 7.02412024e-05 9.99902261e-01 -1.30052285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537628000000005 meters 0.012278900473014042 Centerline is valid? [True, True] Translation: X:61.79, Y:-17.36, Z:-0.13 [[ 8.79587493e-01 4.75593049e-01 -1.17086673e-02 6.17946428e+01] [-4.75552051e-01 8.79665417e-01 6.24506444e-03 -1.73618176e+01] [ 1.32698189e-02 7.50001609e-05 9.99911949e-01 -1.29430974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.567628000000006 meters 0.012146251716618576 Centerline is valid? [True, True] Translation: X:61.82, Y:-17.38, Z:-0.13 [[ 8.79402194e-01 4.75960304e-01 -1.06569709e-02 6.18226186e+01] [-4.75926327e-01 8.79466761e-01 5.68741716e-03 -1.73772379e+01] [ 1.20794365e-02 7.04059165e-05 9.99927038e-01 -1.28585978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59762800000001 meters 0.012096427637241633 Centerline is valid? [True, True] Translation: X:61.85, Y:-17.39, Z:-0.13 [[ 8.79018260e-01 4.76709262e-01 -8.67052698e-03 6.18498099e+01] [-4.76686781e-01 8.79061019e-01 4.63005495e-03 -1.73943605e+01] [ 9.82911236e-03 6.32227459e-05 9.99951691e-01 -1.25597047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.62762800000001 meters 0.012185953387832965 Centerline is valid? [True, True] Translation: X:61.88, Y:-17.41, Z:-0.12 [[ 8.78836734e-01 4.77064667e-01 -7.43625609e-03 6.18770954e+01] [-4.77048126e-01 8.78868193e-01 3.97310994e-03 -1.74102117e+01] [ 8.43091932e-03 5.57370629e-05 9.99964458e-01 -1.23983564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65762800000001 meters 0.011981617750404482 Centerline is valid? [True, True] Translation: X:61.90, Y:-17.43, Z:-0.12 [[ 8.79037703e-01 4.76720367e-01 -5.51443284e-03 6.19047186e+01] [-4.76711252e-01 8.79054999e-01 2.94815410e-03 -1.74268916e+01] [ 6.25293485e-03 3.72535763e-05 9.99980450e-01 -1.22630863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.687628000000004 meters 0.011837255810221482 Centerline is valid? [True, True] Translation: X:61.93, Y:-17.44, Z:-0.12 [[ 8.79370589e-01 4.76105968e-01 -5.52030516e-03 6.19324554e+01] [-4.76096810e-01 8.79387916e-01 2.95316196e-03 -1.74427406e+01] [ 6.26050768e-03 3.12759089e-05 9.99980402e-01 -1.23463801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717628000000005 meters 0.011827929802816094 Centerline is valid? [True, True] Translation: X:61.96, Y:-17.46, Z:-0.12 [[ 8.79779954e-01 4.75344020e-01 -5.94102307e-03 6.19602428e+01] [-4.75333382e-01 8.79800012e-01 3.18032491e-03 -1.74598283e+01] [ 6.73866060e-03 2.59804815e-05 9.99977295e-01 -1.23956471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.747628000000006 meters 0.015056726634007478 Centerline is valid? [True, True] Translation: X:61.99, Y:-17.48, Z:-0.13 [[ 8.80552194e-01 4.73891023e-01 -7.42511934e-03 6.19877277e+01] [-4.73874333e-01 8.80583498e-01 3.97734068e-03 -1.74773495e+01] [ 8.42326361e-03 1.63174094e-05 9.99964524e-01 -1.26906265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77762800000001 meters 0.011813465271509383 Centerline is valid? [True, True] Translation: X:62.02, Y:-17.49, Z:-0.12 [[ 8.80168537e-01 4.74612089e-01 -6.83464972e-03 6.20171569e+01] [-4.74597949e-01 8.80195072e-01 3.66355936e-03 -1.74926199e+01] [ 7.75459456e-03 1.91610628e-05 9.99969932e-01 -1.24825334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80762800000001 meters 0.011854787116239558 Centerline is valid? [True, True] Translation: X:62.05, Y:-17.51, Z:-0.13 [[ 8.79827992e-01 4.75239287e-01 -7.09395467e-03 6.20456564e+01] [-4.75224056e-01 8.79856590e-01 3.80489116e-03 -1.75071166e+01] [ 8.04989653e-03 2.35681632e-05 9.99967599e-01 -1.25810285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83762800000001 meters 0.01198021539795671 Centerline is valid? [True, True] Translation: X:62.07, Y:-17.52, Z:-0.13 [[ 8.79514065e-01 4.75806132e-01 -7.97086579e-03 6.20748715e+01] [-4.75786901e-01 8.79550183e-01 4.27797992e-03 -1.75224608e+01] [ 9.04626554e-03 2.98900180e-05 9.99959081e-01 -1.26082929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.867628 meters 0.011856098975001655 Centerline is valid? [True, True] Translation: X:62.10, Y:-17.54, Z:-0.13 [[ 8.79338943e-01 4.76104933e-01 -9.33360532e-03 6.21044837e+01] [-4.76078551e-01 8.79388476e-01 5.01219864e-03 -1.75359959e+01] [ 1.05941975e-02 3.61078420e-05 9.99943879e-01 -1.26028456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897628000000005 meters 0.01209163502237865 Centerline is valid? [True, True] Translation: X:62.13, Y:-17.55, Z:-0.13 [[ 8.79115856e-01 4.76510645e-01 -9.63929392e-03 6.21333487e+01] [-4.76482495e-01 8.79168700e-01 5.17961440e-03 -1.75496184e+01] [ 1.09427069e-02 3.94736704e-05 9.99940126e-01 -1.27549967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.927628000000006 meters 0.01181432630861714 Centerline is valid? [True, True] Translation: X:62.16, Y:-17.56, Z:-0.13 [[ 8.78812248e-01 4.77066274e-01 -9.83885297e-03 6.21622765e+01] [-4.77036940e-01 8.78867321e-01 5.29054050e-03 -1.75648781e+01] [ 1.11709848e-02 4.41045226e-05 9.99937602e-01 -1.25589197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95762800000001 meters 0.012093566710697072 Centerline is valid? [True, True] Translation: X:62.19, Y:-17.58, Z:-0.13 [[ 8.78428804e-01 4.77763668e-01 -1.02329670e-02 6.21910519e+01] [-4.77731944e-01 8.78488403e-01 5.50595485e-03 -1.75788998e+01] [ 1.16200880e-02 5.20258697e-05 9.99932483e-01 -1.26339683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98762800000001 meters 0.015608810182170436 Centerline is valid? [True, True] Translation: X:62.22, Y:-17.59, Z:-0.13 [[ 8.78599036e-01 4.77424608e-01 -1.13788154e-02 6.22193026e+01] [-4.77385306e-01 8.78672716e-01 6.12603318e-03 -1.75942218e+01] [ 1.29229736e-02 4.97524284e-05 9.99916494e-01 -1.28216311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01762800000001 meters 0.011960912752936106 Centerline is valid? [True, True] Translation: X:62.25, Y:-17.61, Z:-0.13 [[ 8.78254333e-01 4.78066346e-01 -1.10406035e-02 6.22485470e+01] [-4.78029345e-01 8.78323725e-01 5.94805861e-03 -1.76093842e+01] [ 1.25407907e-02 5.38242267e-05 9.99921360e-01 -1.25756737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.04762800000001 meters 0.011918404833413306 Centerline is valid? [True, True] Translation: X:62.28, Y:-17.62, Z:-0.13 [[ 8.78406661e-01 4.77785860e-01 -1.10638928e-02 6.22776689e+01] [-4.77748630e-01 8.78476334e-01 5.96460914e-03 -1.76245723e+01] [ 1.25691739e-02 4.64072206e-05 9.99921004e-01 -1.26814142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077628000000004 meters 0.011874643996459499 Centerline is valid? [True, True] Translation: X:62.31, Y:-17.64, Z:-0.13 [[ 8.78824160e-01 4.77027413e-01 -1.06275018e-02 6.23054521e+01] [-4.76992966e-01 8.78888415e-01 5.73267830e-03 -1.76412563e+01] [ 1.20750329e-02 3.12274331e-05 9.99927094e-01 -1.26150098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.107628000000005 meters 0.011868994826104434 Centerline is valid? [True, True] Translation: X:62.33, Y:-17.66, Z:-0.13 [[ 8.78894072e-01 4.76919334e-01 -9.65187787e-03 6.23332105e+01] [-4.76890882e-01 8.78947068e-01 5.20949139e-03 -1.76576892e+01] [ 1.09679969e-02 2.43014428e-05 9.99939849e-01 -1.25161784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13762800000001 meters 0.011823553090566636 Centerline is valid? [True, True] Translation: X:62.36, Y:-17.67, Z:-0.12 [[ 8.78714189e-01 4.77288540e-01 -7.55140993e-03 6.23604460e+01] [-4.77271118e-01 8.78746636e-01 4.07804173e-03 -1.76729345e+01] [ 8.58217865e-03 2.06367316e-05 9.99963172e-01 -1.22606965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16762800000001 meters 0.011689517087620655 Centerline is valid? [True, True] Translation: X:62.39, Y:-17.69, Z:-0.12 [[ 8.78390126e-01 4.77894026e-01 -6.93444187e-03 6.23894454e+01] [-4.77879333e-01 8.78417497e-01 3.74747989e-03 -1.76879430e+01] [ 7.88223332e-03 2.20771256e-05 9.99968934e-01 -1.21469023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19762800000001 meters 0.011788095342498027 Centerline is valid? [True, True] Translation: X:62.42, Y:-17.70, Z:-0.12 [[ 8.77826401e-01 4.78931904e-01 -6.71122916e-03 6.24185404e+01] [-4.78918154e-01 8.77852055e-01 3.62932257e-03 -1.77029483e+01] [ 7.62966468e-03 2.82143016e-05 9.99970893e-01 -1.21040272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22762800000001 meters 0.01196230817109734 Centerline is valid? [True, True] Translation: X:62.45, Y:-17.72, Z:-0.12 [[ 8.76622580e-01 4.81119489e-01 -7.54252055e-03 6.24475519e+01] [-4.81102182e-01 8.76655026e-01 4.08116969e-03 -1.77173206e+01] [ 8.57571882e-03 5.10775914e-05 9.99963227e-01 -1.21527967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257628000000004 meters 0.012198906541110667 Centerline is valid? [True, True] Translation: X:62.48, Y:-17.73, Z:-0.12 [[ 8.75739217e-01 4.82715266e-01 -8.17289944e-03 6.24751451e+01] [-4.82694992e-01 8.75777350e-01 4.42460302e-03 -1.77313367e+01] [ 9.29346364e-03 7.02192451e-05 9.99956812e-01 -1.22691038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.287628000000005 meters 0.012400287885625543 Centerline is valid? [True, True] Translation: X:62.50, Y:-17.75, Z:-0.12 [[ 8.74867233e-01 4.84275838e-01 -9.17813167e-03 6.25033078e+01] [-4.84250325e-01 8.74915370e-01 4.97173290e-03 -1.77462853e+01] [ 1.04377786e-02 9.49070437e-05 9.99945520e-01 -1.23134487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.317628000000006 meters 0.012830659095513734 Centerline is valid? [True, True] Translation: X:62.53, Y:-17.76, Z:-0.12 [[ 8.73941779e-01 4.85927315e-01 -1.00205648e-02 6.25305533e+01] [-4.85896980e-01 8.73999216e-01 5.43095491e-03 -1.77604158e+01] [ 1.13970151e-02 1.22623779e-04 9.99935044e-01 -1.24193081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34762800000001 meters 0.01323484630659413 Centerline is valid? [True, True] Translation: X:62.56, Y:-17.78, Z:-0.12 [[ 8.72783896e-01 4.87982704e-01 -1.10068946e-02 6.25590842e+01] [-4.87946224e-01 8.72853283e-01 5.96894240e-03 -1.77755317e+01] [ 1.25201448e-02 1.61175884e-04 9.99921607e-01 -1.24869265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37762800000001 meters 0.013238425572599822 Centerline is valid? [True, True] Translation: X:62.59, Y:-17.79, Z:-0.12 [[ 8.72449249e-01 4.88577662e-01 -1.11434787e-02 6.25877552e+01] [-4.88540267e-01 8.72520395e-01 6.04711178e-03 -1.77914910e+01] [ 1.26773962e-02 1.68239929e-04 9.99919624e-01 -1.24578991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40762800000001 meters 0.013029866548394286 Centerline is valid? [True, True] Translation: X:62.62, Y:-17.81, Z:-0.12 [[ 8.72590834e-01 4.88326363e-01 -1.10725097e-02 6.26160047e+01] [-4.88289372e-01 8.72661067e-01 6.01263487e-03 -1.78075375e+01] [ 1.25986762e-02 1.60018722e-04 9.99920621e-01 -1.24482427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437628000000004 meters 0.012807214485006855 Centerline is valid? [True, True] Translation: X:62.64, Y:-17.83, Z:-0.12 [[ 8.74103337e-01 4.85621646e-01 -1.07225872e-02 6.26417747e+01] [-4.85586731e-01 8.74169093e-01 5.82434243e-03 -1.78251776e+01] [ 1.22017811e-02 1.15668922e-04 9.99925549e-01 -1.24707240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.467628000000005 meters 0.012288601104616222 Centerline is valid? [True, True] Translation: X:62.67, Y:-17.84, Z:-0.12 [[ 8.75328423e-01 4.83428117e-01 -9.86955782e-03 6.26683275e+01] [-4.83398360e-01 8.75384059e-01 5.36424248e-03 -1.78439698e+01] [ 1.12328792e-02 7.54541543e-05 9.99936906e-01 -1.22965980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.497628000000006 meters 0.012013565114696022 Centerline is valid? [True, True] Translation: X:62.69, Y:-17.86, Z:-0.12 [[ 8.76999165e-01 4.80402048e-01 -9.29176086e-03 6.26941527e+01] [-4.80375475e-01 8.77048386e-01 5.05285861e-03 -1.78623520e+01] [ 1.05767275e-02 3.21812619e-05 9.99944064e-01 -1.22493180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52762800000001 meters 0.01213260456962258 Centerline is valid? [True, True] Translation: X:62.72, Y:-17.89, Z:-0.12 [[ 8.80761853e-01 4.73485662e-01 -8.35978428e-03 6.27189237e+01] [-4.73463809e-01 8.80801525e-01 4.54925673e-03 -1.78853182e+01] [ 9.51731857e-03 -4.87564791e-05 9.99954708e-01 -1.19878059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55762800000001 meters 0.012423789480787241 Centerline is valid? [True, True] Translation: X:62.75, Y:-17.90, Z:-0.12 [[ 8.82089729e-01 4.71018402e-01 -7.70543429e-03 6.27462858e+01] [-4.70999721e-01 8.82123381e-01 4.19560321e-03 -1.79026093e+01] [ 8.77335007e-03 -7.16410966e-05 9.99961511e-01 -1.19175230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58762800000001 meters 0.012784777385637358 Centerline is valid? [True, True] Translation: X:62.77, Y:-17.92, Z:-0.12 [[ 8.82932225e-01 4.69449158e-01 -6.94074732e-03 6.27737846e+01] [-4.69433934e-01 8.82959501e-01 3.78165297e-03 -1.79186251e+01] [ 7.90369260e-03 -8.07209572e-05 9.99968762e-01 -1.18836206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61762800000001 meters 0.013617354983626572 Centerline is valid? [True, True] Translation: X:62.80, Y:-17.94, Z:-0.12 [[ 8.84832445e-01 4.65862415e-01 -6.61476598e-03 6.28006312e+01] [-4.65848471e-01 8.84857163e-01 3.60609784e-03 -1.79359264e+01] [ 7.53306851e-03 -1.09313752e-04 9.99971620e-01 -1.18986006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.647628000000005 meters 0.01427199300994216 Centerline is valid? [True, True] Translation: X:62.83, Y:-17.95, Z:-0.12 [[ 8.85774342e-01 4.64065211e-01 -6.87715446e-03 6.28280351e+01] [-4.64050068e-01 8.85801029e-01 3.75125549e-03 -1.79530491e+01] [ 7.83261767e-03 -1.31421872e-04 9.99969316e-01 -1.18364426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677628000000006 meters 0.014411360819941743 Centerline is valid? [True, True] Translation: X:62.86, Y:-17.97, Z:-0.12 [[ 8.86674747e-01 4.62346924e-01 -6.57384610e-03 6.28557238e+01] [-4.62333024e-01 8.86699105e-01 3.58791898e-03 -1.79684971e+01] [ 7.48788675e-03 -1.42011005e-04 9.99971955e-01 -1.17606001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70762800000001 meters 0.015435828636533453 Centerline is valid? [True, True] Translation: X:62.88, Y:-17.98, Z:-0.12 [[ 8.88403109e-01 4.59018210e-01 -6.49612778e-03 6.28842566e+01] [-4.59004545e-01 8.88426843e-01 3.54580980e-03 -1.79839740e+01] [ 7.39892556e-03 -1.68356274e-04 9.99972613e-01 -1.18153659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73762800000001 meters 0.017040476609459947 Centerline is valid? [True, True] Translation: X:62.91, Y:-18.00, Z:-0.12 [[ 8.89025029e-01 4.57806840e-01 -6.88446764e-03 6.29104899e+01] [-4.57791439e-01 8.89051664e-01 3.76002258e-03 -1.80000215e+01] [ 7.84201147e-03 -1.91103834e-04 9.99969233e-01 -1.19549565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76762800000001 meters 0.017040476609459947 Centerline is valid? [True, True] Translation: X:62.94, Y:-18.02, Z:-0.12 [[ 8.88903148e-01 4.58043460e-01 -6.88343765e-03 6.29388947e+01] [-4.58028052e-01 8.88929779e-01 3.76190796e-03 -1.80156334e+01] [ 7.84201005e-03 -1.91164297e-04 9.99969233e-01 -1.19595947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79762800000001 meters 0.01782928330414923 Centerline is valid? [True, True] Translation: X:62.97, Y:-18.03, Z:-0.12 [[ 8.89385195e-01 4.57091938e-01 -7.80613332e-03 6.29684646e+01] [-4.57072064e-01 8.89419422e-01 4.26852311e-03 -1.80289135e+01] [ 8.89403408e-03 -2.28395790e-04 9.99960421e-01 -1.21283641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.827628000000004 meters 0.01677930330931739 Centerline is valid? [True, True] Translation: X:63.00, Y:-18.04, Z:-0.12 [[ 8.89600535e-01 4.56679345e-01 -7.40697479e-03 6.29977789e+01] [-4.56661418e-01 8.89631343e-01 4.05257620e-03 -1.80415470e+01] [ 8.44020477e-03 -2.22694351e-04 9.99964356e-01 -1.19490491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857628000000005 meters 0.015791731311357433 Centerline is valid? [True, True] Translation: X:63.03, Y:-18.05, Z:-0.12 [[ 8.89334096e-01 4.57200522e-01 -7.24893871e-03 6.30277018e+01] [-4.57183350e-01 8.89363613e-01 3.96844696e-03 -1.80539255e+01] [ 8.26131834e-03 -2.15181113e-04 9.99965852e-01 -1.18558753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88762800000001 meters 0.016863203666176118 Centerline is valid? [True, True] Translation: X:63.06, Y:-18.07, Z:-0.12 [[ 8.88829126e-01 4.58179512e-01 -7.37011607e-03 6.30551574e+01] [-4.58161776e-01 8.88859657e-01 4.03691951e-03 -1.80688637e+01] [ 8.40063266e-03 -2.11426168e-04 9.99964692e-01 -1.19136948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91762800000001 meters 0.016832372236404054 Centerline is valid? [True, True] Translation: X:63.08, Y:-18.08, Z:-0.12 [[ 8.88346814e-01 4.59114247e-01 -7.35161520e-03 6.30839016e+01] [-4.59096614e-01 8.88377209e-01 4.02902967e-03 -1.80821414e+01] [ 8.38079232e-03 -2.04074025e-04 9.99964860e-01 -1.18908419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94762800000001 meters 0.015082136184976013 Centerline is valid? [True, True] Translation: X:63.12, Y:-18.09, Z:-0.12 [[ 8.87060027e-01 4.61595955e-01 -7.32687322e-03 6.31164077e+01] [-4.61578505e-01 8.87090267e-01 4.01779311e-03 -1.80902964e+01] [ 8.35419497e-03 -1.82096472e-04 9.99965087e-01 -1.17538794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97762800000001 meters 0.014307292096474019 Centerline is valid? [True, True] Translation: X:63.15, Y:-18.10, Z:-0.12 [[ 8.86265336e-01 4.63128220e-01 -6.78274599e-03 6.31462805e+01] [-4.63113293e-01 8.86291277e-01 3.72162383e-03 -1.81019239e+01] [ 7.73507762e-03 -1.57166368e-04 9.99970071e-01 -1.17086802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.007628 meters 0.01344690280457652 Centerline is valid? [True, True] Translation: X:63.18, Y:-18.11, Z:-0.12 [[ 8.84415898e-01 4.66657843e-01 -6.24316521e-03 6.31773098e+01] [-4.66645270e-01 8.84437925e-01 3.42758817e-03 -1.81119296e+01] [ 7.12120299e-03 -1.18069951e-04 9.99974637e-01 -1.16300790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03762800000001 meters 0.013245756376655858 Centerline is valid? [True, True] Translation: X:63.21, Y:-18.12, Z:-0.12 [[ 8.83392351e-01 4.68597170e-01 -5.88615936e-03 6.32061106e+01] [-4.68586025e-01 8.83411955e-01 3.23331515e-03 -1.81244869e+01] [ 6.71502588e-03 -9.81138491e-05 9.99977449e-01 -1.16201134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06762800000001 meters 0.012822319759091825 Centerline is valid? [True, True] Translation: X:63.24, Y:-18.14, Z:-0.12 [[ 8.82287876e-01 4.70676743e-01 -5.61314788e-03 6.32363843e+01] [-4.70666647e-01 8.82305728e-01 3.08377596e-03 -1.81370609e+01] [ 6.40397415e-03 -7.88566463e-05 9.99979491e-01 -1.16042301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.097628 meters 0.01251819390725117 Centerline is valid? [True, True] Translation: X:63.27, Y:-18.15, Z:-0.12 [[ 8.81421561e-01 4.72304879e-01 -4.91258641e-03 6.32651876e+01] [-4.72297162e-01 8.81435249e-01 2.70058147e-03 -1.81490825e+01] [ 5.60562463e-03 -6.01501128e-05 9.99984287e-01 -1.16062603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.127628 meters 0.01187893433923519 Centerline is valid? [True, True] Translation: X:63.30, Y:-18.16, Z:-0.12 [[ 8.79765422e-01 4.75393180e-01 -3.75858451e-03 6.32964258e+01] [-4.75388685e-01 8.79773450e-01 2.06750981e-03 -1.81584022e+01] [ 4.28958292e-03 -3.21350961e-05 9.99990799e-01 -1.16057487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.157628 meters 0.011723184295770501 Centerline is valid? [True, True] Translation: X:63.33, Y:-18.17, Z:-0.12 [[ 8.78899334e-01 4.76998619e-01 -2.87722114e-03 6.33263688e+01] [-4.76995991e-01 8.78904043e-01 1.58371757e-03 -1.81713764e+01] [ 3.28423239e-03 -1.95053655e-05 9.99994607e-01 -1.15450328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.187628 meters 0.011434728266838145 Centerline is valid? [True, True] Translation: X:63.36, Y:-18.18, Z:-0.11 [[ 8.77488288e-01 4.79595710e-01 -1.50287383e-03 6.33568175e+01] [-4.79594996e-01 8.77489575e-01 8.27906098e-04 -1.81832440e+01] [ 1.71581633e-03 -5.70713556e-06 9.99998528e-01 -1.13894228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.217628 meters 0.011421206006977574 Centerline is valid? [True, True] Translation: X:63.39, Y:-18.20, Z:-0.11 [[ 8.76815797e-01 4.80825085e-01 -1.13852001e-03 6.33862198e+01] [-4.80824675e-01 8.76816536e-01 6.27760728e-04 -1.81975000e+01] [ 1.30011628e-03 -3.00200901e-06 9.99999155e-01 -1.13324244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.247628 meters 0.011397710325458863 Centerline is valid? [True, True] Translation: X:63.42, Y:-18.21, Z:-0.11 [[ 8.76331076e-01 4.81708208e-01 -1.02339663e-03 6.34161221e+01] [-4.81707877e-01 8.76331674e-01 5.64700839e-04 -1.82119413e+01] [ 1.16885591e-03 -1.88667737e-06 9.99999317e-01 -1.13249987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.277628 meters 0.011426099633999359 Centerline is valid? [True, True] Translation: X:63.45, Y:-18.22, Z:-0.11 [[ 8.76111099e-01 4.82107618e-01 -1.25955010e-03 6.34468227e+01] [-4.82107116e-01 8.76112005e-01 6.95367192e-04 -1.82244156e+01] [ 1.43874879e-03 -1.98084725e-06 9.99998965e-01 -1.14600537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30762800000001 meters 0.011386903536316547 Centerline is valid? [True, True] Translation: X:63.48, Y:-18.24, Z:-0.12 [[ 8.76090323e-01 4.82144046e-01 -1.69291273e-03 6.34750971e+01] [-4.82143139e-01 8.76091958e-01 9.35004922e-04 -1.82387180e+01] [ 1.93395428e-03 -2.92250805e-06 9.99998130e-01 -1.15560985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33762800000001 meters 0.014496557545420015 Centerline is valid? [True, True] Translation: X:63.50, Y:-18.25, Z:-0.12 [[ 8.76439165e-01 4.81502850e-01 -3.06526936e-03 6.35036306e+01] [-4.81499871e-01 8.76444525e-01 1.69375983e-03 -1.82542854e+01] [ 3.50208873e-03 -8.55064363e-06 9.99993868e-01 -1.18421347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36762800000001 meters 0.011458013075024373 Centerline is valid? [True, True] Translation: X:63.53, Y:-18.27, Z:-0.12 [[ 8.77035131e-01 4.80420908e-01 -2.26490685e-03 6.35332724e+01] [-4.80419275e-01 8.77038056e-01 1.25250615e-03 -1.82694302e+01] [ 2.58813964e-03 -1.03869852e-05 9.99996651e-01 -1.15821069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39762800000001 meters 0.011521366348626992 Centerline is valid? [True, True] Translation: X:63.56, Y:-18.28, Z:-0.12 [[ 8.77590959e-01 4.79404325e-01 -2.36670941e-03 6.35609462e+01] [-4.79402538e-01 8.77594151e-01 1.30915966e-03 -1.82848057e+01] [ 2.70462713e-03 -1.43001906e-05 9.99996342e-01 -1.16492745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42762800000001 meters 0.011871243693992672 Centerline is valid? [True, True] Translation: X:63.59, Y:-18.30, Z:-0.12 [[ 8.78227130e-01 4.78232279e-01 -3.31601477e-03 6.35874477e+01] [-4.78228758e-01 8.78233390e-01 1.83523571e-03 -1.83004339e+01] [ 3.78990385e-03 -2.59401633e-05 9.99992818e-01 -1.17530245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45762800000001 meters 0.015264339725906257 Centerline is valid? [True, True] Translation: X:63.62, Y:-18.32, Z:-0.12 [[ 8.79084669e-01 4.76637473e-01 -5.18303648e-03 6.36156973e+01] [-4.76628835e-01 8.79099947e-01 2.87006366e-03 -1.83162824e+01] [ 5.92438698e-03 -5.26443236e-05 9.99982449e-01 -1.20284905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.487628 meters 0.012706021496784547 Centerline is valid? [True, True] Translation: X:63.64, Y:-18.33, Z:-0.12 [[ 8.80766056e-01 4.73519977e-01 -5.47583692e-03 6.36418184e+01] [-4.73510271e-01 8.80783075e-01 3.03286604e-03 -1.83322972e+01] [ 6.25914714e-03 -7.83804394e-05 9.99980408e-01 -1.19496704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.517628 meters 0.013159787621855336 Centerline is valid? [True, True] Translation: X:63.67, Y:-18.35, Z:-0.12 [[ 8.81939223e-01 4.71328459e-01 -5.71766611e-03 6.36694972e+01] [-4.71317817e-01 8.81957751e-01 3.16882632e-03 -1.83477458e+01] [ 6.53629797e-03 -9.98743174e-05 9.99978633e-01 -1.19988218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.547628 meters 0.013637905912917168 Centerline is valid? [True, True] Translation: X:63.70, Y:-18.36, Z:-0.12 [[ 8.83230605e-01 4.68901467e-01 -5.92567617e-03 6.36971513e+01] [-4.68889969e-01 8.83250474e-01 3.28601929e-03 -1.83637886e+01] [ 6.77467555e-03 -1.23822689e-04 9.99977044e-01 -1.20128174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.577628 meters 0.015409808104227797 Centerline is valid? [True, True] Translation: X:63.72, Y:-18.38, Z:-0.12 [[ 8.86349241e-01 4.62962012e-01 -7.15532822e-03 6.37229602e+01] [-4.62945038e-01 8.86378098e-01 3.96967641e-03 -1.83814710e+01] [ 8.18013560e-03 -2.05995978e-04 9.99966521e-01 -1.20945733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.607628 meters 0.016510161362021023 Centerline is valid? [True, True] Translation: X:63.75, Y:-18.40, Z:-0.12 [[ 8.88058320e-01 4.59666958e-01 -7.66207593e-03 6.37495646e+01] [-4.59647352e-01 8.88091337e-01 4.25311450e-03 -1.83983356e+01] [ 8.75963946e-03 -2.55160803e-04 9.99961601e-01 -1.21302135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637628 meters 0.022450218260245566 Centerline is valid? [True, True] Translation: X:63.77, Y:-18.42, Z:-0.12 [[ 8.91800802e-01 4.52317285e-01 -1.00201877e-02 6.37737426e+01] [-4.52283289e-01 8.91856990e-01 5.56202888e-03 -1.84178940e+01] [ 1.14523763e-02 -4.28258350e-04 9.99934328e-01 -1.24469739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66762800000001 meters 0.01910442929698715 Centerline is valid? [True, True] Translation: X:63.80, Y:-18.43, Z:-0.12 [[ 8.93390986e-01 4.49193694e-01 -8.80745813e-03 6.38024845e+01] [-4.49167270e-01 8.93434304e-01 4.88963310e-03 -1.84316919e+01] [ 1.00652776e-02 -4.12332218e-04 9.99949259e-01 -1.21276693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69762800000001 meters 0.022268240231466015 Centerline is valid? [True, True] Translation: X:63.83, Y:-18.45, Z:-0.12 [[ 8.94959615e-01 4.46065662e-01 -8.52720817e-03 6.38276886e+01] [-4.46040744e-01 8.95000132e-01 4.73475852e-03 -1.84495199e+01] [ 9.74386563e-03 -4.33935381e-04 9.99952433e-01 -1.21927012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72762800000001 meters 0.020345643749162225 Centerline is valid? [True, True] Translation: X:63.86, Y:-18.46, Z:-0.12 [[ 8.96371251e-01 4.43232972e-01 -7.94435087e-03 6.38566832e+01] [-4.43211211e-01 8.96406350e-01 4.41349002e-03 -1.84611096e+01] [ 9.07757086e-03 -4.35100203e-04 9.99958703e-01 -1.20039088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75762800000001 meters 0.022894900255880906 Centerline is valid? [True, True] Translation: X:63.88, Y:-18.48, Z:-0.12 [[ 8.98667406e-01 4.38569115e-01 -7.35019272e-03 6.38827942e+01] [-4.38550333e-01 8.98697353e-01 4.08326717e-03 -1.84772136e+01] [ 8.39639361e-03 -4.46069647e-04 9.99964650e-01 -1.18814777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78762800000001 meters 0.024857446368340377 Centerline is valid? [True, True] Translation: X:63.91, Y:-18.49, Z:-0.12 [[ 8.99175676e-01 4.37532602e-01 -6.95174170e-03 6.39086249e+01] [-4.37515760e-01 8.99202444e-01 3.86320769e-03 -1.84938463e+01] [ 7.94130244e-03 -4.32205839e-04 9.99968374e-01 -1.18107488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81762800000001 meters 0.02224405937371827 Centerline is valid? [True, True] Translation: X:63.94, Y:-18.51, Z:-0.12 [[ 8.99391720e-01 4.37099553e-01 -6.20609276e-03 6.39389114e+01] [-4.37086104e-01 8.99413046e-01 3.45110481e-03 -1.85053247e+01] [ 7.09031717e-03 -3.91298191e-04 9.99974787e-01 -1.16167022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.847628 meters 0.024135843425802994 Centerline is valid? [True, True] Translation: X:63.97, Y:-18.52, Z:-0.12 [[ 8.99103936e-01 4.37697481e-01 -5.74699002e-03 6.39659346e+01] [-4.37685949e-01 8.99122231e-01 3.19754233e-03 -1.85214780e+01] [ 6.56680271e-03 -3.59546119e-04 9.99978374e-01 -1.15514505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.877628 meters 0.022037980263872818 Centerline is valid? [True, True] Translation: X:64.00, Y:-18.53, Z:-0.11 [[ 8.97064440e-01 4.41878456e-01 -4.33819718e-03 6.39969008e+01] [-4.41871934e-01 8.97074896e-01 2.41366528e-03 -1.85302063e+01] [ 4.95823447e-03 -2.48285717e-04 9.99987677e-01 -1.14168179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.907628 meters 0.02149771987323647 Centerline is valid? [True, True] Translation: X:64.03, Y:-18.54, Z:-0.11 [[ 8.95739099e-01 4.44566639e-01 -3.45972290e-03 6.40259549e+01] [-4.44562510e-01 8.95745761e-01 1.92507861e-03 -1.85423475e+01] [ 3.95485786e-03 -1.86305084e-04 9.99992162e-01 -1.13286531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.937628 meters 0.021156166763436478 Centerline is valid? [True, True] Translation: X:64.05, Y:-18.55, Z:-0.11 [[ 8.94207664e-01 4.47644374e-01 -2.67751528e-03 6.40542950e+01] [-4.47641914e-01 8.94211662e-01 1.48996733e-03 -1.85543886e+01] [ 3.06124088e-03 -1.33772139e-04 9.99995305e-01 -1.12575330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.967628 meters 0.019460276316605025 Centerline is valid? [True, True] Translation: X:64.08, Y:-18.56, Z:-0.11 [[ 8.91012716e-01 4.53975777e-01 -1.52758791e-03 6.40847539e+01] [-4.53974986e-01 8.91014023e-01 8.50065265e-04 -1.85619756e+01] [ 1.74701129e-03 -6.39322614e-05 9.99998472e-01 -1.11471480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997628 meters 0.018039251644982636 Centerline is valid? [True, True] Translation: X:64.11, Y:-18.57, Z:-0.11 [[ 8.89453231e-01 4.57023904e-01 -1.44935381e-03 6.41145228e+01] [-4.57023195e-01 8.89454411e-01 8.06638148e-04 -1.85728856e+01] [ 1.65778706e-03 -5.50785965e-05 9.99998624e-01 -1.11716632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.027628 meters 0.01604738934198363 Centerline is valid? [True, True] Translation: X:64.15, Y:-18.58, Z:-0.11 [[ 8.86445685e-01 4.62827025e-01 -2.27885435e-03 6.41459885e+01] [-4.62825292e-01 8.86448611e-01 1.26842637e-03 -1.85805268e+01] [ 2.60714928e-03 -6.96796520e-05 9.99996599e-01 -1.12336219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05762800000001 meters 0.01522350882682027 Centerline is valid? [True, True] Translation: X:64.18, Y:-18.59, Z:-0.11 [[ 8.84888097e-01 4.65796927e-01 -2.50571960e-03 6.41756591e+01] [-4.65794843e-01 8.84891642e-01 1.39487258e-03 -1.85923391e+01] [ 2.86701769e-03 -6.71548770e-05 9.99995888e-01 -1.12831674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08762800000001 meters 0.014685594921542032 Centerline is valid? [True, True] Translation: X:64.21, Y:-18.60, Z:-0.11 [[ 8.83302679e-01 4.68795910e-01 -2.60230184e-03 6.42050077e+01] [-4.68793672e-01 8.83306510e-01 1.44976247e-03 -1.86044300e+01] [ 2.97827287e-03 -6.06364377e-05 9.99995563e-01 -1.13621010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11762800000001 meters 0.012619880680533326 Centerline is valid? [True, True] Translation: X:64.24, Y:-18.61, Z:-0.11 [[ 8.80155288e-01 4.74671176e-01 -3.73407422e-03 6.42371811e+01] [-4.74666621e-01 8.80163207e-01 2.08022052e-03 -1.86117552e+01] [ 4.27401546e-03 -5.84766952e-05 9.99990865e-01 -1.14164238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14762800000001 meters 0.012316511674716594 Centerline is valid? [True, True] Translation: X:64.27, Y:-18.62, Z:-0.11 [[ 8.78665626e-01 4.77421460e-01 -3.93291332e-03 6.42656547e+01] [-4.77416431e-01 8.78674426e-01 2.19183196e-03 -1.86244147e+01] [ 4.50217797e-03 -4.82499621e-05 9.99989864e-01 -1.14317410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17762800000001 meters 0.012308575348868764 Centerline is valid? [True, True] Translation: X:64.29, Y:-18.64, Z:-0.12 [[ 8.77183135e-01 4.80140113e-01 -3.90113943e-03 6.42937625e+01] [-4.80135186e-01 8.77191809e-01 2.17544051e-03 -1.86375882e+01] [ 4.46656381e-03 -3.51854258e-05 9.99990024e-01 -1.15130089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20762800000001 meters 0.011561332089628713 Centerline is valid? [True, True] Translation: X:64.33, Y:-18.65, Z:-0.11 [[ 8.74021895e-01 4.85865525e-01 -4.51871583e-03 6.43250984e+01] [-4.85858989e-01 8.74033576e-01 2.52006510e-03 -1.86483519e+01] [ 5.17392210e-03 -7.13337177e-06 9.99986615e-01 -1.14697050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.237628 meters 0.01161799632649475 Centerline is valid? [True, True] Translation: X:64.35, Y:-18.66, Z:-0.11 [[ 8.72455172e-01 4.88674107e-01 -4.42598169e-03 6.43540536e+01] [-4.88667864e-01 8.72466399e-01 2.47017728e-03 -1.86626314e+01] [ 5.06863198e-03 7.71607190e-06 9.99987154e-01 -1.14757721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.267628 meters 0.01167072475609261 Centerline is valid? [True, True] Translation: X:64.38, Y:-18.68, Z:-0.11 [[ 8.71129636e-01 4.91034962e-01 -4.22164148e-03 6.43839112e+01] [-4.91029302e-01 8.71139866e-01 2.35775661e-03 -1.86775806e+01] [ 4.83538112e-03 1.90380130e-05 9.99988309e-01 -1.14222821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.297628 meters 0.011832211325797004 Centerline is valid? [True, True] Translation: X:64.41, Y:-18.69, Z:-0.11 [[ 8.70073578e-01 4.92905211e-01 -4.05236692e-03 6.44114752e+01] [-4.92900014e-01 8.70083014e-01 2.26371220e-03 -1.86913194e+01] [ 4.64169117e-03 2.78155351e-05 9.99989227e-01 -1.14688284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.327628 meters 0.012089382016685163 Centerline is valid? [True, True] Translation: X:64.44, Y:-18.71, Z:-0.12 [[ 8.69204380e-01 4.94427501e-01 -5.01911745e-03 6.44385565e+01] [-4.94419549e-01 8.69218870e-01 2.80456669e-03 -1.87062875e+01] [ 5.74936650e-03 4.38081341e-05 9.99983471e-01 -1.15792384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357628 meters 0.012155911818968813 Centerline is valid? [True, True] Translation: X:64.47, Y:-18.72, Z:-0.12 [[ 8.69052092e-01 4.94689258e-01 -5.56771450e-03 6.44665639e+01] [-4.94679463e-01 8.69069926e-01 3.11336706e-03 -1.87234652e+01] [ 6.37888246e-03 4.85558585e-05 9.99979654e-01 -1.16099407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.387628 meters 0.012134821354791095 Centerline is valid? [True, True] Translation: X:64.49, Y:-18.74, Z:-0.12 [[ 8.68947181e-01 4.94871135e-01 -5.77555591e-03 6.44929635e+01] [-4.94860587e-01 8.68966373e-01 3.23150854e-03 -1.87415029e+01] [ 6.61794417e-03 5.00847464e-05 9.99978100e-01 -1.16096055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41762800000001 meters 0.012170056463509897 Centerline is valid? [True, True] Translation: X:64.52, Y:-18.76, Z:-0.12 [[ 8.68841481e-01 4.95059440e-01 -5.53458642e-03 6.45206358e+01] [-4.95049744e-01 8.68859108e-01 3.09873136e-03 -1.87589547e+01] [ 6.34283202e-03 4.75892433e-05 9.99979883e-01 -1.15871751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44762800000001 meters 0.012050537997429826 Centerline is valid? [True, True] Translation: X:64.55, Y:-18.78, Z:-0.12 [[ 8.68516736e-01 4.95627562e-01 -5.65668957e-03 6.45478375e+01] [-4.95617433e-01 8.68535156e-01 3.16907466e-03 -1.87767572e+01] [ 6.48371451e-03 5.11595883e-05 9.99978979e-01 -1.15148824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47762800000001 meters 0.012549206739251056 Centerline is valid? [True, True] Translation: X:64.57, Y:-18.79, Z:-0.12 [[ 8.67601235e-01 4.97220188e-01 -6.33883074e-03 6.45738360e+01] [-4.97207501e-01 8.67624388e-01 3.55269813e-03 -1.87930588e+01] [ 7.26619738e-03 6.93889018e-05 9.99973598e-01 -1.16069068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50762800000001 meters 0.012793940951546586 Centerline is valid? [True, True] Translation: X:64.60, Y:-18.81, Z:-0.12 [[ 8.66982757e-01 4.98287603e-01 -7.09672105e-03 6.46018245e+01] [-4.98271718e-01 8.67011798e-01 3.97969618e-03 -1.88093220e+01] [ 8.13597415e-03 8.57674232e-05 9.99966899e-01 -1.16856060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53762800000001 meters 0.013063819793827577 Centerline is valid? [True, True] Translation: X:64.63, Y:-18.83, Z:-0.12 [[ 8.66385741e-01 4.99318046e-01 -7.56548747e-03 6.46282093e+01] [-4.99300014e-01 8.66418767e-01 4.24467868e-03 -1.88252407e+01] [ 8.67432499e-03 9.99189073e-05 9.99962372e-01 -1.17526866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56762800000001 meters 0.013323055477708347 Centerline is valid? [True, True] Translation: X:64.65, Y:-18.84, Z:-0.12 [[ 8.65921021e-01 5.00122298e-01 -7.64665552e-03 6.46549373e+01] [-5.00103898e-01 8.65954777e-01 4.29135831e-03 -1.88418655e+01] [ 8.76786185e-03 1.08144858e-04 9.99961556e-01 -1.18060282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.597628 meters 0.013030045222089634 Centerline is valid? [True, True] Translation: X:64.68, Y:-18.86, Z:-0.12 [[ 8.65352094e-01 5.01098112e-01 -8.15077833e-03 6.46798962e+01] [-5.01077223e-01 8.65390471e-01 4.57706766e-03 -1.88629815e+01] [ 9.34716586e-03 1.23394285e-04 9.99956307e-01 -1.16686871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.627628 meters 0.013030045222089634 Centerline is valid? [True, True] Translation: X:64.71, Y:-18.88, Z:-0.12 [[ 8.65212075e-01 5.01339857e-01 -8.14947470e-03 6.47081357e+01] [-5.01318957e-01 8.65250445e-01 4.57938849e-03 -1.88789256e+01] [ 9.34716658e-03 1.23343939e-04 9.99956307e-01 -1.16733253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.657628 meters 0.01359582147345751 Centerline is valid? [True, True] Translation: X:64.74, Y:-18.90, Z:-0.12 [[ 8.65053174e-01 5.01610753e-01 -8.34612917e-03 6.47353854e+01] [-5.01588818e-01 8.65093426e-01 4.69270616e-03 -1.88955027e+01] [ 9.57409335e-03 1.26884704e-04 9.99954159e-01 -1.17798388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.687628 meters 0.013747622839954534 Centerline is valid? [True, True] Translation: X:64.76, Y:-18.92, Z:-0.12 [[ 8.65222340e-01 5.01309861e-01 -8.87276543e-03 6.47604651e+01] [-5.01285026e-01 8.65267824e-01 4.99163921e-03 -1.89159900e+01] [ 1.01796764e-02 1.28906691e-04 9.99948177e-01 -1.18160103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.717628 meters 0.013695105019481074 Centerline is valid? [True, True] Translation: X:64.79, Y:-18.94, Z:-0.12 [[ 8.65337002e-01 5.01107024e-01 -9.14458156e-03 6.47880844e+01] [-5.01080600e-01 8.65385310e-01 5.14769155e-03 -1.89350040e+01] [ 1.04931309e-02 1.27684436e-04 9.99944937e-01 -1.18655056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.747628 meters 0.012720392059592063 Centerline is valid? [True, True] Translation: X:64.81, Y:-18.96, Z:-0.12 [[ 8.65795986e-01 5.00305876e-01 -9.55726918e-03 6.48146936e+01] [-5.00276924e-01 8.65848726e-01 5.38357552e-03 -1.89556154e+01] [ 1.09685838e-02 1.20203153e-04 9.99939836e-01 -1.17066234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.777628 meters 0.012168675213512222 Centerline is valid? [True, True] Translation: X:64.84, Y:-18.98, Z:-0.12 [[ 8.67429136e-01 4.97472186e-01 -9.38712809e-03 6.48385425e+01] [-4.97444056e-01 8.67479924e-01 5.29089378e-03 -1.89787006e+01] [ 1.07752177e-02 8.00956526e-05 9.99941942e-01 -1.15835703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80762800000001 meters 0.012083034995105997 Centerline is valid? [True, True] Translation: X:64.86, Y:-19.00, Z:-0.12 [[ 8.68721541e-01 4.95222007e-01 -8.83443347e-03 6.48633512e+01] [-4.95196948e-01 8.68766460e-01 4.98212925e-03 -1.89982064e+01] [ 1.01423195e-02 4.67014866e-05 9.99948564e-01 -1.15715216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83762800000001 meters 0.012328687031644026 Centerline is valid? [True, True] Translation: X:64.88, Y:-19.02, Z:-0.12 [[ 8.72033272e-01 4.89378619e-01 -8.15716821e-03 6.48840155e+01] [-4.89356975e-01 8.72071423e-01 4.60265529e-03 -1.90241585e+01] [ 9.36607438e-03 -2.19013954e-05 9.99956137e-01 -1.16406142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86762800000001 meters 0.012406596603859342 Centerline is valid? [True, True] Translation: X:64.91, Y:-19.04, Z:-0.11 [[ 8.73780973e-01 4.86253338e-01 -8.03134686e-03 6.49090859e+01] [-4.86232201e-01 8.73817881e-01 4.53406972e-03 -1.90440790e+01] [ 9.22264103e-03 -5.66843916e-05 9.99957469e-01 -1.13814507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89762800000001 meters 0.012800262085198489 Centerline is valid? [True, True] Translation: X:64.93, Y:-19.06, Z:-0.11 [[ 8.75402363e-01 4.83330637e-01 -7.88663608e-03 6.49340937e+01] [-4.83310115e-01 8.75437884e-01 4.45472046e-03 -1.90640735e+01] [ 9.05736287e-03 -8.79818218e-05 9.99958977e-01 -1.14181791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92762800000001 meters 0.013573403201698355 Centerline is valid? [True, True] Translation: X:64.96, Y:-19.09, Z:-0.11 [[ 8.78114987e-01 4.78383488e-01 -7.95663587e-03 6.49569939e+01] [-4.78362374e-01 8.78151023e-01 4.49669487e-03 -1.90878787e+01] [ 9.13827250e-03 -1.42459931e-04 9.99958235e-01 -1.13785726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95762800000001 meters 0.01422861336617354 Centerline is valid? [True, True] Translation: X:64.98, Y:-19.11, Z:-0.11 [[ 8.79085746e-01 4.76596298e-01 -8.01378372e-03 6.49819584e+01] [-4.76574784e-01 8.79122257e-01 4.53140997e-03 -1.91076054e+01] [ 9.20474884e-03 -1.64330666e-04 9.99957622e-01 -1.14245007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.987628 meters 0.01448818528665358 Centerline is valid? [True, True] Translation: X:65.01, Y:-19.13, Z:-0.11 [[ 8.80441969e-01 4.74102605e-01 -6.97564592e-03 6.50062389e+01] [-4.74086206e-01 8.80469586e-01 3.94677506e-03 -1.91292361e+01] [ 8.01302041e-03 -1.67848891e-04 9.99967881e-01 -1.12808779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.017628 meters 0.014668328131773456 Centerline is valid? [True, True] Translation: X:65.03, Y:-19.15, Z:-0.11 [[ 8.80537195e-01 4.73934561e-01 -6.34664886e-03 6.50333066e+01] [-4.73920964e-01 8.80560053e-01 3.59337300e-03 -1.91484200e+01] [ 7.29162911e-03 -1.56288632e-04 9.99973404e-01 -1.11793109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.047628 meters 0.015040126200488446 Centerline is valid? [True, True] Translation: X:65.06, Y:-19.17, Z:-0.11 [[ 8.80375425e-01 4.74243418e-01 -5.68256040e-03 6.50581392e+01] [-4.74232513e-01 8.80393753e-01 3.21905443e-03 -1.91670691e+01] [ 6.52950605e-03 -1.39121514e-04 9.99978673e-01 -1.10932395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.077628 meters 0.014291390519984534 Centerline is valid? [True, True] Translation: X:65.09, Y:-19.18, Z:-0.11 [[ 8.79986859e-01 4.74969935e-01 -5.16611202e-03 6.50859305e+01] [-4.74960933e-01 8.80002015e-01 2.92691419e-03 -1.91842859e+01] [ 5.93638523e-03 -1.21944643e-04 9.99982372e-01 -1.09881623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.107628 meters 0.013877648843565583 Centerline is valid? [True, True] Translation: X:65.11, Y:-19.20, Z:-0.11 [[ 8.78447198e-01 4.77807503e-01 -5.52362511e-03 6.51111337e+01] [-4.77797255e-01 8.78464557e-01 3.13137487e-03 -1.92023614e+01] [ 6.34850330e-03 -1.11574566e-04 9.99979842e-01 -1.10739930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137628 meters 0.01380041502034027 Centerline is valid? [True, True] Translation: X:65.14, Y:-19.22, Z:-0.11 [[ 8.77522804e-01 4.79496029e-01 -6.10634880e-03 6.51372959e+01] [-4.79483533e-01 8.77544042e-01 3.46352231e-03 -1.92191656e+01] [ 7.01933520e-03 -1.11426115e-04 9.99975358e-01 -1.11758321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16762800000001 meters 0.013318463476688275 Centerline is valid? [True, True] Translation: X:65.16, Y:-19.24, Z:-0.11 [[ 8.75677258e-01 4.82852932e-01 -6.51036859e-03 6.51633387e+01] [-4.82838805e-01 8.75701454e-01 3.69478730e-03 -1.92375173e+01] [ 7.48517812e-03 -9.19826226e-05 9.99971981e-01 -1.12924680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19762800000001 meters 0.012926219660830735 Centerline is valid? [True, True] Translation: X:65.19, Y:-19.25, Z:-0.11 [[ 8.74783807e-01 4.84465407e-01 -6.82355354e-03 6.51906118e+01] [-4.84449919e-01 8.74810415e-01 3.87473335e-03 -1.92549436e+01] [ 7.84648998e-03 -8.38840307e-05 9.99969212e-01 -1.12812289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22762800000001 meters 0.012863667814760055 Centerline is valid? [True, True] Translation: X:65.22, Y:-19.27, Z:-0.11 [[ 8.73984935e-01 4.85906242e-01 -6.74227085e-03 6.52174449e+01] [-4.85891147e-01 8.74010937e-01 3.83075946e-03 -1.92723757e+01] [ 7.75420840e-03 -7.20163450e-05 9.99969933e-01 -1.13005044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25762800000001 meters 0.014821183911965186 Centerline is valid? [True, True] Translation: X:65.24, Y:-19.29, Z:-0.12 [[ 8.72446135e-01 4.88660235e-01 -6.99398173e-03 6.52435738e+01] [-4.88644061e-01 8.72474167e-01 3.97604974e-03 -1.92906767e+01] [ 8.04500578e-03 -5.13215916e-05 9.99967637e-01 -1.15465975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28762800000001 meters 0.01229563710939539 Centerline is valid? [True, True] Translation: X:65.27, Y:-19.31, Z:-0.11 [[ 8.71303322e-01 4.90694695e-01 -7.01700920e-03 6.52703814e+01] [-4.90678462e-01 8.71331576e-01 3.99141883e-03 -1.93077776e+01] [ 8.07270973e-03 -3.46412009e-05 9.99967415e-01 -1.13380079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31762800000001 meters 0.01231581200620277 Centerline is valid? [True, True] Translation: X:65.30, Y:-19.33, Z:-0.11 [[ 8.70258721e-01 4.92546726e-01 -6.89067754e-03 6.52976500e+01] [-4.92531111e-01 8.70286001e-01 3.92197833e-03 -1.93250607e+01] [ 7.92861778e-03 -1.92627785e-05 9.99968568e-01 -1.13491062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.347628 meters 0.01225043897433309 Centerline is valid? [True, True] Translation: X:65.33, Y:-19.34, Z:-0.11 [[ 8.69252237e-01 4.94327640e-01 -6.38221177e-03 6.53259832e+01] [-4.94314275e-01 8.69275667e-01 3.63502239e-03 -1.93424578e+01] [ 7.34479343e-03 -4.93295993e-06 9.99973027e-01 -1.13523244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.377628 meters 0.012329560668209222 Centerline is valid? [True, True] Translation: X:65.35, Y:-19.36, Z:-0.11 [[ 8.67738590e-01 4.96987163e-01 -5.78785153e-03 6.53522834e+01] [-4.96976217e-01 8.67757892e-01 3.29852420e-03 -1.93616101e+01] [ 6.66177803e-03 1.41678199e-05 9.99977810e-01 -1.13527426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.407628 meters 0.012321669409251876 Centerline is valid? [True, True] Translation: X:65.38, Y:-19.38, Z:-0.11 [[ 8.67288075e-01 4.97780336e-01 -5.11191096e-03 6.53792676e+01] [-4.97771810e-01 8.67303140e-01 2.91364748e-03 -1.93801624e+01] [ 5.88393285e-03 1.75934571e-05 9.99982689e-01 -1.12070780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.437628 meters 0.012495994501157341 Centerline is valid? [True, True] Translation: X:65.41, Y:-19.40, Z:-0.11 [[ 8.66399723e-01 4.99333277e-01 -4.21888680e-03 6.54055266e+01] [-4.99327479e-01 8.66409994e-01 2.40651464e-03 -1.93999980e+01] [ 4.85693853e-03 2.16024912e-05 9.99988205e-01 -1.11266029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.467628 meters 0.012562261167834361 Centerline is valid? [True, True] Translation: X:65.43, Y:-19.42, Z:-0.11 [[ 8.65740741e-01 5.00475791e-01 -4.11742948e-03 6.54335276e+01] [-5.00470273e-01 8.65750531e-01 2.35017450e-03 -1.94176897e+01] [ 4.74087220e-03 2.60092457e-05 9.99988762e-01 -1.11363069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497628 meters 0.012781934511371532 Centerline is valid? [True, True] Translation: X:65.46, Y:-19.43, Z:-0.11 [[ 8.64311107e-01 5.02945324e-01 -3.50877884e-03 6.54621798e+01] [-5.02941333e-01 8.64318229e-01 2.00389353e-03 -1.94326751e+01] [ 4.04055039e-03 3.27224685e-05 9.99991836e-01 -1.10806123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.527628 meters 0.014046689338794997 Centerline is valid? [True, True] Translation: X:65.49, Y:-19.44, Z:-0.11 [[ 8.61270596e-01 5.08134415e-01 -3.51803348e-03 6.54911035e+01] [-5.08130442e-01 8.61277779e-01 2.01018957e-03 -1.94444444e+01] [ 4.05145056e-03 5.63027330e-05 9.99991791e-01 -1.10944209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55762800000001 meters 0.014221107566305917 Centerline is valid? [True, True] Translation: X:65.52, Y:-19.46, Z:-0.11 [[ 8.60541645e-01 5.09362372e-01 -4.24869760e-03 6.55201158e+01] [-5.09356586e-01 8.60552130e-01 2.42899208e-03 -1.94587613e+01] [ 4.89346294e-03 7.38532662e-05 9.99988024e-01 -1.11726273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58762800000001 meters 0.014041960360367449 Centerline is valid? [True, True] Translation: X:65.55, Y:-19.47, Z:-0.11 [[ 8.60188407e-01 5.09952053e-01 -4.98084008e-03 6.55492245e+01] [-5.09944100e-01 8.60202823e-01 2.84940824e-03 -1.94738930e+01] [ 5.73759427e-03 8.89220789e-05 9.99983536e-01 -1.12813624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61762800000001 meters 0.013657187970490921 Centerline is valid? [True, True] Translation: X:65.58, Y:-19.49, Z:-0.12 [[ 8.61067408e-01 5.08435580e-01 -7.49533778e-03 6.55785879e+01] [-5.08417490e-01 8.61100022e-01 4.29046415e-03 -1.94878959e+01] [ 8.63566015e-03 1.16381976e-04 9.99962705e-01 -1.16474483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64762800000001 meters 0.0139377887007502 Centerline is valid? [True, True] Translation: X:65.61, Y:-19.50, Z:-0.12 [[ 8.61644234e-01 5.07435237e-01 -8.87094943e-03 6.56066134e+01] [-5.07409815e-01 8.61689889e-01 5.08085767e-03 -1.95024541e+01] [ 1.02222136e-02 1.23315091e-04 9.99947744e-01 -1.19247399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67762800000001 meters 0.01367410915274304 Centerline is valid? [True, True] Translation: X:65.63, Y:-19.52, Z:-0.12 [[ 8.62274351e-01 5.06348871e-01 -9.68326525e-03 6.56339812e+01] [-5.06318475e-01 8.62328712e-01 5.54925501e-03 -1.95191461e+01] [ 1.11600167e-02 1.17835834e-04 9.99937718e-01 -1.20373853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70762800000001 meters 0.01292249312329398 Centerline is valid? [True, True] Translation: X:65.66, Y:-19.54, Z:-0.12 [[ 8.63531130e-01 5.04179080e-01 -1.08371476e-02 6.56595097e+01] [-5.04140787e-01 8.63599124e-01 6.21457579e-03 -1.95398414e+01] [ 1.24922103e-02 9.69684570e-05 9.99921965e-01 -1.18489088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.737628 meters 0.012944880592861106 Centerline is valid? [True, True] Translation: X:65.69, Y:-19.56, Z:-0.12 [[ 8.63859781e-01 5.03617631e-01 -1.07499258e-02 6.56859014e+01] [-5.03579863e-01 8.63926660e-01 6.16827999e-03 -1.95579236e+01] [ 1.23936020e-02 8.49171566e-05 9.99923193e-01 -1.17385795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.767628 meters 0.012853311674821918 Centerline is valid? [True, True] Translation: X:65.71, Y:-19.57, Z:-0.12 [[ 8.63710523e-01 5.03879452e-01 -1.04704171e-02 6.57141769e+01] [-5.03843594e-01 8.63773981e-01 6.01184182e-03 -1.95747741e+01] [ 1.20733175e-02 8.29615580e-05 9.99927111e-01 -1.16107048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.797628 meters 0.012792662970162799 Centerline is valid? [True, True] Translation: X:65.74, Y:-19.59, Z:-0.12 [[ 8.63704511e-01 5.03886851e-01 -1.06094047e-02 6.57430046e+01] [-5.03849986e-01 8.63769666e-01 6.09562404e-03 -1.95903768e+01] [ 1.22355867e-02 8.07304040e-05 9.99925139e-01 -1.16773034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.827628 meters 0.012806403066180314 Centerline is valid? [True, True] Translation: X:65.77, Y:-19.61, Z:-0.12 [[ 8.63956937e-01 5.03444693e-01 -1.10386468e-02 6.57716783e+01] [-5.03404696e-01 8.64027451e-01 6.34638305e-03 -1.96065658e+01] [ 1.27327467e-02 7.39049589e-05 9.99918933e-01 -1.17849292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857628 meters 0.01574068448555006 Centerline is valid? [True, True] Translation: X:65.80, Y:-19.62, Z:-0.12 [[ 8.65586650e-01 5.00623576e-01 -1.16526966e-02 6.57981763e+01] [-5.00578695e-01 8.65665082e-01 6.70343663e-03 -1.96237767e+01] [ 1.34432310e-02 3.06864074e-05 9.99909635e-01 -1.20899626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.887628 meters 0.012562662614711477 Centerline is valid? [True, True] Translation: X:65.83, Y:-19.64, Z:-0.12 [[ 8.66121214e-01 4.99736529e-01 -9.87138635e-03 6.58255741e+01] [-4.99704246e-01 8.66177465e-01 5.68030990e-03 -1.96414607e+01] [ 1.13890308e-02 1.29367673e-05 9.99935143e-01 -1.16001103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91762800000001 meters 0.012522191259711843 Centerline is valid? [True, True] Translation: X:65.85, Y:-19.66, Z:-0.11 [[ 8.67084596e-01 4.98090206e-01 -8.39347918e-03 6.58520337e+01] [-4.98066760e-01 8.67125220e-01 4.83284761e-03 -1.96589794e+01] [ 9.68539154e-03 -9.97473279e-06 9.99953095e-01 -1.13979208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94762800000001 meters 0.012646917769467829 Centerline is valid? [True, True] Translation: X:65.88, Y:-19.68, Z:-0.11 [[ 8.69054832e-01 4.94685062e-01 -5.51258166e-03 6.58770553e+01] [-4.94674868e-01 8.69072315e-01 3.17584331e-03 -1.96780757e+01] [ 6.36187435e-03 -3.30463701e-05 9.99979763e-01 -1.09821168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97762800000001 meters 0.012771668727808593 Centerline is valid? [True, True] Translation: X:65.90, Y:-19.70, Z:-0.11 [[ 8.70024049e-01 4.92989037e-01 -4.46803941e-03 6.59049272e+01] [-4.92982309e-01 8.70035521e-01 2.57590952e-03 -1.96956175e+01] [ 5.15724815e-03 -3.84388459e-05 9.99986701e-01 -1.07872826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00762800000001 meters 0.013072056552468406 Centerline is valid? [True, True] Translation: X:65.93, Y:-19.71, Z:-0.11 [[ 8.70986908e-01 4.91289644e-01 -4.03631575e-03 6.59323198e+01] [-4.91284129e-01 8.70996259e-01 2.32831545e-03 -1.97128036e+01] [ 4.65949319e-03 -4.49544054e-05 9.99989143e-01 -1.07188407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03762800000001 meters 0.013617939373673787 Centerline is valid? [True, True] Translation: X:65.96, Y:-19.73, Z:-0.11 [[ 8.72709084e-01 4.88227359e-01 -3.59174855e-03 6.59596905e+01] [-4.88222961e-01 8.72716473e-01 2.07309629e-03 -1.97299484e+01] [ 4.14672045e-03 -5.56358486e-05 9.99991401e-01 -1.07786333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06762800000001 meters 0.01380527064700191 Centerline is valid? [True, True] Translation: X:65.99, Y:-19.75, Z:-0.11 [[ 8.73158300e-01 4.87422183e-01 -3.76813847e-03 6.59859856e+01] [-4.87417330e-01 8.73166428e-01 2.17599228e-03 -1.97457941e+01] [ 4.35083891e-03 -6.33297331e-05 9.99990533e-01 -1.08886884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.097628 meters 0.013900977340073756 Centerline is valid? [True, True] Translation: X:66.01, Y:-19.76, Z:-0.11 [[ 8.72994822e-01 4.87710943e-01 -4.25160213e-03 6.60146912e+01] [-4.87704761e-01 8.73005172e-01 2.45681811e-03 -1.97624398e+01] [ 4.90988772e-03 -7.12628930e-05 9.99987944e-01 -1.08865408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.127628 meters 0.013703173565082964 Centerline is valid? [True, True] Translation: X:66.04, Y:-19.78, Z:-0.11 [[ 8.72019717e-01 4.89448832e-01 -4.63191943e-03 6.60429318e+01] [-4.89441510e-01 8.72032016e-01 2.67799620e-03 -1.97777066e+01] [ 5.34992415e-03 -6.82118467e-05 9.99985687e-01 -1.08783568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.157628 meters 0.01672250921176795 Centerline is valid? [True, True] Translation: X:66.07, Y:-19.79, Z:-0.11 [[ 8.71394442e-01 4.90544423e-01 -6.15588545e-03 6.60708029e+01] [-4.90531504e-01 8.71416182e-01 3.56113009e-03 -1.97924207e+01] [ 7.11123070e-03 -8.34932208e-05 9.99974711e-01 -1.12284239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.187628 meters 0.013621471763065503 Centerline is valid? [True, True] Translation: X:66.10, Y:-19.81, Z:-0.11 [[ 8.69874576e-01 4.93233624e-01 -6.23009216e-03 6.60983795e+01] [-4.93220447e-01 8.69896884e-01 3.60584362e-03 -1.98073363e+01] [ 7.19806107e-03 -6.38228520e-05 9.99974092e-01 -1.11380841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.217628 meters 0.013374859698330417 Centerline is valid? [True, True] Translation: X:66.13, Y:-19.82, Z:-0.11 [[ 8.68325879e-01 4.95926665e-01 -8.17987431e-03 6.61292070e+01] [-4.95904041e-01 8.68364405e-01 4.73731793e-03 -1.98199234e+01] [ 9.45247397e-03 -5.71030346e-05 9.99955323e-01 -1.13320011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.247628 meters 0.013531307416259193 Centerline is valid? [True, True] Translation: X:66.16, Y:-19.84, Z:-0.11 [[ 8.67799313e-01 4.96840077e-01 -8.61914769e-03 6.61579346e+01] [-4.96814972e-01 8.67842114e-01 4.99485132e-03 -1.98354349e+01] [ 9.96170167e-03 -5.24069262e-05 9.99950380e-01 -1.14320426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.277628 meters 0.01367807658265706 Centerline is valid? [True, True] Translation: X:66.19, Y:-19.85, Z:-0.11 [[ 8.67241926e-01 4.97811572e-01 -8.66492645e-03 6.61856767e+01] [-4.97786230e-01 8.67285211e-01 5.02318044e-03 -1.98515279e+01] [ 1.00155599e-02 -4.30316150e-05 9.99949842e-01 -1.14855348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30762800000001 meters 0.01533599598476387 Centerline is valid? [True, True] Translation: X:66.21, Y:-19.87, Z:-0.12 [[ 8.67271467e-01 4.97754212e-01 -8.99708428e-03 6.62144447e+01] [-4.97726850e-01 8.67318132e-01 5.21921515e-03 -1.98682320e+01] [ 1.04012207e-02 -4.83859604e-05 9.99945905e-01 -1.15845244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33762800000001 meters 0.013673907525182813 Centerline is valid? [True, True] Translation: X:66.24, Y:-19.88, Z:-0.11 [[ 8.67212497e-01 4.97874171e-01 -7.98713405e-03 6.62415198e+01] [-4.97852601e-01 8.67249277e-01 4.63461152e-03 -1.98842521e+01] [ 9.23428960e-03 -4.27775651e-05 9.99957362e-01 -1.14574351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36762800000001 meters 0.01366892293860438 Centerline is valid? [True, True] Translation: X:66.27, Y:-19.90, Z:-0.11 [[ 8.68035244e-01 4.96461489e-01 -6.38796180e-03 6.62697767e+01] [-4.96447633e-01 8.68058747e-01 3.70938962e-03 -1.99007232e+01] [ 7.38669521e-03 -4.85924063e-05 9.99972717e-01 -1.12682748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39762800000001 meters 0.013752012371246911 Centerline is valid? [True, True] Translation: X:66.30, Y:-19.92, Z:-0.11 [[ 8.68583951e-01 4.95507769e-01 -5.82849707e-03 6.62967929e+01] [-4.95496204e-01 8.68603505e-01 3.38575432e-03 -1.99178589e+01] [ 6.74032055e-03 -5.28136911e-05 9.99977282e-01 -1.12578117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42762800000001 meters 0.014067798719000275 Centerline is valid? [True, True] Translation: X:66.32, Y:-19.94, Z:-0.11 [[ 8.69605568e-01 4.93724769e-01 -4.69133119e-03 6.63234237e+01] [-4.93717240e-01 8.69618221e-01 2.72716149e-03 -1.99368444e+01] [ 5.42613425e-03 -5.53637314e-05 9.99985277e-01 -1.11323035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45762800000001 meters 0.01716678330929423 Centerline is valid? [True, True] Translation: X:66.35, Y:-19.95, Z:-0.11 [[ 8.70182084e-01 4.92711138e-01 -4.34458467e-03 6.63503303e+01] [-4.92704661e-01 8.70192928e-01 2.52697394e-03 -1.99543994e+01] [ 5.02569506e-03 -5.83303340e-05 9.99987369e-01 -1.12917144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.487628 meters 0.014300670110482562 Centerline is valid? [True, True] Translation: X:66.38, Y:-19.97, Z:-0.11 [[ 8.70067669e-01 4.92923765e-01 -2.90046653e-03 6.63778558e+01] [-4.92920876e-01 8.70072503e-01 1.68810150e-03 -1.99712819e+01] [ 3.35572152e-03 -3.90620357e-05 9.99994369e-01 -1.09699926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.517628 meters 0.01414051931099862 Centerline is valid? [True, True] Translation: X:66.41, Y:-19.99, Z:-0.11 [[ 8.69393338e-01 4.94118608e-01 -1.42283504e-03 6.64059789e+01] [-4.94117913e-01 8.69394502e-01 8.28768353e-04 -1.99875477e+01] [ 1.64651483e-03 -1.74774037e-05 9.99998644e-01 -1.09246966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.547628 meters 0.01414051931099862 Centerline is valid? [True, True] Translation: X:66.43, Y:-20.00, Z:-0.11 [[ 8.69256178e-01 4.94359862e-01 -1.42257963e-03 6.64339368e+01] [-4.94359167e-01 8.69257342e-01 8.29206822e-04 -2.00039127e+01] [ 1.64651436e-03 -1.75278721e-05 9.99998644e-01 -1.09293338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.577628 meters 0.014079713981796319 Centerline is valid? [True, True] Translation: X:66.46, Y:-20.02, Z:-0.11 [[ 8.68528103e-01 4.95638582e-01 -1.15358938e-03 6.64613289e+01] [-4.95638125e-01 8.68528869e-01 6.72758029e-04 -2.00194418e+01] [ 1.33537052e-03 -1.25463762e-05 9.99999108e-01 -1.09703297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.607628 meters 0.013811977410400772 Centerline is valid? [True, True] Translation: X:66.49, Y:-20.03, Z:-0.11 [[ 8.67792841e-01 4.96923905e-01 -1.48912764e-03 6.64898481e+01] [-4.96923145e-01 8.67794119e-01 8.68837891e-04 -2.00349115e+01] [ 1.72400253e-03 -1.39893090e-05 9.99998514e-01 -1.09971608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637628 meters 0.013711701332985658 Centerline is valid? [True, True] Translation: X:66.52, Y:-20.05, Z:-0.11 [[ 8.66791221e-01 4.98663675e-01 -2.74205019e-03 6.65173103e+01] [-4.98661107e-01 8.66795558e-01 1.60048975e-03 -2.00505245e+01] [ 3.17490302e-03 -1.99366830e-05 9.99994960e-01 -1.11896397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66762800000001 meters 0.01367128722614312 Centerline is valid? [True, True] Translation: X:66.55, Y:-20.07, Z:-0.11 [[ 8.66289949e-01 4.99529192e-01 -3.50874802e-03 6.65457656e+01] [-4.99524989e-01 8.66297054e-01 2.04916758e-03 -2.00670320e+01] [ 4.06323710e-03 -2.24659592e-05 9.99991745e-01 -1.12802716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69762800000001 meters 0.013533669089764453 Centerline is valid? [True, True] Translation: X:66.58, Y:-20.08, Z:-0.11 [[ 8.64481781e-01 5.02645039e-01 -4.38336014e-03 6.65757225e+01] [-5.02638513e-01 8.64492894e-01 2.56147469e-03 -2.00809875e+01] [ 5.07689624e-03 -1.11025838e-05 9.99987112e-01 -1.13578225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72762800000001 meters 0.01353314945931054 Centerline is valid? [True, True] Translation: X:66.60, Y:-20.10, Z:-0.12 [[ 8.63590469e-01 5.04166727e-01 -5.23573470e-03 6.66040052e+01] [-5.04157433e-01 8.63606341e-01 3.06125306e-03 -2.00957518e+01] [ 6.06499562e-03 -4.03440343e-06 9.99981608e-01 -1.15084525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75762800000001 meters 0.013534516002518999 Centerline is valid? [True, True] Translation: X:66.63, Y:-20.11, Z:-0.12 [[ 8.62739131e-01 5.05612000e-01 -6.13979342e-03 6.66330518e+01] [-5.05599240e-01 8.62760978e-01 3.59199687e-03 -2.01108845e+01] [ 7.11333089e-03 5.31863101e-06 9.99974700e-01 -1.16005944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78762800000001 meters 0.013595940814025449 Centerline is valid? [True, True] Translation: X:66.66, Y:-20.13, Z:-0.12 [[ 8.62031056e-01 5.06788198e-01 -8.25715679e-03 6.66617359e+01] [-5.06765152e-01 8.62070601e-01 4.83313912e-03 -2.01250930e+01] [ 9.56762998e-03 1.81232969e-05 9.99954229e-01 -1.18151422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81762800000001 meters 0.01371031977537746 Centerline is valid? [True, True] Translation: X:66.69, Y:-20.14, Z:-0.12 [[ 8.62132302e-01 5.06608229e-01 -8.71758767e-03 6.66900131e+01] [-5.06582499e-01 8.62176376e-01 5.10583536e-03 -2.01417138e+01] [ 1.01027563e-02 1.42717490e-05 9.99948966e-01 -1.18776608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.847628 meters 0.01384730907153494 Centerline is valid? [True, True] Translation: X:66.72, Y:-20.16, Z:-0.12 [[ 8.62730140e-01 5.05585288e-01 -8.95672251e-03 6.67168193e+01] [-5.05558043e-01 8.62776632e-01 5.24864456e-03 -2.01581074e+01] [ 1.03812884e-02 -2.07468927e-08 9.99946113e-01 -1.19515971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.877628 meters 0.014005033819347515 Centerline is valid? [True, True] Translation: X:66.74, Y:-20.18, Z:-0.12 [[ 8.64482977e-01 5.02589051e-01 -8.56905197e-03 6.67437787e+01] [-5.02563935e-01 8.64525445e-01 5.02460229e-03 -2.01766092e+01] [ 9.93347356e-03 -3.71866735e-05 9.99950661e-01 -1.19771363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.907628 meters 0.014165371101457288 Centerline is valid? [True, True] Translation: X:66.77, Y:-20.19, Z:-0.12 [[ 8.65403623e-01 5.01014857e-01 -7.78994891e-03 6.67718029e+01] [-5.00994011e-01 8.65438681e-01 4.57057311e-03 -2.01940447e+01] [ 9.03164814e-03 -5.26727753e-05 9.99959212e-01 -1.19246027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.937628 meters 0.01473776409861912 Centerline is valid? [True, True] Translation: X:66.80, Y:-20.21, Z:-0.12 [[ 8.67596993e-01 4.97242266e-01 -5.05833599e-03 6.67985145e+01] [-4.97233401e-01 8.67611737e-01 2.96980137e-03 -2.02126228e+01] [ 5.86538243e-03 -6.14171334e-05 9.99982797e-01 -1.16444714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.967628 meters 0.018073471245247812 Centerline is valid? [True, True] Translation: X:66.82, Y:-20.23, Z:-0.12 [[ 8.69414294e-01 4.94058828e-01 -4.96587727e-03 6.68248142e+01] [-4.94050223e-01 8.69428472e-01 2.91700193e-03 -2.02317112e+01] [ 5.75864565e-03 -8.26903994e-05 9.99983415e-01 -1.17256379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997628 meters 0.016725313804081456 Centerline is valid? [True, True] Translation: X:66.85, Y:-20.25, Z:-0.11 [[ 8.70962384e-01 4.91336492e-01 -3.60242485e-03 6.68495104e+01] [-4.91331938e-01 8.70969831e-01 2.11656210e-03 -2.02501806e+01] [ 4.17754756e-03 -7.34595926e-05 9.99991271e-01 -1.13709979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.027628 meters 0.019748613244618483 Centerline is valid? [True, True] Translation: X:66.87, Y:-20.27, Z:-0.11 [[ 8.74793035e-01 4.84492585e-01 -2.02013045e-03 6.68724688e+01] [-4.84491134e-01 8.74795366e-01 1.18722600e-03 -2.02716578e+01] [ 2.34240295e-03 -5.98417482e-05 9.99997255e-01 -1.11683118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05762800000001 meters 0.021118323791665946 Centerline is valid? [True, True] Translation: X:66.90, Y:-20.29, Z:-0.11 [[ 8.76389812e-01 4.81598970e-01 -1.82481560e-03 6.68982428e+01] [-4.81597779e-01 8.76391709e-01 1.07314492e-03 -2.02898988e+01] [ 2.11607875e-03 -6.16661371e-05 9.99997759e-01 -1.11164069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08762800000001 meters 0.01921794458259891 Centerline is valid? [True, True] Translation: X:66.93, Y:-20.30, Z:-0.11 [[ 8.77637153e-01 4.79322605e-01 -1.69368075e-03 6.69271471e+01] [-4.79321574e-01 8.77638785e-01 9.95981378e-04 -2.03039293e+01] [ 1.96383630e-03 -6.22925400e-05 9.99998070e-01 -1.10036634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11762800000001 meters 0.019342767518872154 Centerline is valid? [True, True] Translation: X:66.96, Y:-20.32, Z:-0.11 [[ 8.79230882e-01 4.76393332e-01 -1.56526906e-03 6.69555535e+01] [-4.76392447e-01 8.79232273e-01 9.20627278e-04 -2.03196532e+01] [ 1.81481577e-03 -6.37615756e-05 9.99998351e-01 -1.10517831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14762800000001 meters 0.021170933694881346 Centerline is valid? [True, True] Translation: X:66.98, Y:-20.34, Z:-0.11 [[ 8.79380384e-01 4.76115903e-01 -1.94617671e-03 6.69812059e+01] [-4.76114532e-01 8.79382533e-01 1.14548554e-03 -2.03373222e+01] [ 2.25681769e-03 -8.07144998e-05 9.99997450e-01 -1.11329117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17762800000001 meters 0.019490517286933393 Centerline is valid? [True, True] Translation: X:67.01, Y:-20.35, Z:-0.11 [[ 8.78892828e-01 4.77010907e-01 -2.82704673e-03 6.70105042e+01] [-4.77008016e-01 8.78897367e-01 1.66473850e-03 -2.03499460e+01] [ 3.27878235e-03 -1.14602772e-04 9.99994618e-01 -1.12221940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20762800000001 meters 0.019194486705621024 Centerline is valid? [True, True] Translation: X:67.04, Y:-20.37, Z:-0.11 [[ 8.78303040e-01 4.78094053e-01 -3.13795212e-03 6.70382727e+01] [-4.78090494e-01 8.78308637e-01 1.84880791e-03 -2.03652011e+01] [ 3.63999451e-03 -1.23588531e-04 9.99993368e-01 -1.12494946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.237628 meters 0.018784184498559682 Centerline is valid? [True, True] Translation: X:67.07, Y:-20.38, Z:-0.11 [[ 8.77640277e-01 4.79307923e-01 -3.38510789e-03 6.70664153e+01] [-4.79303787e-01 8.77646796e-01 1.99551539e-03 -2.03803377e+01] [ 3.92739543e-03 -1.28849651e-04 9.99992279e-01 -1.12377948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.267628 meters 0.019900126313828523 Centerline is valid? [True, True] Translation: X:67.09, Y:-20.40, Z:-0.11 [[ 8.76016883e-01 4.82270462e-01 -3.10214205e-03 6.70930153e+01] [-4.82267003e-01 8.76022369e-01 1.82952499e-03 -2.03960050e+01] [ 3.59987169e-03 -1.06634025e-04 9.99993515e-01 -1.12116980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.297628 meters 0.018325710504343437 Centerline is valid? [True, True] Translation: X:67.12, Y:-20.41, Z:-0.11 [[ 8.74960727e-01 4.84186287e-01 -2.71408110e-03 6.71224139e+01] [-4.84183645e-01 8.74964932e-01 1.60163339e-03 -2.04087624e+01] [ 3.15021471e-03 -8.72526305e-05 9.99995034e-01 -1.11382578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.327628 meters 0.016730710348103174 Centerline is valid? [True, True] Translation: X:67.15, Y:-20.42, Z:-0.11 [[ 8.74001568e-01 4.85917587e-01 -2.31469601e-03 6.71526369e+01] [-4.85915671e-01 8.74004630e-01 1.36625407e-03 -2.04217804e+01] [ 2.68694191e-03 -6.93611299e-05 9.99996388e-01 -1.10493219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357628 meters 0.016177565735328914 Centerline is valid? [True, True] Translation: X:67.18, Y:-20.43, Z:-0.11 [[ 8.72231703e-01 4.89089378e-01 -1.85380918e-03 6.71811720e+01] [-4.89088155e-01 8.72233672e-01 1.09498423e-03 -2.04346216e+01] [ 2.15249994e-03 -4.84038466e-05 9.99997682e-01 -1.09936867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.387628 meters 0.015815011538442267 Centerline is valid? [True, True] Translation: X:67.21, Y:-20.45, Z:-0.11 [[ 8.71279871e-01 4.90784742e-01 -1.31265379e-03 6.72095787e+01] [-4.90784130e-01 8.71280860e-01 7.75913513e-04 -2.04492999e+01] [ 1.52449664e-03 -3.18081771e-05 9.99998837e-01 -1.10029944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41762800000001 meters 0.015175879968063428 Centerline is valid? [True, True] Translation: X:67.24, Y:-20.46, Z:-0.11 [[ 8.69457208e-01 4.94006650e-01 -1.26239188e-03 6.72377145e+01] [-4.94006087e-01 8.69458124e-01 7.46572032e-04 -2.04633561e+01] [ 1.46640843e-03 -2.54831616e-05 9.99998924e-01 -1.10279775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44762800000001 meters 0.014781400064792657 Centerline is valid? [True, True] Translation: X:67.27, Y:-20.48, Z:-0.11 [[ 8.68602433e-01 4.95507240e-01 -1.54556904e-03 6.72658295e+01] [-4.95506397e-01 8.68603808e-01 9.14496032e-04 -2.04779609e+01] [ 1.79562656e-03 -2.84941337e-05 9.99998387e-01 -1.10449661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47762800000001 meters 0.014310337145121295 Centerline is valid? [True, True] Translation: X:67.29, Y:-20.49, Z:-0.11 [[ 8.67944360e-01 4.96659565e-01 -1.36541907e-03 6.72945135e+01] [-4.96658908e-01 8.67945434e-01 8.08419027e-04 -2.04926516e+01] [ 1.58661829e-03 -2.35151924e-05 9.99998741e-01 -1.11005509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50762800000001 meters 0.014591222042661986 Centerline is valid? [True, True] Translation: X:67.32, Y:-20.51, Z:-0.11 [[ 8.67483695e-01 4.97464115e-01 -1.22201649e-03 6.73216162e+01] [-4.97463589e-01 8.67484555e-01 7.23905745e-04 -2.05080648e+01] [ 1.42019756e-03 -2.00677225e-05 9.99998991e-01 -1.11893728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53762800000001 meters 0.014284684397634603 Centerline is valid? [True, True] Translation: X:67.35, Y:-20.52, Z:-0.11 [[ 8.67147737e-01 4.98050804e-01 -4.44930417e-04 6.73500617e+01] [-4.98050734e-01 8.67147851e-01 2.64058568e-04 -2.05244794e+01] [ 5.17335038e-04 -7.37986908e-06 9.99999866e-01 -1.11747130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56762800000001 meters 0.014297331166154543 Centerline is valid? [True, True] Translation: X:67.38, Y:-20.54, Z:-0.11 [[ 8.67099741e-01 4.98134545e-01 -1.19528311e-04 6.73782519e+01] [-4.98134539e-01 8.67099749e-01 7.13236955e-05 -2.05421516e+01] [ 1.39171766e-04 -2.30357754e-06 9.99999990e-01 -1.10827611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.597628 meters 0.014299885182894162 Centerline is valid? [True, True] Translation: X:67.41, Y:-20.56, Z:-0.11 [[ 8.67162628e-01 4.98025069e-01 8.24371672e-05 6.74058915e+01] [-4.98025067e-01 8.67162632e-01 -4.84389167e-05 -2.05602997e+01] [-9.56102257e-05 9.48642599e-07 9.99999995e-01 -1.09123819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.627628 meters 0.014267292580897964 Centerline is valid? [True, True] Translation: X:67.43, Y:-20.58, Z:-0.11 [[ 8.66883964e-01 4.98509848e-01 -3.52157810e-04 6.74342557e+01] [-4.98509804e-01 8.66884036e-01 2.09497049e-04 -2.05763746e+01] [ 4.09716326e-04 -6.05551174e-06 9.99999916e-01 -1.09752828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.657628 meters 0.013991374237118721 Centerline is valid? [True, True] Translation: X:67.46, Y:-20.59, Z:-0.11 [[ 8.66386479e-01 4.99372474e-01 -1.26529980e-03 6.74637333e+01] [-4.99371908e-01 8.66387403e-01 7.52017478e-04 -2.05919709e+01] [ 1.47177663e-03 -1.96826014e-05 9.99998917e-01 -1.10715342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.687628 meters 0.014016553640262039 Centerline is valid? [True, True] Translation: X:67.49, Y:-20.61, Z:-0.11 [[ 8.65850048e-01 5.00299752e-01 -1.96271748e-03 6.74925085e+01] [-5.00298391e-01 8.65852273e-01 1.16700771e-03 -2.06081301e+01] [ 2.28327706e-03 -2.85092871e-05 9.99997393e-01 -1.11817212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.717628 meters 0.013879351988728666 Centerline is valid? [True, True] Translation: X:67.52, Y:-20.62, Z:-0.11 [[ 8.64903398e-01 5.01933051e-01 -2.30757663e-03 6.75197576e+01] [-5.01931175e-01 8.64906476e-01 1.37267581e-03 -2.06240938e+01] [ 2.68482933e-03 -2.89873285e-05 9.99996395e-01 -1.12096323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.747628 meters 0.013512762438548315 Centerline is valid? [True, True] Translation: X:67.55, Y:-20.64, Z:-0.11 [[ 8.64182793e-01 5.03175927e-01 -1.44450715e-03 6.75480510e+01] [-5.03175194e-01 8.64184000e-01 8.59338359e-04 -2.06403887e+01] [ 1.68071835e-03 -1.57852574e-05 9.99998587e-01 -1.10656459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.777628 meters 0.013407578927128856 Centerline is valid? [True, True] Translation: X:67.58, Y:-20.66, Z:-0.11 [[ 8.64005480e-01 5.03481438e-01 -9.85741317e-04 6.75765400e+01] [-5.03481096e-01 8.64006042e-01 5.87156125e-04 -2.06575207e+01] [ 1.14730866e-03 -1.10039915e-05 9.99999342e-01 -1.10600665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80762800000001 meters 0.013502838042860059 Centerline is valid? [True, True] Translation: X:67.60, Y:-20.67, Z:-0.11 [[ 8.63913717e-01 5.03638949e-01 -9.47572069e-04 6.76046630e+01] [-5.03638633e-01 8.63914237e-01 5.64798637e-04 -2.06744999e+01] [ 1.10307559e-03 -1.07033888e-05 9.99999392e-01 -1.10534305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83762800000001 meters 0.01348318653506448 Centerline is valid? [True, True] Translation: X:67.63, Y:-20.69, Z:-0.11 [[ 8.63664862e-01 5.04065653e-01 -9.07207170e-04 6.76315014e+01] [-5.04065363e-01 8.63665339e-01 5.41047536e-04 -2.06916936e+01] [ 1.05624687e-03 -9.99203445e-06 9.99999442e-01 -1.10627023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86762800000001 meters 0.013364966076824797 Centerline is valid? [True, True] Translation: X:67.66, Y:-20.71, Z:-0.11 [[ 8.63360678e-01 5.04584790e-01 -1.59039159e-03 6.76592805e+01] [-5.04583898e-01 8.63362143e-01 9.48789458e-04 -2.07084042e+01] [ 1.85182862e-03 -1.66615199e-05 9.99998285e-01 -1.11191266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89762800000001 meters 0.013358342189832416 Centerline is valid? [True, True] Translation: X:67.69, Y:-20.73, Z:-0.11 [[ 8.62814069e-01 5.05514873e-01 -2.56827541e-03 6.76878026e+01] [-5.05512550e-01 8.62817891e-01 1.53286984e-03 -2.07251058e+01] [ 2.99084247e-03 -2.42862102e-05 9.99995527e-01 -1.12164014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92762800000001 meters 0.013096608837013227 Centerline is valid? [True, True] Translation: X:67.72, Y:-20.74, Z:-0.11 [[ 8.61554573e-01 5.07644131e-01 -4.59929704e-03 6.77155730e+01] [-5.07636702e-01 8.61566849e-01 2.74644829e-03 -2.07419209e+01] [ 5.35682021e-03 -3.14431014e-05 9.99985652e-01 -1.14370822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95762800000001 meters 0.012982792695367082 Centerline is valid? [True, True] Translation: X:67.74, Y:-20.76, Z:-0.12 [[ 8.60707479e-01 5.09068801e-01 -5.62059918e-03 6.77435473e+01] [-5.09057724e-01 8.60725831e-01 3.35832952e-03 -2.07585679e+01] [ 6.54741568e-03 -2.93299135e-05 9.99978565e-01 -1.15305338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.987628 meters 0.012898269437629221 Centerline is valid? [True, True] Translation: X:67.77, Y:-20.77, Z:-0.12 [[ 8.58845356e-01 5.12197458e-01 -6.19829142e-03 6.77727122e+01] [-5.12184052e-01 8.58867722e-01 3.70579290e-03 -2.07745159e+01] [ 7.22161014e-03 -8.03700953e-06 9.99973924e-01 -1.16101063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.017628 meters 0.01272834194540883 Centerline is valid? [True, True] Translation: X:67.80, Y:-20.79, Z:-0.12 [[ 8.57641057e-01 5.14215947e-01 -5.81178350e-03 6.78013524e+01] [-5.14204192e-01 8.57660749e-01 3.47692231e-03 -2.07908730e+01] [ 6.77242748e-03 6.49211123e-06 9.99977067e-01 -1.16257180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.047628 meters 0.01278887441117432 Centerline is valid? [True, True] Translation: X:67.83, Y:-20.81, Z:-0.12 [[ 8.56328855e-01 5.16393612e-01 -6.20722753e-03 6.78300647e+01] [-5.16380243e-01 8.56351351e-01 3.71586034e-03 -2.08076772e+01] [ 7.23441423e-03 2.32912287e-05 9.99973831e-01 -1.15714526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.077628 meters 0.01499577005724119 Centerline is valid? [True, True] Translation: X:67.86, Y:-20.82, Z:-0.12 [[ 8.54099277e-01 5.20077749e-01 -5.79315311e-03 6.78572151e+01] [-5.20066177e-01 8.54118922e-01 3.46971217e-03 -2.08232825e+01] [ 6.75256178e-03 4.93443348e-05 9.99977200e-01 -1.17837685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.107628 meters 0.01339766727710223 Centerline is valid? [True, True] Translation: X:67.88, Y:-20.84, Z:-0.11 [[ 8.53230914e-01 5.21510380e-01 -4.89202214e-03 6.78849108e+01] [-5.21502145e-01 8.53244936e-01 2.93111269e-03 -2.08400534e+01] [ 5.70269881e-03 5.02840809e-05 9.99983738e-01 -1.14992431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137628 meters 0.01340811148859224 Centerline is valid? [True, True] Translation: X:67.91, Y:-20.86, Z:-0.11 [[ 8.52807102e-01 5.22209233e-01 -4.19084283e-03 6.79125436e+01] [-5.22203189e-01 8.52817398e-01 2.51279915e-03 -2.08584917e+01] [ 4.88623060e-03 4.55385328e-05 9.99988061e-01 -1.14033646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16762800000001 meters 0.013048370941213859 Centerline is valid? [True, True] Translation: X:67.94, Y:-20.88, Z:-0.11 [[ 8.53766854e-01 5.20649741e-01 -2.45084302e-03 6.79375692e+01] [-5.20647665e-01 8.53770371e-01 1.47047507e-03 -2.08791604e+01] [ 2.85805962e-03 2.05828185e-05 9.99995916e-01 -1.12124028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19762800000001 meters 0.012926803729081969 Centerline is valid? [True, True] Translation: X:67.96, Y:-20.90, Z:-0.11 [[ 8.54565077e-01 5.19342408e-01 -1.41140790e-03 6.79629270e+01] [-5.19341716e-01 8.54566243e-01 8.47408770e-04 -2.08973780e+01] [ 1.64623686e-03 8.83705948e-06 9.99998645e-01 -1.11116555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22762800000001 meters 0.012971136697712542 Centerline is valid? [True, True] Translation: X:67.99, Y:-20.92, Z:-0.11 [[ 8.55482986e-01 5.17830776e-01 -3.83545391e-04 6.79886878e+01] [-5.17830725e-01 8.55483072e-01 2.30479201e-04 -2.09156642e+01] [ 4.47465813e-04 1.44055248e-06 9.99999900e-01 -1.10638426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25762800000001 meters 0.012851329818450644 Centerline is valid? [True, True] Translation: X:68.02, Y:-20.93, Z:-0.11 [[ 8.56468413e-01 5.16199359e-01 2.79742303e-04 6.80151199e+01] [-5.16199332e-01 8.56468459e-01 -1.67587330e-04 -2.09348569e+01] [-3.26098931e-04 -8.69535254e-07 9.99999947e-01 -1.10159788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28762800000001 meters 0.012928190451246517 Centerline is valid? [True, True] Translation: X:68.04, Y:-20.96, Z:-0.11 [[ 8.58236352e-01 5.13254527e-01 3.91891912e-04 6.80411080e+01] [-5.13254473e-01 8.58236442e-01 -2.35084542e-04 -2.09558162e+01] [-4.56994125e-04 6.17823103e-07 9.99999896e-01 -1.09713390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31762800000001 meters 0.013005936779638098 Centerline is valid? [True, True] Translation: X:68.07, Y:-20.97, Z:-0.11 [[ 8.58455687e-01 5.12886927e-01 9.12998672e-04 6.80679935e+01] [-5.12886633e-01 8.58456173e-01 -5.48665735e-04 -2.09722365e+01] [-1.06517283e-03 2.74040578e-06 9.99999433e-01 -1.09455123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34762800000001 meters 0.013067602589450625 Centerline is valid? [True, True] Translation: X:68.10, Y:-20.99, Z:-0.11 [[ 8.58888855e-01 5.12161981e-01 1.97175462e-04 6.80968803e+01] [-5.12161968e-01 8.58888878e-01 -1.18196767e-04 -2.09876498e+01] [-2.29887702e-04 5.32113259e-07 9.99999974e-01 -1.10183940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.377628 meters 0.013161148145250809 Centerline is valid? [True, True] Translation: X:68.13, Y:-21.00, Z:-0.11 [[ 8.59477616e-01 5.11173205e-01 -4.27770325e-04 6.81258338e+01] [-5.11173140e-01 8.59477722e-01 2.58065376e-04 -2.10040971e+01] [ 4.99575170e-04 -3.13671420e-06 9.99999875e-01 -1.11205303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.407628 meters 0.01345678379338775 Centerline is valid? [True, True] Translation: X:68.15, Y:-21.02, Z:-0.11 [[ 8.60309558e-01 5.09770821e-01 -1.08356898e-03 6.81522942e+01] [-5.09770402e-01 8.60310241e-01 6.53222687e-04 -2.10196241e+01] [ 1.26519935e-03 -9.60232803e-06 9.99999200e-01 -1.12650081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.437628 meters 0.014018947182780505 Centerline is valid? [True, True] Translation: X:68.18, Y:-21.04, Z:-0.11 [[ 8.63076998e-01 5.05067283e-01 -2.26619191e-03 6.81793304e+01] [-5.05065436e-01 8.63079972e-01 1.36654326e-03 -2.10363356e+01] [ 2.64610115e-03 -3.48568505e-05 9.99996498e-01 -1.13688514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.467628 meters 0.014018947182780505 Centerline is valid? [True, True] Translation: X:68.21, Y:-21.05, Z:-0.11 [[ 8.62934986e-01 5.05309882e-01 -2.26578185e-03 6.82070396e+01] [-5.05308033e-01 8.62937960e-01 1.36722318e-03 -2.10531205e+01] [ 2.64610055e-03 -3.49069492e-05 9.99996498e-01 -1.13734889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497628 meters 0.014794944832443459 Centerline is valid? [True, True] Translation: X:68.23, Y:-21.07, Z:-0.11 [[ 8.64542314e-01 5.02554429e-01 -2.37336579e-03 6.82326037e+01] [-5.02552388e-01 8.64545571e-01 1.43276116e-03 -2.10706519e+01] [ 2.77192335e-03 -4.59420002e-05 9.99996157e-01 -1.13968723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.527628 meters 0.015554123384109313 Centerline is valid? [True, True] Translation: X:68.26, Y:-21.09, Z:-0.11 [[ 8.66333313e-01 4.99458997e-01 -2.70183431e-03 6.82587367e+01] [-4.99456335e-01 8.66337524e-01 1.63191685e-03 -2.10889616e+01] [ 3.15577600e-03 -6.43356676e-05 9.99995018e-01 -1.13821779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55762800000001 meters 0.018837967625791954 Centerline is valid? [True, True] Translation: X:68.28, Y:-21.11, Z:-0.12 [[ 8.70662954e-01 4.91867665e-01 -3.49570180e-03 6.82838109e+01] [-4.91863144e-01 8.70669964e-01 2.11234467e-03 -2.11078521e+01] [ 4.08259660e-03 -1.19733373e-04 9.99991659e-01 -1.16924454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58762800000001 meters 0.02072077930153285 Centerline is valid? [True, True] Translation: X:68.31, Y:-21.13, Z:-0.12 [[ 8.72609545e-01 4.88408926e-01 -3.05007599e-03 6.83067246e+01] [-4.88405461e-01 8.72614868e-01 1.84344321e-03 -2.11292951e+01] [ 3.56189577e-03 -1.18932367e-04 9.99993649e-01 -1.16011605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61762800000001 meters 0.0197299485942884 Centerline is valid? [True, True] Translation: X:68.34, Y:-21.14, Z:-0.12 [[ 8.74234152e-01 4.85495291e-01 -2.99483516e-03 6.83350759e+01] [-4.85491930e-01 8.74239272e-01 1.81114544e-03 -2.11437403e+01] [ 3.49750510e-03 -1.29396895e-04 9.99993875e-01 -1.15947544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64762800000001 meters 0.01929636997762726 Centerline is valid? [True, True] Translation: X:68.36, Y:-21.16, Z:-0.12 [[ 8.75542682e-01 4.83133544e-01 -2.64383695e-03 6.83637108e+01] [-4.83130914e-01 8.75546666e-01 1.59892694e-03 -2.11587389e+01] [ 3.08729787e-03 -1.22609416e-04 9.99995227e-01 -1.15779849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67762800000001 meters 0.023156702262488192 Centerline is valid? [True, True] Translation: X:68.39, Y:-21.18, Z:-0.12 [[ 8.77276216e-01 4.79978937e-01 -2.58077208e-03 6.83881573e+01] [-4.79976415e-01 8.77280002e-01 1.56151526e-03 -2.11777358e+01] [ 3.01355417e-03 -1.31170466e-04 9.99995451e-01 -1.15804776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70762800000001 meters 0.021368933832918678 Centerline is valid? [True, True] Translation: X:68.42, Y:-21.19, Z:-0.12 [[ 8.77505732e-01 4.79561169e-01 -2.18548931e-03 6.84175027e+01] [-4.79559356e-01 8.77508446e-01 1.32325850e-03 -2.11909550e+01] [ 2.55236872e-03 -1.13095073e-04 9.99996736e-01 -1.15229345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.737628 meters 0.020888595815139962 Centerline is valid? [True, True] Translation: X:68.45, Y:-21.21, Z:-0.11 [[ 8.77327633e-01 4.79888364e-01 -1.83904302e-03 6.84462526e+01] [-4.79887079e-01 8.77329556e-01 1.11433300e-03 -2.12064034e+01] [ 2.14820224e-03 -9.51021446e-05 9.99997688e-01 -1.14002146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.767628 meters 0.020586577696757678 Centerline is valid? [True, True] Translation: X:68.48, Y:-21.22, Z:-0.11 [[ 8.76178435e-01 4.81986836e-01 -2.00493619e-04 6.84753046e+01] [-4.81986820e-01 8.76178458e-01 1.21536387e-04 -2.12197832e+01] [ 2.34247129e-04 -9.85227923e-06 9.99999973e-01 -1.11053217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.797628 meters 0.019731370496186458 Centerline is valid? [True, True] Translation: X:68.50, Y:-21.23, Z:-0.11 [[ 8.75116156e-01 4.83911610e-01 1.12585286e-03 6.85049002e+01] [-4.83911132e-01 8.75116879e-01 -6.81949467e-04 -2.12331896e+01] [-1.31525610e-03 5.19722663e-05 9.99999134e-01 -1.10278347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.827628 meters 0.019697111867435852 Centerline is valid? [True, True] Translation: X:68.53, Y:-21.25, Z:-0.11 [[ 8.73983066e-01 4.85952800e-01 1.86452940e-03 6.85334989e+01] [-4.85951493e-01 8.73985051e-01 -1.13026223e-03 -2.12464304e+01] [-2.17882492e-03 8.17592096e-05 9.99997623e-01 -1.10542138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857628 meters 0.018594323684253476 Centerline is valid? [True, True] Translation: X:68.56, Y:-21.26, Z:-0.11 [[ 8.71824362e-01 4.89810402e-01 2.83748397e-03 6.85649530e+01] [-4.89807392e-01 8.71828973e-01 -1.72075229e-03 -2.12553374e+01] [-3.31664311e-03 1.10373142e-04 9.99994494e-01 -1.11149156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.887628 meters 0.018214622699646604 Centerline is valid? [True, True] Translation: X:68.59, Y:-21.27, Z:-0.11 [[ 8.70700010e-01 4.91806662e-01 2.77479766e-03 6.85938030e+01] [-4.91803791e-01 8.70704426e-01 -1.68333547e-03 -2.12690605e+01] [-3.24390420e-03 1.01024204e-04 9.99994733e-01 -1.11238551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91762800000001 meters 0.01790836784210031 Centerline is valid? [True, True] Translation: X:68.62, Y:-21.28, Z:-0.11 [[ 8.69892254e-01 4.93234279e-01 2.72255512e-03 6.86230648e+01] [-4.93231521e-01 8.69896509e-01 -1.65221433e-03 -2.12837808e+01] [-3.18326994e-03 9.43984485e-05 9.99994929e-01 -1.11161120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94762800000001 meters 0.016839507271935096 Centerline is valid? [True, True] Translation: X:68.65, Y:-21.30, Z:-0.11 [[ 8.68712465e-01 4.95313035e-01 1.91061313e-03 6.86530567e+01] [-4.95311681e-01 8.68714564e-01 -1.15980856e-03 -2.12957220e+01] [-2.23424575e-03 6.11911564e-05 9.99997502e-01 -1.11028958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97762800000001 meters 0.016538009053075352 Centerline is valid? [True, True] Translation: X:68.68, Y:-21.31, Z:-0.11 [[ 8.68258620e-01 4.96109817e-01 1.42080721e-03 6.86815951e+01] [-4.96109068e-01 8.68259781e-01 -8.62848777e-04 -2.13103359e+01] [-1.66169751e-03 4.43005458e-05 9.99998618e-01 -1.11324851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00762800000001 meters 0.016524336000444603 Centerline is valid? [True, True] Translation: X:68.71, Y:-21.33, Z:-0.11 [[ 8.67817324e-01 4.96883142e-01 4.85527546e-04 6.87096959e+01] [-4.96883055e-01 8.67817459e-01 -2.94753818e-04 -2.13252824e+01] [-5.67807484e-04 1.45420593e-05 9.99999839e-01 -1.12173783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03762800000001 meters 0.01585618099478347 Centerline is valid? [True, True] Translation: X:68.74, Y:-21.34, Z:-0.11 [[ 8.67339805e-01 4.97715573e-01 -9.33367803e-04 6.87397987e+01] [-4.97715250e-01 8.67340306e-01 5.68137509e-04 -2.13369502e+01] [ 1.09231840e-03 -2.82168865e-05 9.99999403e-01 -1.14265425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06762800000001 meters 0.016276865642519078 Centerline is valid? [True, True] Translation: X:68.77, Y:-21.35, Z:-0.12 [[ 8.67015354e-01 4.98277609e-01 -1.94920440e-03 6.87676775e+01] [-4.98276200e-01 8.67017543e-01 1.18675634e-03 -2.13520949e+01] [ 2.28132852e-03 -5.76938071e-05 9.99997396e-01 -1.16238400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09762800000001 meters 0.016173075772521205 Centerline is valid? [True, True] Translation: X:68.80, Y:-21.37, Z:-0.12 [[ 8.66952788e-01 4.98383048e-01 -2.68344479e-03 6.87968462e+01] [-4.98380374e-01 8.66956937e-01 1.63468133e-03 -2.13673174e+01] [ 3.14112854e-03 -7.98153163e-05 9.99995063e-01 -1.17957027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.127628 meters 0.016494786225734238 Centerline is valid? [True, True] Translation: X:68.82, Y:-21.38, Z:-0.12 [[ 8.67123404e-01 4.98081377e-01 -3.45598950e-03 6.88242107e+01] [-4.98076935e-01 8.67130285e-01 2.10625110e-03 -2.13833293e+01] [ 4.04587761e-03 -1.05030967e-04 9.99991810e-01 -1.18873206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.157628 meters 0.01779803526432997 Centerline is valid? [True, True] Translation: X:68.85, Y:-21.40, Z:-0.12 [[ 8.68638836e-01 4.95428237e-01 -4.17538373e-03 6.88495267e+01] [-4.95421719e-01 8.68648860e-01 2.54520743e-03 -2.14009453e+01] [ 4.88790994e-03 -1.42290232e-04 9.99988044e-01 -1.18497004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.187628 meters 0.018666542082728194 Centerline is valid? [True, True] Translation: X:68.88, Y:-21.42, Z:-0.12 [[ 8.69624444e-01 4.93698239e-01 -3.92101332e-03 6.88760979e+01] [-4.93692467e-01 8.69633272e-01 2.39161562e-03 -2.14192355e+01] [ 4.59058007e-03 -1.44032662e-04 9.99989453e-01 -1.17479689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.217628 meters 0.019821291773541565 Centerline is valid? [True, True] Translation: X:68.90, Y:-21.44, Z:-0.12 [[ 8.71030443e-01 4.91215344e-01 -3.66783223e-03 6.89019303e+01] [-4.91210266e-01 8.71038153e-01 2.23829403e-03 -2.14372730e+01] [ 4.29430619e-03 -1.47945396e-04 9.99990768e-01 -1.17003888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.247628 meters 0.02258173654041026 Centerline is valid? [True, True] Translation: X:68.93, Y:-21.46, Z:-0.12 [[ 8.73737593e-01 4.86388672e-01 -2.94598060e-03 6.89264496e+01] [-4.86385366e-01 8.73742548e-01 1.79866171e-03 -2.14564539e+01] [ 3.44887728e-03 -1.38676501e-04 9.99994043e-01 -1.16285381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.277628 meters 0.023548353972800997 Centerline is valid? [True, True] Translation: X:68.95, Y:-21.47, Z:-0.12 [[ 8.74896962e-01 4.84302884e-01 -2.45400833e-03 6.89529831e+01] [-4.84300580e-01 8.74900395e-01 1.49909390e-03 -2.14735579e+01] [ 2.87302836e-03 -1.23075043e-04 9.99995865e-01 -1.15727421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30762800000001 meters 0.024730629132031768 Centerline is valid? [True, True] Translation: X:68.98, Y:-21.49, Z:-0.12 [[ 8.75891782e-01 4.82505609e-01 -1.38673919e-03 6.89794871e+01] [-4.82504870e-01 8.75892877e-01 8.47689839e-04 -2.14907751e+01] [ 1.62365008e-03 -7.33761502e-05 9.99998679e-01 -1.15301863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33762800000001 meters 0.02627003651699863 Centerline is valid? [True, True] Translation: X:69.00, Y:-21.51, Z:-0.12 [[ 8.76675054e-01 4.81081792e-01 -1.07701135e-03 6.90048399e+01] [-4.81081345e-01 8.76675713e-01 6.58442069e-04 -2.15081312e+01] [ 1.26095418e-03 -5.91096693e-05 9.99999203e-01 -1.15059037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36762800000001 meters 0.028048451100113298 Centerline is valid? [True, True] Translation: X:69.03, Y:-21.52, Z:-0.12 [[ 8.78056028e-01 4.78556047e-01 -1.31209676e-03 6.90299461e+01] [-4.78555381e-01 8.78057005e-01 8.01992103e-04 -2.15244450e+01] [ 1.53589392e-03 -7.62830351e-05 9.99998818e-01 -1.15087717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39762800000001 meters 0.02860105434590356 Centerline is valid? [True, True] Translation: X:69.06, Y:-21.54, Z:-0.11 [[ 8.78157765e-01 4.78369203e-01 -1.35834702e-03 6.90576831e+01] [-4.78368488e-01 8.78158812e-01 8.31027340e-04 -2.15410105e+01] [ 1.59038229e-03 -7.99827026e-05 9.99998732e-01 -1.14952128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42762800000001 meters 0.028852037744753152 Centerline is valid? [True, True] Translation: X:69.09, Y:-21.56, Z:-0.11 [[ 8.77822952e-01 4.78982346e-01 -1.66629971e-03 6.90853093e+01] [-4.78981270e-01 8.77824528e-01 1.01985577e-03 -2.15567836e+01] [ 1.95121167e-03 -9.71264549e-05 9.99998092e-01 -1.14960469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45762800000001 meters 0.02844675188471165 Centerline is valid? [True, True] Translation: X:69.11, Y:-21.57, Z:-0.12 [[ 8.76294400e-01 4.81769201e-01 -2.56171268e-03 6.91138210e+01] [-4.81766671e-01 8.76298133e-01 1.56747123e-03 -2.15687553e+01] [ 2.99998340e-03 -1.39418473e-04 9.99995490e-01 -1.15547550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.487628 meters 0.02739167832605203 Centerline is valid? [True, True] Translation: X:69.14, Y:-21.58, Z:-0.12 [[ 8.75054232e-01 4.84011671e-01 -3.57667425e-03 6.91427178e+01] [-4.84006758e-01 8.75061523e-01 2.18864918e-03 -2.15813653e+01] [ 4.18914176e-03 -1.84052222e-04 9.99991209e-01 -1.16757136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.517628 meters 0.02487956478157339 Centerline is valid? [True, True] Translation: X:69.17, Y:-21.59, Z:-0.12 [[ 8.71552491e-01 4.90268351e-01 -5.76186779e-03 6.91731643e+01] [-4.90255736e-01 8.71571501e-01 3.52581136e-03 -2.15893539e+01] [ 6.75047349e-03 -2.48140941e-04 9.99977185e-01 -1.20058406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.547628 meters 0.023283891700409714 Centerline is valid? [True, True] Translation: X:69.20, Y:-21.60, Z:-0.12 [[ 8.69746439e-01 4.93450387e-01 -6.91724133e-03 6.92024519e+01] [-4.93432301e-01 8.69773904e-01 4.23331782e-03 -2.16022915e+01] [ 8.10536831e-03 -2.68722786e-04 9.99967115e-01 -1.21402061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.577628 meters 0.02211668957970443 Centerline is valid? [True, True] Translation: X:69.23, Y:-21.61, Z:-0.12 [[ 8.68027540e-01 4.96456224e-01 -7.70762023e-03 6.92299065e+01] [-4.96433885e-01 8.68061718e-01 4.71713060e-03 -2.16149509e+01] [ 9.03253890e-03 -2.68275416e-04 9.99959170e-01 -1.21967609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.607628 meters 0.018699391898364802 Centerline is valid? [True, True] Translation: X:69.26, Y:-21.62, Z:-0.12 [[ 8.64435903e-01 5.02673864e-01 -8.34001010e-03 6.92616857e+01] [-5.02647996e-01 8.64476106e-01 5.10442543e-03 -2.16232216e+01] [ 9.77560071e-03 -2.20359245e-04 9.99952193e-01 -1.22363801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.637628 meters 0.01412256548098372 Centerline is valid? [True, True] Translation: X:69.29, Y:-21.63, Z:-0.12 [[ 8.62589413e-01 5.05835274e-01 -8.37739755e-03 6.92941480e+01] [-5.05809289e-01 8.62630071e-01 5.13062761e-03 -2.16311980e+01] [ 9.82184747e-03 -1.88259560e-04 9.99951747e-01 -1.19591913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66762800000001 meters 0.013925213143164767 Centerline is valid? [True, True] Translation: X:69.32, Y:-21.65, Z:-0.12 [[ 8.60785414e-01 5.08898497e-01 -8.41365926e-03 6.93219988e+01] [-5.08872404e-01 8.60826518e-01 5.15575185e-03 -2.16462525e+01] [ 9.86645538e-03 -1.56516977e-04 9.99951313e-01 -1.20095127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69762800000001 meters 0.013613548132935539 Centerline is valid? [True, True] Translation: X:69.35, Y:-21.66, Z:-0.12 [[ 8.59002929e-01 5.11903036e-01 -8.32157200e-03 6.93490986e+01] [-5.11877626e-01 8.59043227e-01 5.10189843e-03 -2.16617170e+01] [ 9.76026737e-03 -1.22919175e-04 9.99952360e-01 -1.20196982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72762800000001 meters 0.012489298267765373 Centerline is valid? [True, True] Translation: X:69.38, Y:-21.68, Z:-0.12 [[ 8.56034929e-01 5.16855731e-01 -8.02201678e-03 6.93783125e+01] [-5.16832327e-01 8.56072514e-01 4.91901481e-03 -2.16763926e+01] [ 9.40984907e-03 -6.48108912e-05 9.99955724e-01 -1.17866661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75762800000001 meters 0.012380434033727718 Centerline is valid? [True, True] Translation: X:69.40, Y:-21.69, Z:-0.12 [[ 8.54543683e-01 5.19332090e-01 -7.01948470e-03 6.94049156e+01] [-5.19314234e-01 8.54572512e-01 4.30676099e-03 -2.16918732e+01] [ 8.23529786e-03 -3.49970793e-05 9.99966089e-01 -1.18001523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78762800000001 meters 0.012194238594280035 Centerline is valid? [True, True] Translation: X:69.43, Y:-21.71, Z:-0.12 [[ 8.53273470e-01 5.21425630e-01 -6.30067498e-03 6.94321733e+01] [-5.21411292e-01 8.53296732e-01 3.86682917e-03 -2.17077218e+01] [ 7.39260921e-03 -1.42196608e-05 9.99972674e-01 -1.17796729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81762800000001 meters 0.012116346755098324 Centerline is valid? [True, True] Translation: X:69.46, Y:-21.72, Z:-0.12 [[ 8.51177799e-01 5.24854984e-01 -4.85794924e-03 6.94595815e+01] [-5.24846506e-01 8.51191662e-01 2.98326175e-03 -2.17237597e+01] [ 5.70082568e-03 1.03915128e-05 9.99983750e-01 -1.16536791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84762800000001 meters 0.012118771719145 Centerline is valid? [True, True] Translation: X:69.49, Y:-21.74, Z:-0.12 [[ 8.50133778e-01 5.26552863e-01 -3.82633950e-03 6.94872891e+01] [-5.26547613e-01 8.50142389e-01 2.35141024e-03 -2.17415097e+01] [ 4.49107520e-03 1.57366603e-05 9.99989915e-01 -1.15897241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.877628 meters 0.012213460266984654 Centerline is valid? [True, True] Translation: X:69.51, Y:-21.76, Z:-0.12 [[ 8.49491190e-01 5.27589416e-01 -3.75846005e-03 6.95135862e+01] [-5.27584357e-01 8.49499504e-01 2.31044131e-03 -2.17590920e+01] [ 4.41177433e-03 2.02051935e-05 9.99990268e-01 -1.15792730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.907628 meters 0.012182471335027905 Centerline is valid? [True, True] Translation: X:69.54, Y:-21.78, Z:-0.12 [[ 8.48901575e-01 5.28537063e-01 -3.83263022e-03 6.95400763e+01] [-5.28531805e-01 8.48910226e-01 2.35774286e-03 -2.17786467e+01] [ 4.49971347e-03 2.41753345e-05 9.99989876e-01 -1.15153675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.937628 meters 0.012213377514048067 Centerline is valid? [True, True] Translation: X:69.56, Y:-21.80, Z:-0.12 [[ 8.49050896e-01 5.28298739e-01 -3.60804242e-03 6.95646356e+01] [-5.28294071e-01 8.49058562e-01 2.22091378e-03 -2.18001585e+01] [ 4.23674526e-03 2.04385864e-05 9.99991025e-01 -1.15062011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.967628 meters 0.012202390463379403 Centerline is valid? [True, True] Translation: X:69.59, Y:-21.82, Z:-0.12 [[ 8.49208508e-01 5.28044409e-01 -3.74314536e-03 6.95910200e+01] [-5.28039376e-01 8.49216758e-01 2.30557814e-03 -2.18199214e+01] [ 4.39618941e-03 1.86115660e-05 9.99990337e-01 -1.15392176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997628 meters 0.012172620450715049 Centerline is valid? [True, True] Translation: X:69.62, Y:-21.84, Z:-0.12 [[ 8.49507721e-01 5.27558006e-01 -4.37975623e-03 6.96168850e+01] [-5.27551101e-01 8.49519011e-01 2.69920082e-03 -2.18389096e+01] [ 5.14467118e-03 1.75532853e-05 9.99986766e-01 -1.16672311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.027628 meters 0.012112806857617554 Centerline is valid? [True, True] Translation: X:69.64, Y:-21.86, Z:-0.12 [[ 8.50493186e-01 5.25951539e-01 -6.02646239e-03 6.96409252e+01] [-5.25938410e-01 8.50514537e-01 3.71623659e-03 -2.18621053e+01] [ 7.08015423e-03 8.91415052e-06 9.99974935e-01 -1.19073670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05762800000001 meters 0.0122805475365676 Centerline is valid? [True, True] Translation: X:69.67, Y:-21.88, Z:-0.12 [[ 8.51325311e-01 5.24595215e-01 -6.71374797e-03 6.96668850e+01] [-5.24578859e-01 8.51351784e-01 4.14260790e-03 -2.18835004e+01] [ 7.88895360e-03 -4.81671303e-06 9.99968882e-01 -1.20052369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08762800000001 meters 0.012544623503330922 Centerline is valid? [True, True] Translation: X:69.69, Y:-21.91, Z:-0.12 [[ 8.53586502e-01 5.20881757e-01 -8.50168305e-03 6.96879962e+01] [-5.20855318e-01 8.53628838e-01 5.24832188e-03 -2.19095331e+01] [ 9.99103694e-03 -5.17498880e-05 9.99950087e-01 -1.20782975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11762800000001 meters 0.013012075426499563 Centerline is valid? [True, True] Translation: X:69.71, Y:-21.93, Z:-0.12 [[ 8.55038213e-01 5.18489674e-01 -8.83815981e-03 6.97111565e+01] [-5.18460944e-01 8.55083885e-01 5.45881052e-03 -2.19315410e+01] [ 1.03877049e-02 -8.52509119e-05 9.99946043e-01 -1.21036911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14762800000001 meters 0.013323277024153245 Centerline is valid? [True, True] Translation: X:69.74, Y:-21.95, Z:-0.12 [[ 8.56674331e-01 5.15782254e-01 -8.81801665e-03 6.97357127e+01] [-5.15753479e-01 8.56719705e-01 5.44942162e-03 -2.19535540e+01] [ 1.03652836e-02 -1.20456852e-04 9.99946272e-01 -1.20515218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17762800000001 meters 0.01397791670383243 Centerline is valid? [True, True] Translation: X:69.76, Y:-21.98, Z:-0.12 [[ 8.58309749e-01 5.13056166e-01 -8.81727235e-03 6.97602271e+01] [-5.13027222e-01 8.58355023e-01 5.45195782e-03 -2.19755230e+01] [ 1.03655106e-02 -1.55967816e-04 9.99946264e-01 -1.20310239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20762800000001 meters 0.01543999339416716 Centerline is valid? [True, True] Translation: X:69.78, Y:-22.00, Z:-0.12 [[ 8.62001657e-01 5.06839628e-01 -8.16914371e-03 6.97814548e+01] [-5.06814479e-01 8.62040338e-01 5.05367055e-03 -2.20013767e+01] [ 9.60353191e-03 -2.16032076e-04 9.99953862e-01 -1.19974841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.237628 meters 0.016858924126515244 Centerline is valid? [True, True] Translation: X:69.80, Y:-22.02, Z:-0.12 [[ 8.63512629e-01 5.04264521e-01 -7.95186230e-03 6.98043604e+01] [-5.04240559e-01 8.63549208e-01 4.92176839e-03 -2.20236545e+01] [ 9.34869758e-03 -2.40357664e-04 9.99956271e-01 -1.19876718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.267628 meters 0.01914844641958982 Centerline is valid? [True, True] Translation: X:69.82, Y:-22.05, Z:-0.12 [[ 8.66330426e-01 4.99415986e-01 -7.43402832e-03 6.98238984e+01] [-4.99394857e-01 8.66362278e-01 4.60216165e-03 -2.20493680e+01] [ 8.73895481e-03 -2.74477154e-04 9.99961777e-01 -1.19285440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.297628 meters 0.018882136887426994 Centerline is valid? [True, True] Translation: X:69.85, Y:-22.07, Z:-0.12 [[ 8.67270506e-01 4.97789830e-01 -6.86688219e-03 6.98490108e+01] [-4.97771732e-01 8.67297649e-01 4.25340713e-03 -2.20689651e+01] [ 8.07293359e-03 -2.70714714e-04 9.99967377e-01 -1.17868798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.327628 meters 0.018881065190367422 Centerline is valid? [True, True] Translation: X:69.87, Y:-22.09, Z:-0.12 [[ 8.68110030e-01 4.96329285e-01 -6.49741409e-03 6.98744457e+01] [-4.96313024e-01 8.68134303e-01 4.02681107e-03 -2.20886096e+01] [ 7.63925231e-03 -2.70963847e-04 9.99970784e-01 -1.16743523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357628 meters 0.021534242701862584 Centerline is valid? [True, True] Translation: X:69.90, Y:-22.11, Z:-0.12 [[ 8.68731783e-01 4.95249492e-01 -5.74716616e-03 6.98971425e+01] [-4.95236740e-01 8.68750757e-01 3.56272294e-03 -2.21106164e+01] [ 6.75729168e-03 -2.48842818e-04 9.99977138e-01 -1.16779101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.387628 meters 0.021534242701862584 Centerline is valid? [True, True] Translation: X:69.92, Y:-22.13, Z:-0.12 [[ 8.68599800e-01 4.95480948e-01 -5.74611363e-03 6.99246513e+01] [-4.95468190e-01 8.68618770e-01 3.56442036e-03 -2.21277688e+01] [ 6.75728453e-03 -2.49038289e-04 9.99977138e-01 -1.16825436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41762800000001 meters 0.02104124979602878 Centerline is valid? [True, True] Translation: X:69.95, Y:-22.15, Z:-0.12 [[ 8.68696724e-01 4.95323700e-01 -4.52044734e-03 6.99522150e+01] [-4.95315792e-01 8.68708462e-01 2.80591204e-03 -2.21465011e+01] [ 5.31678559e-03 -1.98437642e-04 9.99985846e-01 -1.15567057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44762800000001 meters 0.021799946163757817 Centerline is valid? [True, True] Translation: X:69.98, Y:-22.16, Z:-0.12 [[ 8.67900817e-01 4.96723123e-01 -3.78314552e-03 6.99780313e+01] [-4.96717592e-01 8.67909047e-01 2.34938757e-03 -2.21639166e+01] [ 4.45042136e-03 -1.59880457e-04 9.99990084e-01 -1.15392066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47762800000001 meters 0.02110147559468854 Centerline is valid? [True, True] Translation: X:70.00, Y:-22.18, Z:-0.11 [[ 8.66363637e-01 4.99401259e-01 -3.52579835e-03 7.00039374e+01] [-4.99396478e-01 8.66370801e-01 2.18945323e-03 -2.21797552e+01] [ 4.14806444e-03 -1.36091389e-04 9.99991387e-01 -1.14569967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50762800000001 meters 0.017870485108101557 Centerline is valid? [True, True] Translation: X:70.03, Y:-22.19, Z:-0.11 [[ 8.65351868e-01 5.01153926e-01 -3.29974161e-03 7.00337924e+01] [-5.01149745e-01 8.65358150e-01 2.05054079e-03 -2.21924025e+01] [ 3.88309486e-03 -1.20774640e-04 9.99992453e-01 -1.13342856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53762800000001 meters 0.017127165578460675 Centerline is valid? [True, True] Translation: X:70.06, Y:-22.21, Z:-0.11 [[ 8.64409866e-01 5.02778320e-01 -3.08936533e-03 7.00619247e+01] [-5.02774662e-01 8.64415380e-01 1.92088681e-03 -2.22079345e+01] [ 3.63627515e-03 -1.07178901e-04 9.99993383e-01 -1.13068241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56762800000001 meters 0.01644959541749678 Centerline is valid? [True, True] Translation: X:70.09, Y:-22.22, Z:-0.11 [[ 8.63125802e-01 5.04975113e-01 -3.73960688e-03 7.00909174e+01] [-5.04969774e-01 8.63133895e-01 2.32529662e-03 -2.22230813e+01] [ 4.40199838e-03 -1.18635074e-04 9.99990304e-01 -1.13209486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59762800000001 meters 0.01669821468875467 Centerline is valid? [True, True] Translation: X:70.12, Y:-22.24, Z:-0.11 [[ 8.62688297e-01 5.05721446e-01 -3.83695881e-03 7.01177559e+01] [-5.05715825e-01 8.62696821e-01 2.38726961e-03 -2.22388745e+01] [ 4.51742561e-03 -1.19058757e-04 9.99989789e-01 -1.13941678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.627628 meters 0.016464050391395493 Centerline is valid? [True, True] Translation: X:70.15, Y:-22.25, Z:-0.11 [[ 8.62453979e-01 5.06121705e-01 -3.73554932e-03 7.01466221e+01] [-5.06116374e-01 8.62462061e-01 2.32571869e-03 -2.22545448e+01] [ 4.39886628e-03 -1.15202661e-04 9.99990318e-01 -1.14803385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.657628 meters 0.016614900645354445 Centerline is valid? [True, True] Translation: X:70.18, Y:-22.27, Z:-0.12 [[ 8.62140510e-01 5.06653294e-01 -4.02263953e-03 7.01751682e+01] [-5.06647111e-01 8.62149885e-01 2.50596527e-03 -2.22710446e+01] [ 4.73777377e-03 -1.22435474e-04 9.99988769e-01 -1.15372345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.687628 meters 0.016761779250294862 Centerline is valid? [True, True] Translation: X:70.20, Y:-22.29, Z:-0.11 [[ 8.62109610e-01 5.06710842e-01 -3.33794849e-03 7.02034460e+01] [-5.06706581e-01 8.62116066e-01 2.08078476e-03 -2.22886251e+01] [ 3.93205522e-03 -1.02504071e-04 9.99992264e-01 -1.13818742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.717628 meters 0.01689926828530872 Centerline is valid? [True, True] Translation: X:70.23, Y:-22.31, Z:-0.11 [[ 8.62148304e-01 5.06647698e-01 -2.90037050e-03 7.02310974e+01] [-5.06644476e-01 8.62153178e-01 1.80917902e-03 -2.23061612e+01] [ 3.41718003e-03 -9.03239348e-05 9.99994157e-01 -1.12845482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.747628 meters 0.016493779823865774 Centerline is valid? [True, True] Translation: X:70.26, Y:-22.32, Z:-0.11 [[ 8.62245099e-01 5.06484535e-01 -2.60848380e-03 7.02594341e+01] [-5.06481925e-01 8.62249041e-01 1.62817908e-03 -2.23222473e+01] [ 3.07381018e-03 -8.27395393e-05 9.99995272e-01 -1.11949982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.777628 meters 0.016545807440961395 Centerline is valid? [True, True] Translation: X:70.29, Y:-22.34, Z:-0.11 [[ 8.62454956e-01 5.06124928e-01 -3.00092561e-03 7.02873451e+01] [-5.06121468e-01 8.62460172e-01 1.87403264e-03 -2.23372865e+01] [ 3.53667345e-03 -9.74358626e-05 9.99993741e-01 -1.12206412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80762800000001 meters 0.016863627414157596 Centerline is valid? [True, True] Translation: X:70.31, Y:-22.35, Z:-0.11 [[ 8.62749794e-01 5.05620024e-01 -3.34435570e-03 7.03144985e+01] [-5.05615719e-01 8.62756268e-01 2.08959023e-03 -2.23538284e+01] [ 3.94190251e-03 -1.11834727e-04 9.99992224e-01 -1.12862274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83762800000001 meters 0.017774644475433792 Centerline is valid? [True, True] Translation: X:70.34, Y:-22.37, Z:-0.11 [[ 8.63124942e-01 5.04976881e-01 -3.69924031e-03 7.03404711e+01] [-5.04971603e-01 8.63132859e-01 2.31241195e-03 -2.23711805e+01] [ 4.36065044e-03 -1.27889125e-04 9.99990484e-01 -1.13743003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86762800000001 meters 0.017981214642307536 Centerline is valid? [True, True] Translation: X:70.37, Y:-22.39, Z:-0.11 [[ 8.64711538e-01 5.02249503e-01 -4.40382944e-03 7.03682393e+01] [-5.02241986e-01 8.64722735e-01 2.75295079e-03 -2.23877875e+01] [ 5.19075961e-03 -1.68720268e-04 9.99986514e-01 -1.14323409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89762800000001 meters 0.01807630741420605 Centerline is valid? [True, True] Translation: X:70.40, Y:-22.40, Z:-0.11 [[ 8.65236503e-01 5.01346092e-01 -4.22970547e-03 7.03952407e+01] [-5.01339139e-01 8.65246825e-01 2.64585708e-03 -2.24049894e+01] [ 4.98622934e-03 -1.68775227e-04 9.99987554e-01 -1.14629434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92762800000001 meters 0.021193787646866972 Centerline is valid? [True, True] Translation: X:70.42, Y:-22.42, Z:-0.12 [[ 8.66039684e-01 4.99950337e-01 -4.99272830e-03 7.04202283e+01] [-4.99940616e-01 8.66054050e-01 3.12463358e-03 -2.24230272e+01] [ 5.88613417e-03 -2.09989011e-04 9.99982655e-01 -1.17640823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95762800000001 meters 0.01978001033341099 Centerline is valid? [True, True] Translation: X:70.45, Y:-22.44, Z:-0.12 [[ 8.66142560e-01 4.99775592e-01 -4.62853827e-03 7.04481267e+01] [-4.99767227e-01 8.66154904e-01 2.89830977e-03 -2.24396632e+01] [ 5.45753560e-03 -1.97157701e-04 9.99985088e-01 -1.15369816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.987628 meters 0.019188126616949443 Centerline is valid? [True, True] Translation: X:70.48, Y:-22.46, Z:-0.12 [[ 8.65584638e-01 5.00737170e-01 -5.05191767e-03 7.04760153e+01] [-5.00727211e-01 8.65599355e-01 3.16509400e-03 -2.24551725e+01] [ 5.95781689e-03 -2.10024101e-04 9.99982230e-01 -1.15631098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.017628 meters 0.01950665144244372 Centerline is valid? [True, True] Translation: X:70.50, Y:-22.47, Z:-0.12 [[ 8.64472775e-01 5.02651057e-01 -5.36057522e-03 7.05023531e+01] [-5.02639870e-01 8.64489370e-01 3.36008855e-03 -2.24712039e+01] [ 6.32311236e-03 -2.10266242e-04 9.99979987e-01 -1.17046493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.047628 meters 0.018311374396820748 Centerline is valid? [True, True] Translation: X:70.53, Y:-22.49, Z:-0.12 [[ 8.63730267e-01 5.03932789e-01 -4.66593320e-03 7.05306219e+01] [-5.03924323e-01 8.63742851e-01 2.92632291e-03 -2.24869019e+01] [ 5.50483651e-03 -1.76276436e-04 9.99984833e-01 -1.16622636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.077628 meters 0.019044542473124752 Centerline is valid? [True, True] Translation: X:70.56, Y:-22.50, Z:-0.12 [[ 8.62727156e-01 5.05648706e-01 -4.60874954e-03 7.05563957e+01] [-5.05640467e-01 8.62739451e-01 2.89117195e-03 -2.25048269e+01] [ 5.43806740e-03 -1.63922284e-04 9.99985200e-01 -1.17174132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.107628 meters 0.016729364833708807 Centerline is valid? [True, True] Translation: X:70.59, Y:-22.52, Z:-0.12 [[ 8.61776842e-01 5.07261113e-01 -5.18060075e-03 7.05851225e+01] [-5.07250720e-01 8.61792396e-01 3.25184609e-03 -2.25186584e+01] [ 6.11413740e-03 -1.74502196e-04 9.99981293e-01 -1.16988024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.137628 meters 0.015836713284586735 Centerline is valid? [True, True] Translation: X:70.61, Y:-22.53, Z:-0.12 [[ 8.59510012e-01 5.11080013e-01 -6.30558385e-03 7.06119387e+01] [-5.11064705e-01 8.59533122e-01 3.95966412e-03 -2.25344413e+01] [ 7.44356336e-03 -1.80809604e-04 9.99972280e-01 -1.18445401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16762800000001 meters 0.01504111664729112 Centerline is valid? [True, True] Translation: X:70.64, Y:-22.55, Z:-0.12 [[ 8.58154009e-01 5.13346496e-01 -6.86090710e-03 7.06396093e+01] [-5.13328427e-01 8.58181416e-01 4.31080232e-03 -2.25507524e+01] [ 8.10083824e-03 -1.77433648e-04 9.99967172e-01 -1.18350233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19762800000001 meters 0.015295986517686402 Centerline is valid? [True, True] Translation: X:70.67, Y:-22.57, Z:-0.12 [[ 8.56697959e-01 5.15770056e-01 -7.06085556e-03 7.06655551e+01] [-5.15750990e-01 8.56727042e-01 4.43763629e-03 -2.25683595e+01] [ 8.33802582e-03 -1.60070704e-04 9.99965225e-01 -1.19442350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22762800000001 meters 0.014315527018672313 Centerline is valid? [True, True] Translation: X:70.69, Y:-22.58, Z:-0.12 [[ 8.55063857e-01 5.18477134e-01 -6.87474219e-03 7.06931866e+01] [-5.18459126e-01 8.55091483e-01 4.32316619e-03 -2.25846861e+01] [ 8.11999631e-03 -1.32310324e-04 9.99967024e-01 -1.18677498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25762800000001 meters 0.013042469701351068 Centerline is valid? [True, True] Translation: X:70.72, Y:-22.60, Z:-0.12 [[ 8.51669615e-01 5.24044110e-01 -6.05288656e-03 7.07201283e+01] [-5.24030279e-01 8.51691121e-01 3.80812902e-03 -2.26000274e+01] [ 7.15081733e-03 -7.13719486e-05 9.99974430e-01 -1.17755686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28762800000001 meters 0.012696027805661843 Centerline is valid? [True, True] Translation: X:70.75, Y:-22.62, Z:-0.12 [[ 8.49947496e-01 5.26831145e-01 -6.18050406e-03 7.07465429e+01] [-5.26816783e-01 8.49969965e-01 3.89040510e-03 -2.26161692e+01] [ 7.30282939e-03 -5.06468073e-05 9.99973333e-01 -1.17923580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31762800000001 meters 0.012291646476619974 Centerline is valid? [True, True] Translation: X:70.77, Y:-22.63, Z:-0.12 [[ 8.46621568e-01 5.32154621e-01 -6.58641876e-03 7.07742014e+01] [-5.32138453e-01 8.46647187e-01 4.14814891e-03 -2.26323484e+01] [ 7.78382952e-03 -7.02564384e-06 9.99969706e-01 -1.19067271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34762800000001 meters 0.012255973466877955 Centerline is valid? [True, True] Translation: X:70.80, Y:-22.65, Z:-0.12 [[ 8.45182368e-01 5.34437188e-01 -6.60739041e-03 7.08022274e+01] [-5.34420966e-01 8.45208195e-01 4.16401028e-03 -2.26502443e+01] [ 7.81002246e-03 1.17798974e-05 9.99969501e-01 -1.19550795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.377628 meters 0.012385648826030696 Centerline is valid? [True, True] Translation: X:70.83, Y:-22.67, Z:-0.12 [[ 8.44110933e-01 5.36131117e-01 -6.33705637e-03 7.08286420e+01] [-5.36116225e-01 8.44134720e-01 3.99595914e-03 -2.26677450e+01] [ 7.49168734e-03 2.43659440e-05 9.99971937e-01 -1.19743382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.407628 meters 0.012410253943428165 Centerline is valid? [True, True] Translation: X:70.85, Y:-22.69, Z:-0.12 [[ 8.43343040e-01 5.37349759e-01 -5.26809880e-03 7.08533942e+01] [-5.37339479e-01 8.43359494e-01 3.32386643e-03 -2.26876095e+01] [ 6.22897996e-03 2.75978472e-05 9.99980599e-01 -1.18412160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.437628 meters 0.012293941174262805 Centerline is valid? [True, True] Translation: X:70.88, Y:-22.71, Z:-0.12 [[ 8.43412440e-01 5.37250054e-01 -4.22312201e-03 7.08793215e+01] [-5.37243440e-01 8.43423013e-01 2.66607987e-03 -2.27070887e+01] [ 4.99422985e-03 2.02396643e-05 9.99987529e-01 -1.17050627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.467628 meters 0.012328746389818984 Centerline is valid? [True, True] Translation: X:70.91, Y:-22.72, Z:-0.12 [[ 8.43364466e-01 5.37331222e-01 -3.39635886e-03 7.09057544e+01] [-5.37326939e-01 8.43371304e-01 2.14550436e-03 -2.27245773e+01] [ 4.01723808e-03 1.55129745e-05 9.99991931e-01 -1.16406579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497628 meters 0.012343226795140312 Centerline is valid? [True, True] Translation: X:70.93, Y:-22.74, Z:-0.12 [[ 8.42796387e-01 5.38225550e-01 -2.73999300e-03 7.09346508e+01] [-5.38222763e-01 8.42800841e-01 1.73199559e-03 -2.27407287e+01] [ 3.24147269e-03 1.50069784e-05 9.99994746e-01 -1.15884465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.527628 meters 0.01229330467508832 Centerline is valid? [True, True] Translation: X:70.96, Y:-22.76, Z:-0.12 [[ 8.42759711e-01 5.38281575e-01 -3.00238046e-03 7.09626341e+01] [-5.38278226e-01 8.42765059e-01 1.89901392e-03 -2.27587847e+01] [ 3.55250555e-03 1.57035984e-05 9.99993690e-01 -1.15358727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55762800000001 meters 0.01222493892526225 Centerline is valid? [True, True] Translation: X:70.99, Y:-22.78, Z:-0.12 [[ 8.43801387e-01 5.36641654e-01 -3.86719747e-03 7.09903221e+01] [-5.36636073e-01 8.43810249e-01 2.44740512e-03 -2.27769026e+01] [ 4.57656039e-03 1.01538296e-05 9.99989527e-01 -1.15597595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58762800000001 meters 0.01222493892526225 Centerline is valid? [True, True] Translation: X:71.02, Y:-22.79, Z:-0.12 [[ 8.43649816e-01 5.36879910e-01 -3.86650597e-03 7.10176569e+01] [-5.36874327e-01 8.43658676e-01 2.44849754e-03 -2.27942843e+01] [ 4.57656045e-03 1.01532872e-05 9.99989527e-01 -1.15643988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61762800000001 meters 0.012408648756688838 Centerline is valid? [True, True] Translation: X:71.04, Y:-22.81, Z:-0.12 [[ 8.46203116e-01 5.32839618e-01 -4.71459283e-03 7.10437193e+01] [-5.32831245e-01 8.46216250e-01 2.98715389e-03 -2.28129489e+01] [ 5.58123900e-03 -1.56565668e-05 9.99984425e-01 -1.18463352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64762800000001 meters 0.012445177738353052 Centerline is valid? [True, True] Translation: X:71.07, Y:-22.83, Z:-0.12 [[ 8.47987526e-01 5.29991595e-01 -5.10537870e-03 7.10696520e+01] [-5.29981714e-01 8.48002894e-01 3.23646558e-03 -2.28311329e+01] [ 6.04467547e-03 -3.87250872e-05 9.99981730e-01 -1.18081054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67762800000001 meters 0.013420249085720122 Centerline is valid? [True, True] Translation: X:71.09, Y:-22.85, Z:-0.12 [[ 8.51145613e-01 5.24905526e-01 -5.03344607e-03 7.10942992e+01] [-5.24895823e-01 8.51160492e-01 3.19244683e-03 -2.28499837e+01] [ 5.96000342e-03 -7.52022995e-05 9.99982236e-01 -1.18497586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70762800000001 meters 0.014094781689007841 Centerline is valid? [True, True] Translation: X:71.12, Y:-22.87, Z:-0.12 [[ 8.52715394e-01 5.22353495e-01 -4.82526425e-03 7.11200198e+01] [-5.22344533e-01 8.52729042e-01 3.06113394e-03 -2.28682149e+01] [ 5.71363697e-03 -8.98256340e-05 9.99983673e-01 -1.18392948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.737628 meters 0.015515715899138657 Centerline is valid? [True, True] Translation: X:71.15, Y:-22.89, Z:-0.12 [[ 8.56551312e-01 5.16043205e-01 -4.38856040e-03 7.11453434e+01] [-5.16035701e-01 8.56562546e-01 2.78562989e-03 -2.28875067e+01] [ 5.19658185e-03 -1.21381092e-04 9.99986490e-01 -1.16858739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.767628 meters 0.01641700001712039 Centerline is valid? [True, True] Translation: X:71.17, Y:-22.91, Z:-0.12 [[ 8.58694339e-01 5.12469914e-01 -4.31494607e-03 7.11712521e+01] [-5.12462607e-01 8.58705169e-01 2.74030528e-03 -2.29057185e+01] [ 5.10959051e-03 -1.41836114e-04 9.99986936e-01 -1.16396960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.797628 meters 0.018161441564273708 Centerline is valid? [True, True] Translation: X:71.20, Y:-22.92, Z:-0.12 [[ 8.61004652e-01 5.08580746e-01 -4.07589717e-03 7.11959609e+01] [-5.08574177e-01 8.61014285e-01 2.58976198e-03 -2.29244475e+01] [ 4.82650877e-03 -1.56901066e-04 9.99988340e-01 -1.16408690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.827628 meters 0.019765784869437208 Centerline is valid? [True, True] Translation: X:71.22, Y:-22.94, Z:-0.12 [[ 8.63416986e-01 5.04477049e-01 -3.74375895e-03 7.12218821e+01] [-5.04471468e-01 8.63425086e-01 2.37882510e-03 -2.29435953e+01] [ 4.43251807e-03 -1.65298426e-04 9.99990163e-01 -1.16430040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857628 meters 0.023186569530890783 Centerline is valid? [True, True] Translation: X:71.25, Y:-22.96, Z:-0.12 [[ 8.67277058e-01 4.97817827e-01 -2.81329928e-03 7.12460615e+01] [-4.97814637e-01 8.67281608e-01 1.78864086e-03 -2.29632230e+01] [ 3.33034003e-03 -1.50745622e-04 9.99994443e-01 -1.16079730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.887628 meters 0.022634932053153197 Centerline is valid? [True, True] Translation: X:71.27, Y:-22.98, Z:-0.12 [[ 8.68764651e-01 4.95220621e-01 -2.12553357e-03 7.12735479e+01] [-4.95218790e-01 8.68767243e-01 1.35215203e-03 -2.29789628e+01] [ 2.51620751e-03 -1.22097723e-04 9.99996827e-01 -1.15385023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91762800000001 meters 0.022683026081032336 Centerline is valid? [True, True] Translation: X:71.30, Y:-23.00, Z:-0.11 [[ 8.70034539e-01 4.92987960e-01 -1.66493741e-03 7.13006164e+01] [-4.92986832e-01 8.70036127e-01 1.05911931e-03 -2.29957304e+01] [ 1.97068877e-03 -1.00678159e-04 9.99998053e-01 -1.14805488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94762800000001 meters 0.02377873050515582 Centerline is valid? [True, True] Translation: X:71.33, Y:-23.01, Z:-0.11 [[ 8.71820591e-01 4.89821170e-01 -2.01980203e-03 7.13277985e+01] [-4.89819501e-01 8.71822920e-01 1.28511547e-03 -2.30123935e+01] [ 2.39038647e-03 -1.31051706e-04 9.99997134e-01 -1.14311132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97762800000001 meters 0.02526884863745737 Centerline is valid? [True, True] Translation: X:71.35, Y:-23.03, Z:-0.11 [[ 8.72192314e-01 4.89157216e-01 -2.40539025e-03 7.13535001e+01] [-4.89154846e-01 8.72195616e-01 1.53101956e-03 -2.30292091e+01] [ 2.84688010e-03 -1.58735194e-04 9.99995935e-01 -1.14798689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00762800000001 meters 0.025633149945234274 Centerline is valid? [True, True] Translation: X:71.38, Y:-23.04, Z:-0.12 [[ 8.72280069e-01 4.89001293e-01 -2.28417336e-03 7.13810857e+01] [-4.88999153e-01 8.72283046e-01 1.45481081e-03 -2.30447971e+01] [ 2.70385007e-03 -1.52043636e-04 9.99996333e-01 -1.15517955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03762800000001 meters 0.026160742005167808 Centerline is valid? [True, True] Translation: X:71.41, Y:-23.06, Z:-0.12 [[ 8.71634004e-01 4.90146692e-01 -3.22237636e-03 7.14095638e+01] [-4.90142439e-01 8.71639935e-01 2.05263979e-03 -2.30583481e+01] [ 3.81484653e-03 -2.09727233e-04 9.99992701e-01 -1.16572931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06762800000001 meters 0.027269763793693738 Centerline is valid? [True, True] Translation: X:71.44, Y:-23.07, Z:-0.12 [[ 8.71092380e-01 4.91109960e-01 -3.01220784e-03 7.14365456e+01] [-4.91106245e-01 8.71097566e-01 1.91994652e-03 -2.30747071e+01] [ 3.56683178e-03 -1.93136704e-04 9.99993620e-01 -1.16734194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09762800000001 meters 0.026996959819023683 Centerline is valid? [True, True] Translation: X:71.46, Y:-23.09, Z:-0.12 [[ 8.70517813e-01 4.92127367e-01 -3.06456956e-03 7.14649094e+01] [-4.92123525e-01 8.70523186e-01 1.95431605e-03 -2.30896128e+01] [ 3.62955127e-03 -1.93120162e-04 9.99993395e-01 -1.16750809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.127628 meters 0.027055010108400796 Centerline is valid? [True, True] Translation: X:71.50, Y:-23.10, Z:-0.12 [[ 8.69812523e-01 4.93367623e-01 -3.81629576e-03 7.14958716e+01] [-4.93361671e-01 8.69820863e-01 2.43488434e-03 -2.31003914e+01] [ 4.52078677e-03 -2.35078836e-04 9.99989754e-01 -1.19560534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.157628 meters 0.025716076262807783 Centerline is valid? [True, True] Translation: X:71.52, Y:-23.12, Z:-0.12 [[ 8.69101001e-01 4.94628226e-01 -2.52355908e-03 7.15229622e+01] [-4.94625626e-01 8.69104651e-01 1.61096969e-03 -2.31153426e+01] [ 2.99006801e-03 -1.51878385e-04 9.99995518e-01 -1.16712494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.187628 meters 0.025308114036523523 Centerline is valid? [True, True] Translation: X:71.55, Y:-23.13, Z:-0.12 [[ 8.68361814e-01 4.95927689e-01 -1.86755955e-03 7.15514485e+01] [-4.95926267e-01 8.68363815e-01 1.19293849e-03 -2.31300126e+01] [ 2.21333236e-03 -1.09730392e-04 9.99997545e-01 -1.15937879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.217628 meters 0.02134881541447372 Centerline is valid? [True, True] Translation: X:71.58, Y:-23.14, Z:-0.11 [[ 8.67008174e-01 4.98293915e-01 -1.92446341e-05 7.15836097e+01] [-4.98293915e-01 8.67008174e-01 1.23798535e-05 -2.31387484e+01] [ 2.28540607e-05 -1.14395010e-06 1.00000000e+00 -1.13505778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.247628 meters 0.021107208712172133 Centerline is valid? [True, True] Translation: X:71.61, Y:-23.15, Z:-0.11 [[ 8.66084097e-01 4.99897627e-01 8.36951151e-04 7.16125112e+01] [-4.99897343e-01 8.66084500e-01 -5.34457685e-04 -2.31538721e+01] [-9.92044547e-04 4.44956446e-05 9.99999507e-01 -1.12740162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.277628 meters 0.021107208712172133 Centerline is valid? [True, True] Translation: X:71.64, Y:-23.17, Z:-0.11 [[ 8.65943657e-01 5.00140863e-01 8.36949864e-04 7.16398074e+01] [-5.00140579e-01 8.65944060e-01 -5.34459731e-04 -2.31713843e+01] [-9.92056915e-04 4.42194244e-05 9.99999507e-01 -1.12786483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30762800000001 meters 0.020870456869910223 Centerline is valid? [True, True] Translation: X:71.67, Y:-23.19, Z:-0.11 [[ 8.64753914e-01 5.02194275e-01 1.25615952e-03 7.16675327e+01] [-5.02193637e-01 8.64754824e-01 -8.02888416e-04 -2.31856139e+01] [-1.48947597e-03 6.34655845e-05 9.99998889e-01 -1.12299063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33762800000001 meters 0.022990765607275063 Centerline is valid? [True, True] Translation: X:71.69, Y:-23.20, Z:-0.11 [[ 8.63381157e-01 5.04550003e-01 1.50728910e-03 7.16931033e+01] [-5.04549087e-01 8.63382470e-01 -9.63840898e-04 -2.32025708e+01] [-1.78767291e-03 7.16607315e-05 9.99998400e-01 -1.12032747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36762800000001 meters 0.021043970113930686 Centerline is valid? [True, True] Translation: X:71.72, Y:-23.21, Z:-0.11 [[ 8.59614754e-01 5.10941328e-01 1.19762618e-03 7.17236541e+01] [-5.10940756e-01 8.59615587e-01 -7.65876434e-04 -2.32112758e+01] [-1.42081606e-03 4.64426559e-05 9.99998990e-01 -1.13373300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39762800000001 meters 0.017039863513024504 Centerline is valid? [True, True] Translation: X:71.76, Y:-23.22, Z:-0.11 [[ 8.57145288e-01 5.15074450e-01 5.15474630e-04 7.17553078e+01] [-5.15074345e-01 8.57145443e-01 -3.29591121e-04 -2.32195433e+01] [-6.11600696e-04 1.69997186e-05 9.99999813e-01 -1.14632086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42762800000001 meters 0.014297173942558167 Centerline is valid? [True, True] Translation: X:71.79, Y:-23.23, Z:-0.12 [[ 8.51899598e-01 5.23704705e-01 -6.75741459e-04 7.17875884e+01] [-5.23704527e-01 8.51899866e-01 4.32359760e-04 -2.32271364e+01] [ 8.02092899e-04 -1.44382445e-05 9.99999678e-01 -1.17013474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45762800000001 meters 0.013173100731415964 Centerline is valid? [True, True] Translation: X:71.82, Y:-23.24, Z:-0.12 [[ 8.49154989e-01 5.28142316e-01 -1.22455657e-03 7.18177534e+01] [-5.28141734e-01 8.49155872e-01 7.83686120e-04 -2.32402549e+01] [ 1.45373720e-03 -1.87315471e-05 9.99998943e-01 -1.17678815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.487628 meters 0.012369282578979101 Centerline is valid? [True, True] Translation: X:71.85, Y:-23.25, Z:-0.12 [[ 8.46472543e-01 5.32429255e-01 -1.82252982e-03 7.18478452e+01] [-5.32427976e-01 8.46474505e-01 1.16721372e-03 -2.32534040e+01] [ 2.16418376e-03 -1.76485067e-05 9.99997658e-01 -1.18456268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.517628 meters 0.011971880002509329 Centerline is valid? [True, True] Translation: X:71.88, Y:-23.26, Z:-0.12 [[ 8.41546973e-01 5.40177215e-01 -2.69620289e-03 7.18783298e+01] [-5.40174453e-01 8.41551292e-01 1.72738372e-03 -2.32636988e+01] [ 3.20208635e-03 2.74538465e-06 9.99994873e-01 -1.19725007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.547628 meters 0.012093793449789765 Centerline is valid? [True, True] Translation: X:71.91, Y:-23.28, Z:-0.12 [[ 8.39259703e-01 5.43721067e-01 -3.24836639e-03 7.19067759e+01] [-5.43717080e-01 8.39265990e-01 2.08225150e-03 -2.32787907e+01] [ 3.85840744e-03 1.86425066e-05 9.99992556e-01 -1.19760831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.577628 meters 0.01275159695577043 Centerline is valid? [True, True] Translation: X:71.93, Y:-23.29, Z:-0.12 [[ 8.35919283e-01 5.48839966e-01 -3.69369898e-03 7.19349831e+01] [-5.48834856e-01 8.35927443e-01 2.36883301e-03 -2.32918899e+01] [ 4.38777457e-03 4.70775507e-05 9.99990373e-01 -1.20905256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.607628 meters 0.013104076344169867 Centerline is valid? [True, True] Translation: X:71.96, Y:-23.31, Z:-0.12 [[ 8.34848825e-01 5.50470724e-01 -3.06955380e-03 7.19619690e+01] [-5.50467204e-01 8.34854467e-01 1.96904752e-03 -2.33082536e+01] [ 3.64653371e-03 4.58316914e-05 9.99993350e-01 -1.20855690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.637628 meters 0.013323826959583101 Centerline is valid? [True, True] Translation: X:71.99, Y:-23.33, Z:-0.12 [[ 8.34289658e-01 5.51321740e-01 -2.25941218e-03 7.19891245e+01] [-5.51319833e-01 8.34292717e-01 1.45055730e-03 -2.33264663e+01] [ 2.68473490e-03 3.54737895e-05 9.99996395e-01 -1.20364934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66762800000001 meters 0.013021056130775595 Centerline is valid? [True, True] Translation: X:72.02, Y:-23.35, Z:-0.12 [[ 8.34213302e-01 5.51438205e-01 -2.01818610e-03 7.20153685e+01] [-5.51436682e-01 8.34215742e-01 1.29655574e-03 -2.33460939e+01] [ 2.39857298e-03 3.12977958e-05 9.99997123e-01 -1.19633321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69762800000001 meters 0.012548394588831314 Centerline is valid? [True, True] Translation: X:72.04, Y:-23.37, Z:-0.12 [[ 8.36145176e-01 5.48504722e-01 -1.95321999e-03 7.20393749e+01] [-5.48503285e-01 8.36147457e-01 1.25544989e-03 -2.33681227e+01] [ 2.32180013e-03 2.16092114e-05 9.99997304e-01 -1.20534499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72762800000001 meters 0.01215396399798425 Centerline is valid? [True, True] Translation: X:72.06, Y:-23.39, Z:-0.12 [[ 8.37602133e-01 5.46278137e-01 -1.69224474e-03 7.20639909e+01] [-5.46277053e-01 8.37603842e-01 1.08836177e-03 -2.33887274e+01] [ 2.01197894e-03 1.28203320e-05 9.99997976e-01 -1.20376661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75762800000001 meters 0.011878554542108476 Centerline is valid? [True, True] Translation: X:72.09, Y:-23.41, Z:-0.12 [[ 8.39186384e-01 5.43842297e-01 -1.32986292e-03 7.20880801e+01] [-5.43841623e-01 8.39187438e-01 8.55785592e-04 -2.34095419e+01] [ 1.58141666e-03 5.07118971e-06 9.99998750e-01 -1.20162146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78762800000001 meters 0.011959020997113313 Centerline is valid? [True, True] Translation: X:72.11, Y:-23.44, Z:-0.12 [[ 8.42330468e-01 5.38960087e-01 -1.18648364e-03 7.21099959e+01] [-5.38959545e-01 8.42331304e-01 7.64133247e-04 -2.34358423e+01] [ 1.41124963e-03 -4.18603077e-06 9.99999004e-01 -1.19117413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81762800000001 meters 0.012196873594310874 Centerline is valid? [True, True] Translation: X:72.13, Y:-23.46, Z:-0.12 [[ 8.43606327e-01 5.36961100e-01 -1.06906702e-03 7.21345406e+01] [-5.36960658e-01 8.43607004e-01 6.88925443e-04 -2.34569930e+01] [ 1.27179859e-03 -7.13493075e-06 9.99999191e-01 -1.19290077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84762800000001 meters 0.012679248045311111 Centerline is valid? [True, True] Translation: X:72.16, Y:-23.48, Z:-0.12 [[ 8.45983295e-01 5.33204763e-01 -2.22383574e-03 7.21568917e+01] [-5.33202838e-01 8.45986217e-01 1.43325447e-03 -2.34806289e+01] [ 2.64555250e-03 -2.67538108e-05 9.99996500e-01 -1.20769072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.877628 meters 0.01290334620917103 Centerline is valid? [True, True] Translation: X:72.18, Y:-23.50, Z:-0.12 [[ 8.46650654e-01 5.32138818e-01 -3.30880293e-03 7.21818915e+01] [-5.32134543e-01 8.46657118e-01 2.13349922e-03 -2.35014563e+01] [ 3.93673931e-03 -4.56001754e-05 9.99992250e-01 -1.21860514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.907628 meters 0.01325606154201134 Centerline is valid? [True, True] Translation: X:72.21, Y:-23.52, Z:-0.12 [[ 8.47389540e-01 5.30951040e-01 -4.68609437e-03 7.22063395e+01] [-5.30942440e-01 8.47402494e-01 3.02289024e-03 -2.35219143e+01] [ 5.57601477e-03 -7.35191874e-05 9.99984451e-01 -1.22547246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.937628 meters 0.013959461737910156 Centerline is valid? [True, True] Translation: X:72.23, Y:-23.54, Z:-0.12 [[ 8.48007755e-01 5.29949687e-01 -6.01470908e-03 7.22300666e+01] [-5.29935481e-01 8.48029079e-01 3.88177184e-03 -2.35432456e+01] [ 7.15779197e-03 -1.04364880e-04 9.99974377e-01 -1.23911222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.967628 meters 0.015471819529104458 Centerline is valid? [True, True] Translation: X:72.25, Y:-23.57, Z:-0.13 [[ 8.50161149e-01 5.26466502e-01 -7.68389237e-03 7.22534011e+01] [-5.26443170e-01 8.50195855e-01 4.95944733e-03 -2.35665538e+01] [ 9.14379634e-03 -1.71196779e-04 9.99958180e-01 -1.25548187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997628 meters 0.01524777787942644 Centerline is valid? [True, True] Translation: X:72.28, Y:-23.59, Z:-0.12 [[ 8.51314042e-01 5.24606363e-01 -7.25016843e-03 7.22769528e+01] [-5.24585500e-01 8.51344895e-01 4.68215572e-03 -2.35879676e+01] [ 8.62868256e-03 -1.82651681e-04 9.99962756e-01 -1.24791600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.027628 meters 0.01557922930694606 Centerline is valid? [True, True] Translation: X:72.30, Y:-23.61, Z:-0.12 [[ 8.52800655e-01 5.22195383e-01 -6.55930211e-03 7.23013323e+01] [-5.22178217e-01 8.52825859e-01 4.23834842e-03 -2.36086782e+01] [ 7.80718843e-03 -1.89341629e-04 9.99969506e-01 -1.24136603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05762800000001 meters 0.01816865239530228 Centerline is valid? [True, True] Translation: X:72.32, Y:-23.63, Z:-0.12 [[ 8.56372926e-01 5.16328259e-01 -5.52630339e-03 7.23207488e+01] [-5.16315944e-01 8.56390732e-01 3.57207061e-03 -2.36346690e+01] [ 6.57703601e-03 -2.05706011e-04 9.99978350e-01 -1.23113490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08762800000001 meters 0.01877793664401729 Centerline is valid? [True, True] Translation: X:72.34, Y:-23.66, Z:-0.12 [[ 8.58257725e-01 5.13194676e-01 -4.99020187e-03 7.23448761e+01] [-5.13184577e-01 8.58272207e-01 3.22620843e-03 -2.36553869e+01] [ 5.93862456e-03 -2.08023666e-04 9.99982345e-01 -1.22399185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11762800000001 meters 0.019099951197948245 Centerline is valid? [True, True] Translation: X:72.37, Y:-23.68, Z:-0.12 [[ 8.60180457e-01 5.09971297e-01 -4.34256563e-03 7.23692215e+01] [-5.09963600e-01 8.60191395e-01 2.80911518e-03 -2.36756869e+01] [ 5.16800570e-03 -2.01795582e-04 9.99986625e-01 -1.21331478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14762800000001 meters 0.02357626942399236 Centerline is valid? [True, True] Translation: X:72.39, Y:-23.70, Z:-0.12 [[ 8.62977497e-01 5.05238308e-01 -2.02291732e-03 7.23889140e+01] [-5.05236623e-01 8.62979861e-01 1.30917809e-03 -2.37016011e+01] [ 2.40718383e-03 -1.07739311e-04 9.99997097e-01 -1.18820520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17762800000001 meters 0.020199644379715293 Centerline is valid? [True, True] Translation: X:72.42, Y:-23.71, Z:-0.12 [[ 8.62881364e-01 5.05406410e-01 -3.34615047e-04 7.24199099e+01] [-5.05406363e-01 8.62881429e-01 2.17127624e-04 -2.37146093e+01] [ 3.98470803e-04 -1.82388063e-05 9.99999920e-01 -1.17516882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20762800000001 meters 0.021408369221391155 Centerline is valid? [True, True] Translation: X:72.45, Y:-23.73, Z:-0.12 [[ 8.62932123e-01 5.05319340e-01 7.17879155e-04 7.24456963e+01] [-5.05319127e-01 8.62932421e-01 -4.64624804e-04 -2.37324997e+01] [-8.54265096e-04 3.81816002e-05 9.99999634e-01 -1.17360402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.237628 meters 0.023876045645463213 Centerline is valid? [True, True] Translation: X:72.47, Y:-23.75, Z:-0.12 [[ 8.62870447e-01 5.05424934e-01 4.76279803e-04 7.24709839e+01] [-5.05424841e-01 8.62870578e-01 -3.08249941e-04 -2.37527768e+01] [-5.66765035e-04 2.52561209e-05 9.99999839e-01 -1.17680978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.267628 meters 0.022292839303795497 Centerline is valid? [True, True] Translation: X:72.50, Y:-23.77, Z:-0.12 [[ 8.62717290e-01 5.05686471e-01 2.64608735e-04 7.24998420e+01] [-5.05686443e-01 8.62717331e-01 -1.71136303e-04 -2.37684339e+01] [-3.14823855e-04 1.38331978e-05 9.99999950e-01 -1.17936258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.297628 meters 0.02061813049056801 Centerline is valid? [True, True] Translation: X:72.53, Y:-23.78, Z:-0.12 [[ 8.62169505e-01 5.06617910e-01 -1.42771715e-03 7.25293131e+01] [-5.06617068e-01 8.62170684e-01 9.26832023e-04 -2.37823719e+01] [ 1.70048558e-03 -7.57804288e-05 9.99998551e-01 -1.19647134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.327628 meters 0.022086602849872586 Centerline is valid? [True, True] Translation: X:72.56, Y:-23.80, Z:-0.12 [[ 8.61782613e-01 5.07272593e-01 -2.28988010e-03 7.25559273e+01] [-5.07270428e-01 8.61785647e-01 1.48697745e-03 -2.37990947e+01] [ 2.72768871e-03 -1.19862857e-04 9.99996273e-01 -1.21692022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357628 meters 0.023969472910349565 Centerline is valid? [True, True] Translation: X:72.58, Y:-23.82, Z:-0.12 [[ 8.60944236e-01 5.08692343e-01 -2.66889022e-03 7.25811666e+01] [-5.08689408e-01 8.60948362e-01 1.73340218e-03 -2.38167987e+01] [ 3.17954508e-03 -1.34726429e-04 9.99994936e-01 -1.22067210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.387628 meters 0.020063293396668874 Centerline is valid? [True, True] Translation: X:72.61, Y:-23.83, Z:-0.12 [[ 8.60203628e-01 5.09943845e-01 -2.64466307e-03 7.26130280e+01] [-5.09940965e-01 8.60207683e-01 1.71877588e-03 -2.38269741e+01] [ 3.15143867e-03 -1.29875208e-04 9.99995026e-01 -1.22009196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41762800000001 meters 0.01999725374834692 Centerline is valid? [True, True] Translation: X:72.64, Y:-23.84, Z:-0.12 [[ 8.58785035e-01 5.12331770e-01 -2.10266265e-03 7.26420076e+01] [-5.12329955e-01 8.58787604e-01 1.36708479e-03 -2.38389810e+01] [ 2.50614160e-03 -9.67749001e-05 9.99996855e-01 -1.22790678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44762800000001 meters 0.019207458617205023 Centerline is valid? [True, True] Translation: X:72.67, Y:-23.85, Z:-0.12 [[ 8.57831818e-01 5.13928416e-01 -1.46826189e-03 7.26703430e+01] [-5.13927532e-01 8.57833072e-01 9.55316529e-04 -2.38542800e+01] [ 1.75048792e-03 -6.49207027e-05 9.99998466e-01 -1.22509285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47762800000001 meters 0.01901230799426636 Centerline is valid? [True, True] Translation: X:72.70, Y:-23.87, Z:-0.12 [[ 8.56878957e-01 5.15516766e-01 -9.57118638e-04 7.26971717e+01] [-5.15516391e-01 8.56879491e-01 6.22899696e-04 -2.38704398e+01] [ 1.14125057e-03 -4.03392960e-05 9.99999348e-01 -1.21787491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50762800000001 meters 0.018474974561392254 Centerline is valid? [True, True] Translation: X:72.72, Y:-23.88, Z:-0.12 [[ 8.55049786e-01 5.18545554e-01 6.09575558e-04 7.27247077e+01] [-5.18545403e-01 8.55050003e-01 -3.96415857e-04 -2.38841335e+01] [-7.26777263e-04 2.28626903e-05 9.99999736e-01 -1.20374671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53762800000001 meters 0.018170458365697837 Centerline is valid? [True, True] Translation: X:72.75, Y:-23.90, Z:-0.12 [[ 8.53972532e-01 5.20315766e-01 1.55485105e-03 7.27519408e+01] [-5.20314785e-01 8.53973946e-01 -1.01203261e-03 -2.38986568e+01] [-1.85437881e-03 5.52360664e-05 9.99998279e-01 -1.20174402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56762800000001 meters 0.01621278575981482 Centerline is valid? [True, True] Translation: X:72.78, Y:-23.91, Z:-0.12 [[ 8.51646999e-01 5.24109710e-01 2.52988849e-03 7.27831013e+01] [-5.24107127e-01 8.51650753e-01 -1.64737926e-03 -2.39093437e+01] [-3.01798891e-03 7.70530139e-05 9.99995443e-01 -1.20898231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59762800000001 meters 0.015834265725581612 Centerline is valid? [True, True] Translation: X:72.81, Y:-23.92, Z:-0.12 [[ 8.50052378e-01 5.26692501e-01 2.44199200e-03 7.28109592e+01] [-5.26690103e-01 8.50055883e-01 -1.59065355e-03 -2.39241953e+01] [-2.91361496e-03 6.59658137e-05 9.99995753e-01 -1.21585847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.627628 meters 0.01485302146637155 Centerline is valid? [True, True] Translation: X:72.84, Y:-23.94, Z:-0.12 [[ 8.48153971e-01 5.29742967e-01 2.68896995e-03 7.28399572e+01] [-5.29740072e-01 8.48158231e-01 -1.75248063e-03 -2.39389940e+01] [-3.20903629e-03 6.19182697e-05 9.99994849e-01 -1.22099732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.657628 meters 0.013969256497967228 Centerline is valid? [True, True] Translation: X:72.87, Y:-23.95, Z:-0.12 [[ 8.45900011e-01 5.33336368e-01 2.34288303e-03 7.28673460e+01] [-5.33334182e-01 8.45903255e-01 -1.52763369e-03 -2.39536969e+01] [-2.79659499e-03 4.26857506e-05 9.99996089e-01 -1.22148421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.687628 meters 0.012264553377650702 Centerline is valid? [True, True] Translation: X:72.90, Y:-23.96, Z:-0.12 [[ 8.41058962e-01 5.40941919e-01 1.28975386e-03 7.28972994e+01] [-5.40941265e-01 8.41059951e-01 -8.41179075e-04 -2.39647211e+01] [-1.53978934e-03 9.80011561e-06 9.99998814e-01 -1.22522105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.717628 meters 0.01181325442072371 Centerline is valid? [True, True] Translation: X:72.93, Y:-23.98, Z:-0.12 [[ 8.38362957e-01 5.45111728e-01 8.69304882e-04 7.29263134e+01] [-5.45111433e-01 8.38363408e-01 -5.66975313e-04 -2.39780996e+01] [-1.03785830e-03 1.46307008e-06 9.99999461e-01 -1.23644050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.747628 meters 0.011840066175331766 Centerline is valid? [True, True] Translation: X:72.96, Y:-23.99, Z:-0.13 [[ 8.35678508e-01 5.49218777e-01 4.07833594e-04 7.29560640e+01] [-5.49218713e-01 8.35678607e-01 -2.65902860e-04 -2.39918168e+01] [-4.86856654e-04 -1.78053586e-06 9.99999881e-01 -1.25466113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.777628 meters 0.013039125203305977 Centerline is valid? [True, True] Translation: X:72.99, Y:-24.00, Z:-0.13 [[ 8.31480096e-01 5.55552700e-01 -1.43062622e-03 7.29855678e+01] [-5.55551914e-01 8.31481327e-01 9.34675735e-04 -2.40033156e+01] [ 1.70880061e-03 1.76228631e-05 9.99998540e-01 -1.28417585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80762800000001 meters 0.013719083054699138 Centerline is valid? [True, True] Translation: X:73.01, Y:-24.02, Z:-0.13 [[ 8.29831308e-01 5.58010458e-01 -2.08059157e-03 7.30137178e+01] [-5.58008802e-01 8.29833915e-01 1.36009072e-03 -2.40195656e+01] [ 2.48549030e-03 3.23425439e-05 9.99996911e-01 -1.29433782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83762800000001 meters 0.013091425284494017 Centerline is valid? [True, True] Translation: X:73.04, Y:-24.04, Z:-0.13 [[ 8.28683762e-01 5.59710946e-01 -2.62282064e-03 7.30390652e+01] [-5.59708319e-01 8.28687912e-01 1.71542577e-03 -2.40389364e+01] [ 3.13364234e-03 4.64690520e-05 9.99995089e-01 -1.29443263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86762800000001 meters 0.013806435163209878 Centerline is valid? [True, True] Translation: X:73.06, Y:-24.06, Z:-0.13 [[ 8.27693146e-01 5.61168826e-01 -3.68846873e-03 7.30644455e+01] [-5.61163641e-01 8.27701361e-01 2.41341237e-03 -2.40577414e+01] [ 4.40728238e-03 7.22696655e-05 9.99990285e-01 -1.30264283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89762800000001 meters 0.013380925534268532 Centerline is valid? [True, True] Translation: X:73.09, Y:-24.08, Z:-0.13 [[ 8.27625605e-01 5.61264625e-01 -4.22832097e-03 7.30904488e+01] [-5.61257803e-01 8.27636402e-01 2.76840602e-03 -2.40777985e+01] [ 5.05332072e-03 8.19744293e-05 9.99987229e-01 -1.30025152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92762800000001 meters 0.013465016011443355 Centerline is valid? [True, True] Translation: X:73.11, Y:-24.10, Z:-0.13 [[ 8.28271128e-01 5.60305637e-01 -4.95306597e-03 7.31144718e+01] [-5.60296250e-01 8.28285932e-01 3.24436709e-03 -2.40970328e+01] [ 5.92039203e-03 8.79687074e-05 9.99982470e-01 -1.31662539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95762800000001 meters 0.013185926541559317 Centerline is valid? [True, True] Translation: X:73.14, Y:-24.12, Z:-0.13 [[ 8.28669643e-01 5.59711682e-01 -5.42734388e-03 7.31396188e+01] [-5.59700387e-01 8.28687411e-01 3.55690409e-03 -2.41172603e+01] [ 6.48841231e-03 9.01880278e-05 9.99978946e-01 -1.32495670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.987628 meters 0.012719470081476966 Centerline is valid? [True, True] Translation: X:73.16, Y:-24.14, Z:-0.13 [[ 8.29280809e-01 5.58799078e-01 -6.07709405e-03 7.31641104e+01] [-5.58784877e-01 8.29303070e-01 3.98485152e-03 -2.41380116e+01] [ 7.26648411e-03 9.12273614e-05 9.99973595e-01 -1.32893191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.017628 meters 0.012645250303365583 Centerline is valid? [True, True] Translation: X:73.19, Y:-24.16, Z:-0.13 [[ 8.30417110e-01 5.57101667e-01 -6.71982173e-03 7.31864617e+01] [-5.57084230e-01 8.30444295e-01 4.40842631e-03 -2.41607426e+01] [ 8.03637926e-03 8.26740780e-05 9.99967704e-01 -1.33858336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.047628 meters 0.012378744129096292 Centerline is valid? [True, True] Translation: X:73.21, Y:-24.18, Z:-0.13 [[ 8.30783297e-01 5.56551773e-01 -7.01696089e-03 7.32119070e+01] [-5.56532717e-01 8.30812926e-01 4.60626426e-03 -2.41826987e+01] [ 8.39340635e-03 7.83609026e-05 9.99964772e-01 -1.33182134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.077628 meters 0.012524266325291059 Centerline is valid? [True, True] Translation: X:73.24, Y:-24.20, Z:-0.13 [[ 8.31121235e-01 5.56042315e-01 -7.37816329e-03 7.32366070e+01] [-5.56021211e-01 8.31153980e-01 4.84501823e-03 -2.42035298e+01] [ 8.82642493e-03 7.56177596e-05 9.99961043e-01 -1.33244504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.107628 meters 0.012489803688564541 Centerline is valid? [True, True] Translation: X:73.26, Y:-24.23, Z:-0.13 [[ 8.31709525e-01 5.55150714e-01 -8.18233920e-03 7.32595776e+01] [-5.55124697e-01 8.31749770e-01 5.37509183e-03 -2.42260838e+01] [ 9.78964481e-03 7.17035006e-05 9.99952078e-01 -1.34222796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.137628 meters 0.012330783696971983 Centerline is valid? [True, True] Translation: X:73.29, Y:-24.25, Z:-0.13 [[ 8.31717516e-01 5.55139019e-01 -8.16356786e-03 7.32851839e+01] [-5.55113086e-01 8.31757576e-01 5.36626333e-03 -2.42467712e+01] [ 9.76913158e-03 6.84881443e-05 9.99952279e-01 -1.33429968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16762800000001 meters 0.012597956384205102 Centerline is valid? [True, True] Translation: X:73.31, Y:-24.27, Z:-0.13 [[ 8.31268771e-01 5.55808481e-01 -8.31645276e-03 7.33092305e+01] [-5.55781570e-01 8.31310367e-01 5.46985951e-03 -2.42679120e+01] [ 9.95374770e-03 7.52077813e-05 9.99950457e-01 -1.33518106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19762800000001 meters 0.012597956384205102 Centerline is valid? [True, True] Translation: X:73.34, Y:-24.29, Z:-0.13 [[ 8.31115312e-01 5.56037948e-01 -8.31493282e-03 7.33362557e+01] [-5.56011026e-01 8.31156901e-01 5.47216985e-03 -2.42857844e+01] [ 9.95374789e-03 7.51901746e-05 9.99950457e-01 -1.33564495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22762800000001 meters 0.012789635123506067 Centerline is valid? [True, True] Translation: X:73.36, Y:-24.30, Z:-0.13 [[ 8.30249452e-01 5.57329349e-01 -8.35722646e-03 7.33615169e+01] [-5.57302192e-01 8.30291508e-01 5.50257261e-03 -2.43034657e+01] [ 1.00056794e-02 8.89927267e-05 9.99949938e-01 -1.33094224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25762800000001 meters 0.012902853264260189 Centerline is valid? [True, True] Translation: X:73.39, Y:-24.32, Z:-0.13 [[ 8.28728649e-01 5.59591754e-01 -8.11765709e-03 7.33884081e+01] [-5.59566213e-01 8.28768398e-01 5.34751708e-03 -2.43200661e+01] [ 9.72008412e-03 1.10726036e-04 9.99952753e-01 -1.31437067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28762800000001 meters 0.013215306506921688 Centerline is valid? [True, True] Translation: X:73.42, Y:-24.34, Z:-0.13 [[ 8.27570766e-01 5.61296572e-01 -8.53141986e-03 7.34167441e+01] [-5.61268421e-01 8.27614729e-01 5.62311266e-03 -2.43361249e+01] [ 1.02169626e-02 1.34892898e-04 9.99947796e-01 -1.31334784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31762800000001 meters 0.01369541408672308 Centerline is valid? [True, True] Translation: X:73.44, Y:-24.35, Z:-0.13 [[ 8.26661955e-01 5.62625918e-01 -9.06028293e-03 7.34449257e+01] [-5.62594233e-01 8.26711589e-01 5.97304572e-03 -2.43491193e+01] [ 1.08508312e-02 1.59573279e-04 9.99941115e-01 -1.32094441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34762800000001 meters 0.013676808325842777 Centerline is valid? [True, True] Translation: X:73.47, Y:-24.37, Z:-0.13 [[ 8.26657075e-01 5.62631398e-01 -9.16460034e-03 7.34737536e+01] [-5.62598937e-01 8.26707860e-01 6.04571731e-03 -2.43656988e+01] [ 1.09779575e-02 1.58259421e-04 9.99939728e-01 -1.32513981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.377628 meters 0.01347032836099978 Centerline is valid? [True, True] Translation: X:73.50, Y:-24.38, Z:-0.13 [[ 8.26898565e-01 5.62271206e-01 -9.47916259e-03 7.35018925e+01] [-5.62236413e-01 8.26952880e-01 6.25699862e-03 -2.43827690e+01] [ 1.13569510e-02 1.55627194e-04 9.99935496e-01 -1.32517053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.407628 meters 0.012864008893928497 Centerline is valid? [True, True] Translation: X:73.53, Y:-24.40, Z:-0.13 [[ 8.27857750e-01 5.60871563e-01 -8.63924067e-03 7.35281925e+01] [-5.60842554e-01 8.27902817e-01 5.70564183e-03 -2.44013326e+01] [ 1.03525839e-02 1.21793996e-04 9.99946403e-01 -1.30346768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.437628 meters 0.012945921747642974 Centerline is valid? [True, True] Translation: X:73.55, Y:-24.42, Z:-0.13 [[ 8.28284633e-01 5.60254784e-01 -7.69055246e-03 7.35539206e+01] [-5.60231746e-01 8.28320329e-01 5.08162874e-03 -2.44191978e+01] [ 9.21724775e-03 9.94566347e-05 9.99957515e-01 -1.29484034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.467628 meters 0.012696928065697553 Centerline is valid? [True, True] Translation: X:73.58, Y:-24.44, Z:-0.13 [[ 8.28621163e-01 5.59760666e-01 -7.41386218e-03 7.35796976e+01] [-5.59739214e-01 8.28654324e-01 4.90139488e-03 -2.44380490e+01] [ 8.88713702e-03 8.84298608e-05 9.99960505e-01 -1.28447156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497628 meters 0.012379435689270059 Centerline is valid? [True, True] Translation: X:73.61, Y:-24.46, Z:-0.13 [[ 8.29190748e-01 5.58920653e-01 -7.09975674e-03 7.36054444e+01] [-5.58900927e-01 8.29221140e-01 4.69631067e-03 -2.44580196e+01] [ 8.51213340e-03 7.39232645e-05 9.99963768e-01 -1.27311772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.527628 meters 0.012411263153135428 Centerline is valid? [True, True] Translation: X:73.63, Y:-24.48, Z:-0.13 [[ 8.29377458e-01 5.58641399e-01 -7.26770647e-03 7.36317769e+01] [-5.58620694e-01 8.29409297e-01 4.81019303e-03 -2.44759420e+01] [ 8.71507628e-03 7.04255656e-05 9.99962021e-01 -1.28136076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55762800000001 meters 0.012313231891789712 Centerline is valid? [True, True] Translation: X:73.66, Y:-24.49, Z:-0.13 [[ 8.29926857e-01 5.57804534e-01 -8.68991330e-03 7.36584999e+01] [-5.57774850e-01 8.29972347e-01 5.75493928e-03 -2.44946115e+01] [ 1.04225190e-02 7.08364225e-05 9.99945682e-01 -1.30018168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58762800000001 meters 0.012472529077597083 Centerline is valid? [True, True] Translation: X:73.68, Y:-24.51, Z:-0.13 [[ 8.30199840e-01 5.57382366e-01 -9.65009068e-03 7.36848215e+01] [-5.57345690e-01 8.30255920e-01 6.39436007e-03 -2.45128035e+01] [ 1.15761485e-02 6.98397488e-05 9.99932992e-01 -1.31466896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61762800000001 meters 0.01244471179139433 Centerline is valid? [True, True] Translation: X:73.71, Y:-24.53, Z:-0.13 [[ 8.30617682e-01 5.56752776e-01 -1.00305521e-02 7.37102766e+01] [-5.56713079e-01 8.30678242e-01 6.64871178e-03 -2.45313542e+01] [ 1.20338501e-02 6.16019518e-05 9.99927589e-01 -1.31263352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64762800000001 meters 0.01220999514768802 Centerline is valid? [True, True] Translation: X:73.74, Y:-24.55, Z:-0.13 [[ 8.30901434e-01 5.56326886e-01 -1.01588793e-02 7.37367383e+01] [-5.56286083e-01 8.30963533e-01 6.73802239e-03 -2.45506128e+01] [ 1.21902012e-02 5.26106905e-05 9.99925695e-01 -1.29327411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67762800000001 meters 0.011944013999975795 Centerline is valid? [True, True] Translation: X:73.76, Y:-24.57, Z:-0.13 [[ 8.31527880e-01 5.55415520e-01 -8.65944782e-03 7.37631880e+01] [-5.55385791e-01 8.31572967e-01 5.74658301e-03 -2.45692644e+01] [ 1.03927041e-02 3.08902924e-05 9.99945994e-01 -1.27803551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70762800000001 meters 0.011852517129258356 Centerline is valid? [True, True] Translation: X:73.79, Y:-24.59, Z:-0.13 [[ 8.31596594e-01 5.55327357e-01 -7.65707230e-03 7.37900881e+01] [-5.55304083e-01 8.31631845e-01 5.08424896e-03 -2.45870776e+01] [ 9.19128771e-03 2.39593919e-05 9.99957759e-01 -1.26415549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.737628 meters 0.011884706904445876 Centerline is valid? [True, True] Translation: X:73.82, Y:-24.60, Z:-0.13 [[ 8.31452300e-01 5.55555851e-01 -6.69091222e-03 7.38164564e+01] [-5.55538069e-01 8.31479221e-01 4.44499252e-03 -2.46042529e+01] [ 8.03279608e-03 2.12571999e-05 9.99967736e-01 -1.26153539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.767628 meters 0.011865906359486726 Centerline is valid? [True, True] Translation: X:73.84, Y:-24.62, Z:-0.13 [[ 8.31151188e-01 5.56014183e-01 -5.99426221e-03 7.38437779e+01] [-5.55999906e-01 8.31172803e-01 3.98453587e-03 -2.46216514e+01] [ 7.19772617e-03 2.10574996e-05 9.99974096e-01 -1.25190705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.797628 meters 0.011814352500926667 Centerline is valid? [True, True] Translation: X:73.87, Y:-24.64, Z:-0.12 [[ 8.31123137e-01 5.56057482e-01 -5.86572348e-03 7.38708691e+01] [-5.56043795e-01 8.31143836e-01 3.90153458e-03 -2.46400346e+01] [ 7.04473741e-03 1.89434804e-05 9.99975185e-01 -1.24734551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.827628 meters 0.011774611337050071 Centerline is valid? [True, True] Translation: X:73.90, Y:-24.66, Z:-0.13 [[ 8.31849422e-01 5.54962869e-01 -6.53857508e-03 7.38980061e+01] [-5.54945807e-01 8.31875119e-01 4.35167070e-03 -2.46586385e+01] [ 7.85429358e-03 8.62006522e-06 9.99969155e-01 -1.26345364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857628 meters 0.011736972657843351 Centerline is valid? [True, True] Translation: X:73.92, Y:-24.68, Z:-0.13 [[ 8.32292455e-01 5.54289331e-01 -7.25302387e-03 7.39248261e+01] [-5.54268286e-01 8.32324058e-01 4.83003635e-03 -2.46775844e+01] [ 8.71410387e-03 1.18300613e-07 9.99962031e-01 -1.27418992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.887628 meters 0.011845072050174404 Centerline is valid? [True, True] Translation: X:73.95, Y:-24.70, Z:-0.13 [[ 8.32932009e-01 5.53318927e-01 -7.90142585e-03 7.39518339e+01] [-5.53293878e-01 8.32969486e-01 5.26500635e-03 -2.46971256e+01] [ 9.49487429e-03 -1.35817639e-05 9.99954923e-01 -1.27451725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91762800000001 meters 0.011956001836634042 Centerline is valid? [True, True] Translation: X:73.98, Y:-24.72, Z:-0.13 [[ 8.33994437e-01 5.51697654e-01 -9.10923552e-03 7.39775323e+01] [-5.51664230e-01 8.34044182e-01 6.07291921e-03 -2.47157889e+01] [ 1.09479202e-02 -3.95414384e-05 9.99940069e-01 -1.27925520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94762800000001 meters 0.01211001939036184 Centerline is valid? [True, True] Translation: X:74.00, Y:-24.73, Z:-0.13 [[ 8.34383961e-01 5.51104445e-01 -9.34325603e-03 7.40039687e+01] [-5.51069219e-01 8.34436270e-01 6.23116508e-03 -2.47338197e+01] [ 1.12303745e-02 -5.04033985e-05 9.99936936e-01 -1.28725292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97762800000001 meters 0.012170620143974712 Centerline is valid? [True, True] Translation: X:74.03, Y:-24.75, Z:-0.13 [[ 8.34424088e-01 5.51035985e-01 -9.78694418e-03 7.40317655e+01] [-5.50997282e-01 8.34481480e-01 6.53115979e-03 -2.47517655e+01] [ 1.17659277e-02 -5.71774154e-05 9.99930777e-01 -1.28707975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00762800000001 meters 0.012234717968534264 Centerline is valid? [True, True] Translation: X:74.06, Y:-24.77, Z:-0.13 [[ 8.34446617e-01 5.50997475e-01 -1.00312658e-02 7.40580817e+01] [-5.50956784e-01 8.34506908e-01 6.69651277e-03 -2.47690889e+01] [ 1.20609222e-02 -6.10884931e-05 9.99927263e-01 -1.29348207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03762800000001 meters 0.012513312129317939 Centerline is valid? [True, True] Translation: X:74.08, Y:-24.79, Z:-0.13 [[ 8.34584506e-01 5.50769254e-01 -1.10422436e-02 7.40842634e+01] [-5.50719880e-01 8.34657548e-01 7.37498035e-03 -2.47862020e+01] [ 1.32784044e-02 -7.38612522e-05 9.99911835e-01 -1.30567992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06762800000001 meters 0.01227571171126785 Centerline is valid? [True, True] Translation: X:74.11, Y:-24.80, Z:-0.13 [[ 8.34525041e-01 5.50855524e-01 -1.12315333e-02 7.41119310e+01] [-5.50804388e-01 8.34600614e-01 7.50600147e-03 -2.48039824e+01] [ 1.35085670e-02 -7.75683450e-05 9.99908752e-01 -1.29934796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09762800000001 meters 0.01217404618378352 Centerline is valid? [True, True] Translation: X:74.14, Y:-24.82, Z:-0.13 [[ 8.34380539e-01 5.51056200e-01 -1.20905523e-02 7.41394690e+01] [-5.50996902e-01 8.34468129e-01 8.08430794e-03 -2.48211375e+01] [ 1.45440885e-02 -8.35323687e-05 9.99894226e-01 -1.29925460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.127628 meters 0.012187741564042896 Centerline is valid? [True, True] Translation: X:74.17, Y:-24.84, Z:-0.13 [[ 8.34143812e-01 5.51408154e-01 -1.23753164e-02 7.41660984e+01] [-5.51346024e-01 8.34235603e-01 8.27772611e-03 -2.48381828e+01] [ 1.48883352e-02 -8.17325145e-05 9.99889159e-01 -1.30853488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.157628 meters 0.01232523337099999 Centerline is valid? [True, True] Translation: X:74.19, Y:-24.86, Z:-0.13 [[ 8.33757969e-01 5.51990865e-01 -1.23989782e-02 7.41929715e+01] [-5.51928489e-01 8.33850154e-01 8.29837557e-03 -2.48553665e+01] [ 1.49195174e-02 -7.54874621e-05 9.99888695e-01 -1.31430312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.187628 meters 0.01195269175503063 Centerline is valid? [True, True] Translation: X:74.22, Y:-24.87, Z:-0.13 [[ 8.32537538e-01 5.53841251e-01 -1.18792434e-02 7.42204795e+01] [-5.53784124e-01 8.32622283e-01 7.95472446e-03 -2.48715998e+01] [ 1.42965773e-02 -4.40703234e-05 9.99897798e-01 -1.29782758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.217628 meters 0.011917539080622212 Centerline is valid? [True, True] Translation: X:74.25, Y:-24.89, Z:-0.13 [[ 8.31713131e-01 5.55081506e-01 -1.17383853e-02 7.42478755e+01] [-5.55025785e-01 8.31795961e-01 7.86486590e-03 -2.48886701e+01] [ 1.41295831e-02 -2.62057304e-05 9.99900172e-01 -1.29640114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.247628 meters 0.011811447463055855 Centerline is valid? [True, True] Translation: X:74.28, Y:-24.91, Z:-0.13 [[ 8.31100764e-01 5.56001841e-01 -1.15530174e-02 7.42756869e+01] [-5.55947890e-01 8.31181059e-01 7.74538111e-03 -2.49060009e+01] [ 1.39090954e-02 -1.43165027e-05 9.99903264e-01 -1.29153707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.277628 meters 0.011665823189144768 Centerline is valid? [True, True] Translation: X:74.30, Y:-24.92, Z:-0.13 [[ 8.30299153e-01 5.57212994e-01 -1.08164613e-02 7.43026655e+01] [-5.57165756e-01 8.30369604e-01 7.25541225e-03 -2.49225246e+01] [ 1.30244707e-02 2.39920271e-06 9.99915178e-01 -1.27925844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30762800000001 meters 0.011666860661289283 Centerline is valid? [True, True] Translation: X:74.33, Y:-24.94, Z:-0.13 [[ 8.30109660e-01 5.57496453e-01 -1.07543965e-02 7.43299931e+01] [-5.57449721e-01 8.30179321e-01 7.21822077e-03 -2.49408496e+01] [ 1.29522100e-02 3.12052805e-06 9.99916117e-01 -1.27929523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33762800000001 meters 0.011779354374082845 Centerline is valid? [True, True] Translation: X:74.36, Y:-24.96, Z:-0.13 [[ 8.29824650e-01 5.57920251e-01 -1.07723855e-02 7.43567481e+01] [-5.57873342e-01 8.29894568e-01 7.23467708e-03 -2.49604315e+01] [ 1.29763171e-02 6.11332612e-06 9.99915804e-01 -1.27870284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36762800000001 meters 0.011906739880750642 Centerline is valid? [True, True] Translation: X:74.38, Y:-24.98, Z:-0.13 [[ 8.29649674e-01 5.58178167e-01 -1.08881791e-02 7.43828739e+01] [-5.58130213e-01 8.29721118e-01 7.31653351e-03 -2.49789383e+01] [ 1.31180814e-02 6.86209444e-06 9.99913954e-01 -1.28419604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39762800000001 meters 0.011808876216283381 Centerline is valid? [True, True] Translation: X:74.41, Y:-25.00, Z:-0.13 [[ 8.29869094e-01 5.57856088e-01 -1.06710422e-02 7.44091903e+01] [-5.57809944e-01 8.29937699e-01 7.17504808e-03 -2.49981553e+01] [ 1.28589445e-02 -1.93720629e-06 9.99917320e-01 -1.27663192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42762800000001 meters 0.011815801411809781 Centerline is valid? [True, True] Translation: X:74.44, Y:-25.02, Z:-0.13 [[ 8.30078480e-01 5.57546218e-01 -1.05797966e-02 7.44357537e+01] [-5.57500779e-01 8.30145900e-01 7.11803627e-03 -2.50176153e+01] [ 1.27514090e-02 -1.02838704e-05 9.99918697e-01 -1.27800670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45762800000001 meters 0.011956397324954111 Centerline is valid? [True, True] Translation: X:74.46, Y:-25.04, Z:-0.13 [[ 8.30340729e-01 5.57157043e-01 -1.05025140e-02 7.44614713e+01] [-5.57112185e-01 8.30407146e-01 7.07002066e-03 -2.50367265e+01] [ 1.26604745e-02 -1.94475993e-05 9.99919853e-01 -1.28547602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48762800000002 meters 0.01209421223862181 Centerline is valid? [True, True] Translation: X:74.49, Y:-25.06, Z:-0.13 [[ 8.30677364e-01 5.56663213e-01 -1.00590209e-02 7.44881322e+01] [-5.56621978e-01 8.30738266e-01 6.77548227e-03 -2.50566374e+01] [ 1.21280753e-02 -2.91676399e-05 9.99926452e-01 -1.28465724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.517628 meters 0.012283951063824829 Centerline is valid? [True, True] Translation: X:74.51, Y:-25.08, Z:-0.13 [[ 8.31511425e-01 5.55420310e-01 -9.85031855e-03 7.45122842e+01] [-5.55380638e-01 8.31569767e-01 6.63850415e-03 -2.50771930e+01] [ 1.18783871e-02 -4.93158455e-05 9.99929448e-01 -1.27651149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.547628 meters 0.012325709157236426 Centerline is valid? [True, True] Translation: X:74.54, Y:-25.10, Z:-0.13 [[ 8.31608936e-01 5.55281429e-01 -9.43992491e-03 7.45388317e+01] [-5.55244943e-01 8.31662511e-01 6.36564504e-03 -2.50962512e+01] [ 1.13855561e-02 -5.22567299e-05 9.99935181e-01 -1.27025115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.577628 meters 0.012089100308833077 Centerline is valid? [True, True] Translation: X:74.57, Y:-25.11, Z:-0.13 [[ 8.30511766e-01 5.56944208e-01 -7.95964360e-03 7.45654134e+01] [-5.56918320e-01 8.30549907e-01 5.36992232e-03 -2.51127162e+01] [ 9.60162839e-03 -2.69123331e-05 9.99953903e-01 -1.26271253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.607628 meters 0.012038465335195276 Centerline is valid? [True, True] Translation: X:74.59, Y:-25.13, Z:-0.13 [[ 8.29835083e-01 5.57949021e-01 -8.16237197e-03 7.45933405e+01] [-5.57921815e-01 8.29875225e-01 5.50988747e-03 -2.51309144e+01] [ 9.84798660e-03 -1.83325436e-05 9.99951507e-01 -1.26787795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.637628 meters 0.011989976971023168 Centerline is valid? [True, True] Translation: X:74.62, Y:-25.15, Z:-0.13 [[ 8.28920351e-01 5.59297289e-01 -8.80873472e-03 7.46210869e+01] [-5.59265642e-01 8.28967154e-01 5.94971099e-03 -2.51488678e+01] [ 1.06298090e-02 -5.41384168e-06 9.99943502e-01 -1.26186694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66762800000001 meters 0.01196318834395593 Centerline is valid? [True, True] Translation: X:74.65, Y:-25.17, Z:-0.13 [[ 8.27244651e-01 5.61742531e-01 -1.05648606e-02 7.46485944e+01] [-5.61697159e-01 8.27312111e-01 7.13951973e-03 -2.51652094e+01] [ 1.27510090e-02 2.81226576e-05 9.99918702e-01 -1.27271008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69762800000001 meters 0.012118986795015925 Centerline is valid? [True, True] Translation: X:74.68, Y:-25.18, Z:-0.13 [[ 8.26268322e-01 5.63164875e-01 -1.12242516e-02 7.46756753e+01] [-5.63113741e-01 8.26344553e-01 7.58910475e-03 -2.51824134e+01] [ 1.35490164e-02 4.98934512e-05 9.99908207e-01 -1.27996410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72762800000001 meters 0.012197473760206759 Centerline is valid? [True, True] Translation: X:74.70, Y:-25.20, Z:-0.13 [[ 8.25446654e-01 5.64359127e-01 -1.16874723e-02 7.47028161e+01] [-5.64303744e-01 8.25529389e-01 7.90648722e-03 -2.51997746e+01] [ 1.41104501e-02 6.89009575e-05 9.99900440e-01 -1.28432525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75762800000001 meters 0.012477858068461247 Centerline is valid? [True, True] Translation: X:74.73, Y:-25.22, Z:-0.13 [[ 8.24230411e-01 5.66118878e-01 -1.23954053e-02 7.47296138e+01] [-5.66056721e-01 8.24323605e-01 8.38944662e-03 -2.52152655e+01] [ 1.49672493e-02 1.01665427e-04 9.99887979e-01 -1.29418711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78762800000001 meters 0.012518225383373981 Centerline is valid? [True, True] Translation: X:74.76, Y:-25.23, Z:-0.13 [[ 8.23774446e-01 5.66775532e-01 -1.26947922e-02 7.47571454e+01] [-5.66710334e-01 8.23872249e-01 8.59735869e-03 -2.52328076e+01] [ 1.53316595e-02 1.11985521e-04 9.99882457e-01 -1.29436685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81762800000001 meters 0.012613965436267933 Centerline is valid? [True, True] Translation: X:74.78, Y:-25.25, Z:-0.13 [[ 8.23345111e-01 5.67396388e-01 -1.28127257e-02 7.47846953e+01] [-5.67329967e-01 8.23444791e-01 8.68245016e-03 -2.52502368e+01] [ 1.54769631e-02 1.20390336e-04 9.99880217e-01 -1.29573873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84762800000001 meters 0.01257095129440498 Centerline is valid? [True, True] Translation: X:74.81, Y:-25.27, Z:-0.13 [[ 8.23041215e-01 5.67842591e-01 -1.25678181e-02 7.48117751e+01] [-5.67778658e-01 8.23137155e-01 8.52167878e-03 -2.52683096e+01] [ 1.51840102e-02 1.22046040e-04 9.99884709e-01 -1.29212958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.877628 meters 0.012388636295243812 Centerline is valid? [True, True] Translation: X:74.84, Y:-25.29, Z:-0.13 [[ 8.23494543e-01 5.67213606e-01 -1.12010187e-02 7.48375013e+01] [-5.67162711e-01 8.23570711e-01 7.59890829e-03 -2.52865358e+01] [ 1.35350351e-02 9.51405988e-05 9.99908393e-01 -1.27750319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.907628 meters 0.012211792241969839 Centerline is valid? [True, True] Translation: X:74.86, Y:-25.30, Z:-0.13 [[ 8.24462919e-01 5.65820851e-01 -1.03759384e-02 7.48626402e+01] [-5.65777025e-01 8.24528205e-01 7.04255997e-03 -2.53049755e+01] [ 1.25400811e-02 6.41380242e-05 9.99921368e-01 -1.26796400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.937628 meters 0.012070010295879173 Centerline is valid? [True, True] Translation: X:74.89, Y:-25.33, Z:-0.13 [[ 8.25531357e-01 5.64278383e-01 -9.37471811e-03 7.48880253e+01] [-5.64242468e-01 8.25584584e-01 6.36645098e-03 -2.53251883e+01] [ 1.13320734e-02 3.39091705e-05 9.99935789e-01 -1.25226959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.967628 meters 0.011927326330612631 Centerline is valid? [True, True] Translation: X:74.91, Y:-25.35, Z:-0.12 [[ 8.28381403e-01 5.60116043e-01 -7.36679143e-03 7.49120936e+01] [-5.60093694e-01 8.28414159e-01 5.00362384e-03 -2.53478340e+01] [ 8.90536431e-03 -1.88155157e-05 9.99960346e-01 -1.22560385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997628 meters 0.012056780889119226 Centerline is valid? [True, True] Translation: X:74.94, Y:-25.37, Z:-0.12 [[ 8.29394875e-01 5.58623262e-01 -6.64765877e-03 7.49374040e+01] [-5.58605001e-01 8.29421515e-01 4.51705470e-03 -2.53679011e+01] [ 8.03704304e-03 -3.30065852e-05 9.99967702e-01 -1.21540719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.027628 meters 0.012317707251512055 Centerline is valid? [True, True] Translation: X:74.96, Y:-25.39, Z:-0.12 [[ 8.31048583e-01 5.56178349e-01 -4.88848605e-03 7.49620795e+01] [-5.56168419e-01 8.31062959e-01 3.32380388e-03 -2.53884396e+01] [ 5.91126744e-03 -4.34209514e-05 9.99982527e-01 -1.19863655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05762800000001 meters 0.01236242331755743 Centerline is valid? [True, True] Translation: X:74.99, Y:-25.41, Z:-0.12 [[ 8.31192924e-01 5.55968063e-01 -4.22330065e-03 7.49889999e+01] [-5.55960639e-01 8.31203652e-01 2.87334026e-03 -2.54072111e+01] [ 5.10790834e-03 -4.03111663e-05 9.99986954e-01 -1.19576336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08762800000001 meters 0.01236242331755743 Centerline is valid? [True, True] Translation: X:75.02, Y:-25.43, Z:-0.12 [[ 8.31037949e-01 5.56199693e-01 -4.22249980e-03 7.50157435e+01] [-5.56192267e-01 8.31048675e-01 2.87451711e-03 -2.54254929e+01] [ 5.10790840e-03 -4.03110698e-05 9.99986954e-01 -1.19622731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11762800000001 meters 0.01239953108622956 Centerline is valid? [True, True] Translation: X:75.04, Y:-25.44, Z:-0.12 [[ 8.30854212e-01 5.56476777e-01 -3.85682154e-03 7.50414508e+01] [-5.56470577e-01 8.30863163e-01 2.62704969e-03 -2.54435464e+01] [ 4.66638309e-03 -3.64875856e-05 9.99989112e-01 -1.19688533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14762800000001 meters 0.012277825077173411 Centerline is valid? [True, True] Translation: X:75.07, Y:-25.46, Z:-0.12 [[ 8.30276587e-01 5.57338526e-01 -3.81532689e-03 7.50691449e+01] [-5.57332461e-01 8.30285352e-01 2.60036257e-03 -2.54617726e+01] [ 4.61709227e-03 -3.26146386e-05 9.99989341e-01 -1.19160518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17762800000001 meters 0.012219230608574867 Centerline is valid? [True, True] Translation: X:75.10, Y:-25.48, Z:-0.12 [[ 8.28923840e-01 5.59340947e-01 -4.79298476e-03 7.50963590e+01] [-5.59331403e-01 8.28937696e-01 3.26759209e-03 -2.54790293e+01] [ 5.80078380e-03 -2.77180906e-05 9.99983175e-01 -1.20176460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20762800000001 meters 0.012151572785651538 Centerline is valid? [True, True] Translation: X:75.12, Y:-25.50, Z:-0.12 [[ 8.28292439e-01 5.60266977e-01 -5.70520305e-03 7.51239985e+01] [-5.60253461e-01 8.28312087e-01 3.89188403e-03 -2.54968950e+01] [ 6.90618275e-03 -2.72583673e-05 9.99976152e-01 -1.21021969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23762800000002 meters 0.012184867529280701 Centerline is valid? [True, True] Translation: X:75.15, Y:-25.51, Z:-0.12 [[ 8.27443092e-01 5.61501812e-01 -7.32429465e-03 7.51509707e+01] [-5.61479564e-01 8.27475507e-01 4.99850117e-03 -2.55119778e+01] [ 8.86734189e-03 -2.35335036e-05 9.99960684e-01 -1.23825056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.267628 meters 0.012120316551457287 Centerline is valid? [True, True] Translation: X:75.18, Y:-25.53, Z:-0.13 [[ 8.26915814e-01 5.62272113e-01 -7.76583402e-03 7.51790129e+01] [-5.62247106e-01 8.26952278e-01 5.30294310e-03 -2.55296882e+01] [ 9.40367116e-03 -1.87698049e-05 9.99955784e-01 -1.25115631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.297628 meters 0.012105233306373045 Centerline is valid? [True, True] Translation: X:75.21, Y:-25.55, Z:-0.12 [[ 8.26575359e-01 5.62766688e-01 -8.17502986e-03 7.52066460e+01] [-5.62738967e-01 8.26615784e-01 5.58573426e-03 -2.55472938e+01] [ 9.90107389e-03 -1.66224459e-05 9.99950983e-01 -1.24650086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.327628 meters 0.012177413625363322 Centerline is valid? [True, True] Translation: X:75.23, Y:-25.57, Z:-0.12 [[ 8.27141730e-01 5.61938507e-01 -7.85321100e-03 7.52339107e+01] [-5.61912857e-01 8.27179010e-01 5.36910358e-03 -2.55656179e+01] [ 9.51311734e-03 -2.81893957e-05 9.99954749e-01 -1.23996147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357628 meters 0.012231554160640664 Centerline is valid? [True, True] Translation: X:75.26, Y:-25.58, Z:-0.12 [[ 8.27812357e-01 5.60957430e-01 -7.31188895e-03 7.52604879e+01] [-5.60935129e-01 8.27844648e-01 5.00208020e-03 -2.55842735e+01] [ 8.85906218e-03 -3.92884301e-05 9.99960757e-01 -1.23445685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.387628 meters 0.012362293704549165 Centerline is valid? [True, True] Translation: X:75.29, Y:-25.60, Z:-0.12 [[ 8.28419113e-01 5.60067078e-01 -6.82940683e-03 7.52866411e+01] [-5.60047571e-01 8.28447262e-01 4.67464930e-03 -2.56029617e+01] [ 8.27592056e-03 -4.77761186e-05 9.99965753e-01 -1.23187069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41762800000001 meters 0.012696184670032482 Centerline is valid? [True, True] Translation: X:75.31, Y:-25.62, Z:-0.12 [[ 8.30135634e-01 5.57529439e-01 -5.97942311e-03 7.53123583e+01] [-5.57514404e-01 8.30157166e-01 4.09502928e-03 -2.56218103e+01] [ 7.24696032e-03 -6.58152182e-05 9.99973738e-01 -1.22739820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44762800000001 meters 0.013292117698360225 Centerline is valid? [True, True] Translation: X:75.34, Y:-25.64, Z:-0.12 [[ 8.31055338e-01 5.56159789e-01 -5.77183879e-03 7.53369867e+01] [-5.56145734e-01 8.31075377e-01 3.95476275e-03 -2.56407340e+01] [ 6.99631312e-03 -7.66431794e-05 9.99975523e-01 -1.23037935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47762800000001 meters 0.013401511833057033 Centerline is valid? [True, True] Translation: X:75.36, Y:-25.66, Z:-0.12 [[ 8.31894301e-01 5.54907873e-01 -5.39679470e-03 7.53631329e+01] [-5.54895545e-01 8.31911802e-01 3.69976384e-03 -2.56596875e+01] [ 6.54268529e-03 -8.31551185e-05 9.99978593e-01 -1.21925381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50762800000001 meters 0.013595003389402208 Centerline is valid? [True, True] Translation: X:75.39, Y:-25.68, Z:-0.12 [[ 8.32640940e-01 5.53792650e-01 -4.77131331e-03 7.53890053e+01] [-5.53782986e-01 8.32654607e-01 3.27272616e-03 -2.56785853e+01] [ 5.78526770e-03 -8.27336585e-05 9.99983262e-01 -1.20754457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53762800000001 meters 0.01645265117849719 Centerline is valid? [True, True] Translation: X:75.41, Y:-25.70, Z:-0.12 [[ 8.34018794e-01 5.51717426e-01 -4.53129544e-03 7.54142582e+01] [-5.51708670e-01 8.34031099e-01 3.10973184e-03 -2.56977920e+01] [ 5.49493456e-03 -9.36198242e-05 9.99984898e-01 -1.22645907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56762800000001 meters 0.014092605681514008 Centerline is valid? [True, True] Translation: X:75.44, Y:-25.72, Z:-0.12 [[ 8.34030113e-01 5.51703765e-01 -4.08976900e-03 7.54412913e+01] [-5.51696623e-01 8.34040136e-01 2.80851649e-03 -2.57159258e+01] [ 4.96050061e-03 -8.60755749e-05 9.99987693e-01 -1.20059883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59762800000001 meters 0.014284476939157426 Centerline is valid? [True, True] Translation: X:75.47, Y:-25.73, Z:-0.12 [[ 8.33936386e-01 5.51838506e-01 -4.93628410e-03 7.54674726e+01] [-5.51828093e-01 8.33950989e-01 3.39159895e-03 -2.57335111e+01] [ 5.98823390e-03 -1.04397529e-04 9.99982065e-01 -1.20573932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.627628 meters 0.01400497147155978 Centerline is valid? [True, True] Translation: X:75.50, Y:-25.75, Z:-0.12 [[ 8.33692632e-01 5.52205201e-01 -5.10019644e-03 7.54955934e+01] [-5.52194079e-01 8.33708225e-01 3.50637908e-03 -2.57511562e+01] [ 6.18831649e-03 -1.06944133e-04 9.99980846e-01 -1.20721735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.657628 meters 0.01612129554074342 Centerline is valid? [True, True] Translation: X:75.52, Y:-25.77, Z:-0.12 [[ 8.33337203e-01 5.52731504e-01 -6.08198728e-03 7.55217228e+01] [-5.52715685e-01 8.33359388e-01 4.18359470e-03 -2.57692098e+01] [ 7.38088579e-03 -1.24735332e-04 9.99972753e-01 -1.23576033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.687628 meters 0.013867516245517492 Centerline is valid? [True, True] Translation: X:75.55, Y:-25.79, Z:-0.12 [[ 8.32239236e-01 5.54382896e-01 -6.12032776e-03 7.55478681e+01] [-5.54366906e-01 8.32261733e-01 4.21212082e-03 -2.57871355e+01] [ 7.42884233e-03 -1.12585050e-04 9.99972399e-01 -1.20750019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.717628 meters 0.013798028061230531 Centerline is valid? [True, True] Translation: X:75.57, Y:-25.81, Z:-0.12 [[ 8.31733813e-01 5.55144773e-01 -5.75727337e-03 7.55746834e+01] [-5.55130627e-01 8.31753732e-01 3.96434416e-03 -2.58053144e+01] [ 6.98941855e-03 -1.01240311e-04 9.99975569e-01 -1.20289593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.747628 meters 0.013741126118855118 Centerline is valid? [True, True] Translation: X:75.60, Y:-25.82, Z:-0.12 [[ 8.31261155e-01 5.55857344e-01 -5.24458143e-03 7.56000030e+01] [-5.55845609e-01 8.31277694e-01 3.61304956e-03 -2.58225959e+01] [ 6.36804369e-03 -8.82101893e-05 9.99979720e-01 -1.19942931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.777628 meters 0.013219019473435994 Centerline is valid? [True, True] Translation: X:75.63, Y:-25.84, Z:-0.12 [[ 8.30265615e-01 5.57349076e-01 -4.58445701e-03 7.56281157e+01] [-5.57340121e-01 8.30278269e-01 3.16003447e-03 -2.58388041e+01] [ 5.56761732e-03 -6.85661340e-05 9.99984498e-01 -1.19331705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80762800000001 meters 0.013169073219183109 Centerline is valid? [True, True] Translation: X:75.65, Y:-25.86, Z:-0.12 [[ 8.29615595e-01 5.58316545e-01 -4.53874319e-03 7.56541420e+01] [-5.58307779e-01 8.29628008e-01 3.12926986e-03 -2.58556827e+01] [ 5.51259161e-03 -6.20754516e-05 9.99984804e-01 -1.19653729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83762800000001 meters 0.013005759872304864 Centerline is valid? [True, True] Translation: X:75.68, Y:-25.87, Z:-0.12 [[ 8.28689048e-01 5.59691165e-01 -4.50143082e-03 7.56810261e+01] [-5.59682552e-01 8.28701272e-01 3.10534607e-03 -2.58726576e+01] [ 5.46837620e-03 -5.39939884e-05 9.99985047e-01 -1.19796384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86762800000001 meters 0.012837535597520777 Centerline is valid? [True, True] Translation: X:75.71, Y:-25.89, Z:-0.12 [[ 8.27368330e-01 5.61640938e-01 -4.59389404e-03 7.57065031e+01] [-5.61631990e-01 8.27381082e-01 3.17061455e-03 -2.58897730e+01] [ 5.58164795e-03 -4.31882079e-05 9.99984422e-01 -1.19969280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89762800000001 meters 0.012659952986407279 Centerline is valid? [True, True] Translation: X:75.73, Y:-25.91, Z:-0.12 [[ 8.26641378e-01 5.62709320e-01 -4.71727078e-03 7.57340146e+01] [-5.62699891e-01 8.26654837e-01 3.25778355e-03 -2.59077452e+01] [ 5.73273988e-03 -3.86109266e-05 9.99983567e-01 -1.19322802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92762800000001 meters 0.012341791815484988 Centerline is valid? [True, True] Translation: X:75.76, Y:-25.92, Z:-0.12 [[ 8.24720914e-01 5.65522767e-01 -4.40608106e-03 7.57614946e+01] [-5.65514573e-01 8.24732684e-01 3.04442776e-03 -2.59248817e+01] [ 5.35553226e-03 -1.91001994e-05 9.99985659e-01 -1.18936003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95762800000001 meters 0.012294640667175229 Centerline is valid? [True, True] Translation: X:75.79, Y:-25.94, Z:-0.12 [[ 8.23588264e-01 5.67173635e-01 -4.05456683e-03 7.57879146e+01] [-5.67166708e-01 8.23598244e-01 2.80315696e-03 -2.59420606e+01] [ 4.92921084e-03 -9.03185437e-06 9.99987851e-01 -1.19062877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98762800000002 meters 0.012198759258243042 Centerline is valid? [True, True] Translation: X:75.82, Y:-25.96, Z:-0.12 [[ 8.22360807e-01 5.68954734e-01 -3.63520249e-03 7.58153829e+01] [-5.68949176e-01 8.22368841e-01 2.51477548e-03 -2.59593318e+01] [ 4.42027067e-03 1.92671173e-07 9.99990231e-01 -1.18660706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.017628 meters 0.012393107105903757 Centerline is valid? [True, True] Translation: X:75.84, Y:-25.97, Z:-0.12 [[ 8.19540759e-01 5.73012542e-01 -3.09378960e-03 7.58437156e+01] [-5.73008541e-01 8.19546598e-01 2.14144402e-03 -2.59748560e+01] [ 3.76257902e-03 1.77672135e-05 9.99992921e-01 -1.18541784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.047628 meters 0.012609011440011666 Centerline is valid? [True, True] Translation: X:75.87, Y:-25.99, Z:-0.12 [[ 8.18061286e-01 5.75121822e-01 -3.25937198e-03 7.58707010e+01] [-5.75117393e-01 8.18067778e-01 2.25715135e-03 -2.59918411e+01] [ 3.96452419e-03 2.80333855e-05 9.99992141e-01 -1.18458881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.077628 meters 0.01296690948861212 Centerline is valid? [True, True] Translation: X:75.90, Y:-26.01, Z:-0.12 [[ 8.16716152e-01 5.77029127e-01 -3.48041337e-03 7.58966494e+01] [-5.77024091e-01 8.16723567e-01 2.41129744e-03 -2.60081874e+01] [ 4.23392448e-03 3.89367945e-05 9.99991036e-01 -1.18544647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.107628 meters 0.013065869962722217 Centerline is valid? [True, True] Translation: X:75.92, Y:-26.03, Z:-0.12 [[ 8.15586443e-01 5.78621357e-01 -4.00983144e-03 7.59229600e+01] [-5.78614684e-01 8.15596298e-01 2.77939780e-03 -2.60256582e+01] [ 4.87862261e-03 5.33081892e-05 9.99988098e-01 -1.18819233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.137628 meters 0.013147900070981216 Centerline is valid? [True, True] Translation: X:75.95, Y:-26.04, Z:-0.12 [[ 8.15286624e-01 5.79045497e-01 -3.74603734e-03 7.59505273e+01] [-5.79039670e-01 8.15295229e-01 2.59823069e-03 -2.60443031e+01] [ 4.55862015e-03 5.08014925e-05 9.99989608e-01 -1.19405998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16762800000001 meters 0.012997127311659588 Centerline is valid? [True, True] Translation: X:75.98, Y:-26.06, Z:-0.12 [[ 8.15381467e-01 5.78909908e-01 -4.04749621e-03 7.59771871e+01] [-5.78903096e-01 8.15391511e-01 2.80899028e-03 -2.60628628e+01] [ 4.92644636e-03 5.27094718e-05 9.99987864e-01 -1.20428496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19762800000001 meters 0.012935075911372763 Centerline is valid? [True, True] Translation: X:76.00, Y:-26.08, Z:-0.12 [[ 8.15714584e-01 5.78439608e-01 -4.16374672e-03 7.60036087e+01] [-5.78432384e-01 8.15725209e-01 2.89139578e-03 -2.60821669e+01] [ 5.06897100e-03 4.98922344e-05 9.99987151e-01 -1.20344743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22762800000001 meters 0.012800175165536238 Centerline is valid? [True, True] Translation: X:76.03, Y:-26.10, Z:-0.12 [[ 8.16152854e-01 5.77820081e-01 -4.29793080e-03 7.60298681e+01] [-5.77812366e-01 8.16164170e-01 2.98633759e-03 -2.61022149e+01] [ 5.23338295e-03 4.60896188e-05 9.99986305e-01 -1.19986970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25762800000001 meters 0.012436866713122413 Centerline is valid? [True, True] Translation: X:76.05, Y:-26.12, Z:-0.12 [[ 8.18173537e-01 5.74953106e-01 -4.58126529e-03 7.60538554e+01] [-5.74944287e-01 8.18186363e-01 3.18477989e-03 -2.61232425e+01] [ 5.57942788e-03 2.82696750e-05 9.99984434e-01 -1.19243793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28762800000001 meters 0.012413882276215153 Centerline is valid? [True, True] Translation: X:76.08, Y:-26.14, Z:-0.12 [[ 8.19398876e-01 5.73205375e-01 -4.59122953e-03 7.60794898e+01] [-5.73196480e-01 8.19411739e-01 3.19340619e-03 -2.61433567e+01] [ 5.59258497e-03 1.50031651e-05 9.99984361e-01 -1.19178277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31762800000001 meters 0.012359255285799283 Centerline is valid? [True, True] Translation: X:76.11, Y:-26.16, Z:-0.12 [[ 8.20746036e-01 5.71274568e-01 -4.61653260e-03 7.61053260e+01] [-5.71265533e-01 8.20759019e-01 3.21303562e-03 -2.61640468e+01] [ 5.62458630e-03 1.79707157e-07 9.99984182e-01 -1.19167878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34762800000001 meters 0.012552448355186159 Centerline is valid? [True, True] Translation: X:76.13, Y:-26.18, Z:-0.12 [[ 8.22282870e-01 5.69057644e-01 -4.92746719e-03 7.61295718e+01] [-5.69047299e-01 8.22297633e-01 3.43132624e-03 -2.61846220e+01] [ 6.00446703e-03 -1.75588946e-05 9.99981973e-01 -1.20095646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.377628 meters 0.013038344208113718 Centerline is valid? [True, True] Translation: X:76.15, Y:-26.21, Z:-0.12 [[ 8.26163979e-01 5.63404243e-01 -5.36078468e-03 7.61528418e+01] [-5.63391867e-01 8.26181369e-01 3.73495588e-03 -2.62072454e+01] [ 6.53327041e-03 -6.54635244e-05 9.99978656e-01 -1.19853703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.407628 meters 0.013803472925149841 Centerline is valid? [True, True] Translation: X:76.18, Y:-26.23, Z:-0.12 [[ 8.28104903e-01 5.60544231e-01 -5.69517335e-03 7.61776852e+01] [-5.60530181e-01 8.28124481e-01 3.96996442e-03 -2.62281987e+01] [ 6.94165313e-03 -9.52304473e-05 9.99975902e-01 -1.20616211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.437628 meters 0.015577914466080223 Centerline is valid? [True, True] Translation: X:76.20, Y:-26.25, Z:-0.12 [[ 8.32657969e-01 5.53752857e-01 -6.20323451e-03 7.62002548e+01] [-5.53735994e-01 8.32681059e-01 4.32466205e-03 -2.62512405e+01] [ 7.56010985e-03 -1.66010092e-04 9.99971408e-01 -1.21446141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.467628 meters 0.017194309145300922 Centerline is valid? [True, True] Translation: X:76.22, Y:-26.27, Z:-0.12 [[ 8.34954243e-01 5.50283390e-01 -6.29303180e-03 7.62231994e+01] [-5.50265928e-01 8.34977934e-01 4.38844802e-03 -2.62720472e+01] [ 7.66943274e-03 -2.01312316e-04 9.99970569e-01 -1.21723313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497628 meters 0.018180335090545702 Centerline is valid? [True, True] Translation: X:76.25, Y:-26.29, Z:-0.12 [[ 8.37257542e-01 5.46772889e-01 -6.26222155e-03 7.62477148e+01] [-5.46755483e-01 8.37280928e-01 4.36918295e-03 -2.62921167e+01] [ 7.63218946e-03 -2.34227413e-04 9.99970847e-01 -1.20941104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.527628 meters 0.01953048428650721 Centerline is valid? [True, True] Translation: X:76.27, Y:-26.31, Z:-0.12 [[ 8.41723881e-01 5.39884887e-01 -5.02165061e-03 7.62713924e+01] [-5.39873560e-01 8.41738826e-01 3.50541891e-03 -2.63126366e+01] [ 6.11944098e-03 -2.39538420e-04 9.99981247e-01 -1.18901427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55762800000001 meters 0.021113961241919908 Centerline is valid? [True, True] Translation: X:76.29, Y:-26.33, Z:-0.12 [[ 8.43778182e-01 5.36674681e-01 -4.32050777e-03 7.62948946e+01] [-5.36666248e-01 8.43789213e-01 3.01695429e-03 -2.63320602e+01] [ 5.26472083e-03 -2.26969507e-04 9.99986116e-01 -1.18192165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58762800000001 meters 0.021924751136374078 Centerline is valid? [True, True] Translation: X:76.32, Y:-26.35, Z:-0.12 [[ 8.45562663e-01 5.33858990e-01 -4.28500621e-03 7.63206688e+01] [-5.33850659e-01 8.45573486e-01 2.99240961e-03 -2.63514178e+01] [ 5.22081241e-03 -2.42716454e-04 9.99986342e-01 -1.17628339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61762800000001 meters 0.023301523899168116 Centerline is valid? [True, True] Translation: X:76.35, Y:-26.37, Z:-0.12 [[ 8.46946915e-01 5.31662150e-01 -4.03488829e-03 7.63453768e+01] [-5.31654730e-01 8.46956492e-01 2.81933818e-03 -2.63701558e+01] [ 4.91631023e-03 -2.42662330e-04 9.99987885e-01 -1.17586977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64762800000001 meters 0.023881877857845013 Centerline is valid? [True, True] Translation: X:76.37, Y:-26.39, Z:-0.12 [[ 8.48587245e-01 5.29042256e-01 -3.73867788e-03 7.63723996e+01] [-5.29035860e-01 8.48595448e-01 2.61247997e-03 -2.63872298e+01] [ 4.55473732e-03 -2.39022515e-04 9.99989599e-01 -1.16929705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67762800000001 meters 0.02513158565631602 Centerline is valid? [True, True] Translation: X:76.40, Y:-26.41, Z:-0.12 [[ 8.48517336e-01 5.29154600e-01 -3.70670555e-03 7.63985012e+01] [-5.29148306e-01 8.48525399e-01 2.59191414e-03 -2.64057482e+01] [ 4.51675710e-03 -2.37887120e-04 9.99989771e-01 -1.16801053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70762800000001 meters 0.02422405021250558 Centerline is valid? [True, True] Translation: X:76.43, Y:-26.42, Z:-0.12 [[ 8.47331214e-01 5.31053679e-01 -3.43554600e-03 7.64278373e+01] [-5.31048288e-01 8.47338153e-01 2.40224029e-03 -2.64190207e+01] [ 4.18678774e-03 -2.11052358e-04 9.99991213e-01 -1.16463292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73762800000002 meters 0.024558504675360412 Centerline is valid? [True, True] Translation: X:76.45, Y:-26.43, Z:-0.12 [[ 8.46097982e-01 5.33014624e-01 -3.68996544e-03 7.64540609e+01] [-5.33008419e-01 8.46106000e-01 2.58085912e-03 -2.64343692e+01] [ 4.49773755e-03 -2.16877047e-04 9.99989862e-01 -1.16615996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.767628 meters 0.023662032788327014 Centerline is valid? [True, True] Translation: X:76.48, Y:-26.45, Z:-0.12 [[ 8.44493713e-01 5.35554638e-01 -3.40563740e-03 7.64824700e+01] [-5.35549369e-01 8.44500559e-01 2.38302402e-03 -2.64484067e+01] [ 4.15230225e-03 -1.88561836e-04 9.99991361e-01 -1.16543789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.797628 meters 0.02204122843948101 Centerline is valid? [True, True] Translation: X:76.51, Y:-26.46, Z:-0.12 [[ 8.41030546e-01 5.40980304e-01 -2.81604030e-03 7.65123396e+01] [-5.40976730e-01 8.41035250e-01 1.97104091e-03 -2.64583048e+01] [ 3.43468347e-03 -1.34293343e-04 9.99994092e-01 -1.16151877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.827628 meters 0.01910469588648665 Centerline is valid? [True, True] Translation: X:76.54, Y:-26.47, Z:-0.12 [[ 8.39438289e-01 5.43449205e-01 -2.51408844e-03 7.65422998e+01] [-5.43446365e-01 8.39442046e-01 1.76051854e-03 -2.64701988e+01] [ 3.06718395e-03 -1.11574444e-04 9.99995290e-01 -1.15883756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857628 meters 0.01721070482789669 Centerline is valid? [True, True] Translation: X:76.57, Y:-26.48, Z:-0.12 [[ 8.36193122e-01 5.48424582e-01 -3.39712023e-03 7.65733846e+01] [-5.48419434e-01 8.36200013e-01 2.37967909e-03 -2.64800715e+01] [ 4.14574649e-03 -1.26824538e-04 9.99991398e-01 -1.16462394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.887628 meters 0.01766789527543899 Centerline is valid? [True, True] Translation: X:76.60, Y:-26.50, Z:-0.12 [[ 8.34489431e-01 5.51008616e-01 -4.11023095e-03 7.66004701e+01] [-5.51001104e-01 8.34499542e-01 2.88060330e-03 -2.64950924e+01] [ 5.01722309e-03 -1.39091219e-04 9.99987404e-01 -1.18251636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91762800000001 meters 0.015009405660052898 Centerline is valid? [True, True] Translation: X:76.63, Y:-26.51, Z:-0.12 [[ 8.32958527e-01 5.53317661e-01 -4.43375636e-03 7.66317090e+01] [-5.53308943e-01 8.32970316e-01 3.10903522e-03 -2.65060819e+01] [ 5.41347153e-03 -1.36460350e-04 9.99985338e-01 -1.18774567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94762800000001 meters 0.01546068755875625 Centerline is valid? [True, True] Translation: X:76.66, Y:-26.52, Z:-0.12 [[ 8.31261290e-01 5.55859184e-01 -5.02356182e-03 7.66587275e+01] [-5.55848027e-01 8.31276458e-01 3.52444023e-03 -2.65223346e+01] [ 6.13506114e-03 -1.37393801e-04 9.99981171e-01 -1.19898147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97762800000001 meters 0.013986989765000426 Centerline is valid? [True, True] Translation: X:76.69, Y:-26.53, Z:-0.12 [[ 8.28651850e-01 5.59742196e-01 -4.97848022e-03 7.66892347e+01] [-5.59731301e-01 8.28666798e-01 3.49405402e-03 -2.65334943e+01] [ 6.08127073e-03 -1.08743119e-04 9.99981503e-01 -1.18811184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00762800000001 meters 0.013986989765000426 Centerline is valid? [True, True] Translation: X:76.72, Y:-26.55, Z:-0.12 [[ 8.28492980e-01 5.59977327e-01 -4.97740575e-03 7.67157269e+01] [-5.59966427e-01 8.28507925e-01 3.49558459e-03 -2.65521646e+01] [ 6.08126822e-03 -1.08887182e-04 9.99981503e-01 -1.18857527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03762800000001 meters 0.013629793232872995 Centerline is valid? [True, True] Translation: X:76.74, Y:-26.57, Z:-0.12 [[ 8.27475894e-01 5.61482825e-01 -4.54770526e-03 7.67443685e+01] [-5.61473739e-01 8.27488386e-01 3.19547983e-03 -2.65678673e+01] [ 5.55738032e-03 -9.07654563e-05 9.99984554e-01 -1.18158734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06762800000001 meters 0.013420652944999889 Centerline is valid? [True, True] Translation: X:76.77, Y:-26.58, Z:-0.12 [[ 8.26080699e-01 5.63541033e-01 -3.49052237e-03 7.67737303e+01] [-5.63535693e-01 8.26088071e-01 2.45390432e-03 -2.65807959e+01] [ 4.26635467e-03 -6.00890479e-05 9.99990897e-01 -1.17453474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09762800000001 meters 0.013326331606587668 Centerline is valid? [True, True] Translation: X:76.80, Y:-26.60, Z:-0.12 [[ 8.25878776e-01 5.63839642e-01 -3.01772131e-03 7.68023955e+01] [-5.63835647e-01 8.25884287e-01 2.12291955e-03 -2.65970674e+01] [ 3.68927482e-03 -5.17753511e-05 9.99993193e-01 -1.17795432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.127628 meters 0.013376125211116321 Centerline is valid? [True, True] Translation: X:76.83, Y:-26.61, Z:-0.12 [[ 8.25731949e-01 5.64057288e-01 -2.47466168e-03 7.68295902e+01] [-5.64054600e-01 8.25735657e-01 1.74190289e-03 -2.66135692e+01] [ 3.02594941e-03 -4.25005645e-05 9.99995421e-01 -1.17885768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.157628 meters 0.013575336444751788 Centerline is valid? [True, True] Translation: X:76.86, Y:-26.63, Z:-0.12 [[ 8.26228098e-01 5.63332105e-01 -2.01706483e-03 7.68577996e+01] [-5.63330315e-01 8.26230560e-01 1.42057874e-03 -2.66296074e+01] [ 2.46681821e-03 -3.74483042e-05 9.99996957e-01 -1.17712918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.187628 meters 0.013722209751345034 Centerline is valid? [True, True] Translation: X:76.89, Y:-26.65, Z:-0.12 [[ 8.26339491e-01 5.63168081e-01 -2.18115219e-03 7.68853148e+01] [-5.63165985e-01 8.26342369e-01 1.53705996e-03 -2.66478994e+01] [ 2.66800157e-03 -4.17826248e-05 9.99996440e-01 -1.17366505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.217628 meters 0.013967577375643267 Centerline is valid? [True, True] Translation: X:76.91, Y:-26.67, Z:-0.12 [[ 8.26648937e-01 5.62714177e-01 -2.07123324e-03 7.69119770e+01] [-5.62712283e-01 8.26651531e-01 1.46030213e-03 -2.66651689e+01] [ 2.53392084e-03 -4.16488196e-05 9.99996789e-01 -1.17138451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.247628 meters 0.014643496838313097 Centerline is valid? [True, True] Translation: X:76.94, Y:-26.68, Z:-0.12 [[ 8.27268467e-01 5.61803795e-01 -1.83826944e-03 7.69387899e+01] [-5.61802300e-01 8.27270509e-01 1.29667285e-03 -2.66810860e+01] [ 2.24922182e-03 -3.99525619e-05 9.99997470e-01 -1.16768157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.277628 meters 0.01474963042848713 Centerline is valid? [True, True] Translation: X:76.97, Y:-26.70, Z:-0.12 [[ 8.27187872e-01 5.61921734e-01 -2.04668937e-03 7.69669145e+01] [-5.61919879e-01 8.27190403e-01 1.44453982e-03 -2.66991736e+01] [ 2.50472013e-03 -4.48303717e-05 9.99996862e-01 -1.16948924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30762800000001 meters 0.014481980500689377 Centerline is valid? [True, True] Translation: X:77.00, Y:-26.72, Z:-0.12 [[ 8.26429592e-01 5.63033946e-01 -2.62762067e-03 7.69951915e+01] [-5.63030892e-01 8.26433768e-01 1.85528229e-03 -2.67151048e+01] [ 3.21614136e-03 -5.38285761e-05 9.99994827e-01 -1.17136672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33762800000001 meters 0.014446747083604354 Centerline is valid? [True, True] Translation: X:77.02, Y:-26.73, Z:-0.12 [[ 8.26047065e-01 5.63593711e-01 -2.89393140e-03 7.70228352e+01] [-5.63590006e-01 8.26052133e-01 2.04447755e-03 -2.67332024e+01] [ 3.54279289e-03 -5.78438649e-05 9.99993723e-01 -1.17567155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36762800000001 meters 0.014576447451126599 Centerline is valid? [True, True] Translation: X:77.05, Y:-26.75, Z:-0.12 [[ 8.25639039e-01 5.64187187e-01 -3.60475682e-03 7.70503363e+01] [-5.64181441e-01 8.25646906e-01 2.54725431e-03 -2.67497581e+01] [ 4.41338455e-03 -6.93757025e-05 9.99990259e-01 -1.19387155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39762800000001 meters 0.014576447451126599 Centerline is valid? [True, True] Translation: X:77.08, Y:-26.77, Z:-0.12 [[ 8.25492021e-01 5.64402281e-01 -3.60401381e-03 7.70767634e+01] [-5.64396532e-01 8.25499885e-01 2.54830555e-03 -2.67685480e+01] [ 4.41338245e-03 -6.95129971e-05 9.99990259e-01 -1.19433502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42762800000001 meters 0.0134454196425525 Centerline is valid? [True, True] Translation: X:77.11, Y:-26.78, Z:-0.12 [[ 8.25385430e-01 5.64550848e-01 -4.60787892e-03 7.71065505e+01] [-5.64541442e-01 8.25398287e-01 3.25997942e-03 -2.67837353e+01] [ 5.64375951e-03 -8.94009030e-05 9.99984070e-01 -1.20157343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45762800000001 meters 0.013820776501902991 Centerline is valid? [True, True] Translation: X:77.13, Y:-26.80, Z:-0.12 [[ 8.25657206e-01 5.64140239e-01 -5.99736283e-03 7.71319988e+01] [-5.64124282e-01 8.25678979e-01 4.24481389e-03 -2.68008998e+01] [ 7.34656674e-03 -1.21503178e-04 9.99973006e-01 -1.21764778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48762800000002 meters 0.01390269582536458 Centerline is valid? [True, True] Translation: X:77.16, Y:-26.82, Z:-0.12 [[ 8.25882393e-01 5.63806186e-01 -6.39204837e-03 7.71580391e+01] [-5.63788031e-01 8.25907118e-01 4.52653389e-03 -2.68190623e+01] [ 7.83132606e-03 -1.34624280e-04 9.99969326e-01 -1.21632640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.517628 meters 0.014033415251451882 Centerline is valid? [True, True] Translation: X:77.18, Y:-26.84, Z:-0.12 [[ 8.25819830e-01 5.63892805e-01 -6.81999118e-03 7.71844326e+01] [-5.63872117e-01 8.25847978e-01 4.83247587e-03 -2.68386520e+01] [ 8.35727430e-03 -1.45151536e-04 9.99965067e-01 -1.21806847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.547628 meters 0.014083156458169222 Centerline is valid? [True, True] Translation: X:77.21, Y:-26.86, Z:-0.12 [[ 8.25449889e-01 5.64436168e-01 -6.65533921e-03 7.72107378e+01] [-5.64416461e-01 8.25476707e-01 4.71859550e-03 -2.68579333e+01] [ 8.15717345e-03 -1.38581134e-04 9.99966720e-01 -1.20519420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.577628 meters 0.014005310696894318 Centerline is valid? [True, True] Translation: X:77.24, Y:-26.88, Z:-0.12 [[ 8.25002500e-01 5.65096763e-01 -6.04347216e-03 7.72360414e+01] [-5.65080523e-01 8.25024626e-01 4.28583503e-03 -2.68754401e+01] [ 7.40792486e-03 -1.20776199e-04 9.99972554e-01 -1.19977378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.607628 meters 0.013774391226748551 Centerline is valid? [True, True] Translation: X:77.26, Y:-26.89, Z:-0.12 [[ 8.24215596e-01 5.66250632e-01 -5.37345753e-03 7.72626005e+01] [-5.66237804e-01 8.24233106e-01 3.81282885e-03 -2.68930598e+01] [ 6.58799833e-03 -9.99382163e-05 9.99978294e-01 -1.19021546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.637628 meters 0.01286387214321113 Centerline is valid? [True, True] Translation: X:77.29, Y:-26.91, Z:-0.12 [[ 8.22718390e-01 5.68434075e-01 -4.14160390e-03 7.72900461e+01] [-5.68426473e-01 8.22728812e-01 2.94040119e-03 -2.69094017e+01] [ 5.07884108e-03 -6.49248361e-05 9.99987100e-01 -1.17220823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66762800000001 meters 0.012459613335444875 Centerline is valid? [True, True] Translation: X:77.32, Y:-26.93, Z:-0.12 [[ 8.21900694e-01 5.69620452e-01 -3.43373397e-03 7.73164909e+01] [-5.69615231e-01 8.21907865e-01 2.43922387e-03 -2.69270309e+01] [ 4.21164476e-03 -4.88926173e-05 9.99991130e-01 -1.16494297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69762800000001 meters 0.012458724256267973 Centerline is valid? [True, True] Translation: X:77.34, Y:-26.94, Z:-0.12 [[ 8.21231874e-01 5.70591533e-01 -1.87384570e-03 7.73421819e+01] [-5.70589980e-01 8.21234012e-01 1.33153888e-03 -2.69447162e+01] [ 2.29863063e-03 -2.43045884e-05 9.99997358e-01 -1.16216776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72762800000001 meters 0.012418001055932963 Centerline is valid? [True, True] Translation: X:77.37, Y:-26.96, Z:-0.12 [[ 8.21107669e-01 5.70772181e-01 -1.14611739e-03 7.73691964e+01] [-5.70771599e-01 8.21108469e-01 8.15255648e-04 -2.69641128e+01] [ 1.40641194e-03 -1.52414115e-05 9.99999011e-01 -1.15962143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75762800000001 meters 0.012397332418657873 Centerline is valid? [True, True] Translation: X:77.40, Y:-26.98, Z:-0.12 [[ 8.21218675e-01 5.70613226e-01 -6.58305117e-04 7.73953756e+01] [-5.70613034e-01 8.21218939e-01 4.68766913e-04 -2.69835832e+01] [ 8.08097231e-04 -9.32266344e-06 9.99999673e-01 -1.15388651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78762800000001 meters 0.012369025554497232 Centerline is valid? [True, True] Translation: X:77.42, Y:-27.00, Z:-0.11 [[ 8.21487461e-01 5.70226505e-01 -2.90378135e-04 7.74217894e+01] [-5.70226467e-01 8.21487513e-01 2.07196425e-04 -2.70033901e+01] [ 3.56690905e-04 -4.62796750e-06 9.99999936e-01 -1.14914175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81762800000001 meters 0.01305063459923972 Centerline is valid? [True, True] Translation: X:77.44, Y:-27.02, Z:-0.11 [[ 8.22906751e-01 5.68176449e-01 4.39702506e-05 7.74441912e+01] [-5.68176448e-01 8.22906752e-01 -3.10809893e-05 -2.70247059e+01] [-5.38429023e-05 5.93895125e-07 9.99999999e-01 -1.14698796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84762800000001 meters 0.013348048360881139 Centerline is valid? [True, True] Translation: X:77.47, Y:-27.04, Z:-0.11 [[ 8.23673704e-01 5.67064042e-01 -3.62473961e-05 7.74688329e+01] [-5.67064041e-01 8.23673705e-01 2.62497122e-05 -2.70448867e+01] [ 4.47412950e-05 -1.06660274e-06 9.99999999e-01 -1.14951266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.877628 meters 0.013639775484401316 Centerline is valid? [True, True] Translation: X:77.49, Y:-27.07, Z:-0.12 [[ 8.24342905e-01 5.66090716e-01 -2.76200637e-04 7.74938567e+01] [-5.66090682e-01 8.24342951e-01 1.97275084e-04 -2.70655753e+01] [ 3.39359642e-04 -6.26770848e-06 9.99999942e-01 -1.15427573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.907628 meters 0.014108401587228496 Centerline is valid? [True, True] Translation: X:77.52, Y:-27.09, Z:-0.12 [[ 8.25981225e-01 5.63694917e-01 -1.74823404e-03 7.75175678e+01] [-5.63693539e-01 8.25983074e-01 1.24704901e-03 -2.70872704e+01] [ 2.14696691e-03 -4.45708409e-05 9.99997694e-01 -1.17062932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.937628 meters 0.014880410166166126 Centerline is valid? [True, True] Translation: X:77.54, Y:-27.11, Z:-0.12 [[ 8.26645875e-01 5.62715687e-01 -2.76637787e-03 7.75408889e+01] [-5.62712230e-01 8.26650500e-01 1.97398097e-03 -2.71077110e+01] [ 3.39761771e-03 -7.51085645e-05 9.99994225e-01 -1.18530188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.967628 meters 0.015770660196834273 Centerline is valid? [True, True] Translation: X:77.56, Y:-27.13, Z:-0.12 [[ 8.27762751e-01 5.61055539e-01 -5.05072049e-03 7.75637518e+01] [-5.61043981e-01 8.27778146e-01 3.60441689e-03 -2.71293780e+01] [ 6.20315410e-03 -1.49925715e-04 9.99980749e-01 -1.21124588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997628 meters 0.01604061956924231 Centerline is valid? [True, True] Translation: X:77.59, Y:-27.15, Z:-0.12 [[ 8.27957379e-01 5.60760243e-01 -5.87617366e-03 7.75886729e+01] [-5.60744574e-01 8.27978211e-01 4.19580149e-03 -2.71496996e+01] [ 7.21818241e-03 -1.78912307e-04 9.99973933e-01 -1.22216398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.027628 meters 0.015884312504383286 Centerline is valid? [True, True] Translation: X:77.61, Y:-27.17, Z:-0.12 [[ 8.27967115e-01 5.60739819e-01 -6.42740184e-03 7.76136223e+01] [-5.60721053e-01 8.27992039e-01 4.59172658e-03 -2.71693838e+01] [ 7.89660148e-03 -1.97819079e-04 9.99968802e-01 -1.22334026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05762800000001 meters 0.018070545886192477 Centerline is valid? [True, True] Translation: X:77.64, Y:-27.19, Z:-0.13 [[ 8.27999803e-01 5.60679614e-01 -7.39569823e-03 7.76377428e+01] [-5.60654742e-01 8.28032800e-01 5.28612369e-03 -2.71904093e+01] [ 9.08770250e-03 -2.30476096e-04 9.99958679e-01 -1.25370830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08762800000001 meters 0.01569946131106205 Centerline is valid? [True, True] Translation: X:77.66, Y:-27.21, Z:-0.12 [[ 8.27439352e-01 5.61518992e-01 -6.36719417e-03 7.76634961e+01] [-5.61500563e-01 8.27463827e-01 4.55339549e-03 -2.72099656e+01] [ 7.82544090e-03 -1.92475500e-04 9.99969362e-01 -1.22482298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11762800000001 meters 0.015683928429682786 Centerline is valid? [True, True] Translation: X:77.69, Y:-27.23, Z:-0.12 [[ 8.26852925e-01 5.62386735e-01 -5.94981257e-03 7.76888346e+01] [-5.62370650e-01 8.26874313e-01 4.25710915e-03 -2.72299035e+01] [ 7.31388889e-03 -1.74003194e-04 9.99973238e-01 -1.22271608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14762800000001 meters 0.014595731351260062 Centerline is valid? [True, True] Translation: X:77.71, Y:-27.25, Z:-0.12 [[ 8.24884666e-01 5.65279955e-01 -4.88459124e-03 7.77139894e+01] [-5.65269163e-01 8.24899119e-01 3.49507124e-03 -2.72495063e+01] [ 6.00498873e-03 -1.21921871e-04 9.99981962e-01 -1.21115387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17762800000001 meters 0.01365483630562438 Centerline is valid? [True, True] Translation: X:77.74, Y:-27.27, Z:-0.12 [[ 8.23351594e-01 5.67513539e-01 -4.53173138e-03 7.77407301e+01] [-5.67504272e-01 8.23364059e-01 3.24466155e-03 -2.72679291e+01] [ 5.57265410e-03 -9.97203421e-05 9.99984468e-01 -1.20482537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20762800000001 meters 0.013218201482077455 Centerline is valid? [True, True] Translation: X:77.77, Y:-27.29, Z:-0.12 [[ 8.21539772e-01 5.70135673e-01 -4.20918709e-03 7.77655036e+01] [-5.70127706e-01 8.21550551e-01 3.01519408e-03 -2.72864007e+01] [ 5.17712968e-03 -7.73276767e-05 9.99986596e-01 -1.20332753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23762800000002 meters 0.012354644393360217 Centerline is valid? [True, True] Translation: X:77.79, Y:-27.31, Z:-0.12 [[ 8.17239610e-01 5.76287453e-01 -3.49155669e-03 7.77909959e+01] [-5.76282020e-01 8.17247068e-01 2.50252359e-03 -2.73050476e+01] [ 4.29563742e-03 -3.30400567e-05 9.99990773e-01 -1.20186965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.267628 meters 0.011988942398699257 Centerline is valid? [True, True] Translation: X:77.82, Y:-27.32, Z:-0.12 [[ 8.14710289e-01 5.79859222e-01 -3.22936676e-03 7.78176657e+01] [-5.79854597e-01 8.14716689e-01 2.31584444e-03 -2.73230467e+01] [ 3.97388275e-03 -1.41791355e-05 9.99992104e-01 -1.19912217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.297628 meters 0.012033912514971393 Centerline is valid? [True, True] Translation: X:77.84, Y:-27.34, Z:-0.12 [[ 8.10031040e-01 5.86381377e-01 -2.56798610e-03 7.78438356e+01] [-5.86378481e-01 8.10035111e-01 1.84280065e-03 -2.73421953e+01] [ 3.16074289e-03 1.30860650e-05 9.99995005e-01 -1.20403508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.327628 meters 0.012208897840146463 Centerline is valid? [True, True] Translation: X:77.87, Y:-27.36, Z:-0.12 [[ 8.08089577e-01 5.89054640e-01 -2.42217766e-03 7.78688888e+01] [-5.89052073e-01 8.08093207e-01 1.73905543e-03 -2.73616153e+01] [ 2.98174398e-03 2.14762045e-05 9.99995554e-01 -1.19979679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357628 meters 0.012668018914139562 Centerline is valid? [True, True] Translation: X:77.89, Y:-27.38, Z:-0.12 [[ 8.06341617e-01 5.91446082e-01 -2.17441216e-03 7.78932145e+01] [-5.91444020e-01 8.06344549e-01 1.56193712e-03 -2.73808955e+01] [ 2.67712698e-03 2.65881596e-05 9.99996416e-01 -1.19531863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.387628 meters 0.013278043277324585 Centerline is valid? [True, True] Translation: X:77.92, Y:-27.40, Z:-0.12 [[ 8.04394448e-01 5.94090376e-01 -2.48955312e-03 7.79168748e+01] [-5.94087683e-01 8.04398299e-01 1.78920500e-03 -2.74034754e+01] [ 3.06554177e-03 3.97862817e-05 9.99995300e-01 -1.19624751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41762800000001 meters 0.013421025408944286 Centerline is valid? [True, True] Translation: X:77.94, Y:-27.42, Z:-0.12 [[ 8.04006806e-01 5.94612943e-01 -2.91608436e-03 7.79417081e+01] [-5.94609248e-01 8.04012093e-01 2.09696666e-03 -2.74247199e+01] [ 3.59145061e-03 4.79552550e-05 9.99993550e-01 -1.20317703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44762800000001 meters 0.013198924918820748 Centerline is valid? [True, True] Translation: X:77.96, Y:-27.45, Z:-0.12 [[ 8.04230241e-01 5.94310115e-01 -3.03409782e-03 7.79645913e+01] [-5.94306108e-01 8.04235963e-01 2.18312216e-03 -2.74497305e+01] [ 3.73758217e-03 4.74500006e-05 9.99993014e-01 -1.21849254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47762800000001 meters 0.013112916097780088 Centerline is valid? [True, True] Translation: X:77.99, Y:-27.47, Z:-0.12 [[ 8.04723712e-01 5.93640088e-01 -3.34560217e-03 7.79886414e+01] [-5.93635209e-01 8.04730665e-01 2.40731204e-03 -2.74721834e+01] [ 4.12138560e-03 4.88461627e-05 9.99991506e-01 -1.22354539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50762800000001 meters 0.012988889295370612 Centerline is valid? [True, True] Translation: X:78.01, Y:-27.49, Z:-0.12 [[ 8.05309838e-01 5.92842517e-01 -3.71676986e-03 7.80120929e+01] [-5.92836479e-01 8.05318414e-01 2.67603705e-03 -2.74949711e+01] [ 4.57965175e-03 4.83977991e-05 9.99989512e-01 -1.22632431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53762800000001 meters 0.012781219438928241 Centerline is valid? [True, True] Translation: X:78.04, Y:-27.52, Z:-0.12 [[ 8.06093131e-01 5.91776297e-01 -3.83110777e-03 7.80355619e+01] [-5.91769864e-01 8.06102234e-01 2.75978840e-03 -2.75179677e+01] [ 4.72144189e-03 4.24876523e-05 9.99988853e-01 -1.23010150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56762800000001 meters 0.012588619129774334 Centerline is valid? [True, True] Translation: X:78.06, Y:-27.54, Z:-0.12 [[ 8.08035942e-01 5.89117518e-01 -4.29711549e-03 7.80554138e+01] [-5.89109379e-01 8.08047368e-01 3.09688662e-03 -2.75438901e+01] [ 5.29670302e-03 2.90753372e-05 9.99985972e-01 -1.24560298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59762800000001 meters 0.012541396360538548 Centerline is valid? [True, True] Translation: X:78.08, Y:-27.57, Z:-0.12 [[ 8.08986193e-01 5.87811554e-01 -4.34916304e-03 7.80791177e+01] [-5.87803187e-01 8.08997884e-01 3.13635386e-03 -2.75673456e+01] [ 5.36204873e-03 1.91849266e-05 9.99985624e-01 -1.24981770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.627628 meters 0.012511310057335013 Centerline is valid? [True, True] Translation: X:78.10, Y:-27.59, Z:-0.13 [[ 8.10808841e-01 5.85290716e-01 -4.87858881e-03 7.81000966e+01] [-5.85280130e-01 8.10823518e-01 3.52017753e-03 -2.75943667e+01] [ 6.01600177e-03 1.15002578e-06 9.99981904e-01 -1.25904956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.657628 meters 0.012559785139261153 Centerline is valid? [True, True] Translation: X:78.12, Y:-27.62, Z:-0.13 [[ 8.10695310e-01 5.85448886e-01 -4.76605455e-03 7.81244281e+01] [-5.85438779e-01 8.10709320e-01 3.44007127e-03 -2.76151012e+01] [ 5.87787073e-03 1.38350802e-06 9.99982725e-01 -1.25600563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.687628 meters 0.012501309819520155 Centerline is valid? [True, True] Translation: X:78.15, Y:-27.63, Z:-0.13 [[ 8.08996878e-01 5.87799992e-01 -3.90139386e-03 7.81517341e+01] [-5.87793238e-01 8.09006285e-01 2.81789647e-03 -2.76327863e+01] [ 4.81261167e-03 1.35434825e-05 9.99988419e-01 -1.25063950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.717628 meters 0.012897231080298449 Centerline is valid? [True, True] Translation: X:78.18, Y:-27.65, Z:-0.12 [[ 8.06240893e-01 5.91569484e-01 -4.60087103e-03 7.81785196e+01] [-5.91560143e-01 8.06254020e-01 3.32467707e-03 -2.76502061e+01] [ 5.67624826e-03 4.12013129e-05 9.99983889e-01 -1.24786569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.747628 meters 0.0130010386634538 Centerline is valid? [True, True] Translation: X:78.21, Y:-27.67, Z:-0.13 [[ 8.05416469e-01 5.92687986e-01 -5.02624223e-03 7.82052879e+01] [-5.92676848e-01 8.05432150e-01 3.63391482e-03 -2.76684116e+01] [ 6.20207475e-03 5.21225562e-05 9.99980766e-01 -1.25066797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.777628 meters 0.013182945122050777 Centerline is valid? [True, True] Translation: X:78.23, Y:-27.69, Z:-0.13 [[ 8.05143285e-01 5.93053286e-01 -5.66486549e-03 7.82313398e+01] [-5.93039133e-01 8.05163211e-01 4.09769333e-03 -2.76860001e+01] [ 6.99129178e-03 6.02566446e-05 9.99975559e-01 -1.26713381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80762800000001 meters 0.012847270273302042 Centerline is valid? [True, True] Translation: X:78.26, Y:-27.71, Z:-0.13 [[ 8.06926140e-01 5.90618780e-01 -6.29781696e-03 7.82562022e+01] [-5.90601195e-01 8.06950714e-01 4.55780039e-03 -2.77066251e+01] [ 7.77395040e-03 4.16899450e-05 9.99969782e-01 -1.28248837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83762800000001 meters 0.012697086055272672 Centerline is valid? [True, True] Translation: X:78.28, Y:-27.73, Z:-0.13 [[ 8.08295395e-01 5.88748749e-01 -5.78488144e-03 7.82812977e+01] [-5.88733848e-01 8.08316096e-01 4.18874660e-03 -2.77271967e+01] [ 7.14213210e-03 2.00109271e-05 9.99974494e-01 -1.27541961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86762800000001 meters 0.012657912789723535 Centerline is valid? [True, True] Translation: X:78.31, Y:-27.75, Z:-0.12 [[ 8.11567246e-01 5.84247805e-01 -3.62045753e-03 7.83053225e+01] [-5.84241917e-01 8.11575321e-01 2.62306416e-03 -2.77479599e+01] [ 4.47079346e-03 -1.35699057e-05 9.99990006e-01 -1.24605271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89762800000001 meters 0.012657912789723535 Centerline is valid? [True, True] Translation: X:78.33, Y:-27.77, Z:-0.12 [[ 8.11400846e-01 5.84478883e-01 -3.61968032e-03 7.83315123e+01] [-5.84472993e-01 8.11408920e-01 2.62413667e-03 -2.77670188e+01] [ 4.47079337e-03 -1.36213252e-05 9.99990006e-01 -1.24651641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92762800000001 meters 0.012943198923808135 Centerline is valid? [True, True] Translation: X:78.36, Y:-27.79, Z:-0.12 [[ 8.13518918e-01 5.81532099e-01 -2.71810575e-03 7.83564212e+01] [-5.81528757e-01 8.13523458e-01 1.97161452e-03 -2.77878527e+01] [ 3.35779992e-03 -2.32890519e-05 9.99994362e-01 -1.23162188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95762800000001 meters 0.013307009188932534 Centerline is valid? [True, True] Translation: X:78.38, Y:-27.81, Z:-0.12 [[ 8.15823074e-01 5.78297985e-01 -2.03749654e-03 7.83810116e+01] [-5.78296095e-01 8.15825618e-01 1.47880223e-03 -2.78086509e+01] [ 2.51743022e-03 -2.81646901e-05 9.99996831e-01 -1.21889087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98762800000002 meters 0.014579566511105122 Centerline is valid? [True, True] Translation: X:78.41, Y:-27.83, Z:-0.12 [[ 8.20332003e-01 5.71885580e-01 -1.51237942e-03 7.84059357e+01] [-5.71884527e-01 8.20333397e-01 1.09810442e-03 -2.78287971e+01] [ 1.86864543e-03 -3.59038107e-05 9.99998253e-01 -1.22124055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.017628 meters 0.015655251390912277 Centerline is valid? [True, True] Translation: X:78.43, Y:-27.85, Z:-0.12 [[ 8.22223207e-01 5.69163875e-01 -1.21730973e-03 7.84300912e+01] [-5.69163189e-01 8.22224107e-01 8.84046097e-04 -2.78475123e+01] [ 1.50406851e-03 -3.40353274e-05 9.99998868e-01 -1.22937349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.047628 meters 0.01662840859300698 Centerline is valid? [True, True] Translation: X:78.46, Y:-27.87, Z:-0.12 [[ 8.26041192e-01 5.63607496e-01 -1.59344091e-03 7.84552983e+01] [-5.63606311e-01 8.26042727e-01 1.15721716e-03 -2.78674245e+01] [ 1.96846654e-03 -5.78356877e-05 9.99998061e-01 -1.23238077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.077628 meters 0.01834016325000249 Centerline is valid? [True, True] Translation: X:78.48, Y:-27.89, Z:-0.12 [[ 8.27427305e-01 5.61570429e-01 -1.64579393e-03 7.84784748e+01] [-5.61569159e-01 8.27428939e-01 1.19591089e-03 -2.78876469e+01] [ 2.03336571e-03 -6.53022137e-05 9.99997931e-01 -1.23189530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.107628 meters 0.020183707286936966 Centerline is valid? [True, True] Translation: X:78.50, Y:-27.91, Z:-0.13 [[ 8.28303286e-01 5.60276531e-01 -1.96858165e-03 7.85049056e+01] [-5.60274709e-01 8.28305621e-01 1.43124003e-03 -2.79056629e+01] [ 2.43247744e-03 -8.25543050e-05 9.99997038e-01 -1.26049652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.137628 meters 0.01792211232379618 Centerline is valid? [True, True] Translation: X:78.53, Y:-27.92, Z:-0.12 [[ 8.27608379e-01 5.61304511e-01 -1.27202572e-03 7.85324138e+01] [-5.61303750e-01 8.27609355e-01 9.25445354e-04 -2.79222744e+01] [ 1.57219704e-03 -5.19135231e-05 9.99998763e-01 -1.23530601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16762800000001 meters 0.019329664768470516 Centerline is valid? [True, True] Translation: X:78.56, Y:-27.94, Z:-0.13 [[ 8.26290780e-01 5.63241513e-01 -1.59534987e-03 7.85594833e+01] [-5.63240320e-01 8.26292318e-01 1.16115765e-03 -2.79393092e+01] [ 1.97223753e-03 -6.08884921e-05 9.99998053e-01 -1.26337599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19762800000001 meters 0.01639810431532344 Centerline is valid? [True, True] Translation: X:78.59, Y:-27.95, Z:-0.12 [[ 8.23959019e-01 5.66648671e-01 -9.04871478e-04 7.85870304e+01] [-5.66648289e-01 8.23959515e-01 6.58931966e-04 -2.79542174e+01] [ 1.11896039e-03 -3.01890615e-05 9.99999374e-01 -1.23637311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22762800000001 meters 0.014092910073366193 Centerline is valid? [True, True] Translation: X:78.62, Y:-27.96, Z:-0.12 [[ 8.17464541e-01 5.75978581e-01 -6.31761117e-04 7.86182854e+01] [-5.75978397e-01 8.17464785e-01 4.60433577e-04 -2.79647677e+01] [ 7.81642344e-04 -1.25073671e-05 9.99999694e-01 -1.24425735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25762800000001 meters 0.014810857790003297 Centerline is valid? [True, True] Translation: X:78.65, Y:-27.98, Z:-0.13 [[ 8.13892112e-01 5.81014656e-01 -1.26428210e-03 7.86467321e+01] [-5.81013926e-01 8.13893094e-01 9.21543962e-04 -2.79799034e+01] [ 1.56442102e-03 -1.54718553e-05 9.99998776e-01 -1.26626545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28762800000001 meters 0.012481395814382689 Centerline is valid? [True, True] Translation: X:78.68, Y:-27.99, Z:-0.12 [[ 8.07255216e-01 5.90201234e-01 -1.23257860e-03 7.86765071e+01] [-5.90200550e-01 8.07256157e-01 8.98911691e-04 -2.79928810e+01] [ 1.52554545e-03 1.81741554e-06 9.99998836e-01 -1.24525620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31762800000001 meters 0.01264156180854522 Centerline is valid? [True, True] Translation: X:78.70, Y:-28.01, Z:-0.12 [[ 8.04785634e-01 5.93565021e-01 -8.05187213e-04 7.87029398e+01] [-5.93564730e-01 8.04786037e-01 5.87615920e-04 -2.80086778e+01] [ 9.96791683e-04 5.02587976e-06 9.99999503e-01 -1.24821974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34762800000001 meters 0.012966430072551466 Centerline is valid? [True, True] Translation: X:78.73, Y:-28.03, Z:-0.12 [[ 8.02667264e-01 5.96427021e-01 -2.68437974e-04 7.87298867e+01] [-5.96426988e-01 8.02667309e-01 1.96311226e-04 -2.80259358e+01] [ 3.32551706e-04 2.53105736e-06 9.99999945e-01 -1.24607104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.377628 meters 0.013452360850927072 Centerline is valid? [True, True] Translation: X:78.76, Y:-28.04, Z:-0.12 [[ 8.00366175e-01 5.99511148e-01 6.07322901e-04 7.87569770e+01] [-5.99510984e-01 8.00366406e-01 -4.43034160e-04 -2.80424853e+01] [-7.51684765e-04 -9.50719364e-06 9.99999717e-01 -1.24839785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.407628 meters 0.013497238923204214 Centerline is valid? [True, True] Translation: X:78.78, Y:-28.06, Z:-0.12 [[ 7.99841719e-01 6.00210033e-01 1.06848067e-03 7.87832135e+01] [-6.00209527e-01 7.99842432e-01 -7.79821538e-04 -2.80622118e+01] [-1.32267289e-03 -1.75784750e-05 9.99999125e-01 -1.24617650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.437628 meters 0.013621974958715855 Centerline is valid? [True, True] Translation: X:78.81, Y:-28.08, Z:-0.12 [[ 7.99795866e-01 6.00270966e-01 1.15769723e-03 7.88084280e+01] [-6.00270370e-01 7.99796704e-01 -8.45484165e-04 -2.80817817e+01] [-1.43344202e-03 -1.87166029e-05 9.99998972e-01 -1.24045771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.467628 meters 0.01360281304420874 Centerline is valid? [True, True] Translation: X:78.83, Y:-28.10, Z:-0.12 [[ 8.00022571e-01 5.99968771e-01 1.16589110e-03 7.88334777e+01] [-5.99968167e-01 8.00023420e-01 -8.51946076e-04 -2.81026945e+01] [-1.44388122e-03 -1.79214548e-05 9.99998957e-01 -1.23401945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497628 meters 0.015465270494070834 Centerline is valid? [True, True] Translation: X:78.86, Y:-28.13, Z:-0.13 [[ 8.02071457e-01 5.97227591e-01 7.63311296e-04 7.88560433e+01] [-5.97227331e-01 8.02071820e-01 -5.57945162e-04 -2.81262512e+01] [-9.45450725e-04 -8.35847936e-06 9.99999553e-01 -1.25392553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.527628 meters 0.012765756056861697 Centerline is valid? [True, True] Translation: X:78.88, Y:-28.15, Z:-0.12 [[ 8.03276808e-01 5.95604437e-01 1.31335230e-03 7.88801689e+01] [-5.95603662e-01 8.03277881e-01 -9.60820961e-04 -2.81473977e+01] [-1.62725608e-03 -1.04322476e-05 9.99998676e-01 -1.22826995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55762800000001 meters 0.012424851842284243 Centerline is valid? [True, True] Translation: X:78.90, Y:-28.17, Z:-0.12 [[ 8.06641282e-01 5.91041230e-01 3.28155283e-04 7.89011094e+01] [-5.91041181e-01 8.06641348e-01 -2.39892024e-04 -2.81715983e+01] [-4.06489697e-04 -4.46476017e-07 9.99999917e-01 -1.23642821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58762800000001 meters 0.012549604801612694 Centerline is valid? [True, True] Translation: X:78.93, Y:-28.19, Z:-0.12 [[ 8.08567440e-01 5.88403514e-01 1.85165055e-05 7.89255089e+01] [-5.88403514e-01 8.08567440e-01 -1.30623681e-05 -2.81945302e+01] [-2.26577867e-05 -3.33371340e-07 1.00000000e+00 -1.24032401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61762800000001 meters 0.013421575054959322 Centerline is valid? [True, True] Translation: X:78.95, Y:-28.22, Z:-0.13 [[ 8.12093778e-01 5.83525040e-01 -1.49113451e-03 7.89457524e+01] [-5.83524016e-01 8.12095147e-01 1.09349029e-03 -2.82201303e+01] [ 1.84902207e-03 -1.79038582e-05 9.99998290e-01 -1.25953063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64762800000001 meters 0.013536041296841956 Centerline is valid? [True, True] Translation: X:78.97, Y:-28.24, Z:-0.13 [[ 8.13312984e-01 5.81822574e-01 -2.11688140e-03 7.89701843e+01] [-5.81820503e-01 8.13315739e-01 1.55303134e-03 -2.82406521e+01] [ 2.62528165e-03 -3.14555493e-05 9.99996553e-01 -1.26414549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67762800000001 meters 0.013719037282511327 Centerline is valid? [True, True] Translation: X:79.00, Y:-28.26, Z:-0.13 [[ 8.13172919e-01 5.82017967e-01 -2.21128362e-03 7.89959611e+01] [-5.82015706e-01 8.13175925e-01 1.62273811e-03 -2.82601495e+01] [ 2.74262534e-03 -3.25648927e-05 9.99996238e-01 -1.26443695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70762800000001 meters 0.013374732054856056 Centerline is valid? [True, True] Translation: X:79.02, Y:-28.28, Z:-0.13 [[ 8.11884991e-01 5.83810652e-01 -2.80786203e-03 7.90228505e+01] [-5.83807013e-01 8.11889845e-01 2.06161841e-03 -2.82774752e+01] [ 3.48326946e-03 -3.45474957e-05 9.99993933e-01 -1.26983854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73762800000002 meters 0.013198303197029288 Centerline is valid? [True, True] Translation: X:79.05, Y:-28.30, Z:-0.13 [[ 8.11414138e-01 5.84462194e-01 -3.32276674e-03 7.90496976e+01] [-5.84457098e-01 8.11420940e-01 2.44110004e-03 -2.82959023e+01] [ 4.12289319e-03 -3.87284793e-05 9.99991500e-01 -1.27534987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.767628 meters 0.01335009847941727 Centerline is valid? [True, True] Translation: X:79.08, Y:-28.31, Z:-0.13 [[ 8.11289520e-01 5.84631479e-01 -3.91773700e-03 7.90759119e+01] [-5.84624389e-01 8.11298978e-01 2.87965435e-03 -2.83149073e+01] [ 4.86199260e-03 -4.58287940e-05 9.99988179e-01 -1.28372546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.797628 meters 0.013633330199334808 Centerline is valid? [True, True] Translation: X:79.10, Y:-28.33, Z:-0.13 [[ 8.12440520e-01 5.83024621e-01 -4.76371302e-03 7.91015039e+01] [-5.83014100e-01 8.12454483e-01 3.50312381e-03 -2.83348032e+01] [ 5.91270743e-03 -6.87678663e-05 9.99982517e-01 -1.29582085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.827628 meters 0.01386782291887609 Centerline is valid? [True, True] Translation: X:79.13, Y:-28.35, Z:-0.13 [[ 8.13475697e-01 5.81580560e-01 -4.61987038e-03 7.91268601e+01] [-5.81570632e-01 8.13488811e-01 3.39911120e-03 -2.83545953e+01] [ 5.73506987e-03 -7.83134153e-05 9.99983551e-01 -1.29419141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857628 meters 0.014422919325396029 Centerline is valid? [True, True] Translation: X:79.15, Y:-28.37, Z:-0.13 [[ 8.14837052e-01 5.79672765e-01 -4.47932894e-03 7.91520605e+01] [-5.79663394e-01 8.14849358e-01 3.29741145e-03 -2.83745042e+01] [ 5.56139793e-03 -9.03500076e-05 9.99984531e-01 -1.29306320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.887628 meters 0.015941276929211885 Centerline is valid? [True, True] Translation: X:79.18, Y:-28.40, Z:-0.13 [[ 8.19008396e-01 5.73767771e-01 -3.97398897e-03 7.91756435e+01] [-5.73760318e-01 8.19018029e-01 2.92681484e-03 -2.83955287e+01] [ 4.93408063e-03 -1.16968752e-04 9.99987821e-01 -1.28333881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91762800000001 meters 0.016732702211512185 Centerline is valid? [True, True] Translation: X:79.20, Y:-28.42, Z:-0.13 [[ 8.21468994e-01 5.70243807e-01 -3.26999464e-03 7.92007112e+01] [-5.70238729e-01 8.21475494e-01 2.40930191e-03 -2.84157763e+01] [ 4.06010995e-03 -1.14489233e-04 9.99991751e-01 -1.27503992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94762800000001 meters 0.02146692093368616 Centerline is valid? [True, True] Translation: X:79.22, Y:-28.44, Z:-0.13 [[ 8.26037727e-01 5.63611778e-01 -1.85379861e-03 7.92207040e+01] [-5.63610127e-01 8.26039803e-01 1.36663098e-03 -2.84403680e+01] [ 2.30156076e-03 -8.40690805e-05 9.99997348e-01 -1.26140233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97762800000001 meters 0.019879626139445068 Centerline is valid? [True, True] Translation: X:79.25, Y:-28.46, Z:-0.13 [[ 8.27839820e-01 5.60963844e-01 -8.92962252e-04 7.92479783e+01] [-5.60963459e-01 8.27840301e-01 6.58836484e-04 -2.84569922e+01] [ 1.10881359e-03 -4.44918829e-05 9.99999384e-01 -1.25390819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00762800000001 meters 0.020989018456873905 Centerline is valid? [True, True] Translation: X:79.27, Y:-28.48, Z:-0.12 [[ 8.29392478e-01 5.58666322e-01 -2.38857964e-04 7.92731546e+01] [-5.58666295e-01 8.29392513e-01 1.76508278e-04 -2.84768757e+01] [ 2.96716238e-04 -1.29527448e-05 9.99999956e-01 -1.24930870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03762800000001 meters 0.02223909208764695 Centerline is valid? [True, True] Translation: X:79.30, Y:-28.50, Z:-0.12 [[ 8.31292292e-01 5.55834775e-01 9.10088994e-04 7.92984479e+01] [-5.55834373e-01 8.31292788e-01 -6.71276320e-04 -2.84955779e+01] [-1.12966914e-03 5.21680859e-05 9.99999361e-01 -1.23865177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06762800000001 meters 0.02175327364672194 Centerline is valid? [True, True] Translation: X:79.33, Y:-28.51, Z:-0.12 [[ 8.31403070e-01 5.55668298e-01 1.29539127e-03 7.93257900e+01] [-5.55667481e-01 8.31404076e-01 -9.55787493e-04 -2.85130989e+01] [-1.60809439e-03 7.48378505e-05 9.99998704e-01 -1.23827808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09762800000001 meters 0.021239768587125646 Centerline is valid? [True, True] Translation: X:79.35, Y:-28.53, Z:-0.12 [[ 8.30195098e-01 5.57471205e-01 1.39800191e-03 7.93540483e+01] [-5.57470255e-01 8.30196272e-01 -1.03205801e-03 -2.85285835e+01] [-1.73595859e-03 7.74650214e-05 9.99998490e-01 -1.24665452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.127628 meters 0.020955406787530387 Centerline is valid? [True, True] Translation: X:79.38, Y:-28.55, Z:-0.13 [[ 8.28906710e-01 5.59385745e-01 1.11991628e-03 7.93806882e+01] [-5.59385137e-01 8.28907464e-01 -8.27087817e-04 -2.85455289e+01] [-1.39096810e-03 5.91141167e-05 9.99999031e-01 -1.25367380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.157628 meters 0.02058030696779963 Centerline is valid? [True, True] Translation: X:79.41, Y:-28.56, Z:-0.13 [[ 8.27182162e-01 5.61933048e-01 9.59653864e-04 7.94066921e+01] [-5.61932602e-01 8.27182717e-01 -7.09016375e-04 -2.85621025e+01] [-1.19222882e-03 4.72249052e-05 9.99999288e-01 -1.25725077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.187628 meters 0.018035701010403492 Centerline is valid? [True, True] Translation: X:79.44, Y:-28.57, Z:-0.13 [[ 8.23007615e-01 5.68030320e-01 -1.46282587e-04 7.94369849e+01] [-5.68030310e-01 8.23007628e-01 1.08578184e-04 -2.85746540e+01] [ 1.82067386e-04 -6.26772912e-06 9.99999983e-01 -1.27118462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.217628 meters 0.016885585947283916 Centerline is valid? [True, True] Translation: X:79.47, Y:-28.59, Z:-0.13 [[ 8.20782914e-01 5.71239655e-01 -8.15505448e-04 7.94651125e+01] [-5.71239338e-01 8.20783318e-01 6.03270175e-04 -2.85903042e+01] [ 1.01396511e-03 -2.93050604e-05 9.99999486e-01 -1.28248615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.247628 meters 0.015270652185701618 Centerline is valid? [True, True] Translation: X:79.49, Y:-28.60, Z:-0.13 [[ 8.16405362e-01 5.77477000e-01 -1.61238885e-03 7.94940643e+01] [-5.77475769e-01 8.16406953e-01 1.19336604e-03 -2.86036012e+01] [ 2.00550691e-03 -4.31549444e-05 9.99997988e-01 -1.30343675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.277628 meters 0.014463769798495393 Centerline is valid? [True, True] Translation: X:79.52, Y:-28.62, Z:-0.13 [[ 8.14005228e-01 5.80854110e-01 -1.99777644e-03 7.95217697e+01] [-5.80852228e-01 8.14007678e-01 1.47938332e-03 -2.86205601e+01] [ 2.48551125e-03 -4.38128633e-05 9.99996910e-01 -1.31166145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30762800000001 meters 0.014122335153192634 Centerline is valid? [True, True] Translation: X:79.55, Y:-28.64, Z:-0.13 [[ 8.11921325e-01 5.83762773e-01 -2.18811635e-03 7.95478479e+01] [-5.83760523e-01 8.11924272e-01 1.62101999e-03 -2.86377594e+01] [ 2.72287590e-03 -3.88047503e-05 9.99996292e-01 -1.32074454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33762800000001 meters 0.013048194542203552 Centerline is valid? [True, True] Translation: X:79.58, Y:-28.65, Z:-0.13 [[ 8.08777113e-01 5.88110198e-01 -2.44448432e-03 7.95758398e+01] [-5.88107408e-01 8.08780807e-01 1.81187437e-03 -2.86534711e+01] [ 3.04263379e-03 -2.77831902e-05 9.99995371e-01 -1.32379194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36762800000001 meters 0.012887653973400994 Centerline is valid? [True, True] Translation: X:79.60, Y:-28.67, Z:-0.13 [[ 8.07763103e-01 5.89502923e-01 -2.25242728e-03 7.96005199e+01] [-5.89500557e-01 8.07766243e-01 1.67031701e-03 -2.86720313e+01] [ 2.80409149e-03 -2.14133162e-05 9.99996068e-01 -1.32694648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39762800000001 meters 0.012831236400735654 Centerline is valid? [True, True] Translation: X:79.63, Y:-28.69, Z:-0.13 [[ 8.07266049e-01 5.90183494e-01 -2.22933471e-03 7.96269751e+01] [-5.90181175e-01 8.07269127e-01 1.65425710e-03 -2.86921944e+01] [ 2.77598832e-03 -1.97142125e-05 9.99996147e-01 -1.32696217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42762800000001 meters 0.012925721455613791 Centerline is valid? [True, True] Translation: X:79.65, Y:-28.71, Z:-0.13 [[ 8.07479105e-01 5.89891527e-01 -2.34122488e-03 7.96517720e+01] [-5.89888968e-01 8.07482499e-01 1.73770291e-03 -2.87123973e+01] [ 2.91555433e-03 -2.20960639e-05 9.99995750e-01 -1.32994343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45762800000001 meters 0.013054438821481842 Centerline is valid? [True, True] Translation: X:79.68, Y:-28.73, Z:-0.13 [[ 8.07840453e-01 5.89397128e-01 -2.19729120e-03 7.96771889e+01] [-5.89394869e-01 8.07843441e-01 1.63202337e-03 -2.87333347e+01] [ 2.73697718e-03 -2.33423388e-05 9.99996254e-01 -1.32732666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48762800000002 meters 0.013526034691136555 Centerline is valid? [True, True] Translation: X:79.70, Y:-28.76, Z:-0.13 [[ 8.09652818e-01 5.86908970e-01 -4.18306484e-04 7.96985161e+01] [-5.86908888e-01 8.09652926e-01 3.11143037e-04 -2.87565302e+01] [ 5.21295708e-04 -6.41004305e-06 9.99999864e-01 -1.29712140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.517628 meters 0.014099621509060125 Centerline is valid? [True, True] Translation: X:79.72, Y:-28.78, Z:-0.13 [[ 8.10834433e-01 5.85275288e-01 5.99719778e-04 7.97215363e+01] [-5.85275118e-01 8.10834655e-01 -4.45401711e-04 -2.87784745e+01] [-7.46956194e-04 1.01459801e-05 9.99999721e-01 -1.27929172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.547628 meters 0.014229150895784217 Centerline is valid? [True, True] Translation: X:79.75, Y:-28.80, Z:-0.13 [[ 8.11919533e-01 5.83767929e-01 1.29540251e-03 7.97458608e+01] [-5.83767136e-01 8.11920566e-01 -9.62626564e-04 -2.87995545e+01] [-1.61371445e-03 2.53618980e-05 9.99998698e-01 -1.26480315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.577628 meters 0.014993325978086553 Centerline is valid? [True, True] Translation: X:79.77, Y:-28.82, Z:-0.13 [[ 8.13792481e-01 5.81153842e-01 1.41778220e-03 7.97691950e+01] [-5.81152887e-01 8.13793715e-01 -1.05414286e-03 -2.88222380e+01] [-1.76640142e-03 3.39053148e-05 9.99998439e-01 -1.26890059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.607628 meters 0.0150891510794804 Centerline is valid? [True, True] Translation: X:79.79, Y:-28.84, Z:-0.13 [[ 8.14982130e-01 5.79486084e-01 -7.65534268e-05 7.97940209e+01] [-5.79486081e-01 8.14982134e-01 5.74136473e-05 -2.88427691e+01] [ 9.56600848e-05 -2.42945133e-06 9.99999995e-01 -1.29743723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.637628 meters 0.015215176674594882 Centerline is valid? [True, True] Translation: X:79.82, Y:-28.86, Z:-0.13 [[ 8.15134333e-01 5.79271367e-01 -8.38670287e-04 7.98188677e+01] [-5.79271030e-01 8.15134764e-01 6.24911512e-04 -2.88629970e+01] [ 1.04562265e-03 -2.35694272e-05 9.99999453e-01 -1.31254560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66762800000001 meters 0.01620159470364532 Centerline is valid? [True, True] Translation: X:79.84, Y:-28.89, Z:-0.13 [[ 8.15078752e-01 5.79346956e-01 -1.93229188e-03 7.98425770e+01] [-5.79345168e-01 8.15081040e-01 1.44004186e-03 -2.88850825e+01] [ 2.40925835e-03 -5.42835580e-05 9.99997096e-01 -1.33040871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69762800000001 meters 0.015422280859556083 Centerline is valid? [True, True] Translation: X:79.87, Y:-28.90, Z:-0.13 [[ 8.15125194e-01 5.79275438e-01 -3.29915638e-03 7.98685746e+01] [-5.79270224e-01 8.15131865e-01 2.45960858e-03 -2.89046573e+01] [ 4.11403833e-03 -9.37858649e-05 9.99991533e-01 -1.33861100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72762800000001 meters 0.015709420781928562 Centerline is valid? [True, True] Translation: X:79.89, Y:-28.93, Z:-0.14 [[ 8.14738166e-01 5.79807715e-01 -4.97347104e-03 7.98933977e+01] [-5.79795869e-01 8.14753334e-01 3.70887015e-03 -2.89251912e+01] [ 6.20258364e-03 -1.38160103e-04 9.99980754e-01 -1.35577137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75762800000001 meters 0.01814678299598967 Centerline is valid? [True, True] Translation: X:79.92, Y:-28.94, Z:-0.14 [[ 8.13923432e-01 5.80934668e-01 -6.59987029e-03 7.99201837e+01] [-5.80913820e-01 8.13950171e-01 4.92468912e-03 -2.89439251e+01] [ 8.23288819e-03 -1.74364001e-04 9.99966094e-01 -1.39248501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78762800000001 meters 0.01544969527036949 Centerline is valid? [True, True] Translation: X:79.95, Y:-28.96, Z:-0.14 [[ 8.13156383e-01 5.82010118e-01 -6.39672862e-03 7.99453520e+01] [-5.81990550e-01 8.13181527e-01 4.77527647e-03 -2.89625066e+01] [ 7.98096078e-03 -1.60210931e-04 9.99968139e-01 -1.37119337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81762800000001 meters 0.01544969527036949 Centerline is valid? [True, True] Translation: X:79.97, Y:-28.98, Z:-0.14 [[ 8.12995266e-01 5.82235173e-01 -6.39536322e-03 7.99712722e+01] [-5.82215597e-01 8.13020404e-01 4.77710505e-03 -2.89819470e+01] [ 7.98095937e-03 -1.60283577e-04 9.99968139e-01 -1.37165708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84762800000001 meters 0.015601947918706881 Centerline is valid? [True, True] Translation: X:80.00, Y:-29.00, Z:-0.14 [[ 8.12708108e-01 5.82630049e-01 -6.91068521e-03 7.99958201e+01] [-5.82607183e-01 8.12737471e-01 5.16473203e-03 -2.90019466e+01] [ 8.62570090e-03 -1.71204754e-04 9.99962783e-01 -1.36589696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.877628 meters 0.015646668460686238 Centerline is valid? [True, True] Translation: X:80.02, Y:-29.02, Z:-0.14 [[ 8.12710444e-01 5.82632970e-01 -6.36837959e-03 8.00215104e+01] [-5.82613529e-01 8.12735379e-01 4.76223326e-03 -2.90221916e+01] [ 7.95044151e-03 -1.60012595e-04 9.99968382e-01 -1.35738952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.907628 meters 0.01563261151844082 Centerline is valid? [True, True] Translation: X:80.05, Y:-29.04, Z:-0.13 [[ 8.13308875e-01 5.81813871e-01 -4.61458187e-03 8.00473272e+01] [-5.81803638e-01 8.13321956e-01 3.45288797e-03 -2.90425292e+01] [ 5.76207887e-03 -1.23483905e-04 9.99983391e-01 -1.33388268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.937628 meters 0.016020699474563756 Centerline is valid? [True, True] Translation: X:80.07, Y:-29.06, Z:-0.13 [[ 8.13670905e-01 5.81317127e-01 -3.17111353e-03 8.00731548e+01] [-5.81312285e-01 8.13677080e-01 2.37431682e-03 -2.90622154e+01] [ 3.96049343e-03 -8.85052641e-05 9.99992153e-01 -1.32587463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.967628 meters 0.016143652455584044 Centerline is valid? [True, True] Translation: X:80.10, Y:-29.08, Z:-0.13 [[ 8.14132793e-01 5.80674501e-01 -2.21807966e-03 8.00990548e+01] [-5.80672127e-01 8.14135812e-01 1.66166613e-03 -2.90809719e+01] [ 2.77070523e-03 -6.48398508e-05 9.99996159e-01 -1.32056774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997628 meters 0.016187235940777533 Centerline is valid? [True, True] Translation: X:80.13, Y:-29.10, Z:-0.13 [[ 8.15238956e-01 5.79124621e-01 -3.43531100e-04 8.01262149e+01] [-5.79124563e-01 8.15239028e-01 2.57858789e-04 -2.90988792e+01] [ 4.29392334e-04 -1.12692318e-05 9.99999908e-01 -1.31058859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.027628 meters 0.016575151383150206 Centerline is valid? [True, True] Translation: X:80.15, Y:-29.12, Z:-0.13 [[ 8.15805260e-01 5.78326692e-01 1.21740546e-04 8.01518339e+01] [-5.78326685e-01 8.15805269e-01 -9.08341645e-05 -2.91185876e+01] [-1.51848401e-04 3.69718254e-06 9.99999988e-01 -1.30523166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05762800000001 meters 0.01689529458128776 Centerline is valid? [True, True] Translation: X:80.18, Y:-29.14, Z:-0.13 [[ 8.16356136e-01 5.77548553e-01 5.72981592e-04 8.01772086e+01] [-5.77548394e-01 8.16356337e-01 -4.29358081e-04 -2.91380232e+01] [-7.15732292e-04 1.95845061e-05 9.99999744e-01 -1.30005451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08762800000001 meters 0.01746145809296092 Centerline is valid? [True, True] Translation: X:80.20, Y:-29.16, Z:-0.13 [[ 8.17454483e-01 5.75993163e-01 2.10061770e-04 8.02033147e+01] [-5.75993142e-01 8.17454510e-01 -1.57211238e-04 -2.91570385e+01] [-2.62268539e-04 7.51889217e-06 9.99999966e-01 -1.29048340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11762800000001 meters 0.017744100320347355 Centerline is valid? [True, True] Translation: X:80.23, Y:-29.18, Z:-0.13 [[ 8.17697042e-01 5.75648776e-01 1.84978374e-04 8.02287991e+01] [-5.75648760e-01 8.17697063e-01 -1.38623005e-04 -2.91757144e+01] [-2.31054436e-04 6.86904973e-06 9.99999973e-01 -1.28939514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14762800000001 meters 0.017817239545802215 Centerline is valid? [True, True] Translation: X:80.26, Y:-29.19, Z:-0.13 [[ 8.17326011e-01 5.76174722e-01 -9.38534969e-04 8.02560218e+01] [-5.76174291e-01 8.17326550e-01 7.05341745e-04 -2.91928519e+01] [ 1.17348963e-03 -3.57344341e-05 9.99999311e-01 -1.30242601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17762800000001 meters 0.01757668537803517 Centerline is valid? [True, True] Translation: X:80.28, Y:-29.21, Z:-0.13 [[ 8.16809997e-01 5.76902660e-01 -2.17913569e-03 8.02831965e+01] [-5.76900341e-01 8.16812900e-01 1.63795518e-03 -2.92100941e+01] [ 2.72488684e-03 -8.07540485e-05 9.99996284e-01 -1.32292691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20762800000001 meters 0.016874869847844295 Centerline is valid? [True, True] Translation: X:80.31, Y:-29.23, Z:-0.13 [[ 8.16221090e-01 5.77731631e-01 -3.04870946e-03 8.03110092e+01] [-5.77727092e-01 8.16226777e-01 2.29258621e-03 -2.92268226e+01] [ 3.81293787e-03 -1.09935167e-04 9.99992725e-01 -1.33602587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23762800000002 meters 0.01659478444365413 Centerline is valid? [True, True] Translation: X:80.34, Y:-29.24, Z:-0.14 [[ 8.14787390e-01 5.79736983e-01 -5.15175360e-03 8.03378396e+01] [-5.79724054e-01 8.14803658e-01 3.87554353e-03 -2.92433476e+01] [ 6.44446360e-03 -1.71148516e-04 9.99979220e-01 -1.35889683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.267628 meters 0.016439721227690263 Centerline is valid? [True, True] Translation: X:80.36, Y:-29.26, Z:-0.14 [[ 8.14106742e-01 5.80685982e-01 -5.83115686e-03 8.03645994e+01] [-5.80669426e-01 8.14127604e-01 4.38885501e-03 -2.92618187e+01] [ 7.29585234e-03 -1.87021949e-04 9.99973367e-01 -1.36436889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.297628 meters 0.016409572754169276 Centerline is valid? [True, True] Translation: X:80.39, Y:-29.28, Z:-0.14 [[ 8.13211818e-01 5.81946392e-01 -4.99361041e-03 8.03904602e+01] [-5.81934263e-01 8.13227136e-01 3.76026376e-03 -2.92792387e+01] [ 6.24921142e-03 -1.51937935e-04 9.99980462e-01 -1.36342916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.327628 meters 0.016190247802263476 Centerline is valid? [True, True] Translation: X:80.42, Y:-29.30, Z:-0.14 [[ 8.12731016e-01 5.82619939e-01 -4.72261900e-03 8.04164952e+01] [-5.82609091e-01 8.12744725e-01 3.55804004e-03 -2.92984433e+01] [ 5.91126875e-03 -1.40288729e-04 9.99982518e-01 -1.35860540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357628 meters 0.01842756918690397 Centerline is valid? [True, True] Translation: X:80.44, Y:-29.32, Z:-0.14 [[ 8.12391738e-01 5.83093327e-01 -4.67289891e-03 8.04436995e+01] [-5.83082702e-01 8.12405166e-01 3.52272172e-03 -2.93177622e+01] [ 5.85036274e-03 -1.37143498e-04 9.99982877e-01 -1.38484260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.387628 meters 0.01499534351338237 Centerline is valid? [True, True] Translation: X:80.47, Y:-29.34, Z:-0.13 [[ 8.10580961e-01 5.85617440e-01 -3.27391409e-03 8.04695763e+01] [-5.85612240e-01 8.10587569e-01 2.46942127e-03 -2.93366431e+01] [ 4.09993022e-03 -8.44217081e-05 9.99991592e-01 -1.34385437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41762800000001 meters 0.014761700867642774 Centerline is valid? [True, True] Translation: X:80.49, Y:-29.35, Z:-0.13 [[ 8.09384585e-01 5.87272080e-01 -2.84545836e-03 8.04943512e+01] [-5.87268159e-01 8.09389584e-01 2.14728049e-03 -2.93549301e+01] [ 3.56412224e-03 -6.69286407e-05 9.99993646e-01 -1.34385095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44762800000001 meters 0.013813575106071351 Centerline is valid? [True, True] Translation: X:80.52, Y:-29.37, Z:-0.13 [[ 8.06913911e-01 5.90665227e-01 -2.12835269e-03 8.05210074e+01] [-5.90663042e-01 8.06916717e-01 1.60707448e-03 -2.93730607e+01] [ 2.66664638e-03 -3.96314758e-05 9.99996444e-01 -1.33665605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47762800000001 meters 0.01359583988575762 Centerline is valid? [True, True] Translation: X:80.55, Y:-29.39, Z:-0.13 [[ 8.05448053e-01 5.92663163e-01 -1.95176426e-03 8.05456728e+01] [-5.92661330e-01 8.05450417e-01 1.47442569e-03 -2.93918155e+01] [ 2.44588713e-03 -3.08380979e-05 9.99997008e-01 -1.33634150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50762800000001 meters 0.013214245542951059 Centerline is valid? [True, True] Translation: X:80.57, Y:-29.41, Z:-0.13 [[ 8.03854582e-01 5.94821796e-01 -2.20042803e-03 8.05720860e+01] [-5.94819472e-01 8.03857593e-01 1.66308068e-03 -2.94106025e+01] [ 2.75806742e-03 -2.80175826e-05 9.99996196e-01 -1.33972847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53762800000001 meters 0.012698004973674872 Centerline is valid? [True, True] Translation: X:80.60, Y:-29.43, Z:-0.14 [[ 8.01549199e-01 5.97920988e-01 -3.06170216e-03 8.05983141e+01] [-5.97916507e-01 8.01555046e-01 2.31502545e-03 -2.94296797e+01] [ 3.83832512e-03 -2.49645305e-05 9.99992633e-01 -1.35092315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56762800000001 meters 0.012631767092678124 Centerline is valid? [True, True] Translation: X:80.62, Y:-29.45, Z:-0.14 [[ 8.00854031e-01 5.98850354e-01 -3.32773446e-03 8.06236760e+01] [-5.98845062e-01 8.00860945e-01 2.51763836e-03 -2.94499770e+01] [ 4.17274119e-03 -2.34634788e-05 9.99991294e-01 -1.35884294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59762800000001 meters 0.012582191868986395 Centerline is valid? [True, True] Translation: X:80.65, Y:-29.47, Z:-0.14 [[ 8.00862410e-01 5.98838290e-01 -3.47907477e-03 8.06489475e+01] [-5.98832499e-01 8.00869966e-01 2.63363722e-03 -2.94707408e+01] [ 4.36340930e-03 -2.57980119e-05 9.99990480e-01 -1.36159495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62762800000002 meters 0.013246905030662384 Centerline is valid? [True, True] Translation: X:80.67, Y:-29.49, Z:-0.14 [[ 8.02993330e-01 5.95977570e-01 -3.52804985e-03 8.06703300e+01] [-5.95971583e-01 8.03001079e-01 2.67184720e-03 -2.94933400e+01] [ 4.42538885e-03 -4.28580290e-05 9.99990207e-01 -1.38064468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.657628 meters 0.013846337383867436 Centerline is valid? [True, True] Translation: X:80.69, Y:-29.52, Z:-0.14 [[ 8.04734577e-01 5.93625804e-01 -3.26563737e-03 8.06931001e+01] [-5.93620653e-01 8.04741202e-01 2.47362474e-03 -2.95156747e+01] [ 4.09640042e-03 -5.20615766e-05 9.99991608e-01 -1.38466243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.687628 meters 0.014687844230322255 Centerline is valid? [True, True] Translation: X:80.71, Y:-29.54, Z:-0.14 [[ 8.09381203e-01 5.87277681e-01 -2.64439546e-03 8.07139814e+01] [-5.87274268e-01 8.09385520e-01 2.00353482e-03 -2.95406997e+01] [ 3.31696668e-03 -6.86380200e-05 9.99994496e-01 -1.36524077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.717628 meters 0.015325342282437725 Centerline is valid? [True, True] Translation: X:80.74, Y:-29.56, Z:-0.14 [[ 8.10816735e-01 5.85296351e-01 -2.09853400e-03 8.07375614e+01] [-5.85294192e-01 8.10819448e-01 1.59097461e-03 -2.95617846e+01] [ 2.63272382e-03 -6.17290777e-05 9.99996532e-01 -1.35417054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.747628 meters 0.015685972548218647 Centerline is valid? [True, True] Translation: X:80.76, Y:-29.58, Z:-0.14 [[ 8.11210158e-01 5.84752999e-01 -1.41735437e-03 8.07625993e+01] [-5.84752012e-01 8.11211395e-01 1.07525752e-03 -2.95811822e+01] [ 1.77853407e-03 -4.34590049e-05 9.99998417e-01 -1.35015636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.777628 meters 0.01576897260308086 Centerline is valid? [True, True] Translation: X:80.79, Y:-29.60, Z:-0.14 [[ 8.11055147e-01 5.84968009e-01 -1.40616249e-03 8.07893591e+01] [-5.84967036e-01 8.11056365e-01 1.06745604e-03 -2.96002729e+01] [ 1.76490467e-03 -4.32070132e-05 9.99998442e-01 -1.35162068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80762800000001 meters 0.016022473346478286 Centerline is valid? [True, True] Translation: X:80.81, Y:-29.62, Z:-0.14 [[ 8.10647706e-01 5.85530614e-01 -2.04852192e-03 8.08147433e+01] [-5.85528551e-01 8.10650292e-01 1.55566730e-03 -2.96198296e+01] [ 2.57152572e-03 -6.16300551e-05 9.99996692e-01 -1.35833286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83762800000001 meters 0.015413021733477705 Centerline is valid? [True, True] Translation: X:80.84, Y:-29.64, Z:-0.14 [[ 8.09964942e-01 5.86471444e-01 -2.83528337e-03 8.08415412e+01] [-5.86467494e-01 8.09969900e-01 2.15403298e-03 -2.96376210e+01] [ 3.55977302e-03 -8.18896651e-05 9.99993661e-01 -1.36949439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86762800000001 meters 0.015481019204102853 Centerline is valid? [True, True] Translation: X:80.87, Y:-29.66, Z:-0.14 [[ 8.09524360e-01 5.87079059e-01 -2.91357728e-03 8.08669700e+01] [-5.87074888e-01 8.09529599e-01 2.21451083e-03 -2.96562399e+01] [ 3.65871998e-03 -8.22124038e-05 9.99993303e-01 -1.37882378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89762800000001 meters 0.015235210286228198 Centerline is valid? [True, True] Translation: X:80.89, Y:-29.67, Z:-0.14 [[ 8.09138065e-01 5.87608640e-01 -3.41744375e-03 8.08937652e+01] [-5.87602904e-01 8.09145276e-01 2.59796423e-03 -2.96748686e+01] [ 4.29179469e-03 -9.40118742e-05 9.99990786e-01 -1.38481259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92762800000001 meters 0.015177433311453518 Centerline is valid? [True, True] Translation: X:80.92, Y:-29.69, Z:-0.14 [[ 8.08239135e-01 5.88841546e-01 -3.89040086e-03 8.09203456e+01] [-5.88834120e-01 8.08248491e-01 2.95903073e-03 -2.96914545e+01] [ 4.88681085e-03 -1.00803673e-04 9.99988054e-01 -1.39667159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95762800000001 meters 0.015815614152345437 Centerline is valid? [True, True] Translation: X:80.95, Y:-29.71, Z:-0.14 [[ 8.07893785e-01 5.89311989e-01 -4.36022099e-03 8.09483126e+01] [-5.89302656e-01 8.07905544e-01 3.31837465e-03 -2.97097401e+01] [ 5.47820468e-03 -1.11404449e-04 9.99984988e-01 -1.40841800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98762800000002 meters 0.014634440912841074 Centerline is valid? [True, True] Translation: X:80.97, Y:-29.73, Z:-0.14 [[ 8.06353164e-01 5.91416634e-01 -4.57600487e-03 8.09738886e+01] [-5.91406380e-01 8.06366142e-01 3.48411895e-03 -2.97273301e+01] [ 5.75050129e-03 -1.03151861e-04 9.99983460e-01 -1.39528244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.017628 meters 0.01491564188856986 Centerline is valid? [True, True] Translation: X:81.00, Y:-29.75, Z:-0.14 [[ 8.05619780e-01 5.92414896e-01 -4.62193804e-03 8.09983508e+01] [-5.92404442e-01 8.05633032e-01 3.52070405e-03 -2.97461216e+01] [ 5.80930348e-03 -9.82921940e-05 9.99983121e-01 -1.40037014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.047628 meters 0.014240985120609683 Centerline is valid? [True, True] Translation: X:81.02, Y:-29.76, Z:-0.14 [[ 8.04705186e-01 5.93655325e-01 -4.78744544e-03 8.10249519e+01] [-5.93644120e-01 8.04719421e-01 3.64860262e-03 -2.97636768e+01] [ 6.01856269e-03 -9.40106177e-05 9.99981884e-01 -1.39570255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.077628 meters 0.01351158466865495 Centerline is valid? [True, True] Translation: X:81.05, Y:-29.78, Z:-0.14 [[ 8.02687670e-01 5.96384881e-01 -4.19277174e-03 8.10528393e+01] [-5.96376315e-01 8.02698617e-01 3.19702333e-03 -2.97805231e+01] [ 5.27218845e-03 -6.57414500e-05 9.99986100e-01 -1.40353464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.107628 meters 0.013210835242627481 Centerline is valid? [True, True] Translation: X:81.08, Y:-29.80, Z:-0.14 [[ 8.01600555e-01 5.97850621e-01 -3.34451171e-03 8.10793374e+01] [-5.97845177e-01 8.01607531e-01 2.55157484e-03 -2.97984797e+01] [ 4.20644638e-03 -4.58436116e-05 9.99991152e-01 -1.40389391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.137628 meters 0.012982982998333602 Centerline is valid? [True, True] Translation: X:81.10, Y:-29.82, Z:-0.14 [[ 8.00563428e-01 5.99242719e-01 -2.52215643e-03 8.11045461e+01] [-5.99239627e-01 8.00567401e-01 1.92514299e-03 -2.98165200e+01] [ 3.17278414e-03 -2.98229885e-05 9.99994966e-01 -1.40385769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16762800000001 meters 0.012538390817161255 Centerline is valid? [True, True] Translation: X:81.13, Y:-29.83, Z:-0.14 [[ 7.98669125e-01 6.01768870e-01 -1.36241270e-03 8.11310964e+01] [-6.01767970e-01 7.98670287e-01 1.04063237e-03 -2.98347659e+01] [ 1.71433871e-03 -1.12646186e-05 9.99998530e-01 -1.39103633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19762800000001 meters 0.012331936273719226 Centerline is valid? [True, True] Translation: X:81.16, Y:-29.85, Z:-0.14 [[ 7.97608456e-01 6.03174681e-01 -1.02750008e-03 8.11569334e+01] [-6.03174170e-01 7.97609117e-01 7.85303850e-04 -2.98537217e+01] [ 1.29321883e-03 -6.60348535e-06 9.99999164e-01 -1.38869635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22762800000001 meters 0.01212909839725482 Centerline is valid? [True, True] Translation: X:81.18, Y:-29.87, Z:-0.14 [[ 7.95841239e-01 6.05504351e-01 -1.09690220e-03 8.11817768e+01] [-6.05503770e-01 7.95841995e-01 8.38660778e-04 -2.98719159e+01] [ 1.38077359e-03 -3.26241524e-06 9.99999047e-01 -1.39244210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25762800000001 meters 0.01218513014702845 Centerline is valid? [True, True] Translation: X:81.21, Y:-29.89, Z:-0.14 [[ 7.94932184e-01 6.06696609e-01 -1.43072450e-03 8.12085193e+01] [-6.06695622e-01 7.94933472e-01 1.09445733e-03 -2.98918452e+01] [ 1.80133435e-03 -2.00506600e-06 9.99998378e-01 -1.39681624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28762800000001 meters 0.012170830330812617 Centerline is valid? [True, True] Translation: X:81.24, Y:-29.91, Z:-0.14 [[ 7.93882435e-01 6.08069692e-01 -1.38893516e-03 8.12351264e+01] [-6.08068763e-01 7.93883650e-01 1.06316289e-03 -2.99116650e+01] [ 1.74913004e-03 5.41741342e-07 9.99998470e-01 -1.39370946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31762800000001 meters 0.012239710511775333 Centerline is valid? [True, True] Translation: X:81.26, Y:-29.93, Z:-0.14 [[ 7.92254933e-01 6.10188292e-01 -1.53933014e-03 8.12611895e+01] [-6.10187154e-01 7.92256428e-01 1.17894851e-03 -2.99319345e+01] [ 1.93892478e-03 5.25170165e-06 9.99998120e-01 -1.39730555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34762800000001 meters 0.012400728248930473 Centerline is valid? [True, True] Translation: X:81.29, Y:-29.95, Z:-0.14 [[ 7.91565783e-01 6.11080543e-01 -2.04503463e-03 8.12867450e+01] [-6.11078534e-01 7.91568424e-01 1.56692632e-03 -2.99510622e+01] [ 2.57630303e-03 9.35150390e-06 9.99996681e-01 -1.41064485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37762800000002 meters 0.012547447556991836 Centerline is valid? [True, True] Translation: X:81.31, Y:-29.97, Z:-0.14 [[ 7.90337919e-01 6.12665623e-01 -2.60939432e-03 8.13117057e+01] [-6.12662357e-01 7.90342226e-01 2.00041727e-03 -2.99719511e+01] [ 3.28790141e-03 1.76720483e-05 9.99994595e-01 -1.42460182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.407628 meters 0.012901986744927754 Centerline is valid? [True, True] Translation: X:81.34, Y:-29.99, Z:-0.14 [[ 7.89560658e-01 6.13662946e-01 -3.42861228e-03 8.13374670e+01] [-6.13657316e-01 7.89568102e-01 2.62876301e-03 -2.99902575e+01] [ 4.32029735e-03 2.84251612e-05 9.99990667e-01 -1.44403183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.437628 meters 0.012701205679430814 Centerline is valid? [True, True] Translation: X:81.36, Y:-30.01, Z:-0.14 [[ 7.88652695e-01 6.14827861e-01 -3.69153750e-03 8.13622112e+01] [-6.14821339e-01 7.88661334e-01 2.83226608e-03 -3.00116530e+01] [ 4.65272898e-03 3.59617476e-05 9.99989175e-01 -1.43668584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.467628 meters 0.012953598925110018 Centerline is valid? [True, True] Translation: X:81.39, Y:-30.03, Z:-0.14 [[ 7.87784732e-01 6.15937028e-01 -4.09815541e-03 8.13861256e+01] [-6.15929002e-01 7.87795390e-01 3.14469591e-03 -3.00307783e+01] [ 5.16544259e-03 4.68293491e-05 9.99986658e-01 -1.44650921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.497628 meters 0.012828786411453555 Centerline is valid? [True, True] Translation: X:81.41, Y:-30.05, Z:-0.14 [[ 7.87856122e-01 6.15843957e-01 -4.35340299e-03 8.14113668e+01] [-6.15834886e-01 7.87868148e-01 3.34279997e-03 -3.00519416e+01] [ 5.48855071e-03 4.73320183e-05 9.99984937e-01 -1.44350241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.527628 meters 0.012558674340108942 Centerline is valid? [True, True] Translation: X:81.43, Y:-30.08, Z:-0.14 [[ 7.90138319e-01 6.12917647e-01 -3.66004789e-03 8.14328344e+01] [-6.12911198e-01 7.90146795e-01 2.81171671e-03 -3.00752104e+01] [ 4.61532590e-03 2.16392269e-05 9.99989349e-01 -1.43790805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55762800000001 meters 0.012378191060463003 Centerline is valid? [True, True] Translation: X:81.46, Y:-30.10, Z:-0.14 [[ 7.92077138e-01 6.10411954e-01 -3.32460923e-03 8.14558056e+01] [-6.10406605e-01 7.92084116e-01 2.55537022e-03 -3.00984025e+01] [ 4.19319869e-03 5.31310233e-06 9.99991208e-01 -1.42580155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58762800000001 meters 0.012367882729570628 Centerline is valid? [True, True] Translation: X:81.48, Y:-30.12, Z:-0.14 [[ 7.94333401e-01 6.07475077e-01 -2.91186632e-03 8.14794209e+01] [-6.07470949e-01 7.94338738e-01 2.23952574e-03 -3.01224397e+01] [ 3.67346429e-03 -1.00559010e-05 9.99993253e-01 -1.41359828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61762800000001 meters 0.012934105856386189 Centerline is valid? [True, True] Translation: X:81.50, Y:-30.15, Z:-0.14 [[ 7.98489416e-01 6.02008072e-01 -9.66110953e-04 8.15014204e+01] [-6.02007613e-01 7.98490000e-01 7.43705119e-04 -3.01462357e+01] [ 1.21914642e-03 -1.22345175e-05 9.99999257e-01 -1.37890989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64762800000001 meters 0.013311898499832036 Centerline is valid? [True, True] Translation: X:81.53, Y:-30.17, Z:-0.14 [[ 8.00031229e-01 5.99958340e-01 -1.52599525e-04 8.15261883e+01] [-5.99958328e-01 8.00031244e-01 1.17905076e-04 -3.01666570e+01] [ 1.92822521e-04 -2.77438703e-06 9.99999981e-01 -1.36706638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67762800000001 meters 0.013687275076046805 Centerline is valid? [True, True] Translation: X:81.55, Y:-30.19, Z:-0.14 [[ 8.01442449e-01 5.98071851e-01 -2.48673673e-04 8.15510677e+01] [-5.98071820e-01 8.01442488e-01 1.91956766e-04 -3.01864946e+01] [ 3.14101586e-04 -5.11758484e-06 9.99999951e-01 -1.36807896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70762800000001 meters 0.013687275076046805 Centerline is valid? [True, True] Translation: X:81.58, Y:-30.21, Z:-0.14 [[ 8.01272007e-01 5.98300183e-01 -2.48587722e-04 8.15766922e+01] [-5.98300152e-01 8.01272045e-01 1.92068257e-04 -3.02063096e+01] [ 3.14100866e-04 -5.16884592e-06 9.99999951e-01 -1.36854270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73762800000002 meters 0.014855021153231979 Centerline is valid? [True, True] Translation: X:81.60, Y:-30.23, Z:-0.14 [[ 8.04884449e-01 5.93429588e-01 -1.53225766e-03 8.16015999e+01] [-5.93428413e-01 8.04885906e-01 1.18150495e-03 -3.02262363e+01] [ 1.93443259e-03 -4.16897263e-05 9.99998128e-01 -1.38871014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.767628 meters 0.01688863508097037 Centerline is valid? [True, True] Translation: X:81.62, Y:-30.25, Z:-0.14 [[ 8.06608831e-01 5.91081896e-01 -2.09423701e-03 8.16246515e+01] [-5.91079694e-01 8.06611547e-01 1.61502823e-03 -3.02477856e+01] [ 2.64384970e-03 -6.48350618e-05 9.99996503e-01 -1.40195834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.797628 meters 0.01788582466659048 Centerline is valid? [True, True] Translation: X:81.65, Y:-30.27, Z:-0.14 [[ 8.09567986e-01 5.87018333e-01 -3.02534786e-03 8.16485568e+01] [-5.87013703e-01 8.09573631e-01 2.33419764e-03 -3.02679527e+01] [ 3.81945866e-03 -1.13771028e-04 9.99992699e-01 -1.40008612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.827628 meters 0.01736861512326828 Centerline is valid? [True, True] Translation: X:81.67, Y:-30.29, Z:-0.14 [[ 8.10447392e-01 5.85802915e-01 -3.15750996e-03 8.16745450e+01] [-5.85797858e-01 8.10453533e-01 2.43733132e-03 -3.02859592e+01] [ 3.98681089e-03 -1.25666242e-04 9.99992045e-01 -1.38959793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857628 meters 0.017773957184467646 Centerline is valid? [True, True] Translation: X:81.70, Y:-30.30, Z:-0.14 [[ 8.10984529e-01 5.85058969e-01 -3.17757591e-03 8.17003021e+01] [-5.85053836e-01 8.10990744e-01 2.45409888e-03 -3.03048752e+01] [ 4.01277721e-03 -1.31183252e-04 9.99991940e-01 -1.38708047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.887628 meters 0.018079032456921308 Centerline is valid? [True, True] Translation: X:81.73, Y:-30.32, Z:-0.14 [[ 8.10649882e-01 5.85516116e-01 -4.20078232e-03 8.17284152e+01] [-5.85507144e-01 8.10660748e-01 3.24598539e-03 -3.03214534e+01] [ 5.30598609e-03 -1.71769614e-04 9.99985908e-01 -1.39130490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91762800000001 meters 0.017988453333092614 Centerline is valid? [True, True] Translation: X:81.76, Y:-30.34, Z:-0.14 [[ 8.09955406e-01 5.86476792e-01 -4.14884969e-03 8.17559580e+01] [-5.86468051e-01 8.09966015e-01 3.20612086e-03 -3.03391128e+01] [ 5.24074273e-03 -1.63647125e-04 9.99986254e-01 -1.39693437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94762800000001 meters 0.016360199751704607 Centerline is valid? [True, True] Translation: X:81.78, Y:-30.35, Z:-0.14 [[ 8.07150997e-01 5.90334123e-01 -3.59044720e-03 8.17846017e+01] [-5.90327609e-01 8.07158974e-01 2.77585292e-03 -3.03528164e+01] [ 4.53674238e-03 -1.20992345e-04 9.99989702e-01 -1.39011430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97762800000001 meters 0.01629305946154891 Centerline is valid? [True, True] Translation: X:81.81, Y:-30.37, Z:-0.14 [[ 8.05433714e-01 5.92674852e-01 -3.61286424e-03 8.18101027e+01] [-5.92668274e-01 8.05441809e-01 2.79455631e-03 -3.03702393e+01] [ 4.56621516e-03 -1.09599855e-04 9.99989569e-01 -1.38547514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00762800000001 meters 0.015042749592015655 Centerline is valid? [True, True] Translation: X:81.84, Y:-30.39, Z:-0.14 [[ 8.03493606e-01 5.95302565e-01 -3.58894954e-03 8.18382253e+01] [-5.95296098e-01 8.03501616e-01 2.77631137e-03 -3.03871715e+01] [ 4.53647204e-03 -9.42607749e-05 9.99989706e-01 -1.37872180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03762800000001 meters 0.014250470916607787 Centerline is valid? [True, True] Translation: X:81.87, Y:-30.40, Z:-0.14 [[ 7.99557060e-01 6.00580529e-01 -3.39641820e-03 8.18660881e+01] [-6.00574782e-01 7.99564272e-01 2.62803457e-03 -3.04005919e+01] [ 4.29400104e-03 -6.14604796e-05 9.99990779e-01 -1.38458123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06762800000001 meters 0.013320606984529176 Centerline is valid? [True, True] Translation: X:81.89, Y:-30.42, Z:-0.14 [[ 7.97093075e-01 6.03847215e-01 -3.34209056e-03 8.18946340e+01] [-6.03841673e-01 7.97100081e-01 2.58746541e-03 -3.04167351e+01] [ 4.22641444e-03 -4.43572094e-05 9.99991068e-01 -1.38598348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09762800000001 meters 0.012190747003108682 Centerline is valid? [True, True] Translation: X:81.93, Y:-30.43, Z:-0.14 [[ 7.92014411e-01 6.10494581e-01 -3.08858716e-03 8.19259698e+01] [-6.10489893e-01 7.92020433e-01 2.39245630e-03 -3.04292525e+01] [ 3.90680574e-03 -9.30862340e-06 9.99992368e-01 -1.38485128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12762800000002 meters 0.012100968333626947 Centerline is valid? [True, True] Translation: X:81.95, Y:-30.45, Z:-0.14 [[ 7.89402562e-01 6.13869735e-01 -2.74649446e-03 8.19539716e+01] [-6.13866044e-01 7.89407340e-01 2.12880870e-03 -3.04464958e+01] [ 3.47491412e-03 5.49264897e-06 9.99993962e-01 -1.38382267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.157628 meters 0.012685338721229017 Centerline is valid? [True, True] Translation: X:81.98, Y:-30.46, Z:-0.14 [[ 7.85164969e-01 6.19282205e-01 -2.35006462e-03 8.19829551e+01] [-6.19279524e-01 7.85168485e-01 1.82245888e-03 -3.04615385e+01] [ 2.97381303e-03 2.44160341e-05 9.99995578e-01 -1.37364313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.187628 meters 0.012921466202563377 Centerline is valid? [True, True] Translation: X:82.01, Y:-30.48, Z:-0.14 [[ 7.83604466e-01 6.21255963e-01 -2.25141573e-03 8.20093162e+01] [-6.21253508e-01 7.83607700e-01 1.74685605e-03 -3.04792752e+01] [ 2.84947144e-03 2.98557162e-05 9.99995940e-01 -1.37147744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.217628 meters 0.01335451600675033 Centerline is valid? [True, True] Translation: X:82.04, Y:-30.50, Z:-0.14 [[ 7.81773465e-01 6.23558699e-01 -2.19049276e-03 8.20357890e+01] [-6.23556382e-01 7.81776533e-01 1.70046986e-03 -3.04968191e+01] [ 2.77281861e-03 3.65135296e-05 9.99996155e-01 -1.37305106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.247628 meters 0.013462960367707243 Centerline is valid? [True, True] Translation: X:82.06, Y:-30.52, Z:-0.14 [[ 7.81372961e-01 6.24060062e-01 -2.30960807e-03 8.20617137e+01] [-6.24057484e-01 7.81376374e-01 1.79401763e-03 -3.05164269e+01] [ 2.92424793e-03 3.95313299e-05 9.99995724e-01 -1.37140636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.277628 meters 0.013536335818045938 Centerline is valid? [True, True] Translation: X:82.09, Y:-30.54, Z:-0.14 [[ 7.81268221e-01 6.24190963e-01 -2.36846568e-03 8.20882301e+01] [-6.24188250e-01 7.81271810e-01 1.84078415e-03 -3.05366942e+01] [ 2.99941630e-03 4.02222936e-05 9.99995501e-01 -1.37169556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30762800000001 meters 0.013444384051436258 Centerline is valid? [True, True] Translation: X:82.11, Y:-30.56, Z:-0.14 [[ 7.81326070e-01 6.24118452e-01 -2.39362659e-03 8.21145952e+01] [-6.24115678e-01 7.81329736e-01 1.86140696e-03 -3.05569400e+01] [ 3.03195006e-03 3.95340988e-05 9.99995403e-01 -1.37555427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33762800000001 meters 0.013081126572816636 Centerline is valid? [True, True] Translation: X:82.14, Y:-30.58, Z:-0.14 [[ 7.82507255e-01 6.22627241e-01 -4.20889836e-03 8.21393824e+01] [-6.22618634e-01 7.82518572e-01 3.27424336e-03 -3.05766116e+01] [ 5.33217424e-03 5.84193689e-05 9.99985782e-01 -1.39973665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36762800000001 meters 0.012875274919860291 Centerline is valid? [True, True] Translation: X:82.16, Y:-30.60, Z:-0.14 [[ 7.83369007e-01 6.21530240e-01 -5.75841995e-03 8.21645321e+01] [-6.21514082e-01 7.83390169e-01 4.48213166e-03 -3.05975523e+01] [ 7.29686994e-03 6.77760636e-05 9.99973375e-01 -1.41836305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39762800000001 meters 0.012602628543665917 Centerline is valid? [True, True] Translation: X:82.19, Y:-30.62, Z:-0.14 [[ 7.86032596e-01 6.18131867e-01 -8.10879072e-03 8.21870891e+01] [-6.18099614e-01 7.86074419e-01 6.31468780e-03 -3.06205129e+01] [ 1.02774227e-02 4.84899684e-05 9.99947185e-01 -1.44870119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42762800000001 meters 0.012569803638603267 Centerline is valid? [True, True] Translation: X:82.21, Y:-30.64, Z:-0.15 [[ 7.87859603e-01 6.15789325e-01 -8.98629311e-03 8.22110447e+01] [-6.15749515e-01 7.87910850e-01 7.00197027e-03 -3.06435630e+01] [ 1.13921364e-02 1.67361109e-05 9.99935107e-01 -1.45731976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45762800000001 meters 0.012816170726558667 Centerline is valid? [True, True] Translation: X:82.23, Y:-30.67, Z:-0.14 [[ 7.92277603e-01 6.10084393e-01 -9.65572794e-03 8.22314048e+01] [-6.10037960e-01 7.92336436e-01 7.52728039e-03 -3.06699997e+01] [ 1.22428614e-02 -7.33350916e-05 9.99925051e-01 -1.44846193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48762800000002 meters 0.013173948149202641 Centerline is valid? [True, True] Translation: X:82.25, Y:-30.69, Z:-0.14 [[ 7.94667002e-01 6.06962220e-01 -1.00607913e-02 8.22545634e+01] [-6.06911506e-01 7.94730676e-01 7.84708088e-03 -3.06926386e+01] [ 1.27585011e-02 -1.29806219e-04 9.99918599e-01 -1.44032560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.517628 meters 0.01623956318841977 Centerline is valid? [True, True] Translation: X:82.27, Y:-30.72, Z:-0.15 [[ 7.99632869e-01 6.00398313e-01 -1.04470052e-02 8.22723722e+01] [-6.00343018e-01 7.99701072e-01 8.15205210e-03 -3.07199045e+01] [ 1.32489596e-02 -2.46862159e-04 9.99912198e-01 -1.45614850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.547628 meters 0.015752795342889 Centerline is valid? [True, True] Translation: X:82.30, Y:-30.74, Z:-0.14 [[ 8.02272742e-01 5.96857074e-01 -1.09581504e-02 8.22971147e+01] [-5.96795891e-01 8.02347512e-01 8.55185918e-03 -3.07406964e+01] [ 1.38964823e-02 -3.21144398e-04 9.99903388e-01 -1.43709978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.577628 meters 0.01656583949355872 Centerline is valid? [True, True] Translation: X:82.32, Y:-30.76, Z:-0.14 [[ 8.04769897e-01 5.93486023e-01 -1.09431393e-02 8.23200528e+01] [-5.93424635e-01 8.04844205e-01 8.54450487e-03 -3.07628431e+01] [ 1.38785665e-02 -3.82431848e-04 9.99903615e-01 -1.43310310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.607628 meters 0.01793777155799178 Centerline is valid? [True, True] Translation: X:82.34, Y:-30.79, Z:-0.14 [[ 8.09955295e-01 5.86403853e-01 -1.01459913e-02 8.23410913e+01] [-5.86350474e-01 8.10018704e-01 7.92596113e-03 -3.07868408e+01] [ 1.28662569e-02 -4.70567354e-04 9.99917116e-01 -1.41982154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.637628 meters 0.02021494270717958 Centerline is valid? [True, True] Translation: X:82.36, Y:-30.81, Z:-0.14 [[ 8.12226457e-01 5.83261399e-01 -9.71199217e-03 8.23619780e+01] [-5.83212221e-01 8.12284365e-01 7.59054787e-03 -3.08102724e+01] [ 1.23161730e-02 -5.01091283e-04 9.99924028e-01 -1.41573089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66762800000001 meters 0.021229510512428267 Centerline is valid? [True, True] Translation: X:82.38, Y:-30.83, Z:-0.14 [[ 8.14485840e-01 5.80111814e-01 -9.11583782e-03 8.23848334e+01] [-5.80068278e-01 8.14536688e-01 7.12574330e-03 -3.08318810e+01] [ 1.15589122e-02 -5.16008667e-04 9.99933060e-01 -1.40773993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69762800000001 meters 0.022907004022602158 Centerline is valid? [True, True] Translation: X:82.41, Y:-30.85, Z:-0.14 [[ 8.18238014e-01 5.74817946e-01 -8.41911785e-03 8.24079007e+01] [-5.74780493e-01 8.18281142e-01 6.58455639e-03 -3.08545080e+01] [ 1.06741265e-02 -5.48589635e-04 9.99942879e-01 -1.39562865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72762800000001 meters 0.02378474026200682 Centerline is valid? [True, True] Translation: X:82.43, Y:-30.87, Z:-0.14 [[ 8.19568046e-01 5.72924754e-01 -8.08973951e-03 8.24320516e+01] [-5.72890053e-01 8.19607784e-01 6.32988026e-03 -3.08747314e+01] [ 1.02569586e-02 -5.53236300e-04 9.99947243e-01 -1.38976207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75762800000001 meters 0.027118133016713945 Centerline is valid? [True, True] Translation: X:82.45, Y:-30.90, Z:-0.14 [[ 8.21233545e-01 5.70537843e-01 -7.87622844e-03 8.24544199e+01] [-5.70504816e-01 8.21271116e-01 6.16524392e-03 -3.08953662e+01] [ 9.98602389e-03 -5.69678866e-04 9.99949976e-01 -1.39522435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78762800000001 meters 0.026248055502347406 Centerline is valid? [True, True] Translation: X:82.48, Y:-30.92, Z:-0.14 [[ 8.21098144e-01 5.70739256e-01 -7.38513470e-03 8.24808132e+01] [-5.70710194e-01 8.21131181e-01 5.78427884e-03 -3.09155453e+01] [ 9.36547938e-03 -5.34688958e-04 9.99956000e-01 -1.37305577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81762800000001 meters 0.025879170339518035 Centerline is valid? [True, True] Translation: X:82.51, Y:-30.93, Z:-0.14 [[ 8.19937434e-01 5.72411007e-01 -6.94583010e-03 8.25076907e+01] [-5.72385343e-01 8.19966708e-01 5.44206786e-03 -3.09316895e+01] [ 8.81044898e-03 -4.86463812e-04 9.99961069e-01 -1.36388045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84762800000001 meters 0.026620291847218615 Centerline is valid? [True, True] Translation: X:82.53, Y:-30.95, Z:-0.14 [[ 8.18724577e-01 5.74144602e-01 -6.93134491e-03 8.25323825e+01] [-5.74119097e-01 8.18753783e-01 5.43184872e-03 -3.09491565e+01] [ 8.79373149e-03 -4.67770556e-04 9.99961225e-01 -1.36799753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87762800000002 meters 0.026223269992574398 Centerline is valid? [True, True] Translation: X:82.56, Y:-30.97, Z:-0.14 [[ 8.17022306e-01 5.76566472e-01 -6.75678562e-03 8.25591233e+01] [-5.76542301e-01 8.17050131e-01 5.29711320e-03 -3.09657820e+01] [ 8.57477045e-03 -4.32286914e-04 9.99963143e-01 -1.37414516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.907628 meters 0.022779441662143865 Centerline is valid? [True, True] Translation: X:82.59, Y:-30.98, Z:-0.14 [[ 8.13059500e-01 5.82146750e-01 -6.27786237e-03 8.25908413e+01] [-5.82126044e-01 8.13083662e-01 4.92224536e-03 -3.09767597e+01] [ 7.96989646e-03 -3.47571167e-04 9.99968179e-01 -1.36895364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.937628 meters 0.023322029290312345 Centerline is valid? [True, True] Translation: X:82.62, Y:-30.99, Z:-0.14 [[ 8.10771077e-01 5.85327578e-01 -6.47211722e-03 8.26162829e+01] [-5.85305654e-01 8.10796842e-01 5.07660657e-03 -3.09940931e+01] [ 8.21905003e-03 -3.27798973e-04 9.99966169e-01 -1.37186716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.967628 meters 0.020793203651126992 Centerline is valid? [True, True] Translation: X:82.65, Y:-31.00, Z:-0.14 [[ 8.06398139e-01 5.91339943e-01 -6.25403512e-03 8.26459819e+01] [-5.91319649e-01 8.06422349e-01 4.90590678e-03 -3.10049172e+01] [ 7.94445233e-03 -2.57980249e-04 9.99968409e-01 -1.36726098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.997628 meters 0.019616982065617374 Centerline is valid? [True, True] Translation: X:82.67, Y:-31.02, Z:-0.14 [[ 8.04218641e-01 5.94302033e-01 -6.12133766e-03 8.26742056e+01] [-5.94282673e-01 8.04241906e-01 4.80228307e-03 -3.10203850e+01] [ 7.77704286e-03 -2.24280661e-04 9.99969733e-01 -1.36873145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.027628 meters 0.018376150680304307 Centerline is valid? [True, True] Translation: X:82.70, Y:-31.04, Z:-0.14 [[ 8.02441050e-01 5.96704573e-01 -5.65816203e-03 8.27024116e+01] [-5.96688089e-01 8.02460976e-01 4.43919101e-03 -3.10352482e+01] [ 7.18933980e-03 -1.86031199e-04 9.99974139e-01 -1.36938396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05762800000001 meters 0.01972901250178689 Centerline is valid? [True, True] Translation: X:82.73, Y:-31.05, Z:-0.14 [[ 7.99786119e-01 6.00258237e-01 -5.67567135e-03 8.27309830e+01] [-6.00241739e-01 7.99806242e-01 4.45304817e-03 -3.10477232e+01] [ 7.21241622e-03 -1.54711265e-04 9.99973978e-01 -1.38209777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08762800000001 meters 0.014462884744021215 Centerline is valid? [True, True] Translation: X:82.76, Y:-31.06, Z:-0.13 [[ 7.98135979e-01 6.02459416e-01 -4.64877498e-03 8.27600431e+01] [-6.02448372e-01 7.98149510e-01 3.64960070e-03 -3.10620321e+01] [ 5.90915378e-03 -1.12230711e-04 9.99982534e-01 -1.34365138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11762800000001 meters 0.015504440358932664 Centerline is valid? [True, True] Translation: X:82.79, Y:-31.08, Z:-0.14 [[ 7.96529935e-01 6.04575154e-01 -5.38012261e-03 8.27866140e+01] [-6.04560403e-01 7.96548097e-01 4.22470217e-03 -3.10780171e+01] [ 6.83967639e-03 -1.12492648e-04 9.99976603e-01 -1.35802743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14762800000001 meters 0.015197613524325753 Centerline is valid? [True, True] Translation: X:82.81, Y:-31.09, Z:-0.14 [[ 7.95666334e-01 6.05710382e-01 -5.47895503e-03 8.28131775e+01] [-6.05695098e-01 7.95685190e-01 4.30423832e-03 -3.10942199e+01] [ 6.96664521e-03 -1.06161319e-04 9.99975727e-01 -1.36751771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17762800000001 meters 0.014933096733498349 Centerline is valid? [True, True] Translation: X:82.84, Y:-31.11, Z:-0.14 [[ 7.94833780e-01 6.06799689e-01 -5.77913593e-03 8.28403928e+01] [-6.06782698e-01 7.94854783e-01 4.54210804e-03 -3.11119679e+01] [ 7.34972358e-03 -1.03541211e-04 9.99972985e-01 -1.37404290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20762800000001 meters 0.012988821160045613 Centerline is valid? [True, True] Translation: X:82.87, Y:-31.13, Z:-0.14 [[ 7.93066298e-01 6.09102286e-01 -6.34445365e-03 8.28702713e+01] [-6.09081862e-01 7.93091670e-01 4.98894502e-03 -3.11251995e+01] [ 8.07051116e-03 -9.22725127e-05 9.99967429e-01 -1.35285519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23762800000002 meters 0.012711172287531936 Centerline is valid? [True, True] Translation: X:82.90, Y:-31.14, Z:-0.14 [[ 7.91711705e-01 6.10860003e-01 -6.52935889e-03 8.28966271e+01] [-6.10838411e-01 7.91738625e-01 5.13668423e-03 -3.11424963e+01] [ 8.30734057e-03 -7.83898212e-05 9.99965490e-01 -1.35457897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.267628 meters 0.012135805967067986 Centerline is valid? [True, True] Translation: X:82.93, Y:-31.16, Z:-0.14 [[ 7.88138193e-01 6.15462368e-01 -6.65304784e-03 8.29262722e+01] [-6.15440090e-01 7.88166272e-01 5.23671675e-03 -3.11566817e+01] [ 8.46671001e-03 -3.27041171e-05 9.99964156e-01 -1.35739303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.297628 meters 0.01199877981010175 Centerline is valid? [True, True] Translation: X:82.95, Y:-31.17, Z:-0.14 [[ 7.85930869e-01 6.18276103e-01 -6.87962532e-03 8.29535639e+01] [-6.18252363e-01 7.85960979e-01 5.41804056e-03 -3.11743259e+01] [ 8.75696205e-03 -4.86071390e-06 9.99961657e-01 -1.36560400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.327628 meters 0.011950570610014614 Centerline is valid? [True, True] Translation: X:82.98, Y:-31.19, Z:-0.14 [[ 7.83681190e-01 6.21128145e-01 -6.60456198e-03 8.29814210e+01] [-6.21106340e-01 7.83709019e-01 5.20455069e-03 -3.11926998e+01] [ 8.40874771e-03 2.34268433e-05 9.99964646e-01 -1.36274042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357628 meters 0.012399595062198461 Centerline is valid? [True, True] Translation: X:83.01, Y:-31.21, Z:-0.14 [[ 7.80391713e-01 6.25258274e-01 -6.39257867e-03 8.30086125e+01] [-6.25237975e-01 7.80417892e-01 5.03865140e-03 -3.12088103e+01] [ 8.13934125e-03 6.47611505e-05 9.99966873e-01 -1.36869175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.387628 meters 0.012523023294252448 Centerline is valid? [True, True] Translation: X:83.03, Y:-31.23, Z:-0.14 [[ 7.79266088e-01 6.26659505e-01 -6.49842827e-03 8.30336784e+01] [-6.26638553e-01 7.79293179e-01 5.12486991e-03 -3.12282440e+01] [ 8.27572926e-03 7.85283694e-05 9.99965752e-01 -1.36325972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41762800000001 meters 0.012670997164802475 Centerline is valid? [True, True] Translation: X:83.06, Y:-31.25, Z:-0.14 [[ 7.78076559e-01 6.28129351e-01 -7.09839228e-03 8.30578650e+01] [-6.28104388e-01 7.78108931e-01 5.60086142e-03 -3.12487908e+01] [ 9.04138788e-03 1.00632363e-04 9.99959121e-01 -1.36011684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44762800000001 meters 0.01275620859926383 Centerline is valid? [True, True] Translation: X:83.08, Y:-31.27, Z:-0.14 [[ 7.77803071e-01 6.28459379e-01 -7.82245009e-03 8.30818765e+01] [-6.28429052e-01 7.77842398e-01 6.17500223e-03 -3.12682445e+01] [ 9.96537140e-03 1.12919191e-04 9.99950338e-01 -1.36363767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47762800000001 meters 0.012653246976419614 Centerline is valid? [True, True] Translation: X:83.11, Y:-31.29, Z:-0.14 [[ 7.77994956e-01 6.28201325e-01 -9.32435566e-03 8.31058511e+01] [-6.28158171e-01 7.78050820e-01 7.36430158e-03 -3.12891050e+01] [ 1.18810866e-02 1.27780713e-04 9.99929409e-01 -1.37603076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50762800000001 meters 0.01262101044446077 Centerline is valid? [True, True] Translation: X:83.13, Y:-31.31, Z:-0.14 [[ 7.78633178e-01 6.27387732e-01 -1.07241646e-02 8.31285623e+01] [-6.27330542e-01 7.78707016e-01 8.47195189e-03 -3.13103408e+01] [ 1.36661809e-02 1.31053179e-04 9.99906605e-01 -1.39318082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53762800000001 meters 0.01260710902791587 Centerline is valid? [True, True] Translation: X:83.15, Y:-31.33, Z:-0.14 [[ 7.79122874e-01 6.26766892e-01 -1.14372702e-02 8.31524099e+01] [-6.26701702e-01 7.79206807e-01 9.04035713e-03 -3.13318500e+01] [ 1.45781953e-02 1.24207664e-04 9.99893725e-01 -1.40270724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56762800000001 meters 0.01256532553098032 Centerline is valid? [True, True] Translation: X:83.18, Y:-31.35, Z:-0.14 [[ 7.79809021e-01 6.25910354e-01 -1.15809820e-02 8.31765889e+01] [-6.25843345e-01 7.79895004e-01 9.15915303e-03 -3.13546097e+01] [ 1.47647587e-02 1.05490363e-04 9.99890989e-01 -1.40321728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59762800000001 meters 0.012143592795927883 Centerline is valid? [True, True] Translation: X:83.20, Y:-31.38, Z:-0.14 [[ 7.81996965e-01 6.23177697e-01 -1.14151101e-02 8.31976694e+01] [-6.23112236e-01 7.82080274e-01 9.03247063e-03 -3.13799624e+01] [ 1.45563667e-02 4.95301631e-05 9.99894049e-01 -1.38756364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62762800000002 meters 0.012143592795927883 Centerline is valid? [True, True] Translation: X:83.22, Y:-31.40, Z:-0.14 [[ 7.81822008e-01 6.23397226e-01 -1.14125425e-02 8.32230443e+01] [-6.23331742e-01 7.81905299e-01 9.03571465e-03 -3.14001341e+01] [ 1.45563669e-02 4.94794247e-05 9.99894049e-01 -1.38802742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.657628 meters 0.012136635116848744 Centerline is valid? [True, True] Translation: X:83.24, Y:-31.43, Z:-0.14 [[ 7.85054935e-01 6.19343327e-01 -1.01287588e-02 8.32428930e+01] [-6.19291361e-01 7.85120273e-01 8.02298117e-03 -3.14253075e+01] [ 1.29212737e-02 -2.58281400e-05 9.99916517e-01 -1.37024783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.687628 meters 0.012329428774301487 Centerline is valid? [True, True] Translation: X:83.26, Y:-31.45, Z:-0.13 [[ 7.89163760e-01 6.14126536e-01 -8.31613984e-03 8.32639321e+01] [-6.14091171e-01 7.89207570e-01 6.59132387e-03 -3.14517771e+01] [ 1.06110674e-02 -9.47658798e-05 9.99943697e-01 -1.33800788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.717628 meters 0.012730779261793028 Centerline is valid? [True, True] Translation: X:83.29, Y:-31.48, Z:-0.13 [[ 7.91317462e-01 6.11358101e-01 -7.61225318e-03 8.32866066e+01] [-6.11328310e-01 7.91354066e-01 6.03654188e-03 -3.14751718e+01] [ 9.71447628e-03 -1.23235132e-04 9.99952806e-01 -1.32898650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.747628 meters 0.014024695157165114 Centerline is valid? [True, True] Translation: X:83.31, Y:-31.50, Z:-0.13 [[ 7.93481029e-01 6.08560634e-01 -6.46625205e-03 8.33067678e+01] [-6.08539028e-01 7.93507364e-01 5.12981414e-03 -3.14990091e+01] [ 8.25282157e-03 -1.35443463e-04 9.99965936e-01 -1.32514390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.777628 meters 0.013857798964036562 Centerline is valid? [True, True] Translation: X:83.33, Y:-31.52, Z:-0.13 [[ 7.95376019e-01 6.06089580e-01 -5.69296749e-03 8.33300504e+01] [-6.06072751e-01 7.95396379e-01 4.51882698e-03 -3.15209621e+01] [ 7.26697968e-03 -1.43814145e-04 9.99973585e-01 -1.30437493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80762800000001 meters 0.014618399567219055 Centerline is valid? [True, True] Translation: X:83.35, Y:-31.54, Z:-0.13 [[ 7.97016959e-01 6.03934371e-01 -5.21939566e-03 8.33520036e+01] [-6.03920167e-01 7.97034035e-01 4.14489980e-03 -3.15438413e+01] [ 6.66328344e-03 -1.51457137e-04 9.99977789e-01 -1.30155395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83762800000001 meters 0.0164885205919201 Centerline is valid? [True, True] Translation: X:83.37, Y:-31.57, Z:-0.13 [[ 7.98235629e-01 6.02322964e-01 -5.18928508e-03 8.33727187e+01] [-6.02308875e-01 7.98252479e-01 4.12292829e-03 -3.15676704e+01] [ 6.62569407e-03 -1.65515794e-04 9.99978036e-01 -1.30673770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86762800000001 meters 0.015673682130121228 Centerline is valid? [True, True] Translation: X:83.40, Y:-31.59, Z:-0.13 [[ 7.99071635e-01 6.01207730e-01 -5.81278513e-03 8.33971847e+01] [-6.01190006e-01 7.99092752e-01 4.62064251e-03 -3.15878493e+01] [ 7.42292046e-03 -1.97636039e-04 9.99972430e-01 -1.30178531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89762800000001 meters 0.018102961682447266 Centerline is valid? [True, True] Translation: X:83.42, Y:-31.61, Z:-0.13 [[ 7.99603096e-01 6.00495592e-01 -6.31930717e-03 8.34183050e+01] [-6.00474603e-01 7.99628035e-01 5.02556868e-03 -3.16111166e+01] [ 8.07092701e-03 -2.23876805e-04 9.99967404e-01 -1.32400411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92762800000001 meters 0.016594625837096613 Centerline is valid? [True, True] Translation: X:83.44, Y:-31.63, Z:-0.13 [[ 7.99504201e-01 6.00604015e-01 -8.23711531e-03 8.34438171e+01] [-6.00568326e-01 7.99546579e-01 6.55393148e-03 -3.16307581e+01] [ 1.05222749e-02 -2.92945200e-04 9.99944596e-01 -1.34006995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95762800000001 meters 0.016629385605474285 Centerline is valid? [True, True] Translation: X:83.47, Y:-31.65, Z:-0.13 [[ 7.98985224e-01 6.01280647e-01 -9.17575414e-03 8.34684173e+01] [-6.01236357e-01 7.99037847e-01 7.30495802e-03 -3.16524729e+01] [ 1.17241047e-02 -3.19756537e-04 9.99931219e-01 -1.34381599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98762800000002 meters 0.015509570621027416 Centerline is valid? [True, True] Translation: X:83.49, Y:-31.67, Z:-0.13 [[ 7.97984543e-01 6.02594446e-01 -1.00301096e-02 8.34929138e+01] [-6.02541575e-01 7.98047507e-01 7.98914121e-03 -3.16736116e+01] [ 1.28187161e-02 -3.31653164e-04 9.99917782e-01 -1.32950112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.017628 meters 0.01922181997387702 Centerline is valid? [True, True] Translation: X:83.52, Y:-31.70, Z:-0.14 [[ 7.97816362e-01 6.02815201e-01 -1.01432847e-02 8.35161032e+01] [-6.02761090e-01 7.97880769e-01 8.08374603e-03 -3.16954629e+01] [ 1.29661367e-02 -3.35367534e-04 9.99915880e-01 -1.35540612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.047628 meters 0.016359583373262206 Centerline is valid? [True, True] Translation: X:83.54, Y:-31.72, Z:-0.13 [[ 7.96933596e-01 6.03997504e-01 -9.15739755e-03 8.35414595e+01] [-6.03953468e-01 7.96986156e-01 7.29903971e-03 -3.17160685e+01] [ 1.17069208e-02 -2.86207959e-04 9.99931431e-01 -1.33255578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.077628 meters 0.014958593000777499 Centerline is valid? [True, True] Translation: X:83.57, Y:-31.73, Z:-0.13 [[ 7.95621205e-01 6.05737976e-01 -8.27060313e-03 8.35674331e+01] [-6.05702110e-01 7.95664155e-01 6.59588736e-03 -3.17343549e+01] [ 1.05760019e-02 -2.38306081e-04 9.99944044e-01 -1.32059989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.107628 meters 0.014883937608993439 Centerline is valid? [True, True] Translation: X:83.59, Y:-31.75, Z:-0.13 [[ 7.94680687e-01 6.06977391e-01 -7.81363333e-03 8.35917243e+01] [-6.06945423e-01 7.94719071e-01 6.23309644e-03 -3.17540013e+01] [ 9.99299204e-03 -2.10872374e-04 9.99950047e-01 -1.31964875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.137628 meters 0.014276092735930973 Centerline is valid? [True, True] Translation: X:83.62, Y:-31.77, Z:-0.13 [[ 7.93481110e-01 6.08548408e-01 -7.52088426e-03 8.36171823e+01] [-6.08518830e-01 7.93516730e-01 6.00282227e-03 -3.17731722e+01] [ 9.62095542e-03 -1.86526390e-04 9.99953700e-01 -1.31944174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16762800000001 meters 0.013851118137850817 Centerline is valid? [True, True] Translation: X:83.64, Y:-31.79, Z:-0.13 [[ 7.91024236e-01 6.11741068e-01 -7.31599362e-03 8.36414228e+01] [-6.11713190e-01 7.91058053e-01 5.84200210e-03 -3.17921226e+01] [ 9.36116828e-03 -1.45875451e-04 9.99956173e-01 -1.32325537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19762800000001 meters 0.013434595275732118 Centerline is valid? [True, True] Translation: X:83.67, Y:-31.81, Z:-0.13 [[ 7.89656890e-01 6.13506862e-01 -7.16416859e-03 8.36669648e+01] [-6.13480175e-01 7.89689378e-01 5.72365399e-03 -3.18119965e+01] [ 9.16896885e-03 -1.24647409e-04 9.99957956e-01 -1.32181219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22762800000001 meters 0.012611808949802322 Centerline is valid? [True, True] Translation: X:83.69, Y:-31.83, Z:-0.13 [[ 7.86356096e-01 6.17732529e-01 -7.11436365e-03 8.36932922e+01] [-6.17706357e-01 7.86388274e-01 5.68675276e-03 -3.18298826e+01] [ 9.10754431e-03 -7.72250477e-05 9.99958522e-01 -1.32304223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25762800000001 meters 0.012401129156790869 Centerline is valid? [True, True] Translation: X:83.72, Y:-31.85, Z:-0.13 [[ 7.84443474e-01 6.20157776e-01 -7.26422671e-03 8.37187023e+01] [-6.20130567e-01 7.84477106e-01 5.80947031e-03 -3.18492744e+01] [ 9.30140773e-03 -5.24320408e-05 9.99956740e-01 -1.32542281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28762800000001 meters 0.012269581441101744 Centerline is valid? [True, True] Translation: X:83.74, Y:-31.87, Z:-0.13 [[ 7.82595003e-01 6.22489239e-01 -7.22560751e-03 8.37435021e+01] [-6.22462393e-01 7.82628358e-01 5.78124145e-03 -3.18687225e+01] [ 9.25372594e-03 -2.67017313e-05 9.99957183e-01 -1.33426763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31762800000001 meters 0.012249171118975258 Centerline is valid? [True, True] Translation: X:83.77, Y:-31.89, Z:-0.13 [[ 7.79057763e-01 6.26912352e-01 -7.06426790e-03 8.37692797e+01] [-6.26886843e-01 7.79089791e-01 5.65546252e-03 -3.18890504e+01] [ 9.04917831e-03 2.25646165e-05 9.99959055e-01 -1.31625924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34762800000001 meters 0.012341868306786264 Centerline is valid? [True, True] Translation: X:83.79, Y:-31.91, Z:-0.13 [[ 7.77869348e-01 6.28379852e-01 -7.61829613e-03 8.37941499e+01] [-6.28350226e-01 7.77906652e-01 6.10197331e-03 -3.19096974e+01] [ 9.76068032e-03 4.04200939e-05 9.99952363e-01 -1.31905151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37762800000002 meters 0.012456705734917915 Centerline is valid? [True, True] Translation: X:83.82, Y:-31.93, Z:-0.13 [[ 7.77122446e-01 6.29297113e-01 -8.11467735e-03 8.38190635e+01] [-6.29263510e-01 7.77164809e-01 6.50338387e-03 -3.19308276e+01] [ 1.03990024e-02 5.23447766e-05 9.99945928e-01 -1.32914126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.407628 meters 0.01265200949278797 Centerline is valid? [True, True] Translation: X:83.84, Y:-31.95, Z:-0.14 [[ 7.77419910e-01 6.28923447e-01 -8.57794023e-03 8.38421972e+01] [-6.28885834e-01 7.77467231e-01 6.87831315e-03 -3.19536700e+01] [ 1.09949999e-02 4.72075052e-05 9.99939552e-01 -1.35781908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.437628 meters 0.012563138199065646 Centerline is valid? [True, True] Translation: X:83.86, Y:-31.98, Z:-0.13 [[ 7.78243295e-01 6.27907228e-01 -8.35976869e-03 8.38648504e+01] [-6.27871411e-01 7.78288193e-01 6.70669780e-03 -3.19765525e+01] [ 1.07174933e-02 2.94171610e-05 9.99942566e-01 -1.34923048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.467628 meters 0.015334687932477116 Centerline is valid? [True, True] Translation: X:83.88, Y:-32.00, Z:-0.14 [[ 7.81056785e-01 6.24412623e-01 -7.69244175e-03 8.38845955e+01] [-6.24382095e-01 7.81094665e-01 6.17442777e-03 -3.20036918e+01] [ 9.86391585e-03 -1.95558049e-05 9.99951350e-01 -1.35399753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.497628 meters 0.012730564948571256 Centerline is valid? [True, True] Translation: X:83.91, Y:-32.03, Z:-0.13 [[ 7.81970548e-01 6.23276883e-01 -6.92734758e-03 8.39075498e+01] [-6.23252052e-01 7.82001231e-01 5.56357716e-03 -3.20273042e+01] [ 8.88484337e-03 -3.30698843e-05 9.99960528e-01 -1.31813242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.527628 meters 0.013165320908077595 Centerline is valid? [True, True] Translation: X:83.93, Y:-32.05, Z:-0.13 [[ 7.84432498e-01 6.20190885e-01 -5.37793984e-03 8.39280413e+01] [-6.20175831e-01 7.84450931e-01 4.32155450e-03 -3.20532984e+01] [ 6.89891863e-03 -5.46994784e-05 9.99976201e-01 -1.30397968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55762800000001 meters 0.013336940982301895 Centerline is valid? [True, True] Translation: X:83.95, Y:-32.08, Z:-0.13 [[ 7.85247357e-01 6.19162077e-01 -4.99111615e-03 8.39518974e+01] [-6.19149075e-01 7.85263216e-01 4.01302698e-03 -3.20765112e+01] [ 6.40405404e-03 -6.09738823e-05 9.99979492e-01 -1.29799041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58762800000001 meters 0.013620199855868414 Centerline is valid? [True, True] Translation: X:83.98, Y:-32.10, Z:-0.13 [[ 7.85836452e-01 6.18417483e-01 -4.57031483e-03 8.39757875e+01] [-6.18406556e-01 7.85849739e-01 3.67676961e-03 -3.20996777e+01] [ 5.86535933e-03 -6.30269305e-05 9.99982797e-01 -1.29321102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61762800000001 meters 0.013323503156591712 Centerline is valid? [True, True] Translation: X:84.00, Y:-32.12, Z:-0.13 [[ 7.84985088e-01 6.19501548e-01 -4.03033743e-03 8.40012715e+01] [-6.19493056e-01 7.84995433e-01 3.24398906e-03 -3.21194603e+01] [ 5.17345272e-03 -4.97169889e-05 9.99986616e-01 -1.27623948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64762800000001 meters 0.013092891986988322 Centerline is valid? [True, True] Translation: X:84.03, Y:-32.14, Z:-0.13 [[ 7.84000244e-01 6.20745281e-01 -4.34902123e-03 8.40273797e+01] [-6.20735411e-01 7.84012305e-01 3.50080226e-03 -3.21390515e+01] [ 5.58279264e-03 -4.50383450e-05 9.99984415e-01 -1.27803532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67762800000001 meters 0.013132424116088783 Centerline is valid? [True, True] Translation: X:84.05, Y:-32.16, Z:-0.13 [[ 7.81882478e-01 6.23391820e-01 -6.51372169e-03 8.40535978e+01] [-6.23369745e-01 7.81909609e-01 5.24634610e-03 -3.21572989e+01] [ 8.36367082e-03 -4.15690649e-05 9.99965023e-01 -1.30250986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70762800000001 meters 0.013034773842528819 Centerline is valid? [True, True] Translation: X:84.08, Y:-32.18, Z:-0.13 [[ 7.81288055e-01 6.24119976e-01 -7.95180644e-03 8.40795433e+01] [-6.24087083e-01 7.81328518e-01 6.40773654e-03 -3.21759866e+01] [ 1.02121695e-02 -4.36683256e-05 9.99947853e-01 -1.31446344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73762800000002 meters 0.01304171755817267 Centerline is valid? [True, True] Translation: X:84.10, Y:-32.20, Z:-0.13 [[ 7.80842658e-01 6.24661774e-01 -9.07807472e-03 8.41047861e+01] [-6.24618898e-01 7.80895426e-01 7.31894045e-03 -3.21952924e+01] [ 1.16608893e-02 -4.46038945e-05 9.99932009e-01 -1.33175213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.767628 meters 0.01332868234235259 Centerline is valid? [True, True] Translation: X:84.13, Y:-32.22, Z:-0.14 [[ 7.81357448e-01 6.23998494e-01 -1.03158617e-02 8.41290397e+01] [-6.23943020e-01 7.81425540e-01 8.32063846e-03 -3.22153154e+01] [ 1.32531437e-02 -6.48829123e-05 9.99912171e-01 -1.35187819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.797628 meters 0.013509386874848765 Centerline is valid? [True, True] Translation: X:84.15, Y:-32.24, Z:-0.13 [[ 7.82520141e-01 6.22541568e-01 -1.02091080e-02 8.41539627e+01] [-6.22487048e-01 7.82586729e-01 8.23933668e-03 -3.22362773e+01] [ 1.31188420e-02 -9.24094164e-05 9.99913940e-01 -1.34665263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.827628 meters 0.014471365789898993 Centerline is valid? [True, True] Translation: X:84.18, Y:-32.26, Z:-0.13 [[ 7.87198397e-01 6.16642564e-01 -8.40430372e-03 8.41765194e+01] [-6.16605242e-01 7.87243243e-01 6.78619156e-03 -3.22588543e+01] [ 1.08008859e-02 -1.59941386e-04 9.99941656e-01 -1.32234564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857628 meters 0.015118781858300538 Centerline is valid? [True, True] Translation: X:84.20, Y:-32.28, Z:-0.13 [[ 7.90045176e-01 6.13006317e-01 -7.20247295e-03 8.42002308e+01] [-6.12978727e-01 7.90077985e-01 5.81876481e-03 -3.22809492e+01] [ 9.25745490e-03 -1.82124361e-04 9.99957132e-01 -1.30613957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.887628 meters 0.018900040046240532 Centerline is valid? [True, True] Translation: X:84.22, Y:-32.30, Z:-0.13 [[ 7.93474785e-01 6.08571787e-01 -6.17613162e-03 8.42222845e+01] [-6.08551347e-01 7.93498796e-01 4.99194871e-03 -3.23030083e+01] [ 7.93871215e-03 -2.02492219e-04 9.99968467e-01 -1.32700999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91762800000001 meters 0.017541544892568765 Centerline is valid? [True, True] Translation: X:84.25, Y:-32.33, Z:-0.13 [[ 7.95953713e-01 6.05335601e-01 -5.14751571e-03 8.42453743e+01] [-6.05321324e-01 7.95970333e-01 4.16219803e-03 -3.23250802e+01] [ 6.61679644e-03 -1.97015949e-04 9.99978089e-01 -1.27981968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94762800000001 meters 0.01990467045834417 Centerline is valid? [True, True] Translation: X:84.27, Y:-32.35, Z:-0.13 [[ 8.00867013e-01 5.98832003e-01 -3.50137432e-03 8.42674347e+01] [-5.98825328e-01 8.00874648e-01 2.83266069e-03 -3.23483278e+01] [ 4.50044980e-03 -1.71872873e-04 9.99989858e-01 -1.26092990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97762800000001 meters 0.021476583527028106 Centerline is valid? [True, True] Translation: X:84.29, Y:-32.37, Z:-0.13 [[ 8.02586418e-01 5.96528869e-01 -2.88979885e-03 8.42906051e+01] [-5.96524303e-01 8.02591605e-01 2.33902411e-03 -3.23694545e+01] [ 3.71462370e-03 -1.53433737e-04 9.99993089e-01 -1.26021802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00762800000001 meters 0.02438224825495199 Centerline is valid? [True, True] Translation: X:84.31, Y:-32.39, Z:-0.13 [[ 8.04899971e-01 5.93406670e-01 -2.13535814e-03 8.43126534e+01] [-5.93404165e-01 8.04902794e-01 1.72870506e-03 -3.23904658e+01] [ 2.74458085e-03 -1.24304242e-04 9.99996226e-01 -1.26860776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03762800000001 meters 0.024016921478416033 Centerline is valid? [True, True] Translation: X:84.34, Y:-32.41, Z:-0.13 [[ 8.05290431e-01 5.92877154e-01 -2.00033494e-03 8.43389175e+01] [-5.92874952e-01 8.05292907e-01 1.62040647e-03 -3.24093810e+01] [ 2.57155751e-03 -1.18949343e-04 9.99996686e-01 -1.27241671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06762800000001 meters 0.02218149047734923 Centerline is valid? [True, True] Translation: X:84.37, Y:-32.43, Z:-0.13 [[ 8.05046814e-01 5.93207480e-01 -2.12440585e-03 8.43672531e+01] [-5.93204994e-01 8.05049607e-01 1.72194306e-03 -3.24269085e+01] [ 2.73172159e-03 -1.26036615e-04 9.99996261e-01 -1.27480858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09762800000001 meters 0.021690207461935673 Centerline is valid? [True, True] Translation: X:84.39, Y:-32.44, Z:-0.13 [[ 8.02675611e-01 5.96408126e-01 -3.03496189e-03 8.43931980e+01] [-5.96403074e-01 8.02681332e-01 2.46033205e-03 -3.24430690e+01] [ 3.90346927e-03 -1.64787933e-04 9.99992368e-01 -1.28998325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12762800000002 meters 0.018651961891750064 Centerline is valid? [True, True] Translation: X:84.42, Y:-32.46, Z:-0.13 [[ 7.98242094e-01 6.02320935e-01 -4.36471729e-03 8.44225826e+01] [-6.02310564e-01 7.98254003e-01 3.53995931e-03 -3.24564380e+01] [ 5.61634465e-03 -1.96829203e-04 9.99984209e-01 -1.30026392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.157628 meters 0.019823346753325113 Centerline is valid? [True, True] Translation: X:84.45, Y:-32.47, Z:-0.13 [[ 7.95803485e-01 6.05531780e-01 -5.29871491e-03 8.44485065e+01] [-6.05516556e-01 7.95821097e-01 4.29918343e-03 -3.24731336e+01] [ 6.82012131e-03 -2.12845558e-04 9.99976720e-01 -1.33550360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.187628 meters 0.018031466375687963 Centerline is valid? [True, True] Translation: X:84.47, Y:-32.49, Z:-0.13 [[ 7.92407535e-01 6.09970353e-01 -5.14460028e-03 8.44736245e+01] [-6.09956084e-01 7.92424217e-01 4.17567194e-03 -3.24912496e+01] [ 6.62374194e-03 -1.70853668e-04 9.99978048e-01 -1.31871817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.217628 meters 0.015461254925961608 Centerline is valid? [True, True] Translation: X:84.50, Y:-32.51, Z:-0.13 [[ 7.89314304e-01 6.13965635e-01 -5.39712117e-03 8.45021049e+01] [-6.13950013e-01 7.89332742e-01 4.38224796e-03 -3.25059656e+01] [ 6.95067411e-03 -1.45408389e-04 9.99975833e-01 -1.31555371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.247628 meters 0.013613589882046286 Centerline is valid? [True, True] Translation: X:84.53, Y:-32.52, Z:-0.13 [[ 7.83285057e-01 6.21637322e-01 -5.61770285e-03 8.45310454e+01] [-6.21620580e-01 7.83305198e-01 4.56305181e-03 -3.25197990e+01] [ 7.23693915e-03 -8.20905988e-05 9.99973810e-01 -1.32757193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.277628 meters 0.01297840548669197 Centerline is valid? [True, True] Translation: X:84.56, Y:-32.54, Z:-0.13 [[ 7.80325635e-01 6.25347766e-01 -5.66338785e-03 8.45584814e+01] [-6.25330830e-01 7.80346185e-01 4.60257046e-03 -3.25370864e+01] [ 7.29761026e-03 -5.00126884e-05 9.99973371e-01 -1.33122026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30762800000001 meters 0.012435363097491303 Centerline is valid? [True, True] Translation: X:84.59, Y:-32.55, Z:-0.13 [[ 7.74919022e-01 6.32041414e-01 -4.91538263e-03 8.45871402e+01] [-6.32028778e-01 7.74934611e-01 3.99654310e-03 -3.25516945e+01] [ 6.33508088e-03 9.66601425e-06 9.99979933e-01 -1.33695930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33762800000001 meters 0.01256656502806962 Centerline is valid? [True, True] Translation: X:84.61, Y:-32.57, Z:-0.13 [[ 7.72527224e-01 6.34964453e-01 -4.67246050e-03 8.46139497e+01] [-6.34953074e-01 7.72541354e-01 3.80136512e-03 -3.25711786e+01] [ 6.02340069e-03 3.01351116e-05 9.99981859e-01 -1.33098631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36762800000001 meters 0.013148638745268079 Centerline is valid? [True, True] Translation: X:84.64, Y:-32.59, Z:-0.13 [[ 7.69207090e-01 6.38984593e-01 -4.37526465e-03 8.46396868e+01] [-6.38974672e-01 7.69219531e-01 3.56116970e-03 -3.25894591e+01] [ 5.64107159e-03 5.64063188e-05 9.99984087e-01 -1.33162327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39762800000001 meters 0.01349089159402639 Centerline is valid? [True, True] Translation: X:84.66, Y:-32.61, Z:-0.13 [[ 7.67946369e-01 6.40499729e-01 -4.29780784e-03 8.46642052e+01] [-6.40490171e-01 7.67958392e-01 3.49972984e-03 -3.26088419e+01] [ 5.54211361e-03 6.50988583e-05 9.99984640e-01 -1.33247066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42762800000001 meters 0.01371065775449237 Centerline is valid? [True, True] Translation: X:84.69, Y:-32.63, Z:-0.13 [[ 7.66711832e-01 6.41979856e-01 -3.85105262e-03 8.46881713e+01] [-6.41972192e-01 7.66721501e-01 3.13757903e-03 -3.26299669e+01] [ 4.96694737e-03 6.66497247e-05 9.99987662e-01 -1.33569656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45762800000001 meters 0.013726801171341684 Centerline is valid? [True, True] Translation: X:84.71, Y:-32.65, Z:-0.13 [[ 7.66444965e-01 6.42299783e-01 -3.61995332e-03 8.47120512e+01] [-6.42293007e-01 7.66453511e-01 2.95106571e-03 -3.26523497e+01] [ 4.66999479e-03 6.32412494e-05 9.99989094e-01 -1.34202249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48762800000002 meters 0.013726801171341684 Centerline is valid? [True, True] Translation: X:84.74, Y:-32.67, Z:-0.13 [[ 7.66266062e-01 6.42513209e-01 -3.61913177e-03 8.47371202e+01] [-6.42506430e-01 7.66274606e-01 2.95207327e-03 -3.26728825e+01] [ 4.66999484e-03 6.32418762e-05 9.99989094e-01 -1.34248647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.517628 meters 0.013726801171341684 Centerline is valid? [True, True] Translation: X:84.76, Y:-32.69, Z:-0.13 [[ 7.66087100e-01 6.42726584e-01 -3.61830955e-03 8.47621835e+01] [-6.42719803e-01 7.66095643e-01 2.95308108e-03 -3.26934223e+01] [ 4.66999490e-03 6.32418770e-05 9.99989094e-01 -1.34295044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.547628 meters 0.013427204286494042 Centerline is valid? [True, True] Translation: X:84.79, Y:-32.72, Z:-0.13 [[ 7.65991565e-01 6.42838432e-01 -3.95897010e-03 8.47861481e+01] [-6.42830306e-01 7.66001792e-01 3.23296145e-03 -3.27160419e+01] [ 5.11085006e-03 6.85247619e-05 9.99986937e-01 -1.34580824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.577628 meters 0.013324182556374606 Centerline is valid? [True, True] Translation: X:84.81, Y:-32.74, Z:-0.14 [[ 7.66514955e-01 6.42209119e-01 -4.71919249e-03 8.48085171e+01] [-6.42197548e-01 7.66529479e-01 3.85591604e-03 -3.27402954e+01] [ 6.09370460e-03 7.50365409e-05 9.99981430e-01 -1.35057744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.607628 meters 0.013449223010635437 Centerline is valid? [True, True] Translation: X:84.83, Y:-32.76, Z:-0.14 [[ 7.67065348e-01 6.41550999e-01 -4.80298381e-03 8.48312898e+01] [-6.41538989e-01 7.67080381e-01 3.92611169e-03 -3.27615615e+01] [ 6.20307553e-03 6.97171491e-05 9.99980758e-01 -1.35737390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.637628 meters 0.013043825582604378 Centerline is valid? [True, True] Translation: X:84.85, Y:-32.78, Z:-0.14 [[ 7.67739215e-01 6.40744061e-01 -4.85250438e-03 8.48534219e+01] [-6.40731773e-01 7.67754547e-01 3.96861879e-03 -3.27849165e+01] [ 6.26840122e-03 6.22894611e-05 9.99980351e-01 -1.35278364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66762800000001 meters 0.012674190826265273 Centerline is valid? [True, True] Translation: X:84.87, Y:-32.81, Z:-0.14 [[ 7.69727248e-01 6.38355893e-01 -4.66020605e-03 8.48736970e+01] [-6.38344505e-01 7.69741354e-01 3.81328296e-03 -3.28105352e+01] [ 6.02138496e-03 3.96291245e-05 9.99981871e-01 -1.35135056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69762800000001 meters 0.012623776190002798 Centerline is valid? [True, True] Translation: X:84.90, Y:-32.83, Z:-0.14 [[ 7.70944748e-01 6.36886788e-01 -4.40613349e-03 8.48959207e+01] [-6.36876574e-01 7.70957339e-01 3.60704085e-03 -3.28331875e+01] [ 5.69421761e-03 2.53340061e-05 9.99983787e-01 -1.35661601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72762800000001 meters 0.012481228782368485 Centerline is valid? [True, True] Translation: X:84.92, Y:-32.86, Z:-0.14 [[ 7.72843062e-01 6.34580886e-01 -4.54967494e-03 8.49174468e+01] [-6.34569943e-01 7.72856454e-01 3.72678977e-03 -3.28585449e+01] [ 5.88119519e-03 6.86334542e-06 9.99982706e-01 -1.35387433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75762800000001 meters 0.012524645841449687 Centerline is valid? [True, True] Translation: X:84.94, Y:-32.88, Z:-0.13 [[ 7.72550039e-01 6.34940458e-01 -4.12942580e-03 8.49428721e+01] [-6.34931437e-01 7.72561075e-01 3.38454461e-03 -3.28786662e+01] [ 5.33921794e-03 7.17218790e-06 9.99985746e-01 -1.34979683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78762800000001 meters 0.012468331850573423 Centerline is valid? [True, True] Translation: X:84.97, Y:-32.90, Z:-0.14 [[ 7.72243084e-01 6.35315409e-01 -3.86646774e-03 8.49672586e+01] [-6.35307497e-01 7.72252764e-01 3.17071788e-03 -3.28984645e+01] [ 5.00029632e-03 7.83099143e-06 9.99987498e-01 -1.35009185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81762800000001 meters 0.012529355267131007 Centerline is valid? [True, True] Translation: X:84.99, Y:-32.92, Z:-0.13 [[ 7.73316190e-01 6.34006763e-01 -4.18275867e-03 8.49920813e+01] [-6.33997473e-01 7.73327502e-01 3.43203795e-03 -3.29206503e+01] [ 5.41057758e-03 -2.19208089e-06 9.99985363e-01 -1.34287272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84762800000001 meters 0.012628757756775083 Centerline is valid? [True, True] Translation: X:85.02, Y:-32.94, Z:-0.13 [[ 7.74483907e-01 6.32580421e-01 -4.08531948e-03 8.50156084e+01] [-6.32571530e-01 7.74494681e-01 3.35384116e-03 -3.29418539e+01] [ 5.28563247e-03 -1.32392103e-05 9.99986031e-01 -1.34671054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87762800000002 meters 0.012813971333261677 Centerline is valid? [True, True] Translation: X:85.04, Y:-32.96, Z:-0.13 [[ 7.75835498e-01 6.30922590e-01 -3.99572855e-03 8.50403349e+01] [-6.30914053e-01 7.75845787e-01 3.28219295e-03 -3.29639049e+01] [ 5.17087884e-03 -2.54805041e-05 9.99986631e-01 -1.34042415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.907628 meters 0.013544781612225382 Centerline is valid? [True, True] Translation: X:85.06, Y:-32.99, Z:-0.13 [[ 7.79066055e-01 6.26930027e-01 -3.85007820e-03 8.50624354e+01] [-6.26922045e-01 7.79075567e-01 3.16390479e-03 -3.29864392e+01] [ 4.98304878e-03 -5.11919260e-05 9.99987583e-01 -1.34134721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.937628 meters 0.013977701254624312 Centerline is valid? [True, True] Translation: X:85.09, Y:-33.01, Z:-0.13 [[ 7.80483065e-01 6.25165720e-01 -3.74267787e-03 8.50863833e+01] [-6.25158150e-01 7.80492036e-01 3.07715408e-03 -3.30075763e+01] [ 4.84486152e-03 -6.19010748e-05 9.99988262e-01 -1.34261101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.967628 meters 0.014588005280282536 Centerline is valid? [True, True] Translation: X:85.11, Y:-33.03, Z:-0.13 [[ 7.84172518e-01 6.20532906e-01 -3.51756745e-03 8.51111637e+01] [-6.20526167e-01 7.84180403e-01 2.89344639e-03 -3.30273388e+01] [ 4.55388616e-03 -8.62184943e-05 9.99989627e-01 -1.34809251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.997628 meters 0.015565956185399184 Centerline is valid? [True, True] Translation: X:85.13, Y:-33.05, Z:-0.13 [[ 7.86166311e-01 6.18006394e-01 -3.26018307e-03 8.51341523e+01] [-6.18000577e-01 7.86173065e-01 2.68300468e-03 -3.30479311e+01] [ 4.22118217e-03 -9.44928722e-05 9.99991086e-01 -1.34740608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.027628 meters 0.016537175049508045 Centerline is valid? [True, True] Translation: X:85.16, Y:-33.07, Z:-0.13 [[ 7.88410767e-01 6.15142516e-01 -2.85452309e-03 8.51579029e+01] [-6.15138037e-01 7.88415928e-01 2.34925827e-03 -3.30694247e+01] [ 3.69568012e-03 -9.62547829e-05 9.99993166e-01 -1.34145229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05762800000001 meters 0.018863708149329344 Centerline is valid? [True, True] Translation: X:85.18, Y:-33.09, Z:-0.13 [[ 7.93248479e-01 6.08895516e-01 -1.76128781e-03 8.51805258e+01] [-6.08893793e-01 7.93250430e-01 1.45052968e-03 -3.30922227e+01] [ 2.28036333e-03 -7.81932455e-05 9.99997397e-01 -1.32387268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08762800000001 meters 0.01992172185916552 Centerline is valid? [True, True] Translation: X:85.20, Y:-33.11, Z:-0.13 [[ 7.95708565e-01 6.05677594e-01 -1.59102702e-03 8.52045409e+01] [-6.05676181e-01 7.95710152e-01 1.31039718e-03 -3.31131315e+01] [ 2.05967457e-03 -7.90470918e-05 9.99997876e-01 -1.32016593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11762800000001 meters 0.026619382708398948 Centerline is valid? [True, True] Translation: X:85.22, Y:-33.14, Z:-0.13 [[ 7.99682002e-01 6.00422818e-01 -1.06574441e-03 8.52227842e+01] [-6.00422179e-01 7.99682710e-01 8.78061159e-04 -3.31390564e+01] [ 1.37946533e-03 -6.22731249e-05 9.99999047e-01 -1.32446550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14762800000001 meters 0.022414123146194186 Centerline is valid? [True, True] Translation: X:85.25, Y:-33.15, Z:-0.13 [[ 8.00905187e-01 5.98790926e-01 -5.54463951e-04 8.52521678e+01] [-5.98790753e-01 8.00905379e-01 4.57249383e-04 -3.31543388e+01] [ 7.17869942e-04 -3.42055158e-05 9.99999742e-01 -1.31552303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17762800000001 meters 0.02266710394281645 Centerline is valid? [True, True] Translation: X:85.28, Y:-33.17, Z:-0.13 [[ 8.01856120e-01 5.97517142e-01 -1.65068524e-04 8.52776142e+01] [-5.97517127e-01 8.01856137e-01 1.36480261e-04 -3.31738810e+01] [ 2.13910505e-04 -1.08062624e-05 9.99999977e-01 -1.31394439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20762800000001 meters 0.030644092551172328 Centerline is valid? [True, True] Translation: X:85.30, Y:-33.20, Z:-0.13 [[ 8.02113902e-01 5.97171065e-01 -7.93414522e-05 8.52969246e+01] [-5.97171062e-01 8.02113906e-01 6.58531159e-05 -3.31987255e+01] [ 1.02966458e-04 -5.44128050e-06 9.99999995e-01 -1.32411146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23762800000002 meters 0.022386790416828402 Centerline is valid? [True, True] Translation: X:85.33, Y:-33.21, Z:-0.13 [[ 8.01455981e-01 5.98053256e-01 -7.83563380e-04 8.53309630e+01] [-5.98052908e-01 8.01456362e-01 6.47028409e-04 -3.32083841e+01] [ 1.01494930e-03 -4.99524298e-05 9.99999484e-01 -1.32846740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.267628 meters 0.02038041169028526 Centerline is valid? [True, True] Translation: X:85.36, Y:-33.22, Z:-0.13 [[ 7.99197807e-01 6.01066404e-01 -1.42938750e-03 8.53606324e+01] [-6.01065251e-01 7.99199081e-01 1.17985900e-03 -3.32219904e+01] [ 1.85153878e-03 -8.37855697e-05 9.99998282e-01 -1.33450729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.297628 meters 0.019292054355872605 Centerline is valid? [True, True] Translation: X:85.39, Y:-33.24, Z:-0.13 [[ 7.97793402e-01 6.02929707e-01 -1.20658400e-03 8.53882190e+01] [-6.02928888e-01 7.97794312e-01 9.96051318e-04 -3.32387803e+01] [ 1.56315478e-03 -6.71588218e-05 9.99998776e-01 -1.33445029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.327628 meters 0.020184864994511286 Centerline is valid? [True, True] Translation: X:85.41, Y:-33.26, Z:-0.13 [[ 7.96305270e-01 6.04894629e-01 -6.35484013e-04 8.54125137e+01] [-6.04894402e-01 7.96305523e-01 5.24865629e-04 -3.32568847e+01] [ 8.23527829e-04 -3.35525445e-05 9.99999660e-01 -1.32948123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357628 meters 0.01885079966722979 Centerline is valid? [True, True] Translation: X:85.44, Y:-33.27, Z:-0.13 [[ 7.93529006e-01 6.08532369e-01 2.68017853e-04 8.54422142e+01] [-6.08532329e-01 7.93529052e-01 -2.21207268e-04 -3.32709107e+01] [-3.47291736e-04 1.24368551e-05 9.99999940e-01 -1.32132130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.387628 meters 0.018181846019028263 Centerline is valid? [True, True] Translation: X:85.47, Y:-33.29, Z:-0.13 [[ 7.92024117e-01 6.10489311e-01 7.73506009e-04 8.54692305e+01] [-6.10488978e-01 7.92024494e-01 -6.38543813e-04 -3.32881043e+01] [-1.00245988e-03 3.35252069e-05 9.99999497e-01 -1.31889934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41762800000001 meters 0.01683508276651817 Centerline is valid? [True, True] Translation: X:85.50, Y:-33.30, Z:-0.13 [[ 7.88971436e-01 6.14428059e-01 1.49452856e-03 8.54985089e+01] [-6.14426821e-01 7.88972850e-01 -1.23475160e-03 -3.33016929e+01] [-1.93780849e-03 5.59053051e-05 9.99998121e-01 -1.30990924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44762800000001 meters 0.016552053051477025 Centerline is valid? [True, True] Translation: X:85.53, Y:-33.32, Z:-0.13 [[ 7.87300284e-01 6.16567485e-01 1.67327133e-03 8.55252520e+01] [-6.16565936e-01 7.87302060e-01 -1.38302023e-03 -3.33186774e+01] [-2.17009527e-03 5.71701147e-05 9.99997644e-01 -1.31179689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47762800000001 meters 0.015303874330955236 Centerline is valid? [True, True] Translation: X:85.55, Y:-33.34, Z:-0.13 [[ 7.85853118e-01 6.18410200e-01 1.92395668e-03 8.55539070e+01] [-6.18408157e-01 7.85855471e-01 -1.59081659e-03 -3.33351567e+01] [-2.49572909e-03 6.03576711e-05 9.99996884e-01 -1.31449565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50762800000001 meters 0.015011791487534107 Centerline is valid? [True, True] Translation: X:85.58, Y:-33.35, Z:-0.13 [[ 7.82605603e-01 6.22516179e-01 1.44127636e-03 8.55815945e+01] [-6.22515039e-01 7.82606929e-01 -1.19185607e-03 -3.33495779e+01] [-1.86990255e-03 3.55370250e-05 9.99998251e-01 -1.32402810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53762800000001 meters 0.013509653728090218 Centerline is valid? [True, True] Translation: X:85.61, Y:-33.37, Z:-0.13 [[ 7.80476600e-01 6.25184586e-01 7.14198218e-04 8.56104203e+01] [-6.25184307e-01 7.80476927e-01 -5.90579436e-04 -3.33657785e+01] [-9.26636391e-04 1.44279125e-05 9.99999571e-01 -1.33020231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56762800000001 meters 0.012847047125255346 Centerline is valid? [True, True] Translation: X:85.64, Y:-33.38, Z:-0.13 [[ 7.78090517e-01 6.28152169e-01 -1.13182059e-05 8.56377837e+01] [-6.28152169e-01 7.78090517e-01 9.81105548e-06 -3.33829270e+01] [ 1.49694245e-05 -5.24333629e-07 1.00000000e+00 -1.33821828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59762800000001 meters 0.011752674274037906 Centerline is valid? [True, True] Translation: X:85.67, Y:-33.40, Z:-0.14 [[ 7.73096126e-01 6.34286542e-01 -1.72128539e-03 8.56681531e+01] [-6.34284940e-01 7.73098042e-01 1.42558529e-03 -3.33968891e+01] [ 2.23495193e-03 -1.03290632e-05 9.99997502e-01 -1.35136379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62762800000002 meters 0.011603984047155095 Centerline is valid? [True, True] Translation: X:85.69, Y:-33.41, Z:-0.14 [[ 7.70867458e-01 6.36992105e-01 -2.10249325e-03 8.56947972e+01] [-6.36989725e-01 7.70870325e-01 1.74149047e-03 -3.34137505e+01] [ 2.73006533e-03 -3.19173594e-06 9.99996273e-01 -1.35961893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.657628 meters 0.011577575408738943 Centerline is valid? [True, True] Translation: X:85.72, Y:-33.43, Z:-0.14 [[ 7.68719288e-01 6.39581458e-01 -2.49272783e-03 8.57225406e+01] [-6.39578121e-01 7.68723330e-01 2.06609206e-03 -3.34320303e+01] [ 3.23765221e-03 6.04936244e-06 9.99994759e-01 -1.36411842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.687628 meters 0.011697250279109518 Centerline is valid? [True, True] Translation: X:85.75, Y:-33.45, Z:-0.14 [[ 7.65954293e-01 6.42890656e-01 -2.37177695e-03 8.57499866e+01] [-6.42887647e-01 7.65957965e-01 1.96682264e-03 -3.34491905e+01] [ 3.08113334e-03 1.82898586e-05 9.99995253e-01 -1.35979921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.717628 meters 0.011770712058070846 Centerline is valid? [True, True] Translation: X:85.77, Y:-33.47, Z:-0.14 [[ 7.65323567e-01 6.43642433e-01 -2.06313736e-03 8.57749907e+01] [-6.43640156e-01 7.65326348e-01 1.71190065e-03 -3.34692605e+01] [ 2.68082528e-03 1.77601362e-05 9.99996406e-01 -1.35454881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.747628 meters 0.01166459540210695 Centerline is valid? [True, True] Translation: X:85.80, Y:-33.49, Z:-0.13 [[ 7.65872161e-01 6.42990776e-01 -1.64199723e-03 8.57983181e+01] [-6.42989331e-01 7.65873921e-01 1.36311952e-03 -3.34901944e+01] [ 2.13403613e-03 1.18114130e-05 9.99997723e-01 -1.34156291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.777628 meters 0.011642865210074684 Centerline is valid? [True, True] Translation: X:85.82, Y:-33.51, Z:-0.13 [[ 7.66741174e-01 6.41955066e-01 -1.29039184e-03 8.58222738e+01] [-6.41954172e-01 7.66742260e-01 1.07185116e-03 -3.35119161e+01] [ 1.67747824e-03 6.54000670e-06 9.99998593e-01 -1.33830081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80762800000001 meters 0.011510849916766448 Centerline is valid? [True, True] Translation: X:85.85, Y:-33.53, Z:-0.13 [[ 7.67829470e-01 6.40653378e-01 -1.07475506e-03 8.58466660e+01] [-6.40652755e-01 7.67830222e-01 8.93400824e-04 -3.35344968e+01] [ 1.39758967e-03 2.56530845e-06 9.99999023e-01 -1.33386435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83762800000001 meters 0.011554910097716368 Centerline is valid? [True, True] Translation: X:85.87, Y:-33.56, Z:-0.13 [[ 7.70560788e-01 6.37364912e-01 -1.42833961e-03 8.58692723e+01] [-6.37363806e-01 7.70562112e-01 1.18774496e-03 -3.35577962e+01] [ 1.85765136e-03 -4.85772369e-06 9.99998275e-01 -1.34551796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86762800000001 meters 0.011749971882689855 Centerline is valid? [True, True] Translation: X:85.89, Y:-33.58, Z:-0.14 [[ 7.71812786e-01 6.35846397e-01 -2.09378171e-03 8.58934991e+01] [-6.35844011e-01 7.71815626e-01 1.74188631e-03 -3.35803370e+01] [ 2.72358557e-03 -1.30915667e-05 9.99996291e-01 -1.35156499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89762800000001 meters 0.01289196208113018 Centerline is valid? [True, True] Translation: X:85.91, Y:-33.61, Z:-0.14 [[ 7.75081633e-01 6.31848553e-01 -3.98335339e-03 8.59134597e+01] [-6.31839860e-01 7.75091867e-01 3.31482380e-03 -3.36052908e+01] [ 5.18193144e-03 -5.24175999e-05 9.99986572e-01 -1.37253386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92762800000001 meters 0.012954123435064961 Centerline is valid? [True, True] Translation: X:85.94, Y:-33.63, Z:-0.14 [[ 7.76698331e-01 6.29856255e-01 -4.56081224e-03 8.59364278e+01] [-6.29844814e-01 7.76711718e-01 3.79705848e-03 -3.36270309e+01] [ 5.93403734e-03 -7.65650510e-05 9.99982391e-01 -1.36894535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95762800000001 meters 0.013495610179393368 Centerline is valid? [True, True] Translation: X:85.96, Y:-33.65, Z:-0.14 [[ 7.78320025e-01 6.27845058e-01 -5.34065389e-03 8.59593030e+01] [-6.27829307e-01 7.78338340e-01 4.44847306e-03 -3.36502012e+01] [ 6.94978751e-03 -1.09316628e-04 9.99975844e-01 -1.37020302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98762800000002 meters 0.014778940872447067 Centerline is valid? [True, True] Translation: X:85.98, Y:-33.68, Z:-0.14 [[ 7.81954190e-01 6.23301731e-01 -6.52655668e-03 8.59799952e+01] [-6.23278049e-01 7.81981405e-01 5.43653786e-03 -3.36754967e+01] [ 8.49224942e-03 -1.83264050e-04 9.99963923e-01 -1.37330990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.017628 meters 0.015839037307814927 Centerline is valid? [True, True] Translation: X:86.00, Y:-33.70, Z:-0.14 [[ 7.83957182e-01 6.20780311e-01 -6.55297670e-03 8.60009182e+01] [-6.20756336e-01 7.83984541e-01 5.46000732e-03 -3.36983202e+01] [ 8.52689747e-03 -2.12610149e-04 9.99963623e-01 -1.37703016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.047628 meters 0.0170910919392021 Centerline is valid? [True, True] Translation: X:86.02, Y:-33.72, Z:-0.14 [[ 7.86096925e-01 6.18070559e-01 -6.35679607e-03 8.60229177e+01] [-6.18047904e-01 7.86122591e-01 5.29720012e-03 -3.37221612e+01] [ 8.27126444e-03 -2.35308240e-04 9.99965765e-01 -1.37479748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.077628 meters 0.01984420564723435 Centerline is valid? [True, True] Translation: X:86.04, Y:-33.75, Z:-0.14 [[ 7.90682588e-01 6.12196815e-01 -6.00874009e-03 8.60427463e+01] [-6.12176382e-01 7.90705369e-01 5.00972561e-03 -3.37473096e+01] [ 7.81808111e-03 -2.82694039e-04 9.99969398e-01 -1.37418710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.107628 meters 0.020714520872169514 Centerline is valid? [True, True] Translation: X:86.06, Y:-33.77, Z:-0.13 [[ 7.92586459e-01 6.09742549e-01 -4.55301010e-03 8.60619237e+01] [-6.09730769e-01 7.92599501e-01 3.79733371e-03 -3.37722274e+01] [ 5.92410947e-03 -2.33604924e-04 9.99982425e-01 -1.34756951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.137628 meters 0.021643835201990737 Centerline is valid? [True, True] Translation: X:86.08, Y:-33.80, Z:-0.13 [[ 7.95883233e-01 6.05440372e-01 -3.44029125e-03 8.60824811e+01] [-6.05433605e-01 7.95890643e-01 2.86967331e-03 -3.37961490e+01] [ 4.47551169e-03 -2.01056939e-04 9.99989965e-01 -1.33455562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16762800000001 meters 0.02111903140941445 Centerline is valid? [True, True] Translation: X:86.11, Y:-33.82, Z:-0.13 [[ 7.96965506e-01 6.04017316e-01 -3.01067591e-03 8.61064017e+01] [-6.04012117e-01 7.96971172e-01 2.51277978e-03 -3.38165710e+01] [ 3.91718441e-03 -1.84114081e-04 9.99992311e-01 -1.32926418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19762800000001 meters 0.02160100679801239 Centerline is valid? [True, True] Translation: X:86.13, Y:-33.84, Z:-0.13 [[ 7.97359886e-01 6.03496791e-01 -2.97247726e-03 8.61300999e+01] [-6.03491715e-01 7.97365405e-01 2.48217572e-03 -3.38384229e+01] [ 3.86813561e-03 -1.85321952e-04 9.99992502e-01 -1.33045147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22762800000001 meters 0.02027439293346745 Centerline is valid? [True, True] Translation: X:86.16, Y:-33.86, Z:-0.13 [[ 7.96727263e-01 6.04330519e-01 -3.20813916e-03 8.61555004e+01] [-6.04324607e-01 7.96733698e-01 2.68030211e-03 -3.38576377e+01] [ 4.17582094e-03 -1.96712332e-04 9.99991262e-01 -1.33035003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25762800000001 meters 0.02042189729924478 Centerline is valid? [True, True] Translation: X:86.18, Y:-33.88, Z:-0.13 [[ 7.95385016e-01 6.06095235e-01 -3.35314805e-03 8.61792128e+01] [-6.06088787e-01 7.95392059e-01 2.80257402e-03 -3.38773661e+01] [ 4.36569409e-03 -1.96819948e-04 9.99990451e-01 -1.33111562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28762800000001 meters 0.02166406305846779 Centerline is valid? [True, True] Translation: X:86.20, Y:-33.90, Z:-0.14 [[ 7.92015684e-01 6.10479806e-01 -5.05603815e-03 8.62031840e+01] [-6.10465230e-01 7.92031779e-01 4.22656043e-03 -3.38956678e+01] [ 6.58477268e-03 -2.60966650e-04 9.99978286e-01 -1.35880713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31762800000001 meters 0.01868495818622379 Centerline is valid? [True, True] Translation: X:86.23, Y:-33.91, Z:-0.13 [[ 7.89637487e-01 6.13554656e-01 -4.82937917e-03 8.62288156e+01] [-6.13541405e-01 7.89652223e-01 4.03872055e-03 -3.39136346e+01] [ 6.29150579e-03 -2.26101062e-04 9.99980183e-01 -1.34058502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34762800000001 meters 0.01714288822611317 Centerline is valid? [True, True] Translation: X:86.26, Y:-33.93, Z:-0.13 [[ 7.85682164e-01 6.18610962e-01 -4.90041240e-03 8.62552888e+01] [-6.18597416e-01 7.85697424e-01 4.09825792e-03 -3.39308084e+01] [ 6.38546867e-03 -1.88545712e-04 9.99979595e-01 -1.34369972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37762800000002 meters 0.015224672469984797 Centerline is valid? [True, True] Translation: X:86.28, Y:-33.95, Z:-0.13 [[ 7.83376130e-01 6.21528966e-01 -4.85624908e-03 8.62819761e+01] [-6.21515705e-01 7.83391165e-01 4.06341482e-03 -3.39474052e+01] [ 6.32987264e-03 -1.64947103e-04 9.99979953e-01 -1.34165408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.407628 meters 0.015224672469984797 Centerline is valid? [True, True] Translation: X:86.31, Y:-33.97, Z:-0.13 [[ 7.83197059e-01 6.21754610e-01 -4.85501180e-03 8.63067967e+01] [-6.21741344e-01 7.83212090e-01 4.06489315e-03 -3.39682464e+01] [ 6.32987000e-03 -1.65050798e-04 9.99979953e-01 -1.34211774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.437628 meters 0.014005868122305183 Centerline is valid? [True, True] Translation: X:86.33, Y:-33.98, Z:-0.14 [[ 7.78767921e-01 6.27298343e-01 -4.16095266e-03 8.63329700e+01] [-6.27288675e-01 7.78779030e-01 3.48432956e-03 -3.39843128e+01] [ 5.42617683e-03 -1.03365608e-04 9.99985273e-01 -1.35097724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.467628 meters 0.013446037197973052 Centerline is valid? [True, True] Translation: X:86.36, Y:-34.00, Z:-0.14 [[ 7.76386729e-01 6.30246801e-01 -3.55192203e-03 8.63576101e+01] [-6.30239779e-01 7.76394851e-01 2.97597036e-03 -3.40027481e+01] [ 4.63328977e-03 -7.19413376e-05 9.99989264e-01 -1.35147049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.497628 meters 0.01251100218948865 Centerline is valid? [True, True] Translation: X:86.38, Y:-34.02, Z:-0.13 [[ 7.72654246e-01 6.34821823e-01 -2.58256580e-03 8.63844859e+01] [-6.34818135e-01 7.72658561e-01 2.16403463e-03 -3.40214980e+01] [ 3.36921798e-03 -3.25909421e-05 9.99994324e-01 -1.34779594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.527628 meters 0.01251100218948865 Centerline is valid? [True, True] Translation: X:86.41, Y:-34.04, Z:-0.13 [[ 7.72475764e-01 6.35038998e-01 -2.58178001e-03 8.64092796e+01] [-6.35035308e-01 7.72480078e-01 2.16497216e-03 -3.40423641e+01] [ 3.36921538e-03 -3.28670600e-05 9.99994324e-01 -1.34825876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55762800000001 meters 0.012025152571911625 Centerline is valid? [True, True] Translation: X:86.44, Y:-34.06, Z:-0.13 [[ 7.69739833e-01 6.38355447e-01 -1.70662646e-03 8.64352520e+01] [-6.38353843e-01 7.69741725e-01 1.43117483e-03 -3.40622346e+01] [ 2.22725984e-03 -1.22007124e-05 9.99997520e-01 -1.34645705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58762800000001 meters 0.011879439670249988 Centerline is valid? [True, True] Translation: X:86.46, Y:-34.08, Z:-0.13 [[ 7.68814686e-01 6.39469928e-01 -1.47959587e-03 8.64596054e+01] [-6.39468722e-01 7.68816110e-01 1.24178400e-03 -3.40821430e+01] [ 1.93162067e-03 -8.54649699e-06 9.99998134e-01 -1.34871700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61762800000001 meters 0.01188848118309779 Centerline is valid? [True, True] Translation: X:86.48, Y:-34.10, Z:-0.14 [[ 7.68051015e-01 6.40388234e-01 -7.40500299e-04 8.64844706e+01] [-6.40387932e-01 7.68051372e-01 6.22124105e-04 -3.41044508e+01] [ 9.67143227e-04 -3.61559529e-06 9.99999532e-01 -1.35031317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64762800000001 meters 0.011891367124225737 Centerline is valid? [True, True] Translation: X:86.51, Y:-34.13, Z:-0.13 [[ 7.67936918e-01 6.40525092e-01 -7.05470273e-04 8.65085848e+01] [-6.40524817e-01 7.67937242e-01 5.93075736e-04 -3.41265620e+01] [ 9.21636786e-04 -3.57353488e-06 9.99999575e-01 -1.34449498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67762800000001 meters 0.011973954095627378 Centerline is valid? [True, True] Translation: X:86.53, Y:-34.15, Z:-0.13 [[ 7.67856741e-01 6.40621412e-01 -4.80711770e-04 8.65313118e+01] [-6.40621284e-01 7.67856892e-01 4.04478987e-04 -3.41486373e+01] [ 6.28235746e-04 -2.62772511e-06 9.99999803e-01 -1.34461892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70762800000001 meters 0.012001996649075166 Centerline is valid? [True, True] Translation: X:86.55, Y:-34.17, Z:-0.13 [[ 7.68137923e-01 6.40284411e-01 6.82098079e-05 8.65540704e+01] [-6.40284409e-01 7.68137926e-01 -5.68359522e-05 -3.41722337e+01] [-8.87857146e-05 -1.58262785e-08 9.99999996e-01 -1.34564448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73762800000002 meters 0.012066167716266363 Centerline is valid? [True, True] Translation: X:86.58, Y:-34.19, Z:-0.13 [[ 7.68118346e-01 6.40307816e-01 -3.26070623e-04 8.65768807e+01] [-6.40307757e-01 7.68118416e-01 2.74595328e-04 -3.41942517e+01] [ 4.26286385e-04 -2.13615975e-06 9.99999909e-01 -1.34988144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76762800000002 meters 0.012025530876675981 Centerline is valid? [True, True] Translation: X:86.60, Y:-34.22, Z:-0.14 [[ 7.67789751e-01 6.40701552e-01 -6.47470587e-04 8.66006845e+01] [-6.40701320e-01 7.67790024e-01 5.45437492e-04 -3.42173309e+01] [ 8.46584105e-04 -3.94605747e-06 9.99999642e-01 -1.35928748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.797628 meters 0.012055281901563842 Centerline is valid? [True, True] Translation: X:86.62, Y:-34.24, Z:-0.14 [[ 7.67393552e-01 6.41175784e-01 -8.66725305e-04 8.66240092e+01] [-6.41175368e-01 7.67394041e-01 7.30310518e-04 -3.42389095e+01] [ 1.13337725e-03 -4.71266557e-06 9.99999358e-01 -1.36923533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.827628 meters 0.012032811827509362 Centerline is valid? [True, True] Translation: X:86.65, Y:-34.26, Z:-0.14 [[ 7.67015043e-01 6.41627581e-01 -1.40424774e-03 8.66479808e+01] [-6.41626489e-01 7.67016328e-01 1.18362489e-03 -3.42611537e+01] [ 1.83652732e-03 -6.85555090e-06 9.99998314e-01 -1.37742285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857628 meters 0.012107562532283058 Centerline is valid? [True, True] Translation: X:86.67, Y:-34.29, Z:-0.14 [[ 7.66575681e-01 6.42151367e-01 -1.82979352e-03 8.66702233e+01] [-6.42149513e-01 7.66577864e-01 1.54302512e-03 -3.42853625e+01] [ 2.39353490e-03 -7.84451078e-06 9.99997135e-01 -1.37711456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.887628 meters 0.01210445206634655 Centerline is valid? [True, True] Translation: X:86.69, Y:-34.31, Z:-0.14 [[ 7.66187989e-01 6.42613615e-01 -1.92538696e-03 8.66932739e+01] [-6.42611562e-01 7.66190408e-01 1.62442089e-03 -3.43075912e+01] [ 2.51908800e-03 -7.33584883e-06 9.99996827e-01 -1.37539341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91762800000001 meters 0.012094605379301758 Centerline is valid? [True, True] Translation: X:86.72, Y:-34.33, Z:-0.14 [[ 7.65426993e-01 6.43519419e-01 -2.06788495e-03 8.67164939e+01] [-6.43517051e-01 7.65429786e-01 1.74565657e-03 -3.43308084e+01] [ 2.70618464e-03 -5.45343463e-06 9.99996338e-01 -1.37388334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94762800000001 meters 0.0120738294958908 Centerline is valid? [True, True] Translation: X:86.74, Y:-34.35, Z:-0.14 [[ 7.64693909e-01 6.44389686e-01 -2.27088158e-03 8.67407077e+01] [-6.44386832e-01 7.64697281e-01 1.91807348e-03 -3.43529583e+01] [ 2.97252374e-03 -3.41292590e-06 9.99995582e-01 -1.38043651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97762800000001 meters 0.012059510570664858 Centerline is valid? [True, True] Translation: X:86.77, Y:-34.38, Z:-0.14 [[ 7.63877724e-01 6.45355729e-01 -2.60862803e-03 8.67652720e+01] [-6.45351964e-01 7.63882178e-01 2.20452681e-03 -3.43755545e+01] [ 3.41538847e-03 -5.05700075e-07 9.99994168e-01 -1.38285207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00762800000001 meters 0.01212563505686453 Centerline is valid? [True, True] Translation: X:86.79, Y:-34.40, Z:-0.14 [[ 7.62911215e-01 6.46495305e-01 -3.20926313e-03 8.67869793e+01] [-6.46489613e-01 7.62917965e-01 2.71276317e-03 -3.43987136e+01] [ 4.20219314e-03 5.15783656e-06 9.99991171e-01 -1.39417555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03762800000001 meters 0.012285996886927312 Centerline is valid? [True, True] Translation: X:86.81, Y:-34.42, Z:-0.14 [[ 7.62414102e-01 6.47078950e-01 -3.68361079e-03 8.68106501e+01] [-6.47071449e-01 7.62423001e-01 3.11562037e-03 -3.44217053e+01] [ 4.82452195e-03 8.16646694e-06 9.99988362e-01 -1.40162843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06762800000001 meters 0.012235822378226275 Centerline is valid? [True, True] Translation: X:86.83, Y:-34.44, Z:-0.14 [[ 7.62050341e-01 6.47504958e-01 -4.07506690e-03 8.68339023e+01] [-6.47495774e-01 7.62061237e-01 3.44865350e-03 -3.44449002e+01] [ 5.33847076e-03 1.05410192e-05 9.99985750e-01 -1.39877986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09762800000001 meters 0.01240491506002952 Centerline is valid? [True, True] Translation: X:86.85, Y:-34.47, Z:-0.14 [[ 7.61938992e-01 6.47627073e-01 -5.30543641e-03 8.68546188e+01] [-6.47611496e-01 7.61957462e-01 4.49170435e-03 -3.44679340e+01] [ 6.95146620e-03 1.34569312e-05 9.99975838e-01 -1.41224932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12762800000002 meters 0.01245671004314944 Centerline is valid? [True, True] Translation: X:86.88, Y:-34.49, Z:-0.14 [[ 7.60486623e-01 6.49336398e-01 -4.72647297e-03 8.68809916e+01] [-6.49324053e-01 7.60501310e-01 4.00393949e-03 -3.44875702e+01] [ 6.19439252e-03 2.40701689e-05 9.99980814e-01 -1.40820804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.157628 meters 0.012517906590417738 Centerline is valid? [True, True] Translation: X:86.91, Y:-34.51, Z:-0.14 [[ 7.59315705e-01 6.50705101e-01 -4.74674236e-03 8.69065313e+01] [-6.50692664e-01 7.59330541e-01 4.02338087e-03 -3.45087385e+01] [ 6.22238090e-03 3.36541524e-05 9.99980640e-01 -1.40082606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.187628 meters 0.012481853137154273 Centerline is valid? [True, True] Translation: X:86.93, Y:-34.53, Z:-0.14 [[ 7.59332256e-01 6.50685009e-01 -4.85222374e-03 8.69314529e+01] [-6.50671997e-01 7.59347759e-01 4.11511445e-03 -3.45306407e+01] [ 6.36216850e-03 3.24669743e-05 9.99979761e-01 -1.39788833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.217628 meters 0.012436492604973783 Centerline is valid? [True, True] Translation: X:86.96, Y:-34.55, Z:-0.14 [[ 7.59775948e-01 6.50168224e-01 -4.66803976e-03 8.69560308e+01] [-6.50156157e-01 7.59790287e-01 3.96115959e-03 -3.45518892e+01] [ 6.12215136e-03 2.53610128e-05 9.99981259e-01 -1.39722062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.247628 meters 0.01233682575104899 Centerline is valid? [True, True] Translation: X:86.98, Y:-34.57, Z:-0.14 [[ 7.62213818e-01 6.47314753e-01 -3.70212629e-03 8.69782482e+01] [-6.47307123e-01 7.62222809e-01 3.14295255e-03 -3.45737585e+01] [ 4.85632466e-03 8.10853944e-07 9.99988208e-01 -1.39297995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.277628 meters 0.012343281959182386 Centerline is valid? [True, True] Translation: X:87.00, Y:-34.60, Z:-0.14 [[ 7.63526475e-01 6.45769538e-01 -3.00433628e-03 8.70021228e+01] [-6.45764495e-01 7.63532385e-01 2.55221358e-03 -3.45958548e+01] [ 3.94204983e-03 -8.58893122e-06 9.99992230e-01 -1.38435646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30762800000001 meters 0.012427042027748124 Centerline is valid? [True, True] Translation: X:87.03, Y:-34.62, Z:-0.14 [[ 7.65054340e-01 6.43962068e-01 -2.17082323e-03 8.70261293e+01] [-6.43959424e-01 7.65057419e-01 1.84523246e-03 -3.46169204e+01] [ 2.84906413e-03 -1.37810222e-05 9.99995941e-01 -1.37669253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33762800000001 meters 0.01253762468855905 Centerline is valid? [True, True] Translation: X:87.05, Y:-34.64, Z:-0.14 [[ 7.65396260e-01 6.43556711e-01 -1.82310142e-03 8.70497458e+01] [-6.43554844e-01 7.65398432e-01 1.55046551e-03 -3.46376356e+01] [ 2.39321145e-03 -1.34547517e-05 9.99997136e-01 -1.37435168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36762800000001 meters 0.012583484621874577 Centerline is valid? [True, True] Translation: X:87.07, Y:-34.66, Z:-0.14 [[ 7.65951471e-01 6.42896527e-01 -1.54875835e-03 8.70748648e+01] [-6.42895176e-01 7.65953037e-01 1.31802317e-03 -3.46596155e+01] [ 2.03362868e-03 -1.38525126e-05 9.99997932e-01 -1.36538218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39762800000001 meters 0.012807794685141219 Centerline is valid? [True, True] Translation: X:87.10, Y:-34.68, Z:-0.14 [[ 7.67159406e-01 6.41455848e-01 -9.17281108e-04 8.70993781e+01] [-6.41455372e-01 7.67159954e-01 7.81164041e-04 -3.46809877e+01] [ 1.20478358e-03 -1.08824475e-05 9.99999274e-01 -1.35508491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42762800000001 meters 0.012824385726086452 Centerline is valid? [True, True] Translation: X:87.12, Y:-34.70, Z:-0.14 [[ 7.67205141e-01 6.41400560e-01 -1.26225103e-03 8.71243878e+01] [-6.41399659e-01 7.67206179e-01 1.07544553e-03 -3.47020413e+01] [ 1.65819815e-03 -1.54799557e-05 9.99998625e-01 -1.35953552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45762800000001 meters 0.012726647372955409 Centerline is valid? [True, True] Translation: X:87.15, Y:-34.72, Z:-0.14 [[ 7.66198756e-01 6.42597687e-01 -2.77094508e-03 8.71502907e+01] [-6.42593349e-01 7.66203766e-01 2.36156148e-03 -3.47217433e+01] [ 3.64064250e-03 -2.88345952e-05 9.99993372e-01 -1.38077149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48762800000002 meters 0.012573179391779805 Centerline is valid? [True, True] Translation: X:87.18, Y:-34.74, Z:-0.14 [[ 7.65178755e-01 6.43809413e-01 -3.30337591e-03 8.71756109e+01] [-6.43803252e-01 7.65185885e-01 2.81667035e-03 -3.47415877e+01] [ 4.34109551e-03 -2.85321539e-05 9.99990577e-01 -1.39654287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51762800000002 meters 0.012208039633607462 Centerline is valid? [True, True] Translation: X:87.20, Y:-34.76, Z:-0.14 [[ 7.62551699e-01 6.46914905e-01 -4.00161699e-03 8.72018541e+01] [-6.46905899e-01 7.62562198e-01 3.41351810e-03 -3.47594576e+01] [ 5.25973758e-03 -1.43143884e-05 9.99986167e-01 -1.40849887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.547628 meters 0.012152957691129982 Centerline is valid? [True, True] Translation: X:87.23, Y:-34.78, Z:-0.14 [[ 7.60974489e-01 6.48767605e-01 -4.29209579e-03 8.72277843e+01] [-6.48757262e-01 7.60986593e-01 3.66333297e-03 -3.47794549e+01] [ 5.64287911e-03 -3.17461699e-06 9.99984079e-01 -1.40850811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.577628 meters 0.012217245612119676 Centerline is valid? [True, True] Translation: X:87.25, Y:-34.80, Z:-0.14 [[ 7.59243491e-01 6.50791536e-01 -4.43821115e-03 8.72538885e+01] [-6.50780499e-01 7.59256463e-01 3.79017423e-03 -3.47990780e+01] [ 5.83635381e-03 1.06361487e-05 9.99982968e-01 -1.40690479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.607628 meters 0.01233534539942886 Centerline is valid? [True, True] Translation: X:87.28, Y:-34.82, Z:-0.14 [[ 7.56094480e-01 6.54447199e-01 -4.47229675e-03 8.72803149e+01] [-6.54436045e-01 7.56107705e-01 3.82107931e-03 -3.48171233e+01] [ 5.88223268e-03 3.77352283e-05 9.99982699e-01 -1.41564618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.637628 meters 0.012585185387891194 Centerline is valid? [True, True] Translation: X:87.31, Y:-34.84, Z:-0.14 [[ 7.54719418e-01 6.56031589e-01 -4.59938724e-03 8.73054469e+01] [-6.56019810e-01 7.54733431e-01 3.93156614e-03 -3.48377078e+01] [ 6.05054290e-03 5.00598364e-05 9.99981694e-01 -1.41608560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66762800000001 meters 0.012742310735753451 Centerline is valid? [True, True] Translation: X:87.33, Y:-34.86, Z:-0.14 [[ 7.53245717e-01 6.57722266e-01 -4.72338986e-03 8.73289792e+01] [-6.57709864e-01 7.53260524e-01 4.03957701e-03 -3.48589091e+01] [ 6.21486287e-03 6.38260242e-05 9.99980686e-01 -1.41319033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69762800000001 meters 0.012803643572014658 Centerline is valid? [True, True] Translation: X:87.35, Y:-34.88, Z:-0.14 [[ 7.53216231e-01 6.57756672e-01 -4.63355071e-03 8.73529597e+01] [-6.57744730e-01 7.53230481e-01 3.96402571e-03 -3.48803304e+01] [ 6.09749598e-03 6.19250555e-05 9.99981408e-01 -1.41820600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72762800000001 meters 0.012638215856679411 Centerline is valid? [True, True] Translation: X:87.38, Y:-34.90, Z:-0.14 [[ 7.53519858e-01 6.57410242e-01 -4.42684949e-03 8.73763495e+01] [-6.57399324e-01 7.53532860e-01 3.78920105e-03 -3.49020980e+01] [ 5.82683613e-03 5.49696214e-05 9.99983022e-01 -1.41938074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75762800000001 meters 0.012454966011803228 Centerline is valid? [True, True] Translation: X:87.40, Y:-34.92, Z:-0.14 [[ 7.54311175e-01 6.56502605e-01 -4.35667784e-03 8.73994163e+01] [-6.56492005e-01 7.54323755e-01 3.73101615e-03 -3.49243350e+01] [ 5.73576741e-03 4.57769931e-05 9.99983549e-01 -1.41621330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78762800000001 meters 0.012288186763342507 Centerline is valid? [True, True] Translation: X:87.42, Y:-34.95, Z:-0.14 [[ 7.55214138e-01 6.55464517e-01 -4.22746513e-03 8.74219169e+01] [-6.55454511e-01 7.55225970e-01 3.62200236e-03 -3.49458214e+01] [ 5.56678548e-03 3.55236978e-05 9.99984505e-01 -1.41700441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81762800000001 meters 0.012040331708317913 Centerline is valid? [True, True] Translation: X:87.44, Y:-34.97, Z:-0.14 [[ 7.57913400e-01 6.52343884e-01 -3.83868502e-03 8.74434888e+01] [-6.52335584e-01 7.57923121e-01 3.29062578e-03 -3.49693578e+01] [ 5.05604773e-03 1.01014584e-05 9.99987218e-01 -1.41128063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84762800000001 meters 0.01203178221471477 Centerline is valid? [True, True] Translation: X:87.47, Y:-34.99, Z:-0.14 [[ 7.60286951e-01 6.49579905e-01 -3.11428454e-03 8.74669943e+01] [-6.49574413e-01 7.60293329e-01 2.67132466e-03 -3.49925164e+01] [ 4.10300858e-03 -8.01373270e-06 9.99991583e-01 -1.39756835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87762800000002 meters 0.012162991040013105 Centerline is valid? [True, True] Translation: X:87.49, Y:-35.01, Z:-0.14 [[ 7.61453979e-01 6.48211487e-01 -3.11550448e-03 8.74910333e+01] [-6.48205973e-01 7.61460352e-01 2.67387924e-03 -3.50149061e+01] [ 4.10557237e-03 -1.65473728e-05 9.99991572e-01 -1.39251165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.907628 meters 0.012331899452555297 Centerline is valid? [True, True] Translation: X:87.52, Y:-35.04, Z:-0.14 [[ 7.62715771e-01 6.46725809e-01 -3.22205448e-03 8.75151241e+01] [-6.46719891e-01 7.62722576e-01 2.76688294e-03 -3.50373545e+01] [ 4.24694830e-03 -2.65785326e-05 9.99990981e-01 -1.38841330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.937628 meters 0.012686654116908532 Centerline is valid? [True, True] Translation: X:87.54, Y:-35.06, Z:-0.14 [[ 7.64005911e-01 6.45201766e-01 -3.10642249e-03 8.75375262e+01] [-6.45196247e-01 7.64012225e-01 2.66872473e-03 -3.50584048e+01] [ 4.09521067e-03 -3.46693300e-05 9.99991614e-01 -1.38527461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.967628 meters 0.013551772302259296 Centerline is valid? [True, True] Translation: X:87.56, Y:-35.08, Z:-0.14 [[ 7.66963889e-01 6.41683456e-01 -2.95547291e-03 8.75593984e+01] [-6.41678430e-01 7.66969582e-01 2.54018665e-03 -3.50800706e+01] [ 3.89675357e-03 -5.17682154e-05 9.99992406e-01 -1.38718158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.997628 meters 0.013539404321235397 Centerline is valid? [True, True] Translation: X:87.58, Y:-35.10, Z:-0.14 [[ 7.68200029e-01 6.40204226e-01 -2.69525648e-03 8.75844198e+01] [-6.40200033e-01 7.68204755e-01 2.31777423e-03 -3.51005916e+01] [ 3.55435770e-03 -5.50109478e-05 9.99993682e-01 -1.38407488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.027628 meters 0.015075729475442534 Centerline is valid? [True, True] Translation: X:87.61, Y:-35.12, Z:-0.14 [[ 7.70707306e-01 6.37180777e-01 -3.30240818e-03 8.76069213e+01] [-6.37174453e-01 7.70714376e-01 2.84026717e-03 -3.51220190e+01] [ 4.35497711e-03 -8.48045321e-05 9.99990513e-01 -1.39955500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05762800000001 meters 0.01469665699028615 Centerline is valid? [True, True] Translation: X:87.63, Y:-35.14, Z:-0.14 [[ 7.71792515e-01 6.35860684e-01 -4.18380549e-03 8.76317457e+01] [-6.35850503e-01 7.71803846e-01 3.60012851e-03 -3.51416170e+01] [ 5.51825735e-03 -1.18277416e-04 9.99984767e-01 -1.39960169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08762800000001 meters 0.01718666698237571 Centerline is valid? [True, True] Translation: X:87.65, Y:-35.16, Z:-0.14 [[ 7.73616420e-01 6.33626070e-01 -5.96978029e-03 8.76532391e+01] [-6.33605258e-01 7.73639429e-01 5.13911932e-03 -3.51638330e+01] [ 7.87473740e-03 -1.93222909e-04 9.99968975e-01 -1.42592634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11762800000001 meters 0.017530614465812465 Centerline is valid? [True, True] Translation: X:87.68, Y:-35.18, Z:-0.14 [[ 7.74123466e-01 6.32998932e-01 -6.72387673e-03 8.76780504e+01] [-6.32972483e-01 7.74152634e-01 5.79096817e-03 -3.51847230e+01] [ 8.87098355e-03 -2.26895404e-04 9.99960626e-01 -1.43442903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14762800000001 meters 0.016162745781929024 Centerline is valid? [True, True] Translation: X:87.70, Y:-35.20, Z:-0.14 [[ 7.74196958e-01 6.32904129e-01 -7.17167652e-03 8.77040676e+01] [-6.32874007e-01 7.74230136e-01 6.17969416e-03 -3.52031162e+01] [ 9.46368203e-03 -2.45532773e-04 9.99955188e-01 -1.42704011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17762800000001 meters 0.01841233665485982 Centerline is valid? [True, True] Translation: X:87.73, Y:-35.23, Z:-0.14 [[ 7.73940716e-01 6.33217340e-01 -7.18114759e-03 8.77270703e+01] [-6.33187132e-01 7.73973992e-01 6.18990336e-03 -3.52250224e+01] [ 9.47757561e-03 -2.43607987e-04 9.99955057e-01 -1.43780175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20762800000001 meters 0.015805622131604347 Centerline is valid? [True, True] Translation: X:87.76, Y:-35.24, Z:-0.14 [[ 7.73393154e-01 6.33888170e-01 -6.98691551e-03 8.77552500e+01] [-6.33859572e-01 7.73424679e-01 6.02562355e-03 -3.52417717e+01] [ 9.22342437e-03 -2.31452729e-04 9.99957437e-01 -1.42159811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23762800000002 meters 0.01823163783975744 Centerline is valid? [True, True] Translation: X:87.78, Y:-35.26, Z:-0.14 [[ 7.72606843e-01 6.34846505e-01 -6.97005164e-03 8.77776415e+01] [-6.34818059e-01 7.72638251e-01 6.01379974e-03 -3.52637287e+01] [ 9.20316826e-03 -2.21588180e-04 9.99957625e-01 -1.44796898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26762800000002 meters 0.015596753067724166 Centerline is valid? [True, True] Translation: X:87.80, Y:-35.28, Z:-0.14 [[ 7.72107469e-01 6.35452365e-01 -7.09565590e-03 8.78048784e+01] [-6.35422881e-01 7.72140041e-01 6.12521939e-03 -3.52807006e+01] [ 9.37112518e-03 -2.20585529e-04 9.99956066e-01 -1.42872000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.297628 meters 0.015596753067724166 Centerline is valid? [True, True] Translation: X:87.83, Y:-35.30, Z:-0.14 [[ 7.71929921e-01 6.35668053e-01 -7.09391160e-03 8.78293632e+01] [-6.35638560e-01 7.71962485e-01 6.12723955e-03 -3.53019277e+01] [ 9.37112406e-03 -2.20635789e-04 9.99956066e-01 -1.42918385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.327628 meters 0.015331312592791664 Centerline is valid? [True, True] Translation: X:87.85, Y:-35.32, Z:-0.14 [[ 7.71363286e-01 6.36359473e-01 -6.73064299e-03 8.78543247e+01] [-6.36332925e-01 7.71392623e-01 5.81631843e-03 -3.53224191e+01] [ 8.89323769e-03 -2.03564759e-04 9.99960434e-01 -1.42566918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357628 meters 0.014977144028356561 Centerline is valid? [True, True] Translation: X:87.88, Y:-35.34, Z:-0.14 [[ 7.70052200e-01 6.37960451e-01 -5.10604131e-03 8.78786062e+01] [-6.37945193e-01 7.70069116e-01 4.41450436e-03 -3.53417865e+01] [ 6.74828391e-03 -1.42024287e-04 9.99977220e-01 -1.40660479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.387628 meters 0.014404132560280055 Centerline is valid? [True, True] Translation: X:87.90, Y:-35.36, Z:-0.14 [[ 7.68878649e-01 6.39381818e-01 -4.06357854e-03 8.79040437e+01] [-6.39372165e-01 7.68889380e-01 3.51509119e-03 -3.53620148e+01] [ 5.37192778e-03 -1.04539558e-04 9.99985566e-01 -1.39198705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41762800000001 meters 0.013898238497856253 Centerline is valid? [True, True] Translation: X:87.93, Y:-35.38, Z:-0.14 [[ 7.66407977e-01 6.42351333e-01 -1.89145456e-03 8.79294078e+01] [-6.42349248e-01 7.66410310e-01 1.63711213e-03 -3.53800841e+01] [ 2.50123143e-03 -3.97213781e-05 9.99996871e-01 -1.37202422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44762800000001 meters 0.013530580714329388 Centerline is valid? [True, True] Translation: X:87.95, Y:-35.40, Z:-0.14 [[ 7.64962125e-01 6.44074535e-01 -9.70519888e-04 8.79536630e+01] [-6.44073986e-01 7.64962740e-01 8.40584380e-04 -3.53994935e+01] [ 1.28381055e-03 -1.79286003e-05 9.99999176e-01 -1.36539186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47762800000001 meters 0.012942632276340476 Centerline is valid? [True, True] Translation: X:87.98, Y:-35.42, Z:-0.14 [[ 7.63765100e-01 6.45493639e-01 -9.12994281e-04 8.79793396e+01] [-6.45493154e-01 7.63765646e-01 7.91222446e-04 -3.54194998e+01] [ 1.20804272e-03 -1.49765323e-05 9.99999270e-01 -1.36139360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50762800000001 meters 0.012673404585113034 Centerline is valid? [True, True] Translation: X:88.00, Y:-35.44, Z:-0.14 [[ 7.61218454e-01 6.48494308e-01 -1.26383672e-03 8.80042489e+01] [-6.48493383e-01 7.61219503e-01 1.09562891e-03 -3.54389475e+01] [ 1.67256627e-03 -1.44231955e-05 9.99998601e-01 -1.37130438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53762800000001 meters 0.012391332581833649 Centerline is valid? [True, True] Translation: X:88.03, Y:-35.46, Z:-0.14 [[ 7.59901291e-01 6.50036288e-01 -1.68899248e-03 8.80299698e+01] [-6.50034638e-01 7.59903168e-01 1.46472296e-03 -3.54587845e+01] [ 2.23559381e-03 -1.51412477e-05 9.99997501e-01 -1.37547200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56762800000001 meters 0.012182862000784393 Centerline is valid? [True, True] Translation: X:88.05, Y:-35.48, Z:-0.14 [[ 7.58597564e-01 6.51556432e-01 -1.98776067e-03 8.80548078e+01] [-6.51554150e-01 7.58600169e-01 1.72445781e-03 -3.54779532e+01] [ 2.63149716e-03 -1.30357765e-05 9.99996538e-01 -1.38646006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59762800000001 meters 0.012044475289028666 Centerline is valid? [True, True] Translation: X:88.08, Y:-35.50, Z:-0.14 [[ 7.57288388e-01 6.53075576e-01 -2.56703292e-03 8.80808937e+01] [-6.53071775e-01 7.57292738e-01 2.22816583e-03 -3.54983351e+01] [ 3.39915607e-03 -1.09073625e-05 9.99994223e-01 -1.39702074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62762800000002 meters 0.011921758173506767 Centerline is valid? [True, True] Translation: X:88.11, Y:-35.52, Z:-0.14 [[ 7.55614214e-01 6.55006237e-01 -3.74035081e-03 8.81073374e+01] [-6.54998182e-01 7.55623471e-01 3.24820937e-03 -3.55180030e+01] [ 4.95389426e-03 -4.47018319e-06 9.99987729e-01 -1.41298435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.657628 meters 0.012008550110358443 Centerline is valid? [True, True] Translation: X:88.13, Y:-35.54, Z:-0.14 [[ 7.55197123e-01 6.55482076e-01 -4.53370795e-03 8.81323892e+01] [-6.55470239e-01 7.55210731e-01 3.93928599e-03 -3.55398247e+01] [ 6.00603625e-03 -3.22680853e-06 9.99981964e-01 -1.41695669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.687628 meters 0.012041763823926988 Centerline is valid? [True, True] Translation: X:88.16, Y:-35.56, Z:-0.14 [[ 7.55280402e-01 6.55379056e-01 -5.45961444e-03 8.81556979e+01] [-6.55361871e-01 7.55300134e-01 4.74613329e-03 -3.55622390e+01] [ 7.23416388e-03 -6.63832361e-06 9.99973833e-01 -1.42737876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.717628 meters 0.012081434176137107 Centerline is valid? [True, True] Translation: X:88.18, Y:-35.58, Z:-0.14 [[ 7.55558808e-01 6.55054724e-01 -5.84767210e-03 8.81794812e+01] [-6.55034979e-01 7.55581437e-01 5.08606490e-03 -3.55837600e+01] [ 7.75004333e-03 -1.23913640e-05 9.99969968e-01 -1.43771487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.747628 meters 0.012090389008005232 Centerline is valid? [True, True] Translation: X:88.20, Y:-35.60, Z:-0.14 [[ 7.55640313e-01 6.54961330e-01 -5.77697051e-03 8.82028247e+01] [-6.54942037e-01 7.55662396e-01 5.02714637e-03 -3.56048302e+01] [ 7.65802585e-03 -1.51336293e-05 9.99970677e-01 -1.44652401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.777628 meters 0.012159958079991262 Centerline is valid? [True, True] Translation: X:88.23, Y:-35.63, Z:-0.14 [[ 7.56222012e-01 6.54293390e-01 -5.33182314e-03 8.82261147e+01] [-6.54276920e-01 7.56240808e-01 4.64237007e-03 -3.56286250e+01] [ 7.06961429e-03 -2.21736143e-05 9.99975010e-01 -1.44353440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80762800000001 meters 0.012164974953574373 Centerline is valid? [True, True] Translation: X:88.25, Y:-35.65, Z:-0.14 [[ 7.56218727e-01 6.54302677e-01 -4.60907262e-03 8.82493735e+01] [-6.54290357e-01 7.56232773e-01 4.01532162e-03 -3.56517156e+01] [ 6.11276745e-03 -2.07896305e-05 9.99981317e-01 -1.43293625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83762800000001 meters 0.015164825188502255 Centerline is valid? [True, True] Translation: X:88.27, Y:-35.68, Z:-0.14 [[ 7.56382597e-01 6.54112715e-01 -4.68226824e-03 8.82713933e+01] [-6.54099982e-01 7.56397089e-01 4.08137316e-03 -3.56765483e+01] [ 6.21133214e-03 -2.44080579e-05 9.99980709e-01 -1.43675515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86762800000001 meters 0.012070251988824679 Centerline is valid? [True, True] Translation: X:88.29, Y:-35.70, Z:-0.14 [[ 7.55829166e-01 6.54759741e-01 -3.45747314e-03 8.82944932e+01] [-6.54752797e-01 7.55837074e-01 3.01533804e-03 -3.56987706e+01] [ 4.58760833e-03 -1.52902270e-05 9.99989477e-01 -1.40231508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89762800000001 meters 0.011932420780019458 Centerline is valid? [True, True] Translation: X:88.32, Y:-35.72, Z:-0.14 [[ 7.55502024e-01 6.55139264e-01 -3.03918204e-03 8.83173862e+01] [-6.55133899e-01 7.55508137e-01 2.65139587e-03 -3.57209560e+01] [ 4.03316030e-03 -1.20637637e-05 9.99991867e-01 -1.40143890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92762800000001 meters 0.011996176926695544 Centerline is valid? [True, True] Translation: X:88.34, Y:-35.74, Z:-0.14 [[ 7.54913738e-01 6.55817360e-01 -2.97291929e-03 8.83415270e+01] [-6.55812225e-01 7.54919592e-01 2.59526194e-03 -3.57434246e+01] [ 3.94633285e-03 -9.52208455e-06 9.99992213e-01 -1.39916418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95762800000001 meters 0.01498192354644746 Centerline is valid? [True, True] Translation: X:88.37, Y:-35.77, Z:-0.14 [[ 7.53724061e-01 6.57181486e-01 -3.54049647e-03 8.83652060e+01] [-6.57174210e-01 7.53732376e-01 3.09241179e-03 -3.57669679e+01] [ 4.70086259e-03 -4.10220130e-06 9.99988951e-01 -1.43015929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98762800000002 meters 0.011966113602341668 Centerline is valid? [True, True] Translation: X:88.39, Y:-35.79, Z:-0.14 [[ 7.52436828e-01 6.58657402e-01 -3.04083645e-03 8.83891135e+01] [-6.58652041e-01 7.52442973e-01 2.65744352e-03 -3.57887237e+01] [ 4.03840086e-03 3.29475685e-06 9.99991846e-01 -1.41216663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01762800000002 meters 0.012038834033943204 Centerline is valid? [True, True] Translation: X:88.41, Y:-35.81, Z:-0.14 [[ 7.50733897e-01 6.60593136e-01 -3.91463131e-03 8.84128400e+01] [-6.60584268e-01 7.50744103e-01 3.42292734e-03 -3.58116974e+01] [ 5.20004868e-03 1.62362702e-05 9.99986480e-01 -1.42109270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.047628 meters 0.012109211915361252 Centerline is valid? [True, True] Translation: X:88.44, Y:-35.83, Z:-0.14 [[ 7.49888126e-01 6.61548076e-01 -4.68411549e-03 8.84368241e+01] [-6.61535384e-01 7.49902755e-01 4.09799700e-03 -3.58336765e+01] [ 6.22365314e-03 2.56688502e-05 9.99980633e-01 -1.42578338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.077628 meters 0.012216750614078084 Centerline is valid? [True, True] Translation: X:88.46, Y:-35.85, Z:-0.14 [[ 7.49170860e-01 6.62357494e-01 -5.05694505e-03 8.84601719e+01] [-6.62342704e-01 7.49187926e-01 4.42645655e-03 -3.58548554e+01] [ 6.72049884e-03 3.32583984e-05 9.99977417e-01 -1.42678244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.107628 meters 0.012178894966234532 Centerline is valid? [True, True] Translation: X:88.48, Y:-35.88, Z:-0.14 [[ 7.48316963e-01 6.63321545e-01 -5.12348628e-03 8.84846327e+01] [-6.63306368e-01 7.48334501e-01 4.48732360e-03 -3.58767905e+01] [ 6.81061997e-03 4.05007044e-05 9.99976807e-01 -1.42090857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.137628 meters 0.012373400906496666 Centerline is valid? [True, True] Translation: X:88.51, Y:-35.90, Z:-0.14 [[ 7.47387974e-01 6.64373556e-01 -4.35810219e-03 8.85093128e+01] [-6.64362581e-01 7.47400680e-01 3.81906144e-03 -3.58963831e+01] [ 5.79453197e-03 4.10394191e-05 9.99983211e-01 -1.41695393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16762800000001 meters 0.012292406718318612 Centerline is valid? [True, True] Translation: X:88.53, Y:-35.92, Z:-0.14 [[ 7.47145235e-01 6.64644618e-01 -4.63992354e-03 8.85345365e+01] [-6.64632168e-01 7.47159641e-01 4.06835693e-03 -3.59181156e+01] [ 6.17077515e-03 4.41889494e-05 9.99980960e-01 -1.41833951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19762800000001 meters 0.012416116149795767 Centerline is valid? [True, True] Translation: X:88.56, Y:-35.94, Z:-0.14 [[ 7.47552821e-01 6.64186328e-01 -4.61526553e-03 8.85586820e+01] [-6.64173989e-01 7.47567067e-01 4.04885413e-03 -3.59385841e+01] [ 6.13941408e-03 3.86069840e-05 9.99981153e-01 -1.42475776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22762800000001 meters 0.012313662110765022 Centerline is valid? [True, True] Translation: X:88.58, Y:-35.96, Z:-0.14 [[ 7.49342454e-01 6.62167830e-01 -4.43313313e-03 8.85820103e+01] [-6.62156398e-01 7.49355566e-01 3.89098809e-03 -3.59603839e+01] [ 5.89848012e-03 1.97449054e-05 9.99982604e-01 -1.42992804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25762800000001 meters 0.01243444496298007 Centerline is valid? [True, True] Translation: X:88.61, Y:-35.98, Z:-0.14 [[ 7.50623725e-01 6.60715802e-01 -4.31876842e-03 8.86057558e+01] [-6.60704916e-01 7.50636149e-01 3.79286378e-03 -3.59832583e+01] [ 5.74782873e-03 6.41798526e-06 9.99983481e-01 -1.42796606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28762800000001 meters 0.012771449592976266 Centerline is valid? [True, True] Translation: X:88.63, Y:-36.01, Z:-0.14 [[ 7.52459621e-01 6.58624181e-01 -4.32505469e-03 8.86282303e+01] [-6.58613217e-01 7.52472051e-01 3.80036293e-03 -3.60062356e+01] [ 5.75749370e-03 -1.10814678e-05 9.99983425e-01 -1.43178230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31762800000001 meters 0.013627713798790624 Centerline is valid? [True, True] Translation: X:88.65, Y:-36.03, Z:-0.14 [[ 7.56990170e-01 6.53414798e-01 -3.87106494e-03 8.86484756e+01] [-6.53405937e-01 7.57000066e-01 3.40310831e-03 -3.60322270e+01] [ 5.15403774e-03 -4.67427246e-05 9.99986717e-01 -1.42801804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34762800000001 meters 0.01477811423044436 Centerline is valid? [True, True] Translation: X:88.67, Y:-36.05, Z:-0.14 [[ 7.59218203e-01 6.50822430e-01 -4.22906446e-03 8.86699261e+01] [-6.50811806e-01 7.59229978e-01 3.71941587e-03 -3.60546599e+01] [ 5.63151179e-03 -7.15231500e-05 9.99984140e-01 -1.43348245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37762800000002 meters 0.01666721162563981 Centerline is valid? [True, True] Translation: X:88.69, Y:-36.08, Z:-0.14 [[ 7.63495747e-01 6.45803068e-01 -3.55535764e-03 8.86921655e+01] [-6.45795504e-01 7.63504020e-01 3.12710015e-03 -3.60783342e+01] [ 4.73402072e-03 -9.14936913e-05 9.99988790e-01 -1.43283334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.407628 meters 0.01747816824109742 Centerline is valid? [True, True] Translation: X:88.72, Y:-36.10, Z:-0.14 [[ 7.65567480e-01 6.43346490e-01 -3.42466346e-03 8.87155412e+01] [-6.43339438e-01 7.65575133e-01 3.01386609e-03 -3.61000984e+01] [ 4.56079735e-03 -1.04096797e-04 9.99989594e-01 -1.42773307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.437628 meters 0.01893509958207273 Centerline is valid? [True, True] Translation: X:88.74, Y:-36.12, Z:-0.14 [[ 7.67799816e-01 6.40682108e-01 -3.14307147e-03 8.87378962e+01] [-6.40676145e-01 7.67806241e-01 2.76649713e-03 -3.61219445e+01] [ 4.18571510e-03 -1.10425069e-04 9.99991234e-01 -1.42872521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.467628 meters 0.020779645068776276 Centerline is valid? [True, True] Translation: X:88.76, Y:-36.14, Z:-0.14 [[ 7.72053430e-01 6.35552835e-01 -2.46883869e-03 8.87610644e+01] [-6.35549126e-01 7.72057369e-01 2.17420821e-03 -3.61432415e+01] [ 3.28790930e-03 -1.09536634e-04 9.99994589e-01 -1.42388009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.497628 meters 0.022080054899823457 Centerline is valid? [True, True] Translation: X:88.78, Y:-36.16, Z:-0.14 [[ 7.73775746e-01 6.33455668e-01 -2.23845490e-03 8.87838543e+01] [-6.33452607e-01 7.73778976e-01 1.97222529e-03 -3.61648665e+01] [ 2.98138663e-03 -1.08105002e-04 9.99995550e-01 -1.42411359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.527628 meters 0.02040244194140022 Centerline is valid? [True, True] Translation: X:88.81, Y:-36.18, Z:-0.14 [[ 7.75043454e-01 6.31904044e-01 -2.21896668e-03 8.88105065e+01] [-6.31901027e-01 7.75046622e-01 1.95594732e-03 -3.61828894e+01] [ 2.95577365e-03 -1.13776843e-04 9.99995625e-01 -1.41972089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55762800000001 meters 0.024283973628494455 Centerline is valid? [True, True] Translation: X:88.83, Y:-36.21, Z:-0.14 [[ 7.75795444e-01 6.30982417e-01 -1.61844202e-03 8.88306918e+01] [-6.30980808e-01 7.75797127e-01 1.42737611e-03 -3.62064465e+01] [ 2.15623190e-03 -8.61460257e-05 9.99997672e-01 -1.42683548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58762800000001 meters 0.021386694504648574 Centerline is valid? [True, True] Translation: X:88.86, Y:-36.22, Z:-0.14 [[ 7.75763286e-01 6.31022434e-01 -1.41829768e-03 8.88615144e+01] [-6.31021198e-01 7.75764579e-01 1.25170933e-03 -3.62208305e+01] [ 1.89012177e-03 -7.60542416e-05 9.99998211e-01 -1.42626459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61762800000001 meters 0.021939166338129368 Centerline is valid? [True, True] Translation: X:88.89, Y:-36.24, Z:-0.14 [[ 7.74869934e-01 6.32119167e-01 -1.39433447e-03 8.88864123e+01] [-6.32117972e-01 7.74871185e-01 1.23102134e-03 -3.62398515e+01] [ 1.85858178e-03 -7.24975475e-05 9.99998270e-01 -1.42886665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64762800000001 meters 0.020418897491364194 Centerline is valid? [True, True] Translation: X:88.92, Y:-36.25, Z:-0.14 [[ 7.72313011e-01 6.35241185e-01 -1.11834427e-03 8.89157413e+01] [-6.35240420e-01 7.72313818e-01 9.87215598e-04 -3.62546549e+01] [ 1.49083274e-03 -5.20219654e-05 9.99998887e-01 -1.42571242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67762800000001 meters 0.01946948469158346 Centerline is valid? [True, True] Translation: X:88.94, Y:-36.27, Z:-0.14 [[ 7.70268574e-01 6.37719236e-01 -7.06989458e-04 8.89417287e+01] [-6.37718931e-01 7.70268898e-01 6.24629690e-04 -3.62722315e+01] [ 9.42910359e-04 -3.02720590e-05 9.99999555e-01 -1.42587884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70762800000001 meters 0.018273196123448982 Centerline is valid? [True, True] Translation: X:88.97, Y:-36.29, Z:-0.14 [[ 7.67952464e-01 6.40506638e-01 -5.08802455e-04 8.89686630e+01] [-6.40506481e-01 7.67952633e-01 4.49415983e-04 -3.62900228e+01] [ 6.78590105e-04 -1.92388412e-05 9.99999770e-01 -1.42147868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73762800000002 meters 0.0165320139816709 Centerline is valid? [True, True] Translation: X:89.00, Y:-36.30, Z:-0.14 [[ 7.62226979e-01 6.47309837e-01 8.81640961e-05 8.89973911e+01] [-6.47309832e-01 7.62226984e-01 -7.75852963e-05 -3.63041836e+01] [-1.17422779e-04 2.06811975e-06 9.99999993e-01 -1.42008445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76762800000002 meters 0.01527529057729677 Centerline is valid? [True, True] Translation: X:89.02, Y:-36.32, Z:-0.14 [[ 7.58953973e-01 6.51144124e-01 4.44689232e-04 8.90244503e+01] [-6.51144005e-01 7.58954103e-01 -3.92604782e-04 -3.63206109e+01] [-5.93141014e-04 8.41223144e-06 9.99999824e-01 -1.42076775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.797628 meters 0.01420469602539261 Centerline is valid? [True, True] Translation: X:89.05, Y:-36.34, Z:-0.14 [[ 7.55841827e-01 6.54754099e-01 4.49120025e-04 8.90521533e+01] [-6.54753979e-01 7.55841961e-01 -3.96638008e-04 -3.63374962e+01] [-5.99164122e-04 5.73247333e-06 9.99999820e-01 -1.42102941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.827628 meters 0.013226986831370476 Centerline is valid? [True, True] Translation: X:89.08, Y:-36.35, Z:-0.14 [[ 7.50590245e-01 6.60767365e-01 8.79098502e-04 8.90828139e+01] [-6.60766908e-01 7.50590760e-01 -7.77151953e-04 -3.63514433e+01] [-1.17335986e-03 2.44347645e-06 9.99999312e-01 -1.42192857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857628 meters 0.013117599238682906 Centerline is valid? [True, True] Translation: X:89.11, Y:-36.37, Z:-0.14 [[ 7.48409815e-01 6.63235706e-01 1.07046574e-03 8.91089441e+01] [-6.63235030e-01 7.48410581e-01 -9.46902537e-04 -3.63701983e+01] [-1.42916746e-03 -1.29922464e-06 9.99998979e-01 -1.42313209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.887628 meters 0.01313189871211515 Centerline is valid? [True, True] Translation: X:89.14, Y:-36.39, Z:-0.14 [[ 7.46595309e-01 6.65277554e-01 1.10518573e-03 8.91355050e+01] [-6.65276835e-01 7.46596127e-01 -9.78152871e-04 -3.63899516e+01] [-1.47587054e-03 -4.97012077e-06 9.99998911e-01 -1.42729642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91762800000001 meters 0.013322506925330208 Centerline is valid? [True, True] Translation: X:89.16, Y:-36.41, Z:-0.14 [[ 7.44225300e-01 6.67927992e-01 9.48771721e-04 8.91619651e+01] [-6.67927464e-01 7.44225905e-01 -8.40109770e-04 -3.64086670e+01] [-1.26723332e-03 -8.47974416e-06 9.99999197e-01 -1.43748203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94762800000001 meters 0.013290758270895785 Centerline is valid? [True, True] Translation: X:89.19, Y:-36.43, Z:-0.14 [[ 7.43566887e-01 6.68660702e-01 1.07230796e-03 8.91868076e+01] [-6.68660027e-01 7.43567660e-01 -9.50017157e-04 -3.64299014e+01] [-1.43257266e-03 -1.06081665e-05 9.99998974e-01 -1.44301762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97762800000001 meters 0.013257721405304056 Centerline is valid? [True, True] Translation: X:89.21, Y:-36.45, Z:-0.14 [[ 7.43229994e-01 6.69035082e-01 1.11149659e-03 8.92111092e+01] [-6.69034356e-01 7.43230825e-01 -9.85312579e-04 -3.64509961e+01] [-1.48530721e-03 -1.13155401e-05 9.99998897e-01 -1.44819633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00762800000001 meters 0.013335420166587958 Centerline is valid? [True, True] Translation: X:89.23, Y:-36.47, Z:-0.15 [[ 7.43279444e-01 6.68980746e-01 6.55398660e-04 8.92349302e+01] [-6.68980493e-01 7.43279733e-01 -5.81083068e-04 -3.64731315e+01] [-8.75877926e-04 -6.54181891e-06 9.99999616e-01 -1.45449542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03762800000001 meters 0.013278958581774749 Centerline is valid? [True, True] Translation: X:89.26, Y:-36.50, Z:-0.15 [[ 7.43316297e-01 6.68939974e-01 4.39217191e-04 8.92588426e+01] [-6.68939861e-01 7.43316427e-01 -3.89457728e-04 -3.64956300e+01] [-5.87001196e-04 -4.31961036e-06 9.99999828e-01 -1.45559266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06762800000001 meters 0.013234451116787404 Centerline is valid? [True, True] Translation: X:89.28, Y:-36.52, Z:-0.15 [[ 7.43361853e-01 6.68889398e-01 3.59091561e-04 8.92823703e+01] [-6.68889322e-01 7.43361940e-01 -3.18515569e-04 -3.65179413e+01] [-4.79986686e-04 -3.42018702e-06 9.99999885e-01 -1.45490811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09762800000001 meters 0.013170487265768686 Centerline is valid? [True, True] Translation: X:89.30, Y:-36.54, Z:-0.15 [[ 7.43448032e-01 6.68793555e-01 4.52511144e-04 8.93047859e+01] [-6.68793434e-01 7.43448170e-01 -4.01700421e-04 -3.65415868e+01] [-6.05073234e-04 -3.99309448e-06 9.99999817e-01 -1.45120373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12762800000002 meters 0.013225262648284301 Centerline is valid? [True, True] Translation: X:89.33, Y:-36.56, Z:-0.14 [[ 7.43161819e-01 6.69111667e-01 2.96450428e-04 8.93275940e+01] [-6.69111615e-01 7.43161878e-01 -2.63154227e-04 -3.65632233e+01] [-3.96390220e-04 -2.79225015e-06 9.99999921e-01 -1.44703890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.157628 meters 0.013205588228922689 Centerline is valid? [True, True] Translation: X:89.35, Y:-36.59, Z:-0.14 [[ 7.42689688e-01 6.69635681e-01 2.87620546e-04 8.93511416e+01] [-6.69635632e-01 7.42689743e-01 -2.55399859e-04 -3.65856217e+01] [-3.84637688e-04 -2.91812434e-06 9.99999926e-01 -1.44709072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.187628 meters 0.01317628343837877 Centerline is valid? [True, True] Translation: X:89.38, Y:-36.61, Z:-0.15 [[ 7.41864632e-01 6.70549671e-01 -7.87458947e-05 8.93754179e+01] [-6.70549667e-01 7.41864636e-01 7.06469566e-05 -3.66080489e+01] [ 1.05791088e-04 3.92555008e-07 9.99999994e-01 -1.45817697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.217628 meters 0.01341002624588028 Centerline is valid? [True, True] Translation: X:89.40, Y:-36.63, Z:-0.15 [[ 7.41310241e-01 6.71162089e-01 -7.59502238e-04 8.93991554e+01] [-6.71161748e-01 7.41310630e-01 6.77069122e-04 -3.66287650e+01] [ 1.01745021e-03 7.83057575e-06 9.99999482e-01 -1.46902099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.247628 meters 0.01341002624588028 Centerline is valid? [True, True] Translation: X:89.42, Y:-36.65, Z:-0.15 [[ 7.41130158e-01 6.71360941e-01 -7.59314450e-04 8.94232974e+01] [-6.71360599e-01 7.41130546e-01 6.77279797e-04 -3.66503907e+01] [ 1.01745034e-03 7.82132140e-06 9.99999482e-01 -1.46948488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.277628 meters 0.013161172637981474 Centerline is valid? [True, True] Translation: X:89.45, Y:-36.67, Z:-0.15 [[ 7.40801867e-01 6.71721972e-01 -1.47849609e-03 8.94464992e+01] [-6.71720677e-01 7.40803342e-01 1.31906757e-03 -3.66733324e+01] [ 1.98132152e-03 1.59686780e-05 9.99998037e-01 -1.47273981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30762800000001 meters 0.013200043849053001 Centerline is valid? [True, True] Translation: X:89.47, Y:-36.70, Z:-0.15 [[ 7.40554851e-01 6.71993140e-01 -1.93210735e-03 8.94694368e+01] [-6.71990927e-01 7.40557371e-01 1.72448285e-03 -3.66956879e+01] [ 2.58967699e-03 2.12844668e-05 9.99996647e-01 -1.48037103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33762800000001 meters 0.01303836000804358 Centerline is valid? [True, True] Translation: X:89.49, Y:-36.72, Z:-0.15 [[ 7.41488675e-01 6.70958655e-01 -3.00474981e-03 8.94904830e+01] [-6.70953294e-01 7.41494762e-01 2.68235509e-03 -3.67205993e+01] [ 4.02775561e-03 2.71108602e-05 9.99991888e-01 -1.48613699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36762800000001 meters 0.012902758144738858 Centerline is valid? [True, True] Translation: X:89.51, Y:-36.75, Z:-0.15 [[ 7.42576775e-01 6.69751856e-01 -3.49047676e-03 8.95131926e+01] [-6.69744599e-01 7.42584979e-01 3.11786072e-03 -3.67451263e+01] [ 4.68016861e-03 2.24770020e-05 9.99989048e-01 -1.48481179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39762800000001 meters 0.012807922674462681 Centerline is valid? [True, True] Translation: X:89.54, Y:-36.77, Z:-0.15 [[ 7.43884683e-01 6.68297098e-01 -3.81659935e-03 8.95354532e+01] [-6.68288393e-01 7.43894474e-01 3.41107533e-03 -3.67697420e+01] [ 5.11875892e-03 1.31423534e-05 9.99986899e-01 -1.47696469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42762800000001 meters 0.01282387383907635 Centerline is valid? [True, True] Translation: X:89.56, Y:-36.79, Z:-0.15 [[ 7.45442192e-01 6.66560217e-01 -3.66267281e-03 8.95568397e+01] [-6.66552174e-01 7.45451190e-01 3.27448124e-03 -3.67931179e+01] [ 4.91298273e-03 4.26056261e-07 9.99987931e-01 -1.47538258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45762800000001 meters 0.013071450055205078 Centerline is valid? [True, True] Translation: X:89.58, Y:-36.82, Z:-0.15 [[ 7.48868924e-01 6.62708214e-01 -3.62748725e-03 8.95759518e+01] [-6.62700271e-01 7.48877709e-01 3.24475584e-03 -3.68199267e+01] [ 4.86687069e-03 -2.59600300e-05 9.99988156e-01 -1.46579089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48762800000002 meters 0.013460936353821137 Centerline is valid? [True, True] Translation: X:89.60, Y:-36.84, Z:-0.15 [[ 7.50864393e-01 6.60446784e-01 -3.56494226e-03 8.95964997e+01] [-6.60439080e-01 7.50872855e-01 3.19022663e-03 -3.68442518e+01] [ 4.78379329e-03 -4.10003985e-05 9.99988557e-01 -1.46849471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51762800000002 meters 0.014403244008493066 Centerline is valid? [True, True] Translation: X:89.61, Y:-36.87, Z:-0.15 [[ 7.55298815e-01 6.55370977e-01 -3.54714052e-03 8.96148659e+01] [-6.55363291e-01 7.55307141e-01 3.17485274e-03 -3.68710890e+01] [ 4.75988690e-03 -7.32968271e-05 9.99988669e-01 -1.45889165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.547628 meters 0.015631971536870407 Centerline is valid? [True, True] Translation: X:89.63, Y:-36.90, Z:-0.15 [[ 7.57689136e-01 6.52604653e-01 -3.78687617e-03 8.96345521e+01] [-6.52595849e-01 7.57698593e-01 3.39114755e-03 -3.68951813e+01] [ 5.08238942e-03 -9.81359884e-05 9.99987080e-01 -1.46246592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.577628 meters 0.016856973091984792 Centerline is valid? [True, True] Translation: X:89.66, Y:-36.92, Z:-0.15 [[ 7.60516178e-01 6.49306929e-01 -3.95656957e-03 8.96554165e+01] [-6.49297274e-01 7.60526460e-01 3.54327260e-03 -3.69198763e+01] [ 5.30974730e-03 -1.25726298e-04 9.99985895e-01 -1.46362688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.607628 meters 0.018436092616382824 Centerline is valid? [True, True] Translation: X:89.67, Y:-36.95, Z:-0.15 [[ 7.66385136e-01 6.42363444e-01 -4.79889882e-03 8.96743049e+01] [-6.42349098e-01 7.66400131e-01 4.29840047e-03 -3.69465355e+01] [ 6.43901201e-03 -2.11661895e-04 9.99979247e-01 -1.46060384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.637628 meters 0.021602135737994382 Centerline is valid? [True, True] Translation: X:89.69, Y:-36.97, Z:-0.15 [[ 7.69053344e-01 6.39165588e-01 -4.93012909e-03 8.96929477e+01] [-6.39150365e-01 7.69069106e-01 4.41819405e-03 -3.69725377e+01] [ 6.61556757e-03 -2.46733102e-04 9.99978086e-01 -1.46826184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66762800000001 meters 0.022638453331604986 Centerline is valid? [True, True] Translation: X:89.71, Y:-37.00, Z:-0.15 [[ 7.73075549e-01 6.34298520e-01 -4.42530586e-03 8.97133531e+01] [-6.34286165e-01 7.73088171e-01 3.96760296e-03 -3.69965049e+01] [ 5.93779630e-03 -2.60346553e-04 9.99982337e-01 -1.45252738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69762800000001 meters 0.021614726511140613 Centerline is valid? [True, True] Translation: X:89.74, Y:-37.02, Z:-0.14 [[ 7.73504075e-01 6.33781033e-01 -3.61226906e-03 8.97386530e+01] [-6.33772786e-01 7.73512479e-01 3.24037331e-03 -3.70169475e+01] [ 4.84782234e-03 -2.17084139e-04 9.99988226e-01 -1.43634868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72762800000001 meters 0.021979148011317895 Centerline is valid? [True, True] Translation: X:89.76, Y:-37.04, Z:-0.14 [[ 7.73107092e-01 6.34267145e-01 -3.25779371e-03 8.97613717e+01] [-6.34260439e-01 7.73113932e-01 2.92305166e-03 -3.70378406e+01] [ 4.37264134e-03 -1.93542300e-04 9.99990421e-01 -1.42751750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75762800000001 meters 0.02048298860117296 Centerline is valid? [True, True] Translation: X:89.79, Y:-37.06, Z:-0.14 [[ 7.72246069e-01 6.35317089e-01 -2.86427126e-03 8.97875086e+01] [-6.35311907e-01 7.72251363e-01 2.57148909e-03 -3.70573107e+01] [ 3.84564836e-03 -1.66116707e-04 9.99992592e-01 -1.42380923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78762800000001 meters 0.020197750317805886 Centerline is valid? [True, True] Translation: X:89.81, Y:-37.08, Z:-0.14 [[ 7.70015988e-01 6.38012763e-01 -3.88487991e-03 8.98119694e+01] [-6.38003257e-01 7.70025760e-01 3.48901200e-03 -3.70758902e+01] [ 5.21749179e-03 -2.08028991e-04 9.99986367e-01 -1.43375632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81762800000001 meters 0.019728388465871882 Centerline is valid? [True, True] Translation: X:89.84, Y:-37.10, Z:-0.14 [[ 7.68924140e-01 6.39322911e-01 -4.67795557e-03 8.98377613e+01] [-6.39309149e-01 7.68938332e-01 4.20169531e-03 -3.70961261e+01] [ 6.28329943e-03 -2.40125152e-04 9.99980231e-01 -1.43686497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84762800000001 meters 0.01903794881815464 Centerline is valid? [True, True] Translation: X:89.86, Y:-37.12, Z:-0.14 [[ 7.67547547e-01 6.40972773e-01 -4.96659357e-03 8.98636001e+01] [-6.40957278e-01 7.67563577e-01 4.46345552e-03 -3.71157240e+01] [ 6.67312980e-03 -2.42540038e-04 9.99977705e-01 -1.44065094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87762800000002 meters 0.018526498237869164 Centerline is valid? [True, True] Translation: X:89.89, Y:-37.14, Z:-0.14 [[ 7.66102629e-01 6.42699288e-01 -4.93830092e-03 8.98894318e+01] [-6.42683990e-01 7.66118511e-01 4.44022433e-03 -3.71353137e+01] [ 6.63705276e-03 -2.27900598e-04 9.99977949e-01 -1.44280531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.907628 meters 0.017305552360209944 Centerline is valid? [True, True] Translation: X:89.92, Y:-37.15, Z:-0.14 [[ 7.63222286e-01 6.46121917e-01 -4.26724700e-03 8.99170514e+01] [-6.46110540e-01 7.63234196e-01 3.83823232e-03 -3.71509717e+01] [ 5.73687486e-03 -1.72311179e-04 9.99983529e-01 -1.44376004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.937628 meters 0.017001873181541498 Centerline is valid? [True, True] Translation: X:89.94, Y:-37.17, Z:-0.14 [[ 7.61307054e-01 6.48380827e-01 -3.72464191e-03 8.99420810e+01] [-6.48372178e-01 7.61316153e-01 3.35182838e-03 -3.71700858e+01] [ 5.00889130e-03 -1.36816398e-04 9.99987446e-01 -1.44460374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.967628 meters 0.015441921746429667 Centerline is valid? [True, True] Translation: X:89.97, Y:-37.19, Z:-0.14 [[ 7.57815176e-01 6.52459942e-01 -3.49037932e-03 8.99699289e+01] [-6.52452390e-01 7.57823207e-01 3.14103689e-03 -3.71864730e+01] [ 4.69449120e-03 -1.03019093e-04 9.99988976e-01 -1.43101103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.997628 meters 0.015095502028092839 Centerline is valid? [True, True] Translation: X:89.99, Y:-37.21, Z:-0.14 [[ 7.56133821e-01 6.54408087e-01 -3.42051051e-03 8.99946927e+01] [-6.54400846e-01 7.56141552e-01 3.07987960e-03 -3.72053165e+01] [ 4.60188825e-03 -9.04161586e-05 9.99989407e-01 -1.42755666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.027628 meters 0.014573802243440934 Centerline is valid? [True, True] Translation: X:90.02, Y:-37.22, Z:-0.14 [[ 7.54405738e-01 6.56400054e-01 -3.30929995e-03 9.00202171e+01] [-6.56393288e-01 7.54412993e-01 2.98122601e-03 -3.72245829e+01] [ 4.45345579e-03 -7.68517375e-05 9.99990080e-01 -1.42918100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05762800000001 meters 0.01395260646081939 Centerline is valid? [True, True] Translation: X:90.05, Y:-37.24, Z:-0.14 [[ 7.52300766e-01 6.58811482e-01 -3.31482140e-03 9.00473352e+01] [-6.58804711e-01 7.52308066e-01 2.98762964e-03 -3.72419569e+01] [ 4.46205159e-03 -6.37761087e-05 9.99990043e-01 -1.43274424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08762800000001 meters 0.013885238686551176 Centerline is valid? [True, True] Translation: X:90.07, Y:-37.26, Z:-0.14 [[ 7.51334663e-01 6.59914054e-01 -3.10894897e-03 9.00714535e+01] [-6.59908102e-01 7.51341093e-01 2.80331244e-03 -3.72613229e+01] [ 4.18582639e-03 -5.46051953e-05 9.99991238e-01 -1.43528587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11762800000001 meters 0.01328647374550491 Centerline is valid? [True, True] Translation: X:90.10, Y:-37.28, Z:-0.14 [[ 7.50712617e-01 6.60621524e-01 -3.12545802e-03 9.00981357e+01] [-6.60615507e-01 7.50719122e-01 2.81990406e-03 -3.72810655e+01] [ 4.20923042e-03 -5.22115251e-05 9.99991140e-01 -1.43244684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14762800000001 meters 0.013473880941815479 Centerline is valid? [True, True] Translation: X:90.12, Y:-37.30, Z:-0.14 [[ 7.49718405e-01 6.61748534e-01 -3.34522490e-03 9.01228195e+01] [-6.61741648e-01 7.49725866e-01 3.01941106e-03 -3.73006705e+01] [ 4.50609248e-03 -5.00334076e-05 9.99989846e-01 -1.44448554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17762800000001 meters 0.012988908997108337 Centerline is valid? [True, True] Translation: X:90.15, Y:-37.32, Z:-0.14 [[ 7.49083220e-01 6.62465263e-01 -3.75566061e-03 9.01489113e+01] [-6.62456582e-01 7.49092633e-01 3.39184530e-03 -3.73204338e+01] [ 5.06031739e-03 -5.28123090e-05 9.99987195e-01 -1.44038559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20762800000001 meters 0.012864124094063688 Centerline is valid? [True, True] Translation: X:90.17, Y:-37.34, Z:-0.14 [[ 7.48271512e-01 6.63380132e-01 -4.06749472e-03 9.01739472e+01] [-6.63369952e-01 7.48282565e-01 3.67548670e-03 -3.73413196e+01] [ 5.48188024e-03 -5.20082201e-05 9.99984973e-01 -1.44576804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23762800000002 meters 0.012913204507193295 Centerline is valid? [True, True] Translation: X:90.20, Y:-37.36, Z:-0.15 [[ 7.46791693e-01 6.65043787e-01 -4.35066334e-03 9.01982168e+01] [-6.65032164e-01 7.46804365e-01 3.93214539e-03 -3.73605228e+01] [ 5.86414323e-03 -4.31624632e-05 9.99982805e-01 -1.46542804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26762800000002 meters 0.012564145491893946 Centerline is valid? [True, True] Translation: X:90.22, Y:-37.38, Z:-0.15 [[ 7.45761740e-01 6.66199033e-01 -4.27507479e-03 9.02235258e+01] [-6.66187817e-01 7.45773992e-01 3.86584024e-03 -3.73808815e+01] [ 5.76365862e-03 -3.49930045e-05 9.99983389e-01 -1.46742764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.297628 meters 0.012387815112401734 Centerline is valid? [True, True] Translation: X:90.25, Y:-37.40, Z:-0.15 [[ 7.44455689e-01 6.67656531e-01 -4.52601725e-03 9.02475644e+01] [-6.67643974e-01 7.44469446e-01 4.09481623e-03 -3.74015857e+01] [ 6.10341235e-03 -2.66410960e-05 9.99981374e-01 -1.47759065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.327628 meters 0.012137643082740875 Centerline is valid? [True, True] Translation: X:90.27, Y:-37.42, Z:-0.15 [[ 7.41531146e-01 6.70896473e-01 -5.42966754e-03 9.02737039e+01] [-6.70878469e-01 7.41551025e-01 4.91496889e-03 -3.74218912e+01] [ 7.32381082e-03 -1.95546233e-06 9.99973181e-01 -1.48452887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357628 meters 0.012152161823169482 Centerline is valid? [True, True] Translation: X:90.30, Y:-37.44, Z:-0.15 [[ 7.39969707e-01 6.72613900e-01 -5.94761630e-03 9.02978476e+01] [-6.72592332e-01 7.39993609e-01 5.38644464e-03 -3.74425117e+01] [ 8.02419559e-03 1.45152583e-05 9.99967806e-01 -1.49123713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.387628 meters 0.01202784036728866 Centerline is valid? [True, True] Translation: X:90.32, Y:-37.46, Z:-0.15 [[ 7.38577339e-01 6.74140899e-01 -6.12881774e-03 9.03228437e+01] [-6.74118023e-01 7.38602767e-01 5.55374798e-03 -3.74645648e+01] [ 8.27077039e-03 2.96740915e-05 9.99965796e-01 -1.48668634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41762800000001 meters 0.012535231024170632 Centerline is valid? [True, True] Translation: X:90.35, Y:-37.48, Z:-0.15 [[ 7.36060892e-01 6.76885150e-01 -6.39193701e-03 9.03474719e+01] [-6.76860360e-01 7.36088643e-01 5.79342674e-03 -3.74843242e+01] [ 8.62651676e-03 6.21339279e-05 9.99962789e-01 -1.50717008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44762800000001 meters 0.012482976688249145 Centerline is valid? [True, True] Translation: X:90.37, Y:-37.51, Z:-0.15 [[ 7.34914119e-01 6.78127973e-01 -6.60976900e-03 9.03704339e+01] [-6.78101486e-01 7.34943839e-01 5.99401237e-03 -3.75064131e+01] [ 8.92251646e-03 7.70098634e-05 9.99960191e-01 -1.49680230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47762800000001 meters 0.012525415420803508 Centerline is valid? [True, True] Translation: X:90.39, Y:-37.53, Z:-0.15 [[ 7.33950851e-01 6.79171055e-01 -6.54415283e-03 9.03937623e+01] [-6.79145102e-01 7.33980021e-01 5.93798861e-03 -3.75289723e+01] [ 8.83618742e-03 8.62375537e-05 9.99960956e-01 -1.49336448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50762800000001 meters 0.012611500603938341 Centerline is valid? [True, True] Translation: X:90.42, Y:-37.55, Z:-0.15 [[ 7.33235662e-01 6.79943633e-01 -6.49001779e-03 9.04154916e+01] [-6.79918111e-01 7.33264377e-01 5.89197264e-03 -3.75520076e+01] [ 8.76510814e-03 9.24761791e-05 9.99961581e-01 -1.49000809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53762800000001 meters 0.012549853481991436 Centerline is valid? [True, True] Translation: X:90.44, Y:-37.58, Z:-0.15 [[ 7.33194153e-01 6.79992073e-01 -6.09219547e-03 9.04381843e+01] [-6.79969559e-01 7.33219458e-01 5.53402246e-03 -3.75755762e+01] [ 8.23000766e-03 8.49945597e-05 9.99966129e-01 -1.48558888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56762800000001 meters 0.012412983997493954 Centerline is valid? [True, True] Translation: X:90.46, Y:-37.60, Z:-0.15 [[ 7.33675997e-01 6.79476155e-01 -5.62898367e-03 9.04607740e+01] [-6.79456901e-01 7.33697587e-01 5.11575015e-03 -3.75985294e+01] [ 7.60600198e-03 7.13487062e-05 9.99971071e-01 -1.48131397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59762800000001 meters 0.012312021059233097 Centerline is valid? [True, True] Translation: X:90.48, Y:-37.62, Z:-0.15 [[ 7.34177800e-01 6.78936618e-01 -5.29410303e-03 9.04828851e+01] [-6.78919555e-01 7.34196885e-01 4.81380536e-03 -3.76211917e+01] [ 7.15518268e-03 6.00810449e-05 9.99974400e-01 -1.47482968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62762800000002 meters 0.011965437062896257 Centerline is valid? [True, True] Translation: X:90.50, Y:-37.65, Z:-0.15 [[ 7.36468890e-01 6.76459954e-01 -3.93756468e-03 9.05035723e+01] [-6.76450470e-01 7.36479416e-01 3.58225410e-03 -3.76465442e+01] [ 5.32318678e-03 2.53487775e-05 9.99985831e-01 -1.46280220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.657628 meters 0.011848232357031918 Centerline is valid? [True, True] Translation: X:90.52, Y:-37.67, Z:-0.15 [[ 7.37775702e-01 6.75034705e-01 -3.89378128e-03 9.05242207e+01] [-6.75025402e-01 7.37785977e-01 3.54402082e-03 -3.76693301e+01] [ 5.26511427e-03 1.37088269e-05 9.99986139e-01 -1.46273378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.687628 meters 0.011720640741873333 Centerline is valid? [True, True] Translation: X:90.55, Y:-37.69, Z:-0.15 [[ 7.39018829e-01 6.73674751e-01 -3.67421895e-03 9.05463018e+01] [-6.73666441e-01 7.39027963e-01 3.34623566e-03 -3.76941100e+01] [ 4.96962502e-03 2.26683845e-06 9.99987651e-01 -1.45437567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.717628 meters 0.011924075371322255 Centerline is valid? [True, True] Translation: X:90.57, Y:-37.72, Z:-0.15 [[ 7.41542728e-01 6.70891581e-01 -4.34386904e-03 9.05667690e+01] [-6.70879904e-01 7.41555451e-01 3.95831036e-03 -3.77211026e+01] [ 5.87681686e-03 -2.10418141e-05 9.99982731e-01 -1.45324075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.747628 meters 0.012235517420645981 Centerline is valid? [True, True] Translation: X:90.59, Y:-37.75, Z:-0.15 [[ 7.42680179e-01 6.69631092e-01 -4.51141183e-03 9.05878003e+01] [-6.69618460e-01 7.42693880e-01 4.11314285e-03 -3.77452483e+01] [ 6.10488629e-03 -3.38250230e-05 9.99981364e-01 -1.46685569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.777628 meters 0.012193439861983972 Centerline is valid? [True, True] Translation: X:90.61, Y:-37.77, Z:-0.15 [[ 7.43447114e-01 6.68777906e-01 -4.74344150e-03 9.06102353e+01] [-6.68763909e-01 7.43462245e-01 4.32713605e-03 -3.77692059e+01] [ 6.42046266e-03 -4.47543307e-05 9.99979388e-01 -1.46473914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80762800000001 meters 0.01242505899855444 Centerline is valid? [True, True] Translation: X:90.63, Y:-37.79, Z:-0.15 [[ 7.44255718e-01 6.67876833e-01 -4.89525722e-03 9.06311700e+01] [-6.67861893e-01 7.44271814e-01 4.46754357e-03 -3.77923476e+01] [ 6.62717083e-03 -5.56390919e-05 9.99978039e-01 -1.46809187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83762800000001 meters 0.012571827994753846 Centerline is valid? [True, True] Translation: X:90.65, Y:-37.82, Z:-0.15 [[ 7.45363772e-01 6.66641647e-01 -4.66491263e-03 9.06518171e+01] [-6.66628042e-01 7.45378367e-01 4.25950221e-03 -3.78174807e+01] [ 6.31668653e-03 -6.51170575e-05 9.99980047e-01 -1.46503552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86762800000001 meters 0.014480210990056561 Centerline is valid? [True, True] Translation: X:90.67, Y:-37.84, Z:-0.15 [[ 7.45565732e-01 6.66412802e-01 -5.07117071e-03 9.06736971e+01] [-6.66396702e-01 7.45582975e-01 4.63289357e-03 -3.78411196e+01] [ 6.86839813e-03 -7.47152541e-05 9.99976409e-01 -1.48247204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89762800000001 meters 0.01274923249357248 Centerline is valid? [True, True] Translation: X:90.69, Y:-37.86, Z:-0.15 [[ 7.45242147e-01 6.66780022e-01 -4.30642090e-03 9.06945226e+01] [-6.66768407e-01 7.45254586e-01 3.93602869e-03 -3.78649205e+01] [ 5.83384522e-03 -6.19090667e-05 9.99982981e-01 -1.45692327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92762800000001 meters 0.012574145088069377 Centerline is valid? [True, True] Translation: X:90.72, Y:-37.89, Z:-0.15 [[ 7.44173233e-01 6.67976501e-01 -3.68701454e-03 9.07188111e+01] [-6.67967993e-01 7.44182365e-01 3.37164004e-03 -3.78864579e+01] [ 4.99598752e-03 -4.62765587e-05 9.99987519e-01 -1.45240586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95762800000001 meters 0.012258594580512337 Centerline is valid? [True, True] Translation: X:90.74, Y:-37.91, Z:-0.14 [[ 7.42599273e-01 6.69727241e-01 -3.42673633e-03 9.07432409e+01] [-6.69719904e-01 7.42607178e-01 3.13519898e-03 -3.79071960e+01] [ 4.64444716e-03 -3.32429547e-05 9.99989214e-01 -1.44882911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98762800000002 meters 0.011890956077948456 Centerline is valid? [True, True] Translation: X:90.77, Y:-37.93, Z:-0.15 [[ 7.39548718e-01 6.73093385e-01 -3.60404960e-03 9.07676589e+01] [-6.73085305e-01 7.39557500e-01 3.29811721e-03 -3.79264287e+01] [ 4.88534279e-03 -1.32855289e-05 9.99988067e-01 -1.45620584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01762800000002 meters 0.011835146407093058 Centerline is valid? [True, True] Translation: X:90.79, Y:-37.95, Z:-0.15 [[ 7.38145834e-01 6.74630651e-01 -3.76991743e-03 9.07928359e+01] [-6.74621819e-01 7.38155461e-01 3.45206338e-03 -3.79478947e+01] [ 5.11165290e-03 -4.85764527e-06 9.99986935e-01 -1.46189578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.047628 meters 0.011877231426151642 Centerline is valid? [True, True] Translation: X:90.82, Y:-37.97, Z:-0.15 [[ 7.36856643e-01 6.76039386e-01 -3.61056878e-03 9.08166353e+01] [-6.76031293e-01 7.36865489e-01 3.30783901e-03 -3.79686300e+01] [ 4.89673298e-03 3.45433712e-06 9.99988011e-01 -1.46720092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.077628 meters 0.011925319281151205 Centerline is valid? [True, True] Translation: X:90.84, Y:-37.99, Z:-0.15 [[ 7.36000304e-01 6.76971003e-01 -3.71660553e-03 9.08408611e+01] [-6.76962431e-01 7.36009688e-01 3.40686010e-03 -3.79904838e+01] [ 5.04180318e-03 8.55224455e-06 9.99987290e-01 -1.46407115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.107628 meters 0.011920823903830962 Centerline is valid? [True, True] Translation: X:90.87, Y:-38.01, Z:-0.15 [[ 7.35153063e-01 6.77893289e-01 -3.26540457e-03 9.08651231e+01] [-6.77886677e-01 7.35160315e-01 2.99414255e-03 -3.80120085e+01] [ 4.43030499e-03 1.24211899e-05 9.99990186e-01 -1.46505014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.137628 meters 0.011920823903830962 Centerline is valid? [True, True] Translation: X:90.89, Y:-38.03, Z:-0.15 [[ 7.34970986e-01 6.78090697e-01 -3.26450434e-03 9.08889445e+01] [-6.78084082e-01 7.34978235e-01 2.99512413e-03 -3.80339702e+01] [ 4.43030545e-03 1.22790987e-05 9.99990186e-01 -1.46551344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16762800000001 meters 0.011944678547409014 Centerline is valid? [True, True] Translation: X:90.91, Y:-38.06, Z:-0.15 [[ 7.34733277e-01 6.78349733e-01 -2.94140935e-03 9.09137677e+01] [-6.78344359e-01 7.34739164e-01 2.70018976e-03 -3.80561454e+01] [ 3.99284165e-03 1.13691706e-05 9.99992029e-01 -1.46556455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19762800000001 meters 0.011914331278476594 Centerline is valid? [True, True] Translation: X:90.94, Y:-38.08, Z:-0.15 [[ 7.34846642e-01 6.78229864e-01 -2.15973958e-03 9.09378221e+01] [-6.78226963e-01 7.34849816e-01 1.98371709e-03 -3.80774074e+01] [ 2.93250040e-03 7.06577020e-06 9.99995700e-01 -1.46275683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22762800000001 meters 0.011904830604824333 Centerline is valid? [True, True] Translation: X:90.96, Y:-38.10, Z:-0.15 [[ 7.34727307e-01 6.78359763e-01 -1.95348702e-03 9.09619158e+01] [-6.78357387e-01 7.34729904e-01 1.79529408e-03 -3.80996193e+01] [ 2.65314060e-03 6.11076833e-06 9.99996480e-01 -1.46125064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25762800000001 meters 0.012008981669932306 Centerline is valid? [True, True] Translation: X:90.99, Y:-38.12, Z:-0.15 [[ 7.34546494e-01 6.78555732e-01 -1.88832489e-03 9.09861010e+01] [-6.78553511e-01 7.34548921e-01 1.73633154e-03 -3.81216972e+01] [ 2.56526473e-03 5.91323940e-06 9.99996710e-01 -1.46270869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28762800000001 meters 0.01190540544820043 Centerline is valid? [True, True] Translation: X:91.01, Y:-38.14, Z:-0.15 [[ 7.34455195e-01 6.78655228e-01 -1.62749485e-03 9.10107370e+01] [-6.78653576e-01 7.34456998e-01 1.49734303e-03 -3.81440037e+01] [ 2.21150466e-03 4.77383157e-06 9.99997555e-01 -1.46429695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31762800000001 meters 0.01207560177559947 Centerline is valid? [True, True] Translation: X:91.03, Y:-38.16, Z:-0.15 [[ 7.33816963e-01 6.79345576e-01 -1.50110932e-03 9.10348979e+01] [-6.79344171e-01 7.33818498e-01 1.38173867e-03 -3.81646422e+01] [ 2.04021984e-03 5.82659282e-06 9.99997919e-01 -1.46813502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34762800000001 meters 0.012074678043705458 Centerline is valid? [True, True] Translation: X:91.06, Y:-38.19, Z:-0.15 [[ 7.33418067e-01 6.79776639e-01 -1.28830293e-03 9.10596805e+01] [-6.79775604e-01 7.33419198e-01 1.18656544e-03 -3.81863366e+01] [ 1.75146557e-03 5.50836950e-06 9.99998466e-01 -1.46572051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37762800000002 meters 0.012031394814280186 Centerline is valid? [True, True] Translation: X:91.08, Y:-38.21, Z:-0.15 [[ 7.33116375e-01 6.80102135e-01 -1.21090114e-03 9.10848186e+01] [-6.80101220e-01 7.33117375e-01 1.11588050e-03 -3.82080516e+01] [ 1.64664538e-03 5.46507860e-06 9.99998644e-01 -1.47037821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.407628 meters 0.012076179846779566 Centerline is valid? [True, True] Translation: X:91.11, Y:-38.23, Z:-0.15 [[ 7.33309921e-01 6.79892550e-01 -1.63704042e-03 9.11093364e+01] [-6.79890875e-01 7.33311748e-01 1.50909386e-03 -3.82292364e+01] [ 2.22648265e-03 6.37534322e-06 9.99997521e-01 -1.48771509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.437628 meters 0.011949716193019844 Centerline is valid? [True, True] Translation: X:91.13, Y:-38.25, Z:-0.15 [[ 7.34103211e-01 6.79035589e-01 -1.77330014e-03 9.11319159e+01] [-6.79033619e-01 7.34105353e-01 1.63542834e-03 -3.82516005e+01] [ 2.41230317e-03 3.55721039e-06 9.99997090e-01 -1.49680519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.467628 meters 0.012090327114369914 Centerline is valid? [True, True] Translation: X:91.15, Y:-38.28, Z:-0.15 [[ 7.37332961e-01 6.75527480e-01 -1.65168204e-03 9.11514206e+01] [-6.75525761e-01 7.37334811e-01 1.52400752e-03 -3.82768887e+01] [ 2.24735162e-03 -7.94720791e-06 9.99997475e-01 -1.49303532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.497628 meters 0.012764145037149925 Centerline is valid? [True, True] Translation: X:91.17, Y:-38.30, Z:-0.15 [[ 7.39684877e-01 6.72951402e-01 -1.64098942e-03 9.11712723e+01] [-6.72949698e-01 7.39686697e-01 1.51468411e-03 -3.83008844e+01] [ 2.23312684e-03 -1.60855955e-05 9.99997506e-01 -1.48986827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.527628 meters 0.01368384882661326 Centerline is valid? [True, True] Translation: X:91.19, Y:-38.33, Z:-0.15 [[ 7.41991229e-01 6.70408215e-01 -1.35676531e-03 9.11922543e+01] [-6.70407045e-01 7.41992469e-01 1.25297207e-03 -3.83257890e+01] [ 1.84671241e-03 -2.01092660e-05 9.99998295e-01 -1.48718856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55762800000001 meters 0.01479789877097425 Centerline is valid? [True, True] Translation: X:91.21, Y:-38.35, Z:-0.15 [[ 7.43888000e-01 6.68303429e-01 -1.08199258e-03 9.12132128e+01] [-6.68302682e-01 7.43888786e-01 9.99335660e-04 -3.83489075e+01] [ 1.47274159e-03 -2.02952638e-05 9.99998915e-01 -1.48474897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58762800000001 meters 0.016614306176472037 Centerline is valid? [True, True] Translation: X:91.23, Y:-38.37, Z:-0.15 [[ 7.46484986e-01 6.65402155e-01 -3.72682817e-04 9.12349650e+01] [-6.65402065e-01 7.46485079e-01 3.44652953e-04 -3.83710641e+01] [ 5.07534980e-04 -9.29433813e-06 9.99999871e-01 -1.48785616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61762800000001 meters 0.01786102565329139 Centerline is valid? [True, True] Translation: X:91.26, Y:-38.39, Z:-0.15 [[ 7.47988276e-01 6.63711723e-01 -5.36003802e-04 9.12573178e+01] [-6.63711538e-01 7.47988468e-01 4.95463361e-04 -3.83935448e+01] [ 7.29769503e-04 -1.48488772e-05 9.99999734e-01 -1.49678074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64762800000001 meters 0.020465142787168183 Centerline is valid? [True, True] Translation: X:91.28, Y:-38.42, Z:-0.15 [[ 7.50850708e-01 6.60470979e-01 -1.14013754e-03 9.12773752e+01] [-6.60470140e-01 7.50851572e-01 1.05354969e-03 -3.84169031e+01] [ 1.55191306e-03 -3.80317292e-05 9.99998795e-01 -1.50755818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67762800000001 meters 0.021629739662693905 Centerline is valid? [True, True] Translation: X:91.30, Y:-38.44, Z:-0.15 [[ 7.51913050e-01 6.59261151e-01 -1.22483093e-03 9.12994970e+01] [-6.59260179e-01 7.51914047e-01 1.13262757e-03 -3.84398956e+01] [ 1.66766494e-03 -4.41551922e-05 9.99998608e-01 -1.50623405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70762800000001 meters 0.0223653673045171 Centerline is valid? [True, True] Translation: X:91.32, Y:-38.46, Z:-0.15 [[ 7.52572772e-01 6.58507333e-01 -1.52165662e-03 9.13224432e+01] [-6.58505831e-01 7.52574308e-01 1.40759235e-03 -3.84624839e+01] [ 2.07206956e-03 -5.72959210e-05 9.99997852e-01 -1.50837865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73762800000002 meters 0.023252099604398307 Centerline is valid? [True, True] Translation: X:91.35, Y:-38.48, Z:-0.15 [[ 7.52955422e-01 6.58069993e-01 -1.42002506e-03 9.13450026e+01] [-6.58068683e-01 7.52956760e-01 1.31407445e-03 -3.84838573e+01] [ 1.93397043e-03 -5.49654664e-05 9.99998128e-01 -1.50961711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76762800000002 meters 0.022926314676134943 Centerline is valid? [True, True] Translation: X:91.37, Y:-38.50, Z:-0.15 [[ 7.52074556e-01 6.59075896e-01 -1.68095182e-03 9.13704179e+01] [-6.59074063e-01 7.52076432e-01 1.55604826e-03 -3.85015724e+01] [ 2.28975815e-03 -6.23925564e-05 9.99997377e-01 -1.52122352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.797628 meters 0.02224842050353707 Centerline is valid? [True, True] Translation: X:91.40, Y:-38.52, Z:-0.15 [[ 7.50979044e-01 6.60323657e-01 -1.77311048e-03 9.13960397e+01] [-6.60321618e-01 7.50981134e-01 1.64202620e-03 -3.85216102e+01] [ 2.41584126e-03 -6.23040867e-05 9.99997080e-01 -1.52142895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.827628 meters 0.021517988806255148 Centerline is valid? [True, True] Translation: X:91.42, Y:-38.54, Z:-0.15 [[ 7.49919791e-01 6.61526466e-01 -1.74389767e-03 9.14217796e+01] [-6.61524496e-01 7.49921817e-01 1.61562853e-03 -3.85415191e+01] [ 2.37656794e-03 -5.79607822e-05 9.99997174e-01 -1.52796784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857628 meters 0.02064958852048477 Centerline is valid? [True, True] Translation: X:91.45, Y:-38.56, Z:-0.15 [[ 7.48718986e-01 6.62885134e-01 -1.78276203e-03 9.14473932e+01] [-6.62883077e-01 7.48721107e-01 1.65228726e-03 -3.85615293e+01] [ 2.43006822e-03 -5.53360626e-05 9.99997046e-01 -1.53147432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.887628 meters 0.014644371956182782 Centerline is valid? [True, True] Translation: X:91.48, Y:-38.57, Z:-0.15 [[ 7.46363104e-01 6.65535573e-01 -2.12559741e-03 9.14794493e+01] [-6.65532657e-01 7.46366128e-01 1.97097149e-03 -3.85742219e+01] [ 2.89822555e-03 -5.64059073e-05 9.99995799e-01 -1.51949250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91762800000001 meters 0.013847414235880973 Centerline is valid? [True, True] Translation: X:91.50, Y:-38.59, Z:-0.15 [[ 7.45189446e-01 6.66849403e-01 -2.13604065e-03 9.15049956e+01] [-6.66846461e-01 7.45192506e-01 1.98163873e-03 -3.85944661e+01] [ 2.91321609e-03 -5.22851191e-05 9.99995755e-01 -1.52425268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94762800000001 meters 0.014451756026676503 Centerline is valid? [True, True] Translation: X:91.53, Y:-38.62, Z:-0.15 [[ 7.43961951e-01 6.68216025e-01 -2.82137999e-03 9.15282871e+01] [-6.68210897e-01 7.43967298e-01 2.61855821e-03 -3.86157128e+01] [ 3.84877700e-03 -6.28308245e-05 9.99992591e-01 -1.53925920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97762800000001 meters 0.01380591962428265 Centerline is valid? [True, True] Translation: X:91.55, Y:-38.64, Z:-0.15 [[ 7.43746144e-01 6.68455423e-01 -3.00344350e-03 9.15537053e+01] [-6.68449607e-01 7.43752206e-01 2.78911330e-03 -3.86370770e+01] [ 4.09821564e-03 -6.67416345e-05 9.99991600e-01 -1.54318572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00762800000001 meters 0.014004758783292945 Centerline is valid? [True, True] Translation: X:91.58, Y:-38.66, Z:-0.15 [[ 7.43952643e-01 6.68224368e-01 -3.26482352e-03 9.15772786e+01] [-6.68217486e-01 7.43959803e-01 3.03345930e-03 -3.86596580e+01] [ 4.45592888e-03 -7.51378982e-05 9.99990069e-01 -1.54711552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03762800000001 meters 0.014870679184219221 Centerline is valid? [True, True] Translation: X:91.60, Y:-38.68, Z:-0.15 [[ 7.45449263e-01 6.66556522e-01 -2.79275136e-03 9.15976664e+01] [-6.66551473e-01 7.45454491e-01 2.59542333e-03 -3.86826492e+01] [ 3.81186539e-03 -7.32438759e-05 9.99992732e-01 -1.54682061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06762800000001 meters 0.015575686323521108 Centerline is valid? [True, True] Translation: X:91.62, Y:-38.71, Z:-0.15 [[ 7.46660063e-01 6.65201006e-01 -2.52412462e-03 9.16186212e+01] [-6.65196872e-01 7.46664326e-01 2.34635670e-03 -3.87052779e+01] [ 3.44547264e-03 -7.28910391e-05 9.99994062e-01 -1.54199267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09762800000001 meters 0.015446154639505603 Centerline is valid? [True, True] Translation: X:91.64, Y:-38.73, Z:-0.15 [[ 7.47943794e-01 6.63759136e-01 -1.97249261e-03 9.16412181e+01] [-6.63756603e-01 7.47946392e-01 1.83474277e-03 -3.87275069e+01] [ 2.69314601e-03 -6.30294773e-05 9.99996371e-01 -1.53426573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12762800000002 meters 0.016300973191165948 Centerline is valid? [True, True] Translation: X:91.66, Y:-38.75, Z:-0.15 [[ 7.49322488e-01 6.62203460e-01 -1.54504984e-03 9.16630040e+01] [-6.62201901e-01 7.49324079e-01 1.43794138e-03 -3.87513749e+01] [ 2.10995280e-03 -5.43468688e-05 9.99997773e-01 -1.52863055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.157628 meters 0.019307622215872504 Centerline is valid? [True, True] Translation: X:91.68, Y:-38.78, Z:-0.15 [[ 7.51653237e-01 6.59558452e-01 2.44510910e-04 9.16810294e+01] [-6.59558413e-01 7.51653277e-01 -2.27155887e-04 -3.87775248e+01] [-3.33610012e-04 9.47323026e-06 9.99999944e-01 -1.50276745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.187628 meters 0.018442945732131354 Centerline is valid? [True, True] Translation: X:91.70, Y:-38.80, Z:-0.15 [[ 7.52487498e-01 6.58605793e-01 9.87025613e-04 9.17049736e+01] [-6.58605154e-01 7.52488145e-01 -9.18685445e-04 -3.87986012e+01] [-1.34777663e-03 4.12391566e-05 9.99999091e-01 -1.49224322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.217628 meters 0.01855021244925658 Centerline is valid? [True, True] Translation: X:91.73, Y:-38.82, Z:-0.15 [[ 7.52502568e-01 6.58587018e-01 1.73932367e-03 9.17286993e+01] [-6.58585029e-01 7.52504574e-01 -1.62005269e-03 -3.88217759e+01] [-2.37579469e-03 7.36012749e-05 9.99997175e-01 -1.47997690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.247628 meters 0.018637961003157347 Centerline is valid? [True, True] Translation: X:91.75, Y:-38.84, Z:-0.15 [[ 7.51713893e-01 6.59478141e-01 3.84761882e-03 9.17506035e+01] [-6.59468412e-01 7.51723723e-01 -3.58563802e-03 -3.88441984e+01] [-5.25699625e-03 1.57990840e-04 9.99986169e-01 -1.45111024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.277628 meters 0.018325886495818677 Centerline is valid? [True, True] Translation: X:91.77, Y:-38.87, Z:-0.14 [[ 7.50688765e-01 6.60639836e-01 4.62443155e-03 9.17746234e+01] [-6.60625798e-01 7.50702987e-01 -4.31042452e-03 -3.88662368e+01] [-6.31921272e-03 1.80768474e-04 9.99980017e-01 -1.43951233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30762800000001 meters 0.016251214864261034 Centerline is valid? [True, True] Translation: X:91.80, Y:-38.89, Z:-0.14 [[ 7.49141650e-01 6.62392807e-01 4.74961012e-03 9.18009447e+01] [-6.62378022e-01 7.49156686e-01 -4.42893980e-03 -3.88854706e+01] [-6.49190004e-03 1.71865914e-04 9.99978913e-01 -1.44616148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33762800000001 meters 0.014869277779979826 Centerline is valid? [True, True] Translation: X:91.83, Y:-38.90, Z:-0.15 [[ 7.44819920e-01 6.67251974e-01 4.25318415e-03 9.18260336e+01] [-6.67240191e-01 7.44832054e-01 -3.96707589e-03 -3.89029001e+01] [-5.81494710e-03 1.16861738e-04 9.99983086e-01 -1.46355428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36762800000001 meters 0.013705623788310998 Centerline is valid? [True, True] Translation: X:91.85, Y:-38.92, Z:-0.15 [[ 7.42204294e-01 6.70163303e-01 3.73257334e-03 9.18520821e+01] [-6.70154262e-01 7.42213675e-01 -3.48210146e-03 -3.89226788e+01] [-5.10394359e-03 8.30307229e-05 9.99986971e-01 -1.47753114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39762800000001 meters 0.013003683633128907 Centerline is valid? [True, True] Translation: X:91.88, Y:-38.94, Z:-0.15 [[ 7.39128143e-01 6.73558562e-01 2.90717349e-03 9.18768712e+01] [-6.73553099e-01 7.39133859e-01 -2.71306361e-03 -3.89425443e+01] [-3.97619759e-03 4.71659552e-05 9.99992094e-01 -1.49021845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42762800000001 meters 0.012266367025105956 Centerline is valid? [True, True] Translation: X:91.90, Y:-38.96, Z:-0.15 [[ 7.35974244e-01 6.77007003e-01 1.85199235e-03 9.19023776e+01] [-6.77004795e-01 7.35976574e-01 -1.72900044e-03 -3.89620154e+01] [-2.53356840e-03 1.86920917e-05 9.99996790e-01 -1.50474968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45762800000001 meters 0.011913956514577455 Centerline is valid? [True, True] Translation: X:91.93, Y:-38.98, Z:-0.15 [[ 7.33059484e-01 6.80163942e-01 8.96941228e-04 9.19272163e+01] [-6.80163426e-01 7.33060033e-01 -8.37564906e-04 -3.89814665e+01] [-1.22719321e-03 3.91827949e-06 9.99999247e-01 -1.51809176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48762800000002 meters 0.011964365925609295 Centerline is valid? [True, True] Translation: X:91.95, Y:-39.00, Z:-0.15 [[ 7.27624618e-01 6.85974317e-01 -1.28483056e-03 9.19547275e+01] [-6.85973265e-01 7.27625753e-01 1.20139539e-03 -3.90006887e+01] [ 1.75900219e-03 7.19454722e-06 9.99998453e-01 -1.54235102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51762800000002 meters 0.012332223876913842 Centerline is valid? [True, True] Translation: X:91.98, Y:-39.02, Z:-0.16 [[ 7.25190540e-01 6.88544771e-01 -2.18588641e-03 9.19792511e+01] [-6.88541738e-01 7.25193834e-01 2.04380698e-03 -3.90204471e+01] [ 2.99244396e-03 2.29245417e-05 9.99995522e-01 -1.55769707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.547628 meters 0.012923505112037308 Centerline is valid? [True, True] Translation: X:92.00, Y:-39.04, Z:-0.16 [[ 7.21538658e-01 6.92364013e-01 -3.74687846e-03 9.20034249e+01] [-6.92355143e-01 7.21548384e-01 3.50511450e-03 -3.90410489e+01] [ 5.13036924e-03 6.50949650e-05 9.99986837e-01 -1.57858582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.577628 meters 0.013416546594850755 Centerline is valid? [True, True] Translation: X:92.03, Y:-39.06, Z:-0.16 [[ 7.20423648e-01 6.93521762e-01 -4.16342639e-03 9.20261885e+01] [-6.93510820e-01 7.20435674e-01 3.89648432e-03 -3.90627824e+01] [ 5.70177756e-03 8.02618041e-05 9.99983742e-01 -1.57946744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.607628 meters 0.013320352926739137 Centerline is valid? [True, True] Translation: X:92.05, Y:-39.09, Z:-0.16 [[ 7.19958442e-01 6.94005072e-01 -4.09887231e-03 9.20489131e+01] [-6.93994463e-01 7.19970105e-01 3.83835769e-03 -3.90870619e+01] [ 5.61490524e-03 8.11366644e-05 9.99984233e-01 -1.57391759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.637628 meters 0.013355538481259923 Centerline is valid? [True, True] Translation: X:92.07, Y:-39.11, Z:-0.16 [[ 7.20094067e-01 6.93866297e-01 -3.75445224e-03 9.20705958e+01] [-6.93857386e-01 7.20103851e-01 3.51737060e-03 -3.91098456e+01] [ 5.14418043e-03 7.22167147e-05 9.99986766e-01 -1.56684998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66762800000001 meters 0.012625240076548151 Centerline is valid? [True, True] Translation: X:92.09, Y:-39.13, Z:-0.16 [[ 7.22860934e-01 6.90987468e-01 -2.89633212e-03 9.20906828e+01] [-6.90982136e-01 7.22866736e-01 2.71488798e-03 -3.91346619e+01] [ 3.96961571e-03 3.88272876e-05 9.99992120e-01 -1.56117358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69762800000001 meters 0.01224265459896102 Centerline is valid? [True, True] Translation: X:92.11, Y:-39.16, Z:-0.16 [[ 7.24496781e-01 6.89275195e-01 -2.02982789e-03 9.21128884e+01] [-6.89272566e-01 7.24499624e-01 1.90372364e-03 -3.91583109e+01] [ 2.78279903e-03 1.98630332e-05 9.99996128e-01 -1.55121185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72762800000001 meters 0.012037900827377232 Centerline is valid? [True, True] Translation: X:92.14, Y:-39.18, Z:-0.15 [[ 7.25804086e-01 6.87900323e-01 -1.25457583e-03 9.21353105e+01] [-6.87899316e-01 7.25805170e-01 1.17738843e-03 -3.91811444e+01] [ 1.72050351e-03 8.46852413e-06 9.99998520e-01 -1.53917364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75762800000001 meters 0.011877803171260363 Centerline is valid? [True, True] Translation: X:92.16, Y:-39.20, Z:-0.15 [[ 7.27457512e-01 6.86152729e-01 -2.44105173e-05 9.21587411e+01] [-6.86152729e-01 7.27457512e-01 2.33897226e-05 -3.92023711e+01] [ 3.38065362e-05 -2.65686312e-07 9.99999999e-01 -1.52460741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78762800000001 meters 0.011828043489144074 Centerline is valid? [True, True] Translation: X:92.18, Y:-39.22, Z:-0.15 [[ 7.27522194e-01 6.86083935e-01 5.39350211e-04 9.21835294e+01] [-6.86083749e-01 7.27522394e-01 -5.05945175e-04 -3.92241893e+01] [-7.39510214e-04 -1.95307071e-06 9.99999727e-01 -1.51620695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81762800000001 meters 0.011887307879053977 Centerline is valid? [True, True] Translation: X:92.21, Y:-39.25, Z:-0.15 [[ 7.26998364e-01 6.86637681e-01 1.43970591e-03 9.22096039e+01] [-6.86636350e-01 7.26999790e-01 -1.35222570e-03 -3.92450549e+01] [-1.97515502e-03 -5.48853727e-06 9.99998049e-01 -1.50476632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84762800000001 meters 0.011801605074838016 Centerline is valid? [True, True] Translation: X:92.23, Y:-39.27, Z:-0.15 [[ 7.26543273e-01 6.87118688e-01 1.66774967e-03 9.22337611e+01] [-6.87116900e-01 7.26545187e-01 -1.56736429e-03 -3.92661883e+01] [-2.28866079e-03 -7.18100405e-06 9.99997381e-01 -1.50286512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87762800000002 meters 0.011811851552817805 Centerline is valid? [True, True] Translation: X:92.26, Y:-39.29, Z:-0.15 [[ 7.26130418e-01 6.87555556e-01 1.40500895e-03 9.22579331e+01] [-6.87554287e-01 7.26131777e-01 -1.32106463e-03 -3.92881480e+01] [-1.92852698e-03 -6.75471421e-06 9.99998140e-01 -1.50428382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90762800000002 meters 0.011919476048004678 Centerline is valid? [True, True] Translation: X:92.28, Y:-39.31, Z:-0.15 [[ 7.25957032e-01 6.87738799e-01 1.31635640e-03 9.22821760e+01] [-6.87737684e-01 7.25958225e-01 -1.23836809e-03 -3.93102787e+01] [-1.80729354e-03 -6.30587670e-06 9.99998367e-01 -1.51238566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.937628 meters 0.01187655230722767 Centerline is valid? [True, True] Translation: X:92.31, Y:-39.33, Z:-0.15 [[ 7.26687956e-01 6.86967633e-01 2.92212971e-04 9.23061300e+01] [-6.86967579e-01 7.26688015e-01 -2.74631899e-04 -3.93326746e+01] [-4.01010889e-04 -1.16914351e-06 9.99999920e-01 -1.53502718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.967628 meters 0.011747294035018238 Centerline is valid? [True, True] Translation: X:92.33, Y:-39.36, Z:-0.15 [[ 7.27433684e-01 6.86177840e-01 -4.55224405e-04 9.23293743e+01] [-6.86177705e-01 7.27433827e-01 4.29467497e-04 -3.93557013e+01] [ 6.25836710e-04 -4.42862849e-08 9.99999804e-01 -1.54859082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.997628 meters 0.011799126576401288 Centerline is valid? [True, True] Translation: X:92.35, Y:-39.38, Z:-0.16 [[ 7.28868782e-01 6.84651697e-01 -1.53385649e-03 9.23520406e+01] [-6.84650169e-01 7.28870396e-01 1.44658362e-03 -3.93790454e+01] [ 2.10838852e-03 -4.21453723e-06 9.99997777e-01 -1.56440700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.027628 meters 0.012349100962067323 Centerline is valid? [True, True] Translation: X:92.37, Y:-39.40, Z:-0.16 [[ 7.33630739e-01 6.79539877e-01 -3.39044432e-03 9.23726036e+01] [-6.79532351e-01 7.33638572e-01 3.19840213e-03 -3.94038633e+01] [ 4.66080251e-03 -4.25295170e-05 9.99989137e-01 -1.58385010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05762800000001 meters 0.012349100962067323 Centerline is valid? [True, True] Translation: X:92.40, Y:-39.43, Z:-0.16 [[ 7.33438089e-01 6.79747807e-01 -3.38950287e-03 9.23961262e+01] [-6.79740279e-01 7.33445920e-01 3.19939990e-03 -3.94261416e+01] [ 4.66080211e-03 -4.25801231e-05 9.99989137e-01 -1.58431382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08762800000001 meters 0.013133022976435213 Centerline is valid? [True, True] Translation: X:92.42, Y:-39.45, Z:-0.16 [[ 7.36584650e-01 6.76334556e-01 -3.82396889e-03 9.24172491e+01] [-6.76324919e-01 7.36594572e-01 3.61113426e-03 -3.94505581e+01] [ 5.25904961e-03 -7.36606196e-05 9.99986168e-01 -1.59030897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11762800000001 meters 0.014373650651169266 Centerline is valid? [True, True] Translation: X:92.44, Y:-39.47, Z:-0.16 [[ 7.40027332e-01 6.72560570e-01 -4.67201276e-03 9.24370442e+01] [-6.72546098e-01 7.40042069e-01 4.41383646e-03 -3.94749648e+01] [ 6.42605836e-03 -1.24215665e-04 9.99979345e-01 -1.59076383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14762800000001 meters 0.015859544103918332 Centerline is valid? [True, True] Translation: X:92.46, Y:-39.50, Z:-0.16 [[ 7.43978708e-01 6.68187166e-01 -4.64690856e-03 9.24573938e+01] [-6.68172762e-01 7.43993203e-01 4.39036785e-03 -3.94998172e+01] [ 6.39085583e-03 -1.61402480e-04 9.99979565e-01 -1.59054076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17762800000001 meters 0.017890832833203283 Centerline is valid? [True, True] Translation: X:92.48, Y:-39.52, Z:-0.16 [[ 7.49936543e-01 6.61500628e-01 -3.47862035e-03 9.24783469e+01] [-6.61492475e-01 7.49944593e-01 3.28843634e-03 -3.95240836e+01] [ 4.78407523e-03 -1.65037392e-04 9.99988543e-01 -1.57554151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20762800000001 meters 0.019700642366579695 Centerline is valid? [True, True] Translation: X:92.50, Y:-39.55, Z:-0.16 [[ 7.52264598e-01 6.58854758e-01 -2.89522591e-03 9.24991003e+01] [-6.58849088e-01 7.52270154e-01 2.73775737e-03 -3.95468547e+01] [ 3.98177651e-03 -1.52001001e-04 9.99992061e-01 -1.57413392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23762800000002 meters 0.022422151386189533 Centerline is valid? [True, True] Translation: X:92.52, Y:-39.57, Z:-0.16 [[ 7.56452817e-01 6.54045806e-01 -1.79408223e-03 9.25191432e+01] [-6.54043613e-01 7.56454937e-01 1.69734599e-03 -3.95697331e+01] [ 2.46728439e-03 -1.10554136e-04 9.99996950e-01 -1.56762096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26762800000002 meters 0.024260959417569603 Centerline is valid? [True, True] Translation: X:92.54, Y:-39.59, Z:-0.16 [[ 7.57930644e-01 6.52333367e-01 -1.52202270e-03 9.25402207e+01] [-6.52331784e-01 7.57932166e-01 1.44041962e-03 -3.95922828e+01] [ 2.09322374e-03 -9.88743861e-05 9.99997804e-01 -1.56082506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.297628 meters 0.02269790262508582 Centerline is valid? [True, True] Translation: X:92.57, Y:-39.61, Z:-0.16 [[ 7.58750040e-01 6.51381017e-01 -1.07176207e-03 9.25658139e+01] [-6.51380230e-01 7.58750793e-01 1.01504351e-03 -3.96117793e+01] [ 1.47438039e-03 -7.20396775e-05 9.99998911e-01 -1.55213542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.327628 meters 0.021754875547306218 Centerline is valid? [True, True] Translation: X:92.59, Y:-39.63, Z:-0.15 [[ 7.59103821e-01 6.50969575e-01 -2.98230181e-05 9.25927596e+01] [-6.50969575e-01 7.59103822e-01 2.87310074e-05 -3.96296467e+01] [ 4.13417787e-05 -2.39594009e-06 9.99999999e-01 -1.54135625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357628 meters 0.021119638112287762 Centerline is valid? [True, True] Translation: X:92.62, Y:-39.65, Z:-0.15 [[ 7.58344194e-01 6.51853871e-01 7.84051546e-04 9.26189640e+01] [-6.51853450e-01 7.58344597e-01 -7.42459416e-04 -3.96491531e+01] [-1.07855630e-03 5.19530821e-05 9.99999417e-01 -1.53484027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.387628 meters 0.020985229098211666 Centerline is valid? [True, True] Translation: X:92.64, Y:-39.67, Z:-0.15 [[ 7.57288854e-01 6.53078434e-01 1.46657429e-03 9.26447999e+01] [-6.53076962e-01 7.57290268e-01 -1.38989246e-03 -3.96688673e+01] [-2.01833123e-03 9.47641872e-05 9.99997959e-01 -1.53028561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41762800000001 meters 0.020431426375258736 Centerline is valid? [True, True] Translation: X:92.67, Y:-39.69, Z:-0.15 [[ 7.55970086e-01 6.54603590e-01 1.83531647e-03 9.26712951e+01] [-6.54601287e-01 7.55972306e-01 -1.74012863e-03 -3.96876918e+01] [-2.52654287e-03 1.14084664e-04 9.99996802e-01 -1.52941947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44762800000001 meters 0.01969388777827684 Centerline is valid? [True, True] Translation: X:92.70, Y:-39.70, Z:-0.15 [[ 7.52359885e-01 6.58747066e-01 2.62796698e-03 9.26990787e+01] [-6.58742366e-01 7.52364461e-01 -2.49255419e-03 -3.97034534e+01] [-3.61915172e-03 1.44144594e-04 9.99993440e-01 -1.52936678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47762800000001 meters 0.018255956087045232 Centerline is valid? [True, True] Translation: X:92.73, Y:-39.72, Z:-0.15 [[ 7.50425684e-01 6.60948275e-01 2.94466848e-03 9.27254266e+01] [-6.60942388e-01 7.50431446e-01 -2.79355224e-03 -3.97216785e+01] [-4.05616536e-03 1.50097132e-04 9.99991762e-01 -1.53021129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50762800000001 meters 0.017768508791671824 Centerline is valid? [True, True] Translation: X:92.75, Y:-39.74, Z:-0.15 [[ 7.47036410e-01 6.64777434e-01 2.75049673e-03 9.27522376e+01] [-6.64772322e-01 7.47041464e-01 -2.60977993e-03 -3.97371337e+01] [-3.78965791e-03 1.21146525e-04 9.99992812e-01 -1.53509888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53762800000001 meters 0.01636793724371574 Centerline is valid? [True, True] Translation: X:92.78, Y:-39.75, Z:-0.16 [[ 7.45268906e-01 6.66760247e-01 2.24305811e-03 9.27796000e+01] [-6.66756854e-01 7.45272276e-01 -2.12903697e-03 -3.97543781e+01] [-3.09124624e-03 9.11306820e-05 9.99995218e-01 -1.55096544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56762800000001 meters 0.016168511621841408 Centerline is valid? [True, True] Translation: X:92.80, Y:-39.77, Z:-0.16 [[ 7.43505942e-01 6.68727236e-01 1.67275369e-03 9.28047491e+01] [-6.68725353e-01 7.43507821e-01 -1.58836352e-03 -3.97724873e+01] [-2.30588740e-03 6.23449185e-05 9.99997339e-01 -1.56841511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59762800000001 meters 0.01590563582243044 Centerline is valid? [True, True] Translation: X:92.83, Y:-39.79, Z:-0.16 [[ 7.41911858e-01 6.70496823e-01 8.97618264e-04 9.28303389e+01] [-6.70496282e-01 7.41912400e-01 -8.52511797e-04 -3.97914563e+01] [-1.23756057e-03 3.06389027e-05 9.99999234e-01 -1.58422383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62762800000002 meters 0.015245947711408308 Centerline is valid? [True, True] Translation: X:92.86, Y:-39.81, Z:-0.16 [[ 7.39292782e-01 6.73384094e-01 2.10096553e-04 9.28570393e+01] [-6.73384065e-01 7.39292812e-01 -1.99376660e-04 -3.98081960e+01] [-2.89579943e-04 5.92205511e-06 9.99999958e-01 -1.60327788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65762800000002 meters 0.014628252738858044 Centerline is valid? [True, True] Translation: X:92.88, Y:-39.83, Z:-0.16 [[ 7.38391073e-01 6.74372691e-01 3.11255970e-04 9.28821924e+01] [-6.74372627e-01 7.38391138e-01 -2.95548336e-04 -3.98281679e+01] [-4.29138377e-04 8.32774673e-06 9.99999908e-01 -1.60347023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.687628 meters 0.014526574776132294 Centerline is valid? [True, True] Translation: X:92.91, Y:-39.85, Z:-0.16 [[ 7.37816150e-01 6.75001522e-01 5.23343761e-04 9.29064743e+01] [-6.75001339e-01 7.37816335e-01 -4.97504367e-04 -3.98496739e+01] [-7.21947781e-04 1.38090175e-05 9.99999739e-01 -1.60267342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.717628 meters 0.014488208374951586 Centerline is valid? [True, True] Translation: X:92.93, Y:-39.87, Z:-0.16 [[ 7.37517302e-01 6.75327952e-01 6.22206122e-04 9.29315275e+01] [-6.75327693e-01 7.37517564e-01 -5.91833772e-04 -3.98714763e+01] [-8.58569833e-04 1.62946218e-05 9.99999631e-01 -1.60271255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.747628 meters 0.014399523451970174 Centerline is valid? [True, True] Translation: X:92.96, Y:-39.89, Z:-0.16 [[ 7.36645935e-01 6.76278433e-01 4.97547481e-04 9.29562445e+01] [-6.76278267e-01 7.36646103e-01 -4.73557591e-04 -3.98900256e+01] [-6.86773198e-04 1.23637263e-05 9.99999764e-01 -1.61175670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.777628 meters 0.014163128668275175 Centerline is valid? [True, True] Translation: X:92.98, Y:-39.91, Z:-0.16 [[ 7.35711338e-01 6.77295113e-01 3.97099145e-04 9.29808894e+01] [-6.77295007e-01 7.35711445e-01 -3.77877398e-04 -3.99104266e+01] [-5.48084901e-04 9.05541759e-06 9.99999850e-01 -1.61622585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80762800000001 meters 0.013811483037632435 Centerline is valid? [True, True] Translation: X:93.01, Y:-39.93, Z:-0.16 [[ 7.34365084e-01 6.78754175e-01 8.32739840e-04 9.30059902e+01] [-6.78753712e-01 7.34365556e-01 -7.93334172e-04 -3.99309986e+01] [-1.15001434e-03 1.73716585e-05 9.99999339e-01 -1.61709203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83762800000001 meters 0.012845264153455247 Centerline is valid? [True, True] Translation: X:93.03, Y:-39.95, Z:-0.16 [[ 7.30807139e-01 6.82583709e-01 6.37770833e-04 9.30325751e+01] [-6.82583438e-01 7.30807417e-01 -6.07770234e-04 -3.99490471e+01] [-8.80941716e-04 8.83101768e-06 9.99999612e-01 -1.62041240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86762800000001 meters 0.01244488246009111 Centerline is valid? [True, True] Translation: X:93.06, Y:-39.97, Z:-0.16 [[ 7.28483901e-01 6.85062906e-01 1.47697521e-04 9.30577672e+01] [-6.85062891e-01 7.28483916e-01 -1.40439597e-04 -3.99688986e+01] [-2.03805226e-04 1.12589447e-06 9.99999979e-01 -1.62511062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89762800000001 meters 0.012215668361980646 Centerline is valid? [True, True] Translation: X:93.08, Y:-39.99, Z:-0.16 [[ 7.26092688e-01 6.87596786e-01 -2.59893827e-04 9.30834114e+01] [-6.87596741e-01 7.26092735e-01 2.48610454e-04 -3.99890588e+01] [ 3.59650769e-04 -1.81208466e-06 9.99999935e-01 -1.63510095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92762800000001 meters 0.0120583117579509 Centerline is valid? [True, True] Translation: X:93.11, Y:-40.01, Z:-0.17 [[ 7.21508003e-01 6.92404986e-01 -1.23989293e-03 9.31108798e+01] [-6.92403972e-01 7.21509068e-01 1.18447076e-03 -4.00071870e+01] [ 1.71472746e-03 3.90165411e-06 9.99998530e-01 -1.66079218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95762800000001 meters 0.012273551571601876 Centerline is valid? [True, True] Translation: X:93.14, Y:-40.03, Z:-0.17 [[ 7.19215398e-01 6.94785077e-01 -1.70540506e-03 9.31357953e+01] [-6.94783165e-01 7.19217420e-01 1.62998964e-03 -4.00275980e+01] [ 2.35904950e-03 1.25730761e-05 9.99997217e-01 -1.67122488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98762800000002 meters 0.012615809412996446 Centerline is valid? [True, True] Translation: X:93.16, Y:-40.05, Z:-0.17 [[ 7.17087791e-01 6.96979724e-01 -2.08917338e-03 9.31601957e+01] [-6.96976861e-01 7.17090834e-01 1.99767365e-03 -4.00481686e+01] [ 2.89046511e-03 2.35981134e-05 9.99995822e-01 -1.67853295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01762800000002 meters 0.013111828561243268 Centerline is valid? [True, True] Translation: X:93.18, Y:-40.07, Z:-0.17 [[ 7.14173012e-01 6.99963247e-01 -2.89189650e-03 9.31841833e+01] [-6.99957781e-01 7.14178865e-01 2.76643710e-03 -4.00696961e+01] [ 4.00173565e-03 4.84907445e-05 9.99991992e-01 -1.68402292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.047628 meters 0.013533609067475985 Centerline is valid? [True, True] Translation: X:93.21, Y:-40.09, Z:-0.17 [[ 7.13295833e-01 7.00854049e-01 -3.55769165e-03 9.32063280e+01] [-7.00845782e-01 7.13304702e-01 3.40476600e-03 -4.00910929e+01] [ 4.92396222e-03 6.47877852e-05 9.99987875e-01 -1.68778122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.077628 meters 0.01348198797077189 Centerline is valid? [True, True] Translation: X:93.23, Y:-40.11, Z:-0.17 [[ 7.12836372e-01 7.01318758e-01 -4.03804243e-03 9.32290943e+01] [-7.01308103e-01 7.12847806e-01 3.86668497e-03 -4.01148826e+01] [ 5.59028839e-03 7.55981862e-05 9.99984371e-01 -1.68619860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.107628 meters 0.013433637562433553 Centerline is valid? [True, True] Translation: X:93.25, Y:-40.14, Z:-0.17 [[ 7.13186746e-01 7.00958138e-01 -4.72800223e-03 9.32510699e+01] [-7.00943506e-01 7.13202413e-01 4.52981604e-03 -4.01399132e+01] [ 6.54723401e-03 8.34576988e-05 9.99978563e-01 -1.69278947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.137628 meters 0.013497567518682438 Centerline is valid? [True, True] Translation: X:93.27, Y:-40.16, Z:-0.17 [[ 7.13643898e-01 7.00488460e-01 -5.32019848e-03 9.32734156e+01] [-7.00469901e-01 7.13663724e-01 5.09974491e-03 -4.01632606e+01] [ 7.36914512e-03 8.72370627e-05 9.99972844e-01 -1.70333245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16762800000001 meters 0.013295923008749603 Centerline is valid? [True, True] Translation: X:93.30, Y:-40.19, Z:-0.17 [[ 7.14020229e-01 7.00100190e-01 -5.90229102e-03 9.32957208e+01] [-7.00077309e-01 7.14044618e-01 5.66083787e-03 -4.01880813e+01] [ 8.17765280e-03 9.01072610e-05 9.99966558e-01 -1.70499511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19762800000001 meters 0.013141261525866641 Centerline is valid? [True, True] Translation: X:93.31, Y:-40.21, Z:-0.17 [[ 7.14980825e-01 6.99115970e-01 -6.26736745e-03 9.33142654e+01] [-6.99090122e-01 7.15008289e-01 6.01230481e-03 -4.02135527e+01] [ 8.68451799e-03 8.27720215e-05 9.99962285e-01 -1.70314911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22762800000001 meters 0.013006218238412396 Centerline is valid? [True, True] Translation: X:93.34, Y:-40.24, Z:-0.17 [[ 7.15659531e-01 6.98419037e-01 -6.50264075e-03 9.33358045e+01] [-6.98391149e-01 7.15689069e-01 6.24172284e-03 -4.02391374e+01] [ 9.01320696e-03 7.44383023e-05 9.99959377e-01 -1.69689787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25762800000001 meters 0.012856293019839912 Centerline is valid? [True, True] Translation: X:93.36, Y:-40.26, Z:-0.17 [[ 7.16549360e-01 6.97506999e-01 -6.40324851e-03 9.33567556e+01] [-6.97479895e-01 7.16577967e-01 6.14922600e-03 -4.02639512e+01] [ 8.87755497e-03 5.99131473e-05 9.99960592e-01 -1.69403348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28762800000001 meters 0.012715657051351466 Centerline is valid? [True, True] Translation: X:93.38, Y:-40.29, Z:-0.17 [[ 7.17736605e-01 6.96286293e-01 -6.28990125e-03 9.33768592e+01] [-6.96260081e-01 7.17764164e-01 6.04181826e-03 -4.02879672e+01] [ 8.72150096e-03 4.29730257e-05 9.99961966e-01 -1.69159732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31762800000001 meters 0.012516125613276478 Centerline is valid? [True, True] Translation: X:93.39, Y:-40.31, Z:-0.17 [[ 7.20344659e-01 6.93593629e-01 -5.60791701e-03 9.33937184e+01] [-6.93572691e-01 7.20366488e-01 5.38930386e-03 -4.03149224e+01] [ 7.77774231e-03 7.34183655e-06 9.99969753e-01 -1.68563911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34762800000001 meters 0.012602650348755963 Centerline is valid? [True, True] Translation: X:93.41, Y:-40.34, Z:-0.17 [[ 7.21750882e-01 6.92133977e-01 -5.12069841e-03 9.34144388e+01] [-6.92116463e-01 7.21769047e-01 4.92381974e-03 -4.03409270e+01] [ 7.10390455e-03 -9.65156784e-06 9.99974767e-01 -1.67723819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37762800000002 meters 0.012661997947160197 Centerline is valid? [True, True] Translation: X:93.44, Y:-40.37, Z:-0.17 [[ 7.23143291e-01 6.90680486e-01 -4.92410199e-03 9.34350319e+01] [-6.90664239e-01 7.23160055e-01 4.73738750e-03 -4.03669946e+01] [ 6.83293497e-03 -2.49088282e-05 9.99976655e-01 -1.66340462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40762800000002 meters 0.013378935836458439 Centerline is valid? [True, True] Translation: X:93.45, Y:-40.40, Z:-0.16 [[ 7.26384462e-01 6.87275801e-01 -4.19368811e-03 9.34504021e+01] [-6.87263950e-01 7.26396566e-01 4.03641280e-03 -4.03957206e+01] [ 5.82040948e-03 -4.98168880e-05 9.99983060e-01 -1.64543794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.437628 meters 0.01374746653788411 Centerline is valid? [True, True] Translation: X:93.47, Y:-40.42, Z:-0.16 [[ 7.27673637e-01 6.85911279e-01 -4.09823933e-03 9.34706457e+01] [-6.85899929e-01 7.27685175e-01 3.94640593e-03 -4.04208274e+01] [ 5.68911234e-03 -6.07134899e-05 9.99983815e-01 -1.63375110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.467628 meters 0.01365877419576872 Centerline is valid? [True, True] Translation: X:93.49, Y:-40.44, Z:-0.16 [[ 7.29068974e-01 6.84428386e-01 -4.02679631e-03 9.34918925e+01] [-6.84417395e-01 7.29080091e-01 3.87954742e-03 -4.04444765e+01] [ 5.59112940e-03 -7.24482212e-05 9.99984367e-01 -1.62541651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.497628 meters 0.014788196086509286 Centerline is valid? [True, True] Translation: X:93.51, Y:-40.47, Z:-0.16 [[ 7.30263165e-01 6.83154038e-01 -4.03366439e-03 9.35108183e+01] [-6.83142980e-01 7.30274300e-01 3.88788139e-03 -4.04695467e+01] [ 5.60170331e-03 -8.36070489e-05 9.99984307e-01 -1.63398615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.527628 meters 0.014579903979818754 Centerline is valid? [True, True] Translation: X:93.53, Y:-40.49, Z:-0.16 [[ 7.32234424e-01 6.81039466e-01 -4.24188820e-03 9.35313963e+01] [-6.81027189e-01 7.32246703e-01 4.09060706e-03 -4.04941697e+01] [ 5.89197350e-03 -1.06442109e-04 9.99982637e-01 -1.63085271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55762800000001 meters 0.016896767459627256 Centerline is valid? [True, True] Translation: X:93.55, Y:-40.52, Z:-0.16 [[ 7.33132336e-01 6.80069708e-01 -4.70846068e-03 9.35489779e+01] [-6.80054549e-01 7.33147445e-01 4.54250628e-03 -4.05204163e+01] [ 6.54121683e-03 -1.28248137e-04 9.99978598e-01 -1.64839371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58762800000001 meters 0.015820131564172092 Centerline is valid? [True, True] Translation: X:93.57, Y:-40.54, Z:-0.16 [[ 7.34885368e-01 6.78170915e-01 -5.26368714e-03 9.35703999e+01] [-6.78151903e-01 7.34904200e-01 5.08059044e-03 -4.05448379e+01] [ 7.31381446e-03 -1.64072122e-04 9.99973240e-01 -1.63464775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61762800000001 meters 0.01592725028832255 Centerline is valid? [True, True] Translation: X:93.59, Y:-40.57, Z:-0.16 [[ 7.35967350e-01 6.76993568e-01 -5.63645187e-03 9.35922633e+01] [-6.76971713e-01 7.35988908e-01 5.44303956e-03 -4.05684113e+01] [ 7.83326883e-03 -1.90180922e-04 9.99969301e-01 -1.63501340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64762800000001 meters 0.01810577305279636 Centerline is valid? [True, True] Translation: X:93.61, Y:-40.59, Z:-0.16 [[ 7.37174579e-01 6.75678593e-01 -5.66390162e-03 9.36107924e+01] [-6.75656467e-01 7.37196308e-01 5.47198538e-03 -4.05939441e+01] [ 7.87271074e-03 -2.06956757e-04 9.99968988e-01 -1.64532542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67762800000001 meters 0.01757045761807007 Centerline is valid? [True, True] Translation: X:93.63, Y:-40.62, Z:-0.16 [[ 7.39767845e-01 6.72839048e-01 -5.58128853e-03 9.36314547e+01] [-6.72817462e-01 7.39788862e-01 5.39463059e-03 -4.06178962e+01] [ 7.75869320e-03 -2.35585860e-04 9.99969873e-01 -1.63439718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70762800000001 meters 0.01761160156084531 Centerline is valid? [True, True] Translation: X:93.65, Y:-40.64, Z:-0.16 [[ 7.40802237e-01 6.71699103e-01 -5.68856043e-03 9.36531632e+01] [-6.71676625e-01 7.40824034e-01 5.50106814e-03 -4.06414781e+01] [ 7.90928482e-03 -2.54330519e-04 9.99968689e-01 -1.62627136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73762800000002 meters 0.018495840738930514 Centerline is valid? [True, True] Translation: X:93.67, Y:-40.67, Z:-0.16 [[ 7.41524111e-01 6.70901288e-01 -5.78400779e-03 9.36730857e+01] [-6.70878004e-01 7.41546620e-01 5.59587513e-03 -4.06653174e+01] [ 8.04339125e-03 -2.69112729e-04 9.99967615e-01 -1.62528558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76762800000002 meters 0.01890080952339031 Centerline is valid? [True, True] Translation: X:93.69, Y:-40.69, Z:-0.16 [[ 7.42026763e-01 6.70343229e-01 -6.01987580e-03 9.36942480e+01] [-6.70317965e-01 7.42051125e-01 5.82690786e-03 -4.06896101e+01] [ 8.37308383e-03 -2.88490678e-04 9.99964904e-01 -1.62327862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.797628 meters 0.02000557214246476 Centerline is valid? [True, True] Translation: X:93.72, Y:-40.71, Z:-0.16 [[ 7.41625545e-01 6.70788281e-01 -5.88497673e-03 9.37150731e+01] [-6.70764140e-01 7.41648842e-01 5.69770260e-03 -4.07125124e+01] [ 8.18653831e-03 -2.78130441e-04 9.99966451e-01 -1.63018347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.827628 meters 0.017577268870742107 Centerline is valid? [True, True] Translation: X:93.74, Y:-40.73, Z:-0.16 [[ 7.40619039e-01 6.71901462e-01 -5.64494839e-03 9.37407057e+01] [-6.71879259e-01 7.40640506e-01 5.46824713e-03 -4.07319226e+01] [ 7.85500067e-03 -2.57164197e-04 9.99969116e-01 -1.62180264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857628 meters 0.01692887250502162 Centerline is valid? [True, True] Translation: X:93.76, Y:-40.75, Z:-0.16 [[ 7.37515687e-01 6.75311266e-01 -5.03047653e-03 9.37641598e+01] [-6.75293700e-01 7.37532816e-01 4.87474705e-03 -4.07521784e+01] [ 7.00211312e-03 -1.98153308e-04 9.99975465e-01 -1.61898495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.887628 meters 0.01628222723974253 Centerline is valid? [True, True] Translation: X:93.79, Y:-40.77, Z:-0.16 [[ 7.35531699e-01 6.77474114e-01 -4.68450314e-03 9.37884534e+01] [-6.77458921e-01 7.35546598e-01 4.54009416e-03 -4.07738444e+01] [ 6.52146662e-03 -1.65824733e-04 9.99978721e-01 -1.61506897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91762800000001 meters 0.016148228558218083 Centerline is valid? [True, True] Translation: X:93.81, Y:-40.80, Z:-0.16 [[ 7.33358850e-01 6.79826334e-01 -4.57732476e-03 9.38116569e+01] [-6.79811859e-01 7.33373121e-01 4.43866071e-03 -4.07953201e+01] [ 6.37440538e-03 -1.43411465e-04 9.99979673e-01 -1.61706568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94762800000001 meters 0.016148228558218083 Centerline is valid? [True, True] Translation: X:93.83, Y:-40.82, Z:-0.16 [[ 7.33175508e-01 6.80024069e-01 -4.57609828e-03 9.38348665e+01] [-6.80009590e-01 7.33189774e-01 4.43992523e-03 -4.08179397e+01] [ 6.37440449e-03 -1.43453727e-04 9.99979673e-01 -1.61752954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97762800000001 meters 0.01450003165272689 Centerline is valid? [True, True] Translation: X:93.86, Y:-40.84, Z:-0.16 [[ 7.30917419e-01 6.82450982e-01 -4.51489525e-03 9.38603568e+01] [-6.82436920e-01 7.30931353e-01 4.38266304e-03 -4.08371874e+01] [ 6.29103119e-03 -1.22233545e-04 9.99980204e-01 -1.61124887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00762800000001 meters 0.013579655264949688 Centerline is valid? [True, True] Translation: X:93.89, Y:-40.86, Z:-0.16 [[ 7.27417898e-01 6.86180471e-01 -4.42305679e-03 9.38864048e+01] [-6.86167031e-01 7.27431339e-01 4.29562638e-03 -4.08566133e+01] [ 6.16504506e-03 -8.97597653e-05 9.99980992e-01 -1.61860728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03762800000001 meters 0.013157872723687293 Centerline is valid? [True, True] Translation: X:93.91, Y:-40.88, Z:-0.16 [[ 7.25950246e-01 6.87730043e-01 -4.86097536e-03 9.39105840e+01] [-6.87713829e-01 7.25966515e-01 4.72320048e-03 -4.08778082e+01] [ 6.77719221e-03 -8.58485705e-05 9.99977031e-01 -1.62281563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06762800000001 meters 0.013016289439880445 Centerline is valid? [True, True] Translation: X:93.93, Y:-40.90, Z:-0.16 [[ 7.24811410e-01 6.88926815e-01 -5.31645128e-03 9.39345342e+01] [-6.88907433e-01 7.24830903e-01 5.16825622e-03 -4.08994632e+01] [ 7.41407848e-03 -8.34682696e-05 9.99972512e-01 -1.63100988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09762800000001 meters 0.012762670676954269 Centerline is valid? [True, True] Translation: X:93.96, Y:-40.92, Z:-0.16 [[ 7.23457953e-01 6.90341961e-01 -6.04705229e-03 9.39586214e+01] [-6.90316908e-01 7.23483220e-01 5.88185043e-03 -4.09212299e+01] [ 8.43542902e-03 -8.08890339e-05 9.99964418e-01 -1.64231626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12762800000002 meters 0.01277655039842882 Centerline is valid? [True, True] Translation: X:93.98, Y:-40.94, Z:-0.16 [[ 7.23424536e-01 6.90372772e-01 -6.50966805e-03 9.39825520e+01] [-6.90343708e-01 7.23453819e-01 6.33543437e-03 -4.09439257e+01] [ 9.08325560e-03 -8.93002958e-05 9.99958742e-01 -1.64658958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15762800000002 meters 0.012983721407405302 Centerline is valid? [True, True] Translation: X:94.00, Y:-40.97, Z:-0.17 [[ 7.23785179e-01 6.89990614e-01 -6.92584699e-03 9.40040867e+01] [-6.89957669e-01 7.23818307e-01 6.74344588e-03 -4.09659983e+01] [ 9.66596921e-03 -1.02264938e-04 9.99953278e-01 -1.65906200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.187628 meters 0.013249451308816114 Centerline is valid? [True, True] Translation: X:94.03, Y:-40.99, Z:-0.17 [[ 7.24653945e-01 6.89076377e-01 -7.09971772e-03 9.40260625e+01] [-6.89041679e-01 7.24688714e-01 6.91614404e-03 -4.09891265e+01] [ 9.91083678e-03 -1.19809655e-04 9.99950879e-01 -1.66409945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.217628 meters 0.014333955781551735 Centerline is valid? [True, True] Translation: X:94.05, Y:-41.01, Z:-0.17 [[ 7.27637886e-01 6.85928847e-01 -6.68753456e-03 9.40450886e+01] [-6.85897900e-01 7.27668601e-01 6.51755345e-03 -4.10137305e+01] [ 9.33688684e-03 -1.55452909e-04 9.99956398e-01 -1.66635003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.247628 meters 0.014982978463403684 Centerline is valid? [True, True] Translation: X:94.07, Y:-41.04, Z:-0.17 [[ 7.29579228e-01 6.83870167e-01 -5.97868113e-03 9.40660842e+01] [-6.83845339e-01 7.29603706e-01 5.82962512e-03 -4.10383499e+01] [ 8.34877461e-03 -1.64680162e-04 9.99965135e-01 -1.66017926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.277628 meters 0.015857651159018264 Centerline is valid? [True, True] Translation: X:94.09, Y:-41.06, Z:-0.17 [[ 7.31775381e-01 6.81524579e-01 -5.38883242e-03 9.40869295e+01] [-6.81504325e-01 7.31795202e-01 5.25706841e-03 -4.10633499e+01] [ 7.52634304e-03 -1.74480641e-04 9.99971661e-01 -1.65332465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30762800000001 meters 0.016673895001109915 Centerline is valid? [True, True] Translation: X:94.11, Y:-41.09, Z:-0.16 [[ 7.34032809e-01 6.79095991e-01 -4.94679575e-03 9.41080636e+01] [-6.79078864e-01 7.34049454e-01 4.82649004e-03 -4.10881039e+01] [ 6.90884276e-03 -1.83537601e-04 9.99976117e-01 -1.64660263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33762800000001 meters 0.019579722744960344 Centerline is valid? [True, True] Translation: X:94.13, Y:-41.11, Z:-0.16 [[ 7.38169883e-01 6.74598621e-01 -4.68235053e-03 9.41251259e+01] [-6.74583171e-01 7.38184702e-01 4.57071943e-03 -4.11148957e+01] [ 6.53984055e-03 -2.15332555e-04 9.99978592e-01 -1.64492248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36762800000001 meters 0.018591075825931728 Centerline is valid? [True, True] Translation: X:94.15, Y:-41.14, Z:-0.16 [[ 7.39802309e-01 6.72806387e-01 -4.91008578e-03 9.41484138e+01] [-6.72789343e-01 7.39818563e-01 4.79521421e-03 -4.11363053e+01] [ 6.85882335e-03 -2.44057159e-04 9.99976448e-01 -1.63718830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39762800000001 meters 0.021856349563019222 Centerline is valid? [True, True] Translation: X:94.17, Y:-41.16, Z:-0.16 [[ 7.41215744e-01 6.71249704e-01 -4.80165468e-03 9.41669421e+01] [-6.71233357e-01 7.41231253e-01 4.69144785e-03 -4.11616966e+01] [ 6.70826949e-03 -2.54344217e-04 9.99977467e-01 -1.64625247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42762800000001 meters 0.021845723136053596 Centerline is valid? [True, True] Translation: X:94.19, Y:-41.18, Z:-0.16 [[ 7.42820631e-01 6.69470730e-01 -5.14304247e-03 9.41892850e+01] [-6.69451918e-01 7.42838378e-01 5.02717084e-03 -4.11838190e+01] [ 7.18599307e-03 -2.91266569e-04 9.99974138e-01 -1.64284203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45762800000001 meters 0.02003028171266596 Centerline is valid? [True, True] Translation: X:94.21, Y:-41.20, Z:-0.16 [[ 7.42829164e-01 6.69458299e-01 -5.51531178e-03 9.42146891e+01] [-6.69436644e-01 7.42849572e-01 5.39372321e-03 -4.12038480e+01] [ 7.70791976e-03 -3.14463093e-04 9.99970244e-01 -1.63909341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48762800000002 meters 0.021912690716287857 Centerline is valid? [True, True] Translation: X:94.24, Y:-41.23, Z:-0.17 [[ 7.42453928e-01 6.69872831e-01 -5.70573034e-03 9.42356053e+01] [-6.69849648e-01 7.42475782e-01 5.58241608e-03 -4.12266044e+01] [ 7.97587545e-03 -3.22705284e-04 9.99968140e-01 -1.65326821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51762800000002 meters 0.02289930913378288 Centerline is valid? [True, True] Translation: X:94.26, Y:-41.25, Z:-0.17 [[ 7.41930955e-01 6.70442520e-01 -6.72947002e-03 9.42610822e+01] [-6.70410260e-01 7.41961378e-01 6.58766219e-03 -4.12476941e+01] [ 9.40965569e-03 -3.76084757e-04 9.99955657e-01 -1.68172371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.547628 meters 0.018820224913250236 Centerline is valid? [True, True] Translation: X:94.29, Y:-41.26, Z:-0.17 [[ 7.38831146e-01 6.73851384e-01 -7.26982093e-03 9.42878902e+01] [-6.73813875e-01 7.38866823e-01 7.11905941e-03 -4.12646497e+01] [ 1.01686175e-02 -3.61276607e-04 9.99948233e-01 -1.65950617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.577628 meters 0.019989907705866623 Centerline is valid? [True, True] Translation: X:94.31, Y:-41.29, Z:-0.17 [[ 7.36873452e-01 6.75988744e-01 -7.53215438e-03 9.43100635e+01] [-6.75948555e-01 7.36911866e-01 7.37920295e-03 -4.12862795e+01] [ 1.05387921e-02 -3.46189881e-04 9.99944405e-01 -1.67100222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.607628 meters 0.01738723477638911 Centerline is valid? [True, True] Translation: X:94.34, Y:-41.30, Z:-0.17 [[ 7.34792242e-01 6.78249592e-01 -7.60605518e-03 9.43363370e+01] [-6.78208697e-01 7.34831538e-01 7.45479047e-03 -4.13037922e+01] [ 1.06453778e-02 -3.19229430e-04 9.99943285e-01 -1.65707636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.637628 meters 0.01674124714359097 Centerline is valid? [True, True] Translation: X:94.36, Y:-41.32, Z:-0.17 [[ 7.32494248e-01 6.80732089e-01 -7.48333238e-03 9.43608216e+01] [-6.80692627e-01 7.32532420e-01 7.33495460e-03 -4.13243293e+01] [ 1.04749225e-02 -2.78962874e-04 9.99945098e-01 -1.65599656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66762800000001 meters 0.014464060161890427 Centerline is valid? [True, True] Translation: X:94.39, Y:-41.34, Z:-0.16 [[ 7.27453882e-01 6.86125167e-01 -6.56539022e-03 9.43891007e+01] [-6.86095005e-01 7.27483487e-01 6.43586776e-03 -4.13411614e+01] [ 9.19202381e-03 -1.77315556e-04 9.99957737e-01 -1.63954743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69762800000001 meters 0.013901945928020487 Centerline is valid? [True, True] Translation: X:94.41, Y:-41.36, Z:-0.16 [[ 7.24740921e-01 6.88992089e-01 -6.36391329e-03 9.44137597e+01] [-6.88963831e-01 7.24768847e-01 6.24155122e-03 -4.13607910e+01] [ 8.91274552e-03 -1.39001492e-04 9.99960271e-01 -1.63766506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72762800000001 meters 0.01258550885405422 Centerline is valid? [True, True] Translation: X:94.44, Y:-41.38, Z:-0.16 [[ 7.19369992e-01 6.94602834e-01 -5.80669543e-03 9.44413998e+01] [-6.94579470e-01 7.19393424e-01 5.69748237e-03 -4.13773178e+01] [ 8.13478590e-03 -6.53864145e-05 9.99966910e-01 -1.62350989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75762800000001 meters 0.012119049483888015 Centerline is valid? [True, True] Translation: X:94.47, Y:-41.40, Z:-0.16 [[ 7.16724411e-01 6.97338352e-01 -5.03397610e-03 9.44658694e+01] [-6.97320851e-01 7.16742089e-01 4.94060710e-03 -4.13970382e+01] [ 7.05333736e-03 -3.07572248e-05 9.99975124e-01 -1.62430480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78762800000001 meters 0.011923230143853845 Centerline is valid? [True, True] Translation: X:94.49, Y:-41.42, Z:-0.16 [[ 7.14056123e-01 7.00074256e-01 -4.45974080e-03 9.44905873e+01] [-7.00060559e-01 7.14070050e-01 4.37917514e-03 -4.14167455e+01] [ 6.25031512e-03 -4.88818385e-06 9.99980467e-01 -1.62072993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81762800000001 meters 0.011896959743438707 Centerline is valid? [True, True] Translation: X:94.52, Y:-41.44, Z:-0.16 [[ 7.11574936e-01 7.02601619e-01 -3.47493563e-03 9.45158014e+01] [-7.02593324e-01 7.11583420e-01 3.41430168e-03 -4.14376922e+01] [ 4.87160047e-03 1.19350759e-05 9.99988134e-01 -1.61024820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84762800000001 meters 0.01204945366584999 Centerline is valid? [True, True] Translation: X:94.54, Y:-41.46, Z:-0.16 [[ 7.09218076e-01 7.04983582e-01 -2.80529872e-03 9.45406087e+01] [-7.04978187e-01 7.09223624e-01 2.75802115e-03 -4.14588759e+01] [ 3.93394375e-03 2.16359516e-05 9.99992262e-01 -1.60270544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87762800000002 meters 0.0128708225529597 Centerline is valid? [True, True] Translation: X:94.57, Y:-41.48, Z:-0.16 [[ 7.05400729e-01 7.08806905e-01 -1.60707269e-03 9.45660940e+01] [-7.08805143e-01 7.05402559e-01 1.58084078e-03 -4.14778184e+01] [ 2.25414405e-03 2.39751513e-05 9.99997459e-01 -1.59358183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90762800000002 meters 0.012773463397001944 Centerline is valid? [True, True] Translation: X:94.59, Y:-41.50, Z:-0.16 [[ 7.04122262e-01 7.10077743e-01 -1.19986258e-03 9.45888246e+01] [-7.10076761e-01 7.04123284e-01 1.18104089e-03 -4.15000050e+01] [ 1.68348203e-03 2.03973486e-05 9.99998583e-01 -1.58853898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.937628 meters 0.013337394813497862 Centerline is valid? [True, True] Translation: X:94.61, Y:-41.52, Z:-0.16 [[ 7.03078932e-01 7.11111348e-01 -8.16953964e-04 9.46124678e+01] [-7.11110892e-01 7.03079406e-01 8.04635743e-04 -4.15207278e+01] [ 1.14656912e-03 1.52224239e-05 9.99999343e-01 -1.58913194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.967628 meters 0.013420029196789795 Centerline is valid? [True, True] Translation: X:94.64, Y:-41.54, Z:-0.16 [[ 7.02801034e-01 7.11386139e-01 -6.83236038e-04 9.46358892e+01] [-7.11385821e-01 7.02801366e-01 6.73474469e-04 -4.15440248e+01] [ 9.59279624e-04 1.27258766e-05 9.99999540e-01 -1.58928628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.997628 meters 0.01308068249889015 Centerline is valid? [True, True] Translation: X:94.66, Y:-41.57, Z:-0.16 [[ 7.02951938e-01 7.11236969e-01 -7.39208316e-04 9.46581736e+01] [-7.11236595e-01 7.02952327e-01 7.29037749e-04 -4.15687013e+01] [ 1.03814681e-03 1.32735070e-05 9.99999461e-01 -1.58745935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.027628 meters 0.01295867861709757 Centerline is valid? [True, True] Translation: X:94.68, Y:-41.59, Z:-0.16 [[ 7.03314811e-01 7.10878037e-01 -8.32559957e-04 9.46805353e+01] [-7.10877563e-01 7.03315304e-01 8.21365681e-04 -4.15923400e+01] [ 1.16944298e-03 1.41695448e-05 9.99999316e-01 -1.59111248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05762800000001 meters 0.012893602947742734 Centerline is valid? [True, True] Translation: X:94.70, Y:-41.62, Z:-0.16 [[ 7.04346296e-01 7.09855759e-01 -1.04753347e-03 9.47002871e+01] [-7.09855006e-01 7.04347075e-01 1.03375482e-03 -4.16160438e+01] [ 1.47164395e-03 1.54755011e-05 9.99998917e-01 -1.59371182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08762800000001 meters 0.01284491802184406 Centerline is valid? [True, True] Translation: X:94.72, Y:-41.64, Z:-0.16 [[ 7.04845096e-01 7.09360602e-01 -9.62815854e-04 9.47215144e+01] [-7.09359965e-01 7.04845754e-01 9.50615344e-04 -4.16390923e+01] [ 1.35296574e-03 1.29464570e-05 9.99999085e-01 -1.59147524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11762800000001 meters 0.012688811864262245 Centerline is valid? [True, True] Translation: X:94.74, Y:-41.66, Z:-0.16 [[ 7.05486519e-01 7.08722552e-01 -1.05663442e-03 9.47433669e+01] [-7.08721783e-01 7.05487310e-01 1.04374192e-03 -4.16628334e+01] [ 1.48516561e-03 1.25139750e-05 9.99998897e-01 -1.59373216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14762800000001 meters 0.012402240191790948 Centerline is valid? [True, True] Translation: X:94.77, Y:-41.69, Z:-0.16 [[ 7.06432980e-01 7.07778718e-01 -1.31562305e-03 9.47652562e+01] [-7.07777524e-01 7.06434205e-01 1.30009845e-03 -4.16868516e+01] [ 1.84958314e-03 1.27360065e-05 9.99998289e-01 -1.59841950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17762800000001 meters 0.012287174375871813 Centerline is valid? [True, True] Translation: X:94.79, Y:-41.71, Z:-0.16 [[ 7.08592774e-01 7.05614203e-01 -2.20855720e-03 9.47851798e+01] [-7.05610825e-01 7.08596215e-01 2.18323343e-03 -4.17118644e+01] [ 3.10549579e-03 1.13584373e-05 9.99995178e-01 -1.61343900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20762800000001 meters 0.012241178372925519 Centerline is valid? [True, True] Translation: X:94.81, Y:-41.74, Z:-0.16 [[ 7.09923910e-01 7.04273003e-01 -2.75308120e-03 9.48058729e+01] [-7.04267742e-01 7.09929248e-01 2.72220239e-03 -4.17362221e+01] [ 3.87166652e-03 6.34971261e-06 9.99992505e-01 -1.62231638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23762800000002 meters 0.012192607341291004 Centerline is valid? [True, True] Translation: X:94.83, Y:-41.76, Z:-0.16 [[ 7.11410095e-01 7.02769202e-01 -3.33550654e-03 9.48271971e+01] [-7.02761453e-01 7.11417914e-01 3.30011381e-03 -4.17620070e+01] [ 4.69215745e-03 -3.66885973e-06 9.99988992e-01 -1.62536904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26762800000002 meters 0.012309064905950011 Centerline is valid? [True, True] Translation: X:94.85, Y:-41.79, Z:-0.16 [[ 7.13121500e-01 7.01030750e-01 -3.68970081e-03 9.48478917e+01] [-7.01021234e-01 7.13131045e-01 3.65256462e-03 -4.17875149e+01] [ 5.19180031e-03 -1.81637492e-05 9.99986522e-01 -1.62712868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.297628 meters 0.0130370579893267 Centerline is valid? [True, True] Translation: X:94.86, Y:-41.82, Z:-0.16 [[ 7.17431462e-01 6.96618766e-01 -3.79359584e-03 9.48644822e+01] [-6.96608637e-01 7.17441490e-01 3.75700354e-03 -4.18150688e+01] [ 5.33888222e-03 -5.27409170e-05 9.99985747e-01 -1.62568562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.327628 meters 0.013588258476722029 Centerline is valid? [True, True] Translation: X:94.88, Y:-41.84, Z:-0.16 [[ 7.19493969e-01 6.94488282e-01 -3.80200950e-03 9.48844963e+01] [-6.94478068e-01 7.19504011e-01 3.76718870e-03 -4.18403978e+01] [ 5.35182949e-03 -7.00573405e-05 9.99985676e-01 -1.62105826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.357628 meters 0.014792224946899081 Centerline is valid? [True, True] Translation: X:94.90, Y:-41.87, Z:-0.16 [[ 7.21482488e-01 6.92423671e-01 -3.53255294e-03 9.49030157e+01] [-6.92414821e-01 7.21491132e-01 3.50175900e-03 -4.18655791e+01] [ 4.97340645e-03 -8.04657849e-05 9.99987629e-01 -1.62358951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.387628 meters 0.016603434080689195 Centerline is valid? [True, True] Translation: X:94.92, Y:-41.89, Z:-0.16 [[ 7.24922458e-01 6.88824223e-01 -2.93605351e-03 9.49205531e+01] [-6.88818077e-01 7.24928398e-01 2.91094933e-03 -4.18920049e+01] [ 4.13356098e-03 -8.78058149e-05 9.99991453e-01 -1.61757212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41762800000001 meters 0.015871836053648995 Centerline is valid? [True, True] Translation: X:94.94, Y:-41.91, Z:-0.16 [[ 7.26482766e-01 6.87179361e-01 -2.70505268e-03 9.49437439e+01] [-6.87174127e-01 7.26487796e-01 2.68350849e-03 -4.19143781e+01] [ 3.80923941e-03 -9.06804567e-05 9.99992741e-01 -1.61067528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44762800000001 meters 0.016923787015297936 Centerline is valid? [True, True] Translation: X:94.96, Y:-41.94, Z:-0.16 [[ 7.27995193e-01 6.85577351e-01 -2.58736792e-03 9.49634824e+01] [-6.85572551e-01 7.27999785e-01 2.56718665e-03 -4.19382368e+01] [ 3.64360831e-03 -9.50711185e-05 9.99993358e-01 -1.60763976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47762800000001 meters 0.017901892495217706 Centerline is valid? [True, True] Translation: X:94.98, Y:-41.96, Z:-0.16 [[ 7.29618000e-01 6.83851547e-01 -2.15300781e-03 9.49845853e+01] [-6.83848212e-01 7.29621171e-01 2.13749502e-03 -4.19624914e+01] [ 3.03260936e-03 -8.72243018e-05 9.99995398e-01 -1.60570654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50762800000001 meters 0.01901594162665652 Centerline is valid? [True, True] Translation: X:95.01, Y:-41.99, Z:-0.16 [[ 7.33241824e-01 6.79966582e-01 -1.36921617e-03 9.50051588e+01] [-6.79965226e-01 7.33243100e-01 1.35946878e-03 -4.19866673e+01] [ 1.92836165e-03 -6.57999848e-05 9.99998139e-01 -1.59604346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53762800000001 meters 0.018653401508110973 Centerline is valid? [True, True] Translation: X:95.03, Y:-42.01, Z:-0.16 [[ 7.34667070e-01 6.78426881e-01 -1.12445604e-03 9.50279955e+01] [-6.78425963e-01 7.34667928e-01 1.11727507e-03 -4.20086557e+01] [ 1.58409123e-03 -5.79650339e-05 9.99998744e-01 -1.59063913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56762800000001 meters 0.019530110232672204 Centerline is valid? [True, True] Translation: X:95.05, Y:-42.03, Z:-0.16 [[ 7.35839478e-01 6.77155610e-01 -7.37303227e-04 9.50496975e+01] [-6.77155214e-01 7.35839846e-01 7.33142243e-04 -4.20321268e+01] [ 1.03898848e-03 -4.02062811e-05 9.99999459e-01 -1.58541386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59762800000001 meters 0.019827276143820804 Centerline is valid? [True, True] Translation: X:95.07, Y:-42.05, Z:-0.16 [[ 7.37278171e-01 6.75589163e-01 -4.24863173e-04 9.50725415e+01] [-6.75589032e-01 7.37278293e-01 4.22835083e-04 -4.20538867e+01] [ 5.98905195e-04 -2.47141775e-05 9.99999820e-01 -1.57402755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62762800000002 meters 0.020546167252914086 Centerline is valid? [True, True] Translation: X:95.09, Y:-42.08, Z:-0.16 [[ 7.37301733e-01 6.75563563e-01 -1.64899598e-04 9.50949222e+01] [-6.75563543e-01 7.37301751e-01 1.64546955e-04 -4.20764031e+01] [ 2.32742690e-04 -9.92059792e-06 9.99999973e-01 -1.57312163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65762800000002 meters 0.019572464164379872 Centerline is valid? [True, True] Translation: X:95.12, Y:-42.10, Z:-0.16 [[ 7.36744569e-01 6.76171129e-01 2.08551938e-04 9.51198488e+01] [-6.76171098e-01 7.36744599e-01 -2.07045320e-04 -4.20972444e+01] [-2.93647582e-04 1.15227225e-05 9.99999957e-01 -1.56999172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.687628 meters 0.019649628340774 Centerline is valid? [True, True] Translation: X:95.14, Y:-42.12, Z:-0.16 [[ 7.33844333e-01 6.79317503e-01 4.75418997e-04 9.51442793e+01] [-6.79317339e-01 7.33844486e-01 -4.72892815e-04 -4.21159136e+01] [-6.70127976e-04 2.40693445e-05 9.99999775e-01 -1.56793130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.717628 meters 0.0174217186171295 Centerline is valid? [True, True] Translation: X:95.17, Y:-42.13, Z:-0.16 [[ 7.31482969e-01 6.81859500e-01 5.36644633e-04 9.51710496e+01] [-6.81859291e-01 7.31483166e-01 -5.34068020e-04 -4.21331848e+01] [-7.56705868e-04 2.47455319e-05 9.99999713e-01 -1.57331114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.747628 meters 0.01678710760836556 Centerline is valid? [True, True] Translation: X:95.20, Y:-42.15, Z:-0.16 [[ 7.28680481e-01 6.84853798e-01 1.76760382e-04 9.51953100e+01] [-6.84853776e-01 7.28680502e-01 -1.75784973e-04 -4.21516529e+01] [-2.49188851e-04 7.03606316e-06 9.99999969e-01 -1.58055097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.777628 meters 0.014594430959297964 Centerline is valid? [True, True] Translation: X:95.22, Y:-42.17, Z:-0.16 [[ 7.22299250e-01 6.91580076e-01 -8.90442388e-04 9.52244072e+01] [-6.91579506e-01 7.22299798e-01 8.87846464e-04 -4.21667664e+01] [ 1.25718328e-03 -2.54791271e-05 9.99999209e-01 -1.59079234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80762800000001 meters 0.013594696860687514 Centerline is valid? [True, True] Translation: X:95.25, Y:-42.19, Z:-0.16 [[ 7.18920608e-01 6.95089939e-01 -1.77111215e-03 9.52504993e+01] [-6.95087695e-01 7.18922788e-01 1.76658969e-03 -4.21858138e+01] [ 2.50123160e-03 -3.89594756e-05 9.99996871e-01 -1.59925959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83762800000001 meters 0.012959500341952587 Centerline is valid? [True, True] Translation: X:95.28, Y:-42.20, Z:-0.16 [[ 7.15803997e-01 6.98297505e-01 -2.28739024e-03 9.52759433e+01] [-6.98293776e-01 7.15807651e-01 2.28240179e-03 -4.22047846e+01] [ 3.23112691e-03 -3.64819572e-05 9.99994779e-01 -1.60216659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86762800000001 meters 0.012959500341952587 Centerline is valid? [True, True] Translation: X:95.30, Y:-42.23, Z:-0.16 [[ 7.15609359e-01 6.98496970e-01 -2.28670180e-03 9.52988327e+01] [-6.98493239e-01 7.15613011e-01 2.28309161e-03 -4.22277226e+01] [ 3.23112613e-03 -3.65559802e-05 9.99994779e-01 -1.60263023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89762800000001 meters 0.01246431224092075 Centerline is valid? [True, True] Translation: X:95.32, Y:-42.25, Z:-0.16 [[ 7.12363426e-01 7.01805685e-01 -2.67006959e-03 9.53248221e+01] [-7.01800618e-01 7.12368430e-01 2.66699367e-03 -4.22468441e+01] [ 3.77378460e-03 -2.60122553e-05 9.99992879e-01 -1.60976768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92762800000001 meters 0.012142027028090365 Centerline is valid? [True, True] Translation: X:95.35, Y:-42.26, Z:-0.16 [[ 7.06824702e-01 7.07380969e-01 -3.31739037e-03 9.53542461e+01] [-7.07373201e-01 7.06832487e-01 3.31507449e-03 -4.22629571e+01] [ 4.68985989e-03 3.45650485e-06 9.99989003e-01 -1.62474377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95762800000001 meters 0.012157906211508088 Centerline is valid? [True, True] Translation: X:95.38, Y:-42.28, Z:-0.16 [[ 7.04287238e-01 7.09906005e-01 -3.59869008e-03 9.53802811e+01] [-7.09896886e-01 7.04296431e-01 3.59826040e-03 -4.22832721e+01] [ 5.08897125e-03 2.04900020e-05 9.99987051e-01 -1.62757971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98762800000002 meters 0.012355120044245372 Centerline is valid? [True, True] Translation: X:95.41, Y:-42.30, Z:-0.16 [[ 7.02257468e-01 7.11913951e-01 -3.60219410e-03 9.54056313e+01] [-7.11904832e-01 7.02266705e-01 3.60346403e-03 -4.23034738e+01] [ 5.09505730e-03 3.38598607e-05 9.99987020e-01 -1.63512850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01762800000002 meters 0.012814403654620088 Centerline is valid? [True, True] Translation: X:96.02, Y:-41.84, Z:0.71 [[ 7.65504860e-01 -6.43402433e-01 -5.96810730e-03 9.60175091e+01] [-6.43380929e-01 -7.65528101e-01 5.26371766e-03 -4.18421489e+01] [-7.95544260e-03 -1.89635030e-04 -9.99968337e-01 7.13735990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.047628 meters 0.012949833894981427 Centerline is valid? [True, True] Translation: X:96.01, Y:-41.85, Z:0.71 [[ 8.14107020e-01 -5.80684345e-01 -5.95402389e-03 9.60136190e+01] [-5.80667043e-01 -8.14128769e-01 4.48683506e-03 -4.18509987e+01] [-7.45277702e-03 -1.95458471e-04 -9.99972209e-01 7.12592789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.077628 meters 0.013087566509389924 Centerline is valid? [True, True] Translation: X:96.01, Y:-41.86, Z:0.71 [[ 8.57231948e-01 -5.14900766e-01 -5.53071430e-03 9.60095112e+01] [-5.14888624e-01 -8.57249769e-01 3.54109470e-03 -4.18586077e+01] [-6.56451593e-03 -1.87837634e-04 -9.99978436e-01 7.11907983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.107628 meters 0.013252718017167717 Centerline is valid? [True, True] Translation: X:96.01, Y:-41.87, Z:0.71 [[ 8.94881778e-01 -4.46286104e-01 -3.91356005e-03 9.60055678e+01] [-4.46281033e-01 -8.94890321e-01 2.13381939e-03 -4.18669205e+01] [-4.45450095e-03 -1.62968466e-04 -9.99990065e-01 7.11006355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.137628 meters 0.013172998102987951 Centerline is valid? [True, True] Translation: X:96.00, Y:-41.87, Z:0.71 [[ 9.26887062e-01 -3.75321123e-01 -3.79856231e-03 9.60037555e+01] [-3.75317268e-01 -9.26894832e-01 1.70827364e-03 -4.18733527e+01] [-4.16201895e-03 -1.57710707e-04 -9.99991326e-01 7.10876382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16762800000001 meters 0.013023141775730215 Centerline is valid? [True, True] Translation: X:96.00, Y:-41.88, Z:0.71 [[ 9.53346372e-01 -3.01853868e-01 -3.86485005e-03 9.60027265e+01] [-3.01850719e-01 -9.53354193e-01 1.38749893e-03 -4.18809537e+01] [-4.10339292e-03 -1.56159305e-04 -9.99991569e-01 7.10841543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19762800000001 meters 0.012937277281249798 Centerline is valid? [True, True] Translation: X:96.00, Y:-41.89, Z:0.71 [[ 9.73938934e-01 -2.26770682e-01 -4.24377142e-03 9.60019018e+01] [-2.26767822e-01 -9.73948167e-01 1.14974793e-03 -4.18888368e+01] [-4.39394253e-03 -1.57433472e-04 -9.99990334e-01 7.11029897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22762800000001 meters 0.012863707893574128 Centerline is valid? [True, True] Translation: X:96.00, Y:-41.90, Z:0.71 [[ 9.88642251e-01 -1.50155986e-01 -6.29920881e-03 9.60011938e+01] [-1.50151795e-01 -9.88662303e-01 1.13581268e-03 -4.18962495e+01] [-6.39833936e-03 -1.77074893e-04 -9.99979515e-01 7.11970612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25762800000001 meters 0.01285117667522987 Centerline is valid? [True, True] Translation: X:96.00, Y:-41.90, Z:0.71 [[ 9.97331850e-01 -7.26384540e-02 -7.26878968e-03 9.59982964e+01] [-7.26351794e-02 -9.97358321e-01 7.13827852e-04 -4.19048697e+01] [-7.30143923e-03 -1.83953410e-04 -9.99973327e-01 7.12316991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28762800000001 meters 0.012864340605891299 Centerline is valid? [True, True] Translation: X:95.99, Y:-41.91, Z:0.71 [[ 9.99951286e-01 5.13202844e-03 -8.43141527e-03 9.59949758e+01] [ 5.13345293e-03 -9.99986813e-01 1.47317456e-04 -4.19130816e+01] [-8.43054805e-03 -1.90592553e-04 -9.99964444e-01 7.13098204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31762800000001 meters 0.012726655887904646 Centerline is valid? [True, True] Translation: X:95.99, Y:-41.92, Z:0.71 [[ 9.96647105e-01 8.12448293e-02 -9.68636007e-03 9.59914404e+01] [ 8.12427592e-02 -9.96694158e-01 -6.07650587e-04 -4.19200356e+01] [-9.70370697e-03 -1.81333420e-04 -9.99952901e-01 7.14836047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34762800000001 meters 0.012559054710483502 Centerline is valid? [True, True] Translation: X:95.99, Y:-41.93, Z:0.72 [[ 9.87545886e-01 1.57003177e-01 -1.01550253e-02 9.59886923e+01] [ 1.56996584e-01 -9.87598084e-01 -1.44819408e-03 -4.19252723e+01] [-1.02564546e-02 -1.64146165e-04 -9.99947388e-01 7.15611733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37762800000002 meters 0.012414402159653105 Centerline is valid? [True, True] Translation: X:95.99, Y:-41.93, Z:0.72 [[ 9.72939975e-01 2.30848476e-01 -9.83795498e-03 9.59863662e+01] [ 2.30838042e-01 -9.72989704e-01 -2.19872972e-03 -4.19293639e+01] [-1.00798023e-02 -1.31742229e-04 -9.99949189e-01 7.15747970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40762800000002 meters 0.012470961200499047 Centerline is valid? [True, True] Translation: X:95.98, Y:-41.93, Z:0.72 [[ 9.52920873e-01 3.03061505e-01 -9.77415054e-03 9.59846382e+01] [ 3.03046605e-01 -9.52970994e-01 -3.00669642e-03 -4.19342784e+01] [-1.02256959e-02 -9.68793607e-05 -9.99947712e-01 7.15390862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.437628 meters 0.013279427769038406 Centerline is valid? [True, True] Translation: X:95.98, Y:-41.94, Z:0.72 [[ 9.29747830e-01 3.68060612e-01 -1.00178811e-02 9.59813171e+01] [ 3.68039195e-01 -9.29801799e-01 -3.97052792e-03 -4.19357831e+01] [-1.07760388e-02 4.61683963e-06 -9.99941937e-01 7.15053372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.467628 meters 0.014156944376871018 Centerline is valid? [True, True] Translation: X:95.98, Y:-41.94, Z:0.71 [[ 9.00407410e-01 4.34934896e-01 -9.90619455e-03 9.59798520e+01] [ 4.34907767e-01 -9.00461899e-01 -4.85827720e-03 -4.19408018e+01] [-1.10331850e-02 6.61478417e-05 -9.99939130e-01 7.14981130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.497628 meters 0.015397463567657177 Centerline is valid? [True, True] Translation: X:95.98, Y:-41.95, Z:0.71 [[ 8.66229493e-01 4.99544723e-01 -1.00764802e-02 9.59783714e+01] [ 4.99509056e-01 -8.66288088e-01 -5.97096967e-03 -4.19460692e+01] [-1.17119011e-02 1.38936944e-04 -9.99931404e-01 7.14648038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.527628 meters 0.018351206764886274 Centerline is valid? [True, True] Translation: X:95.97, Y:-41.95, Z:0.71 [[ 8.29779065e-01 5.58011971e-01 -9.45221461e-03 9.59731868e+01] [ 5.57972377e-01 -8.29832863e-01 -6.65175831e-03 -4.19494951e+01] [-1.15555191e-02 2.45415129e-04 -9.99933203e-01 7.14468460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55762800000001 meters 0.018577131814254723 Centerline is valid? [True, True] Translation: X:95.97, Y:-41.96, Z:0.71 [[ 7.86024649e-01 6.18132886e-01 -8.77421688e-03 9.59739982e+01] [ 6.18090274e-01 -7.86073567e-01 -7.26361737e-03 -4.19591945e+01] [-1.13870607e-02 2.86124178e-04 -9.99935124e-01 7.13411007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58762800000001 meters 0.020148938203770894 Centerline is valid? [True, True] Translation: X:95.97, Y:-41.97, Z:0.71 [[ 7.37277354e-01 6.75544226e-01 -7.88048212e-03 9.59726817e+01] [ 6.75501157e-01 -7.37319405e-01 -7.63424196e-03 -4.19684686e+01] [-1.09677005e-02 3.05278931e-04 -9.99939806e-01 7.12960778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61762800000001 meters 0.01987905128419392 Centerline is valid? [True, True] Translation: X:95.98, Y:-41.98, Z:0.71 [[ 6.84566369e-01 7.28924806e-01 -6.12481571e-03 9.59762410e+01] [ 7.28892029e-01 -6.84593714e-01 -6.91784635e-03 -4.19802292e+01] [-9.23560014e-03 2.71395605e-04 -9.99957314e-01 7.11278196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64762800000001 meters 0.019667475232125413 Centerline is valid? [True, True] Translation: X:95.98, Y:-41.99, Z:0.71 [[ 6.25602029e-01 7.80122733e-01 -5.53371330e-03 9.59818269e+01] [ 7.80088298e-01 -6.25626444e-01 -7.33486573e-03 -4.19919515e+01] [-9.18413287e-03 2.71921895e-04 -9.99957788e-01 7.10548456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67762800000001 meters 0.02001041305914527 Centerline is valid? [True, True] Translation: X:95.99, Y:-42.00, Z:0.71 [[ 5.62201116e-01 8.26985936e-01 -4.91598381e-03 9.59866915e+01] [ 8.26950090e-01 -5.62222546e-01 -7.70444369e-03 -4.20034955e+01] [-9.13534351e-03 2.66173587e-04 -9.99958236e-01 7.10566167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70762800000001 meters 0.019447838884377396 Centerline is valid? [True, True] Translation: X:95.99, Y:-42.02, Z:0.71 [[ 4.94850826e-01 8.68967131e-01 -4.33422514e-03 9.59942751e+01] [ 8.68929062e-01 -4.94869738e-01 -8.13799407e-03 -4.20153729e+01] [-9.21652622e-03 2.60958902e-04 -9.99957493e-01 7.10212680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73762800000002 meters 0.0177044878729664 Centerline is valid? [True, True] Translation: X:96.01, Y:-42.03, Z:0.71 [[ 4.22300362e-01 9.06449254e-01 -3.48623354e-03 9.60082237e+01] [ 9.06414094e-01 -4.22314698e-01 -7.98663622e-03 -4.20281664e+01] [-8.71176811e-03 2.12788149e-04 -9.99962029e-01 7.09218031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76762800000002 meters 0.018603695527009488 Centerline is valid? [True, True] Translation: X:96.02, Y:-42.04, Z:0.71 [[ 3.47966697e-01 9.37502856e-01 -2.75191935e-03 9.60175445e+01] [ 9.37469236e-01 -3.47977531e-01 -7.94167085e-03 -4.20386409e+01] [-8.40294520e-03 1.83597251e-04 -9.99964678e-01 7.09662158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.797628 meters 0.018579656083034905 Centerline is valid? [True, True] Translation: X:96.03, Y:-42.05, Z:0.71 [[ 2.70867832e-01 9.62614131e-01 -2.15708468e-03 9.60255856e+01] [ 9.62578561e-01 -2.70876370e-01 -8.27682186e-03 -4.20485170e+01] [-8.55168895e-03 1.65561320e-04 -9.99963420e-01 7.10372906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.827628 meters 0.015955352355998452 Centerline is valid? [True, True] Translation: X:96.04, Y:-42.06, Z:0.71 [[ 1.89061045e-01 9.81963936e-01 -1.65840420e-03 9.60431641e+01] [ 9.81919297e-01 -1.89068266e-01 -9.36401064e-03 -4.20573528e+01] [-9.50867235e-03 1.41950554e-04 -9.99954781e-01 7.10770301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.857628 meters 0.015496462818266589 Centerline is valid? [True, True] Translation: X:96.05, Y:-42.06, Z:0.71 [[ 1.08921365e-01 9.94049934e-01 -9.30051264e-04 9.60542955e+01] [ 9.94003669e-01 -1.08925270e-01 -9.59120369e-03 -4.20646696e+01] [-9.63544147e-03 1.20212632e-04 -9.99953571e-01 7.11175169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.887628 meters 0.015154803988034368 Centerline is valid? [True, True] Translation: X:96.06, Y:-42.07, Z:0.71 [[ 2.82847863e-02 9.99599889e-01 -1.79407502e-04 9.60646414e+01] [ 9.99548668e-01 -2.82851533e-02 -1.01198062e-02 -4.20714636e+01] [-1.01208317e-02 1.06910026e-04 -9.99948777e-01 7.11479528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91762800000001 meters 0.014284743749549541 Centerline is valid? [True, True] Translation: X:96.08, Y:-42.08, Z:0.71 [[-5.39124642e-02 9.98545472e-01 6.21335737e-04 9.60784594e+01] [ 9.98493381e-01 5.39159984e-02 -1.01997017e-02 -4.20756833e+01] [-1.02183659e-02 7.05085648e-05 -9.99947789e-01 7.11560213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94762800000001 meters 0.013935730889524135 Centerline is valid? [True, True] Translation: X:96.09, Y:-42.08, Z:0.71 [[-1.33045765e-01 9.91108933e-01 1.38123206e-03 9.60898675e+01] [ 9.91059808e-01 1.33052923e-01 -9.86800222e-03 -4.20794919e+01] [-9.96404211e-03 5.59876708e-05 -9.99950356e-01 7.11516993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97762800000001 meters 0.01427024773712352 Centerline is valid? [True, True] Translation: X:96.10, Y:-42.08, Z:0.71 [[-2.10875033e-01 9.77510634e-01 2.16375465e-03 9.60995882e+01] [ 9.77461630e-01 2.10886127e-01 -9.78790584e-03 -4.20828939e+01] [-1.00240879e-02 5.09621824e-05 -9.99949756e-01 7.11875592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00762800000001 meters 0.014033299799552324 Centerline is valid? [True, True] Translation: X:96.11, Y:-42.09, Z:0.71 [[-2.87686911e-01 9.57720691e-01 2.70561007e-03 9.61091489e+01] [ 9.57679360e-01 2.87699631e-01 -8.89749531e-03 -4.20854878e+01] [-9.29971837e-03 3.14139840e-05 -9.99956756e-01 7.11070988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03762800000001 meters 0.013595947331292881 Centerline is valid? [True, True] Translation: X:96.12, Y:-42.09, Z:0.71 [[-3.62171157e-01 9.32105449e-01 3.38889474e-03 9.61215175e+01] [ 9.32065372e-01 3.62187011e-01 -8.64361204e-03 -4.20851521e+01] [-9.28417154e-03 2.82044607e-05 -9.99956901e-01 7.10478287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06762800000001 meters 0.013795685504708733 Centerline is valid? [True, True] Translation: X:96.13, Y:-42.09, Z:0.71 [[-4.34381078e-01 9.00720199e-01 4.02518199e-03 9.61321758e+01] [ 9.00682044e-01 4.34399726e-01 -8.29052468e-03 -4.20861180e+01] [-9.21598100e-03 2.41620966e-05 -9.99957532e-01 7.10961769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09762800000001 meters 0.013505019430726411 Centerline is valid? [True, True] Translation: X:96.15, Y:-42.08, Z:0.71 [[-5.04889527e-01 8.63170490e-01 4.82403298e-03 9.61451043e+01] [ 8.63131364e-01 5.04912572e-01 -8.21851942e-03 -4.20836077e+01] [-9.52969833e-03 1.43297861e-05 -9.99954591e-01 7.11177645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12762800000002 meters 0.013602561178263096 Centerline is valid? [True, True] Translation: X:96.15, Y:-42.08, Z:0.71 [[-5.71706782e-01 8.20438976e-01 5.58938335e-03 9.61542758e+01] [ 8.20399915e-01 5.71734104e-01 -8.00586222e-03 -4.20825582e+01] [-9.76396249e-03 8.52388993e-06 -9.99952331e-01 7.11864462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15762800000002 meters 0.013167509226713604 Centerline is valid? [True, True] Translation: X:96.16, Y:-42.08, Z:0.71 [[-6.35356039e-01 7.72193376e-01 6.33198815e-03 9.61639934e+01] [ 7.72154980e-01 6.35387590e-01 -7.70042814e-03 -4.20799072e+01] [-9.96948630e-03 -3.23733639e-06 -9.99950303e-01 7.11652175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.187628 meters 0.012920956094078414 Centerline is valid? [True, True] Translation: X:96.17, Y:-42.07, Z:0.71 [[-6.95740886e-01 7.18252271e-01 7.63501694e-03 9.61737116e+01] [ 7.18208684e-01 6.95782778e-01 -7.91278863e-03 -4.20747543e+01] [-1.09956917e-02 -2.17151022e-05 -9.99939545e-01 7.11919245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.217628 meters 0.01282956442754263 Centerline is valid? [True, True] Translation: X:96.18, Y:-42.07, Z:0.71 [[-7.50731025e-01 6.60555971e-01 8.29080455e-03 9.61821686e+01] [ 6.60515171e-01 7.50776803e-01 -7.34176050e-03 -4.20717508e+01] [-1.10741875e-02 -3.54852023e-05 -9.99938679e-01 7.12284175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.247628 meters 0.012712340587421617 Centerline is valid? [True, True] Translation: X:96.20, Y:-42.05, Z:0.71 [[-7.96630606e-01 6.04403964e-01 8.69052324e-03 9.62018397e+01] [ 6.04367388e-01 7.96678006e-01 -6.64934787e-03 -4.20507701e+01] [-1.09424409e-02 -4.48051883e-05 -9.99940129e-01 7.11956704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.277628 meters 0.012504211398464131 Centerline is valid? [True, True] Translation: X:96.22, Y:-42.03, Z:0.71 [[-8.38474715e-01 5.44862549e-01 9.21706773e-03 9.62188810e+01] [ 5.44828772e-01 8.38525371e-01 -6.06720862e-03 -4.20274506e+01] [-1.10345399e-02 -6.54773233e-05 -9.99939115e-01 7.11710860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30762800000001 meters 0.012454146931792856 Centerline is valid? [True, True] Translation: X:96.23, Y:-42.00, Z:0.71 [[-8.76929521e-01 4.80519426e-01 9.78250418e-03 9.62324017e+01] [ 4.80488111e-01 8.76984076e-01 -5.48692379e-03 -4.19998826e+01] [-1.12156739e-02 -1.11268499e-04 -9.99937096e-01 7.12826512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33762800000001 meters 0.012450603337077489 Centerline is valid? [True, True] Translation: X:96.25, Y:-41.98, Z:0.71 [[-9.09582519e-01 4.15396988e-01 1.02461651e-02 9.62476784e+01] [ 4.15368953e-01 9.09640217e-01 -4.82788103e-03 -4.19756665e+01] [-1.13258111e-02 -1.35417310e-04 -9.99935852e-01 7.13006394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36762800000001 meters 0.012565665247162967 Centerline is valid? [True, True] Translation: X:96.26, Y:-41.95, Z:0.71 [[-9.37368038e-01 3.48174673e-01 1.07497679e-02 9.62594339e+01] [ 3.48149851e-01 9.37429663e-01 -4.16037714e-03 -4.19505360e+01] [-1.15256893e-02 -1.57274450e-04 -9.99933565e-01 7.13178611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39762800000001 meters 0.01271070506187229 Centerline is valid? [True, True] Translation: X:96.27, Y:-41.93, Z:0.71 [[-9.60194236e-01 2.79105023e-01 1.12878243e-02 9.62694399e+01] [ 2.79083528e-01 9.60260566e-01 -3.46851182e-03 -4.19250667e+01] [-1.18073317e-02 -1.80199212e-04 -9.99930275e-01 7.13220414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42762800000001 meters 0.013351887382533638 Centerline is valid? [True, True] Translation: X:96.27, Y:-41.90, Z:0.71 [[-9.78217013e-01 2.07303207e-01 1.08099459e-02 9.62742720e+01] [ 2.07288188e-01 9.78276718e-01 -2.50404774e-03 -4.18979876e+01] [-1.10942155e-02 -2.08727998e-04 -9.99938436e-01 7.13712558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45762800000001 meters 0.013362728569838387 Centerline is valid? [True, True] Translation: X:96.44, Y:-41.20, Z:-0.17 [[-9.55567082e-01 -2.94664939e-01 8.00789234e-03 9.64352128e+01] [ 2.94654628e-01 -9.55600635e-01 -2.46503554e-03 -4.12025688e+01] [ 8.37870655e-03 4.05572531e-06 9.99964898e-01 -1.66547366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48762800000002 meters 0.01325424309048624 Centerline is valid? [True, True] Translation: X:96.22, Y:-41.89, Z:0.71 [[-9.79452373e-01 2.01396367e-01 1.06090368e-02 9.62238712e+01] [ 2.01382006e-01 9.79509801e-01 -2.41600612e-03 -4.18900604e+01] [-1.08782304e-02 -2.29893816e-04 -9.99940804e-01 7.12553987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51762800000002 meters 0.013483059349532872 Centerline is valid? [True, True] Translation: X:96.23, Y:-41.87, Z:0.71 [[-9.91352089e-01 1.30791839e-01 1.07018826e-02 9.62277972e+01] [ 1.30781657e-01 9.91409824e-01 -1.64881302e-03 -4.18653416e+01] [-1.08256028e-02 -2.34944294e-04 -9.99941374e-01 7.13036559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.547628 meters 0.013446744026505142 Centerline is valid? [True, True] Translation: X:96.34, Y:-41.15, Z:-0.17 [[-9.74748328e-01 -2.23151647e-01 8.30902126e-03 9.63405817e+01] [ 2.23144034e-01 -9.74783740e-01 -1.84417497e-03 -4.11498143e+01] [ 8.51102950e-03 5.65020501e-05 9.99963779e-01 -1.66493388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.577628 meters 0.013113918897118333 Centerline is valid? [True, True] Translation: X:96.18, Y:-41.86, Z:0.71 [[-9.91593318e-01 1.28991845e-01 1.01879963e-02 9.61758104e+01] [ 1.28982924e-01 9.91645633e-01 -1.53063134e-03 -4.18637682e+01] [-1.03003210e-02 -2.03686248e-04 -9.99946930e-01 7.12714035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.607628 meters 0.012826475731780945 Centerline is valid? [True, True] Translation: X:96.29, Y:-41.13, Z:-0.17 [[-9.76514095e-01 -2.15316441e-01 7.68453466e-03 9.62853012e+01] [ 2.15309977e-01 -9.76544331e-01 -1.66854841e-03 -4.11346984e+01] [ 7.86355466e-03 2.51959420e-05 9.99969081e-01 -1.65424891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.637628 meters 0.012293865829220445 Centerline is valid? [True, True] Translation: X:96.12, Y:-41.87, Z:0.71 [[-9.91049634e-01 1.33201737e-01 8.82726721e-03 9.61175111e+01] [ 1.33195449e-01 9.91088939e-01 -1.29899136e-03 -4.18691101e+01] [-8.92163480e-03 -1.11613094e-04 -9.99960195e-01 7.10673054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66762800000001 meters 0.012248320472532354 Centerline is valid? [True, True] Translation: X:96.23, Y:-41.11, Z:-0.16 [[-9.79603808e-01 -2.00856094e-01 5.76277779e-03 9.62330404e+01] [ 2.00852146e-01 -9.79620755e-01 -1.26187212e-03 -4.11142354e+01] [ 5.89879144e-03 -7.86684449e-05 9.99982599e-01 -1.63660971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69762800000001 meters 0.012562778245769004 Centerline is valid? [True, True] Translation: X:96.06, Y:-41.87, Z:0.71 [[-9.90541462e-01 1.36972961e-01 8.12522017e-03 9.60616117e+01] [ 1.36968015e-01 9.90574786e-01 -1.16472435e-03 -4.18711718e+01] [-8.20817397e-03 -4.08124825e-05 -9.99966312e-01 7.10042601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72762800000001 meters 0.013489707912555141 Centerline is valid? [True, True] Translation: X:96.18, Y:-41.09, Z:-0.16 [[-9.82705327e-01 -1.85102773e-01 5.21568534e-03 9.61786422e+01] [ 1.85099582e-01 -9.82719162e-01 -1.09233172e-03 -4.10938836e+01] [ 5.32774756e-03 -1.08019029e-04 9.99985802e-01 -1.64041272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75762800000001 meters 0.013489707912555141 Centerline is valid? [True, True] Translation: X:96.00, Y:-41.87, Z:0.71 [[-9.90170036e-01 1.39657902e-01 7.67923668e-03 9.60022650e+01] [ 1.39653806e-01 9.90199813e-01 -1.06966423e-03 -4.18726040e+01] [-7.75336579e-03 1.32851588e-05 -9.99969942e-01 7.10115016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78762800000001 meters 0.014227302407595992 Centerline is valid? [True, True] Translation: X:96.01, Y:-41.85, Z:0.71 [[-9.97353264e-01 7.23195269e-02 7.50688276e-03 9.60062443e+01] [ 7.23177585e-02 9.97381514e-01 -5.07100674e-04 -4.18494269e+01] [-7.52389938e-03 3.71224227e-05 -9.99971694e-01 7.10140526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81762800000001 meters 0.014815145873266126 Centerline is valid? [True, True] Translation: X:96.06, Y:-41.04, Z:-0.16 [[-9.94546361e-01 -1.04171157e-01 5.08969244e-03 9.60621453e+01] [ 1.04169030e-01 -9.94559374e-01 -6.81965113e-04 -4.10440048e+01] [ 5.13304243e-03 -1.48057598e-04 9.99986815e-01 -1.63871564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84762800000001 meters 0.015902175256044444 Centerline is valid? [True, True] Translation: X:95.92, Y:-41.85, Z:0.71 [[-9.97296665e-01 7.31130283e-02 7.33811731e-03 9.59222351e+01] [ 7.31116498e-02 9.97323658e-01 -4.56287938e-04 -4.18540155e+01] [-7.35183859e-03 8.14474249e-05 -9.99972972e-01 7.09908624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87762800000002 meters 0.015925137576444478 Centerline is valid? [True, True] Translation: X:95.92, Y:-41.83, Z:0.71 [[-9.99968553e-01 2.85890412e-03 7.39732293e-03 9.59239089e+01] [ 2.85950558e-03 9.99995909e-01 7.07319970e-05 -4.18275488e+01] [-7.39709046e-03 9.18824589e-05 -9.99972637e-01 7.09987115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90762800000002 meters 0.015925774767934928 Centerline is valid? [True, True] Translation: X:95.92, Y:-41.80, Z:0.71 [[-9.97692831e-01 -6.74270443e-02 7.91250305e-03 9.59242450e+01] [-6.74240419e-02 9.97724201e-01 6.45899938e-04 -4.18006539e+01] [-7.93804691e-03 1.10916801e-04 -9.99968487e-01 7.10617481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.937628 meters 0.01701931021536692 Centerline is valid? [True, True] Translation: X:95.91, Y:-41.78, Z:0.71 [[-9.90382420e-01 -1.38073586e-01 8.85144413e-03 9.59120284e+01] [-1.38066786e-01 9.90421963e-01 1.37766930e-03 -4.17782357e+01] [-8.95688441e-03 1.42329019e-04 -9.99959876e-01 7.12390003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.967628 meters 0.016208976876554856 Centerline is valid? [True, True] Translation: X:95.88, Y:-41.76, Z:0.71 [[-9.77731071e-01 -2.09651883e-01 9.38297365e-03 9.58801917e+01] [-2.09640693e-01 9.77776080e-01 2.17172695e-03 -4.17561956e+01] [-9.62975384e-03 1.56311820e-04 -9.99953621e-01 7.12176766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.997628 meters 0.016293296696188248 Centerline is valid? [True, True] Translation: X:95.82, Y:-41.75, Z:0.71 [[-9.59296454e-01 -2.82246890e-01 9.32775658e-03 9.58212674e+01] [-2.82232068e-01 9.59341791e-01 2.89616032e-03 -4.17455297e+01] [-9.76593894e-03 1.45684294e-04 -9.99952301e-01 7.12746899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.027628 meters 0.01672199568017683 Centerline is valid? [True, True] Translation: X:95.76, Y:-41.74, Z:0.71 [[-9.35316241e-01 -3.53694347e-01 9.15634113e-03 9.57587402e+01] [-3.53675979e-01 9.35361048e-01 3.60712361e-03 -4.17399560e+01] [-9.84030407e-03 1.35423381e-04 -9.99951574e-01 7.13237318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05762800000001 meters 0.016060066167846693 Centerline is valid? [True, True] Translation: X:95.68, Y:-41.74, Z:0.71 [[-9.05665461e-01 -4.23898599e-01 8.94706639e-03 9.56812826e+01] [-4.23876586e-01 9.05709646e-01 4.32171208e-03 -4.17438868e+01] [-9.93541203e-03 1.21573409e-04 -9.99950635e-01 7.13216370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08762800000001 meters 0.014894299199685159 Centerline is valid? [True, True] Translation: X:95.60, Y:-41.76, Z:0.71 [[-8.70323711e-01 -4.92404657e-01 8.61920964e-03 9.55973923e+01] [-4.92379343e-01 8.70366384e-01 4.99392490e-03 -4.17564763e+01] [-9.96090221e-03 1.02410474e-04 -9.99950384e-01 7.12274641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11762800000001 meters 0.013962439812910347 Centerline is valid? [True, True] Translation: X:95.51, Y:-41.78, Z:0.71 [[-8.28109072e-01 -5.60510387e-01 7.96679665e-03 9.55102373e+01] [-5.60483849e-01 8.28147392e-01 5.45455446e-03 -4.17790723e+01] [-9.65501631e-03 5.17051816e-05 -9.99953388e-01 7.12999675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14762800000001 meters 0.013472249386478738 Centerline is valid? [True, True] Translation: X:95.41, Y:-41.82, Z:0.71 [[-7.81472296e-01 -6.23892324e-01 7.70833243e-03 9.54138347e+01] [-6.23861648e-01 7.81510312e-01 6.18684111e-03 -4.18159274e+01] [-9.88406396e-03 2.59119549e-05 -9.99951151e-01 7.13484915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17762800000001 meters 0.012825681970354098 Centerline is valid? [True, True] Translation: X:95.33, Y:-41.85, Z:0.71 [[-7.28529995e-01 -6.84981339e-01 6.67916281e-03 9.53254273e+01] [-6.84952871e-01 7.28560611e-01 6.24500939e-03 -4.18527392e+01] [-9.14388983e-03 -2.52350830e-05 -9.99958193e-01 7.13799069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20762800000001 meters 0.012389300867865766 Centerline is valid? [True, True] Translation: X:95.23, Y:-41.91, Z:0.71 [[-6.70586089e-01 -7.41807830e-01 5.95323275e-03 9.52292170e+01] [-7.41779528e-01 6.70612510e-01 6.48017231e-03 -4.19069738e+01] [-8.79935492e-03 -7.04727802e-05 -9.99961282e-01 7.13926475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23762800000002 meters 0.012676370823912328 Centerline is valid? [True, True] Translation: X:95.14, Y:-41.97, Z:0.71 [[-6.06006390e-01 -7.95443807e-01 5.04036714e-03 9.51370613e+01] [-7.95418094e-01 6.06027336e-01 6.39709822e-03 -4.19690570e+01] [-8.14313244e-03 -1.32516827e-04 -9.99966835e-01 7.13683340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26762800000002 meters 0.01279425749015833 Centerline is valid? [True, True] Translation: X:95.05, Y:-42.04, Z:0.71 [[-5.41263145e-01 -8.40840727e-01 4.59135223e-03 9.50516781e+01] [-8.40812827e-01 5.41282597e-01 6.85137326e-03 -4.20413281e+01] [-8.24613273e-03 -1.52072011e-04 -9.99965989e-01 7.12867097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.297628 meters 0.013301408267371643 Centerline is valid? [True, True] Translation: X:94.97, Y:-42.12, Z:0.71 [[-4.72884460e-01 -8.81115502e-01 3.96970149e-03 9.49718501e+01] [-8.81087420e-01 4.72901092e-01 7.03678547e-03 -4.21184045e+01] [-8.07749693e-03 -1.70067544e-04 -9.99967362e-01 7.12539600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.327628 meters 0.013985601938794117 Centerline is valid? [True, True] Translation: X:94.89, Y:-42.21, Z:0.71 [[-4.00539574e-01 -9.16274286e-01 3.07941143e-03 9.48948042e+01] [-9.16250684e-01 4.00551368e-01 6.57918487e-03 -4.22073869e+01] [-7.26180038e-03 -1.86288932e-04 -9.99973615e-01 7.12100681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.357628 meters 0.013986162208609727 Centerline is valid? [True, True] Translation: X:94.82, Y:-42.31, Z:0.71 [[-3.27104809e-01 -9.44984677e-01 2.53053565e-03 9.48247962e+01] [-9.44960884e-01 3.27114538e-01 6.70873917e-03 -4.23071949e+01] [-7.16743072e-03 -1.96796358e-04 -9.99974294e-01 7.11944847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.387628 meters 0.015294524076271547 Centerline is valid? [True, True] Translation: X:94.76, Y:-42.40, Z:0.71 [[-2.51392772e-01 -9.67882423e-01 2.30011151e-03 9.47623871e+01] [-9.67849837e-01 2.51403190e-01 7.94541795e-03 -4.24031207e+01] [-8.26848574e-03 -2.28741904e-04 -9.99965789e-01 7.13871889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41762800000001 meters 0.015393459951386782 Centerline is valid? [True, True] Translation: X:94.71, Y:-42.51, Z:0.71 [[-1.75428987e-01 -9.84490430e-01 1.80650273e-03 9.47083543e+01] [-9.84451585e-01 1.75438119e-01 8.74895665e-03 -4.25110125e+01] [-8.93019353e-03 -2.43593878e-04 -9.99960095e-01 7.14638345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44762800000001 meters 0.015044686128821778 Centerline is valid? [True, True] Translation: X:94.66, Y:-42.62, Z:0.71 [[-9.84053376e-02 -9.95145661e-01 1.22596057e-03 9.46644351e+01] [-9.95098067e-01 9.84126256e-02 9.73613242e-03 -4.26228624e+01] [-9.80951994e-03 -2.61863598e-04 -9.99951851e-01 7.14982158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47762800000001 meters 0.01443550103555022 Centerline is valid? [True, True] Translation: X:93.85, Y:-42.64, Z:-0.18 [[-2.00338077e-01 9.79725351e-01 1.70077042e-03 9.38455863e+01] [-9.79678403e-01 -2.00345132e-01 9.59446227e-03 -4.26385568e+01] [ 9.74067899e-03 2.55928067e-04 9.99952526e-01 -1.76559465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50762800000001 meters 0.014575874282693576 Centerline is valid? [True, True] Translation: X:94.63, Y:-42.92, Z:0.72 [[-8.84883126e-02 -9.96076094e-01 1.49471780e-03 9.46287546e+01] [-9.95988480e-01 8.85003596e-02 1.32149257e-02 -4.29206852e+01] [-1.32953546e-02 -3.19355234e-04 -9.99911562e-01 7.17711765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53762800000001 meters 0.01473625883395813 Centerline is valid? [True, True] Translation: X:94.59, Y:-43.04, Z:0.72 [[-1.13183666e-02 -9.99935829e-01 4.82847269e-04 9.45939325e+01] [-9.99839990e-01 1.13239686e-02 1.38478113e-02 -4.30359035e+01] [-1.38523904e-02 -3.26035404e-04 -9.99903998e-01 7.17983950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56762800000001 meters 0.014750726152737138 Centerline is valid? [True, True] Translation: X:94.57, Y:-43.16, Z:0.72 [[ 6.61580384e-02 -9.97808966e-01 -6.17562514e-04 9.45684907e+01] [-9.97705361e-01 -6.61600707e-02 1.43825202e-02 -4.31600451e+01] [-1.43918656e-02 -3.35373893e-04 -9.99896375e-01 7.17132595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59762800000001 meters 0.014585466946078597 Centerline is valid? [True, True] Translation: X:94.55, Y:-43.27, Z:0.72 [[ 1.42969159e-01 -9.89725581e-01 -1.75916112e-03 9.45504334e+01] [-9.89619169e-01 -1.42979590e-01 1.45167573e-02 -4.32704802e+01] [-1.46191302e-02 -3.34549016e-04 -9.99893079e-01 7.16916408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62762800000002 meters 0.015358496424362475 Centerline is valid? [True, True] Translation: X:94.54, Y:-43.40, Z:0.72 [[ 2.18996297e-01 -9.75721657e-01 -2.80546467e-03 9.45415010e+01] [-9.75621416e-01 -2.19014023e-01 1.39896617e-02 -4.33999774e+01] [-1.42644520e-02 -3.26612700e-04 -9.99898204e-01 7.18089387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65762800000002 meters 0.014458122025116392 Centerline is valid? [True, True] Translation: X:94.54, Y:-43.51, Z:0.72 [[ 2.93155030e-01 -9.56057145e-01 -3.85542576e-03 9.45420236e+01] [-9.55959815e-01 -2.93180212e-01 1.36453536e-02 -4.35118481e+01] [-1.41760724e-02 -3.14571944e-04 -9.99899465e-01 7.16464805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.687628 meters 0.01385852414616171 Centerline is valid? [True, True] Translation: X:94.55, Y:-43.63, Z:0.72 [[ 3.63447540e-01 -9.31603281e-01 -4.60576299e-03 9.45536042e+01] [-9.31519131e-01 -3.63476628e-01 1.25239785e-02 -4.36311829e+01] [-1.33414667e-02 -2.61452838e-04 -9.99910964e-01 7.15104929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.717628 meters 0.013520435435355431 Centerline is valid? [True, True] Translation: X:94.57, Y:-43.74, Z:0.71 [[ 4.32197247e-01 -9.01761981e-01 -5.55608628e-03 9.45733322e+01] [-9.01680527e-01 -4.32232898e-01 1.21223000e-02 -4.37445627e+01] [-1.33329525e-02 -2.29409872e-04 -9.99911086e-01 7.14161444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.747628 meters 0.0131276948180826 Centerline is valid? [True, True] Translation: X:94.60, Y:-43.86, Z:0.71 [[ 4.98070453e-01 -8.67113584e-01 -6.31315634e-03 9.46031094e+01] [-8.67039084e-01 -4.98110426e-01 1.13679421e-02 -4.38573799e+01] [-1.30019460e-02 -1.88282783e-04 -9.99915453e-01 7.13770427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.777628 meters 0.012830647128828213 Centerline is valid? [True, True] Translation: X:94.64, Y:-43.97, Z:0.71 [[ 5.60735258e-01 -8.27964467e-01 -7.12830198e-03 9.46409152e+01] [-8.27894272e-01 -5.60780546e-01 1.07821113e-02 -4.39656388e+01] [-1.29246181e-02 -1.44429561e-04 -9.99916463e-01 7.13135497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80762800000001 meters 0.012718384642532585 Centerline is valid? [True, True] Translation: X:94.68, Y:-44.06, Z:0.71 [[ 6.18568815e-01 -7.85695648e-01 -7.41420291e-03 9.46845649e+01] [-7.85637768e-01 -6.18613242e-01 9.53701502e-03 -4.40642772e+01] [-1.20797153e-02 -7.44222492e-05 -9.99927035e-01 7.11671869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83762800000001 meters 0.012699704106914556 Centerline is valid? [True, True] Translation: X:94.73, Y:-44.16, Z:0.71 [[ 6.75843428e-01 -7.37004031e-01 -7.79217652e-03 9.47349092e+01] [-7.36954129e-01 -6.75888345e-01 8.57649464e-03 -4.41643553e+01] [-1.15875524e-02 -5.38908793e-05 -9.99932861e-01 7.10835780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86762800000001 meters 0.012767668750356474 Centerline is valid? [True, True] Translation: X:94.79, Y:-44.26, Z:0.71 [[ 7.29430957e-01 -6.84009069e-01 -7.87856682e-03 9.47903466e+01] [-6.83968572e-01 -7.29473503e-01 7.44317733e-03 -4.42583482e+01] [-1.08384065e-02 -4.05918667e-05 -9.99941262e-01 7.10478382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89762800000001 meters 0.012721463798122414 Centerline is valid? [True, True] Translation: X:94.79, Y:-44.27, Z:0.71 [[ 7.79647473e-01 -6.26167800e-01 -7.98151475e-03 9.47855020e+01] [-6.26134616e-01 -7.79688326e-01 6.44644081e-03 -4.42656533e+01] [-1.02596475e-02 -2.84486137e-05 -9.99947368e-01 7.09032363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92762800000001 meters 0.01282623522613927 Centerline is valid? [True, True] Translation: X:94.78, Y:-44.27, Z:0.71 [[ 8.25971730e-01 -5.63654322e-01 -8.03161789e-03 9.47793140e+01] [-5.63627353e-01 -8.26010777e-01 5.51388390e-03 -4.42724834e+01] [-9.74212743e-03 -2.74726910e-05 -9.99952544e-01 7.08575431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95762800000001 meters 0.012598187669617008 Centerline is valid? [True, True] Translation: X:94.77, Y:-44.28, Z:0.71 [[ 8.68006867e-01 -4.96490912e-01 -7.80088606e-03 9.47717906e+01] [-4.96470443e-01 -8.68041919e-01 4.50849789e-03 -4.42807007e+01] [-9.00992433e-03 -4.04977655e-05 -9.99959409e-01 7.07726369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98762800000002 meters 0.012482523794859403 Centerline is valid? [True, True] Translation: X:94.76, Y:-44.29, Z:0.71 [[ 9.04629645e-01 -4.26125332e-01 -7.89975634e-03 9.47643235e+01] [-4.26108587e-01 -9.04664136e-01 3.77796152e-03 -4.42874142e+01] [-8.75651135e-03 -5.15019743e-05 -9.99961660e-01 7.07636419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01762800000002 meters 0.012485309071859301 Centerline is valid? [True, True] Translation: X:94.76, Y:-44.30, Z:0.71 [[ 9.35612590e-01 -3.52930492e-01 -8.31554254e-03 9.47581327e+01] [-3.52915965e-01 -9.35649541e-01 3.20284485e-03 -4.42953683e+01] [-8.91081517e-03 -6.19342504e-05 -9.99960296e-01 7.07598832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04762800000002 meters 0.012348487837481709 Centerline is valid? [True, True] Translation: X:94.75, Y:-44.30, Z:0.71 [[ 9.61090704e-01 -2.76088107e-01 -8.94511900e-03 9.47518215e+01] [-2.76075311e-01 -9.61132327e-01 2.65944800e-03 -4.43037776e+01] [-9.33168500e-03 -8.64442435e-05 -9.99956455e-01 7.08037499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.077628 meters 0.01243115523060521 Centerline is valid? [True, True] Translation: X:94.75, Y:-44.31, Z:0.71 [[ 9.80003030e-01 -1.98738141e-01 -9.85961498e-03 9.47479379e+01] [-1.98727052e-01 -9.80052622e-01 2.10175907e-03 -4.43112719e+01] [-1.00806412e-02 -1.00358036e-04 -9.99949184e-01 7.08604513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.107628 meters 0.012459897471883835 Centerline is valid? [True, True] Translation: X:94.74, Y:-44.32, Z:0.71 [[ 9.92709994e-01 -1.19999403e-01 -1.12699647e-02 9.47416483e+01] [-1.19990319e-01 -9.92773957e-01 1.48120801e-03 -4.43181715e+01] [-1.13662715e-02 -1.18123342e-04 -9.99935395e-01 7.09318633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.137628 meters 0.01248143055714226 Centerline is valid? [True, True] Translation: X:94.73, Y:-44.32, Z:0.71 [[ 9.99096424e-01 -4.07469334e-02 -1.20840091e-02 9.47346886e+01] [-4.07423326e-02 -9.99169490e-01 6.26766035e-04 -4.43243436e+01] [-1.20995120e-02 -1.33868988e-04 -9.99926789e-01 7.10232028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16762800000001 meters 0.012511130847077858 Centerline is valid? [True, True] Translation: X:94.73, Y:-44.33, Z:0.71 [[ 9.99161166e-01 3.91635069e-02 -1.19659920e-02 9.47288642e+01] [ 3.91625179e-02 -9.99232804e-01 -3.17052166e-04 -4.43331550e+01] [-1.19692287e-02 -1.51832166e-04 -9.99928355e-01 7.10024212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19762800000001 meters 0.012472123074596969 Centerline is valid? [True, True] Translation: X:94.72, Y:-44.34, Z:0.71 [[ 9.93012070e-01 1.17394652e-01 -1.20633219e-02 9.47246222e+01] [ 1.17387870e-01 -9.93085330e-01 -1.27123252e-03 -4.43419831e+01] [-1.21291439e-02 -1.53738416e-04 -9.99926427e-01 7.10284010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22762800000001 meters 0.012486579713273884 Centerline is valid? [True, True] Translation: X:94.72, Y:-44.35, Z:0.71 [[ 9.80828713e-01 1.94506919e-01 -1.19203390e-02 9.47193874e+01] [ 1.94494411e-01 -9.80901135e-01 -2.21093831e-03 -4.43497218e+01] [-1.21227169e-02 -1.49887543e-04 -9.99926506e-01 7.10566195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25762800000001 meters 0.012301602816497288 Centerline is valid? [True, True] Translation: X:94.72, Y:-44.36, Z:0.71 [[ 9.62781687e-01 2.70045631e-01 -1.12597040e-02 9.47156862e+01] [ 2.70028853e-01 -9.62847515e-01 -3.01342994e-03 -4.43581492e+01] [-1.16551416e-02 -1.39169794e-04 -9.99932067e-01 7.09878283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28762800000001 meters 0.012116258753480843 Centerline is valid? [True, True] Translation: X:94.71, Y:-44.36, Z:0.71 [[ 9.39557692e-01 3.42262098e-01 -9.38077138e-03 9.47114286e+01] [ 3.42246165e-01 -9.39604515e-01 -3.30419013e-03 -4.43648864e+01] [-9.94511420e-03 -1.06055772e-04 -9.99950541e-01 7.08130831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31762800000001 meters 0.012079030587756936 Centerline is valid? [True, True] Translation: X:94.71, Y:-44.37, Z:0.71 [[ 9.10593522e-01 4.13219926e-01 -8.29033621e-03 9.47073072e+01] [ 4.13203683e-01 -9.10631256e-01 -3.66497628e-03 -4.43727859e+01] [-9.06388050e-03 -8.82937936e-05 -9.99958918e-01 7.07315568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34762800000001 meters 0.012103655321646863 Centerline is valid? [True, True] Translation: X:94.70, Y:-44.38, Z:0.71 [[ 8.77041191e-01 4.80374139e-01 -6.27984832e-03 9.47026833e+01] [ 4.80362344e-01 -8.77063671e-01 -3.36679818e-03 -4.43769310e+01] [-7.12514959e-03 -6.37819756e-05 -9.99974614e-01 7.05038410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37762800000002 meters 0.012162771858964232 Centerline is valid? [True, True] Translation: X:94.70, Y:-44.38, Z:0.70 [[ 8.37586535e-01 5.46277102e-01 -5.48858524e-03 9.47003870e+01] [ 5.46265805e-01 -8.37604516e-01 -3.51362675e-03 -4.43844217e+01] [-6.51667762e-03 -5.52599810e-05 -9.99978765e-01 7.04320285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40762800000002 meters 0.012179788669817981 Centerline is valid? [True, True] Translation: X:94.70, Y:-44.39, Z:0.70 [[ 7.93175898e-01 6.08971133e-01 -5.11403151e-03 9.46988908e+01] [ 6.08958846e-01 -7.93192383e-01 -3.86879008e-03 -4.43928962e+01] [-6.41239232e-03 -4.56036801e-05 -9.99979439e-01 7.04195115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.437628 meters 0.012440150502777 Centerline is valid? [True, True] Translation: X:94.70, Y:-44.40, Z:0.70 [[ 7.44186750e-01 6.67953668e-01 -4.89677388e-03 9.46979076e+01] [ 6.67939505e-01 -7.44202859e-01 -4.34998878e-03 -4.44021710e+01] [-6.54978408e-03 -3.35447087e-05 -9.99978549e-01 7.04228115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.467628 meters 0.012997812503975354 Centerline is valid? [True, True] Translation: X:94.70, Y:-44.41, Z:0.71 [[ 6.92332994e-01 7.21560961e-01 -4.98050182e-03 9.46972224e+01] [ 7.21542305e-01 -6.92350908e-01 -5.18862442e-03 -4.44112304e+01] [-7.19216378e-03 -1.38688526e-06 -9.99974136e-01 7.05334069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.497628 meters 0.013217450317045014 Centerline is valid? [True, True] Translation: X:94.70, Y:-44.42, Z:0.71 [[ 6.35289671e-01 7.72258744e-01 -4.84414120e-03 9.46982751e+01] [ 7.72236057e-01 -6.35308139e-01 -5.91956933e-03 -4.44221688e+01] [-7.64896151e-03 1.98207522e-05 -9.99970746e-01 7.05517570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.527628 meters 0.014007396592909725 Centerline is valid? [True, True] Translation: X:94.70, Y:-44.43, Z:0.71 [[ 5.74258978e-01 8.18659457e-01 -4.82913758e-03 9.46981239e+01] [ 8.18629840e-01 -5.74279281e-01 -6.96368465e-03 -4.44329835e+01] [-8.47415995e-03 4.56823033e-05 -9.99964093e-01 7.05984379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55762800000001 meters 0.013984550872996932 Centerline is valid? [True, True] Translation: X:94.70, Y:-44.45, Z:0.71 [[ 5.10650062e-01 8.59773711e-01 -5.06745151e-03 9.47027745e+01] [ 8.59729482e-01 -5.10675196e-01 -8.72138317e-03 -4.44450514e+01] [-1.00862378e-02 9.69373991e-05 -9.99949128e-01 7.05547616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58762800000001 meters 0.01416141071034359 Centerline is valid? [True, True] Translation: X:94.71, Y:-44.46, Z:0.71 [[ 4.42240241e-01 8.96884052e-01 -4.75043735e-03 9.47083843e+01] [ 8.96829387e-01 -4.42265738e-01 -9.90292326e-03 -4.44569051e+01] [-1.09827296e-02 1.19139355e-04 -9.99939681e-01 7.05910880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61762800000001 meters 0.01530346588277164 Centerline is valid? [True, True] Translation: X:94.71, Y:-44.47, Z:0.71 [[ 3.70941018e-01 9.28647002e-01 -4.18426423e-03 9.47121258e+01] [ 9.28583758e-01 -3.70964592e-01 -1.08386144e-02 -4.44681960e+01] [-1.16174606e-02 1.35046842e-04 -9.99932506e-01 7.07537915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64762800000001 meters 0.015309321906573808 Centerline is valid? [True, True] Translation: X:94.71, Y:-44.48, Z:0.71 [[ 2.96175211e-01 9.55126911e-01 -3.58160501e-03 9.47143053e+01] [ 9.55051227e-01 -2.96196833e-01 -1.20245524e-02 -4.44790686e+01] [-1.25458337e-02 1.40758090e-04 -9.99921288e-01 7.08462013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67762800000001 meters 0.015309321906573808 Centerline is valid? [True, True] Translation: X:94.71, Y:-44.49, Z:0.71 [[ 2.20419880e-01 9.75401544e-01 -2.62743205e-03 9.47146560e+01] [ 9.75324437e-01 -2.20435494e-01 -1.22652287e-02 -4.44883165e+01] [-1.25427023e-02 1.40901562e-04 -9.99921327e-01 7.08435631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70762800000001 meters 0.014013245971147219 Centerline is valid? [True, True] Translation: X:94.73, Y:-44.50, Z:0.71 [[ 1.42708527e-01 9.89763450e-01 -1.60935386e-03 9.47259782e+01] [ 9.89690117e-01 -1.42717545e-01 -1.20488045e-02 -4.44982067e+01] [-1.21551494e-02 1.26705538e-04 -9.99926115e-01 7.07121357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73762800000002 meters 0.013901477348463758 Centerline is valid? [True, True] Translation: X:94.74, Y:-44.51, Z:0.71 [[ 6.39455805e-02 9.97953154e-01 -6.81699838e-04 9.47352302e+01] [ 9.97873825e-01 -6.39490931e-02 -1.25834264e-02 -4.45066577e+01] [-1.26012642e-02 1.24404082e-04 -9.99920593e-01 7.06656187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76762800000002 meters 0.01348167582034323 Centerline is valid? [True, True] Translation: X:94.75, Y:-44.51, Z:0.71 [[-1.59173627e-02 9.99873271e-01 2.80406793e-04 9.47468264e+01] [ 9.99804155e-01 1.59195595e-02 -1.17566911e-02 -4.45144803e+01] [-1.17596651e-02 9.32163598e-05 -9.99930848e-01 7.05668775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79762800000002 meters 0.013507764788895035 Centerline is valid? [True, True] Translation: X:94.76, Y:-44.52, Z:0.71 [[-9.50645488e-02 9.95470429e-01 1.16430824e-03 9.47559993e+01] [ 9.95405587e-01 9.50716458e-02 -1.13622181e-02 -4.45229156e+01] [-1.14214449e-02 7.88147846e-05 -9.99934770e-01 7.05604953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.827628 meters 0.013280266440935063 Centerline is valid? [True, True] Translation: X:94.77, Y:-44.53, Z:0.71 [[-1.74125699e-01 9.84721487e-01 1.95805078e-03 9.47652283e+01] [ 9.84662845e-01 1.74136699e-01 -1.07467524e-02 -4.45287698e+01] [-1.09235265e-02 5.67340800e-05 -9.99940335e-01 7.05081547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.857628 meters 0.012699971578942232 Centerline is valid? [True, True] Translation: X:94.78, Y:-44.53, Z:0.70 [[-2.53828008e-01 9.67245669e-01 2.67556966e-03 9.47765274e+01] [ 9.67192682e-01 2.53842108e-01 -1.01242486e-02 -4.45336326e+01] [-1.04718078e-02 1.79735494e-05 -9.99945169e-01 7.04794493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.887628 meters 0.012330417799170119 Centerline is valid? [True, True] Translation: X:94.79, Y:-44.54, Z:0.70 [[-3.30919410e-01 9.43653660e-01 3.18018907e-03 9.47870435e+01] [ 9.43609774e-01 3.30934691e-01 -9.10081745e-03 -4.45376350e+01] [-9.64045458e-03 -1.07796593e-05 -9.99953530e-01 7.03871404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91762800000001 meters 0.012064816305091533 Centerline is valid? [True, True] Translation: X:94.80, Y:-44.54, Z:0.70 [[-4.06283234e-01 9.13739308e-01 3.79622280e-03 9.47974612e+01] [ 9.13698560e-01 4.06300968e-01 -8.62927182e-03 -4.45421582e+01] [-9.42731385e-03 -3.73251533e-05 -9.99955561e-01 7.04161090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94762800000001 meters 0.01184395461971531 Centerline is valid? [True, True] Translation: X:94.81, Y:-44.55, Z:0.70 [[-4.79638662e-01 8.77456462e-01 4.11238173e-03 9.48070763e+01] [ 8.77422948e-01 4.79656286e-01 -7.66927833e-03 -4.45456836e+01] [-8.70198757e-03 -7.01842918e-05 -9.99962135e-01 7.03914817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97762800000001 meters 0.012044659879420543 Centerline is valid? [True, True] Translation: X:94.82, Y:-44.54, Z:0.70 [[-5.52969299e-01 8.33190993e-01 4.20999171e-03 9.48225053e+01] [ 8.33165068e-01 5.52985310e-01 -6.57383512e-03 -4.45437396e+01] [-7.80532378e-03 -1.27510969e-04 -9.99969530e-01 7.03627792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00762800000001 meters 0.012592607614751518 Centerline is valid? [True, True] Translation: X:94.83, Y:-44.54, Z:0.70 [[-6.19614498e-01 7.84892364e-01 4.67440333e-03 9.48346349e+01] [ 7.84868090e-01 6.19632110e-01 -6.17496687e-03 -4.45435510e+01] [-7.74309475e-03 -1.57308990e-04 -9.99970009e-01 7.03808875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03762800000001 meters 0.013399299489437477 Centerline is valid? [True, True] Translation: X:94.85, Y:-44.54, Z:0.70 [[-6.83818530e-01 7.29632609e-01 5.33611037e-03 9.48476698e+01] [ 7.29607957e-01 6.83839317e-01 -6.00148594e-03 -4.45393254e+01] [-8.02792192e-03 -2.10658709e-04 -9.99967754e-01 7.02918119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06762800000001 meters 0.015598361357901503 Centerline is valid? [True, True] Translation: X:94.86, Y:-44.53, Z:0.70 [[-7.40385544e-01 6.72159503e-01 5.55412906e-03 9.48615339e+01] [ 6.72138306e-01 7.40406343e-01 -5.34266821e-03 -4.45339517e+01] [-7.70343760e-03 -2.22491414e-04 -9.99970303e-01 7.03770795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09762800000001 meters 0.014358600515762123 Centerline is valid? [True, True] Translation: X:94.89, Y:-44.53, Z:0.70 [[-7.86913234e-01 6.17039146e-01 5.50029830e-03 9.48927441e+01] [ 6.17022147e-01 7.86932428e-01 -4.58524403e-03 -4.45289461e+01] [-7.15763816e-03 -2.14383341e-04 -9.99974361e-01 7.01888598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12762800000002 meters 0.01497426041643838 Centerline is valid? [True, True] Translation: X:94.91, Y:-44.51, Z:0.70 [[-8.29419330e-01 5.58597964e-01 5.64705742e-03 9.49105841e+01] [ 5.58583189e-01 8.29438524e-01 -4.06877511e-03 -4.45076759e+01] [-6.95669647e-03 -2.20369383e-04 -9.99975778e-01 7.01171904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15762800000002 meters 0.015067481480737882 Centerline is valid? [True, True] Translation: X:94.93, Y:-44.49, Z:0.70 [[-8.66806716e-01 4.98612838e-01 5.59962350e-03 9.49263074e+01] [ 4.98600845e-01 8.66824777e-01 -3.46466761e-03 -4.44853831e+01] [-6.58142014e-03 -2.11220143e-04 -9.99978320e-01 7.00847385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.187628 meters 0.01514839470108068 Centerline is valid? [True, True] Translation: X:94.95, Y:-44.47, Z:0.70 [[-8.99836610e-01 4.36191651e-01 5.56051114e-03 9.49498759e+01] [ 4.36181915e-01 8.99853767e-01 -2.92131438e-03 -4.44678726e+01] [-6.27789984e-03 -2.03311225e-04 -9.99980273e-01 7.01022208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.217628 meters 0.014549948256192356 Centerline is valid? [True, True] Translation: X:94.96, Y:-44.45, Z:0.70 [[-9.27728611e-01 3.73206380e-01 6.05164045e-03 9.49648086e+01] [ 3.73197045e-01 9.27748328e-01 -2.64691442e-03 -4.44478854e+01] [-6.60224466e-03 -1.97163900e-04 -9.99978186e-01 7.01071539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.247628 meters 0.013806205314438071 Centerline is valid? [True, True] Translation: X:94.98, Y:-44.43, Z:0.70 [[-9.51310715e-01 3.08170925e-01 6.21320841e-03 9.49795492e+01] [ 3.08163072e-01 9.51330987e-01 -2.20793079e-03 -4.44271909e+01] [-6.59123776e-03 -1.85746832e-04 -9.99978260e-01 7.01110296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.277628 meters 0.013674937799562628 Centerline is valid? [True, True] Translation: X:94.99, Y:-44.40, Z:0.70 [[-9.70233094e-01 2.42087162e-01 6.44589710e-03 9.49913812e+01] [ 2.42080633e-01 9.70254490e-01 -1.78641011e-03 -4.44044016e+01] [-6.68662756e-03 -1.72807358e-04 -9.99977629e-01 7.01267299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30762800000001 meters 0.013233403899844442 Centerline is valid? [True, True] Translation: X:95.00, Y:-44.38, Z:0.70 [[-9.84482364e-01 1.75338541e-01 7.13245757e-03 9.50028002e+01] [ 1.75332746e-01 9.84508187e-01 -1.43466712e-03 -4.43813223e+01] [-7.27351531e-03 -1.61851106e-04 -9.99973535e-01 7.01641016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33762800000001 meters 0.012051570170982207 Centerline is valid? [True, True] Translation: X:95.16, Y:-43.59, Z:-0.17 [[-9.65790480e-01 -2.59253014e-01 6.05165070e-03 9.51634756e+01] [ 2.59248511e-01 -9.65809436e-01 -1.53078269e-03 -4.35869286e+01] [ 6.24160137e-03 9.04660816e-05 9.99980517e-01 -1.68672458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36762800000001 meters 0.011999325565365006 Centerline is valid? [True, True] Translation: X:94.95, Y:-44.38, Z:0.70 [[-9.83133018e-01 1.82675152e-01 8.90269546e-03 9.49458128e+01] [ 1.82666917e-01 9.83173323e-01 -1.73641451e-03 -4.43824517e+01] [-9.07009246e-03 -8.08985032e-05 -9.99958863e-01 7.02480855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39762800000001 meters 0.012070862606997707 Centerline is valid? [True, True] Translation: X:94.97, Y:-44.36, Z:0.70 [[-9.93141051e-01 1.16508337e-01 9.83163742e-03 9.49657719e+01] [ 1.16502220e-01 9.93189713e-01 -1.19449689e-03 -4.43620392e+01] [-9.90384999e-03 -4.08963027e-05 -9.99950955e-01 7.02246813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42762800000001 meters 0.013065534252012859 Centerline is valid? [True, True] Translation: X:94.97, Y:-44.34, Z:0.70 [[-9.98448860e-01 5.45606642e-02 1.10909039e-02 9.49721777e+01] [ 5.45579888e-02 9.98510456e-01 -5.43861383e-04 -4.43430229e+01] [-1.11040570e-02 6.20796364e-05 -9.99938346e-01 7.01650099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45762800000001 meters 0.013894371994289228 Centerline is valid? [True, True] Translation: X:95.02, Y:-43.49, Z:-0.17 [[-9.95518895e-01 -9.40712450e-02 9.62965996e-03 9.50240437e+01] [ 9.40655551e-02 -9.95565459e-01 -1.04310369e-03 -4.34908272e+01] [ 9.68508290e-03 -1.32610121e-04 9.99953090e-01 -1.68891487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48762800000002 meters 0.015528357475761001 Centerline is valid? [True, True] Translation: X:94.88, Y:-44.35, Z:0.70 [[-9.98055568e-01 6.12161313e-02 1.17332176e-02 9.48809970e+01] [ 6.12144763e-02 9.98124510e-01 -5.00469556e-04 -4.43477434e+01] [-1.17418488e-02 2.18746341e-04 -9.99931038e-01 7.01936326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51762800000002 meters 0.01661735528826261 Centerline is valid? [True, True] Translation: X:94.89, Y:-44.32, Z:0.70 [[-9.99913886e-01 -6.14738824e-03 1.15944155e-02 9.48867771e+01] [-6.14393460e-03 9.99981070e-01 3.33466405e-04 -4.43226809e+01] [-1.15962459e-02 2.62202359e-04 -9.99932727e-01 7.02140817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54762800000002 meters 0.017034557334398313 Centerline is valid? [True, True] Translation: X:94.89, Y:-44.30, Z:0.70 [[-9.97160316e-01 -7.45146936e-02 1.09025048e-02 9.48855983e+01] [-7.45071990e-02 9.97219877e-01 1.09254461e-03 -4.42963657e+01] [-1.09536051e-02 2.77127036e-04 -9.99939969e-01 7.01483394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.577628 meters 0.018174250403493842 Centerline is valid? [True, True] Translation: X:94.87, Y:-44.27, Z:0.70 [[-9.89747979e-01 -1.42493507e-01 9.72305920e-03 9.48706297e+01] [-1.42483868e-01 9.89795698e-01 1.68054131e-03 -4.42727215e+01] [-9.86330839e-03 2.77933287e-04 -9.99951318e-01 6.99366253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.607628 meters 0.01844299860862485 Centerline is valid? [True, True] Translation: X:94.83, Y:-44.25, Z:0.70 [[-9.76873023e-01 -2.13632000e-01 8.97030116e-03 9.48277175e+01] [-2.13620523e-01 9.76914172e-01 2.22989084e-03 -4.42534252e+01] [-9.23959037e-03 2.62079783e-04 -9.99957280e-01 6.98272984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.637628 meters 0.01925119752787157 Centerline is valid? [True, True] Translation: X:94.77, Y:-44.24, Z:0.70 [[-9.58598338e-01 -2.84640937e-01 8.29238459e-03 9.47693623e+01] [-2.84628050e-01 9.58634172e-01 2.71977621e-03 -4.42422074e+01] [-8.72352289e-03 2.46927700e-04 -9.99961919e-01 6.97531433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66762800000001 meters 0.018937333395976388 Centerline is valid? [True, True] Translation: X:94.70, Y:-44.24, Z:0.70 [[-9.34917384e-01 -3.54794963e-01 7.07237234e-03 9.46990017e+01] [-3.54783099e-01 9.34944110e-01 2.90912256e-03 -4.42354619e+01] [-7.64441490e-03 2.10631082e-04 -9.99970759e-01 6.96224024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69762800000001 meters 0.019380116773870047 Centerline is valid? [True, True] Translation: X:94.62, Y:-44.24, Z:0.70 [[-9.05604231e-01 -4.24072051e-01 6.62360199e-03 9.46166707e+01] [-4.24059090e-01 9.05628431e-01 3.32153917e-03 -4.42420382e+01] [-7.40709421e-03 1.99201300e-04 -9.99972547e-01 6.96041931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72762800000001 meters 0.01906535462021832 Centerline is valid? [True, True] Translation: X:94.53, Y:-44.25, Z:0.70 [[-8.70816223e-01 -4.91567457e-01 6.36720786e-03 9.45326177e+01] [-4.91552660e-01 8.70839478e-01 3.81918340e-03 -4.42542990e+01] [-7.42220224e-03 1.95988897e-04 -9.99972436e-01 6.95881806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75762800000001 meters 0.019246434108830146 Centerline is valid? [True, True] Translation: X:94.44, Y:-44.28, Z:0.70 [[-8.30630353e-01 -5.56789206e-01 6.24478479e-03 9.44389524e+01] [-5.56771670e-01 8.30653803e-01 4.42341007e-03 -4.42808150e+01] [-7.65016122e-03 1.97299414e-04 -9.99970718e-01 6.95694598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78762800000001 meters 0.01901222295691521 Centerline is valid? [True, True] Translation: X:94.35, Y:-44.31, Z:0.70 [[-7.85098826e-01 -6.19343986e-01 5.73237361e-03 9.43452257e+01] [-6.19325783e-01 7.85119733e-01 4.75179265e-03 -4.43148240e+01] [-7.44359384e-03 1.80420055e-04 -9.99972280e-01 6.95756688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81762800000001 meters 0.017857938425594508 Centerline is valid? [True, True] Translation: X:94.25, Y:-44.36, Z:0.70 [[-7.33853895e-01 -6.79283038e-01 5.74593056e-03 9.42467973e+01] [-6.79260287e-01 7.33876367e-01 5.56232917e-03 -4.43558721e+01] [-7.99519851e-03 1.78954483e-04 -9.99968022e-01 6.96512268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84762800000001 meters 0.01796719210239954 Centerline is valid? [True, True] Translation: X:94.15, Y:-44.41, Z:0.70 [[-6.78764155e-01 -7.34334830e-01 5.61947006e-03 9.41532843e+01] [-7.34307420e-01 6.78787392e-01 6.34739089e-03 -4.44106442e+01] [-8.47553564e-03 1.81962854e-04 -9.99964065e-01 6.96684263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87762800000002 meters 0.01659629406513147 Centerline is valid? [True, True] Translation: X:94.06, Y:-44.47, Z:0.70 [[-6.18665878e-01 -7.85637839e-01 5.07117931e-03 9.40571570e+01] [-7.85609302e-01 6.18686641e-01 6.69809038e-03 -4.44725069e+01] [-8.39974415e-03 1.59914334e-04 -9.99964709e-01 6.96440792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90762800000002 meters 0.018280486917304127 Centerline is valid? [True, True] Translation: X:93.97, Y:-44.55, Z:0.70 [[-5.55546694e-01 -8.31471753e-01 4.75352417e-03 9.39714785e+01] [-8.31438800e-01 5.55567007e-01 7.40423013e-03 -4.45479778e+01] [-8.79730940e-03 1.61131133e-04 -9.99961290e-01 6.96912079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.937628 meters 0.016132494521083326 Centerline is valid? [True, True] Translation: X:93.89, Y:-44.63, Z:0.70 [[-4.89141764e-01 -8.72194397e-01 4.15553104e-03 9.38850143e+01] [-8.72160242e-01 4.89159392e-01 7.72018611e-03 -4.46301396e+01] [-8.76622010e-03 1.51976498e-04 -9.99961564e-01 6.95534395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.967628 meters 0.01591592836841636 Centerline is valid? [True, True] Translation: X:93.81, Y:-44.72, Z:0.70 [[-4.19595243e-01 -9.07704273e-01 3.57561684e-03 9.38078018e+01] [-9.07668323e-01 4.19610453e-01 8.07978855e-03 -4.47210135e+01] [-8.83442479e-03 1.44766704e-04 -9.99960965e-01 6.95505240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.997628 meters 0.015875235564063832 Centerline is valid? [True, True] Translation: X:93.74, Y:-44.82, Z:0.70 [[-3.46944757e-01 -9.37880238e-01 3.16131508e-03 9.37350604e+01] [-9.37837353e-01 3.46959128e-01 8.97006094e-03 -4.48159050e+01] [-9.50969002e-03 1.47316244e-04 -9.99954771e-01 6.95588469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.027628 meters 0.015878368331391095 Centerline is valid? [True, True] Translation: X:93.67, Y:-44.92, Z:0.70 [[-2.72879488e-01 -9.62045048e-01 2.47177657e-03 9.36711962e+01] [-9.62000735e-01 2.72890646e-01 9.23483652e-03 -4.49204480e+01] [-9.55885345e-03 1.42146582e-04 -9.99954303e-01 6.96101949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05762800000001 meters 0.01574377856857258 Centerline is valid? [True, True] Translation: X:93.61, Y:-45.03, Z:0.70 [[-1.96182008e-01 -9.80565824e-01 1.81209853e-03 9.36125102e+01] [-9.80517477e-01 1.96190332e-01 9.73809739e-03 -4.50324790e+01] [-9.90436171e-03 1.33645222e-04 -9.99950942e-01 6.96542885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08762800000001 meters 0.01579375058398293 Centerline is valid? [True, True] Translation: X:93.57, Y:-45.14, Z:0.70 [[-1.19247464e-01 -9.92863964e-01 1.09185719e-03 9.35665583e+01] [-9.92811334e-01 1.19252386e-01 1.02237064e-02 -4.51445662e+01] [-1.02809562e-02 1.35142872e-04 -9.99947140e-01 6.96062596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11762800000001 meters 0.01572720533144327 Centerline is valid? [True, True] Translation: X:93.53, Y:-45.26, Z:0.70 [[-4.20622171e-02 -9.99114950e-01 2.93642542e-04 9.35294050e+01] [-9.99065666e-01 4.20630591e-02 9.92441877e-03 -4.52574697e+01] [-9.92798667e-03 1.24074875e-04 -9.99950709e-01 6.96030118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14762800000001 meters 0.015449698608346487 Centerline is valid? [True, True] Translation: X:93.50, Y:-45.37, Z:0.70 [[ 3.59869791e-02 -9.99352180e-01 -3.97287301e-04 9.34983620e+01] [-9.99315492e-01 -3.59890624e-02 8.56351958e-03 -4.53747132e+01] [-8.57226996e-03 8.88401545e-05 -9.99963253e-01 6.95032703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17762800000001 meters 0.015357663922484045 Centerline is valid? [True, True] Translation: X:93.48, Y:-45.50, Z:0.69 [[ 1.13622946e-01 -9.93523428e-01 -1.01225931e-03 9.34789966e+01] [-9.93489854e-01 -1.13627428e-01 8.16813493e-03 -4.54953192e+01] [-8.23025384e-03 7.75818040e-05 -9.99966128e-01 6.94621417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20762800000001 meters 0.015278071009139174 Centerline is valid? [True, True] Translation: X:93.47, Y:-45.61, Z:0.69 [[ 1.90160381e-01 -9.81751771e-01 -1.57767988e-03 9.34677129e+01] [-9.81720940e-01 -1.90166913e-01 7.78076178e-03 -4.56111670e+01] [-7.93879917e-03 6.92487500e-05 -9.99968485e-01 6.94733246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23762800000002 meters 0.015165070881715082 Centerline is valid? [True, True] Translation: X:93.47, Y:-45.73, Z:0.70 [[ 2.66120929e-01 -9.63937121e-01 -2.20852523e-03 9.34670144e+01] [-9.63905920e-01 -2.66130085e-01 7.75598038e-03 -4.57338720e+01] [-8.06403241e-03 6.47818444e-05 -9.99967483e-01 6.95016978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26762800000002 meters 0.014536522907250373 Centerline is valid? [True, True] Translation: X:93.47, Y:-45.86, Z:0.70 [[ 3.42275805e-01 -9.39594626e-01 -3.03523829e-03 9.34732931e+01] [-9.39559004e-01 -3.42289259e-01 8.18179306e-03 -4.58562257e+01] [-8.72649825e-03 5.13556631e-05 -9.99961922e-01 6.95232201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29762800000002 meters 0.014003556052282097 Centerline is valid? [True, True] Translation: X:93.49, Y:-45.98, Z:0.69 [[ 4.15163316e-01 -9.09739381e-01 -3.69870084e-03 9.34909541e+01] [-9.09704080e-01 -4.15179790e-01 8.01426021e-03 -4.59768070e+01] [-8.82651396e-03 3.74964076e-05 -9.99961045e-01 6.94646016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.327628 meters 0.012516577813886636 Centerline is valid? [True, True] Translation: X:93.51, Y:-46.09, Z:0.69 [[ 4.87820684e-01 -8.72933913e-01 -4.16691567e-03 9.35117539e+01] [-8.72901982e-01 -4.87838480e-01 7.46633188e-03 -4.60944067e+01] [-8.55039612e-03 -4.92217624e-06 -9.99963445e-01 6.93005206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.357628 meters 0.012673919625392212 Centerline is valid? [True, True] Translation: X:93.55, Y:-46.21, Z:0.69 [[ 5.55003135e-01 -8.31835055e-01 -4.68626617e-03 9.35472266e+01] [-8.31805064e-01 -5.55022919e-01 7.06358035e-03 -4.62082864e+01] [-8.47671888e-03 -2.22493049e-05 -9.99964072e-01 6.94424512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.387628 meters 0.012491492205441873 Centerline is valid? [True, True] Translation: X:93.59, Y:-46.32, Z:0.69 [[ 6.18403112e-01 -7.85842671e-01 -5.37482302e-03 9.35871963e+01] [-7.85812486e-01 -6.18426468e-01 6.88773810e-03 -4.63151357e+01] [-8.73661131e-03 -3.57956319e-05 -9.99961834e-01 6.94914790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41762800000001 meters 0.01212676526410633 Centerline is valid? [True, True] Translation: X:93.63, Y:-46.42, Z:0.69 [[ 6.78067793e-01 -7.34971633e-01 -6.38486457e-03 9.36306670e+01] [-7.34938333e-01 -6.78097851e-01 6.99646673e-03 -4.64167534e+01] [-9.47176752e-03 -5.15970252e-05 -9.99955140e-01 6.94268619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44762800000001 meters 0.01232308304647091 Centerline is valid? [True, True] Translation: X:93.68, Y:-46.51, Z:0.70 [[ 7.32512728e-01 -6.80715058e-01 -7.21885667e-03 9.36833926e+01] [-6.80681241e-01 -7.32548296e-01 6.78542194e-03 -4.65105914e+01] [-9.90710005e-03 -5.66676209e-05 -9.99950922e-01 6.96912703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47762800000001 meters 0.012119834221636983 Centerline is valid? [True, True] Translation: X:93.68, Y:-46.52, Z:0.69 [[ 7.83609052e-01 -6.21199437e-01 -8.25304193e-03 9.36783593e+01] [-6.21164182e-01 -7.83652510e-01 6.61838972e-03 -4.65212708e+01] [-1.05788570e-02 -5.97360580e-05 -9.99944041e-01 6.94694769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50762800000001 meters 0.012184442982511116 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.53, Z:0.69 [[ 8.29436723e-01 -5.58525577e-01 -9.15982136e-03 9.36745476e+01] [-5.58490823e-01 -8.29487298e-01 6.23084053e-03 -4.65312573e+01] [-1.10780393e-02 -5.24117830e-05 -9.99938635e-01 6.94776571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53762800000001 meters 0.012189068712484328 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.54, Z:0.69 [[ 8.70097518e-01 -4.92776198e-01 -1.00959072e-02 9.36730993e+01] [-4.92742485e-01 -8.70156088e-01 5.76428406e-03 -4.65408817e+01] [-1.16255171e-02 -4.08068518e-05 -9.99932421e-01 6.94165290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56762800000001 meters 0.012189068712484328 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.55, Z:0.69 [[ 9.05956764e-01 -4.23239661e-01 -1.05133421e-02 9.36716412e+01] [-4.23210645e-01 -9.06017763e-01 4.95606322e-03 -4.65503516e+01] [-1.16228772e-02 -4.06207241e-05 -9.99932451e-01 6.94138111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59762800000001 meters 0.01232232955258388 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.56, Z:0.69 [[ 9.35878662e-01 -3.52149749e-01 -1.10310331e-02 9.36709980e+01] [-3.52124953e-01 -9.35943670e-01 4.17900062e-03 -4.65591894e+01] [-1.17960596e-02 -2.67355065e-05 -9.99930424e-01 6.94186032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62762800000002 meters 0.012381575188635759 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.57, Z:0.69 [[ 9.60029743e-01 -2.79667882e-01 -1.13476231e-02 9.36711228e+01] [-2.79648287e-01 -9.60096805e-01 3.31051964e-03 -4.65717995e+01] [-1.18206627e-02 -4.85395244e-06 -9.99930134e-01 6.93202050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65762800000002 meters 0.012542560516517587 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.58, Z:0.69 [[ 9.78816996e-01 -2.04433521e-01 -1.11455767e-02 9.36714296e+01] [-2.04420282e-01 -9.78880450e-01 2.32653237e-03 -4.65822948e+01] [-1.13858084e-02 1.13251859e-06 -9.99935180e-01 6.93527458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.687628 meters 0.01252079718900098 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.59, Z:0.69 [[ 9.91749434e-01 -1.27712249e-01 -1.10743253e-02 9.36700663e+01] [-1.27704357e-01 -9.91811263e-01 1.41984203e-03 -4.65925864e+01] [-1.11649718e-02 6.11206013e-06 -9.99937670e-01 6.92846411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.717628 meters 0.01251947992834941 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.60, Z:0.69 [[ 9.98653662e-01 -5.08382447e-02 -1.03119265e-02 9.36684900e+01] [-5.08356667e-02 -9.98706900e-01 5.12129929e-04 -4.66014440e+01] [-1.03246279e-02 1.27732264e-05 -9.99946700e-01 6.92372235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.747628 meters 0.012458347294757576 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.61, Z:0.69 [[ 9.99582859e-01 2.71891122e-02 -9.73958519e-03 9.36688024e+01] [ 2.71877065e-02 -9.99630308e-01 -2.76726922e-04 -4.66127093e+01] [-9.74350850e-03 1.18145039e-05 -9.99952531e-01 6.91626987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.777628 meters 0.01233845252753373 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.62, Z:0.69 [[ 9.94351575e-01 1.05756500e-01 -8.97261956e-03 9.36693468e+01] [ 1.05752169e-01 -9.94392057e-01 -9.57057260e-04 -4.66242134e+01] [-9.02351665e-03 2.77740981e-06 -9.99959287e-01 6.92289807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80762800000001 meters 0.012358699421926767 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.63, Z:0.69 [[ 9.82933544e-01 1.83764230e-01 -8.50615953e-03 9.36700365e+01] [ 1.83757386e-01 -9.82970349e-01 -1.58605367e-03 -4.66323276e+01] [-8.65276254e-03 -4.08428014e-06 -9.99962564e-01 6.92269372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83762800000001 meters 0.0122666830754924 Centerline is valid? [True, True] Translation: X:93.67, Y:-46.64, Z:0.69 [[ 9.65385076e-01 2.60712305e-01 -7.79414022e-03 9.36720722e+01] [ 2.60703917e-01 -9.65416539e-01 -2.09139263e-03 -4.66391365e+01] [-8.06984367e-03 -1.29636533e-05 -9.99967438e-01 6.92104134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86762800000001 meters 0.01196485480460955 Centerline is valid? [True, True] Translation: X:93.68, Y:-46.65, Z:0.69 [[ 9.41622009e-01 3.36597957e-01 -7.05749350e-03 9.36761152e+01] [ 3.36588704e-01 -9.41648456e-01 -2.49583200e-03 -4.66505195e+01] [-7.48576981e-03 -2.53422483e-05 -9.99971981e-01 6.91288002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89762800000001 meters 0.011892054987166065 Centerline is valid? [True, True] Translation: X:93.68, Y:-46.66, Z:0.69 [[ 9.12006717e-01 4.10120510e-01 -6.70188297e-03 9.36808619e+01] [ 4.10109697e-01 -9.12031341e-01 -2.97821715e-03 -4.66595955e+01] [-7.33375525e-03 -3.23531453e-05 -9.99973107e-01 6.91567623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92762800000001 meters 0.011845841807793819 Centerline is valid? [True, True] Translation: X:93.68, Y:-46.67, Z:0.69 [[ 8.76630055e-01 4.81116340e-01 -6.84205385e-03 9.36848643e+01] [ 4.81102021e-01 -8.76656755e-01 -3.71202692e-03 -4.66678498e+01] [-7.78404953e-03 -3.76515651e-05 -9.99969703e-01 6.91936982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95762800000001 meters 0.011772238337496476 Centerline is valid? [True, True] Translation: X:93.69, Y:-46.68, Z:0.69 [[ 8.35991191e-01 5.48701141e-01 -6.76651883e-03 9.36899368e+01] [ 5.48683561e-01 -8.36018574e-01 -4.39251704e-03 -4.66752335e+01] [-8.06711453e-03 -4.05720900e-05 -9.99967459e-01 6.92419415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98762800000002 meters 0.011730932185107788 Centerline is valid? [True, True] Translation: X:93.69, Y:-46.68, Z:0.69 [[ 7.90130824e-01 6.12898728e-01 -6.95920668e-03 9.36945600e+01] [ 6.12875436e-01 -7.90161469e-01 -5.34346624e-03 -4.66810755e+01] [-8.77390064e-03 -4.30894464e-05 -9.99961508e-01 6.92734033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01762800000002 meters 0.011786610283180263 Centerline is valid? [True, True] Translation: X:93.70, Y:-46.69, Z:0.69 [[ 7.40242301e-01 6.72308979e-01 -6.47863387e-03 9.36979710e+01] [ 6.72283660e-01 -7.40270650e-01 -5.83488218e-03 -4.66862317e+01] [-8.71878619e-03 -3.62530783e-05 -9.99961990e-01 6.93166458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04762800000002 meters 0.011766061179450909 Centerline is valid? [True, True] Translation: X:93.70, Y:-46.69, Z:0.69 [[ 6.85746918e-01 7.27815654e-01 -5.96138983e-03 9.37045545e+01] [ 7.27788547e-01 -6.85772829e-01 -6.28160805e-03 -4.66914714e+01] [-8.66001184e-03 -3.10378820e-05 -9.99962501e-01 6.92839464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.077628 meters 0.011813831078960623 Centerline is valid? [True, True] Translation: X:93.71, Y:-46.70, Z:0.69 [[ 6.27603668e-01 7.78517926e-01 -4.84507891e-03 9.37103586e+01] [ 7.78495040e-01 -6.27622369e-01 -5.96951391e-03 -4.66959030e+01] [-7.68825349e-03 -2.53810801e-05 -9.99970445e-01 6.92790690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.107628 meters 0.011799159762794574 Centerline is valid? [True, True] Translation: X:93.72, Y:-46.70, Z:0.69 [[ 5.65050226e-01 8.25048598e-01 -3.61286115e-03 9.37181524e+01] [ 8.25032064e-01 -5.65061775e-01 -5.22334820e-03 -4.67010602e+01] [-6.35100584e-03 -2.92722120e-05 -9.99979832e-01 6.92239085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.137628 meters 0.01192566418860942 Centerline is valid? [True, True] Translation: X:93.72, Y:-46.71, Z:0.69 [[ 4.98335868e-01 8.66979108e-01 -2.93073014e-03 9.37240268e+01] [ 8.66964519e-01 -4.98344484e-01 -5.02960375e-03 -4.67061963e+01] [-5.82107457e-03 -3.44071036e-05 -9.99983057e-01 6.92199856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16762800000001 meters 0.011616505434041432 Centerline is valid? [True, True] Translation: X:93.73, Y:-46.71, Z:0.69 [[ 4.27205346e-01 9.04152304e-01 -2.05035365e-03 9.37332813e+01] [ 9.04142433e-01 -4.27210264e-01 -4.22511831e-03 -4.67107589e+01] [-4.69608257e-03 -4.88186100e-05 -9.99988972e-01 6.90889337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19762800000001 meters 0.011539749910063804 Centerline is valid? [True, True] Translation: X:93.74, Y:-46.71, Z:0.69 [[ 3.53385564e-01 9.35476278e-01 -1.66631910e-03 9.37440891e+01] [ 9.35466632e-01 -3.53389488e-01 -4.24854881e-03 -4.67146600e+01] [-4.56327628e-03 -5.74100970e-05 -9.99989587e-01 6.90665814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22762800000001 meters 0.01158385871674459 Centerline is valid? [True, True] Translation: X:93.75, Y:-46.72, Z:0.69 [[ 2.76849807e-01 9.60912168e-01 -1.41070256e-03 9.37539638e+01] [ 9.60900917e-01 -2.76853393e-01 -4.65038282e-03 -4.67192229e+01] [-4.85916723e-03 -6.80877944e-05 -9.99988192e-01 6.90878810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25762800000001 meters 0.011826918010174221 Centerline is valid? [True, True] Translation: X:93.77, Y:-46.72, Z:0.69 [[ 1.95030255e-01 9.80796142e-01 -1.45861819e-03 9.37658539e+01] [ 9.80772787e-01 -1.95035678e-01 -6.76933961e-03 -4.67219691e+01] [-6.92382476e-03 -1.10346992e-04 -9.99976024e-01 6.93317630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28762800000001 meters 0.012321070288623354 Centerline is valid? [True, True] Translation: X:93.78, Y:-46.72, Z:0.69 [[ 1.14041462e-01 9.93475500e-01 -9.87840007e-04 9.37768805e+01] [ 9.93448127e-01 -1.14045655e-01 -7.37617256e-03 -4.67238703e+01] [-7.44070558e-03 -1.40178298e-04 -9.99972308e-01 6.94283692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31762800000001 meters 0.012644545928695624 Centerline is valid? [True, True] Translation: X:93.79, Y:-46.72, Z:0.69 [[ 3.25784896e-02 9.99469085e-01 -4.36621034e-04 9.37891482e+01] [ 9.99436513e-01 -3.25809536e-02 -8.07075972e-03 -4.67239613e+01] [-8.08070036e-03 -1.73441843e-04 -9.99967336e-01 6.94353666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34762800000001 meters 0.013853896614842221 Centerline is valid? [True, True] Translation: X:93.80, Y:-46.72, Z:0.69 [[-5.09739095e-02 9.98699966e-01 1.95336921e-04 9.38009597e+01] [ 9.98667782e-01 5.09738355e-02 -8.02061140e-03 -4.67245268e+01] [-8.02014141e-03 -2.13765230e-04 -9.99967815e-01 6.94185175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37762800000002 meters 0.014108751705362571 Centerline is valid? [True, True] Translation: X:93.81, Y:-46.72, Z:0.69 [[-1.30558739e-01 9.91440239e-01 8.17348765e-04 9.38104306e+01] [ 9.91408562e-01 1.30561104e-01 -7.92849137e-03 -4.67234545e+01] [-7.96733934e-03 -2.24807270e-04 -9.99968235e-01 6.94088616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40762800000002 meters 0.01480849684435985 Centerline is valid? [True, True] Translation: X:93.82, Y:-46.72, Z:0.69 [[-2.08625932e-01 9.77994583e-01 1.34779732e-03 9.38199960e+01] [ 9.77966780e-01 2.08630169e-01 -7.37770136e-03 -4.67222844e+01] [-7.49654315e-03 -2.21078818e-04 -9.99971876e-01 6.94114604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.437628 meters 0.014233790442722102 Centerline is valid? [True, True] Translation: X:93.83, Y:-46.72, Z:0.69 [[-2.83844510e-01 9.58868876e-01 1.66488080e-03 9.38251578e+01] [ 9.58848128e-01 2.83849326e-01 -6.31092641e-03 -4.67206764e+01] [-6.52392621e-03 -1.94953974e-04 -9.99978700e-01 6.93675266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.467628 meters 0.014093332092960046 Centerline is valid? [True, True] Translation: X:93.83, Y:-46.72, Z:0.69 [[-3.56689768e-01 9.34220923e-01 1.91708255e-03 9.38317178e+01] [ 9.34204736e-01 3.56694879e-01 -5.50226028e-03 -4.67199809e+01] [-5.82414021e-03 -1.71652348e-04 -9.99983025e-01 6.93935029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.497628 meters 0.01328523624128006 Centerline is valid? [True, True] Translation: X:93.84, Y:-46.72, Z:0.69 [[-4.27163228e-01 9.04172181e-01 2.06014763e-03 9.38373371e+01] [ 9.04159924e-01 4.27168170e-01 -4.71021668e-03 -4.67177361e+01] [-5.13887638e-03 -1.49328432e-04 -9.99986785e-01 6.93145829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.527628 meters 0.012619637544362397 Centerline is valid? [True, True] Translation: X:93.84, Y:-46.72, Z:0.69 [[-4.93684839e-01 8.69638953e-01 1.83588996e-03 9.38395329e+01] [ 8.69632052e-01 4.93688239e-01 -3.46642067e-03 -4.67167791e+01] [-3.92089173e-03 -1.14770582e-04 -9.99992307e-01 6.91439091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55762800000001 meters 0.012506752030591846 Centerline is valid? [True, True] Translation: X:93.85, Y:-46.71, Z:0.69 [[-5.58804681e-01 8.29296905e-01 1.99295960e-03 9.38454954e+01] [ 8.29290945e-01 5.58808225e-01 -3.14583374e-03 -4.67149813e+01] [-3.72251240e-03 -1.05163270e-04 -9.99993066e-01 6.90716025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58762800000001 meters 0.012296256611181533 Centerline is valid? [True, True] Translation: X:93.85, Y:-46.71, Z:0.69 [[-6.20887609e-01 7.83896710e-01 2.12730189e-03 9.38502355e+01] [ 7.83891559e-01 6.20891246e-01 -2.84320553e-03 -4.67130580e+01] [-3.54960258e-03 -9.77370835e-05 -9.99993695e-01 6.90515141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61762800000001 meters 0.011953662600137329 Centerline is valid? [True, True] Translation: X:93.85, Y:-46.71, Z:0.69 [[-6.79157565e-01 7.33984608e-01 3.40527817e-03 9.38538241e+01] [ 7.33974595e-01 6.79166094e-01 -3.83547309e-03 -4.67121726e+01] [-5.12792769e-03 -1.05502904e-04 -9.99986847e-01 6.91226587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64762800000001 meters 0.0119789453009211 Centerline is valid? [True, True] Translation: X:93.86, Y:-46.71, Z:0.69 [[-7.34517493e-01 6.78575512e-01 4.39620624e-03 9.38587193e+01] [ 6.78562427e-01 7.34530640e-01 -4.21550563e-03 -4.67094491e+01] [-6.08968707e-03 -1.13262248e-04 -9.99981451e-01 6.92001141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67762800000001 meters 0.012040618395924902 Centerline is valid? [True, True] Translation: X:93.88, Y:-46.69, Z:0.69 [[-7.80838406e-01 6.24708066e-01 5.58720044e-03 9.38750824e+01] [ 6.24690975e-01 7.80858386e-01 -4.62247479e-03 -4.66896694e+01] [-7.25050960e-03 -1.19132151e-04 -9.99973708e-01 6.93023932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70762800000001 meters 0.012360388819034103 Centerline is valid? [True, True] Translation: X:93.89, Y:-46.67, Z:0.69 [[-8.23769186e-01 5.66871114e-01 7.84013455e-03 9.38901824e+01] [ 5.66843673e-01 8.23806480e-01 -5.57977951e-03 -4.66714977e+01] [-9.62176947e-03 -1.52319765e-04 -9.99953698e-01 6.94258809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73762800000002 meters 0.012399929398921776 Centerline is valid? [True, True] Translation: X:93.91, Y:-46.65, Z:0.69 [[-8.62039837e-01 5.06762258e-01 8.90699809e-03 9.39062681e+01] [ 5.06733224e-01 8.62085835e-01 -5.42705312e-03 -4.66514247e+01] [-1.04288226e-02 -1.64864131e-04 -9.99945605e-01 6.94711728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76762800000002 meters 0.012577345310001885 Centerline is valid? [True, True] Translation: X:93.92, Y:-46.63, Z:0.70 [[-8.95816588e-01 4.44313461e-01 9.90897833e-03 9.39198052e+01] [ 4.44284124e-01 8.95871373e-01 -5.10872995e-03 -4.66293673e+01] [-1.11470475e-02 -1.74083272e-04 -9.99937855e-01 6.95702438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79762800000002 meters 0.012674781039461309 Centerline is valid? [True, True] Translation: X:93.93, Y:-46.61, Z:0.70 [[-9.24969188e-01 3.79880787e-01 1.10719994e-02 9.39286000e+01] [ 3.79851218e-01 9.25035434e-01 -4.74314455e-03 -4.66086724e+01] [-1.20438212e-02 -1.81550123e-04 -9.99927454e-01 6.96814249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.827628 meters 0.012631235847503476 Centerline is valid? [True, True] Translation: X:93.94, Y:-46.59, Z:0.70 [[-9.49354355e-01 3.13983656e-01 1.18562855e-02 9.39368697e+01] [ 3.13956817e-01 9.49428371e-01 -4.10919048e-03 -4.65862947e+01] [-1.25469125e-02 -1.78716216e-04 -9.99921268e-01 6.96796568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.857628 meters 0.012516821447966769 Centerline is valid? [True, True] Translation: X:93.94, Y:-46.57, Z:0.70 [[-9.68838488e-01 2.47407397e-01 1.18980945e-02 9.39398857e+01] [ 2.47386738e-01 9.68911531e-01 -3.20108250e-03 -4.65679556e+01] [-1.23201725e-02 -1.57901140e-04 -9.99924091e-01 6.95517338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.887628 meters 0.012376841909028562 Centerline is valid? [True, True] Translation: X:93.96, Y:-46.55, Z:0.69 [[-9.83753151e-01 1.79121596e-01 1.20495779e-02 9.39579016e+01] [ 1.79106370e-01 9.83826932e-01 -2.33994868e-03 -4.65488297e+01] [-1.22738346e-02 -1.43775739e-04 -9.99924663e-01 6.94546895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91762800000001 meters 0.012170303151544232 Centerline is valid? [True, True] Translation: X:93.96, Y:-46.53, Z:0.69 [[-9.93843251e-01 1.10173978e-01 1.17169300e-02 9.39611017e+01] [ 1.10164845e-01 9.93912310e-01 -1.42404707e-03 -4.65263823e+01] [-1.18024939e-02 -1.24485793e-04 -9.99930340e-01 6.93354606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94762800000001 meters 0.01209643573214966 Centerline is valid? [True, True] Translation: X:94.06, Y:-45.77, Z:-0.17 [[-9.82226919e-01 -1.87449032e-01 9.65087684e-03 9.40566993e+01] [ 1.87439862e-01 -9.82274330e-01 -1.85413333e-03 -4.57651925e+01] [ 9.82736408e-03 -1.22206456e-05 9.99951710e-01 -1.69743379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97762800000001 meters 0.011823138735024559 Centerline is valid? [True, True] Translation: X:93.90, Y:-46.53, Z:0.69 [[-9.94006500e-01 1.08856003e-01 1.00721440e-02 9.39018095e+01] [ 1.08849588e-01 9.94057526e-01 -1.18454674e-03 -4.65329433e+01] [-1.01412355e-02 -8.10984323e-05 -9.99948573e-01 6.91627179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00762800000001 meters 0.011811072086218828 Centerline is valid? [True, True] Translation: X:94.00, Y:-45.74, Z:-0.17 [[-9.83592779e-01 -1.80231253e-01 7.87025860e-03 9.39987291e+01] [ 1.80224990e-01 -9.83624264e-01 -1.50368926e-03 -4.57449170e+01] [ 8.01238912e-03 -6.06006167e-05 9.99967898e-01 -1.67471793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03762800000001 meters 0.011863214560028063 Centerline is valid? [True, True] Translation: X:93.84, Y:-46.54, Z:0.69 [[-9.94335926e-01 1.05926119e-01 8.70198255e-03 9.38378996e+01] [ 1.05921510e-01 9.94374001e-01 -9.90114370e-04 -4.65414313e+01] [-8.75790418e-03 -6.27791531e-05 -9.99961647e-01 6.88803953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06762800000001 meters 0.01191858816660569 Centerline is valid? [True, True] Translation: X:93.83, Y:-46.52, Z:0.69 [[-9.99347147e-01 3.49920172e-02 8.99097547e-03 9.38283293e+01] [ 3.49900365e-02 9.99387590e-01 -3.77556308e-04 -4.65171352e+01] [-8.99868076e-03 -6.27152602e-05 -9.99959509e-01 6.89067400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09762800000001 meters 0.011917426895158682 Centerline is valid? [True, True] Translation: X:93.84, Y:-46.49, Z:0.69 [[-9.99289057e-01 -3.65411574e-02 9.28026947e-03 9.38425557e+01] [-3.65401928e-02 9.99332147e-01 2.73530510e-04 -4.64928606e+01] [-9.28406673e-03 -6.57667905e-05 -9.99956900e-01 6.89750087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12762800000002 meters 0.012083980418427655 Centerline is valid? [True, True] Translation: X:93.82, Y:-45.65, Z:-0.17 [[-9.99314840e-01 -3.58506425e-02 9.19681873e-03 9.38201675e+01] [ 3.58496761e-02 -9.99357157e-01 -2.69957906e-04 -4.56541430e+01] [ 9.20058479e-03 5.99300312e-05 9.99957672e-01 -1.68116892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15762800000002 meters 0.012265900135792682 Centerline is valid? [True, True] Translation: X:93.74, Y:-46.50, Z:0.69 [[-9.98856187e-01 -4.64110347e-02 1.15036061e-02 9.37400250e+01] [-4.64092490e-02 9.98922421e-01 4.22270554e-04 -4.65034426e+01] [-1.15108081e-02 -1.12086166e-04 -9.99933742e-01 6.91881067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.187628 meters 0.012782796054521029 Centerline is valid? [True, True] Translation: X:93.71, Y:-45.65, Z:-0.17 [[-9.99288080e-01 -3.58767853e-02 1.16700250e-02 9.37099848e+01] [ 3.58757930e-02 -9.99356213e-01 -2.94431520e-04 -4.56515165e+01] [ 1.16730752e-02 1.24449492e-04 9.99931860e-01 -1.67901554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.217628 meters 0.013386713246714841 Centerline is valid? [True, True] Translation: X:93.62, Y:-46.51, Z:0.69 [[-9.98069068e-01 -6.07583222e-02 1.29058596e-02 9.36196015e+01] [-6.07561472e-02 9.98152481e-01 5.60896626e-04 -4.65082121e+01] [-1.29160949e-02 -2.24296731e-04 -9.99916559e-01 6.90489941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.247628 meters 0.013608265494331405 Centerline is valid? [True, True] Translation: X:93.63, Y:-46.48, Z:0.69 [[-9.90929219e-01 -1.33679611e-01 1.37493375e-02 9.36324436e+01] [-1.33670391e-01 9.91024568e-01 1.59152383e-03 -4.64778880e+01] [-1.38386855e-02 -2.60791844e-04 -9.99904207e-01 6.90465303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.277628 meters 0.013994781725997095 Centerline is valid? [True, True] Translation: X:93.53, Y:-45.64, Z:-0.17 [[-9.99286054e-01 3.56364073e-02 1.25470320e-02 9.35324845e+01] [-3.56316511e-02 -9.99364810e-01 6.02480119e-04 -4.56377978e+01] [ 1.25605325e-02 1.54978513e-04 9.99921101e-01 -1.68624693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30762800000001 meters 0.013464298740697505 Centerline is valid? [True, True] Translation: X:93.51, Y:-46.49, Z:0.69 [[-9.90069701e-01 -1.39941812e-01 1.33519789e-02 9.35100011e+01] [-1.39932464e-01 9.90159698e-01 1.63644499e-03 -4.64876068e+01] [-1.34495985e-02 -2.48180710e-04 -9.99909519e-01 6.90911367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33762800000001 meters 0.013231647211483764 Centerline is valid? [True, True] Translation: X:93.50, Y:-46.46, Z:0.69 [[-9.77891074e-01 -2.08743814e-01 1.24526158e-02 9.35008416e+01] [-2.08729603e-01 9.77970335e-01 2.44458009e-03 -4.64621355e+01] [-1.26885798e-02 -2.08696508e-04 -9.99919475e-01 6.90384360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36762800000001 meters 0.012661739573338963 Centerline is valid? [True, True] Translation: X:93.47, Y:-46.44, Z:0.69 [[-9.61093747e-01 -2.75976355e-01 1.16559094e-02 9.34666370e+01] [-2.75958142e-01 9.61164411e-01 3.17481471e-03 -4.64448403e+01] [-1.20794191e-02 -1.65248538e-04 -9.99927028e-01 6.88976881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39762800000001 meters 0.012212350989070713 Centerline is valid? [True, True] Translation: X:93.42, Y:-46.44, Z:0.69 [[-9.40506250e-01 -3.39624716e-01 1.01511492e-02 9.34195605e+01] [-3.39605857e-01 9.40561027e-01 3.57995826e-03 -4.64382444e+01] [-1.07636176e-02 -8.04166133e-05 -9.99942067e-01 6.87353586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42762800000001 meters 0.012109362158817562 Centerline is valid? [True, True] Translation: X:93.36, Y:-46.44, Z:0.69 [[-9.13907923e-01 -4.05806014e-01 9.68441993e-03 9.33580851e+01] [-4.05783776e-01 9.13959232e-01 4.24851790e-03 -4.64365105e+01] [-1.05752391e-02 -4.70263190e-05 -9.99944079e-01 6.86648606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45762800000001 meters 0.01217746227491752 Centerline is valid? [True, True] Translation: X:93.28, Y:-46.44, Z:0.69 [[-8.81851238e-01 -4.71442737e-01 8.95210483e-03 9.32796669e+01] [-4.71418783e-01 8.81896674e-01 4.75257039e-03 -4.64449530e+01] [-1.01353963e-02 -2.91302842e-05 -9.99948635e-01 6.85810294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48762800000002 meters 0.01217746227491752 Centerline is valid? [True, True] Translation: X:93.20, Y:-46.46, Z:0.69 [[-8.43816965e-01 -5.36562706e-01 8.56688698e-03 9.31965137e+01] [-5.36535409e-01 8.43860451e-01 5.41237117e-03 -4.64618307e+01] [-1.01333336e-02 -2.93875884e-05 -9.99948656e-01 6.85726897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51762800000002 meters 0.012387306055488337 Centerline is valid? [True, True] Translation: X:93.11, Y:-46.49, Z:0.69 [[-8.02497572e-01 -5.96593421e-01 8.59863733e-03 9.31142981e+01] [-5.96559131e-01 8.02543637e-01 6.39639189e-03 -4.64854359e+01] [-1.07168270e-02 3.49335602e-06 -9.99942573e-01 6.86276516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54762800000002 meters 0.012622012595791118 Centerline is valid? [True, True] Translation: X:93.02, Y:-46.52, Z:0.69 [[-7.55541169e-01 -6.55037959e-01 9.10023556e-03 9.30228594e+01] [-6.54990043e-01 7.55595971e-01 7.92289580e-03 -4.65245701e+01] [-1.20658988e-02 2.55102710e-05 -9.99927204e-01 6.87383667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.577628 meters 0.012785533372967799 Centerline is valid? [True, True] Translation: X:92.93, Y:-46.57, Z:0.69 [[-7.04354334e-01 -7.09785996e-01 9.42403182e-03 9.29322938e+01] [-7.09721415e-01 7.04417374e-01 9.57472581e-03 -4.65723642e+01] [-1.34344580e-02 5.55624215e-05 -9.99909752e-01 6.88022914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.607628 meters 0.013355552841772951 Centerline is valid? [True, True] Translation: X:92.85, Y:-46.63, Z:0.69 [[-6.50217039e-01 -7.59691943e-01 9.27111172e-03 9.28453882e+01] [-7.59612340e-01 6.50283122e-01 1.09979115e-02 -4.66287437e+01] [-1.43838723e-02 1.08578604e-04 -9.99896541e-01 6.88618880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.637628 meters 0.014105640610324686 Centerline is valid? [True, True] Translation: X:92.76, Y:-46.70, Z:0.69 [[-5.91273661e-01 -8.06427632e-01 8.36254609e-03 9.27581832e+01] [-8.06343807e-01 5.91332780e-01 1.16278886e-02 -4.66986725e+01] [-1.43220983e-02 1.32177014e-04 -9.99897425e-01 6.89313365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66762800000001 meters 0.013971550640353879 Centerline is valid? [True, True] Translation: X:92.67, Y:-46.78, Z:0.69 [[-5.28621280e-01 -8.48825678e-01 7.38315250e-03 9.26741134e+01] [-8.48738874e-01 5.28672815e-01 1.21399665e-02 -4.67754630e+01] [-1.42079873e-02 1.51076084e-04 -9.99899050e-01 6.88296614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69762800000001 meters 0.015346721487582695 Centerline is valid? [True, True] Translation: X:92.60, Y:-46.86, Z:0.69 [[-4.64095244e-01 -8.85764636e-01 6.05104773e-03 9.25984953e+01] [-8.85684274e-01 4.64134655e-01 1.19326269e-02 -4.68598648e+01] [-1.33779999e-02 1.78557564e-04 -9.99910495e-01 6.89443645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72762800000001 meters 0.014467459968343206 Centerline is valid? [True, True] Translation: X:92.52, Y:-46.95, Z:0.69 [[-3.94826245e-01 -9.18742416e-01 4.96069364e-03 9.25242877e+01] [-9.18664091e-01 3.94857367e-01 1.19978252e-02 -4.69512235e+01] [-1.29816774e-02 1.79845179e-04 -9.99915718e-01 6.87573244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75762800000001 meters 0.015473197511575157 Centerline is valid? [True, True] Translation: X:92.46, Y:-47.05, Z:0.69 [[-3.22962745e-01 -9.46403846e-01 3.85036153e-03 9.24593077e+01] [-9.46329967e-01 3.22985648e-01 1.18264246e-02 -4.70525448e+01] [-1.24361853e-02 1.75782061e-04 -9.99922652e-01 6.88310909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78762800000001 meters 0.014820897351449605 Centerline is valid? [True, True] Translation: X:92.40, Y:-47.16, Z:0.69 [[-2.48554785e-01 -9.68613555e-01 2.88082564e-03 9.23980687e+01] [-9.68540322e-01 2.48571420e-01 1.19118983e-02 -4.71628611e+01] [-1.22541171e-02 1.70563524e-04 -9.99924901e-01 6.87291011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81762800000001 meters 0.014307691804490222 Centerline is valid? [True, True] Translation: X:92.35, Y:-47.28, Z:0.69 [[-1.72084791e-01 -9.85080314e-01 1.89726096e-03 9.23455892e+01] [-9.85010022e-01 1.72095178e-01 1.17688957e-02 -4.72750750e+01] [-1.19198169e-02 1.56426893e-04 -9.99928944e-01 6.86629565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84762800000001 meters 0.014241483985278495 Centerline is valid? [True, True] Translation: X:92.30, Y:-47.39, Z:0.69 [[-9.48506853e-02 -9.95491054e-01 9.53487961e-04 9.23041152e+01] [-9.95423852e-01 9.48553620e-02 1.15678668e-02 -4.73857071e+01] [-1.16061514e-02 1.48095436e-04 -9.99932635e-01 6.86451962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87762800000002 meters 0.014216210307194147 Centerline is valid? [True, True] Translation: X:92.27, Y:-47.51, Z:0.69 [[-1.70990947e-02 -9.99853798e-01 5.32068337e-05 9.22712542e+01] [-9.99787480e-01 1.70985734e-02 1.15167047e-02 -4.75079103e+01] [-1.15159307e-02 1.43729698e-04 -9.99933679e-01 6.86312162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90762800000002 meters 0.016907151717102397 Centerline is valid? [True, True] Translation: X:92.25, Y:-47.63, Z:0.69 [[ 6.03026390e-02 -9.98179773e-01 -8.56156655e-04 9.22492144e+01] [-9.98111372e-01 -6.03085303e-02 1.16863224e-02 -4.76274218e+01] [-1.17166842e-02 1.49823614e-04 -9.99931346e-01 6.88339033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.937628 meters 0.014425641646824205 Centerline is valid? [True, True] Translation: X:92.24, Y:-47.75, Z:0.69 [[ 1.37626994e-01 -9.90482650e-01 -1.71197648e-03 9.22365905e+01] [-9.90418490e-01 -1.37637566e-01 1.12745375e-02 -4.77543375e+01] [-1.14028661e-02 1.43892457e-04 -9.99934975e-01 6.85295180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.967628 meters 0.014150851738681284 Centerline is valid? [True, True] Translation: X:92.23, Y:-47.87, Z:0.68 [[ 2.13193906e-01 -9.77006699e-01 -2.50362857e-03 9.22311920e+01] [-9.76947231e-01 -2.13208555e-01 1.07805275e-02 -4.78738780e+01] [-1.10664426e-02 1.47570235e-04 -9.99938754e-01 6.84623062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.997628 meters 0.014490583219922987 Centerline is valid? [True, True] Translation: X:92.24, Y:-48.00, Z:0.69 [[ 2.87713002e-01 -9.57711002e-01 -3.29633843e-03 9.22373487e+01] [-9.57654072e-01 -2.87731844e-01 1.04433967e-02 -4.79979664e+01] [-1.09502175e-02 1.52050891e-04 -9.99940033e-01 6.85167503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.027628 meters 0.01470806536780272 Centerline is valid? [True, True] Translation: X:92.25, Y:-48.12, Z:0.69 [[ 3.60052317e-01 -9.32923200e-01 -4.07814352e-03 9.22521905e+01] [-9.32868382e-01 -3.60075375e-01 1.01146359e-02 -4.81188008e+01] [-1.09046175e-02 1.62573060e-04 -9.99940530e-01 6.85256279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05762800000001 meters 0.017872408614155157 Centerline is valid? [True, True] Translation: X:92.27, Y:-48.23, Z:0.69 [[ 4.29381135e-01 -9.03108742e-01 -5.14198196e-03 9.22749590e+01] [-9.03049438e-01 -4.29411877e-01 1.03514480e-02 -4.82325644e+01] [-1.15565113e-02 1.98747426e-04 -9.99933202e-01 6.87627520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08762800000001 meters 0.015633464324826058 Centerline is valid? [True, True] Translation: X:92.31, Y:-48.35, Z:0.69 [[ 4.97793868e-01 -8.67276813e-01 -5.67406374e-03 9.23082570e+01] [-8.67224770e-01 -4.97826168e-01 9.50282514e-03 -4.83476874e+01] [-1.10662773e-02 1.90240541e-04 -9.99938749e-01 6.85170324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11762800000001 meters 0.01567251433782023 Centerline is valid? [True, True] Translation: X:92.35, Y:-48.46, Z:0.68 [[ 5.62959181e-01 -8.26462902e-01 -6.00266376e-03 9.23477276e+01] [-8.26419284e-01 -5.62991154e-01 8.49282371e-03 -4.84579292e+01] [-1.03984503e-02 1.79604003e-04 -9.99945919e-01 6.84757466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14762800000001 meters 0.01579405022545621 Centerline is valid? [True, True] Translation: X:92.39, Y:-48.56, Z:0.68 [[ 6.24836797e-01 -7.80731486e-01 -6.10927034e-03 9.23944083e+01] [-7.80696693e-01 -6.24866642e-01 7.37246234e-03 -4.85629644e+01] [-9.57339272e-03 1.62901392e-04 -9.99954161e-01 6.84348276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17762800000001 meters 0.015455388836435907 Centerline is valid? [True, True] Translation: X:92.45, Y:-48.66, Z:0.68 [[ 6.83435404e-01 -7.29988585e-01 -5.71962479e-03 9.24465151e+01] [-7.29964580e-01 -6.83459326e-01 5.92134555e-03 -4.86631011e+01] [-8.23164556e-03 1.28266312e-04 -9.99966111e-01 6.82989858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20762800000001 meters 0.01515203964085819 Centerline is valid? [True, True] Translation: X:92.51, Y:-48.76, Z:0.68 [[ 7.37465675e-01 -6.75358590e-01 -5.92902802e-03 9.25093485e+01] [-6.75338076e-01 -7.37489498e-01 5.26523466e-03 -4.87613587e+01] [-7.92851736e-03 1.21168548e-04 -9.99968561e-01 6.82567693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23762800000002 meters 0.01578599381982542 Centerline is valid? [True, True] Translation: X:92.50, Y:-48.77, Z:0.68 [[ 7.87902452e-01 -6.15769005e-01 -6.18539002e-03 9.25038603e+01] [-6.15751190e-01 -7.87926722e-01 4.68544624e-03 -4.87653164e+01] [-7.75878665e-03 1.16986685e-04 -9.99969893e-01 6.82802645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26762800000002 meters 0.01620680684071017 Centerline is valid? [True, True] Translation: X:92.50, Y:-48.77, Z:0.68 [[ 8.33284524e-01 -5.52807160e-01 -6.41445114e-03 9.24984387e+01] [-5.52791872e-01 -8.33309204e-01 4.11297240e-03 -4.87660285e+01] [-7.61890176e-03 1.18580205e-04 -9.99970969e-01 6.83125089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29762800000002 meters 0.016346816089258122 Centerline is valid? [True, True] Translation: X:92.49, Y:-48.77, Z:0.68 [[ 8.73711662e-01 -4.86394234e-01 -6.97007298e-03 9.24931377e+01] [-4.86379927e-01 -8.73739454e-01 3.73275235e-03 -4.87677194e+01] [-7.90561698e-03 1.28754333e-04 -9.99968742e-01 6.83445872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.327628 meters 0.015530621628059484 Centerline is valid? [True, True] Translation: X:92.49, Y:-48.78, Z:0.68 [[ 9.08901283e-01 -4.16934935e-01 -7.98233138e-03 9.24852153e+01] [-4.16920305e-01 -9.08936322e-01 3.49605307e-03 -4.87750468e+01] [-8.71305758e-03 1.50428915e-04 -9.99962029e-01 6.83516789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.357628 meters 0.015829585438150145 Centerline is valid? [True, True] Translation: X:92.48, Y:-48.78, Z:0.68 [[ 9.38844120e-01 -3.44237600e-01 -8.49659990e-03 9.24775287e+01] [-3.44224980e-01 -9.38882554e-01 2.95165462e-03 -4.87804665e+01] [-8.99337992e-03 1.53598341e-04 -9.99959547e-01 6.83816382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.387628 meters 0.01701292292884879 Centerline is valid? [True, True] Translation: X:92.47, Y:-48.78, Z:0.68 [[ 9.62946017e-01 -2.69544616e-01 -8.98161127e-03 9.24712951e+01] [-2.69534419e-01 -9.62987889e-01 2.34987911e-03 -4.87836778e+01] [-9.28258014e-03 1.58046646e-04 -9.99956903e-01 6.84599569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41762800000001 meters 0.014951158733483058 Centerline is valid? [True, True] Translation: X:92.46, Y:-48.80, Z:0.68 [[ 9.81122060e-01 -1.93205542e-01 -8.43339154e-03 9.24601900e+01] [-1.93199638e-01 -9.81158294e-01 1.51689585e-03 -4.87965999e+01] [-8.56756475e-03 1.41068219e-04 -9.99963288e-01 6.82863956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44762800000001 meters 0.015370958330339218 Centerline is valid? [True, True] Translation: X:92.45, Y:-48.81, Z:0.68 [[ 9.93204088e-01 -1.16128850e-01 -7.72849544e-03 9.24508833e+01] [-1.16126320e-01 -9.93234149e-01 7.76814699e-04 -4.88050297e+01] [-7.76641619e-03 1.25946200e-04 -9.99969833e-01 6.82768402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47762800000001 meters 0.015618398139153495 Centerline is valid? [True, True] Translation: X:92.44, Y:-48.81, Z:0.68 [[ 9.99221453e-01 -3.88390063e-02 -6.92956020e-03 9.24425785e+01] [-3.88388553e-02 -9.99245475e-01 1.56411648e-04 -4.88130977e+01] [-6.93040655e-03 1.12846312e-04 -9.99975978e-01 6.82656097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50762800000001 meters 0.0158912268206608 Centerline is valid? [True, True] Translation: X:92.43, Y:-48.82, Z:0.68 [[ 9.99249376e-01 3.82741963e-02 -5.98080814e-03 9.24345694e+01] [ 3.82729219e-02 -9.99267270e-01 -3.27432511e-04 -4.88225114e+01] [-5.98895804e-03 9.82837296e-05 -9.99982061e-01 6.82596136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53762800000001 meters 0.0162990791005558 Centerline is valid? [True, True] Translation: X:92.43, Y:-48.83, Z:0.68 [[ 9.93434247e-01 1.14274570e-01 -5.45161873e-03 9.24281588e+01] [ 1.14272308e-01 -9.93449200e-01 -7.25729022e-04 -4.88323282e+01] [-5.49883864e-03 9.79950101e-05 -9.99984876e-01 6.81515390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56762800000001 meters 0.017206839624092207 Centerline is valid? [True, True] Translation: X:92.42, Y:-48.84, Z:0.68 [[ 9.81662271e-01 1.90559731e-01 -5.11620724e-03 9.24209285e+01] [ 1.90556627e-01 -9.81675598e-01 -1.09198547e-03 -4.88415350e+01] [-5.23054426e-03 9.70337447e-05 -9.99986316e-01 6.81298105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59762800000001 meters 0.017414135762606055 Centerline is valid? [True, True] Translation: X:92.42, Y:-48.85, Z:0.68 [[ 9.64074375e-01 2.65591770e-01 -4.64881502e-03 9.24158000e+01] [ 2.65588219e-01 -9.64085579e-01 -1.37651536e-03 -4.88519132e+01] [-4.84744667e-03 9.23926877e-05 -9.99988247e-01 6.80863046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62762800000002 meters 0.017690593646256553 Centerline is valid? [True, True] Translation: X:92.41, Y:-48.86, Z:0.68 [[ 9.41186394e-01 3.37873763e-01 -3.08093453e-03 9.24113379e+01] [ 3.37871762e-01 -9.41191435e-01 -1.16423156e-03 -4.88637474e+01] [-3.29311249e-03 5.47981219e-05 -9.99994576e-01 6.79890871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65762800000002 meters 0.017960181730716104 Centerline is valid? [True, True] Translation: X:92.41, Y:-48.88, Z:0.68 [[ 9.12362065e-01 4.09376271e-01 -2.55548913e-03 9.24082680e+01] [ 4.09374531e-01 -9.12365643e-01 -1.19413009e-03 -4.88754531e+01] [-2.82038901e-03 4.33268295e-05 -9.99996022e-01 6.79497607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.687628 meters 0.018802106549947246 Centerline is valid? [True, True] Translation: X:92.40, Y:-48.89, Z:0.68 [[ 8.77870471e-01 4.78893716e-01 -2.06031685e-03 9.24046487e+01] [ 4.78892317e-01 -8.77872888e-01 -1.15825158e-03 -4.88866039e+01] [-2.36337571e-03 3.01249510e-05 -9.99997207e-01 6.79351390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.717628 meters 0.0180157819378023 Centerline is valid? [True, True] Translation: X:92.41, Y:-48.90, Z:0.68 [[ 8.37825218e-01 5.45934637e-01 -2.06812737e-03 9.24053178e+01] [ 5.45932869e-01 -8.37827769e-01 -1.38986481e-03 -4.89018127e+01] [-2.49150988e-03 3.54050800e-05 -9.99996896e-01 6.79780337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.747628 meters 0.017603937551185864 Centerline is valid? [True, True] Translation: X:92.41, Y:-48.92, Z:0.68 [[ 7.92257124e-01 6.10183309e-01 -2.23153298e-03 9.24063952e+01] [ 6.10180721e-01 -7.92260265e-01 -1.77786683e-03 -4.89164760e+01] [-2.85277958e-03 4.68892585e-05 -9.99995930e-01 6.80266012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.777628 meters 0.017196350432592464 Centerline is valid? [True, True] Translation: X:92.41, Y:-48.93, Z:0.68 [[ 7.41434467e-01 6.71021073e-01 -2.37708794e-03 9.24089740e+01] [ 6.71017372e-01 -7.41438275e-01 -2.22936348e-03 -4.89314731e+01] [-3.25841386e-03 5.78596260e-05 -9.99994690e-01 6.80631359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80762800000001 meters 0.017474500217517813 Centerline is valid? [True, True] Translation: X:92.41, Y:-48.95, Z:0.68 [[ 6.85321513e-01 7.28235934e-01 -2.61683445e-03 9.24117452e+01] [ 7.28230219e-01 -6.85326505e-01 -2.88599162e-03 -4.89462736e+01] [-3.89506881e-03 7.21742224e-05 -9.99992412e-01 6.82060338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83762800000001 meters 0.016790482148146994 Centerline is valid? [True, True] Translation: X:92.42, Y:-48.96, Z:0.68 [[ 6.25378006e-01 7.80316805e-01 -2.83425999e-03 9.24170652e+01] [ 7.80308123e-01 -6.25384422e-01 -3.68210966e-03 -4.89602583e+01] [-4.64571409e-03 9.11143030e-05 -9.99989204e-01 6.82880741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86762800000001 meters 0.01713433483301485 Centerline is valid? [True, True] Translation: X:92.42, Y:-48.97, Z:0.68 [[ 5.61458424e-01 8.27498705e-01 -3.21416690e-03 9.24197869e+01] [ 8.27483873e-01 -5.61467611e-01 -4.95597629e-03 -4.89733981e+01] [-5.90571458e-03 1.22903364e-04 -9.99982554e-01 6.84116079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89762800000001 meters 0.016703928255307778 Centerline is valid? [True, True] Translation: X:92.42, Y:-48.99, Z:0.68 [[ 4.94682192e-01 8.69068990e-01 -2.93602402e-03 9.24246114e+01] [ 8.69052109e-01 -4.94690888e-01 -5.41817796e-03 -4.89854838e+01] [-6.16119477e-03 1.28718281e-04 -9.99981011e-01 6.83896816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92762800000001 meters 0.017086181878238526 Centerline is valid? [True, True] Translation: X:92.43, Y:-49.00, Z:0.68 [[ 4.25091775e-01 9.05146527e-01 -2.59762632e-03 9.24282007e+01] [ 9.05127636e-01 -4.25099690e-01 -5.84947909e-03 -4.89973579e+01] [-6.39888583e-03 1.35382073e-04 -9.99979518e-01 6.84145131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95762800000001 meters 0.01725969896667362 Centerline is valid? [True, True] Translation: X:92.43, Y:-49.01, Z:0.68 [[ 3.53062289e-01 9.35597276e-01 -2.18100024e-03 9.24328060e+01] [ 9.35576881e-01 -3.53068997e-01 -6.17918389e-03 -4.90081128e+01] [-6.55127119e-03 1.41143405e-04 -9.99978530e-01 6.84087393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98762800000002 meters 0.017382194703087404 Centerline is valid? [True, True] Translation: X:92.44, Y:-49.02, Z:0.68 [[ 2.78804526e-01 9.60346756e-01 -1.46431401e-03 9.24373240e+01] [ 9.60331244e-01 -2.78808347e-01 -5.45964171e-03 -4.90180264e+01] [-5.65141217e-03 1.15946321e-04 -9.99984024e-01 6.83780959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01762800000002 meters 0.01704218001820254 Centerline is valid? [True, True] Translation: X:92.44, Y:-49.03, Z:0.68 [[ 2.02568317e-01 9.79267686e-01 -9.36589368e-04 9.24448490e+01] [ 9.79254836e-01 -2.02570457e-01 -5.01760911e-03 -4.90280330e+01] [-5.10330780e-03 9.92489639e-05 -9.99986973e-01 6.83766233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04762800000002 meters 0.017031881594421778 Centerline is valid? [True, True] Translation: X:92.45, Y:-49.04, Z:0.68 [[ 1.24687708e-01 9.92195899e-01 -5.22945599e-04 9.24520728e+01] [ 9.92183832e-01 -1.24688772e-01 -4.89429452e-03 -4.90372827e+01] [-4.92130439e-03 9.14001996e-05 -9.99987886e-01 6.83726877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.077628 meters 0.01762485176373498 Centerline is valid? [True, True] Translation: X:92.46, Y:-49.05, Z:0.68 [[ 4.58078834e-02 9.98950259e-01 -1.37028295e-04 9.24577332e+01] [ 9.98938375e-01 -4.58080069e-02 -4.87326588e-03 -4.90470720e+01] [-4.87442720e-03 8.63511726e-05 -9.99988116e-01 6.84011720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.107628 meters 0.01736338291076787 Centerline is valid? [True, True] Translation: X:92.47, Y:-49.06, Z:0.68 [[-3.53206266e-02 9.99375995e-01 2.72328680e-04 9.24650598e+01] [ 9.99361843e-01 3.53215759e-02 -5.31908460e-03 -4.90563706e+01] [-5.32538454e-03 8.42814903e-05 -9.99985816e-01 6.84926558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.137628 meters 0.016091945787530225 Centerline is valid? [True, True] Translation: X:92.47, Y:-49.06, Z:0.68 [[-1.15959908e-01 9.93253676e-01 6.58836608e-04 9.24719684e+01] [ 9.93240739e-01 1.15961760e-01 -5.07002501e-03 -4.90643854e+01] [-5.11222083e-03 6.64637267e-05 -9.99986930e-01 6.83787053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16762800000001 meters 0.015329079678782557 Centerline is valid? [True, True] Translation: X:92.48, Y:-49.07, Z:0.68 [[-1.96317563e-01 9.80539907e-01 9.51202974e-04 9.24790358e+01] [ 9.80529418e-01 1.96319863e-01 -4.53563356e-03 -4.90733965e+01] [-4.63410975e-03 4.22579712e-05 -9.99989262e-01 6.83652611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19762800000001 meters 0.013041038901580145 Centerline is valid? [True, True] Translation: X:92.50, Y:-49.08, Z:0.68 [[-2.79460827e-01 9.60156273e-01 1.25578014e-03 9.24951641e+01] [ 9.60146691e-01 2.79463649e-01 -4.28966438e-03 -4.90776917e+01] [-4.46969306e-03 6.93998950e-06 -9.99990011e-01 6.82362733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22762800000001 meters 0.012572975977191474 Centerline is valid? [True, True] Translation: X:92.51, Y:-49.08, Z:0.68 [[-3.57861908e-01 9.33773343e-01 1.48255495e-03 9.25075682e+01] [ 9.33765160e-01 3.57864979e-01 -3.90928394e-03 -4.90829817e+01] [-4.18093963e-03 -1.46256506e-05 -9.99991260e-01 6.82254827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25762800000001 meters 0.01205305207768165 Centerline is valid? [True, True] Translation: X:92.52, Y:-49.09, Z:0.68 [[-4.37100748e-01 8.99411133e-01 1.59687397e-03 9.25215181e+01] [ 8.99404725e-01 4.37103662e-01 -3.39545077e-03 -4.90855672e+01] [-3.75190569e-03 -4.79180776e-05 -9.99992960e-01 6.82197412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28762800000001 meters 0.012210770822762597 Centerline is valid? [True, True] Translation: X:92.53, Y:-49.09, Z:0.68 [[-5.09192062e-01 8.60650855e-01 1.88399070e-03 9.25331285e+01] [ 8.60644516e-01 5.09195544e-01 -3.30389289e-03 -4.90897123e+01] [-3.80281791e-03 -6.08697698e-05 -9.99992767e-01 6.82696414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31762800000001 meters 0.012635129026017745 Centerline is valid? [True, True] Translation: X:92.54, Y:-49.09, Z:0.68 [[-5.79452841e-01 8.15002155e-01 2.42735741e-03 9.25430832e+01] [ 8.14994377e-01 5.79457919e-01 -3.56180268e-03 -4.90923933e+01] [-4.30942833e-03 -8.56140443e-05 -9.99990711e-01 6.82974362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34762800000001 meters 0.013080406626309982 Centerline is valid? [True, True] Translation: X:92.55, Y:-49.10, Z:0.68 [[-6.43004382e-01 7.65855801e-01 3.20246935e-03 9.25520382e+01] [ 7.65845500e-01 6.43012349e-01 -3.97348541e-03 -4.90957083e+01] [-5.10234419e-03 -1.02371795e-04 -9.99986978e-01 6.84083167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37762800000002 meters 0.013080406626309982 Centerline is valid? [True, True] Translation: X:92.56, Y:-49.10, Z:0.68 [[-7.01012423e-01 7.13140459e-01 3.50268595e-03 9.25602369e+01] [ 7.13130821e-01 7.01021166e-01 -3.70901423e-03 -4.90989242e+01] [-5.10050510e-03 -1.02191739e-04 -9.99986987e-01 6.84067516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40762800000002 meters 0.01331519334149776 Centerline is valid? [True, True] Translation: X:92.57, Y:-49.10, Z:0.68 [[-7.55729258e-01 6.54867981e-01 4.60606745e-03 9.25687917e+01] [ 6.54854812e-01 7.55743285e-01 -4.15487283e-03 -4.91007021e+01] [-6.20189773e-03 -1.23653525e-04 -9.99980760e-01 6.84959869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.437628 meters 0.013313128749429536 Centerline is valid? [True, True] Translation: X:92.59, Y:-49.09, Z:0.69 [[-8.00770724e-01 5.98943571e-01 5.73122055e-03 9.25906166e+01] [ 5.98926972e-01 8.00791221e-01 -4.46126019e-03 -4.90856498e+01] [-7.26155421e-03 -1.39863984e-04 -9.99973625e-01 6.85761389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.467628 meters 0.01331787674270176 Centerline is valid? [True, True] Translation: X:92.61, Y:-49.07, Z:0.69 [[-8.41284566e-01 5.40547291e-01 6.99320190e-03 9.26131659e+01] [ 5.40527052e-01 8.41313617e-01 -4.68020571e-03 -4.90705252e+01] [-8.41334850e-03 -1.57370025e-04 -9.99964595e-01 6.86622476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.497628 meters 0.013308462237453633 Centerline is valid? [True, True] Translation: X:92.62, Y:-49.05, Z:0.69 [[-8.76718293e-01 4.80929173e-01 8.49501718e-03 9.26238502e+01] [ 4.80904798e-01 8.76759433e-01 -4.84474566e-03 -4.90497405e+01] [-9.77806597e-03 -1.62182627e-04 -9.99952180e-01 6.88738393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.527628 meters 0.013075588598557574 Centerline is valid? [True, True] Translation: X:92.65, Y:-49.04, Z:0.69 [[-9.07984236e-01 4.18898346e-01 9.42353199e-03 9.26522036e+01] [ 4.18873998e-01 9.08033123e-01 -4.51911294e-03 -4.90374337e+01] [-1.04499281e-02 -1.56010795e-04 -9.99945386e-01 6.88987731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55762800000001 meters 0.01279223441003031 Centerline is valid? [True, True] Translation: X:92.67, Y:-49.02, Z:0.69 [[-9.34829956e-01 3.54953054e-01 1.00639424e-02 9.26688087e+01] [ 3.54930825e-01 9.34884115e-01 -3.97499573e-03 -4.90188976e+01] [-1.08195568e-02 -1.43941698e-04 -9.99941457e-01 6.88171584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58762800000001 meters 0.012672981377905604 Centerline is valid? [True, True] Translation: X:92.68, Y:-49.00, Z:0.69 [[-9.57385606e-01 2.88680911e-01 8.72544603e-03 9.26816216e+01] [ 2.88667776e-01 9.57425359e-01 -2.75635909e-03 -4.89958731e+01] [-9.14967154e-03 -1.20143414e-04 -9.99958134e-01 6.85528402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61762800000001 meters 0.012489254658784248 Centerline is valid? [True, True] Translation: X:92.70, Y:-48.97, Z:0.68 [[-9.75386618e-01 2.20354045e-01 8.06470321e-03 9.26971108e+01] [ 2.20345576e-01 9.75419952e-01 -1.93513769e-03 -4.89712011e+01] [-8.29288784e-03 -1.10485730e-04 -9.99965607e-01 6.84712643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64762800000001 meters 0.012301220334769094 Centerline is valid? [True, True] Translation: X:92.71, Y:-48.94, Z:0.68 [[-9.88323260e-01 1.52222314e-01 6.74549515e-03 9.27116292e+01] [ 1.52218166e-01 9.88346275e-01 -1.12712516e-03 -4.89432637e+01] [-6.83845861e-03 -8.71771152e-05 -9.99976614e-01 6.83922685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67762800000001 meters 0.012040522370360157 Centerline is valid? [True, True] Translation: X:92.72, Y:-48.92, Z:0.68 [[-9.96515975e-01 8.32219383e-02 5.47901754e-03 9.27209688e+01] [ 8.32202961e-02 9.96531035e-01 -5.27421122e-04 -4.89161467e+01] [-5.50390403e-03 -6.96181116e-05 -9.99984851e-01 6.82954217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70762800000001 meters 0.011908285798031404 Centerline is valid? [True, True] Translation: X:92.81, Y:-48.06, Z:-0.17 [[-9.87417286e-01 -1.58113915e-01 2.66341069e-03 9.28076147e+01] [ 1.58113014e-01 -9.87420871e-01 -5.46842128e-04 -4.80644709e+01] [ 2.71637065e-03 -1.18841480e-04 9.99996304e-01 -1.67097660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73762800000002 meters 0.011896523867973458 Centerline is valid? [True, True] Translation: X:92.65, Y:-48.91, Z:0.68 [[-9.96243059e-01 8.65882887e-02 1.49520891e-03 9.26504471e+01] [ 8.65881360e-02 9.96244180e-01 -1.66665005e-04 -4.89144216e+01] [-1.50402442e-03 -3.65715019e-05 -9.99998868e-01 6.79635213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76762800000002 meters 0.012189659965233334 Centerline is valid? [True, True] Translation: X:92.66, Y:-48.89, Z:0.68 [[-9.99810503e-01 1.94391626e-02 1.03749981e-03 9.26566402e+01] [ 1.94391176e-02 9.99811041e-01 -5.34117899e-05 -4.88907731e+01] [-1.03834204e-03 -3.32335877e-05 -9.99999460e-01 6.78612334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79762800000002 meters 0.012834290232441066 Centerline is valid? [True, True] Translation: X:92.67, Y:-48.87, Z:0.68 [[-9.98858232e-01 -4.77577184e-02 1.19691695e-03 9.26651298e+01] [-4.77577167e-02 9.98858949e-01 2.99663711e-05 -4.88665646e+01] [-1.19698233e-03 -2.72298643e-05 -9.99999283e-01 6.78467829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.827628 meters 0.014207184479264485 Centerline is valid? [True, True] Translation: X:92.66, Y:-48.84, Z:0.68 [[-9.93661812e-01 -1.12362548e-01 3.29555439e-03 9.26586924e+01] [-1.12361868e-01 9.93667277e-01 3.91279993e-04 -4.88437455e+01] [-3.31864977e-03 1.85053393e-05 -9.99994493e-01 6.80369937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.857628 meters 0.014285137704847283 Centerline is valid? [True, True] Translation: X:92.64, Y:-48.82, Z:0.68 [[-9.83286423e-01 -1.82013794e-01 4.33472446e-03 9.26435841e+01] [-1.82011822e-01 9.83295976e-01 8.48639287e-04 -4.88165421e+01] [-4.41678118e-03 4.54843932e-05 -9.99990245e-01 6.82159946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.887628 meters 0.015304533441147572 Centerline is valid? [True, True] Translation: X:92.60, Y:-48.80, Z:0.68 [[-9.67705490e-01 -2.52022467e-01 5.54625020e-03 9.25988487e+01] [-2.52017857e-01 9.67721380e-01 1.52639089e-03 -4.87984664e+01] [-5.75190970e-03 7.93427523e-05 -9.99983454e-01 6.84725686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91762800000001 meters 0.018387420124601712 Centerline is valid? [True, True] Translation: X:92.54, Y:-48.79, Z:0.69 [[-9.47321060e-01 -3.20135190e-01 9.81171660e-03 9.25365858e+01] [-3.20115743e-01 9.47371847e-01 3.53470253e-03 -4.87873478e+01] [-1.04269268e-02 2.07613193e-04 -9.99945617e-01 6.89692245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94762800000001 meters 0.015856467449368156 Centerline is valid? [True, True] Translation: X:92.47, Y:-48.79, Z:0.69 [[-9.21228941e-01 -3.88907260e-01 9.40114834e-03 9.24662899e+01] [-3.88884620e-01 9.21276884e-01 4.20184913e-03 -4.87861930e+01] [-1.02951903e-02 2.14903027e-04 -9.99946980e-01 6.86623305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97762800000001 meters 0.016189435781217235 Centerline is valid? [True, True] Translation: X:92.39, Y:-48.79, Z:0.68 [[-8.90227932e-01 -4.55431635e-01 8.73235903e-03 9.23858459e+01] [-4.55407261e-01 8.90270732e-01 4.71704622e-03 -4.87949417e+01] [-9.92245574e-03 2.22466600e-04 -9.99950746e-01 6.84727162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00762800000001 meters 0.015239304618285713 Centerline is valid? [True, True] Translation: X:92.30, Y:-48.81, Z:0.68 [[-8.53350675e-01 -5.21281770e-01 7.61187053e-03 9.22981388e+01] [-5.21258936e-01 8.53384600e-01 4.88318379e-03 -4.88136068e+01] [-9.04136778e-03 1.99312649e-04 -9.99959106e-01 6.82844132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03762800000001 meters 0.015649431808305816 Centerline is valid? [True, True] Translation: X:92.21, Y:-48.84, Z:0.68 [[-8.11331664e-01 -5.84546984e-01 6.76416940e-03 9.22074091e+01] [-5.84524772e-01 8.11359840e-01 5.09920227e-03 -4.88422811e+01] [-8.46889871e-03 1.83319686e-04 -9.99964121e-01 6.82648556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06762800000001 meters 0.01738449453772011 Centerline is valid? [True, True] Translation: X:92.11, Y:-48.88, Z:0.68 [[-7.63948914e-01 -6.45245209e-01 6.37779843e-03 9.21119649e+01] [-6.45220770e-01 7.63975516e-01 5.61873711e-03 -4.88822236e+01] [-8.49794505e-03 1.77340102e-04 -9.99963876e-01 6.84783623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09762800000001 meters 0.014222573335957481 Centerline is valid? [True, True] Translation: X:92.02, Y:-48.93, Z:0.68 [[-7.09439006e-01 -7.04753497e-01 4.33657821e-03 9.20156148e+01] [-7.04739540e-01 7.09452254e-01 4.43619342e-03 -4.89273121e+01] [-6.20301801e-03 9.10505162e-05 -9.99980757e-01 6.82488911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12762800000002 meters 0.013993387487064954 Centerline is valid? [True, True] Translation: X:91.92, Y:-48.99, Z:0.68 [[-6.51630156e-01 -7.58527841e-01 3.69521465e-03 9.19224643e+01] [-7.58515049e-01 6.51640630e-01 4.40569740e-03 -4.89868349e+01] [-5.74979614e-03 6.80093562e-05 -9.99983467e-01 6.82176217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15762800000002 meters 0.013327283355111318 Centerline is valid? [True, True] Translation: X:91.83, Y:-49.06, Z:0.68 [[-5.89310320e-01 -8.07901694e-01 2.86345450e-03 9.18315010e+01] [-8.07891837e-01 5.89317275e-01 3.99103642e-03 -4.90559631e+01] [-4.91184829e-03 3.85974360e-05 -9.99987936e-01 6.81416692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18762800000002 meters 0.012428771001830758 Centerline is valid? [True, True] Translation: X:91.74, Y:-49.13, Z:0.68 [[-5.20941543e-01 -8.53589645e-01 2.15095467e-03 9.17442308e+01] [-8.53582337e-01 5.20945984e-01 3.53209885e-03 -4.91327159e+01] [-4.13549420e-03 4.00010934e-06 -9.99991449e-01 6.80193196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.217628 meters 0.012103053216762662 Centerline is valid? [True, True] Translation: X:91.66, Y:-49.22, Z:0.68 [[-4.51432038e-01 -8.92304241e-01 1.50222476e-03 9.16643526e+01] [-8.92299401e-01 4.51434537e-01 2.93903463e-03 -4.92174376e+01] [-3.30066920e-03 -1.36598578e-05 -9.99994553e-01 6.79395023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.247628 meters 0.011502021781226774 Centerline is valid? [True, True] Translation: X:91.59, Y:-49.31, Z:0.68 [[-3.76446059e-01 -9.26438160e-01 8.36497671e-04 9.15856960e+01] [-9.26436075e-01 3.76446987e-01 1.96603729e-03 -4.93129123e+01] [-2.13630900e-03 -3.48546292e-05 -9.99997717e-01 6.79198847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.277628 meters 0.011406706884397497 Centerline is valid? [True, True] Translation: X:91.52, Y:-49.41, Z:0.68 [[-3.01697566e-01 -9.53403479e-01 6.20925350e-04 9.15187205e+01] [-9.53401722e-01 3.01698202e-01 1.83078245e-03 -4.94097207e+01] [-1.93280642e-03 -3.96486904e-05 -9.99998131e-01 6.79871455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30762800000001 meters 0.011338795982188773 Centerline is valid? [True, True] Translation: X:91.46, Y:-49.52, Z:0.68 [[-2.25196712e-01 -9.74313152e-01 5.68240822e-04 9.14580560e+01] [-9.74310520e-01 2.25197424e-01 2.26510064e-03 -4.95188270e+01] [-2.33488371e-03 -4.35497967e-05 -9.99997273e-01 6.81297521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33762800000001 meters 0.011492887029987147 Centerline is valid? [True, True] Translation: X:91.41, Y:-49.62, Z:0.68 [[-1.47808107e-01 -9.89015761e-01 7.67165647e-04 9.14083277e+01] [-9.89004191e-01 1.47810089e-01 4.78404575e-03 -4.96246861e+01] [-4.84489147e-03 -5.16092928e-05 -9.99988262e-01 6.84805332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36762800000001 meters 0.011443782776548405 Centerline is valid? [True, True] Translation: X:91.37, Y:-49.74, Z:0.69 [[-7.13186830e-02 -9.97453474e-01 4.60118028e-04 9.13685398e+01] [-9.97436993e-01 7.13201497e-02 5.73426528e-03 -4.97392913e+01] [-5.75247852e-03 -4.99784938e-05 -9.99983453e-01 6.85474358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39762800000001 meters 0.011461226721361463 Centerline is valid? [True, True] Translation: X:91.34, Y:-49.86, Z:0.69 [[ 4.94778902e-03 -9.99987760e-01 1.05560936e-05 9.13379585e+01] [-9.99966559e-01 -4.94761539e-03 6.51163777e-03 -4.98580376e+01] [-6.51150584e-03 -4.27739505e-05 -9.99978799e-01 6.86419839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42762800000001 meters 0.011510348161361868 Centerline is valid? [True, True] Translation: X:91.32, Y:-49.98, Z:0.69 [[ 8.09792392e-02 -9.96715659e-01 -5.07291120e-04 9.13172524e+01] [-9.96693471e-01 -8.09808215e-02 6.65070074e-03 -4.99783331e+01] [-6.66993843e-03 -3.29549395e-05 -9.99977755e-01 6.87491978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45762800000001 meters 0.011717604289580314 Centerline is valid? [True, True] Translation: X:91.31, Y:-50.10, Z:0.69 [[ 1.54675529e-01 -9.87964868e-01 -9.49359890e-04 9.13078171e+01] [-9.87945762e-01 -1.54678442e-01 6.14422746e-03 -5.00980565e+01] [-6.21712638e-03 -1.24455514e-05 -9.99980673e-01 6.87219718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48762800000002 meters 0.011772052219812597 Centerline is valid? [True, True] Translation: X:91.31, Y:-50.22, Z:0.69 [[ 2.29192150e-01 -9.73380303e-01 -1.32090494e-03 9.13056552e+01] [-9.73364012e-01 -2.29195957e-01 5.63141393e-03 -5.02195632e+01] [-5.78425347e-03 -4.95453708e-06 -9.99983271e-01 6.86390129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51762800000002 meters 0.011875752535993638 Centerline is valid? [True, True] Translation: X:91.31, Y:-50.34, Z:0.69 [[ 3.02478577e-01 -9.53154694e-01 -1.68526763e-03 9.13136272e+01] [-9.53139934e-01 -3.02483272e-01 5.30439671e-03 -5.03408314e+01] [-5.56567589e-03 1.82950680e-06 -9.99984512e-01 6.86258108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54762800000002 meters 0.01219450578932879 Centerline is valid? [True, True] Translation: X:91.33, Y:-50.46, Z:0.69 [[ 3.73494017e-01 -9.27630088e-01 -2.15384735e-03 9.13326433e+01] [-9.27614897e-01 -3.73500227e-01 5.30882177e-03 -5.04577888e+01] [-5.72908528e-03 1.51277214e-05 -9.99983589e-01 6.86509944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.577628 meters 0.012390437145532195 Centerline is valid? [True, True] Translation: X:91.36, Y:-50.58, Z:0.69 [[ 4.43687905e-01 -8.96177591e-01 -2.60150045e-03 9.13594581e+01] [-8.96162443e-01 -4.43695531e-01 5.21064829e-03 -5.05760908e+01] [-5.82394036e-03 1.94653709e-05 -9.99983041e-01 6.86357556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.607628 meters 0.012343768731519126 Centerline is valid? [True, True] Translation: X:91.40, Y:-50.69, Z:0.69 [[ 5.11979442e-01 -8.58991133e-01 -3.35928825e-03 9.13950273e+01] [-8.58972951e-01 -5.11990462e-01 5.58895807e-03 -5.06899386e+01] [-6.52078897e-03 2.41061052e-05 -9.99978739e-01 6.86558121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.637628 meters 0.012119863998055124 Centerline is valid? [True, True] Translation: X:91.44, Y:-50.80, Z:0.69 [[ 5.77585311e-01 -8.16320434e-01 -4.01974518e-03 9.14372077e+01] [-8.16300917e-01 -5.77599298e-01 5.64477230e-03 -5.08025396e+01] [-6.92974497e-03 2.09841143e-05 -9.99975989e-01 6.87144357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66762800000001 meters 0.01193063922754156 Centerline is valid? [True, True] Translation: X:91.49, Y:-50.91, Z:0.69 [[ 6.40024724e-01 -7.68339204e-01 -4.81880100e-03 9.14871700e+01] [-7.68317594e-01 -6.40042864e-01 5.76257415e-03 -5.09113742e+01] [-7.51185083e-03 1.41796598e-05 -9.99971786e-01 6.87749110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69762800000001 meters 0.011574201689416995 Centerline is valid? [True, True] Translation: X:91.54, Y:-51.01, Z:0.69 [[ 7.01280955e-01 -7.12862150e-01 -5.70770071e-03 9.15353220e+01] [-7.12838217e-01 -7.01304181e-01 5.84143010e-03 -5.10091953e+01] [-8.16696880e-03 -2.78164804e-05 -9.99966649e-01 6.89045547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72762800000001 meters 0.011587844789780416 Centerline is valid? [True, True] Translation: X:91.60, Y:-51.11, Z:0.69 [[ 7.55487110e-01 -6.55130761e-01 -6.55083383e-03 9.15969753e+01] [-6.55105576e-01 -7.55515509e-01 5.74463113e-03 -5.11067138e+01] [-8.71274111e-03 -4.85070003e-05 -9.99962042e-01 6.88983568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75762800000001 meters 0.011647488364189286 Centerline is valid? [True, True] Translation: X:91.59, Y:-51.11, Z:0.69 [[ 8.05630029e-01 -5.92373503e-01 -7.34095740e-03 9.15915534e+01] [-5.92348121e-01 -8.05663471e-01 5.48410940e-03 -5.11118707e+01] [-9.16298231e-03 -6.97608967e-05 -9.99958017e-01 6.89123075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78762800000001 meters 0.011879038901454612 Centerline is valid? [True, True] Translation: X:91.58, Y:-51.12, Z:0.69 [[ 8.50524214e-01 -5.25873488e-01 -8.10168647e-03 9.15849284e+01] [-5.25848616e-01 -8.50562794e-01 5.11523912e-03 -5.11162489e+01] [-9.58096172e-03 -9.03741071e-05 -9.99954097e-01 6.89498565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81762800000001 meters 0.012206276525301252 Centerline is valid? [True, True] Translation: X:91.58, Y:-51.12, Z:0.69 [[ 8.90133256e-01 -4.55624569e-01 -8.30895918e-03 9.15788089e+01] [-4.55603544e-01 -8.90172028e-01 4.37852225e-03 -5.11188614e+01] [-9.39136536e-03 -1.11877018e-04 -9.99955894e-01 6.89344895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84762800000001 meters 0.0120819021678806 Centerline is valid? [True, True] Translation: X:91.57, Y:-51.12, Z:0.69 [[ 9.23169713e-01 -3.84305862e-01 -8.16611616e-03 9.15739227e+01] [-3.84289759e-01 -9.23205823e-01 3.51980749e-03 -5.11233556e+01] [-8.89168865e-03 -1.11224858e-04 -9.99960462e-01 6.88346166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87762800000002 meters 0.01203747876470471 Centerline is valid? [True, True] Translation: X:91.57, Y:-51.13, Z:0.69 [[ 9.50329231e-01 -3.11152376e-01 -7.65182428e-03 9.15691965e+01] [-3.11141416e-01 -9.50360031e-01 2.61362920e-03 -5.11277554e+01] [-8.08522490e-03 -1.03008782e-04 -9.99967309e-01 6.87623790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90762800000002 meters 0.012010793031535637 Centerline is valid? [True, True] Translation: X:91.56, Y:-51.13, Z:0.69 [[ 9.71411857e-01 -2.37315334e-01 -6.35898499e-03 9.15637516e+01] [-2.37309700e-01 -9.71432667e-01 1.63721396e-03 -5.11309575e+01] [-6.56586172e-03 -8.13602318e-05 -9.99978441e-01 6.87154700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93762800000002 meters 0.011791556921595146 Centerline is valid? [True, True] Translation: X:91.56, Y:-51.13, Z:0.69 [[ 9.86817586e-01 -1.61746768e-01 -5.38848205e-03 9.15564211e+01] [-1.61743983e-01 -9.86832295e-01 9.51555025e-04 -5.11324404e+01] [-5.47143906e-03 -6.74566829e-05 -9.99985029e-01 6.86260074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.967628 meters 0.011577835082038336 Centerline is valid? [True, True] Translation: X:91.55, Y:-51.14, Z:0.68 [[ 9.96133642e-01 -8.77627183e-02 -3.93362216e-03 9.15493616e+01] [-8.77618566e-02 -9.96141407e-01 3.91474846e-04 -5.11356836e+01] [-3.95280081e-03 -4.47392799e-05 -9.99992187e-01 6.84386661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.997628 meters 0.011622772387548948 Centerline is valid? [True, True] Translation: X:91.54, Y:-51.14, Z:0.68 [[ 9.99929248e-01 -1.12660500e-02 -3.81771465e-03 9.15419090e+01] [-1.12658240e-02 -9.99936535e-01 8.06934760e-05 -5.11415364e+01] [-3.81838146e-03 -3.76780655e-05 -9.99992709e-01 6.84525793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.027628 meters 0.0116181216600453 Centerline is valid? [True, True] Translation: X:91.53, Y:-51.15, Z:0.68 [[ 9.97844349e-01 6.55292673e-02 -3.54546523e-03 9.15339966e+01] [ 6.55289684e-02 -9.97850647e-01 -2.00539266e-04 -5.11481046e+01] [-3.55098596e-03 -3.22237055e-05 -9.99993695e-01 6.84359021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05762800000001 meters 0.011664888036907677 Centerline is valid? [True, True] Translation: X:91.53, Y:-51.16, Z:0.68 [[ 9.89823860e-01 1.42260958e-01 -3.24736007e-03 9.15273808e+01] [ 1.42260288e-01 -9.89829187e-01 -4.37689701e-04 -5.11557123e+01] [-3.27659793e-03 -2.87346675e-05 -9.99994632e-01 6.84309780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08762800000001 meters 0.01187244615974661 Centerline is valid? [True, True] Translation: X:91.52, Y:-51.16, Z:0.68 [[ 9.75995308e-01 2.17765051e-01 -3.39708076e-03 9.15215227e+01] [ 2.17763812e-01 -9.76001220e-01 -7.34987269e-04 -5.11626652e+01] [-3.47560951e-03 -2.24171307e-05 -9.99993960e-01 6.84479554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11762800000001 meters 0.0119845550558711 Centerline is valid? [True, True] Translation: X:91.52, Y:-51.17, Z:0.68 [[ 9.56121903e-01 2.92945288e-01 -3.73687047e-03 9.15162764e+01] [ 2.92943124e-01 -9.56129206e-01 -1.12626371e-03 -5.11713921e+01] [-3.90286464e-03 -1.78451042e-05 -9.99992384e-01 6.84856697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14762800000001 meters 0.01203199182944771 Centerline is valid? [True, True] Translation: X:91.51, Y:-51.18, Z:0.69 [[ 9.30470220e-01 3.66341378e-01 -4.37770004e-03 9.15109764e+01] [ 3.66337377e-01 -9.30480518e-01 -1.71228942e-03 -5.11810743e+01] [-4.70064706e-03 -1.04808384e-05 -9.99988952e-01 6.85891015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17762800000001 meters 0.012025418049842395 Centerline is valid? [True, True] Translation: X:91.51, Y:-51.19, Z:0.69 [[ 8.98971647e-01 4.37980561e-01 -4.79639024e-03 9.15080644e+01] [ 4.37974363e-01 -8.98984443e-01 -2.33014137e-03 -5.11924761e+01] [-5.33243684e-03 -5.96493160e-06 -9.99985782e-01 6.86082466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20762800000001 meters 0.01467199690217517 Centerline is valid? [True, True] Translation: X:91.51, Y:-51.20, Z:0.69 [[ 8.62125030e-01 5.06666138e-01 -5.46414769e-03 9.15055329e+01] [ 5.06655941e-01 -8.62142346e-01 -3.21443840e-03 -5.12030158e+01] [-6.33952020e-03 2.80490875e-06 -9.99979905e-01 6.89171644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23762800000002 meters 0.012119550328083623 Centerline is valid? [True, True] Translation: X:91.50, Y:-51.21, Z:0.69 [[ 8.19559797e-01 5.72972366e-01 -4.94032326e-03 9.15029014e+01] [ 5.72961968e-01 -8.19574687e-01 -3.45172274e-03 -5.12141860e+01] [-6.02670564e-03 -1.72414985e-06 -9.99981839e-01 6.87238327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26762800000002 meters 0.012247797750612768 Centerline is valid? [True, True] Translation: X:91.50, Y:-51.22, Z:0.69 [[ 7.72281472e-01 6.35263241e-01 -4.68430827e-03 9.14998670e+01] [ 6.35251558e-01 -7.72295678e-01 -3.85280492e-03 -5.12239238e+01] [-6.06521638e-03 -2.64273046e-07 -9.99981606e-01 6.87664250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29762800000002 meters 0.012247797750612768 Centerline is valid? [True, True] Translation: X:91.50, Y:-51.23, Z:0.69 [[ 7.20177636e-01 6.93775973e-01 -4.36711822e-03 9.14956486e+01] [ 6.93763219e-01 -7.20190877e-01 -4.20675141e-03 -5.12317967e+01] [-6.06370175e-03 -1.37709177e-07 -9.99981616e-01 6.87650899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.327628 meters 0.01246874594091804 Centerline is valid? [True, True] Translation: X:91.49, Y:-51.24, Z:0.69 [[ 6.64660888e-01 7.47136480e-01 -3.60343158e-03 9.14913189e+01] [ 7.47125473e-01 -6.64670656e-01 -4.05542957e-03 -5.12383113e+01] [-5.42505460e-03 3.26989625e-06 -9.99985284e-01 6.86822269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.357628 meters 0.012332058578105492 Centerline is valid? [True, True] Translation: X:91.49, Y:-51.25, Z:0.69 [[ 6.05217483e-01 7.96056916e-01 -2.27708690e-03 9.14918961e+01] [ 7.96051308e-01 -6.05221767e-01 -2.98801121e-03 -5.12494525e+01] [-3.75676955e-03 -4.28138349e-06 -9.99992943e-01 6.85856140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.387628 meters 0.012556384751290398 Centerline is valid? [True, True] Translation: X:91.49, Y:-51.26, Z:0.69 [[ 5.42362680e-01 8.40143127e-01 -1.49957592e-03 9.14938842e+01] [ 8.40139961e-01 -5.42364753e-01 -2.30653082e-03 -5.12607541e+01] [-2.75113314e-03 -8.87741688e-06 -9.99996216e-01 6.85179572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41762800000001 meters 0.012945008539541643 Centerline is valid? [True, True] Translation: X:91.50, Y:-51.27, Z:0.68 [[ 4.76615243e-01 8.79111750e-01 -6.63713853e-04 9.14958398e+01] [ 8.79110959e-01 -4.76615704e-01 -1.18012338e-03 -5.12721362e+01] [-1.35379678e-03 -2.10133299e-05 -9.99999083e-01 6.84826271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44762800000001 meters 0.013439110284093274 Centerline is valid? [True, True] Translation: X:91.50, Y:-51.28, Z:0.68 [[ 4.09563671e-01 9.12281528e-01 1.09765974e-04 9.14989099e+01] [ 9.12281462e-01 -4.09563684e-01 3.51938164e-04 -5.12835232e+01] [ 3.66022842e-04 -4.40036235e-05 -9.99999932e-01 6.83995704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47762800000001 meters 0.013812526727813183 Centerline is valid? [True, True] Translation: X:91.50, Y:-51.29, Z:0.68 [[ 3.38014429e-01 9.41140909e-01 1.85341895e-04 9.15033295e+01] [ 9.41140677e-01 -3.38014476e-01 6.63972324e-04 -5.12944499e+01] [ 6.87539760e-04 -4.99994296e-05 -9.99999762e-01 6.83522359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50762800000001 meters 0.013945189990278932 Centerline is valid? [True, True] Translation: X:91.51, Y:-51.31, Z:0.68 [[ 2.64277278e-01 9.64446742e-01 -3.93035317e-05 9.15085795e+01] [ 9.64446743e-01 -2.64277278e-01 -1.16743832e-06 -5.13056863e+01] [-1.15129625e-05 -3.75976357e-05 -9.99999999e-01 6.83619998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53762800000001 meters 0.014101543448654993 Centerline is valid? [True, True] Translation: X:91.51, Y:-51.32, Z:0.68 [[ 1.87893970e-01 9.82189305e-01 -1.56380782e-04 9.15149200e+01] [ 9.82189066e-01 -1.87894034e-01 -6.86330009e-04 -5.13163929e+01] [-7.03489011e-04 -2.46382233e-05 -9.99999752e-01 6.84212100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56762800000001 meters 0.014229763743827548 Centerline is valid? [True, True] Translation: X:91.52, Y:-51.33, Z:0.68 [[ 1.09688864e-01 9.93965958e-01 -1.62882569e-04 9.15213707e+01] [ 9.93965033e-01 -1.09688984e-01 -1.35648917e-03 -5.13276777e+01] [-1.36617048e-03 -1.31078230e-05 -9.99999067e-01 6.84677565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59762800000001 meters 0.013512402923792579 Centerline is valid? [True, True] Translation: X:91.53, Y:-51.34, Z:0.69 [[ 2.91358360e-02 9.99575459e-01 -6.64457886e-05 9.15311417e+01] [ 9.99573181e-01 -2.91359115e-02 -2.13391603e-03 -5.13373626e+01] [-2.13494605e-03 -4.24400084e-06 -9.99997721e-01 6.85577088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62762800000002 meters 0.0131223801424311 Centerline is valid? [True, True] Translation: X:91.54, Y:-51.35, Z:0.69 [[-5.09583445e-02 9.98700776e-01 7.92834955e-05 9.15413736e+01] [ 9.98699158e-01 5.09584047e-02 -1.79796186e-03 -5.13460354e+01] [-1.79966607e-03 -1.24407998e-05 -9.99998381e-01 6.85253727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65762800000002 meters 0.013129338920005191 Centerline is valid? [True, True] Translation: X:91.55, Y:-51.36, Z:0.68 [[-1.30609688e-01 9.91433850e-01 1.73049563e-04 9.15501955e+01] [ 9.91432774e-01 1.30609802e-01 -1.46064733e-03 -5.13551764e+01] [-1.47073718e-03 -1.92076839e-05 -9.99998918e-01 6.84869332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68762800000002 meters 0.012632977078043166 Centerline is valid? [True, True] Translation: X:91.56, Y:-51.36, Z:0.68 [[-2.10712712e-01 9.77548013e-01 1.88119748e-04 9.15582038e+01] [ 9.77547498e-01 2.10712794e-01 -1.00357268e-03 -5.13640049e+01] [-1.02067972e-03 -2.75695318e-05 -9.99999479e-01 6.84668772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.717628 meters 0.012347404341791317 Centerline is valid? [True, True] Translation: X:91.56, Y:-51.37, Z:0.68 [[-2.87833411e-01 9.57680397e-01 4.29751890e-04 9.15646460e+01] [ 9.57679200e-01 2.87833731e-01 -1.51409695e-03 -5.13718893e+01] [-1.57371806e-03 -2.42432441e-05 -9.99998761e-01 6.84730067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.747628 meters 0.012038933169345895 Centerline is valid? [True, True] Translation: X:91.57, Y:-51.38, Z:0.69 [[-3.63885038e-01 9.31443214e-01 1.10396687e-03 9.15726116e+01] [ 9.31438774e-01 3.63886712e-01 -2.87597315e-03 -5.13786516e+01] [-3.08052454e-03 -1.82460509e-05 -9.99995255e-01 6.85924709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.777628 meters 0.011961271826317997 Centerline is valid? [True, True] Translation: X:91.58, Y:-51.38, Z:0.69 [[-4.36495730e-01 8.99704699e-01 1.71251577e-03 9.15810000e+01] [ 8.99697629e-01 4.36499089e-01 -3.56670269e-03 -5.13848618e+01] [-3.95649074e-03 -1.61041193e-05 -9.99992173e-01 6.86566968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80762800000001 meters 0.011902183545432037 Centerline is valid? [True, True] Translation: X:91.59, Y:-51.39, Z:0.69 [[-5.06557751e-01 8.62202588e-01 2.43771414e-03 9.15906122e+01] [ 8.62192449e-01 5.06563616e-01 -4.18144630e-03 -5.13904984e+01] [-4.84011111e-03 -1.63653123e-05 -9.99988286e-01 6.87605909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83762800000001 meters 0.011790710488267745 Centerline is valid? [True, True] Translation: X:91.60, Y:-51.40, Z:0.69 [[-5.74006569e-01 8.18842654e-01 3.62846148e-03 9.16001700e+01] [ 8.18826061e-01 5.74018037e-01 -5.21293967e-03 -5.13967795e+01] [-6.35137969e-03 -2.11827927e-05 -9.99979830e-01 6.89061078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86762800000001 meters 0.01181182549688773 Centerline is valid? [True, True] Translation: X:91.61, Y:-51.40, Z:0.69 [[-6.37049504e-01 7.70811065e-01 4.26981430e-03 9.16072070e+01] [ 7.70793477e-01 6.37063812e-01 -5.20722921e-03 -5.14027013e+01] [-6.73393407e-03 -2.61177707e-05 -9.99977326e-01 6.89588867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89762800000001 meters 0.011757166146861057 Centerline is valid? [True, True] Translation: X:91.62, Y:-51.41, Z:0.69 [[-6.96573004e-01 7.17470679e-01 4.67708283e-03 9.16160663e+01] [ 7.17454157e-01 6.96588705e-01 -4.86924812e-03 -5.14073018e+01] [-6.75154582e-03 -3.61942759e-05 -9.99977207e-01 6.89895719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92762800000001 meters 0.01182082371887339 Centerline is valid? [True, True] Translation: X:91.62, Y:-51.41, Z:0.69 [[-7.51445051e-01 6.59775952e-01 5.10175466e-03 9.16243924e+01] [ 6.59760345e-01 7.51462368e-01 -4.53832030e-03 -5.14114723e+01] [-6.82805124e-03 -4.43629153e-05 -9.99976688e-01 6.89886910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95762800000001 meters 0.011993524457649951 Centerline is valid? [True, True] Translation: X:91.64, Y:-51.39, Z:0.69 [[-7.97959609e-01 6.02690727e-01 4.93450803e-03 9.16388545e+01] [ 6.02678752e-01 7.97974864e-01 -3.79969847e-03 -5.13880452e+01] [-6.22765641e-03 -5.80827600e-05 -9.99980606e-01 6.89022909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98762800000002 meters 0.012031376878341975 Centerline is valid? [True, True] Translation: X:91.66, Y:-51.37, Z:0.69 [[-8.39355797e-01 5.43561039e-01 4.82101960e-03 9.16627119e+01] [ 5.43551631e-01 8.39369640e-01 -3.19874498e-03 -5.13720419e+01] [-5.78533063e-03 -6.44120750e-05 -9.99983263e-01 6.88115673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01762800000002 meters 0.012241394134964946 Centerline is valid? [True, True] Translation: X:91.68, Y:-51.35, Z:0.69 [[-8.76999010e-01 4.80472789e-01 4.31681437e-03 9.16771018e+01] [ 4.80466557e-01 8.77009631e-01 -2.44833393e-03 -5.13497370e+01] [-4.96224562e-03 -7.31014982e-05 -9.99987685e-01 6.86672061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04762800000002 meters 0.01244851071705652 Centerline is valid? [True, True] Translation: X:91.71, Y:-51.33, Z:0.69 [[-9.09123839e-01 4.16501512e-01 4.50963713e-03 9.17055658e+01] [ 4.16495965e-01 9.09135020e-01 -2.15098561e-03 -5.13347018e+01] [-4.99575780e-03 -7.72666267e-05 -9.99987518e-01 6.86168576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.077628 meters 0.012450994354184714 Centerline is valid? [True, True] Translation: X:91.72, Y:-51.31, Z:0.69 [[-9.36562199e-01 3.50471585e-01 4.57326871e-03 9.17234813e+01] [ 3.50466991e-01 9.36573362e-01 -1.79624832e-03 -5.13132297e+01] [-4.91273564e-03 -7.95185509e-05 -9.99987929e-01 6.85989316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.107628 meters 0.01279794864768998 Centerline is valid? [True, True] Translation: X:91.73, Y:-51.29, Z:0.69 [[-9.59461229e-01 2.81796655e-01 4.97951395e-03 9.17271000e+01] [ 2.81792370e-01 9.59474146e-01 -1.55654065e-03 -5.12854820e+01] [-5.21634284e-03 -9.02513642e-05 -9.99986391e-01 6.86003361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.137628 meters 0.013058923486980095 Centerline is valid? [True, True] Translation: X:92.00, Y:-50.46, Z:-0.18 [[-9.30020588e-01 -3.67482827e-01 4.25177870e-03 9.20007740e+01] [ 3.67479189e-01 -9.30030306e-01 -1.63571065e-03 -5.04603409e+01] [ 4.55537862e-03 4.11956090e-05 9.99989623e-01 -1.77609007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16762800000001 meters 0.013020675222532535 Centerline is valid? [True, True] Translation: X:91.70, Y:-51.27, Z:0.69 [[-9.60976422e-01 2.76570907e-01 5.73143672e-03 9.16959334e+01] [ 2.76565313e-01 9.60993508e-01 -1.76236606e-03 -5.12749189e+01] [-5.99529266e-03 -1.08475642e-04 -9.99982022e-01 6.86816215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19762800000001 meters 0.01315786385394914 Centerline is valid? [True, True] Translation: X:91.71, Y:-51.25, Z:0.69 [[-9.78297067e-01 2.07088574e-01 7.01220817e-03 9.17055065e+01] [ 2.07082312e-01 9.78322189e-01 -1.61551175e-03 -5.12471292e+01] [-7.19475288e-03 -1.28346124e-04 -9.99974109e-01 6.87455217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22762800000001 meters 0.01307817364758364 Centerline is valid? [True, True] Translation: X:91.72, Y:-51.22, Z:0.69 [[-9.90412137e-01 1.37935867e-01 7.58260886e-03 9.17240848e+01] [ 1.37930805e-01 9.90441154e-01 -1.18893222e-03 -5.12214736e+01] [-7.67412427e-03 -1.31657548e-04 -9.99970545e-01 6.87971195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25762800000001 meters 0.013152499205823632 Centerline is valid? [True, True] Translation: X:91.85, Y:-50.37, Z:-0.18 [[-9.73287905e-01 -2.29490382e-01 6.69465777e-03 9.18529068e+01] [ 2.29485446e-01 -9.73310927e-01 -1.50679590e-03 -5.03717802e+01] [ 6.86177872e-03 6.97802979e-05 9.99976455e-01 -1.79375549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28762800000001 meters 0.012839908733898312 Centerline is valid? [True, True] Translation: X:91.66, Y:-51.21, Z:0.69 [[-9.90933903e-01 1.34102449e-01 8.15676757e-03 9.16582549e+01] [ 1.34096785e-01 9.90967464e-01 -1.23984108e-03 -5.12104130e+01] [-8.24935700e-03 -1.34804257e-04 -9.99965964e-01 6.88057378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31762800000001 meters 0.013000883874351037 Centerline is valid? [True, True] Translation: X:91.80, Y:-50.37, Z:-0.18 [[-9.74665084e-01 -2.23527156e-01 7.97396261e-03 9.18027213e+01] [ 2.23520744e-01 -9.74697694e-01 -1.69790297e-03 -5.03661630e+01] [ 8.15173039e-03 1.27459313e-04 9.99966766e-01 -1.80085784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34762800000001 meters 0.012697845694457576 Centerline is valid? [True, True] Translation: X:91.60, Y:-51.20, Z:0.69 [[-9.91266615e-01 1.31539969e-01 9.36670075e-03 9.16041171e+01] [ 1.31532823e-01 9.91310859e-01 -1.37765585e-03 -5.12028340e+01] [-9.46652897e-03 -1.33595660e-04 -9.99955182e-01 6.88722827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37762800000002 meters 0.012735671443549534 Centerline is valid? [True, True] Translation: X:91.74, Y:-50.36, Z:-0.18 [[-9.75913473e-01 -2.17980633e-01 8.79416851e-03 9.17437170e+01] [ 2.17972690e-01 -9.75953090e-01 -1.86346850e-03 -5.03564534e+01] [ 8.98889597e-03 9.83045479e-05 9.99959594e-01 -1.80774701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40762800000002 meters 0.012359288329455487 Centerline is valid? [True, True] Translation: X:91.55, Y:-51.20, Z:0.69 [[-9.91358917e-01 1.30744681e-01 1.06454461e-02 9.15485106e+01] [ 1.30735981e-01 9.91416066e-01 -1.51204045e-03 -5.11987124e+01] [-1.07517575e-02 -1.07231943e-04 -9.99942192e-01 6.89853647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43762800000002 meters 0.012239589698320678 Centerline is valid? [True, True] Translation: X:91.68, Y:-50.34, Z:-0.18 [[-9.77871606e-01 -2.08966620e-01 1.00036846e-02 9.16798298e+01] [ 2.08956419e-01 -9.77922771e-01 -2.06595890e-03 -5.03421316e+01] [ 1.02145474e-02 7.00915646e-05 9.99947828e-01 -1.80489900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.467628 meters 0.012083137720091014 Centerline is valid? [True, True] Translation: X:91.49, Y:-51.20, Z:0.69 [[-9.91181127e-01 1.32029926e-01 1.13168623e-02 9.14901540e+01] [ 1.32020807e-01 9.91245730e-01 -1.55232672e-03 -5.11968555e+01] [-1.14227450e-02 -4.45756601e-05 -9.99934757e-01 6.89019855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.497628 meters 0.012084472714307218 Centerline is valid? [True, True] Translation: X:91.61, Y:-50.33, Z:-0.18 [[-9.79993307e-01 -1.98752792e-01 1.05093253e-02 9.16140531e+01] [ 1.98741368e-01 -9.80049656e-01 -2.13094535e-03 -5.03280711e+01] [ 1.07231919e-02 3.25504890e-07 9.99942505e-01 -1.80177098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.527628 meters 0.012158152933559534 Centerline is valid? [True, True] Translation: X:91.42, Y:-51.19, Z:0.69 [[-9.91388786e-01 1.30443523e-01 1.15222158e-02 9.14246680e+01] [ 1.30434602e-01 9.91455741e-01 -1.52557649e-03 -5.11906346e+01] [-1.16227686e-02 -9.54379564e-06 -9.99932453e-01 6.89012961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55762800000001 meters 0.01226113516029449 Centerline is valid? [True, True] Translation: X:91.43, Y:-51.16, Z:0.69 [[-9.98084585e-01 6.07937798e-02 1.14576140e-02 9.14339557e+01] [ 6.07898100e-02 9.98150348e-01 -6.94738869e-04 -5.11645379e+01] [-1.14786572e-02 3.09802304e-06 -9.99934118e-01 6.88488535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58762800000001 meters 0.012259359476656614 Centerline is valid? [True, True] Translation: X:91.50, Y:-50.28, Z:-0.18 [[-9.92699899e-01 -1.20272494e-01 9.02433286e-03 9.14990563e+01] [ 1.20266178e-01 -9.92740906e-01 -1.24132398e-03 -5.02845932e+01] [ 9.10812150e-03 -1.46940174e-04 9.99958509e-01 -1.78868646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61762800000001 meters 0.01231421582285951 Centerline is valid? [True, True] Translation: X:91.35, Y:-51.16, Z:0.69 [[-9.98314685e-01 5.72680857e-02 9.38911431e-03 9.13495427e+01] [ 5.72657036e-02 9.98358836e-01 -5.22580111e-04 -5.11596627e+01] [-9.40363240e-03 1.59748385e-05 -9.99955785e-01 6.87279285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64762800000001 meters 0.012420346779445477 Centerline is valid? [True, True] Translation: X:91.41, Y:-50.28, Z:-0.18 [[-9.93502704e-01 -1.13488902e-01 8.52331794e-03 9.14085685e+01] [ 1.13484167e-01 -9.93539262e-01 -1.03864504e-03 -5.02782299e+01] [ 8.58612570e-03 -6.46350163e-05 9.99963136e-01 -1.78034439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67762800000001 meters 0.012437766197485116 Centerline is valid? [True, True] Translation: X:91.26, Y:-51.16, Z:0.69 [[-9.98594653e-01 5.21516295e-02 9.43006003e-03 9.12630101e+01] [ 5.21495235e-02 9.98639178e-01 -4.69255159e-04 -5.11550799e+01] [-9.44169981e-03 2.31774438e-05 -9.99955426e-01 6.86409728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70762800000001 meters 0.012493631664331328 Centerline is valid? [True, True] Translation: X:91.26, Y:-51.13, Z:0.69 [[-9.99773397e-01 -1.90623987e-02 9.47515979e-03 9.12592399e+01] [-1.90613206e-02 9.99818296e-01 2.04085096e-04 -5.11273311e+01] [-9.47732847e-03 2.34297918e-05 -9.99955089e-01 6.86399253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73762800000002 meters 0.012420787128804579 Centerline is valid? [True, True] Translation: X:91.26, Y:-51.10, Z:0.69 [[-9.95869398e-01 -9.03394163e-02 9.10664604e-03 9.12647942e+01] [-9.03354488e-02 9.95911035e-01 8.46913903e-04 -5.10990724e+01] [-9.14591899e-03 2.07626819e-05 -9.99958175e-01 6.86332023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76762800000002 meters 0.01212697222345432 Centerline is valid? [True, True] Translation: X:91.26, Y:-51.07, Z:0.69 [[-9.86684529e-01 -1.62357733e-01 9.67506044e-03 9.12564474e+01] [-1.62349784e-01 9.86731963e-01 1.60668182e-03 -5.10702604e+01] [-9.80754860e-03 1.45441245e-05 -9.99951905e-01 6.85394616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79762800000002 meters 0.012307192424150536 Centerline is valid? [True, True] Translation: X:91.23, Y:-51.05, Z:0.69 [[-9.72272097e-01 -2.33640192e-01 9.96143263e-03 9.12295842e+01] [-2.33627816e-01 9.72323126e-01 2.40480688e-03 -5.10469285e+01] [-1.02475909e-02 1.08588795e-05 -9.99947492e-01 6.87022959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.827628 meters 0.01207201079609214 Centerline is valid? [True, True] Translation: X:91.18, Y:-51.03, Z:0.69 [[-9.52263856e-01 -3.05114459e-01 9.93560407e-03 9.11751915e+01] [-3.05097796e-01 9.52315687e-01 3.18874334e-03 -5.10315954e+01] [-1.04347633e-02 5.19412533e-06 -9.99945556e-01 6.86327471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.857628 meters 0.012045902016719522 Centerline is valid? [True, True] Translation: X:91.11, Y:-51.02, Z:0.69 [[-9.26945519e-01 -3.75076155e-01 9.48066802e-03 9.11113441e+01] [-3.75056532e-01 9.26994001e-01 3.83672294e-03 -5.10239321e+01] [-1.02275857e-02 6.46669002e-07 -9.99947697e-01 6.87484072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.887628 meters 0.012033312055307542 Centerline is valid? [True, True] Translation: X:91.04, Y:-51.03, Z:0.69 [[-8.96482108e-01 -4.42986430e-01 9.10234699e-03 9.10351245e+01] [-4.42963576e-01 8.96528317e-01 4.49978171e-03 -5.10282138e+01] [-1.01538541e-02 1.96562333e-06 -9.99948448e-01 6.87188706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91762800000001 meters 0.01195967809810554 Centerline is valid? [True, True] Translation: X:90.96, Y:-51.04, Z:0.69 [[-8.60773175e-01 -5.08911616e-01 8.86050084e-03 9.09591881e+01] [-5.08884590e-01 8.60818777e-01 5.24472159e-03 -5.10379835e+01] [-1.02963852e-02 5.54331738e-06 -9.99946991e-01 6.85948502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94762800000001 meters 0.011921073262063323 Centerline is valid? [True, True] Translation: X:90.87, Y:-51.06, Z:0.69 [[-8.20390211e-01 -5.71748849e-01 7.94698379e-03 9.08733188e+01] [-5.71721873e-01 8.20428701e-01 5.55395773e-03 -5.10623411e+01] [-9.69540253e-03 1.29480930e-05 -9.99952998e-01 6.85730650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97762800000001 meters 0.011977899177705479 Centerline is valid? [True, True] Translation: X:90.78, Y:-51.10, Z:0.69 [[-7.74921601e-01 -6.32018791e-01 6.98284789e-03 9.07832528e+01] [-6.31992966e-01 7.74953061e-01 5.71352083e-03 -5.10973804e+01] [-9.02243187e-03 1.44199608e-05 -9.99959297e-01 6.85020448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00762800000001 meters 0.012021437646101824 Centerline is valid? [True, True] Translation: X:90.69, Y:-51.14, Z:0.68 [[-7.24893270e-01 -6.88831943e-01 6.34833898e-03 9.06931162e+01] [-6.88805299e-01 7.24921067e-01 6.05851803e-03 -5.11417698e+01] [-8.77534542e-03 1.90094123e-05 -9.99961496e-01 6.83982808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03762800000001 meters 0.012108538346667854 Centerline is valid? [True, True] Translation: X:90.60, Y:-51.20, Z:0.68 [[-6.70329777e-01 -7.42043385e-01 5.44106785e-03 9.06017548e+01] [-7.42018724e-01 6.70351859e-01 6.04964114e-03 -5.11973500e+01] [-8.13652614e-03 1.78803693e-05 -9.99966898e-01 6.83904063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06762800000001 meters 0.012084761017249005 Centerline is valid? [True, True] Translation: X:90.51, Y:-51.26, Z:0.68 [[-6.11390763e-01 -7.91314226e-01 4.80944756e-03 9.05146414e+01] [-7.91289530e-01 6.11409679e-01 6.25168078e-03 -5.12594857e+01] [-7.88758673e-03 1.65543855e-05 -9.99968892e-01 6.83651882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09762800000001 meters 0.012093699832854495 Centerline is valid? [True, True] Translation: X:90.42, Y:-51.34, Z:0.68 [[-5.48491801e-01 -8.36145804e-01 4.11555864e-03 9.04238880e+01] [-8.36122103e-01 5.48507241e-01 6.29556997e-03 -5.13411131e+01] [-7.52142813e-03 1.19589698e-05 -9.99971714e-01 6.83259655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12762800000002 meters 0.011863138725128843 Centerline is valid? [True, True] Translation: X:90.34, Y:-51.42, Z:0.68 [[-4.81069950e-01 -8.76675125e-01 3.52541043e-03 9.03427574e+01] [-8.76651589e-01 4.81082867e-01 6.42391681e-03 -5.14237375e+01] [-7.32770263e-03 -2.03312138e-07 -9.99973152e-01 6.83094323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15762800000002 meters 0.011839725870319019 Centerline is valid? [True, True] Translation: X:90.27, Y:-51.51, Z:0.68 [[-4.10920354e-01 -9.11665991e-01 3.09591810e-03 9.02702994e+01] [-9.11640249e-01 4.10932016e-01 6.85095223e-03 -5.15062363e+01] [-7.51799202e-03 -7.16783161e-06 -9.99971739e-01 6.83065345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18762800000002 meters 0.011839725870319019 Centerline is valid? [True, True] Translation: X:90.20, Y:-51.60, Z:0.68 [[-3.39199618e-01 -9.40710946e-01 2.55640659e-03 9.02015532e+01] [-9.40684388e-01 3.39209251e-01 7.06865749e-03 -5.16033043e+01] [-7.51672023e-03 -7.08584759e-06 -9.99971749e-01 6.83000831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.217628 meters 0.011766037348172283 Centerline is valid? [True, True] Translation: X:90.14, Y:-51.71, Z:0.68 [[-2.64218933e-01 -9.64460538e-01 2.05569175e-03 9.01396427e+01] [-9.64431811e-01 2.64226929e-01 7.44387346e-03 -5.17060238e+01] [-7.72249132e-03 -1.57622138e-05 -9.99970181e-01 6.84069280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.247628 meters 0.01180402836034295 Centerline is valid? [True, True] Translation: X:90.08, Y:-51.84, Z:0.68 [[-1.87529256e-01 -9.82257845e-01 1.51763510e-03 9.00808078e+01] [-9.82226756e-01 1.87535395e-01 7.81513296e-03 -5.18360947e+01] [-7.96108596e-03 -2.50957278e-05 -9.99968310e-01 6.84554989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.277628 meters 0.011636730358168274 Centerline is valid? [True, True] Translation: X:90.04, Y:-51.93, Z:0.68 [[-1.07908333e-01 -9.94160445e-01 8.95475295e-04 9.00378627e+01] [-9.94129732e-01 1.07912038e-01 7.81464473e-03 -5.19274351e+01] [-7.86564325e-03 -4.69533326e-05 -9.99969064e-01 6.84023199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30762800000001 meters 0.011757619415929909 Centerline is valid? [True, True] Translation: X:90.00, Y:-52.05, Z:0.68 [[-2.88625444e-02 -9.99583351e-01 2.79526932e-04 9.00008161e+01] [-9.99554061e-01 2.88638386e-02 7.65233153e-03 -5.20465854e+01] [-7.65721141e-03 -5.85365215e-05 -9.99970681e-01 6.83929621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33762800000001 meters 0.01195213378605014 Centerline is valid? [True, True] Translation: X:89.97, Y:-52.17, Z:0.68 [[ 5.03260681e-02 -9.98732787e-01 -3.27648156e-04 8.99734071e+01] [-9.98701386e-01 -5.03270841e-02 7.91997407e-03 -5.21656384e+01] [-7.92642735e-03 -7.13584867e-05 -9.99968583e-01 6.83730756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36762800000001 meters 0.011982267787592548 Centerline is valid? [True, True] Translation: X:89.96, Y:-52.30, Z:0.68 [[ 1.30298980e-01 -9.91474258e-01 -9.85979096e-04 8.99565163e+01] [-9.91440068e-01 -1.30302675e-01 8.23428688e-03 -5.22951353e+01] [-8.29255919e-03 -9.53799985e-05 -9.99965612e-01 6.82905108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39762800000001 meters 0.012437322984524848 Centerline is valid? [True, True] Translation: X:89.95, Y:-52.41, Z:0.68 [[ 2.08009349e-01 -9.78125290e-01 -1.73991793e-03 8.99458456e+01] [-9.78086527e-01 -2.08016597e-01 8.70866751e-03 -5.24094102e+01] [-8.88009974e-03 -1.09693982e-04 -9.99960565e-01 6.83872738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42762800000001 meters 0.012705839071135757 Centerline is valid? [True, True] Translation: X:89.95, Y:-52.55, Z:0.68 [[ 2.84220529e-01 -9.58755612e-01 -2.52325910e-03 8.99515040e+01] [-9.58713915e-01 -2.84231703e-01 8.94251842e-03 -5.25515938e+01] [-9.29087995e-03 -1.22563707e-04 -9.99956831e-01 6.84730882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45762800000001 meters 0.012625512988777045 Centerline is valid? [True, True] Translation: X:89.96, Y:-52.65, Z:0.69 [[ 3.58199953e-01 -9.33638865e-01 -3.35615201e-03 8.99552140e+01] [-9.33594398e-01 -3.58215651e-01 9.11298070e-03 -5.26506013e+01] [-9.71045914e-03 -1.30984536e-04 -9.99952844e-01 6.85075845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48762800000002 meters 0.01272161129207743 Centerline is valid? [True, True] Translation: X:89.98, Y:-52.78, Z:0.69 [[ 4.29554198e-01 -9.03031151e-01 -4.23441005e-03 8.99785817e+01] [-9.02984091e-01 -4.29575047e-01 9.22007387e-03 -5.27784465e+01] [-1.01450108e-02 -1.36916531e-04 -9.99948529e-01 6.85470818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51762800000002 meters 0.012540714120659 Centerline is valid? [True, True] Translation: X:90.01, Y:-52.89, Z:0.68 [[ 4.97756223e-01 -8.67303644e-01 -4.80942588e-03 9.00070304e+01] [-8.67260617e-01 -4.97779441e-01 8.64006483e-03 -5.28916473e+01] [-9.88759304e-03 -1.29620384e-04 -9.99951108e-01 6.84466840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54762800000002 meters 0.012521364389300363 Centerline is valid? [True, True] Translation: X:90.04, Y:-53.00, Z:0.68 [[ 5.62251769e-01 -8.26949626e-01 -5.22159594e-03 9.00393857e+01] [-8.26912082e-01 -5.62276003e-01 7.88070193e-03 -5.29954289e+01] [-9.45292161e-03 -1.13137827e-04 -9.99955314e-01 6.83930755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.577628 meters 0.012084796656952959 Centerline is valid? [True, True] Translation: X:90.08, Y:-53.10, Z:0.68 [[ 6.21797776e-01 -7.83162696e-01 -4.86992877e-03 9.00837413e+01] [-7.83137748e-01 -6.21816842e-01 6.25154640e-03 -5.30984433e+01] [-7.92418167e-03 -7.33725995e-05 -9.99968600e-01 6.81510053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.607628 meters 0.011899374281176642 Centerline is valid? [True, True] Translation: X:90.13, Y:-53.20, Z:0.68 [[ 6.78321933e-01 -7.34748680e-01 -4.87150647e-03 9.01345254e+01] [-7.34729201e-01 -6.78339424e-01 5.35048320e-03 -5.31978709e+01] [-7.23579536e-03 -5.01120514e-05 -9.99973820e-01 6.80536972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.637628 meters 0.01186419354127884 Centerline is valid? [True, True] Translation: X:90.19, Y:-53.30, Z:0.68 [[ 7.30943952e-01 -6.82420204e-01 -4.85840890e-03 9.01949829e+01] [-6.82404853e-01 -7.30960097e-01 4.57739748e-03 -5.32950299e+01] [-6.67501156e-03 -3.04191931e-05 -9.99977721e-01 6.79815657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66762800000001 meters 0.01230962947602418 Centerline is valid? [True, True] Translation: X:90.19, Y:-53.30, Z:0.68 [[ 7.78325799e-01 -6.27841474e-01 -4.90252451e-03 9.01926854e+01] [-6.27829066e-01 -7.78341239e-01 3.94706273e-03 -5.32951818e+01] [-6.29396668e-03 5.84663258e-06 -9.99980193e-01 6.79427358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69762800000001 meters 0.012672088762669235 Centerline is valid? [True, True] Translation: X:90.19, Y:-53.30, Z:0.68 [[ 8.23761437e-01 -5.66914217e-01 -5.03647443e-03 9.01882418e+01] [-5.66903755e-01 -8.23776833e-01 3.44416453e-03 -5.32958985e+01] [-6.10147679e-03 1.80263470e-05 -9.99981386e-01 6.78950085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72762800000001 meters 0.013166214465204542 Centerline is valid? [True, True] Translation: X:90.18, Y:-53.30, Z:0.68 [[ 8.64646455e-01 -5.02358285e-01 -4.76039936e-03 9.01820480e+01] [-5.02350819e-01 -8.64659559e-01 2.73895760e-03 -5.32952223e+01] [-5.49206285e-03 2.31605322e-05 -9.99984918e-01 6.78632145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75762800000001 meters 0.01343016932917848 Centerline is valid? [True, True] Translation: X:90.18, Y:-53.30, Z:0.68 [[ 9.00516198e-01 -4.34794628e-01 -4.92017960e-03 9.01762048e+01] [-4.34788334e-01 -9.00529639e-01 2.33955298e-03 -5.32961000e+01] [-5.44799262e-03 3.24313377e-05 -9.99985159e-01 6.78331240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78762800000001 meters 0.013868099178132401 Centerline is valid? [True, True] Translation: X:90.17, Y:-53.30, Z:0.68 [[ 9.30955667e-01 -3.65093504e-01 -5.31777039e-03 9.01711046e+01] [-3.65087840e-01 -9.30970854e-01 2.03411332e-03 -5.32965372e+01] [-5.69333080e-03 4.77839856e-05 -9.99983792e-01 6.78469137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81762800000001 meters 0.01464340339281012 Centerline is valid? [True, True] Translation: X:90.17, Y:-53.30, Z:0.68 [[ 9.55037710e-01 -2.96426469e-01 -5.85842584e-03 9.01650441e+01] [-2.96421449e-01 -9.55055674e-01 1.72734947e-03 -5.33013096e+01] [-6.10715495e-03 8.68791976e-05 -9.99981347e-01 6.78222267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84762800000001 meters 0.016535789876699996 Centerline is valid? [True, True] Translation: X:90.15, Y:-53.30, Z:0.68 [[ 9.74812088e-01 -2.22951570e-01 -5.83007729e-03 9.01546821e+01] [-2.22948179e-01 -9.74829517e-01 1.23346546e-03 -5.33028011e+01] [-5.95833449e-03 9.74080780e-05 -9.99982244e-01 6.78592613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87762800000002 meters 0.017267968822117327 Centerline is valid? [True, True] Translation: X:90.15, Y:-53.30, Z:0.68 [[ 9.88955099e-01 -1.48115216e-01 -5.44925322e-03 9.01461837e+01] [-1.48113522e-01 -9.88970107e-01 7.15376609e-04 -5.33026983e+01] [-5.49510670e-03 9.96327404e-05 -9.99984897e-01 6.77847182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90762800000002 meters 0.019010214482294983 Centerline is valid? [True, True] Translation: X:90.14, Y:-53.30, Z:0.68 [[ 9.97273964e-01 -7.36223757e-02 -4.93824532e-03 9.01369926e+01] [-7.36219857e-02 -9.97286185e-01 2.60950311e-04 -5.33015628e+01] [-4.94405562e-03 1.03324476e-04 -9.99987773e-01 6.76717525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93762800000002 meters 0.019541862966618345 Centerline is valid? [True, True] Translation: X:90.13, Y:-53.30, Z:0.68 [[ 9.99980174e-01 3.75928238e-03 -5.05166197e-03 9.01281263e+01] [ 3.75867351e-03 -9.99992928e-01 -1.30017966e-04 -5.33020755e+01] [-5.05211501e-03 1.11027840e-04 -9.99987232e-01 6.76422935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.967628 meters 0.0198165493888123 Centerline is valid? [True, True] Translation: X:90.12, Y:-53.30, Z:0.68 [[ 9.96638185e-01 8.17584554e-02 -5.28042706e-03 9.01191056e+01] [ 8.17566702e-02 -9.96652166e-01 -5.53430483e-04 -5.33033799e+01] [-5.30799669e-03 1.19859819e-04 -9.99985905e-01 6.76722337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.997628 meters 0.01737027899186267 Centerline is valid? [True, True] Translation: X:90.11, Y:-53.32, Z:0.68 [[ 9.86869253e-01 1.61375739e-01 -6.85183631e-03 9.01126927e+01] [ 1.61370765e-01 -9.86893027e-01 -1.27629771e-03 -5.33167980e+01] [-6.96799296e-03 1.53852899e-04 -9.99975711e-01 6.77369611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.027628 meters 0.015484848620328489 Centerline is valid? [True, True] Translation: X:90.11, Y:-53.33, Z:0.68 [[ 9.70766878e-01 2.39901679e-01 -7.67160523e-03 9.01082427e+01] [ 2.39892837e-01 -9.70797176e-01 -2.06634350e-03 -5.33339187e+01] [-7.94329197e-03 1.65574682e-04 -9.99968438e-01 6.77465732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05762800000001 meters 0.015024054794633946 Centerline is valid? [True, True] Translation: X:90.10, Y:-53.35, Z:0.68 [[ 9.48252627e-01 3.17416606e-01 -7.97827691e-03 9.01044490e+01] [ 3.17403962e-01 -9.48286177e-01 -2.83757204e-03 -5.33488451e+01] [-8.46638219e-03 1.58398445e-04 -9.99964147e-01 6.78117114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08762800000001 meters 0.014615579599638483 Centerline is valid? [True, True] Translation: X:90.10, Y:-53.36, Z:0.68 [[ 9.19494311e-01 3.93032934e-01 -7.43814026e-03 9.01008875e+01] [ 3.93018921e-01 -9.19524386e-01 -3.32137749e-03 -5.33632305e+01] [-8.14496210e-03 1.30657847e-04 -9.99966821e-01 6.78332097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11762800000001 meters 0.014014090354673655 Centerline is valid? [True, True] Translation: X:90.10, Y:-53.38, Z:0.68 [[ 8.83494315e-01 4.68399656e-01 -6.28955601e-03 9.00998427e+01] [ 4.68387190e-01 -8.83516699e-01 -3.41808998e-03 -5.33785881e+01] [-7.15795994e-03 7.39156039e-05 -9.99974379e-01 6.77734381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14762800000001 meters 0.012918912509705723 Centerline is valid? [True, True] Translation: X:90.10, Y:-53.39, Z:0.68 [[ 8.42643885e-01 5.38444498e-01 -5.36717968e-03 9.01008668e+01] [ 5.38433231e-01 -8.42660976e-01 -3.48351992e-03 -5.33929259e+01] [-6.39839500e-03 4.54988629e-05 -9.99979529e-01 6.76474882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17762800000001 meters 0.012554888057038627 Centerline is valid? [True, True] Translation: X:90.10, Y:-53.41, Z:0.68 [[ 7.96762756e-01 6.04274741e-01 -4.59868125e-03 9.01025902e+01] [ 6.04264476e-01 -7.96776026e-01 -3.52234715e-03 -5.34069922e+01] [-5.79258439e-03 2.76553023e-05 -9.99983222e-01 6.75753592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20762800000001 meters 0.012234428004927952 Centerline is valid? [True, True] Translation: X:90.11, Y:-53.42, Z:0.67 [[ 7.44616933e-01 6.67480442e-01 -3.93468459e-03 9.01053565e+01] [ 6.67471097e-01 -7.44627329e-01 -3.53195205e-03 -5.34216764e+01] [-5.28738259e-03 3.66306608e-06 -9.99986022e-01 6.74955724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23762800000002 meters 0.012211051893597735 Centerline is valid? [True, True] Translation: X:90.11, Y:-53.43, Z:0.67 [[ 6.89259055e-01 7.24507772e-01 -3.23161942e-03 9.01060117e+01] [ 7.24499846e-01 -6.89266630e-01 -3.38893080e-03 -5.34333235e+01] [-4.68275413e-03 -5.45653431e-06 -9.99989036e-01 6.74875467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26762800000002 meters 0.012127927518090683 Centerline is valid? [True, True] Translation: X:90.11, Y:-53.44, Z:0.67 [[ 6.29902122e-01 7.76670847e-01 -2.38985961e-03 9.01054434e+01] [ 7.76665333e-01 -6.29906656e-01 -2.92656142e-03 -5.34433671e+01] [-3.77836341e-03 -1.26738616e-05 -9.99992862e-01 6.74716553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29762800000002 meters 0.012126332074682262 Centerline is valid? [True, True] Translation: X:90.11, Y:-53.45, Z:0.67 [[ 5.66792144e-01 8.23859007e-01 -1.73274224e-03 9.01095548e+01] [ 8.23855250e-01 -5.66794793e-01 -2.48804746e-03 -5.34544819e+01] [-3.03190959e-03 -1.73230354e-05 -9.99995404e-01 6.74355841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.327628 meters 0.012076069919452358 Centerline is valid? [True, True] Translation: X:90.11, Y:-53.46, Z:0.67 [[ 5.00453791e-01 8.65762289e-01 -1.28889901e-03 9.01141670e+01] [ 8.65759517e-01 -5.00455450e-01 -2.19097957e-03 -5.34647231e+01] [-2.54190402e-03 -1.93925573e-05 -9.99996769e-01 6.74282132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.357628 meters 0.012172301397924088 Centerline is valid? [True, True] Translation: X:90.12, Y:-53.47, Z:0.67 [[ 4.31271580e-01 9.02221261e-01 -1.27279844e-03 9.01193770e+01] [ 9.02217450e-01 -4.31273458e-01 -2.62261401e-03 -5.34747916e+01] [-2.91510231e-03 -1.72820765e-05 -9.99995751e-01 6.74743685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.387628 meters 0.012183511053834974 Centerline is valid? [True, True] Translation: X:90.12, Y:-53.49, Z:0.68 [[ 3.59473137e-01 9.33154584e-01 -1.25923581e-03 9.01236783e+01] [ 9.33148997e-01 -3.59475342e-01 -3.22910551e-03 -5.34850425e+01] [-3.46591884e-03 -1.42779487e-05 -9.99993994e-01 6.75666947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41762800000001 meters 0.012205744814598792 Centerline is valid? [True, True] Translation: X:90.13, Y:-53.49, Z:0.68 [[ 2.85655767e-01 9.58331525e-01 -1.21323157e-03 9.01292811e+01] [ 9.58323017e-01 -2.85658343e-01 -4.03808502e-03 -5.34938059e+01] [-4.21639389e-03 -9.16546653e-06 -9.99991111e-01 6.76309998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44762800000001 meters 0.012361875254973757 Centerline is valid? [True, True] Translation: X:90.13, Y:-53.50, Z:0.68 [[ 2.10870655e-01 9.77513130e-01 -1.28392393e-03 9.01349574e+01] [ 9.77494799e-01 -2.10874563e-01 -5.98639578e-03 -5.35019120e+01] [-6.12252737e-03 7.32623623e-06 -9.99981257e-01 6.78007281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47762800000001 meters 0.012503499390393566 Centerline is valid? [True, True] Translation: X:90.14, Y:-53.51, Z:0.68 [[ 1.34317989e-01 9.90937906e-01 -8.62197292e-04 9.01403325e+01] [ 9.90916799e-01 -1.34320756e-01 -6.46771867e-03 -5.35098028e+01] [-6.52491859e-03 1.43651856e-05 -9.99978712e-01 6.78996584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50762800000001 meters 0.012535469279515056 Centerline is valid? [True, True] Translation: X:90.15, Y:-53.52, Z:0.68 [[ 5.68739687e-02 9.98381290e-01 -3.89134964e-04 9.01466273e+01] [ 9.98354969e-01 -5.68752949e-02 -7.24961447e-03 -5.35171995e+01] [-7.26001161e-03 2.38195216e-05 -9.99973645e-01 6.79404812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53762800000001 meters 0.0129286352589419 Centerline is valid? [True, True] Translation: X:90.15, Y:-53.53, Z:0.68 [[-2.08738495e-02 9.99782096e-01 2.06380584e-04 9.01513579e+01] [ 9.99748614e-01 2.08748395e-02 -8.18227239e-03 -5.35256986e+01] [-8.18479760e-03 3.55331802e-05 -9.99966503e-01 6.80932652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56762800000001 meters 0.013000319960777176 Centerline is valid? [True, True] Translation: X:90.16, Y:-53.53, Z:0.68 [[-9.87171291e-02 9.95115084e-01 9.47345079e-04 9.01563511e+01] [ 9.95073669e-01 9.87216637e-02 -9.07888643e-03 -5.35331857e+01] [-9.12806032e-03 4.64365394e-05 -9.99958337e-01 6.80986631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59762800000001 meters 0.013144715741945699 Centerline is valid? [True, True] Translation: X:90.16, Y:-53.54, Z:0.68 [[-1.76308889e-01 9.84333440e-01 1.68975150e-03 9.01610313e+01] [ 9.84290837e-01 1.76316979e-01 -9.15806373e-03 -5.35414194e+01] [-9.31252026e-03 4.85588835e-05 -9.99956636e-01 6.81244253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62762800000002 meters 0.013067386174865452 Centerline is valid? [True, True] Translation: X:90.17, Y:-53.55, Z:0.68 [[-2.53097528e-01 9.67437815e-01 2.39084843e-03 9.01672054e+01] [ 9.67396364e-01 2.53108816e-01 -8.95558045e-03 -5.35482001e+01] [-9.26911199e-03 4.62628046e-05 -9.99957040e-01 6.80818881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65762800000002 meters 0.012842395245600694 Centerline is valid? [True, True] Translation: X:90.18, Y:-53.55, Z:0.68 [[-3.29045471e-01 9.44310053e-01 2.75717070e-03 9.01754715e+01] [ 9.44277664e-01 3.29057021e-01 -7.82120694e-03 -5.35537332e+01] [-8.29291071e-03 3.00019882e-05 -9.99965613e-01 6.79398838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68762800000002 meters 0.012879903892064233 Centerline is valid? [True, True] Translation: X:90.18, Y:-53.56, Z:0.68 [[-4.02591683e-01 9.15373510e-01 3.35758647e-03 9.01844311e+01] [ 9.15342192e-01 4.02605683e-01 -7.57209603e-03 -5.35581795e+01] [-8.28307952e-03 2.48776798e-05 -9.99965694e-01 6.79296825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.717628 meters 0.012841839063681169 Centerline is valid? [True, True] Translation: X:90.19, Y:-53.56, Z:0.68 [[-4.73857729e-01 8.80592735e-01 3.90993276e-03 9.01936377e+01] [ 8.80563056e-01 4.73873859e-01 -7.22982511e-03 -5.35636595e+01] [-8.21934640e-03 1.70338320e-05 -9.99966220e-01 6.79655573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.747628 meters 0.012887286967138435 Centerline is valid? [True, True] Translation: X:90.20, Y:-53.57, Z:0.68 [[-5.42453469e-01 8.40073986e-01 4.46456449e-03 9.02017278e+01] [ 8.40045635e-01 5.42471841e-01 -6.90164036e-03 -5.35692463e+01] [-8.21978904e-03 6.61915484e-06 -9.99966217e-01 6.80270426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.777628 meters 0.012728978763010917 Centerline is valid? [True, True] Translation: X:90.21, Y:-53.57, Z:0.68 [[-6.06824496e-01 7.94819386e-01 5.11619067e-03 9.02136948e+01] [ 7.94791205e-01 6.06846063e-01 -6.69305784e-03 -5.35699282e+01] [-8.42451229e-03 4.79189017e-06 -9.99964513e-01 6.79162655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80762800000001 meters 0.012715462935408244 Centerline is valid? [True, True] Translation: X:90.22, Y:-53.57, Z:0.68 [[-6.67297013e-01 7.44770740e-01 5.58944109e-03 9.02245493e+01] [ 7.44744664e-01 6.67320421e-01 -6.23219613e-03 -5.35692673e+01] [-8.37150551e-03 3.98057485e-06 -9.99964958e-01 6.78806082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83762800000001 meters 0.012793219487353794 Centerline is valid? [True, True] Translation: X:90.24, Y:-53.57, Z:0.68 [[-7.23235531e-01 6.90574884e-01 6.05764680e-03 9.02354586e+01] [ 6.90550759e-01 7.23260900e-01 -5.77236195e-03 -5.35692766e+01] [-8.36750726e-03 8.33533211e-06 -9.99964992e-01 6.78444564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86762800000001 meters 0.015585164045992757 Centerline is valid? [True, True] Translation: X:90.26, Y:-53.56, Z:0.68 [[-7.68919296e-01 6.39310705e-01 6.70366091e-03 9.02606597e+01] [ 6.39286756e-01 7.68948517e-01 -5.53370411e-03 -5.35594148e+01] [-8.69252639e-03 3.05897742e-05 -9.99962219e-01 6.80850097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89762800000001 meters 0.013235110577684802 Centerline is valid? [True, True] Translation: X:90.28, Y:-53.54, Z:0.68 [[-8.11918361e-01 5.83734923e-01 6.48961163e-03 9.02815948e+01] [ 5.83716571e-01 8.11944295e-01 -4.62877543e-03 -5.35433686e+01] [-7.97118102e-03 2.99060896e-05 -9.99968229e-01 6.77979535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92762800000001 meters 0.013323009158413198 Centerline is valid? [True, True] Translation: X:90.30, Y:-53.53, Z:0.68 [[-8.50517101e-01 5.25904366e-01 6.72747381e-03 9.03026302e+01] [ 5.25888281e-01 8.50543706e-01 -4.11339461e-03 -5.35261529e+01] [-7.88526270e-03 3.93871774e-05 -9.99968910e-01 6.77496229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95762800000001 meters 0.013576734672478056 Centerline is valid? [True, True] Translation: X:90.33, Y:-53.51, Z:0.68 [[-8.84928827e-01 4.65674413e-01 6.95068283e-03 9.03253770e+01] [ 4.65660494e-01 8.84956122e-01 -3.60088936e-03 -5.35095280e+01] [-7.82789136e-03 5.01276017e-05 -9.99969360e-01 6.77501364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98762800000002 meters 0.01430851305080513 Centerline is valid? [True, True] Translation: X:90.34, Y:-53.49, Z:0.68 [[-9.14479168e-01 4.04568098e-01 7.24606150e-03 9.03411205e+01] [ 4.04556039e-01 9.14507873e-01 -3.12442562e-03 -5.34919825e+01] [-7.89062321e-03 7.42158042e-05 -9.99968866e-01 6.77826781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01762800000002 meters 0.014235500412076836 Centerline is valid? [True, True] Translation: X:90.36, Y:-53.47, Z:0.68 [[-9.40180691e-01 3.40599457e-01 7.23032765e-03 9.03551712e+01] [ 3.40590090e-01 9.40208489e-01 -2.52748062e-03 -5.34692522e+01] [-7.65887396e-03 8.62894688e-05 -9.99970667e-01 6.77256052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04762800000002 meters 0.016126654579578317 Centerline is valid? [True, True] Translation: X:90.65, Y:-52.65, Z:-0.17 [[-9.28105285e-01 -3.72272113e-01 5.83563091e-03 9.06517038e+01] [ 3.72263785e-01 -9.28123620e-01 -2.49423947e-03 -5.26452163e+01] [ 6.34472268e-03 -1.42522781e-04 9.99979862e-01 -1.74266448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.077628 meters 0.016130700134266207 Centerline is valid? [True, True] Translation: X:90.31, Y:-53.46, Z:0.68 [[-9.39079942e-01 3.43642043e-01 6.24564602e-03 9.03115016e+01] [ 3.43635275e-01 9.39100704e-01 -2.15997615e-03 -5.34648424e+01] [-6.60754919e-03 1.17834011e-04 -9.99978163e-01 6.77125874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.107628 meters 0.016130700134266207 Centerline is valid? [True, True] Translation: X:90.33, Y:-53.44, Z:0.68 [[-9.61073305e-01 2.76219784e-01 6.38221231e-03 9.03262222e+01] [ 2.76214507e-01 9.61094489e-01 -1.71151536e-03 -5.34402842e+01] [-6.60666348e-03 1.17967895e-04 -9.99978169e-01 6.77116500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.137628 meters 0.016451678727882214 Centerline is valid? [True, True] Translation: X:90.34, Y:-53.42, Z:0.68 [[-9.77724739e-01 2.09808244e-01 5.90217470e-03 9.03429634e+01] [ 2.09805162e-01 9.77742546e-01 -1.14357366e-03 -5.34177081e+01] [-6.01073850e-03 1.20206466e-04 -9.99981928e-01 6.76508958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16762800000001 meters 0.016942073334135187 Centerline is valid? [True, True] Translation: X:90.52, Y:-52.54, Z:-0.17 [[-9.74033011e-01 -2.26359596e-01 4.58559136e-03 9.05184748e+01] [ 2.26356276e-01 -9.74043790e-01 -1.23738555e-03 -5.25414632e+01] [ 4.74666088e-03 -1.67276992e-04 9.99988721e-01 -1.71976335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19762800000001 meters 0.017232052284449458 Centerline is valid? [True, True] Translation: X:90.28, Y:-53.41, Z:0.68 [[-9.77822958e-01 2.09371173e-01 5.09648110e-03 9.02800039e+01] [ 2.09368972e-01 9.77836232e-01 -9.67627113e-04 -5.34110623e+01] [-5.18611710e-03 1.20877001e-04 -9.99986545e-01 6.75404447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22762800000001 meters 0.017933313778656677 Centerline is valid? [True, True] Translation: X:90.29, Y:-53.39, Z:0.68 [[-9.90212372e-01 1.39505450e-01 4.20569491e-03 9.02944134e+01] [ 1.39504597e-01 9.90221299e-01 -4.96897232e-04 -5.33864641e+01] [-4.23388855e-03 9.46799894e-05 -9.99991033e-01 6.75003849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25762800000001 meters 0.01733453534563948 Centerline is valid? [True, True] Translation: X:90.30, Y:-53.36, Z:0.68 [[-9.97678133e-01 6.79362431e-02 4.79692174e-03 9.03027185e+01] [ 6.79359698e-02 9.97689659e-01 -2.20085147e-04 -5.33573560e+01] [-4.80079097e-03 1.06309392e-04 -9.99988470e-01 6.75281310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28762800000001 meters 0.017656619658084093 Centerline is valid? [True, True] Translation: X:90.30, Y:-53.33, Z:0.68 [[-9.99975756e-01 -4.46423739e-03 5.34401668e-03 9.03047270e+01] [-4.46356294e-03 9.99990029e-01 1.38127396e-04 -5.33296727e+01] [-5.34458003e-03 1.14270693e-04 -9.99985711e-01 6.76269183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31762800000001 meters 0.016982972127720215 Centerline is valid? [True, True] Translation: X:90.30, Y:-53.30, Z:0.68 [[-9.96855609e-01 -7.89555027e-02 6.70251145e-03 9.03007096e+01] [-7.89528528e-02 9.96878133e-01 6.59461858e-04 -5.32996957e+01] [-6.73365524e-03 1.28205852e-04 -9.99977320e-01 6.77811444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34762800000001 meters 0.016670895289579553 Centerline is valid? [True, True] Translation: X:90.28, Y:-53.27, Z:0.68 [[-9.88437022e-01 -1.51464170e-01 7.13159089e-03 9.02848584e+01] [-1.51459278e-01 9.88462740e-01 1.22428231e-03 -5.32726383e+01] [-7.23474678e-03 1.29980351e-04 -9.99973820e-01 6.78831234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37762800000002 meters 0.01650042811968997 Centerline is valid? [True, True] Translation: X:90.25, Y:-53.25, Z:0.68 [[-9.74486365e-01 -2.24315410e-01 7.67599212e-03 9.02506150e+01] [-2.24307379e-01 9.74516587e-01 1.90278320e-03 -5.32504482e+01] [-7.90720524e-03 1.32454610e-04 -9.99968729e-01 6.79355876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40762800000002 meters 0.014907454550145001 Centerline is valid? [True, True] Translation: X:90.20, Y:-53.23, Z:0.68 [[-9.54834356e-01 -2.97035900e-01 7.81196560e-03 9.01973434e+01] [-2.97024886e-01 9.54866304e-01 2.56095558e-03 -5.32315427e+01] [-8.22007847e-03 1.24940182e-04 -9.99966207e-01 6.78991673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43762800000002 meters 0.014988394226150732 Centerline is valid? [True, True] Translation: X:90.13, Y:-53.23, Z:0.68 [[-9.30038472e-01 -3.67382232e-01 7.66397478e-03 9.01304192e+01] [-3.67368661e-01 9.30070041e-01 3.16013079e-03 -5.32261708e+01] [-8.28900924e-03 1.23539054e-04 -9.99965638e-01 6.79164449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.467628 meters 0.014702305752155016 Centerline is valid? [True, True] Translation: X:90.05, Y:-53.23, Z:0.68 [[-8.99934282e-01 -4.35970056e-01 6.95692401e-03 9.00512703e+01] [-4.35956055e-01 8.99961164e-01 3.49590434e-03 -5.32305231e+01] [-7.78507104e-03 1.13171021e-04 -9.99969689e-01 6.78803637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.497628 meters 0.016891794760211316 Centerline is valid? [True, True] Translation: X:89.97, Y:-53.24, Z:0.68 [[-8.64763312e-01 -5.02131821e-01 6.93165289e-03 8.99691513e+01] [-5.02114559e-01 8.64791084e-01 4.16538040e-03 -5.32435870e+01] [-8.08600166e-03 1.21584317e-04 -9.99967300e-01 6.81378218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.527628 meters 0.014991245805863713 Centerline is valid? [True, True] Translation: X:89.88, Y:-53.27, Z:0.68 [[-8.24463590e-01 -5.65893005e-01 4.98954043e-03 8.98815397e+01] [-5.65881997e-01 8.24478683e-01 3.53076041e-03 -5.32679050e+01] [-6.11180234e-03 8.74922963e-05 -9.99981319e-01 6.77674938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55762800000001 meters 0.01552380795400137 Centerline is valid? [True, True] Translation: X:89.79, Y:-53.31, Z:0.68 [[-7.79037954e-01 -6.26962316e-01 4.25691198e-03 8.97894257e+01] [-6.26952417e-01 7.79049580e-01 3.52390342e-03 -5.33053064e+01] [-5.52570014e-03 7.63732510e-05 -9.99984730e-01 6.77879673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58762800000001 meters 0.0150463824429612 Centerline is valid? [True, True] Translation: X:89.70, Y:-53.35, Z:0.68 [[-7.28974016e-01 -6.84531431e-01 3.68828995e-03 8.96987330e+01] [-6.84522185e-01 7.28983343e-01 3.55846890e-03 -5.33481088e+01] [-5.12458575e-03 6.93150681e-05 -9.99986867e-01 6.77273215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61762800000001 meters 0.01486840697362143 Centerline is valid? [True, True] Translation: X:89.61, Y:-53.41, Z:0.68 [[-6.74181917e-01 -7.38557867e-01 3.31951021e-03 8.96051196e+01] [-7.38548434e-01 6.74190086e-01 3.73337869e-03 -5.34057725e+01] [-4.99529708e-03 6.53573324e-05 -9.99987521e-01 6.76953777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64762800000001 meters 0.014552426925582968 Centerline is valid? [True, True] Translation: X:89.52, Y:-53.47, Z:0.68 [[-6.14923210e-01 -7.88583266e-01 2.42452281e-03 8.95172944e+01] [-7.88576849e-01 6.14927988e-01 3.18142738e-03 -5.34679774e+01] [-3.99972732e-03 4.44109791e-05 -9.99992000e-01 6.76325398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67762800000001 meters 0.014690078055647291 Centerline is valid? [True, True] Translation: X:89.43, Y:-53.54, Z:0.68 [[-5.52029971e-01 -8.33822061e-01 1.91877734e-03 8.94309639e+01] [-8.33816805e-01 5.52033305e-01 2.96066107e-03 -5.35434754e+01] [-3.52789352e-03 3.44648519e-05 -9.99993776e-01 6.76293813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70762800000001 meters 0.014488543388863679 Centerline is valid? [True, True] Translation: X:89.35, Y:-53.63, Z:0.68 [[-4.85539477e-01 -8.74213500e-01 1.47423977e-03 8.93483441e+01] [-8.74209314e-01 4.85541714e-01 2.70547800e-03 -5.36278296e+01] [-3.08097030e-03 2.48222347e-05 -9.99995253e-01 6.76373843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73762800000002 meters 0.013850425854965103 Centerline is valid? [True, True] Translation: X:89.27, Y:-53.72, Z:0.68 [[-4.14744029e-01 -9.09937383e-01 1.16169987e-03 8.92716424e+01] [-9.09933711e-01 4.14745656e-01 2.58495071e-03 -5.37174922e+01] [-2.83395326e-03 1.50230001e-05 -9.99995984e-01 6.76788384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76762800000002 meters 0.013801110238239982 Centerline is valid? [True, True] Translation: X:89.20, Y:-53.82, Z:0.68 [[-3.42273232e-01 -9.39599898e-01 1.03260123e-03 8.92029572e+01] [-9.39595486e-01 3.42274789e-01 2.87962233e-03 -5.38155038e+01] [-3.05912622e-03 1.53901871e-05 -9.99995321e-01 6.77307969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79762800000002 meters 0.013835963085735984 Centerline is valid? [True, True] Translation: X:89.14, Y:-53.92, Z:0.68 [[-2.67555236e-01 -9.63542094e-01 9.10890762e-04 8.91420967e+01] [-9.63536284e-01 2.67556786e-01 3.34604010e-03 -5.39218595e+01] [-3.46776549e-03 1.75742472e-05 -9.99993987e-01 6.77403806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.827628 meters 0.013633756331451335 Centerline is valid? [True, True] Translation: X:89.09, Y:-54.03, Z:0.68 [[-1.91826246e-01 -9.81428653e-01 7.00902150e-04 8.90899440e+01] [-9.81421730e-01 1.91827526e-01 3.68623246e-03 -5.40283685e+01] [-3.75222648e-03 1.92355351e-05 -9.99992960e-01 6.77090859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.857628 meters 0.01352521691196392 Centerline is valid? [True, True] Translation: X:89.05, Y:-54.14, Z:0.68 [[-1.14472827e-01 -9.93426265e-01 4.76829176e-04 8.90463521e+01] [-9.93416765e-01 1.14473818e-01 4.34473478e-03 -5.41438651e+01] [-4.37075810e-03 2.36639761e-05 -9.99990448e-01 6.77203956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.887628 meters 0.013470226673145342 Centerline is valid? [True, True] Translation: X:89.01, Y:-54.26, Z:0.68 [[-3.66374100e-02 -9.99328616e-01 1.33227310e-04 8.90109758e+01] [-9.99319864e-01 3.66376468e-02 4.18238418e-03 -5.42623570e+01] [-4.18445733e-03 2.00950272e-05 -9.99991245e-01 6.77443131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91762800000001 meters 0.01332591136982311 Centerline is valid? [True, True] Translation: X:88.98, Y:-54.38, Z:0.68 [[ 4.13513723e-02 -9.99144645e-01 -2.04581529e-04 8.89843429e+01] [-9.99134848e-01 -4.13518728e-02 4.42465041e-03 -5.43818910e+01] [-4.42932560e-03 2.14391683e-05 -9.99990190e-01 6.77558933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94762800000001 meters 0.013536826891446328 Centerline is valid? [True, True] Translation: X:88.97, Y:-54.51, Z:0.68 [[ 1.19545013e-01 -9.92828595e-01 -6.09390156e-04 8.89693790e+01] [-9.92816648e-01 -1.19546564e-01 4.87058597e-03 -5.45053217e+01] [-4.90850752e-03 2.27584284e-05 -9.99987953e-01 6.79021933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97762800000001 meters 0.013222999331160773 Centerline is valid? [True, True] Translation: X:88.96, Y:-54.63, Z:0.68 [[ 1.96357888e-01 -9.80531699e-01 -1.08041248e-03 8.89630611e+01] [-9.80517596e-01 -1.96360859e-01 5.25901820e-03 -5.46327878e+01] [-5.36878477e-03 2.67137411e-05 -9.99985588e-01 6.78951221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00762800000001 meters 0.013310992769322223 Centerline is valid? [True, True] Translation: X:88.97, Y:-54.75, Z:0.68 [[ 2.71790150e-01 -9.62355149e-01 -1.63723409e-03 8.89654374e+01] [-9.62338398e-01 -2.71795080e-01 5.67818450e-03 -5.47497931e+01] [-5.90942226e-03 3.22986088e-05 -9.99982539e-01 6.79189058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03762800000001 meters 0.013410652367396237 Centerline is valid? [True, True] Translation: X:88.98, Y:-54.87, Z:0.68 [[ 3.45177740e-01 -9.38534613e-01 -2.25996323e-03 8.89794347e+01] [-9.38515257e-01 -3.45185136e-01 6.02777550e-03 -5.48725209e+01] [-6.43738167e-03 4.03560469e-05 -9.99979279e-01 6.79153974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06762800000001 meters 0.013517558771597006 Centerline is valid? [True, True] Translation: X:89.01, Y:-54.99, Z:0.68 [[ 4.16274280e-01 -9.09234669e-01 -2.83560676e-03 8.90052520e+01] [-9.09214346e-01 -4.16283935e-01 6.07936899e-03 -5.49945364e+01] [-6.70799060e-03 4.74894022e-05 -9.99977500e-01 6.78781188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09762800000001 meters 0.013614234099649732 Centerline is valid? [True, True] Translation: X:89.03, Y:-55.11, Z:0.68 [[ 4.85347567e-01 -8.74315933e-01 -3.06390049e-03 8.90325045e+01] [-8.74299069e-01 -4.85357236e-01 5.43061175e-03 -5.51057142e+01] [-6.23515665e-03 4.30311403e-05 -9.99980560e-01 6.78838055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12762800000002 meters 0.01319010908823296 Centerline is valid? [True, True] Translation: X:89.07, Y:-55.23, Z:0.68 [[ 5.52062753e-01 -8.33797426e-01 -2.92717389e-03 8.90729124e+01] [-8.33785980e-01 -5.52070513e-01 4.36910221e-03 -5.52260414e+01] [-5.25895257e-03 2.86179548e-05 -9.99986171e-01 6.78062157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15762800000002 meters 0.012744606864331145 Centerline is valid? [True, True] Translation: X:89.11, Y:-55.33, Z:0.68 [[ 6.17326491e-01 -7.86703783e-01 -2.27164431e-03 8.91140976e+01] [-7.86698463e-01 -6.17330671e-01 2.89342043e-03 -5.53327482e+01] [-3.67862051e-03 9.14005676e-07 -9.99993234e-01 6.77026198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18762800000002 meters 0.012623458107333355 Centerline is valid? [True, True] Translation: X:89.16, Y:-55.43, Z:0.68 [[ 6.77058925e-01 -7.35924616e-01 -2.48428563e-03 8.91616962e+01] [-7.35919642e-01 -6.77063482e-01 2.70596106e-03 -5.54307688e+01] [-3.67340243e-03 -3.86049873e-06 -9.99993253e-01 6.76835990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.217628 meters 0.012535481702444347 Centerline is valid? [True, True] Translation: X:89.22, Y:-55.53, Z:0.68 [[ 7.32277025e-01 -6.81001609e-01 -2.67701127e-03 8.92184095e+01] [-6.80997022e-01 -7.32281919e-01 2.49961331e-03 -5.55268754e+01] [-3.66256764e-03 -7.37269489e-06 -9.99993293e-01 6.76718661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.247628 meters 0.012570456521554224 Centerline is valid? [True, True] Translation: X:89.21, Y:-55.53, Z:0.68 [[ 7.83205433e-01 -6.21755115e-01 -3.13479327e-03 8.92137573e+01] [-6.21750103e-01 -7.83211706e-01 2.49645925e-03 -5.55334861e+01] [-4.00739310e-03 -6.18240477e-06 -9.99991970e-01 6.76514609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.277628 meters 0.012533698174948395 Centerline is valid? [True, True] Translation: X:89.21, Y:-55.54, Z:0.68 [[ 8.28894223e-01 -5.59398725e-01 -2.72653405e-03 8.92076895e+01] [-5.59395673e-01 -8.28898707e-01 1.84797985e-03 -5.55383558e+01] [-3.29377812e-03 -6.56847442e-06 -9.99994575e-01 6.75845357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30762800000001 meters 0.012549055608640435 Centerline is valid? [True, True] Translation: X:89.20, Y:-55.54, Z:0.68 [[ 8.69973499e-01 -4.93092893e-01 -2.34745885e-03 8.91990269e+01] [-4.93091069e-01 -8.69976666e-01 1.34097865e-03 -5.55428285e+01] [-2.70346147e-03 -9.10489418e-06 -9.99996346e-01 6.75279499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33762800000001 meters 0.012566330094910089 Centerline is valid? [True, True] Translation: X:89.19, Y:-55.55, Z:0.68 [[ 9.05769464e-01 -4.23765873e-01 -2.04028711e-03 8.91908753e+01] [-4.23764771e-01 -9.05771762e-01 9.66720428e-04 -5.55486245e+01] [-2.25769757e-03 -1.10240464e-05 -9.99997451e-01 6.75413304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36762800000001 meters 0.012543546909189929 Centerline is valid? [True, True] Translation: X:89.18, Y:-55.56, Z:0.68 [[ 9.36012009e-01 -3.51961185e-01 -2.20067350e-03 8.91837452e+01] [-3.51960188e-01 -9.36014596e-01 8.37818965e-04 -5.55550028e+01] [-2.35474227e-03 -9.65915440e-06 -9.99997228e-01 6.75364060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39762800000001 meters 0.012624781670087298 Centerline is valid? [True, True] Translation: X:89.18, Y:-55.56, Z:0.68 [[ 9.60305915e-01 -2.78936964e-01 -2.59213803e-03 8.91776920e+01] [-2.78935937e-01 -9.60309414e-01 7.57054837e-04 -5.55603795e+01] [-2.70042513e-03 -3.96378743e-06 -9.99996354e-01 6.75309175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42762800000001 meters 0.012767412133992028 Centerline is valid? [True, True] Translation: X:89.17, Y:-55.57, Z:0.68 [[ 9.79007766e-01 -2.03802018e-01 -2.92091028e-03 8.91684976e+01] [-2.03801114e-01 -9.79012123e-01 6.07154145e-04 -5.55654506e+01] [-2.98334582e-03 8.76145547e-07 -9.99995550e-01 6.75271915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45762800000001 meters 0.013022229331496299 Centerline is valid? [True, True] Translation: X:89.16, Y:-55.57, Z:0.68 [[ 9.91709225e-01 -1.28458196e-01 -3.36213960e-03 8.91597366e+01] [-1.28457495e-01 -9.91714925e-01 4.24578262e-04 -5.55700183e+01] [-3.38882458e-03 1.08338521e-05 -9.99994258e-01 6.75597171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48762800000002 meters 0.012938421326314188 Centerline is valid? [True, True] Translation: X:89.15, Y:-55.58, Z:0.68 [[ 9.98698066e-01 -5.08804932e-02 -3.65351879e-03 8.91506463e+01] [-5.08802090e-02 -9.98704749e-01 1.70747405e-04 -5.55793319e+01] [-3.65747428e-03 1.53666961e-05 -9.99993311e-01 6.75507205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51762800000002 meters 0.013223620248576075 Centerline is valid? [True, True] Translation: X:89.14, Y:-55.59, Z:0.68 [[ 9.99626316e-01 2.70601859e-02 -3.86968989e-03 8.91415516e+01] [ 2.70599086e-02 -9.99633806e-01 -1.24007200e-04 -5.55874902e+01] [-3.87162849e-03 1.92474054e-05 -9.99992505e-01 6.75873198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54762800000002 meters 0.01325151742342166 Centerline is valid? [True, True] Translation: X:89.13, Y:-55.59, Z:0.68 [[ 9.94440905e-01 1.05218010e-01 -4.05679811e-03 8.91334947e+01] [ 1.05217046e-01 -9.94449179e-01 -4.50947012e-04 -5.55932653e+01] [-4.08172730e-03 2.15958411e-05 -9.99991669e-01 6.76060292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.577628 meters 0.012872943515329376 Centerline is valid? [True, True] Translation: X:89.13, Y:-55.60, Z:0.68 [[ 9.82912116e-01 1.84023953e-01 -4.35387892e-03 8.91270529e+01] [ 1.84022058e-01 -9.82921759e-01 -8.35238329e-04 -5.56023191e+01] [-4.43322619e-03 1.97561128e-05 -9.99990173e-01 6.76371545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.607628 meters 0.012706666838300271 Centerline is valid? [True, True] Translation: X:89.12, Y:-55.61, Z:0.68 [[ 9.65279530e-01 2.61182095e-01 -4.39789569e-03 8.91210115e+01] [ 2.61179302e-01 -9.65289549e-01 -1.20796793e-03 -5.56122487e+01] [-4.56074234e-03 1.73873873e-05 -9.99989600e-01 6.76261285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.637628 meters 0.012598712721524772 Centerline is valid? [True, True] Translation: X:89.12, Y:-55.62, Z:0.68 [[ 9.41574877e-01 3.36774652e-01 -4.42548493e-03 8.91159080e+01] [ 3.36770859e-01 -9.41585277e-01 -1.59848304e-03 -5.56232875e+01] [-4.70530002e-03 1.47171149e-05 -9.99988930e-01 6.76445855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66762800000001 meters 0.012454005247432903 Centerline is valid? [True, True] Translation: X:89.11, Y:-55.63, Z:0.68 [[ 9.12000442e-01 4.10165106e-01 -4.44742232e-03 8.91118516e+01] [ 4.10160163e-01 -9.12011286e-01 -2.01378222e-03 -5.56337347e+01] [-4.88208255e-03 1.24148081e-05 -9.99988082e-01 6.76761435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69762800000001 meters 0.012389366968517595 Centerline is valid? [True, True] Translation: X:89.11, Y:-55.64, Z:0.68 [[ 8.76645089e-01 4.81115236e-01 -4.63867490e-03 8.91069061e+01] [ 4.81108436e-01 -8.76657362e-01 -2.55790906e-03 -5.56443279e+01] [-5.29717752e-03 1.06727937e-05 -9.99985970e-01 6.77589277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72762800000001 meters 0.012342700678074709 Centerline is valid? [True, True] Translation: X:89.10, Y:-55.65, Z:0.68 [[ 8.36318561e-01 5.48227189e-01 -4.26779830e-03 8.91013342e+01] [ 5.48219991e-01 -8.36329450e-01 -2.80923523e-03 -5.56528752e+01] [-5.10938454e-03 9.72321588e-06 -9.99986947e-01 6.77749476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75762800000001 meters 0.012193610781834998 Centerline is valid? [True, True] Translation: X:89.10, Y:-55.66, Z:0.68 [[ 7.90788030e-01 6.12078902e-01 -3.70255449e-03 8.90985345e+01] [ 6.12072153e-01 -7.90796698e-01 -2.87428891e-03 -5.56636137e+01] [-4.68725947e-03 6.72276731e-06 -9.99989015e-01 6.77492237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78762800000001 meters 0.012250229051073501 Centerline is valid? [True, True] Translation: X:89.10, Y:-55.67, Z:0.68 [[ 7.41139185e-01 6.71344501e-01 -3.04455394e-03 8.90963371e+01] [ 6.71338795e-01 -7.41145439e-01 -2.76771435e-03 -5.56746190e+01] [-4.11454708e-03 7.33438541e-06 -9.99991535e-01 6.76575932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81762800000001 meters 0.012492514575154321 Centerline is valid? [True, True] Translation: X:89.09, Y:-55.69, Z:0.68 [[ 6.86674145e-01 7.26960879e-01 -2.54928852e-03 8.90936457e+01] [ 7.26955835e-01 -6.86678877e-01 -2.70815576e-03 -5.56851369e+01] [-3.71926587e-03 6.40037640e-06 -9.99993083e-01 6.76499129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84762800000001 meters 0.012521534024870318 Centerline is valid? [True, True] Translation: X:89.09, Y:-55.69, Z:0.68 [[ 6.27945301e-01 7.78254265e-01 -2.23535784e-03 8.90894110e+01] [ 7.78249296e-01 -6.27949280e-01 -2.78109490e-03 -5.56935185e+01] [-3.56809031e-03 6.70981002e-06 -9.99993634e-01 6.76480274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87762800000002 meters 0.012270357087776318 Centerline is valid? [True, True] Translation: X:89.09, Y:-55.71, Z:0.68 [[ 5.65432335e-01 8.24792316e-01 -1.97744381e-03 8.90918668e+01] [ 8.24787224e-01 -5.65435793e-01 -2.89820313e-03 -5.57069118e+01] [-3.50853317e-03 7.76737365e-06 -9.99993845e-01 6.76053535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90762800000002 meters 0.012451212478444152 Centerline is valid? [True, True] Translation: X:89.09, Y:-55.72, Z:0.68 [[ 4.99888963e-01 8.66087040e-01 -2.06471649e-03 8.90940061e+01] [ 8.66079509e-01 -4.99893227e-01 -3.61200197e-03 -5.57183444e+01] [-4.16044588e-03 1.73912706e-05 -9.99991345e-01 6.76805853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93762800000002 meters 0.012929016154127006 Centerline is valid? [True, True] Translation: X:89.09, Y:-55.73, Z:0.68 [[ 4.31033572e-01 9.02333780e-01 -1.95194549e-03 8.90948581e+01] [ 9.02324273e-01 -4.31037991e-01 -4.14215132e-03 -5.57300085e+01] [-4.57896572e-03 2.41184822e-05 -9.99989516e-01 6.77635716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.967628 meters 0.01304176948745001 Centerline is valid? [True, True] Translation: X:89.09, Y:-55.74, Z:0.68 [[ 3.59311403e-01 9.33216148e-01 -1.71385546e-03 8.90930357e+01] [ 9.33205150e-01 -3.59315490e-01 -4.53064049e-03 -5.57397155e+01] [-4.84388168e-03 2.85320514e-05 -9.99988268e-01 6.77598003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.997628 meters 0.01304176948745001 Centerline is valid? [True, True] Translation: X:89.09, Y:-55.75, Z:0.68 [[ 2.85133207e-01 9.58486944e-01 -1.35348987e-03 8.90918470e+01] [ 9.58475665e-01 -2.85136418e-01 -4.65009870e-03 -5.57503482e+01] [-4.84298814e-03 2.86104505e-05 -9.99988272e-01 6.77590437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.027628 meters 0.012636006486228936 Centerline is valid? [True, True] Translation: X:89.10, Y:-55.76, Z:0.68 [[ 2.09178809e-01 9.77876940e-01 -9.56863217e-04 8.90992455e+01] [ 9.77866110e-01 -2.09180996e-01 -4.60241920e-03 -5.57625449e+01] [-4.70075721e-03 2.70444557e-05 -9.99988951e-01 6.76771546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05762800000001 meters 0.012667148116145862 Centerline is valid? [True, True] Translation: X:89.11, Y:-55.77, Z:0.68 [[ 1.31491879e-01 9.91317100e-01 -5.40503409e-04 8.91057659e+01] [ 9.91308068e-01 -1.31492989e-01 -4.23173065e-03 -5.57730221e+01] [-4.26605937e-03 2.06328258e-05 -9.99990900e-01 6.76377251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08762800000001 meters 0.01266241514913002 Centerline is valid? [True, True] Translation: X:89.11, Y:-55.78, Z:0.68 [[ 5.35427796e-02 9.98565536e-01 -2.00405964e-04 8.91116612e+01] [ 9.98557113e-01 -5.35431511e-02 -4.10167449e-03 -5.57845036e+01] [-4.10652115e-03 1.94982525e-05 -9.99991568e-01 6.76038732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11762800000001 meters 0.012585995010107808 Centerline is valid? [True, True] Translation: X:89.12, Y:-55.79, Z:0.68 [[-2.46975517e-02 9.99694959e-01 1.42838332e-04 8.91225466e+01] [ 9.99683881e-01 2.46979505e-02 -4.70624209e-03 -5.57939490e+01] [-4.70833430e-03 2.65605213e-05 -9.99988915e-01 6.75968126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14762800000001 meters 0.012890821053990224 Centerline is valid? [True, True] Translation: X:89.13, Y:-55.80, Z:0.68 [[-1.02418482e-01 9.94741181e-01 6.61645483e-04 8.91313070e+01] [ 9.94723082e-01 1.02420610e-01 -6.00074825e-03 -5.58041014e+01] [-6.03695753e-03 4.35665089e-05 -9.99981776e-01 6.77251308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17762800000001 meters 0.013056940061077212 Centerline is valid? [True, True] Translation: X:89.14, Y:-55.81, Z:0.68 [[-1.79283646e-01 9.83796511e-01 1.34125688e-03 8.91383814e+01] [ 9.83771480e-01 1.79288653e-01 -7.01815887e-03 -5.58126917e+01] [-7.14491235e-03 6.12491527e-05 -9.99974473e-01 6.78200222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20762800000001 meters 0.013422536494555635 Centerline is valid? [True, True] Translation: X:89.15, Y:-55.82, Z:0.68 [[-2.54426346e-01 9.67089143e-01 2.41329076e-03 8.91473497e+01] [ 9.67049208e-01 2.54437772e-01 -8.78914662e-03 -5.58208594e+01] [-9.11392060e-03 9.75804581e-05 -9.99958463e-01 6.79679847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23762800000002 meters 0.013304977512758576 Centerline is valid? [True, True] Translation: X:89.16, Y:-55.83, Z:0.68 [[-3.29357155e-01 9.44199980e-01 3.20346520e-03 8.91581057e+01] [ 9.44158301e-01 3.29372718e-01 -8.87214740e-03 -5.58276079e+01] [-9.43221543e-03 1.02473040e-04 -9.99955510e-01 6.79794187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26762800000002 meters 0.013439321770516583 Centerline is valid? [True, True] Translation: X:89.17, Y:-55.83, Z:0.68 [[-4.01937054e-01 9.15659156e-01 3.86194596e-03 8.91685174e+01] [ 9.15619384e-01 4.01955593e-01 -8.53494496e-03 -5.58334891e+01] [-9.36743128e-03 1.05561953e-04 -9.99956119e-01 6.79787600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29762800000002 meters 0.01350612729579077 Centerline is valid? [True, True] Translation: X:89.18, Y:-55.84, Z:0.68 [[-4.71153547e-01 8.82039528e-01 4.53941672e-03 8.91806091e+01] [ 8.82001006e-01 4.71175400e-01 -8.24432120e-03 -5.58386779e+01] [-9.41067867e-03 1.19428937e-04 -9.99955711e-01 6.78796306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32762800000002 meters 0.013908466116578765 Centerline is valid? [True, True] Translation: X:89.19, Y:-55.84, Z:0.68 [[-5.37663516e-01 8.43145959e-01 4.77861132e-03 8.91915169e+01] [ 8.43114632e-01 5.37684738e-01 -7.26910477e-03 -5.58441238e+01] [-8.69830269e-03 1.20584692e-04 -9.99962162e-01 6.77635527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.357628 meters 0.01490850784152526 Centerline is valid? [True, True] Translation: X:89.20, Y:-55.85, Z:0.68 [[-6.00588033e-01 7.99544916e-01 4.68423107e-03 8.92011673e+01] [ 7.99522108e-01 6.00606288e-01 -6.04036374e-03 -5.58505080e+01] [-7.64292076e-03 1.17376121e-04 -9.99970786e-01 6.76578036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.387628 meters 0.014886846576899588 Centerline is valid? [True, True] Translation: X:89.21, Y:-55.85, Z:0.67 [[-6.58360545e-01 7.52691822e-01 4.05152583e-03 8.92132394e+01] [ 7.52678605e-01 6.58373002e-01 -4.46180536e-03 -5.58525241e+01] [-6.02577963e-03 1.12020202e-04 -9.99981839e-01 6.73417335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41762800000001 meters 0.014957119283108136 Centerline is valid? [True, True] Translation: X:89.23, Y:-55.85, Z:0.67 [[-7.13606758e-01 7.00533523e-01 4.26359659e-03 8.92278647e+01] [ 7.00522033e-01 7.13619484e-01 -4.01416726e-03 -5.58510340e+01] [-5.85464433e-03 1.22206464e-04 -9.99982854e-01 6.72905138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44762800000001 meters 0.01727391656463245 Centerline is valid? [True, True] Translation: X:89.25, Y:-55.84, Z:0.67 [[-7.59791038e-01 6.50153123e-01 4.30065919e-03 8.92516859e+01] [ 6.50143666e-01 7.59803198e-01 -3.50902805e-03 -5.58396085e+01] [-5.54906015e-03 1.29918265e-04 -9.99984595e-01 6.73736693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47762800000001 meters 0.01975201994455199 Centerline is valid? [True, True] Translation: X:89.28, Y:-55.83, Z:0.67 [[-8.02377452e-01 5.96800326e-01 4.44913040e-03 8.92788175e+01] [ 5.96792115e-01 8.02389775e-01 -3.13382931e-03 -5.58289961e+01] [-5.44020709e-03 1.40691963e-04 -9.99985192e-01 6.74494672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50762800000001 meters 0.018516625129538614 Centerline is valid? [True, True] Translation: X:89.31, Y:-55.81, Z:0.67 [[-8.40004883e-01 5.42559517e-01 4.57900320e-03 8.93066271e+01] [ 5.42552508e-01 8.40017347e-01 -2.76279744e-03 -5.58098429e+01] [-5.34542417e-03 1.63586331e-04 -9.99985700e-01 6.73985209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53762800000001 meters 0.01783385917372174 Centerline is valid? [True, True] Translation: X:89.33, Y:-55.79, Z:0.67 [[-8.75363712e-01 4.83441228e-01 4.79075497e-03 8.93303040e+01] [ 4.83435073e-01 8.75376804e-01 -2.44569103e-03 -5.57889953e+01] [-5.37606365e-03 1.75149802e-04 -9.99985534e-01 6.73969007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56762800000001 meters 0.01945996113955384 Centerline is valid? [True, True] Translation: X:89.35, Y:-55.77, Z:0.67 [[-9.06738013e-01 4.21663411e-01 5.11306548e-03 8.93485417e+01] [ 4.21657879e-01 9.06752409e-01 -2.16826200e-03 -5.57687851e+01] [-5.55056119e-03 1.89918769e-04 -9.99984577e-01 6.73943227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59762800000001 meters 0.020306114777966604 Centerline is valid? [True, True] Translation: X:89.37, Y:-55.75, Z:0.67 [[-9.33931835e-01 3.57411773e-01 5.30595921e-03 8.93665812e+01] [ 3.57407202e-01 9.33946886e-01 -1.81837372e-03 -5.57464374e+01] [-5.60539226e-03 1.98150934e-04 -9.99984270e-01 6.74095199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62762800000002 meters 0.020331905158112246 Centerline is valid? [True, True] Translation: X:89.67, Y:-54.89, Z:-0.17 [[-9.37507757e-01 -3.47926733e-01 5.11797218e-03 8.96672485e+01] [ 3.47920377e-01 -9.37521706e-01 -2.11248817e-03 -5.48934376e+01] [ 5.53320111e-03 -1.99827239e-04 9.99984672e-01 -1.72502469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65762800000002 meters 0.01901779515056942 Centerline is valid? [True, True] Translation: X:89.32, Y:-55.73, Z:0.67 [[-9.35760293e-01 3.52594360e-01 5.46725761e-03 8.93238080e+01] [ 3.52589563e-01 9.35776244e-01 -1.84962044e-03 -5.57272402e+01] [-5.76829553e-03 1.96896609e-04 -9.99983344e-01 6.73081053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68762800000002 meters 0.017992286642099203 Centerline is valid? [True, True] Translation: X:89.34, Y:-55.70, Z:0.67 [[-9.58824800e-01 2.83928458e-01 6.29552317e-03 8.93369056e+01] [ 2.83923804e-01 9.58845443e-01 -1.63981545e-03 -5.56982427e+01] [-6.50202398e-03 2.15153171e-04 -9.99978838e-01 6.73677657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.717628 meters 0.018558414343577266 Centerline is valid? [True, True] Translation: X:89.57, Y:-54.84, Z:-0.17 [[-9.59711352e-01 -2.80915196e-01 6.38537319e-03 8.95656839e+01] [ 2.80907522e-01 -9.59732572e-01 -2.08691311e-03 -5.48404295e+01] [ 6.71449623e-03 -2.09134846e-04 9.99977436e-01 -1.74404735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.747628 meters 0.017389907240282127 Centerline is valid? [True, True] Translation: X:89.29, Y:-55.68, Z:0.68 [[-9.61331289e-01 2.75288302e-01 7.64869725e-03 8.92860885e+01] [ 2.75281449e-01 9.61361690e-01 -1.95558522e-03 -5.56806785e+01] [-7.89151425e-03 2.25579201e-04 -9.99968836e-01 6.75672181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.777628 meters 0.01763116920168444 Centerline is valid? [True, True] Translation: X:89.29, Y:-55.65, Z:0.68 [[-9.78764789e-01 2.04807965e-01 8.55484707e-03 8.92907558e+01] [ 2.04802246e-01 9.78802146e-01 -1.54858516e-03 -5.56522133e+01] [-8.69066525e-03 2.36351275e-04 -9.99962208e-01 6.76471465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80762800000001 meters 0.016503536431287012 Centerline is valid? [True, True] Translation: X:89.45, Y:-54.79, Z:-0.18 [[-9.76623446e-01 -2.14790482e-01 8.46722980e-03 8.94515141e+01] [ 2.14780315e-01 -9.76660122e-01 -2.10300473e-03 -5.47925048e+01] [ 8.72131109e-03 -2.35249444e-04 9.99961941e-01 -1.75983781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83762800000001 meters 0.016360075881762068 Centerline is valid? [True, True] Translation: X:89.23, Y:-55.64, Z:0.68 [[-9.80475398e-01 1.96399570e-01 9.75719316e-03 8.92310014e+01] [ 1.96392195e-01 9.80523919e-01 -1.71781965e-03 -5.56376663e+01] [-9.90454032e-03 2.31956675e-04 -9.99950922e-01 6.76470352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86762800000001 meters 0.015603077140970902 Centerline is valid? [True, True] Translation: X:89.23, Y:-55.61, Z:0.68 [[-9.92023966e-01 1.25690639e-01 9.50339409e-03 8.92345882e+01] [ 1.25686965e-01 9.92069461e-01 -9.85174744e-04 -5.56085266e+01] [-9.55185430e-03 2.17135807e-04 -9.99954356e-01 6.75494414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89762800000001 meters 0.017619306981165643 Centerline is valid? [True, True] Translation: X:89.34, Y:-54.75, Z:-0.18 [[-9.89577795e-01 -1.43758128e-01 8.32997707e-03 8.93370836e+01] [ 1.43750805e-01 -9.89612819e-01 -1.47434937e-03 -5.47455904e+01] [ 8.45540180e-03 -2.61542489e-04 9.99964218e-01 -1.75831142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92762800000001 meters 0.01660967487671287 Centerline is valid? [True, True] Translation: X:89.16, Y:-55.60, Z:0.68 [[-9.92691507e-01 1.20369153e-01 8.65095156e-03 8.91627380e+01] [ 1.20366278e-01 9.92729182e-01 -8.54195096e-04 -5.56024261e+01] [-8.69087081e-03 1.93330620e-04 -9.99962215e-01 6.75323451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95762800000001 meters 0.01569706668880144 Centerline is valid? [True, True] Translation: X:89.17, Y:-55.57, Z:0.67 [[-9.98697072e-01 5.04013650e-02 7.99123730e-03 8.91706101e+01] [ 5.04012255e-02 9.98729027e-01 -2.18965163e-04 -5.55730277e+01] [-7.99211679e-03 1.84088286e-04 -9.99968046e-01 6.74584761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98762800000002 meters 0.016109624294845384 Centerline is valid? [True, True] Translation: X:89.20, Y:-54.71, Z:-0.17 [[-9.97783025e-01 -6.61684160e-02 7.12575605e-03 8.91985869e+01] [ 6.61651727e-02 -9.97808445e-01 -6.90198130e-04 -5.47078456e+01] [ 7.15580889e-03 -2.17191099e-04 9.99974373e-01 -1.74168903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01762800000002 meters 0.01655012555955313 Centerline is valid? [True, True] Translation: X:89.07, Y:-55.57, Z:0.67 [[-9.98921078e-01 4.58623588e-02 7.30227453e-03 8.90659763e+01] [ 4.58624388e-02 9.98947752e-01 -1.56577163e-04 -5.55716028e+01] [-7.30177173e-03 1.78491891e-04 -9.99973326e-01 6.74385271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04762800000002 meters 0.015894845467790276 Centerline is valid? [True, True] Translation: X:89.07, Y:-55.54, Z:0.67 [[-9.99673714e-01 -2.46180036e-02 6.81320105e-03 8.90719460e+01] [-2.46162662e-02 9.99696916e-01 3.38753769e-04 -5.55427993e+01] [-6.81947552e-03 1.70927667e-04 -9.99976732e-01 6.73591787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07762800000002 meters 0.016410547054191416 Centerline is valid? [True, True] Translation: X:89.07, Y:-55.52, Z:0.67 [[-9.95436439e-01 -9.52150063e-02 6.35592073e-03 8.90661228e+01] [-9.52120137e-02 9.95456717e-01 7.72453634e-04 -5.55174671e+01] [-6.40059316e-03 1.63768483e-04 -9.99979503e-01 6.72660936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.107628 meters 0.017210680040864623 Centerline is valid? [True, True] Translation: X:89.05, Y:-55.49, Z:0.67 [[-9.85967655e-01 -1.66832466e-01 5.89165688e-03 8.90504789e+01] [-1.66828573e-01 9.85985246e-01 1.14962384e-03 -5.54936960e+01] [-6.00088134e-03 1.50595213e-04 -9.99981983e-01 6.72448232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.137628 meters 0.016485865544556822 Centerline is valid? [True, True] Translation: X:89.00, Y:-55.47, Z:0.67 [[-9.71062056e-01 -2.38749343e-01 6.10199676e-03 8.90038475e+01] [-2.38743607e-01 9.71081215e-01 1.66240139e-03 -5.54748341e+01] [-6.32243167e-03 1.57482193e-04 -9.99980001e-01 6.71705917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16762800000001 meters 0.017417856379903267 Centerline is valid? [True, True] Translation: X:88.94, Y:-55.47, Z:0.67 [[-9.50634663e-01 -3.10253669e-01 6.03315362e-03 8.89443392e+01] [-3.10246375e-01 9.50653794e-01 2.13321585e-03 -5.54658887e+01] [-6.39727842e-03 1.56144886e-04 -9.99979525e-01 6.72579129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19762800000001 meters 0.016566292533112013 Centerline is valid? [True, True] Translation: X:88.87, Y:-55.46, Z:0.67 [[-9.24372068e-01 -3.81426867e-01 7.05872340e-03 8.88718715e+01] [-3.81414242e-01 9.24399001e-01 3.10861746e-03 -5.54624389e+01] [-7.71078707e-03 1.81221508e-04 -9.99970255e-01 6.74416897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22762800000001 meters 0.016375898110804032 Centerline is valid? [True, True] Translation: X:88.79, Y:-55.47, Z:0.68 [[-8.92803144e-01 -4.50393160e-01 6.96755931e-03 8.87907162e+01] [-4.50377873e-01 8.92830314e-01 3.71519926e-03 -5.54707243e+01] [-7.89414850e-03 1.78907047e-04 -9.99968825e-01 6.75008372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25762800000001 meters 0.016699762149630995 Centerline is valid? [True, True] Translation: X:88.70, Y:-55.49, Z:0.68 [[-8.56123697e-01 -5.16724136e-01 6.95581898e-03 8.87039055e+01] [-5.16705317e-01 8.56151934e-01 4.41384026e-03 -5.54900601e+01] [-8.23597566e-03 1.84684590e-04 -9.99966067e-01 6.75642028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28762800000001 meters 0.016943422727607512 Centerline is valid? [True, True] Translation: X:88.61, Y:-55.52, Z:0.68 [[-8.14554580e-01 -5.80036256e-01 7.66664729e-03 8.86119064e+01] [-5.80008017e-01 8.14590629e-01 5.72768440e-03 -5.55213591e+01] [-9.56744366e-03 2.18794662e-04 -9.99954207e-01 6.76633804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31762800000001 meters 0.017657341207479405 Centerline is valid? [True, True] Translation: X:88.52, Y:-55.56, Z:0.68 [[-7.68398013e-01 -6.39922135e-01 8.00961372e-03 8.85246486e+01] [-6.39883917e-01 7.68439716e-01 6.99825434e-03 -5.55584545e+01] [-1.06332432e-02 2.52221730e-04 -9.99943434e-01 6.77691109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34762800000001 meters 0.01850307311380448 Centerline is valid? [True, True] Translation: X:88.43, Y:-55.61, Z:0.68 [[-7.18236125e-01 -6.95754439e-01 7.91382128e-03 8.84315126e+01] [-6.95707773e-01 7.18279666e-01 8.06321321e-03 -5.56106968e+01] [-1.12943533e-02 2.85584036e-04 -9.99936176e-01 6.78063413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37762800000002 meters 0.019135886710716435 Centerline is valid? [True, True] Translation: X:88.34, Y:-55.67, Z:0.68 [[-6.63939657e-01 -7.47750939e-01 7.25703020e-03 8.83427932e+01] [-7.47701203e-01 6.63979248e-01 8.62962722e-03 -5.56695500e+01] [-1.12713293e-02 3.03461532e-04 -9.99936431e-01 6.77912406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40762800000002 meters 0.02102452018322986 Centerline is valid? [True, True] Translation: X:88.26, Y:-55.74, Z:0.68 [[-6.07742571e-01 -7.94111925e-01 5.93448581e-03 8.82570361e+01] [-7.94068920e-01 6.07771464e-01 8.27026821e-03 -5.57419422e+01] [-1.01743297e-02 3.13803330e-04 -9.99948191e-01 6.75721689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43762800000002 meters 0.019040302517126947 Centerline is valid? [True, True] Translation: X:88.17, Y:-55.82, Z:0.67 [[-5.46781746e-01 -8.37260486e-01 4.95989952e-03 8.81713956e+01] [-8.37220637e-01 5.46804150e-01 8.17475031e-03 -5.58166953e+01] [-9.55648906e-03 3.17274014e-04 -9.99954285e-01 6.73433246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.467628 meters 0.01840336237913603 Centerline is valid? [True, True] Translation: X:88.09, Y:-55.90, Z:0.67 [[-4.82735106e-01 -8.75757349e-01 3.98545408e-03 8.80912288e+01] [-8.75721943e-01 4.82751455e-01 7.88101760e-03 -5.59027151e+01] [-8.82584284e-03 3.14294277e-04 -9.99961002e-01 6.72214203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.497628 meters 0.027427181647116588 Centerline is valid? [True, True] Translation: X:88.03, Y:-56.00, Z:0.67 [[-4.18538005e-01 -9.08195474e-01 2.63055560e-03 8.80303703e+01] [-9.08173132e-01 4.18546178e-01 6.37639884e-03 -5.60032909e+01] [-6.89202555e-03 2.79765335e-04 -9.99976211e-01 6.72210633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.527628 meters 0.02164985239405067 Centerline is valid? [True, True] Translation: X:87.96, Y:-56.10, Z:0.67 [[-3.49559365e-01 -9.36912428e-01 1.83108502e-03 8.79555243e+01] [-9.36895518e-01 3.49564068e-01 5.63480953e-03 -5.61038382e+01] [-5.91940461e-03 2.54165091e-04 -9.99982448e-01 6.69961005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55762800000001 meters 0.022941409254541807 Centerline is valid? [True, True] Translation: X:87.90, Y:-56.21, Z:0.67 [[-2.78236173e-01 -9.60511949e-01 1.19516187e-03 8.78988026e+01] [-9.60499243e-01 2.78238647e-01 4.94573050e-03 -5.62098273e+01] [-5.08297346e-03 2.28129060e-04 -9.99987056e-01 6.69401664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58762800000001 meters 0.022030994157896958 Centerline is valid? [True, True] Translation: X:87.85, Y:-56.32, Z:0.67 [[-2.05068973e-01 -9.78747286e-01 6.82773930e-04 8.78471554e+01] [-9.78738185e-01 2.05070014e-01 4.22547834e-03 -5.63183643e+01] [-4.27569191e-03 1.98257587e-04 -9.99990840e-01 6.68402290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61762800000001 meters 0.023054029404126403 Centerline is valid? [True, True] Translation: X:87.81, Y:-56.44, Z:0.67 [[-1.30703095e-01 -9.91421528e-01 2.36308449e-04 8.78050347e+01] [-9.91417647e-01 1.30703245e-01 2.77676566e-03 -5.64355557e+01] [-2.78383153e-03 1.28651499e-04 -9.99996117e-01 6.67374346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64762800000001 meters 0.024094989177627434 Centerline is valid? [True, True] Translation: X:87.77, Y:-56.56, Z:0.67 [[-5.33786388e-02 -9.98574344e-01 2.01437236e-05 8.77723215e+01] [-9.98570931e-01 5.33785091e-02 2.61357130e-03 -5.65557033e+01] [-2.61092048e-03 1.19393941e-04 -9.99996584e-01 6.67396300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67762800000001 meters 0.023461042922513574 Centerline is valid? [True, True] Translation: X:87.75, Y:-56.68, Z:0.67 [[ 2.51703710e-02 -9.99683151e-01 -2.23023124e-04 8.77465701e+01] [-9.99678281e-01 -2.51709453e-02 3.12392491e-03 -5.66804589e+01] [-3.12854881e-03 1.44321024e-04 -9.99995096e-01 6.67665117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70762800000001 meters 0.023266410546631026 Centerline is valid? [True, True] Translation: X:87.73, Y:-56.81, Z:0.67 [[ 1.05315032e-01 -9.94438649e-01 -7.18757375e-04 8.77294399e+01] [-9.94427478e-01 -1.05317260e-01 4.71861382e-03 -5.68085732e+01] [-4.76806951e-03 2.17811117e-04 -9.99988609e-01 6.69401164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73762800000002 meters 0.022182963221120656 Centerline is valid? [True, True] Translation: X:87.72, Y:-56.93, Z:0.67 [[ 1.83516921e-01 -9.83015614e-01 -1.35708466e-03 8.77213658e+01] [-9.82998504e-01 -1.83521742e-01 5.80611950e-03 -5.69334942e+01] [-5.95656066e-03 2.68491015e-04 -9.99982223e-01 6.70632764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76762800000002 meters 0.021764049359698865 Centerline is valid? [True, True] Translation: X:87.72, Y:-57.06, Z:0.67 [[ 2.60346143e-01 -9.65513016e-01 -2.12188230e-03 8.77239416e+01] [-9.65489966e-01 -2.60354605e-01 6.67867451e-03 -5.70590129e+01] [-7.00078900e-03 3.09888923e-04 -9.99975446e-01 6.71856152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79762800000002 meters 0.020628290039966996 Centerline is valid? [True, True] Translation: X:87.74, Y:-57.18, Z:0.67 [[ 3.35234631e-01 -9.42130475e-01 -2.81258282e-03 8.77351684e+01] [-9.42105003e-01 -3.35246272e-01 6.93547072e-03 -5.71832778e+01] [-7.47702623e-03 3.24738378e-04 -9.99971994e-01 6.72512274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82762800000002 meters 0.02027186843865294 Centerline is valid? [True, True] Translation: X:87.76, Y:-57.31, Z:0.67 [[ 4.08529142e-01 -9.12740111e-01 -3.07077440e-03 8.77557548e+01] [-9.12719373e-01 -4.08540583e-01 6.15948336e-03 -5.73052702e+01] [-6.87654349e-03 2.86426828e-04 -9.99976315e-01 6.71908848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.857628 meters 0.023398488010376944 Centerline is valid? [True, True] Translation: X:87.79, Y:-57.42, Z:0.67 [[ 4.78373670e-01 -8.78150056e-01 -3.33340622e-03 8.77896844e+01] [-8.78132456e-01 -4.78385210e-01 5.56600955e-03 -5.74191538e+01] [-6.48244383e-03 2.64539779e-04 -9.99978954e-01 6.71608539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.887628 meters 0.020711128166043404 Centerline is valid? [True, True] Translation: X:87.82, Y:-57.53, Z:0.67 [[ 5.45245828e-01 -8.38269689e-01 -3.30397666e-03 8.78240479e+01] [-8.38256747e-01 -5.45255791e-01 4.66359190e-03 -5.75332426e+01] [-5.71086014e-03 2.26776703e-04 -9.99983667e-01 6.70459108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91762800000001 meters 0.020711128166043404 Centerline is valid? [True, True] Translation: X:87.87, Y:-57.64, Z:0.67 [[ 6.08156130e-01 -7.93809032e-01 -3.65276759e-03 8.78703176e+01] [-7.93796899e-01 -6.08167057e-01 4.39480357e-03 -5.76394136e+01] [-5.71012768e-03 2.26828856e-04 -9.99983671e-01 6.70422745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94762800000001 meters 0.020975814205872242 Centerline is valid? [True, True] Translation: X:87.92, Y:-57.74, Z:0.67 [[ 6.68729193e-01 -7.43498639e-01 -3.32283804e-03 8.79232246e+01] [-7.43490750e-01 -6.68737425e-01 3.42957219e-03 -5.77439941e+01] [-4.77198841e-03 1.77044305e-04 -9.99988598e-01 6.69670961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97762800000001 meters 0.020856317168696355 Centerline is valid? [True, True] Translation: X:87.98, Y:-57.84, Z:0.67 [[ 7.24561375e-01 -6.89203215e-01 -3.12127917e-03 8.79760010e+01] [-6.89197679e-01 -7.24568083e-01 2.76630343e-03 -5.78354464e+01] [-4.16812448e-03 1.46821745e-04 -9.99991303e-01 6.69038960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00762800000001 meters 0.019787122649941907 Centerline is valid? [True, True] Translation: X:87.97, Y:-57.84, Z:0.67 [[ 7.77114338e-01 -6.29353256e-01 -2.79013942e-03 8.79675226e+01] [-6.29349723e-01 -7.77119339e-01 2.11191889e-03 -5.78437111e+01] [-3.49741433e-03 1.14771017e-04 -9.99993877e-01 6.68299661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03762800000001 meters 0.01809409866700857 Centerline is valid? [True, True] Translation: X:87.96, Y:-57.86, Z:0.67 [[ 8.26174353e-01 -5.63407395e-01 -2.83653762e-03 8.79577308e+01] [-5.63404471e-01 -8.26179217e-01 1.81757608e-03 -5.78551178e+01] [-3.36752423e-03 9.64832370e-05 -9.99994325e-01 6.68081833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06762800000001 meters 0.017007249485371693 Centerline is valid? [True, True] Translation: X:87.95, Y:-57.87, Z:0.67 [[ 8.68989592e-01 -4.94820919e-01 -3.05747544e-03 8.79488435e+01] [-4.94818221e-01 -8.68994966e-01 1.63639731e-03 -5.78659392e+01] [-3.46665438e-03 9.08823286e-05 -9.99993987e-01 6.68506923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09762800000001 meters 0.016499150112834964 Centerline is valid? [True, True] Translation: X:87.94, Y:-57.88, Z:0.67 [[ 9.06251135e-01 -4.22726277e-01 -3.37260252e-03 8.79413454e+01] [-4.22723704e-01 -9.06257407e-01 1.47739727e-03 -5.78750966e+01] [-3.68098066e-03 8.67860773e-05 -9.99993221e-01 6.69268569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12762800000002 meters 0.015773762741131243 Centerline is valid? [True, True] Translation: X:87.94, Y:-57.88, Z:0.67 [[ 9.37719119e-01 -3.47372769e-01 -3.87460002e-03 8.79365006e+01] [-3.47370175e-01 -9.37727120e-01 1.34502206e-03 -5.78847291e+01] [-4.10054155e-03 8.46675903e-05 -9.99991589e-01 6.69622511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15762800000002 meters 0.013624857869213287 Centerline is valid? [True, True] Translation: X:87.93, Y:-57.90, Z:0.67 [[ 9.63965820e-01 -2.65981764e-01 -4.85796242e-03 8.79303345e+01] [-2.65978757e-01 -9.63978058e-01 1.26671058e-03 -5.78994299e+01] [-5.01989110e-03 7.10491013e-05 -9.99987398e-01 6.69732490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18762800000002 meters 0.013095002124067797 Centerline is valid? [True, True] Translation: X:87.92, Y:-57.91, Z:0.67 [[ 9.82581767e-01 -1.85755604e-01 -5.28457210e-03 8.79225237e+01] [-1.85753222e-01 -9.82595976e-01 9.42294137e-04 -5.79095865e+01] [-5.36763570e-03 5.57452590e-05 -9.99985593e-01 6.70784384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.217628 meters 0.012361388615106605 Centerline is valid? [True, True] Translation: X:87.92, Y:-57.92, Z:0.67 [[ 9.94536043e-01 -1.04216863e-01 -6.07488446e-03 8.79167999e+01] [-1.04215172e-01 -9.94554596e-01 5.95010546e-04 -5.79196416e+01] [-6.10381439e-03 4.13356972e-05 -9.99981371e-01 6.71830568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.247628 meters 0.011844773760248093 Centerline is valid? [True, True] Translation: X:87.91, Y:-57.93, Z:0.67 [[ 9.99726800e-01 -2.23932750e-02 -6.69826801e-03 8.79116466e+01] [-2.23929260e-02 -9.99749239e-01 1.27101697e-04 -5.79319383e+01] [-6.69943456e-03 2.29268468e-05 -9.99977558e-01 6.72798601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.277628 meters 0.011604918071789113 Centerline is valid? [True, True] Translation: X:87.91, Y:-57.94, Z:0.67 [[ 9.98039243e-01 6.20998734e-02 -7.82778708e-03 8.79068513e+01] [ 6.20981060e-02 -9.98069940e-01 -4.68876828e-04 -5.79430594e+01] [-7.84179617e-03 -1.81332769e-05 -9.99969252e-01 6.73287044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30762800000001 meters 0.01162030662001482 Centerline is valid? [True, True] Translation: X:87.90, Y:-57.95, Z:0.67 [[ 9.89846840e-01 1.41907295e-01 -8.09645668e-03 8.79032778e+01] [ 1.41902823e-01 -9.89879952e-01 -1.12708204e-03 -5.79507345e+01] [-8.17446131e-03 -3.32714588e-05 -9.99966588e-01 6.73668238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33762800000001 meters 0.011705341758493198 Centerline is valid? [True, True] Translation: X:87.90, Y:-57.96, Z:0.67 [[ 9.75368392e-01 2.20425810e-01 -8.30433621e-03 8.79008080e+01] [ 2.20418227e-01 -9.75403742e-01 -1.82894887e-03 -5.79592185e+01] [-8.50322815e-03 -4.65281533e-05 -9.99963846e-01 6.73799957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36762800000001 meters 0.011933738621787971 Centerline is valid? [True, True] Translation: X:87.90, Y:-57.96, Z:0.67 [[ 9.54725402e-01 2.97345178e-01 -9.23323968e-03 8.78979579e+01] [ 2.97331907e-01 -9.54770046e-01 -2.80992550e-03 -5.79647538e+01] [-9.65113847e-03 -6.26295144e-05 -9.99953425e-01 6.74168524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39762800000001 meters 0.011898530569216493 Centerline is valid? [True, True] Translation: X:87.90, Y:-57.97, Z:0.67 [[ 9.28515666e-01 3.71190093e-01 -8.75063406e-03 8.78966025e+01] [ 3.71174236e-01 -9.28556897e-01 -3.43153808e-03 -5.79719076e+01] [-9.39921454e-03 -6.17730491e-05 -9.99955825e-01 6.73307945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42762800000001 meters 0.011883857225480845 Centerline is valid? [True, True] Translation: X:87.89, Y:-57.98, Z:0.67 [[ 8.96674624e-01 4.42613938e-01 -8.21711808e-03 8.78949014e+01] [ 4.42595963e-01 -8.96712272e-01 -3.98946311e-03 -5.79790316e+01] [-9.13418260e-03 -5.96129576e-05 -9.99958281e-01 6.72719397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45762800000001 meters 0.011899367732546798 Centerline is valid? [True, True] Translation: X:87.89, Y:-57.98, Z:0.67 [[ 8.59650482e-01 5.10838223e-01 -6.73489913e-03 8.78929363e+01] [ 5.10822983e-01 -8.59676862e-01 -3.94611010e-03 -5.79842171e+01] [-7.80566082e-03 -4.80658209e-05 -9.99969534e-01 6.72441543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48762800000002 meters 0.01181472750726545 Centerline is valid? [True, True] Translation: X:87.89, Y:-57.99, Z:0.67 [[ 8.17479792e-01 5.75926433e-01 -5.96108020e-03 8.78903878e+01] [ 5.75911481e-01 -8.17501524e-01 -4.15011471e-03 -5.79917427e+01] [-7.26335291e-03 -4.04196147e-05 -9.99973621e-01 6.72569293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51762800000002 meters 0.011786103195195534 Centerline is valid? [True, True] Translation: X:87.89, Y:-58.00, Z:0.67 [[ 7.70127461e-01 6.37864891e-01 -5.66355834e-03 8.78890843e+01] [ 6.37848001e-01 -7.70148284e-01 -4.64189946e-03 -5.79992513e+01] [-7.32268443e-03 -3.76351292e-05 -9.99973188e-01 6.72354390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54762800000002 meters 0.011741631242244028 Centerline is valid? [True, True] Translation: X:87.89, Y:-58.01, Z:0.67 [[ 7.18198730e-01 6.95816975e-01 -5.41487748e-03 8.78877119e+01] [ 6.95797556e-01 -7.18219142e-01 -5.19864202e-03 -5.80070326e+01] [-7.50637203e-03 -3.40004196e-05 -9.99971826e-01 6.72913851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57762800000002 meters 0.011816228619503558 Centerline is valid? [True, True] Translation: X:87.88, Y:-58.01, Z:0.67 [[ 6.62026065e-01 7.49462040e-01 -5.30470694e-03 8.78844967e+01] [ 7.49438336e-01 -6.62047317e-01 -5.96070232e-03 -5.80131731e+01] [-7.97928712e-03 -2.94104426e-05 -9.99968165e-01 6.72812431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.607628 meters 0.011861082950631577 Centerline is valid? [True, True] Translation: X:87.88, Y:-58.02, Z:0.67 [[ 6.01646584e-01 7.98746627e-01 -5.02128196e-03 8.78839153e+01] [ 7.98719176e-01 -6.01667537e-01 -6.62220928e-03 -5.80221987e+01] [-8.31060967e-03 -2.63645927e-05 -9.99965466e-01 6.72753220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.637628 meters 0.011934964559587728 Centerline is valid? [True, True] Translation: X:87.88, Y:-58.03, Z:0.67 [[ 5.37469527e-01 8.43271738e-01 -4.39121580e-03 8.78831046e+01] [ 8.43243962e-01 -5.37487465e-01 -6.84437013e-03 -5.80314667e+01] [-8.13188734e-03 -2.42258275e-05 -9.99966935e-01 6.72784648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66762800000001 meters 0.01194466737889827 Centerline is valid? [True, True] Translation: X:87.88, Y:-58.04, Z:0.67 [[ 4.70040630e-01 8.82636018e-01 -3.93270771e-03 8.78830219e+01] [ 8.82605510e-01 -4.70057081e-01 -7.33855093e-03 -5.80409337e+01] [-8.32586648e-03 -2.16123940e-05 -9.99965339e-01 6.72523157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69762800000001 meters 0.011964560580891393 Centerline is valid? [True, True] Translation: X:87.88, Y:-58.05, Z:0.67 [[ 4.00367633e-01 9.16348584e-01 -3.32121721e-03 8.78811135e+01] [ 9.16317337e-01 -4.00381408e-01 -7.56750160e-03 -5.80489344e+01] [-8.26422301e-03 -1.35062089e-05 -9.99965851e-01 6.72012542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72762800000001 meters 0.012083638937969847 Centerline is valid? [True, True] Translation: X:87.88, Y:-58.06, Z:0.67 [[ 3.27992726e-01 9.44676155e-01 -2.78078618e-03 8.78812222e+01] [ 9.44642404e-01 -3.28004514e-01 -7.98549691e-03 -5.80592327e+01] [-8.45581894e-03 -7.66363735e-06 -9.99964249e-01 6.72170999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75762800000001 meters 0.012129813369962262 Centerline is valid? [True, True] Translation: X:87.88, Y:-58.07, Z:0.67 [[ 2.53796567e-01 9.67255033e-01 -2.23693759e-03 8.78801662e+01] [ 9.67217450e-01 -2.53806425e-01 -8.52659480e-03 -5.80684369e+01] [-8.81514087e-03 4.15413469e-07 -9.99961146e-01 6.72382554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78762800000001 meters 0.012045751504126134 Centerline is valid? [True, True] Translation: X:87.88, Y:-58.08, Z:0.67 [[ 1.75648355e-01 9.84451887e-01 -1.46178861e-03 8.78849350e+01] [ 9.84418472e-01 -1.75654437e-01 -8.11112777e-03 -5.80796055e+01] [-8.24178470e-03 -1.43054578e-05 -9.99966036e-01 6.71502984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81762800000001 meters 0.01195915963784194 Centerline is valid? [True, True] Translation: X:87.89, Y:-58.09, Z:0.67 [[ 9.76739678e-02 9.95218110e-01 -8.42062452e-04 8.78897821e+01] [ 9.95182617e-01 -9.76775961e-02 -8.40509477e-03 -5.80898266e+01] [-8.44715317e-03 -1.70469589e-05 -9.99964322e-01 6.71677969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84762800000001 meters 0.012037615304933165 Centerline is valid? [True, True] Translation: X:87.89, Y:-58.10, Z:0.67 [[ 1.97555339e-02 9.99804823e-01 -1.85059060e-04 8.78940350e+01] [ 9.99767413e-01 -1.97563956e-02 -8.64895893e-03 -5.81004226e+01] [-8.65092696e-03 -1.41512159e-05 -9.99962580e-01 6.71835722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87762800000002 meters 0.011996171240363443 Centerline is valid? [True, True] Translation: X:87.90, Y:-58.11, Z:0.67 [[-5.74067564e-02 9.98350751e-01 4.91459285e-04 8.78995082e+01] [ 9.98313627e-01 5.74088599e-02 -8.60954002e-03 -5.81102431e+01] [-8.62355486e-03 -3.61526474e-06 -9.99962816e-01 6.71548869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90762800000002 meters 0.012514525261342009 Centerline is valid? [True, True] Translation: X:87.90, Y:-58.12, Z:0.67 [[-1.30617399e-01 9.91432217e-01 1.11954503e-03 8.79021389e+01] [ 9.91398160e-01 1.30622191e-01 -8.21772279e-03 -5.81210346e+01] [-8.29355255e-03 3.65373053e-05 -9.99965607e-01 6.70675368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93762800000002 meters 0.013018287761260733 Centerline is valid? [True, True] Translation: X:87.90, Y:-58.13, Z:0.67 [[-2.04663277e-01 9.78831114e-01 1.61041160e-03 8.79048125e+01] [ 9.78802974e-01 2.04669604e-01 -7.42233321e-03 -5.81312294e+01] [-7.59481299e-03 5.71966259e-05 -9.99971157e-01 6.69695826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.967628 meters 0.01372423403050072 Centerline is valid? [True, True] Translation: X:87.91, Y:-58.14, Z:0.67 [[-2.77685087e-01 9.60670072e-01 2.00118821e-03 8.79083520e+01] [ 9.60646982e-01 2.77692289e-01 -6.66091237e-03 -5.81421585e+01] [-6.95465370e-03 7.27993807e-05 -9.99975813e-01 6.69028959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.997628 meters 0.01614106074480153 Centerline is valid? [True, True] Translation: X:87.91, Y:-58.15, Z:0.67 [[-3.44542064e-01 9.38767921e-01 2.35750519e-03 8.79102548e+01] [ 9.38748267e-01 3.44550108e-01 -6.07563731e-03 -5.81531306e+01] [-6.51589207e-03 1.19791300e-04 -9.99978764e-01 6.69575070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.027628 meters 0.017771273670857936 Centerline is valid? [True, True] Translation: X:87.92, Y:-58.16, Z:0.67 [[-4.12264487e-01 9.11059535e-01 2.91827553e-03 8.79154256e+01] [ 9.11039380e-01 4.12274785e-01 -6.06215141e-03 -5.81633549e+01] [-6.72611226e-03 1.59454186e-04 -9.99977367e-01 6.70181787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05762800000001 meters 0.019943834549587317 Centerline is valid? [True, True] Translation: X:87.92, Y:-58.17, Z:0.67 [[-4.77357385e-01 8.78702708e-01 3.38785947e-03 8.79211700e+01] [ 8.78683452e-01 4.77369366e-01 -5.82066333e-03 -5.81733538e+01] [-6.73189296e-03 1.98319423e-04 -9.99977321e-01 6.70528104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08762800000001 meters 0.023131914471139537 Centerline is valid? [True, True] Translation: X:87.93, Y:-58.18, Z:0.67 [[-5.35182771e-01 8.44729130e-01 3.47819842e-03 8.79290001e+01] [ 8.44714209e-01 5.35194016e-01 -5.02687681e-03 -5.81814119e+01] [-6.10786026e-03 2.47785770e-04 -9.99981316e-01 6.69626141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11762800000001 meters 0.02187824257580825 Centerline is valid? [True, True] Translation: X:87.95, Y:-58.18, Z:0.67 [[-5.95589895e-01 8.03279836e-01 3.76587882e-03 8.79457337e+01] [ 8.03266581e-01 5.95601738e-01 -4.62262358e-03 -5.81823088e+01] [-5.95622428e-03 2.71816710e-04 -9.99982225e-01 6.68594566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14762800000001 meters 0.02202004128351982 Centerline is valid? [True, True] Translation: X:87.96, Y:-58.18, Z:0.67 [[-6.53238149e-01 7.57140792e-01 4.21220014e-03 8.79620426e+01] [ 7.57127992e-01 6.53251657e-01 -4.41312139e-03 -5.81815788e+01] [-6.09298094e-03 3.06355382e-04 -9.99981391e-01 6.67923167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17762800000001 meters 0.02344433192167556 Centerline is valid? [True, True] Translation: X:87.98, Y:-58.18, Z:0.67 [[-7.07681652e-01 7.06516410e-01 4.60894871e-03 8.79767034e+01] [ 7.06504439e-01 7.07696580e-01 -4.12648765e-03 -5.81806157e+01] [-6.17716848e-03 3.36003120e-04 -9.99980865e-01 6.67851622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20762800000001 meters 0.02410214726908166 Centerline is valid? [True, True] Translation: X:88.01, Y:-58.16, Z:0.67 [[-7.52778767e-01 6.58254671e-01 4.99165036e-03 8.80062576e+01] [ 6.58243417e-01 7.52795223e-01 -3.86718559e-03 -5.81644221e+01] [-6.30328352e-03 3.74585791e-04 -9.99980064e-01 6.69050414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23762800000002 meters 0.02548449705180912 Centerline is valid? [True, True] Translation: X:88.03, Y:-58.15, Z:0.67 [[-7.97109557e-01 6.03808059e-01 5.67289805e-03 8.80308618e+01] [ 6.03796347e-01 7.97129638e-01 -3.78307353e-03 -5.81468981e+01] [-6.80628546e-03 4.09751053e-04 -9.99976753e-01 6.69837068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26762800000002 meters 0.025178963260041883 Centerline is valid? [True, True] Translation: X:88.05, Y:-58.12, Z:0.67 [[-8.38072611e-01 5.45526263e-01 5.94942968e-03 8.80519861e+01] [ 5.45515914e-01 8.38093628e-01 -3.38494041e-03 -5.81234748e+01] [-6.83275300e-03 4.08682726e-04 -9.99976573e-01 6.70190789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29762800000002 meters 0.02483706380958377 Centerline is valid? [True, True] Translation: X:88.07, Y:-58.10, Z:0.67 [[-8.75440941e-01 4.83288212e-01 5.97189531e-03 8.80729899e+01] [ 4.83279908e-01 8.75461225e-01 -2.85895776e-03 -5.80992010e+01] [-6.60986337e-03 3.83248345e-04 -9.99978081e-01 6.70741301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32762800000002 meters 0.023871272320922322 Centerline is valid? [True, True] Translation: X:88.09, Y:-58.07, Z:0.67 [[-9.10203379e-01 4.14115206e-01 6.19715607e-03 8.80897958e+01] [ 4.14108138e-01 9.10224411e-01 -2.44350122e-03 -5.80683087e+01] [-6.65269374e-03 3.42209692e-04 -9.99977812e-01 6.71367669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.357628 meters 0.02260275893912074 Centerline is valid? [True, True] Translation: X:88.11, Y:-58.04, Z:0.67 [[-9.38917268e-01 3.44086465e-01 6.23438737e-03 8.81053812e+01] [ 3.44081013e-01 9.38937917e-01 -1.96064159e-03 -5.80395202e+01] [-6.52833292e-03 3.04254077e-04 -9.99978644e-01 6.70798817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.387628 meters 0.02020621145941472 Centerline is valid? [True, True] Translation: X:88.11, Y:-58.00, Z:0.67 [[-9.63761638e-01 2.66705645e-01 5.62166373e-03 8.81110377e+01] [ 2.66702358e-01 9.63778012e-01 -1.34035306e-03 -5.80030458e+01] [-5.77551562e-03 2.07530114e-04 -9.99983300e-01 6.70225917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41762800000001 meters 0.018342996388907483 Centerline is valid? [True, True] Translation: X:88.12, Y:-57.97, Z:0.67 [[-9.81306036e-01 1.92377639e-01 5.41369415e-03 8.81205709e+01] [ 1.92375646e-01 9.81320955e-01 -8.91276218e-04 -5.79704896e+01] [-5.48403313e-03 1.66848179e-04 -9.99984949e-01 6.70024849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44762800000001 meters 0.0168646178564099 Centerline is valid? [True, True] Translation: X:88.12, Y:-57.94, Z:0.67 [[-9.93102641e-01 1.17148685e-01 4.83016948e-03 8.81249516e+01] [ 1.17147892e-01 9.93114380e-01 -4.47849549e-04 -5.79371247e+01] [-4.84937575e-03 1.21083601e-04 -9.99988234e-01 6.70258032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47762800000001 meters 0.01566211973362142 Centerline is valid? [True, True] Translation: X:88.21, Y:-57.10, Z:-0.17 [[-9.91082632e-01 -1.33195096e-01 3.77932960e-03 8.82066400e+01] [ 1.33193498e-01 -9.91089824e-01 -6.72668528e-04 -5.71040929e+01] [ 3.83525125e-03 -1.63287968e-04 9.99992632e-01 -1.72827708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50762800000001 meters 0.014674524613645993 Centerline is valid? [True, True] Translation: X:88.05, Y:-57.92, Z:0.67 [[-9.94639918e-01 1.03319732e-01 4.05777594e-03 8.80520691e+01] [ 1.03319128e-01 9.94648194e-01 -3.58774265e-04 -5.79211244e+01] [-4.07312797e-03 6.23946659e-05 -9.99991703e-01 6.70865933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53762800000001 meters 0.013332091407610021 Centerline is valid? [True, True] Translation: X:88.12, Y:-57.11, Z:-0.17 [[-9.90299537e-01 -1.38911979e-01 3.20766543e-03 8.81230472e+01] [ 1.38910906e-01 -9.90304726e-01 -5.55997629e-04 -5.71078482e+01] [ 3.25380096e-03 -1.05024483e-04 9.99994701e-01 -1.74138654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56762800000001 meters 0.012577832557891284 Centerline is valid? [True, True] Translation: X:87.98, Y:-57.90, Z:0.67 [[-9.95912139e-01 9.02558354e-02 3.59107905e-03 8.79788947e+01] [ 9.02553354e-02 9.95918613e-01 -3.01358529e-04 -5.79039574e+01] [-3.60362183e-03 2.39874270e-05 -9.99993507e-01 6.72070042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59762800000001 meters 0.01247597801750073 Centerline is valid? [True, True] Translation: X:87.98, Y:-57.87, Z:0.67 [[-9.99827002e-01 1.82082557e-02 3.79816736e-03 8.79792251e+01] [ 1.82082091e-02 9.99834216e-01 -4.68558256e-05 -5.78748500e+01] [-3.79839085e-03 2.23101058e-05 -9.99992786e-01 6.72623604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62762800000002 meters 0.012318346676244409 Centerline is valid? [True, True] Translation: X:87.99, Y:-57.08, Z:-0.18 [[-9.97787230e-01 -6.63759817e-02 3.85645497e-03 8.79934024e+01] [ 6.63754142e-02 -9.97794683e-01 -2.75076584e-04 -5.70774490e+01] [ 3.86620875e-03 -1.84941062e-05 9.99992526e-01 -1.75600057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65762800000002 meters 0.012504744688357603 Centerline is valid? [True, True] Translation: X:87.89, Y:-57.87, Z:0.67 [[-9.99904387e-01 1.30515950e-02 4.56862756e-03 8.78860679e+01] [ 1.30516097e-02 9.99914824e-01 -2.65843007e-05 -5.78729808e+01] [-4.56858539e-03 3.30461849e-05 -9.99989563e-01 6.73029968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68762800000002 meters 0.013286519364819237 Centerline is valid? [True, True] Translation: X:87.89, Y:-57.85, Z:0.67 [[-9.98402801e-01 -5.62804037e-02 4.93590974e-03 8.78864823e+01] [-5.62794839e-02 9.98415001e-01 3.25166487e-04 -5.78473817e+01] [-4.94638683e-03 4.68566785e-05 -9.99987765e-01 6.74086603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.717628 meters 0.014027802124930546 Centerline is valid? [True, True] Translation: X:87.88, Y:-57.82, Z:0.67 [[-9.92437430e-01 -1.22639504e-01 5.24405037e-03 8.78821930e+01] [-1.22637382e-01 9.92451282e-01 7.25523593e-04 -5.78231978e+01] [-5.29344237e-03 7.69201624e-05 -9.99985987e-01 6.74249703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.747628 meters 0.014495141504270385 Centerline is valid? [True, True] Translation: X:87.86, Y:-57.80, Z:0.67 [[-9.81608425e-01 -1.90838776e-01 5.04592692e-03 8.78630660e+01] [-1.90835783e-01 9.81621390e-01 1.07258887e-03 -5.78008400e+01] [-5.15788135e-03 8.99188563e-05 -9.99986694e-01 6.74126318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.777628 meters 0.014854694720632035 Centerline is valid? [True, True] Translation: X:87.82, Y:-57.79, Z:0.67 [[-9.65820343e-01 -2.59166252e-01 4.89069029e-03 8.78156974e+01] [-2.59162384e-01 9.65832720e-01 1.41957472e-03 -5.77862843e+01] [-5.09149456e-03 1.03571188e-04 -9.99987033e-01 6.73711895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80762800000001 meters 0.014854694720632035 Centerline is valid? [True, True] Translation: X:87.76, Y:-57.78, Z:0.67 [[-9.44098104e-01 -3.29630088e-01 4.77231412e-03 8.77572361e+01] [-3.29625321e-01 9.44110160e-01 1.77581900e-03 -5.77762900e+01] [-5.09095362e-03 1.03471775e-04 -9.99987036e-01 6.73695040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83762800000001 meters 0.015619111980247556 Centerline is valid? [True, True] Translation: X:87.69, Y:-57.78, Z:0.67 [[-9.18001206e-01 -3.96550288e-01 4.65341289e-03 8.76888115e+01] [-3.96544541e-01 9.18012993e-01 2.13824263e-03 -5.77779217e+01] [-5.11981422e-03 1.17623838e-04 -9.99986887e-01 6.73761743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86762800000001 meters 0.017171292835184194 Centerline is valid? [True, True] Translation: X:87.61, Y:-57.79, Z:0.67 [[-8.88865749e-01 -4.58147535e-01 4.30294620e-03 8.76102210e+01] [-4.58141363e-01 8.88876152e-01 2.38271494e-03 -5.77927451e+01] [-4.91642124e-03 1.46556067e-04 -9.99987904e-01 6.73611523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89762800000001 meters 0.019651408629864624 Centerline is valid? [True, True] Translation: X:87.53, Y:-57.82, Z:0.67 [[-8.53606937e-01 -5.20899567e-01 4.34023735e-03 8.75284619e+01] [-5.20891784e-01 8.53617954e-01 2.85284558e-03 -5.78162781e+01] [-5.19095055e-03 1.74414800e-04 -9.99986512e-01 6.73824433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92762800000001 meters 0.020404748755717104 Centerline is valid? [True, True] Translation: X:87.44, Y:-57.85, Z:0.67 [[-8.13935392e-01 -5.80939822e-01 4.25452895e-03 8.74391560e+01] [-5.80930570e-01 8.13946486e-01 3.28501023e-03 -5.78493635e+01] [-5.37135214e-03 2.02200165e-04 -9.99985554e-01 6.73706233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95762800000001 meters 0.02202069953743293 Centerline is valid? [True, True] Translation: X:87.35, Y:-57.89, Z:0.67 [[-7.70166695e-01 -6.37827225e-01 4.43755857e-03 8.73487753e+01] [-6.37814710e-01 7.70179438e-01 4.00373232e-03 -5.78922565e+01] [-5.97140584e-03 2.53201159e-04 -9.99982139e-01 6.74546712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98762800000002 meters 0.02455037364896512 Centerline is valid? [True, True] Translation: X:87.26, Y:-57.95, Z:0.67 [[-7.23999922e-01 -6.89788134e-01 4.05498264e-03 8.72611022e+01] [-6.89775008e-01 7.24011219e-01 4.26533927e-03 -5.79489498e+01] [-5.87803334e-03 2.91079610e-04 -9.99982682e-01 6.73043065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01762800000002 meters 0.024568174062299716 Centerline is valid? [True, True] Translation: X:87.17, Y:-58.01, Z:0.67 [[-6.70934460e-01 -7.41506395e-01 3.90085856e-03 8.71703683e+01] [-7.41490975e-01 6.70945722e-01 4.79284354e-03 -5.80113836e+01] [-6.17118849e-03 3.23232476e-04 -9.99980906e-01 6.72492841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04762800000002 meters 0.025888951601620185 Centerline is valid? [True, True] Translation: X:87.08, Y:-58.09, Z:0.67 [[-6.13657555e-01 -7.89563655e-01 3.69332720e-03 8.70820542e+01] [-7.89545748e-01 6.13668566e-01 5.32933872e-03 -5.80867609e+01] [-6.47433096e-03 3.54338177e-04 -9.99978979e-01 6.72292013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07762800000002 meters 0.025625633991651624 Centerline is valid? [True, True] Translation: X:87.00, Y:-58.17, Z:0.67 [[-5.53333370e-01 -8.32953655e-01 3.22350741e-03 8.69982156e+01] [-8.32935470e-01 5.53342637e-01 5.51623482e-03 -5.81667824e+01] [-6.37847204e-03 3.67343139e-04 -9.99979590e-01 6.71455389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.107628 meters 0.0263825253603265 Centerline is valid? [True, True] Translation: X:86.92, Y:-58.26, Z:0.67 [[-4.87599302e-01 -8.73063000e-01 2.81388042e-03 8.69159809e+01] [-8.73043795e-01 4.87607279e-01 5.80285921e-03 -5.82629689e+01] [-6.43833025e-03 3.72829260e-04 -9.99979204e-01 6.71646018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.137628 meters 0.024882927402975995 Centerline is valid? [True, True] Translation: X:86.84, Y:-58.35, Z:0.67 [[-4.18547531e-01 -9.08191445e-01 2.50290257e-03 8.68422904e+01] [-9.08169155e-01 4.18554828e-01 6.37509901e-03 -5.83543039e+01] [-6.83741233e-03 3.95223030e-04 -9.99976547e-01 6.71578987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16762800000001 meters 0.026463120389676187 Centerline is valid? [True, True] Translation: X:86.78, Y:-58.46, Z:0.67 [[-3.46133498e-01 -9.38182948e-01 2.08735187e-03 8.67783288e+01] [-9.38158166e-01 3.46139553e-01 6.83117277e-03 -5.84574979e+01] [-7.13140485e-03 4.06231521e-04 -9.99974489e-01 6.71750978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19762800000001 meters 0.025737569838765732 Centerline is valid? [True, True] Translation: X:86.72, Y:-58.57, Z:0.67 [[-2.70590595e-01 -9.62692916e-01 1.75501833e-03 8.67157142e+01] [-9.62660652e-01 2.70595918e-01 7.89424126e-03 -5.85722157e+01] [-8.07463093e-03 4.46620350e-04 -9.99967300e-01 6.71609945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22762800000001 meters 0.025197039169856102 Centerline is valid? [True, True] Translation: X:86.67, Y:-58.69, Z:0.67 [[-1.93340718e-01 -9.81131173e-01 9.93985494e-04 8.66658849e+01] [-9.81106416e-01 1.93342910e-01 6.97987119e-03 -5.86873146e+01] [-7.04034926e-03 3.74287759e-04 -9.99975146e-01 6.69426354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25762800000001 meters 0.02275999267363163 Centerline is valid? [True, True] Translation: X:86.62, Y:-58.80, Z:0.67 [[-1.15019763e-01 -9.93363115e-01 4.19697051e-04 8.66210770e+01] [-9.93341566e-01 1.15020036e-01 6.55167583e-03 -5.88026193e+01] [-6.55646668e-03 3.36669675e-04 -9.99978449e-01 6.68145054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28762800000001 meters 0.022333211747781075 Centerline is valid? [True, True] Translation: X:86.59, Y:-58.93, Z:0.67 [[-3.34491133e-02 -9.99440419e-01 -7.51362134e-05 8.65863169e+01] [-9.99424269e-01 3.34481452e-02 5.68789923e-03 -5.89309019e+01] [-5.68220323e-03 2.65348141e-04 -9.99983821e-01 6.67070559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31762800000001 meters 0.02188137171702049 Centerline is valid? [True, True] Translation: X:85.73, Y:-59.06, Z:-0.17 [[-5.25891611e-03 9.99986127e-01 3.00795624e-04 8.57296940e+01] [-9.99971897e-01 -5.26044803e-03 5.34162981e-03 -5.90586163e+01] [ 5.34313802e-03 -2.72695988e-04 9.99985688e-01 -1.70452519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34762800000001 meters 0.021313384508108754 Centerline is valid? [True, True] Translation: X:86.58, Y:-59.24, Z:0.67 [[-1.75370353e-02 -9.99846207e-01 -1.24010395e-04 8.65829288e+01] [-9.99832103e-01 1.75361287e-02 5.31510369e-03 -5.92370552e+01] [-5.31211160e-03 2.17200735e-04 -9.99985867e-01 6.66724947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37762800000002 meters 0.020851457644914674 Centerline is valid? [True, True] Translation: X:85.74, Y:-59.38, Z:-0.17 [[-1.26453293e-03 9.99999169e-01 2.51844700e-04 8.57372051e+01] [-9.99990107e-01 -1.26559541e-03 4.26426771e-03 -5.93795299e+01] [ 4.26458290e-03 -2.46449901e-04 9.99990876e-01 -1.69866529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40762800000002 meters 0.01865848338606786 Centerline is valid? [True, True] Translation: X:86.58, Y:-59.55, Z:0.67 [[ 2.34650789e-03 -9.99997235e-01 -1.53881159e-04 8.65789587e+01] [-9.99986542e-01 -2.34719475e-03 4.62662553e-03 -5.95459783e+01] [-4.62697393e-03 1.43022674e-04 -9.99989285e-01 6.65551423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43762800000002 meters 0.01756562033316409 Centerline is valid? [True, True] Translation: X:86.56, Y:-59.67, Z:0.67 [[ 8.29690403e-02 -9.96551989e-01 -5.20542459e-04 8.65569053e+01] [-9.96541015e-01 -8.29705704e-02 4.67860978e-03 -5.96744726e+01] [-4.70566759e-03 1.30562147e-04 -9.99988920e-01 6.65437300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.467628 meters 0.01784277827726702 Centerline is valid? [True, True] Translation: X:86.55, Y:-59.80, Z:0.67 [[ 1.62885860e-01 -9.86644465e-01 -9.46828303e-04 8.65459820e+01] [-9.86631986e-01 -1.62888564e-01 4.96383496e-03 -5.97962673e+01] [-5.05176779e-03 1.25632561e-04 -9.99987232e-01 6.66135460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.497628 meters 0.014948719454438306 Centerline is valid? [True, True] Translation: X:86.54, Y:-59.93, Z:0.67 [[ 2.44809799e-01 -9.69569975e-01 -1.49166926e-03 8.65389345e+01] [-9.69554546e-01 -2.44814320e-01 5.47083494e-03 -5.99251902e+01] [-5.66953929e-03 1.06940707e-04 -9.99983922e-01 6.66750283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.527628 meters 0.014413331682106253 Centerline is valid? [True, True] Translation: X:86.55, Y:-60.05, Z:0.67 [[ 3.21812870e-01 -9.46801301e-01 -1.94247243e-03 8.65464740e+01] [-9.46785738e-01 -3.21818720e-01 5.42933790e-03 -6.00492539e+01] [-5.76562818e-03 9.18743801e-05 -9.99983374e-01 6.67062569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55762800000001 meters 0.01379990916795329 Centerline is valid? [True, True] Translation: X:86.56, Y:-60.17, Z:0.67 [[ 3.96414192e-01 -9.18068233e-01 -2.55099036e-03 8.65635018e+01] [-9.18050563e-01 -3.96422391e-01 5.69657361e-03 -6.01717184e+01] [-6.24111297e-03 8.37355119e-05 -9.99980521e-01 6.67373240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58762800000001 meters 0.013225644924289777 Centerline is valid? [True, True] Translation: X:86.59, Y:-60.29, Z:0.67 [[ 4.69607889e-01 -8.82869235e-01 -3.21614976e-03 8.65889641e+01] [-8.82849456e-01 -4.69618898e-01 5.90999478e-03 -6.02917338e+01] [-6.72811728e-03 6.39958975e-05 -9.99977364e-01 6.67662356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61762800000001 meters 0.012723520601698207 Centerline is valid? [True, True] Translation: X:86.62, Y:-60.40, Z:0.67 [[ 5.37732794e-01 -8.43106805e-01 -3.78923589e-03 8.66211379e+01] [-8.43086579e-01 -5.37746142e-01 5.84009654e-03 -6.04039778e+01] [-6.96147212e-03 5.42424973e-05 -9.99975767e-01 6.67125178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64762800000001 meters 0.012532428230287171 Centerline is valid? [True, True] Translation: X:86.66, Y:-60.51, Z:0.67 [[ 6.02312660e-01 -7.98250063e-01 -4.03691241e-03 8.66621537e+01] [-7.98232577e-01 -6.02326187e-01 5.28373044e-03 -6.05121514e+01] [-6.64927621e-03 3.99372574e-05 -9.99977893e-01 6.67466204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67762800000001 meters 0.01226215738341332 Centerline is valid? [True, True] Translation: X:86.71, Y:-60.62, Z:0.67 [[ 6.63603716e-01 -7.48067494e-01 -5.01328615e-03 8.67101630e+01] [-7.48046470e-01 -6.63622652e-01 5.60848380e-03 -6.06159590e+01] [-7.52245467e-03 2.83603101e-05 -9.99971706e-01 6.67228456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70762800000001 meters 0.012166738794018554 Centerline is valid? [True, True] Translation: X:86.77, Y:-60.71, Z:0.67 [[ 7.19426033e-01 -6.94544557e-01 -5.83448699e-03 8.67652246e+01] [-6.94522007e-01 -7.19449691e-01 5.59682027e-03 -6.07125439e+01] [-8.08486092e-03 2.56814125e-05 -9.99967317e-01 6.67277790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73762800000002 meters 0.012196127148144666 Centerline is valid? [True, True] Translation: X:86.76, Y:-60.72, Z:0.67 [[ 7.71496964e-01 -6.36200632e-01 -6.41797205e-03 8.67606988e+01] [-6.36178901e-01 -7.71523658e-01 5.25835378e-03 -6.07188148e+01] [-8.29698528e-03 2.61744298e-05 -9.99965579e-01 6.67065126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76762800000002 meters 0.01227482199069652 Centerline is valid? [True, True] Translation: X:86.76, Y:-60.72, Z:0.67 [[ 8.17531372e-01 -5.75840822e-01 -7.05724874e-03 8.67573037e+01] [-5.75819866e-01 -8.17561830e-01 4.91281944e-03 -6.07243752e+01] [-8.59873918e-03 4.73200055e-05 -9.99963029e-01 6.66781389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79762800000002 meters 0.012620950287718796 Centerline is valid? [True, True] Translation: X:86.75, Y:-60.73, Z:0.67 [[ 8.58969190e-01 -5.11971643e-01 -7.54760285e-03 8.67534936e+01] [-5.11952561e-01 -8.59002347e-01 4.42074306e-03 -6.07291034e+01] [-8.74670365e-03 6.67325278e-05 -9.99961745e-01 6.66619033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82762800000002 meters 0.013072838612774328 Centerline is valid? [True, True] Translation: X:86.75, Y:-60.73, Z:0.67 [[ 8.95010870e-01 -4.45973860e-01 -7.92839676e-03 8.67503202e+01] [-4.45957291e-01 -8.95045981e-01 3.84538186e-03 -6.07333579e+01] [-8.81121944e-03 9.40677796e-05 -9.99961176e-01 6.66337746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.857628 meters 0.013544430557626108 Centerline is valid? [True, True] Translation: X:86.75, Y:-60.74, Z:0.67 [[ 9.25811779e-01 -3.77887863e-01 -8.56233635e-03 8.67472419e+01] [-3.77873006e-01 -9.25851363e-01 3.35336874e-03 -6.07384925e+01] [-9.19464813e-03 1.30887505e-04 -9.99957720e-01 6.66199487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.887628 meters 0.015874861896632 Centerline is valid? [True, True] Translation: X:86.75, Y:-60.74, Z:0.67 [[ 9.50020302e-01 -3.12035226e-01 -9.76948428e-03 8.67451400e+01] [-3.12021205e-01 -9.50070505e-01 2.96691414e-03 -6.07372950e+01] [-1.02074806e-02 2.29657589e-04 -9.99947876e-01 6.67105496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91762800000001 meters 0.016820568876614924 Centerline is valid? [True, True] Translation: X:86.74, Y:-60.74, Z:0.67 [[ 9.70501013e-01 -2.40856486e-01 -1.07674277e-02 8.67379192e+01] [-2.40845040e-01 -9.70560696e-01 2.36674631e-03 -6.07400519e+01] [-1.10204883e-02 2.96351865e-04 -9.99939229e-01 6.66990153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94762800000001 meters 0.01745803665534341 Centerline is valid? [True, True] Translation: X:86.73, Y:-60.75, Z:0.67 [[ 9.85604051e-01 -1.68675104e-01 -1.15483531e-02 8.67312155e+01] [-1.68667892e-01 -9.85671636e-01 1.60267726e-03 -6.07461764e+01] [-1.16532158e-02 3.68231170e-04 -9.99932031e-01 6.66883186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97762800000001 meters 0.020344079310219695 Centerline is valid? [True, True] Translation: X:86.72, Y:-60.75, Z:0.67 [[ 9.94969430e-01 -9.93366260e-02 -1.29641452e-02 8.67239961e+01] [-9.93350027e-02 -9.95053749e-01 7.70671568e-04 -6.07462012e+01] [-1.29765772e-02 5.20998746e-04 -9.99915665e-01 6.66960102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00762800000001 meters 0.021744543398810157 Centerline is valid? [True, True] Translation: X:86.72, Y:-60.75, Z:0.67 [[ 9.99608681e-01 -2.49246154e-02 -1.26983272e-02 8.67168622e+01] [-2.49296787e-02 -9.99689178e-01 -2.40580952e-04 -6.07509245e+01] [-1.26883839e-02 5.57052026e-04 -9.99919344e-01 6.67003619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03762800000001 meters 0.024438840992561023 Centerline is valid? [True, True] Translation: X:86.71, Y:-60.75, Z:0.67 [[ 9.98667094e-01 5.00005621e-02 -1.28054279e-02 8.67081563e+01] [ 4.99886323e-02 -9.98749004e-01 -1.25021324e-03 -6.07543269e+01] [-1.28519198e-02 6.08420998e-04 -9.99917226e-01 6.66974474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06762800000001 meters 0.02439764532166637 Centerline is valid? [True, True] Translation: X:86.70, Y:-60.76, Z:0.67 [[ 9.91993871e-01 1.25662256e-01 -1.25362189e-02 8.67005727e+01] [ 1.25644139e-01 -9.92072879e-01 -2.22561786e-03 -6.07615501e+01] [-1.27165190e-02 6.32696844e-04 -9.99918942e-01 6.66348394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09762800000001 meters 0.024630059589840526 Centerline is valid? [True, True] Translation: X:86.69, Y:-60.77, Z:0.67 [[ 9.79719446e-01 2.00038378e-01 -1.15954669e-02 8.66942149e+01] [ 2.00016714e-01 -9.79787860e-01 -3.01061803e-03 -6.07696516e+01] [-1.19633369e-02 6.30273834e-04 -9.99928238e-01 6.65261734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12762800000002 meters 0.02547694999362837 Centerline is valid? [True, True] Translation: X:86.69, Y:-60.78, Z:0.67 [[ 9.61280106e-01 2.75336432e-01 -1.14195361e-02 8.66893919e+01] [ 2.75308963e-01 -9.61347716e-01 -3.94244565e-03 -6.07820031e+01] [-1.20636439e-02 6.45893920e-04 -9.99927023e-01 6.66395601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15762800000002 meters 0.024790252183583092 Centerline is valid? [True, True] Translation: X:86.68, Y:-60.79, Z:0.66 [[ 9.36575429e-01 3.50319687e-01 -1.01283532e-02 8.66840552e+01] [ 3.50292406e-01 -9.36630011e-01 -4.41062204e-03 -6.07927092e+01] [-1.10316473e-02 5.82995018e-04 -9.99938980e-01 6.64222084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18762800000002 meters 0.023609761367989805 Centerline is valid? [True, True] Translation: X:86.68, Y:-60.81, Z:0.66 [[ 9.05651802e-01 4.23924005e-01 -9.12424407e-03 8.66820869e+01] [ 4.23896531e-01 -9.05697608e-01 -4.85531041e-03 -6.08068467e+01] [-1.03220887e-02 5.29485212e-04 -9.99946586e-01 6.63764648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.217628 meters 0.02264156646764734 Centerline is valid? [True, True] Translation: X:86.68, Y:-60.82, Z:0.66 [[ 8.69179762e-01 4.94426470e-01 -8.30700439e-03 8.66818853e+01] [ 4.94398383e-01 -8.69219318e-01 -5.29306982e-03 -6.08221421e+01] [-9.83764252e-03 4.93659624e-04 -9.99951487e-01 6.63608104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.247628 meters 0.022142241745355392 Centerline is valid? [True, True] Translation: X:86.68, Y:-60.84, Z:0.66 [[ 8.26647775e-01 5.62664793e-01 -7.86048925e-03 8.66819966e+01] [ 5.62633822e-01 -8.26685010e-01 -5.92248109e-03 -6.08372865e+01] [-9.83052024e-03 4.73228704e-04 -9.99951567e-01 6.63464403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.277628 meters 0.021826684868552812 Centerline is valid? [True, True] Translation: X:86.68, Y:-60.85, Z:0.66 [[ 7.77163106e-01 6.29251335e-01 -7.76305819e-03 8.66822796e+01] [ 6.29214037e-01 -7.77201746e-01 -6.86601319e-03 -6.08532268e+01] [-1.03539103e-02 4.51386952e-04 -9.99946295e-01 6.64347572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30762800000001 meters 0.020839052958419396 Centerline is valid? [True, True] Translation: X:86.68, Y:-60.87, Z:0.66 [[ 7.23896666e-01 6.89868162e-01 -7.45229401e-03 8.66846014e+01] [ 6.89825180e-01 -7.23934889e-01 -7.71346429e-03 -6.08675806e+01] [-1.07162491e-02 4.42971018e-04 -9.99942481e-01 6.64636900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33762800000001 meters 0.020800971637352766 Centerline is valid? [True, True] Translation: X:86.69, Y:-60.88, Z:0.66 [[ 6.65681234e-01 7.46203527e-01 -6.98507667e-03 8.66859878e+01] [ 7.46155609e-01 -6.65717745e-01 -8.46700445e-03 -6.08812636e+01] [-1.09681981e-02 4.24371824e-04 -9.99939757e-01 6.64956765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36762800000001 meters 0.020821487398722246 Centerline is valid? [True, True] Translation: X:86.69, Y:-60.89, Z:0.67 [[ 6.03236293e-01 7.97537930e-01 -6.26299356e-03 8.66875272e+01] [ 7.97487988e-01 -6.03268675e-01 -8.93389584e-03 -6.08937484e+01] [-1.09033886e-02 3.94588077e-04 -9.99940478e-01 6.65909127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39762800000001 meters 0.018244696951925207 Centerline is valid? [True, True] Translation: X:86.70, Y:-60.91, Z:0.67 [[ 5.35236168e-01 8.44683801e-01 -5.61435869e-03 8.66959138e+01] [ 8.44630261e-01 -5.35265498e-01 -9.51677529e-03 -6.09086316e+01] [-1.10438384e-02 3.51665095e-04 -9.99938953e-01 6.65820744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42762800000001 meters 0.017546296985945946 Centerline is valid? [True, True] Translation: X:86.70, Y:-60.92, Z:0.67 [[ 4.66205308e-01 8.84664533e-01 -4.61247458e-03 8.67022412e+01] [ 8.84614268e-01 -4.66228016e-01 -9.43579456e-03 -6.09215730e+01] [-1.04979777e-02 3.18756687e-04 -9.99944844e-01 6.65576982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45762800000001 meters 0.01746165663286253 Centerline is valid? [True, True] Translation: X:86.71, Y:-60.93, Z:0.67 [[ 3.94244467e-01 9.18997385e-01 -3.88685809e-03 8.67081554e+01] [ 9.18944761e-01 -3.94263507e-01 -9.83940354e-03 -6.09327102e+01] [-1.05748324e-02 3.07322521e-04 -9.99944038e-01 6.65634650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48762800000002 meters 0.016660353153503175 Centerline is valid? [True, True] Translation: X:86.72, Y:-60.94, Z:0.67 [[ 3.19445957e-01 9.47599672e-01 -3.02374518e-03 8.67181239e+01] [ 9.47548516e-01 -3.19460143e-01 -9.85022253e-03 -6.09441736e+01] [-1.03000337e-02 2.81468506e-04 -9.99946914e-01 6.65672215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51762800000002 meters 0.016596518211595343 Centerline is valid? [True, True] Translation: X:86.73, Y:-60.95, Z:0.67 [[ 2.43327966e-01 9.69941690e-01 -2.14899684e-03 8.67258631e+01] [ 9.69893881e-01 -2.43337316e-01 -9.63382761e-03 -6.09543427e+01] [-9.86718217e-03 2.59880792e-04 -9.99951284e-01 6.65278287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54762800000002 meters 0.016429021319874126 Centerline is valid? [True, True] Translation: X:86.73, Y:-60.96, Z:0.66 [[ 1.65403636e-01 9.86225033e-01 -1.34993929e-03 8.67335280e+01] [ 9.86179243e-01 -1.65408968e-01 -9.50653995e-03 -6.09635535e+01] [-9.59887973e-03 2.41134161e-04 -9.99953901e-01 6.64944376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57762800000002 meters 0.01620513565705674 Centerline is valid? [True, True] Translation: X:86.74, Y:-60.97, Z:0.66 [[ 8.63427209e-02 9.96265328e-01 -5.74423243e-04 8.67421733e+01] [ 9.96223354e-01 -8.63443575e-02 -9.14777303e-03 -6.09727483e+01] [-9.16320731e-03 2.17589764e-04 -9.99957993e-01 6.64398674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.607628 meters 0.015163700936780456 Centerline is valid? [True, True] Translation: X:86.75, Y:-60.98, Z:0.66 [[ 4.62045520e-03 9.99989318e-01 1.23078136e-04 8.67546060e+01] [ 9.99957818e-01 -4.61933256e-03 -7.93870206e-03 -6.09805782e+01] [-7.93804872e-03 1.59753362e-04 -9.99968480e-01 6.63996111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.637628 meters 0.014739117899845628 Centerline is valid? [True, True] Translation: X:86.77, Y:-60.99, Z:0.66 [[-7.57451710e-02 9.97126951e-01 7.15502519e-04 8.67655359e+01] [ 9.97098001e-01 7.57484249e-02 -7.59948857e-03 -6.09880038e+01] [-7.63185306e-03 1.37801571e-04 -9.99970867e-01 6.64328095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66762800000001 meters 0.014130762938536157 Centerline is valid? [True, True] Translation: X:86.78, Y:-60.99, Z:0.66 [[-1.56028929e-01 9.87751666e-01 1.27288228e-03 8.67774272e+01] [ 9.87724576e-01 1.56034078e-01 -7.31624615e-03 -6.09936411e+01] [-7.42524734e-03 1.15711060e-04 -9.99972426e-01 6.64709200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69762800000001 meters 0.01354706619697108 Centerline is valid? [True, True] Translation: X:86.79, Y:-61.00, Z:0.67 [[-2.35496072e-01 9.71873588e-01 1.82469604e-03 8.67896279e+01] [ 9.71847463e-01 2.35503122e-01 -7.12656241e-03 -6.09986953e+01] [-7.35583939e-03 9.50487631e-05 -9.99972941e-01 6.65035946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72762800000001 meters 0.01354706619697108 Centerline is valid? [True, True] Translation: X:86.80, Y:-61.00, Z:0.67 [[-3.10899290e-01 9.50439888e-01 2.37720385e-03 8.68004339e+01] [ 9.50414399e-01 3.10908364e-01 -6.96125301e-03 -6.10036125e+01] [-7.35534509e-03 9.50801502e-05 -9.99972945e-01 6.65031716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75762800000001 meters 0.01283772054728804 Centerline is valid? [True, True] Translation: X:86.81, Y:-61.01, Z:0.67 [[-3.89976376e-01 9.20819413e-01 3.16777188e-03 8.68133815e+01] [ 9.20790192e-01 3.89989238e-01 -7.33599810e-03 -6.10074063e+01] [-7.99052641e-03 5.59873262e-05 -9.99968074e-01 6.66177121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78762800000001 meters 0.012567411642933624 Centerline is valid? [True, True] Translation: X:86.82, Y:-61.01, Z:0.67 [[-4.63652900e-01 8.86008516e-01 3.85979238e-03 8.68230471e+01] [ 8.85978403e-01 4.63668965e-01 -7.30488187e-03 -6.10119461e+01] [-8.26185348e-03 3.27630225e-05 -9.99965870e-01 6.66827682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81762800000001 meters 0.015493207816294423 Centerline is valid? [True, True] Translation: X:86.83, Y:-61.01, Z:0.67 [[-5.33628335e-01 8.45704061e-01 5.04388365e-03 8.68339361e+01] [ 8.45666581e-01 5.33652172e-01 -7.96203216e-03 -6.10134053e+01] [-9.42520240e-03 1.66778756e-05 -9.99955582e-01 6.69940885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84762800000001 meters 0.012245709195806663 Centerline is valid? [True, True] Translation: X:86.85, Y:-61.01, Z:0.67 [[-6.02415943e-01 7.98156745e-01 6.39083392e-03 8.68461154e+01] [ 7.98111211e-01 6.02449840e-01 -8.52554841e-03 -6.10127853e+01] [-1.06548808e-02 -3.53300909e-05 -9.99943235e-01 6.68521649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87762800000002 meters 0.01243905134807822 Centerline is valid? [True, True] Translation: X:86.86, Y:-61.01, Z:0.67 [[-6.64729739e-01 7.47048963e-01 7.22648475e-03 8.68567038e+01] [ 7.47003838e-01 6.64769015e-01 -8.21106240e-03 -6.10122388e+01] [-1.09380088e-02 -5.99255141e-05 -9.99940176e-01 6.69160722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90762800000002 meters 0.01265356003798477 Centerline is valid? [True, True] Translation: X:86.87, Y:-61.01, Z:0.67 [[-7.22281234e-01 6.91552925e-01 8.02310212e-03 8.68668262e+01] [ 6.91509052e-01 7.22325789e-01 -7.79009328e-03 -6.10125536e+01] [-1.11825554e-02 -7.85904399e-05 -9.99937470e-01 6.69655502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93762800000002 meters 0.012629408660887794 Centerline is valid? [True, True] Translation: X:86.89, Y:-61.00, Z:0.67 [[-7.69902335e-01 6.38105238e-01 8.49114736e-03 8.68898345e+01] [ 6.38065202e-01 7.69949153e-01 -7.14843609e-03 -6.09976837e+01] [-1.10992062e-02 -8.56919908e-05 -9.99938398e-01 6.69464062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.967628 meters 0.012646401507657513 Centerline is valid? [True, True] Translation: X:86.91, Y:-60.98, Z:0.67 [[-8.13020997e-01 5.82171805e-01 8.53514949e-03 8.69084787e+01] [ 5.82138691e-01 8.13065793e-01 -6.20972668e-03 -6.09820862e+01] [-1.05547659e-02 -7.99974252e-05 -9.99944294e-01 6.68598414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.997628 meters 0.012635967709493188 Centerline is valid? [True, True] Translation: X:86.93, Y:-60.97, Z:0.67 [[-8.51688524e-01 5.23979669e-01 8.48314921e-03 8.69288935e+01] [ 5.23952896e-01 8.51730768e-01 -5.29723231e-03 -6.09656950e+01] [-1.00010012e-02 -6.68213710e-05 -9.99949987e-01 6.67983376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.027628 meters 0.012437311197349138 Centerline is valid? [True, True] Translation: X:86.95, Y:-60.95, Z:0.67 [[-8.86163805e-01 4.63294692e-01 8.46991571e-03 8.69461200e+01] [ 4.63272941e-01 8.86204280e-01 -4.48955425e-03 -6.09471726e+01] [-9.58606220e-03 -5.45977108e-05 -9.99954051e-01 6.66909881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05762800000001 meters 0.012334434387630483 Centerline is valid? [True, True] Translation: X:86.96, Y:-60.93, Z:0.67 [[-9.15391866e-01 4.02490280e-01 7.70105775e-03 8.69649100e+01] [ 4.02475846e-01 9.15424259e-01 -3.40877589e-03 -6.09333132e+01] [-8.42173425e-03 -2.08759925e-05 -9.99964536e-01 6.65759186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08762800000001 meters 0.012396977155338404 Centerline is valid? [True, True] Translation: X:86.98, Y:-60.91, Z:0.67 [[-9.40797185e-01 3.38876892e-01 7.94406717e-03 8.69822338e+01] [ 3.38864791e-01 9.40830724e-01 -2.86378035e-03 -6.09149493e+01] [-8.44449146e-03 -2.27183124e-06 -9.99964345e-01 6.65226706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11762800000001 meters 0.012495175079745024 Centerline is valid? [True, True] Translation: X:87.00, Y:-60.89, Z:0.66 [[-9.61713143e-01 2.73939421e-01 8.06374257e-03 8.69971246e+01] [ 2.73929968e-01 9.61746949e-01 -2.27586068e-03 -6.08949663e+01] [-8.37872777e-03 2.01756124e-05 -9.99964898e-01 6.64803478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14762800000001 meters 0.013259819762003635 Centerline is valid? [True, True] Translation: X:87.01, Y:-60.88, Z:0.67 [[-9.77323414e-01 2.11579033e-01 8.55905688e-03 8.70082247e+01] [ 2.11571633e-01 9.77360889e-01 -1.77134450e-03 -6.08789750e+01] [-8.74006680e-03 7.96771850e-05 -9.99961802e-01 6.65809343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17762800000001 meters 0.014008542588491452 Centerline is valid? [True, True] Translation: X:87.02, Y:-60.86, Z:0.67 [[-9.89348820e-01 1.45281477e-01 9.06667906e-03 8.70241914e+01] [ 1.45276461e-01 9.89390357e-01 -1.21287132e-03 -6.08590976e+01] [-9.14669257e-03 1.17222242e-04 -9.99958161e-01 6.66361288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20762800000001 meters 0.014202026363628998 Centerline is valid? [True, True] Translation: X:87.15, Y:-59.97, Z:-0.17 [[-9.83461422e-01 -1.80891541e-01 9.04883676e-03 8.71488839e+01] [ 1.80882819e-01 -9.83503044e-01 -1.77993114e-03 -5.99701370e+01] [ 9.22153299e-03 -1.13714510e-04 9.99957474e-01 -1.70399825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23762800000002 meters 0.014367805737156411 Centerline is valid? [True, True] Translation: X:86.95, Y:-60.85, Z:0.67 [[-9.89607946e-01 1.43540349e-01 8.50186208e-03 8.69543951e+01] [ 1.43536238e-01 9.89644456e-01 -1.09493331e-03 -6.08540798e+01] [-8.57098778e-03 1.36770594e-04 -9.99963259e-01 6.65000055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26762800000002 meters 0.016099630462842986 Centerline is valid? [True, True] Translation: X:87.08, Y:-59.96, Z:-0.17 [[-9.84375634e-01 -1.75852688e-01 8.96906443e-03 8.70753830e+01] [ 1.75844365e-01 -9.84416487e-01 -1.71450936e-03 -5.99593701e+01] [ 9.13079598e-03 -1.10561799e-04 9.99958307e-01 -1.72412294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29762800000002 meters 0.014361237126787023 Centerline is valid? [True, True] Translation: X:86.88, Y:-60.85, Z:0.67 [[-9.90329550e-01 1.38409957e-01 9.49028656e-03 8.68816547e+01] [ 1.38405072e-01 9.90375010e-01 -1.17276817e-03 -6.08462489e+01] [-9.56126544e-03 1.52076825e-04 -9.99954278e-01 6.65317876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32762800000002 meters 0.015220505044136128 Centerline is valid? [True, True] Translation: X:86.99, Y:-59.95, Z:-0.17 [[-9.85379069e-01 -1.70144953e-01 8.87615216e-03 8.69924855e+01] [ 1.70136438e-01 -9.85419030e-01 -1.71126704e-03 -5.99451030e+01] [ 9.03789270e-03 -1.76089807e-04 9.99959142e-01 -1.70494703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.357628 meters 0.014846452485846177 Centerline is valid? [True, True] Translation: X:86.80, Y:-60.84, Z:0.66 [[-9.90799125e-01 1.35054279e-01 8.79972596e-03 8.68022784e+01] [ 1.35050387e-01 9.90838189e-01 -1.03781659e-03 -6.08379782e+01] [-8.85926610e-03 1.60138623e-04 -9.99960743e-01 6.64891109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.387628 meters 0.015393897520472469 Centerline is valid? [True, True] Translation: X:86.92, Y:-59.94, Z:-0.17 [[-9.86807997e-01 -1.61701327e-01 7.91572865e-03 8.69189956e+01] [ 1.61694535e-01 -9.86839725e-01 -1.49481261e-03 -5.99361062e+01] [ 8.05326866e-03 -1.95162973e-04 9.99967553e-01 -1.69950091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41762800000001 meters 0.016954262475009505 Centerline is valid? [True, True] Translation: X:86.73, Y:-60.83, Z:0.67 [[-9.90756283e-01 1.35470831e-01 7.04565940e-03 8.67262315e+01] [ 1.35468600e-01 9.90781321e-01 -7.95133647e-04 -6.08312455e+01] [-7.08842514e-03 1.66681960e-04 -9.99974863e-01 6.65066654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44762800000001 meters 0.017061595506124325 Centerline is valid? [True, True] Translation: X:86.73, Y:-60.80, Z:0.66 [[-9.97685028e-01 6.76867853e-02 6.56386063e-03 8.67309579e+01] [ 6.76864615e-02 9.97706605e-01 -2.71716310e-04 -6.08032039e+01] [-6.56719871e-03 1.73197205e-04 -9.99978421e-01 6.64465300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47762800000001 meters 0.019564038657714486 Centerline is valid? [True, True] Translation: X:86.79, Y:-59.89, Z:-0.17 [[-9.97121429e-01 -7.55503459e-02 6.40326120e-03 8.67861624e+01] [ 7.55476422e-02 -9.97141973e-01 -6.63422735e-04 -5.98927364e+01] [ 6.43508232e-03 -1.77761740e-04 9.99979279e-01 -1.71332396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50762800000001 meters 0.018985579094142897 Centerline is valid? [True, True] Translation: X:86.64, Y:-60.80, Z:0.66 [[-9.97717881e-01 6.72822264e-02 5.66849342e-03 8.66390469e+01] [ 6.72821658e-02 9.97733967e-01 -2.01607387e-04 -6.08024565e+01] [-5.66921302e-03 1.80241219e-04 -9.99983914e-01 6.62526053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53762800000001 meters 0.020139992726507575 Centerline is valid? [True, True] Translation: X:86.64, Y:-60.78, Z:0.66 [[-9.99990115e-01 1.62587911e-03 4.13851027e-03 8.66424389e+01] [ 1.62649263e-03 9.99998667e-01 1.44884887e-04 -6.07756198e+01] [-4.13826919e-03 1.51614711e-04 -9.99991426e-01 6.60977267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56762800000001 meters 0.021262534667542993 Centerline is valid? [True, True] Translation: X:86.64, Y:-60.75, Z:0.66 [[-9.97707411e-01 -6.76011374e-02 3.16353395e-03 8.66441201e+01] [-6.76004125e-02 9.97712419e-01 3.35633426e-04 -6.07482408e+01] [-3.17898631e-03 1.21007757e-04 -9.99994940e-01 6.60609404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59762800000001 meters 0.021929044078932182 Centerline is valid? [True, True] Translation: X:86.63, Y:-60.72, Z:0.66 [[-9.90472298e-01 -1.37676495e-01 3.13204833e-03 8.66270102e+01] [-1.37675404e-01 9.90477242e-01 5.62536187e-04 -6.07222852e+01] [-3.17967060e-03 1.25970491e-04 -9.99994937e-01 6.60159422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62762800000002 meters 0.02255817556122894 Centerline is valid? [True, True] Translation: X:86.58, Y:-60.70, Z:0.66 [[-9.77870495e-01 -2.09185059e-01 3.30237337e-03 8.65781745e+01] [-2.09183388e-01 9.77876062e-01 8.47312265e-04 -6.07036866e+01] [-3.40655693e-03 1.37760013e-04 -9.99994188e-01 6.60612991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65762800000002 meters 0.022694760970327587 Centerline is valid? [True, True] Translation: X:86.52, Y:-60.69, Z:0.66 [[-9.59411103e-01 -2.81984908e-01 3.85321245e-03 8.65171561e+01] [-2.81981953e-01 9.59418827e-01 1.30100688e-03 -6.06890817e+01] [-4.06370887e-03 1.61664074e-04 -9.99991730e-01 6.62140652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68762800000002 meters 0.02119523943037836 Centerline is valid? [True, True] Translation: X:86.44, Y:-60.68, Z:0.66 [[-9.35161161e-01 -3.54196478e-01 4.29632402e-03 8.64447981e+01] [-3.54191851e-01 9.35171013e-01 1.81938050e-03 -6.06824072e+01] [-4.66221585e-03 1.79691021e-04 -9.99989116e-01 6.62949523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.717628 meters 0.022469663987254366 Centerline is valid? [True, True] Translation: X:86.36, Y:-60.69, Z:0.66 [[-9.05069607e-01 -4.25238165e-01 4.63785813e-03 8.63641617e+01] [-4.25231488e-01 9.05081469e-01 2.39072848e-03 -6.06899114e+01] [-5.21426844e-03 1.91612378e-04 -9.99986387e-01 6.64189102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.747628 meters 0.01959177222425285 Centerline is valid? [True, True] Translation: X:86.27, Y:-60.70, Z:0.67 [[-8.67709048e-01 -4.97042964e-01 5.41290951e-03 8.62720715e+01] [-4.97031838e-01 8.67725908e-01 3.33171057e-03 -6.07011658e+01] [-6.35292512e-03 2.00567042e-04 -9.99979800e-01 6.65370835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.777628 meters 0.019017588712712717 Centerline is valid? [True, True] Translation: X:86.18, Y:-60.73, Z:0.67 [[-8.25777956e-01 -5.63966883e-01 5.66770205e-03 8.61780816e+01] [-5.63951922e-01 8.25797381e-01 4.11270999e-03 -6.07268991e+01] [-6.99980574e-03 1.99873786e-04 -9.99975481e-01 6.66324310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80762800000001 meters 0.018830009433981443 Centerline is valid? [True, True] Translation: X:86.08, Y:-60.76, Z:0.67 [[-7.78622972e-01 -6.27466209e-01 5.69425237e-03 8.60825324e+01] [-6.27447616e-01 7.78643770e-01 4.83414697e-03 -6.07636975e+01] [-7.46705800e-03 1.91132808e-04 -9.99972103e-01 6.67215275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83762800000001 meters 0.016599529244013193 Centerline is valid? [True, True] Translation: X:85.99, Y:-60.80, Z:0.67 [[-7.24930174e-01 -6.88801367e-01 5.37765348e-03 8.59870328e+01] [-6.88780815e-01 7.24950104e-01 5.32313219e-03 -6.08049062e+01] [-7.56511118e-03 1.54874598e-04 -9.99971372e-01 6.67301644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86762800000001 meters 0.01610307561222768 Centerline is valid? [True, True] Translation: X:85.89, Y:-60.86, Z:0.67 [[-6.68762210e-01 -7.43460766e-01 4.81618950e-03 8.58927683e+01] [-7.43439995e-01 6.68779538e-01 5.55911357e-03 -6.08625848e+01] [-7.35395182e-03 1.37177179e-04 -9.99972950e-01 6.67601944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89762800000001 meters 0.015858754350568494 Centerline is valid? [True, True] Translation: X:85.80, Y:-60.93, Z:0.67 [[-6.09073795e-01 -7.93103401e-01 4.01350335e-03 8.58036387e+01] [-7.93084879e-01 6.09087006e-01 5.42158615e-03 -6.09274464e+01] [-6.74445116e-03 1.19097229e-04 -9.99977249e-01 6.67552466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92762800000001 meters 0.015667615557798706 Centerline is valid? [True, True] Translation: X:85.72, Y:-61.01, Z:0.67 [[-5.45901944e-01 -8.37841480e-01 3.56671766e-03 8.57163701e+01] [-8.37822197e-01 5.45913584e-01 5.68554009e-03 -6.10052695e+01] [-6.71070094e-03 1.15472166e-04 -9.99977476e-01 6.67525793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95762800000001 meters 0.01620243679008521 Centerline is valid? [True, True] Translation: X:85.64, Y:-61.09, Z:0.67 [[-4.79852819e-01 -8.77344092e-01 2.93540416e-03 8.56368541e+01] [-8.77326262e-01 4.79861785e-01 5.59441082e-03 -6.10919274e+01] [-6.31681156e-03 1.09186643e-04 -9.99980043e-01 6.67111403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98762800000002 meters 0.014570059162803321 Centerline is valid? [True, True] Translation: X:85.56, Y:-61.18, Z:0.67 [[-4.11026442e-01 -9.11620243e-01 2.40752294e-03 8.55604093e+01] [-9.11603042e-01 4.11033479e-01 5.60111948e-03 -6.11811604e+01] [-6.09566643e-03 1.07502974e-04 -9.99981415e-01 6.66311432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01762800000002 meters 0.015526960156862694 Centerline is valid? [True, True] Translation: X:85.50, Y:-61.28, Z:0.67 [[-3.39535243e-01 -9.40591186e-01 2.00998629e-03 8.54955545e+01] [-9.40572710e-01 3.39541174e-01 5.89637973e-03 -6.12778521e+01] [-6.22855591e-03 1.11490470e-04 -9.99980596e-01 6.67035450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04762800000002 meters 0.014735359746705113 Centerline is valid? [True, True] Translation: X:85.43, Y:-61.38, Z:0.67 [[-2.65617522e-01 -9.64077329e-01 1.49504613e-03 8.54344114e+01] [-9.64059709e-01 2.65621708e-01 5.82974793e-03 -6.13831346e+01] [-6.01744452e-03 1.07169460e-04 -9.99981889e-01 6.66113805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07762800000002 meters 0.017641100171470064 Centerline is valid? [True, True] Translation: X:85.39, Y:-61.50, Z:0.67 [[-1.89920452e-01 -9.81798983e-01 9.89820485e-04 8.53878403e+01] [-9.81782748e-01 1.89923005e-01 5.64688336e-03 -6.14958574e+01] [-5.73209402e-03 1.00669964e-04 -9.99983566e-01 6.67593702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.107628 meters 0.01649765021868503 Centerline is valid? [True, True] Translation: X:85.34, Y:-61.61, Z:0.67 [[-1.12495977e-01 -9.93652017e-01 5.69194737e-04 8.53430136e+01] [-9.93634363e-01 1.12497372e-01 5.92397161e-03 -6.16115356e+01] [-5.95039925e-03 1.00851525e-04 -9.99982291e-01 6.67038255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.137628 meters 0.01449967752501982 Centerline is valid? [True, True] Translation: X:85.31, Y:-61.73, Z:0.67 [[-3.43316579e-02 -9.99410489e-01 1.08797030e-04 8.53052214e+01] [-9.99392399e-01 3.43316912e-02 6.01404067e-03 -6.17315072e+01] [-6.01423051e-03 9.77410615e-05 -9.99981910e-01 6.65880373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16762800000001 meters 0.013817585448135937 Centerline is valid? [True, True] Translation: X:84.43, Y:-61.84, Z:-0.17 [[-6.81096465e-02 9.97677712e-01 5.09108992e-04 8.44341876e+01] [-9.97658944e-01 -6.81114884e-02 6.12025181e-03 -6.18381634e+01] [ 6.14071499e-03 -9.10689523e-05 9.99981141e-01 -1.71293999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19762800000001 meters 0.013717752022318343 Centerline is valid? [True, True] Translation: X:85.30, Y:-62.04, Z:0.67 [[-2.01723968e-02 -9.99796515e-01 4.76635837e-05 8.52964391e+01] [-9.99776496e-01 2.01722946e-02 6.32741992e-03 -6.20412546e+01] [-6.32709387e-03 7.99862948e-05 -9.99979981e-01 6.66095156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22762800000001 meters 0.013241778593686302 Centerline is valid? [True, True] Translation: X:85.27, Y:-62.16, Z:0.67 [[ 5.90565485e-02 -9.98254533e-01 -4.59541774e-04 8.52714264e+01] [-9.98233167e-01 -5.90582913e-02 6.53159899e-03 -6.21622873e+01] [-6.54733805e-03 7.29961482e-05 -9.99978563e-01 6.66521072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25762800000001 meters 0.013353494364581359 Centerline is valid? [True, True] Translation: X:85.26, Y:-62.28, Z:0.67 [[ 1.37548764e-01 -9.90494411e-01 -1.07688131e-03 8.52571140e+01] [-9.90468032e-01 -1.37552961e-01 7.22914408e-03 -6.22821559e+01] [-7.30855502e-03 7.22566811e-05 -9.99973290e-01 6.67791540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28762800000001 meters 0.012990873514563989 Centerline is valid? [True, True] Translation: X:85.25, Y:-62.41, Z:0.67 [[ 2.15995398e-01 -9.76392250e-01 -2.04032724e-03 8.52545251e+01] [-9.76351859e-01 -2.16005022e-01 8.88135508e-03 -6.24100967e+01] [-9.11240720e-03 7.37454655e-05 -9.99958478e-01 6.69149456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31762800000001 meters 0.012952141165758775 Centerline is valid? [True, True] Translation: X:85.26, Y:-62.53, Z:0.67 [[ 2.91457187e-01 -9.56578849e-01 -3.10049673e-03 8.52592379e+01] [-9.56527642e-01 -2.91473667e-01 9.89804895e-03 -6.25290655e+01] [-1.03719774e-02 8.08533244e-05 -9.99946206e-01 6.69439508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34762800000001 meters 0.012967152002854487 Centerline is valid? [True, True] Translation: X:85.28, Y:-62.65, Z:0.67 [[ 3.65287517e-01 -9.30885055e-01 -4.24787563e-03 8.52767485e+01] [-9.30824756e-01 -3.65312206e-01 1.05955715e-02 -6.26521782e+01] [-1.14150600e-02 8.35977902e-05 -9.99934843e-01 6.70060030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37762800000002 meters 0.013011780214495757 Centerline is valid? [True, True] Translation: X:85.30, Y:-62.77, Z:0.67 [[ 4.36386417e-01 -8.99745626e-01 -4.97022193e-03 8.53001397e+01] [-8.99689358e-01 -4.36414713e-01 1.00626453e-02 -6.27683931e+01] [-1.12228991e-02 8.04540343e-05 -9.99937018e-01 6.69761397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40762800000002 meters 0.012939092556251268 Centerline is valid? [True, True] Translation: X:85.33, Y:-62.88, Z:0.67 [[ 5.04802046e-01 -8.63219665e-01 -5.16764473e-03 8.53325068e+01] [-8.63175845e-01 -5.04828491e-01 8.69802105e-03 -6.28826671e+01] [-1.01170771e-02 6.98072830e-05 -9.99948819e-01 6.69129586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43762800000002 meters 0.012976896800960747 Centerline is valid? [True, True] Translation: X:85.37, Y:-62.99, Z:0.67 [[ 5.69969338e-01 -8.21647918e-01 -5.44534811e-03 8.53734761e+01] [-8.21611500e-01 -5.69995346e-01 7.73615772e-03 -6.29932382e+01] [-9.46022096e-03 6.45879345e-05 -9.99955249e-01 6.67901343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.467628 meters 0.012936666768617355 Centerline is valid? [True, True] Translation: X:85.42, Y:-63.10, Z:0.67 [[ 6.31476098e-01 -7.75377690e-01 -5.23214858e-03 8.54238230e+01] [-7.75351814e-01 -6.31497770e-01 6.33485373e-03 -6.31013203e+01] [-8.21599442e-03 5.64471796e-05 -9.99966247e-01 6.66703220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.497628 meters 0.012681075120722573 Centerline is valid? [True, True] Translation: X:85.47, Y:-63.19, Z:0.66 [[ 6.89331159e-01 -7.24431599e-01 -4.62736499e-03 8.54722632e+01] [-7.24415701e-01 -6.89346689e-01 4.79952278e-03 -6.31930331e+01] [-6.66678469e-03 4.36752570e-05 -9.99977776e-01 6.63871513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.527628 meters 0.012711729491134069 Centerline is valid? [True, True] Translation: X:85.55, Y:-63.30, Z:0.66 [[ 7.43665286e-01 -6.68537989e-01 -4.34738147e-03 8.55460837e+01] [-6.68526803e-01 -7.43677992e-01 3.86748127e-03 -6.33016828e+01] [-5.81861007e-03 3.02294693e-05 -9.99983071e-01 6.63962673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55762800000001 meters 0.012397456851100306 Centerline is valid? [True, True] Translation: X:85.54, Y:-63.31, Z:0.66 [[ 7.95752648e-01 -6.05607000e-01 -4.22898741e-03 8.55397784e+01] [-6.05598497e-01 -7.95763886e-01 3.20913003e-03 -6.33087260e+01] [-5.30874707e-03 7.39469961e-06 -9.99985908e-01 6.63398261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58762800000001 meters 0.012334414957868044 Centerline is valid? [True, True] Translation: X:85.53, Y:-63.31, Z:0.66 [[ 8.41649980e-01 -5.40005365e-01 -4.41782075e-03 8.55321222e+01] [-5.39997910e-01 -8.41661574e-01 2.83751383e-03 -6.33140287e+01] [-5.25058266e-03 -2.57949363e-06 -9.99986216e-01 6.63741941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61762800000001 meters 0.012334414957868044 Centerline is valid? [True, True] Translation: X:85.53, Y:-63.32, Z:0.66 [[ 8.81288201e-01 -4.72556567e-01 -4.62574700e-03 8.55255616e+01] [-4.72550043e-01 -8.81300341e-01 2.48323704e-03 -6.33157293e+01] [-5.25014238e-03 -2.55056417e-06 -9.99986218e-01 6.63737413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64762800000001 meters 0.01233779332007385 Centerline is valid? [True, True] Translation: X:85.52, Y:-63.32, Z:0.66 [[ 9.15991423e-01 -4.01167466e-01 -4.93726643e-03 8.55179196e+01] [-4.01161588e-01 -9.16004729e-01 2.17159305e-03 -6.33211517e+01] [-5.39373188e-03 -8.51896652e-06 -9.99985454e-01 6.63290513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67762800000001 meters 0.012259974684537553 Centerline is valid? [True, True] Translation: X:85.51, Y:-63.33, Z:0.66 [[ 9.44425410e-01 -3.28690008e-01 -4.85005766e-03 8.55106023e+01] [-3.28685637e-01 -9.44437864e-01 1.69502387e-03 -6.33286149e+01] [-5.13771550e-03 -6.67931983e-06 -9.99986802e-01 6.63181694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70762800000001 meters 0.012365895777792145 Centerline is valid? [True, True] Translation: X:85.50, Y:-63.33, Z:0.66 [[ 9.66866783e-01 -2.55241078e-01 -4.54049339e-03 8.55038768e+01] [-2.55238262e-01 -9.66877444e-01 1.19893858e-03 -6.33337906e+01] [-4.69611902e-03 -3.06245344e-07 -9.99988973e-01 6.62984812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73762800000002 meters 0.012474666011966916 Centerline is valid? [True, True] Translation: X:85.50, Y:-63.34, Z:0.66 [[ 9.83396638e-01 -1.81413979e-01 -4.47440705e-03 8.54950259e+01] [-1.81412156e-01 -9.83406817e-01 8.13497702e-04 -6.33386148e+01] [-4.54774225e-03 1.17209220e-05 -9.99989659e-01 6.62503043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76762800000002 meters 0.013227848787197466 Centerline is valid? [True, True] Translation: X:85.49, Y:-63.34, Z:0.66 [[ 9.93800729e-01 -1.11115420e-01 -3.67085051e-03 8.54862673e+01] [-1.11114789e-01 -9.93807508e-01 3.75890836e-04 -6.33440823e+01] [-3.68988606e-03 3.43251945e-05 -9.99993192e-01 6.61922883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79762800000002 meters 0.014364489210849747 Centerline is valid? [True, True] Translation: X:85.48, Y:-63.35, Z:0.66 [[ 9.99289604e-01 -3.75546285e-02 -3.15233370e-03 8.54765653e+01] [-3.75545744e-02 -9.99294575e-01 7.63825941e-05 -6.33491609e+01] [-3.15297848e-03 4.20562179e-05 -9.99995028e-01 6.61911158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82762800000002 meters 0.014861901050991931 Centerline is valid? [True, True] Translation: X:85.47, Y:-63.36, Z:0.66 [[ 9.99346954e-01 3.59493013e-02 -3.64884745e-03 8.54683654e+01] [ 3.59488127e-02 -9.99353613e-01 -1.99420902e-04 -6.33584567e+01] [-3.65365792e-03 6.81189374e-05 -9.99993323e-01 6.61411672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.857628 meters 0.01630760568018333 Centerline is valid? [True, True] Translation: X:85.46, Y:-63.37, Z:0.66 [[ 9.94043480e-01 1.08895005e-01 -4.40874309e-03 8.54591672e+01] [ 1.08893449e-01 -9.94053251e-01 -5.92141746e-04 -6.33663215e+01] [-4.44700668e-03 1.08531400e-04 -9.99990106e-01 6.62174348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.887628 meters 0.019864010580119034 Centerline is valid? [True, True] Translation: X:85.45, Y:-63.37, Z:0.66 [[ 9.84304512e-01 1.76405589e-01 -5.06904045e-03 8.54504721e+01] [ 1.76402301e-01 -9.84317548e-01 -1.09209328e-03 -6.33730038e+01] [-5.18219682e-03 1.80761948e-04 -9.99986556e-01 6.63563124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91762800000001 meters 0.020129717901176902 Centerline is valid? [True, True] Translation: X:85.44, Y:-63.39, Z:0.66 [[ 9.68623852e-01 2.48478375e-01 -5.13140954e-03 8.54445815e+01] [ 2.48473724e-01 -9.68637420e-01 -1.53493728e-03 -6.33858878e+01] [-5.35187402e-03 2.11756425e-04 -9.99985656e-01 6.63637929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94762800000001 meters 0.021775328734079946 Centerline is valid? [True, True] Translation: X:85.44, Y:-63.40, Z:0.66 [[ 9.47716572e-01 3.19071364e-01 -5.17346938e-03 8.54387292e+01] [ 3.19065181e-01 -9.47730660e-01 -2.00152666e-03 -6.33969487e+01] [-5.54168539e-03 2.46206038e-04 -9.99984614e-01 6.63818408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97762800000001 meters 0.02294650381688089 Centerline is valid? [True, True] Translation: X:85.43, Y:-63.41, Z:0.66 [[ 9.21546425e-01 3.88239575e-01 -4.71369534e-03 8.54336251e+01] [ 3.88233070e-01 -9.21558445e-01 -2.26169379e-03 -6.34092521e+01] [-5.22202478e-03 2.54243413e-04 -9.99986333e-01 6.63740687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00762800000001 meters 0.023786809254851743 Centerline is valid? [True, True] Translation: X:85.43, Y:-63.43, Z:0.66 [[ 8.91431551e-01 4.53136029e-01 -4.18686356e-03 8.54312906e+01] [ 4.53129601e-01 -8.91441343e-01 -2.42844788e-03 -6.34250089e+01] [-4.83276051e-03 2.67603245e-04 -9.99988286e-01 6.63290254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03762800000001 meters 0.027678274214912705 Centerline is valid? [True, True] Translation: X:85.43, Y:-63.44, Z:0.66 [[ 8.54347315e-01 5.19688883e-01 -3.75914531e-03 8.54261969e+01] [ 5.19682480e-01 -8.54355545e-01 -2.59286779e-03 -6.34363364e+01] [-4.55913120e-03 2.61647679e-04 -9.99989573e-01 6.63333537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06762800000001 meters 0.02558428695414537 Centerline is valid? [True, True] Translation: X:85.43, Y:-63.45, Z:0.66 [[ 8.11926329e-01 5.83749281e-01 -3.52326855e-03 8.54278803e+01] [ 5.83742326e-01 -8.11933929e-01 -2.86190430e-03 -6.34544399e+01] [-4.53129586e-03 2.66974471e-04 -9.99989698e-01 6.63382356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09762800000001 meters 0.026049159108556392 Centerline is valid? [True, True] Translation: X:85.43, Y:-63.47, Z:0.66 [[ 7.63877102e-01 6.45351478e-01 -3.63905973e-03 8.54287673e+01] [ 6.45342248e-01 -7.63885712e-01 -3.46440252e-03 -6.34697452e+01] [-5.01558302e-03 2.97938767e-04 -9.99987378e-01 6.63724644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12762800000002 meters 0.026253896321288064 Centerline is valid? [True, True] Translation: X:85.43, Y:-63.49, Z:0.67 [[ 7.08962481e-01 7.05235872e-01 -3.81646101e-03 8.54321917e+01] [ 7.05223122e-01 -7.08972679e-01 -4.25297228e-03 -6.34872169e+01] [-5.70511520e-03 3.23741227e-04 -9.99983673e-01 6.65224392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15762800000002 meters 0.024551777856787933 Centerline is valid? [True, True] Translation: X:85.44, Y:-63.50, Z:0.67 [[ 6.49463851e-01 7.60383391e-01 -3.71552394e-03 8.54383145e+01] [ 7.60367939e-01 -6.49474395e-01 -4.85880316e-03 -6.35042757e+01] [-6.10769089e-03 3.30451726e-04 -9.99981293e-01 6.65436193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18762800000002 meters 0.023655467696161912 Centerline is valid? [True, True] Translation: X:85.45, Y:-63.52, Z:0.67 [[ 5.85159628e-01 8.10908683e-01 -3.91373972e-03 8.54466075e+01] [ 8.10886196e-01 -5.85172601e-01 -6.05015804e-03 -6.35208713e+01] [-7.19633894e-03 3.66710716e-04 -9.99974039e-01 6.67230842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21762800000002 meters 0.021956191630236647 Centerline is valid? [True, True] Translation: X:85.45, Y:-63.54, Z:0.67 [[ 5.15996024e-01 8.56585098e-01 -3.17369025e-03 8.54548494e+01] [ 8.56565065e-01 -5.16005692e-01 -5.86646928e-03 -6.35361148e+01] [-6.66277240e-03 3.08602625e-04 -9.99977756e-01 6.65883174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.247628 meters 0.02154288517756594 Centerline is valid? [True, True] Translation: X:85.47, Y:-63.55, Z:0.67 [[ 4.39687969e-01 8.98144918e-01 -3.19320119e-03 8.54684535e+01] [ 8.98116079e-01 -4.39699462e-01 -7.20357813e-03 -6.35517257e+01] [-7.87390594e-03 2.99461305e-04 -9.99968955e-01 6.69277997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.277628 meters 0.020765818693358584 Centerline is valid? [True, True] Translation: X:85.48, Y:-63.56, Z:0.67 [[ 3.63799216e-01 9.31474631e-01 -2.26766304e-03 8.54750576e+01] [ 9.31452464e-01 -3.63806213e-01 -6.43008617e-03 -6.35641757e+01] [-6.81445204e-03 2.27039983e-04 -9.99976756e-01 6.68598008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30762800000001 meters 0.01780839413650171 Centerline is valid? [True, True] Translation: X:85.49, Y:-63.58, Z:0.67 [[ 2.85660627e-01 9.58329296e-01 -1.72209384e-03 8.54896492e+01] [ 9.58307563e-01 -2.85665752e-01 -6.45701944e-03 -6.35770324e+01] [-6.67989413e-03 1.94220676e-04 -9.99977670e-01 6.68528712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33762800000001 meters 0.016104725520899532 Centerline is valid? [True, True] Translation: X:85.50, Y:-63.59, Z:0.67 [[ 2.05458857e-01 9.78665185e-01 -1.05549677e-03 8.55004514e+01] [ 9.78648471e-01 -2.05461519e-01 -5.72146305e-03 -6.35881477e+01] [-5.81626067e-03 1.42564957e-04 -9.99983075e-01 6.67255799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36762800000001 meters 0.013832983343959595 Centerline is valid? [True, True] Translation: X:85.52, Y:-63.60, Z:0.67 [[ 1.19894475e-01 9.92786490e-01 -5.47402320e-04 8.55176578e+01] [ 9.92772696e-01 -1.19895695e-01 -5.23408054e-03 -6.35972754e+01] [-5.26195563e-03 8.40912611e-05 -9.99986152e-01 6.67208142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39762800000001 meters 0.01371288691411595 Centerline is valid? [True, True] Translation: X:85.53, Y:-63.61, Z:0.67 [[ 3.79216098e-02 9.99280709e-01 -1.28988525e-04 8.55279243e+01] [ 9.99268267e-01 -3.79217813e-02 -4.98698748e-03 -6.36054246e+01] [-4.98829186e-03 6.02204533e-05 -9.99987557e-01 6.67051140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42762800000001 meters 0.012650751894767083 Centerline is valid? [True, True] Translation: X:85.54, Y:-63.61, Z:0.67 [[-4.39826985e-02 9.99032263e-01 2.44803352e-04 8.55405362e+01] [ 9.99021384e-01 4.39833621e-02 -4.66252314e-03 -6.36110848e+01] [-4.66877832e-03 3.94934340e-05 -9.99989100e-01 6.66097618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45762800000001 meters 0.012094346040969333 Centerline is valid? [True, True] Translation: X:85.55, Y:-63.62, Z:0.67 [[-1.28433773e-01 9.91717919e-01 5.79739278e-04 8.55539993e+01] [ 9.91708121e-01 1.28435081e-01 -4.40829017e-03 -6.36171508e+01] [-4.44623921e-03 8.75881203e-06 -9.99990115e-01 6.65542039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48762800000002 meters 0.011949298299904397 Centerline is valid? [True, True] Translation: X:85.56, Y:-63.62, Z:0.67 [[-2.08439439e-01 9.78034910e-01 8.45737737e-04 8.55617209e+01] [ 9.78026778e-01 2.08441155e-01 -3.98822777e-03 -6.36221784e+01] [-4.07691254e-03 -4.14980615e-06 -9.99991689e-01 6.65767742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51762800000002 meters 0.011832101274446312 Centerline is valid? [True, True] Translation: X:85.58, Y:-63.62, Z:0.67 [[-2.86770053e-01 9.57998747e-01 1.15620422e-03 8.55755266e+01] [ 9.57990761e-01 2.86772383e-01 -3.91177397e-03 -6.36244355e+01] [-4.07904200e-03 -1.41466701e-05 -9.99991681e-01 6.65408342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54762800000002 meters 0.011871782716521779 Centerline is valid? [True, True] Translation: X:85.59, Y:-63.63, Z:0.67 [[-3.62773033e-01 9.31876416e-01 1.43977390e-03 8.55879573e+01] [ 9.31868835e-01 3.62775889e-01 -3.75890092e-03 -6.36254603e+01] [-4.02514637e-03 -2.19474596e-05 -9.99991899e-01 6.65762022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57762800000002 meters 0.011991120099139465 Centerline is valid? [True, True] Translation: X:85.60, Y:-63.63, Z:0.67 [[-4.37040918e-01 8.99439891e-01 1.76601465e-03 8.56003066e+01] [ 8.99432242e-01 4.37044485e-01 -3.70960636e-03 -6.36261886e+01] [-4.10839490e-03 -3.28392509e-05 -9.99991560e-01 6.66636343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.607628 meters 0.012113813531554668 Centerline is valid? [True, True] Translation: X:85.61, Y:-63.63, Z:0.67 [[-5.06924790e-01 8.61987671e-01 2.12427679e-03 8.56106477e+01] [ 8.61979792e-01 5.06929240e-01 -3.68571880e-03 -6.36265136e+01] [-4.25390218e-03 -3.72985703e-05 -9.99990951e-01 6.66660671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.637628 meters 0.0121030374843486 Centerline is valid? [True, True] Translation: X:85.62, Y:-63.63, Z:0.67 [[-5.73110831e-01 8.19473975e-01 2.52573577e-03 8.56214982e+01] [ 8.19465708e-01 5.73116395e-01 -3.68125826e-03 -6.36253509e+01] [-4.46423592e-03 -4.00151330e-05 -9.99990034e-01 6.66984895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66762800000001 meters 0.012045827385274873 Centerline is valid? [True, True] Translation: X:85.63, Y:-63.62, Z:0.67 [[-6.35273046e-01 7.72281909e-01 2.96806230e-03 8.56318639e+01] [ 7.72273183e-01 6.35279979e-01 -3.67143458e-03 -6.36245512e+01] [-4.72093306e-03 -4.02085077e-05 -9.99988856e-01 6.67228089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69762800000001 meters 0.011988933034869162 Centerline is valid? [True, True] Translation: X:85.64, Y:-63.63, Z:0.67 [[-6.92511601e-01 7.21396246e-01 3.89087668e-03 8.56392287e+01] [ 7.21384568e-01 6.92522531e-01 -4.10487129e-03 -6.36251874e+01] [-5.65575850e-03 -3.58525964e-05 -9.99984005e-01 6.68073014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72762800000001 meters 0.011976698939127856 Centerline is valid? [True, True] Translation: X:85.65, Y:-63.62, Z:0.67 [[-7.45871713e-01 6.66074278e-01 4.52152750e-03 8.56466211e+01] [ 6.66061806e-01 7.45885417e-01 -4.07616680e-03 -6.36245418e+01] [-6.08757128e-03 -2.86807473e-05 -9.99981470e-01 6.68248613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75762800000001 meters 0.011891943586113875 Centerline is valid? [True, True] Translation: X:85.67, Y:-63.61, Z:0.67 [[-7.89955510e-01 6.13142888e-01 5.10796771e-03 8.56669683e+01] [ 6.13129936e-01 7.89972024e-01 -3.98539088e-03 -6.36093186e+01] [-6.47876566e-03 -1.64335679e-05 -9.99979012e-01 6.68814878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78762800000001 meters 0.012086354404354674 Centerline is valid? [True, True] Translation: X:85.69, Y:-63.60, Z:0.67 [[-8.28242828e-01 5.60340565e-01 5.68060506e-03 8.56854590e+01] [ 5.60327561e-01 8.28262308e-01 -3.81756466e-03 -6.35969858e+01] [-6.84416740e-03 2.11290283e-05 -9.99976578e-01 6.69480898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81762800000001 meters 0.012522236971487013 Centerline is valid? [True, True] Translation: X:85.70, Y:-63.58, Z:0.67 [[-8.64168127e-01 5.03162116e-01 6.42907048e-03 8.57023300e+01] [ 5.03148607e-01 8.64192040e-01 -3.68733426e-03 -6.35800852e+01] [-7.41127845e-03 4.83011129e-05 -9.99972535e-01 6.69967568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84762800000001 meters 0.012849593281305713 Centerline is valid? [True, True] Translation: X:85.72, Y:-63.56, Z:0.67 [[-8.96182000e-01 4.43633154e-01 6.88829680e-03 8.57237949e+01] [ 4.43620692e-01 8.96208469e-01 -3.32601128e-03 -6.35645444e+01] [-7.64887880e-03 7.50795539e-05 -9.99970744e-01 6.69574736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87762800000002 meters 0.013487024436375733 Centerline is valid? [True, True] Translation: X:85.74, Y:-63.55, Z:0.67 [[-9.23883038e-01 3.82614269e-01 6.81563621e-03 8.57387829e+01] [ 3.82604652e-01 9.23908173e-01 -2.71457207e-03 -6.35457694e+01] [-7.33565601e-03 9.97470273e-05 -9.99973089e-01 6.69495958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90762800000002 meters 0.017216916654805476 Centerline is valid? [True, True] Translation: X:85.76, Y:-63.53, Z:0.67 [[-9.46231250e-01 3.23422705e-01 6.64640467e-03 8.57558556e+01] [ 3.23415820e-01 9.46254581e-01 -2.11544852e-03 -6.35314375e+01] [-6.97337495e-03 1.47848918e-04 -9.99975675e-01 6.71475601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93762800000002 meters 0.015944417053867035 Centerline is valid? [True, True] Translation: X:85.76, Y:-63.51, Z:0.67 [[-9.65965237e-01 2.58614083e-01 5.46962832e-03 8.57629355e+01] [ 2.58610728e-01 9.65980713e-01 -1.32416149e-03 -6.35092423e+01] [-5.62600228e-03 1.35410594e-04 -9.99984165e-01 6.68513833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96762800000002 meters 0.01694257536113094 Centerline is valid? [True, True] Translation: X:85.78, Y:-63.49, Z:0.67 [[-9.81136142e-01 1.93242119e-01 5.41792552e-03 8.57806772e+01] [ 1.93240034e-01 9.81151089e-01 -9.10756468e-04 -6.34887398e+01] [-5.49180003e-03 1.53384023e-04 -9.99984908e-01 6.68579505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.997628 meters 0.018434187032333606 Centerline is valid? [True, True] Translation: X:85.94, Y:-62.64, Z:-0.17 [[-9.80233500e-01 -1.97777852e-01 5.11919634e-03 8.59350431e+01] [ 1.97774296e-01 -9.80246854e-01 -1.19681925e-03 -6.26389669e+01] [ 5.25478045e-03 -1.60716876e-04 9.99986181e-01 -1.74981493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02762800000002 meters 0.020941118728648803 Centerline is valid? [True, True] Translation: X:85.72, Y:-63.49, Z:0.67 [[-9.79936336e-01 1.99226034e-01 5.81079843e-03 8.57204733e+01] [ 1.99223909e-01 9.79953537e-01 -9.48244437e-04 -6.34893723e+01] [-5.88322745e-03 2.28430797e-04 -9.99982668e-01 6.70133620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05762800000002 meters 0.021241324870088698 Centerline is valid? [True, True] Translation: X:85.87, Y:-62.62, Z:-0.17 [[-9.82900488e-01 -1.84093521e-01 4.02572485e-03 8.58733655e+01] [ 1.84090861e-01 -9.82908696e-01 -1.02486810e-03 -6.26189853e+01] [ 4.14559154e-03 -2.66244199e-04 9.99991372e-01 -1.74377605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08762800000002 meters 0.020462087519536456 Centerline is valid? [True, True] Translation: X:85.66, Y:-63.48, Z:0.67 [[-9.80056360e-01 1.98677950e-01 4.07462264e-03 8.56578117e+01] [ 1.98676971e-01 9.80064815e-01 -6.47923294e-04 -6.34848795e+01] [-4.12212235e-03 1.74532337e-04 -9.99991489e-01 6.66835938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11762800000002 meters 0.020737800479423595 Centerline is valid? [True, True] Translation: X:85.81, Y:-62.61, Z:-0.17 [[-9.84286933e-01 -1.76542217e-01 3.47554768e-03 8.58069121e+01] [ 1.76540450e-01 -9.84293052e-01 -8.11324442e-04 -6.26059053e+01] [ 3.56419045e-03 -1.85001297e-04 9.99993631e-01 -1.72587128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14762800000003 meters 0.022861360600894894 Centerline is valid? [True, True] Translation: X:85.59, Y:-63.48, Z:0.67 [[-9.80606480e-01 1.95966680e-01 2.82706202e-03 8.55902437e+01] [ 1.95966228e-01 9.80610547e-01 -4.38459206e-04 -6.34811100e+01] [-2.85817023e-03 1.24052743e-04 -9.99995908e-01 6.65373983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.177628 meters 0.0205405604505558 Centerline is valid? [True, True] Translation: X:85.74, Y:-62.59, Z:-0.17 [[-9.85157785e-01 -1.71631803e-01 2.58119265e-03 8.57359776e+01] [ 1.71630871e-01 -9.85161158e-01 -5.79661325e-04 -6.25934077e+01] [ 2.64237906e-03 -1.28045524e-04 9.99996501e-01 -1.72147082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.207628 meters 0.02203109394468539 Centerline is valid? [True, True] Translation: X:85.52, Y:-63.47, Z:0.67 [[-9.81825028e-01 1.89765935e-01 2.91612271e-03 8.55191834e+01] [ 1.89765469e-01 9.81829351e-01 -4.38097418e-04 -6.34697950e+01] [-2.94627083e-03 1.23244384e-04 -9.99995652e-01 6.65920836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.237628 meters 0.020206735508865592 Centerline is valid? [True, True] Translation: X:85.53, Y:-63.44, Z:0.67 [[-9.92982560e-01 1.18224396e-01 2.93728587e-03 8.55320453e+01] [ 1.18224234e-01 9.92986897e-01 -2.29508229e-04 -6.34402674e+01] [-2.94381985e-03 1.19360703e-04 -9.99995660e-01 6.65826465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.267628 meters 0.018827085247458953 Centerline is valid? [True, True] Translation: X:85.53, Y:-63.41, Z:0.67 [[-9.99067438e-01 4.30828232e-02 2.85041707e-03 8.55319390e+01] [ 4.30829422e-02 9.99071499e-01 -1.96563361e-05 -6.34092545e+01] [-2.84861730e-03 1.03166348e-04 -9.99995937e-01 6.65748376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.297628 meters 0.018213286680876867 Centerline is valid? [True, True] Translation: X:85.54, Y:-62.52, Z:-0.17 [[-9.99385251e-01 -3.49526337e-02 2.72626460e-03 8.55409204e+01] [ 3.49522123e-02 -9.99388964e-01 -2.02049082e-04 -6.25197742e+01] [ 2.73166091e-03 -1.06635893e-04 9.99996263e-01 -1.72357060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.327628 meters 0.01761648198391239 Centerline is valid? [True, True] Translation: X:85.42, Y:-63.41, Z:0.67 [[-9.99507228e-01 3.11928943e-02 3.50771590e-03 8.54210511e+01] [ 3.11930841e-02 9.99513377e-01 -5.90224973e-07 -6.34052220e+01] [-3.50602738e-03 1.08826543e-04 -9.99993848e-01 6.65641090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.357628 meters 0.016826730500707314 Centerline is valid? [True, True] Translation: X:85.43, Y:-62.52, Z:-0.17 [[-9.99389594e-01 -3.47443939e-02 3.64229213e-03 8.54341096e+01] [ 3.47437848e-02 -9.99396226e-01 -2.30395362e-04 -6.25212551e+01] [ 3.64809795e-03 -1.03707714e-04 9.99993340e-01 -1.72274412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.387628 meters 0.014674098736633246 Centerline is valid? [True, True] Translation: X:85.32, Y:-63.40, Z:0.67 [[-9.99861687e-01 1.59183383e-02 4.81805294e-03 8.53213608e+01] [ 1.59186789e-02 9.99873289e-01 3.23492594e-05 -6.33965578e+01] [-4.81692749e-03 1.09041823e-04 -9.99988393e-01 6.66631898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.417628 meters 0.014479332271562935 Centerline is valid? [True, True] Translation: X:85.32, Y:-63.37, Z:0.67 [[-9.98277137e-01 -5.84580345e-02 5.04143896e-03 8.53204339e+01] [-5.84567862e-02 9.98289862e-01 3.94731497e-04 -6.33674321e+01] [-5.05589263e-03 9.93451089e-05 -9.99987214e-01 6.67771867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.447628 meters 0.013964501555323859 Centerline is valid? [True, True] Translation: X:85.31, Y:-63.34, Z:0.67 [[-9.91176355e-01 -1.32429518e-01 5.64403785e-03 8.53120239e+01] [-1.32426814e-01 9.91192420e-01 8.51913979e-04 -6.33385068e+01] [-5.70714609e-03 9.69750436e-05 -9.99983709e-01 6.68344293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.477628 meters 0.013614473125562921 Centerline is valid? [True, True] Translation: X:85.29, Y:-63.31, Z:0.67 [[-9.78470056e-01 -2.06295899e-01 6.19285454e-03 8.52875461e+01] [-2.06291186e-01 9.78489649e-01 1.39734802e-03 -6.33136023e+01] [-6.34791124e-03 8.97318900e-05 -9.99979848e-01 6.68921309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.507628 meters 0.012463194668995325 Centerline is valid? [True, True] Translation: X:85.24, Y:-63.29, Z:0.67 [[-9.59167252e-01 -2.82756399e-01 6.85579496e-03 8.52388908e+01] [-2.82748725e-01 9.59191751e-01 2.08408781e-03 -6.32934031e+01] [-7.16531114e-03 6.05214988e-05 -9.99974327e-01 6.70058603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.537628 meters 0.012463194668995325 Centerline is valid? [True, True] Translation: X:85.18, Y:-63.28, Z:0.67 [[-9.35674750e-01 -3.52800369e-01 6.68295160e-03 8.51786857e+01] [-3.52790908e-01 9.35698614e-01 2.58436823e-03 -6.32848139e+01] [-7.16499461e-03 6.04435398e-05 -9.99974329e-01 6.70048441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.567628 meters 0.01192866511297454 Centerline is valid? [True, True] Translation: X:85.10, Y:-63.29, Z:0.67 [[-9.05721388e-01 -4.23823816e-01 6.49151986e-03 8.51022040e+01] [-4.23812607e-01 9.05744650e-01 3.08265377e-03 -6.32852217e+01] [-7.18616147e-03 4.08374992e-05 -9.99974178e-01 6.69479195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59762800000001 meters 0.011854923345165833 Centerline is valid? [True, True] Translation: X:85.03, Y:-63.29, Z:0.67 [[-8.70255225e-01 -4.92558999e-01 6.44014467e-03 8.50260862e+01] [-4.92545298e-01 8.70279054e-01 3.67389394e-03 -6.32928766e+01] [-7.41433253e-03 2.51624259e-05 -9.99972513e-01 6.70347239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62762800000002 meters 0.011570394108344277 Centerline is valid? [True, True] Translation: X:84.94, Y:-63.31, Z:0.67 [[-8.28691212e-01 -5.59669622e-01 6.38665234e-03 8.49412299e+01] [-5.59653015e-01 8.28715822e-01 4.31149174e-03 -6.33108116e+01] [-7.70573080e-03 -1.41392555e-06 -9.99970310e-01 6.70080822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65762800000002 meters 0.011465665652705447 Centerline is valid? [True, True] Translation: X:84.85, Y:-63.34, Z:0.67 [[-7.83225139e-01 -6.21709410e-01 5.98255647e-03 8.48536469e+01] [-6.21691373e-01 7.83247987e-01 4.73569490e-03 -6.33402548e+01] [-7.63005140e-03 -1.01884445e-05 -9.99970891e-01 6.69996457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68762800000002 meters 0.011599386912601645 Centerline is valid? [True, True] Translation: X:84.76, Y:-63.38, Z:0.67 [[-7.32899621e-01 -6.80315506e-01 5.38121855e-03 8.47620602e+01] [-6.80297358e-01 7.32919376e-01 4.96919900e-03 -6.33819890e+01] [-7.32462248e-03 -1.89047001e-05 -9.99973174e-01 6.70834930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71762800000002 meters 0.011577984291827112 Centerline is valid? [True, True] Translation: X:84.67, Y:-63.43, Z:0.67 [[-6.78114629e-01 -7.34939985e-01 4.87539346e-03 8.46726014e+01] [-7.34921263e-01 6.78132154e-01 5.24586592e-03 -6.34330591e+01] [-7.16155769e-03 -2.57318993e-05 -9.99974355e-01 6.69908547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74762800000002 meters 0.011694325627795871 Centerline is valid? [True, True] Translation: X:84.58, Y:-63.50, Z:0.67 [[-6.18438678e-01 -7.85821350e-01 4.29023931e-03 8.45775171e+01] [-7.85802872e-01 6.18453558e-01 5.38908963e-03 -6.35042026e+01] [-6.88817545e-03 -3.84609027e-05 -9.99976276e-01 6.68981949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77762800000002 meters 0.011743448511674161 Centerline is valid? [True, True] Translation: X:84.50, Y:-63.56, Z:0.67 [[-5.55461087e-01 -8.31534548e-01 3.64371626e-03 8.45006241e+01] [-8.31517159e-01 5.55473036e-01 5.37775436e-03 -6.35639068e+01] [-6.49577468e-03 -4.26793158e-05 -9.99978901e-01 6.68654953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80762800000002 meters 0.011883855667099727 Centerline is valid? [True, True] Translation: X:84.42, Y:-63.65, Z:0.67 [[-4.88791976e-01 -8.72393722e-01 3.40564731e-03 8.44178142e+01] [-8.72373298e-01 4.88803838e-01 5.96975691e-03 -6.36458067e+01] [-6.87267192e-03 -5.30264951e-05 -9.99976382e-01 6.68783640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83762800000002 meters 0.011932397894375493 Centerline is valid? [True, True] Translation: X:84.34, Y:-63.73, Z:0.67 [[-4.19176622e-01 -9.07899551e-01 3.06011881e-03 8.43429731e+01] [-9.07876423e-01 4.19187787e-01 6.48062981e-03 -6.37320885e+01] [-7.16652533e-03 -6.16812085e-05 -9.99974318e-01 6.68867399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86762800000002 meters 0.012442546037438228 Centerline is valid? [True, True] Translation: X:84.27, Y:-63.83, Z:0.67 [[-3.46507371e-01 -9.38041488e-01 3.28775386e-03 8.42747724e+01] [-9.38001699e-01 3.46522957e-01 8.64018308e-03 -6.38252454e+01] [-9.24413237e-03 -9.00315792e-05 -9.99957268e-01 6.71255084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89762800000003 meters 0.012445715406742278 Centerline is valid? [True, True] Translation: X:84.21, Y:-63.93, Z:0.67 [[-2.72434120e-01 -9.62169508e-01 3.08018830e-03 8.42119606e+01] [-9.62112539e-01 2.72451509e-01 1.04708339e-02 -6.39323639e+01] [-1.09139190e-02 -1.10875376e-04 -9.99940435e-01 6.71815356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.927628 meters 0.012398447598230604 Centerline is valid? [True, True] Translation: X:84.16, Y:-64.03, Z:0.67 [[-1.96951175e-01 -9.80409946e-01 2.56355991e-03 8.41603937e+01] [-9.80335151e-01 1.96967817e-01 1.21107980e-02 -6.40326244e+01] [-1.23784856e-02 -1.27912005e-04 -9.99923375e-01 6.72721831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.957628 meters 0.01389790413581281 Centerline is valid? [True, True] Translation: X:84.11, Y:-64.15, Z:0.68 [[-1.20810212e-01 -9.92673858e-01 1.87205458e-03 8.41145488e+01] [-9.92572004e-01 1.20824634e-01 1.42205500e-02 -6.41478924e+01] [-1.43425585e-02 -1.40161304e-04 -9.99897130e-01 6.75808103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.987628 meters 0.012532706007695679 Centerline is valid? [True, True] Translation: X:84.08, Y:-64.27, Z:0.67 [[-4.35111769e-02 -9.99052643e-01 7.70916757e-04 8.40775044e+01] [-9.98947963e-01 4.35177780e-02 1.44627395e-02 -6.42684682e+01] [-1.44825867e-02 -1.40814907e-04 -9.99895112e-01 6.73895198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.017628 meters 0.012502895596132834 Centerline is valid? [True, True] Translation: X:84.05, Y:-64.38, Z:0.67 [[ 3.37112689e-02 -9.99431557e-01 -3.37730913e-04 8.40482035e+01] [-9.99335811e-01 -3.37127143e-02 1.38343985e-02 -6.43823850e+01] [-1.38379203e-02 -1.28868533e-04 -9.99904243e-01 6.73493007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.047628 meters 0.01229324538679509 Centerline is valid? [True, True] Translation: X:84.03, Y:-64.50, Z:0.67 [[ 1.09939253e-01 -9.93937330e-01 -1.39467075e-03 8.40285873e+01] [-9.93844131e-01 -1.09948043e-01 1.36114025e-02 -6.45028889e+01] [-1.36822224e-02 -1.10342082e-04 -9.99906388e-01 6.72870357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.077628 meters 0.01196295844359198 Centerline is valid? [True, True] Translation: X:84.02, Y:-64.62, Z:0.67 [[ 1.81839572e-01 -9.83325731e-01 -2.20828591e-03 8.40195444e+01] [-9.83250466e-01 -1.81852976e-01 1.21662279e-02 -6.46179115e+01] [-1.23649483e-02 -4.10035292e-05 -9.99923550e-01 6.70648399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.107628 meters 0.01194354569734912 Centerline is valid? [True, True] Translation: X:84.02, Y:-64.74, Z:0.67 [[ 2.53989490e-01 -9.67202483e-01 -2.94879799e-03 8.40201305e+01] [-9.67137413e-01 -2.54006607e-01 1.12191186e-02 -6.47365975e+01] [-1.16001736e-02 2.35463945e-06 -9.99932716e-01 6.68620521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.137628 meters 0.014037282939672931 Centerline is valid? [True, True] Translation: X:84.03, Y:-64.86, Z:0.67 [[ 3.23819460e-01 -9.46111653e-01 -3.70097899e-03 8.40301128e+01] [-9.46051806e-01 -3.23840604e-01 1.06416280e-02 -6.48557449e+01] [-1.12666955e-02 5.53516294e-05 -9.99936527e-01 6.69080228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.167628 meters 0.01609635736645418 Centerline is valid? [True, True] Translation: X:84.05, Y:-64.97, Z:0.67 [[ 3.92054747e-01 -9.19932497e-01 -4.15644075e-03 8.40472807e+01] [-9.19883411e-01 -3.92076767e-01 9.50360984e-03 -6.49684636e+01] [-1.03723234e-02 9.75055428e-05 -9.99946201e-01 6.69613206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.197628 meters 0.013420189603232427 Centerline is valid? [True, True] Translation: X:84.08, Y:-65.09, Z:0.67 [[ 4.58085954e-01 -8.88899398e-01 -3.88819642e-03 8.40760605e+01] [-8.88869442e-01 -4.58102441e-01 7.29851252e-03 -6.50870055e+01] [-8.26883566e-03 1.12752907e-04 -9.99965806e-01 6.66004290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.227628 meters 0.015544982106254332 Centerline is valid? [True, True] Translation: X:84.11, Y:-65.20, Z:0.66 [[ 5.16462559e-01 -8.56301951e-01 -3.65975205e-03 8.41119896e+01] [-8.56282660e-01 -5.16475500e-01 5.75023752e-03 -6.51951295e+01] [-6.81411187e-03 1.63999838e-04 -9.99976770e-01 6.64937737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.257628 meters 0.017037764657896328 Centerline is valid? [True, True] Translation: X:84.15, Y:-65.30, Z:0.66 [[ 5.76687902e-01 -8.16955776e-01 -3.78470679e-03 8.41506248e+01] [-8.16940245e-01 -5.76700291e-01 5.04078713e-03 -6.52967116e+01] [-6.30074167e-03 1.84918339e-04 -9.99980133e-01 6.64616098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.287628 meters 0.02056810205683994 Centerline is valid? [True, True] Translation: X:84.20, Y:-65.39, Z:0.66 [[ 6.33877343e-01 -7.73424727e-01 -3.70215340e-03 8.41989669e+01] [-7.73413279e-01 -6.33888125e-01 4.21247733e-03 -6.53929591e+01] [-5.60478521e-03 1.93100661e-04 -9.99984274e-01 6.64896360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.317628 meters 0.01863542703267126 Centerline is valid? [True, True] Translation: X:84.25, Y:-65.49, Z:0.66 [[ 6.87572225e-01 -7.26101190e-01 -4.63643003e-03 8.42476071e+01] [-7.26087168e-01 -6.87587809e-01 4.51995448e-03 -6.54904611e+01] [-6.46989710e-03 2.58657191e-04 -9.99979037e-01 6.64257859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34762800000001 meters 0.023573843955788185 Centerline is valid? [True, True] Translation: X:84.24, Y:-65.50, Z:0.67 [[ 7.35307165e-01 -6.77701528e-01 -6.63416201e-03 8.42425302e+01] [-6.77679154e-01 -7.35336964e-01 5.52385951e-03 -6.54980526e+01] [-8.62187258e-03 4.34099826e-04 -9.99962737e-01 6.68481233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37762800000002 meters 0.022558979458294357 Centerline is valid? [True, True] Translation: X:84.23, Y:-65.51, Z:0.67 [[ 7.84037480e-01 -6.20669635e-01 -7.37787455e-03 8.42320460e+01] [-6.20647838e-01 -7.84072044e-01 5.22409193e-03 -6.55059984e+01] [-9.02722041e-03 4.83178020e-04 -9.99959137e-01 6.66882973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40762800000002 meters 0.023882454043448673 Centerline is valid? [True, True] Translation: X:84.22, Y:-65.51, Z:0.67 [[ 8.28764518e-01 -5.59530883e-01 -8.63512500e-03 8.42213177e+01] [-5.59507462e-01 -8.28809311e-01 5.15030023e-03 -6.55117709e+01] [-1.00386240e-02 5.63030783e-04 -9.99949453e-01 6.67485415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43762800000002 meters 0.024749104809588484 Centerline is valid? [True, True] Translation: X:84.21, Y:-65.52, Z:0.67 [[ 8.69091627e-01 -4.94560733e-01 -9.45645341e-03 8.42117422e+01] [-4.94538971e-01 -8.69142859e-01 4.67937112e-03 -6.55195617e+01] [-1.05332422e-02 6.09782481e-04 -9.99944338e-01 6.67444878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46762800000002 meters 0.026841267637984702 Centerline is valid? [True, True] Translation: X:84.20, Y:-65.53, Z:0.67 [[ 9.04885524e-01 -4.25540225e-01 -9.88455966e-03 8.42017410e+01] [-4.25522232e-01 -9.04939297e-01 3.96214025e-03 -6.55307104e+01] [-1.06309765e-02 6.20816534e-04 -9.99943297e-01 6.70705242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49762800000002 meters 0.024598653526503627 Centerline is valid? [True, True] Translation: X:84.19, Y:-65.54, Z:0.67 [[ 9.36234183e-01 -3.51254179e-01 -9.27666153e-03 8.41926751e+01] [-3.51242619e-01 -9.36279984e-01 2.90086373e-03 -6.55430055e+01] [-9.70449301e-03 5.42471105e-04 -9.99952763e-01 6.68127772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52762800000002 meters 0.02459957934952942 Centerline is valid? [True, True] Translation: X:84.18, Y:-65.55, Z:0.67 [[ 9.61663184e-01 -2.74090720e-01 -8.84298412e-03 8.41804122e+01] [-2.74083682e-01 -9.61703721e-01 2.02180976e-03 -6.55528866e+01] [-9.05849003e-03 4.79417636e-04 -9.99958856e-01 6.68098290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55762800000002 meters 0.02229858966929209 Centerline is valid? [True, True] Translation: X:84.17, Y:-65.57, Z:0.67 [[ 9.81766423e-01 -1.89939825e-01 -7.58641592e-03 8.41701823e+01] [-1.89936828e-01 -9.81795675e-01 1.12018386e-03 -6.55696555e+01] [-7.66107786e-03 3.41180874e-04 -9.99970595e-01 6.66751034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58762800000002 meters 0.02037748010403582 Centerline is valid? [True, True] Translation: X:84.16, Y:-65.58, Z:0.67 [[ 9.94148099e-01 -1.07820352e-01 -6.65797676e-03 8.41620967e+01] [-1.07819713e-01 -9.94170358e-01 4.55938591e-04 -6.55841202e+01] [-6.66832260e-03 2.64590660e-04 -9.99977731e-01 6.65764464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61762800000002 meters 0.01795735350567568 Centerline is valid? [True, True] Translation: X:84.16, Y:-65.60, Z:0.66 [[ 9.99669252e-01 -2.50393163e-02 -5.86671363e-03 8.41550056e+01] [-2.50400841e-02 -9.99686446e-01 -5.74521391e-05 -6.56017717e+01] [-5.86343554e-03 2.04336140e-04 -9.99982789e-01 6.64647363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64762800000003 meters 0.016823771940809328 Centerline is valid? [True, True] Translation: X:84.15, Y:-65.62, Z:0.66 [[ 9.98294549e-01 5.81182406e-02 -5.50121393e-03 8.41497582e+01] [ 5.81164446e-02 -9.98309693e-01 -4.85913704e-04 -6.56175064e+01] [-5.52015564e-03 1.65374008e-04 -9.99984750e-01 6.64195049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.677628 meters 0.01594800660182521 Centerline is valid? [True, True] Translation: X:84.14, Y:-65.63, Z:0.66 [[ 9.90018652e-01 1.40852281e-01 -4.86868952e-03 8.41446464e+01] [ 1.40849965e-01 -9.90030616e-01 -8.17180538e-04 -6.56318440e+01] [-4.93525342e-03 1.23269228e-04 -9.99987814e-01 6.63651856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.707628 meters 0.013734517011058751 Centerline is valid? [True, True] Translation: X:84.14, Y:-65.65, Z:0.66 [[ 9.73944566e-01 2.26751309e-01 -3.97819438e-03 8.41433876e+01] [ 2.26749149e-01 -9.73952689e-01 -9.91680440e-04 -6.56506408e+01] [-4.09943795e-03 6.37895839e-05 -9.99991595e-01 6.63460590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.737628 meters 0.012946679200205813 Centerline is valid? [True, True] Translation: X:84.14, Y:-65.66, Z:0.66 [[ 9.52000669e-01 3.06070981e-01 -3.90913407e-03 8.41429118e+01] [ 3.06068194e-01 -9.52008693e-01 -1.30702823e-03 -6.56637971e+01] [-4.12157303e-03 4.78301391e-05 -9.99991505e-01 6.63962855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.767628 meters 0.012202529002642184 Centerline is valid? [True, True] Translation: X:84.14, Y:-65.68, Z:0.66 [[ 9.23677111e-01 3.83151284e-01 -3.96094714e-03 8.41433971e+01] [ 3.83147603e-01 -9.23685603e-01 -1.67972534e-03 -6.56776250e+01] [-4.30225877e-03 3.38964463e-05 -9.99990745e-01 6.64468355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.797628 meters 0.01182353169471258 Centerline is valid? [True, True] Translation: X:84.15, Y:-65.69, Z:0.67 [[ 8.89274815e-01 4.57355838e-01 -3.99257671e-03 8.41458283e+01] [ 4.57351125e-01 -8.89283778e-01 -2.07637866e-03 -6.56918187e+01] [-4.50017760e-03 2.04617998e-05 -9.99989874e-01 6.65040908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.827628 meters 0.011379016553273521 Centerline is valid? [True, True] Translation: X:84.15, Y:-65.71, Z:0.67 [[ 8.48066424e-01 5.29877014e-01 -3.69998821e-03 8.41505369e+01] [ 5.29871984e-01 -8.48074496e-01 -2.30868533e-03 -6.57072964e+01] [-4.36118492e-03 -2.60157957e-06 -9.99990490e-01 6.65336507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.857628 meters 0.011393510757718111 Centerline is valid? [True, True] Translation: X:84.15, Y:-65.72, Z:0.67 [[ 8.02940557e-01 5.96048031e-01 -3.63392954e-03 8.41541161e+01] [ 5.96041985e-01 -8.02948781e-01 -2.68466151e-03 -6.57185922e+01] [-4.51804649e-03 -1.03509694e-05 -9.99989794e-01 6.65070862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.887628 meters 0.011346318838163378 Centerline is valid? [True, True] Translation: X:84.16, Y:-65.73, Z:0.67 [[ 7.52836360e-01 6.58200057e-01 -3.17817120e-03 8.41569366e+01] [ 6.58194283e-01 -7.52843068e-01 -2.75692425e-03 -6.57293070e+01] [-4.20727185e-03 -1.63413007e-05 -9.99991149e-01 6.65539759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.917628 meters 0.011442947982703634 Centerline is valid? [True, True] Translation: X:84.16, Y:-65.74, Z:0.67 [[ 6.98296813e-01 7.15802178e-01 -2.96680531e-03 8.41600595e+01] [ 7.15795842e-01 -6.98303115e-01 -3.01184074e-03 -6.57382414e+01] [-4.22761155e-03 -2.04681144e-05 -9.99991063e-01 6.65830842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.947628 meters 0.01148291910724212 Centerline is valid? [True, True] Translation: X:84.16, Y:-65.75, Z:0.67 [[ 6.39868329e-01 7.68479347e-01 -2.83107153e-03 8.41634053e+01] [ 7.68471979e-01 -6.39874592e-01 -3.36508815e-03 -6.57460964e+01] [-4.39753148e-03 -2.23858062e-05 -9.99990331e-01 6.66228686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.977628 meters 0.01142745316028136 Centerline is valid? [True, True] Translation: X:84.17, Y:-65.75, Z:0.67 [[ 5.78018298e-01 8.16019308e-01 -2.70837777e-03 8.41655618e+01] [ 8.16010524e-01 -5.78024643e-01 -3.78635332e-03 -6.57537468e+01] [-4.65524651e-03 -2.14832627e-05 -9.99989164e-01 6.66757132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.007628 meters 0.011392913841113017 Centerline is valid? [True, True] Translation: X:84.17, Y:-65.76, Z:0.67 [[ 5.13126691e-01 8.58309945e-01 -2.24448073e-03 8.41686750e+01] [ 8.58301875e-01 -5.13131600e-01 -3.72195806e-03 -6.57599680e+01] [-4.34630761e-03 -1.66059940e-05 -9.99990555e-01 6.66850123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.037628 meters 0.011460366127509475 Centerline is valid? [True, True] Translation: X:84.17, Y:-65.76, Z:0.67 [[ 4.47171290e-01 8.94446510e-01 -1.81061265e-03 8.41691524e+01] [ 8.94439205e-01 -4.47174956e-01 -3.61498978e-03 -6.57646744e+01] [-4.04307563e-03 -2.96328884e-06 -9.99991827e-01 6.65895049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.067628 meters 0.01156900331672526 Centerline is valid? [True, True] Translation: X:84.17, Y:-65.77, Z:0.67 [[ 3.77729820e-01 9.25914816e-01 -1.39197343e-03 8.41721144e+01] [ 9.25908484e-01 -3.77732384e-01 -3.42407163e-03 -6.57708908e+01] [-3.69619209e-03 4.53395187e-06 -9.99993169e-01 6.65373162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09762800000001 meters 0.0117358152316917 Centerline is valid? [True, True] Translation: X:84.17, Y:-65.78, Z:0.66 [[ 3.05961525e-01 9.52043299e-01 -1.04977330e-03 8.41746022e+01] [ 9.52037573e-01 -3.05963325e-01 -3.30188020e-03 -6.57766505e+01] [-3.46472505e-03 1.08246771e-05 -9.99993998e-01 6.64691447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12762800000002 meters 0.012095189302032655 Centerline is valid? [True, True] Translation: X:84.18, Y:-65.78, Z:0.66 [[ 2.32994494e-01 9.72477802e-01 -7.00727446e-04 8.41763528e+01] [ 9.72473184e-01 -2.32995547e-01 -2.99678021e-03 -6.57833550e+01] [-3.07756861e-03 1.67946387e-05 -9.99995264e-01 6.64501548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15762800000002 meters 0.012700407100921154 Centerline is valid? [True, True] Translation: X:84.18, Y:-65.79, Z:0.66 [[ 1.60602055e-01 9.87019095e-01 -5.35470123e-04 8.41782755e+01] [ 9.87012814e-01 -1.60602943e-01 -3.52131043e-03 -6.57898817e+01] [-3.56159871e-03 3.70138193e-05 -9.99993657e-01 6.64287380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18762800000002 meters 0.013185443806133292 Centerline is valid? [True, True] Translation: X:84.18, Y:-65.80, Z:0.66 [[ 8.45827429e-02 9.96416417e-01 -2.87423971e-04 8.41828123e+01] [ 9.96408503e-01 -8.45832168e-02 -3.97175135e-03 -6.57973528e+01] [-3.98182949e-03 4.95499345e-05 -9.99992071e-01 6.64926746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21762800000002 meters 0.013310784916404075 Centerline is valid? [True, True] Translation: X:84.19, Y:-65.80, Z:0.67 [[ 8.18531815e-03 9.99966499e-01 2.51813276e-05 8.41912975e+01] [ 9.99958365e-01 -8.18514999e-03 -4.03377813e-03 -6.58042707e+01] [-4.03343689e-03 5.81980365e-05 -9.99991864e-01 6.65475200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24762800000002 meters 0.014058679480304304 Centerline is valid? [True, True] Translation: X:84.20, Y:-65.81, Z:0.67 [[-6.86217173e-02 9.97642673e-01 3.97100392e-04 8.41974693e+01] [ 9.97631773e-01 6.86228241e-02 -4.66407569e-03 -6.58112387e+01] [-4.68033109e-03 7.61030843e-05 -9.99989044e-01 6.65963789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27762800000002 meters 0.01426051054166757 Centerline is valid? [True, True] Translation: X:84.21, Y:-65.82, Z:0.67 [[-1.43029837e-01 9.89718040e-01 8.16907048e-04 8.42050693e+01] [ 9.89705652e-01 1.43032134e-01 -4.95285923e-03 -6.58170584e+01] [-5.01877808e-03 1.00090877e-04 -9.99987401e-01 6.65929262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30762800000002 meters 0.014918485908375391 Centerline is valid? [True, True] Translation: X:84.21, Y:-65.82, Z:0.67 [[-2.18890562e-01 9.75748686e-01 1.19288641e-03 8.42142352e+01] [ 9.75736712e-01 2.18893787e-01 -4.83525483e-03 -6.58240002e+01] [-4.97910897e-03 1.05551415e-04 -9.99987599e-01 6.65712782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33762800000002 meters 0.015541602866995043 Centerline is valid? [True, True] Translation: X:84.22, Y:-65.83, Z:0.67 [[-2.93905546e-01 9.55833105e-01 1.61433184e-03 8.42225087e+01] [ 9.55820728e-01 2.93909957e-01 -4.86544353e-03 -6.58306758e+01] [-5.12502020e-03 1.13031001e-04 -9.99986861e-01 6.65632150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36762800000002 meters 0.016059157335083313 Centerline is valid? [True, True] Translation: X:84.23, Y:-65.84, Z:0.67 [[-3.66757908e-01 9.30314054e-01 2.09704287e-03 8.42288475e+01] [ 9.30300755e-01 3.66763882e-01 -4.97592597e-03 -6.58378289e+01] [-5.39829345e-03 1.25920369e-04 -9.99985421e-01 6.65239696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39762800000003 meters 0.0163554506767797 Centerline is valid? [True, True] Translation: X:84.24, Y:-65.84, Z:0.67 [[-4.38043451e-01 8.98950085e-01 2.58445422e-03 8.42364960e+01] [ 8.98936207e-01 4.38051054e-01 -4.99690378e-03 -6.58434762e+01] [-5.62408998e-03 1.34398505e-04 -9.99984176e-01 6.65023385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.427628 meters 0.0163554506767797 Centerline is valid? [True, True] Translation: X:84.25, Y:-65.85, Z:0.67 [[-5.07116855e-01 8.61872199e-01 2.96781525e-03 8.42464551e+01] [ 8.61858961e-01 5.07125521e-01 -4.77882837e-03 -6.58478624e+01] [-5.62379417e-03 1.34413753e-04 -9.99984177e-01 6.65020883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.457628 meters 0.016224743625392987 Centerline is valid? [True, True] Translation: X:84.26, Y:-65.85, Z:0.66 [[-5.72716270e-01 8.19747784e-01 3.10549418e-03 8.42565596e+01] [ 8.19736915e-01 5.72724676e-01 -4.22328125e-03 -6.58506783e+01] [-5.24061860e-03 1.26946332e-04 -9.99986260e-01 6.64609171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.487628 meters 0.01781449538281388 Centerline is valid? [True, True] Translation: X:84.27, Y:-65.86, Z:0.66 [[-6.34994888e-01 7.72510083e-01 3.10870016e-03 8.42650582e+01] [ 7.72501704e-01 6.35002487e-01 -3.59982873e-03 -6.58562388e+01] [-4.75493632e-03 1.15603333e-04 -9.99988689e-01 6.64688181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.517628 meters 0.015992184748911287 Centerline is valid? [True, True] Translation: X:84.28, Y:-65.85, Z:0.66 [[-6.93634537e-01 7.20319988e-01 3.20053633e-03 8.42779808e+01] [ 7.20313033e-01 6.93641912e-01 -3.16728736e-03 -6.58543525e+01] [-4.50148654e-03 1.08448131e-04 -9.99989862e-01 6.63775102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.547628 meters 0.01599899372254799 Centerline is valid? [True, True] Translation: X:84.30, Y:-65.84, Z:0.66 [[-7.44157728e-01 6.67997127e-01 3.01889046e-03 8.43030182e+01] [ 6.67992104e-01 7.44163846e-01 -2.59191821e-03 -6.58417695e+01] [-3.97794305e-03 8.77990258e-05 -9.99992084e-01 6.63355342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.577628 meters 0.01483984083075257 Centerline is valid? [True, True] Translation: X:84.33, Y:-65.82, Z:0.66 [[-7.90423506e-01 6.12552124e-01 3.25203295e-03 8.43264320e+01] [ 6.12547372e-01 7.90430192e-01 -2.41432271e-03 -6.58228061e+01] [-4.04940353e-03 8.36868095e-05 -9.99991798e-01 6.63329436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.607628 meters 0.01469964517364432 Centerline is valid? [True, True] Translation: X:84.84, Y:-65.14, Z:-0.17 [[-7.75174594e-01 -6.31739342e-01 3.12301329e-03 8.48406316e+01] [ 6.31733785e-01 -7.75180881e-01 -2.65080982e-03 -6.51419750e+01] [ 4.09552104e-03 -8.19274222e-05 9.99991610e-01 -1.71786319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.637628 meters 0.014814649411787307 Centerline is valid? [True, True] Translation: X:84.29, Y:-65.80, Z:0.66 [[-7.95155317e-01 6.06395536e-01 3.53213601e-03 8.42921035e+01] [ 6.06389958e-01 7.95163158e-01 -2.60212134e-03 -6.57993462e+01] [-4.38653919e-03 7.27611865e-05 -9.99990376e-01 6.64564909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.667628 meters 0.013040086462856431 Centerline is valid? [True, True] Translation: X:84.31, Y:-65.77, Z:0.66 [[-8.38587468e-01 5.44751096e-01 4.15970737e-03 8.43083417e+01] [ 5.44744747e-01 8.38597782e-01 -2.63073245e-03 -6.57726920e+01] [-4.92141576e-03 5.98794739e-05 -9.99987888e-01 6.64813765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.697628 meters 0.012588808190721498 Centerline is valid? [True, True] Translation: X:84.77, Y:-65.06, Z:-0.17 [[-8.14416018e-01 -5.80265010e-01 4.36681672e-03 8.47724688e+01] [ 5.80256423e-01 -8.14427724e-01 -3.15695400e-03 -6.50638028e+01] [ 5.38832654e-03 -3.72004547e-05 9.99985482e-01 -1.73191865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.727628 meters 0.012289764815945802 Centerline is valid? [True, True] Translation: X:84.27, Y:-65.75, Z:0.67 [[-8.43371804e-01 5.37307164e-01 5.00125941e-03 8.42721152e+01] [ 5.37298012e-01 8.43386631e-01 -3.13634446e-03 -6.57497351e+01] [-5.90317567e-03 4.20622511e-05 -9.99982575e-01 6.65622763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.757628 meters 0.012188120890410497 Centerline is valid? [True, True] Translation: X:84.29, Y:-65.73, Z:0.67 [[-8.80265690e-01 4.74452949e-01 5.16855539e-03 8.42930920e+01] [ 4.74444965e-01 8.80280863e-01 -2.75253073e-03 -6.57301074e+01] [-5.85572672e-03 2.92367171e-05 -9.99982855e-01 6.65795272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.787628 meters 0.01185170936103906 Centerline is valid? [True, True] Translation: X:84.31, Y:-65.71, Z:0.67 [[-9.13130372e-01 4.07630683e-01 5.49079443e-03 8.43110034e+01] [ 4.07623368e-01 9.13146881e-01 -2.44219043e-03 -6.57076527e+01] [-6.00941356e-03 8.13786072e-06 -9.99981943e-01 6.65303431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.817628 meters 0.011816712685746017 Centerline is valid? [True, True] Translation: X:84.66, Y:-64.94, Z:-0.17 [[-8.85168796e-01 -4.65243389e-01 4.97907692e-03 8.46585626e+01] [ 4.65235837e-01 -8.85182799e-01 -2.65102345e-03 -6.49367534e+01] [ 5.64076438e-03 -3.01582206e-05 9.99984090e-01 -1.73130297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84762800000001 meters 0.01192819502240807 Centerline is valid? [True, True] Translation: X:84.27, Y:-65.69, Z:0.67 [[-9.15949900e-01 4.01253585e-01 5.59833327e-03 8.42685189e+01] [ 4.01246015e-01 9.15967009e-01 -2.46471886e-03 -6.56896401e+01] [-6.11686586e-03 -1.12500744e-05 -9.99981292e-01 6.66004008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87762800000002 meters 0.011943441555548339 Centerline is valid? [True, True] Translation: X:84.28, Y:-65.66, Z:0.67 [[-9.42539789e-01 3.34041746e-01 5.90403920e-03 8.42772005e+01] [ 3.34035059e-01 9.42558280e-01 -2.11372365e-03 -6.56640866e+01] [-6.27097297e-03 -2.01125602e-05 -9.99980337e-01 6.65845297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90762800000002 meters 0.01207945769418572 Centerline is valid? [True, True] Translation: X:84.28, Y:-65.64, Z:0.67 [[-9.64438973e-01 2.64216151e-01 6.87696875e-03 8.42771189e+01] [ 2.64209151e-01 9.64463490e-01 -1.92371308e-03 -6.56367768e+01] [-7.14086135e-03 -3.83457950e-05 -9.99974503e-01 6.66972747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93762800000002 meters 0.012242379204564576 Centerline is valid? [True, True] Translation: X:84.31, Y:-65.62, Z:0.67 [[-9.80935958e-01 1.94217122e-01 6.65998451e-03 8.43074197e+01] [ 1.94212346e-01 9.80958566e-01 -1.36267235e-03 -6.56167454e+01] [-6.79782316e-03 -4.32430879e-05 -9.99976894e-01 6.67159496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96762800000002 meters 0.012225217831836083 Centerline is valid? [True, True] Translation: X:84.31, Y:-65.59, Z:0.67 [[-9.92351115e-01 1.23282443e-01 6.37995493e-03 8.43117151e+01] [ 1.23279593e-01 9.92371622e-01 -8.39609063e-04 -6.55905447e+01] [-6.43479528e-03 -4.66687416e-05 -9.99979295e-01 6.66998850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99762800000002 meters 0.012431922915029212 Centerline is valid? [True, True] Translation: X:84.32, Y:-65.57, Z:0.67 [[-9.98652456e-01 5.15562836e-02 5.93484147e-03 8.43218919e+01] [ 5.15550788e-02 9.98670089e-01 -3.55909485e-04 -6.55663996e+01] [-5.94529803e-03 -4.94586610e-05 -9.99982325e-01 6.66538227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02762800000002 meters 0.012420621576794596 Centerline is valid? [True, True] Translation: X:84.38, Y:-64.71, Z:-0.17 [[-9.91037284e-01 -1.33466729e-01 5.63328484e-03 8.43790559e+01] [ 1.33464746e-01 -9.91053294e-01 -7.28158986e-04 -6.47082008e+01] [ 5.68007050e-03 3.02122272e-05 9.99983868e-01 -1.73804939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05762800000002 meters 0.01244577726620222 Centerline is valid? [True, True] Translation: X:84.24, Y:-65.57, Z:0.67 [[-9.98938822e-01 4.57522851e-02 5.28765477e-03 8.42392392e+01] [ 4.57513922e-02 9.98952815e-01 -2.89757263e-04 -6.55654346e+01] [-5.29537467e-03 -4.75322116e-05 -9.99985978e-01 6.65706437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08762800000002 meters 0.012725495532928866 Centerline is valid? [True, True] Translation: X:84.30, Y:-64.70, Z:-0.17 [[-9.91643327e-01 -1.28894718e-01 5.44644675e-03 8.42984865e+01] [ 1.28893113e-01 -9.91658282e-01 -6.45997236e-04 -6.46984768e+01] [ 5.48427965e-03 6.14106302e-05 9.99984959e-01 -1.73562471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11762800000002 meters 0.013008232095284747 Centerline is valid? [True, True] Translation: X:84.16, Y:-65.56, Z:0.67 [[-9.99223416e-01 3.89901969e-02 5.68595549e-03 8.41585855e+01] [ 3.89892282e-02 9.99239591e-01 -2.81160004e-04 -6.55638026e+01] [-5.69259432e-03 -5.92506434e-05 -9.99983795e-01 6.65223735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14762800000003 meters 0.012823787110402055 Centerline is valid? [True, True] Translation: X:84.22, Y:-64.69, Z:-0.17 [[-9.92185527e-01 -1.24630809e-01 5.91960476e-03 8.42181711e+01] [ 1.24629065e-01 -9.92203182e-01 -6.64014929e-04 -6.46937684e+01] [ 5.95620740e-03 7.89288030e-05 9.99982259e-01 -1.73461757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.177628 meters 0.01274712481755573 Centerline is valid? [True, True] Translation: X:84.07, Y:-65.56, Z:0.67 [[-9.99376952e-01 3.46366036e-02 6.78330723e-03 8.40747604e+01] [ 3.46353472e-02 9.99399971e-01 -3.02634535e-04 -6.55598483e+01] [-6.78971928e-03 -6.75037776e-05 -9.99976947e-01 6.66233334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.207628 meters 0.012686776663140274 Centerline is valid? [True, True] Translation: X:84.10, Y:-65.53, Z:0.67 [[-9.99319611e-01 -3.61343995e-02 7.39058632e-03 8.41013827e+01] [-3.61339272e-02 9.99346937e-01 1.97459546e-04 -6.55324628e+01] [-7.39289488e-03 -6.97257114e-05 -9.99972670e-01 6.67026129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.237628 meters 0.012724399623201339 Centerline is valid? [True, True] Translation: X:84.10, Y:-65.50, Z:0.67 [[-9.94207232e-01 -1.07154936e-01 8.35462977e-03 8.40972176e+01] [-1.07151812e-01 9.94242331e-01 8.21881764e-04 -6.55042957e+01] [-8.39459527e-03 -7.80929247e-05 -9.99964762e-01 6.68309417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.267628 meters 0.012655992679548572 Centerline is valid? [True, True] Translation: X:84.09, Y:-65.48, Z:0.67 [[-9.84135800e-01 -1.77175559e-01 9.24923468e-03 8.40912133e+01] [-1.77168484e-01 9.84179260e-01 1.58528095e-03 -6.54768840e+01] [-9.38377798e-03 -7.85411512e-05 -9.99955968e-01 6.69704851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.297628 meters 0.012633911862289102 Centerline is valid? [True, True] Translation: X:84.07, Y:-65.45, Z:0.67 [[-9.68840507e-01 -2.47503182e-01 9.49980767e-03 8.40698034e+01] [-2.47492079e-01 9.68887077e-01 2.34563962e-03 -6.54536127e+01] [-9.78479415e-03 -7.85764747e-05 -9.99952125e-01 6.69576122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.327628 meters 0.012612881678638303 Centerline is valid? [True, True] Translation: X:84.02, Y:-65.44, Z:0.67 [[-9.48208991e-01 -3.17513025e-01 9.22974028e-03 8.40198782e+01] [-3.17498720e-01 9.48253908e-01 3.01475660e-03 -6.54394894e+01] [-9.70936178e-03 -7.18114168e-05 -9.99952860e-01 6.69439063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.357628 meters 0.012586625098248384 Centerline is valid? [True, True] Translation: X:83.96, Y:-65.43, Z:0.67 [[-9.22187945e-01 -3.86640073e-01 8.87961080e-03 8.39586445e+01] [-3.86622875e-01 9.22230692e-01 3.64731579e-03 -6.54328217e+01] [-9.59924805e-03 -6.95500038e-05 -9.99953924e-01 6.69025951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.387628 meters 0.012395817703621281 Centerline is valid? [True, True] Translation: X:83.88, Y:-65.44, Z:0.67 [[-8.91143747e-01 -4.53651100e-01 7.96876671e-03 8.38823480e+01] [-4.53633552e-01 8.91179374e-01 3.99055635e-03 -6.54373833e+01] [-8.91192081e-03 -5.87406105e-05 -9.99960286e-01 6.68109546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.417628 meters 0.012299964408889183 Centerline is valid? [True, True] Translation: X:83.81, Y:-65.45, Z:0.67 [[-8.55704896e-01 -5.17424970e-01 6.36636550e-03 8.38053393e+01] [-5.17410943e-01 8.55728578e-01 3.81014331e-03 -6.54496095e+01] [-7.41934419e-03 -3.36688903e-05 -9.99972476e-01 6.66628442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.447628 meters 0.01218076981549219 Centerline is valid? [True, True] Translation: X:83.72, Y:-65.47, Z:0.67 [[-8.15362011e-01 -5.78927235e-01 5.29590650e-03 8.37185978e+01] [-5.78915164e-01 8.15379210e-01 3.73851177e-03 -6.54747705e+01] [-6.48249834e-03 -1.76401079e-05 -9.99978988e-01 6.65709729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.477628 meters 0.012310448578028006 Centerline is valid? [True, True] Translation: X:83.63, Y:-65.51, Z:0.66 [[-7.72604132e-01 -6.34874627e-01 4.13079679e-03 8.36299880e+01] [-6.34865454e-01 7.72615174e-01 3.41291639e-03 -6.55124269e+01] [-5.35829030e-03 1.43331264e-05 -9.99985644e-01 6.64633947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.507628 meters 0.012618303646967283 Centerline is valid? [True, True] Translation: X:83.55, Y:-65.55, Z:0.66 [[-7.24145398e-01 -6.89637792e-01 3.62747856e-03 8.35505913e+01] [-6.89628931e-01 7.24154483e-01 3.49611228e-03 -6.55492735e+01] [-5.03790601e-03 3.00794625e-05 -9.99987309e-01 6.64116284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.537628 meters 0.013241867093908276 Centerline is valid? [True, True] Translation: X:83.46, Y:-65.60, Z:0.66 [[-6.72032233e-01 -7.40515811e-01 3.00188554e-03 8.34643849e+01] [-7.40508134e-01 6.72038936e-01 3.37229563e-03 -6.56039202e+01] [-4.51462220e-03 4.33707052e-05 -9.99989808e-01 6.63847989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.567628 meters 0.013754873474361556 Centerline is valid? [True, True] Translation: X:83.38, Y:-65.67, Z:0.66 [[-6.16292346e-01 -7.87512785e-01 2.71265161e-03 8.33766326e+01] [-7.87504718e-01 6.16298313e-01 3.56492403e-03 -6.56710023e+01] [-4.47922586e-03 6.08094496e-05 -9.99989966e-01 6.63181993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59762800000001 meters 0.015788502341806458 Centerline is valid? [True, True] Translation: X:83.30, Y:-65.75, Z:0.66 [[-5.60327961e-01 -8.28268030e-01 2.15542366e-03 8.32956326e+01] [-8.28261311e-01 5.60332100e-01 3.33744727e-03 -6.57466366e+01] [-3.97205395e-03 8.48109971e-05 -9.99992108e-01 6.63289975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62762800000002 meters 0.016927365762448444 Centerline is valid? [True, True] Translation: X:83.22, Y:-65.83, Z:0.66 [[-4.97769402e-01 -8.67307698e-01 1.72588248e-03 8.32159586e+01] [-8.67301845e-01 4.97772386e-01 3.18763937e-03 -6.58284788e+01] [-3.62376081e-03 8.98482857e-05 -9.99993430e-01 6.63933007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65762800000002 meters 0.016630858683159253 Centerline is valid? [True, True] Translation: X:83.14, Y:-65.91, Z:0.66 [[-4.32265690e-01 -9.01745034e-01 1.50556381e-03 8.31412792e+01] [-9.01738694e-01 4.32268299e-01 3.38311944e-03 -6.59138410e+01] [-3.70151866e-03 1.04781317e-04 -9.99993144e-01 6.64496529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68762800000002 meters 0.01974688960191101 Centerline is valid? [True, True] Translation: X:83.08, Y:-66.01, Z:0.67 [[-3.64638441e-01 -9.31148005e-01 1.48327842e-03 8.30762946e+01] [-9.31138627e-01 3.64641430e-01 4.18143552e-03 -6.60142318e+01] [-4.43440010e-03 1.43574295e-04 -9.99990158e-01 6.65449173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71762800000002 meters 0.019891662089796293 Centerline is valid? [True, True] Translation: X:83.02, Y:-66.11, Z:0.67 [[-2.98673784e-01 -9.54354138e-01 1.46622991e-03 8.30154315e+01] [-9.54338616e-01 2.98677296e-01 5.44788527e-03 -6.61147890e+01] [-5.63714144e-03 2.27860688e-04 -9.99984085e-01 6.65121837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74762800000002 meters 0.020528961156592015 Centerline is valid? [True, True] Translation: X:82.96, Y:-66.23, Z:0.66 [[-2.26825369e-01 -9.73934874e-01 1.05477875e-03 8.29621500e+01] [-9.73918631e-01 2.26827683e-01 5.63043251e-03 -6.62251512e+01] [-5.72292760e-03 2.49856256e-04 -9.99983593e-01 6.64812775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77762800000002 meters 0.022902795789030327 Centerline is valid? [True, True] Translation: X:82.92, Y:-66.34, Z:0.66 [[-1.53279743e-01 -9.88182637e-01 6.29887799e-04 8.29195814e+01] [-9.88165388e-01 1.53280793e-01 5.84501404e-03 -6.63420912e+01] [-5.87249109e-03 2.73488928e-04 -9.99982719e-01 6.64668514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80762800000002 meters 0.023252222381028212 Centerline is valid? [True, True] Translation: X:82.88, Y:-66.46, Z:0.66 [[-7.83829732e-02 -9.96923308e-01 1.68515718e-04 8.28826448e+01] [-9.96907102e-01 7.83826611e-02 5.69102893e-03 -6.64615794e+01] [-5.68672809e-03 2.78085252e-04 -9.99983792e-01 6.64743811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83762800000002 meters 0.02350191619196097 Centerline is valid? [True, True] Translation: X:82.85, Y:-66.58, Z:0.66 [[-2.25839652e-03 -9.99997414e-01 -2.66898895e-04 8.28538434e+01] [-9.99982092e-01 2.25688253e-03 5.54284674e-03 -6.65843224e+01] [-5.54223005e-03 2.79412061e-04 -9.99984603e-01 6.64839519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86762800000002 meters 0.023707537488531286 Centerline is valid? [True, True] Translation: X:82.83, Y:-66.71, Z:0.67 [[ 7.53167302e-02 -9.97159438e-01 -6.66757064e-04 8.28320536e+01] [-9.97145543e-01 -7.53192051e-02 5.27097441e-03 -6.67084014e+01] [-5.30622150e-03 2.67861277e-04 -9.99985886e-01 6.65735611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89762800000003 meters 0.022875188205794875 Centerline is valid? [True, True] Translation: X:82.82, Y:-66.83, Z:0.67 [[ 1.53762165e-01 -9.88107314e-01 -1.06443825e-03 8.28209614e+01] [-9.88093886e-01 -1.53765632e-01 5.15784528e-03 -6.68343275e+01] [-5.26017866e-03 2.58683468e-04 -9.99986132e-01 6.65191348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.927628 meters 0.021779145136168215 Centerline is valid? [True, True] Translation: X:82.82, Y:-66.96, Z:0.66 [[ 2.32074734e-01 -9.72697139e-01 -1.26200069e-03 8.28204393e+01] [-9.72687330e-01 -2.32078068e-01 4.37355865e-03 -6.69637982e+01] [-4.54703067e-03 2.12539625e-04 -9.99989640e-01 6.64417769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.957628 meters 0.02092624806218489 Centerline is valid? [True, True] Translation: X:82.83, Y:-67.09, Z:0.66 [[ 3.09437680e-01 -9.50918697e-01 -1.39765157e-03 8.28282489e+01] [-9.50911386e-01 -3.09440788e-01 3.73299942e-03 -6.70885167e+01] [-3.98226935e-03 1.73912105e-04 -9.99992056e-01 6.63879848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.987628 meters 0.020448848354488916 Centerline is valid? [True, True] Translation: X:82.84, Y:-67.22, Z:0.66 [[ 3.88473612e-01 -9.21458763e-01 -1.41484420e-03 8.28446568e+01] [-9.21453749e-01 -3.88476169e-01 3.04202863e-03 -6.72159154e+01] [-3.35273719e-03 1.21965644e-04 -9.99994372e-01 6.64012836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.017628 meters 0.0181780499160228 Centerline is valid? [True, True] Translation: X:82.87, Y:-67.34, Z:0.66 [[ 4.62557917e-01 -8.86587464e-01 -1.68582600e-03 8.28683780e+01] [-8.86582413e-01 -4.62560976e-01 2.99468402e-03 -6.73364880e+01] [-3.43484663e-03 1.09408885e-04 -9.99994095e-01 6.63811164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.047628 meters 0.016037305359280576 Centerline is valid? [True, True] Translation: X:82.90, Y:-67.46, Z:0.66 [[ 5.33507098e-01 -8.45793278e-01 -1.97663074e-03 8.29022728e+01] [-8.45788130e-01 -5.33510751e-01 2.95253400e-03 -6.74567522e+01] [-3.55178716e-03 9.66129665e-05 -9.99993688e-01 6.63832446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.077628 meters 0.01611838801169087 Centerline is valid? [True, True] Translation: X:82.95, Y:-67.57, Z:0.66 [[ 6.01081054e-01 -7.99184619e-01 -2.34760092e-03 8.29471976e+01] [-7.99179065e-01 -6.01085632e-01 2.98073741e-03 -6.75697056e+01] [-3.79326867e-03 8.44887241e-05 -9.99992802e-01 6.64583042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.107628 meters 0.013602449358687433 Centerline is valid? [True, True] Translation: X:82.99, Y:-67.68, Z:0.67 [[ 6.68534787e-01 -7.43673967e-01 -3.20465265e-03 8.29884786e+01] [-7.43665830e-01 -6.68542465e-01 3.47924387e-03 -6.76774437e+01] [-4.72986947e-03 5.71951093e-05 -9.99988812e-01 6.65230316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.137628 meters 0.012872368916586004 Centerline is valid? [True, True] Translation: X:83.04, Y:-67.78, Z:0.67 [[ 7.27047687e-01 -6.86576485e-01 -3.79349234e-03 8.30420781e+01] [-6.86567403e-01 -7.27057583e-01 3.53176819e-03 -6.77775583e+01] [-5.18291636e-03 3.67242895e-05 -9.99986568e-01 6.65916766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.167628 meters 0.012473548981908708 Centerline is valid? [True, True] Translation: X:83.03, Y:-67.79, Z:0.67 [[ 7.81344864e-01 -6.24084617e-01 -4.31218835e-03 8.30342721e+01] [-6.24075210e-01 -7.81356763e-01 3.42660340e-03 -6.77883867e+01] [-5.50784800e-03 1.37708826e-05 -9.99984832e-01 6.66646709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.197628 meters 0.012473106902619437 Centerline is valid? [True, True] Translation: X:83.03, Y:-67.80, Z:0.67 [[ 8.32020966e-01 -5.54719327e-01 -5.25177776e-03 8.30255775e+01] [-5.54708033e-01 -8.32037540e-01 3.53984519e-03 -6.78017688e+01] [-6.33329679e-03 -3.20220988e-05 -9.99979944e-01 6.67769732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.227628 meters 0.012719035368068668 Centerline is valid? [True, True] Translation: X:83.02, Y:-67.81, Z:0.67 [[ 8.74157176e-01 -4.85615954e-01 -5.13584951e-03 8.30186491e+01] [-4.85607262e-01 -8.74172262e-01 2.90586085e-03 -6.78100347e+01] [-5.90074957e-03 -4.61732964e-05 -9.99982589e-01 6.68140520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.257628 meters 0.012868896780388477 Centerline is valid? [True, True] Translation: X:83.01, Y:-67.82, Z:0.67 [[ 9.10342389e-01 -4.13827610e-01 -4.84198727e-03 8.30140968e+01] [-4.13821440e-01 -9.10355264e-01 2.26032476e-03 -6.78175391e+01] [-5.34331339e-03 -5.39512996e-05 -9.99985723e-01 6.67660299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.287628 meters 0.012902917872106479 Centerline is valid? [True, True] Translation: X:83.01, Y:-67.83, Z:0.67 [[ 9.40243157e-01 -3.40474143e-01 -4.49030773e-03 8.30101434e+01] [-3.40469987e-01 -9.40253878e-01 1.68310192e-03 -6.78261236e+01] [-4.79508194e-03 -5.37100449e-05 -9.99988502e-01 6.67329505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.317628 meters 0.013114319985033995 Centerline is valid? [True, True] Translation: X:83.01, Y:-67.83, Z:0.67 [[ 9.64118291e-01 -2.65440887e-01 -4.13000297e-03 8.30063018e+01] [-2.65438224e-01 -9.64127135e-01 1.19012042e-03 -6.78335503e+01] [-4.29775455e-03 -5.11562167e-05 -9.99990763e-01 6.66887018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34762800000001 meters 0.013114319985033995 Centerline is valid? [True, True] Translation: X:83.00, Y:-67.84, Z:0.67 [[ 9.81914357e-01 -1.89278816e-01 -4.21013470e-03 8.30039257e+01] [-1.89276853e-01 -9.81923381e-01 8.63635685e-04 -6.78406095e+01] [-4.29749764e-03 -5.11352314e-05 -9.99990764e-01 6.66884361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37762800000002 meters 0.012842140053213207 Centerline is valid? [True, True] Translation: X:83.00, Y:-67.84, Z:0.67 [[ 9.93519727e-01 -1.13605542e-01 -3.51190666e-03 8.29989595e+01] [-1.13604701e-01 -9.93525933e-01 4.38715572e-04 -6.78443517e+01] [-3.53901086e-03 -3.69034691e-05 -9.99993737e-01 6.66996234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40762800000002 meters 0.012689367671414275 Centerline is valid? [True, True] Translation: X:82.99, Y:-67.85, Z:0.67 [[ 9.99299176e-01 -3.72513922e-02 -3.67287973e-03 8.29933430e+01] [-3.72510247e-02 -9.99305926e-01 1.68419228e-04 -6.78479989e+01] [-3.67660433e-03 -3.14826624e-05 -9.99993241e-01 6.67563895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43762800000002 meters 0.012447619213186883 Centerline is valid? [True, True] Translation: X:82.99, Y:-67.85, Z:0.67 [[ 9.99238764e-01 3.88309908e-02 -3.74783186e-03 8.29889843e+01] [ 3.88308058e-02 -9.99245792e-01 -1.22156442e-04 -6.78512390e+01] [-3.74974868e-03 -2.34678794e-05 -9.99992969e-01 6.67862404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46762800000002 meters 0.012384628596002822 Centerline is valid? [True, True] Translation: X:82.98, Y:-67.85, Z:0.67 [[ 9.93385931e-01 1.14755932e-01 -3.93299323e-03 8.29834493e+01] [ 1.14755096e-01 -9.93393716e-01 -4.38543404e-04 -6.78542883e+01] [-3.95733622e-03 -1.56881666e-05 -9.99992170e-01 6.68330687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49762800000002 meters 0.012383518755127262 Centerline is valid? [True, True] Translation: X:82.98, Y:-67.85, Z:0.67 [[ 9.82135204e-01 1.88124987e-01 -4.40808500e-03 8.29780581e+01] [ 1.88123085e-01 -9.82145096e-01 -8.46019707e-04 -6.78541948e+01] [-4.48853651e-03 1.64318995e-06 -9.99989926e-01 6.69381333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52762800000002 meters 0.012569391423586351 Centerline is valid? [True, True] Translation: X:82.97, Y:-67.86, Z:0.67 [[ 9.64949827e-01 2.62394451e-01 -4.58069631e-03 8.29737547e+01] [ 2.62391434e-01 -9.64960700e-01 -1.25817746e-03 -6.78572071e+01] [-4.75033070e-03 1.21426427e-05 -9.99988717e-01 6.69872377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55762800000002 meters 0.012778413138775304 Centerline is valid? [True, True] Translation: X:82.97, Y:-67.86, Z:0.67 [[ 9.42176957e-01 3.35080393e-01 -4.86941820e-03 8.29677070e+01] [ 3.35075780e-01 -9.42189540e-01 -1.75844851e-03 -6.78601988e+01] [-5.17713651e-03 2.51455637e-05 -9.99986598e-01 6.70105341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58762800000002 meters 0.013150987106073894 Centerline is valid? [True, True] Translation: X:82.96, Y:-67.86, Z:0.67 [[ 9.13981119e-01 4.05726807e-01 -4.92677614e-03 8.29622626e+01] [ 4.05720682e-01 -9.13994397e-01 -2.22970946e-03 -6.78628948e+01] [-5.40769868e-03 3.90173731e-05 -9.99985378e-01 6.70504234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61762800000002 meters 0.014295457801642318 Centerline is valid? [True, True] Translation: X:82.95, Y:-67.86, Z:0.67 [[ 8.81830176e-01 4.71538297e-01 -5.21309035e-03 8.29538273e+01] [ 4.71529559e-01 -8.81845581e-01 -2.87153698e-03 -6.78624390e+01] [-5.95118035e-03 7.40817680e-05 -9.99982289e-01 6.70867017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64762800000003 meters 0.014322919369702286 Centerline is valid? [True, True] Translation: X:82.95, Y:-67.87, Z:0.67 [[ 8.43737390e-01 5.36728623e-01 -5.44084776e-03 8.29513106e+01] [ 5.36716692e-01 -8.43754926e-01 -3.58011244e-03 -6.78709726e+01] [-6.51229092e-03 1.00480910e-04 -9.99978790e-01 6.70491316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.677628 meters 0.014850671110267237 Centerline is valid? [True, True] Translation: X:82.95, Y:-67.88, Z:0.67 [[ 8.01054330e-01 5.98564030e-01 -5.75002282e-03 8.29488683e+01] [ 5.98547376e-01 -8.01074955e-01 -4.46712503e-03 -6.78803201e+01] [-7.28005963e-03 1.36748777e-04 -9.99973491e-01 6.70546569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.707628 meters 0.016624907512044 Centerline is valid? [True, True] Translation: X:82.94, Y:-67.89, Z:0.67 [[ 7.56646491e-01 6.53795824e-01 -6.09163186e-03 8.29437867e+01] [ 6.53772298e-01 -7.56670981e-01 -5.55059264e-03 -6.78861067e+01] [-8.23831534e-03 2.17296286e-04 -9.99966041e-01 6.70991196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.737628 meters 0.016808370991911705 Centerline is valid? [True, True] Translation: X:82.94, Y:-67.90, Z:0.67 [[ 7.05737290e-01 7.08450849e-01 -5.68089443e-03 8.29446629e+01] [ 7.08425006e-01 -7.05760110e-01 -6.05627315e-03 -6.78981216e+01] [-8.29992053e-03 2.49650131e-04 -9.99965524e-01 6.70545366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.767628 meters 0.02286117921690639 Centerline is valid? [True, True] Translation: X:82.94, Y:-67.91, Z:0.67 [[ 6.50879049e-01 7.59164600e-01 -5.05703362e-03 8.29374390e+01] [ 7.59138364e-01 -6.50898637e-01 -6.31737727e-03 -6.79055954e+01] [-8.08754547e-03 2.72860279e-04 -9.99967258e-01 6.72301096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.797628 meters 0.018815683649772853 Centerline is valid? [True, True] Translation: X:82.94, Y:-67.92, Z:0.67 [[ 5.91735006e-01 8.06120964e-01 -4.32138195e-03 8.29444656e+01] [ 8.06095906e-01 -5.91750718e-01 -6.36222962e-03 -6.79229270e+01] [-7.68590755e-03 2.81305685e-04 -9.99970423e-01 6.70033311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.827628 meters 0.0197303747862931 Centerline is valid? [True, True] Translation: X:82.95, Y:-67.94, Z:0.67 [[ 5.28681523e-01 8.48814135e-01 -3.22661333e-03 8.29467726e+01] [ 8.48795324e-01 -5.28691309e-01 -5.65657151e-03 -6.79357337e+01] [-6.50726028e-03 2.51790532e-04 -9.99978796e-01 6.69632342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.857628 meters 0.020680462787157898 Centerline is valid? [True, True] Translation: X:82.95, Y:-67.95, Z:0.67 [[ 4.63622798e-01 8.86030415e-01 -2.00131391e-03 8.29498726e+01] [ 8.86020257e-01 -4.63627076e-01 -4.24719869e-03 -6.79477019e+01] [-4.69101053e-03 1.95893472e-04 -9.99988978e-01 6.68617002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.887628 meters 0.020953220441550152 Centerline is valid? [True, True] Translation: X:82.96, Y:-67.96, Z:0.67 [[ 3.94120954e-01 9.19057587e-01 -1.35084391e-03 8.29554301e+01] [ 9.19050689e-01 -3.94123235e-01 -3.56470071e-03 -6.79610794e+01] [-3.80856420e-03 1.63429220e-04 -9.99992734e-01 6.67934915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.917628 meters 0.023340690425371638 Centerline is valid? [True, True] Translation: X:82.96, Y:-67.97, Z:0.67 [[ 3.21935159e-01 9.46761239e-01 -9.54180489e-04 8.29580190e+01] [ 9.46755606e-01 -3.21936538e-01 -3.26908087e-03 -6.79735130e+01] [-3.40222462e-03 1.49056342e-04 -9.99994201e-01 6.67696267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.947628 meters 0.021834555026713096 Centerline is valid? [True, True] Translation: X:82.97, Y:-67.99, Z:0.67 [[ 2.48100921e-01 9.68734051e-01 -5.20306510e-04 8.29686485e+01] [ 9.68730864e-01 -2.48101441e-01 -2.48744005e-03 -6.79866589e+01] [-2.53875667e-03 1.13099193e-04 -9.99996771e-01 6.67193503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.977628 meters 0.02188497344421668 Centerline is valid? [True, True] Translation: X:82.98, Y:-68.00, Z:0.67 [[ 1.72175187e-01 9.85066309e-01 -2.68070247e-04 8.29785701e+01] [ 9.85064122e-01 -1.72175370e-01 -2.07765815e-03 -6.79988544e+01] [-2.09278614e-03 9.36547983e-05 -9.99997806e-01 6.67485445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.007628 meters 0.023448142430546184 Centerline is valid? [True, True] Translation: X:82.99, Y:-68.01, Z:0.67 [[ 9.49396312e-02 9.95483028e-01 -8.22337964e-05 8.29869581e+01] [ 9.95481713e-01 -9.49396395e-02 -1.61997444e-03 -6.80108846e+01] [-1.62046431e-03 7.19375357e-05 -9.99998684e-01 6.67850948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.037628 meters 0.021873566072111845 Centerline is valid? [True, True] Translation: X:83.00, Y:-68.02, Z:0.67 [[ 1.69739589e-02 9.99855931e-01 4.84530537e-05 8.30021873e+01] [ 9.99854434e-01 -1.69738496e-02 -1.73160837e-03 -6.80210769e+01] [-1.73053646e-03 7.78382498e-05 -9.99998500e-01 6.68228488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.067628 meters 0.023722523496409922 Centerline is valid? [True, True] Translation: X:83.01, Y:-68.03, Z:0.67 [[-6.08265927e-02 9.98148334e-01 1.70000604e-04 8.30149167e+01] [ 9.98147060e-01 6.08267869e-02 -1.59623189e-03 -6.80308250e+01] [-1.60361679e-03 7.25922566e-05 -9.99998712e-01 6.69426692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09762800000001 meters 0.025114599156054924 Centerline is valid? [True, True] Translation: X:83.02, Y:-68.04, Z:0.67 [[-1.38662624e-01 9.90339641e-01 2.69453006e-04 8.30236766e+01] [ 9.90338587e-01 1.38662870e-01 -1.44631327e-03 -6.80402702e+01] [-1.46970450e-03 6.63001148e-05 -9.99998918e-01 6.69478465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12762800000002 meters 0.025181693146801583 Centerline is valid? [True, True] Translation: X:83.03, Y:-68.05, Z:0.67 [[-2.15704671e-01 9.76458583e-01 3.59992676e-04 8.30338503e+01] [ 9.76457665e-01 2.15704963e-01 -1.34052198e-03 -6.80486407e+01] [-1.38661640e-03 6.23607544e-05 -9.99999037e-01 6.69165087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15762800000002 meters 0.021692166672685798 Centerline is valid? [True, True] Translation: X:83.05, Y:-68.05, Z:0.67 [[-2.91231311e-01 9.56652571e-01 4.26950740e-04 8.30546531e+01] [ 9.56651813e-01 2.91231618e-01 -1.20542467e-03 -6.80518764e+01] [-1.27751417e-03 5.73857920e-05 -9.99999182e-01 6.68707161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18762800000002 meters 0.02318667144449049 Centerline is valid? [True, True] Translation: X:83.07, Y:-68.06, Z:0.67 [[-3.65076159e-01 9.30977553e-01 4.40494588e-04 8.30706162e+01] [ 9.30977026e-01 3.65076421e-01 -9.91684436e-04 -6.80564471e+01] [-1.08405014e-03 4.80499963e-05 -9.99999411e-01 6.68686226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21762800000002 meters 0.023079378001211414 Centerline is valid? [True, True] Translation: X:83.09, Y:-68.06, Z:0.67 [[-4.36434523e-01 8.99735817e-01 6.05967768e-04 8.30857505e+01] [ 8.99735126e-01 4.36434940e-01 -1.11647775e-03 -6.80582434e+01] [-1.26900053e-03 5.79410516e-05 -9.99999193e-01 6.68785171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24762800000002 meters 0.023746470320377105 Centerline is valid? [True, True] Translation: X:83.10, Y:-68.06, Z:0.67 [[-5.05523996e-01 8.62812220e-01 7.49768535e-04 8.31001302e+01] [ 8.62811450e-01 5.05524548e-01 -1.15427914e-03 -6.80609873e+01] [-1.37495254e-03 6.33930761e-05 -9.99999053e-01 6.69596629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27762800000002 meters 0.022863513586213448 Centerline is valid? [True, True] Translation: X:83.12, Y:-68.06, Z:0.67 [[-5.71668098e-01 8.20483977e-01 1.27642825e-03 8.31162631e+01] [ 8.20482307e-01 5.71669514e-01 -1.65833058e-03 -6.80591900e+01] [-2.09032878e-03 9.92721091e-05 -9.99997810e-01 6.70361134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30762800000002 meters 0.02290842712691917 Centerline is valid? [True, True] Translation: X:83.13, Y:-68.06, Z:0.67 [[-6.35261129e-01 7.72295253e-01 1.82783024e-03 8.31325483e+01] [ 7.72292617e-01 6.35263745e-01 -2.02187349e-03 -6.80569820e+01] [-2.72263759e-03 1.27202163e-04 -9.99996286e-01 6.71074649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33762800000002 meters 0.022500733881596534 Centerline is valid? [True, True] Translation: X:83.15, Y:-68.05, Z:0.67 [[-6.95019558e-01 7.18987218e-01 2.27894870e-03 8.31461458e+01] [ 7.18984008e-01 6.95023280e-01 -2.15332539e-03 -6.80536352e+01] [-3.13213583e-03 1.41924407e-04 -9.99995085e-01 6.71252385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36762800000002 meters 0.0211498038811377 Centerline is valid? [True, True] Translation: X:83.17, Y:-68.03, Z:0.67 [[-7.45426280e-01 6.66582620e-01 2.69654457e-03 8.31716618e+01] [ 6.66578983e-01 7.45431142e-01 -2.20713889e-03 -6.80321341e+01] [-3.48132872e-03 1.52200607e-04 -9.99993929e-01 6.71421350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39762800000003 meters 0.020372429103779968 Centerline is valid? [True, True] Translation: X:83.20, Y:-68.01, Z:0.67 [[-7.92309652e-01 6.10110799e-01 3.19827907e-03 8.31957588e+01] [ 6.10106638e-01 7.92316091e-01 -2.25890397e-03 -6.80097860e+01] [-3.91222968e-03 1.61539873e-04 -9.99992334e-01 6.72009182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.427628 meters 0.018195949374969076 Centerline is valid? [True, True] Translation: X:83.22, Y:-67.98, Z:0.67 [[-8.37195353e-01 5.46886676e-01 4.34794326e-03 8.32167558e+01] [ 5.46880387e-01 8.37206624e-01 -2.62872666e-03 -6.79795009e+01] [-5.07774249e-03 1.77047152e-04 -9.99987093e-01 6.72985304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.457628 meters 0.01758668825859819 Centerline is valid? [True, True] Translation: X:83.23, Y:-67.95, Z:0.67 [[-8.75780884e-01 4.82688150e-01 4.47139912e-03 8.32317954e+01] [ 4.82682752e-01 8.75792285e-01 -2.28792540e-03 -6.79519654e+01] [-5.02037133e-03 1.54545905e-04 -9.99987386e-01 6.73402965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.487628 meters 0.016618233887017216 Centerline is valid? [True, True] Translation: X:83.25, Y:-67.92, Z:0.67 [[-9.09477140e-01 4.15723420e-01 5.03683833e-03 8.32488094e+01] [ 4.15717931e-01 9.09491076e-01 -2.14123553e-03 -6.79247259e+01] [-5.47112126e-03 1.46499245e-04 -9.99985023e-01 6.73995463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.517628 meters 0.015122520492909408 Centerline is valid? [True, True] Translation: X:83.26, Y:-67.89, Z:0.67 [[-9.38235843e-01 3.45955231e-01 5.33679065e-03 8.32602720e+01] [ 3.45950391e-01 9.38251013e-01 -1.83420743e-03 -6.78940231e+01] [-5.64180289e-03 1.25345652e-04 -9.99984077e-01 6.73706600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.547628 meters 0.013098011605535694 Centerline is valid? [True, True] Translation: X:83.27, Y:-67.86, Z:0.67 [[-9.63449266e-01 2.67820474e-01 6.14045821e-03 8.32658519e+01] [ 2.67815502e-01 9.63468831e-01 -1.63344615e-03 -6.78576904e+01] [-6.35361042e-03 7.07673992e-05 -9.99979813e-01 6.73797374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.577628 meters 0.012353110943175923 Centerline is valid? [True, True] Translation: X:83.46, Y:-67.12, Z:-0.18 [[-9.49117745e-01 -3.14856437e-01 6.39771857e-03 8.34618978e+01] [ 3.14848943e-01 -9.49139306e-01 -2.17288003e-03 -6.71248139e+01] [ 6.75647142e-03 -4.80040606e-05 9.99977174e-01 -1.83363101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.607628 meters 0.012059252117280077 Centerline is valid? [True, True] Translation: X:83.22, Y:-67.84, Z:0.67 [[-9.67418223e-01 2.53090248e-01 6.87815365e-03 8.32153982e+01] [ 2.53083843e-01 9.67442673e-01 -1.80054415e-03 -6.78350015e+01] [-7.10991952e-03 -1.12965806e-06 -9.99974724e-01 6.74615825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.637628 meters 0.012593093887025878 Centerline is valid? [True, True] Translation: X:83.22, Y:-67.80, Z:0.67 [[-9.84717718e-01 1.73998550e-01 7.45124558e-03 8.32153655e+01] [ 1.73992980e-01 9.84745906e-01 -1.39432857e-03 -6.77992201e+01] [-7.58019472e-03 -7.65556162e-05 -9.99971267e-01 6.74510274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.667628 meters 0.013197923534475438 Centerline is valid? [True, True] Translation: X:83.22, Y:-67.77, Z:0.67 [[-9.94976000e-01 9.98033840e-02 7.87681518e-03 8.32194722e+01] [ 9.97993758e-02 9.95007172e-01 -9.01264715e-04 -6.77691364e+01] [-7.92743686e-03 -1.10635523e-04 -9.99968571e-01 6.74451459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.697628 meters 0.013755260147986661 Centerline is valid? [True, True] Translation: X:83.22, Y:-67.74, Z:0.67 [[-9.99625931e-01 2.63438295e-02 7.34849692e-03 8.32178548e+01] [ 2.63422222e-02 9.99652934e-01 -3.15446895e-04 -6.77395753e+01] [-7.35425659e-03 -1.21753157e-04 -9.99972950e-01 6.74253081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.727628 meters 0.01392145379433345 Centerline is valid? [True, True] Translation: X:83.25, Y:-67.02, Z:-0.18 [[-9.91933118e-01 -1.26535353e-01 7.58242118e-03 8.32538803e+01] [ 1.26532766e-01 -9.91962088e-01 -8.21901379e-04 -6.70202091e+01] [ 7.62547393e-03 1.44153528e-04 9.99970915e-01 -1.83297814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.757628 meters 0.013831080807460051 Centerline is valid? [True, True] Translation: X:83.15, Y:-67.74, Z:0.67 [[-9.99745952e-01 2.10852492e-02 7.96511515e-03 8.31529647e+01] [ 2.10834990e-02 9.99777672e-01 -3.03635689e-04 -6.77387758e+01] [-7.96974651e-03 -1.35626053e-04 -9.99968232e-01 6.74788176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.787628 meters 0.013266407655408268 Centerline is valid? [True, True] Translation: X:83.15, Y:-67.71, Z:0.67 [[-9.98788292e-01 -4.85653857e-02 7.95938809e-03 8.31465715e+01] [-4.85648279e-02 9.98819998e-01 2.63446249e-04 -6.77143506e+01] [-7.96279036e-03 -1.23419284e-04 -9.99968289e-01 6.74924176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.817628 meters 0.013255942976282168 Centerline is valid? [True, True] Translation: X:83.15, Y:-67.69, Z:0.68 [[-9.93022988e-01 -1.17640981e-01 8.12062331e-03 8.31458150e+01] [-1.17637956e-01 9.93056185e-01 8.50885432e-04 -6.76890024e+01] [-8.16433421e-03 -1.10344731e-04 -9.99966665e-01 6.75632276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84762800000001 meters 0.012764982090040802 Centerline is valid? [True, True] Translation: X:83.14, Y:-67.67, Z:0.68 [[-9.82541124e-01 -1.85868687e-01 8.10988145e-03 8.31368885e+01] [-1.85863123e-01 9.82574589e-01 1.44113038e-03 -6.76663438e+01] [-8.23642445e-03 -9.13580256e-05 -9.99966076e-01 6.75451799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87762800000002 meters 0.012191749058231437 Centerline is valid? [True, True] Translation: X:83.11, Y:-67.65, Z:0.68 [[-9.68071203e-01 -2.50513279e-01 9.01346651e-03 8.31144605e+01] [-2.50502887e-01 9.68113162e-01 2.28221866e-03 -6.76517925e+01] [-9.29778164e-03 -4.85492229e-05 -9.99956774e-01 6.75934281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90762800000002 meters 0.012030420087463634 Centerline is valid? [True, True] Translation: X:83.07, Y:-67.64, Z:0.68 [[-9.48011130e-01 -3.18097534e-01 9.42634009e-03 8.30652285e+01] [-3.18082055e-01 9.48057993e-01 3.13805708e-03 -6.76418423e+01] [-9.93492529e-03 -2.34365931e-05 -9.99950647e-01 6.76135425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93762800000002 meters 0.012114843887700648 Centerline is valid? [True, True] Translation: X:83.01, Y:-67.64, Z:0.68 [[-9.23111229e-01 -3.84399991e-01 1.01145982e-02 8.30059090e+01] [-3.84376812e-01 9.23166641e-01 4.22131766e-03 -6.76389428e+01] [-1.09601341e-02 8.92871863e-06 -9.99939936e-01 6.76740829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96762800000002 meters 0.012375827821434551 Centerline is valid? [True, True] Translation: X:82.94, Y:-67.65, Z:0.68 [[-8.93336451e-01 -4.49265451e-01 1.05138495e-02 8.29359535e+01] [-4.49233712e-01 8.93398317e-01 5.34038059e-03 -6.76459913e+01] [-1.17923039e-02 4.75810091e-05 -9.99930467e-01 6.77188837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99762800000002 meters 0.012622979422178292 Centerline is valid? [True, True] Translation: X:82.86, Y:-67.66, Z:0.68 [[-8.58735669e-01 -5.12317965e-01 1.01662995e-02 8.28576944e+01] [-5.12280897e-01 8.58795841e-01 6.16333053e-03 -6.76637519e+01] [-1.18883606e-02 8.46707621e-05 -9.99929327e-01 6.77202682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02762800000002 meters 0.013503366215492507 Centerline is valid? [True, True] Translation: X:82.78, Y:-67.70, Z:0.68 [[-8.21198990e-01 -5.70564109e-01 9.42425672e-03 8.27776502e+01] [-5.70524365e-01 8.21253051e-01 6.73611534e-03 -6.76958750e+01] [-1.15830852e-02 1.54923035e-04 -9.99932902e-01 6.76026208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05762800000002 meters 0.014184295333839041 Centerline is valid? [True, True] Translation: X:82.69, Y:-67.73, Z:0.68 [[-7.77546790e-01 -6.28771185e-01 8.23330326e-03 8.26923861e+01] [-6.28733509e-01 7.77590359e-01 6.88538075e-03 -6.77334178e+01] [-1.07314662e-02 1.77152046e-04 -9.99942400e-01 6.75664465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08762800000002 meters 0.015051194781821252 Centerline is valid? [True, True] Translation: X:82.60, Y:-67.78, Z:0.68 [[-7.29487734e-01 -6.83954059e-01 7.38173905e-03 8.26039014e+01] [-6.83916222e-01 7.29525054e-01 7.19704875e-03 -6.77829754e+01] [-1.03076143e-02 2.01667705e-04 -9.99946855e-01 6.75061642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11762800000002 meters 0.0157757762972917 Centerline is valid? [True, True] Translation: X:82.52, Y:-67.84, Z:0.67 [[-6.79005804e-01 -7.34107546e-01 6.10157553e-03 8.25196384e+01] [-7.34074821e-01 6.79033179e-01 6.93529627e-03 -6.78426480e+01] [-9.23442555e-03 2.30093457e-04 -9.99957335e-01 6.74301843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14762800000003 meters 0.017650731018878155 Centerline is valid? [True, True] Translation: X:82.44, Y:-67.91, Z:0.67 [[-6.22811677e-01 -7.82351737e-01 5.60123426e-03 8.24350821e+01] [-7.82316314e-01 6.22836811e-01 7.44933266e-03 -6.79128576e+01] [-9.31665323e-03 2.57594435e-04 -9.99956566e-01 6.74647649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.177628 meters 0.016855128829844943 Centerline is valid? [True, True] Translation: X:82.35, Y:-67.99, Z:0.67 [[-5.62998266e-01 -8.26443490e-01 4.91026884e-03 8.23523497e+01] [-8.26407660e-01 5.63019610e-01 7.70056075e-03 -6.79868569e+01] [-9.12865595e-03 2.77518566e-04 -9.99958294e-01 6.73567085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.207628 meters 0.016855128829844943 Centerline is valid? [True, True] Translation: X:82.27, Y:-68.07, Z:0.67 [[-4.97546104e-01 -8.67426869e-01 4.30127466e-03 8.22705899e+01] [-8.67389501e-01 4.97564619e-01 8.05633434e-03 -6.80711474e+01] [-9.12844296e-03 2.77517282e-04 -9.99958296e-01 6.73556386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.237628 meters 0.018028951363826266 Centerline is valid? [True, True] Translation: X:82.20, Y:-68.17, Z:0.67 [[-4.31680401e-01 -9.02018723e-01 3.77561591e-03 8.21979241e+01] [-9.01977629e-01 4.31696798e-01 8.61575997e-03 -6.81692270e+01] [-9.40149810e-03 3.13733631e-04 -9.99955756e-01 6.73460775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.267628 meters 0.019199693943523975 Centerline is valid? [True, True] Translation: X:82.14, Y:-68.26, Z:0.67 [[-3.64867136e-01 -9.31054312e-01 3.13709524e-03 8.21395733e+01] [-9.31010895e-01 3.64880442e-01 8.99871629e-03 -6.82638659e+01] [-9.52295830e-03 3.62666001e-04 -9.99954590e-01 6.72964015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.297628 meters 0.01868071875721388 Centerline is valid? [True, True] Translation: X:82.08, Y:-68.38, Z:0.67 [[-2.92434102e-01 -9.56282812e-01 2.34095569e-03 8.20765784e+01] [-9.56241690e-01 2.92443254e-01 8.87548595e-03 -6.83755788e+01] [-9.17207135e-03 3.56975332e-04 -9.99957872e-01 6.72303878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.327628 meters 0.018839214692311257 Centerline is valid? [True, True] Translation: X:82.02, Y:-68.48, Z:0.67 [[-2.16238263e-01 -9.76339385e-01 1.55534262e-03 8.20243210e+01] [-9.76302128e-01 2.16243609e-01 8.53554906e-03 -6.84827987e+01] [-8.66992562e-03 3.27227989e-04 -9.99962362e-01 6.72089133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.357628 meters 0.01870401459905479 Centerline is valid? [True, True] Translation: X:81.98, Y:-68.60, Z:0.67 [[-1.38370205e-01 -9.90380192e-01 8.72986444e-04 8.19780833e+01] [-9.90343955e-01 1.38372615e-01 8.47761698e-03 -6.86021394e+01] [-8.51686134e-03 3.08492752e-04 -9.99963683e-01 6.71675864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.387628 meters 0.017971399084761846 Centerline is valid? [True, True] Translation: X:81.94, Y:-68.72, Z:0.67 [[-5.64614340e-02 -9.98404754e-01 2.29719054e-04 8.19407051e+01] [-9.98362098e-01 5.64611462e-02 9.23363328e-03 -6.87245193e+01] [-9.23187357e-03 2.92001379e-04 -9.99957343e-01 6.71991103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.417628 meters 0.017240344730558552 Centerline is valid? [True, True] Translation: X:81.91, Y:-68.85, Z:0.67 [[ 2.36662272e-02 -9.99719780e-01 -5.19829993e-04 8.19131497e+01] [-9.99671577e-01 -2.36701929e-02 9.82136725e-03 -6.88455741e+01] [-9.83091958e-03 2.87224561e-04 -9.99951634e-01 6.72216992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.447628 meters 0.016434744118602344 Centerline is valid? [True, True] Translation: X:81.90, Y:-68.97, Z:0.67 [[ 1.03618281e-01 -9.94616178e-01 -1.38183313e-03 8.18952640e+01] [-9.94560608e-01 -1.03627104e-01 1.05176119e-02 -6.89738843e+01] [-1.06041823e-02 2.84499935e-04 -9.99943734e-01 6.72321249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.477628 meters 0.015778383105590044 Centerline is valid? [True, True] Translation: X:81.89, Y:-69.10, Z:0.67 [[ 1.82857307e-01 -9.83137213e-01 -2.10356710e-03 8.18862642e+01] [-9.83086886e-01 -1.82869237e-01 9.95073338e-03 -6.90961686e+01] [-1.01676140e-02 2.48424926e-04 -9.99948278e-01 6.72415636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.507628 meters 0.017278613923026792 Centerline is valid? [True, True] Translation: X:81.89, Y:-69.22, Z:0.67 [[ 2.60348371e-01 -9.65510729e-01 -2.78515540e-03 8.18914720e+01] [-9.65464286e-01 -2.60363173e-01 9.47263407e-03 -6.92245312e+01] [-9.87108173e-03 2.22783221e-04 -9.99951255e-01 6.73738493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.537628 meters 0.014680811854189747 Centerline is valid? [True, True] Translation: X:81.90, Y:-69.35, Z:0.67 [[ 3.37280213e-01 -9.41399682e-01 -2.94913315e-03 8.18952007e+01] [-9.41367750e-01 -3.37293068e-01 7.75541550e-03 -6.93466352e+01] [-8.29566785e-03 1.60470647e-04 -9.99965577e-01 6.72284784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.567628 meters 0.013769719764007945 Centerline is valid? [True, True] Translation: X:81.91, Y:-69.47, Z:0.67 [[ 4.10126397e-01 -9.12023220e-01 -3.15990847e-03 8.19138333e+01] [-9.11998623e-01 -4.10138548e-01 6.69949035e-03 -6.94694711e+01] [-7.40609103e-03 1.34194339e-04 -9.99972566e-01 6.71423435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59762800000001 meters 0.014205324002959641 Centerline is valid? [True, True] Translation: X:81.94, Y:-69.59, Z:0.67 [[ 4.80647985e-01 -8.76907293e-01 -3.33375338e-03 8.19440624e+01] [-8.76887789e-01 -4.80659534e-01 5.84956831e-03 -6.95876096e+01] [-6.73192945e-03 1.11744405e-04 -9.99977334e-01 6.71566915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62762800000002 meters 0.013810308891486277 Centerline is valid? [True, True] Translation: X:81.98, Y:-69.70, Z:0.67 [[ 5.48371768e-01 -8.36226828e-01 -3.61884492e-03 8.19806509e+01] [-8.36209757e-01 -5.48383700e-01 5.34408094e-03 -6.97011439e+01] [-6.45337942e-03 9.55703202e-05 -9.99979172e-01 6.70949971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65762800000002 meters 0.012706909357784953 Centerline is valid? [True, True] Translation: X:82.02, Y:-69.81, Z:0.67 [[ 6.14015859e-01 -7.89282373e-01 -4.22628307e-03 8.20244818e+01] [-7.89264525e-01 -6.14030399e-01 5.30844290e-03 -6.98114027e+01] [-6.78492669e-03 7.61871748e-05 -9.99976979e-01 6.69553531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68762800000002 meters 0.012568896306863017 Centerline is valid? [True, True] Translation: X:82.07, Y:-69.91, Z:0.67 [[ 6.74247361e-01 -7.38490144e-01 -4.77523492e-03 8.20743511e+01] [-7.38472312e-01 -6.74264268e-01 5.13240690e-03 -6.99127196e+01] [-7.01000219e-03 6.58669590e-05 -9.99975427e-01 6.70037184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71762800000002 meters 0.012353828564774115 Centerline is valid? [True, True] Translation: X:82.13, Y:-70.01, Z:0.67 [[ 7.30033224e-01 -6.83388882e-01 -5.57921338e-03 8.21265552e+01] [-6.83369543e-01 -7.30054541e-01 5.14143772e-03 -7.00061050e+01] [-7.58673144e-03 5.92441495e-05 -9.99971219e-01 6.70743357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74762800000002 meters 0.012270416139298898 Centerline is valid? [True, True] Translation: X:82.12, Y:-70.01, Z:0.67 [[ 7.82392074e-01 -6.22751923e-01 -6.53338980e-03 8.21204510e+01] [-6.22730727e-01 -7.82419351e-01 5.13818780e-03 -7.00145317e+01] [-8.31166694e-03 4.84651719e-05 -9.99965456e-01 6.71989114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77762800000002 meters 0.012334065872757916 Centerline is valid? [True, True] Translation: X:82.11, Y:-70.02, Z:0.67 [[ 8.30806181e-01 -5.56504274e-01 -8.00517931e-03 8.21125385e+01] [-5.56478673e-01 -8.30844746e-01 5.33801925e-03 -7.00209237e+01] [-9.62169170e-03 1.98521733e-05 -9.99953710e-01 6.74662048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80762800000002 meters 0.012384618634796861 Centerline is valid? [True, True] Translation: X:82.11, Y:-70.02, Z:0.68 [[ 8.72624436e-01 -4.88322736e-01 -8.21576770e-03 8.21066900e+01] [-4.88301122e-01 -8.72663111e-01 4.59445437e-03 -7.00237419e+01] [-9.41317393e-03 2.53542895e-06 -9.99955695e-01 6.75692807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83762800000002 meters 0.012317981370391378 Centerline is valid? [True, True] Translation: X:82.10, Y:-70.03, Z:0.67 [[ 9.08898452e-01 -4.16925177e-01 -8.77496201e-03 8.20998023e+01] [-4.16905591e-01 -9.08940810e-01 4.04124148e-03 -7.00300301e+01] [-9.66081640e-03 -1.47474031e-05 -9.99953333e-01 6.74424471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86762800000002 meters 0.01258416559066344 Centerline is valid? [True, True] Translation: X:82.09, Y:-70.03, Z:0.67 [[ 9.39838822e-01 -3.41498822e-01 -9.03017696e-03 8.20936558e+01] [-3.41482589e-01 -9.39882201e-01 3.32996370e-03 -7.00347934e+01] [-9.62448128e-03 -4.59809516e-05 -9.99953683e-01 6.74003061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89762800000003 meters 0.01289679575054841 Centerline is valid? [True, True] Translation: X:82.09, Y:-70.04, Z:0.67 [[ 9.64086999e-01 -2.65430657e-01 -9.10079721e-03 8.20883379e+01] [-2.65418238e-01 -9.64129951e-01 2.56828754e-03 -7.00381853e+01] [-9.45605342e-03 -6.05350634e-05 -9.99955289e-01 6.73958964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.927628 meters 0.012981669786103487 Centerline is valid? [True, True] Translation: X:82.08, Y:-70.05, Z:0.67 [[ 9.82213282e-01 -1.87548216e-01 -9.09586457e-03 8.20800217e+01] [-1.87539477e-01 -9.82255395e-01 1.81202898e-03 -7.00452744e+01] [-9.27430485e-03 -7.39652463e-05 -9.99956990e-01 6.72717627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.957628 meters 0.013294154083393819 Centerline is valid? [True, True] Translation: X:82.07, Y:-70.05, Z:0.67 [[ 9.94056613e-01 -1.08479975e-01 -9.14033217e-03 8.20719750e+01] [-1.08474574e-01 -9.94098631e-01 1.08610714e-03 -7.00539436e+01] [-9.20421257e-03 -8.81583449e-05 -9.99957636e-01 6.72585090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.987628 meters 0.013869518285790644 Centerline is valid? [True, True] Translation: X:82.06, Y:-70.07, Z:0.67 [[ 9.99608199e-01 -2.65445798e-02 -8.87878437e-03 8.20634326e+01] [-2.65424751e-02 -9.99647623e-01 3.54811351e-04 -7.00653339e+01] [-8.88507401e-03 -1.19007423e-04 -9.99960520e-01 6.72712933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.017628 meters 0.014169223006174722 Centerline is valid? [True, True] Translation: X:82.06, Y:-70.07, Z:0.67 [[ 9.98511479e-01 5.38034988e-02 -8.94486657e-03 8.20569085e+01] [ 5.38025738e-02 -9.98551533e-01 -3.44185275e-04 -7.00748959e+01] [-8.95042860e-03 -1.37583896e-04 -9.99959935e-01 6.72666565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.047628 meters 0.01431060539018723 Centerline is valid? [True, True] Translation: X:82.05, Y:-70.08, Z:0.67 [[ 9.91053485e-01 1.33172170e-01 -8.84096936e-03 8.20513717e+01] [ 1.33168208e-01 -9.91092907e-01 -1.03792223e-03 -7.00846546e+01] [-8.90044438e-03 -1.48699607e-04 -9.99960379e-01 6.72698363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.077628 meters 0.014734107754743899 Centerline is valid? [True, True] Translation: X:82.05, Y:-70.09, Z:0.67 [[ 9.77373483e-01 2.11322722e-01 -9.15321599e-03 8.20462438e+01] [ 2.11315032e-01 -9.77416329e-01 -1.81030691e-03 -7.00943643e+01] [-9.32906175e-03 -1.64866159e-04 -9.99956470e-01 6.73427001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.107628 meters 0.014470064620574659 Centerline is valid? [True, True] Translation: X:82.04, Y:-70.10, Z:0.67 [[ 9.57967306e-01 2.86730421e-01 -9.18182578e-03 8.20419631e+01] [ 2.86718887e-01 -9.58011294e-01 -2.57700471e-03 -7.01021842e+01] [-9.53519844e-03 -1.63916617e-04 -9.99954526e-01 6.73223007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.137628 meters 0.014276826866044178 Centerline is valid? [True, True] Translation: X:82.04, Y:-70.11, Z:0.67 [[ 9.32887399e-01 3.60040943e-01 -9.57188326e-03 8.20383531e+01] [ 3.60023811e-01 -9.32936489e-01 -3.51613625e-03 -7.01108892e+01] [-1.01959122e-02 -1.65946689e-04 -9.99948007e-01 6.73118795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.167628 meters 0.014342779635339063 Centerline is valid? [True, True] Translation: X:82.03, Y:-70.12, Z:0.67 [[ 9.02338145e-01 4.30917525e-01 -9.79579925e-03 8.20346456e+01] [ 4.30894081e-01 -9.02391301e-01 -4.49789337e-03 -7.01206049e+01] [-1.07778651e-02 -1.62331149e-04 -9.99941904e-01 6.73964234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.197628 meters 0.013547594503397932 Centerline is valid? [True, True] Translation: X:82.03, Y:-70.13, Z:0.67 [[ 8.67800395e-01 4.96815076e-01 -9.86178028e-03 8.20308678e+01] [ 4.96784635e-01 -8.67856419e-01 -5.50112324e-03 -7.01269161e+01] [-1.12916503e-02 -1.25303995e-04 -9.99936239e-01 6.74144193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.227628 meters 0.013228391902885411 Centerline is valid? [True, True] Translation: X:82.03, Y:-70.13, Z:0.67 [[ 8.27726240e-01 5.61056714e-01 -9.19975369e-03 8.20278812e+01] [ 5.61023315e-01 -8.27777359e-01 -6.12249769e-03 -7.01342101e+01] [-1.10504162e-02 -9.35243157e-05 -9.99938938e-01 6.74094924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.257628 meters 0.013066754986456383 Centerline is valid? [True, True] Translation: X:82.02, Y:-70.14, Z:0.67 [[ 7.82796798e-01 6.22222610e-01 -8.25812901e-03 8.20243037e+01] [ 6.22188846e-01 -7.82840354e-01 -6.48234020e-03 -7.01427459e+01] [-1.04982553e-02 -6.37606082e-05 -9.99944890e-01 6.74047136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.287628 meters 0.012700717047423558 Centerline is valid? [True, True] Translation: X:82.02, Y:-70.15, Z:0.67 [[ 7.33739205e-01 6.79394005e-01 -7.11090854e-03 8.20226161e+01] [ 6.79362497e-01 -7.33773661e-01 -6.54306412e-03 -7.01510294e+01] [-9.66311593e-03 -2.99819132e-05 -9.99953311e-01 6.72340243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.317628 meters 0.012648792289274804 Centerline is valid? [True, True] Translation: X:82.02, Y:-70.16, Z:0.67 [[ 6.81192433e-01 7.32075955e-01 -6.45490219e-03 8.20192636e+01] [ 7.32042979e-01 -6.81223015e-01 -6.94840603e-03 -7.01598238e+01] [-9.48398891e-03 7.93577654e-06 -9.99955026e-01 6.71462125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34762800000001 meters 0.014100467285426733 Centerline is valid? [True, True] Translation: X:82.01, Y:-70.17, Z:0.67 [[ 6.30396356e-01 7.76252526e-01 -5.69654724e-03 8.20107612e+01] [ 7.76219264e-01 -6.30422084e-01 -7.18680510e-03 -7.01651307e+01] [-9.17000480e-03 1.08766041e-04 -9.99957949e-01 6.71192959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37762800000002 meters 0.014951228076815084 Centerline is valid? [True, True] Translation: X:82.01, Y:-70.18, Z:0.67 [[ 5.73322350e-01 8.19314761e-01 -4.98047762e-03 8.20101593e+01] [ 8.19281285e-01 -5.73343958e-01 -7.40824215e-03 -7.01754838e+01] [-8.92520890e-03 1.66898696e-04 -9.99960156e-01 6.70170706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40762800000002 meters 0.017433573548829972 Centerline is valid? [True, True] Translation: X:82.01, Y:-70.19, Z:0.67 [[ 5.13684297e-01 8.57969766e-01 -4.04026888e-03 8.20073422e+01] [ 8.57939888e-01 -5.13700141e-01 -7.16333049e-03 -7.01858056e+01] [-8.22140768e-03 2.13382553e-04 -9.99966181e-01 6.70240642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43762800000002 meters 0.018208901742657355 Centerline is valid? [True, True] Translation: X:82.01, Y:-70.20, Z:0.67 [[ 4.51187667e-01 8.92424279e-01 -2.93167812e-03 8.20108493e+01] [ 8.92402039e-01 -4.51197134e-01 -6.30453079e-03 -7.01977070e+01] [-6.94908111e-03 2.28291007e-04 -9.99975829e-01 6.68864681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46762800000002 meters 0.02256225256242174 Centerline is valid? [True, True] Translation: X:82.01, Y:-70.21, Z:0.67 [[ 3.85798231e-01 9.22581251e-01 -1.88683519e-03 8.20095230e+01] [ 9.22567408e-01 -3.85802787e-01 -5.05837930e-03 -7.02085405e+01] [-5.39471218e-03 2.10781135e-04 -9.99985426e-01 6.68624405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49762800000002 meters 0.022237290408345083 Centerline is valid? [True, True] Translation: X:82.02, Y:-70.22, Z:0.67 [[ 3.21698465e-01 9.46841623e-01 -1.01899650e-03 8.20195325e+01] [ 9.46834960e-01 -3.21700029e-01 -3.55666256e-03 -7.02219261e+01] [-3.69540736e-03 1.79351380e-04 -9.99993156e-01 6.66776712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52762800000002 meters 0.02281434238041348 Centerline is valid? [True, True] Translation: X:82.03, Y:-70.23, Z:0.67 [[ 2.49771076e-01 9.68304667e-01 -6.94423451e-04 8.20291657e+01] [ 9.68298667e-01 -2.49771976e-01 -3.41346315e-03 -7.02341350e+01] [-3.47871982e-03 1.80175062e-04 -9.99993933e-01 6.66741433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55762800000002 meters 0.023792544824725096 Centerline is valid? [True, True] Translation: X:82.04, Y:-70.25, Z:0.67 [[ 1.76087928e-01 9.84374231e-01 -6.43564171e-04 8.20394083e+01] [ 9.84360240e-01 -1.76088862e-01 -5.25655260e-03 -7.02459776e+01] [-5.28773941e-03 2.92116477e-04 -9.99985977e-01 6.66957193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58762800000002 meters 0.02390524069504141 Centerline is valid? [True, True] Translation: X:82.05, Y:-70.26, Z:0.67 [[ 9.80811458e-02 9.95178378e-01 -2.89708646e-04 8.20513911e+01] [ 9.95155900e-01 -9.80808805e-02 -6.69895932e-03 -7.02572494e+01] [-6.69507435e-03 3.68736337e-04 -9.99977520e-01 6.67499005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61762800000002 meters 0.02458411225620519 Centerline is valid? [True, True] Translation: X:82.06, Y:-70.27, Z:0.67 [[ 1.85957336e-02 9.99827045e-01 2.79029584e-04 8.20630222e+01] [ 9.99795925e-01 -1.85929501e-02 -7.89999236e-03 -7.02681839e+01] [-7.89343804e-03 4.25878795e-04 -9.99968756e-01 6.68299136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64762800000003 meters 0.023324517042437095 Centerline is valid? [True, True] Translation: X:82.08, Y:-70.28, Z:0.67 [[-6.12579315e-02 9.98121488e-01 9.79954774e-04 8.20790412e+01] [ 9.98084723e-01 6.12640978e-02 -8.57884013e-03 -7.02760689e+01] [-8.62276072e-03 4.52555888e-04 -9.99962721e-01 6.68725513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.677628 meters 0.0216250888957502 Centerline is valid? [True, True] Translation: X:82.10, Y:-70.28, Z:0.67 [[-1.43431893e-01 9.89658719e-01 1.70641640e-03 8.21015983e+01] [ 9.89619945e-01 1.43441397e-01 -8.77102784e-03 -7.02814434e+01] [-8.92509493e-03 4.30658577e-04 -9.99960078e-01 6.70264206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.707628 meters 0.022136046033706103 Centerline is valid? [True, True] Translation: X:82.12, Y:-70.29, Z:0.67 [[-2.22593941e-01 9.74908160e-01 2.45273666e-03 8.21164451e+01] [ 9.74868149e-01 2.22607053e-01 -8.84265403e-03 -7.02881784e+01] [-9.16677205e-03 4.22773631e-04 -9.99957895e-01 6.70445509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.737628 meters 0.021802538250984882 Centerline is valid? [True, True] Translation: X:82.13, Y:-70.29, Z:0.67 [[-3.00441329e-01 9.53795596e-01 2.99487955e-03 8.21300172e+01] [ 9.53760158e-01 3.00456011e-01 -8.23076975e-03 -7.02925351e+01] [-8.75030150e-03 3.83533394e-04 -9.99961642e-01 6.70088892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.767628 meters 0.0210491466462459 Centerline is valid? [True, True] Translation: X:82.14, Y:-70.30, Z:0.67 [[-3.75962218e-01 9.26629426e-01 3.21209354e-03 8.21437515e+01] [ 9.26602634e-01 3.75975799e-01 -7.05384653e-03 -7.02952905e+01] [-7.74397120e-03 3.24354550e-04 -9.99969962e-01 6.68725699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.797628 meters 0.01846128941000846 Centerline is valid? [True, True] Translation: X:82.16, Y:-70.29, Z:0.67 [[-4.49983189e-01 8.93033028e-01 2.67232313e-03 8.21647216e+01] [ 8.93020000e-01 4.49991073e-01 -4.82838081e-03 -7.02930702e+01] [-5.51442509e-03 2.13747807e-04 -9.99984773e-01 6.65168021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.827628 meters 0.02100867236828594 Centerline is valid? [True, True] Translation: X:82.18, Y:-70.30, Z:0.67 [[-5.19752918e-01 8.54312164e-01 2.76248316e-03 8.21772769e+01] [ 8.54301951e-01 5.19760226e-01 -4.18138620e-03 -7.02951647e+01] [-5.00803796e-03 1.86707071e-04 -9.99987442e-01 6.65024668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.857628 meters 0.01858858650388077 Centerline is valid? [True, True] Translation: X:82.20, Y:-70.29, Z:0.66 [[-5.86042932e-01 8.10276175e-01 2.49023344e-03 8.21950250e+01] [ 8.10269888e-01 5.86048205e-01 -3.19525868e-03 -7.02912937e+01] [-4.04843882e-03 1.45202403e-04 -9.99991794e-01 6.64260425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.887628 meters 0.018825492906566307 Centerline is valid? [True, True] Translation: X:82.21, Y:-70.29, Z:0.66 [[-6.48585780e-01 7.61137930e-01 2.35332760e-03 8.22089395e+01] [ 7.61133579e-01 6.48590038e-01 -2.57635323e-03 -7.02896695e+01] [-3.48730500e-03 1.20210591e-04 -9.99993912e-01 6.64099552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.917628 meters 0.018142853011837407 Centerline is valid? [True, True] Translation: X:82.22, Y:-70.28, Z:0.66 [[-7.07634845e-01 7.06576836e-01 1.44967183e-03 8.22236266e+01] [ 7.06575531e-01 7.07636327e-01 -1.35930168e-03 -7.02842207e+01] [-1.98629153e-03 6.24134100e-05 -9.99998025e-01 6.63764068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.947628 meters 0.017927919530407968 Centerline is valid? [True, True] Translation: X:82.25, Y:-70.26, Z:0.66 [[-7.56550149e-01 6.53933080e-01 1.84367760e-03 8.22465017e+01] [ 6.53931371e-01 7.56552392e-01 -1.49675369e-03 -7.02642031e+01] [-2.37361545e-03 7.32693894e-05 -9.99997180e-01 6.63492701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.977628 meters 0.017342520575279314 Centerline is valid? [True, True] Translation: X:82.27, Y:-70.24, Z:0.66 [[-8.01704216e-01 5.97717582e-01 2.01048722e-03 8.22714858e+01] [ 5.97715926e-01 8.01706734e-01 -1.40882593e-03 -7.02446393e+01] [-2.45390117e-03 7.22385403e-05 -9.99996987e-01 6.63364107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.007628 meters 0.015844903069236922 Centerline is valid? [True, True] Translation: X:82.29, Y:-70.22, Z:0.66 [[-8.43983885e-01 5.36362460e-01 2.55225906e-03 8.22904171e+01] [ 5.36360283e-01 8.43987740e-01 -1.53030472e-03 -7.02158079e+01] [-2.97487336e-03 7.73778656e-05 -9.99995572e-01 6.64604963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.037628 meters 0.015781956668499682 Centerline is valid? [True, True] Translation: X:82.31, Y:-70.19, Z:0.67 [[-8.80895334e-01 4.73298014e-01 3.52144790e-03 8.23082923e+01] [ 4.73294661e-01 8.80902367e-01 -1.78411650e-03 -7.01912226e+01] [-3.94647059e-03 9.50625962e-05 -9.99992208e-01 6.65336616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.067628 meters 0.014878881978238714 Centerline is valid? [True, True] Translation: X:82.32, Y:-70.16, Z:0.67 [[-9.13076542e-01 4.07769693e-01 3.88663740e-03 8.23230833e+01] [ 4.07766429e-01 9.13084809e-01 -1.63407384e-03 -7.01632844e+01] [-4.21515536e-03 9.28057666e-05 -9.99991112e-01 6.65552028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09762800000001 meters 0.014393884760194148 Centerline is valid? [True, True] Translation: X:82.34, Y:-70.14, Z:0.67 [[-9.40447437e-01 3.39913524e-01 4.17303552e-03 8.23362425e+01] [ 3.39910589e-01 9.40456691e-01 -1.41525297e-03 -7.01353676e+01] [-4.40562280e-03 8.74879351e-05 -9.99990291e-01 6.65722508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12762800000002 meters 0.013471595602016157 Centerline is valid? [True, True] Translation: X:82.59, Y:-69.41, Z:-0.18 [[-9.29845288e-01 -3.67928203e-01 4.07147108e-03 8.25857304e+01] [ 3.67924264e-01 -9.29854198e-01 -1.70473581e-03 -6.94108356e+01] [ 4.41309487e-03 -8.71475616e-05 9.99990258e-01 -1.75324634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15762800000002 meters 0.013471595602016157 Centerline is valid? [True, True] Translation: X:82.29, Y:-70.12, Z:0.67 [[-9.43127670e-01 3.32402988e-01 4.29555250e-03 8.22908715e+01] [ 3.32399883e-01 9.43137449e-01 -1.43858754e-03 -7.01158534e+01] [-4.52948723e-03 7.10694347e-05 -9.99989739e-01 6.65591228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18762800000002 meters 0.013073097416779944 Centerline is valid? [True, True] Translation: X:82.29, Y:-70.09, Z:0.67 [[-9.64762728e-01 2.63080874e-01 4.61873153e-03 8.22941463e+01] [ 2.63078191e-01 9.64773781e-01 -1.18998095e-03 -7.00860298e+01] [-4.76909232e-03 6.70382735e-05 -9.99988626e-01 6.65503743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21762800000002 meters 0.012880463563584516 Centerline is valid? [True, True] Translation: X:82.49, Y:-69.36, Z:-0.18 [[-9.53667853e-01 -3.00825888e-01 4.62726275e-03 8.24930919e+01] [ 3.00822031e-01 -9.53679077e-01 -1.52452723e-03 -6.93559851e+01] [ 4.87154092e-03 -6.19100341e-05 9.99988132e-01 -1.75788235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24762800000002 meters 0.01261258901509605 Centerline is valid? [True, True] Translation: X:82.25, Y:-70.07, Z:0.67 [[-9.66641526e-01 2.56075167e-01 5.44687580e-03 8.22502138e+01] [ 2.56071457e-01 9.66656870e-01 -1.37982272e-03 -7.00723446e+01] [-5.61859825e-03 6.09954844e-05 -9.99984214e-01 6.66450696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27762800000002 meters 0.012133979547304862 Centerline is valid? [True, True] Translation: X:82.44, Y:-69.35, Z:-0.18 [[-9.53621797e-01 -3.00956178e-01 5.55404463e-03 8.24391354e+01] [ 3.00950773e-01 -9.53637969e-01 -1.80423105e-03 -6.93477928e+01] [ 5.83954232e-03 -4.90600247e-05 9.99982949e-01 -1.77097251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30762800000002 meters 0.011995854596726372 Centerline is valid? [True, True] Translation: X:82.20, Y:-70.06, Z:0.67 [[-9.68489465e-01 2.48980347e-01 6.07806224e-03 8.22033724e+01] [ 2.48975748e-01 9.68508536e-01 -1.51398431e-03 -7.00574624e+01] [-6.26360750e-03 4.70122422e-05 -9.99980382e-01 6.67817386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33762800000002 meters 0.012033682392953474 Centerline is valid? [True, True] Translation: X:82.21, Y:-70.03, Z:0.67 [[-9.83785111e-01 1.79234498e-01 6.46920582e-03 8.22097827e+01] [ 1.79230935e-01 9.83806380e-01 -1.13112626e-03 -7.00303026e+01] [-6.56718281e-03 4.66966312e-05 -9.99978435e-01 6.68129396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36762800000002 meters 0.011951305043118528 Centerline is valid? [True, True] Translation: X:82.21, Y:-70.00, Z:0.67 [[-9.94094533e-01 1.08277632e-01 7.21203068e-03 8.22091054e+01] [ 1.08275125e-01 9.94120693e-01 -7.38343178e-04 -7.00023782e+01] [-7.24957499e-03 4.69006068e-05 -9.99973720e-01 6.68118983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39762800000003 meters 0.011926932243872302 Centerline is valid? [True, True] Translation: X:82.21, Y:-69.98, Z:0.67 [[-9.99280275e-01 3.71986587e-02 7.42906118e-03 8.22124807e+01] [ 3.71979824e-02 9.99307889e-01 -2.29232019e-04 -6.99755735e+01] [-7.43244657e-03 4.72790522e-05 -9.99972378e-01 6.68539399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.427628 meters 0.011974468277133039 Centerline is valid? [True, True] Translation: X:82.24, Y:-69.23, Z:-0.18 [[-9.95841495e-01 -9.07761767e-02 7.70730614e-03 8.22372672e+01] [ 9.07732318e-02 -9.95871319e-01 -7.31776653e-04 -6.92293063e+01] [ 7.74191302e-03 -2.91164699e-05 9.99970031e-01 -1.78394827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.457628 meters 0.011994043253682904 Centerline is valid? [True, True] Translation: X:82.13, Y:-69.97, Z:0.67 [[-9.99477080e-01 3.14003387e-02 7.71921002e-03 8.21314580e+01] [ 3.13997625e-02 9.99506887e-01 -1.95866546e-04 -6.99743117e+01] [-7.72155385e-03 4.66172376e-05 -9.99970187e-01 6.68881541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.487628 meters 0.011773780998102348 Centerline is valid? [True, True] Translation: X:82.12, Y:-69.95, Z:0.67 [[-9.99145308e-01 -4.04471817e-02 8.52517766e-03 8.21216031e+01] [-4.04453184e-02 9.99181677e-01 3.90929998e-04 -6.99470494e+01] [-8.53401333e-03 4.57923478e-05 -9.99963584e-01 6.68473267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.517628 meters 0.011910037308427693 Centerline is valid? [True, True] Translation: X:82.12, Y:-69.92, Z:0.67 [[-9.93681047e-01 -1.11870517e-01 9.10845192e-03 8.21200158e+01] [-1.11865383e-01 9.93722791e-01 1.07270369e-03 -6.99202648e+01] [-9.17128018e-03 4.70048599e-05 -9.99957942e-01 6.69082544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.547628 meters 0.011833857205077942 Centerline is valid? [True, True] Translation: X:82.10, Y:-69.90, Z:0.67 [[-9.82995197e-01 -1.83397000e-01 9.27270480e-03 8.21046900e+01] [-1.83388433e-01 9.83038930e-01 1.77311827e-03 -6.98955674e+01] [-9.44061438e-03 4.24599371e-05 -9.99955436e-01 6.69422624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.577628 meters 0.011791360496901507 Centerline is valid? [True, True] Translation: X:82.07, Y:-69.88, Z:0.67 [[-9.66901780e-01 -2.54963455e-01 9.72541407e-03 8.20748757e+01] [-2.54950218e-01 9.66950689e-01 2.59829555e-03 -6.98766285e+01] [-1.00664662e-02 3.28001573e-05 -9.99949331e-01 6.68715561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.607628 meters 0.01175442266268421 Centerline is valid? [True, True] Translation: X:82.02, Y:-69.87, Z:0.67 [[-9.45341932e-01 -3.25948111e-01 9.29843443e-03 8.20206916e+01] [-3.25932075e-01 9.45387660e-01 3.23333478e-03 -6.98656516e+01] [-9.84452454e-03 2.59489225e-05 -9.99951541e-01 6.68260870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.637628 meters 0.011653427667469695 Centerline is valid? [True, True] Translation: X:81.96, Y:-69.86, Z:0.67 [[-9.18433748e-01 -3.95473249e-01 8.96434625e-03 8.19583660e+01] [-3.95454213e-01 9.18477495e-01 3.88028898e-03 -6.98613327e+01] [-9.76810078e-03 1.87998604e-05 -9.99952291e-01 6.67708139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.667628 meters 0.011647195186652547 Centerline is valid? [True, True] Translation: X:81.88, Y:-69.87, Z:0.67 [[-8.86393682e-01 -4.62849569e-01 8.74734186e-03 8.18841290e+01] [-4.62826853e-01 8.86436843e-01 4.58564049e-03 -6.98672838e+01] [-9.87642782e-03 1.61780502e-05 -9.99951227e-01 6.68105058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.697628 meters 0.011573212834024911 Centerline is valid? [True, True] Translation: X:81.81, Y:-69.88, Z:0.67 [[-8.48889825e-01 -5.28499150e-01 8.64365566e-03 8.18065077e+01] [-5.28471631e-01 8.48933830e-01 5.39326362e-03 -6.98828253e+01] [-1.01882269e-02 1.03598121e-05 -9.99948099e-01 6.67968911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.727628 meters 0.01156870915604572 Centerline is valid? [True, True] Translation: X:81.72, Y:-69.91, Z:0.67 [[-8.06640428e-01 -5.90988497e-01 7.98853572e-03 8.17216811e+01] [-5.90959415e-01 8.06679984e-01 5.86287859e-03 -6.99089658e+01] [-9.90908567e-03 8.33449966e-06 -9.99950904e-01 6.67783671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.757628 meters 0.011523408949277931 Centerline is valid? [True, True] Translation: X:81.64, Y:-69.94, Z:0.67 [[-7.59411173e-01 -6.50572294e-01 7.09651778e-03 8.16361622e+01] [-6.50543827e-01 7.59444330e-01 6.08594038e-03 -6.99445821e+01] [-9.34875438e-03 5.13528918e-06 -9.99956299e-01 6.67652772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.787628 meters 0.011539969764647372 Centerline is valid? [True, True] Translation: X:81.55, Y:-69.99, Z:0.67 [[-7.07608418e-01 -7.06576223e-01 6.35354714e-03 8.15486542e+01] [-7.06547717e-01 7.07636942e-01 6.34685236e-03 -6.99941261e+01] [-8.98053963e-03 2.00193346e-06 -9.99959674e-01 6.66901226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.817628 meters 0.011506736889703743 Centerline is valid? [True, True] Translation: X:81.46, Y:-70.05, Z:0.67 [[-6.51517613e-01 -7.58612688e-01 5.62034404e-03 8.14620213e+01] [-7.58584462e-01 6.51541855e-01 6.54405010e-03 -7.00502156e+01] [-8.62628882e-03 5.82369593e-08 -9.99962793e-01 6.65911187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84762800000001 meters 0.011549794250951755 Centerline is valid? [True, True] Translation: X:81.38, Y:-70.12, Z:0.67 [[-5.91604127e-01 -8.06212917e-01 5.02878530e-03 8.13768854e+01] [-8.06183789e-01 5.91625500e-01 6.85320211e-03 -7.01162819e+01] [-8.50029768e-03 2.57463929e-07 -9.99963872e-01 6.66193093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87762800000002 meters 0.011647781744797844 Centerline is valid? [True, True] Translation: X:81.30, Y:-70.20, Z:0.67 [[-5.28754579e-01 -8.48761223e-01 4.79384032e-03 8.12957960e+01] [-8.48726196e-01 5.28776310e-01 7.71092356e-03 -7.01950605e+01] [-9.07960210e-03 8.52828283e-06 -9.99958780e-01 6.67119568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90762800000002 meters 0.011756559404202458 Centerline is valid? [True, True] Translation: X:81.22, Y:-70.28, Z:0.67 [[-4.62883585e-01 -8.86408483e-01 4.33455124e-03 8.12213858e+01] [-8.86369249e-01 4.62903879e-01 8.33986435e-03 -7.02750858e+01] [-9.39900709e-03 1.83733907e-05 -9.99955828e-01 6.67888365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93762800000002 meters 0.011762458217044061 Centerline is valid? [True, True] Translation: X:81.15, Y:-70.37, Z:0.67 [[-3.94265437e-01 -9.18988537e-01 3.85148287e-03 8.11516945e+01] [-9.18943922e-01 3.94284248e-01 9.05539062e-03 -7.03652493e+01] [-9.84037920e-03 3.09307643e-05 -9.99951582e-01 6.68177829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96762800000002 meters 0.012114274499103194 Centerline is valid? [True, True] Translation: X:81.09, Y:-70.47, Z:0.67 [[-3.23660303e-01 -9.46168358e-01 3.07365689e-03 8.10877263e+01] [-9.46124347e-01 3.23674894e-01 9.12593827e-03 -7.04664554e+01] [-9.62953959e-03 4.56423306e-05 -9.99953634e-01 6.68513532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99762800000002 meters 0.012132440835204043 Centerline is valid? [True, True] Translation: X:81.03, Y:-70.57, Z:0.67 [[-2.51466370e-01 -9.67863215e-01 2.33696546e-03 8.10324342e+01] [-9.67818994e-01 2.51477220e-01 9.25214103e-03 -7.05683089e+01] [-9.54250054e-03 6.48427622e-05 -9.99954467e-01 6.67334922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02762800000002 meters 0.012673875071926279 Centerline is valid? [True, True] Translation: X:80.99, Y:-70.68, Z:0.67 [[-1.81210651e-01 -9.83443210e-01 1.46711513e-03 8.09883387e+01] [-9.83406075e-01 1.81216558e-01 8.54697063e-03 -7.06772358e+01] [-8.67132579e-03 1.06032180e-04 -9.99962398e-01 6.66115830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05762800000002 meters 0.013907283422664462 Centerline is valid? [True, True] Translation: X:80.95, Y:-70.79, Z:0.67 [[-1.07603370e-01 -9.94193654e-01 7.02169149e-04 8.09514516e+01] [-9.94164825e-01 1.07605598e-01 7.57209251e-03 -7.07921136e+01] [-7.60368366e-03 1.16710802e-04 -9.99971085e-01 6.66833646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08762800000002 meters 0.014037680132186222 Centerline is valid? [True, True] Translation: X:80.92, Y:-70.91, Z:0.67 [[-3.36745057e-02 -9.99432848e-01 1.03729623e-04 8.09204840e+01] [-9.99408485e-01 3.36744092e-02 6.97958148e-03 -7.09094052e+01] [-6.97911602e-03 1.31365691e-04 -9.99975637e-01 6.65668967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11762800000002 meters 0.017013845407350483 Centerline is valid? [True, True] Translation: X:80.90, Y:-71.03, Z:0.67 [[ 4.08691928e-02 -9.99164429e-01 -3.90659513e-04 8.09040223e+01] [-9.99145126e-01 -4.08708322e-02 6.21231375e-03 -7.10294409e+01] [-6.22308951e-03 1.36433299e-04 -9.99980627e-01 6.65805241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14762800000003 meters 0.016264246526689067 Centerline is valid? [True, True] Translation: X:80.89, Y:-71.15, Z:0.66 [[ 1.13484063e-01 -9.93539641e-01 -5.90735989e-04 8.08928747e+01] [-9.93530834e-01 -1.13485545e-01 4.18485711e-03 -7.11515139e+01] [-4.22486143e-03 1.11999832e-04 -9.99991069e-01 6.63579470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.177628 meters 0.01668433275910105 Centerline is valid? [True, True] Translation: X:80.89, Y:-71.28, Z:0.66 [[ 1.88560110e-01 -9.82061332e-01 -7.90562549e-04 8.08909749e+01] [-9.82054840e-01 -1.88561739e-01 3.57225529e-03 -7.12789788e+01] [-3.65724364e-03 1.02790929e-04 -9.99993307e-01 6.63209224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.207628 meters 0.01663666130335461 Centerline is valid? [True, True] Translation: X:80.89, Y:-71.40, Z:0.66 [[ 2.63351832e-01 -9.64699447e-01 -8.88829888e-04 8.08948299e+01] [-9.64695025e-01 -2.63353318e-01 2.92222545e-03 -7.13956463e+01] [-3.05314558e-03 8.78763428e-05 -9.99995335e-01 6.63452157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.237628 meters 0.017146219844876888 Centerline is valid? [True, True] Translation: X:80.91, Y:-71.52, Z:0.66 [[ 3.37401393e-01 -9.41360055e-01 -1.24329776e-03 8.09104052e+01] [-9.41354701e-01 -3.37403670e-01 3.17663187e-03 -7.15173461e+01] [-3.40984758e-03 9.85841731e-05 -9.99994182e-01 6.63494448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.267628 meters 0.016304683993266924 Centerline is valid? [True, True] Translation: X:80.93, Y:-71.64, Z:0.66 [[ 4.12190128e-01 -9.11096603e-01 -1.50940524e-03 8.09338596e+01] [-9.11091266e-01 -4.12192882e-01 3.11979484e-03 -7.16394520e+01] [-3.46460058e-03 8.92573002e-05 -9.99993994e-01 6.64737496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.297628 meters 0.015917267912058768 Centerline is valid? [True, True] Translation: X:80.96, Y:-71.76, Z:0.67 [[ 4.84354531e-01 -8.74870159e-01 -1.70124225e-03 8.09645923e+01] [-8.74865301e-01 -4.84357513e-01 2.91641921e-03 -7.17576317e+01] [-3.37549760e-03 7.57769598e-05 -9.99994300e-01 6.65061053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.327628 meters 0.014567165234582033 Centerline is valid? [True, True] Translation: X:81.00, Y:-71.87, Z:0.67 [[ 5.53630972e-01 -8.32760388e-01 -1.69812539e-03 8.10012555e+01] [-8.32756773e-01 -5.53633574e-01 2.45417085e-03 -7.18723288e+01] [-2.98387549e-03 5.54204273e-05 -9.99995547e-01 6.65145855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.357628 meters 0.013862222291292768 Centerline is valid? [True, True] Translation: X:81.05, Y:-71.98, Z:0.67 [[ 6.19774979e-01 -7.84776977e-01 -2.01804247e-03 8.10489296e+01] [-7.84773052e-01 -6.19778263e-01 2.48233631e-03 -7.19844791e+01] [-3.19881924e-03 4.52154138e-05 -9.99994883e-01 6.65594186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.387628 meters 0.012229856430577606 Centerline is valid? [True, True] Translation: X:81.10, Y:-72.10, Z:0.67 [[ 6.84174177e-01 -7.29314150e-01 -2.56245233e-03 8.11030901e+01] [-7.29309163e-01 -6.84178975e-01 2.69710194e-03 -7.20951507e+01] [-3.72021062e-03 2.35324646e-05 -9.99993080e-01 6.65885820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.417628 meters 0.011922610295933533 Centerline is valid? [True, True] Translation: X:81.17, Y:-72.20, Z:0.67 [[ 7.40470146e-01 -6.72084099e-01 -2.63175460e-03 8.11698973e+01] [-6.72079903e-01 -7.40474823e-01 2.37499244e-03 -7.22008268e+01] [-3.54494268e-03 1.01383747e-05 -9.99993717e-01 6.66495785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.447628 meters 0.011718670575163386 Centerline is valid? [True, True] Translation: X:81.16, Y:-72.21, Z:0.67 [[ 7.92466690e-01 -6.09907296e-01 -3.10416552e-03 8.11641439e+01] [-6.09902617e-01 -7.92472769e-01 2.38909282e-03 -7.22063257e+01] [-3.91709179e-03 -3.78038960e-08 -9.99992328e-01 6.66829887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.477628 meters 0.011729810669903884 Centerline is valid? [True, True] Translation: X:81.16, Y:-72.21, Z:0.67 [[ 8.39316207e-01 -5.43634271e-01 -3.17563441e-03 8.11570580e+01] [-5.43630328e-01 -8.39322214e-01 2.07041264e-03 -7.22123811e+01] [-3.79092777e-03 -1.13597028e-05 -9.99992814e-01 6.67516835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.507628 meters 0.011724123080262012 Centerline is valid? [True, True] Translation: X:81.15, Y:-72.22, Z:0.67 [[ 8.79583640e-01 -4.75732894e-01 -3.29147137e-03 8.11514175e+01] [-4.75729504e-01 -8.79589798e-01 1.79602043e-03 -7.22150185e+01] [-3.74957063e-03 -1.39001413e-05 -9.99992970e-01 6.68179593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.537628 meters 0.011774185787029372 Centerline is valid? [True, True] Translation: X:81.15, Y:-72.22, Z:0.67 [[ 9.14375781e-01 -4.04851669e-01 -3.47232526e-03 8.11458550e+01] [-4.04848681e-01 -9.14382374e-01 1.55564129e-03 -7.22184985e+01] [-3.80483699e-03 -1.66744194e-05 -9.99992761e-01 6.68719863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.567628 meters 0.011832446966943327 Centerline is valid? [True, True] Translation: X:81.14, Y:-72.22, Z:0.67 [[ 9.43337872e-01 -3.31814822e-01 -3.54736868e-03 8.11401678e+01] [-3.31812404e-01 -9.43344541e-01 1.26668462e-03 -7.22228053e+01] [-3.76669562e-03 -1.78506433e-05 -9.99992906e-01 6.69542922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59762800000001 meters 0.011818634673332844 Centerline is valid? [True, True] Translation: X:81.13, Y:-72.23, Z:0.67 [[ 9.66556563e-01 -2.56422712e-01 -3.97543344e-03 8.11341035e+01] [-2.56420450e-01 -9.66564738e-01 1.07726877e-03 -7.22267430e+01] [-4.11874996e-03 -2.18587653e-05 -9.99991518e-01 6.69927347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62762800000002 meters 0.011888929826876098 Centerline is valid? [True, True] Translation: X:81.13, Y:-72.23, Z:0.67 [[ 9.83722208e-01 -1.79654854e-01 -3.84075916e-03 8.11295901e+01] [-1.79653396e-01 -9.83729705e-01 7.24152541e-04 -7.22291856e+01] [-3.90836640e-03 -2.23595083e-05 -9.99992362e-01 6.69876194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65762800000002 meters 0.012045078562061858 Centerline is valid? [True, True] Translation: X:81.12, Y:-72.23, Z:0.67 [[ 9.94816954e-01 -1.01624887e-01 -3.40728016e-03 8.11216200e+01] [-1.01624216e-01 -9.94822789e-01 3.69939491e-04 -7.22308791e+01] [-3.42723501e-03 -2.17599020e-05 -9.99994127e-01 6.69723605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68762800000002 meters 0.012065762168921725 Centerline is valid? [True, True] Translation: X:81.11, Y:-72.23, Z:0.67 [[ 9.99726598e-01 -2.31662743e-02 -3.17073577e-03 8.11139820e+01] [-2.31660903e-02 -9.99731626e-01 9.47609547e-05 -7.22328518e+01] [-3.17208008e-03 -2.12814958e-05 -9.99994969e-01 6.69689429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71762800000002 meters 0.012120866465631373 Centerline is valid? [True, True] Translation: X:81.11, Y:-72.23, Z:0.67 [[ 9.98470157e-01 5.52501928e-02 -2.18210883e-03 8.11074634e+01] [ 5.52500960e-02 -9.98472541e-01 -1.04663689e-04 -7.22349350e+01] [-2.18455844e-03 -1.60581527e-05 -9.99997614e-01 6.70329186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74762800000002 meters 0.01215206518804923 Centerline is valid? [True, True] Translation: X:81.10, Y:-72.24, Z:0.67 [[ 9.91122925e-01 1.32934423e-01 -1.94616440e-03 8.10992255e+01] [ 1.32934195e-01 -9.91124835e-01 -2.46746848e-04 -7.22350874e+01] [-1.96169302e-03 -1.41553391e-05 -9.99998076e-01 6.70730696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77762800000002 meters 0.012016242593299153 Centerline is valid? [True, True] Translation: X:81.09, Y:-72.24, Z:0.67 [[ 9.77800859e-01 2.09529260e-01 -1.72339632e-03 8.10920719e+01] [ 2.09528957e-01 -9.77802377e-01 -3.56923605e-04 -7.22354650e+01] [-1.75992696e-03 -1.21012259e-05 -9.99998451e-01 6.70963581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80762800000002 meters 0.01200649717395027 Centerline is valid? [True, True] Translation: X:81.09, Y:-72.24, Z:0.67 [[ 9.58557128e-01 2.84894817e-01 -1.78224606e-03 8.10852283e+01] [ 2.84894347e-01 -9.58558784e-01 -5.17652307e-04 -7.22354677e+01] [-1.85586408e-03 -1.15525185e-05 -9.99998278e-01 6.71138612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83762800000002 meters 0.01188055074282875 Centerline is valid? [True, True] Translation: X:81.08, Y:-72.24, Z:0.67 [[ 9.33630916e-01 3.58230732e-01 -2.01364503e-03 8.10777302e+01] [ 3.58229924e-01 -9.33633088e-01 -7.60997023e-04 -7.22357206e+01] [-2.15261815e-03 -1.08575568e-05 -9.99997683e-01 6.71526625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86762800000002 meters 0.011848317077124831 Centerline is valid? [True, True] Translation: X:81.07, Y:-72.23, Z:0.67 [[ 9.03450596e-01 4.28682289e-01 -2.91829692e-03 8.10688418e+01] [ 4.28680084e-01 -9.03455309e-01 -1.37499897e-03 -7.22348750e+01] [-3.22598855e-03 -8.77212612e-06 -9.99994796e-01 6.72037393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89762800000003 meters 0.011913079880185968 Centerline is valid? [True, True] Translation: X:81.06, Y:-72.24, Z:0.67 [[ 8.67534188e-01 4.97365225e-01 -3.50216802e-03 8.10593350e+01] [ 4.97361203e-01 -8.67541257e-01 -2.00032558e-03 -7.22351472e+01] [-4.03316763e-03 -6.49166806e-06 -9.99991867e-01 6.72558324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92762800000003 meters 0.011886543163255872 Centerline is valid? [True, True] Translation: X:81.05, Y:-72.24, Z:0.67 [[ 8.26531406e-01 5.62877508e-01 -3.83988662e-03 8.10506460e+01] [ 5.62871444e-01 -8.26540326e-01 -2.61283907e-03 -7.22353914e+01] [-4.64452949e-03 -1.76897447e-06 -9.99989214e-01 6.73045925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.957628 meters 0.01207517622924718 Centerline is valid? [True, True] Translation: X:81.04, Y:-72.24, Z:0.67 [[ 7.81523033e-01 6.23863017e-01 -4.08480940e-03 8.10402253e+01] [ 6.23854415e-01 -7.81533707e-01 -3.27604148e-03 -7.22358779e+01] [-5.23621736e-03 1.19754913e-05 -9.99986291e-01 6.73832804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.987628 meters 0.012433289384603634 Centerline is valid? [True, True] Translation: X:81.03, Y:-72.24, Z:0.67 [[ 7.31496085e-01 6.81834660e-01 -3.86965326e-03 8.10300176e+01] [ 6.81824963e-01 -7.31506320e-01 -3.63650912e-03 -7.22364683e+01] [-5.31017378e-03 2.16659982e-05 -9.99985901e-01 6.73690349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.017628 meters 0.012433289384603634 Centerline is valid? [True, True] Translation: X:81.02, Y:-72.24, Z:0.67 [[ 6.75872856e-01 7.37009577e-01 -3.57297012e-03 8.10196794e+01] [ 7.36999109e-01 -6.75882300e-01 -3.92818492e-03 -7.22388108e+01] [-5.31001717e-03 2.16777618e-05 -9.99985902e-01 6.73689007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.047628 meters 0.012762588301919694 Centerline is valid? [True, True] Translation: X:81.01, Y:-72.24, Z:0.67 [[ 6.17713141e-01 7.86397590e-01 -3.05054705e-03 8.10083133e+01] [ 7.86387757e-01 -6.17720672e-01 -3.93278992e-03 -7.22407390e+01] [-4.97712249e-03 3.04231642e-05 -9.99987614e-01 6.73126942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.077628 meters 0.013539334276667597 Centerline is valid? [True, True] Translation: X:81.00, Y:-72.24, Z:0.67 [[ 5.56650382e-01 8.30743426e-01 -2.39010724e-03 8.09962173e+01] [ 8.30735468e-01 -5.56655512e-01 -3.63640814e-03 -7.22430877e+01] [-4.35138853e-03 3.86611267e-05 -9.99990532e-01 6.72385920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.107628 meters 0.016814187489630605 Centerline is valid? [True, True] Translation: X:80.98, Y:-72.25, Z:0.67 [[ 4.96874040e-01 8.67820577e-01 -1.90652333e-03 8.09784791e+01] [ 8.67813666e-01 -4.96877693e-01 -3.46402293e-03 -7.22452291e+01] [-3.95345929e-03 6.66760672e-05 -9.99992183e-01 6.71186713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.137628 meters 0.01809786600041955 Centerline is valid? [True, True] Translation: X:80.97, Y:-72.25, Z:0.67 [[ 4.31956723e-01 9.01892862e-01 -1.62927078e-03 8.09691101e+01] [ 9.01885671e-01 -4.31959787e-01 -3.60263557e-03 -7.22512474e+01] [-3.95297076e-03 8.67666886e-05 -9.99992183e-01 6.70137431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.167628 meters 0.02249203289390267 Centerline is valid? [True, True] Translation: X:80.95, Y:-72.26, Z:0.67 [[ 3.64409079e-01 9.31238245e-01 -1.16362976e-03 8.09549959e+01] [ 9.31232671e-01 -3.64410925e-01 -3.22349206e-03 -7.22580003e+01] [-3.42587849e-03 9.10597213e-05 -9.99994128e-01 6.69832213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.197628 meters 0.025186741302554994 Centerline is valid? [True, True] Translation: X:80.94, Y:-72.26, Z:0.67 [[ 2.94618727e-01 9.55614423e-01 -9.38007875e-04 8.09392242e+01] [ 9.55608325e-01 -2.94620199e-01 -3.41578688e-03 -7.22648051e+01] [-3.54053127e-03 1.09986646e-04 -9.99993726e-01 6.69550061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.227628 meters 0.03055842255207564 Centerline is valid? [True, True] Translation: X:80.92, Y:-72.27, Z:0.67 [[ 2.26606366e-01 9.73986089e-01 -8.08541171e-04 8.09215051e+01] [ 9.73976971e-01 -2.26607746e-01 -4.21765141e-03 -7.22742326e+01] [-4.29115549e-03 1.68246178e-04 -9.99990779e-01 6.70115495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.257628 meters 0.03331901964572118 Centerline is valid? [True, True] Translation: X:80.91, Y:-72.29, Z:0.67 [[ 1.53087043e-01 9.88212571e-01 -5.21584429e-04 8.09062910e+01] [ 9.88201490e-01 -1.53087799e-01 -4.68404484e-03 -7.22859005e+01] [-4.70868021e-03 2.01636066e-04 -9.99988894e-01 6.70856145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.287628 meters 0.02086675792267849 Centerline is valid? [True, True] Translation: X:80.93, Y:-72.30, Z:0.67 [[ 7.82177615e-02 9.96936283e-01 -1.69739297e-04 8.09349295e+01] [ 9.96922575e-01 -7.82175771e-02 -5.23346433e-03 -7.22982863e+01] [-5.23070707e-03 2.40132927e-04 -9.99986291e-01 6.69327490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.317628 meters 0.021164382874242486 Centerline is valid? [True, True] Translation: X:80.95, Y:-72.31, Z:0.67 [[ 3.39378603e-03 9.99994208e-01 2.58938359e-04 8.09502482e+01] [ 9.99978434e-01 -3.39227633e-03 -5.62354254e-03 -7.23078338e+01] [-5.62263157e-03 2.78017875e-04 -9.99984154e-01 6.69363733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34762800000001 meters 0.039608954757347506 Centerline is valid? [True, True] Translation: X:80.94, Y:-72.32, Z:0.67 [[-7.45372772e-02 9.97217996e-01 6.79604441e-04 8.09397021e+01] [ 9.97203222e-01 7.45398770e-02 -5.43518345e-03 -7.23204193e+01] [-5.47072038e-03 2.72579962e-04 -9.99984998e-01 6.71801109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37762800000002 meters 0.022818391072059595 Centerline is valid? [True, True] Translation: X:80.98, Y:-72.33, Z:0.67 [[-1.52541483e-01 9.88296412e-01 1.13889738e-03 8.09755620e+01] [ 9.88280940e-01 1.52545476e-01 -5.53719259e-03 -7.23252629e+01] [-5.64612121e-03 2.80898998e-04 -9.99984021e-01 6.68595904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40762800000002 meters 0.0211926974409975 Centerline is valid? [True, True] Translation: X:80.99, Y:-72.33, Z:0.67 [[-2.30516153e-01 9.73067263e-01 1.55085366e-03 8.09932817e+01] [ 9.73052496e-01 2.30521209e-01 -5.36762289e-03 -7.23302328e+01] [-5.58056277e-03 2.71738244e-04 -9.99984392e-01 6.67917976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43762800000002 meters 0.02067931998870583 Centerline is valid? [True, True] Translation: X:81.01, Y:-72.33, Z:0.67 [[-3.09037177e-01 9.51048049e-01 1.90570762e-03 8.10116205e+01] [ 9.51034576e-01 3.09042955e-01 -5.06824756e-03 -7.23334993e+01] [-5.40909246e-03 2.46116919e-04 -9.99985340e-01 6.67026139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46762800000002 meters 0.021791768799613444 Centerline is valid? [True, True] Translation: X:81.03, Y:-72.34, Z:0.67 [[-3.84338367e-01 9.23189648e-01 2.21206142e-03 8.10258764e+01] [ 9.23177595e-01 3.84344666e-01 -4.72292805e-03 -7.23384748e+01] [-5.21035229e-03 2.26923092e-04 -9.99986400e-01 6.66956275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49762800000002 meters 0.02145908150023985 Centerline is valid? [True, True] Translation: X:81.04, Y:-72.34, Z:0.67 [[-4.57351663e-01 8.89282168e-01 2.58519382e-03 8.10394437e+01] [ 8.89270541e-01 4.57358918e-01 -4.55260677e-03 -7.23415908e+01] [-5.23091346e-03 2.16794427e-04 -9.99986295e-01 6.66846770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52762800000002 meters 0.018705144949296204 Centerline is valid? [True, True] Translation: X:81.06, Y:-72.34, Z:0.67 [[-5.27131581e-01 8.49778337e-01 3.01233957e-03 8.10596602e+01] [ 8.49766702e-01 5.27140145e-01 -4.45196321e-03 -7.23389260e+01] [-5.37110701e-03 2.13015460e-04 -9.99985553e-01 6.66522411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55762800000002 meters 0.019188544353429312 Centerline is valid? [True, True] Translation: X:81.08, Y:-72.34, Z:0.67 [[-5.95035079e-01 8.03693507e-01 3.16245477e-03 8.10768460e+01] [ 8.03683744e-01 5.95043455e-01 -3.96554725e-03 -7.23364810e+01] [-5.06888260e-03 1.81973771e-04 -9.99987137e-01 6.66615283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58762800000002 meters 0.018498870187745455 Centerline is valid? [True, True] Translation: X:81.09, Y:-72.33, Z:0.67 [[-6.57231265e-01 7.53682022e-01 3.23625144e-03 8.10913755e+01] [ 7.53674083e-01 6.57239213e-01 -3.46331655e-03 -7.23335469e+01] [-4.73723077e-03 1.62878919e-04 -9.99988766e-01 6.65894721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61762800000002 meters 0.01849241065070091 Centerline is valid? [True, True] Translation: X:81.10, Y:-72.33, Z:0.67 [[-7.15122987e-01 6.98992674e-01 2.89059695e-03 8.11043138e+01] [ 6.98987682e-01 7.15128817e-01 -2.64475659e-03 -7.23313621e+01] [-3.91581466e-03 1.29165434e-04 -9.99992325e-01 6.65467681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64762800000003 meters 0.017203247518280423 Centerline is valid? [True, True] Translation: X:81.13, Y:-72.31, Z:0.66 [[-7.63460686e-01 6.45848785e-01 2.66991934e-03 8.11304644e+01] [ 6.45845326e-01 7.63465346e-01 -2.11658720e-03 -7.23111944e+01] [-3.40538617e-03 1.08423806e-04 -9.99994196e-01 6.64360153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67762800000003 meters 0.01711060131460522 Centerline is valid? [True, True] Translation: X:81.15, Y:-72.29, Z:0.66 [[-8.07754243e-01 5.89514588e-01 2.37342819e-03 8.11509858e+01] [ 5.89512362e-01 8.07757725e-01 -1.62254182e-03 -7.22888394e+01] [-2.87366703e-03 8.85502179e-05 -9.99995867e-01 6.63928653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.707628 meters 0.017263043093772704 Centerline is valid? [True, True] Translation: X:81.17, Y:-72.27, Z:0.66 [[-8.47795363e-01 5.30318256e-01 2.35999522e-03 8.11711211e+01] [ 5.30316469e-01 8.47798644e-01 -1.37924098e-03 -7.22663230e+01] [-2.73223742e-03 8.22302243e-05 -9.99996264e-01 6.63556289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.737628 meters 0.017078891072971218 Centerline is valid? [True, True] Translation: X:81.19, Y:-72.24, Z:0.66 [[-8.83764357e-01 4.67920788e-01 3.27083630e-03 8.11895377e+01] [ 4.67918026e-01 8.83770403e-01 -1.61126229e-03 -7.22395972e+01] [-3.64461144e-03 1.06507080e-04 -9.99993353e-01 6.64210865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.767628 meters 0.016701513795173296 Centerline is valid? [True, True] Translation: X:81.20, Y:-72.21, Z:0.67 [[-9.14984808e-01 4.03465645e-01 4.27481463e-03 8.12010473e+01] [ 4.03461912e-01 9.14994785e-01 -1.74060426e-03 -7.22111384e+01] [-4.61370711e-03 1.32098428e-04 -9.99989348e-01 6.65032512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.797628 meters 0.016945852664289773 Centerline is valid? [True, True] Translation: X:81.52, Y:-71.48, Z:-0.18 [[-9.10973832e-01 -4.12434692e-01 4.92969816e-03 8.15153956e+01] [ 4.12428035e-01 -9.10987164e-01 -2.34574243e-03 -7.14752481e+01] [ 5.45835730e-03 -1.03764244e-04 9.99985098e-01 -1.76510744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.827628 meters 0.015870090736524234 Centerline is valid? [True, True] Translation: X:81.17, Y:-72.19, Z:0.67 [[-9.18426051e-01 3.95533264e-01 6.85746565e-03 8.11652939e+01] [ 3.95523672e-01 9.18451635e-01 -2.76039999e-03 -7.21897637e+01] [-7.39008056e-03 1.77066729e-04 -9.99972677e-01 6.67813297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.857628 meters 0.017963989972646664 Centerline is valid? [True, True] Translation: X:81.18, Y:-72.16, Z:0.67 [[-9.44683642e-01 3.27880147e-01 8.21132537e-03 8.11783021e+01] [ 3.27869531e-01 9.44719309e-01 -2.64552850e-03 -7.21625286e+01] [-8.62481390e-03 1.93055904e-04 -9.99962787e-01 6.70854732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.887628 meters 0.015141808074632643 Centerline is valid? [True, True] Translation: X:81.19, Y:-72.13, Z:0.67 [[-9.66307709e-01 2.57243819e-01 8.66199045e-03 8.11864182e+01] [ 2.57235090e-01 9.66346515e-01 -2.12618100e-03 -7.21331075e+01] [-8.91743120e-03 1.73622801e-04 -9.99960224e-01 6.69250524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.917628 meters 0.013455301469804977 Centerline is valid? [True, True] Translation: X:81.19, Y:-72.10, Z:0.67 [[-9.82895818e-01 1.83938022e-01 9.08933540e-03 8.11908239e+01] [ 1.83931484e-01 9.82937833e-01 -1.55728408e-03 -7.20999120e+01] [-9.22069540e-03 1.41166942e-04 -9.99957479e-01 6.68864729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.947628 meters 0.01392915995876988 Centerline is valid? [True, True] Translation: X:81.33, Y:-71.34, Z:-0.18 [[-9.75223065e-01 -2.21049251e-01 8.78641562e-03 8.13250188e+01] [ 2.21038891e-01 -9.75262634e-01 -2.14535444e-03 -7.13440975e+01] [ 9.04329184e-03 -1.50059565e-04 9.99959097e-01 -1.80394389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.977628 meters 0.013576235887322142 Centerline is valid? [True, True] Translation: X:81.13, Y:-72.09, Z:0.67 [[-9.84296799e-01 1.76283715e-01 9.15772219e-03 8.11348341e+01] [ 1.76277112e-01 9.84339393e-01 -1.52968303e-03 -7.20905216e+01] [-9.28396491e-03 1.08634713e-04 -9.99956897e-01 6.70304249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.007628 meters 0.012869349794371227 Centerline is valid? [True, True] Translation: X:81.27, Y:-71.34, Z:-0.18 [[-9.75388369e-01 -2.20325332e-01 8.61847896e-03 8.12652945e+01] [ 2.20315542e-01 -9.75426435e-01 -2.08106880e-03 -7.13366894e+01] [ 8.86520438e-03 -1.31065432e-04 9.99960695e-01 -1.79515668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.037628 meters 0.012396423867224783 Centerline is valid? [True, True] Translation: X:81.08, Y:-72.08, Z:0.67 [[-9.85951982e-01 1.66809244e-01 8.56539669e-03 8.10781443e+01] [ 1.66803423e-01 9.85989185e-01 -1.39458932e-03 -7.20790628e+01] [-8.67801889e-03 5.37393836e-05 -9.99962344e-01 6.68059279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.067628 meters 0.012194713063091119 Centerline is valid? [True, True] Translation: X:81.08, Y:-72.05, Z:0.67 [[-9.95482317e-01 9.46035197e-02 8.07035296e-03 8.10809931e+01] [ 9.46006963e-02 9.95515029e-01 -7.31722056e-04 -7.20508684e+01] [-8.10338115e-03 3.50446425e-05 -9.99967166e-01 6.68107576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09762800000001 meters 0.012075072107814026 Centerline is valid? [True, True] Translation: X:81.15, Y:-71.29, Z:-0.18 [[-9.88073490e-01 -1.53804837e-01 7.40613553e-03 8.11528207e+01] [ 1.53799971e-01 -9.88101243e-01 -1.22557245e-03 -7.12941701e+01] [ 7.50651069e-03 -7.18922180e-05 9.99971823e-01 -1.78413529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12762800000002 meters 0.012000786678486707 Centerline is valid? [True, True] Translation: X:81.01, Y:-72.04, Z:0.67 [[-9.96163592e-01 8.72073219e-02 7.27877487e-03 8.10148306e+01] [ 8.72050700e-02 9.96190184e-01 -6.26801168e-04 -7.20448649e+01] [-7.30570572e-03 1.03495679e-05 -9.99973313e-01 6.67461874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15762800000002 meters 0.011956847260860692 Centerline is valid? [True, True] Translation: X:81.01, Y:-72.02, Z:0.67 [[-9.99863218e-01 1.52347944e-02 6.43794716e-03 8.10131760e+01] [ 1.52344952e-02 9.99883944e-01 -9.55243693e-05 -7.20179567e+01] [-6.43865529e-03 2.56757162e-06 -9.99979272e-01 6.67276274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18762800000002 meters 0.011959349880438789 Centerline is valid? [True, True] Translation: X:81.03, Y:-71.26, Z:-0.18 [[-9.96673554e-01 -8.12729343e-02 6.04454717e-03 8.10305080e+01] [ 8.12712764e-02 -9.96691883e-01 -5.19820297e-04 -7.12556124e+01] [ 6.06679843e-03 -2.68430788e-05 9.99981596e-01 -1.76548816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21762800000002 meters 0.011955926777353593 Centerline is valid? [True, True] Translation: X:80.93, Y:-72.02, Z:0.67 [[-9.99932520e-01 9.54713204e-03 6.61867950e-03 8.09281518e+01] [ 9.54693831e-03 9.99954425e-01 -6.08656479e-05 -7.20207320e+01] [-6.61895895e-03 2.32658418e-06 -9.99978094e-01 6.65732025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24762800000002 meters 0.011956668643704269 Centerline is valid? [True, True] Translation: X:80.93, Y:-72.00, Z:0.67 [[-9.98140034e-01 -6.05742144e-02 6.87293383e-03 8.09283119e+01] [-6.05727095e-02 9.98163696e-01 4.27093140e-04 -7.19953396e+01] [-6.88618386e-03 9.98653739e-06 -9.99976290e-01 6.66415467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27762800000002 meters 0.011963177088838772 Centerline is valid? [True, True] Translation: X:80.92, Y:-71.97, Z:0.67 [[-9.91483831e-01 -1.30044084e-01 6.95338254e-03 8.09204289e+01] [-1.30040736e-01 9.91508213e-01 9.33410018e-04 -7.19708721e+01] [-7.01572035e-03 2.12379574e-05 -9.99975389e-01 6.66779254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30762800000002 meters 0.012061952399418284 Centerline is valid? [True, True] Translation: X:80.90, Y:-71.95, Z:0.67 [[-9.80009739e-01 -1.98832644e-01 6.81847342e-03 8.09030592e+01] [-1.98827573e-01 9.80033458e-01 1.42056485e-03 -7.19479718e+01] [-6.96478675e-03 3.64668717e-05 -9.99975745e-01 6.66639402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33762800000002 meters 0.013048299118974385 Centerline is valid? [True, True] Translation: X:80.86, Y:-71.94, Z:0.67 [[-9.64450636e-01 -2.64183121e-01 6.49987756e-03 8.08639504e+01] [-2.64176601e-01 9.64472536e-01 1.85761930e-03 -7.19361996e+01] [-6.75970506e-03 7.44665584e-05 -9.99977150e-01 6.67393405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36762800000002 meters 0.01377678642992527 Centerline is valid? [True, True] Translation: X:80.81, Y:-71.93, Z:0.67 [[-9.43464395e-01 -3.31422006e-01 5.86426003e-03 8.08076496e+01] [-3.31415020e-01 9.43482616e-01 2.15382138e-03 -7.19295759e+01] [-6.24665119e-03 8.85499357e-05 -9.99980486e-01 6.66846584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39762800000003 meters 0.014753275675891618 Centerline is valid? [True, True] Translation: X:80.74, Y:-71.93, Z:0.66 [[-9.18804352e-01 -3.94681582e-01 5.00110280e-03 8.07441646e+01] [-3.94675060e-01 9.18817956e-01 2.27180175e-03 -7.19322329e+01] [-5.49174136e-03 1.13530783e-04 -9.99984914e-01 6.64659958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42762800000003 meters 0.01534262888357268 Centerline is valid? [True, True] Translation: X:80.67, Y:-71.94, Z:0.66 [[-8.88108739e-01 -4.59613453e-01 4.28264283e-03 8.06683969e+01] [-4.59607478e-01 8.88119058e-01 2.34630838e-03 -7.19421183e+01] [-4.88189161e-03 1.15442304e-04 -9.99988077e-01 6.64049676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.457628 meters 0.01664553170659012 Centerline is valid? [True, True] Translation: X:80.58, Y:-71.97, Z:0.66 [[-8.52382762e-01 -5.22905390e-01 3.68502628e-03 8.05836553e+01] [-5.22899913e-01 8.52390720e-01 2.39616061e-03 -7.19650198e+01] [-4.39404750e-03 1.15546082e-04 -9.99990339e-01 6.63617102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.487628 meters 0.017284447164159375 Centerline is valid? [True, True] Translation: X:80.50, Y:-71.99, Z:0.66 [[-8.11734109e-01 -5.84016257e-01 3.57041620e-03 8.04972308e+01] [-5.84009902e-01 8.11741951e-01 2.72762928e-03 -7.19948525e+01] [-4.49123645e-03 1.28951311e-04 -9.99989906e-01 6.63460909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.517628 meters 0.017806078703670444 Centerline is valid? [True, True] Translation: X:80.41, Y:-72.04, Z:0.66 [[-7.66220494e-01 -6.42569580e-01 3.23871002e-03 8.04069447e+01] [-6.42563097e-01 7.66227327e-01 2.88942799e-03 -7.20354971e+01] [-4.33824665e-03 1.32863404e-04 -9.99990581e-01 6.63414100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.547628 meters 0.020244115289815744 Centerline is valid? [True, True] Translation: X:80.32, Y:-72.09, Z:0.66 [[-7.16825648e-01 -6.97246831e-01 2.80125462e-03 8.03179376e+01] [-6.97240761e-01 7.16831109e-01 2.91249470e-03 -7.20900488e+01] [-4.03875416e-03 1.34602000e-04 -9.99991835e-01 6.64162781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.577628 meters 0.019242930234597926 Centerline is valid? [True, True] Translation: X:80.23, Y:-72.15, Z:0.66 [[-6.62322925e-01 -7.49213407e-01 2.75942425e-03 8.02272320e+01] [-7.49205939e-01 6.62328656e-01 3.34839853e-03 -7.21486229e+01] [-4.33631083e-03 1.50344069e-04 -9.99990587e-01 6.63702164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.607628 meters 0.018315033692140614 Centerline is valid? [True, True] Translation: X:80.14, Y:-72.22, Z:0.66 [[-6.03690337e-01 -7.97214466e-01 2.65914699e-03 8.01372786e+01] [-7.97205494e-01 6.03696171e-01 3.78583348e-03 -7.22199506e+01] [-4.62343808e-03 1.65584499e-04 -9.99989298e-01 6.63167436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.637628 meters 0.019415737182616927 Centerline is valid? [True, True] Translation: X:80.06, Y:-72.30, Z:0.66 [[-5.41359634e-01 -8.40787090e-01 2.61057536e-03 8.00558560e+01] [-8.40775582e-01 5.41365896e-01 4.40305345e-03 -7.22988711e+01] [-5.11530697e-03 1.88727391e-04 -9.99986899e-01 6.63038385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.667628 meters 0.019390420560544745 Centerline is valid? [True, True] Translation: X:79.98, Y:-72.39, Z:0.66 [[-4.76143108e-01 -8.79363745e-01 2.67275184e-03 7.99762095e+01] [-8.79347054e-01 4.76150553e-01 5.42307140e-03 -7.23862800e+01] [-6.04148465e-03 2.31881620e-04 -9.99981723e-01 6.63748736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.697628 meters 0.019090057857109512 Centerline is valid? [True, True] Translation: X:79.90, Y:-72.48, Z:0.66 [[-4.07000292e-01 -9.13424919e-01 2.38323333e-03 7.99010224e+01] [-9.13405526e-01 4.07007194e-01 5.95721845e-03 -7.24843098e+01] [-6.41146489e-03 2.47731153e-04 -9.99979416e-01 6.64031809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.727628 meters 0.019214985072618512 Centerline is valid? [True, True] Translation: X:79.83, Y:-72.59, Z:0.66 [[-3.35507615e-01 -9.42035050e-01 2.14571198e-03 7.98346036e+01] [-9.42010109e-01 3.35514359e-01 6.86073279e-03 -7.25872551e+01] [-7.18296793e-03 2.80545723e-04 -9.99974163e-01 6.64306489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.757628 meters 0.019134486225332006 Centerline is valid? [True, True] Translation: X:79.78, Y:-72.69, Z:0.66 [[-2.62048010e-01 -9.65053467e-01 1.62680864e-03 7.97767309e+01] [-9.65027478e-01 2.62052902e-01 7.08819242e-03 -7.26924053e+01] [-7.26679459e-03 2.87531677e-04 -9.99973555e-01 6.63916826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.787628 meters 0.019169716849050045 Centerline is valid? [True, True] Translation: X:79.73, Y:-72.81, Z:0.66 [[-1.86943908e-01 -9.82370090e-01 9.91105457e-04 7.97265779e+01] [-9.82347657e-01 1.86946342e-01 6.64428420e-03 -7.28056620e+01] [-6.71242961e-03 2.68498331e-04 -9.99977435e-01 6.63917189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.817628 meters 0.01917860469750807 Centerline is valid? [True, True] Translation: X:79.68, Y:-72.92, Z:0.66 [[-1.11863247e-01 -9.93723524e-01 4.15563739e-04 7.96845803e+01] [-9.93706149e-01 1.11863751e-01 5.88131676e-03 -7.29231932e+01] [-5.89088934e-03 2.44954947e-04 -9.99982619e-01 6.62927822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84762800000001 meters 0.019640452823872764 Centerline is valid? [True, True] Translation: X:79.65, Y:-73.04, Z:0.66 [[-3.55744760e-02 -9.99367027e-01 -3.55494314e-05 7.96522033e+01] [-9.99353930e-01 3.55738276e-02 5.12098083e-03 -7.30427973e+01] [-5.11647476e-03 2.17702673e-04 -9.99986887e-01 6.62351180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87762800000002 meters 0.020002467371534497 Centerline is valid? [True, True] Translation: X:79.63, Y:-73.17, Z:0.66 [[ 4.11379949e-02 -9.99153415e-01 -3.43362638e-04 7.96292893e+01] [-9.99145178e-01 -4.11390513e-02 4.06091099e-03 -7.31675176e+01] [-4.07159870e-03 1.76011389e-04 -9.99991696e-01 6.61711086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90762800000002 meters 0.021488372912029673 Centerline is valid? [True, True] Translation: X:79.62, Y:-73.29, Z:0.66 [[ 1.15977584e-01 -9.93251761e-01 -3.72992120e-04 7.96160465e+01] [-9.93249123e-01 -1.15978137e-01 2.29165441e-03 -7.32900664e+01] [-2.31944871e-03 1.04693554e-04 -9.99997305e-01 6.61330945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93762800000002 meters 0.022170382460360998 Centerline is valid? [True, True] Translation: X:79.61, Y:-73.41, Z:0.66 [[ 1.91400515e-01 -9.81511914e-01 -4.52991756e-04 7.96122159e+01] [-9.81510152e-01 -1.91401031e-01 1.86194822e-03 -7.34112335e+01] [-1.91422745e-03 8.82381578e-05 -9.99998164e-01 6.60591408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96762800000002 meters 0.022170382460360998 Centerline is valid? [True, True] Translation: X:79.62, Y:-73.54, Z:0.66 [[ 2.66761360e-01 -9.63762430e-01 -5.95661199e-04 7.96182702e+01] [-9.63760713e-01 -2.66762011e-01 1.82120964e-03 -7.35355482e+01] [-1.91411321e-03 8.82465008e-05 -9.99998164e-01 6.60585470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99762800000002 meters 0.022875384308654746 Centerline is valid? [True, True] Translation: X:79.63, Y:-73.66, Z:0.66 [[ 3.39117049e-01 -9.40743943e-01 -6.78897117e-04 7.96341803e+01] [-9.40742524e-01 -3.39117719e-01 1.63574285e-03 -7.36585655e+01] [-1.76904122e-03 8.39590977e-05 -9.99998432e-01 6.60359353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02762800000002 meters 0.02460152488242175 Centerline is valid? [True, True] Translation: X:79.66, Y:-73.78, Z:0.66 [[ 4.09638484e-01 -9.12247466e-01 -9.34507308e-04 7.96582990e+01] [-9.12245626e-01 -4.09639537e-01 1.83529407e-03 -7.37750535e+01] [-2.05705350e-03 1.00693125e-04 -9.99997879e-01 6.60421192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05762800000002 meters 0.024936301444138526 Centerline is valid? [True, True] Translation: X:79.69, Y:-73.89, Z:0.66 [[ 4.77146880e-01 -8.78822277e-01 -1.50329657e-03 7.96873846e+01] [-8.78818848e-01 -4.77149225e-01 2.45966803e-03 -7.38919204e+01] [-2.87890785e-03 1.47502437e-04 -9.99995845e-01 6.61442581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08762800000002 meters 0.025767169633939283 Centerline is valid? [True, True] Translation: X:79.73, Y:-74.01, Z:0.66 [[ 5.43083009e-01 -8.39676870e-01 -1.89721119e-03 7.97271423e+01] [-8.39672782e-01 -5.43086297e-01 2.62533960e-03 -7.40050447e+01] [-3.23478634e-03 1.67259265e-04 -9.99994754e-01 6.62542683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11762800000002 meters 0.02622504541901268 Centerline is valid? [True, True] Translation: X:79.77, Y:-74.11, Z:0.66 [[ 6.05930352e-01 -7.95513770e-01 -2.49989763e-03 7.97711358e+01] [-7.95508322e-01 -6.05935476e-01 2.95109223e-03 -7.41105199e+01] [-3.86241117e-03 2.00533019e-04 -9.99992521e-01 6.63500342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14762800000003 meters 0.021431458005042016 Centerline is valid? [True, True] Translation: X:79.82, Y:-74.22, Z:0.66 [[ 6.65273224e-01 -7.46594081e-01 -2.96928451e-03 7.98159959e+01] [-7.46588066e-01 -6.65279814e-01 3.00461641e-03 -7.42152612e+01] [-4.21863387e-03 2.17941538e-04 -9.99991078e-01 6.64072626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17762800000003 meters 0.026919981359375587 Centerline is valid? [True, True] Translation: X:79.87, Y:-74.30, Z:0.67 [[ 7.21204755e-01 -6.92711900e-01 -3.73163662e-03 7.98747031e+01] [-6.92704375e-01 -7.21214366e-01 3.23850619e-03 -7.43045784e+01] [-4.93466171e-03 2.49294947e-04 -9.99987793e-01 6.65524887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.207628 meters 0.026974939886628926 Centerline is valid? [True, True] Translation: X:79.87, Y:-74.31, Z:0.67 [[ 7.73751276e-01 -6.33474760e-01 -4.32332646e-03 7.98694446e+01] [-6.33466756e-01 -7.73763309e-01 3.19543673e-03 -7.43076273e+01] [-5.36945990e-03 2.66210336e-04 -9.99985549e-01 6.65891330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.237628 meters 0.027160661434439085 Centerline is valid? [True, True] Translation: X:79.86, Y:-74.31, Z:0.67 [[ 8.21262911e-01 -5.70527899e-01 -5.01472401e-03 7.98648453e+01] [-5.70519378e-01 -8.21278170e-01 3.13147437e-03 -7.43105540e+01] [-5.90507686e-03 2.89233464e-04 -9.99982523e-01 6.66415298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.267628 meters 0.026948308773978198 Centerline is valid? [True, True] Translation: X:79.86, Y:-74.32, Z:0.67 [[ 8.64622101e-01 -5.02387560e-01 -5.94663542e-03 7.98584211e+01] [-5.02378124e-01 -8.64642494e-01 3.09489013e-03 -7.43157980e+01] [-6.69654798e-03 3.11549142e-04 -9.99977529e-01 6.68391100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.297628 meters 0.021459185316440206 Centerline is valid? [True, True] Translation: X:79.85, Y:-74.33, Z:0.67 [[ 9.01963410e-01 -4.31766323e-01 -6.31264079e-03 7.98495263e+01] [-4.31758110e-01 -9.01985448e-01 2.68090582e-03 -7.43332507e+01] [-6.85143497e-03 3.07454899e-04 -9.99976481e-01 6.67961792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.327628 meters 0.019178591115020717 Centerline is valid? [True, True] Translation: X:79.84, Y:-74.35, Z:0.67 [[ 9.33649999e-01 -3.58129863e-01 -6.37807351e-03 7.98426203e+01] [-3.58123600e-01 -9.33671740e-01 2.13752475e-03 -7.43498075e+01] [-6.72053844e-03 2.88438663e-04 -9.99977375e-01 6.67756812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.357628 meters 0.0198388002262456 Centerline is valid? [True, True] Translation: X:79.84, Y:-74.36, Z:0.67 [[ 9.60108248e-01 -2.79565482e-01 -5.94081404e-03 7.98379210e+01] [-2.79561630e-01 -9.60126599e-01 1.48612808e-03 -7.43628474e+01] [-6.11940369e-03 2.33979825e-04 -9.99981249e-01 6.66913133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.387628 meters 0.01889040657809503 Centerline is valid? [True, True] Translation: X:79.83, Y:-74.37, Z:0.67 [[ 9.79633179e-01 -2.00708716e-01 -5.90306666e-03 7.98319856e+01] [-2.00706368e-01 -9.79650941e-01 9.93534024e-04 -7.43732943e+01] [-5.98235574e-03 2.11484176e-04 -9.99982083e-01 6.66434303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.417628 meters 0.017252884196027756 Centerline is valid? [True, True] Translation: X:79.83, Y:-74.39, Z:0.67 [[ 9.92721073e-01 -1.20298343e-01 -5.76017028e-03 7.98265405e+01] [-1.20297403e-01 -9.92737767e-01 5.10668632e-04 -7.43875915e+01] [-5.77977117e-03 1.85982015e-04 -9.99983280e-01 6.66199069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.447628 meters 0.01645154618805846 Centerline is valid? [True, True] Translation: X:79.82, Y:-74.40, Z:0.67 [[ 9.99234757e-01 -3.87428365e-02 -5.37513808e-03 7.98235405e+01] [-3.87431040e-02 -9.99249203e-01 5.43852108e-05 -7.44004732e+01] [-5.37320948e-03 1.53905941e-04 -9.99985552e-01 6.66199866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.477628 meters 0.014256377957560606 Centerline is valid? [True, True] Translation: X:79.82, Y:-74.42, Z:0.67 [[ 9.98854830e-01 4.76253223e-02 -4.56698907e-03 7.98218285e+01] [ 4.76243945e-02 -9.98865266e-01 -3.11743781e-04 -7.44187813e+01] [-4.57665365e-03 9.38866924e-05 -9.99989523e-01 6.66211798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.507628 meters 0.013312589873745034 Centerline is valid? [True, True] Translation: X:79.82, Y:-74.43, Z:0.67 [[ 9.91510220e-01 1.29966517e-01 -4.02341666e-03 7.98217105e+01] [ 1.29965179e-01 -9.91518381e-01 -5.93328691e-04 -7.44312891e+01] [-4.06640444e-03 6.53873949e-05 -9.99991730e-01 6.66377031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.537628 meters 0.01234916339406272 Centerline is valid? [True, True] Translation: X:79.82, Y:-74.44, Z:0.67 [[ 9.77406479e-01 2.11340933e-01 -3.40367033e-03 7.98228389e+01] [ 2.11339505e-01 -9.77412405e-01 -7.77852873e-04 -7.44438933e+01] [-3.49118176e-03 4.09484344e-05 -9.99993905e-01 6.66258047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.567628 meters 0.011756255701708192 Centerline is valid? [True, True] Translation: X:79.82, Y:-74.45, Z:0.67 [[ 9.56699062e-01 2.91061742e-01 -3.15697694e-03 7.98233166e+01] [ 2.91060070e-01 -9.56704271e-01 -9.86925246e-04 -7.44548937e+01] [-3.30754950e-03 2.53205285e-05 -9.99994530e-01 6.66094505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59762800000001 meters 0.011124455368930808 Centerline is valid? [True, True] Translation: X:79.83, Y:-74.47, Z:0.67 [[ 9.28281123e-01 3.71861040e-01 -3.67744504e-03 7.98268603e+01] [ 3.71858114e-01 -9.28288407e-01 -1.47521948e-03 -7.44676515e+01] [-3.96230625e-03 1.93061467e-06 -9.99992150e-01 6.66877721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62762800000002 meters 0.01112994511633293 Centerline is valid? [True, True] Translation: X:79.83, Y:-74.48, Z:0.67 [[ 8.94880993e-01 4.46288045e-01 -3.87157175e-03 7.98304173e+01] [ 4.46283925e-01 -8.94889368e-01 -1.91776105e-03 -7.44768473e+01] [-4.32050223e-03 -1.16523184e-05 -9.99990667e-01 6.67761647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65762800000002 meters 0.01123858274146618 Centerline is valid? [True, True] Translation: X:79.84, Y:-74.49, Z:0.67 [[ 8.55780492e-01 5.17319696e-01 -4.48129320e-03 7.98356831e+01] [ 5.17312773e-01 -8.55792224e-01 -2.67651851e-03 -7.44870913e+01] [-5.21967162e-03 -2.77178779e-05 -9.99986377e-01 6.68598272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68762800000002 meters 0.011520050834906271 Centerline is valid? [True, True] Translation: X:79.84, Y:-74.50, Z:0.67 [[ 8.11360984e-01 5.84527136e-01 -4.62392730e-03 7.98402121e+01] [ 5.84517940e-01 -8.11374159e-01 -3.27898491e-03 -7.44965332e+01] [-5.66839078e-03 -4.23280341e-05 -9.99983934e-01 6.69766789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71762800000002 meters 0.01153623891054199 Centerline is valid? [True, True] Translation: X:79.85, Y:-74.50, Z:0.67 [[ 7.62045308e-01 6.47508143e-01 -4.48925590e-03 7.98463765e+01] [ 6.47497317e-01 -7.62058529e-01 -3.74466000e-03 -7.45042237e+01] [-5.84577359e-03 -5.31805733e-05 -9.99982912e-01 6.70005962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74762800000002 meters 0.011815281218132436 Centerline is valid? [True, True] Translation: X:79.85, Y:-74.51, Z:0.67 [[ 7.08243403e-01 7.05956614e-01 -4.06704225e-03 7.98512415e+01] [ 7.05945442e-01 -7.08255078e-01 -3.97211511e-03 -7.45120027e+01] [-5.68464426e-03 -5.78856225e-05 -9.99983841e-01 6.70137719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77762800000002 meters 0.012026603005459461 Centerline is valid? [True, True] Translation: X:79.85, Y:-74.52, Z:0.67 [[ 6.50022655e-01 7.59904774e-01 -3.90939833e-03 7.98543181e+01] [ 7.59891643e-01 -6.50034407e-01 -4.46769579e-03 -7.45156995e+01] [-5.93626679e-03 -6.66156438e-05 -9.99982378e-01 6.70276301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80762800000002 meters 0.012043137639433533 Centerline is valid? [True, True] Translation: X:79.86, Y:-74.52, Z:0.67 [[ 5.88384024e-01 8.08573000e-01 -3.73414454e-03 7.98577702e+01] [ 8.08557476e-01 -5.88395869e-01 -5.01087813e-03 -7.45200338e+01] [-6.24881598e-03 -7.09498510e-05 -9.99980473e-01 6.70660962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83762800000002 meters 0.012076636910054691 Centerline is valid? [True, True] Translation: X:79.86, Y:-74.52, Z:0.67 [[ 5.23401261e-01 8.52079387e-01 -3.44051227e-03 7.98616164e+01] [ 8.52061878e-01 -5.23412564e-01 -5.46300359e-03 -7.45241034e+01] [-6.45572010e-03 -7.21863786e-05 -9.99979159e-01 6.70925435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86762800000002 meters 0.012029315417517651 Centerline is valid? [True, True] Translation: X:79.86, Y:-74.53, Z:0.67 [[ 4.55803526e-01 8.90074148e-01 -3.34018576e-03 7.98629900e+01] [ 8.90051423e-01 -4.55815758e-01 -6.36075217e-03 -7.45267063e+01] [-7.18405037e-03 -7.36838224e-05 -9.99974192e-01 6.71898758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89762800000003 meters 0.011979242735269614 Centerline is valid? [True, True] Translation: X:79.87, Y:-74.53, Z:0.67 [[ 3.85135482e-01 9.22855508e-01 -2.89353731e-03 7.98662220e+01] [ 9.22830846e-01 -3.85146345e-01 -6.74709640e-03 -7.45303052e+01] [-7.34103039e-03 -7.16992620e-05 -9.99973052e-01 6.72580679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92762800000003 meters 0.011891233533502332 Centerline is valid? [True, True] Translation: X:79.87, Y:-74.53, Z:0.67 [[ 3.12485774e-01 9.49919467e-01 -2.37635999e-03 7.98691033e+01] [ 9.49893585e-01 -3.12494803e-01 -7.01243938e-03 -7.45345269e+01] [-7.40385282e-03 -6.60015576e-05 -9.99972589e-01 6.72608969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.957628 meters 0.011737124957552024 Centerline is valid? [True, True] Translation: X:79.87, Y:-74.54, Z:0.67 [[ 2.38805091e-01 9.71065943e-01 -1.74995942e-03 7.98677101e+01] [ 9.71041421e-01 -2.38811497e-01 -6.90134028e-03 -7.45377628e+01] [-7.11956694e-03 -5.12078859e-05 -9.99974654e-01 6.72229933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.987628 meters 0.011633524577177898 Centerline is valid? [True, True] Translation: X:79.87, Y:-74.54, Z:0.67 [[ 1.63182136e-01 9.86595233e-01 -1.19881775e-03 7.98697266e+01] [ 9.86570484e-01 -1.63186534e-01 -6.98825666e-03 -7.45419756e+01] [-7.09021162e-03 -4.23595545e-05 -9.99974863e-01 6.71728013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.017628 meters 0.011528319162649339 Centerline is valid? [True, True] Translation: X:79.87, Y:-74.55, Z:0.67 [[ 8.66964021e-02 9.96234597e-01 -6.02050218e-04 7.98723927e+01] [ 9.96212992e-01 -8.66984869e-02 -6.56095065e-03 -7.45460884e+01] [-6.58844287e-03 -3.09594338e-05 -9.99978295e-01 6.71068249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.047628 meters 0.011476815770509848 Centerline is valid? [True, True] Translation: X:79.87, Y:-74.55, Z:0.67 [[ 9.90812636e-03 9.99950910e-01 -7.92043452e-05 7.98742401e+01] [ 9.99932724e-01 -9.90842385e-03 -6.03081794e-03 -7.45515922e+01] [-6.03130668e-03 -1.94449104e-05 -9.99981811e-01 6.70332360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.077628 meters 0.011394605872561421 Centerline is valid? [True, True] Translation: X:79.88, Y:-74.56, Z:0.67 [[-6.70017759e-02 9.97752792e-01 3.59074489e-04 7.98774806e+01] [ 9.97737655e-01 6.70027373e-02 -5.49583963e-03 -7.45567266e+01] [-5.50754831e-03 -9.96887660e-06 -9.99984833e-01 6.70235807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.107628 meters 0.01149467362544094 Centerline is valid? [True, True] Translation: X:79.88, Y:-74.56, Z:0.67 [[-1.41131859e-01 9.89990526e-01 7.45499854e-04 7.98757629e+01] [ 9.89977100e-01 1.41133828e-01 -5.15598646e-03 -7.45632856e+01] [-5.20959300e-03 1.03538262e-05 -9.99986430e-01 6.71069935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.137628 meters 0.011692936106662433 Centerline is valid? [True, True] Translation: X:79.88, Y:-74.57, Z:0.67 [[-2.15869828e-01 9.76421381e-01 1.22595992e-03 7.98780302e+01] [ 9.76406283e-01 2.15873308e-01 -5.43007948e-03 -7.45693775e+01] [-5.56669774e-03 2.48446463e-05 -9.99984506e-01 6.70849296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.167628 meters 0.012122233642916756 Centerline is valid? [True, True] Translation: X:79.88, Y:-74.58, Z:0.67 [[-2.89485101e-01 9.57181126e-01 1.63350807e-03 7.98797494e+01] [ 9.57166608e-01 2.89489707e-01 -5.27206556e-03 -7.45766792e+01] [-5.51920542e-03 3.73549455e-05 -9.99984768e-01 6.70858748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.197628 meters 0.01247125316867653 Centerline is valid? [True, True] Translation: X:79.88, Y:-74.58, Z:0.67 [[-3.61053869e-01 9.32542511e-01 2.13741864e-03 7.98824443e+01] [ 9.32527060e-01 3.61060192e-01 -5.36838874e-03 -7.45832895e+01] [-5.77798750e-03 5.49231956e-05 -9.99983306e-01 6.70360533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.227628 meters 0.014111050739217536 Centerline is valid? [True, True] Translation: X:79.88, Y:-74.59, Z:0.67 [[-4.27721612e-01 9.03905059e-01 3.14110040e-03 7.98801941e+01] [ 9.03882545e-01 4.27733132e-01 -6.38065145e-03 -7.45944698e+01] [-7.11105583e-03 1.10043299e-04 -9.99974710e-01 6.71341037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.257628 meters 0.015418486188437403 Centerline is valid? [True, True] Translation: X:79.88, Y:-74.60, Z:0.67 [[-4.94433106e-01 8.69206952e-01 3.89595072e-03 7.98818116e+01] [ 8.69182208e-01 4.94448434e-01 -6.56017937e-03 -7.46048477e+01] [-7.62850025e-03 1.42721191e-04 -9.99970892e-01 6.71861700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.287628 meters 0.01632695350806107 Centerline is valid? [True, True] Translation: X:79.89, Y:-74.61, Z:0.67 [[-5.57856901e-01 8.29925310e-01 4.43364321e-03 7.98855822e+01] [ 8.29901527e-01 5.57874492e-01 -6.28534494e-03 -7.46137446e+01] [-7.68978330e-03 1.73164223e-04 -9.99970418e-01 6.71790407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.317628 meters 0.01750899068261801 Centerline is valid? [True, True] Translation: X:79.89, Y:-74.62, Z:0.67 [[-6.18187588e-01 7.86012992e-01 5.26146124e-03 7.98898835e+01] [ 7.85987461e-01 6.18209940e-01 -6.33885159e-03 -7.46222159e+01] [-8.23510734e-03 2.16843185e-04 -9.99966067e-01 6.72079509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34762800000001 meters 0.02161682812555556 Centerline is valid? [True, True] Translation: X:79.89, Y:-74.64, Z:0.67 [[-6.71465510e-01 7.41010194e-01 6.16116861e-03 7.98896872e+01] [ 7.40983150e-01 6.71493705e-01 -6.33843195e-03 -7.46374830e+01] [-8.83402863e-03 3.09283677e-04 -9.99960931e-01 6.72477102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37762800000002 meters 0.02248568114609736 Centerline is valid? [True, True] Translation: X:79.90, Y:-74.65, Z:0.67 [[-7.26020683e-01 6.87646593e-01 6.01098001e-03 7.98973173e+01] [ 6.87626347e-01 7.26045505e-01 -5.28495599e-03 -7.46450952e+01] [-7.99842700e-03 2.96320873e-04 -9.99967968e-01 6.71284988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40762800000002 meters 0.02284927417396439 Centerline is valid? [True, True] Translation: X:79.93, Y:-74.63, Z:0.67 [[-7.72233927e-01 6.35316413e-01 5.27417137e-03 7.99254816e+01] [ 6.35303788e-01 7.72251897e-01 -4.01312685e-03 -7.46324188e+01] [-6.62259420e-03 2.51628344e-04 -9.99978039e-01 6.70696111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43762800000002 meters 0.02398310915089114 Centerline is valid? [True, True] Translation: X:79.95, Y:-74.61, Z:0.67 [[-8.14662991e-01 5.79905715e-01 5.79419712e-03 7.99459670e+01] [ 5.79893372e-01 8.14683551e-01 -3.79319557e-03 -7.46148127e+01] [-6.92013287e-03 2.69840456e-04 -9.99976019e-01 6.70513466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46762800000002 meters 0.025415870578229447 Centerline is valid? [True, True] Translation: X:79.97, Y:-74.60, Z:0.67 [[-8.52658265e-01 5.22434800e-01 5.98011119e-03 7.99733002e+01] [ 5.22424224e-01 8.52679190e-01 -3.33597712e-03 -7.46007607e+01] [-6.84194691e-03 2.79706481e-04 -9.99976554e-01 6.70521427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49762800000002 meters 0.021514330039746475 Centerline is valid? [True, True] Translation: X:80.00, Y:-74.57, Z:0.67 [[-8.86899708e-01 4.61911666e-01 6.82060298e-03 7.99968359e+01] [ 4.61900734e-01 8.86925877e-01 -3.19371917e-03 -7.45723010e+01] [-7.52458542e-03 3.17932921e-04 -9.99971639e-01 6.70944724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52762800000002 meters 0.027158015021948038 Centerline is valid? [True, True] Translation: X:80.01, Y:-74.56, Z:0.67 [[-9.16936368e-01 3.98985616e-01 6.17868914e-03 8.00126010e+01] [ 3.98978644e-01 9.16957140e-01 -2.37599717e-03 -7.45578087e+01] [-6.61358182e-03 2.86526804e-04 -9.99978089e-01 6.70682370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55762800000002 meters 0.020583497632923442 Centerline is valid? [True, True] Translation: X:80.03, Y:-74.52, Z:0.67 [[-9.42334616e-01 3.34611427e-01 6.37679598e-03 8.00301323e+01] [ 3.34605902e-01 9.42356144e-01 -1.94609914e-03 -7.45237190e+01] [-6.66039988e-03 2.99836983e-04 -9.99977774e-01 6.69196214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58762800000002 meters 0.02756125651214271 Centerline is valid? [True, True] Translation: X:80.05, Y:-74.51, Z:0.67 [[-9.62713592e-01 2.70438816e-01 6.73697882e-03 8.00473423e+01] [ 2.70434619e-01 9.62737105e-01 -1.54365564e-03 -7.45067268e+01] [-6.90340389e-03 3.35814030e-04 -9.99976115e-01 6.71180116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61762800000002 meters 0.02198320486431132 Centerline is valid? [True, True] Translation: X:80.07, Y:-74.47, Z:0.67 [[-9.79135189e-01 2.03105217e-01 6.52329535e-03 8.00652366e+01] [ 2.03102956e-01 9.79156862e-01 -1.01409256e-03 -7.44714465e+01] [-6.59329690e-03 3.31966866e-04 -9.99978209e-01 6.70551703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64762800000003 meters 0.022910531362945193 Centerline is valid? [True, True] Translation: X:80.07, Y:-74.44, Z:0.67 [[-9.90900487e-01 1.34427150e-01 6.75028648e-03 8.00744760e+01] [ 1.34426428e-01 9.90923417e-01 -5.62516944e-04 -7.44433097e+01] [-6.76463449e-03 3.50018588e-04 -9.99977058e-01 6.70758777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67762800000003 meters 0.022363968940889257 Centerline is valid? [True, True] Translation: X:80.16, Y:-73.55, Z:-0.18 [[-9.95197915e-01 -9.76913503e-02 6.12460912e-03 8.01559881e+01] [ 9.76872837e-02 -9.95216696e-01 -9.60366361e-04 -7.35488153e+01] [ 6.18913274e-03 -3.57458171e-04 9.99980783e-01 -1.81341219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.707628 meters 0.021989536159234185 Centerline is valid? [True, True] Translation: X:79.98, Y:-74.43, Z:0.67 [[-9.91762047e-01 1.27941353e-01 6.24924096e-03 7.99778279e+01] [ 1.27940837e-01 9.91781684e-01 -4.84003529e-04 -7.44288718e+01] [-6.25980679e-03 3.19516788e-04 -9.99980356e-01 6.69484006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.737628 meters 0.022985934099825765 Centerline is valid? [True, True] Translation: X:79.98, Y:-74.40, Z:0.67 [[-9.98446732e-01 5.53936372e-02 5.97231249e-03 7.99845980e+01] [ 5.53944055e-02 9.98464550e-01 -3.68250785e-05 -7.44011713e+01] [-5.96518218e-03 2.94064820e-04 -9.99982165e-01 6.68899739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.767628 meters 0.02113679504708001 Centerline is valid? [True, True] Translation: X:79.98, Y:-74.37, Z:0.67 [[-9.99824050e-01 -1.77306953e-02 6.12310236e-03 7.99783072e+01] [-1.77285811e-02 9.99842757e-01 3.99396189e-04 -7.43690127e+01] [-6.12922111e-03 2.90771998e-04 -9.99981174e-01 6.68567725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.797628 meters 0.021500445771629618 Centerline is valid? [True, True] Translation: X:79.93, Y:-73.49, Z:-0.18 [[-9.99117839e-01 4.15828364e-02 5.86608834e-03 7.99278548e+01] [-4.15838630e-02 -9.99135016e-01 -5.31011139e-05 -7.34913021e+01] [ 5.85880617e-03 -2.96988884e-04 9.99982793e-01 -1.80903486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.827628 meters 0.020069012324049167 Centerline is valid? [True, True] Translation: X:79.86, Y:-74.37, Z:0.67 [[-9.99527734e-01 -3.02230015e-02 5.55683729e-03 7.98616825e+01] [-3.02212382e-02 9.99543154e-01 4.01035644e-04 -7.43661626e+01] [-5.56641917e-03 2.32911746e-04 -9.99984480e-01 6.70742739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.857628 meters 0.020069012324049167 Centerline is valid? [True, True] Translation: X:79.80, Y:-73.50, Z:-0.18 [[-9.98879084e-01 4.70120429e-02 5.51760869e-03 7.98018145e+01] [-4.70126196e-02 -9.98894295e-01 2.51985970e-05 -7.35031549e+01] [ 5.51269249e-03 -2.34226887e-04 9.99984778e-01 -1.81583456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.887628 meters 0.019881377615634178 Centerline is valid? [True, True] Translation: X:79.74, Y:-74.37, Z:0.67 [[-9.99273305e-01 -3.77537081e-02 5.24590541e-03 7.97394500e+01] [-3.77520509e-02 9.99287051e-01 4.14614957e-04 -7.43713216e+01] [-5.25781860e-03 2.16269971e-04 -9.99986154e-01 6.71375148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.917628 meters 0.020274999876127874 Centerline is valid? [True, True] Translation: X:79.73, Y:-74.34, Z:0.67 [[-9.94009369e-01 -1.09174997e-01 5.11803236e-03 7.97264828e+01] [-1.09172442e-01 9.94022522e-01 7.76763272e-04 -7.43434564e+01] [-5.17224256e-03 2.13361879e-04 -9.99986601e-01 6.71601650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.947628 meters 0.020724326811726788 Centerline is valid? [True, True] Translation: X:79.69, Y:-74.32, Z:0.67 [[-9.83488327e-01 -1.80882636e-01 5.67293038e-03 7.96942144e+01] [-1.80878217e-01 9.83504659e-01 1.28680495e-03 -7.43212394e+01] [-5.81211413e-03 2.39448115e-04 -9.99983081e-01 6.71346062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.977628 meters 0.018804760409672622 Centerline is valid? [True, True] Translation: X:79.64, Y:-74.30, Z:0.67 [[-9.67417024e-01 -2.53115244e-01 6.08068533e-03 7.96408448e+01] [-2.53108549e-01 9.67436099e-01 1.85917770e-03 -7.43027251e+01] [-6.35326071e-03 2.59526714e-04 -9.99979784e-01 6.70840301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.007628 meters 0.018855452395667164 Centerline is valid? [True, True] Translation: X:79.57, Y:-74.29, Z:0.67 [[-9.45794837e-01 -3.24705026e-01 6.22675404e-03 7.95746886e+01] [-3.24696109e-01 9.45815296e-01 2.42135313e-03 -7.42947680e+01] [-6.67558475e-03 2.68300486e-04 -9.99977682e-01 6.71049768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.037628 meters 0.020554286276022255 Centerline is valid? [True, True] Translation: X:79.50, Y:-74.30, Z:0.67 [[-9.17808334e-01 -3.96970795e-01 6.48462636e-03 7.94958341e+01] [-3.96958808e-01 9.17831202e-01 3.09658628e-03 -7.42982800e+01] [-7.18104672e-03 2.67943144e-04 -9.99974180e-01 6.72891754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.067628 meters 0.018053001496255064 Centerline is valid? [True, True] Translation: X:79.41, Y:-74.30, Z:0.67 [[-8.84669753e-01 -4.66176609e-01 6.22879156e-03 7.94109910e+01] [-4.66162995e-01 8.84691643e-01 3.57191736e-03 -7.43048608e+01] [-7.17570417e-03 2.56335118e-04 -9.99974221e-01 6.72735160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09762800000001 meters 0.018134415985011323 Centerline is valid? [True, True] Translation: X:79.32, Y:-74.33, Z:0.67 [[-8.46062805e-01 -5.33050601e-01 5.89810275e-03 7.93196502e+01] [-5.33035638e-01 8.46083329e-01 4.00128933e-03 -7.43274019e+01] [-7.12317609e-03 2.41443115e-04 -9.99974601e-01 6.73172188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12762800000002 meters 0.016051656836121055 Centerline is valid? [True, True] Translation: X:79.23, Y:-74.35, Z:0.67 [[-8.01223379e-01 -5.98335802e-01 5.94694520e-03 7.92280814e+01] [-5.98317147e-01 8.01245415e-01 4.73037754e-03 -7.43536076e+01] [-7.59531682e-03 2.31929786e-04 -9.99971128e-01 6.73136026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15762800000002 meters 0.01630073386568512 Centerline is valid? [True, True] Translation: X:79.14, Y:-74.40, Z:0.67 [[-7.52208386e-01 -6.58899935e-01 5.78103683e-03 7.91350216e+01] [-6.58878136e-01 7.52230566e-01 5.36443476e-03 -7.43964297e+01] [-7.88329832e-03 2.26174038e-04 -9.99968901e-01 6.73529995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18762800000002 meters 0.016221745585172368 Centerline is valid? [True, True] Translation: X:79.04, Y:-74.45, Z:0.67 [[-6.98365697e-01 -7.15718168e-01 5.73219192e-03 7.90411328e+01] [-7.15691368e-01 6.98389185e-01 6.19779854e-03 -7.44496767e+01] [-8.43917786e-03 2.25849627e-04 -9.99964364e-01 6.73778299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21762800000002 meters 0.014903108266238467 Centerline is valid? [True, True] Translation: X:78.95, Y:-74.51, Z:0.67 [[-6.37931928e-01 -7.70071206e-01 5.76143008e-03 7.89474001e+01] [-7.70036867e-01 6.37957911e-01 7.27508959e-03 -7.45095596e+01] [-9.27788691e-03 2.04498354e-04 -9.99956939e-01 6.74566212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24762800000002 meters 0.014411806714209994 Centerline is valid? [True, True] Translation: X:78.86, Y:-74.58, Z:0.67 [[-5.75098617e-01 -8.18067642e-01 5.18795081e-03 7.88575548e+01] [-8.18031455e-01 5.75121987e-01 7.69661134e-03 -7.45822640e+01] [-9.28005326e-03 1.82403582e-04 -9.99956923e-01 6.74845216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27762800000002 meters 0.013963868975601031 Centerline is valid? [True, True] Translation: X:78.77, Y:-74.66, Z:0.67 [[-5.08541459e-01 -8.61025764e-01 4.49652768e-03 7.87746792e+01] [-8.60989315e-01 5.08561313e-01 7.92399328e-03 -7.46607383e+01] [-9.10952238e-03 1.58216817e-04 -9.99958495e-01 6.74702495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30762800000002 meters 0.013424102707675566 Centerline is valid? [True, True] Translation: X:78.70, Y:-74.75, Z:0.67 [[-4.38992802e-01 -8.98483181e-01 3.64609599e-03 7.86963831e+01] [-8.98449651e-01 4.39007923e-01 7.76323974e-03 -7.47490039e+01] [-8.57580537e-03 1.32172692e-04 -9.99963218e-01 6.73895224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33762800000002 meters 0.01319767575166425 Centerline is valid? [True, True] Translation: X:78.63, Y:-74.84, Z:0.67 [[-3.67103254e-01 -9.30176577e-01 2.59549835e-03 7.86257021e+01] [-9.30151319e-01 3.67112415e-01 6.85559761e-03 -7.48435471e+01] [-7.32975599e-03 1.02505977e-04 -9.99973132e-01 6.73094203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36762800000002 meters 0.01280970590276628 Centerline is valid? [True, True] Translation: X:78.56, Y:-74.95, Z:0.67 [[-2.92077458e-01 -9.56393104e-01 1.72889498e-03 7.85605599e+01] [-9.56374867e-01 2.92082566e-01 5.90665611e-03 -7.49497701e+01] [-6.15406525e-03 7.17293988e-05 -9.99981061e-01 6.71546339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39762800000003 meters 0.012755321596911624 Centerline is valid? [True, True] Translation: X:78.51, Y:-75.05, Z:0.67 [[-2.16946247e-01 -9.76182711e-01 1.28059530e-03 7.85059544e+01] [-9.76163739e-01 2.16950015e-01 6.08652265e-03 -7.50540626e+01] [-6.21938335e-03 7.03775550e-05 -9.99980657e-01 6.71764767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42762800000003 meters 0.012979454932018668 Centerline is valid? [True, True] Translation: X:78.46, Y:-75.17, Z:0.67 [[-1.40730923e-01 -9.90047562e-01 7.95279111e-04 7.84589395e+01] [-9.90028858e-01 1.40733153e-01 6.08595838e-03 -7.51709380e+01] [-6.13731040e-03 6.91332726e-05 -9.99981164e-01 6.73002863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.457628 meters 0.01285298245722814 Centerline is valid? [True, True] Translation: X:78.42, Y:-75.28, Z:0.67 [[-6.39744632e-02 -9.97951473e-01 3.55686061e-04 7.84207852e+01] [-9.97928473e-01 6.39754038e-02 6.77577372e-03 -7.52845330e+01] [-6.78464853e-03 7.85272396e-05 -9.99976981e-01 6.73634148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.487628 meters 0.015282329446646271 Centerline is valid? [True, True] Translation: X:78.39, Y:-75.40, Z:0.68 [[ 1.21572493e-02 -9.99926080e-01 -1.89695216e-04 7.83932025e+01] [-9.99897488e-01 -1.21583363e-02 7.56230907e-03 -7.54044672e+01] [-7.56405645e-03 9.77388932e-05 -9.99971387e-01 6.76107918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.517628 meters 0.013383019786998369 Centerline is valid? [True, True] Translation: X:78.37, Y:-75.51, Z:0.67 [[ 8.77489428e-02 -9.96142400e-01 -6.65516484e-04 7.83746399e+01] [-9.96121084e-01 -8.77514193e-02 6.51721962e-03 -7.55129406e+01] [-6.55047881e-03 9.10558697e-05 -9.99978541e-01 6.73603639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.547628 meters 0.01476003735817069 Centerline is valid? [True, True] Translation: X:78.37, Y:-75.63, Z:0.67 [[ 1.60048354e-01 -9.87108735e-01 -9.32664666e-04 7.83709727e+01] [-9.87095321e-01 -1.60051042e-01 5.14699287e-03 -7.56327524e+01] [-5.22991557e-03 9.68611924e-05 -9.99986319e-01 6.72014955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.577628 meters 0.01582911071321477 Centerline is valid? [True, True] Translation: X:78.37, Y:-75.76, Z:0.67 [[ 2.33347663e-01 -9.72392794e-01 -1.05956390e-03 7.83737970e+01] [-9.72384424e-01 -2.33350052e-01 4.03561657e-03 -7.57552862e+01] [-4.17145377e-03 8.86017345e-05 -9.99991296e-01 6.71339354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.607628 meters 0.015941458857719366 Centerline is valid? [True, True] Translation: X:78.38, Y:-75.88, Z:0.67 [[ 3.05079999e-01 -9.52326120e-01 -1.07501371e-03 7.83832998e+01] [-9.52321088e-01 -3.05081882e-01 3.09669174e-03 -7.58757000e+01] [-3.27702764e-03 7.90195125e-05 -9.99994627e-01 6.70596797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.637628 meters 0.016496607564770095 Centerline is valid? [True, True] Translation: X:78.40, Y:-75.99, Z:0.67 [[ 3.72510512e-01 -9.28027401e-01 -1.03049222e-03 7.84040719e+01] [-9.28024399e-01 -3.72511929e-01 2.36162353e-03 -7.59930198e+01] [-2.57552199e-03 7.65923294e-05 -9.99996680e-01 6.70015261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.667628 meters 0.0166861517660189 Centerline is valid? [True, True] Translation: X:78.43, Y:-76.11, Z:0.67 [[ 4.40995228e-01 -8.97508667e-01 -1.18392407e-03 7.84304322e+01] [-8.97505911e-01 -4.40996810e-01 2.22577693e-03 -7.61069830e+01] [-2.51976082e-03 8.10218421e-05 -9.99996822e-01 6.70132524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.697628 meters 0.017506251551080945 Centerline is valid? [True, True] Translation: X:78.47, Y:-76.22, Z:0.67 [[ 5.07377999e-01 -8.61722558e-01 -1.34127490e-03 7.84680505e+01] [-8.61719977e-01 -5.07379765e-01 2.11075068e-03 -7.62205379e+01] [-2.49941721e-03 8.48549192e-05 -9.99996873e-01 6.70202181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.727628 meters 0.017757222709039615 Centerline is valid? [True, True] Translation: X:78.51, Y:-76.32, Z:0.67 [[ 5.70399876e-01 -8.21365021e-01 -1.86616671e-03 7.85108599e+01] [-8.21361259e-01 -5.70402918e-01 2.48865032e-03 -7.63247104e+01] [-3.10855726e-03 1.13271209e-04 -9.99995162e-01 6.70050617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.757628 meters 0.018268053873761812 Centerline is valid? [True, True] Translation: X:78.56, Y:-76.43, Z:0.67 [[ 6.31534026e-01 -7.75344852e-01 -2.26596483e-03 7.85622453e+01] [-7.75340566e-01 -6.31538078e-01 2.58127512e-03 -7.64289773e+01] [-3.43242145e-03 1.26731381e-04 -9.99994101e-01 6.69820124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.787628 meters 0.01929978223699833 Centerline is valid? [True, True] Translation: X:78.62, Y:-76.52, Z:0.67 [[ 6.88888572e-01 -7.24863546e-01 -2.31845465e-03 7.86158781e+01] [-7.24860020e-01 -6.88892463e-01 2.26409501e-03 -7.65222756e+01] [-3.23832587e-03 1.20845908e-04 -9.99994749e-01 6.69846854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.817628 meters 0.018209099543703023 Centerline is valid? [True, True] Translation: X:78.61, Y:-76.53, Z:0.67 [[ 7.43231756e-01 -6.69029860e-01 -2.36722810e-03 7.86098453e+01] [-6.69026952e-01 -7.43235517e-01 1.97596984e-03 -7.65340888e+01] [-3.08139083e-03 1.15135866e-04 -9.99995246e-01 6.69423446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84762800000001 meters 0.01879405701876597 Centerline is valid? [True, True] Translation: X:78.60, Y:-76.54, Z:0.67 [[ 7.93349908e-01 -6.08762545e-01 -2.02171640e-03 7.86020128e+01] [-6.08760858e-01 -7.93352479e-01 1.43597109e-03 -7.65400148e+01] [-2.47809913e-03 9.15142781e-05 -9.99996925e-01 6.70088622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87762800000002 meters 0.0190543390109205 Centerline is valid? [True, True] Translation: X:78.59, Y:-76.55, Z:0.67 [[ 8.38565197e-01 -5.44797429e-01 -2.04267046e-03 7.85944849e+01] [-5.44796064e-01 -8.38567680e-01 1.22278687e-03 -7.65452286e+01] [-2.37908857e-03 8.74523175e-05 -9.99997166e-01 6.70216226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90762800000002 meters 0.019423090370912624 Centerline is valid? [True, True] Translation: X:78.59, Y:-76.55, Z:0.67 [[ 8.78653550e-01 -4.77456143e-01 -1.88953742e-03 7.85865591e+01] [-4.77455226e-01 -8.78655578e-01 9.39210091e-04 -7.65492075e+01] [-2.10868423e-03 7.69292367e-05 -9.99997774e-01 6.70244140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93762800000002 meters 0.018479830513742686 Centerline is valid? [True, True] Translation: X:78.58, Y:-76.56, Z:0.67 [[ 9.13069624e-01 -4.07790323e-01 -3.30369602e-03 7.85784116e+01] [-4.07788176e-01 -9.13075591e-01 1.32981868e-03 -7.65579118e+01] [-3.55881139e-03 1.32991128e-04 -9.99993659e-01 6.70668976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96762800000002 meters 0.018965324692353347 Centerline is valid? [True, True] Translation: X:78.57, Y:-76.57, Z:0.67 [[ 9.41939499e-01 -3.35761235e-01 -3.79126562e-03 7.85704641e+01] [-3.35759157e-01 -9.41947117e-01 1.19090161e-03 -7.65652662e+01] [-3.97103031e-03 1.51194881e-04 -9.99992104e-01 6.71682784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99762800000002 meters 0.018126807732780987 Centerline is valid? [True, True] Translation: X:78.56, Y:-76.58, Z:0.67 [[ 9.65168773e-01 -2.61583512e-01 -4.82763680e-03 7.85593022e+01] [-2.61581230e-01 -9.65180827e-01 1.10930384e-03 -7.65761389e+01] [-4.94971807e-03 1.92153745e-04 -9.99987732e-01 6.72114477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02762800000002 meters 0.01977526668138197 Centerline is valid? [True, True] Translation: X:78.55, Y:-76.58, Z:0.67 [[ 9.82574364e-01 -1.85790472e-01 -5.43316717e-03 7.85493046e+01] [-1.85788844e-01 -9.82589362e-01 8.07178648e-04 -7.65833850e+01] [-5.48853837e-03 2.16308802e-04 -9.99984914e-01 6.73456234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05762800000002 meters 0.019264015258294392 Centerline is valid? [True, True] Translation: X:78.54, Y:-76.59, Z:0.67 [[ 9.94105727e-01 -1.08263361e-01 -5.73139394e-03 7.85400298e+01] [-1.08262871e-01 -9.94122223e-01 3.96583220e-04 -7.65934015e+01] [-5.74064152e-03 2.26251511e-04 -9.99983497e-01 6.73556359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08762800000002 meters 0.020079540377053794 Centerline is valid? [True, True] Translation: X:78.53, Y:-76.60, Z:0.67 [[ 9.99511971e-01 -3.07546277e-02 -5.47466734e-03 7.85306565e+01] [-3.07553669e-02 -9.99526941e-01 -5.08479913e-05 -7.66013089e+01] [-5.47051368e-03 2.19198578e-04 -9.99985013e-01 6.73376644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11762800000002 meters 0.020278409825421975 Centerline is valid? [True, True] Translation: X:78.52, Y:-76.61, Z:0.67 [[ 9.98883817e-01 4.70100918e-02 -4.60116610e-03 7.85228129e+01] [ 4.70087292e-02 -9.98894397e-01 -4.03890838e-04 -7.66102460e+01] [-4.61506598e-03 1.87145051e-04 -9.99989333e-01 6.72807334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14762800000003 meters 0.021229541915491052 Centerline is valid? [True, True] Translation: X:78.51, Y:-76.62, Z:0.67 [[ 9.92213326e-01 1.24508289e-01 -3.22529699e-03 7.85141744e+01] [ 1.24507192e-01 -9.92218559e-01 -5.39646923e-04 -7.66189853e+01] [-3.26739005e-03 1.33872198e-04 -9.99994653e-01 6.72125661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17762800000003 meters 0.021229541915491052 Centerline is valid? [True, True] Translation: X:78.51, Y:-76.63, Z:0.67 [[ 9.79427737e-01 2.01770262e-01 -3.17310608e-03 7.85070077e+01] [ 2.01768758e-01 -9.79432868e-01 -7.90369597e-04 -7.66281525e+01] [-3.26731747e-03 1.33876232e-04 -9.99994653e-01 6.72125002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.207628 meters 0.019690726157488767 Centerline is valid? [True, True] Translation: X:78.50, Y:-76.64, Z:0.67 [[ 9.60596241e-01 2.77936189e-01 -2.51727909e-03 7.85026569e+01] [ 2.77934938e-01 -9.60599533e-01 -8.40894770e-04 -7.66427998e+01] [-2.65181221e-03 1.08120548e-04 -9.99996478e-01 6.71838043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.237628 meters 0.018862966286052538 Centerline is valid? [True, True] Translation: X:78.50, Y:-76.66, Z:0.67 [[ 9.35610798e-01 3.53026229e-01 -2.21727696e-03 7.84991145e+01] [ 3.53024993e-01 -9.35613420e-01 -9.39323774e-04 -7.66580460e+01] [-2.40612001e-03 9.60872838e-05 -9.99997101e-01 6.70852280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.267628 meters 0.01776717987308008 Centerline is valid? [True, True] Translation: X:78.50, Y:-76.67, Z:0.67 [[ 9.03439936e-01 4.28709914e-01 -2.02272514e-03 7.84974829e+01] [ 4.28708634e-01 -9.03442197e-01 -1.05066218e-03 -7.66742773e+01] [-2.27784454e-03 8.20504413e-05 -9.99997402e-01 6.69705274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.297628 meters 0.017098264333229876 Centerline is valid? [True, True] Translation: X:78.50, Y:-76.69, Z:0.67 [[ 8.65640846e-01 5.00661723e-01 -1.94032062e-03 7.84970356e+01] [ 5.00660268e-01 -8.65643017e-01 -1.20953959e-03 -7.66896351e+01] [-2.28519517e-03 7.55854334e-05 -9.99997386e-01 6.69549870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.327628 meters 0.01692677041268187 Centerline is valid? [True, True] Translation: X:78.50, Y:-76.70, Z:0.67 [[ 8.21776788e-01 5.69804869e-01 -2.30674544e-03 7.84964395e+01] [ 5.69802330e-01 -8.21780022e-01 -1.70302796e-03 -7.67041958e+01] [-2.86603094e-03 8.51199210e-05 -9.99995889e-01 6.69568766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.357628 meters 0.015854878460603145 Centerline is valid? [True, True] Translation: X:78.50, Y:-76.72, Z:0.67 [[ 7.72102440e-01 6.35491970e-01 -2.78906897e-03 7.84975776e+01] [ 6.35487373e-01 -7.72107471e-01 -2.41899478e-03 -7.67188881e+01] [-3.69071275e-03 9.52936576e-05 -9.99993185e-01 6.69595678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.387628 meters 0.013913268068182013 Centerline is valid? [True, True] Translation: X:78.50, Y:-76.74, Z:0.67 [[ 7.14076962e-01 7.00058730e-01 -3.44491144e-03 7.85017740e+01] [ 7.00049999e-01 -7.14085267e-01 -3.49720470e-03 -7.67353523e+01] [-4.90820918e-03 8.56630520e-05 -9.99987951e-01 6.71325273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.417628 meters 0.0131497225118983 Centerline is valid? [True, True] Translation: X:78.50, Y:-76.75, Z:0.67 [[ 6.53931971e-01 7.56544497e-01 -3.66091721e-03 7.85046190e+01] [ 7.56531985e-01 -6.53942214e-01 -4.35167652e-03 -7.67480724e+01] [-5.68626523e-03 7.60994383e-05 -9.99983830e-01 6.71916262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.447628 meters 0.012527068463500024 Centerline is valid? [True, True] Translation: X:78.51, Y:-76.76, Z:0.67 [[ 5.90072538e-01 8.07340767e-01 -3.90981257e-03 7.85089993e+01] [ 8.07322269e-01 -5.90085487e-01 -5.46550459e-03 -7.67613195e+01] [-6.71964831e-03 6.85654093e-05 -9.99977421e-01 6.72577015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.477628 meters 0.012229359054794206 Centerline is valid? [True, True] Translation: X:78.51, Y:-76.77, Z:0.67 [[ 5.21343723e-01 8.53336519e-01 -4.18417525e-03 7.85126828e+01] [ 8.53308292e-01 -5.21360511e-01 -6.94088720e-03 -7.67740819e+01] [-8.10437627e-03 4.81965357e-05 -9.99967158e-01 6.73924420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.507628 meters 0.012145598625371073 Centerline is valid? [True, True] Translation: X:78.52, Y:-76.78, Z:0.67 [[ 4.51710226e-01 8.92156053e-01 -3.93060342e-03 7.85157933e+01] [ 8.92121495e-01 -4.51727325e-01 -7.85254036e-03 -7.67843360e+01] [-8.78125238e-03 4.04969798e-05 -9.99961443e-01 6.74290974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.537628 meters 0.012130844166921185 Centerline is valid? [True, True] Translation: X:78.52, Y:-76.79, Z:0.68 [[ 3.79911716e-01 9.25015591e-01 -3.63922589e-03 7.85185136e+01] [ 9.24972172e-01 -3.79929144e-01 -8.96255273e-03 -7.67941791e+01] [-9.67314899e-03 3.87961154e-05 -9.99953213e-01 6.75350067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.567628 meters 0.012153397542007754 Centerline is valid? [True, True] Translation: X:78.52, Y:-76.80, Z:0.68 [[ 3.06156058e-01 9.51976194e-01 -3.12951335e-03 7.85226776e+01] [ 9.51925122e-01 -3.06172050e-01 -9.86096786e-03 -7.68034474e+01] [-1.03455762e-02 3.99326735e-05 -9.99946482e-01 6.75465873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59762800000001 meters 0.012267607031740653 Centerline is valid? [True, True] Translation: X:78.53, Y:-76.81, Z:0.68 [[ 2.31294508e-01 9.72880836e-01 -2.39375583e-03 7.85257428e+01] [ 9.72826584e-01 -2.31306889e-01 -1.02742735e-02 -7.68135912e+01] [-1.05493360e-02 4.76737304e-05 -9.99944353e-01 6.75529005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62762800000002 meters 0.012301418079576961 Centerline is valid? [True, True] Translation: X:78.53, Y:-76.82, Z:0.67 [[ 1.55826365e-01 9.87783330e-01 -1.49592011e-03 7.85275043e+01] [ 9.87734092e-01 -1.55833534e-01 -9.86268486e-03 -7.68225503e+01] [-9.97531021e-03 5.92950392e-05 -9.99950244e-01 6.74180074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65762800000002 meters 0.012346414664104775 Centerline is valid? [True, True] Translation: X:78.53, Y:-76.83, Z:0.67 [[ 7.87960836e-02 9.96890511e-01 -6.97006823e-04 7.85321927e+01] [ 9.96843815e-01 -7.87991391e-02 -9.64900767e-03 -7.68310793e+01] [-9.67392773e-03 6.54970743e-05 -9.99953204e-01 6.73594067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68762800000002 meters 0.012514905301772936 Centerline is valid? [True, True] Translation: X:78.54, Y:-76.84, Z:0.67 [[ 9.46819107e-04 9.99999550e-01 5.68358872e-05 7.85395689e+01] [ 9.99958666e-01 -9.46266449e-04 -9.04267691e-03 -7.68398948e+01] [-9.04261906e-03 6.53953172e-05 -9.99959113e-01 6.72949778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71762800000002 meters 0.01248336552372648 Centerline is valid? [True, True] Translation: X:78.55, Y:-76.85, Z:0.67 [[-7.68393317e-02 9.97043242e-01 7.00415234e-04 7.85479357e+01] [ 9.97009126e-01 7.68424968e-02 -8.24825965e-03 -7.68481501e+01] [-8.27769320e-03 6.45296219e-05 -9.99965737e-01 6.72861534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74762800000002 meters 0.012660107285739929 Centerline is valid? [True, True] Translation: X:78.55, Y:-76.86, Z:0.67 [[-1.53708241e-01 9.88115606e-01 1.15100188e-03 7.85545699e+01] [ 9.88090841e-01 1.53712538e-01 -6.99603846e-03 -7.68577499e+01] [-7.08981821e-03 6.19456496e-05 -9.99974865e-01 6.72705103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77762800000002 meters 0.012660107285739929 Centerline is valid? [True, True] Translation: X:78.56, Y:-76.87, Z:0.67 [[-2.30662706e-01 9.73032292e-01 1.69566200e-03 7.85644442e+01] [ 9.73007940e-01 2.30668930e-01 -6.88426630e-03 -7.68655867e+01] [-7.08974996e-03 6.19490913e-05 -9.99974865e-01 6.72704522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80762800000002 meters 0.012716610102793657 Centerline is valid? [True, True] Translation: X:78.57, Y:-76.87, Z:0.67 [[-3.05699555e-01 9.52126112e-01 1.91031052e-03 7.85732305e+01] [ 9.52108649e-01 3.05705518e-01 -5.76681670e-03 -7.68722196e+01] [-6.07472923e-03 5.59098686e-05 -9.99981547e-01 6.72382100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83762800000002 meters 0.01291051659409543 Centerline is valid? [True, True] Translation: X:78.58, Y:-76.88, Z:0.67 [[-3.79037557e-01 9.25378151e-01 2.41019964e-03 7.85823490e+01] [ 9.25360429e-01 3.79045215e-01 -5.72729823e-03 -7.68799961e+01] [-6.21349128e-03 5.94422423e-05 -9.99980694e-01 6.71912771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86762800000002 meters 0.01301789457292972 Centerline is valid? [True, True] Translation: X:78.59, Y:-76.89, Z:0.67 [[-4.49976116e-01 8.93033857e-01 3.46783691e-03 7.85911642e+01] [ 8.93008631e-01 4.49989472e-01 -6.71267072e-03 -7.68863793e+01] [-7.55513232e-03 7.62667988e-05 -9.99971457e-01 6.72525469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89762800000003 meters 0.015260624425211812 Centerline is valid? [True, True] Translation: X:78.60, Y:-76.89, Z:0.68 [[-5.18393547e-01 8.55122560e-01 5.79118365e-03 7.86000922e+01] [ 8.55071622e-01 5.18425882e-01 -9.33419070e-03 -7.68928207e+01] [-1.09841765e-02 1.13092569e-04 -9.99939666e-01 6.76707118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92762800000003 meters 0.013057815016868769 Centerline is valid? [True, True] Translation: X:78.61, Y:-76.90, Z:0.68 [[-5.85858078e-01 8.10386027e-01 6.69321547e-03 7.86126052e+01] [ 8.10334840e-01 5.85896304e-01 -9.10864554e-03 -7.68972371e+01] [-1.13030493e-02 8.73721157e-05 -9.99936115e-01 6.75962200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.957628 meters 0.012879487016504697 Centerline is valid? [True, True] Translation: X:78.62, Y:-76.90, Z:0.68 [[-6.49119167e-01 7.60643141e-01 8.14363709e-03 7.86242374e+01] [ 7.60584643e-01 6.49170245e-01 -9.43370172e-03 -7.69002015e+01] [-1.24622874e-02 7.03287084e-05 -9.99922340e-01 6.76786450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.987628 meters 0.01277762132441064 Centerline is valid? [True, True] Translation: X:78.64, Y:-76.90, Z:0.68 [[-7.08682820e-01 7.05451099e-01 1.03637884e-02 7.86360941e+01] [ 7.05376527e-01 7.08758594e-01 -1.02571701e-02 -7.69029036e+01] [-1.45813560e-02 4.12928540e-05 -9.99893686e-01 6.78547098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.017628 meters 0.01286758696146736 Centerline is valid? [True, True] Translation: X:78.66, Y:-76.89, Z:0.68 [[-7.57109688e-01 6.53179138e-01 1.19135640e-02 7.86588007e+01] [ 6.53099039e-01 7.57203415e-01 -1.02290125e-02 -7.68857675e+01] [-1.57023689e-02 3.62526955e-05 -9.99876710e-01 6.79129126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.047628 meters 0.012727509490916302 Centerline is valid? [True, True] Translation: X:78.69, Y:-76.87, Z:0.68 [[-8.01319132e-01 5.98092878e-01 1.31361397e-02 7.86873248e+01] [ 5.98013344e-01 8.01426795e-01 -9.75357616e-03 -7.68730779e+01] [-1.63611988e-02 3.98596751e-05 -9.99866146e-01 6.77854042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.077628 meters 0.012795501423769068 Centerline is valid? [True, True] Translation: X:78.71, Y:-76.85, Z:0.68 [[-8.41087670e-01 5.40714881e-01 1.41049084e-02 7.87066597e+01] [ 5.40640007e-01 8.41205928e-01 -8.99825494e-03 -7.68537084e+01] [-1.67306229e-02 5.73564775e-05 -9.99860032e-01 6.77997913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.107628 meters 0.015933546179280028 Centerline is valid? [True, True] Translation: X:78.73, Y:-76.84, Z:0.68 [[-8.75530351e-01 4.82993943e-01 1.27849870e-02 7.87321552e+01] [ 4.82944156e-01 8.75623687e-01 -6.93553371e-03 -7.68400006e+01] [-1.45446582e-02 1.02164507e-04 -9.99894216e-01 6.78667435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.137628 meters 0.01310394059722525 Centerline is valid? [True, True] Translation: X:78.75, Y:-76.82, Z:0.67 [[-9.06888655e-01 4.21204223e-01 1.18309406e-02 7.87519312e+01] [ 4.21169983e-01 9.06965816e-01 -5.37166380e-03 -7.68203860e+01] [-1.29928262e-02 1.11336096e-04 -9.99915583e-01 6.73373260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.167628 meters 0.013289601303445862 Centerline is valid? [True, True] Translation: X:78.77, Y:-76.80, Z:0.67 [[-9.33666544e-01 3.57987893e-01 1.05571597e-02 7.87696675e+01] [ 3.57966477e-01 9.33726220e-01 -3.91762132e-03 -7.67990353e+01] [-1.12599578e-02 1.21357291e-04 -9.99936597e-01 6.71327031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.197628 meters 0.013640839608583255 Centerline is valid? [True, True] Translation: X:78.79, Y:-76.78, Z:0.67 [[-9.55091533e-01 2.96161430e-01 9.41120282e-03 7.87936339e+01] [ 2.96149032e-01 9.55137880e-01 -2.71671342e-03 -7.67766974e+01] [-9.79358205e-03 1.92408619e-04 -9.99952023e-01 6.69974907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.227628 meters 0.013912377655015802 Centerline is valid? [True, True] Translation: X:78.81, Y:-76.75, Z:0.67 [[-9.73029141e-01 2.30568365e-01 7.24710391e-03 7.88105391e+01] [ 2.30562851e-01 9.73056122e-01 -1.59873749e-03 -7.67535181e+01] [-7.42045711e-03 1.15294768e-04 -9.99972461e-01 6.67356157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.257628 meters 0.014231585175962189 Centerline is valid? [True, True] Translation: X:79.01, Y:-75.88, Z:-0.18 [[-9.64380217e-01 -2.64436215e-01 6.65478998e-03 7.90128086e+01] [ 2.64428931e-01 -9.64403167e-01 -1.96752424e-03 -7.58828662e+01] [ 6.93818519e-03 -1.37722454e-04 9.99975921e-01 -1.78157049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.287628 meters 0.014268559954161833 Centerline is valid? [True, True] Translation: X:78.76, Y:-76.74, Z:0.67 [[-9.73766603e-01 2.27455186e-01 6.53771905e-03 7.87581351e+01] [ 2.27450815e-01 9.73788543e-01 -1.41438021e-03 -7.67429292e+01] [-6.68806402e-03 1.09733311e-04 -9.99977629e-01 6.67437352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.317628 meters 0.014313520589227177 Centerline is valid? [True, True] Translation: X:78.96, Y:-75.87, Z:-0.18 [[-9.65393637e-01 -2.60721950e-01 6.26016117e-03 7.89570279e+01] [ 2.60715676e-01 -9.65413927e-01 -1.81260959e-03 -7.58719677e+01] [ 6.51623388e-03 -1.17759613e-04 9.99978762e-01 -1.78363301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34762800000001 meters 0.014062666736499682 Centerline is valid? [True, True] Translation: X:78.70, Y:-76.73, Z:0.67 [[-9.75243369e-01 2.21035677e-01 6.60312519e-03 7.87024588e+01] [ 2.21031265e-01 9.75265718e-01 -1.39974279e-03 -7.67285099e+01] [-6.74919473e-03 9.44072379e-05 -9.99977219e-01 6.68135356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37762800000002 meters 0.013581772750094635 Centerline is valid? [True, True] Translation: X:78.72, Y:-76.70, Z:0.67 [[-9.88694660e-01 1.49752425e-01 7.55510996e-03 7.87151655e+01] [ 1.49748787e-01 9.88723522e-01 -1.04814069e-03 -7.66998777e+01] [-7.62687653e-03 9.50774518e-05 -9.99970910e-01 6.69212898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40762800000002 meters 0.013642530922258927 Centerline is valid? [True, True] Translation: X:78.84, Y:-75.83, Z:-0.18 [[-9.81201263e-01 -1.92817571e-01 8.09111919e-03 7.88407692e+01] [ 1.92810497e-01 -9.81234621e-01 -1.65280700e-03 -7.58265282e+01] [ 8.25797650e-03 -6.16836072e-05 9.99965900e-01 -1.82043441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43762800000002 meters 0.013062714818752279 Centerline is valid? [True, True] Translation: X:78.65, Y:-76.69, Z:0.67 [[-9.90034901e-01 1.40446300e-01 1.02825665e-02 7.86509179e+01] [ 1.40439566e-01 9.90088294e-01 -1.37769070e-03 -7.66872133e+01] [-1.03741403e-02 8.01173068e-05 -9.99946184e-01 6.71388016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46762800000002 meters 0.013074086564327642 Centerline is valid? [True, True] Translation: X:78.65, Y:-76.66, Z:0.67 [[-9.97602490e-01 6.83445111e-02 1.08765767e-02 7.86549881e+01] [ 6.83411982e-02 9.97661778e-01 -6.76403343e-04 -7.66591149e+01] [-1.08973733e-02 6.85366258e-05 -9.99940620e-01 6.72412470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49762800000002 meters 0.01292482027451482 Centerline is valid? [True, True] Translation: X:78.66, Y:-76.63, Z:0.67 [[-9.99929233e-01 -4.11818405e-03 1.11610592e-02 7.86553712e+01] [-4.11731812e-03 9.99991519e-01 1.00561939e-04 -7.66300321e+01] [-1.11613786e-02 5.46011916e-05 -9.99937708e-01 6.73103243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52762800000002 meters 0.015436599987317137 Centerline is valid? [True, True] Translation: X:78.66, Y:-76.60, Z:0.68 [[-9.96939100e-01 -7.72945725e-02 1.17465157e-02 7.86583017e+01] [-7.72888044e-02 9.97008299e-01 9.44893017e-04 -7.65995244e+01] [-1.17844087e-02 3.41266407e-05 -9.99930561e-01 6.76871134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55762800000002 meters 0.012688764328485641 Centerline is valid? [True, True] Translation: X:78.65, Y:-76.57, Z:0.67 [[-9.88737658e-01 -1.49256653e-01 1.09679271e-02 7.86517729e+01] [-1.49247230e-01 9.88798489e-01 1.67723814e-03 -7.65718533e+01] [-1.10954087e-02 2.14157691e-05 -9.99938444e-01 6.73582308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58762800000002 meters 0.012747620703129459 Centerline is valid? [True, True] Translation: X:78.63, Y:-76.55, Z:0.67 [[-9.75378706e-01 -2.20303255e-01 1.01417725e-02 7.86331783e+01] [-2.20291167e-01 9.75431431e-01 2.30785832e-03 -7.65472761e+01] [-1.04010323e-02 1.68929673e-05 -9.99945908e-01 6.73420673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61762800000002 meters 0.012620638448828827 Centerline is valid? [True, True] Translation: X:78.59, Y:-76.53, Z:0.67 [[-9.56731265e-01 -2.90833764e-01 9.00044114e-03 7.85915786e+01] [-2.90820761e-01 9.56773600e-01 2.75017823e-03 -7.65298584e+01] [-9.41122916e-03 1.36663582e-05 -9.99955713e-01 6.71682593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64762800000003 meters 0.012484794316567611 Centerline is valid? [True, True] Translation: X:78.53, Y:-76.52, Z:0.67 [[-9.32730947e-01 -3.60496115e-01 7.45196101e-03 7.85318004e+01] [-3.60484505e-01 9.32760715e-01 2.89320969e-03 -7.65229372e+01] [-7.99388733e-03 1.22697406e-05 -9.99968048e-01 6.70564138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67762800000003 meters 0.012589993071224194 Centerline is valid? [True, True] Translation: X:78.47, Y:-76.52, Z:0.67 [[-9.03441824e-01 -4.28660168e-01 6.58261805e-03 7.84657342e+01] [-4.28648678e-01 9.03465805e-01 3.13854075e-03 -7.65233162e+01] [-7.29253772e-03 1.38584577e-05 -9.99973409e-01 6.69910474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.707628 meters 0.012508881566557562 Centerline is valid? [True, True] Translation: X:78.38, Y:-76.54, Z:0.67 [[-8.68702676e-01 -4.95292173e-01 6.42840392e-03 7.83812566e+01] [-4.95278503e-01 8.68726460e-01 3.67988645e-03 -7.65366464e+01] [-7.40714354e-03 1.28769381e-05 -9.99972567e-01 6.69151887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.737628 meters 0.012533532053884085 Centerline is valid? [True, True] Translation: X:78.30, Y:-76.55, Z:0.67 [[-8.28191930e-01 -5.60411044e-01 6.13101712e-03 7.83014969e+01] [-5.60395651e-01 8.28214623e-01 4.15362385e-03 -7.65547142e+01] [-7.40553471e-03 4.20241881e-06 -9.99972579e-01 6.70715779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.767628 meters 0.012788848322119113 Centerline is valid? [True, True] Translation: X:78.21, Y:-76.59, Z:0.67 [[-7.81637172e-01 -6.23668446e-01 9.00006402e-03 7.82132229e+01] [-6.23627440e-01 7.81688985e-01 7.15174297e-03 -7.65864597e+01] [-1.14955673e-02 -2.26187444e-05 -9.99933924e-01 6.72860871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.797628 meters 0.013110725064495942 Centerline is valid? [True, True] Translation: X:78.11, Y:-76.63, Z:0.68 [[-7.29887770e-01 -6.83497279e-01 9.76282860e-03 7.81138216e+01] [-6.83437345e-01 7.29953057e-01 9.05149005e-03 -7.66308869e+01] [-1.33130754e-02 -6.57097660e-05 -9.99911375e-01 6.75269590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.827628 meters 0.013110725064495942 Centerline is valid? [True, True] Translation: X:78.02, Y:-76.68, Z:0.68 [[-6.75480966e-01 -7.37321984e-01 9.04193439e-03 7.80238898e+01] [-7.37257233e-01 6.75541478e-01 9.77158108e-03 -7.66820426e+01] [-1.33130033e-02 -6.57144997e-05 -9.99911376e-01 6.75266266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.857628 meters 0.013088190430218635 Centerline is valid? [True, True] Translation: X:77.93, Y:-76.74, Z:0.68 [[-6.17418347e-01 -7.86592305e-01 8.19340064e-03 7.79341475e+01] [-7.86524298e-01 6.17472706e-01 1.03434088e-02 -7.67446538e+01] [-1.31952471e-02 -5.80983004e-05 -9.99912937e-01 6.75230121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.887628 meters 0.013088190430218635 Centerline is valid? [True, True] Translation: X:77.85, Y:-76.81, Z:0.68 [[-5.55097530e-01 -8.31752585e-01 7.37357498e-03 7.78490964e+01] [-8.31680600e-01 5.55146497e-01 1.09428698e-02 -7.68145309e+01] [-1.31951746e-02 -5.80992737e-05 -9.99912938e-01 6.75226642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.917628 meters 0.013088190430218635 Centerline is valid? [True, True] Translation: X:77.77, Y:-76.89, Z:0.68 [[-4.89314139e-01 -8.72083323e-01 6.50778302e-03 7.77680728e+01] [-8.72007776e-01 4.89357410e-01 1.14788000e-02 -7.68933716e+01] [-1.31951019e-02 -5.80982482e-05 -9.99912939e-01 6.75223095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.947628 meters 0.01294602057574042 Centerline is valid? [True, True] Translation: X:77.70, Y:-76.97, Z:0.67 [[-4.21741478e-01 -9.06699883e-01 5.42662636e-03 7.76962430e+01] [-9.06626019e-01 4.21776388e-01 1.15732281e-02 -7.69746343e+01] [-1.27822674e-02 -3.90103345e-05 -9.99918303e-01 6.74788596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.977628 meters 0.012882017191986601 Centerline is valid? [True, True] Translation: X:77.63, Y:-77.08, Z:0.67 [[-3.52626517e-01 -9.35754864e-01 4.16823904e-03 7.76250993e+01] [-9.35689766e-01 3.52651152e-01 1.10375658e-02 -7.70779366e+01] [-1.17983902e-02 -8.04023092e-06 -9.99930397e-01 6.73640946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.007628 meters 0.01291370989541706 Centerline is valid? [True, True] Translation: X:77.57, Y:-77.17, Z:0.67 [[-2.82039829e-01 -9.59398022e-01 2.99510686e-03 7.75692555e+01] [-9.59342946e-01 2.82055731e-01 1.02798919e-02 -7.71657322e+01] [-1.07072950e-02 2.60043201e-05 -9.99942675e-01 6.71668112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.037628 meters 0.013110952614310152 Centerline is valid? [True, True] Translation: X:77.52, Y:-77.27, Z:0.67 [[-2.10297002e-01 -9.77635701e-01 1.89905332e-03 7.75171398e+01] [-9.77593450e-01 2.10305569e-01 9.08921248e-03 -7.72712045e+01] [-9.28532011e-03 5.49320484e-05 -9.99956889e-01 6.70303741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.067628 meters 0.01334763040571243 Centerline is valid? [True, True] Translation: X:77.47, Y:-77.39, Z:0.67 [[-1.37373915e-01 -9.90518782e-01 9.74372555e-04 7.74718702e+01] [-9.90490019e-01 1.37377351e-01 7.54892171e-03 -7.73866677e+01] [-7.61120546e-03 7.19186349e-05 -9.99971032e-01 6.68427289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09762800000001 meters 0.014779862244422745 Centerline is valid? [True, True] Translation: X:77.44, Y:-77.50, Z:0.67 [[-6.72552819e-02 -9.97735766e-01 2.62492579e-04 7.74376514e+01] [-9.97722371e-01 6.72557394e-02 5.17075908e-03 -7.74996097e+01] [-5.17670540e-03 8.58661411e-05 -9.99986597e-01 6.66316284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12762800000002 meters 0.015718102615549952 Centerline is valid? [True, True] Translation: X:77.41, Y:-77.62, Z:0.67 [[ 6.90186600e-03 -9.99976174e-01 -1.22197995e-04 7.74103786e+01] [-9.99965937e-01 -6.90234840e-03 4.52574630e-03 -7.76159540e+01] [-4.52648192e-03 9.09577382e-05 -9.99989751e-01 6.65703025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15762800000002 meters 0.018069153422956855 Centerline is valid? [True, True] Translation: X:77.39, Y:-77.73, Z:0.67 [[ 7.76527046e-02 -9.96980366e-01 -4.54578793e-04 7.73935439e+01] [-9.96971001e-01 -7.76539463e-02 4.32300444e-03 -7.77343000e+01] [-4.34525039e-03 1.17508888e-04 -9.99990552e-01 6.65423660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18762800000002 meters 0.019782149134208987 Centerline is valid? [True, True] Translation: X:77.38, Y:-77.86, Z:0.67 [[ 1.48856859e-01 -9.88858236e-01 -1.01262771e-03 7.73840512e+01] [-9.88843052e-01 -1.48860188e-01 5.48291354e-03 -7.78587084e+01] [-5.57256416e-03 1.85160584e-04 -9.99984456e-01 6.66510445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21762800000002 meters 0.01894119726796753 Centerline is valid? [True, True] Translation: X:77.38, Y:-77.98, Z:0.67 [[ 2.19981841e-01 -9.75501972e-01 -1.97296968e-03 7.73790257e+01] [-9.75473925e-01 -2.19990489e-01 7.40318611e-03 -7.79809387e+01] [-7.65585722e-03 2.96013963e-04 -9.99970650e-01 6.67890077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24762800000002 meters 0.019905674322693714 Centerline is valid? [True, True] Translation: X:77.39, Y:-78.10, Z:0.67 [[ 2.93097406e-01 -9.56078720e-01 -2.71864245e-03 7.73864870e+01] [-9.56047512e-01 -2.93109825e-01 7.73215483e-03 -7.80997283e+01] [-8.18940951e-03 3.32876827e-04 -9.99966411e-01 6.68807804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27762800000002 meters 0.019905674322693714 Centerline is valid? [True, True] Translation: X:77.40, Y:-78.22, Z:0.67 [[ 3.66288641e-01 -9.30495394e-01 -3.30951738e-03 7.74043244e+01] [-9.30465242e-01 -3.66303441e-01 7.49821111e-03 -7.82214808e+01] [-8.18933851e-03 3.32881328e-04 -9.99966411e-01 6.68804107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30762800000002 meters 0.025156320205164676 Centerline is valid? [True, True] Translation: X:77.44, Y:-78.34, Z:0.67 [[ 4.35807225e-01 -9.00031426e-01 -3.93627857e-03 7.74366281e+01] [-9.00001696e-01 -4.35824860e-01 7.32389210e-03 -7.83376211e+01] [-8.30726110e-03 3.50852292e-04 -9.99965433e-01 6.70825876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33762800000002 meters 0.025156320205164676 Centerline is valid? [True, True] Translation: X:77.47, Y:-78.45, Z:0.67 [[ 5.04135366e-01 -8.63612970e-01 -4.49110766e-03 7.74714129e+01] [-8.63584694e-01 -5.04155248e-01 6.99731877e-03 -7.84523822e+01] [-8.30719074e-03 3.50855974e-04 -9.99965433e-01 6.70822266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36762800000002 meters 0.02085572352005085 Centerline is valid? [True, True] Translation: X:77.51, Y:-78.57, Z:0.67 [[ 5.68169536e-01 -8.22894888e-01 -5.23271532e-03 7.75059484e+01] [-8.22865926e-01 -5.68193507e-01 6.91423301e-03 -7.85651565e+01] [-8.66288187e-03 3.77366573e-04 -9.99962405e-01 6.69705079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39762800000003 meters 0.021182557428273397 Centerline is valid? [True, True] Translation: X:77.55, Y:-78.67, Z:0.67 [[ 6.29693740e-01 -7.76819947e-01 -6.04681959e-03 7.75545773e+01] [-7.76790056e-01 -6.29722647e-01 6.82623006e-03 -7.86722715e+01] [-9.11057091e-03 3.98674986e-04 -9.99958418e-01 6.69517576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42762800000003 meters 0.021232377468345703 Centerline is valid? [True, True] Translation: X:77.61, Y:-78.77, Z:0.67 [[ 6.87885969e-01 -7.25789925e-01 -6.47140812e-03 7.76062647e+01] [-7.25763009e-01 -6.87916299e-01 6.26264743e-03 -7.87692477e+01] [-8.99715353e-03 3.88721335e-04 -9.99959449e-01 6.69772427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.457628 meters 0.02034637012044089 Centerline is valid? [True, True] Translation: X:77.60, Y:-78.78, Z:0.67 [[ 7.43004574e-01 -6.69249092e-01 -7.06091101e-03 7.75974754e+01] [-6.69223735e-01 -7.43038023e-01 5.83862492e-03 -7.87808549e+01] [-9.15401978e-03 3.87204217e-04 -9.99958026e-01 6.69635383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.487628 meters 0.021356088254967136 Centerline is valid? [True, True] Translation: X:77.59, Y:-78.79, Z:0.67 [[ 7.93838634e-01 -6.08086222e-01 -7.16727527e-03 7.75885949e+01] [-6.08065454e-01 -7.93870908e-01 5.03840551e-03 -7.87872117e+01] [-8.75367630e-03 3.58491542e-04 -9.99961622e-01 6.70016068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.517628 meters 0.019849367629191542 Centerline is valid? [True, True] Translation: X:77.58, Y:-78.80, Z:0.67 [[ 8.41152382e-01 -5.40766027e-01 -5.89691777e-03 7.75776747e+01] [-5.40754819e-01 -8.41173015e-01 3.49070632e-03 -7.87974107e+01] [-6.84798349e-03 2.52570766e-04 -9.99976520e-01 6.68441781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.547628 meters 0.018308954310338934 Centerline is valid? [True, True] Translation: X:77.57, Y:-78.81, Z:0.67 [[ 8.82009959e-01 -4.71199779e-01 -5.40379444e-03 7.75668827e+01] [-4.71192361e-01 -8.82026488e-01 2.65209078e-03 -7.88090829e+01] [-6.01595442e-03 2.07056180e-04 -9.99981883e-01 6.67152909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.577628 meters 0.018305320930761728 Centerline is valid? [True, True] Translation: X:77.56, Y:-78.82, Z:0.67 [[ 9.17168423e-01 -3.98463154e-01 -5.40360132e-03 7.75582836e+01] [-3.98457418e-01 -9.17184322e-01 2.14609582e-03 -7.88186750e+01] [-5.81123853e-03 1.84773714e-04 -9.99983098e-01 6.67869610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.607628 meters 0.01733604213834948 Centerline is valid? [True, True] Translation: X:77.55, Y:-78.83, Z:0.67 [[ 9.46428442e-01 -3.22835887e-01 -7.08482564e-03 7.75507433e+01] [-3.22828533e-01 -9.46454935e-01 2.18958242e-03 -7.88296868e+01] [-7.41234397e-03 2.14900790e-04 -9.99972505e-01 6.68765614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.637628 meters 0.01602601004068511 Centerline is valid? [True, True] Translation: X:77.54, Y:-78.84, Z:0.67 [[ 9.69421938e-01 -2.45250300e-01 -8.56722583e-03 7.75404072e+01] [-2.45242835e-01 -9.69459765e-01 1.92751028e-03 -7.88435138e+01] [-8.77830321e-03 2.32480004e-04 -9.99961443e-01 6.69795399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.667628 meters 0.01602601004068511 Centerline is valid? [True, True] Translation: X:77.53, Y:-78.85, Z:0.67 [[ 9.85651455e-01 -1.68569455e-01 -8.69180347e-03 7.75315868e+01] [-1.68564976e-01 -9.85689751e-01 1.25059420e-03 -7.88540782e+01] [-8.77823358e-03 2.32483656e-04 -9.99961444e-01 6.69794762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.697628 meters 0.01562688706438925 Centerline is valid? [True, True] Translation: X:77.52, Y:-78.87, Z:0.67 [[ 9.96273114e-01 -8.57100524e-02 -9.67826265e-03 7.75226865e+01] [-8.57080194e-02 -9.96320101e-01 6.25383062e-04 -7.88675754e+01] [-9.69624924e-03 2.06452393e-04 -9.99952969e-01 6.71145325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.727628 meters 0.015023037826604482 Centerline is valid? [True, True] Translation: X:77.52, Y:-78.88, Z:0.67 [[ 9.99944590e-01 -4.60346102e-03 -9.46708036e-03 7.75164436e+01] [-4.60490654e-03 -9.99989389e-01 -1.30897253e-04 -7.88785343e+01] [-9.46637733e-03 1.74485020e-04 -9.99955178e-01 6.70938841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.757628 meters 0.014382738480383277 Centerline is valid? [True, True] Translation: X:77.51, Y:-78.89, Z:0.67 [[ 9.96996867e-01 7.69951481e-02 -8.30625750e-03 7.75108950e+01] [ 7.69914218e-02 -9.97031460e-01 -7.67916760e-04 -7.88894499e+01] [-8.34072590e-03 1.26100029e-04 -9.99965208e-01 6.70097751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.787628 meters 0.013912192302345777 Centerline is valid? [True, True] Translation: X:77.51, Y:-78.90, Z:0.67 [[ 9.87382805e-01 1.58180513e-01 -7.35668992e-03 7.75057687e+01] [ 1.58175465e-01 -9.87410207e-01 -1.26671757e-03 -7.89003033e+01] [-7.46444075e-03 8.70873025e-05 -9.99972137e-01 6.69120601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.817628 meters 0.013188280848896946 Centerline is valid? [True, True] Translation: X:77.50, Y:-78.92, Z:0.67 [[ 9.71083532e-01 2.38664514e-01 -6.00193325e-03 7.75038534e+01] [ 2.38659645e-01 -9.71102079e-01 -1.52530289e-03 -7.89151124e+01] [-6.19252553e-03 4.87772618e-05 -9.99980825e-01 6.68340477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84762800000001 meters 0.012574759442334176 Centerline is valid? [True, True] Translation: X:77.50, Y:-78.93, Z:0.67 [[ 9.47038557e-01 3.21072748e-01 -5.50110386e-03 7.75043758e+01] [ 3.21067318e-01 -9.47054534e-01 -1.86727150e-03 -7.89317708e+01] [-5.80937535e-03 2.15344045e-06 -9.99983125e-01 6.68283078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87762800000002 meters 0.012711913993023707 Centerline is valid? [True, True] Translation: X:77.50, Y:-78.94, Z:0.67 [[ 9.17631363e-01 3.97401070e-01 -5.00718287e-03 7.75043150e+01] [ 3.97395254e-01 -9.17645024e-01 -2.15011772e-03 -7.89436279e+01] [-5.44927553e-03 -1.68152548e-05 -9.99985152e-01 6.68378881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90762800000002 meters 0.012837927900767751 Centerline is valid? [True, True] Translation: X:77.50, Y:-78.95, Z:0.67 [[ 8.82234627e-01 4.70784985e-01 -4.85406681e-03 7.75033053e+01] [ 4.70778070e-01 -8.82247979e-01 -2.55172297e-03 -7.89547319e+01] [-5.48380349e-03 -3.39698424e-05 -9.99984963e-01 6.68242015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93762800000002 meters 0.013573060048018178 Centerline is valid? [True, True] Translation: X:77.50, Y:-78.97, Z:0.67 [[ 8.39871689e-01 5.42774478e-01 -3.37817693e-03 7.75044404e+01] [ 5.42770306e-01 -8.39878482e-01 -2.12850072e-03 -7.89651582e+01] [-3.99255398e-03 -4.59066343e-05 -9.99992029e-01 6.66492166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96762800000002 meters 0.0140275588651077 Centerline is valid? [True, True] Translation: X:77.51, Y:-78.97, Z:0.67 [[ 7.93058538e-01 6.09137890e-01 -3.03097390e-03 7.75056610e+01] [ 6.09133702e-01 -7.93064328e-01 -2.25936540e-03 -7.89748965e+01] [-3.78002235e-03 -5.44593378e-05 -9.99992854e-01 6.65257563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99762800000002 meters 0.017275111593986626 Centerline is valid? [True, True] Translation: X:77.51, Y:-78.98, Z:0.67 [[ 7.41660316e-01 6.70765277e-01 -3.73067387e-03 7.75081210e+01] [ 6.70757332e-01 -7.41669695e-01 -3.26582788e-03 -7.89838348e+01] [-4.95753170e-03 -8.02419113e-05 -9.99987708e-01 6.69155636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02762800000002 meters 0.015371722508823796 Centerline is valid? [True, True] Translation: X:77.51, Y:-78.99, Z:0.67 [[ 6.84219084e-01 7.29255693e-01 -5.51180292e-03 7.75112931e+01] [ 7.29233843e-01 -6.84241266e-01 -5.64730720e-03 -7.89925887e+01] [-7.88973394e-03 -1.55397868e-04 -9.99968863e-01 6.69611342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05762800000002 meters 0.015548952527156372 Centerline is valid? [True, True] Translation: X:77.51, Y:-79.00, Z:0.67 [[ 6.24366133e-01 7.81109916e-01 -5.85069258e-03 7.75122811e+01] [ 7.81078397e-01 -6.24393517e-01 -7.01957272e-03 -7.89997763e+01] [-9.13619237e-03 -1.87066110e-04 -9.99958247e-01 6.70666510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08762800000002 meters 0.015644385688034848 Centerline is valid? [True, True] Translation: X:77.51, Y:-79.01, Z:0.67 [[ 5.61306049e-01 8.27591300e-01 -5.30654553e-03 7.75135237e+01] [ 8.27557437e-01 -5.61331100e-01 -7.48889213e-03 -7.90057271e+01] [-9.17647101e-03 -1.87910769e-04 -9.99957878e-01 6.70730704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11762800000002 meters 0.015393551663120163 Centerline is valid? [True, True] Translation: X:77.51, Y:-79.01, Z:0.67 [[ 4.95183860e-01 8.68775049e-01 -4.78101655e-03 7.75142533e+01] [ 8.68738133e-01 -4.95206905e-01 -8.01102188e-03 -7.90119851e+01] [-9.32736833e-03 -1.86522654e-04 -9.99956482e-01 6.70003061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14762800000003 meters 0.014930508980214165 Centerline is valid? [True, True] Translation: X:77.51, Y:-79.02, Z:0.67 [[ 4.27869169e-01 9.03832442e-01 -3.85884487e-03 7.75138953e+01] [ 9.03798850e-01 -4.27886542e-01 -7.79396942e-03 -7.90171479e+01] [-8.69559020e-03 -1.52820335e-04 -9.99962181e-01 6.68924207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17762800000003 meters 0.01423988799132831 Centerline is valid? [True, True] Translation: X:77.52, Y:-79.02, Z:0.67 [[ 3.57678096e-01 9.33839789e-01 -3.10297036e-03 7.75164485e+01] [ 9.33807732e-01 -3.57691532e-01 -7.73866514e-03 -7.90246834e+01] [-8.33657964e-03 -1.29626708e-04 -9.99965242e-01 6.68148739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.207628 meters 0.013676137882782331 Centerline is valid? [True, True] Translation: X:77.52, Y:-79.03, Z:0.67 [[ 2.86154227e-01 9.58180445e-01 -2.44790995e-03 7.75209371e+01] [ 9.58148437e-01 -2.86164678e-01 -7.83257227e-03 -7.90328892e+01] [-8.20552295e-03 -1.04137432e-04 -9.99966329e-01 6.67658122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.237628 meters 0.013271296790908731 Centerline is valid? [True, True] Translation: X:77.53, Y:-79.04, Z:0.67 [[ 2.13627790e-01 9.76913741e-01 -1.64603522e-03 7.75253528e+01] [ 9.76887153e-01 -2.13634120e-01 -7.20788061e-03 -7.90401071e+01] [-7.39312690e-03 -6.81870606e-05 -9.99972668e-01 6.67615299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.267628 meters 0.01286326190961534 Centerline is valid? [True, True] Translation: X:77.52, Y:-79.05, Z:0.67 [[ 1.44130609e-01 9.89558245e-01 -9.20296843e-04 7.75237389e+01] [ 9.89538490e-01 -1.44133547e-01 -6.25282377e-03 -7.90483298e+01] [-6.32017897e-03 -9.44585142e-06 -9.99980027e-01 6.66149843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.297628 meters 0.012899023020152644 Centerline is valid? [True, True] Translation: X:77.53, Y:-79.06, Z:0.67 [[ 7.01601000e-02 9.97535677e-01 -3.66021141e-04 7.75279495e+01] [ 9.97521089e-01 -7.01610535e-02 -5.39479103e-03 -7.90568281e+01] [-5.40717695e-03 1.33852715e-05 -9.99985381e-01 6.65263586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.327628 meters 0.013182535785163712 Centerline is valid? [True, True] Translation: X:77.53, Y:-79.07, Z:0.66 [[-4.03457858e-03 9.99991860e-01 4.54976997e-05 7.75327601e+01] [ 9.99982641e-01 4.03473675e-03 -4.29397641e-03 -7.90650926e+01] [-4.29412503e-03 2.81725247e-05 -9.99990780e-01 6.63975409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.357628 meters 0.01411196967420083 Centerline is valid? [True, True] Translation: X:77.54, Y:-79.07, Z:0.66 [[-7.47275787e-02 9.97203951e-01 2.63723201e-04 7.75358610e+01] [ 9.97199558e-01 7.47280324e-02 -2.96010522e-03 -7.90730892e+01] [-2.97153613e-03 4.17831638e-05 -9.99995584e-01 6.62988711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.387628 meters 0.01481015990922719 Centerline is valid? [True, True] Translation: X:77.54, Y:-79.08, Z:0.66 [[-1.49028694e-01 9.88832771e-01 4.46599714e-04 7.75430074e+01] [ 9.88829232e-01 1.49029356e-01 -2.64588044e-03 -7.90825517e+01] [-2.68288975e-03 4.72987457e-05 -9.99996400e-01 6.63501161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.417628 meters 0.015378486960732676 Centerline is valid? [True, True] Translation: X:77.55, Y:-79.09, Z:0.66 [[-2.23629783e-01 9.74673911e-01 6.98950814e-04 7.75521427e+01] [ 9.74669925e-01 2.23630867e-01 -2.78784089e-03 -7.90906331e+01] [-2.87354276e-03 5.78020860e-05 -9.99995870e-01 6.64262326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.447628 meters 0.015755398158170116 Centerline is valid? [True, True] Translation: X:77.56, Y:-79.10, Z:0.67 [[-2.98331708e-01 9.54461692e-01 1.03440389e-03 7.75627377e+01] [ 9.54456729e-01 2.98333493e-01 -3.07880457e-03 -7.90985945e+01] [-3.24719834e-03 6.87887274e-05 -9.99994725e-01 6.65239164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.477628 meters 0.015903963469467382 Centerline is valid? [True, True] Translation: X:77.57, Y:-79.10, Z:0.67 [[-3.71009152e-01 9.28627904e-01 1.55747432e-03 7.75740281e+01] [ 9.28620706e-01 3.71012410e-01 -3.65722622e-03 -7.91048011e+01] [-3.97404462e-03 8.94385021e-05 -9.99992099e-01 6.66472185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.507628 meters 0.016368881212108524 Centerline is valid? [True, True] Translation: X:77.58, Y:-79.11, Z:0.67 [[-4.41334467e-01 8.97339767e-01 2.28728988e-03 7.75841519e+01] [ 8.97329078e-01 4.41340378e-01 -4.38137800e-03 -7.91109150e+01] [-4.94105810e-03 1.18798597e-04 -9.99987786e-01 6.67589716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.537628 meters 0.017351188537771085 Centerline is valid? [True, True] Translation: X:77.59, Y:-79.12, Z:0.67 [[-5.06622023e-01 8.62156811e-01 4.44511497e-03 7.75937591e+01] [ 8.62127651e-01 5.06641468e-01 -7.09477728e-03 -7.91169313e+01] [-8.36889012e-03 2.37886113e-04 -9.99964952e-01 6.69363805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.567628 meters 0.017474929137690498 Centerline is valid? [True, True] Translation: X:77.61, Y:-79.12, Z:0.67 [[-5.70703688e-01 8.21137143e-01 5.57605439e-03 7.76074760e+01] [ 8.21102770e-01 5.70730855e-01 -7.51878852e-03 -7.91189322e+01] [-9.35638281e-03 2.87513366e-04 -9.99956187e-01 6.70188660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59762800000001 meters 0.01857883913787504 Centerline is valid? [True, True] Translation: X:77.62, Y:-79.12, Z:0.67 [[-6.31372929e-01 7.75451780e-01 6.53927467e-03 7.76208231e+01] [ 7.75415497e-01 6.31406706e-01 -7.50861969e-03 -7.91219200e+01] [-9.95151438e-03 3.29915708e-04 -9.99950428e-01 6.70870838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62762800000002 meters 0.018485711144045083 Centerline is valid? [True, True] Translation: X:77.64, Y:-79.12, Z:0.67 [[-6.88511087e-01 7.25190362e-01 7.17090144e-03 7.76363184e+01] [ 7.25156317e-01 6.88548337e-01 -7.03589160e-03 -7.91206658e+01] [-1.00398730e-02 3.55735098e-04 -9.99949536e-01 6.70778848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65762800000002 meters 0.021271380595050442 Centerline is valid? [True, True] Translation: X:77.67, Y:-79.11, Z:0.67 [[-7.35022446e-01 6.78008829e-01 6.78470569e-03 7.76678400e+01] [ 6.77984322e-01 7.35053673e-01 -5.77552848e-03 -7.91122380e+01] [-8.90298214e-03 3.54781018e-04 -9.99960305e-01 6.72526513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68762800000002 meters 0.021206969494019793 Centerline is valid? [True, True] Translation: X:77.69, Y:-79.10, Z:0.67 [[-7.79977696e-01 6.25779836e-01 5.86436359e-03 7.76938013e+01] [ 6.25765023e-01 7.79999682e-01 -4.31643611e-03 -7.90983652e+01] [-7.27534042e-03 3.02989727e-04 -9.99973488e-01 6.68778897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71762800000002 meters 0.02154985965116447 Centerline is valid? [True, True] Translation: X:77.72, Y:-79.08, Z:0.67 [[-8.21267780e-01 5.70518606e-01 5.26811924e-03 7.77185457e+01] [ 5.70508945e-01 8.21284632e-01 -3.33112497e-03 -7.90811394e+01] [-6.22709415e-03 2.69763539e-04 -9.99980575e-01 6.67801701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74762800000002 meters 0.020920181556617626 Centerline is valid? [True, True] Translation: X:77.74, Y:-79.06, Z:0.67 [[-8.58800075e-01 5.12290263e-01 4.59532398e-03 7.77417439e+01] [ 5.12284366e-01 8.58812338e-01 -2.46902121e-03 -7.90604206e+01] [-5.21137646e-03 2.33717038e-04 -9.99986393e-01 6.66493002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77762800000002 meters 0.022096563133486877 Centerline is valid? [True, True] Translation: X:77.76, Y:-79.04, Z:0.67 [[-8.92373850e-01 4.51276901e-01 4.25095353e-03 7.77633848e+01] [ 4.51272912e-01 8.92383949e-01 -1.90943934e-03 -7.90383464e+01] [-4.65516857e-03 2.14406443e-04 -9.99989142e-01 6.66238269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80762800000002 meters 0.02211775263533574 Centerline is valid? [True, True] Translation: X:77.78, Y:-79.01, Z:0.67 [[-9.22217677e-01 3.86646178e-01 4.39197133e-03 7.77817568e+01] [ 3.86642887e-01 9.22228110e-01 -1.60967432e-03 -7.90124357e+01] [-4.67277384e-03 2.13654358e-04 -9.99989060e-01 6.66640784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83762800000002 meters 0.02214404806565403 Centerline is valid? [True, True] Translation: X:78.09, Y:-78.18, Z:-0.18 [[-9.31127410e-01 -3.64672722e-01 3.94362411e-03 7.80941101e+01] [ 3.64668443e-01 -9.31135735e-01 -1.78023643e-03 -7.81845833e+01] [ 4.32125300e-03 -2.19511675e-04 9.99990639e-01 -1.78284056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86762800000002 meters 0.021706612511099517 Centerline is valid? [True, True] Translation: X:77.74, Y:-78.99, Z:0.67 [[-9.25527222e-01 3.78661186e-01 3.88177373e-03 7.77380887e+01] [ 3.78658614e-01 9.25535346e-01 -1.40597620e-03 -7.89875741e+01] [-4.12510741e-03 1.68597811e-04 -9.99991478e-01 6.66366315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89762800000003 meters 0.02018162878187876 Centerline is valid? [True, True] Translation: X:77.75, Y:-78.96, Z:0.67 [[-9.50940921e-01 3.09348342e-01 3.86876187e-03 7.77534040e+01] [ 3.09346431e-01 9.50948779e-01 -1.09802477e-03 -7.89574558e+01] [-4.01866652e-03 1.52630990e-04 -9.99991913e-01 6.66157946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92762800000003 meters 0.02003254100918794 Centerline is valid? [True, True] Translation: X:77.99, Y:-78.14, Z:-0.18 [[-9.52785435e-01 -3.03618315e-01 3.97906675e-03 7.79937851e+01] [ 3.03615019e-01 -9.52793733e-01 -1.42227400e-03 -7.81360694e+01] [ 4.22305830e-03 -1.47017525e-04 9.99991072e-01 -1.77929918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.957628 meters 0.01654013895665596 Centerline is valid? [True, True] Translation: X:77.70, Y:-78.93, Z:0.67 [[-9.55349158e-01 2.95441066e-01 4.75004412e-03 7.77003417e+01] [ 2.95438112e-01 9.55360957e-01 -1.32799669e-03 -7.89272836e+01] [-4.93035145e-03 1.34643549e-04 -9.99987837e-01 6.66748364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.987628 meters 0.01573140194833107 Centerline is valid? [True, True] Translation: X:77.71, Y:-78.90, Z:0.67 [[-9.74668625e-01 2.23604623e-01 4.69510491e-03 7.77123336e+01] [ 2.23602593e-01 9.74679927e-01 -9.59661590e-04 -7.88963534e+01] [-4.79080927e-03 1.14485587e-04 -9.99988517e-01 6.67257316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.017628 meters 0.014460353061959641 Centerline is valid? [True, True] Translation: X:77.72, Y:-78.86, Z:0.67 [[-9.89079952e-01 1.47295443e-01 4.99011641e-03 7.77181163e+01] [ 1.47294010e-01 9.89092536e-01 -6.55517615e-04 -7.88592005e+01] [-5.03224166e-03 8.66549270e-05 -9.99987334e-01 6.68657291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.047628 meters 0.013474725194032462 Centerline is valid? [True, True] Translation: X:77.72, Y:-78.83, Z:0.67 [[-9.97265580e-01 7.37118949e-02 5.28391647e-03 7.77214419e+01] [ 7.37112604e-02 9.97279575e-01 -3.14982105e-04 -7.88265159e+01] [-5.29275990e-03 7.53633310e-05 -9.99985990e-01 6.69437428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.077628 meters 0.013212661340369266 Centerline is valid? [True, True] Translation: X:77.77, Y:-78.04, Z:-0.18 [[-9.93385917e-01 -1.14703139e-01 5.25456620e-03 7.77704691e+01] [ 1.14701134e-01 -9.93399811e-01 -6.82293629e-04 -7.80413784e+01] [ 5.29814629e-03 -7.50761797e-05 9.99985962e-01 -1.81625157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.107628 meters 0.012775403047289535 Centerline is valid? [True, True] Translation: X:77.64, Y:-78.82, Z:0.67 [[-9.97980178e-01 6.32369808e-02 6.05377581e-03 7.76431697e+01] [ 6.32361421e-02 9.97998538e-01 -3.30043840e-04 -7.88151440e+01] [-6.06253038e-03 5.34402168e-05 -9.99981621e-01 6.70560346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.137628 meters 0.012238576025273975 Centerline is valid? [True, True] Translation: X:77.64, Y:-78.78, Z:0.67 [[-9.99922183e-01 -1.07094833e-02 6.39811347e-03 7.76431663e+01] [-1.07090180e-02 9.99942651e-01 1.06985414e-04 -7.87839457e+01] [-6.39889231e-03 3.84595769e-05 -9.99979526e-01 6.70317548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.167628 meters 0.011748376318821634 Centerline is valid? [True, True] Translation: X:77.63, Y:-78.75, Z:0.67 [[-9.96202691e-01 -8.68001884e-02 6.77680824e-03 7.76287644e+01] [-8.67981332e-02 9.96225741e-01 5.97361301e-04 -7.87514123e+01] [-6.80308189e-03 6.87863161e-06 -9.99976859e-01 6.70183141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.197628 meters 0.011758935979655317 Centerline is valid? [True, True] Translation: X:77.62, Y:-78.72, Z:0.67 [[-9.87114789e-01 -1.59883290e-01 6.45966972e-03 7.76238466e+01] [-1.59879919e-01 9.87135924e-01 1.03834500e-03 -7.87215677e+01] [-6.54258605e-03 -7.80576115e-06 -9.99978597e-01 6.70555903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.227628 meters 0.011717615376809876 Centerline is valid? [True, True] Translation: X:77.60, Y:-78.70, Z:0.67 [[-9.72556360e-01 -2.32599599e-01 5.61723969e-03 7.76014710e+01] [-2.32595839e-01 9.72572581e-01 1.32278656e-03 -7.86953621e+01] [-5.77085293e-03 -2.00621003e-05 -9.99983348e-01 6.70511061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.257628 meters 0.0119719892920439 Centerline is valid? [True, True] Translation: X:77.56, Y:-78.68, Z:0.67 [[-9.52602613e-01 -3.04171017e-01 5.31538873e-03 7.75626864e+01] [-3.04166456e-01 9.52617442e-01 1.66603456e-03 -7.86751764e+01] [-5.57029144e-03 -2.96940706e-05 -9.99984485e-01 6.70890085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.287628 meters 0.011917109657502917 Centerline is valid? [True, True] Translation: X:77.50, Y:-78.67, Z:0.67 [[-9.27029873e-01 -3.74951981e-01 5.16009198e-03 7.75008160e+01] [-3.74946405e-01 9.27044233e-01 2.04521035e-03 -7.86673163e+01] [-5.55048918e-03 -3.87868485e-05 -9.99984595e-01 6.69810393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.317628 meters 0.011992465155108673 Centerline is valid? [True, True] Translation: X:77.44, Y:-78.67, Z:0.67 [[-8.96116614e-01 -4.43792910e-01 4.78206821e-03 7.74356456e+01] [-4.43786857e-01 8.96129372e-01 2.31831782e-03 -7.86653936e+01] [-5.31420479e-03 -4.47359026e-05 -9.99985879e-01 6.69302611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34762800000001 meters 0.012261059068345865 Centerline is valid? [True, True] Translation: X:77.36, Y:-78.67, Z:0.67 [[-8.59754749e-01 -5.10686813e-01 4.55533775e-03 7.73604910e+01] [-5.10679970e-01 8.59766815e-01 2.64421908e-03 -7.86735699e+01] [-5.26689605e-03 -5.29398332e-05 -9.99986128e-01 6.68964907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37762800000002 meters 0.012150379390255466 Centerline is valid? [True, True] Translation: X:77.28, Y:-78.69, Z:0.67 [[-8.18852069e-01 -5.73987405e-01 4.44385422e-03 7.72800267e+01] [-5.73979324e-01 8.18864125e-01 3.04628703e-03 -7.86930082e+01] [-5.38744318e-03 -5.62220029e-05 -9.99985486e-01 6.68560989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40762800000002 meters 0.01216694432420278 Centerline is valid? [True, True] Translation: X:77.20, Y:-78.72, Z:0.67 [[-7.73447828e-01 -6.33844632e-01 4.40915534e-03 7.71952588e+01] [-6.33834754e-01 7.73460393e-01 3.53910572e-03 -7.87222896e+01] [-5.65355018e-03 -5.73622614e-05 -9.99984017e-01 6.68259984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43762800000002 meters 0.012176675930481978 Centerline is valid? [True, True] Translation: X:77.11, Y:-78.76, Z:0.67 [[-7.23586023e-01 -6.90220549e-01 4.34295381e-03 7.71083929e+01] [-6.90208590e-01 7.23599054e-01 4.06343555e-03 -7.87616797e+01] [-5.94722399e-03 -5.72988570e-05 -9.99982313e-01 6.68920459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46762800000002 meters 0.011915905846119257 Centerline is valid? [True, True] Translation: X:77.02, Y:-78.82, Z:0.67 [[-6.70521762e-01 -7.41877268e-01 4.32264349e-03 7.70218227e+01] [-7.41862323e-01 6.70535694e-01 4.70931087e-03 -7.88150688e+01] [-6.39221743e-03 -4.91109135e-05 -9.99979568e-01 6.69308694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49762800000002 meters 0.011847671626032915 Centerline is valid? [True, True] Translation: X:76.94, Y:-78.87, Z:0.67 [[-6.13433769e-01 -7.89735227e-01 4.15708662e-03 7.69394992e+01] [-7.89717524e-01 6.13447854e-01 5.28802201e-03 -7.88732782e+01] [-6.72629313e-03 -3.90728772e-05 -9.99977377e-01 6.69402682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52762800000002 meters 0.01171901540474976 Centerline is valid? [True, True] Translation: X:76.86, Y:-78.94, Z:0.67 [[-5.52948641e-01 -8.33207540e-01 3.60491954e-03 7.68582912e+01] [-8.33190116e-01 5.52960391e-01 5.38850918e-03 -7.89432825e+01] [-6.48312420e-03 -2.40145035e-05 -9.99978984e-01 6.69200156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55762800000002 meters 0.011599975788433822 Centerline is valid? [True, True] Translation: X:76.78, Y:-79.02, Z:0.67 [[-4.89536476e-01 -8.71976633e-01 3.28491954e-03 7.67825587e+01] [-8.71957113e-01 4.89547497e-01 5.83443211e-03 -7.90199940e+01] [-6.69561260e-03 -8.14162597e-06 -9.99977584e-01 6.69076581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58762800000002 meters 0.011599975788433822 Centerline is valid? [True, True] Translation: X:76.71, Y:-79.11, Z:0.67 [[-4.21108626e-01 -9.07005806e-01 2.82700475e-03 7.67071697e+01] [-9.06985498e-01 4.21118115e-01 6.06948715e-03 -7.91062171e+01] [-6.69556300e-03 -8.13891758e-06 -9.99977584e-01 6.69074181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61762800000002 meters 0.011673777406148333 Centerline is valid? [True, True] Translation: X:76.64, Y:-79.20, Z:0.67 [[-3.52826976e-01 -9.35685465e-01 2.41573258e-03 7.66420581e+01] [-9.35663297e-01 3.52835245e-01 6.44078621e-03 -7.91992469e+01] [-6.87890563e-03 1.21708047e-05 -9.99976340e-01 6.69223524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64762800000003 meters 0.012230160828617751 Centerline is valid? [True, True] Translation: X:76.59, Y:-79.30, Z:0.67 [[-2.86110138e-01 -9.58195020e-01 1.81456964e-03 7.65870738e+01] [-9.58174486e-01 2.86115887e-01 6.27327079e-03 -7.93022434e+01] [-6.53019403e-03 5.61720374e-05 -9.99978676e-01 6.68342271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67762800000003 meters 0.012889399474576672 Centerline is valid? [True, True] Translation: X:76.54, Y:-79.41, Z:0.67 [[-2.15009570e-01 -9.76611195e-01 1.20743435e-03 7.65374211e+01] [-9.76593793e-01 2.15012947e-01 5.83062578e-03 -7.94065907e+01] [-5.95386843e-03 7.44674507e-05 -9.99982273e-01 6.67394122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.707628 meters 0.01377982518059954 Centerline is valid? [True, True] Translation: X:76.50, Y:-79.52, Z:0.67 [[-1.42826632e-01 -9.89747462e-01 7.17241420e-04 7.64955220e+01] [-9.89731510e-01 1.42828403e-01 5.62016773e-03 -7.95166755e+01] [-5.66498919e-03 9.28331955e-05 -9.99983950e-01 6.66338208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.737628 meters 0.015818287564387867 Centerline is valid? [True, True] Translation: X:76.47, Y:-79.63, Z:0.67 [[-7.29355394e-02 -9.97336627e-01 2.43663013e-04 7.64659135e+01] [-9.97324457e-01 7.29358535e-02 4.92827917e-03 -7.96336729e+01] [-4.93292509e-03 1.16435618e-04 -9.99987826e-01 6.65018374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.767628 meters 0.017002430751954997 Centerline is valid? [True, True] Translation: X:76.44, Y:-79.75, Z:0.67 [[ 1.03008577e-03 -9.99999460e-01 -1.40140367e-04 7.64404078e+01] [-9.99987087e-01 -1.03077041e-03 4.97636978e-03 -7.97486830e+01] [-4.97651155e-03 1.35012470e-04 -9.99987608e-01 6.65112237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.797628 meters 0.019683091413112624 Centerline is valid? [True, True] Translation: X:76.43, Y:-79.87, Z:0.67 [[ 7.19641928e-02 -9.97407049e-01 -5.77606846e-04 7.64269566e+01] [-9.97392230e-01 -7.19662740e-02 5.44018319e-03 -7.98681705e+01] [-5.46764527e-03 1.84602188e-04 -9.99985035e-01 6.65941358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.827628 meters 0.022967477005196787 Centerline is valid? [True, True] Translation: X:76.42, Y:-79.99, Z:0.67 [[ 1.42456549e-01 -9.89800551e-01 -1.00000401e-03 7.64245451e+01] [-9.89785892e-01 -1.42459887e-01 5.39151667e-03 -7.99910015e+01] [-5.47898663e-03 2.21732997e-04 -9.99984966e-01 6.65734053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.857628 meters 0.02459984503801213 Centerline is valid? [True, True] Translation: X:76.43, Y:-80.11, Z:0.67 [[ 2.15630140e-01 -9.76473919e-01 -1.52619242e-03 7.64268113e+01] [-9.76457233e-01 -2.15635386e-01 5.71429372e-03 -8.01110284e+01] [-5.90895987e-03 2.58087674e-04 -9.99982509e-01 6.65863209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.887628 meters 0.02459984503801213 Centerline is valid? [True, True] Translation: X:76.44, Y:-80.23, Z:0.67 [[ 2.90650331e-01 -9.56827323e-01 -1.96440830e-03 7.64354793e+01] [-9.56811094e-01 -2.90656855e-01 5.57879346e-03 -8.02346969e+01] [-5.90891075e-03 2.58089488e-04 -9.99982509e-01 6.65860653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.917628 meters 0.02615356985638165 Centerline is valid? [True, True] Translation: X:76.46, Y:-80.35, Z:0.67 [[ 3.61111368e-01 -9.32518802e-01 -2.69513172e-03 7.64558852e+01] [-9.32498906e-01 -3.61121292e-01 6.09943952e-03 -8.03533920e+01] [-6.66111148e-03 3.10630437e-04 -9.99977766e-01 6.66145514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.947628 meters 0.02193019969497141 Centerline is valid? [True, True] Translation: X:76.48, Y:-80.47, Z:0.67 [[ 4.27530644e-01 -9.03993012e-01 -3.76595353e-03 7.64766254e+01] [-9.03965994e-01 -4.27547032e-01 7.00115423e-03 -8.04695958e+01] [-7.93911676e-03 4.11085950e-04 -9.99968400e-01 6.65947614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.977628 meters 0.023070198140056355 Centerline is valid? [True, True] Translation: X:76.51, Y:-80.58, Z:0.67 [[ 4.94933370e-01 -8.68917876e-01 -4.76285073e-03 7.65132277e+01] [-8.68886341e-01 -4.94956066e-01 7.41751670e-03 -8.05834339e+01] [-8.80261472e-03 4.67199404e-04 -9.99961147e-01 6.66050531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.007628 meters 0.025047094239550545 Centerline is valid? [True, True] Translation: X:76.56, Y:-80.69, Z:0.67 [[ 5.60125415e-01 -8.28387203e-01 -5.84485357e-03 7.65573782e+01] [-8.28351385e-01 -5.60155671e-01 7.72060825e-03 -8.06915553e+01] [-9.66968094e-03 5.17083652e-04 -9.99953114e-01 6.66912843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.037628 meters 0.027332074489999393 Centerline is valid? [True, True] Translation: X:76.61, Y:-80.80, Z:0.67 [[ 6.23195133e-01 -7.82036783e-01 -6.80413592e-03 7.66088809e+01] [-7.81999249e-01 -6.23232047e-01 7.68050038e-03 -8.07955659e+01] [-1.02469894e-02 5.34378721e-04 -9.99947355e-01 6.66963589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.067628 meters 0.027332074489999393 Centerline is valid? [True, True] Translation: X:76.66, Y:-80.89, Z:0.67 [[ 6.81353744e-01 -7.31917147e-01 -7.37330422e-03 7.66628284e+01] [-7.31882556e-01 -6.81393429e-01 7.13580891e-03 -8.08930494e+01] [-1.02469419e-02 5.34382612e-04 -9.99947356e-01 6.66961282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09762800000001 meters 0.032891541662836185 Centerline is valid? [True, True] Translation: X:76.66, Y:-80.89, Z:0.67 [[ 7.38403635e-01 -6.74310749e-01 -8.06751582e-03 7.66606148e+01] [-6.74277956e-01 -7.38447526e-01 6.67006591e-03 -8.08895176e+01] [-1.04551342e-02 5.14547161e-04 -9.99945211e-01 6.69151305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12762800000002 meters 0.022975680074260412 Centerline is valid? [True, True] Translation: X:76.64, Y:-80.91, Z:0.66 [[ 7.90301203e-01 -6.12669759e-01 -7.73149117e-03 7.66444063e+01] [-6.12645816e-01 -7.90338897e-01 5.43436173e-03 -8.09060278e+01] [-9.43996729e-03 4.41883110e-04 -9.99955345e-01 6.64593413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15762800000002 meters 0.020067011472538667 Centerline is valid? [True, True] Translation: X:76.63, Y:-80.92, Z:0.66 [[ 8.37329680e-01 -5.46655396e-01 -6.84734702e-03 7.66333194e+01] [-5.46640482e-01 -8.37357604e-01 4.05305202e-03 -8.09172568e+01] [-7.94930085e-03 3.49296326e-04 -9.99968343e-01 6.62022293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18762800000002 meters 0.01926252689628935 Centerline is valid? [True, True] Translation: X:76.62, Y:-80.93, Z:0.66 [[ 8.79993303e-01 -4.74947418e-01 -6.06106467e-03 7.66226353e+01] [-4.74938173e-01 -8.80014137e-01 2.97481658e-03 -8.09284659e+01] [-6.74670405e-03 2.60812315e-04 -9.99977207e-01 6.61343745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21762800000002 meters 0.018704907258339995 Centerline is valid? [True, True] Translation: X:76.61, Y:-80.94, Z:0.66 [[ 9.15445463e-01 -4.02403578e-01 -5.56469093e-03 7.66146090e+01] [-4.02397567e-01 -9.15462350e-01 2.20998160e-03 -8.09386590e+01] [-5.98356954e-03 2.16100460e-04 -9.99982075e-01 6.61185218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24762800000002 meters 0.018795409845876642 Centerline is valid? [True, True] Translation: X:76.61, Y:-80.95, Z:0.66 [[ 9.45025431e-01 -3.26949873e-01 -5.54210581e-03 7.66075194e+01] [-3.26945441e-01 -9.45041662e-01 1.71326005e-03 -8.09475591e+01] [-5.79767105e-03 1.92891911e-04 -9.99983175e-01 6.61137051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27762800000002 meters 0.018083425230989297 Centerline is valid? [True, True] Translation: X:76.60, Y:-80.96, Z:0.66 [[ 9.68429439e-01 -2.49224784e-01 -5.60610510e-03 7.66005542e+01] [-2.49221649e-01 -9.68445650e-01 1.26231146e-03 -8.09561538e+01] [-5.74380739e-03 1.74703176e-04 -9.99983489e-01 6.61228516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30762800000002 meters 0.016045199206074237 Centerline is valid? [True, True] Translation: X:76.59, Y:-80.97, Z:0.66 [[ 9.85510185e-01 -1.69498141e-01 -6.32895109e-03 7.65917301e+01] [-1.69495779e-01 -9.85530492e-01 9.11648719e-04 -8.09709496e+01] [-6.39189705e-03 1.74291395e-04 -9.99979556e-01 6.61065466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33762800000002 meters 0.014951211863761095 Centerline is valid? [True, True] Translation: X:76.58, Y:-80.99, Z:0.66 [[ 9.96272953e-01 -8.59283368e-02 -7.51821808e-03 7.65835268e+01] [-8.59271085e-02 -9.96301307e-01 4.86829231e-04 -8.09850365e+01] [-7.53224293e-03 1.61003945e-04 -9.99971619e-01 6.61371226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36762800000002 meters 0.014567352011402282 Centerline is valid? [True, True] Translation: X:76.58, Y:-81.00, Z:0.66 [[ 9.99957288e-01 -5.16844130e-03 -7.66216788e-03 7.65770154e+01] [-5.16939957e-03 -9.99986633e-01 -1.05266147e-04 -8.09964440e+01] [-7.66152139e-03 1.44870458e-04 -9.99970640e-01 6.62064340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39762800000003 meters 0.014138600455767363 Centerline is valid? [True, True] Translation: X:76.57, Y:-81.01, Z:0.66 [[ 9.97108935e-01 7.55034111e-02 -8.54439289e-03 7.65721625e+01] [ 7.54994178e-02 -9.97145533e-01 -7.89406490e-04 -8.10073760e+01] [-8.57960609e-03 1.42027576e-04 -9.99963184e-01 6.62636494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42762800000003 meters 0.013967133578631942 Centerline is valid? [True, True] Translation: X:76.57, Y:-81.02, Z:0.66 [[ 9.87854309e-01 1.55127591e-01 -8.90479100e-03 7.65684112e+01] [ 1.55120071e-01 -9.87894434e-01 -1.53325122e-03 -8.10177103e+01] [-9.03484303e-03 1.33317012e-04 -9.99959176e-01 6.63207172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.457628 meters 0.013707612950194218 Centerline is valid? [True, True] Translation: X:76.56, Y:-81.03, Z:0.66 [[ 9.72168696e-01 2.34115506e-01 -8.82927940e-03 7.65638315e+01] [ 2.34104781e-01 -9.72208783e-01 -2.24377047e-03 -8.10274697e+01] [-9.10920444e-03 1.14346895e-04 -9.99958504e-01 6.64096662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.487628 meters 0.013581738934925156 Centerline is valid? [True, True] Translation: X:76.56, Y:-81.03, Z:0.66 [[ 9.50690888e-01 3.10026772e-01 -8.38063829e-03 7.65608619e+01] [ 3.10013737e-01 -9.50727821e-01 -2.84489288e-03 -8.10343895e+01] [-8.84969894e-03 1.06500742e-04 -9.99960835e-01 6.63517910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.517628 meters 0.013399509961300227 Centerline is valid? [True, True] Translation: X:76.56, Y:-81.04, Z:0.66 [[ 9.23231348e-01 3.84164869e-01 -7.82512785e-03 7.65579627e+01] [ 3.84150186e-01 -9.23264504e-01 -3.36002314e-03 -8.10412940e+01] [-8.51546563e-03 9.60543651e-05 -9.99963738e-01 6.63497814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.547628 meters 0.013326760959734667 Centerline is valid? [True, True] Translation: X:76.56, Y:-81.05, Z:0.66 [[ 8.89910843e-01 4.56062374e-01 -8.11189934e-03 7.65554902e+01] [ 4.56042451e-01 -8.89947809e-01 -4.26395373e-03 -8.10479027e+01] [-9.16379590e-03 9.51682020e-05 -9.99958007e-01 6.64192675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.577628 meters 0.01265533232133835 Centerline is valid? [True, True] Translation: X:76.55, Y:-81.06, Z:0.67 [[ 8.49581675e-01 5.27396616e-01 -7.98668514e-03 7.65541689e+01] [ 5.27372600e-01 -8.49619212e-01 -5.03353359e-03 -8.10554487e+01] [-9.44030972e-03 6.44389873e-05 -9.99955437e-01 6.65725846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.607628 meters 0.012189012341099065 Centerline is valid? [True, True] Translation: X:76.56, Y:-81.07, Z:0.67 [[ 8.04204333e-01 5.94299458e-01 -7.97146246e-03 7.65559584e+01] [ 5.94269734e-01 -8.04243839e-01 -5.94399162e-03 -8.10671047e+01] [-9.94351057e-03 4.29849454e-05 -9.99950561e-01 6.65373923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.637628 meters 0.0120356030580049 Centerline is valid? [True, True] Translation: X:76.56, Y:-81.08, Z:0.67 [[ 7.53322389e-01 6.57607121e-01 -7.63238163e-03 7.65581704e+01] [ 6.57573168e-01 -7.53361052e-01 -6.68233531e-03 -8.10779680e+01] [-1.01442903e-02 1.51034245e-05 -9.99948545e-01 6.65139791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.667628 meters 0.012082386446004323 Centerline is valid? [True, True] Translation: X:76.56, Y:-81.09, Z:0.66 [[ 6.97484928e-01 7.16564847e-01 -7.04239527e-03 7.65597865e+01] [ 7.16528527e-01 -6.97520480e-01 -7.21455961e-03 -8.10881595e+01] [-1.00819147e-02 -1.40305138e-05 -9.99949176e-01 6.64897849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.697628 meters 0.012302796173454969 Centerline is valid? [True, True] Translation: X:76.56, Y:-81.10, Z:0.66 [[ 6.35533392e-01 7.72040198e-01 -7.15816254e-03 7.65625857e+01] [ 7.71992445e-01 -6.35573699e-01 -8.58709968e-03 -8.10971236e+01] [-1.11791260e-02 -6.86588059e-05 -9.99937509e-01 6.64652921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.727628 meters 0.012550473006255126 Centerline is valid? [True, True] Translation: X:76.57, Y:-81.11, Z:0.66 [[ 5.71719913e-01 8.20421027e-01 -6.75864871e-03 7.65662255e+01] [ 8.20365596e-01 -5.71759854e-01 -9.53724617e-03 -8.11065753e+01] [-1.16888813e-02 -9.19293156e-05 -9.99931678e-01 6.64692028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.757628 meters 0.012906857854548738 Centerline is valid? [True, True] Translation: X:76.57, Y:-81.12, Z:0.67 [[ 5.04140142e-01 8.63598908e-01 -6.29626758e-03 7.65701885e+01] [ 8.63534487e-01 -5.04179444e-01 -1.05488482e-02 -8.11162423e+01] [-1.22844224e-02 -1.18946388e-04 -9.99924537e-01 6.65225417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.787628 meters 0.013019951238415364 Centerline is valid? [True, True] Translation: X:76.57, Y:-81.13, Z:0.66 [[ 4.33637944e-01 9.01070936e-01 -5.41308284e-03 7.65742900e+01] [ 9.01004609e-01 -4.33671707e-01 -1.09336431e-02 -8.11252753e+01] [-1.21994889e-02 -1.35970067e-04 -9.99925574e-01 6.64659568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.817628 meters 0.013415374716880493 Centerline is valid? [True, True] Translation: X:76.58, Y:-81.13, Z:0.66 [[ 3.59699941e-01 9.33056378e-01 -4.66348948e-03 7.65780981e+01] [ 9.32983885e-01 -3.59730132e-01 -1.16319871e-02 -8.11327225e+01] [-1.25308974e-02 -1.66935457e-04 -9.99921471e-01 6.64697292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84762800000001 meters 0.013546253271726927 Centerline is valid? [True, True] Translation: X:76.58, Y:-81.14, Z:0.66 [[ 2.85204377e-01 9.58458967e-01 -3.85640949e-03 7.65822896e+01] [ 9.58379528e-01 -2.85230394e-01 -1.23411119e-02 -8.11402533e+01] [-1.29284146e-02 -1.76164758e-04 -9.99916409e-01 6.64952367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87762800000002 meters 0.013500851333786684 Centerline is valid? [True, True] Translation: X:76.59, Y:-81.15, Z:0.66 [[ 2.09411659e-01 9.77822683e-01 -3.09169435e-03 7.65871478e+01] [ 9.77728925e-01 -2.09434397e-01 -1.35418824e-02 -8.11475415e+01] [-1.38890669e-02 -1.87010936e-04 -9.99903525e-01 6.64987007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90762800000002 meters 0.013540151937776218 Centerline is valid? [True, True] Translation: X:76.59, Y:-81.16, Z:0.67 [[ 1.32912198e-01 9.91125602e-01 -2.09472760e-03 7.65908417e+01] [ 9.91023322e-01 -1.32928577e-01 -1.42397061e-02 -8.11557145e+01] [-1.43917865e-02 -1.83293265e-04 -9.99896416e-01 6.65503008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93762800000002 meters 0.01317390045426991 Centerline is valid? [True, True] Translation: X:76.60, Y:-81.16, Z:0.66 [[ 5.60301604e-02 9.98428586e-01 -9.89967477e-04 7.65953708e+01] [ 9.98321662e-01 -5.60386488e-02 -1.46126216e-02 -8.11630835e+01] [-1.46451355e-02 -1.69558448e-04 -9.99892740e-01 6.64953878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96762800000002 meters 0.012958695734524973 Centerline is valid? [True, True] Translation: X:76.60, Y:-81.17, Z:0.66 [[-1.89708211e-02 9.99820028e-01 1.41536999e-04 7.65960139e+01] [ 9.99733311e-01 1.89710399e-02 -1.31683944e-02 -8.11717622e+01] [-1.31687095e-02 -1.08316001e-04 -9.99913283e-01 6.63789081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99762800000002 meters 0.012669258262634004 Centerline is valid? [True, True] Translation: X:76.60, Y:-81.18, Z:0.66 [[-9.54395131e-02 9.95434711e-01 1.01803128e-03 7.66012031e+01] [ 9.95369579e-01 9.54449142e-02 -1.13872944e-02 -8.11794181e+01] [-1.14324741e-02 -7.34804685e-05 -9.99934644e-01 6.61794711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02762800000002 meters 0.012490555023154677 Centerline is valid? [True, True] Translation: X:76.61, Y:-81.19, Z:0.66 [[-1.70937139e-01 9.85280650e-01 1.59203787e-03 7.66067034e+01] [ 9.85235716e-01 1.70944548e-01 -9.40986246e-03 -8.11866382e+01] [-9.54350560e-03 -3.99623935e-05 -9.99954459e-01 6.60090146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05762800000002 meters 0.012448873415300947 Centerline is valid? [True, True] Translation: X:76.61, Y:-81.20, Z:0.66 [[-2.45492717e-01 9.69396613e-01 1.87958407e-03 7.66125321e+01] [ 9.69367720e-01 2.45499911e-01 -7.48442626e-03 -8.11954236e+01] [-7.71681519e-03 -1.53640076e-05 -9.99970225e-01 6.58897863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08762800000002 meters 0.012511800419066467 Centerline is valid? [True, True] Translation: X:76.62, Y:-81.20, Z:0.66 [[-3.16108569e-01 9.48721259e-01 1.82908069e-03 7.66162736e+01] [ 9.48705668e-01 3.16113860e-01 -5.43902721e-03 -8.12042511e+01] [-5.73831850e-03 1.59361073e-05 -9.99983536e-01 6.56359181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11762800000002 meters 0.012679063718924294 Centerline is valid? [True, True] Translation: X:76.63, Y:-81.21, Z:0.66 [[-3.87331309e-01 9.21938194e-01 2.10326950e-03 7.66253783e+01] [ 9.21924981e-01 3.87337018e-01 -4.93601565e-03 -8.12111931e+01] [-5.36537549e-03 2.71832888e-05 -9.99985606e-01 6.55993575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14762800000003 meters 0.012660599281397105 Centerline is valid? [True, True] Translation: X:76.64, Y:-81.22, Z:0.66 [[-4.57844706e-01 8.89029447e-01 2.20644311e-03 7.66368376e+01] [ 8.89019403e-01 4.57850021e-01 -4.22597815e-03 -8.12169045e+01] [-4.76723904e-03 2.67290189e-05 -9.99988636e-01 6.55782161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17762800000003 meters 0.012564916437026747 Centerline is valid? [True, True] Translation: X:76.65, Y:-81.22, Z:0.66 [[-5.27702418e-01 8.49426423e-01 2.21585517e-03 7.66507669e+01] [ 8.49419056e-01 5.27707070e-01 -3.53757919e-03 -8.12214462e+01] [-4.17423567e-03 1.54005147e-05 -9.99991288e-01 6.55966298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.207628 meters 0.012577615635509748 Centerline is valid? [True, True] Translation: X:76.66, Y:-81.23, Z:0.66 [[-5.94891350e-01 8.03795674e-01 4.09831763e-03 7.66632458e+01] [ 8.03776678e-01 5.94905467e-01 -5.52603192e-03 -8.12255076e+01] [-6.87991211e-03 6.74353494e-06 -9.99976333e-01 6.58022367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.237628 meters 0.012577615635509748 Centerline is valid? [True, True] Translation: X:76.67, Y:-81.23, Z:0.66 [[-6.56059319e-01 7.54695800e-01 4.51880036e-03 7.66741569e+01] [ 7.54677969e-01 6.56074881e-01 -5.18778166e-03 -8.12297587e+01] [-6.87986844e-03 6.74657537e-06 -9.99976333e-01 6.58021996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.267628 meters 0.012582941576525251 Centerline is valid? [True, True] Translation: X:76.69, Y:-81.23, Z:0.66 [[-7.14477835e-01 6.99621359e-01 7.16784476e-03 7.66875971e+01] [ 6.99586028e-01 7.14513789e-01 -7.03106471e-03 -8.12299819e+01] [-1.00406070e-02 -9.01584700e-06 -9.99949592e-01 6.60799473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.297628 meters 0.01258272634330719 Centerline is valid? [True, True] Translation: X:76.71, Y:-81.22, Z:0.66 [[-7.62103997e-01 6.47393489e-01 8.89765345e-03 7.67142706e+01] [ 6.47349220e-01 7.62155936e-01 -7.57079865e-03 -8.12168908e+01] [-1.16826851e-02 -9.84689215e-06 -9.99931755e-01 6.61957444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.327628 meters 0.01265677152820881 Centerline is valid? [True, True] Translation: X:76.74, Y:-81.21, Z:0.66 [[-8.05779494e-01 5.92127191e-01 1.02369917e-02 7.67438023e+01] [ 5.92079313e-01 8.05844519e-01 -7.52979090e-03 -8.12051205e+01] [-1.27080176e-02 -6.24007785e-06 -9.99919250e-01 6.62709214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.357628 meters 0.01271597436225244 Centerline is valid? [True, True] Translation: X:76.76, Y:-81.18, Z:0.66 [[-8.44103309e-01 5.36074847e-01 1.06471921e-02 7.67570249e+01] [ 5.36032657e-01 8.44170455e-01 -6.72554989e-03 -8.11817519e+01] [-1.25934431e-02 3.01837427e-05 -9.99920699e-01 6.63264049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.387628 meters 0.015966910928796395 Centerline is valid? [True, True] Translation: X:76.79, Y:-81.17, Z:0.67 [[-8.78665169e-01 4.77317665e-01 1.07409538e-02 7.67886183e+01] [ 4.77282852e-01 8.78730814e-01 -5.76507973e-03 -8.11702631e+01] [-1.21901814e-02 6.08982953e-05 -9.99925695e-01 6.66174432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.417628 meters 0.016466281317585235 Centerline is valid? [True, True] Translation: X:76.81, Y:-81.15, Z:0.66 [[-9.08020382e-01 4.18824474e-01 9.22202239e-03 7.68117104e+01] [ 4.18804044e-01 9.08067205e-01 -4.13800945e-03 -8.11539167e+01] [-1.01073157e-02 1.04823351e-04 -9.99948914e-01 6.64299784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.447628 meters 0.014067672436492725 Centerline is valid? [True, True] Translation: X:76.83, Y:-81.13, Z:0.66 [[-9.34633419e-01 3.55519532e-01 8.13842039e-03 7.68297158e+01] [ 3.55507064e-01 9.34668846e-01 -2.97933844e-03 -8.11321302e+01] [-8.66594100e-03 1.08676662e-04 -9.99962444e-01 6.60368049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.477628 meters 0.014067672436492725 Centerline is valid? [True, True] Translation: X:76.85, Y:-81.11, Z:0.66 [[-9.57465388e-01 2.88427911e-01 8.32896380e-03 7.68454061e+01] [ 2.88417984e-01 9.57501607e-01 -2.39543335e-03 -8.11080393e+01] [-8.66590607e-03 1.08678428e-04 -9.99962444e-01 6.60367683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.507628 meters 0.014532193681072291 Centerline is valid? [True, True] Translation: X:76.86, Y:-81.08, Z:0.66 [[-9.75021557e-01 2.21979068e-01 7.63263328e-03 7.68579485e+01] [ 2.21973188e-01 9.75051424e-01 -1.61981995e-03 -8.10834851e+01] [-7.80177607e-03 1.14880564e-04 -9.99969559e-01 6.59255194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.537628 meters 0.015221647381253266 Centerline is valid? [True, True] Translation: X:76.87, Y:-81.06, Z:0.66 [[-9.88008626e-01 1.54237804e-01 7.04662088e-03 7.68717637e+01] [ 1.54234741e-01 9.88033747e-01 -9.79361905e-04 -8.10587033e+01] [-7.11335387e-03 1.19215735e-04 -9.99974693e-01 6.58729722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.567628 meters 0.014661576038391277 Centerline is valid? [True, True] Translation: X:76.88, Y:-81.03, Z:0.66 [[-9.96363032e-01 8.49708854e-02 6.37630497e-03 7.68820767e+01] [ 8.49698851e-02 9.96383428e-01 -4.28106618e-04 -8.10302573e+01] [-6.38962121e-03 1.15244294e-04 -9.99979580e-01 6.57494664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59762800000001 meters 0.014848440149416959 Centerline is valid? [True, True] Translation: X:76.89, Y:-81.00, Z:0.66 [[-9.99877943e-01 1.46691950e-02 5.37716997e-03 7.68872694e+01] [ 1.46695244e-02 9.99892397e-01 2.18334835e-05 -8.10016937e+01] [-5.37627109e-03 1.00711345e-04 -9.99985543e-01 6.57739332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62762800000002 meters 0.014460381654339927 Centerline is valid? [True, True] Translation: X:76.89, Y:-80.11, Z:-0.17 [[-9.98982745e-01 -4.48039004e-02 5.10750689e-03 7.68895327e+01] [ 4.48027361e-02 -9.98995795e-01 -3.42209217e-04 -8.01121571e+01] [ 5.11771021e-03 -1.13030819e-04 9.99986898e-01 -1.69197429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65762800000002 meters 0.014402324112372756 Centerline is valid? [True, True] Translation: X:76.78, Y:-81.00, Z:0.66 [[-9.99961943e-01 6.56658378e-03 5.74390524e-03 7.67831446e+01] [ 6.56703464e-03 9.99978435e-01 5.96368136e-05 -8.09976736e+01] [-5.74338976e-03 9.73549687e-05 -9.99983502e-01 6.58573032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68762800000002 meters 0.014341278449088925 Centerline is valid? [True, True] Translation: X:76.78, Y:-80.11, Z:-0.17 [[-9.99109726e-01 -4.17104421e-02 6.32413528e-03 7.67816183e+01] [ 4.17091800e-02 -9.99129739e-01 -3.31393962e-04 -8.01145992e+01] [ 6.33245421e-03 -6.73244338e-05 9.99979948e-01 -1.71788812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71762800000002 meters 0.013807599245475465 Centerline is valid? [True, True] Translation: X:76.68, Y:-80.99, Z:0.66 [[-9.99962566e-01 -3.96161058e-03 7.69237903e-03 7.66800756e+01] [-3.96073723e-03 9.99992148e-01 1.28765084e-04 -8.09936056e+01] [-7.69282875e-03 9.82927717e-05 -9.99970405e-01 6.61127575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74762800000002 meters 0.01317384364253316 Centerline is valid? [True, True] Translation: X:76.67, Y:-80.96, Z:0.66 [[-9.96959550e-01 -7.74127265e-02 8.88404891e-03 7.66709024e+01] [-7.74088136e-02 9.96999128e-01 7.83977214e-04 -8.09638166e+01] [-8.91807882e-03 9.38898839e-05 -9.99960229e-01 6.61744035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77762800000002 meters 0.01281364424751121 Centerline is valid? [True, True] Translation: X:76.66, Y:-80.93, Z:0.66 [[-9.88146881e-01 -1.53201458e-01 9.74961869e-03 7.66648923e+01] [-1.53193433e-01 9.88194976e-01 1.56905097e-03 -8.09331555e+01] [-9.87490510e-03 5.68752601e-05 -9.99951240e-01 6.63048742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80762800000002 meters 0.01257612007552475 Centerline is valid? [True, True] Translation: X:76.64, Y:-80.91, Z:0.66 [[-9.74017842e-01 -2.26262265e-01 9.72780525e-03 7.66404591e+01] [-2.26250639e-01 9.74066418e-01 2.29388969e-03 -8.09077439e+01] [-9.99454909e-03 3.33673350e-05 -9.99950053e-01 6.63047299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83762800000002 meters 0.01245926023924743 Centerline is valid? [True, True] Translation: X:76.59, Y:-80.89, Z:0.66 [[-9.54152940e-01 -2.99170266e-01 9.45088877e-03 7.65922828e+01] [-2.99155454e-01 9.54199744e-01 2.97704274e-03 -8.08904189e+01] [-9.90867832e-03 1.32691610e-05 -9.99950908e-01 6.62806091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86762800000002 meters 0.01415873353679887 Centerline is valid? [True, True] Translation: X:76.53, Y:-80.88, Z:0.66 [[-9.28486605e-01 -3.71263090e-01 8.73736766e-03 7.65304686e+01] [-3.71246791e-01 9.28527715e-01 3.47884888e-03 -8.08805460e+01] [-9.40445621e-03 -1.36551141e-05 -9.99955777e-01 6.64057201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89762800000003 meters 0.01224499001457006 Centerline is valid? [True, True] Translation: X:76.46, Y:-80.88, Z:0.66 [[-8.97880430e-01 -4.40178165e-01 7.34283360e-03 7.64605014e+01] [-4.40163631e-01 8.97910454e-01 3.57699193e-03 -8.08803388e+01] [-8.16772080e-03 -2.03372511e-05 -9.99966643e-01 6.61894847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92762800000003 meters 0.012180582144506274 Centerline is valid? [True, True] Translation: X:76.38, Y:-80.89, Z:0.66 [[-8.62532270e-01 -5.05956847e-01 6.76400678e-03 7.63806548e+01] [-5.05941444e-01 8.62558791e-01 3.94795468e-03 -8.08920006e+01] [-7.83184822e-03 -1.69530522e-05 -9.99969330e-01 6.61662510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.957628 meters 0.012194040991013263 Centerline is valid? [True, True] Translation: X:76.30, Y:-80.91, Z:0.66 [[-8.22347102e-01 -5.68954486e-01 6.00302995e-03 7.62957724e+01] [-5.68939418e-01 8.22369012e-01 4.14076105e-03 -8.09142065e+01] [-7.29261039e-03 -1.02175165e-05 -9.99973409e-01 6.62020383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.987628 meters 0.012169576536111261 Centerline is valid? [True, True] Translation: X:76.21, Y:-80.95, Z:0.66 [[-7.77867621e-01 -6.28405544e-01 5.33252135e-03 7.62102849e+01] [-6.28390765e-01 7.77885899e-01 4.30980231e-03 -8.09454590e+01] [-6.85639683e-03 1.54850004e-06 -9.99976495e-01 6.61544714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.017628 meters 0.012164977807817333 Centerline is valid? [True, True] Translation: X:76.13, Y:-80.99, Z:0.66 [[-7.30480381e-01 -6.82918258e-01 4.58972200e-03 7.61259370e+01] [-6.82904546e-01 7.30494800e-01 4.32764603e-03 -8.09878635e+01] [-6.30819654e-03 2.69185066e-05 -9.99980103e-01 6.61327988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.047628 meters 0.012489191261566194 Centerline is valid? [True, True] Translation: X:76.04, Y:-81.04, Z:0.66 [[-6.77880642e-01 -7.35159741e-01 4.24151672e-03 7.60376416e+01] [-7.35144961e-01 6.77893910e-01 4.66182960e-03 -8.10418357e+01] [-6.30248780e-03 4.20343943e-05 -9.99980138e-01 6.61121789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.077628 meters 0.01289868790153159 Centerline is valid? [True, True] Translation: X:75.94, Y:-81.11, Z:0.66 [[-6.21331729e-01 -7.83538281e-01 3.82688278e-03 7.59445038e+01] [-7.83522865e-01 6.21343511e-01 4.91534847e-03 -8.11134215e+01] [-6.22917247e-03 5.56117964e-05 -9.99980597e-01 6.60784158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.107628 meters 0.014418930654626396 Centerline is valid? [True, True] Translation: X:75.87, Y:-81.18, Z:0.66 [[-5.61926418e-01 -8.27176721e-01 4.16813724e-03 7.58678103e+01] [-8.27152718e-01 5.61941869e-01 6.30212728e-03 -8.11793451e+01] [-7.55522381e-03 9.36457626e-05 -9.99971455e-01 6.62250027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.137628 meters 0.013844777025192035 Centerline is valid? [True, True] Translation: X:75.79, Y:-81.26, Z:0.66 [[-4.97510299e-01 -8.67449057e-01 3.95431340e-03 7.57857170e+01] [-8.67419862e-01 4.97526001e-01 7.11770199e-03 -8.12637320e+01] [-8.14161761e-03 1.11080061e-04 -9.99966850e-01 6.61981254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.167628 meters 0.014455312583128554 Centerline is valid? [True, True] Translation: X:75.71, Y:-81.35, Z:0.66 [[-4.30039011e-01 -9.02802219e-01 3.82133295e-03 7.57127233e+01] [-9.02763725e-01 4.30055967e-01 8.33799633e-03 -8.13508277e+01] [-9.17094863e-03 1.35902927e-04 -9.99957937e-01 6.63330930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.197628 meters 0.014838093499800944 Centerline is valid? [True, True] Translation: X:75.64, Y:-81.45, Z:0.66 [[-3.60167437e-01 -9.32881672e-01 3.34724102e-03 7.56417936e+01] [-9.32837244e-01 3.60182957e-01 9.10568844e-03 -8.14547237e+01] [-9.70014902e-03 1.57141384e-04 -9.99952940e-01 6.64038444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.227628 meters 0.014659099984563342 Centerline is valid? [True, True] Translation: X:75.58, Y:-81.55, Z:0.66 [[-2.88114441e-01 -9.57591702e-01 2.86385972e-03 7.55812225e+01] [-9.57537777e-01 2.88128613e-01 1.01640025e-02 -8.15540798e+01] [-1.05581243e-02 1.86142014e-04 -9.99944244e-01 6.63482515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.257628 meters 0.015638492807332767 Centerline is valid? [True, True] Translation: X:75.53, Y:-81.66, Z:0.66 [[-2.15235579e-01 -9.76559350e-01 2.34135680e-03 7.55306348e+01] [-9.76488898e-01 2.15248181e-01 1.17325444e-02 -8.16638804e+01] [-1.19614988e-02 2.38952082e-04 -9.99928430e-01 6.64176806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.287628 meters 0.01474787412268467 Centerline is valid? [True, True] Translation: X:75.48, Y:-81.77, Z:0.66 [[-1.39629995e-01 -9.90202704e-01 1.43887518e-03 7.54842416e+01] [-9.90129865e-01 1.39637180e-01 1.20128647e-02 -8.17733977e+01] [-1.20960916e-02 2.52682944e-04 -9.99926808e-01 6.63329512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.317628 meters 0.01608927084115982 Centerline is valid? [True, True] Translation: X:75.45, Y:-81.89, Z:0.66 [[-6.28465380e-02 -9.98023090e-01 4.74205251e-04 7.54492116e+01] [-9.97957591e-01 6.28478475e-02 1.14365895e-02 -8.18917757e+01] [-1.14437832e-02 2.45513327e-04 -9.99934488e-01 6.63914845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34762800000001 meters 0.017673333154402008 Centerline is valid? [True, True] Translation: X:75.42, Y:-82.02, Z:0.66 [[ 1.39496526e-02 -9.99902611e-01 -4.20148546e-04 7.54201356e+01] [-9.99835658e-01 -1.39535818e-02 1.15739031e-02 -8.20205135e+01] [-1.15786385e-02 2.58627570e-04 -9.99932932e-01 6.64895917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37762800000002 meters 0.017390537849254727 Centerline is valid? [True, True] Translation: X:75.40, Y:-82.14, Z:0.66 [[ 9.09420251e-02 -9.95855634e-01 -1.05062306e-03 7.54011052e+01] [-9.95813434e-01 -9.09478459e-02 9.17025331e-03 -8.21377079e+01] [-9.22780033e-03 2.12263152e-04 -9.99957400e-01 6.61768711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40762800000002 meters 0.015276065453552918 Centerline is valid? [True, True] Translation: X:75.39, Y:-82.26, Z:0.66 [[ 1.68184894e-01 -9.85754532e-01 -1.35798891e-03 7.53935297e+01] [-9.85729748e-01 -1.68190298e-01 6.99199649e-03 -8.22592245e+01] [-7.12079278e-03 1.62661878e-04 -9.99974634e-01 6.57651626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43762800000002 meters 0.015097578111384199 Centerline is valid? [True, True] Translation: X:75.39, Y:-82.38, Z:0.66 [[ 2.44067931e-01 -9.69756850e-01 -1.58021585e-03 7.53941071e+01] [-9.69739988e-01 -2.44073009e-01 5.72031092e-03 -8.23824809e+01] [-5.93299874e-03 1.36254050e-04 -9.99982390e-01 6.55871463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46762800000002 meters 0.0161636403788636 Centerline is valid? [True, True] Translation: X:75.41, Y:-82.51, Z:0.66 [[ 3.19017772e-01 -9.47747124e-01 -1.74667796e-03 7.54064126e+01] [-9.47734836e-01 -3.19022533e-01 4.82748969e-03 -8.25052349e+01] [-5.13246910e-03 1.15332549e-04 -9.99986822e-01 6.55079683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49762800000002 meters 0.014718767852720646 Centerline is valid? [True, True] Translation: X:75.42, Y:-82.63, Z:0.65 [[ 3.93175425e-01 -9.19461631e-01 -1.84222180e-03 7.54225628e+01] [-9.19452610e-01 -3.93179730e-01 4.07398621e-03 -8.26302135e+01] [-4.47019828e-03 9.20443804e-05 -9.99990004e-01 6.53957640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52762800000002 meters 0.014372596529463407 Centerline is valid? [True, True] Translation: X:75.45, Y:-82.75, Z:0.65 [[ 4.64655297e-01 -8.85488233e-01 -2.45840609e-03 7.54488664e+01] [-8.85476925e-01 -4.64661791e-01 4.47610590e-03 -8.27497710e+01] [-5.10586648e-03 9.70155436e-05 -9.99986960e-01 6.54568682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55762800000002 meters 0.013882707471744407 Centerline is valid? [True, True] Translation: X:75.48, Y:-82.86, Z:0.66 [[ 5.33589597e-01 -8.45738539e-01 -2.90949157e-03 7.54825278e+01] [-8.45726866e-01 -5.33597522e-01 4.44443409e-03 -8.28647306e+01] [-5.31132668e-03 8.91313933e-05 -9.99985891e-01 6.55337312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58762800000002 meters 0.013007854824958347 Centerline is valid? [True, True] Translation: X:75.52, Y:-82.97, Z:0.66 [[ 6.00722717e-01 -7.99444928e-01 -4.47482690e-03 7.55207057e+01] [-7.99423877e-01 -6.00739376e-01 5.80229472e-03 -8.29746035e+01] [-7.32681980e-03 9.17132212e-05 -9.99973154e-01 6.56937061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61762800000002 meters 0.012726075277518565 Centerline is valid? [True, True] Translation: X:75.57, Y:-83.08, Z:0.66 [[ 6.62004313e-01 -7.49479678e-01 -5.52283163e-03 7.55675643e+01] [-7.49454678e-01 -6.62027344e-01 6.12223039e-03 -8.30775709e+01] [-8.24475281e-03 8.61690765e-05 -9.99966008e-01 6.57832009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64762800000003 meters 0.012735624094770045 Centerline is valid? [True, True] Translation: X:75.62, Y:-83.18, Z:0.66 [[ 7.18728381e-01 -6.95259280e-01 -6.63685232e-03 7.56226277e+01] [-6.95230675e-01 -7.18759019e-01 6.30727154e-03 -8.31761819e+01] [-9.15548653e-03 8.09282560e-05 -9.99958084e-01 6.58701812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67762800000003 meters 0.012553133376693781 Centerline is valid? [True, True] Translation: X:75.62, Y:-83.18, Z:0.66 [[ 7.71719879e-01 -6.35917782e-01 -7.54999434e-03 7.56158987e+01] [-6.35888261e-01 -7.71756807e-01 6.12787142e-03 -8.31834613e+01] [-9.72358193e-03 7.19525805e-05 -9.99952722e-01 6.59636824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.707628 meters 0.01236763294169715 Centerline is valid? [True, True] Translation: X:75.61, Y:-83.19, Z:0.66 [[ 8.20262661e-01 -5.71921402e-01 -8.66472278e-03 7.56086832e+01] [-5.71890202e-01 -8.20308422e-01 5.97411262e-03 -8.31902626e+01] [-1.05244679e-02 5.49285476e-05 -9.99944615e-01 6.59887356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.737628 meters 0.01238246547993864 Centerline is valid? [True, True] Translation: X:75.60, Y:-83.19, Z:0.66 [[ 8.62753296e-01 -5.05549287e-01 -8.75606465e-03 7.56015531e+01] [-5.05523807e-01 -8.62797726e-01 5.07585497e-03 -8.31941975e+01] [-1.01208075e-02 4.71885324e-05 -9.99948782e-01 6.59653551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.767628 meters 0.01219826486085881 Centerline is valid? [True, True] Translation: X:75.59, Y:-83.20, Z:0.66 [[ 8.99766314e-01 -4.36290575e-01 -8.43292838e-03 7.55939235e+01] [-4.36271837e-01 -8.99805831e-01 4.04366872e-03 -8.32005156e+01] [-9.35221268e-03 4.06922591e-05 -9.99956266e-01 6.56827746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.797628 meters 0.012211452444456102 Centerline is valid? [True, True] Translation: X:75.59, Y:-83.21, Z:0.66 [[ 9.31090234e-01 -3.64703840e-01 -7.87937579e-03 7.55860524e+01] [-3.64691122e-01 -9.31123573e-01 3.04601785e-03 -8.32059226e+01] [-8.44756694e-03 3.74209246e-05 -9.99964318e-01 6.56229554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.827628 meters 0.012054925310036008 Centerline is valid? [True, True] Translation: X:75.58, Y:-83.21, Z:0.66 [[ 9.56701514e-01 -2.90998261e-01 -6.49811702e-03 7.55805768e+01] [-2.90991770e-01 -9.56723581e-01 1.94389123e-03 -8.32119514e+01] [-6.78257075e-03 3.11748862e-05 -9.99976998e-01 6.55058921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.857628 meters 0.01197116678814136 Centerline is valid? [True, True] Translation: X:75.57, Y:-83.22, Z:0.65 [[ 9.76615819e-01 -2.14896959e-01 -6.39046995e-03 7.55722890e+01] [-2.14892548e-01 -9.76636727e-01 1.37721113e-03 -8.32185272e+01] [-6.53712613e-03 2.82581967e-05 -9.99978632e-01 6.54744861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.887628 meters 0.011946226511045842 Centerline is valid? [True, True] Translation: X:75.56, Y:-83.22, Z:0.66 [[ 9.90465816e-01 -1.37623817e-01 -6.09530749e-03 7.55637493e+01] [-1.37621371e-01 -9.90484570e-01 8.21023664e-04 -8.32244873e+01] [-6.15030043e-03 2.56486976e-05 -9.99981086e-01 6.55069436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.917628 meters 0.011970169034406094 Centerline is valid? [True, True] Translation: X:75.55, Y:-83.23, Z:0.66 [[ 9.98232997e-01 -5.91012989e-02 -6.15785508e-03 7.55548446e+01] [-5.91003125e-02 -9.98251990e-01 3.42187755e-04 -8.32303224e+01] [-6.16731483e-03 2.23480513e-05 -9.99980982e-01 6.55165511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.947628 meters 0.012003245494468625 Centerline is valid? [True, True] Translation: X:75.55, Y:-83.24, Z:0.66 [[ 9.99778013e-01 2.00135439e-02 -6.58659115e-03 7.55476911e+01] [ 2.00129856e-02 -9.99799709e-01 -1.50661246e-04 -8.32360269e+01] [-6.58828717e-03 1.88104469e-05 -9.99978297e-01 6.55248309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.977628 meters 0.012057345945939652 Centerline is valid? [True, True] Translation: X:75.54, Y:-83.24, Z:0.66 [[ 9.95052906e-01 9.90904644e-02 -7.12706306e-03 7.55401595e+01] [ 9.90878216e-02 -9.95078429e-01 -7.23832944e-04 -8.32421901e+01] [-7.16371166e-03 1.40469205e-05 -9.99974340e-01 6.55306625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.007628 meters 0.011979629656363283 Centerline is valid? [True, True] Translation: X:75.53, Y:-83.25, Z:0.66 [[ 9.84045852e-01 1.77749421e-01 -7.67487714e-03 7.55344509e+01] [ 1.77743958e-01 -9.84075781e-01 -1.39350943e-03 -8.32508298e+01] [-7.80035621e-03 7.11413121e-06 -9.99969577e-01 6.55285374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.037628 meters 0.01197950891908378 Centerline is valid? [True, True] Translation: X:75.53, Y:-83.26, Z:0.66 [[ 9.66333130e-01 2.57165929e-01 -8.12202586e-03 7.55280275e+01] [ 2.57157000e-01 -9.66367262e-01 -2.14306396e-03 -8.32606611e+01] [-8.39998293e-03 -1.77221082e-05 -9.99964719e-01 6.56110856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.067628 meters 0.012169031982841878 Centerline is valid? [True, True] Translation: X:75.52, Y:-83.27, Z:0.66 [[ 9.42715875e-01 3.33504162e-01 -7.85829830e-03 7.55218420e+01] [ 3.33492847e-01 -9.42748627e-01 -2.74736162e-03 -8.32669668e+01] [-8.32465646e-03 -3.07048509e-05 -9.99965349e-01 6.56218151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09762800000001 meters 0.012238652991680253 Centerline is valid? [True, True] Translation: X:75.52, Y:-83.28, Z:0.66 [[ 9.12917571e-01 4.08075546e-01 -7.47372704e-03 7.55186118e+01] [ 4.08062285e-01 -9.12948162e-01 -3.29011805e-03 -8.32772574e+01] [-8.16574209e-03 -4.61395561e-05 -9.99966659e-01 6.55037473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12762800000002 meters 0.012600536346424265 Centerline is valid? [True, True] Translation: X:75.52, Y:-83.29, Z:0.65 [[ 8.76355955e-01 4.81609629e-01 -7.23918122e-03 7.55173610e+01] [ 4.81593929e-01 -8.76385850e-01 -3.88950159e-03 -8.32892188e+01] [-8.21753742e-03 -7.77578487e-05 -9.99966232e-01 6.54544619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15762800000002 meters 0.01354683724652016 Centerline is valid? [True, True] Translation: X:75.52, Y:-83.30, Z:0.66 [[ 8.35009662e-01 5.50189375e-01 -7.10748023e-03 7.55156665e+01] [ 5.50170403e-01 -8.35039905e-01 -4.56998677e-03 -8.33020206e+01] [-8.44938778e-03 -9.43421495e-05 -9.99964299e-01 6.56043700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18762800000002 meters 0.013226311987373526 Centerline is valid? [True, True] Translation: X:75.51, Y:-83.31, Z:0.65 [[ 7.88641040e-01 6.14814711e-01 -6.94129882e-03 7.55141903e+01] [ 6.14792095e-01 -7.88671579e-01 -5.27441098e-03 -8.33118355e+01] [-8.71719057e-03 -1.07838687e-04 -9.99961999e-01 6.54991631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21762800000002 meters 0.014358888371270988 Centerline is valid? [True, True] Translation: X:75.51, Y:-83.32, Z:0.66 [[ 7.37600096e-01 6.75208133e-01 -6.33053093e-03 7.55144680e+01] [ 6.75184553e-01 -7.37627253e-01 -5.64399445e-03 -8.33241834e+01] [-8.48044310e-03 -1.11265853e-04 -9.99964034e-01 6.56638172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24762800000002 meters 0.013581097788416718 Centerline is valid? [True, True] Translation: X:75.51, Y:-83.33, Z:0.66 [[ 6.82066788e-01 7.31266511e-01 -5.84694402e-03 7.55125543e+01] [ 7.31241084e-01 -6.82091839e-01 -6.09923010e-03 -8.33329047e+01] [-8.44831551e-03 -1.15443397e-04 -9.99964306e-01 6.55325879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27762800000002 meters 0.013712546207966322 Centerline is valid? [True, True] Translation: X:75.51, Y:-83.34, Z:0.65 [[ 6.22835216e-01 7.82337612e-01 -4.91468169e-03 7.55107963e+01] [ 7.82314574e-01 -6.22854598e-01 -6.00471749e-03 -8.33420584e+01] [-7.75884843e-03 -1.04877592e-04 -9.99969894e-01 6.54734931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30762800000002 meters 0.013497560907525671 Centerline is valid? [True, True] Translation: X:75.51, Y:-83.35, Z:0.65 [[ 5.59980359e-01 8.28495379e-01 -4.17193328e-03 7.55111684e+01] [ 8.28473654e-01 -5.59995891e-01 -6.00049908e-03 -8.33524268e+01] [-7.30765126e-03 -9.61751827e-05 -9.99973294e-01 6.53781136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33762800000002 meters 0.013429455813509595 Centerline is valid? [True, True] Translation: X:75.51, Y:-83.36, Z:0.65 [[ 4.94191707e-01 8.69345597e-01 -3.57638551e-03 7.55115085e+01] [ 8.69324084e-01 -4.94204640e-01 -6.11642981e-03 -8.33641168e+01] [-7.08475763e-03 -8.63491680e-05 -9.99974899e-01 6.53616224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36762800000002 meters 0.013379738815741908 Centerline is valid? [True, True] Translation: X:75.51, Y:-83.37, Z:0.65 [[ 4.25692083e-01 9.04863373e-01 -2.91990691e-03 7.55111590e+01] [ 9.04843257e-01 -4.25702091e-01 -6.03405120e-03 -8.33747909e+01] [-6.70300241e-03 -7.34102566e-05 -9.99977532e-01 6.53389077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39762800000003 meters 0.013379738815741908 Centerline is valid? [True, True] Translation: X:75.51, Y:-83.39, Z:0.65 [[ 3.53537015e-01 9.35417358e-01 -2.43846660e-03 7.55139514e+01] [ 9.35396520e-01 -3.53545416e-01 -6.24411798e-03 -8.33860091e+01] [-6.70296503e-03 -7.34063473e-05 -9.99977532e-01 6.53388751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42762800000003 meters 0.013085184703297295 Centerline is valid? [True, True] Translation: X:75.51, Y:-83.40, Z:0.65 [[ 2.81742002e-01 9.59488029e-01 -2.04115908e-03 7.55142149e+01] [ 9.59464327e-01 -2.81749389e-01 -6.74439968e-03 -8.33951574e+01] [-7.04626608e-03 -5.82386564e-05 -9.99975173e-01 6.53727185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.457628 meters 0.012977144335064954 Centerline is valid? [True, True] Translation: X:75.52, Y:-83.41, Z:0.66 [[ 2.07129383e-01 9.78312200e-01 -1.63024363e-03 7.55172943e+01] [ 9.78283846e-01 -2.07135791e-01 -7.44856420e-03 -8.34065834e+01] [-7.62470304e-03 -5.20245063e-05 -9.99970930e-01 6.55335944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.487628 meters 0.012804456419777328 Centerline is valid? [True, True] Translation: X:75.52, Y:-83.42, Z:0.66 [[ 1.31240888e-01 9.91349955e-01 -1.04719775e-03 7.55196827e+01] [ 9.91320891e-01 -1.31245059e-01 -7.59118006e-03 -8.34172332e+01] [-7.66295554e-03 -4.18357986e-05 -9.99970638e-01 6.55793795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.517628 meters 0.01281489916186777 Centerline is valid? [True, True] Translation: X:75.52, Y:-83.43, Z:0.66 [[ 5.44534087e-02 9.98516204e-01 -4.65671327e-04 7.55226935e+01] [ 9.98484734e-01 -5.44553897e-02 -7.92760726e-03 -8.34273535e+01] [-7.94120262e-03 -3.32804721e-05 -9.99968468e-01 6.55955741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.547628 meters 0.012981165363937957 Centerline is valid? [True, True] Translation: X:75.53, Y:-83.44, Z:0.66 [[-2.36012797e-02 9.99721435e-01 1.78830139e-04 7.55259991e+01] [ 9.99680484e-01 2.36019316e-02 -9.04863297e-03 -8.34386257e+01] [-9.05033307e-03 -3.47863181e-05 -9.99959044e-01 6.56375491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.577628 meters 0.013068116230500573 Centerline is valid? [True, True] Translation: X:75.53, Y:-83.45, Z:0.66 [[-1.02011240e-01 9.94782790e-01 9.52332765e-04 7.55335179e+01] [ 9.94735777e-01 1.02015677e-01 -9.67135383e-03 -8.34483091e+01] [-9.71804922e-03 -3.92673200e-05 -9.99952778e-01 6.56401628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.607628 meters 0.013102017188836898 Centerline is valid? [True, True] Translation: X:75.54, Y:-83.46, Z:0.66 [[-1.79200561e-01 9.83810683e-01 1.92338802e-03 7.55411995e+01] [ 9.83751665e-01 1.79210879e-01 -1.07759895e-02 -8.34585905e+01] [-1.09462256e-02 -3.89271970e-05 -9.99940088e-01 6.57334057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.637628 meters 0.01298410380512637 Centerline is valid? [True, True] Translation: X:75.55, Y:-83.47, Z:0.66 [[-2.55087910e-01 9.66913843e-01 2.78897794e-03 7.55493325e+01] [ 9.66854680e-01 2.55103154e-01 -1.06961752e-02 -8.34678858e+01] [-1.10537570e-02 -3.19286080e-05 -9.99938905e-01 6.57510858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.667628 meters 0.012996853636275027 Centerline is valid? [True, True] Translation: X:75.56, Y:-83.48, Z:0.66 [[-3.28881651e-01 9.44364757e-01 3.47341765e-03 7.55584553e+01] [ 9.44311516e-01 3.28899992e-01 -1.00277446e-02 -8.34760545e+01] [-1.06122556e-02 -1.79529120e-05 -9.99943688e-01 6.57225080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.697628 meters 0.012866505021250781 Centerline is valid? [True, True] Translation: X:75.57, Y:-83.48, Z:0.66 [[-3.98391859e-01 9.17207729e-01 3.72953559e-03 7.55666589e+01] [ 9.17168000e-01 3.98409315e-01 -8.53683206e-03 -8.34840004e+01] [-9.31593006e-03 1.96063064e-05 -9.99956606e-01 6.55889671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.727628 meters 0.013024477510899102 Centerline is valid? [True, True] Translation: X:75.58, Y:-83.49, Z:0.66 [[-4.67262880e-01 8.84109435e-01 3.98851280e-03 7.55754072e+01] [ 8.84077852e-01 4.67279901e-01 -7.47293740e-03 -8.34922465e+01] [-8.47064633e-03 3.43295787e-05 -9.99964123e-01 6.55159037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.757628 meters 0.013479372455336201 Centerline is valid? [True, True] Translation: X:75.58, Y:-83.50, Z:0.65 [[-5.31237050e-01 8.47215955e-01 3.51028257e-03 7.55825274e+01] [ 8.47198152e-01 5.31248645e-01 -5.49268741e-03 -8.35006491e+01] [-6.51832527e-03 5.59858436e-05 -9.99978754e-01 6.53477082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.787628 meters 0.013801594193266578 Centerline is valid? [True, True] Translation: X:75.59, Y:-83.51, Z:0.65 [[-5.94585053e-01 8.04024691e-01 3.59326811e-03 7.55927116e+01] [ 8.04010629e-01 5.94595908e-01 -4.75554595e-03 -8.35088412e+01] [-5.96011888e-03 6.14492080e-05 -9.99982236e-01 6.52918765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.817628 meters 0.013801594193266578 Centerline is valid? [True, True] Translation: X:75.60, Y:-83.51, Z:0.65 [[-6.55766599e-01 7.54953327e-01 3.95488647e-03 7.56034771e+01] [ 7.54940160e-01 6.55778522e-01 -4.45928672e-03 -8.35149336e+01] [-5.96008295e-03 6.14513316e-05 -9.99982237e-01 6.52918463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84762800000001 meters 0.014669852527579871 Centerline is valid? [True, True] Translation: X:75.61, Y:-83.52, Z:0.65 [[-7.10596593e-01 7.03590328e-01 3.62391278e-03 7.56142028e+01] [ 7.03581664e-01 7.10605830e-01 -3.49231821e-03 -8.35217145e+01] [-5.03233486e-03 6.80891699e-05 -9.99987335e-01 6.53054896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87762800000002 meters 0.014968011079364175 Centerline is valid? [True, True] Translation: X:75.64, Y:-83.51, Z:0.65 [[-7.57676983e-01 6.52620002e-01 3.56690664e-03 7.56406683e+01] [ 6.52613198e-01 7.57685376e-01 -2.98087572e-03 -8.35076578e+01] [-4.64797211e-03 6.92694204e-05 -9.99989196e-01 6.53567923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90762800000002 meters 0.015431920079222854 Centerline is valid? [True, True] Translation: X:75.67, Y:-83.49, Z:0.65 [[-8.00992166e-01 5.98663477e-01 3.68654106e-03 7.56676272e+01] [ 5.98657564e-01 8.01000646e-01 -2.66198914e-03 -8.34935443e+01] [-4.54655745e-03 7.47432399e-05 -9.99989662e-01 6.53703468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93762800000002 meters 0.015334388076757187 Centerline is valid? [True, True] Translation: X:75.69, Y:-83.47, Z:0.65 [[-8.40392588e-01 5.41963863e-01 3.93316127e-03 7.56895572e+01] [ 5.41958393e-01 8.40401787e-01 -2.43642508e-03 -8.34736055e+01] [-4.62589011e-03 8.40561837e-05 -9.99989297e-01 6.53509719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96762800000002 meters 0.015212294311069166 Centerline is valid? [True, True] Translation: X:75.72, Y:-83.46, Z:0.65 [[-8.75947939e-01 4.82387697e-01 4.16153015e-03 7.57159866e+01] [ 4.82382751e-01 8.75957819e-01 -2.18645358e-03 -8.34556523e+01] [-4.70004318e-03 9.22308600e-05 -9.99988950e-01 6.53070242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99762800000002 meters 0.015532142581918176 Centerline is valid? [True, True] Translation: X:75.73, Y:-83.43, Z:0.65 [[-9.07168701e-01 4.20745281e-01 4.28438461e-03 7.57333162e+01] [ 4.20741107e-01 9.07178813e-01 -1.87683006e-03 -8.34328800e+01] [-4.67637034e-03 1.00015238e-04 -9.99989061e-01 6.52803330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02762800000002 meters 0.01877571142388835 Centerline is valid? [True, True] Translation: X:76.12, Y:-82.60, Z:-0.17 [[-8.98217925e-01 -4.39536432e-01 3.50473182e-03 7.61193807e+01] [ 4.39532536e-01 -8.98224754e-01 -1.85481875e-03 -8.25993807e+01] [ 3.96329730e-03 -1.25587781e-04 9.99992138e-01 -1.65052195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05762800000002 meters 0.017591065797100028 Centerline is valid? [True, True] Translation: X:75.70, Y:-83.42, Z:0.65 [[-9.06867914e-01 4.21401720e-01 3.34326693e-03 7.56959546e+01] [ 4.21399237e-01 9.06874071e-01 -1.44983330e-03 -8.34179224e+01] [-3.64288434e-03 9.40428305e-05 -9.99993360e-01 6.52844700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08762800000002 meters 0.016330771696726136 Centerline is valid? [True, True] Translation: X:75.72, Y:-83.39, Z:0.65 [[-9.33963531e-01 3.57356402e-01 2.91961472e-03 7.57215000e+01] [ 3.57354934e-01 9.33968091e-01 -1.02747277e-03 -8.33935698e+01] [-3.09400095e-03 8.37166299e-05 -9.99995210e-01 6.52032433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11762800000002 meters 0.016874135126798473 Centerline is valid? [True, True] Translation: X:76.03, Y:-82.54, Z:-0.16 [[-9.29595702e-01 -3.68574553e-01 2.15164703e-03 7.60284978e+01] [ 3.68573293e-01 -9.29598186e-01 -9.69650833e-04 -8.25413268e+01] [ 2.35755579e-03 -1.08343617e-04 9.99997215e-01 -1.63133461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14762800000003 meters 0.016678205454529967 Centerline is valid? [True, True] Translation: X:75.67, Y:-83.37, Z:0.65 [[-9.35115485e-01 3.54337592e-01 1.97488991e-03 7.56747155e+01] [ 3.54336931e-01 9.35117569e-01 -6.86618526e-04 -8.33738606e+01] [-2.09004900e-03 5.77088132e-05 -9.99997814e-01 6.50885792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17762800000003 meters 0.017005481896824503 Centerline is valid? [True, True] Translation: X:75.69, Y:-83.35, Z:0.65 [[-9.58044811e-01 2.86613708e-01 1.64978597e-03 7.56932590e+01] [ 2.86613366e-01 9.58046231e-01 -4.45531705e-04 -8.33488377e+01] [-1.70826673e-03 4.60113718e-05 -9.99998540e-01 6.50831880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20762800000003 meters 0.0159650485267083 Centerline is valid? [True, True] Translation: X:75.71, Y:-83.32, Z:0.65 [[-9.76182730e-01 2.16945914e-01 1.32192452e-03 7.57053922e+01] [ 2.16945763e-01 9.76183625e-01 -2.58211064e-04 -8.33183560e+01] [-1.34645891e-03 3.47247431e-05 -9.99999093e-01 6.50720218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.237628 meters 0.015463334995968667 Centerline is valid? [True, True] Translation: X:75.89, Y:-82.45, Z:-0.16 [[-9.71987838e-01 -2.35029826e-01 7.89264727e-04 7.58854793e+01] [ 2.35029701e-01 -9.71988157e-01 -2.48413391e-04 -8.24549053e+01] [ 8.25540524e-04 -5.59541415e-05 9.99999658e-01 -1.62997498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.267628 meters 0.01496155601586843 Centerline is valid? [True, True] Translation: X:75.65, Y:-83.30, Z:0.65 [[-9.78238866e-01 2.07479105e-01 1.06853372e-03 7.56524223e+01] [ 2.07479006e-01 9.78239450e-01 -2.03942375e-04 -8.32990767e+01] [-1.08759562e-03 2.21939559e-05 -9.99999408e-01 6.51984125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.297628 meters 0.014512696723641758 Centerline is valid? [True, True] Translation: X:75.66, Y:-83.27, Z:0.65 [[-9.90773183e-01 1.35525799e-01 1.12164317e-03 7.56596497e+01] [ 1.35525736e-01 9.90773817e-01 -1.32498686e-04 -8.32686116e+01] [-1.12925168e-03 2.07353718e-05 -9.99999362e-01 6.52346941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.327628 meters 0.014128090615636033 Centerline is valid? [True, True] Translation: X:75.77, Y:-82.42, Z:-0.16 [[-9.85847499e-01 -1.67640016e-01 1.23853261e-03 7.57673840e+01] [ 1.67639865e-01 -9.85848277e-01 -2.25332738e-04 -8.24155204e+01] [ 1.25878003e-03 -1.45162767e-05 9.99999208e-01 -1.64277953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.357628 meters 0.01340850326539409 Centerline is valid? [True, True] Translation: X:75.59, Y:-83.25, Z:0.65 [[-9.92236908e-01 1.24348834e-01 1.81284675e-03 7.55893884e+01] [ 1.24348666e-01 9.92238564e-01 -2.05476858e-04 -8.32518653e+01] [-1.82432726e-03 2.15433530e-05 -9.99998336e-01 6.53079793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.387628 meters 0.013107692088241774 Centerline is valid? [True, True] Translation: X:75.59, Y:-83.22, Z:0.65 [[-9.98679750e-01 5.13155903e-02 2.33800513e-03 7.55896171e+01] [ 5.13155024e-02 9.98682487e-01 -9.75844411e-05 -8.32216170e+01] [-2.33993238e-03 2.25203024e-05 -9.99997262e-01 6.53007916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.417628 meters 0.012889660378427018 Centerline is valid? [True, True] Translation: X:75.63, Y:-82.38, Z:-0.16 [[-9.94847405e-01 -1.01350867e-01 2.57740353e-03 7.56309227e+01] [ 1.01350506e-01 -9.94850743e-01 -2.70597679e-04 -8.23837015e+01] [ 2.59155713e-03 -7.98224664e-06 9.99996642e-01 -1.64772847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.447628 meters 0.012668091080745993 Centerline is valid? [True, True] Translation: X:75.51, Y:-83.21, Z:0.65 [[-9.99240194e-01 3.87665177e-02 4.02385535e-03 7.55058861e+01] [ 3.87662470e-02 9.99248296e-01 -1.45284523e-04 -8.32105888e+01] [-4.02646278e-03 1.08156361e-05 -9.99991894e-01 6.54689316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.477628 meters 0.012584326044558261 Centerline is valid? [True, True] Translation: X:75.54, Y:-82.39, Z:-0.17 [[-9.94713018e-01 -1.02572851e-01 4.98207877e-03 7.55422751e+01] [ 1.02571828e-01 -9.94725494e-01 -4.61083332e-04 -8.23868801e+01] [ 5.00309539e-03 5.23753355e-05 9.99987483e-01 -1.67441720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.507628 meters 0.012527180369825244 Centerline is valid? [True, True] Translation: X:75.42, Y:-83.20, Z:0.66 [[-9.99561103e-01 2.92267775e-02 4.83707187e-03 7.54222383e+01] [ 2.92264032e-02 9.99572806e-01 -1.48061838e-04 -8.32032499e+01] [-4.83933287e-03 -6.62664192e-06 -9.99988290e-01 6.56042154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.537628 meters 0.012630033871596604 Centerline is valid? [True, True] Translation: X:75.44, Y:-82.39, Z:-0.17 [[-9.94831177e-01 -1.01490468e-01 3.25800830e-03 7.54442266e+01] [ 1.01489594e-01 -9.94836507e-01 -4.33186930e-04 -8.23863562e+01] [ 3.28514994e-03 -1.00293926e-04 9.99994599e-01 -1.66566757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.567628 meters 0.012644898582113887 Centerline is valid? [True, True] Translation: X:75.33, Y:-83.20, Z:0.65 [[-9.99791940e-01 2.02409710e-02 2.52564761e-03 7.53320381e+01] [ 2.02408789e-02 9.99795131e-01 -6.20369785e-05 -8.31973703e+01] [-2.52638587e-03 -1.09027437e-05 -9.99996809e-01 6.54189352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59762800000001 meters 0.012700137995869488 Centerline is valid? [True, True] Translation: X:75.36, Y:-82.38, Z:-0.17 [[-9.95339672e-01 -9.64132168e-02 1.85179279e-03 7.53570988e+01] [ 9.64129836e-02 -9.95341394e-01 -2.15018513e-04 -8.23842095e+01] [ 1.86389664e-03 -3.54795887e-05 9.99998262e-01 -1.65535008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62762800000002 meters 0.012685961933104995 Centerline is valid? [True, True] Translation: X:75.25, Y:-83.19, Z:0.65 [[-9.99896728e-01 1.43118784e-02 1.30528413e-03 7.52450448e+01] [ 1.43118584e-02 9.99897580e-01 -2.46683308e-05 -8.31947429e+01] [-1.30550349e-03 -5.98474161e-06 -9.99999148e-01 6.53331595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65762800000002 meters 0.012685529087050243 Centerline is valid? [True, True] Translation: X:75.25, Y:-83.17, Z:0.65 [[-9.98401055e-01 -5.65255602e-02 4.40038535e-04 7.52484259e+01] [-5.65255555e-02 9.98401152e-01 2.30845042e-05 -8.31683613e+01] [-4.40639845e-04 -1.82582925e-06 -9.99999903e-01 6.52904112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68762800000002 meters 0.012709229063196825 Centerline is valid? [True, True] Translation: X:75.21, Y:-82.35, Z:-0.16 [[-9.99813695e-01 -1.92995539e-02 3.18784300e-04 7.52099665e+01] [ 1.92995508e-02 -9.99813746e-01 -1.28970057e-05 -8.23527618e+01] [ 3.18973832e-04 -6.74220911e-06 9.99999949e-01 -1.64434473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71762800000002 meters 0.012648542791162898 Centerline is valid? [True, True] Translation: X:75.15, Y:-83.17, Z:0.65 [[-9.98056248e-01 -6.23189655e-02 2.70811957e-04 7.51477535e+01] [-6.23189634e-02 9.98056284e-01 1.60209281e-05 -8.31735513e+01] [-2.71283983e-04 -8.86932998e-07 -9.99999963e-01 6.53019304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74762800000002 meters 0.012652483098501885 Centerline is valid? [True, True] Translation: X:75.14, Y:-83.15, Z:0.65 [[-9.91152232e-01 -1.32728718e-01 5.83879254e-04 7.51408995e+01] [-1.32728696e-01 9.91152404e-01 7.62890591e-05 -8.31472144e+01] [-5.88839075e-04 -1.88346055e-06 -9.99999827e-01 6.53396990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77762800000002 meters 0.012677786931416097 Centerline is valid? [True, True] Translation: X:75.13, Y:-83.12, Z:0.65 [[-9.79154999e-01 -2.03106440e-01 1.80620546e-03 7.51289246e+01] [-2.03106104e-01 9.79156665e-01 3.69474525e-04 -8.31224999e+01] [-1.84360077e-03 -5.07852622e-06 -9.99998301e-01 6.54416390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80762800000002 meters 0.012707392323454888 Centerline is valid? [True, True] Translation: X:75.09, Y:-83.10, Z:0.66 [[-9.62200859e-01 -2.72329484e-01 2.48194000e-03 7.50947707e+01] [-2.72328590e-01 9.62204060e-01 6.97842792e-04 -8.31041498e+01] [-2.57817591e-03 -4.43828644e-06 -9.99996676e-01 6.55674028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83762800000002 meters 0.012696355191438606 Centerline is valid? [True, True] Translation: X:75.04, Y:-83.10, Z:0.66 [[-9.40782013e-01 -3.38971458e-01 5.24924327e-03 7.50439299e+01] [-3.38966115e-01 9.40796657e-01 1.90326091e-03 -8.30965970e+01] [-5.58362165e-03 1.12380272e-05 -9.99984411e-01 6.57619296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86762800000002 meters 0.013017723418738745 Centerline is valid? [True, True] Translation: X:74.98, Y:-83.10, Z:0.66 [[-9.14090537e-01 -4.05467540e-01 5.87915993e-03 7.49770557e+01] [-4.05458947e-01 9.14109443e-01 2.63992198e-03 -8.30976744e+01] [-6.44459828e-03 2.93697064e-05 -9.99979233e-01 6.59179476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89762800000003 meters 0.013319773279950367 Centerline is valid? [True, True] Translation: X:74.91, Y:-83.11, Z:0.66 [[-8.82739443e-01 -4.69821694e-01 6.21709696e-03 7.49059758e+01] [-4.69809592e-01 8.82761334e-01 3.37256065e-03 -8.31059901e+01] [-7.07271497e-03 5.62405187e-05 -9.99974986e-01 6.59411367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92762800000003 meters 0.013604464966267937 Centerline is valid? [True, True] Translation: X:74.82, Y:-83.13, Z:0.66 [[-8.46814632e-01 -5.31849187e-01 6.43594226e-03 7.48238332e+01] [-5.31833023e-01 8.46839084e-01 4.14751510e-03 -8.31266139e+01] [-7.65605998e-03 8.93298473e-05 -9.99970688e-01 6.58885151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95762800000003 meters 0.014823236861613085 Centerline is valid? [True, True] Translation: X:74.74, Y:-83.16, Z:0.66 [[-8.06521457e-01 -5.91175397e-01 5.89825387e-03 7.47405866e+01] [-5.91158521e-01 8.06543016e-01 4.46842633e-03 -8.31575935e+01] [-7.39881917e-03 1.17078677e-04 -9.99972622e-01 6.59409933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.987628 meters 0.016298161035518087 Centerline is valid? [True, True] Translation: X:74.66, Y:-83.20, Z:0.66 [[-7.65197094e-01 -6.43775597e-01 5.13696140e-03 7.46557492e+01] [-6.43759557e-01 7.65214317e-01 4.54771787e-03 -8.32015397e+01] [-6.85858620e-03 1.72932506e-04 -9.99976465e-01 6.57954343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.017628 meters 0.017682629002613543 Centerline is valid? [True, True] Translation: X:74.57, Y:-83.25, Z:0.66 [[-7.17082966e-01 -6.96972699e-01 4.59090943e-03 7.45679275e+01] [-6.96956617e-01 7.17097634e-01 4.73885938e-03 -8.32538972e+01] [-6.59498591e-03 1.98490632e-04 -9.99978233e-01 6.57104221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.047628 meters 0.019827212556600186 Centerline is valid? [True, True] Translation: X:74.48, Y:-83.32, Z:0.66 [[-6.65198084e-01 -7.46657907e-01 3.67142312e-03 7.44813338e+01] [-7.46644823e-01 6.65208185e-01 4.42480330e-03 -8.33176829e+01] [-5.74607508e-03 2.02121610e-04 -9.99983471e-01 6.56291917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.077628 meters 0.02214807125628651 Centerline is valid? [True, True] Translation: X:74.40, Y:-83.39, Z:0.65 [[-6.12849339e-01 -7.90196265e-01 2.35602567e-03 7.44018986e+01] [-7.90189260e-01 6.12853841e-01 3.33213523e-03 -8.33891976e+01] [-4.07694020e-03 1.80390693e-04 -9.99991673e-01 6.54065054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.107628 meters 0.021981074286976834 Centerline is valid? [True, True] Translation: X:74.32, Y:-83.47, Z:0.65 [[-5.53376416e-01 -8.32929774e-01 1.59191347e-03 7.43189261e+01] [-8.32925519e-01 5.53378685e-01 2.66645384e-03 -8.34669096e+01] [-3.10189977e-03 1.49607315e-04 -9.99995178e-01 6.53384960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.137628 meters 0.0227849491353926 Centerline is valid? [True, True] Translation: X:74.24, Y:-83.56, Z:0.65 [[-4.90000316e-01 -8.71721460e-01 1.17776451e-03 7.42398984e+01] [-8.71718242e-01 4.90001713e-01 2.37228983e-03 -8.35573630e+01] [-2.64508258e-03 1.35743964e-04 -9.99996493e-01 6.53111940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.167628 meters 0.02359066214773365 Centerline is valid? [True, True] Translation: X:74.17, Y:-83.65, Z:0.65 [[-4.22874803e-01 -9.06187827e-01 7.22871281e-04 7.41680206e+01] [-9.06186059e-01 4.22875409e-01 1.79318099e-03 -8.36506131e+01] [-1.93064328e-03 1.03235183e-04 -9.99998131e-01 6.53258661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.197628 meters 0.023831852942131596 Centerline is valid? [True, True] Translation: X:74.10, Y:-83.76, Z:0.65 [[-3.50933921e-01 -9.36400037e-01 5.94926711e-04 7.40975883e+01] [-9.36398144e-01 3.50934410e-01 1.88569967e-03 -8.37570160e+01] [-1.97454950e-03 1.04667712e-04 -9.99998045e-01 6.53651939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.227628 meters 0.0232739429890957 Centerline is valid? [True, True] Translation: X:74.04, Y:-83.87, Z:0.65 [[-2.76081433e-01 -9.61134049e-01 6.18560816e-04 7.40368810e+01] [-9.61130360e-01 2.76082090e-01 2.66656485e-03 -8.38658605e+01] [-2.73369983e-03 1.41671465e-04 -9.99996253e-01 6.54581963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.257628 meters 0.022251763925073047 Centerline is valid? [True, True] Translation: X:73.98, Y:-83.98, Z:0.66 [[-1.99338053e-01 -9.79930614e-01 5.75917556e-04 7.39839099e+01] [-9.79923263e-01 1.99338792e-01 3.80072105e-03 -8.39786725e+01] [-3.83924563e-03 1.93273326e-04 -9.99992611e-01 6.55228372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.287628 meters 0.022251763925073047 Centerline is valid? [True, True] Translation: X:73.94, Y:-84.10, Z:0.66 [[-1.22629865e-01 -9.92452436e-01 2.78994172e-04 7.39421169e+01] [-9.92445050e-01 1.22630030e-01 3.83397538e-03 -8.40972131e+01] [-3.83925127e-03 1.93273499e-04 -9.99992611e-01 6.55228672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.317628 meters 0.022302326781824845 Centerline is valid? [True, True] Translation: X:73.90, Y:-84.22, Z:0.66 [[-4.17530984e-02 -9.99127958e-01 -3.73108772e-05 7.39037015e+01] [-9.99100817e-01 4.17516889e-02 7.37244843e-03 -8.42240997e+01] [-7.36446156e-03 3.45099892e-04 -9.99972822e-01 6.59576824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34762800000001 meters 0.020174265650365442 Centerline is valid? [True, True] Translation: X:73.88, Y:-84.35, Z:0.66 [[ 3.90462791e-02 -9.99237210e-01 -6.21723973e-04 7.38779008e+01] [-9.99209194e-01 -3.90498445e-02 7.48979325e-03 -8.43497099e+01] [-7.50835834e-03 3.28783752e-04 -9.99971758e-01 6.58292488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37762800000002 meters 0.01933504347919643 Centerline is valid? [True, True] Translation: X:73.85, Y:-84.46, Z:0.66 [[ 1.21229280e-01 -9.92623605e-01 -1.35636098e-03 7.38546317e+01] [-9.92587622e-01 -1.21236443e-01 8.45802999e-03 -8.44635256e+01] [-8.56008061e-03 3.20946233e-04 -9.99963310e-01 6.60196910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40762800000002 meters 0.02077771779357644 Centerline is valid? [True, True] Translation: X:73.85, Y:-84.59, Z:0.66 [[ 2.00305597e-01 -9.79731175e-01 -2.11967678e-03 7.38475230e+01] [-9.79691794e-01 -2.00316563e-01 8.78995405e-03 -8.45942230e+01] [-9.03639838e-03 3.15952948e-04 -9.99959121e-01 6.63229664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43762800000002 meters 0.016787941445764273 Centerline is valid? [True, True] Translation: X:73.85, Y:-84.72, Z:0.66 [[ 2.79150181e-01 -9.60245028e-01 -2.15918871e-03 7.38479179e+01] [-9.60222058e-01 -2.79158446e-01 6.64546134e-03 -8.47170509e+01] [-6.98402697e-03 2.18218892e-04 -9.99975588e-01 6.59263415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46762800000002 meters 0.0172519701875065 Centerline is valid? [True, True] Translation: X:73.86, Y:-84.84, Z:0.66 [[ 3.55414567e-01 -9.34705420e-01 -2.50281358e-03 7.38628737e+01] [-9.34685793e-01 -3.55423331e-01 6.06004656e-03 -8.48419536e+01] [-6.55391670e-03 1.85515474e-04 -9.99978506e-01 6.58770904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49762800000002 meters 0.015941727841827943 Centerline is valid? [True, True] Translation: X:73.88, Y:-84.96, Z:0.66 [[ 4.29518168e-01 -9.03054271e-01 -2.66966435e-03 7.38824396e+01] [-9.03038918e-01 -4.29526439e-01 5.26790506e-03 -8.49613068e+01] [-5.90389558e-03 1.48149881e-04 -9.99982561e-01 6.57623002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52762800000002 meters 0.014855063704742183 Centerline is valid? [True, True] Translation: X:73.91, Y:-85.08, Z:0.66 [[ 5.02997526e-01 -8.64284872e-01 -2.26916096e-03 7.39108449e+01] [-8.64276818e-01 -5.03002637e-01 3.73217007e-03 -8.50822195e+01] [-4.36705208e-03 8.39109107e-05 -9.99990461e-01 6.56525784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55762800000002 meters 0.01437037230460787 Centerline is valid? [True, True] Translation: X:73.95, Y:-85.20, Z:0.66 [[ 5.70486792e-01 -8.21304094e-01 -2.09897448e-03 7.39491984e+01] [-8.21298910e-01 -5.70490650e-01 2.91875286e-03 -8.51963470e+01] [-3.59462899e-03 5.87754948e-05 -9.99993538e-01 6.56099681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58762800000002 meters 0.013743981323368166 Centerline is valid? [True, True] Translation: X:73.99, Y:-85.30, Z:0.66 [[ 6.33999616e-01 -7.73330759e-01 -2.00622335e-03 7.39935712e+01] [-7.73327099e-01 -6.34002789e-01 2.37958668e-03 -8.53048593e+01] [-3.11215877e-03 4.28098425e-05 -9.99995156e-01 6.56000855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61762800000002 meters 0.012801312140835849 Centerline is valid? [True, True] Translation: X:74.04, Y:-85.41, Z:0.66 [[ 6.95359312e-01 -7.18661292e-01 -1.17248423e-03 7.40403582e+01] [-7.18660304e-01 -6.95360301e-01 1.19176840e-03 -8.54086028e+01] [-1.67177681e-03 1.39106150e-05 -9.99998602e-01 6.56397324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64762800000003 meters 0.012520810098637335 Centerline is valid? [True, True] Translation: X:74.10, Y:-85.50, Z:0.66 [[ 7.49900196e-01 -6.61550131e-01 -1.05848056e-03 7.40964099e+01] [-6.61549488e-01 -7.49900943e-01 9.22721482e-04 -8.55029637e+01] [-1.40418209e-03 8.28825174e-06 -9.99999014e-01 6.56691930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67762800000003 meters 0.012458822014188608 Centerline is valid? [True, True] Translation: X:74.09, Y:-85.51, Z:0.66 [[ 8.00909494e-01 -5.98784152e-01 -1.23332505e-03 7.40908213e+01] [-5.98783452e-01 -8.00910444e-01 9.15937820e-04 -8.55111674e+01] [-1.53623197e-03 4.91133704e-06 -9.99998820e-01 6.56627692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70762800000003 meters 0.012316988775582061 Centerline is valid? [True, True] Translation: X:74.08, Y:-85.52, Z:0.66 [[ 8.47836326e-01 -5.30254058e-01 -2.04895576e-03 7.40840484e+01] [-5.30252498e-01 -8.47838802e-01 1.28630412e-03 -8.55209226e+01] [-2.41925218e-03 -4.11144532e-06 -9.99997074e-01 6.56384191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.737628 meters 0.012316988775582061 Centerline is valid? [True, True] Translation: X:74.08, Y:-85.53, Z:0.66 [[ 8.86675080e-01 -4.62388051e-01 -2.14320044e-03 7.40787284e+01] [-4.62386689e-01 -8.86677670e-01 1.12228174e-03 -8.55276999e+01] [-2.41925764e-03 -4.11189273e-06 -9.99997074e-01 6.56384248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.767628 meters 0.012358117432824976 Centerline is valid? [True, True] Translation: X:74.07, Y:-85.54, Z:0.66 [[ 9.20931356e-01 -3.89720317e-01 -1.87426209e-03 7.40724797e+01] [-3.89719493e-01 -9.20933263e-01 8.01504533e-04 -8.55387287e+01] [-2.03843290e-03 -7.69418580e-06 -9.99997922e-01 6.56331734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.797628 meters 0.012528227723330678 Centerline is valid? [True, True] Translation: X:74.07, Y:-85.55, Z:0.66 [[ 9.49593512e-01 -3.13476959e-01 -2.08763028e-03 7.40658429e+01] [-3.13476166e-01 -9.49595807e-01 7.05349103e-04 -8.55499855e+01] [-2.20351565e-03 -1.53725961e-05 -9.99997572e-01 6.57072974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.827628 meters 0.012612167640985517 Centerline is valid? [True, True] Translation: X:74.06, Y:-85.56, Z:0.66 [[ 9.71408171e-01 -2.37410817e-01 -1.50661979e-03 7.40626407e+01] [-2.37410512e-01 -9.71409339e-01 3.80822345e-04 -8.55597555e+01] [-1.55395588e-03 -1.22465631e-05 -9.99998793e-01 6.57336302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.857628 meters 0.012643377200743369 Centerline is valid? [True, True] Translation: X:74.06, Y:-85.57, Z:0.66 [[ 9.87148070e-01 -1.59800588e-01 -1.56867461e-03 7.40567256e+01] [-1.59800363e-01 -9.87149316e-01 2.67961724e-04 -8.55691496e+01] [-1.59133651e-03 -1.38431258e-05 -9.99998734e-01 6.57876759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.887628 meters 0.012806616010620352 Centerline is valid? [True, True] Translation: X:74.05, Y:-85.58, Z:0.66 [[ 9.96713006e-01 -8.09997258e-02 -1.49267416e-03 7.40502677e+01] [-8.09996131e-02 -9.96714124e-01 1.35877537e-04 -8.55762557e+01] [-1.49877546e-03 -1.45248794e-05 -9.99998877e-01 6.57835813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.917628 meters 0.012848550648799266 Centerline is valid? [True, True] Translation: X:74.05, Y:-85.58, Z:0.66 [[ 9.99995373e-01 -2.49376624e-03 -1.74215311e-03 7.40454308e+01] [-2.49373235e-03 -9.99996890e-01 2.16276136e-05 -8.55829900e+01] [-1.74220163e-03 -1.72830499e-05 -9.99998482e-01 6.57587116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.947628 meters 0.012870740336133921 Centerline is valid? [True, True] Translation: X:74.04, Y:-85.59, Z:0.66 [[ 9.97115777e-01 7.58670259e-02 -2.07885430e-03 7.40409576e+01] [ 7.58669045e-02 -9.97117944e-01 -1.37305915e-04 -8.55902467e+01] [-2.08327992e-03 -2.08063464e-05 -9.99997830e-01 6.57533375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.977628 meters 0.012897858999378975 Centerline is valid? [True, True] Translation: X:74.04, Y:-85.60, Z:0.66 [[ 9.88110853e-01 1.53732198e-01 -1.83106306e-03 7.40359530e+01] [ 1.53731968e-01 -9.88112550e-01 -2.66114700e-04 -8.55979737e+01] [-1.85020679e-03 -1.85421053e-05 -9.99998288e-01 6.58037809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.007628 meters 0.012857708141843689 Centerline is valid? [True, True] Translation: X:74.03, Y:-85.61, Z:0.66 [[ 9.73020335e-01 2.30706381e-01 -2.44831723e-03 7.40324660e+01] [ 2.30705716e-01 -9.73023415e-01 -5.54381641e-04 -8.56054277e+01] [-2.51016937e-03 -2.54161680e-05 -9.99996849e-01 6.58666839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.037628 meters 0.01283418791939996 Centerline is valid? [True, True] Translation: X:74.03, Y:-85.61, Z:0.66 [[ 9.52228109e-01 3.05357150e-01 -4.31732455e-03 7.40285712e+01] [ 3.05354212e-01 -9.52237895e-01 -1.34019855e-03 -8.56096749e+01] [-4.52035925e-03 -4.21384985e-05 -9.99989782e-01 6.60583054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.067628 meters 0.012751438495479696 Centerline is valid? [True, True] Translation: X:74.02, Y:-85.62, Z:0.66 [[ 9.25969069e-01 3.77573011e-01 -4.46152385e-03 7.40238749e+01] [ 3.77568824e-01 -9.25979816e-01 -1.77848363e-03 -8.56164166e+01] [-4.80278845e-03 -3.77114847e-05 -9.99988466e-01 6.61479828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09762800000001 meters 0.01259071757015186 Centerline is valid? [True, True] Translation: X:74.02, Y:-85.62, Z:0.66 [[ 8.94296034e-01 4.47450856e-01 -4.72595230e-03 7.40187110e+01] [ 4.47444802e-01 -8.94308521e-01 -2.32783763e-03 -8.56201727e+01] [-5.26805235e-03 -3.28268324e-05 -9.99986123e-01 6.61682424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12762800000002 meters 0.012247739277708105 Centerline is valid? [True, True] Translation: X:74.01, Y:-85.62, Z:0.66 [[ 8.59040662e-01 5.11887038e-01 -4.56089675e-03 7.40107429e+01] [ 5.11879868e-01 -8.59052769e-01 -2.70934133e-03 -8.56191208e+01] [-5.30492769e-03 -7.19685816e-06 -9.99985929e-01 6.61324502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15762800000002 meters 0.012347541250669001 Centerline is valid? [True, True] Translation: X:74.00, Y:-85.62, Z:0.66 [[ 8.18085566e-01 5.75079951e-01 -4.36544059e-03 7.40038247e+01] [ 5.75071704e-01 -8.18097213e-01 -3.07974716e-03 -8.56223982e+01] [-5.34245563e-03 9.05533499e-06 -9.99985729e-01 6.61324953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18762800000002 meters 0.012596566601390963 Centerline is valid? [True, True] Translation: X:74.00, Y:-85.63, Z:0.66 [[ 7.72861173e-01 6.34562009e-01 -4.08215399e-03 7.39950527e+01] [ 6.34552963e-01 -7.72871953e-01 -3.38838724e-03 -8.56258198e+01] [-5.30512414e-03 2.84100197e-05 -9.99985927e-01 6.61095747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21762800000002 meters 0.013227405170195689 Centerline is valid? [True, True] Translation: X:73.99, Y:-85.63, Z:0.66 [[ 7.23566612e-01 6.90244296e-01 -3.76433885e-03 7.39867465e+01] [ 6.90234601e-01 -7.23576402e-01 -3.65877922e-03 -8.56289111e+01] [-5.24923825e-03 4.90935576e-05 -9.99986221e-01 6.61035443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24762800000002 meters 0.014148471055401663 Centerline is valid? [True, True] Translation: X:73.98, Y:-85.64, Z:0.66 [[ 6.72361881e-01 7.40218621e-01 -2.42764160e-03 7.39813446e+01] [ 7.40213474e-01 -6.72366261e-01 -2.76099320e-03 -8.56353659e+01] [-3.67600289e-03 5.94135585e-05 -9.99993242e-01 6.59029174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27762800000002 meters 0.014296105323874698 Centerline is valid? [True, True] Translation: X:73.98, Y:-85.65, Z:0.66 [[ 6.13560912e-01 7.89646565e-01 -1.14462213e-03 7.39814052e+01] [ 7.89645087e-01 -6.13561978e-01 -1.52834138e-03 -8.56471783e+01] [-1.90914614e-03 3.38852946e-05 -9.99998177e-01 6.57509574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30762800000002 meters 0.014424832625356376 Centerline is valid? [True, True] Translation: X:73.98, Y:-85.66, Z:0.66 [[ 5.51467768e-01 8.34196196e-01 -8.63169793e-05 7.39833163e+01] [ 8.34196185e-01 -5.51467775e-01 -1.36557021e-04 -8.56599632e+01] [-1.61516380e-04 3.30150078e-06 -9.99999987e-01 6.55520693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33762800000002 meters 0.01569872411084163 Centerline is valid? [True, True] Translation: X:73.98, Y:-85.67, Z:0.65 [[ 4.88714234e-01 8.72443860e-01 3.28307635e-04 7.39828877e+01] [ 8.72443639e-01 -4.88714344e-01 6.20994054e-04 -8.56722876e+01] [ 7.02231100e-04 -1.70587257e-05 -9.99999753e-01 6.53942276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36762800000002 meters 0.016165147343799875 Centerline is valid? [True, True] Translation: X:73.99, Y:-85.68, Z:0.65 [[ 4.21191081e-01 9.06971911e-01 1.62588236e-04 7.39874869e+01] [ 9.06971833e-01 -4.21191112e-01 3.76061138e-04 -8.56848337e+01] [ 4.09557609e-04 -1.09306467e-05 -9.99999916e-01 6.54423781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39762800000003 meters 0.016404552979515808 Centerline is valid? [True, True] Translation: X:73.99, Y:-85.70, Z:0.65 [[ 3.51267234e-01 9.36275236e-01 1.14533536e-04 7.39945947e+01] [ 9.36275176e-01 -3.51267252e-01 3.34663464e-04 -8.56985807e+01] [ 3.53568994e-04 -1.03214027e-05 -9.99999937e-01 6.54991147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42762800000003 meters 0.01771325389993206 Centerline is valid? [True, True] Translation: X:74.00, Y:-85.71, Z:0.66 [[ 2.79898510e-01 9.60029591e-01 -8.95463397e-05 7.39991675e+01] [ 9.60029528e-01 -2.79898524e-01 -3.49856222e-04 -8.57114110e+01] [-3.60936215e-04 1.19571051e-05 -9.99999935e-01 6.55398084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45762800000003 meters 0.0183761865683068 Centerline is valid? [True, True] Translation: X:74.01, Y:-85.72, Z:0.66 [[ 2.06973333e-01 9.78346564e-01 -2.00857492e-04 7.40066754e+01] [ 9.78345885e-01 -2.06973426e-01 -1.15369747e-03 -8.57233257e+01] [-1.17028811e-03 4.22765098e-05 -9.99999314e-01 6.55877974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.487628 meters 0.018886208893867253 Centerline is valid? [True, True] Translation: X:74.02, Y:-85.73, Z:0.66 [[ 1.32610034e-01 9.91168278e-01 -1.51377698e-04 7.40167146e+01] [ 9.91166978e-01 -1.32610105e-01 -1.60679379e-03 -8.57348194e+01] [-1.61267725e-03 6.30364037e-05 -9.99998698e-01 6.56499108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.517628 meters 0.020851913804887576 Centerline is valid? [True, True] Translation: X:74.03, Y:-85.75, Z:0.66 [[ 5.97221424e-02 9.98215039e-01 -3.70600048e-05 7.40268841e+01] [ 9.98212205e-01 -5.97220612e-02 -2.38109530e-03 -8.57468258e+01] [-2.37905843e-03 1.05210363e-04 -9.99997165e-01 6.58145844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.547628 meters 0.021305742240258215 Centerline is valid? [True, True] Translation: X:74.04, Y:-85.76, Z:0.66 [[-1.72932879e-02 9.99850445e-01 1.72993591e-04 7.40382471e+01] [ 9.99846678e-01 1.72936981e-02 -2.74760055e-03 -8.57567393e+01] [-2.75018133e-03 1.25452020e-04 -9.99996210e-01 6.58580270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.577628 meters 0.02274683792060194 Centerline is valid? [True, True] Translation: X:74.05, Y:-85.77, Z:0.66 [[-9.47987093e-02 9.95496337e-01 4.98190019e-04 7.40487091e+01] [ 9.95490191e-01 9.47998765e-02 -3.50172718e-03 -8.57669433e+01] [-3.53318494e-03 1.63984061e-04 -9.99993745e-01 6.59178231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.607628 meters 0.020655629139629296 Centerline is valid? [True, True] Translation: X:74.07, Y:-85.77, Z:0.66 [[-1.72326956e-01 9.85039543e-01 7.20270327e-04 7.40673028e+01] [ 9.85034275e-01 1.72328393e-01 -3.22514340e-03 -8.57736949e+01] [-3.30101681e-03 1.53711816e-04 -9.99994540e-01 6.59051944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.637628 meters 0.020969994839562873 Centerline is valid? [True, True] Translation: X:74.08, Y:-85.78, Z:0.66 [[-2.50997731e-01 9.67987382e-01 7.53933903e-04 7.40841701e+01] [ 9.67984279e-01 2.50998837e-01 -2.45333045e-03 -8.57799496e+01] [-2.56402945e-03 1.14015790e-04 -9.99996706e-01 6.58480904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.667628 meters 0.021424658717430857 Centerline is valid? [True, True] Translation: X:74.10, Y:-85.79, Z:0.66 [[-3.27776388e-01 9.44754978e-01 8.19472324e-04 7.40980599e+01] [ 9.44752710e-01 3.27777399e-01 -2.07230944e-03 -8.57862121e+01] [-2.22642916e-03 9.49445953e-05 -9.99997517e-01 6.58177289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.697628 meters 0.0200347937859179 Centerline is valid? [True, True] Translation: X:74.11, Y:-85.79, Z:0.66 [[-4.03031584e-01 9.15185653e-01 8.72908536e-04 7.41141757e+01] [ 9.15183918e-01 4.03032522e-01 -1.78410048e-03 -8.57889565e+01] [-1.98459370e-03 7.98230091e-05 -9.99998028e-01 6.57780779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.727628 meters 0.019478159496512024 Centerline is valid? [True, True] Translation: X:74.13, Y:-85.79, Z:0.66 [[-4.75731803e-01 8.79589976e-01 8.51886125e-04 7.41294509e+01] [ 8.79588796e-01 4.75732562e-01 -1.44242984e-03 -8.57911619e+01] [-1.67401680e-03 6.30997413e-05 -9.99998597e-01 6.57825293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.757628 meters 0.018746225645683134 Centerline is valid? [True, True] Translation: X:74.14, Y:-85.79, Z:0.66 [[-5.45776265e-01 8.37930592e-01 7.68943594e-04 7.41442096e+01] [ 8.37929877e-01 5.45776805e-01 -1.09579069e-03 -8.57923915e+01] [-1.33786812e-03 4.62642599e-05 -9.99999104e-01 6.57810526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.787628 meters 0.01746272951408035 Centerline is valid? [True, True] Translation: X:74.16, Y:-85.79, Z:0.66 [[-6.14573664e-01 7.88859422e-01 1.53762533e-04 7.41615094e+01] [ 7.88859400e-01 6.14573683e-01 -1.86025522e-04 -8.57910683e+01] [-2.41246392e-04 6.97063346e-06 -9.99999971e-01 6.57709838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.817628 meters 0.01658332365069769 Centerline is valid? [True, True] Translation: X:74.17, Y:-85.79, Z:0.66 [[-6.76906015e-01 7.36069409e-01 -2.69621871e-04 7.41744241e+01] [ 7.36069356e-01 6.76906068e-01 2.79003368e-04 -8.57918195e+01] [ 3.87874525e-04 -9.60133880e-06 -9.99999925e-01 6.57595378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84762800000001 meters 0.015731243852339885 Centerline is valid? [True, True] Translation: X:74.19, Y:-85.79, Z:0.66 [[-7.34573243e-01 6.78528718e-01 -9.64028988e-04 7.41862468e+01] [ 6.78528183e-01 7.34573875e-01 8.52097181e-04 -8.57918329e+01] [ 1.28632292e-03 -2.81930487e-05 -9.99999172e-01 6.57242121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87762800000002 meters 0.01485516975935151 Centerline is valid? [True, True] Translation: X:74.21, Y:-85.77, Z:0.66 [[-7.82766712e-01 6.22312999e-01 -1.67520035e-03 7.42092254e+01] [ 6.22311681e-01 7.82768503e-01 1.28155642e-03 -8.57699023e+01] [ 2.10882329e-03 -3.93370425e-05 -9.99997776e-01 6.56754815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90762800000002 meters 0.012654025275320904 Centerline is valid? [True, True] Translation: X:74.23, Y:-85.74, Z:0.66 [[-8.28821030e-01 5.59509956e-01 -2.07613213e-03 7.42307441e+01] [ 5.59508287e-01 8.28823629e-01 1.36676257e-03 -8.57401894e+01] [ 2.48546464e-03 -2.88115728e-05 -9.99996911e-01 6.56796682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93762800000002 meters 0.012314501861666924 Centerline is valid? [True, True] Translation: X:74.25, Y:-85.71, Z:0.66 [[-8.67854747e-01 4.96813172e-01 -2.19293386e-03 7.42479017e+01] [ 4.96811649e-01 8.67857518e-01 1.23051647e-03 -8.57146544e+01] [ 2.51449093e-03 -2.15655243e-05 -9.99996838e-01 6.57196890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96762800000002 meters 0.011846612026195101 Centerline is valid? [True, True] Translation: X:74.26, Y:-85.69, Z:0.66 [[-9.03103026e-01 4.29422429e-01 -1.14095195e-03 7.42638701e+01] [ 4.29422092e-01 9.03103747e-01 5.37895593e-04 -8.56866359e+01] [ 1.26138241e-03 -4.17483598e-06 -9.99999204e-01 6.59185176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99762800000002 meters 0.011759823450940418 Centerline is valid? [True, True] Translation: X:74.28, Y:-85.66, Z:0.66 [[-9.31954202e-01 3.62575924e-01 -2.55812567e-04 7.42819754e+01] [ 3.62575910e-01 9.31954237e-01 9.92051218e-05 -8.56628399e+01] [ 2.74374994e-04 -2.96844100e-07 -9.99999962e-01 6.60916324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02762800000002 meters 0.011763233313460074 Centerline is valid? [True, True] Translation: X:74.29, Y:-85.64, Z:0.66 [[-9.55664103e-01 2.94456857e-01 1.13224440e-03 7.42910177e+01] [ 2.94456651e-01 9.55664774e-01 -3.48396589e-04 -8.56362442e+01] [-1.18463385e-03 4.46780113e-07 -9.99999298e-01 6.62317206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05762800000002 meters 0.011727783472724084 Centerline is valid? [True, True] Translation: X:74.53, Y:-84.88, Z:-0.17 [[-9.33714758e-01 -3.58013086e-01 1.83879604e-03 7.45333867e+01] [ 3.58012491e-01 -9.33716567e-01 -6.54258621e-04 -8.48843305e+01] [ 1.95114747e-03 4.74210205e-05 9.99998095e-01 -1.74732746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08762800000002 meters 0.011752873987917701 Centerline is valid? [True, True] Translation: X:74.25, Y:-85.63, Z:0.66 [[-9.56941593e-01 2.90269622e-01 2.51672811e-03 7.42475660e+01] [ 2.90268615e-01 9.56944903e-01 -7.64377065e-04 -8.56254056e+01] [-2.63024558e-03 -9.37022533e-07 -9.99996541e-01 6.63360411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11762800000002 meters 0.011730441469911779 Centerline is valid? [True, True] Translation: X:74.26, Y:-85.60, Z:0.66 [[-9.75059392e-01 2.21924940e-01 2.91587170e-03 7.42573450e+01] [ 2.21923947e-01 9.75063752e-01 -6.64017252e-04 -8.56013039e+01] [-2.99052279e-03 -3.54502144e-07 -9.99995528e-01 6.63536979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14762800000003 meters 0.011835596328885995 Centerline is valid? [True, True] Translation: X:74.27, Y:-85.58, Z:0.66 [[-9.88196013e-01 1.53171546e-01 2.66783712e-03 7.42677033e+01] [ 1.53170994e-01 9.88199614e-01 -4.11155629e-04 -8.55794272e+01] [-2.69933296e-03 2.33291123e-06 -9.99996357e-01 6.63201987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17762800000003 meters 0.011826401284603577 Centerline is valid? [True, True] Translation: X:74.27, Y:-85.55, Z:0.66 [[-9.96526798e-01 8.32416083e-02 2.27502227e-03 7.42731413e+01] [ 8.32413988e-02 9.96529395e-01 -1.86770734e-04 -8.55546161e+01] [-2.28267366e-03 3.25399439e-06 -9.99997395e-01 6.62785442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20762800000003 meters 0.011826401284603577 Centerline is valid? [True, True] Translation: X:74.28, Y:-85.53, Z:0.66 [[-9.99922143e-01 1.22677593e-02 2.28253779e-03 7.42760512e+01] [ 1.22677347e-02 9.99924748e-01 -2.47493205e-05 -8.55270770e+01] [-2.28266965e-03 3.25417454e-06 -9.99997395e-01 6.62785396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.237628 meters 0.01189861260848613 Centerline is valid? [True, True] Translation: X:74.29, Y:-84.71, Z:-0.17 [[-9.97088436e-01 -7.62109509e-02 2.55750281e-03 7.42899078e+01] [ 7.62107380e-02 -9.97091716e-01 -1.80775968e-04 -8.47147356e+01] [ 2.56384197e-03 1.46595487e-05 9.99996713e-01 -1.74436552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.267628 meters 0.011974541353520487 Centerline is valid? [True, True] Translation: X:74.18, Y:-85.53, Z:0.66 [[-9.99968659e-01 7.32768912e-03 2.99782614e-03 7.41804741e+01] [ 7.32767772e-03 9.99973152e-01 -1.47873885e-05 -8.55308856e+01] [-2.99785402e-03 7.18017883e-06 -9.99995506e-01 6.63039211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.297628 meters 0.01213875768835485 Centerline is valid? [True, True] Translation: X:74.18, Y:-85.51, Z:0.66 [[-9.97966913e-01 -6.35833380e-02 4.38176969e-03 7.41789140e+01] [-6.35826734e-02 9.97976532e-01 2.90952088e-04 -8.55083368e+01] [-4.39140302e-03 1.17559264e-05 -9.99990358e-01 6.64375702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.327628 meters 0.012156214683316964 Centerline is valid? [True, True] Translation: X:74.18, Y:-85.48, Z:0.66 [[-9.90890920e-01 -1.34592287e-01 4.48341948e-03 7.41757646e+01] [-1.34590854e-01 9.90901063e-01 6.21200632e-04 -8.54835634e+01] [-4.52623394e-03 1.21148087e-05 -9.99989756e-01 6.64787862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.357628 meters 0.012206859624005683 Centerline is valid? [True, True] Translation: X:74.16, Y:-85.46, Z:0.66 [[-9.78642379e-01 -2.05518865e-01 4.59250508e-03 7.41584119e+01] [-2.05516541e-01 9.78653154e-01 9.77393518e-04 -8.54609662e+01] [-4.69534238e-03 1.26829579e-05 -9.99988977e-01 6.64445648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.387628 meters 0.012287298620499836 Centerline is valid? [True, True] Translation: X:74.12, Y:-85.45, Z:0.66 [[-9.60984968e-01 -2.76568259e-01 4.22951925e-03 7.41215975e+01] [-2.76565536e-01 9.60994276e-01 1.22725817e-03 -8.54460502e+01] [-4.40396445e-03 9.63739568e-06 -9.99990302e-01 6.64131532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.417628 meters 0.012219692295302583 Centerline is valid? [True, True] Translation: X:74.07, Y:-85.44, Z:0.66 [[-9.37880261e-01 -3.46934898e-01 4.09780152e-03 7.40666528e+01] [-3.46931549e-01 9.37889213e-01 1.52423261e-03 -8.54376154e+01] [-4.37209333e-03 7.89104625e-06 -9.99990442e-01 6.64380032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.447628 meters 0.012373222622339019 Centerline is valid? [True, True] Translation: X:74.00, Y:-85.44, Z:0.66 [[-9.09403221e-01 -4.15895537e-01 4.08448696e-03 7.39960522e+01] [-4.15891309e-01 9.09412394e-01 1.87528612e-03 -8.54394469e+01] [-4.49440620e-03 6.68860977e-06 -9.99989900e-01 6.64404816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.477628 meters 0.01239194055196462 Centerline is valid? [True, True] Translation: X:73.92, Y:-85.45, Z:0.66 [[-8.75475686e-01 -4.83245716e-01 3.98752702e-03 7.39237014e+01] [-4.83240678e-01 8.75484767e-01 2.20668447e-03 -8.54478461e+01] [-4.55738998e-03 4.96333945e-06 -9.99989615e-01 6.64445747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.507628 meters 0.01235773693867306 Centerline is valid? [True, True] Translation: X:73.84, Y:-85.47, Z:0.66 [[-8.35872832e-01 -5.48913333e-01 3.28040056e-03 7.38407131e+01] [-5.48909113e-01 8.35879269e-01 2.15247428e-03 -8.54695382e+01] [-3.92354066e-03 -1.44698483e-06 -9.99992303e-01 6.63367498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.537628 meters 0.012498125449254304 Centerline is valid? [True, True] Translation: X:73.75, Y:-85.50, Z:0.66 [[-7.90335081e-01 -6.12671104e-01 2.13948494e-03 7.37524943e+01] [-6.12668887e-01 7.90337977e-01 1.64827834e-03 -8.54959581e+01] [-2.70076871e-03 -8.10366051e-06 -9.99996353e-01 6.62681545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.567628 meters 0.012653244770892386 Centerline is valid? [True, True] Translation: X:73.66, Y:-85.53, Z:0.66 [[-7.39956950e-01 -6.72652085e-01 1.69872969e-03 7.36618827e+01] [-6.72650350e-01 7.39958899e-01 1.52775990e-03 -8.55330517e+01] [-2.28464103e-03 -1.21745701e-05 -9.99997390e-01 6.62641165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59762800000001 meters 0.012798250885991801 Centerline is valid? [True, True] Translation: X:73.57, Y:-85.58, Z:0.66 [[-6.85635539e-01 -7.27942886e-01 1.74988913e-03 7.35715198e+01] [-7.27940576e-01 6.85637772e-01 1.83392432e-03 -8.55809310e+01] [-2.53478225e-03 -1.64116083e-05 -9.99996787e-01 6.62943915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62762800000002 meters 0.012830617969929483 Centerline is valid? [True, True] Translation: X:73.48, Y:-85.64, Z:0.66 [[-6.28810456e-01 -7.77555062e-01 2.35301547e-03 7.34790951e+01] [-7.77549735e-01 6.28814858e-01 2.87824674e-03 -8.56414301e+01] [-3.71760641e-03 -1.97149132e-05 -9.99993089e-01 6.64809865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65762800000002 meters 0.01267369578987639 Centerline is valid? [True, True] Translation: X:73.39, Y:-85.71, Z:0.67 [[-5.68725746e-01 -8.22524203e-01 2.22742121e-03 7.33937794e+01] [-8.22517987e-01 5.68730108e-01 3.19766785e-03 -8.57083664e+01] [-3.89696071e-03 -1.34979758e-05 -9.99992407e-01 6.65641383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68762800000002 meters 0.012659807040226389 Centerline is valid? [True, True] Translation: X:73.31, Y:-85.79, Z:0.67 [[-5.05170132e-01 -8.63017668e-01 1.90849505e-03 7.33110323e+01] [-8.63011562e-01 5.05173737e-01 3.24643350e-03 -8.57870126e+01] [-3.76585104e-03 -7.05206060e-06 -9.99992909e-01 6.65643713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71762800000002 meters 0.01265365176392246 Centerline is valid? [True, True] Translation: X:73.23, Y:-85.88, Z:0.67 [[-4.38285186e-01 -8.98834971e-01 1.33807108e-03 7.32316969e+01] [-8.98830794e-01 4.38287229e-01 2.74017518e-03 -8.58770622e+01] [-3.04942474e-03 -1.72130188e-06 -9.99995350e-01 6.65204549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74762800000002 meters 0.012593518439431958 Centerline is valid? [True, True] Translation: X:73.17, Y:-85.96, Z:0.66 [[-3.68589151e-01 -9.29592262e-01 5.13705997e-04 7.31661292e+01] [-9.29591356e-01 3.68589509e-01 1.29789408e-03 -8.59574036e+01] [-1.39585894e-03 8.53024504e-07 -9.99999026e-01 6.64096651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77762800000002 meters 0.012623524339722478 Centerline is valid? [True, True] Translation: X:73.10, Y:-86.06, Z:0.66 [[-2.95400993e-01 -9.55373346e-01 1.53504555e-04 7.30995689e+01] [-9.55373217e-01 2.95401033e-01 4.96664634e-04 -8.60637063e+01] [-5.19845557e-04 6.10858075e-08 -9.99999865e-01 6.62881221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80762800000002 meters 0.012576819840066597 Centerline is valid? [True, True] Translation: X:73.04, Y:-86.16, Z:0.66 [[-2.20532941e-01 -9.75379523e-01 -8.88780903e-05 7.30449411e+01] [-9.75379443e-01 2.20532959e-01 -3.94892412e-04 -8.61616431e+01] [ 4.04770520e-04 -3.96922614e-07 -9.99999918e-01 6.62280760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83762800000002 meters 0.012472421038411131 Centerline is valid? [True, True] Translation: X:73.00, Y:-86.27, Z:0.66 [[-1.43656613e-01 -9.89627595e-01 -1.53515268e-05 7.29954261e+01] [-9.89627590e-01 1.43656613e-01 -1.07137977e-04 -8.62749877e+01] [ 1.08232046e-04 -1.98784339e-07 -9.99999994e-01 6.63158835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86762800000002 meters 0.012497854782439517 Centerline is valid? [True, True] Translation: X:72.96, Y:-86.39, Z:0.66 [[-6.65297613e-02 -9.97784440e-01 5.09250861e-05 7.29557066e+01] [-9.97784152e-01 6.65297808e-02 7.58144425e-04 -8.63862705e+01] [-7.59852745e-04 -3.73076227e-07 -9.99999711e-01 6.64144180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89762800000003 meters 0.012493947028845527 Centerline is valid? [True, True] Translation: X:72.92, Y:-86.51, Z:0.67 [[ 1.11152580e-02 -9.99938223e-01 -2.02872678e-05 7.29244172e+01] [-9.99936434e-01 -1.11152765e-02 1.89171852e-03 -8.65146487e+01] [-1.89182715e-03 -7.40961259e-07 -9.99998210e-01 6.65581860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92762800000003 meters 0.012451720872179464 Centerline is valid? [True, True] Translation: X:72.90, Y:-86.63, Z:0.67 [[ 8.90766488e-02 -9.96024722e-01 -3.21710306e-04 7.29024614e+01] [-9.96018122e-01 -8.90772297e-02 3.62598235e-03 -8.66273699e+01] [-3.64022513e-03 -2.56106159e-06 -9.99993374e-01 6.67332318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95762800000003 meters 0.012495340795575757 Centerline is valid? [True, True] Translation: X:72.89, Y:-86.75, Z:0.67 [[ 1.66884100e-01 -9.85976306e-01 -6.48687880e-04 7.28902598e+01] [-9.85968720e-01 -1.66885360e-01 3.86777269e-03 -8.67520897e+01] [-3.92178874e-03 -5.88380260e-06 -9.99992310e-01 6.67515107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.987628 meters 0.012461986340343467 Centerline is valid? [True, True] Translation: X:72.89, Y:-86.88, Z:0.67 [[ 2.43833751e-01 -9.69816492e-01 -1.03646019e-03 7.28873570e+01] [-9.69807544e-01 -2.43835953e-01 4.16600771e-03 -8.68776360e+01] [-4.29298924e-03 -1.06463727e-05 -9.99990785e-01 6.67608614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.017628 meters 0.012446680740889914 Centerline is valid? [True, True] Translation: X:72.89, Y:-86.99, Z:0.67 [[ 3.19335947e-01 -9.47640726e-01 -1.26790571e-03 7.28912745e+01] [-9.47633075e-01 -3.19338464e-01 3.80804697e-03 -8.69944677e+01] [-4.01355146e-03 -1.45368971e-05 -9.99991946e-01 6.67419185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.047628 meters 0.012836177698976837 Centerline is valid? [True, True] Translation: X:72.90, Y:-87.12, Z:0.67 [[ 3.94796274e-01 -9.18767907e-01 -1.19784961e-03 7.29039181e+01] [-9.18763510e-01 -3.94798091e-01 2.84245279e-03 -8.71178138e+01] [-3.08446314e-03 -2.16492558e-05 -9.99995243e-01 6.67591778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.077628 meters 0.01316008409566238 Centerline is valid? [True, True] Translation: X:72.93, Y:-87.24, Z:0.67 [[ 4.66175263e-01 -8.84691588e-01 -1.19095395e-03 7.29274399e+01] [-8.84688575e-01 -4.66176784e-01 2.30888027e-03 -8.72381925e+01] [-2.59784204e-03 -2.27195142e-05 -9.99996625e-01 6.67457369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.107628 meters 0.01311196714372313 Centerline is valid? [True, True] Translation: X:72.96, Y:-87.35, Z:0.67 [[ 5.34252095e-01 -8.45324707e-01 -9.15441577e-04 7.29606396e+01] [-8.45323409e-01 -5.34252879e-01 1.48146512e-03 -8.73533534e+01] [-1.74139637e-03 -1.76316509e-05 -9.99998484e-01 6.66515117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.137628 meters 0.0135403483922796 Centerline is valid? [True, True] Translation: X:73.00, Y:-87.46, Z:0.67 [[ 5.98202865e-01 -8.01344315e-01 -7.88605656e-04 7.29963074e+01] [-8.01343587e-01 -5.98203384e-01 1.08010449e-03 -8.74591648e+01] [-1.33728217e-03 -1.41775155e-05 -9.99999106e-01 6.66410228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.167628 meters 0.013285926898862738 Centerline is valid? [True, True] Translation: X:73.04, Y:-87.56, Z:0.67 [[ 6.57896096e-01 -7.53108453e-01 -6.20903726e-04 7.30440366e+01] [-7.53108103e-01 -6.57896389e-01 7.25730446e-04 -8.75624081e+01] [-9.55044053e-04 -9.84759991e-06 -9.99999544e-01 6.66307091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.197628 meters 0.012732395527464661 Centerline is valid? [True, True] Translation: X:73.10, Y:-87.66, Z:0.67 [[ 7.11969488e-01 -7.02210211e-01 -5.17662317e-04 7.31027731e+01] [-7.02210019e-01 -7.11969676e-01 5.18485546e-04 -8.76618015e+01] [-7.32645717e-04 -5.63822292e-06 -9.99999732e-01 6.66400461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.227628 meters 0.012471564926558801 Centerline is valid? [True, True] Translation: X:73.16, Y:-87.75, Z:0.67 [[ 7.62181712e-01 -6.47362902e-01 -5.58465807e-04 7.31595386e+01] [-6.47362724e-01 -7.62181916e-01 4.79422929e-04 -8.77499707e+01] [-7.36013157e-04 -3.87744220e-06 -9.99999729e-01 6.66606498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.257628 meters 0.01242557519977969 Centerline is valid? [True, True] Translation: X:73.16, Y:-87.76, Z:0.67 [[ 8.09015710e-01 -5.87786825e-01 -4.79633769e-04 7.31557834e+01] [-5.87786720e-01 -8.09015852e-01 3.50652379e-04 -8.77561156e+01] [-5.94140171e-04 -1.76092370e-06 -9.99999824e-01 6.66671257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.287628 meters 0.012267113879261222 Centerline is valid? [True, True] Translation: X:73.15, Y:-87.76, Z:0.67 [[ 8.51277361e-01 -5.24715624e-01 -6.07308949e-04 7.31506970e+01] [-5.24715491e-01 -8.51277577e-01 3.74893276e-04 -8.77599159e+01] [-7.13700850e-04 -4.73745314e-07 -9.99999745e-01 6.67037923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.317628 meters 0.012323979377665165 Centerline is valid? [True, True] Translation: X:73.15, Y:-87.76, Z:0.67 [[ 8.87966233e-01 -4.59908341e-01 -5.36056820e-04 7.31460094e+01] [-4.59908258e-01 -8.87966395e-01 2.75556591e-04 -8.77624774e+01] [-6.02731216e-04 1.85200996e-06 -9.99999818e-01 6.67019620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34762800000001 meters 0.0123911978121484 Centerline is valid? [True, True] Translation: X:73.14, Y:-87.77, Z:0.67 [[ 9.20758392e-01 -3.90132540e-01 -7.64455568e-04 7.31398723e+01] [-3.90132409e-01 -9.20758710e-01 3.20011299e-04 -8.77684149e+01] [-8.28725944e-04 3.58580317e-06 -9.99999657e-01 6.67686713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37762800000002 meters 0.012557102311970016 Centerline is valid? [True, True] Translation: X:73.13, Y:-87.77, Z:0.67 [[ 9.48060582e-01 -3.18085275e-01 -1.70009315e-03 7.31342409e+01] [-3.18084782e-01 -9.48062107e-01 5.59730348e-04 -8.77741997e+01] [-1.78983587e-03 1.01154790e-05 -9.99998398e-01 6.68886084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40762800000002 meters 0.015268408338074907 Centerline is valid? [True, True] Translation: X:73.13, Y:-87.78, Z:0.67 [[ 9.69562418e-01 -2.44813671e-01 -3.87103567e-03 7.31285352e+01] [-2.44811844e-01 -9.69570145e-01 9.46200124e-04 -8.77820895e+01] [-3.98488334e-03 3.02753030e-05 -9.99992060e-01 6.72679481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43762800000002 meters 0.013301368585457241 Centerline is valid? [True, True] Translation: X:73.12, Y:-87.79, Z:0.67 [[ 9.85060753e-01 -1.72142405e-01 -4.72289013e-03 7.31200594e+01] [-1.72140697e-01 -9.85072073e-01 7.68747482e-04 -8.77871458e+01] [-4.78472122e-03 5.57386279e-05 -9.99988552e-01 6.72508201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46762800000002 meters 0.01387276630593639 Centerline is valid? [True, True] Translation: X:73.11, Y:-87.79, Z:0.67 [[ 9.95283984e-01 -9.68709657e-02 -5.07998217e-03 7.31111398e+01] [-9.68700707e-02 -9.95296946e-01 4.22503456e-04 -8.77918253e+01] [-5.09701906e-03 7.15873089e-05 -9.99987008e-01 6.72569262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49762800000002 meters 0.014062950669260709 Centerline is valid? [True, True] Translation: X:73.10, Y:-87.80, Z:0.67 [[ 9.99773832e-01 -2.07080340e-02 -4.84376652e-03 7.31042569e+01] [-2.07081689e-02 -9.99785563e-01 2.23120696e-05 -8.77991755e+01] [-4.84318988e-03 7.79985120e-05 -9.99988269e-01 6.71973186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52762800000002 meters 0.014979754704560208 Centerline is valid? [True, True] Translation: X:73.10, Y:-87.81, Z:0.67 [[ 9.98535234e-01 5.39762430e-02 -3.73512130e-03 7.30961230e+01] [ 5.39755880e-02 -9.98542217e-01 -2.76008382e-04 -8.78055579e+01] [-3.74457420e-03 7.39987256e-05 -9.99992986e-01 6.70996207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55762800000002 meters 0.018033425416620393 Centerline is valid? [True, True] Translation: X:73.09, Y:-87.81, Z:0.67 [[ 9.91463255e-01 1.30333130e-01 -3.72676131e-03 7.30897101e+01] [ 1.30331902e-01 -9.91470256e-01 -5.71295492e-04 -8.78142209e+01] [-3.76943172e-03 8.07025963e-05 -9.99992892e-01 6.72712730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58762800000002 meters 0.015224600317422702 Centerline is valid? [True, True] Translation: X:73.08, Y:-87.82, Z:0.67 [[ 9.78128122e-01 2.07997894e-01 -1.50106690e-03 7.30845207e+01] [ 2.07997599e-01 -9.78129273e-01 -3.52072127e-04 -8.78249578e+01] [-1.54146774e-03 3.21533371e-05 -9.99998811e-01 6.70180342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61762800000002 meters 0.015405785000265517 Centerline is valid? [True, True] Translation: X:73.08, Y:-87.83, Z:0.67 [[ 9.58513669e-01 2.85045551e-01 -7.61753449e-04 7.30785679e+01] [ 2.85045448e-01 -9.58513971e-01 -2.42855473e-04 -8.78341763e+01] [-7.99376196e-04 1.56459373e-05 -9.99999680e-01 6.70205790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64762800000003 meters 0.014942549520162583 Centerline is valid? [True, True] Translation: X:73.07, Y:-87.84, Z:0.67 [[ 9.32458178e-01 3.61277231e-01 -7.13375581e-04 7.30727335e+01] [ 3.61277114e-01 -9.32458451e-01 -2.90710510e-04 -8.78426407e+01] [-7.70220177e-04 1.33491210e-05 -9.99999703e-01 6.70513044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67762800000003 meters 0.013998665027211192 Centerline is valid? [True, True] Translation: X:73.07, Y:-87.85, Z:0.67 [[ 9.00143101e-01 4.35593770e-01 -6.82974213e-04 7.30713366e+01] [ 4.35593635e-01 -9.00143360e-01 -3.42924048e-04 -8.78544395e+01] [-7.64150281e-04 1.11814956e-05 -9.99999708e-01 6.70851454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70762800000003 meters 0.01374766714816165 Centerline is valid? [True, True] Translation: X:73.07, Y:-87.86, Z:0.67 [[ 8.61741455e-01 5.07346908e-01 -8.83365473e-04 7.30685416e+01] [ 5.07346627e-01 -8.61741907e-01 -5.34034794e-04 -8.78645370e+01] [-1.03217395e-03 1.20274275e-05 -9.99999467e-01 6.71173977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.737628 meters 0.012493840234557695 Centerline is valid? [True, True] Translation: X:73.07, Y:-87.88, Z:0.67 [[ 8.15788104e-01 5.78346845e-01 -2.16706094e-03 7.30716517e+01] [ 5.78344756e-01 -8.15790982e-01 -1.55449025e-03 -8.78804857e+01] [-2.66690330e-03 1.48263217e-05 -9.99996444e-01 6.71699880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.767628 meters 0.012362212386860248 Centerline is valid? [True, True] Translation: X:73.07, Y:-87.89, Z:0.67 [[ 7.66143244e-01 6.42666529e-01 -2.06469417e-03 7.30729314e+01] [ 6.42664170e-01 -7.66146026e-01 -1.74137736e-03 -8.78919420e+01] [-2.70098218e-03 7.23953774e-06 -9.99996352e-01 6.72095139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.797628 meters 0.012348463018009655 Centerline is valid? [True, True] Translation: X:73.07, Y:-87.90, Z:0.67 [[ 7.11999510e-01 7.02177257e-01 -1.94889322e-03 7.30747324e+01] [ 7.02174620e-01 -7.12002177e-01 -1.92424705e-03 -8.79029131e+01] [-2.73877873e-03 1.59959615e-06 -9.99996250e-01 6.72049770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.827628 meters 0.0124678661880875 Centerline is valid? [True, True] Translation: X:73.08, Y:-87.91, Z:0.67 [[ 6.52810324e-01 7.57519731e-01 -1.59272627e-03 7.30762648e+01] [ 7.57517496e-01 -6.52812267e-01 -1.84045037e-03 -8.79127742e+01] [-2.43392872e-03 -5.05301136e-06 -9.99997038e-01 6.71928933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.857628 meters 0.01244092476879132 Centerline is valid? [True, True] Translation: X:73.08, Y:-87.92, Z:0.67 [[ 5.91347526e-01 8.06415217e-01 -1.61269634e-03 7.30798017e+01] [ 8.06412246e-01 -5.91349725e-01 -2.18891644e-03 -8.79235731e+01] [-2.71884306e-03 -6.08775509e-06 -9.99996304e-01 6.72260336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.887628 meters 0.012453597314335759 Centerline is valid? [True, True] Translation: X:73.08, Y:-87.93, Z:0.67 [[ 5.26573507e-01 8.50128455e-01 -1.39681336e-03 7.30823136e+01] [ 8.50125491e-01 -5.26575360e-01 -2.24500391e-03 -8.79346558e+01] [-2.64406920e-03 -5.30705799e-06 -9.99996504e-01 6.73107080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.917628 meters 0.01243601983281406 Centerline is valid? [True, True] Translation: X:73.08, Y:-87.94, Z:0.67 [[ 4.59201912e-01 8.88331146e-01 -1.17459927e-03 7.30849647e+01] [ 8.88328255e-01 -4.59203414e-01 -2.26633554e-03 -8.79441285e+01] [-2.55263644e-03 -2.72410616e-06 -9.99996742e-01 6.73497070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.947628 meters 0.012548641551376263 Centerline is valid? [True, True] Translation: X:73.09, Y:-87.95, Z:0.67 [[ 3.89197446e-01 9.21153925e-01 -8.91621019e-04 7.30873550e+01] [ 9.21151508e-01 -3.89198467e-01 -2.11009898e-03 -8.79532143e+01] [-2.29074349e-03 -7.29140063e-08 -9.99997376e-01 6.73765316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.977628 meters 0.012576211391113756 Centerline is valid? [True, True] Translation: X:73.09, Y:-87.96, Z:0.67 [[ 3.18567446e-01 9.47900115e-01 -3.93467994e-04 7.30889820e+01] [ 9.47899378e-01 -3.18567689e-01 -1.18159911e-03 -8.79621452e+01] [-1.24538412e-03 3.45094571e-06 -9.99999225e-01 6.73971653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.007628 meters 0.012747153143799947 Centerline is valid? [True, True] Translation: X:73.09, Y:-87.97, Z:0.67 [[ 2.44299099e-01 9.69699914e-01 -1.64717133e-04 7.30928877e+01] [ 9.69699687e-01 -2.44299154e-01 -6.64019466e-04 -8.79715401e+01] [-6.84139875e-04 2.49320439e-06 -9.99999766e-01 6.73326839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.037628 meters 0.012706643906406224 Centerline is valid? [True, True] Translation: X:73.10, Y:-87.98, Z:0.67 [[ 1.67445525e-01 9.85881329e-01 4.38867964e-05 7.30990351e+01] [ 9.85881293e-01 -1.67445531e-01 2.65569703e-04 -8.79808318e+01] [ 2.69168860e-04 -1.20128678e-06 -9.99999964e-01 6.72769488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.067628 meters 0.01273107246206673 Centerline is valid? [True, True] Translation: X:73.10, Y:-87.99, Z:0.67 [[ 8.96711112e-02 9.95971428e-01 7.41695338e-05 7.31046141e+01] [ 9.95971056e-01 -8.96711418e-02 8.61587851e-04 -8.79904112e+01] [ 8.64767750e-04 -3.38883115e-06 -9.99999626e-01 6.72521953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09762800000001 meters 0.01273107246206673 Centerline is valid? [True, True] Translation: X:73.11, Y:-88.00, Z:0.67 [[ 1.13447048e-02 9.99935647e-01 6.42243514e-06 7.31095533e+01] [ 9.99935273e-01 -1.13447061e-02 8.64758008e-04 -8.79993568e+01] [ 8.64775219e-04 -3.38840486e-06 -9.99999626e-01 6.72521890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12762800000002 meters 0.012775611602246793 Centerline is valid? [True, True] Translation: X:73.12, Y:-88.01, Z:0.67 [[-6.64407958e-02 9.97790368e-01 -4.84022325e-05 7.31191601e+01] [ 9.97790136e-01 6.64408133e-02 6.80067415e-04 -8.80072414e+01] [ 6.81780600e-04 -3.11104994e-06 -9.99999768e-01 6.73077196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15762800000002 meters 0.012870021304269588 Centerline is valid? [True, True] Translation: X:73.13, Y:-88.01, Z:0.67 [[-1.43605733e-01 9.89634980e-01 -2.42446651e-05 7.31277879e+01] [ 9.89634967e-01 1.43605736e-01 1.59971219e-04 -8.80144852e+01] [ 1.61794786e-04 -1.02058416e-06 -9.99999987e-01 6.73737033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18762800000002 meters 0.012913232073904704 Centerline is valid? [True, True] Translation: X:73.14, Y:-88.02, Z:0.67 [[-2.19548968e-01 9.75601476e-01 1.07483476e-04 7.31363603e+01] [ 9.75601365e-01 2.19548994e-01 -4.64855439e-04 -8.80212791e+01] [-4.77111541e-04 2.80249359e-06 -9.99999886e-01 6.74552753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21762800000002 meters 0.013175896006452989 Centerline is valid? [True, True] Translation: X:73.15, Y:-88.03, Z:0.68 [[-2.94051612e-01 9.55789456e-01 4.06473152e-04 7.31466208e+01] [ 9.55788590e-01 2.94051893e-01 -1.28707665e-03 -8.80265383e+01] [-1.34969849e-03 1.00354379e-05 -9.99999089e-01 6.76022319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24762800000002 meters 0.013124288411213754 Centerline is valid? [True, True] Translation: X:73.16, Y:-88.03, Z:0.68 [[-3.67594737e-01 9.29985627e-01 9.17864759e-04 7.31578959e+01] [ 9.29982858e-01 3.67595882e-01 -2.26942766e-03 -8.80325533e+01] [-2.44793841e-03 1.93688280e-05 -9.99997004e-01 6.77301554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27762800000002 meters 0.01313774117580466 Centerline is valid? [True, True] Translation: X:73.17, Y:-88.04, Z:0.68 [[-4.39495491e-01 8.98242764e-01 1.91043004e-03 7.31712306e+01] [ 8.98234604e-01 4.39499642e-01 -3.82888869e-03 -8.80358448e+01] [-4.27890488e-03 3.32350581e-05 -9.99990845e-01 6.78965371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30762800000002 meters 0.013356619616970839 Centerline is valid? [True, True] Translation: X:73.18, Y:-88.04, Z:0.68 [[-5.08311653e-01 8.61162841e-01 4.22196643e-03 7.31832207e+01] [ 8.61134199e-01 5.08329182e-01 -7.02377034e-03 -8.80394936e+01] [-8.19475876e-03 6.54153670e-05 -9.99966420e-01 6.83092613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33762800000002 meters 0.013166278839549685 Centerline is valid? [True, True] Translation: X:73.20, Y:-88.04, Z:0.68 [[-5.74280467e-01 8.18639168e-01 5.64436673e-03 7.31956611e+01] [ 8.18600932e-01 5.74308199e-01 -7.91241699e-03 -8.80404645e+01] [-9.71902055e-03 7.65373505e-05 -9.99952766e-01 6.83240376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36762800000002 meters 0.013354679961983813 Centerline is valid? [True, True] Translation: X:73.21, Y:-88.04, Z:0.68 [[-6.36734769e-01 7.71054422e-01 6.62668600e-03 7.32071050e+01] [ 7.71013962e-01 6.36769246e-01 -7.89925309e-03 -8.80424492e+01] [-1.03104239e-02 7.95383380e-05 -9.99946843e-01 6.84345084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39762800000003 meters 0.013320811082437534 Centerline is valid? [True, True] Translation: X:73.22, Y:-88.05, Z:0.68 [[-6.95106563e-01 7.18865743e-01 7.67522808e-03 7.32160026e+01] [ 7.18823280e-01 6.95148931e-01 -7.81388226e-03 -8.80450811e+01] [-1.09525589e-02 8.56517745e-05 -9.99940015e-01 6.84385224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42762800000003 meters 0.013165880966606475 Centerline is valid? [True, True] Translation: X:73.23, Y:-88.04, Z:0.68 [[-7.48362548e-01 6.63250840e-01 7.19867854e-03 7.32271074e+01] [ 6.63221279e-01 7.48397165e-01 -6.26251411e-03 -8.80439399e+01] [-9.54108835e-03 8.76857772e-05 -9.99954479e-01 6.82441016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45762800000003 meters 0.013190321310300927 Centerline is valid? [True, True] Translation: X:73.25, Y:-88.03, Z:0.68 [[-7.92644608e-01 6.09647067e-01 6.70661655e-03 7.32508376e+01] [ 6.09626175e-01 7.92672976e-01 -5.04783905e-03 -8.80285857e+01] [-8.39355396e-03 8.73865858e-05 -9.99964770e-01 6.80808862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.487628 meters 0.016570112255334654 Centerline is valid? [True, True] Translation: X:73.27, Y:-88.01, Z:0.68 [[-8.31967032e-01 5.54800787e-01 5.19070283e-03 7.32683646e+01] [ 5.54790623e-01 8.31983220e-01 -3.35939747e-03 -8.80106069e+01] [-6.18237402e-03 8.48453122e-05 -9.99980885e-01 6.80505755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.517628 meters 0.013735593842074694 Centerline is valid? [True, True] Translation: X:73.30, Y:-88.00, Z:0.68 [[-8.68696381e-01 4.95332245e-01 3.54463695e-03 7.32957969e+01] [ 4.95328399e-01 8.68703611e-01 -1.95284688e-03 -8.79964326e+01] [-4.04654695e-03 5.93283263e-05 -9.99991811e-01 6.76547696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.547628 meters 0.01404480455751021 Centerline is valid? [True, True] Translation: X:73.31, Y:-87.98, Z:0.68 [[-9.00976082e-01 4.33858396e-01 2.99867554e-03 7.33134941e+01] [ 4.33856189e-01 9.00981070e-01 -1.38511787e-03 -8.79761150e+01] [-3.30269492e-03 5.30358682e-05 -9.99994545e-01 6.75246688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.577628 meters 0.014182348514110281 Centerline is valid? [True, True] Translation: X:73.33, Y:-87.95, Z:0.67 [[-9.29077774e-01 3.69875558e-01 2.56149823e-03 7.33316747e+01] [ 3.69874290e-01 9.29081304e-01 -9.69655370e-04 -8.79546404e+01] [-2.73849193e-03 4.65470832e-05 -9.99996249e-01 6.74217664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.607628 meters 0.01438608483924565 Centerline is valid? [True, True] Translation: X:73.34, Y:-87.93, Z:0.67 [[-9.52869514e-01 3.03368615e-01 2.67806576e-03 7.33446739e+01] [ 3.03367558e-01 9.52873277e-01 -8.01983314e-04 -8.79303564e+01] [-2.79515386e-03 4.82528187e-05 -9.99996092e-01 6.73869792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.637628 meters 0.014078639353024312 Centerline is valid? [True, True] Translation: X:73.34, Y:-87.90, Z:0.67 [[-9.72006991e-01 2.34927854e-01 3.36354437e-03 7.33444438e+01] [ 2.34926657e-01 9.72012809e-01 -7.52279793e-04 -8.79005917e+01] [-3.44613969e-03 5.89650169e-05 -9.99994060e-01 6.73880369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.667628 meters 0.013925347086434389 Centerline is valid? [True, True] Translation: X:73.37, Y:-87.88, Z:0.67 [[-9.86363488e-01 1.64521111e-01 4.45809460e-03 7.33672363e+01] [ 1.64519766e-01 9.86373559e-01 -6.69089605e-04 -8.78760138e+01] [-4.50742600e-03 7.34791260e-05 -9.99989839e-01 6.74079947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.697628 meters 0.013293385489722207 Centerline is valid? [True, True] Translation: X:73.51, Y:-87.02, Z:-0.19 [[-9.79410791e-01 -2.01765233e-01 6.73007914e-03 7.35067581e+01] [ 2.01760795e-01 -9.79433912e-01 -1.33911134e-03 -8.70218983e+01] [ 6.86185385e-03 4.63260215e-05 9.99976456e-01 -1.86635580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.727628 meters 0.013319424357778024 Centerline is valid? [True, True] Translation: X:73.31, Y:-87.86, Z:0.68 [[-9.87922615e-01 1.54743377e-01 7.96207827e-03 7.33050248e+01] [ 1.54739073e-01 9.87954695e-01 -1.15758037e-03 -8.78636179e+01] [-8.04530051e-03 8.84447849e-05 -9.99967632e-01 6.76042275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.757628 meters 0.012861090428863433 Centerline is valid? [True, True] Translation: X:73.31, Y:-87.83, Z:0.68 [[-9.96589954e-01 8.20414937e-02 8.81229063e-03 7.33098404e+01] [ 8.20389799e-02 9.96628911e-01 -6.46976569e-04 -8.78340317e+01] [-8.83566254e-03 7.81809843e-05 -9.99960962e-01 6.76462083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.787628 meters 0.012647342496880525 Centerline is valid? [True, True] Translation: X:73.30, Y:-87.80, Z:0.68 [[-9.99915330e-01 8.80222560e-03 9.58406963e-03 7.33034002e+01] [ 8.80242959e-03 9.99961258e-01 -2.08992200e-05 -8.78047955e+01] [-9.58388228e-03 6.34656477e-05 -9.99954072e-01 6.76976992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.817628 meters 0.012367021477243504 Centerline is valid? [True, True] Translation: X:73.32, Y:-86.95, Z:-0.19 [[-9.97750588e-01 -6.61241342e-02 1.10164899e-02 7.33221922e+01] [ 6.61204136e-02 -9.97811404e-01 -7.02007300e-04 -8.69526514e+01] [ 1.10387988e-02 2.79866703e-05 9.99939070e-01 -1.88508546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84762800000001 meters 0.012323749590700327 Centerline is valid? [True, True] Translation: X:73.21, Y:-87.80, Z:0.68 [[-9.99938078e-01 -2.10076482e-03 1.09282200e-02 7.32097918e+01] [-2.10040755e-03 9.99997793e-01 4.41701059e-05 -8.78016046e+01] [-1.09282887e-02 2.12136551e-05 -9.99940284e-01 6.76786086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87762800000002 meters 0.012296317256313282 Centerline is valid? [True, True] Translation: X:73.21, Y:-86.95, Z:-0.19 [[-9.97997640e-01 -6.23287589e-02 1.07627732e-02 7.32141930e+01] [ 6.23248052e-02 -9.98055672e-01 -7.02692693e-04 -8.69518843e+01] [ 1.07856448e-02 -3.04979057e-05 9.99941833e-01 -1.88299949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90762800000002 meters 0.012333703778919439 Centerline is valid? [True, True] Translation: X:73.11, Y:-87.80, Z:0.68 [[-9.99868309e-01 -1.12433791e-02 1.17025909e-02 7.31100845e+01] [-1.12427379e-02 9.99936791e-01 1.20577298e-04 -8.78015845e+01] [-1.17032069e-02 -1.10077440e-05 -9.99931515e-01 6.75825706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93762800000002 meters 0.012355353931522428 Centerline is valid? [True, True] Translation: X:73.11, Y:-86.95, Z:-0.19 [[-9.98210380e-01 -5.85607021e-02 1.21112244e-02 7.31052578e+01] [ 5.85568759e-02 -9.98283849e-01 -6.70596659e-04 -8.69498266e+01] [ 1.21297103e-02 3.97989166e-05 9.99926432e-01 -1.87599344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96762800000002 meters 0.012429039587874967 Centerline is valid? [True, True] Translation: X:73.01, Y:-87.80, Z:0.68 [[-9.99750873e-01 -1.83935794e-02 1.26439297e-02 7.30071529e+01] [-1.83924052e-02 9.99830824e-01 2.09154929e-04 -8.78032036e+01] [-1.26456378e-02 -2.34494557e-05 -9.99920040e-01 6.76200845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99762800000002 meters 0.012454646198788803 Centerline is valid? [True, True] Translation: X:73.01, Y:-87.78, Z:0.68 [[-9.95874077e-01 -8.98104982e-02 1.29960140e-02 7.30121080e+01] [-8.98032129e-02 9.95958871e-01 1.14424230e-03 -8.77771397e+01] [-1.30462604e-02 -2.75625647e-05 -9.99914894e-01 6.76098316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02762800000002 meters 0.012389103314204416 Centerline is valid? [True, True] Translation: X:73.00, Y:-87.75, Z:0.68 [[-9.86923718e-01 -1.60698410e-01 1.25537609e-02 7.30018005e+01] [-1.60685755e-01 9.87003556e-01 2.01688303e-03 -8.77513233e+01] [-1.27147165e-02 -2.67008418e-05 -9.99919164e-01 6.75279260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05762800000002 meters 0.012316234534812386 Centerline is valid? [True, True] Translation: X:72.98, Y:-87.73, Z:0.67 [[-9.72732931e-01 -2.31635540e-01 1.16457085e-02 7.29817451e+01] [-2.31619273e-01 9.72802640e-01 2.74524014e-03 -8.77274856e+01] [-1.19648712e-02 -2.69850555e-05 -9.99928418e-01 6.73739685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08762800000002 meters 0.012438487753929563 Centerline is valid? [True, True] Translation: X:72.93, Y:-87.71, Z:0.67 [[-9.53104279e-01 -3.02437742e-01 1.11195916e-02 7.29321004e+01] [-3.02417526e-01 9.53169141e-01 3.49697226e-03 -8.77120103e+01] [-1.16564680e-02 -2.97801652e-05 -9.99932061e-01 6.73942483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11762800000002 meters 0.012300702953378135 Centerline is valid? [True, True] Translation: X:72.87, Y:-87.70, Z:0.67 [[-9.27662282e-01 -3.73267140e-01 1.06926339e-02 7.28710129e+01] [-3.73242903e-01 9.27723903e-01 4.25381777e-03 -8.77024750e+01] [-1.15076225e-02 -4.48434292e-05 -9.99933784e-01 6.71997674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14762800000003 meters 0.01240637004938753 Centerline is valid? [True, True] Translation: X:72.80, Y:-87.70, Z:0.67 [[-8.96773171e-01 -4.42358866e-01 1.07941324e-02 7.28001306e+01] [-4.42327634e-01 8.96838129e-01 5.25688758e-03 -8.77017353e+01] [-1.20060204e-02 -6.03073135e-05 -9.99927923e-01 6.72544854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17762800000003 meters 0.012588033924925895 Centerline is valid? [True, True] Translation: X:72.72, Y:-87.71, Z:0.67 [[-8.60379496e-01 -5.09528584e-01 1.13024044e-02 7.27179129e+01] [-5.09485909e-01 8.60453726e-01 6.59501400e-03 -8.77125203e+01] [-1.30855441e-02 -8.42009509e-05 -9.99914377e-01 6.73614809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20762800000003 meters 0.012653036626391792 Centerline is valid? [True, True] Translation: X:72.63, Y:-87.73, Z:0.68 [[-8.18983236e-01 -5.73689205e-01 1.21307630e-02 7.26331063e+01] [-5.73628235e-01 8.19073064e-01 8.36439338e-03 -8.77323226e+01] [-1.47345434e-02 -1.08250237e-04 -9.99891435e-01 6.75241021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.237628 meters 0.012877556916017125 Centerline is valid? [True, True] Translation: X:72.54, Y:-87.77, Z:0.68 [[-7.72594502e-01 -6.34775077e-01 1.25832118e-02 7.25392759e+01] [-6.34693717e-01 7.72696955e-01 1.01637595e-02 -8.77671472e+01] [-1.61747107e-02 -1.34020758e-04 -9.99869172e-01 6.76940751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.267628 meters 0.01318052619792943 Centerline is valid? [True, True] Translation: X:72.45, Y:-87.81, Z:0.68 [[-7.21659569e-01 -6.92117602e-01 1.34421381e-02 7.24548316e+01] [-6.92001721e-01 7.21784732e-01 1.26656511e-02 -8.78052323e+01] [-1.84684501e-02 -1.61694371e-04 -9.99829431e-01 6.79542873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.297628 meters 0.01310997473770483 Centerline is valid? [True, True] Translation: X:72.36, Y:-87.86, Z:0.68 [[-6.66634905e-01 -7.45271277e-01 1.29856740e-02 7.23638367e+01] [-7.45134852e-01 6.66761348e-01 1.42603229e-02 -8.78601646e+01] [-1.92861546e-02 -1.69649281e-04 -9.99813990e-01 6.79451374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.327628 meters 0.01318716062875884 Centerline is valid? [True, True] Translation: X:72.28, Y:-87.92, Z:0.68 [[-6.07887912e-01 -7.93942502e-01 1.12955617e-02 7.22782763e+01] [-7.93810150e-01 6.07992829e-01 1.44971196e-02 -8.79199213e+01] [-1.83774999e-02 -1.53907752e-04 -9.99831108e-01 6.79719517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.357628 meters 0.013073151450321379 Centerline is valid? [True, True] Translation: X:72.19, Y:-87.99, Z:0.68 [[-5.44930815e-01 -8.38422861e-01 9.87483175e-03 7.21929327e+01] [-8.38290319e-01 5.45020258e-01 1.49083713e-02 -8.79918445e+01] [-1.78815027e-02 -1.53944906e-04 -9.99840101e-01 6.78657295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.387628 meters 0.013021399573532976 Centerline is valid? [True, True] Translation: X:72.11, Y:-88.07, Z:0.68 [[-4.78609177e-01 -8.77988532e-01 8.33027481e-03 7.21141973e+01] [-8.77860969e-01 4.78681643e-01 1.49667474e-02 -8.80689801e+01] [-1.71281823e-02 -1.49600448e-04 -9.99853291e-01 6.77880025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.417628 meters 0.012837979050749057 Centerline is valid? [True, True] Translation: X:72.04, Y:-88.16, Z:0.68 [[-4.09555677e-01 -9.12259283e-01 6.86651643e-03 7.20363601e+01] [-9.12136907e-01 4.09613209e-01 1.49426204e-02 -8.81627380e+01] [-1.64441600e-02 -1.43368048e-04 -9.99864775e-01 6.76382344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.447628 meters 0.012906609055908989 Centerline is valid? [True, True] Translation: X:71.97, Y:-88.26, Z:0.68 [[-3.37196764e-01 -9.41419404e-01 5.27709359e-03 7.19663928e+01] [-9.41310736e-01 3.37238024e-01 1.43043038e-02 -8.82569656e+01] [-1.52459857e-02 -1.44019908e-04 -9.99883763e-01 6.75520614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.477628 meters 0.012800394258114592 Centerline is valid? [True, True] Translation: X:71.91, Y:-88.36, Z:0.67 [[-2.63222319e-01 -9.64726632e-01 4.06645348e-03 7.19052742e+01] [-9.64619774e-01 2.63253689e-01 1.43592330e-02 -8.83553922e+01] [-1.49232433e-02 -1.42910831e-04 -9.99888632e-01 6.74675733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.507628 meters 0.012888328104016014 Centerline is valid? [True, True] Translation: X:71.85, Y:-88.46, Z:0.68 [[-1.88062034e-01 -9.82153012e-01 2.85170010e-03 7.18507495e+01] [-9.82050659e-01 1.88083606e-01 1.41795847e-02 -8.84621510e+01] [-1.44628799e-02 -1.33872415e-04 -9.99895398e-01 6.75213237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.537628 meters 0.012540079697894547 Centerline is valid? [True, True] Translation: X:71.81, Y:-88.58, Z:0.67 [[-1.11933284e-01 -9.93714285e-01 1.69129486e-03 7.18057382e+01] [-9.93616760e-01 1.11945995e-01 1.39222300e-02 -8.85758185e+01] [-1.40240526e-02 -1.22137979e-04 -9.99901651e-01 6.73986368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.567628 meters 0.012628162806732386 Centerline is valid? [True, True] Translation: X:71.77, Y:-88.69, Z:0.67 [[-3.65398726e-02 -9.99332021e-01 5.91958438e-04 7.17697059e+01] [-9.99238634e-01 3.65445506e-02 1.36618971e-02 -8.86933765e+01] [-1.36744041e-02 -9.23037607e-05 -9.99906497e-01 6.74222886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59762800000001 meters 0.012354414890945131 Centerline is valid? [True, True] Translation: X:71.74, Y:-88.81, Z:0.67 [[ 3.97898162e-02 -9.99207968e-01 -4.56235625e-04 7.17431125e+01] [-9.99119795e-01 -3.97923660e-02 1.32741458e-02 -8.88079664e+01] [-1.32817869e-02 -7.23417757e-05 -9.99911791e-01 6.74018998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62762800000002 meters 0.012282505039793737 Centerline is valid? [True, True] Translation: X:71.73, Y:-88.93, Z:0.67 [[ 1.15819883e-01 -9.93269217e-01 -1.42037454e-03 7.17259747e+01] [-9.93189019e-01 -1.15828580e-01 1.26218862e-02 -8.89285468e+01] [-1.27014510e-02 -5.11649781e-05 -9.99919332e-01 6.73118894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65762800000002 meters 0.01219830045432753 Centerline is valid? [True, True] Translation: X:71.72, Y:-89.05, Z:0.67 [[ 1.89519953e-01 -9.81874161e-01 -2.30656549e-03 7.17198062e+01] [-9.81800740e-01 -1.89533988e-01 1.20072850e-02 -8.90511421e+01] [-1.22268155e-02 -1.10323897e-05 -9.99925250e-01 6.73697573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68762800000002 meters 0.012212923324394121 Centerline is valid? [True, True] Translation: X:71.72, Y:-89.16, Z:0.67 [[ 2.63725359e-01 -9.64592465e-01 -3.21107810e-03 7.17183292e+01] [-9.64521298e-01 -2.63744907e-01 1.17170933e-02 -8.91607754e+01] [-1.21491254e-02 7.05856800e-06 -9.99926197e-01 6.73295427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71762800000002 meters 0.012303768646586827 Centerline is valid? [True, True] Translation: X:71.73, Y:-89.29, Z:0.67 [[ 3.36326323e-01 -9.41736606e-01 -4.09511355e-03 7.17315872e+01] [-9.41667702e-01 -3.36351253e-01 1.13917946e-02 -8.92906344e+01] [-1.21054666e-02 2.48757604e-05 -9.99926726e-01 6.74082110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74762800000002 meters 0.012481718661521755 Centerline is valid? [True, True] Translation: X:71.75, Y:-89.41, Z:0.67 [[ 4.06831395e-01 -9.13488727e-01 -5.15381562e-03 7.17497675e+01] [-9.13416844e-01 -4.06864036e-01 1.14597222e-02 -8.94057429e+01] [-1.25652292e-02 4.54072453e-05 -9.99921053e-01 6.74433860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77762800000002 meters 0.012743074488422098 Centerline is valid? [True, True] Translation: X:71.78, Y:-89.52, Z:0.67 [[ 4.74062244e-01 -8.80469748e-01 -6.16542471e-03 7.17780790e+01] [-8.80397475e-01 -4.74102328e-01 1.12813537e-02 -8.95179184e+01] [-1.28559329e-02 7.99604816e-05 -9.99917356e-01 6.73926828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80762800000002 meters 0.012892601490524954 Centerline is valid? [True, True] Translation: X:71.81, Y:-89.63, Z:0.67 [[ 5.39815765e-01 -8.41756359e-01 -6.72097540e-03 7.18129070e+01] [-8.41693178e-01 -5.39857596e-01 1.03136252e-02 -8.96283094e+01] [-1.23099292e-02 8.95416886e-05 -9.99924226e-01 6.72686911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83762800000002 meters 0.012947820644503517 Centerline is valid? [True, True] Translation: X:71.85, Y:-89.73, Z:0.67 [[ 6.01734923e-01 -7.98664849e-01 -7.03850693e-03 7.18535380e+01] [-7.98612238e-01 -6.01776077e-01 9.16766838e-03 -8.97327673e+01] [-1.15574996e-02 1.04531539e-04 -9.99933204e-01 6.71417721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86762800000002 meters 0.013162036598044165 Centerline is valid? [True, True] Translation: X:71.90, Y:-89.83, Z:0.67 [[ 6.60833329e-01 -7.50497280e-01 -7.28998808e-03 7.19022595e+01] [-7.50453399e-01 -6.60873529e-01 8.11630910e-03 -8.98344100e+01] [-1.09090281e-02 1.07268776e-04 -9.99940489e-01 6.71356128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89762800000003 meters 0.013329649066529123 Centerline is valid? [True, True] Translation: X:71.96, Y:-89.93, Z:0.67 [[ 7.15816609e-01 -6.98248648e-01 -7.44370629e-03 7.19565957e+01] [-6.98212517e-01 -7.15855302e-01 7.10409507e-03 -8.99297297e+01] [-1.02890414e-02 1.12059657e-04 -9.99947060e-01 6.71069813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92762800000003 meters 0.01343107126985296 Centerline is valid? [True, True] Translation: X:71.95, Y:-89.94, Z:0.67 [[ 7.66204723e-01 -6.42548932e-01 -7.82255241e-03 7.19514529e+01] [-6.42517301e-01 -7.66244642e-01 6.37711370e-03 -8.99379434e+01] [-1.00915965e-02 1.39950619e-04 -9.99949069e-01 6.70313018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95762800000003 meters 0.013963526377316376 Centerline is valid? [True, True] Translation: X:71.94, Y:-89.94, Z:0.67 [[ 8.12892221e-01 -5.82357215e-01 -8.14312493e-03 7.19444943e+01] [-5.82329922e-01 -8.12932992e-01 5.64023378e-03 -8.99425382e+01] [-9.90444575e-03 1.57083134e-04 -9.99950937e-01 6.70454252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.987628 meters 0.013963526377316376 Centerline is valid? [True, True] Translation: X:71.94, Y:-89.95, Z:0.67 [[ 8.55901136e-01 -5.17068653e-01 -8.55883271e-03 7.19360653e+01] [-5.17044629e-01 -8.55943913e-01 4.98680589e-03 -8.99480050e+01] [-9.90440177e-03 1.57085664e-04 -9.99950938e-01 6.70453792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.017628 meters 0.014732195553585258 Centerline is valid? [True, True] Translation: X:71.93, Y:-89.95, Z:0.67 [[ 8.92758870e-01 -4.50446457e-01 -8.92129711e-03 7.19284156e+01] [-4.50425949e-01 -8.92803426e-01 4.30191514e-03 -8.99513437e+01] [-9.90274706e-03 1.77810811e-04 -9.99950951e-01 6.70557733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.047628 meters 0.01480291517567724 Centerline is valid? [True, True] Translation: X:71.92, Y:-89.96, Z:0.67 [[ 9.24395204e-01 -3.81328625e-01 -9.05460731e-03 7.19206720e+01] [-3.81312398e-01 -9.24439528e-01 3.52324222e-03 -8.99579202e+01] [-9.71395003e-03 1.95765821e-04 -9.99952799e-01 6.70064653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.077628 meters 0.015974850721460418 Centerline is valid? [True, True] Translation: X:71.91, Y:-89.96, Z:0.67 [[ 9.50104983e-01 -3.11791874e-01 -9.29239473e-03 7.19136852e+01] [-3.11779377e-01 -9.50150394e-01 2.80149869e-03 -8.99628769e+01] [-9.70265704e-03 2.35459172e-04 -9.99952900e-01 6.70179260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.107628 meters 0.016879434956821288 Centerline is valid? [True, True] Translation: X:71.90, Y:-89.97, Z:0.67 [[ 9.71263408e-01 -2.37840100e-01 -8.91510348e-03 7.19031759e+01] [-2.37832288e-01 -9.71304294e-01 1.94195908e-03 -8.99672090e+01] [-9.12115403e-03 2.34145661e-04 -9.99958374e-01 6.69982151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.137628 meters 0.01651816302064336 Centerline is valid? [True, True] Translation: X:71.89, Y:-89.98, Z:0.67 [[ 9.86484364e-01 -1.63643164e-01 -8.33750522e-03 7.18935963e+01] [-1.63639352e-01 -9.86519568e-01 1.14207652e-03 -8.99785908e+01] [-8.41200506e-03 2.37703321e-04 -9.99964590e-01 6.68712787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.167628 meters 0.01621545379340476 Centerline is valid? [True, True] Translation: X:71.88, Y:-89.99, Z:0.67 [[ 9.96231091e-01 -8.63390399e-02 -8.31769310e-03 7.18847595e+01] [-8.63380307e-02 -9.96265784e-01 4.81004001e-04 -8.99913659e+01] [-8.32816247e-03 2.38942102e-04 -9.99965292e-01 6.68230627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.197628 meters 0.01690372069454211 Centerline is valid? [True, True] Translation: X:71.88, Y:-90.00, Z:0.67 [[ 9.99935509e-01 -8.45870684e-03 -7.57818438e-03 7.18762450e+01] [-8.46013180e-03 -9.99964200e-01 -1.55996249e-04 -9.00026710e+01] [-7.57659356e-03 2.20098627e-04 -9.99971273e-01 6.68507914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.227628 meters 0.017062718211304315 Centerline is valid? [True, True] Translation: X:71.87, Y:-90.01, Z:0.67 [[ 9.97489364e-01 7.05016371e-02 -6.66986373e-03 7.18679034e+01] [ 7.04987870e-02 -9.97511646e-01 -6.61752656e-04 -9.00149854e+01] [-6.69992139e-03 1.89873934e-04 -9.99977537e-01 6.67907087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.257628 meters 0.016502749765111308 Centerline is valid? [True, True] Translation: X:71.86, Y:-90.03, Z:0.67 [[ 9.88685500e-01 1.49884356e-01 -5.97179529e-03 7.18628486e+01] [ 1.49880628e-01 -9.88703521e-01 -1.06960922e-03 -9.00298120e+01] [-6.06465272e-03 1.62450700e-04 -9.99981597e-01 6.68288593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.287628 meters 0.015852527540504827 Centerline is valid? [True, True] Translation: X:71.86, Y:-90.04, Z:0.67 [[ 9.73655152e-01 2.27952542e-01 -5.76915114e-03 7.18588040e+01] [ 2.27947607e-01 -9.73672232e-01 -1.50762395e-03 -9.00445196e+01] [-5.96092898e-03 1.52841624e-04 -9.99982222e-01 6.68599810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.317628 meters 0.015852527540504827 Centerline is valid? [True, True] Translation: X:71.85, Y:-90.06, Z:0.67 [[ 9.52821572e-01 3.03478694e-01 -5.63337624e-03 7.18548150e+01] [ 3.03472437e-01 -9.52838213e-01 -1.95463509e-03 -9.00563918e+01] [-5.96088625e-03 1.52844060e-04 -9.99982222e-01 6.68599419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34762800000001 meters 0.015571999322864414 Centerline is valid? [True, True] Translation: X:71.85, Y:-90.07, Z:0.67 [[ 9.25638327e-01 3.78366727e-01 -5.68401098e-03 7.18529042e+01] [ 3.78358589e-01 -9.25655766e-01 -2.48603035e-03 -9.00704132e+01] [-6.20206871e-03 1.50570598e-04 -9.99980756e-01 6.68921755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37762800000002 meters 0.014843173341588356 Centerline is valid? [True, True] Translation: X:71.85, Y:-90.09, Z:0.67 [[ 8.92452167e-01 4.51107322e-01 -5.59579779e-03 7.18534592e+01] [ 4.51097439e-01 -8.92469699e-01 -2.98961360e-03 -9.00862899e+01] [-6.34271655e-03 1.43837087e-04 -9.99979874e-01 6.68992623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40762800000002 meters 0.014458342595984329 Centerline is valid? [True, True] Translation: X:71.85, Y:-90.10, Z:0.67 [[ 8.53495117e-01 5.21071415e-01 -5.53774394e-03 7.18547583e+01] [ 5.21059394e-01 -8.53513071e-01 -3.54202651e-03 -9.01014013e+01] [-6.57218560e-03 1.37608824e-04 -9.99978393e-01 6.69435353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43762800000002 meters 0.014247136539047488 Centerline is valid? [True, True] Translation: X:71.86, Y:-90.12, Z:0.67 [[ 8.07344903e-01 5.90053603e-01 -5.56361863e-03 7.18564918e+01] [ 5.90038616e-01 -8.07364065e-01 -4.20693666e-03 -9.01170570e+01] [-6.97418388e-03 1.13699029e-04 -9.99975674e-01 6.71514855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46762800000002 meters 0.013214592076784385 Centerline is valid? [True, True] Translation: X:71.86, Y:-90.13, Z:0.67 [[ 7.57180654e-01 6.53182232e-01 -5.51618063e-03 7.18614353e+01] [ 6.53163899e-01 -7.57200740e-01 -4.89490499e-03 -9.01323546e+01] [-7.37412102e-03 1.03357316e-04 -9.99972805e-01 6.71711493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49762800000002 meters 0.013047292946015752 Centerline is valid? [True, True] Translation: X:71.86, Y:-90.15, Z:0.67 [[ 7.01776966e-01 7.12377669e-01 -5.21024422e-03 7.18645750e+01] [ 7.12357131e-01 -7.01796302e-01 -5.41008969e-03 -9.01461306e+01] [-7.51055721e-03 8.51217087e-05 -9.99971792e-01 6.72918836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52762800000002 meters 0.01222092306413918 Centerline is valid? [True, True] Translation: X:71.87, Y:-90.16, Z:0.67 [[ 6.39167738e-01 7.69049515e-01 -5.23892184e-03 7.18718442e+01] [ 7.69023127e-01 -6.39189206e-01 -6.37087959e-03 -9.01606298e+01] [-8.24818415e-03 4.32086402e-05 -9.99965982e-01 6.73856790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55762800000002 meters 0.011928059976798704 Centerline is valid? [True, True] Translation: X:71.88, Y:-90.17, Z:0.67 [[ 5.74174959e-01 8.18719026e-01 -4.71945904e-03 7.18767175e+01] [ 8.18691156e-01 -5.74194354e-01 -6.75530552e-03 -9.01722844e+01] [-8.24058389e-03 1.49478874e-05 -9.99966046e-01 6.74905555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58762800000002 meters 0.01193985822987046 Centerline is valid? [True, True] Translation: X:71.88, Y:-90.18, Z:0.68 [[ 5.05319618e-01 8.62922941e-01 -4.01015069e-03 7.18814518e+01] [ 8.62895977e-01 -5.05335529e-01 -6.82170217e-03 -9.01833532e+01] [-7.91307492e-03 -1.32029619e-05 -9.99968691e-01 6.75834239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61762800000002 meters 0.012120812446536091 Centerline is valid? [True, True] Translation: X:71.88, Y:-90.19, Z:0.68 [[ 4.33380532e-01 9.01205942e-01 -3.02734076e-03 7.18825612e+01] [ 9.01184490e-01 -4.33391105e-01 -6.21817988e-03 -9.01908103e+01] [-6.91588321e-03 -3.33544280e-05 -9.99976084e-01 6.75355381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64762800000003 meters 0.012387104315722876 Centerline is valid? [True, True] Translation: X:71.89, Y:-90.20, Z:0.67 [[ 3.56155660e-01 9.34424136e-01 -2.16338299e-03 7.18929270e+01] [ 9.34407948e-01 -3.56162225e-01 -5.50059513e-03 -9.02012739e+01] [-5.91040415e-03 -6.24141773e-05 -9.99982531e-01 6.73314801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67762800000003 meters 0.01261969976435281 Centerline is valid? [True, True] Translation: X:71.90, Y:-90.21, Z:0.67 [[ 2.79936939e-01 9.60017232e-01 -1.49137086e-03 7.19020665e+01] [ 9.60004807e-01 -2.79940904e-01 -4.88484593e-03 -9.02101482e+01] [-5.10703198e-03 -6.42743766e-05 -9.99986957e-01 6.72927341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70762800000003 meters 0.012844727086984517 Centerline is valid? [True, True] Translation: X:71.91, Y:-90.22, Z:0.67 [[ 2.02682466e-01 9.79244084e-01 -9.17102681e-04 7.19106494e+01] [ 9.79235331e-01 -2.02684532e-01 -4.14097785e-03 -9.02180982e+01] [-4.24091059e-03 -5.87557449e-05 -9.99991006e-01 6.72189702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.737628 meters 0.013082425009958865 Centerline is valid? [True, True] Translation: X:71.92, Y:-90.23, Z:0.67 [[ 1.24701516e-01 9.92194190e-01 -4.70953820e-04 7.19185625e+01] [ 9.92188529e-01 -1.24702396e-01 -3.35196514e-03 -9.02260290e+01] [-3.38452941e-03 -4.92798418e-05 -9.99994271e-01 6.71572471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.767628 meters 0.0127706507471305 Centerline is valid? [True, True] Translation: X:71.93, Y:-90.23, Z:0.67 [[ 4.64615527e-02 9.98920075e-01 -8.49965848e-05 7.19271509e+01] [ 9.98919126e-01 -4.64616258e-02 -1.37727314e-03 -9.02319290e+01] [-1.37973487e-03 -2.09144654e-05 -9.99999048e-01 6.70428681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.797628 meters 0.015632453512346024 Centerline is valid? [True, True] Translation: X:71.94, Y:-90.24, Z:0.67 [[-3.12296090e-02 9.99512237e-01 2.38336301e-05 7.19374463e+01] [ 9.99511233e-01 3.12296115e-02 -1.41626586e-03 -9.02379650e+01] [-1.41631937e-03 -2.04074481e-05 -9.99998997e-01 6.72683900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.827628 meters 0.012883045660773257 Centerline is valid? [True, True] Translation: X:71.95, Y:-90.24, Z:0.67 [[-1.10158119e-01 9.93914073e-01 6.45037893e-05 7.19457424e+01] [ 9.93913840e-01 1.10158138e-01 -6.80468706e-04 -9.02430381e+01] [-6.83433041e-04 -1.08479440e-05 -9.99999766e-01 6.70459529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.857628 meters 0.01313443940824023 Centerline is valid? [True, True] Translation: X:71.95, Y:-90.25, Z:0.67 [[-1.87790693e-01 9.82208963e-01 4.56244497e-04 7.19549548e+01] [ 9.82205537e-01 1.87791243e-01 -2.59454291e-03 -9.02482941e+01] [-2.63406202e-03 -3.91051392e-05 -9.99996530e-01 6.72485024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.887628 meters 0.013256210878671593 Centerline is valid? [True, True] Translation: X:71.96, Y:-90.25, Z:0.67 [[-2.64877467e-01 9.64281606e-01 9.54925598e-04 7.19634144e+01] [ 9.64274513e-01 2.64879181e-01 -3.69903927e-03 -9.02518814e+01] [-3.81985544e-03 -5.89817359e-05 -9.99992703e-01 6.73288121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.917628 meters 0.013726819762061486 Centerline is valid? [True, True] Translation: X:71.97, Y:-90.26, Z:0.68 [[-3.41116642e-01 9.40018569e-01 2.12739606e-03 7.19721117e+01] [ 9.39998216e-01 3.41123258e-01 -6.18680758e-03 -9.02550627e+01] [-6.54141829e-03 -1.10674522e-04 -9.99978599e-01 6.75307350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.947628 meters 0.013726819762061486 Centerline is valid? [True, True] Translation: X:71.98, Y:-90.26, Z:0.68 [[-4.13715282e-01 9.10402590e-01 2.60556921e-03 7.19800198e+01] [ 9.10382818e-01 4.13723472e-01 -6.00107384e-03 -9.02585906e+01] [-6.54137830e-03 -1.10670516e-04 -9.99978599e-01 6.75307010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.977628 meters 0.013664857706953996 Centerline is valid? [True, True] Translation: X:71.99, Y:-90.26, Z:0.68 [[-4.83777875e-01 8.75180279e-01 4.29501370e-03 7.19872119e+01] [ 8.75142909e-01 4.83796916e-01 -8.08911008e-03 -9.02611378e+01] [-9.15734400e-03 -1.54581704e-04 -9.99958059e-01 6.77073209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.007628 meters 0.01680279189726568 Centerline is valid? [True, True] Translation: X:72.00, Y:-90.26, Z:0.68 [[-5.49913578e-01 8.35202802e-01 5.59780361e-03 7.19951466e+01] [ 8.35156456e-01 5.49942044e-01 -8.80014101e-03 -9.02633622e+01] [-1.04283700e-02 -1.64275207e-04 -9.99945610e-01 6.79865851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.037628 meters 0.013442703857648392 Centerline is valid? [True, True] Translation: X:72.00, Y:-90.27, Z:0.68 [[-6.13455566e-01 7.89710511e-01 5.43855403e-03 7.20031432e+01] [ 7.89677434e-01 6.13479657e-01 -7.22916695e-03 -9.02662188e+01] [-9.04539138e-03 -1.40069311e-04 -9.99959080e-01 6.76997361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.067628 meters 0.01295685807001143 Centerline is valid? [True, True] Translation: X:72.01, Y:-90.27, Z:0.68 [[-6.72602775e-01 7.39985240e-01 5.22994750e-03 7.20102046e+01] [ 7.39961550e-01 6.72623098e-01 -5.92213276e-03 -9.02673173e+01] [-7.90007432e-03 -1.13282863e-04 -9.99968788e-01 6.75914380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09762800000001 meters 0.0126856753379706 Centerline is valid? [True, True] Translation: X:72.02, Y:-90.27, Z:0.67 [[-7.27301566e-01 6.86300725e-01 4.87311162e-03 7.20179872e+01] [ 6.86284527e-01 7.27317886e-01 -4.71604883e-03 -9.02682500e+01] [-6.78092898e-03 -8.56485958e-05 -9.99977006e-01 6.74254467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12762800000002 meters 0.012021651288092267 Centerline is valid? [True, True] Translation: X:72.05, Y:-90.27, Z:0.67 [[-7.70897016e-01 6.36949482e-01 3.62607687e-03 7.20507467e+01] [ 6.36942210e-01 7.70905543e-01 -3.04388107e-03 -9.02688776e+01] [-4.73416123e-03 -3.69174115e-05 -9.99988793e-01 6.71988484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15762800000002 meters 0.011682497216817763 Centerline is valid? [True, True] Translation: X:72.07, Y:-90.26, Z:0.67 [[-8.12183691e-01 5.83391033e-01 3.54328873e-03 7.20729201e+01] [ 5.83385371e-01 8.12191420e-01 -2.57035671e-03 -9.02552560e+01] [-4.37735176e-03 -2.04989950e-05 -9.99990419e-01 6.71584314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18762800000002 meters 0.011539091968358716 Centerline is valid? [True, True] Translation: X:72.09, Y:-90.24, Z:0.67 [[-8.49575343e-01 5.27455622e-01 3.50760495e-03 7.20932504e+01] [ 5.27451102e-01 8.49582584e-01 -2.18362399e-03 -9.02401542e+01] [-4.13176483e-03 -5.06300544e-06 -9.99991464e-01 6.71241569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21762800000002 meters 0.012052822816623994 Centerline is valid? [True, True] Translation: X:72.55, Y:-89.54, Z:-0.18 [[-8.15528492e-01 -5.78707075e-01 3.37627652e-03 7.25487691e+01] [ 5.78702143e-01 -8.15535481e-01 -2.38932556e-03 -8.95370238e+01] [ 4.13619290e-03 5.29538489e-06 9.99991446e-01 -1.82537161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24762800000002 meters 0.01266732370664436 Centerline is valid? [True, True] Translation: X:72.06, Y:-90.23, Z:0.67 [[-8.45357552e-01 5.34191952e-01 3.09327643e-03 7.20555629e+01] [ 5.34188535e-01 8.45363210e-01 -1.91094849e-03 -9.02329306e+01] [-3.63575539e-03 3.69580728e-05 -9.99993390e-01 6.69937554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27762800000002 meters 0.013829578403915195 Centerline is valid? [True, True] Translation: X:72.08, Y:-90.22, Z:0.67 [[-8.77934614e-01 4.78776145e-01 2.05367500e-03 7.20776624e+01] [ 4.78774937e-01 8.77937015e-01 -1.07615455e-03 -9.02208751e+01] [-2.31823442e-03 3.84547867e-05 -9.99997312e-01 6.68010749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30762800000002 meters 0.014500741026855887 Centerline is valid? [True, True] Translation: X:72.49, Y:-89.46, Z:-0.18 [[-8.62882483e-01 -5.05400440e-01 2.05321945e-03 7.24909050e+01] [ 5.05398911e-01 -8.62884925e-01 -1.24335790e-03 -8.94551132e+01] [ 2.40008574e-03 -3.51768795e-05 9.99997119e-01 -1.79740028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33762800000002 meters 0.015182725341366788 Centerline is valid? [True, True] Translation: X:72.04, Y:-90.21, Z:0.67 [[-8.77444293e-01 4.79673146e-01 2.27732001e-03 7.20355280e+01] [ 4.79671691e-01 8.77447246e-01 -1.18280532e-03 -9.02055381e+01] [-2.56558812e-03 5.45201672e-05 -9.99996707e-01 6.68325049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36762800000002 meters 0.015626426546377147 Centerline is valid? [True, True] Translation: X:72.06, Y:-90.19, Z:0.67 [[-9.08740182e-01 4.17350185e-01 3.17870357e-03 7.20569827e+01] [ 4.17347930e-01 9.08745738e-01 -1.37417836e-03 -9.01867204e+01] [-3.46214692e-03 7.78542681e-05 -9.99994004e-01 6.68934257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39762800000003 meters 0.016301447428209742 Centerline is valid? [True, True] Translation: X:72.08, Y:-90.17, Z:0.67 [[-9.35750065e-01 3.52647344e-01 3.41555383e-03 7.20760723e+01] [ 3.52645321e-01 9.35756295e-01 -1.19737591e-03 -9.01664001e+01] [-3.61837743e-03 8.40344873e-05 -9.99993450e-01 6.68742466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42762800000003 meters 0.015330272265089968 Centerline is valid? [True, True] Translation: X:72.09, Y:-90.14, Z:0.67 [[-9.58541350e-01 2.84941586e-01 2.60239778e-03 7.20904528e+01] [ 2.84940708e-01 9.58544881e-01 -7.10101020e-04 -9.01404875e+01] [-2.69685238e-03 6.08678739e-05 -9.99996362e-01 6.67508967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45762800000003 meters 0.016020656909151432 Centerline is valid? [True, True] Translation: X:72.10, Y:-90.12, Z:0.67 [[-9.76437400e-01 2.15793587e-01 1.76986437e-03 7.21038716e+01] [ 2.15793305e-01 9.76439003e-01 -3.50739003e-04 -9.01166141e+01] [-1.80385183e-03 3.94502017e-05 -9.99998372e-01 6.66957627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.487628 meters 0.015285346301375563 Centerline is valid? [True, True] Translation: X:72.11, Y:-90.09, Z:0.67 [[-9.89419838e-01 1.45069873e-01 1.76534691e-03 7.21096175e+01] [ 1.45069710e-01 9.89421412e-01 -2.21175656e-04 -9.00879319e+01] [-1.77875796e-03 3.72627830e-05 -9.99998417e-01 6.66513152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.517628 meters 0.013513692361705203 Centerline is valid? [True, True] Translation: X:72.22, Y:-89.22, Z:-0.18 [[-9.85130759e-01 -1.71803386e-01 9.92447396e-04 7.22236196e+01] [ 1.71803225e-01 -9.85131256e-01 -2.45838911e-04 -8.92165663e+01] [ 1.01992691e-03 -7.16778101e-05 9.99999477e-01 -1.78043827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.547628 meters 0.013094838412542007 Centerline is valid? [True, True] Translation: X:72.04, Y:-90.07, Z:0.67 [[-9.91071978e-01 1.33321473e-01 1.31091589e-03 7.20441124e+01] [ 1.33321381e-01 9.91072845e-01 -1.58072528e-04 -9.00723747e+01] [-1.32028760e-03 1.81118630e-05 -9.99999128e-01 6.67502207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.577628 meters 0.012716218937359478 Centerline is valid? [True, True] Translation: X:72.05, Y:-90.04, Z:0.67 [[-9.98190125e-01 6.01194347e-02 1.45854074e-03 7.20476876e+01] [ 6.01193947e-02 9.98191191e-01 -7.12980279e-05 -9.00431931e+01] [-1.46018892e-03 1.65175990e-05 -9.99998934e-01 6.68152590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.607628 meters 0.012183298039884159 Centerline is valid? [True, True] Translation: X:72.05, Y:-90.01, Z:0.67 [[-9.99911513e-01 -1.31202791e-02 2.19664366e-03 7.20495004e+01] [-1.31202023e-02 9.99913925e-01 4.93433148e-05 -9.00134899e+01] [-2.19710198e-03 2.05185393e-05 -9.99997586e-01 6.68842551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.637628 meters 0.011936912644549973 Centerline is valid? [True, True] Translation: X:72.04, Y:-89.15, Z:-0.18 [[-9.99306745e-01 -3.71558950e-02 2.33869836e-03 7.20371089e+01] [ 3.71557649e-02 -9.99309481e-01 -9.90437466e-05 -8.91538469e+01] [ 2.34076350e-03 -1.20789576e-05 9.99997260e-01 -1.81181396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.667628 meters 0.011762129352745999 Centerline is valid? [True, True] Translation: X:71.95, Y:-90.01, Z:0.67 [[-9.99718729e-01 -2.35661809e-02 2.66415818e-03 7.19468647e+01] [-2.35660606e-02 9.99722279e-01 7.65419343e-05 -9.00121641e+01] [-2.66522209e-03 1.37366922e-05 -9.99996448e-01 6.69530961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.697628 meters 0.011534209069977843 Centerline is valid? [True, True] Translation: X:71.93, Y:-89.16, Z:-0.18 [[-9.99398120e-01 -3.45826304e-02 2.72753949e-03 7.19286235e+01] [ 3.45824751e-02 -9.99401842e-01 -1.04111001e-04 -8.91578409e+01] [ 2.72950842e-03 -9.72327273e-06 9.99996275e-01 -1.81606707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.727628 meters 0.011553312503569781 Centerline is valid? [True, True] Translation: X:71.85, Y:-90.01, Z:0.67 [[-9.99451416e-01 -3.29694875e-02 3.14319259e-03 7.18450539e+01] [-3.29693046e-02 9.99456359e-01 1.10021252e-04 -9.00120481e+01] [-3.14511116e-03 6.33202219e-06 -9.99995054e-01 6.69465696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.757628 meters 0.011384413507786257 Centerline is valid? [True, True] Translation: X:71.82, Y:-89.16, Z:-0.18 [[-9.99461575e-01 -3.26702397e-02 3.03585357e-03 7.18166741e+01] [ 3.26700481e-02 -9.99466185e-01 -1.12712807e-04 -8.91642524e+01] [ 3.03791534e-03 -1.34706381e-05 9.99995385e-01 -1.81913441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.787628 meters 0.011405305639804436 Centerline is valid? [True, True] Translation: X:71.73, Y:-90.01, Z:0.67 [[-9.99059968e-01 -4.31958436e-02 3.64693766e-03 7.17336823e+01] [-4.31955816e-02 9.99066624e-01 1.50602946e-04 -9.00100889e+01] [-3.65003912e-03 -7.07021872e-06 -9.99993339e-01 6.70624564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.817628 meters 0.011433890402388793 Centerline is valid? [True, True] Translation: X:71.71, Y:-89.17, Z:-0.18 [[-9.99600604e-01 -2.80719180e-02 3.25581792e-03 7.17142533e+01] [ 2.80717042e-02 -9.99605906e-01 -1.11365015e-04 -8.91693294e+01] [ 3.25766105e-03 -1.99241793e-05 9.99994694e-01 -1.82958351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84762800000001 meters 0.011466184164961694 Centerline is valid? [True, True] Translation: X:71.64, Y:-90.01, Z:0.67 [[-9.98717894e-01 -5.05030482e-02 3.46572183e-03 7.16407149e+01] [-5.05027789e-02 9.98723907e-01 1.65216782e-04 -9.00114745e+01] [-3.46964319e-03 -1.00236266e-05 -9.99993981e-01 6.71636329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87762800000002 meters 0.011411755347721765 Centerline is valid? [True, True] Translation: X:71.64, Y:-89.98, Z:0.67 [[-9.92534489e-01 -1.21903097e-01 3.86297192e-03 7.16379780e+01] [-1.21902223e-01 9.92542007e-01 4.61730279e-04 -8.99834828e+01] [-3.89044825e-03 -1.26216384e-05 -9.99992432e-01 6.72275592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90762800000002 meters 0.011411755347721765 Centerline is valid? [True, True] Translation: X:71.54, Y:-89.15, Z:-0.18 [[-9.98813953e-01 4.85359343e-02 3.86645850e-03 7.15430000e+01] [-4.85355268e-02 -9.98821437e-01 1.99200155e-04 -8.91514709e+01] [ 3.87157000e-03 1.13032947e-05 9.99992505e-01 -1.84176354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93762800000002 meters 0.011468536254002184 Centerline is valid? [True, True] Translation: X:71.52, Y:-90.00, Z:0.67 [[-9.91711818e-01 -1.28418142e-01 4.05592632e-03 7.15191615e+01] [-1.28417118e-01 9.91720112e-01 5.12837932e-04 -8.99964200e+01] [-4.08820140e-03 -1.22629319e-05 -9.99991643e-01 6.72543604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96762800000002 meters 0.011418569556877594 Centerline is valid? [True, True] Translation: X:71.51, Y:-89.97, Z:0.67 [[-9.80014125e-01 -1.98879132e-01 4.40518051e-03 7.15062442e+01] [-1.98877173e-01 9.80024026e-01 8.82671550e-04 -8.99714913e+01] [-4.49272769e-03 -1.10592608e-05 -9.99989908e-01 6.72831680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99762800000002 meters 0.011427218896200506 Centerline is valid? [True, True] Translation: X:71.47, Y:-89.95, Z:0.67 [[-9.63215347e-01 -2.68681807e-01 5.12659405e-03 7.14727134e+01] [-2.68678050e-01 9.63228990e-01 1.42095329e-03 -8.99518844e+01] [-5.31986830e-03 -8.71927068e-06 -9.99985849e-01 6.74009687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02762800000002 meters 0.011449820667242589 Centerline is valid? [True, True] Translation: X:71.42, Y:-89.94, Z:0.67 [[-9.41274707e-01 -3.37583576e-01 6.26544377e-03 7.14197318e+01] [-3.37576112e-01 9.41295559e-01 2.24491501e-03 -8.99418063e+01] [-6.65548083e-03 -1.98243056e-06 -9.99977852e-01 6.74386856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05762800000002 meters 0.011532854140652086 Centerline is valid? [True, True] Translation: X:71.35, Y:-89.94, Z:0.67 [[-9.13714197e-01 -4.06303561e-01 6.61678043e-03 7.13537792e+01] [-4.06292914e-01 9.13738155e-01 2.94140069e-03 -8.99395642e+01] [-7.24110632e-03 -7.51427841e-07 -9.99973783e-01 6.74354047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08762800000002 meters 0.011618930591674227 Centerline is valid? [True, True] Translation: X:71.27, Y:-89.95, Z:0.67 [[-8.81049738e-01 -4.72973769e-01 6.86826655e-03 7.12715191e+01] [-4.72959386e-01 8.81076508e-01 3.68854962e-03 -8.99501733e+01] [-7.79605553e-03 1.38454478e-06 -9.99969610e-01 6.74708025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11762800000002 meters 0.011589114772611805 Centerline is valid? [True, True] Translation: X:71.20, Y:-89.96, Z:0.68 [[-8.42791243e-01 -5.38187605e-01 7.55127781e-03 7.11982997e+01] [-5.38165995e-01 8.42825072e-01 4.82293879e-03 -8.99624794e+01] [-8.96005214e-03 8.89648310e-07 -9.99959858e-01 6.75880193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14762800000003 meters 0.011627241716210384 Centerline is valid? [True, True] Translation: X:71.11, Y:-89.99, Z:0.68 [[-7.99629351e-01 -6.00442995e-01 7.81737449e-03 7.11104133e+01] [-6.00414307e-01 7.99667562e-01 5.86937928e-03 -8.99902755e+01] [-9.77552847e-03 -3.35544974e-07 -9.99952218e-01 6.77177027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17762800000003 meters 0.011707754890411348 Centerline is valid? [True, True] Translation: X:71.02, Y:-90.03, Z:0.68 [[-7.51903012e-01 -6.59224961e-01 8.01946657e-03 7.10200376e+01] [-6.59187427e-01 7.51945776e-01 7.03456549e-03 -9.00291215e+01] [-1.06675652e-02 2.97943756e-06 -9.99943100e-01 6.77779879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20762800000003 meters 0.01168397967255363 Centerline is valid? [True, True] Translation: X:70.93, Y:-90.07, Z:0.68 [[-6.99760426e-01 -7.14335399e-01 7.76431593e-03 7.09340069e+01] [-7.14291291e-01 6.99803500e-01 7.93813846e-03 -9.00737114e+01] [-1.11039888e-02 8.81190207e-06 -9.99938349e-01 6.77753128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.237628 meters 0.011746539560311903 Centerline is valid? [True, True] Translation: X:70.84, Y:-90.14, Z:0.68 [[-6.44266850e-01 -7.64763062e-01 7.59504625e-03 7.08444806e+01] [-7.64709408e-01 6.44311616e-01 9.05884968e-03 -9.01353458e+01] [-1.18214501e-02 2.83132255e-05 -9.99930124e-01 6.78214666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.267628 meters 0.011963578636890994 Centerline is valid? [True, True] Translation: X:70.76, Y:-90.21, Z:0.68 [[-5.84371231e-01 -8.11455175e-01 7.12487034e-03 7.07581681e+01] [-8.11394030e-01 5.84414663e-01 9.96139626e-03 -9.02051915e+01] [-1.22471052e-02 4.00761377e-05 -9.99925001e-01 6.78117135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.297628 meters 0.01201976294261155 Centerline is valid? [True, True] Translation: X:70.68, Y:-90.28, Z:0.68 [[-5.21384854e-01 -8.53296596e-01 6.53855633e-03 7.06764793e+01] [-8.53228066e-01 5.21425848e-01 1.08144449e-02 -9.02823986e+01] [-1.26373013e-02 5.96079818e-05 -9.99920144e-01 6.76875007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.327628 meters 0.011987879859944591 Centerline is valid? [True, True] Translation: X:70.60, Y:-90.36, Z:0.68 [[-4.54871717e-01 -8.90541408e-01 5.26514783e-03 7.06009472e+01] [-8.90480064e-01 4.54902184e-01 1.04527251e-02 -9.03648139e+01] [-1.17037117e-02 6.61398242e-05 -9.99931507e-01 6.75555679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.357628 meters 0.012110926348212089 Centerline is valid? [True, True] Translation: X:70.53, Y:-90.46, Z:0.67 [[-3.87054798e-01 -9.22051042e-01 3.23402564e-03 7.05286473e+01] [-9.22017335e-01 3.87068303e-01 7.88431596e-03 -9.04588493e+01] [-8.52153056e-03 6.98346222e-05 -9.99963689e-01 6.71878265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.387628 meters 0.012500929043500596 Centerline is valid? [True, True] Translation: X:70.47, Y:-90.56, Z:0.67 [[-3.16317814e-01 -9.48651041e-01 2.05982197e-03 7.04653846e+01] [-9.48629505e-01 3.16324513e-01 6.39252970e-03 -9.05555715e+01] [-6.71585213e-03 6.80631229e-05 -9.99977446e-01 6.70768767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.417628 meters 0.013260700906165145 Centerline is valid? [True, True] Translation: X:70.41, Y:-90.66, Z:0.67 [[-2.44597109e-01 -9.69624033e-01 1.22023096e-03 7.04099794e+01] [-9.69610543e-01 2.44600143e-01 5.11510046e-03 -9.06580946e+01] [-5.25819300e-03 6.79899809e-05 -9.99986173e-01 6.69388175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.447628 meters 0.015022559300493182 Centerline is valid? [True, True] Translation: X:70.36, Y:-90.77, Z:0.67 [[-1.75824340e-01 -9.84421358e-01 6.26266617e-04 7.03635372e+01] [-9.84413362e-01 1.75825437e-01 3.96839241e-03 -9.07691695e+01] [-4.01668384e-03 8.12347502e-05 -9.99991930e-01 6.68093769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.477628 meters 0.015263396137233149 Centerline is valid? [True, True] Translation: X:70.32, Y:-90.88, Z:0.67 [[-1.02749146e-01 -9.94707245e-01 3.31228949e-04 7.03228063e+01] [-9.94698411e-01 1.02749630e-01 4.19338236e-03 -9.08817402e+01] [-4.20522146e-03 1.01393547e-04 -9.99991153e-01 6.67969856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.507628 meters 0.016276903127643873 Centerline is valid? [True, True] Translation: X:70.29, Y:-91.00, Z:0.67 [[-2.90339464e-02 -9.99578426e-01 4.49776499e-06 7.02917465e+01] [-9.99569252e-01 2.90336992e-02 4.28416109e-03 -9.09990965e+01] [-4.28248559e-03 1.19890276e-04 -9.99990823e-01 6.68469897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.537628 meters 0.01782552666879548 Centerline is valid? [True, True] Translation: X:70.27, Y:-91.12, Z:0.67 [[ 4.50541879e-02 -9.98984471e-01 -3.82917281e-04 7.02704229e+01] [-9.98972066e-01 -4.50555376e-02 4.98095891e-03 -9.11238838e+01] [-4.99315315e-03 1.58110608e-04 -9.99987522e-01 6.68838764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.567628 meters 0.01935115875927102 Centerline is valid? [True, True] Translation: X:70.26, Y:-91.24, Z:0.67 [[ 1.16668047e-01 -9.93170639e-01 -8.04830951e-04 7.02561663e+01] [-9.93157217e-01 -1.16670658e-01 5.16726341e-03 -9.12414504e+01] [-5.22587447e-03 1.96469133e-04 -9.99986326e-01 6.68599071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59762800000001 meters 0.020218117312357366 Centerline is valid? [True, True] Translation: X:70.25, Y:-91.37, Z:0.67 [[ 1.91085032e-01 -9.81572692e-01 -1.24941175e-03 7.02514480e+01] [-9.81558491e-01 -1.91088994e-01 5.28444097e-03 -9.13652828e+01] [-5.42581178e-03 2.16593144e-04 -9.99985257e-01 6.68862066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62762800000002 meters 0.02003379820343437 Centerline is valid? [True, True] Translation: X:70.25, Y:-91.49, Z:0.67 [[ 2.64602809e-01 -9.64355606e-01 -1.90244914e-03 7.02535024e+01] [-9.64337333e-01 -2.64609518e-01 5.94240393e-03 -9.14870199e+01] [-6.23399669e-03 2.62225960e-04 -9.99980534e-01 6.69086652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65762800000002 meters 0.02082136208552463 Centerline is valid? [True, True] Translation: X:70.26, Y:-91.61, Z:0.67 [[ 3.35814153e-01 -9.41923752e-01 -2.91528226e-03 7.02642722e+01] [-9.41896721e-01 -3.35826628e-01 7.14439242e-03 -9.16088412e+01] [-7.70850233e-03 3.46706709e-04 -9.99970229e-01 6.70148661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68762800000002 meters 0.022661977801292536 Centerline is valid? [True, True] Translation: X:70.29, Y:-91.73, Z:0.67 [[ 4.06936756e-01 -9.13449866e-01 -3.43779641e-03 7.02876387e+01] [-9.13424220e-01 -4.06951126e-01 6.85391891e-03 -9.17275374e+01] [-7.65972643e-03 3.51054973e-04 -9.99970602e-01 6.70638641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71762800000002 meters 0.02152685016048972 Centerline is valid? [True, True] Translation: X:70.32, Y:-91.85, Z:0.67 [[ 4.75836517e-01 -8.79526335e-01 -3.61034814e-03 7.03156800e+01] [-8.79505979e-01 -4.75850103e-01 5.99267624e-03 -9.18455188e+01] [-6.98870111e-03 3.23788589e-04 -9.99975526e-01 6.69739497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74762800000002 meters 0.020269098493235983 Centerline is valid? [True, True] Translation: X:70.35, Y:-91.96, Z:0.67 [[ 5.42661702e-01 -8.39944294e-01 -3.44370663e-03 7.03505916e+01] [-8.39930449e-01 -5.42672561e-01 4.83037458e-03 -9.19576106e+01] [-5.92605067e-03 2.71214765e-04 -9.99982404e-01 6.68767196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77762800000002 meters 0.020194417592306554 Centerline is valid? [True, True] Translation: X:70.39, Y:-92.07, Z:0.67 [[ 6.08876116e-01 -7.93259940e-01 -2.92275732e-03 7.03939001e+01] [-7.93252257e-01 -6.08883101e-01 3.49641280e-03 -9.20685827e+01] [-4.55318175e-03 1.89601596e-04 -9.99989616e-01 6.67585393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80762800000002 meters 0.0188426794436934 Centerline is valid? [True, True] Translation: X:70.44, Y:-92.17, Z:0.67 [[ 6.70794229e-01 -7.41637605e-01 -2.96062584e-03 7.04439353e+01] [-7.41631413e-01 -6.70800743e-01 3.03481688e-03 -9.21746799e+01] [-4.23672433e-03 1.59955478e-04 -9.99991012e-01 6.67524815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83762800000002 meters 0.01719996540037779 Centerline is valid? [True, True] Translation: X:70.50, Y:-92.28, Z:0.67 [[ 7.28721069e-01 -6.84804511e-01 -2.89576154e-03 7.05005004e+01] [-6.84799789e-01 -7.28726811e-01 2.54624431e-03 -9.22766337e+01] [-3.85389866e-03 1.27515017e-04 -9.99992566e-01 6.67935652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86762800000002 meters 0.014611205479144714 Centerline is valid? [True, True] Translation: X:70.49, Y:-92.29, Z:0.67 [[ 7.86692552e-01 -6.17339412e-01 -2.62263795e-03 7.04865181e+01] [-6.17336289e-01 -7.86696921e-01 1.96518376e-03 -9.22935333e+01] [-3.27640659e-03 7.30541481e-05 -9.99994630e-01 6.69078298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89762800000003 meters 0.013721100968965427 Centerline is valid? [True, True] Translation: X:70.48, Y:-92.30, Z:0.67 [[ 8.35506327e-01 -5.49474174e-01 -2.70378956e-03 7.04775294e+01] [-5.49471504e-01 -8.35510700e-01 1.71363360e-03 -9.23041280e+01] [-3.20064252e-03 5.39036057e-05 -9.99994876e-01 6.69512689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92762800000003 meters 0.01261180336700857 Centerline is valid? [True, True] Translation: X:70.47, Y:-92.31, Z:0.67 [[ 8.78420731e-01 -4.77878020e-01 -3.10108548e-03 7.04706982e+01] [-4.77875205e-01 -8.78426204e-01 1.64075199e-03 -9.23148885e+01] [-3.50815406e-03 4.06612957e-05 -9.99993846e-01 6.69536877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95762800000003 meters 0.011897699661924343 Centerline is valid? [True, True] Translation: X:70.46, Y:-92.33, Z:0.67 [[ 9.14963200e-01 -4.03525580e-01 -3.07404573e-03 7.04646500e+01] [-4.03523388e-01 -9.14968363e-01 1.33038048e-03 -9.23271336e+01] [-3.34949714e-03 2.32001604e-05 -9.99994390e-01 6.69407232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.987628 meters 0.011493117307877106 Centerline is valid? [True, True] Translation: X:70.46, Y:-92.34, Z:0.67 [[ 9.46334152e-01 -3.23178950e-01 -2.65304659e-03 7.04583646e+01] [-3.23177670e-01 -9.46337871e-01 9.09336081e-04 -9.23415567e+01] [-2.80455674e-03 -3.13037384e-06 -9.99996067e-01 6.69147813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.017628 meters 0.011882402364951288 Centerline is valid? [True, True] Translation: X:70.46, Y:-92.35, Z:0.67 [[ 9.70174822e-01 -2.42396277e-01 -2.20435553e-03 7.04558281e+01] [-2.42395613e-01 -9.70177326e-01 5.67567608e-04 -9.23543906e+01] [-2.27619203e-03 -1.63136925e-05 -9.99997409e-01 6.69361219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.047628 meters 0.012055882553157565 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.37, Z:0.67 [[ 9.86491872e-01 -1.63794735e-01 -2.25201753e-03 7.04548821e+01] [-1.63794259e-01 -9.86494442e-01 3.95344606e-04 -9.23655172e+01] [-2.28635814e-03 -2.11366987e-05 -9.99997386e-01 6.69352266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.077628 meters 0.012390103984193237 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.38, Z:0.67 [[ 9.96427739e-01 -8.44278616e-02 -1.92274733e-03 7.04500831e+01] [-8.44276635e-02 -9.96429594e-01 1.84114995e-04 -9.23752118e+01] [-1.93142678e-03 -2.11242233e-05 -9.99998135e-01 6.69171313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.107628 meters 0.012461108337128834 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.39, Z:0.67 [[ 9.99985426e-01 -4.92995687e-03 -2.20063083e-03 7.04476756e+01] [-4.92988615e-03 -9.99987847e-01 3.75618291e-05 -9.23852935e+01] [-2.20078926e-03 -2.67124222e-05 -9.99997578e-01 6.69168622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.137628 meters 0.012633533230928173 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.40, Z:0.67 [[ 9.97231673e-01 7.43229724e-02 -2.25512429e-03 7.04459890e+01] [ 7.43228493e-02 -9.97234223e-01 -1.38452080e-04 -9.23953564e+01] [-2.25917729e-03 -2.95384628e-05 -9.99997448e-01 6.69453347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.167628 meters 0.012495592784518677 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.41, Z:0.67 [[ 9.88268311e-01 1.52706729e-01 -2.52990941e-03 7.04453902e+01] [ 1.52706318e-01 -9.88271549e-01 -3.55823787e-04 -9.24064082e+01] [-2.55457418e-03 -3.46837776e-05 -9.99996736e-01 6.70084767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.197628 meters 0.012777306959901901 Centerline is valid? [True, True] Translation: X:70.44, Y:-92.42, Z:0.67 [[ 9.73218128e-01 2.29863940e-01 -3.00750953e-03 7.04444791e+01] [ 2.29862977e-01 -9.73222774e-01 -6.66636396e-04 -9.24175710e+01] [-3.08021244e-03 -4.25324694e-05 -9.99995255e-01 6.70723523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.227628 meters 0.012740779424659125 Centerline is valid? [True, True] Translation: X:70.44, Y:-92.43, Z:0.67 [[ 9.52370818e-01 3.04920768e-01 -3.62642672e-03 7.04443600e+01] [ 3.04918758e-01 -9.52377721e-01 -1.10814771e-03 -9.24262535e+01] [-3.79162527e-03 -5.03979958e-05 -9.99992811e-01 6.71129255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.257628 meters 0.012188028552459807 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.44, Z:0.67 [[ 9.26381645e-01 3.76557519e-01 -4.63492313e-03 7.04453563e+01] [ 3.76553105e-01 -9.26393238e-01 -1.82410836e-03 -9.24353546e+01] [-4.98064316e-03 -5.54741892e-05 -9.99987595e-01 6.72533097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.287628 meters 0.012154348899781038 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.44, Z:0.67 [[ 8.94907425e-01 4.46225045e-01 -4.88974782e-03 7.04457705e+01] [ 4.46218690e-01 -8.94920782e-01 -2.38192996e-03 -9.24447554e+01] [-5.43881375e-03 -5.02900622e-05 -9.99985208e-01 6.73222415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.317628 meters 0.01186469020834051 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.45, Z:0.67 [[ 8.58284700e-01 5.13148749e-01 -5.07304867e-03 7.04473076e+01] [ 5.13140076e-01 -8.58299691e-01 -2.98375431e-03 -9.24518756e+01] [-5.88530590e-03 -4.22739047e-05 -9.99982681e-01 6.73175455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34762800000001 meters 0.011585154931575433 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.46, Z:0.67 [[ 8.18654078e-01 5.74262684e-01 -5.27927183e-03 7.04472545e+01] [ 5.74250829e-01 -8.18671100e-01 -3.68994799e-03 -9.24570702e+01] [-6.44098672e-03 -1.08352595e-05 -9.99979257e-01 6.73309316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37762800000002 meters 0.011678487634637441 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.46, Z:0.67 [[ 7.73112127e-01 6.34248152e-01 -5.18846768e-03 7.04490296e+01] [ 6.34233792e-01 -7.73129537e-01 -4.26800432e-03 -9.24640297e+01] [-6.71833147e-03 8.94436819e-06 -9.99977432e-01 6.73223779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40762800000002 meters 0.011780116374130673 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.47, Z:0.67 [[ 7.23238232e-01 6.90582931e-01 -4.65569684e-03 7.04493563e+01] [ 6.90568365e-01 -7.23253216e-01 -4.48542667e-03 -9.24716484e+01] [-6.46480681e-03 2.89550950e-05 -9.99979103e-01 6.73195764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43762800000002 meters 0.01218432079580567 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.48, Z:0.67 [[ 6.69287577e-01 7.42991894e-01 -4.14546250e-03 7.04507049e+01] [ 7.42977199e-01 -6.69300414e-01 -4.67314897e-03 -9.24786676e+01] [-6.24667157e-03 4.76964412e-05 -9.99980488e-01 6.72893637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46762800000002 meters 0.013074218596969167 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.48, Z:0.67 [[ 6.14166763e-01 7.89166388e-01 -3.94955119e-03 7.04507338e+01] [ 7.89149094e-01 -6.14179455e-01 -5.22536154e-03 -9.24841238e+01] [-6.54941290e-03 9.24586366e-05 -9.99978548e-01 6.72909994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49762800000002 meters 0.013660411976992583 Centerline is valid? [True, True] Translation: X:70.45, Y:-92.49, Z:0.67 [[ 5.52866556e-01 8.33261346e-01 -3.75502877e-03 7.04532235e+01] [ 8.33240653e-01 -5.52879295e-01 -5.87367195e-03 -9.24924035e+01] [-6.97038146e-03 1.18514153e-04 -9.99975700e-01 6.72572861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52762800000002 meters 0.013739498360207547 Centerline is valid? [True, True] Translation: X:70.46, Y:-92.50, Z:0.67 [[ 4.88042634e-01 8.72813287e-01 -3.36934413e-03 7.04597999e+01] [ 8.72790486e-01 -4.88054245e-01 -6.31043214e-03 -9.25022321e+01] [-7.15225172e-03 1.39028426e-04 -9.99974413e-01 6.72466675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55762800000002 meters 0.015148094762660682 Centerline is valid? [True, True] Translation: X:70.46, Y:-92.51, Z:0.67 [[ 4.21674084e-01 9.06743068e-01 -2.82405256e-03 7.04628506e+01] [ 9.06720061e-01 -4.21683509e-01 -6.46144920e-03 -9.25112055e+01] [-7.04973066e-03 1.64000569e-04 -9.99975137e-01 6.72668890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58762800000002 meters 0.01550352497411229 Centerline is valid? [True, True] Translation: X:70.47, Y:-92.52, Z:0.67 [[ 3.50089274e-01 9.36713510e-01 -2.30247069e-03 7.04676053e+01] [ 9.36689967e-01 -3.50096804e-01 -6.64327383e-03 -9.25195372e+01] [-7.02893198e-03 1.69037713e-04 -9.99975282e-01 6.72763060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61762800000002 meters 0.01537241433356307 Centerline is valid? [True, True] Translation: X:70.47, Y:-92.53, Z:0.67 [[ 2.75770417e-01 9.61221828e-01 -1.80964397e-03 7.04747754e+01] [ 9.61196819e-01 -2.75776300e-01 -6.93593787e-03 -9.25283558e+01] [-7.16603180e-03 1.73302451e-04 -9.99974309e-01 6.72544023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64762800000003 meters 0.015381059690180594 Centerline is valid? [True, True] Translation: X:70.48, Y:-92.54, Z:0.67 [[ 1.98801163e-01 9.80038955e-01 -1.32080705e-03 7.04820789e+01] [ 9.80011096e-01 -1.98805474e-01 -7.39158401e-03 -9.25364361e+01] [-7.50662394e-03 1.75049936e-04 -9.99971810e-01 6.72410475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67762800000003 meters 0.014306467805542077 Centerline is valid? [True, True] Translation: X:70.49, Y:-92.54, Z:0.67 [[ 1.17720826e-01 9.93046489e-01 -6.90874173e-04 7.04932851e+01] [ 9.93021839e-01 -1.17722772e-01 -6.99829628e-03 -9.25436545e+01] [-7.03096518e-03 1.37792074e-04 -9.99975273e-01 6.71211020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70762800000003 meters 0.013854324166357521 Centerline is valid? [True, True] Translation: X:70.50, Y:-92.55, Z:0.67 [[ 3.73120212e-02 9.99303656e-01 -1.30314504e-04 7.05029957e+01] [ 9.99282423e-01 -3.73120781e-02 -6.51527448e-03 -9.25504346e+01] [-6.51559991e-03 1.12877066e-04 -9.99978767e-01 6.69993780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.737628 meters 0.014333771946764346 Centerline is valid? [True, True] Translation: X:70.51, Y:-92.56, Z:0.67 [[-4.36796631e-02 9.99045530e-01 3.41702407e-04 7.05106433e+01] [ 9.99028461e-01 4.36809145e-02 -5.84055960e-03 -9.25577657e+01] [-5.84991083e-03 8.62567546e-05 -9.99982885e-01 6.69990001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.767628 meters 0.012431383728989177 Centerline is valid? [True, True] Translation: X:70.53, Y:-92.56, Z:0.67 [[-1.27920355e-01 9.91784213e-01 6.76426184e-04 7.05282906e+01] [ 9.91772045e-01 1.27922136e-01 -4.91308093e-03 -9.25621054e+01] [-4.95924599e-03 4.23775234e-05 -9.99987702e-01 6.68527588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.797628 meters 0.012431383728989177 Centerline is valid? [True, True] Translation: X:70.54, Y:-92.57, Z:0.67 [[-2.05225893e-01 9.78714060e-01 1.05925070e-03 7.05401322e+01] [ 9.78702069e-01 2.05228622e-01 -4.84496293e-03 -9.25662752e+01] [-4.95922191e-03 4.23790080e-05 -9.99987702e-01 6.68527379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.827628 meters 0.012152886894066108 Centerline is valid? [True, True] Translation: X:70.55, Y:-92.57, Z:0.67 [[-2.84528526e-01 9.58666694e-01 1.29899057e-03 7.05537985e+01] [ 9.58657073e-01 2.84531491e-01 -4.29504156e-03 -9.25700145e+01] [-4.48711702e-03 2.32246553e-05 -9.99989933e-01 6.68812968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.857628 meters 0.012012809787170217 Centerline is valid? [True, True] Translation: X:70.57, Y:-92.57, Z:0.67 [[-3.64959035e-01 9.31022269e-01 1.56128228e-03 7.05690970e+01] [ 9.31013676e-01 3.64962374e-01 -4.00007184e-03 -9.25699284e+01] [-4.29396525e-03 -6.28720017e-06 -9.99990781e-01 6.69344880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.887628 meters 0.012112823722045118 Centerline is valid? [True, True] Translation: X:70.58, Y:-92.57, Z:0.67 [[-4.39126677e-01 8.98423124e-01 1.91109309e-03 7.05810309e+01] [ 8.98414438e-01 4.39130835e-01 -3.95055569e-03 -9.25700984e+01] [-4.38849049e-03 -1.78407673e-05 -9.99990370e-01 6.69317007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.917628 meters 0.012279975535079118 Centerline is valid? [True, True] Translation: X:70.59, Y:-92.57, Z:0.67 [[-5.10325743e-01 8.59978269e-01 2.23908949e-03 7.05942456e+01] [ 8.59969740e-01 5.10330654e-01 -3.83005844e-03 -9.25686118e+01] [-4.43644303e-03 -2.90282154e-05 -9.99990159e-01 6.69529862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.947628 meters 0.012460599338689113 Centerline is valid? [True, True] Translation: X:70.61, Y:-92.57, Z:0.67 [[-5.77587141e-01 8.16324897e-01 2.59949148e-03 7.06073224e+01] [ 8.16316332e-01 5.77592989e-01 -3.73969480e-03 -9.25675777e+01] [-4.55425403e-03 -3.79922726e-05 -9.99989629e-01 6.70022059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.977628 meters 0.012802998568482313 Centerline is valid? [True, True] Translation: X:70.62, Y:-92.57, Z:0.67 [[-6.41106102e-01 7.67445186e-01 3.29432060e-03 7.06177565e+01] [ 7.67434632e-01 6.41114564e-01 -4.02522051e-03 -9.25662381e+01] [-5.20117302e-03 -5.24177158e-05 -9.99986472e-01 6.71422595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.007628 meters 0.012738595218708374 Centerline is valid? [True, True] Translation: X:70.63, Y:-92.56, Z:0.67 [[-6.99306199e-01 7.14810824e-01 4.04059406e-03 7.06264007e+01] [ 7.14798399e-01 6.99317869e-01 -4.21494071e-03 -9.25648141e+01] [-5.83854487e-03 -5.93240003e-05 -9.99982954e-01 6.72287552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.037628 meters 0.012788532988039406 Centerline is valid? [True, True] Translation: X:70.63, Y:-92.56, Z:0.67 [[-7.52954906e-01 6.58055388e-01 4.69219632e-03 7.06348081e+01] [ 6.58042097e-01 7.52969523e-01 -4.18276174e-03 -9.25631030e+01] [-6.28556972e-03 -6.17682665e-05 -9.99980244e-01 6.73000590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.067628 meters 0.012712536561536265 Centerline is valid? [True, True] Translation: X:70.65, Y:-92.55, Z:0.67 [[-7.96978640e-01 6.03980856e-01 5.67211563e-03 7.06529695e+01] [ 6.03964998e-01 7.96998821e-01 -4.37716028e-03 -9.25454202e+01] [-7.16439048e-03 -6.27439420e-05 -9.99974333e-01 6.73492480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09762800000001 meters 0.012292587382180496 Centerline is valid? [True, True] Translation: X:70.68, Y:-92.54, Z:0.67 [[-8.35344259e-01 5.49685294e-01 6.78580777e-03 7.06768278e+01] [ 5.49666804e-01 8.35371819e-01 -4.50875626e-03 -9.25354722e+01] [-8.14706959e-03 -3.64303881e-05 -9.99966811e-01 6.74320585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12762800000002 meters 0.012283801792089863 Centerline is valid? [True, True] Translation: X:70.69, Y:-92.52, Z:0.67 [[-8.70694284e-01 4.91772163e-01 7.18351575e-03 7.06928639e+01] [ 4.91755312e-01 8.70723917e-01 -4.07112071e-03 -9.25171578e+01] [-8.25692281e-03 -1.21695035e-05 -9.99965911e-01 6.74314896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15762800000002 meters 0.012371827361809643 Centerline is valid? [True, True] Translation: X:70.71, Y:-92.50, Z:0.67 [[-9.01843790e-01 4.31994245e-01 7.66483142e-03 7.07123223e+01] [ 4.31978798e-01 9.01876362e-01 -3.65323339e-03 -9.25002092e+01] [-8.49090608e-03 1.63988244e-05 -9.99963951e-01 6.74421709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18762800000002 meters 0.012561047881439944 Centerline is valid? [True, True] Translation: X:70.72, Y:-92.48, Z:0.67 [[-9.28910344e-01 3.70222788e-01 7.78847255e-03 7.07246689e+01] [ 3.70210182e-01 9.28942994e-01 -3.05551187e-03 -9.24796677e+01] [-8.36626713e-03 4.50752565e-05 -9.99965001e-01 6.74698375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21762800000002 meters 0.01301523197176198 Centerline is valid? [True, True] Translation: X:70.74, Y:-92.46, Z:0.67 [[-9.51647623e-01 3.07079453e-01 8.30736143e-03 7.07394023e+01] [ 3.07068484e-01 9.51683878e-01 -2.59663914e-03 -9.24601655e+01] [-8.70335647e-03 7.98434234e-05 -9.99962122e-01 6.74678147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24762800000002 meters 0.014455122144769461 Centerline is valid? [True, True] Translation: X:70.75, Y:-92.44, Z:0.67 [[-9.69258909e-01 2.45907044e-01 8.17879021e-03 7.07548929e+01] [ 2.45899493e-01 9.69293406e-01 -1.93208035e-03 -9.24448049e+01] [-8.40275958e-03 1.38474269e-04 -9.99964687e-01 6.74565836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27762800000002 meters 0.014859546567059068 Centerline is valid? [True, True] Translation: X:70.96, Y:-91.63, Z:-0.19 [[-9.61164536e-01 -2.75861109e-01 7.96131670e-03 7.09562358e+01] [ 2.75850420e-01 -9.61197497e-01 -2.43250693e-03 -9.16250517e+01] [ 8.32343175e-03 -1.41906840e-04 9.99965350e-01 -1.86188777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30762800000002 meters 0.01568096018232053 Centerline is valid? [True, True] Translation: X:70.71, Y:-92.44, Z:0.67 [[-9.68793855e-01 2.47754313e-01 7.50111423e-03 7.07058235e+01] [ 2.47748268e-01 9.68822879e-01 -1.73941706e-03 -9.24406293e+01] [-7.69819916e-03 1.73251499e-04 -9.99970353e-01 6.74058166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33762800000002 meters 0.01657604395938314 Centerline is valid? [True, True] Translation: X:70.72, Y:-92.42, Z:0.67 [[-9.83305676e-01 1.81820872e-01 7.14964311e-03 7.07182729e+01] [ 1.81817451e-01 9.83331651e-01 -1.13102719e-03 -9.24201725e+01] [-7.23611471e-03 1.87784433e-04 -9.99973801e-01 6.73510942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36762800000002 meters 0.017587941739272594 Centerline is valid? [True, True] Translation: X:70.73, Y:-92.40, Z:0.67 [[-9.93615332e-01 1.12569667e-01 7.52611457e-03 7.07285743e+01] [ 1.12567972e-01 9.93643814e-01 -6.49842404e-04 -9.23966578e+01] [-7.55142973e-03 2.01506075e-04 -9.99971467e-01 6.73413888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39762800000003 meters 0.017209494934546446 Centerline is valid? [True, True] Translation: X:70.74, Y:-92.37, Z:0.67 [[-9.99109881e-01 4.14322024e-02 7.92577339e-03 7.07350470e+01] [ 4.14325640e-02 9.99141296e-01 -1.18634803e-04 -9.23694199e+01] [-7.92388280e-03 2.09855909e-04 -9.99968584e-01 6.73547926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42762800000003 meters 0.01738861997790203 Centerline is valid? [True, True] Translation: X:70.76, Y:-91.50, Z:-0.19 [[-9.98381288e-01 -5.61492092e-02 9.05923058e-03 7.07551173e+01] [ 5.61454094e-02 -9.98422375e-01 -6.73415541e-04 -9.14988947e+01] [ 9.08275026e-03 -1.63691265e-04 9.99958738e-01 -1.87206019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45762800000003 meters 0.016247083214567644 Centerline is valid? [True, True] Translation: X:70.63, Y:-92.37, Z:0.67 [[-9.99474288e-01 3.08876949e-02 9.85378172e-03 7.06319380e+01] [ 3.08883429e-02 9.99522838e-01 -8.64491770e-05 -9.23667571e+01] [-9.85175008e-03 2.17963259e-04 -9.99951447e-01 6.74665731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.487628 meters 0.014928181313129493 Centerline is valid? [True, True] Translation: X:70.65, Y:-91.50, Z:-0.19 [[-9.98352327e-01 -5.64910272e-02 1.00694902e-02 7.06451328e+01] [ 5.64860659e-02 -9.98403086e-01 -7.76658169e-04 -9.14969147e+01] [ 1.00972843e-02 -2.06592602e-04 9.99949000e-01 -1.86274557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.517628 meters 0.014903864681292645 Centerline is valid? [True, True] Translation: X:70.53, Y:-92.36, Z:0.68 [[-9.99756863e-01 1.92564559e-02 1.07425743e-02 7.05273180e+01] [ 1.92572761e-02 9.99814561e-01 -2.70944351e-05 -9.23622256e+01] [-1.07411039e-02 1.79784871e-04 -9.99942297e-01 6.75322706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.547628 meters 0.013810652609407607 Centerline is valid? [True, True] Translation: X:70.52, Y:-92.33, Z:0.68 [[-9.98318816e-01 -5.67502271e-02 1.17878650e-02 7.05240853e+01] [-5.67445998e-02 9.98388397e-01 8.11564710e-04 -9.23310799e+01] [-1.18149241e-02 1.41302640e-04 -9.99930191e-01 6.76480304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.577628 meters 0.01346256989203222 Centerline is valid? [True, True] Translation: X:70.52, Y:-92.30, Z:0.68 [[-9.91440410e-01 -1.30014140e-01 1.19262702e-02 7.05151148e+01] [-1.30003309e-01 9.91512133e-01 1.68225553e-03 -9.23025594e+01] [-1.20437586e-02 1.17401522e-04 -9.99927464e-01 6.77343171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.607628 meters 0.013206935275841884 Centerline is valid? [True, True] Translation: X:70.50, Y:-92.28, Z:0.68 [[-9.79170086e-01 -2.02680661e-01 1.21033959e-02 7.04988235e+01] [-2.02663916e-01 9.79244882e-01 2.60723262e-03 -9.22759218e+01] [-1.23806241e-02 1.00002594e-04 -9.99923352e-01 6.77614543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.637628 meters 0.012811946062284337 Centerline is valid? [True, True] Translation: X:70.46, Y:-92.26, Z:0.68 [[-9.61255579e-01 -2.75447538e-01 1.07873182e-02 7.04578731e+01] [-2.75429451e-01 9.61316103e-01 3.15716067e-03 -9.22568438e+01] [-1.12396549e-02 6.36931590e-05 -9.99936831e-01 6.76288036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.667628 meters 0.012811604862753411 Centerline is valid? [True, True] Translation: X:70.40, Y:-92.25, Z:0.68 [[-9.38234529e-01 -3.45863913e-01 9.70165866e-03 7.04028457e+01] [-3.45844815e-01 9.38284685e-01 3.63503151e-03 -9.22462466e+01] [-1.03601440e-02 5.52437396e-05 -9.99946331e-01 6.75699544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.697628 meters 0.012756972808966186 Centerline is valid? [True, True] Translation: X:70.34, Y:-92.24, Z:0.67 [[-9.09944800e-01 -4.14636996e-01 8.75339856e-03 7.03361759e+01] [-4.14617260e-01 9.09986900e-01 4.04589779e-03 -9.22441898e+01] [-9.64305692e-03 5.22335291e-05 -9.99953503e-01 6.74734111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.727628 meters 0.012778193386021498 Centerline is valid? [True, True] Translation: X:70.26, Y:-92.25, Z:0.67 [[-8.76405579e-01 -4.81510019e-01 7.83350369e-03 7.02553094e+01] [-4.81490291e-01 8.76440585e-01 4.35894801e-03 -9.22545856e+01] [-8.96447770e-03 4.84503770e-05 -9.99959817e-01 6.74190812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.757628 meters 0.012708168616482572 Centerline is valid? [True, True] Translation: X:70.17, Y:-92.27, Z:0.67 [[-8.37919253e-01 -5.45766122e-01 5.53760168e-03 7.01742910e+01] [-5.45753894e-01 8.37937551e-01 3.65351461e-03 -9.22720789e+01] [-6.63412889e-03 3.91825568e-05 -9.99977993e-01 6.72426864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.787628 meters 0.01287949070263577 Centerline is valid? [True, True] Translation: X:70.09, Y:-92.30, Z:0.67 [[-7.94670230e-01 -6.07027330e-01 4.12862414e-03 7.00863720e+01] [-6.07018911e-01 7.94680954e-01 3.19732388e-03 -9.23011963e+01] [-5.22180195e-03 3.46651762e-05 -9.99986366e-01 6.71641422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.817628 meters 0.012972039079048345 Centerline is valid? [True, True] Translation: X:70.00, Y:-92.34, Z:0.67 [[-7.46735521e-01 -6.65113872e-01 3.09838625e-03 6.99969882e+01] [-6.65107973e-01 7.46741948e-01 2.80127197e-03 -9.23403877e+01] [-4.17685983e-03 3.10478845e-05 -9.99991276e-01 6.70793096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84762800000001 meters 0.01340197156364807 Centerline is valid? [True, True] Translation: X:69.91, Y:-92.39, Z:0.67 [[-6.95476066e-01 -7.18546335e-01 2.05094290e-03 6.99058015e+01] [-7.18543087e-01 6.95479089e-01 2.16057305e-03 -9.23929612e+01] [-2.97885975e-03 2.89359965e-05 -9.99995563e-01 6.69901353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87762800000002 meters 0.01340197156364807 Centerline is valid? [True, True] Translation: X:69.82, Y:-92.45, Z:0.67 [[-6.38402679e-01 -7.69700258e-01 1.87942439e-03 6.98162726e+01] [-7.69696789e-01 6.38405445e-01 2.31127250e-03 -9.24528484e+01] [-2.97882180e-03 2.89356412e-05 -9.99995563e-01 6.69899555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90762800000002 meters 0.013868779062489458 Centerline is valid? [True, True] Translation: X:69.73, Y:-92.52, Z:0.67 [[-5.78901459e-01 -8.15395236e-01 1.92622497e-03 6.97339340e+01] [-8.15390494e-01 5.78904662e-01 2.78113279e-03 -9.25201299e+01] [-3.38282304e-03 3.93763005e-05 -9.99994277e-01 6.70307723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93762800000002 meters 0.013586528096098715 Centerline is valid? [True, True] Translation: X:69.64, Y:-92.61, Z:0.67 [[-5.15169621e-01 -8.57085681e-01 2.09675346e-03 6.96441490e+01] [-8.57078166e-01 5.15173885e-01 3.58951641e-03 -9.26081473e+01] [-4.15671574e-03 5.21281973e-05 -9.99991359e-01 6.70237165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96762800000002 meters 0.01385030110794878 Centerline is valid? [True, True] Translation: X:69.57, Y:-92.68, Z:0.67 [[-4.48018201e-01 -8.94021948e-01 2.10904957e-03 6.95736638e+01] [-8.94011360e-01 4.48023161e-01 4.35138694e-03 -9.26834035e+01] [-4.83513849e-03 6.39862727e-05 -9.99988309e-01 6.70999348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99762800000002 meters 0.013801907480492658 Centerline is valid? [True, True] Translation: X:69.50, Y:-92.78, Z:0.67 [[-3.78293694e-01 -9.25682736e-01 2.31367522e-03 6.95004957e+01] [-9.25663966e-01 3.78300759e-01 5.89554788e-03 -9.27789954e+01] [-6.33267199e-03 8.85628101e-05 -9.99979945e-01 6.72568216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02762800000002 meters 0.013928575754851447 Centerline is valid? [True, True] Translation: X:69.44, Y:-92.88, Z:0.67 [[-3.05703596e-01 -9.52124630e-01 2.00021534e-03 6.94358534e+01] [-9.52102125e-01 3.05710124e-01 6.54705173e-03 -9.28786758e+01] [-6.84509528e-03 9.70479843e-05 -9.99976567e-01 6.73454548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05762800000002 meters 0.013976835087434568 Centerline is valid? [True, True] Translation: X:69.38, Y:-92.99, Z:0.67 [[-2.31171453e-01 -9.72911707e-01 1.60276298e-03 6.93770865e+01] [-9.72885068e-01 2.31176986e-01 7.20042682e-03 -9.29906467e+01] [-7.37590147e-03 1.05228960e-04 -9.99972792e-01 6.74351427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08762800000002 meters 0.0141041133106635 Centerline is valid? [True, True] Translation: X:69.33, Y:-93.10, Z:0.67 [[-1.54942593e-01 -9.87922754e-01 1.19386639e-03 6.93295072e+01] [-9.87887173e-01 1.54947147e-01 8.38545224e-03 -9.30987734e+01] [-8.46916526e-03 1.19858426e-04 -9.99964129e-01 6.74946828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11762800000002 meters 0.013882264964656877 Centerline is valid? [True, True] Translation: X:69.29, Y:-93.22, Z:0.67 [[-7.78347505e-02 -9.96966126e-01 5.42625331e-04 6.92891031e+01] [-9.96929956e-01 7.78365492e-02 8.49319402e-03 -9.32158771e+01] [-8.50966283e-03 1.20106190e-04 -9.99963785e-01 6.74564203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14762800000003 meters 0.013806921602712597 Centerline is valid? [True, True] Translation: X:69.26, Y:-93.34, Z:0.67 [[ 8.73117808e-05 -9.99999988e-01 -1.25700791e-04 6.92581182e+01] [-9.99958750e-01 -8.84498521e-05 9.08245997e-03 -9.33357864e+01] [-9.08247098e-03 1.24902600e-04 -9.99958746e-01 6.74487271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17762800000003 meters 0.013790335939057746 Centerline is valid? [True, True] Translation: X:69.24, Y:-93.46, Z:0.67 [[ 7.77898050e-02 -9.96969425e-01 -8.43962147e-04 6.92368089e+01] [-9.96926970e-01 -7.77942817e-02 9.20147136e-03 -9.34571852e+01] [-9.23924103e-03 1.25587964e-04 -9.99957309e-01 6.74825797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20762800000003 meters 0.016126019660778017 Centerline is valid? [True, True] Translation: X:69.22, Y:-93.58, Z:0.68 [[ 1.55822410e-01 -9.87783459e-01 -1.79272354e-03 6.92243270e+01] [-9.87727665e-01 -1.55832664e-01 1.04995787e-02 -9.35814849e+01] [-1.06506750e-02 1.34652984e-04 -9.99943271e-01 6.77924779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.237628 meters 0.015467267279193344 Centerline is valid? [True, True] Translation: X:69.22, Y:-93.72, Z:0.68 [[ 2.33413138e-01 -9.72374665e-01 -2.41209925e-03 6.92232772e+01] [-9.72327475e-01 -2.33425575e-01 9.58033454e-03 -9.37150724e+01] [-9.87872024e-03 1.09174423e-04 -9.99951198e-01 6.77204768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.267628 meters 0.012827631843522595 Centerline is valid? [True, True] Translation: X:69.23, Y:-93.83, Z:0.67 [[ 3.12451169e-01 -9.49931201e-01 -2.23163242e-03 6.92259904e+01] [-9.49907994e-01 -3.12459136e-01 6.64012265e-03 -9.38300297e+01] [-7.00495362e-03 4.51313887e-05 -9.99975464e-01 6.73231276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.297628 meters 0.012670710656680578 Centerline is valid? [True, True] Translation: X:69.24, Y:-93.95, Z:0.67 [[ 3.87183340e-01 -9.21999756e-01 -2.34751556e-03 6.92419477e+01] [-9.21983199e-01 -3.87190456e-01 5.52559139e-03 -9.39535696e+01] [-6.00352954e-03 2.49529753e-05 -9.99981978e-01 6.72141264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.327628 meters 0.01250867630739251 Centerline is valid? [True, True] Translation: X:69.27, Y:-94.08, Z:0.67 [[ 4.59345333e-01 -8.88254223e-01 -2.50987048e-03 6.92680778e+01] [-8.88241089e-01 -4.59352190e-01 4.83050090e-03 -9.40767003e+01] [-5.44362733e-03 1.05020457e-05 -9.99985183e-01 6.71594774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.357628 meters 0.012472352881644146 Centerline is valid? [True, True] Translation: X:69.30, Y:-94.19, Z:0.67 [[ 5.28578306e-01 -8.48880466e-01 -2.63245164e-03 6.92977383e+01] [-8.48869918e-01 -5.28584861e-01 4.23159138e-03 -9.41877607e+01] [-4.98358934e-03 -2.11839333e-06 -9.99987582e-01 6.70817797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.387628 meters 0.01249524904554244 Centerline is valid? [True, True] Translation: X:69.34, Y:-94.30, Z:0.67 [[ 5.94278887e-01 -8.04254171e-01 -2.79868180e-03 6.93378247e+01] [-8.04245154e-01 -5.94285477e-01 3.80836045e-03 -9.42986045e+01] [-4.72610573e-03 -1.24019373e-05 -9.99988832e-01 6.70776689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.417628 meters 0.01282010601285482 Centerline is valid? [True, True] Translation: X:69.39, Y:-94.41, Z:0.67 [[ 6.57071673e-01 -7.53820451e-01 -3.39778728e-03 6.93905220e+01] [-7.53810121e-01 -6.57080457e-01 3.94637666e-03 -9.44125956e+01] [-5.20747905e-03 -3.17658712e-05 -9.99986440e-01 6.71817343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.447628 meters 0.012871455257310498 Centerline is valid? [True, True] Translation: X:69.44, Y:-94.50, Z:0.67 [[ 7.13913527e-01 -7.00225766e-01 -3.36924521e-03 6.94391373e+01] [-7.00217738e-01 -7.13921477e-01 3.35320439e-03 -9.45047699e+01] [-4.75337663e-03 -3.46927140e-05 -9.99988702e-01 6.71020753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.477628 meters 0.015499861668108253 Centerline is valid? [True, True] Translation: X:69.44, Y:-94.51, Z:0.67 [[ 7.66530045e-01 -6.42194172e-01 -4.28199477e-03 6.94350432e+01] [-6.42183845e-01 -7.66542004e-01 3.64225675e-03 -9.45116403e+01] [-5.62136491e-03 -4.20713652e-05 -9.99984199e-01 6.73804223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.507628 meters 0.013015381991324652 Centerline is valid? [True, True] Translation: X:69.43, Y:-94.52, Z:0.67 [[ 8.14893770e-01 -5.79595994e-01 -4.07753252e-03 6.94303629e+01] [-5.79588475e-01 -8.14903971e-01 2.95259239e-03 -9.45179389e+01] [-5.03410817e-03 -4.27582915e-05 -9.99987328e-01 6.71156449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.537628 meters 0.013022050007922356 Centerline is valid? [True, True] Translation: X:69.43, Y:-94.52, Z:0.67 [[ 8.57610744e-01 -5.14266162e-01 -5.84181584e-03 6.94252271e+01] [-5.14253780e-01 -8.57630638e-01 3.56916590e-03 -9.45234475e+01] [-6.84562150e-03 -5.67791503e-05 -9.99976567e-01 6.73234938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.567628 meters 0.012935596870445402 Centerline is valid? [True, True] Translation: X:69.42, Y:-94.53, Z:0.67 [[ 8.94922926e-01 -4.46159225e-01 -7.40961350e-03 6.94191674e+01] [-4.46143336e-01 -8.94953597e-01 3.76587456e-03 -9.45285105e+01] [-8.31143993e-03 -6.44177961e-05 -9.99965457e-01 6.74321112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59762800000001 meters 0.015789125955409836 Centerline is valid? [True, True] Translation: X:69.41, Y:-94.53, Z:0.68 [[ 9.26552004e-01 -3.76063531e-01 -8.80935471e-03 6.94145227e+01] [-3.76045910e-01 -9.26593879e-01 3.64098243e-03 -9.45333382e+01] [-9.53193486e-03 -6.08377612e-05 -9.99954568e-01 6.78185191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62762800000002 meters 0.012970740423285427 Centerline is valid? [True, True] Translation: X:69.41, Y:-94.54, Z:0.68 [[ 9.52861959e-01 -3.03273759e-01 -8.89460481e-03 6.94089353e+01] [-3.03260036e-01 -9.52903471e-01 2.88557043e-03 -9.45380293e+01] [-9.35081758e-03 -5.21721208e-05 -9.99956279e-01 6.75717112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65762800000002 meters 0.012695634382980521 Centerline is valid? [True, True] Translation: X:69.40, Y:-94.54, Z:0.67 [[ 9.73092913e-01 -2.30248979e-01 -8.69424933e-03 6.94045805e+01] [-2.30239530e-01 -9.73131752e-01 2.08614275e-03 -9.45429855e+01] [-8.94098232e-03 -2.82508449e-05 -9.99960028e-01 6.74287948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68762800000002 meters 0.012680994275990978 Centerline is valid? [True, True] Translation: X:69.40, Y:-94.55, Z:0.67 [[ 9.87980769e-01 -1.54336526e-01 -8.61603873e-03 6.93961505e+01] [-1.54330489e-01 -9.88018338e-01 1.36521938e-03 -9.45492173e+01] [-8.72350749e-03 -1.90930153e-05 -9.99961949e-01 6.73873435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71762800000002 meters 0.012680994275990978 Centerline is valid? [True, True] Translation: X:69.39, Y:-94.56, Z:0.67 [[ 9.97031974e-01 -7.64958508e-02 -8.69645010e-03 6.93883377e+01] [-7.64927740e-02 -9.97069899e-01 6.86343161e-04 -9.45563996e+01] [-8.72347103e-03 -1.90904842e-05 -9.99961950e-01 6.73873101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74762800000002 meters 0.012791146830354812 Centerline is valid? [True, True] Translation: X:69.38, Y:-94.56, Z:0.67 [[ 9.99963218e-01 -1.33095609e-03 -8.47293078e-03 6.93811133e+01] [-1.33097340e-03 -9.99999114e-01 3.59594620e-06 -9.45638943e+01] [-8.47292806e-03 7.68143152e-06 -9.99964104e-01 6.73883813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77762800000002 meters 0.012876796957237062 Centerline is valid? [True, True] Translation: X:69.38, Y:-94.57, Z:0.67 [[ 9.97179500e-01 7.46423641e-02 -7.84612855e-03 6.93752473e+01] [ 7.46398552e-02 -9.97210367e-01 -6.12507117e-04 -9.45722377e+01] [-7.86995971e-03 2.51456420e-05 -9.99969031e-01 6.73547418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80762800000002 meters 0.013231572293902 Centerline is valid? [True, True] Translation: X:69.37, Y:-94.58, Z:0.67 [[ 9.88718207e-01 1.49608979e-01 -7.31173283e-03 6.93685880e+01] [ 1.49604551e-01 -9.88745241e-01 -1.15188723e-03 -9.45790864e+01] [-7.40177371e-03 4.50233659e-05 -9.99972605e-01 6.73890546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83762800000002 meters 0.013388816773668554 Centerline is valid? [True, True] Translation: X:69.36, Y:-94.59, Z:0.67 [[ 9.74659260e-01 2.23600397e-01 -6.49534888e-03 6.93623716e+01] [ 2.23595016e-01 -9.74680901e-01 -1.55242902e-03 -9.45857222e+01] [-6.67801624e-03 6.07616773e-05 -9.99977700e-01 6.72219838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86762800000002 meters 0.014140557181671929 Centerline is valid? [True, True] Translation: X:69.36, Y:-94.59, Z:0.67 [[ 9.55919054e-01 2.93601574e-01 -4.10820947e-03 6.93574659e+01] [ 2.93598572e-01 -9.55927880e-01 -1.32930732e-03 -9.45935070e+01] [-4.31743869e-03 6.45457605e-05 -9.99990678e-01 6.69350184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89762800000003 meters 0.014725331302694345 Centerline is valid? [True, True] Translation: X:69.35, Y:-94.60, Z:0.67 [[ 9.31165800e-01 3.64581425e-01 -3.26139995e-03 6.93528956e+01] [ 3.64578948e-01 -9.31171510e-01 -1.34547512e-03 -9.46033699e+01] [-3.52745795e-03 6.38226599e-05 -9.99993776e-01 6.68565498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92762800000003 meters 0.015329036086055091 Centerline is valid? [True, True] Translation: X:69.35, Y:-94.61, Z:0.67 [[ 9.01187378e-01 4.33419563e-01 -2.96519260e-03 6.93498869e+01] [ 4.33416957e-01 -9.01192253e-01 -1.50482380e-03 -9.46142380e+01] [-3.32442868e-03 7.09634661e-05 -9.99994472e-01 6.68366076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95762800000003 meters 0.01599690079656353 Centerline is valid? [True, True] Translation: X:69.35, Y:-94.63, Z:0.67 [[ 8.65937611e-01 5.00143623e-01 -2.89989182e-03 6.93477931e+01] [ 5.00140498e-01 -8.65942463e-01 -1.77001703e-03 -9.46255238e+01] [-3.39640220e-03 8.23709797e-05 -9.99994229e-01 6.68434186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.987628 meters 0.016540530288501314 Centerline is valid? [True, True] Translation: X:69.35, Y:-94.64, Z:0.67 [[ 8.26630902e-01 5.62733862e-01 -3.45728105e-03 6.93482967e+01] [ 5.62728313e-01 -8.26638123e-01 -2.50213023e-03 -9.46397483e+01] [-4.26595373e-03 1.22828237e-04 -9.99990893e-01 6.69622019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.017628 meters 0.01710894366355019 Centerline is valid? [True, True] Translation: X:69.35, Y:-94.65, Z:0.67 [[ 7.80924106e-01 6.24614762e-01 -3.73346501e-03 6.93487015e+01] [ 6.24606706e-01 -7.80933017e-01 -3.17596477e-03 -9.46526421e+01] [-4.89934057e-03 1.48240172e-04 -9.99987987e-01 6.70271075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.047628 meters 0.01761217494352278 Centerline is valid? [True, True] Translation: X:69.35, Y:-94.67, Z:0.67 [[ 7.30409614e-01 6.82997119e-01 -4.09046429e-03 6.93487738e+01] [ 6.82984997e-01 -7.30421045e-01 -4.07315417e-03 -9.46657473e+01] [-5.76971376e-03 1.81345218e-04 -9.99983339e-01 6.70480089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.077628 meters 0.01790602168599224 Centerline is valid? [True, True] Translation: X:69.35, Y:-94.68, Z:0.67 [[ 6.75401496e-01 7.37440352e-01 -3.81407889e-03 6.93513509e+01] [ 7.37426980e-01 -6.75412238e-01 -4.44494223e-03 -9.46797745e+01] [-5.85395532e-03 1.89515950e-04 -9.99982848e-01 6.71182330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.107628 meters 0.017664017125592717 Centerline is valid? [True, True] Translation: X:69.36, Y:-94.69, Z:0.67 [[ 6.15519970e-01 7.88113850e-01 -3.42447919e-03 6.93556422e+01] [ 7.88099919e-01 -6.15529467e-01 -4.68965020e-03 -9.46941701e+01] [-5.80384612e-03 1.87741572e-04 -9.99983140e-01 6.71160495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.137628 meters 0.017569550047027663 Centerline is valid? [True, True] Translation: X:69.36, Y:-94.71, Z:0.67 [[ 5.51455012e-01 8.34198854e-01 -3.10508706e-03 6.93611867e+01] [ 8.34183660e-01 -5.51463721e-01 -5.03834992e-03 -9.47074428e+01] [-5.91532859e-03 1.88210420e-04 -9.99982487e-01 6.71216482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.167628 meters 0.017190290084387824 Centerline is valid? [True, True] Translation: X:69.37, Y:-94.72, Z:0.67 [[ 4.83530130e-01 8.75323902e-01 -2.58454179e-03 6.93683016e+01] [ 8.75309415e-01 -4.83537006e-01 -5.03900188e-03 -9.47206262e+01] [-5.66048039e-03 1.74235472e-04 -9.99983964e-01 6.71141609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.197628 meters 0.016951630083316727 Centerline is valid? [True, True] Translation: X:69.38, Y:-94.73, Z:0.67 [[ 4.12038673e-01 9.11163825e-01 -2.14852959e-03 6.93761185e+01] [ 9.11149310e-01 -4.12044243e-01 -5.14552351e-03 -9.47329555e+01] [-5.57370413e-03 1.62523425e-04 -9.99984454e-01 6.71182324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.227628 meters 0.015698637751117912 Centerline is valid? [True, True] Translation: X:69.39, Y:-94.75, Z:0.67 [[ 3.34663193e-01 9.42336465e-01 -1.59200562e-03 6.93877113e+01] [ 9.42323990e-01 -3.34666957e-01 -4.85029947e-03 -9.47457777e+01] [-5.10340573e-03 1.23031616e-04 -9.99986970e-01 6.70924736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.257628 meters 0.015351129620448673 Centerline is valid? [True, True] Translation: X:69.40, Y:-94.76, Z:0.67 [[ 2.57069508e-01 9.66392285e-01 -1.10455818e-03 6.93963834e+01] [ 9.66381632e-01 -2.57071862e-01 -4.53863965e-03 -9.47570363e+01] [-4.67005717e-03 9.93211279e-05 -9.99989090e-01 6.71080645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.287628 meters 0.015608152021459272 Centerline is valid? [True, True] Translation: X:69.40, Y:-94.77, Z:0.67 [[ 1.77383214e-01 9.84141618e-01 -6.87149122e-04 6.94029236e+01] [ 9.84132449e-01 -1.77384528e-01 -4.24877381e-03 -9.47678330e+01] [-4.30328475e-03 7.74154045e-05 -9.99990738e-01 6.71911084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.317628 meters 0.013953114590776847 Centerline is valid? [True, True] Translation: X:69.42, Y:-94.78, Z:0.67 [[ 9.68975478e-02 9.95294303e-01 -3.41443080e-04 6.94161148e+01] [ 9.95285614e-01 -9.68981288e-02 -4.15919333e-03 -9.47773136e+01] [-4.17270662e-03 6.31822494e-05 -9.99991292e-01 6.71654529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34762800000001 meters 0.013571462528341868 Centerline is valid? [True, True] Translation: X:69.43, Y:-94.79, Z:0.67 [[ 1.59105425e-02 9.99873419e-01 -1.25054703e-05 6.94263352e+01] [ 9.99867017e-01 -1.59104854e-02 -3.57839373e-03 -9.47856680e+01] [-3.57813974e-03 4.44303782e-05 -9.99993597e-01 6.71956628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37762800000002 meters 0.012637515461517113 Centerline is valid? [True, True] Translation: X:69.44, Y:-94.79, Z:0.67 [[-6.81146450e-02 9.97677476e-01 2.22250978e-04 6.94413579e+01] [ 9.97673078e-01 6.81150047e-02 -2.96250051e-03 -9.47923518e+01] [-2.97075865e-03 1.99441473e-05 -9.99995587e-01 6.71786329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40762800000002 meters 0.012344512848948982 Centerline is valid? [True, True] Translation: X:69.45, Y:-94.80, Z:0.67 [[-1.48786723e-01 9.88869225e-01 4.08102996e-04 6.94529439e+01] [ 9.88865697e-01 1.48787282e-01 -2.64169017e-03 -9.47973088e+01] [-2.67300665e-03 1.05106294e-05 -9.99996427e-01 6.71778703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43762800000002 meters 0.01221641686089181 Centerline is valid? [True, True] Translation: X:69.47, Y:-94.80, Z:0.67 [[-2.28374005e-01 9.73573320e-01 5.51196156e-04 6.94651419e+01] [ 9.73570516e-01 2.28374671e-01 -2.33659884e-03 -9.48016105e+01] [-2.40072953e-03 3.00989070e-06 -9.99997118e-01 6.71714197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46762800000002 meters 0.012247013480523724 Centerline is valid? [True, True] Translation: X:69.48, Y:-94.80, Z:0.67 [[-3.08018201e-01 9.51380117e-01 8.13062649e-04 6.94788556e+01] [ 9.51376733e-01 3.08019274e-01 -2.53753104e-03 -9.48047349e+01] [-2.66459555e-03 -8.07686022e-06 -9.99996450e-01 6.72044073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49762800000002 meters 0.012263358342962187 Centerline is valid? [True, True] Translation: X:69.49, Y:-94.81, Z:0.67 [[-3.83298680e-01 9.23623907e-01 9.99948981e-04 6.94906237e+01] [ 9.23620676e-01 3.83299984e-01 -2.44317402e-03 -9.48084304e+01] [-2.63985436e-03 -1.28918227e-05 -9.99996516e-01 6.72514228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52762800000002 meters 0.012328619015408611 Centerline is valid? [True, True] Translation: X:69.50, Y:-94.81, Z:0.67 [[-4.55366719e-01 8.90302932e-01 1.35639781e-03 6.95008541e+01] [ 8.90298866e-01 4.55368739e-01 -2.69071609e-03 -9.48099281e+01] [-3.01321359e-03 -1.76631228e-05 -9.99995460e-01 6.72930631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55762800000002 meters 0.012434036468749103 Centerline is valid? [True, True] Translation: X:69.51, Y:-94.81, Z:0.67 [[-5.24418768e-01 8.51458811e-01 1.68788733e-03 6.95121646e+01] [ 8.51454267e-01 5.24421484e-01 -2.78173966e-03 -9.48122168e+01] [-3.25370112e-03 -2.16376175e-05 -9.99994706e-01 6.73930691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58762800000002 meters 0.012386752840696983 Centerline is valid? [True, True] Translation: X:69.52, Y:-94.81, Z:0.68 [[-5.89327393e-01 8.07890810e-01 2.37951977e-03 6.95214524e+01] [ 8.07884046e-01 5.89332197e-01 -3.30598278e-03 -9.48136908e+01] [-4.07320072e-03 -2.59301552e-05 -9.99991704e-01 6.75036112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61762800000002 meters 0.012355939250668828 Centerline is valid? [True, True] Translation: X:69.53, Y:-94.81, Z:0.67 [[-6.50075416e-01 7.59865889e-01 2.40512996e-03 6.95302678e+01] [ 7.59860574e-01 6.50079865e-01 -2.84223953e-03 -9.48139035e+01] [-3.72324743e-03 -2.01066147e-05 -9.99993068e-01 6.74717638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64762800000003 meters 0.012266367202332594 Centerline is valid? [True, True] Translation: X:69.54, Y:-94.81, Z:0.67 [[-7.06712192e-01 7.07496757e-01 2.49329041e-03 6.95392679e+01] [ 7.07492280e-01 7.06716590e-01 -2.51691909e-03 -9.48142651e+01] [-3.54276180e-03 -1.47536891e-05 -9.99993724e-01 6.74413045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67762800000003 meters 0.012203282534221566 Centerline is valid? [True, True] Translation: X:69.55, Y:-94.81, Z:0.67 [[-7.58407070e-01 6.51776678e-01 2.42456355e-03 6.95475214e+01] [ 6.51773323e-01 7.58410945e-01 -2.09124046e-03 -9.48135398e+01] [-3.20183730e-03 -5.74570683e-06 -9.99994874e-01 6.74829269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70762800000003 meters 0.01218222179703919 Centerline is valid? [True, True] Translation: X:69.57, Y:-94.80, Z:0.68 [[-8.01646774e-01 5.97793370e-01 2.35301882e-03 6.95682332e+01] [ 5.97790793e-01 8.01650227e-01 -1.75539131e-03 -9.47964077e+01] [-2.93565936e-03 -5.90793986e-07 -9.99995691e-01 6.75095190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.737628 meters 0.012244423211988688 Centerline is valid? [True, True] Translation: X:69.59, Y:-94.78, Z:0.68 [[-8.40833423e-01 5.41287397e-01 2.66613425e-03 6.95897505e+01] [ 5.41284697e-01 8.40837650e-01 -1.70951856e-03 -9.47799551e+01] [-3.16712691e-03 5.71732922e-06 -9.99994985e-01 6.75745576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.767628 meters 0.012343313593740069 Centerline is valid? [True, True] Translation: X:69.61, Y:-94.76, Z:0.68 [[-8.76005408e-01 4.82292211e-01 2.95786180e-03 6.96103919e+01] [ 4.82289513e-01 8.76010401e-01 -1.61313439e-03 -9.47629981e+01] [-3.36911985e-03 1.34312806e-05 -9.99994324e-01 6.75696234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.797628 meters 0.013083020384322663 Centerline is valid? [True, True] Translation: X:69.62, Y:-94.74, Z:0.68 [[-9.05436535e-01 4.24468046e-01 3.39987254e-03 6.96196273e+01] [ 4.24465207e-01 9.05442918e-01 -1.55273070e-03 -9.47438309e+01] [-3.73747508e-03 3.72284964e-05 -9.99993015e-01 6.76082793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.827628 meters 0.013757242272599411 Centerline is valid? [True, True] Translation: X:69.64, Y:-94.73, Z:0.68 [[-9.32053270e-01 3.62302290e-01 3.70836707e-03 6.96422954e+01] [ 3.62299646e-01 9.32060646e-01 -1.38533163e-03 -9.47272024e+01] [-3.95833183e-03 5.23371994e-05 -9.99992164e-01 6.76055955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.857628 meters 0.014772870732938143 Centerline is valid? [True, True] Translation: X:69.66, Y:-94.71, Z:0.68 [[-9.54262598e-01 2.98938820e-01 4.29837956e-03 6.96599164e+01] [ 2.98936146e-01 9.54272276e-01 -1.26660312e-03 -9.47076927e+01] [-4.48046128e-03 7.62690401e-05 -9.99989960e-01 6.76707932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.887628 meters 0.014789961706492806 Centerline is valid? [True, True] Translation: X:69.67, Y:-94.68, Z:0.68 [[-9.72109927e-01 2.34482217e-01 4.51447169e-03 6.96730279e+01] [ 2.34480153e-01 9.72120404e-01 -9.88704128e-04 -9.46835553e+01] [-4.62044358e-03 9.74249125e-05 -9.99989321e-01 6.76937757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.917628 meters 0.017201329720795067 Centerline is valid? [True, True] Translation: X:69.87, Y:-93.85, Z:-0.19 [[-9.67030788e-01 -2.54613757e-01 4.82588687e-03 6.98680550e+01] [ 2.54610160e-01 -9.67042826e-01 -1.35594689e-03 -9.38517218e+01] [ 5.01208201e-03 -8.25225592e-05 9.99987436e-01 -1.90319916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.947628 meters 0.02172906747448469 Centerline is valid? [True, True] Translation: X:69.62, Y:-94.69, Z:0.68 [[-9.69894547e-01 2.43450271e-01 6.04419768e-03 6.96207710e+01] [ 2.43446917e-01 9.69913357e-01 -1.29575623e-03 -9.46875443e+01] [-6.17780027e-03 2.14694389e-04 -9.99980894e-01 6.80768216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.977628 meters 0.024600424330276798 Centerline is valid? [True, True] Translation: X:69.82, Y:-93.83, Z:-0.19 [[-9.71629571e-01 -2.36415936e-01 6.59410432e-03 6.98171794e+01] [ 2.36409097e-01 -9.71651926e-01 -1.80924501e-03 -9.38281313e+01] [ 6.83490851e-03 -1.99009701e-04 9.99976622e-01 -1.94832469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.007628 meters 0.021194257018704026 Centerline is valid? [True, True] Translation: X:69.57, Y:-94.68, Z:0.68 [[-9.68967040e-01 2.47125607e-01 5.63991149e-03 6.95662764e+01] [ 2.47122896e-01 9.68983423e-01 -1.18365096e-03 -9.46778650e+01] [-5.75749121e-03 2.46832495e-04 -9.99983395e-01 6.78823193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.037628 meters 0.021089664697588124 Centerline is valid? [True, True] Translation: X:69.58, Y:-94.65, Z:0.68 [[-9.83624668e-01 1.80152587e-01 5.24952075e-03 6.95755610e+01] [ 1.80151318e-01 9.83638647e-01 -7.17593965e-04 -9.46496735e+01] [-5.29290789e-03 2.39864953e-04 -9.99985964e-01 6.78009140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.067628 meters 0.024306566699888402 Centerline is valid? [True, True] Translation: X:69.59, Y:-94.63, Z:0.68 [[-9.93305318e-01 1.15426061e-01 4.62265003e-03 6.95873405e+01] [ 1.15425912e-01 9.93316047e-01 -2.99936645e-04 -9.46261262e+01] [-4.62637295e-03 2.35644931e-04 -9.99989271e-01 6.78381477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09762800000001 meters 0.02522458295911622 Centerline is valid? [True, True] Translation: X:69.66, Y:-93.75, Z:-0.19 [[-9.96982916e-01 -7.74441128e-02 5.24168384e-03 6.96557669e+01] [ 7.74418368e-02 -9.96996669e-01 -6.36104624e-04 -9.37454414e+01] [ 5.27520388e-03 -2.28259819e-04 9.99986060e-01 -1.92811285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12762800000002 meters 0.023605466651749077 Centerline is valid? [True, True] Translation: X:69.49, Y:-94.62, Z:0.68 [[-9.93499627e-01 1.13752022e-01 4.35520244e-03 6.94891821e+01] [ 1.13751990e-01 9.93509144e-01 -2.55727235e-04 -9.46167389e+01] [-4.35602294e-03 2.41348034e-04 -9.99990483e-01 6.77429587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15762800000002 meters 0.025862465328787096 Centerline is valid? [True, True] Translation: X:69.49, Y:-94.59, Z:0.68 [[-9.99017862e-01 4.41892881e-02 3.25850825e-03 6.94932273e+01] [ 4.41896547e-02 9.99023159e-01 4.05583382e-05 -9.45892746e+01] [-3.25353297e-03 1.84510859e-04 -9.99994690e-01 6.76440192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18762800000002 meters 0.023143798246696438 Centerline is valid? [True, True] Translation: X:69.49, Y:-94.55, Z:0.68 [[-9.99613124e-01 -2.77259965e-02 2.20729762e-03 6.94903643e+01] [-2.77256555e-02 9.99615553e-01 1.84914913e-04 -9.45547057e+01] [-2.21157598e-03 1.23644600e-04 -9.99997547e-01 6.76037122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21762800000002 meters 0.02426606287241877 Centerline is valid? [True, True] Translation: X:69.47, Y:-94.53, Z:0.68 [[-9.94859471e-01 -1.01253290e-01 1.55077179e-03 6.94728646e+01] [-1.01253035e-01 9.94860676e-01 2.42596387e-04 -9.45268296e+01] [-1.56736556e-03 8.43289625e-05 -9.99998768e-01 6.76077331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24762800000002 meters 0.021534656145881084 Centerline is valid? [True, True] Translation: X:69.45, Y:-94.49, Z:0.67 [[-9.84007164e-01 -1.78128830e-01 -1.43232614e-04 6.94451218e+01] [-1.78128826e-01 9.84007175e-01 -3.49171151e-05 -9.44936832e+01] [ 1.47161665e-04 -8.84483392e-06 -9.99999989e-01 6.74577437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27762800000002 meters 0.019589146538013066 Centerline is valid? [True, True] Translation: X:69.39, Y:-94.47, Z:0.67 [[-9.67393624e-01 -2.53274517e-01 -1.26284785e-03 6.93873061e+01] [-2.53274217e-01 9.67394446e-01 -3.94632929e-04 -9.44742313e+01] [ 1.32162246e-03 -6.19185792e-05 -9.99999125e-01 6.73700542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30762800000002 meters 0.020442684782431098 Centerline is valid? [True, True] Translation: X:69.32, Y:-94.47, Z:0.67 [[-9.44634901e-01 -3.28114908e-01 -2.34771296e-03 6.93207837e+01] [-3.28113614e-01 9.44637812e-01 -9.27407029e-04 -9.44664696e+01] [ 2.52203451e-03 -1.05744461e-04 -9.99996814e-01 6.72293281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33762800000002 meters 0.021113723161484042 Centerline is valid? [True, True] Translation: X:69.25, Y:-94.47, Z:0.67 [[-9.15785808e-01 -4.01654718e-01 -3.13710135e-03 6.92460769e+01] [-4.01651872e-01 9.15791172e-01 -1.51740832e-03 -9.44662035e+01] [ 3.48240393e-03 -1.29598370e-04 -9.99993928e-01 6.71343196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36762800000002 meters 0.016286174730918028 Centerline is valid? [True, True] Translation: X:69.16, Y:-94.47, Z:0.67 [[-8.81050325e-01 -4.73012169e-01 -3.13245648e-03 6.91587100e+01] [-4.73008697e-01 8.81055886e-01 -1.81609228e-03 -9.44682359e+01] [ 3.61890297e-03 -1.18389540e-04 -9.99993445e-01 6.71912562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39762800000003 meters 0.015931711804070013 Centerline is valid? [True, True] Translation: X:69.07, Y:-94.49, Z:0.67 [[-8.40553253e-01 -5.41720811e-01 -2.96511397e-03 6.90687794e+01] [-5.41717011e-01 8.40558477e-01 -2.03157087e-03 -9.44873202e+01] [ 3.59289590e-03 -1.01390826e-04 -9.99993540e-01 6.72344429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42762800000003 meters 0.014061574161997922 Centerline is valid? [True, True] Translation: X:68.97, Y:-94.51, Z:0.67 [[-7.92596153e-01 -6.09742251e-01 -2.39295076e-03 6.89719733e+01] [-6.09739230e-01 7.92599763e-01 -1.92024942e-03 -9.45119686e+01] [ 3.06750941e-03 -6.29063505e-05 -9.99995293e-01 6.73618847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45762800000003 meters 0.013156935176506231 Centerline is valid? [True, True] Translation: X:68.88, Y:-94.55, Z:0.67 [[-7.42164101e-01 -6.70213585e-01 -2.48937553e-03 6.88783408e+01] [-6.70209543e-01 7.42168274e-01 -2.32840880e-03 -9.45496662e+01] [ 3.40806675e-03 -5.96581885e-05 -9.99994191e-01 6.74008878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48762800000003 meters 0.012674138405547881 Centerline is valid? [True, True] Translation: X:68.78, Y:-94.60, Z:0.67 [[-6.86083260e-01 -7.27519684e-01 -2.20663901e-03 6.87847838e+01] [-7.27515715e-01 6.86086807e-01 -2.40367586e-03 -9.45966114e+01] [ 3.26266741e-03 -4.37572130e-05 -9.99994677e-01 6.74371581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.517628 meters 0.012362654462943514 Centerline is valid? [True, True] Translation: X:68.70, Y:-94.66, Z:0.67 [[-6.27668422e-01 -7.78478443e-01 -1.91461380e-03 6.86950655e+01] [-7.78474636e-01 6.27671341e-01 -2.43485914e-03 -9.46557615e+01] [ 3.09723356e-03 -3.78059157e-05 -9.99995203e-01 6.74782994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.547628 meters 0.012257812502557943 Centerline is valid? [True, True] Translation: X:68.61, Y:-94.72, Z:0.68 [[-5.65967606e-01 -8.24425859e-01 -1.63445857e-03 6.86089901e+01] [-8.24422242e-01 5.65969965e-01 -2.44222786e-03 -9.47237329e+01] [ 2.93849026e-03 -3.47378547e-05 -9.99995682e-01 6.75005860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.577628 meters 0.012405004915844621 Centerline is valid? [True, True] Translation: X:68.53, Y:-94.80, Z:0.67 [[-5.00961330e-01 -8.65468237e-01 -1.57378315e-03 6.85274383e+01] [-8.65463731e-01 5.00963801e-01 -2.79280972e-03 -9.48010044e+01] [ 3.20549649e-03 -3.70374299e-05 -9.99994862e-01 6.74948482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.607628 meters 0.012168312124165064 Centerline is valid? [True, True] Translation: X:68.45, Y:-94.89, Z:0.67 [[-4.33198598e-01 -9.01296909e-01 -1.69050030e-03 6.84487979e+01] [-9.01289623e-01 4.33201894e-01 -3.62417201e-03 -9.48868082e+01] [ 3.99878296e-03 -4.63558549e-05 -9.99992004e-01 6.74720426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.637628 meters 0.012168312124165064 Centerline is valid? [True, True] Translation: X:68.38, Y:-94.98, Z:0.67 [[-3.62604752e-01 -9.31941959e-01 -1.40681143e-03 6.83790699e+01] [-9.31934441e-01 3.62607478e-01 -3.74350117e-03 -9.49805865e+01] [ 3.99884616e-03 -4.63552925e-05 -9.99992004e-01 6.74717345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.667628 meters 0.012290264824117856 Centerline is valid? [True, True] Translation: X:68.32, Y:-95.08, Z:0.67 [[-2.89800591e-01 -9.57086327e-01 -1.17490505e-03 6.83153080e+01] [-9.57077767e-01 2.89802969e-01 -4.04801506e-03 -9.50830264e+01] [ 4.21479084e-03 -4.86416566e-05 -9.99991117e-01 6.74204863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.697628 meters 0.012200499335372617 Centerline is valid? [True, True] Translation: X:68.26, Y:-95.19, Z:0.67 [[-2.14853936e-01 -9.76645640e-01 -1.03951401e-03 6.82595117e+01] [-9.76632897e-01 2.14856443e-01 -4.98931471e-03 -9.51871378e+01] [ 5.09613874e-03 -5.67503301e-05 -9.99987013e-01 6.74225885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.727628 meters 0.011976886816321145 Centerline is valid? [True, True] Translation: X:68.21, Y:-95.30, Z:0.67 [[-1.37529306e-01 -9.90497468e-01 -6.74690343e-04 6.82110761e+01] [-9.90483652e-01 1.37530951e-01 -5.23194966e-03 -9.52969374e+01] [ 5.27502370e-03 -5.12766490e-05 -9.99986086e-01 6.74348301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.757628 meters 0.01189102957270764 Centerline is valid? [True, True] Translation: X:68.17, Y:-95.41, Z:0.67 [[-5.96769503e-02 -9.98217707e-01 -2.65371872e-04 6.81720495e+01] [-9.98204244e-01 5.96775237e-02 -5.18454991e-03 -9.54099686e+01] [ 5.19114626e-03 -4.45027987e-05 -9.99986525e-01 6.74788174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.787628 meters 0.011882572796970572 Centerline is valid? [True, True] Translation: X:68.14, Y:-95.53, Z:0.67 [[ 1.85750811e-02 -9.99827461e-01 1.23943373e-04 6.81424401e+01] [-9.99816172e-01 -1.85754603e-02 -4.75126472e-03 -9.55294143e+01] [ 4.75274724e-03 -3.56654612e-05 -9.99988705e-01 6.74985451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.817628 meters 0.011628138275042256 Centerline is valid? [True, True] Translation: X:68.12, Y:-95.65, Z:0.68 [[ 9.69225420e-02 -9.95291817e-01 4.69232302e-04 6.81217364e+01] [-9.95281538e-01 -9.69236736e-02 -4.52355296e-03 -9.56505697e+01] [ 4.54773497e-03 -2.85839951e-05 -9.99989659e-01 6.75526326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84762800000001 meters 0.011550802602707296 Centerline is valid? [True, True] Translation: X:68.11, Y:-95.77, Z:0.68 [[ 1.75350778e-01 -9.84505846e-01 5.85944064e-04 6.81102825e+01] [-9.84500622e-01 -1.75351756e-01 -3.20738836e-03 -9.57719379e+01] [ 3.26043892e-03 -1.44442519e-05 -9.99994685e-01 6.77147426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87762800000002 meters 0.011430300773806468 Centerline is valid? [True, True] Translation: X:68.11, Y:-95.89, Z:0.68 [[ 2.51130625e-01 -9.67952942e-01 7.15516494e-04 6.81090414e+01] [-9.67949143e-01 -2.51131644e-01 -2.71191286e-03 -9.58926825e+01] [ 2.80469286e-03 -1.15392068e-05 -9.99996067e-01 6.77822835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90762800000002 meters 0.011455631335323438 Centerline is valid? [True, True] Translation: X:68.12, Y:-96.02, Z:0.68 [[ 3.25084514e-01 -9.45684806e-01 5.53821796e-04 6.81184553e+01] [-9.45683472e-01 -3.25084986e-01 -1.58824058e-03 -9.60151934e+01] [ 1.68201413e-03 -7.42770316e-06 -9.99998585e-01 6.78922869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93762800000002 meters 0.01143458789355097 Centerline is valid? [True, True] Translation: X:68.14, Y:-96.13, Z:0.68 [[ 3.96690058e-01 -9.17952557e-01 3.18236903e-04 6.81360185e+01] [-9.17952271e-01 -3.96690186e-01 -7.24841430e-04 -9.61340767e+01] [ 7.91611500e-04 -4.58889871e-06 -9.99999687e-01 6.80472613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96762800000002 meters 0.011621035035261752 Centerline is valid? [True, True] Translation: X:68.16, Y:-96.25, Z:0.68 [[ 4.63686288e-01 -8.85998937e-01 -9.53414576e-04 6.81633611e+01] [-8.85997117e-01 -4.63687268e-01 1.79603600e-03 -9.62456638e+01] [-2.03337218e-03 1.19253011e-05 -9.99997933e-01 6.83047365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99762800000002 meters 0.015243340888952706 Centerline is valid? [True, True] Translation: X:68.20, Y:-96.36, Z:0.69 [[ 5.27625391e-01 -8.49474085e-01 -2.28608223e-03 6.81995667e+01] [-8.49466446e-01 -5.27630342e-01 3.60275788e-03 -9.63569156e+01] [-4.26665580e-03 4.10436080e-05 -9.99990897e-01 6.86961064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02762800000002 meters 0.013183214548736789 Centerline is valid? [True, True] Translation: X:68.24, Y:-96.46, Z:0.68 [[ 5.86213615e-01 -8.10152824e-01 -2.44939344e-03 6.82433678e+01] [-8.10146212e-01 -5.86218728e-01 3.27373106e-03 -9.64552024e+01] [-4.08810278e-03 6.52611014e-05 -9.99991642e-01 6.84419827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05762800000002 meters 0.014162733408419587 Centerline is valid? [True, True] Translation: X:68.29, Y:-96.55, Z:0.68 [[ 6.43345820e-01 -7.65570992e-01 -2.68564204e-03 6.82922278e+01] [-7.65564851e-01 -6.43351420e-01 3.06749628e-03 -9.65521703e+01] [-4.07619779e-03 8.25722377e-05 -9.99991689e-01 6.84249901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08762800000002 meters 0.015517641937817447 Centerline is valid? [True, True] Translation: X:68.35, Y:-96.65, Z:0.68 [[ 6.96883838e-01 -7.17179103e-01 -2.65535747e-03 6.83489757e+01] [-7.17174392e-01 -6.96888891e-01 2.60107320e-03 -9.66459670e+01] [-3.71592447e-03 9.17085073e-05 -9.99993092e-01 6.83460923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11762800000002 meters 0.016985289369239404 Centerline is valid? [True, True] Translation: X:68.35, Y:-96.65, Z:0.68 [[ 7.47857167e-01 -6.63855301e-01 -2.40748133e-03 6.83472095e+01] [-6.63852249e-01 -7.47861037e-01 2.01521394e-03 -9.66478300e+01] [-3.13827194e-03 9.11197124e-05 -9.99995071e-01 6.83043079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14762800000003 meters 0.017682859362673303 Centerline is valid? [True, True] Translation: X:68.34, Y:-96.65, Z:0.68 [[ 7.93015304e-01 -6.09198108e-01 -2.09582584e-03 6.83436772e+01] [-6.09196286e-01 -7.93018068e-01 1.49262210e-03 -9.66529596e+01] [-2.57133032e-03 9.30971513e-05 -9.99996690e-01 6.81976997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17762800000003 meters 0.01935501187764403 Centerline is valid? [True, True] Translation: X:68.34, Y:-96.66, Z:0.68 [[ 8.36578052e-01 -5.47842974e-01 -2.28881851e-03 6.83383349e+01] [-5.47841262e-01 -8.36581176e-01 1.37380502e-03 -9.66570048e+01] [-2.66741191e-03 1.04614091e-04 -9.99996437e-01 6.82057002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20762800000003 meters 0.019696683377453852 Centerline is valid? [True, True] Translation: X:68.33, Y:-96.66, Z:0.68 [[ 8.75746655e-01 -4.82764465e-01 -2.50343908e-03 6.83321591e+01] [-4.82762867e-01 -8.75750226e-01 1.24757714e-03 -9.66637942e+01] [-2.79467325e-03 1.16005918e-04 -9.99996088e-01 6.82280678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23762800000003 meters 0.02066920966781948 Centerline is valid? [True, True] Translation: X:68.33, Y:-96.67, Z:0.68 [[ 9.09941884e-01 -4.14725348e-01 -2.94159847e-03 6.83272818e+01] [-4.14723668e-01 -9.09946628e-01 1.18863688e-03 -9.66682793e+01] [-3.16965546e-03 1.38360023e-04 -9.99994967e-01 6.83019869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.267628 meters 0.020051110781743424 Centerline is valid? [True, True] Translation: X:68.32, Y:-96.68, Z:0.68 [[ 9.39687722e-01 -3.42016650e-01 -3.40532199e-03 6.83219073e+01] [-3.42014997e-01 -9.39693879e-01 1.07459951e-03 -9.66779381e+01] [-3.56749115e-03 1.54883223e-04 -9.99993624e-01 6.82641769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.297628 meters 0.021428782190689034 Centerline is valid? [True, True] Translation: X:68.31, Y:-96.69, Z:0.68 [[ 9.64068489e-01 -2.65634527e-01 -3.20111685e-03 6.83140564e+01] [-2.65633530e-01 -9.64073794e-01 7.40491586e-04 -9.66853077e+01] [-3.28281300e-03 1.36439365e-04 -9.99994602e-01 6.84096183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.327628 meters 0.018452228495561655 Centerline is valid? [True, True] Translation: X:68.31, Y:-96.69, Z:0.68 [[ 9.82901729e-01 -1.84115895e-01 -2.35106700e-03 6.83065433e+01] [-1.84115576e-01 -9.82904538e-01 3.53297804e-04 -9.66946609e+01] [-2.37592216e-03 8.56110314e-05 -9.99997174e-01 6.80774311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.357628 meters 0.01613823288272722 Centerline is valid? [True, True] Translation: X:68.30, Y:-96.71, Z:0.68 [[ 9.95328347e-01 -9.64575577e-02 -4.17391456e-03 6.82991115e+01] [-9.64571688e-02 -9.95337092e-01 2.94851043e-04 -9.67072831e+01] [-4.18289259e-03 1.09130379e-04 -9.99991246e-01 6.83953189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.387628 meters 0.01396192549644611 Centerline is valid? [True, True] Translation: X:68.29, Y:-96.72, Z:0.68 [[ 9.99919376e-01 -1.12551050e-02 -5.87908597e-03 6.82938723e+01] [-1.12555752e-02 -9.99936653e-01 -4.68999374e-05 -9.67190717e+01] [-5.87818568e-03 1.13068650e-04 -9.99982717e-01 6.84977631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.417628 meters 0.013026825154689725 Centerline is valid? [True, True] Translation: X:68.29, Y:-96.73, Z:0.69 [[ 9.97530769e-01 6.98793532e-02 -7.01714932e-03 6.82894803e+01] [ 6.98768078e-02 -9.97555443e-01 -6.07559618e-04 -9.67318300e+01] [-7.04245137e-03 1.15723419e-04 -9.99975195e-01 6.85323330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.447628 meters 0.012998230382852485 Centerline is valid? [True, True] Translation: X:68.29, Y:-96.74, Z:0.69 [[ 9.88639509e-01 1.50106666e-01 -7.74012475e-03 6.82850340e+01] [ 1.50101188e-01 -9.88669802e-01 -1.28722781e-03 -9.67414715e+01] [-7.84564907e-03 1.10802349e-04 -9.99969216e-01 6.86102242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.477628 meters 0.012998230382852485 Centerline is valid? [True, True] Translation: X:68.28, Y:-96.75, Z:0.69 [[ 9.73859453e-01 2.27023717e-01 -7.61557937e-03 6.82810627e+01] [ 2.27015885e-01 -9.73889223e-01 -1.88904564e-03 -9.67498810e+01] [-7.84558885e-03 1.10807464e-04 -9.99969217e-01 6.86101696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.507628 meters 0.012998230382852485 Centerline is valid? [True, True] Translation: X:68.28, Y:-96.76, Z:0.69 [[ 9.53104730e-01 3.02549096e-01 -7.44431393e-03 6.82778313e+01] [ 3.02538958e-01 -9.53133796e-01 -2.47927242e-03 -9.67585574e+01] [-7.84552882e-03 1.10811291e-04 -9.99969217e-01 6.86101150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.537628 meters 0.012765086917881046 Centerline is valid? [True, True] Translation: X:68.28, Y:-96.77, Z:0.69 [[ 9.26016362e-01 3.77410301e-01 -7.42707937e-03 6.82753866e+01] [ 3.77397262e-01 -9.26046140e-01 -3.13895378e-03 -9.67668990e+01] [-8.06249167e-03 1.03763143e-04 -9.99967492e-01 6.86341033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.567628 meters 0.012710596971366313 Centerline is valid? [True, True] Translation: X:68.27, Y:-96.77, Z:0.69 [[ 8.93401847e-01 4.49205539e-01 -6.89374136e-03 6.82727385e+01] [ 4.49191332e-01 -8.93428438e-01 -3.57392026e-03 -9.67748983e+01] [-7.76448936e-03 9.63381031e-05 -9.99969851e-01 6.86364194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59762800000001 meters 0.01266839242820301 Centerline is valid? [True, True] Translation: X:68.27, Y:-96.78, Z:0.69 [[ 8.55777768e-01 5.17311669e-01 -5.74885889e-03 6.82717633e+01] [ 5.17299306e-01 -8.55797072e-01 -3.57754283e-03 -9.67835077e+01] [-6.77056127e-03 8.77009031e-05 -9.99977076e-01 6.85138879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62762800000002 meters 0.012762613631362281 Centerline is valid? [True, True] Translation: X:68.27, Y:-96.79, Z:0.68 [[ 8.13319983e-01 5.81799270e-01 -4.49599454e-03 6.82710648e+01] [ 5.81789846e-01 -8.13332406e-01 -3.31238943e-03 -9.67922804e+01] [-5.58388381e-03 7.83085399e-05 -9.99984407e-01 6.83843535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65762800000002 meters 0.01346506755069422 Centerline is valid? [True, True] Translation: X:68.27, Y:-96.80, Z:0.68 [[ 7.67702625e-01 6.40802577e-01 -2.17642022e-03 6.82689676e+01] [ 6.40799813e-01 -7.67705709e-01 -1.88248657e-03 -9.67997990e+01] [-2.87715247e-03 5.05402089e-05 -9.99995860e-01 6.81337857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68762800000002 meters 0.013949417128463275 Centerline is valid? [True, True] Translation: X:68.27, Y:-96.81, Z:0.68 [[ 7.16808569e-01 6.97268554e-01 -1.42782073e-03 6.82686930e+01] [ 6.97267058e-01 -7.16809990e-01 -1.44475274e-03 -9.68095135e+01] [-2.03085682e-03 4.00387834e-05 -9.99997937e-01 6.80420754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71762800000002 meters 0.015379896701837585 Centerline is valid? [True, True] Translation: X:68.27, Y:-96.82, Z:0.68 [[ 6.64060491e-01 7.47677423e-01 -1.46147420e-03 6.82668348e+01] [ 7.47675420e-01 -6.64062097e-01 -1.73145453e-03 -9.68175230e+01] [-2.26507908e-03 5.70822090e-05 -9.99997433e-01 6.80393139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74762800000002 meters 0.015978757809498152 Centerline is valid? [True, True] Translation: X:68.27, Y:-96.83, Z:0.68 [[ 6.05618347e-01 7.95753811e-01 -1.51313787e-03 6.82683104e+01] [ 7.95751022e-01 -6.05620233e-01 -2.10808190e-03 -9.68284557e+01] [-2.59390111e-03 7.26120698e-05 -9.99996633e-01 6.81149669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77762800000002 meters 0.016927652642263067 Centerline is valid? [True, True] Translation: X:68.27, Y:-96.84, Z:0.68 [[ 5.43012268e-01 8.39723596e-01 -1.39955361e-03 6.82698039e+01] [ 8.39720414e-01 -5.43014065e-01 -2.31320183e-03 -9.68397607e+01] [-2.70242745e-03 8.08632305e-05 -9.99996345e-01 6.81596513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80762800000002 meters 0.017245298798981464 Centerline is valid? [True, True] Translation: X:68.27, Y:-96.85, Z:0.68 [[ 4.76703430e-01 8.79063450e-01 -1.13564306e-03 6.82734077e+01] [ 8.79060550e-01 -4.76704776e-01 -2.25958235e-03 -9.68509944e+01] [-2.52768273e-03 7.88516483e-05 -9.99996802e-01 6.81973632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83762800000002 meters 0.01656111926286805 Centerline is valid? [True, True] Translation: X:68.28, Y:-96.86, Z:0.68 [[ 4.06929975e-01 9.13458490e-01 -1.25804322e-03 6.82817465e+01] [ 9.13453286e-01 -4.06931906e-01 -3.08530451e-03 -9.68635351e+01] [-3.33023552e-03 1.06339170e-04 -9.99994449e-01 6.82432709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86762800000002 meters 0.01667258131668993 Centerline is valid? [True, True] Translation: X:68.29, Y:-96.87, Z:0.68 [[ 3.34345498e-01 9.42449679e-01 -1.30042094e-03 6.82901550e+01] [ 9.42440864e-01 -3.34347998e-01 -4.07848261e-03 -9.68744574e+01] [-4.27855777e-03 1.38052467e-04 -9.99990837e-01 6.83293992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89762800000003 meters 0.018842875533360174 Centerline is valid? [True, True] Translation: X:68.30, Y:-96.89, Z:0.69 [[ 2.59600371e-01 9.65714704e-01 -1.66051473e-03 6.82996751e+01] [ 9.65688721e-01 -2.59605574e-01 -7.08800360e-03 -9.68859893e+01] [-7.27606818e-03 2.36508021e-04 -9.99973501e-01 6.87994265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92762800000003 meters 0.017431139133830268 Centerline is valid? [True, True] Translation: X:68.31, Y:-96.90, Z:0.69 [[ 1.82808268e-01 9.83147890e-01 -1.16779540e-03 6.83073121e+01] [ 9.83118248e-01 -1.82811829e-01 -7.63840740e-03 -9.68971379e+01] [-7.72317093e-03 2.48283055e-04 -9.99970145e-01 6.86554165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95762800000003 meters 0.01752375858941709 Centerline is valid? [True, True] Translation: X:68.32, Y:-96.91, Z:0.69 [[ 1.05794527e-01 9.94387816e-01 -6.23728616e-04 6.83163071e+01] [ 9.94351554e-01 -1.05795999e-01 -8.49667109e-03 -9.69058870e+01] [-8.51497420e-03 2.78695783e-04 -9.99963708e-01 6.86652596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98762800000003 meters 0.017721668726421246 Centerline is valid? [True, True] Translation: X:68.33, Y:-96.91, Z:0.69 [[ 2.83865934e-02 9.99597018e-01 4.44796941e-05 6.83257379e+01] [ 9.99559806e-01 -2.83851526e-02 -8.63006176e-03 -9.69141681e+01] [-8.62532144e-03 2.89438169e-04 -9.99962759e-01 6.87147452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.017628 meters 0.018454306766692654 Centerline is valid? [True, True] Translation: X:68.34, Y:-96.92, Z:0.69 [[-4.87533736e-02 9.98810594e-01 7.11410090e-04 6.83354473e+01] [ 9.98774535e-01 4.87576622e-02 -8.49229443e-03 -9.69227504e+01] [-8.51688033e-03 2.96510279e-04 -9.99963687e-01 6.87586855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.047628 meters 0.018599284786313213 Centerline is valid? [True, True] Translation: X:68.35, Y:-96.93, Z:0.69 [[-1.26613296e-01 9.91951209e-01 1.36798874e-03 6.83458222e+01] [ 9.91915948e-01 1.26620337e-01 -8.36914661e-03 -9.69295419e+01] [-8.47500030e-03 2.97284608e-04 -9.99964042e-01 6.87696703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.077628 meters 0.01858081550583363 Centerline is valid? [True, True] Translation: X:68.36, Y:-96.94, Z:0.69 [[-2.04278094e-01 9.78910864e-01 1.99536591e-03 6.83559448e+01] [ 9.78877078e-01 2.04287632e-01 -8.13813652e-03 -9.69359188e+01] [-8.37413882e-03 2.90774936e-04 -9.99964894e-01 6.87103434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.107628 meters 0.018618834840328363 Centerline is valid? [True, True] Translation: X:68.37, Y:-96.94, Z:0.69 [[-2.81155600e-01 9.59658089e-01 2.80712854e-03 6.83662783e+01] [ 9.59620473e-01 2.81169449e-01 -8.50220679e-03 -9.69415188e+01] [-8.94849031e-03 3.03334971e-04 -9.99959915e-01 6.87095227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.137628 meters 0.01850458752008668 Centerline is valid? [True, True] Translation: X:68.38, Y:-96.95, Z:0.69 [[-3.57471507e-01 9.33913786e-01 4.37746386e-03 6.83764298e+01] [ 9.33855606e-01 3.57498128e-01 -1.04305294e-02 -9.69482034e+01] [-1.13061503e-02 3.59302117e-04 -9.99936019e-01 6.88075926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.167628 meters 0.018360423199390567 Centerline is valid? [True, True] Translation: X:68.39, Y:-96.95, Z:0.69 [[-4.31098236e-01 9.02285025e-01 6.00377045e-03 6.83858671e+01] [ 9.02209880e-01 4.31139860e-01 -1.16513522e-02 -9.69541165e+01] [-1.31013054e-02 3.93783643e-04 -9.99914097e-01 6.89514759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.197628 meters 0.017886791958014358 Centerline is valid? [True, True] Translation: X:68.40, Y:-96.96, Z:0.69 [[-5.02303988e-01 8.64661717e-01 7.12882090e-03 6.83955719e+01] [ 8.64585086e-01 5.02354430e-01 -1.15176477e-02 -9.69580551e+01] [-1.35400638e-02 3.78111874e-04 -9.99908258e-01 6.90487870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.227628 meters 0.014904779794437125 Centerline is valid? [True, True] Translation: X:68.41, Y:-96.96, Z:0.69 [[-5.73347346e-01 8.19279526e-01 7.34020116e-03 6.84120034e+01] [ 8.19218405e-01 5.73394265e-01 -1.00110630e-02 -9.69561809e+01] [-1.24106882e-02 2.73411486e-04 -9.99922947e-01 6.89005900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.257628 meters 0.01445007339914754 Centerline is valid? [True, True] Translation: X:68.42, Y:-96.96, Z:0.69 [[-6.38076572e-01 7.69939362e-01 7.18801381e-03 6.84240539e+01] [ 7.69894160e-01 6.38117023e-01 -8.34545453e-03 -9.69564392e+01] [-1.10122879e-02 2.08970839e-04 -9.99939341e-01 6.88356851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.287628 meters 0.01313826843341463 Centerline is valid? [True, True] Translation: X:68.44, Y:-96.95, Z:0.69 [[-6.98818216e-01 7.15268722e-01 6.61490624e-03 6.84379946e+01] [ 7.15238634e-01 6.98849508e-01 -6.56214843e-03 -9.69520841e+01] [-9.31652349e-03 1.45487645e-04 -9.99956590e-01 6.86303632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.317628 meters 0.012752283744535712 Centerline is valid? [True, True] Translation: X:68.47, Y:-96.94, Z:0.69 [[-7.49921340e-01 6.61499733e-01 6.00723090e-03 6.84669573e+01] [ 6.61479534e-01 7.49945394e-01 -5.17029100e-03 -9.69394689e+01] [-7.92524126e-03 9.63487423e-05 -9.99968590e-01 6.85028503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34762800000001 meters 0.011784083443579311 Centerline is valid? [True, True] Translation: X:68.49, Y:-96.92, Z:0.68 [[-7.98663333e-01 6.01763967e-01 4.12422626e-03 6.84869404e+01] [ 6.01756133e-01 7.98673981e-01 -3.07068175e-03 -9.69162158e+01] [-5.14173783e-03 2.93375275e-05 -9.99986781e-01 6.82761036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37762800000002 meters 0.011458275137313435 Centerline is valid? [True, True] Translation: X:68.51, Y:-96.90, Z:0.68 [[-8.41132813e-01 5.40817788e-01 3.42220793e-03 6.85098244e+01] [ 5.40813355e-01 8.41139774e-01 -2.18973574e-03 -9.68966632e+01] [-4.06280324e-03 8.91717445e-06 -9.99991747e-01 6.80676355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40762800000002 meters 0.011344822962692562 Centerline is valid? [True, True] Translation: X:68.52, Y:-96.87, Z:0.68 [[-8.78634659e-01 4.77484133e-01 3.16831692e-03 6.85215406e+01] [ 4.77481019e-01 8.78640371e-01 -1.72450748e-03 -9.68705232e+01] [-3.60723611e-03 -2.40085218e-06 -9.99993494e-01 6.79736235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43762800000002 meters 0.011568432178392365 Centerline is valid? [True, True] Translation: X:68.54, Y:-96.85, Z:0.68 [[-9.12262853e-01 4.09595832e-01 2.78211659e-03 6.85426403e+01] [ 4.09593870e-01 9.12267096e-01 -1.26799875e-03 -9.68485994e+01] [-3.05740042e-03 -1.72102576e-05 -9.99995326e-01 6.78833367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46762800000002 meters 0.011820489048872519 Centerline is valid? [True, True] Translation: X:68.56, Y:-96.82, Z:0.68 [[-9.39571775e-01 3.42340602e-01 2.79125860e-03 6.85581681e+01] [ 3.42339022e-01 9.39575921e-01 -1.04049875e-03 -9.68239469e+01] [-2.97880433e-03 -2.20665201e-05 -9.99995563e-01 6.79591157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49762800000002 meters 0.01201897106239823 Centerline is valid? [True, True] Translation: X:68.84, Y:-96.06, Z:-0.19 [[-9.08012934e-01 -4.18930798e-01 3.08178626e-03 6.88416331e+01] [ 4.18928569e-01 -9.08018163e-01 -1.36740536e-03 -9.60644061e+01] [ 3.37116611e-03 4.94265507e-05 9.99994316e-01 -1.92298019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52762800000002 meters 0.01201897106239823 Centerline is valid? [True, True] Translation: X:68.51, Y:-96.81, Z:0.68 [[-9.41350342e-01 3.37415615e-01 3.19941900e-03 6.85086415e+01] [ 3.37413557e-01 9.41355779e-01 -1.17901514e-03 -9.68054730e+01] [-3.40960968e-03 -3.03389573e-05 -9.99994187e-01 6.79943770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55762800000002 meters 0.012309014464749914 Centerline is valid? [True, True] Translation: X:68.80, Y:-96.05, Z:-0.19 [[-9.09236235e-01 -4.16264516e-01 3.64983142e-03 6.88015246e+01] [ 4.16261474e-01 -9.09243558e-01 -1.59293593e-03 -9.60511874e+01] [ 3.98166841e-03 7.09291434e-05 9.99992071e-01 -1.92967193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58762800000002 meters 0.012214763745707857 Centerline is valid? [True, True] Translation: X:68.47, Y:-96.79, Z:0.68 [[-9.42874105e-01 3.33119781e-01 4.43111046e-03 6.84700521e+01] [ 3.33115876e-01 9.42884516e-01 -1.61357267e-03 -9.67924562e+01] [-4.71553841e-03 -4.53226490e-05 -9.99988881e-01 6.81211646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61762800000002 meters 0.011898010784196413 Centerline is valid? [True, True] Translation: X:68.76, Y:-96.03, Z:-0.19 [[-9.11199258e-01 -4.11935179e-01 5.03200117e-03 6.87610496e+01] [ 4.11929494e-01 -9.11213147e-01 -2.16652011e-03 -9.60346983e+01] [ 5.47769147e-03 9.86981800e-05 9.99984992e-01 -1.94048130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64762800000003 meters 0.011709869472750278 Centerline is valid? [True, True] Translation: X:68.43, Y:-96.78, Z:0.68 [[-9.42511977e-01 3.34100043e-01 6.95229401e-03 6.84295575e+01] [ 3.34090681e-01 9.42537617e-01 -2.50138750e-03 -9.67841374e+01] [-7.38851230e-03 -3.48910385e-05 -9.99972704e-01 6.83595155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67762800000003 meters 0.011550236256913498 Centerline is valid? [True, True] Translation: X:68.45, Y:-96.76, Z:0.68 [[-9.63043952e-01 2.69241815e-01 7.42909174e-03 6.84459976e+01] [ 2.69233693e-01 9.63072606e-01 -2.09138357e-03 -9.67635067e+01] [-7.71784266e-03 -1.39324987e-05 -9.99970217e-01 6.84103774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70762800000003 meters 0.01154434334776542 Centerline is valid? [True, True] Translation: X:68.45, Y:-96.74, Z:0.68 [[-9.79036361e-01 2.03542139e-01 7.64210934e-03 6.84487242e+01] [ 2.03536032e-01 9.79066187e-01 -1.57674702e-03 -9.67391844e+01] [-7.80306531e-03 1.17519408e-05 -9.99969556e-01 6.83674341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73762800000003 meters 0.011855025925312184 Centerline is valid? [True, True] Translation: X:68.47, Y:-96.72, Z:0.68 [[-9.90545937e-01 1.36973633e-01 7.54784469e-03 6.84663638e+01] [ 1.36969946e-01 9.90574693e-01 -1.00573848e-03 -9.67177373e+01] [-7.61446359e-03 3.75977176e-05 -9.99971009e-01 6.83507925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.767628 meters 0.012727339468304658 Centerline is valid? [True, True] Translation: X:68.59, Y:-95.88, Z:-0.20 [[-9.82463481e-01 -1.86281215e-01 8.05092845e-03 6.85916975e+01] [ 1.86274901e-01 -9.82496468e-01 -1.53381953e-03 -9.58816501e+01] [ 8.19573053e-03 -7.23577429e-06 9.99966414e-01 -1.95247526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.797628 meters 0.013585930284915037 Centerline is valid? [True, True] Translation: X:68.41, Y:-96.72, Z:0.68 [[-9.89786208e-01 1.42318293e-01 8.29254679e-03 6.84072170e+01] [ 1.42314362e-01 9.89820937e-01 -1.06530811e-03 -9.67199415e+01] [-8.35974927e-03 1.25721234e-04 -9.99965049e-01 6.83169928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.827628 meters 0.013966308887891318 Centerline is valid? [True, True] Translation: X:68.41, Y:-96.69, Z:0.68 [[-9.97170668e-01 7.46659175e-02 8.69824783e-03 6.84146507e+01] [ 7.46644567e-02 9.97208592e-01 -4.93007598e-04 -9.66940415e+01] [-8.71077834e-03 1.57837233e-04 -9.99962048e-01 6.82837958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.857628 meters 0.015094383895637295 Centerline is valid? [True, True] Translation: X:68.47, Y:-95.83, Z:-0.20 [[-9.94635853e-01 -1.03117813e-01 8.13855731e-03 6.84710217e+01] [ 1.03112873e-01 -9.94669133e-01 -1.02540104e-03 -9.58321219e+01] [ 8.20090885e-03 -1.80710617e-04 9.99966356e-01 -1.95654940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.887628 meters 0.016126975811044865 Centerline is valid? [True, True] Translation: X:68.32, Y:-96.69, Z:0.68 [[-9.97270116e-01 7.35268832e-02 6.79066730e-03 6.83220483e+01] [ 7.35262382e-02 9.97293223e-01 -3.44930126e-04 -9.66925696e+01] [-6.79764811e-03 1.55303714e-04 -9.99976884e-01 6.82109731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.917628 meters 0.01518232828012437 Centerline is valid? [True, True] Translation: X:68.38, Y:-95.83, Z:-0.19 [[-9.95541697e-01 -9.41190752e-02 6.19112573e-03 6.83752343e+01] [ 9.41161367e-02 -9.95560931e-01 -7.64936071e-04 -9.58266349e+01] [ 6.23563797e-03 -1.78840919e-04 9.99980542e-01 -1.93562283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.947628 meters 0.015020558724280368 Centerline is valid? [True, True] Translation: X:68.23, Y:-96.68, Z:0.68 [[-9.97643785e-01 6.83401795e-02 6.04133844e-03 6.82301953e+01] [ 6.83397912e-02 9.97662067e-01 -2.70915368e-04 -9.66835714e+01] [-6.04572860e-03 1.42586775e-04 -9.99981714e-01 6.81253470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.977628 meters 0.015232630216506728 Centerline is valid? [True, True] Translation: X:68.23, Y:-96.66, Z:0.68 [[-9.99978789e-01 -2.33611569e-03 6.07980498e-03 6.82320471e+01] [-2.33518371e-03 9.99997261e-01 1.60385036e-04 -9.66552596e+01] [-6.08016301e-03 1.46184172e-04 -9.99981505e-01 6.81184547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.007628 meters 0.017264249773387644 Centerline is valid? [True, True] Translation: X:68.23, Y:-96.63, Z:0.68 [[-9.97352994e-01 -7.24673291e-02 5.95748933e-03 6.82328309e+01] [-7.24651339e-02 9.97370775e-01 5.83786202e-04 -9.66291232e+01] [-5.98413118e-03 1.50530654e-04 -9.99982084e-01 6.81416862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.037628 meters 0.017449598737322766 Centerline is valid? [True, True] Translation: X:68.22, Y:-96.60, Z:0.68 [[-9.89633947e-01 -1.43485745e-01 6.04085222e-03 6.82193090e+01] [-1.43482098e-01 9.89652371e-01 1.03500999e-03 -9.66020869e+01] [-6.12685291e-03 1.57526871e-04 -9.99981218e-01 6.81725859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.067628 meters 0.017005648665498255 Centerline is valid? [True, True] Translation: X:68.19, Y:-96.58, Z:0.68 [[-9.76735690e-01 -2.14369364e-01 5.75919620e-03 6.81855289e+01] [-2.14364698e-01 9.76752656e-01 1.42282515e-03 -9.65786937e+01] [-5.93032031e-03 1.55155752e-04 -9.99982403e-01 6.81668325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09762800000001 meters 0.016544741315563983 Centerline is valid? [True, True] Translation: X:68.13, Y:-96.56, Z:0.68 [[-9.58375278e-01 -2.85445024e-01 6.16153196e-03 6.81265515e+01] [-2.85437971e-01 9.58395069e-01 2.01396254e-03 -9.65643610e+01] [-6.48005743e-03 1.71396733e-04 -9.99978990e-01 6.81242002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12762800000002 meters 0.01700751754070833 Centerline is valid? [True, True] Translation: X:68.06, Y:-96.56, Z:0.68 [[-9.34680931e-01 -3.55419455e-01 6.96900963e-03 6.80596611e+01] [-3.55407953e-01 9.34706890e-01 2.86649910e-03 -9.65560270e+01] [-7.53279087e-03 2.02420596e-04 -9.99971608e-01 6.82741190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15762800000002 meters 0.017632982074454524 Centerline is valid? [True, True] Translation: X:67.98, Y:-96.56, Z:0.68 [[-9.05658065e-01 -4.23951975e-01 6.94210003e-03 6.79823055e+01] [-4.23937720e-01 9.05684646e-01 3.48298759e-03 -9.65591851e+01] [-7.76397288e-03 2.11377748e-04 -9.99969838e-01 6.83735672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18762800000002 meters 0.017575685897339505 Centerline is valid? [True, True] Translation: X:67.90, Y:-96.57, Z:0.68 [[-8.71331520e-01 -4.90648365e-01 6.75010021e-03 6.78984988e+01] [-4.90631704e-01 8.71357639e-01 4.04914184e-03 -9.65713457e+01] [-7.86845621e-03 2.16331744e-04 -9.99969020e-01 6.84097342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21762800000002 meters 0.017912483612931632 Centerline is valid? [True, True] Translation: X:67.81, Y:-96.59, Z:0.68 [[-8.32053477e-01 -5.54661394e-01 6.14415121e-03 6.78106452e+01] [-5.54644386e-01 8.32076135e-01 4.34861945e-03 -9.65942108e+01] [-7.52441292e-03 2.10464954e-04 -9.99971669e-01 6.83836846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24762800000002 meters 0.020230163738955875 Centerline is valid? [True, True] Translation: X:67.72, Y:-96.63, Z:0.69 [[-7.87888993e-01 -6.15786644e-01 6.14363344e-03 6.77188774e+01] [-6.15765643e-01 7.87912912e-01 5.09072611e-03 -9.66284662e+01] [-7.97544926e-03 2.27888671e-04 -9.99968170e-01 6.85659393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27762800000002 meters 0.017988597269508303 Centerline is valid? [True, True] Translation: X:67.62, Y:-96.67, Z:0.68 [[-7.37708961e-01 -6.75105648e-01 4.22531302e-03 6.76239038e+01] [-6.75093329e-01 7.37721045e-01 4.08140612e-03 -9.66715742e+01] [-5.87248266e-03 1.58409239e-04 -9.99982744e-01 6.81966706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30762800000002 meters 0.017917291912825324 Centerline is valid? [True, True] Translation: X:67.53, Y:-96.73, Z:0.68 [[-6.83088638e-01 -7.30326507e-01 3.62014804e-03 6.75309498e+01] [-7.30315152e-01 6.83098216e-01 4.07510486e-03 -9.67256460e+01] [-5.44907377e-03 1.39808861e-04 -9.99985144e-01 6.81358511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33762800000002 meters 0.015218689428300562 Centerline is valid? [True, True] Translation: X:67.44, Y:-96.79, Z:0.68 [[-6.23878814e-01 -7.81515568e-01 2.93981201e-03 6.74355687e+01] [-7.81505999e-01 6.23885730e-01 3.86909050e-03 -9.67876245e+01] [-4.85786122e-03 1.16362875e-04 -9.99988194e-01 6.80125786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36762800000002 meters 0.014397141865422564 Centerline is valid? [True, True] Translation: X:67.35, Y:-96.86, Z:0.68 [[-5.59118688e-01 -8.29083982e-01 2.45846830e-03 6.73457993e+01] [-8.29075231e-01 5.59124085e-01 3.81038206e-03 -9.68569748e+01] [-4.53371557e-03 9.22006451e-05 -9.99989718e-01 6.79989806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39762800000003 meters 0.014016661202790987 Centerline is valid? [True, True] Translation: X:67.26, Y:-96.94, Z:0.68 [[-4.91760311e-01 -8.70728303e-01 2.00471238e-03 6.72604417e+01] [-8.70720431e-01 4.91764391e-01 3.70340814e-03 -9.69408340e+01] [-4.21050844e-03 7.56451129e-05 -9.99991133e-01 6.80073842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42762800000003 meters 0.013698610066428031 Centerline is valid? [True, True] Translation: X:67.18, Y:-97.03, Z:0.68 [[-4.20943680e-01 -9.07085141e-01 1.72237240e-03 6.71830585e+01] [-9.07076904e-01 4.20947198e-01 3.86603098e-03 -9.70298585e+01] [-4.23184709e-03 6.50570847e-05 -9.99991044e-01 6.80485564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45762800000003 meters 0.012649189495192495 Centerline is valid? [True, True] Translation: X:67.11, Y:-97.13, Z:0.68 [[-3.45075528e-01 -9.38573542e-01 1.60823358e-03 6.71079844e+01] [-9.38562671e-01 3.45079272e-01 4.51754561e-03 -9.71274984e+01] [-4.79501686e-03 4.94664345e-05 -9.99988503e-01 6.81011415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48762800000003 meters 0.012152775922354014 Centerline is valid? [True, True] Translation: X:67.04, Y:-97.23, Z:0.68 [[-2.69288081e-01 -9.63058723e-01 1.35088356e-03 6.70442539e+01] [-9.63045832e-01 2.69291466e-01 4.98307636e-03 -9.72260464e+01] [-5.16277657e-03 4.09202819e-05 -9.99986672e-01 6.81637082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.517628 meters 0.01188337182858034 Centerline is valid? [True, True] Translation: X:66.99, Y:-97.33, Z:0.68 [[-1.91737842e-01 -9.81445613e-01 1.05279237e-03 6.69876211e+01] [-9.81429928e-01 1.91740730e-01 5.54879720e-03 -9.73340460e+01] [-5.64770585e-03 3.06724591e-05 -9.99984051e-01 6.82935085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.547628 meters 0.01165411691323221 Centerline is valid? [True, True] Translation: X:66.94, Y:-97.45, Z:0.68 [[-1.12996291e-01 -9.93595165e-01 6.97481464e-04 6.69394619e+01] [-9.93575193e-01 1.12998442e-01 6.29983012e-03 -9.74461099e+01] [-6.33829507e-03 1.88571563e-05 -9.99979913e-01 6.83752104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.577628 meters 0.011444760789314638 Centerline is valid? [True, True] Translation: X:66.90, Y:-97.56, Z:0.69 [[-3.19358857e-02 -9.99489893e-01 2.30457699e-04 6.68982013e+01] [-9.99465412e-01 3.19367165e-02 6.99544163e-03 -9.75625216e+01] [-6.99923327e-03 -6.92887507e-06 -9.99975505e-01 6.85334487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.607628 meters 0.011547450982651366 Centerline is valid? [True, True] Translation: X:66.87, Y:-97.68, Z:0.68 [[ 4.67802466e-02 -9.98905155e-01 -3.17228494e-04 6.68698304e+01] [-9.98879601e-01 -4.67813190e-02 7.14503241e-03 -9.76829562e+01] [-7.15205007e-03 -1.73733063e-05 -9.99974424e-01 6.84899381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.637628 meters 0.01156999794985406 Centerline is valid? [True, True] Translation: X:66.85, Y:-97.81, Z:0.68 [[ 1.25101155e-01 -9.92143617e-01 -8.62330202e-04 6.68513626e+01] [-9.92118557e-01 -1.25104124e-01 7.05174316e-03 -9.78071986e+01] [-7.10422303e-03 -2.66474154e-05 -9.99974764e-01 6.84495475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.667628 meters 0.01168554638541753 Centerline is valid? [True, True] Translation: X:66.84, Y:-97.93, Z:0.68 [[ 2.02294296e-01 -9.79323721e-01 -1.43755952e-03 6.68424396e+01] [-9.79297790e-01 -2.02299401e-01 7.12681201e-03 -9.79289316e+01] [-7.27027349e-03 -3.39145613e-05 -9.99973571e-01 6.84197942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.697628 meters 0.011736785600155255 Centerline is valid? [True, True] Translation: X:66.84, Y:-98.05, Z:0.68 [[ 2.77853545e-01 -9.60621726e-01 -1.81852510e-03 6.68421447e+01] [-9.60600312e-01 -2.77859494e-01 6.41430380e-03 -9.80455105e+01] [-6.66701405e-03 -3.53612711e-05 -9.99977775e-01 6.83419452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.727628 meters 0.011726000751789133 Centerline is valid? [True, True] Translation: X:66.85, Y:-98.17, Z:0.68 [[ 3.51397331e-01 -9.36223837e-01 -2.20070430e-03 6.68526260e+01] [-9.36204832e-01 -3.51404220e-01 5.96548261e-03 -9.81677784e+01] [-6.35836380e-03 -3.59446641e-05 -9.99979785e-01 6.82804585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.757628 meters 0.011704123444398406 Centerline is valid? [True, True] Translation: X:66.87, Y:-98.28, Z:0.68 [[ 4.22553574e-01 -9.06334186e-01 -2.61154551e-03 6.68698474e+01] [-9.06316352e-01 -4.22561642e-01 5.68582832e-03 -9.82809283e+01] [-6.25679954e-03 -3.56806800e-05 -9.99980425e-01 6.82534144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.787628 meters 0.011709102559664859 Centerline is valid? [True, True] Translation: X:66.90, Y:-98.40, Z:0.68 [[ 4.91183833e-01 -8.71050528e-01 -3.06925295e-03 6.68982239e+01] [-8.71033052e-01 -4.91193421e-01 5.51778437e-03 -9.83970801e+01] [-6.31386585e-03 -3.68257106e-05 -9.99980067e-01 6.82476201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.817628 meters 0.011762199600089925 Centerline is valid? [True, True] Translation: X:66.93, Y:-98.51, Z:0.68 [[ 5.56584133e-01 -8.30783311e-01 -3.63209919e-03 6.69332184e+01] [-8.30765185e-01 -5.56595983e-01 5.48810003e-03 -9.85073850e+01] [-6.58103373e-03 -3.71678455e-05 -9.99978344e-01 6.82826814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84762800000001 meters 0.011806429419501278 Centerline is valid? [True, True] Translation: X:66.98, Y:-98.61, Z:0.68 [[ 6.18465569e-01 -7.85795564e-01 -5.06664180e-03 6.69753762e+01] [-7.85768622e-01 -6.18486321e-01 6.50723734e-03 -9.86120781e+01] [-8.24700688e-03 -4.32941039e-05 -9.99965992e-01 6.84078507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87762800000002 meters 0.011747155070335899 Centerline is valid? [True, True] Translation: X:67.02, Y:-98.71, Z:0.68 [[ 6.76757361e-01 -7.36180459e-01 -6.14870238e-03 6.70222738e+01] [-7.36149445e-01 -6.76785291e-01 6.75757032e-03 -9.87105736e+01] [-9.13614255e-03 -4.68716167e-05 -9.99958263e-01 6.84952343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90762800000002 meters 0.01170323855756114 Centerline is valid? [True, True] Translation: X:67.08, Y:-98.80, Z:0.69 [[ 7.30584090e-01 -6.82786369e-01 -7.04702680e-03 6.70759977e+01] [-6.82754043e-01 -7.30618075e-01 6.64413235e-03 -9.88046893e+01] [-9.68520817e-03 -4.27113479e-05 -9.99953096e-01 6.85967709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93762800000002 meters 0.011639463576625087 Centerline is valid? [True, True] Translation: X:67.07, Y:-98.81, Z:0.69 [[ 7.81100678e-01 -6.24357441e-01 -7.71470728e-03 6.70721099e+01] [-6.24326554e-01 -7.81138775e-01 6.21034869e-03 -9.88123177e+01] [-9.90373440e-03 -3.44109630e-05 -9.99950956e-01 6.85885765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96762800000002 meters 0.011674221736851346 Centerline is valid? [True, True] Translation: X:67.07, Y:-98.82, Z:0.69 [[ 8.25598018e-01 -5.64189059e-01 -8.86674766e-03 6.70697067e+01] [-5.64156508e-01 -8.25645630e-01 6.06034194e-03 -9.88169308e+01] [-1.07399701e-02 -1.17289325e-06 -9.99942325e-01 6.86539437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99762800000002 meters 0.011764891677630712 Centerline is valid? [True, True] Translation: X:67.07, Y:-98.82, Z:0.69 [[ 8.65872960e-01 -5.00173155e-01 -9.53061805e-03 6.70670500e+01] [-5.00143208e-01 -8.65925409e-01 5.47329579e-03 -9.88219691e+01] [-1.09904000e-02 2.74950695e-05 -9.99939603e-01 6.86243551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02762800000002 meters 0.011987927130764641 Centerline is valid? [True, True] Translation: X:67.07, Y:-98.83, Z:0.69 [[ 9.00942593e-01 -4.33826882e-01 -9.83261611e-03 6.70655305e+01] [-4.33801798e-01 -9.00996245e-01 4.66553648e-03 -9.88266162e+01] [-1.08831853e-02 6.20260082e-05 -9.99940774e-01 6.86248417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05762800000002 meters 0.012504867626177122 Centerline is valid? [True, True] Translation: X:67.06, Y:-98.83, Z:0.69 [[ 9.30755271e-01 -3.65503333e-01 -1.00964858e-02 6.70641476e+01] [-3.65483013e-01 -9.30810025e-01 3.85536704e-03 -9.88311489e+01] [-1.08070597e-02 1.01690865e-04 -9.99941597e-01 6.86163253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08762800000002 meters 0.015129168728499214 Centerline is valid? [True, True] Translation: X:67.06, Y:-98.83, Z:0.69 [[ 9.55235839e-01 -2.95649848e-01 -1.07545363e-02 6.70625123e+01] [-2.95632907e-01 -9.55296365e-01 3.16862178e-03 -9.88341687e+01] [-1.12105720e-02 1.52613736e-04 -9.99937148e-01 6.87945102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11762800000002 meters 0.014623396278632786 Centerline is valid? [True, True] Translation: X:67.06, Y:-98.84, Z:0.69 [[ 9.73628430e-01 -2.27968516e-01 -8.83384351e-03 6.70582961e+01] [-2.27960965e-01 -9.73668484e-01 1.86590304e-03 -9.88376622e+01] [-9.02660216e-03 1.97075237e-04 -9.99959240e-01 6.85428170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14762800000003 meters 0.01583955967098526 Centerline is valid? [True, True] Translation: X:67.05, Y:-98.84, Z:0.68 [[ 9.87877588e-01 -1.54988918e-01 -8.73535027e-03 6.70525211e+01] [-1.54984891e-01 -9.87916182e-01 1.14024819e-03 -9.88425121e+01] [-8.80651973e-03 2.27421676e-04 -9.99961196e-01 6.84980153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17762800000003 meters 0.017760655936279526 Centerline is valid? [True, True] Translation: X:67.05, Y:-98.85, Z:0.69 [[ 9.96670067e-01 -8.11303144e-02 -8.16394117e-03 6.70466207e+01] [-8.11295888e-02 -9.96703473e-01 4.20562922e-04 -9.88462334e+01] [-8.17114891e-03 2.43174715e-04 -9.99966586e-01 6.85084775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20762800000003 meters 0.01874272179543308 Centerline is valid? [True, True] Translation: X:67.04, Y:-98.85, Z:0.68 [[ 9.99938133e-01 -8.73500684e-03 -6.88688122e-03 6.70414423e+01] [-8.73648905e-03 -9.99961819e-01 -1.85167324e-04 -9.88512863e+01] [-6.88500083e-03 2.45323030e-04 -9.99976268e-01 6.83464739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23762800000003 meters 0.02003718638305682 Centerline is valid? [True, True] Translation: X:67.04, Y:-98.86, Z:0.68 [[ 9.97682839e-01 6.77347337e-02 -6.39985405e-03 6.70356236e+01] [ 6.77317904e-02 -9.97703337e-01 -6.75776640e-04 -9.88574374e+01] [-6.43092929e-03 2.40737183e-04 -9.99979292e-01 6.82925546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.267628 meters 0.018536332977483107 Centerline is valid? [True, True] Translation: X:67.03, Y:-98.87, Z:0.68 [[ 9.89485940e-01 1.44506614e-01 -5.95080012e-03 6.70321418e+01] [ 1.44502580e-01 -9.89503807e-01 -1.10477530e-03 -9.88716206e+01] [-6.04798671e-03 2.33253656e-04 -9.99981684e-01 6.82371574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.297628 meters 0.019740233591768238 Centerline is valid? [True, True] Translation: X:67.03, Y:-98.88, Z:0.68 [[ 9.75205777e-01 2.21219586e-01 -5.96553067e-03 6.70284188e+01] [ 2.21213935e-01 -9.75223993e-01 -1.59932218e-03 -9.88819705e+01] [-6.17153003e-03 2.40009710e-04 -9.99980927e-01 6.82977682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.327628 meters 0.017355830668126095 Centerline is valid? [True, True] Translation: X:67.03, Y:-98.90, Z:0.68 [[ 9.54550399e-01 2.97968092e-01 -6.96792342e-03 6.70300370e+01] [ 2.97958004e-01 -9.54575790e-01 -2.46778780e-03 -9.89016382e+01] [-7.38673302e-03 2.79479270e-04 -9.99972679e-01 6.84377049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.357628 meters 0.019569199644201826 Centerline is valid? [True, True] Translation: X:67.03, Y:-98.91, Z:0.69 [[ 9.27946927e-01 3.72640145e-01 -7.33640040e-03 6.70280923e+01] [ 3.72625955e-01 -9.27975880e-01 -3.26552577e-03 -9.89130404e+01] [-8.02486862e-03 2.96501401e-04 -9.99967756e-01 6.85446389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.387628 meters 0.019267515206237602 Centerline is valid? [True, True] Translation: X:67.03, Y:-98.92, Z:0.69 [[ 8.95519793e-01 4.44958080e-01 -7.52373999e-03 6.70278134e+01] [ 4.44939455e-01 -8.95551345e-01 -4.08284767e-03 -9.89237235e+01] [-8.55459153e-03 3.08662133e-04 -9.99963361e-01 6.85867603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.417628 meters 0.017489721852235695 Centerline is valid? [True, True] Translation: X:67.03, Y:-98.94, Z:0.69 [[ 8.57539428e-01 5.14366730e-01 -7.27983154e-03 6.70313351e+01] [ 5.14345132e-01 -8.57570273e-01 -4.72359423e-03 -9.89389927e+01] [-8.67262684e-03 3.06322379e-04 -9.99962345e-01 6.85092735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.447628 meters 0.017489721852235695 Centerline is valid? [True, True] Translation: X:67.03, Y:-98.95, Z:0.69 [[ 8.14643649e-01 5.79920930e-01 -6.88765437e-03 6.70337969e+01] [ 5.79896984e-01 -8.14672708e-01 -5.27894121e-03 -9.89514690e+01] [-8.67255253e-03 3.06325937e-04 -9.99962346e-01 6.85092058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.477628 meters 0.017651965028029477 Centerline is valid? [True, True] Translation: X:67.04, Y:-98.96, Z:0.69 [[ 7.66332949e-01 6.42413417e-01 -6.23000944e-03 6.70373514e+01] [ 6.42389062e-01 -7.66358217e-01 -5.60141700e-03 -9.89635641e+01] [-8.37284436e-03 2.90460484e-04 -9.99964905e-01 6.85115377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.507628 meters 0.017313685449793705 Centerline is valid? [True, True] Translation: X:67.04, Y:-98.98, Z:0.69 [[ 7.12395734e-01 7.01749350e-01 -6.33783815e-03 6.70427186e+01] [ 7.01717742e-01 -7.12423861e-01 -6.66724604e-03 -9.89768455e+01] [-9.19396270e-03 3.02344159e-04 -9.99957689e-01 6.85141870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.537628 meters 0.017167863512073323 Centerline is valid? [True, True] Translation: X:67.05, Y:-98.99, Z:0.69 [[ 6.54311674e-01 7.56204094e-01 -5.62152560e-03 6.70484102e+01] [ 7.56172418e-01 -6.54335761e-01 -6.92715168e-03 -9.89877408e+01] [-8.91670569e-03 2.81673604e-04 -9.99960206e-01 6.85635180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.567628 meters 0.01668245619675839 Centerline is valid? [True, True] Translation: X:67.05, Y:-99.00, Z:0.69 [[ 5.92063100e-01 8.05875639e-01 -5.07356970e-03 6.70549337e+01] [ 8.05842049e-01 -5.92084776e-01 -7.36274164e-03 -9.89982656e+01] [-8.93743749e-03 2.70711834e-04 -9.99960024e-01 6.85436059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59762800000001 meters 0.01656954526907267 Centerline is valid? [True, True] Translation: X:67.06, Y:-99.01, Z:0.69 [[ 5.26006313e-01 8.50470258e-01 -4.20692898e-03 6.70611029e+01] [ 8.50439272e-01 -5.26023080e-01 -7.26390440e-03 -9.90076852e+01] [-8.39067639e-03 2.43121958e-04 -9.99964768e-01 6.85210723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62762800000002 meters 0.018266123825679288 Centerline is valid? [True, True] Translation: X:67.07, Y:-99.02, Z:0.69 [[ 4.56470175e-01 8.89729746e-01 -3.99475385e-03 6.70668039e+01] [ 8.89690660e-01 -4.56487583e-01 -8.34358904e-03 -9.90171027e+01] [-9.24709489e-03 2.54504359e-04 -9.99957212e-01 6.86452728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65762800000002 meters 0.015119922789925267 Centerline is valid? [True, True] Translation: X:67.08, Y:-99.03, Z:0.69 [[ 3.81662020e-01 9.24296720e-01 -3.11066773e-03 6.70779404e+01] [ 9.24261555e-01 -3.81674642e-01 -8.06506069e-03 -9.90272115e+01] [-8.64177214e-03 2.03056756e-04 -9.99962639e-01 6.86018718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68762800000002 meters 0.014610018833347402 Centerline is valid? [True, True] Translation: X:67.09, Y:-99.04, Z:0.69 [[ 3.05969530e-01 9.52037697e-01 -2.62119214e-03 6.70867252e+01] [ 9.51997094e-01 -3.05980695e-01 -8.79478402e-03 -9.90355961e+01] [-9.17500012e-03 1.95568631e-04 -9.99957890e-01 6.86242396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71762800000002 meters 0.0145264717135641 Centerline is valid? [True, True] Translation: X:67.09, Y:-99.04, Z:0.69 [[ 2.28363972e-01 9.73573852e-01 -1.96244803e-03 6.70940268e+01] [ 9.73530862e-01 -2.28372334e-01 -9.15082130e-03 -9.90438705e+01] [-9.35716918e-03 1.79214176e-04 -9.99956205e-01 6.86671079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74762800000002 meters 0.01323672305884231 Centerline is valid? [True, True] Translation: X:67.11, Y:-99.05, Z:0.69 [[ 1.47358493e-01 9.89082348e-01 -1.25839061e-03 6.71063230e+01] [ 9.89037538e-01 -1.47363796e-01 -9.41595721e-03 -9.90510391e+01] [-9.49859829e-03 1.42925715e-04 -9.99954877e-01 6.86021449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77762800000002 meters 0.012921031178934898 Centerline is valid? [True, True] Translation: X:67.12, Y:-99.06, Z:0.69 [[ 6.79002919e-02 9.97691978e-01 -5.16663157e-04 6.71171200e+01] [ 9.97646910e-01 -6.79021359e-02 -9.48377105e-03 -9.90563913e+01] [-9.49696484e-03 1.28503420e-04 -9.99954895e-01 6.85813537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80762800000002 meters 0.012603946106738552 Centerline is valid? [True, True] Translation: X:67.13, Y:-99.06, Z:0.69 [[-1.15852365e-02 9.99932863e-01 2.27086529e-04 6.71284178e+01] [ 9.99888114e-01 1.15868666e-02 -9.46064737e-03 -9.90604409e+01] [-9.46264343e-03 1.17457284e-04 -9.99955221e-01 6.85413264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83762800000002 meters 0.01263235050469702 Centerline is valid? [True, True] Translation: X:67.14, Y:-99.07, Z:0.69 [[-9.12198288e-02 9.95830385e-01 8.86878524e-04 6.71384056e+01] [ 9.95792965e-01 9.12240899e-02 -8.63342089e-03 -9.90653631e+01] [-8.67832754e-03 9.56082188e-05 -9.99962338e-01 6.85742876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86762800000002 meters 0.012153295894128295 Centerline is valid? [True, True] Translation: X:67.15, Y:-99.07, Z:0.68 [[-1.70474600e-01 9.85360968e-01 1.47454144e-03 6.71516705e+01] [ 9.85327935e-01 1.70480960e-01 -8.06867195e-03 -9.90681474e+01] [-8.20193564e-03 7.74032480e-05 -9.99966361e-01 6.84958053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89762800000003 meters 0.01221800692643185 Centerline is valid? [True, True] Translation: X:67.16, Y:-99.07, Z:0.69 [[-2.47715316e-01 9.68830769e-01 2.01574070e-03 6.71619744e+01] [ 9.68800940e-01 2.47723508e-01 -7.60276632e-03 -9.90709112e+01] [-7.86514029e-03 6.95298232e-05 -9.99969067e-01 6.85421022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92762800000003 meters 0.012135568641990972 Centerline is valid? [True, True] Translation: X:67.17, Y:-99.07, Z:0.68 [[-3.23449168e-01 9.46242126e-01 2.54449606e-03 6.71703623e+01] [ 9.46214363e-01 3.23459170e-01 -7.24874825e-03 -9.90735103e+01] [-7.68211154e-03 6.30371299e-05 -9.99970490e-01 6.84913370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95762800000003 meters 0.01219469377762871 Centerline is valid? [True, True] Translation: X:67.18, Y:-99.08, Z:0.68 [[-3.96867587e-01 9.17870688e-01 3.08510494e-03 6.71777781e+01] [ 9.17844126e-01 3.96879574e-01 -6.98314809e-03 -9.90763037e+01] [-7.63404208e-03 6.02603167e-05 -9.99970858e-01 6.84992509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98762800000003 meters 0.012029698857570794 Centerline is valid? [True, True] Translation: X:67.19, Y:-99.08, Z:0.68 [[-4.68169338e-01 8.83630535e-01 3.81421714e-03 6.71862772e+01] [ 8.83602216e-01 4.68184872e-01 -7.07457335e-03 -9.90778034e+01] [-8.03706780e-03 5.81523908e-05 -9.99967701e-01 6.84572571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.017628 meters 0.011942448820614677 Centerline is valid? [True, True] Translation: X:67.20, Y:-99.08, Z:0.69 [[-5.36277693e-01 8.44027733e-01 4.83967466e-03 6.71953262e+01] [ 8.43994390e-01 5.36299527e-01 -7.50244584e-03 -9.90781821e+01] [-8.92778759e-03 6.12639210e-05 -9.99960145e-01 6.85012609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.047628 meters 0.011917158785235091 Centerline is valid? [True, True] Translation: X:67.20, Y:-99.08, Z:0.69 [[-6.01240445e-01 7.99046349e-01 5.90422675e-03 6.72043897e+01] [ 7.99008818e-01 6.01269431e-01 -7.74464571e-03 -9.90778379e+01] [-9.73836194e-03 6.11350052e-05 -9.99952579e-01 6.85869808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.077628 meters 0.011863517419558208 Centerline is valid? [True, True] Translation: X:67.21, Y:-99.08, Z:0.69 [[-6.62294585e-01 7.49209209e-01 7.17238034e-03 6.72142669e+01] [ 7.49166306e-01 6.62333418e-01 -8.01806914e-03 -9.90761164e+01] [-1.07577184e-02 6.29819070e-05 -9.99942132e-01 6.86474711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.107628 meters 0.012037395936498448 Centerline is valid? [True, True] Translation: X:67.22, Y:-99.08, Z:0.69 [[-7.19195035e-01 6.94753242e-01 8.74269992e-03 6.72221901e+01] [ 6.94703025e-01 7.19248169e-01 -8.35330226e-03 -9.90766081e+01] [-1.20916547e-02 6.59265739e-05 -9.99926891e-01 6.88254727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.137628 meters 0.011987985167816734 Centerline is valid? [True, True] Translation: X:67.24, Y:-99.06, Z:0.69 [[-7.66467869e-01 6.42211691e-01 9.54721710e-03 6.72414175e+01] [ 6.42162994e-01 7.66527324e-01 -7.90886118e-03 -9.90594391e+01] [-1.23973659e-02 6.89815438e-05 -9.99923147e-01 6.88201952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.167628 meters 0.011996754652022197 Centerline is valid? [True, True] Translation: X:67.26, Y:-99.04, Z:0.69 [[-8.09806271e-01 5.86601250e-01 1.06195881e-02 6.72626939e+01] [ 5.86552044e-01 8.09875896e-01 -7.59821471e-03 -9.90438484e+01] [-1.30576706e-02 7.58591535e-05 -9.99914742e-01 6.88283526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.197628 meters 0.014016668519261883 Centerline is valid? [True, True] Translation: X:67.28, Y:-99.03, Z:0.69 [[-8.49121256e-01 5.28065137e-01 1.18450355e-02 6.72821274e+01] [ 5.28015154e-01 8.49203865e-01 -7.26588184e-03 -9.90264247e+01] [-1.38957088e-02 8.47435335e-05 -9.99903446e-01 6.89865335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.227628 meters 0.014203852463944197 Centerline is valid? [True, True] Translation: X:67.29, Y:-99.00, Z:0.69 [[-8.84187009e-01 4.66956097e-01 1.28582872e-02 6.72946802e+01] [ 4.66908274e-01 8.84280495e-01 -6.68351108e-03 -9.90047998e+01] [-1.44912388e-02 9.41670179e-05 -9.99894992e-01 6.91281479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.257628 meters 0.012391057338851083 Centerline is valid? [True, True] Translation: X:67.31, Y:-98.99, Z:0.69 [[-9.14566113e-01 4.04224123e-01 1.31028346e-02 6.73110425e+01] [ 4.04184340e-01 9.14659962e-01 -5.67204570e-03 -9.89882108e+01] [-1.42774159e-02 1.08499772e-04 -9.99898067e-01 6.89774054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.287628 meters 0.01226981463411038 Centerline is valid? [True, True] Translation: X:67.32, Y:-98.97, Z:0.69 [[-9.40545016e-01 3.39415858e-01 1.31128728e-02 6.73247425e+01] [ 3.39384657e-01 9.40636413e-01 -4.60365461e-03 -9.89672191e+01] [-1.38969991e-02 1.20363453e-04 -9.99903425e-01 6.88493447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.317628 meters 0.012380929726413265 Centerline is valid? [True, True] Translation: X:67.34, Y:-98.95, Z:0.69 [[-9.62029611e-01 2.72669243e-01 1.22682707e-02 6.73358234e+01] [ 2.72648669e-01 9.62107826e-01 -3.35176710e-03 -9.89453600e+01] [-1.27173230e-02 1.20428460e-04 -9.99919124e-01 6.87939761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34762800000001 meters 0.012400869211583305 Centerline is valid? [True, True] Translation: X:67.57, Y:-98.15, Z:-0.20 [[-9.48180634e-01 -3.17581954e-01 9.75638588e-03 6.75653389e+01] [ 3.17562503e-01 -9.48230797e-01 -3.52319873e-03 -9.81514622e+01] [ 1.03702099e-02 -2.42366484e-04 9.99946199e-01 -1.97915080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37762800000002 meters 0.012988960847477736 Centerline is valid? [True, True] Translation: X:67.29, Y:-98.94, Z:0.69 [[-9.62673410e-01 2.70507081e-01 9.26411970e-03 6.72900594e+01] [ 2.70495627e-01 9.62717979e-01 -2.49168863e-03 -9.89445735e+01] [-9.59275402e-03 1.07221475e-04 -9.99953983e-01 6.85028888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40762800000002 meters 0.012708996454095609 Centerline is valid? [True, True] Translation: X:67.52, Y:-98.13, Z:-0.20 [[-9.49701116e-01 -3.13038544e-01 8.64065521e-03 6.75175044e+01] [ 3.13024337e-01 -9.49740414e-01 -2.98514606e-03 -9.81325274e+01] [ 9.14084522e-03 -1.30261170e-04 9.99958213e-01 -1.95991283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43762800000002 meters 0.012501741734961222 Centerline is valid? [True, True] Translation: X:67.24, Y:-98.94, Z:0.68 [[-9.63463538e-01 2.67711125e-01 8.29241649e-03 6.72398843e+01] [ 2.67702145e-01 9.63499218e-01 -2.19523610e-03 -9.89362512e+01] [-8.57742592e-03 1.04867742e-04 -9.99963208e-01 6.82482142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46762800000002 meters 0.012539822462208819 Centerline is valid? [True, True] Translation: X:67.25, Y:-98.92, Z:0.68 [[-9.80020631e-01 1.98776817e-01 6.88040914e-03 6.72513086e+01] [ 1.98772534e-01 9.80044779e-01 -1.30780274e-03 -9.89158028e+01] [-7.00306992e-03 8.59626865e-05 -9.99975475e-01 6.81818038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49762800000002 meters 0.012482120830201669 Centerline is valid? [True, True] Translation: X:67.26, Y:-98.89, Z:0.68 [[-9.91677408e-01 1.28577676e-01 6.61058643e-03 6.72615355e+01] [ 1.28575360e-01 9.91699438e-01 -7.76038069e-04 -9.88918514e+01] [-6.65549602e-03 8.03791073e-05 -9.99977849e-01 6.81282675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52762800000002 meters 0.012568222689014436 Centerline is valid? [True, True] Translation: X:67.37, Y:-98.03, Z:-0.19 [[-9.85183062e-01 -1.71386188e-01 6.41169610e-03 6.73706197e+01] [ 1.71381981e-01 -9.85203922e-01 -1.20400959e-03 -9.80314542e+01] [ 6.52317876e-03 -8.73206739e-05 9.99978720e-01 -1.93376381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55762800000002 meters 0.012255248198260916 Centerline is valid? [True, True] Translation: X:67.19, Y:-98.89, Z:0.68 [[-9.92533046e-01 1.21832657e-01 5.91232101e-03 6.71935768e+01] [ 1.21830850e-01 9.92550654e-01 -6.66174603e-04 -9.88856306e+01] [-5.94943990e-03 5.91027853e-05 -9.99982300e-01 6.80135193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58762800000002 meters 0.01173931863324783 Centerline is valid? [True, True] Translation: X:67.29, Y:-98.03, Z:-0.19 [[-9.84984623e-01 -1.72512884e-01 6.67812871e-03 6.72938696e+01] [ 1.72508845e-01 -9.85007261e-01 -1.18051278e-03 -9.80253173e+01] [ 6.78165893e-03 -1.07506634e-05 9.99977004e-01 -1.93580358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61762800000002 meters 0.01163107962304629 Centerline is valid? [True, True] Translation: X:67.12, Y:-98.87, Z:0.68 [[-9.93770931e-01 1.11210280e-01 7.18402883e-03 6.71220050e+01] [ 1.11207580e-01 9.93796897e-01 -7.75450574e-04 -9.88740805e+01] [-7.22570363e-03 2.82982205e-05 -9.99973894e-01 6.81748900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64762800000003 meters 0.011579985662241405 Centerline is valid? [True, True] Translation: X:67.13, Y:-98.85, Z:0.68 [[-9.99217211e-01 3.87914361e-02 7.75817576e-03 6.71282265e+01] [ 3.87904089e-02 9.99247329e-01 -2.82881388e-04 -9.88456940e+01] [-7.76330978e-03 1.82828589e-05 -9.99969865e-01 6.81558071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67762800000003 meters 0.011556977594143918 Centerline is valid? [True, True] Translation: X:67.13, Y:-98.82, Z:0.68 [[-9.99419926e-01 -3.31146420e-02 7.95190932e-03 6.71333091e+01] [-3.31134924e-02 9.99451560e-01 2.76225514e-04 -9.88174791e+01] [-7.95669528e-03 1.27497936e-05 -9.99968345e-01 6.81617060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70762800000003 meters 0.011583845221717596 Centerline is valid? [True, True] Translation: X:67.11, Y:-97.96, Z:-0.20 [[-9.99508161e-01 -3.02603635e-02 8.23080014e-03 6.71119033e+01] [ 3.02593792e-02 -9.99542050e-01 -2.44122177e-04 -9.79597776e+01] [ 8.23441807e-03 5.05679365e-06 9.99966097e-01 -1.95040397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73762800000003 meters 0.011558223987573347 Centerline is valid? [True, True] Translation: X:67.03, Y:-98.82, Z:0.68 [[-9.99267717e-01 -3.73303052e-02 8.39507131e-03 6.70322378e+01] [-3.73287178e-02 9.99302981e-01 3.45757886e-04 -9.88210560e+01] [-8.40212703e-03 3.21274462e-05 -9.99964701e-01 6.82360451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.767628 meters 0.01185276480792038 Centerline is valid? [True, True] Translation: X:67.03, Y:-98.79, Z:0.68 [[-9.94307000e-01 -1.06211612e-01 8.52548914e-03 6.70299915e+01] [-1.06207254e-01 9.94343548e-01 9.63598506e-04 -9.87948660e+01] [-8.57961047e-03 5.26439516e-05 -9.99963193e-01 6.82297981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.797628 meters 0.012250949879482836 Centerline is valid? [True, True] Translation: X:67.01, Y:-98.77, Z:0.68 [[-9.84683396e-01 -1.74153182e-01 8.32342473e-03 6.70140704e+01] [-1.74146288e-01 9.84718571e-01 1.55157279e-03 -9.87709612e+01] [-8.46644224e-03 7.83144420e-05 -9.99964156e-01 6.81723866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.827628 meters 0.01310503483250439 Centerline is valid? [True, True] Translation: X:66.98, Y:-98.75, Z:0.68 [[-9.70383443e-01 -2.41450531e-01 7.59047247e-03 6.69828602e+01] [-2.41442304e-01 9.70413124e-01 1.99587901e-03 -9.87517566e+01] [-7.84780014e-03 1.04106784e-04 -9.99969200e-01 6.81422814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.857628 meters 0.015160225609264142 Centerline is valid? [True, True] Translation: X:66.93, Y:-98.74, Z:0.68 [[-9.52976287e-01 -3.02990400e-01 5.74574856e-03 6.69332894e+01] [-3.02984001e-01 9.52993598e-01 1.97420329e-03 -9.87426863e+01] [-6.07382624e-03 1.40499031e-04 -9.99981544e-01 6.79605942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.887628 meters 0.01744708192329638 Centerline is valid? [True, True] Translation: X:66.86, Y:-98.74, Z:0.68 [[-9.29636275e-01 -3.68444929e-01 4.97296114e-03 6.68649604e+01] [-3.68438776e-01 9.29649564e-01 2.13463285e-03 -9.87433709e+01] [-5.40960580e-03 1.52200411e-04 -9.99985356e-01 6.79005461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.917628 meters 0.019167984732171815 Centerline is valid? [True, True] Translation: X:66.79, Y:-98.75, Z:0.68 [[-9.01508246e-01 -4.32742643e-01 4.08495971e-03 6.67883381e+01] [-4.32737430e-01 9.01517488e-01 2.12965764e-03 -9.87512417e+01] [-4.60425629e-03 1.52188959e-04 -9.99989389e-01 6.78129726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.947628 meters 0.0189336465667888 Centerline is valid? [True, True] Translation: X:66.70, Y:-98.77, Z:0.68 [[-8.68613291e-01 -4.95479259e-01 3.35480046e-03 6.67034049e+01] [-4.95474894e-01 8.68619757e-01 2.08515613e-03 -9.87664576e+01] [-3.94719758e-03 1.48974929e-04 -9.99992199e-01 6.77341003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.977628 meters 0.02049971919255446 Centerline is valid? [True, True] Translation: X:66.61, Y:-98.80, Z:0.68 [[-8.33040081e-01 -5.53204633e-01 2.97625839e-03 6.66109821e+01] [-5.53200366e-01 8.33045380e-01 2.17940220e-03 -9.87962659e+01] [-3.68501370e-03 1.69062158e-04 -9.99993196e-01 6.77874731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.007628 meters 0.022165400233323237 Centerline is valid? [True, True] Translation: X:66.52, Y:-98.83, Z:0.68 [[-7.90005027e-01 -6.13093072e-01 2.99052928e-03 6.65208077e+01] [-6.13087747e-01 7.90010664e-01 2.56223823e-03 -9.88333317e+01] [-3.93344053e-03 1.90724219e-04 -9.99992246e-01 6.78522588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.037628 meters 0.02353389839887849 Centerline is valid? [True, True] Translation: X:66.43, Y:-98.88, Z:0.68 [[-7.41989116e-01 -6.70402747e-01 3.50820138e-03 6.64267882e+01] [-6.70393628e-01 7.41997368e-01 3.50562889e-03 -9.88818355e+01] [-4.95325943e-03 2.49262630e-04 -9.99987701e-01 6.78944447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.067628 meters 0.024246309932599994 Centerline is valid? [True, True] Translation: X:66.33, Y:-98.94, Z:0.68 [[-6.89302631e-01 -7.24463579e-01 3.79554343e-03 6.63311760e+01] [-7.24450125e-01 6.89313015e-01 4.42529322e-03 -9.89386160e+01] [-5.82228125e-03 3.00684341e-04 -9.99983005e-01 6.82257119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09762800000001 meters 0.02231733934479136 Centerline is valid? [True, True] Translation: X:66.24, Y:-99.01, Z:0.68 [[-6.30551192e-01 -7.76135970e-01 4.26030505e-03 6.62358835e+01] [-7.76114242e-01 6.30565480e-01 5.81880413e-03 -9.90069872e+01] [-7.20258449e-03 3.62570455e-04 -9.99973995e-01 6.79854699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12762800000002 meters 0.02264223844626987 Centerline is valid? [True, True] Translation: X:66.15, Y:-99.08, Z:0.68 [[-5.67837858e-01 -8.23131073e-01 3.92477266e-03 6.61481357e+01] [-8.23106801e-01 5.67851304e-01 6.33172182e-03 -9.90831065e+01] [-7.44052425e-03 3.64884287e-04 -9.99972252e-01 6.80000148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15762800000002 meters 0.022138603156463543 Centerline is valid? [True, True] Translation: X:66.06, Y:-99.17, Z:0.68 [[-4.99609180e-01 -8.66243595e-01 3.56403870e-03 6.60601848e+01] [-8.66216312e-01 4.99621768e-01 6.88405071e-03 -9.91689024e+01] [-7.74393615e-03 3.52106467e-04 -9.99969953e-01 6.80444046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18762800000002 meters 0.02305830837272471 Centerline is valid? [True, True] Translation: X:65.98, Y:-99.26, Z:0.68 [[-4.29947874e-01 -9.02848118e-01 3.17814489e-03 6.59824751e+01] [-9.02816969e-01 4.29959471e-01 7.50827899e-03 -9.92607512e+01] [-8.14530906e-03 3.58885454e-04 -9.99966762e-01 6.82233522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21762800000002 meters 0.019166725363020363 Centerline is valid? [True, True] Translation: X:65.91, Y:-99.36, Z:0.68 [[-3.56364070e-01 -9.34343647e-01 2.56875599e-03 6.59084883e+01] [-9.34312198e-01 3.56373171e-01 7.67326010e-03 -9.93610723e+01] [-8.08489754e-03 3.34454141e-04 -9.99967261e-01 6.79445496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24762800000002 meters 0.01964841405842493 Centerline is valid? [True, True] Translation: X:65.85, Y:-99.47, Z:0.68 [[-2.81064447e-01 -9.59687122e-01 1.84496739e-03 6.58459926e+01] [-9.59658950e-01 2.81070345e-01 7.35937077e-03 -9.94694577e+01] [-7.58125897e-03 2.97918006e-04 -9.99971217e-01 6.79661853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27762800000002 meters 0.017955925922804303 Centerline is valid? [True, True] Translation: X:65.79, Y:-99.58, Z:0.68 [[-2.01282200e-01 -9.79532458e-01 1.28032960e-03 6.57869289e+01] [-9.79503472e-01 2.01286100e-01 7.54018327e-03 -9.95830083e+01] [-7.64356680e-03 2.63617394e-04 -9.99970753e-01 6.79689543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30762800000002 meters 0.01774432153965744 Centerline is valid? [True, True] Translation: X:65.74, Y:-99.70, Z:0.68 [[-1.21838477e-01 -9.92549651e-01 7.59177395e-04 6.57410495e+01] [-9.92514565e-01 1.21840557e-01 8.34965282e-03 -9.97017526e+01] [-8.37994359e-03 2.63814364e-04 -9.99964853e-01 6.80043319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33762800000002 meters 0.01774432153965744 Centerline is valid? [True, True] Translation: X:65.71, Y:-99.82, Z:0.68 [[-4.46003251e-02 -9.99004904e-01 1.10196754e-04 6.57067095e+01] [-9.98969763e-01 4.45996809e-02 8.38332961e-03 -9.98210858e+01] [-8.37990213e-03 2.63816000e-04 -9.99964853e-01 6.80041177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36762800000002 meters 0.017039579040937638 Centerline is valid? [True, True] Translation: X:65.68, Y:-99.94, Z:0.68 [[ 3.51215896e-02 -9.99382890e-01 -5.60092987e-04 6.56783280e+01] [-9.99344155e-01 -3.51251616e-02 8.80246092e-03 -9.99357763e+01] [-8.81670219e-03 2.50569232e-04 -9.99961101e-01 6.80692125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39762800000003 meters 0.015339878327782016 Centerline is valid? [True, True] Translation: X:65.66, Y:-100.06, Z:0.68 [[ 1.16026792e-01 -9.93245275e-01 -1.26784587e-03 6.56583079e+01] [-9.93205159e-01 -1.16033505e-01 8.92956196e-03 -1.00059630e+02] [-9.01635782e-03 2.23162627e-04 -9.99959327e-01 6.80796389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42762800000003 meters 0.016467644268847476 Centerline is valid? [True, True] Translation: X:65.65, Y:-100.19, Z:0.68 [[ 1.95744928e-01 -9.80652312e-01 -2.22860450e-03 6.56506342e+01] [-9.80600960e-01 -1.95757490e-01 1.00380715e-02 -1.00190921e+02] [-1.02801241e-02 2.20470126e-04 -9.99947134e-01 6.83503662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45762800000003 meters 0.013137706434877994 Centerline is valid? [True, True] Translation: X:65.65, Y:-100.31, Z:0.68 [[ 2.78668728e-01 -9.60382595e-01 -3.00185489e-03 6.56481690e+01] [-9.60332088e-01 -2.78684861e-01 9.85034569e-03 -1.00314892e+02] [-1.02966721e-02 1.37794269e-04 -9.99946978e-01 6.82387357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48762800000003 meters 0.01238240379000604 Centerline is valid? [True, True] Translation: X:65.66, Y:-100.43, Z:0.68 [[ 3.54794821e-01 -9.34937833e-01 -3.44734477e-03 6.56570623e+01] [-9.34896329e-01 -3.54811555e-01 8.80991373e-03 -1.00433844e+02] [-9.45987941e-03 9.71982046e-05 -9.99955250e-01 6.81284404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.517628 meters 0.011976098184103773 Centerline is valid? [True, True] Translation: X:65.68, Y:-100.56, Z:0.68 [[ 4.28082426e-01 -9.03732967e-01 -3.48722861e-03 6.56794848e+01] [-9.03704164e-01 -4.28096625e-01 7.21553439e-03 -1.00558750e+02] [-8.01378710e-03 6.25795512e-05 -9.99967887e-01 6.79809847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.547628 meters 0.011644751958630468 Centerline is valid? [True, True] Translation: X:65.71, Y:-100.67, Z:0.68 [[ 4.97891353e-01 -8.67233407e-01 -3.22772499e-03 6.57051601e+01] [-8.67215695e-01 -4.97901813e-01 5.54276660e-03 -1.00668487e+02] [-6.41396249e-03 3.94382075e-05 -9.99979430e-01 6.77826750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.577628 meters 0.011623816681755376 Centerline is valid? [True, True] Translation: X:65.74, Y:-100.78, Z:0.68 [[ 5.64116449e-01 -8.25690015e-01 -2.93787465e-03 6.57446459e+01] [-8.25679054e-01 -5.64124099e-01 4.25451469e-03 -1.00783304e+02] [-5.17023618e-03 2.56998401e-05 -9.99986634e-01 6.76480537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.607628 meters 0.01139809420695933 Centerline is valid? [True, True] Translation: X:65.79, Y:-100.89, Z:0.68 [[ 6.26803614e-01 -7.79174065e-01 -2.23766957e-03 6.57864492e+01] [-7.79169174e-01 -6.26807608e-01 2.76054956e-03 -1.00887234e+02] [-3.55353693e-03 1.32007155e-05 -9.99993686e-01 6.75887904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.637628 meters 0.011474637342053104 Centerline is valid? [True, True] Translation: X:65.84, Y:-100.99, Z:0.68 [[ 6.85161770e-01 -7.28387713e-01 -2.16519793e-03 6.58363360e+01] [-7.28384120e-01 -6.85165191e-01 2.28766785e-03 -1.00986496e+02] [-3.14982741e-03 9.67323428e-06 -9.99995039e-01 6.75933973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.667628 meters 0.011413795518216793 Centerline is valid? [True, True] Translation: X:65.89, Y:-101.08, Z:0.68 [[ 7.39683823e-01 -6.72951295e-01 -2.09665670e-03 6.58947191e+01] [-6.72948611e-01 -7.39686795e-01 1.90050479e-03 -1.01081501e+02] [-2.82981644e-03 5.16956818e-06 -9.99995996e-01 6.75639724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.697628 meters 0.011357874990866693 Centerline is valid? [True, True] Translation: X:65.89, Y:-101.09, Z:0.68 [[ 7.90406848e-01 -6.12578500e-01 -2.14379856e-03 6.58903891e+01] [-6.12576258e-01 -7.90409755e-01 1.65766046e-03 -1.01089992e+02] [-2.70992646e-03 3.01392084e-06 -9.99996328e-01 6.75809388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.727628 meters 0.011368949324663001 Centerline is valid? [True, True] Translation: X:65.89, Y:-101.10, Z:0.68 [[ 8.36079059e-01 -5.48601110e-01 -2.93748852e-03 6.58851042e+01] [-5.48597736e-01 -8.36084220e-01 1.92398643e-03 -1.01097015e+02] [-3.51148889e-03 2.89478732e-06 -9.99993835e-01 6.76889595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.757628 meters 0.011517365518065507 Centerline is valid? [True, True] Translation: X:65.88, Y:-101.10, Z:0.68 [[ 8.76610924e-01 -4.81182289e-01 -4.11006684e-03 6.58807826e+01] [-4.81177012e-01 -8.76620559e-01 2.25360663e-03 -1.01103564e+02] [-4.68736469e-03 2.13348939e-06 -9.99989014e-01 6.77991470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.787628 meters 0.011479680548899697 Centerline is valid? [True, True] Translation: X:65.88, Y:-101.11, Z:0.68 [[ 9.11651705e-01 -4.10921040e-01 -5.92188907e-03 6.58766805e+01] [-4.10912383e-01 -9.11670938e-01 2.66731459e-03 -1.01108801e+02] [-6.49486985e-03 1.71565275e-06 -9.99978908e-01 6.79729668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.817628 meters 0.011641591900415929 Centerline is valid? [True, True] Translation: X:65.87, Y:-101.11, Z:0.68 [[ 9.41278872e-01 -3.37511150e-01 -8.96154317e-03 6.58746805e+01] [-3.37495795e-01 -9.41321531e-01 3.21937404e-03 -1.01112280e+02] [-9.52226816e-03 -5.84562383e-06 -9.99954662e-01 6.82970451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84762800000001 meters 0.011641496206926599 Centerline is valid? [True, True] Translation: X:65.87, Y:-101.12, Z:0.68 [[ 9.64957085e-01 -2.62200681e-01 -1.04224663e-02 6.58720313e+01] [-2.62185229e-01 -9.65013369e-01 2.84652963e-03 -1.01119212e+02] [-1.08041813e-02 -1.41622110e-05 -9.99941633e-01 6.83464736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87762800000002 meters 0.011750182936637764 Centerline is valid? [True, True] Translation: X:65.87, Y:-101.13, Z:0.68 [[ 9.82671004e-01 -1.84988544e-01 -1.17019831e-02 6.58682677e+01] [-1.84975110e-01 -9.82740677e-01 2.22951794e-03 -1.01125613e+02] [-1.19124500e-02 -2.63070282e-05 -9.99929044e-01 6.84452087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90762800000002 meters 0.014630118176326664 Centerline is valid? [True, True] Translation: X:65.86, Y:-101.13, Z:0.69 [[ 9.94166974e-01 -1.07049494e-01 -1.31313943e-02 6.58628890e+01] [-1.07039701e-01 -9.94253692e-01 1.44842348e-03 -1.01130737e+02] [-1.32109902e-02 -3.43942737e-05 -9.99912730e-01 6.87974011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93762800000002 meters 0.012191136925710368 Centerline is valid? [True, True] Translation: X:65.86, Y:-101.13, Z:0.69 [[ 9.99547961e-01 -2.66846074e-02 -1.38493743e-02 6.58573664e+01] [-2.66811288e-02 -9.99643900e-01 4.35917768e-04 -1.01134576e+02] [-1.38560749e-02 -6.62037766e-05 -9.99903998e-01 6.87261188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96762800000002 meters 0.016032272051290333 Centerline is valid? [True, True] Translation: X:65.85, Y:-101.14, Z:0.69 [[ 9.98557720e-01 5.17694603e-02 -1.42268603e-02 6.58526085e+01] [ 5.17652038e-02 -9.98659060e-01 -6.67519261e-04 -1.01139167e+02] [-1.42423401e-02 -6.98998141e-05 -9.99898570e-01 6.89370597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99762800000002 meters 0.012017976870142121 Centerline is valid? [True, True] Translation: X:65.85, Y:-101.14, Z:0.69 [[ 9.91359232e-01 1.30539967e-01 -1.28914401e-02 6.58477095e+01] [ 1.30529893e-01 -9.91443045e-01 -1.62340765e-03 -1.01144197e+02] [-1.29930482e-02 -7.33381331e-05 -9.99915584e-01 6.85979980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02762800000002 meters 0.012100271746504467 Centerline is valid? [True, True] Translation: X:65.84, Y:-101.15, Z:0.68 [[ 9.78108165e-01 2.07846444e-01 -1.02114314e-02 6.58416820e+01] [ 2.07835756e-01 -9.78161465e-01 -2.10858117e-03 -1.01145297e+02] [-1.04266898e-02 -5.98800992e-05 -9.99945639e-01 6.83888733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05762800000002 meters 0.01195125013948588 Centerline is valid? [True, True] Translation: X:65.84, Y:-101.15, Z:0.68 [[ 9.58965777e-01 2.83395496e-01 -8.46357887e-03 6.58371532e+01] [ 2.83384893e-01 -9.59003123e-01 -2.45195103e-03 -1.01150806e+02] [-8.81147045e-03 -4.71132643e-05 -9.99961177e-01 6.81860496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08762800000002 meters 0.011957071669327399 Centerline is valid? [True, True] Translation: X:65.83, Y:-101.16, Z:0.68 [[ 9.34084704e-01 3.56985224e-01 -6.87867197e-03 6.58334489e+01] [ 3.56975816e-01 -9.34110030e-01 -2.59189219e-03 -1.01157242e+02] [-7.35070370e-03 -3.44726896e-05 -9.99972983e-01 6.80503883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11762800000002 meters 0.011883134696855353 Centerline is valid? [True, True] Translation: X:65.83, Y:-101.16, Z:0.68 [[ 9.03905571e-01 4.27705259e-01 -4.78855180e-03 6.58284364e+01] [ 4.27699359e-01 -9.03918255e-01 -2.24663944e-03 -1.01161542e+02] [-5.28935889e-03 -1.73106329e-05 -9.99986011e-01 6.78701400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14762800000003 meters 0.011953753554421851 Centerline is valid? [True, True] Translation: X:65.82, Y:-101.17, Z:0.68 [[ 8.67948375e-01 4.96640501e-01 -3.71917153e-03 6.58239867e+01] [ 4.96635999e-01 -8.67956343e-01 -2.11449758e-03 -1.01169666e+02] [-4.27822366e-03 -1.17997281e-05 -9.99990848e-01 6.77757516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17762800000003 meters 0.011990666236253587 Centerline is valid? [True, True] Translation: X:65.82, Y:-101.18, Z:0.68 [[ 8.26124440e-01 5.63481538e-01 -2.63919352e-03 6.58215025e+01] [ 5.63478704e-01 -8.26128656e-01 -1.78723481e-03 -1.01179013e+02] [-3.18738721e-03 -1.06509866e-05 -9.99994920e-01 6.76866565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20762800000003 meters 0.015006231175985395 Centerline is valid? [True, True] Translation: X:65.82, Y:-101.19, Z:0.68 [[ 7.79261269e-01 6.26693143e-01 -2.75317953e-03 6.58210394e+01] [ 6.26689289e-01 -7.79266132e-01 -2.19768389e-03 -1.01190309e+02] [-3.52273299e-03 -1.28181893e-05 -9.99993795e-01 6.79941290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23762800000003 meters 0.012119113178708427 Centerline is valid? [True, True] Translation: X:65.82, Y:-101.20, Z:0.68 [[ 7.26613713e-01 6.87034174e-01 -4.06902784e-03 6.58233557e+01] [ 6.87023626e-01 -7.26625105e-01 -3.80717894e-03 -1.01203354e+02] [-5.57231982e-03 -2.91698353e-05 -9.99984474e-01 6.79586744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.267628 meters 0.012301366015797382 Centerline is valid? [True, True] Translation: X:65.83, Y:-101.22, Z:0.68 [[ 6.70424519e-01 7.41962458e-01 -4.76179528e-03 6.58250570e+01] [ 7.41944148e-01 -6.70441428e-01 -5.21274561e-03 -1.01215785e+02] [-7.06016638e-03 -3.82336726e-05 -9.99975076e-01 6.82001434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.297628 meters 0.012262947923330795 Centerline is valid? [True, True] Translation: X:65.83, Y:-101.23, Z:0.68 [[ 6.10367775e-01 7.92101567e-01 -5.12717560e-03 6.58267091e+01] [ 7.92074222e-01 -6.10389307e-01 -6.58184434e-03 -1.01226837e+02] [-8.34306238e-03 -4.37579455e-05 -9.99965195e-01 6.82765746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.327628 meters 0.01237145737850836 Centerline is valid? [True, True] Translation: X:65.83, Y:-101.24, Z:0.68 [[ 5.46621080e-01 8.37363059e-01 -5.33881542e-03 6.58299946e+01] [ 8.37323998e-01 -5.46647149e-01 -8.08805492e-03 -1.01237805e+02] [-9.69108664e-03 -4.92169625e-05 -9.99953039e-01 6.83860331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.357628 meters 0.015437630129421294 Centerline is valid? [True, True] Translation: X:65.83, Y:-101.25, Z:0.69 [[ 4.79916510e-01 8.77298240e-01 -5.28606935e-03 6.58332675e+01] [ 8.77246139e-01 -4.79945618e-01 -9.56114149e-03 -1.01248284e+02] [-1.09249984e-02 -4.86342740e-05 -9.99940319e-01 6.87320211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.387628 meters 0.012291240407089631 Centerline is valid? [True, True] Translation: X:65.84, Y:-101.26, Z:0.68 [[ 4.09586013e-01 9.12261627e-01 -4.24521179e-03 6.58367640e+01] [ 9.12213825e-01 -4.09608009e-01 -9.33891433e-03 -1.01257918e+02] [-1.02584059e-02 -4.74522077e-05 -9.99947380e-01 6.84013827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.417628 meters 0.014888564564672914 Centerline is valid? [True, True] Translation: X:65.84, Y:-101.27, Z:0.69 [[ 3.38058976e-01 9.41118767e-01 -3.40521825e-03 6.58409919e+01] [ 9.41072021e-01 -3.38076124e-01 -9.38003971e-03 -1.01267921e+02] [-9.97895439e-03 -3.35490008e-05 -9.99950208e-01 6.85827178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.447628 meters 0.012156260384047893 Centerline is valid? [True, True] Translation: X:65.85, Y:-101.28, Z:0.68 [[ 2.63613789e-01 9.64625507e-01 -2.32436233e-03 6.58454721e+01] [ 9.64588890e-01 -2.63624034e-01 -8.40488523e-03 -1.01277871e+02] [-8.72032445e-03 -2.64104380e-05 -9.99961977e-01 6.82574589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.477628 meters 0.012100227201701192 Centerline is valid? [True, True] Translation: X:65.85, Y:-101.29, Z:0.68 [[ 1.88459623e-01 9.82079918e-01 -1.41638257e-03 6.58487460e+01] [ 9.82052719e-01 -1.88464945e-01 -7.30905138e-03 -1.01287333e+02] [-7.44501104e-03 -1.35012886e-05 -9.99972285e-01 6.82085940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.507628 meters 0.012061898581475888 Centerline is valid? [True, True] Translation: X:65.85, Y:-101.30, Z:0.68 [[ 1.12754469e-01 9.93622606e-01 -7.39508390e-04 6.58536275e+01] [ 9.93601236e-01 -1.12756894e-01 -6.51663362e-03 -1.01295791e+02] [-6.55845915e-03 3.11368969e-09 -9.99978493e-01 6.81132995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.537628 meters 0.012163939885699224 Centerline is valid? [True, True] Translation: X:65.86, Y:-101.30, Z:0.68 [[ 3.84063888e-02 9.99262190e-01 -1.56124496e-04 6.58582786e+01] [ 9.99252033e-01 -3.84067024e-02 -4.50552108e-03 -1.01304090e+02] [-4.50819309e-03 1.70330747e-05 -9.99989838e-01 6.80095938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.567628 meters 0.012399007802645478 Centerline is valid? [True, True] Translation: X:65.86, Y:-101.31, Z:0.68 [[-3.81944920e-02 9.99270312e-01 1.57609302e-04 6.58633150e+01] [ 9.99263828e-01 3.81948119e-02 -3.59983553e-03 -1.01313775e+02] [-3.60322863e-03 1.99993848e-05 -9.99993508e-01 6.79680425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59762800000001 meters 0.01386379368467354 Centerline is valid? [True, True] Translation: X:65.87, Y:-101.32, Z:0.68 [[-1.13383821e-01 9.93551214e-01 3.07437649e-04 6.58713474e+01] [ 9.93548053e-01 1.13384236e-01 -2.50625895e-03 -1.01321246e+02] [-2.52495520e-03 2.12848627e-05 -9.99996812e-01 6.80171938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62762800000002 meters 0.012573182590924997 Centerline is valid? [True, True] Translation: X:65.88, Y:-101.33, Z:0.68 [[-1.90995342e-01 9.81590898e-01 2.98370362e-04 6.58812176e+01] [ 9.81589797e-01 1.90995575e-01 -1.47002322e-03 -1.01328980e+02] [-1.49994883e-03 1.21097156e-05 -9.99998875e-01 6.78338473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65762800000002 meters 0.01261112383158599 Centerline is valid? [True, True] Translation: X:65.89, Y:-101.34, Z:0.68 [[-2.67435940e-01 9.63575602e-01 2.77608139e-04 6.58912108e+01] [ 9.63575112e-01 2.67436084e-01 -9.71305440e-04 -1.01336421e+02] [-1.01016866e-03 7.73431049e-06 -9.99999490e-01 6.77998004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68762800000002 meters 0.012518404970002044 Centerline is valid? [True, True] Translation: X:65.90, Y:-101.34, Z:0.68 [[-3.43063899e-01 9.39312011e-01 3.26541734e-04 6.59025152e+01] [ 9.39311603e-01 3.43064054e-01 -8.76174015e-04 -1.01342320e+02] [-9.35025508e-04 6.14076534e-06 -9.99999563e-01 6.78143833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71762800000002 meters 0.012200481260440519 Centerline is valid? [True, True] Translation: X:65.92, Y:-101.34, Z:0.68 [[-4.18418281e-01 9.08253912e-01 9.86820408e-04 6.59176011e+01] [ 9.08251440e-01 4.18419445e-01 -2.11913274e-03 -1.01344656e+02] [-2.33761545e-03 9.59717562e-06 -9.99997268e-01 6.80153566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74762800000002 meters 0.012087598082172114 Centerline is valid? [True, True] Translation: X:65.93, Y:-101.35, Z:0.68 [[-4.89959558e-01 8.71743347e-01 1.78003717e-03 6.59311740e+01] [ 8.71737655e-01 4.89962791e-01 -3.15013840e-03 -1.01347202e+02] [-3.61826418e-03 8.28501146e-06 -9.99993454e-01 6.81773461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77762800000002 meters 0.012086606012269754 Centerline is valid? [True, True] Translation: X:65.94, Y:-101.35, Z:0.68 [[-5.58214637e-01 8.29691532e-01 2.89506590e-03 6.59444069e+01] [ 8.29680401e-01 5.58222144e-01 -4.29754996e-03 -1.01349762e+02] [-5.18173070e-03 3.02414710e-06 -9.99986575e-01 6.83086731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80762800000002 meters 0.012093817437535412 Centerline is valid? [True, True] Translation: X:65.96, Y:-101.35, Z:0.68 [[-6.22342963e-01 7.82735479e-01 3.79552156e-03 6.59571328e+01] [ 7.82720896e-01 6.22354537e-01 -4.77807393e-03 -1.01350316e+02] [-6.10212805e-03 -2.76665722e-06 -9.99981382e-01 6.83839177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83762800000002 meters 0.012081629714924685 Centerline is valid? [True, True] Translation: X:65.97, Y:-101.35, Z:0.68 [[-6.82467336e-01 7.30902726e-01 4.42046369e-03 6.59690418e+01] [ 7.30887304e-01 6.82481652e-01 -4.74812255e-03 -1.01349993e+02] [-6.48730107e-03 -9.57776032e-06 -9.99978957e-01 6.84394374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86762800000002 meters 0.012059207573136088 Centerline is valid? [True, True] Translation: X:65.98, Y:-101.35, Z:0.68 [[-7.38579738e-01 6.74151791e-01 4.39690399e-03 6.59812747e+01] [ 6.74139704e-01 7.38592826e-01 -4.03698761e-03 -1.01348891e+02] [-5.96906417e-03 -1.75096998e-05 -9.99982185e-01 6.84205287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89762800000003 meters 0.012095053384648804 Centerline is valid? [True, True] Translation: X:66.02, Y:-101.34, Z:0.68 [[-7.84734407e-01 6.19814769e-01 4.64360977e-03 6.60159097e+01] [ 6.19803762e-01 7.84748145e-01 -3.69393878e-03 -1.01341655e+02] [-5.93362196e-03 -2.06340507e-05 -9.99982396e-01 6.84004364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92762800000003 meters 0.012074583270510059 Centerline is valid? [True, True] Translation: X:66.04, Y:-101.32, Z:0.68 [[-8.27134435e-01 5.61987785e-01 4.28436800e-03 6.60387754e+01] [ 5.61980103e-01 8.27145531e-01 -2.93852665e-03 -1.01323112e+02] [-5.19521192e-03 -2.28270110e-05 -9.99986505e-01 6.83929529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95762800000003 meters 0.012155708313257517 Centerline is valid? [True, True] Translation: X:66.05, Y:-101.30, Z:0.68 [[-8.65395903e-01 5.01071825e-01 4.11804123e-03 6.60508604e+01] [ 5.01066005e-01 8.65405700e-01 -2.41510997e-03 -1.01296982e+02] [-4.77391991e-03 -2.66158063e-05 -9.99988604e-01 6.83872071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98762800000003 meters 0.01226415114932678 Centerline is valid? [True, True] Translation: X:66.49, Y:-100.58, Z:-0.20 [[-8.22772608e-01 -5.68364509e-01 2.64958461e-03 6.64899457e+01] [ 5.68361272e-01 -8.22776871e-01 -1.91952647e-03 -1.00580571e+02] [ 3.27100765e-03 -7.34125213e-05 9.99994648e-01 -1.96154010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.017628 meters 0.012286579826127218 Centerline is valid? [True, True] Translation: X:66.02, Y:-101.28, Z:0.68 [[-8.67976025e-01 4.96602184e-01 1.97244568e-03 6.60195066e+01] [ 4.96600859e-01 8.67978266e-01 -1.14730963e-03 -1.01277462e+02] [-2.28179645e-03 -1.63190302e-05 -9.99997397e-01 6.82824847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.047628 meters 0.012261710596446289 Centerline is valid? [True, True] Translation: X:66.03, Y:-101.25, Z:0.68 [[-9.00962332e-01 4.33896123e-01 1.01473468e-03 6.60261292e+01] [ 4.33895838e-01 9.00962904e-01 -4.97860829e-04 -1.01250162e+02] [-1.13025819e-03 -8.26469826e-06 -9.99999361e-01 6.82195115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.077628 meters 0.012177323965424081 Centerline is valid? [True, True] Translation: X:66.06, Y:-101.24, Z:0.68 [[-9.29269690e-01 3.69401931e-01 2.37033404e-04 6.60606349e+01] [ 3.69401918e-01 9.29269720e-01 -9.64125687e-05 -1.01236038e+02] [-2.55882954e-04 -2.03268376e-06 -9.99999967e-01 6.81883444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.107628 meters 0.011960134303129937 Centerline is valid? [True, True] Translation: X:66.08, Y:-101.21, Z:0.68 [[-9.52486060e-01 3.04581838e-01 4.56552142e-04 6.60782582e+01] [ 3.04581802e-01 9.52486170e-01 -1.48634776e-04 -1.01214214e+02] [-4.80131054e-04 -2.51507754e-06 -9.99999885e-01 6.82402387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.137628 meters 0.011869590275899419 Centerline is valid? [True, True] Translation: X:66.08, Y:-101.19, Z:0.68 [[-9.71388559e-01 2.37490325e-01 1.61663222e-03 6.60830020e+01] [ 2.37489986e-01 9.71389904e-01 -4.01288502e-04 -1.01187320e+02] [-1.66568235e-03 -5.87309638e-06 -9.99998613e-01 6.83394277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.167628 meters 0.01179404509953897 Centerline is valid? [True, True] Translation: X:66.10, Y:-101.16, Z:0.68 [[-9.85614630e-01 1.68982327e-01 2.96223428e-03 6.61019683e+01] [ 1.68981541e-01 9.85619081e-01 -5.15251582e-04 -1.01163698e+02] [-3.00670304e-03 -7.27658278e-06 -9.99995480e-01 6.84673703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.197628 meters 0.011747341965898364 Centerline is valid? [True, True] Translation: X:66.25, Y:-100.33, Z:-0.20 [[-9.71143618e-01 -2.38460814e-01 4.06360720e-03 6.62510566e+01] [ 2.38459080e-01 -9.71152116e-01 -9.13123055e-04 -1.00334427e+02] [ 4.16412480e-03 8.22304069e-05 9.99991327e-01 -1.99381490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.227628 meters 0.0117779336352392 Centerline is valid? [True, True] Translation: X:66.05, Y:-101.16, Z:0.69 [[-9.85934339e-01 1.67031867e-01 5.81672780e-03 6.60454675e+01] [ 1.67028959e-01 9.85951498e-01 -9.85601830e-04 -1.01155982e+02] [-5.89963840e-03 -1.76700693e-07 -9.99982597e-01 6.88074057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.257628 meters 0.0117779336352392 Centerline is valid? [True, True] Translation: X:66.05, Y:-101.13, Z:0.69 [[-9.95305277e-01 9.66070706e-02 5.87200135e-03 6.60532745e+01] [ 9.66053884e-02 9.95322598e-01 -5.70111012e-04 -1.01129168e+02] [-5.89961239e-03 -1.67527849e-07 -9.99982597e-01 6.88073766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.287628 meters 0.015289484298421918 Centerline is valid? [True, True] Translation: X:66.05, Y:-101.10, Z:0.69 [[-9.99611688e-01 2.67424478e-02 7.83033363e-03 6.60503944e+01] [ 2.67416941e-02 9.99642357e-01 -2.00953413e-04 -1.01101831e+02] [-7.83290715e-03 8.52100610e-06 -9.99969322e-01 6.90738194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.317628 meters 0.011717434058864553 Centerline is valid? [True, True] Translation: X:66.06, Y:-101.07, Z:0.69 [[-9.98957124e-01 -4.52301111e-02 6.23706525e-03 6.60587858e+01] [-4.52292178e-02 9.98976595e-01 2.84272431e-04 -1.01073493e+02] [-6.24353988e-03 1.87838842e-06 -9.99980509e-01 6.87584599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34762800000001 meters 0.011730620684478162 Centerline is valid? [True, True] Translation: X:66.05, Y:-101.05, Z:0.69 [[-9.93232783e-01 -1.15979139e-01 6.12198151e-03 6.60542941e+01] [-1.15976912e-01 9.93251650e-01 7.18782744e-04 -1.01045840e+02] [-6.16403203e-03 3.91007384e-06 -9.99981002e-01 6.87451553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37762800000002 meters 0.01181545094206147 Centerline is valid? [True, True] Translation: X:66.04, Y:-101.02, Z:0.69 [[-9.82724813e-01 -1.85001964e-01 5.12009158e-03 6.60430758e+01] [-1.84999379e-01 9.82738151e-01 9.78220052e-04 -1.01020242e+02] [-5.21268196e-03 1.41073570e-05 -9.99986414e-01 6.87899593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40762800000002 meters 0.011900595542410703 Centerline is valid? [True, True] Translation: X:66.01, Y:-101.00, Z:0.69 [[-9.67201231e-01 -2.53970209e-01 4.57299739e-03 6.60101911e+01] [-2.53967271e-01 9.67212041e-01 1.22189103e-03 -1.00999621e+02] [-4.73338206e-03 2.04228405e-05 -9.99988797e-01 6.86803370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.43762800000002 meters 0.012173651867663953 Centerline is valid? [True, True] Translation: X:65.96, Y:-100.99, Z:0.69 [[-9.46461195e-01 -3.22795120e-01 3.81003505e-03 6.59568130e+01] [-3.22792401e-01 9.46468864e-01 1.32513384e-03 -1.00988860e+02] [-4.03382628e-03 2.43373925e-05 -9.99991864e-01 6.86888813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46762800000002 meters 0.012316597122101687 Centerline is valid? [True, True] Translation: X:65.90, Y:-100.98, Z:0.69 [[-9.21136833e-01 -3.89228497e-01 2.84808040e-03 6.58956000e+01] [-3.89226540e-01 9.21141236e-01 1.23461541e-03 -1.00984298e+02] [-3.10403180e-03 2.87012522e-05 -9.99995182e-01 6.85167319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49762800000002 meters 0.012473175353262572 Centerline is valid? [True, True] Translation: X:65.82, Y:-100.99, Z:0.68 [[-8.89949389e-01 -4.56053881e-01 2.22317998e-03 6.58201576e+01] [-4.56052386e-01 8.89952166e-01 1.16812079e-03 -1.00990505e+02] [-2.51124985e-03 2.56818493e-05 -9.99996846e-01 6.84550661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52762800000002 meters 0.012418533487962579 Centerline is valid? [True, True] Translation: X:65.73, Y:-101.01, Z:0.68 [[-8.53538654e-01 -5.21027069e-01 1.60000779e-03 6.57311912e+01] [-5.21026108e-01 8.53540153e-01 1.00043909e-03 -1.01009731e+02] [-1.88692674e-03 2.02675990e-05 -9.99998220e-01 6.84010320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55762800000002 meters 0.012599987662317205 Centerline is valid? [True, True] Translation: X:65.65, Y:-101.03, Z:0.68 [[-8.11694380e-01 -5.84080757e-01 1.37930351e-03 6.56487548e+01] [-5.84079875e-01 8.11695552e-01 1.01520670e-03 -1.01031895e+02] [-1.71253722e-03 1.84141502e-05 -9.99998533e-01 6.83817336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58762800000002 meters 0.012551453054392757 Centerline is valid? [True, True] Translation: X:65.55, Y:-101.07, Z:0.68 [[-7.64805173e-01 -6.44260747e-01 1.06639418e-03 6.55528184e+01] [-6.44260095e-01 7.64805916e-01 9.17194555e-04 -1.01071751e+02] [-1.40649703e-03 1.44399226e-05 -9.99999011e-01 6.84378016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61762800000002 meters 0.012231616741186615 Centerline is valid? [True, True] Translation: X:65.46, Y:-101.11, Z:0.69 [[-7.12482678e-01 -7.01687392e-01 1.79939403e-03 6.54648848e+01] [-7.01685070e-01 7.12484950e-01 1.80503276e-03 -1.01111176e+02] [-2.54860990e-03 2.34466487e-05 -9.99996752e-01 6.86177166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64762800000003 meters 0.01210217752436287 Centerline is valid? [True, True] Translation: X:65.37, Y:-101.17, Z:0.69 [[-6.55957624e-01 -7.54794593e-01 2.17209767e-03 6.53721596e+01] [-7.54790316e-01 6.55961219e-01 2.54132414e-03 -1.01168469e+02] [-3.34298956e-03 2.75226537e-05 -9.99994412e-01 6.86717372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67762800000003 meters 0.011978162741028132 Centerline is valid? [True, True] Translation: X:65.29, Y:-101.23, Z:0.69 [[-5.95010408e-01 -8.03714263e-01 2.44909918e-03 6.52851700e+01] [-8.03707256e-01 5.95015448e-01 3.35624010e-03 -1.01232511e+02] [-4.15470988e-03 2.86390113e-05 -9.99991369e-01 6.87244986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70762800000003 meters 0.011885142683982568 Centerline is valid? [True, True] Translation: X:65.20, Y:-101.31, Z:0.69 [[-5.30490933e-01 -8.47686756e-01 2.55620086e-03 6.51981753e+01] [-8.47676661e-01 5.30497091e-01 4.13694961e-03 -1.01311016e+02] [-4.86289451e-03 2.77824462e-05 -9.99988176e-01 6.87895615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73762800000003 meters 0.011711934025600378 Centerline is valid? [True, True] Translation: X:65.12, Y:-101.39, Z:0.69 [[-4.61273477e-01 -8.87254342e-01 2.55183557e-03 6.51198338e+01] [-8.87240560e-01 4.61280536e-01 4.94524231e-03 -1.01390780e+02] [-5.56479979e-03 1.70170944e-05 -9.99984516e-01 6.87810613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.767628 meters 0.015208634858024577 Centerline is valid? [True, True] Translation: X:65.05, Y:-101.48, Z:0.69 [[-3.91119733e-01 -9.20335717e-01 2.74264464e-03 6.50464737e+01] [-9.20312752e-01 3.91129349e-01 6.50161802e-03 -1.01480748e+02] [-7.05640009e-03 1.88202659e-05 -9.99975103e-01 6.90157214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.797628 meters 0.011616249855713322 Centerline is valid? [True, True] Translation: X:64.98, Y:-101.59, Z:0.69 [[-3.17915934e-01 -9.48117143e-01 1.82809463e-03 6.49754493e+01] [-9.48101303e-01 3.17921190e-01 5.48053771e-03 -1.01588056e+02] [-5.77738178e-03 9.13136755e-06 -9.99983311e-01 6.87932792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.827628 meters 0.011634223076469049 Centerline is valid? [True, True] Translation: X:64.92, Y:-101.68, Z:0.69 [[-2.42840797e-01 -9.70065196e-01 1.36460845e-03 6.49179143e+01] [-9.70049775e-01 2.42844631e-01 5.46991904e-03 -1.01683740e+02] [-5.63756593e-03 4.58137721e-06 -9.99984109e-01 6.88010897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.857628 meters 0.011657480015157512 Centerline is valid? [True, True] Translation: X:64.87, Y:-101.79, Z:0.69 [[-1.66208726e-01 -9.86090238e-01 8.37392110e-04 6.48659831e+01] [-9.86077728e-01 1.66210835e-01 4.96721485e-03 -1.01792546e+02] [-5.03730572e-03 -1.39259256e-07 -9.99987313e-01 6.87489141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.887628 meters 0.011620150115962001 Centerline is valid? [True, True] Translation: X:64.82, Y:-101.91, Z:0.69 [[-8.90557307e-02 -9.96026566e-01 3.95904161e-04 6.48228075e+01] [-9.96016790e-01 8.90566107e-02 4.41296027e-03 -1.01908983e+02] [-4.43068354e-03 -1.32779089e-06 -9.99990184e-01 6.87171584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.917628 meters 0.011650318367572804 Centerline is valid? [True, True] Translation: X:64.79, Y:-102.02, Z:0.69 [[-1.18751930e-02 -9.99929486e-01 4.82710539e-05 6.47895769e+01] [-9.99921636e-01 1.18752911e-02 3.96212952e-03 -1.02022691e+02] [-3.96242336e-03 -1.21621837e-06 -9.99992150e-01 6.86543432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.947628 meters 0.011606091623345388 Centerline is valid? [True, True] Translation: X:64.77, Y:-102.15, Z:0.69 [[ 6.46917245e-02 -9.97905286e-01 -1.46137158e-04 6.47675316e+01] [-9.97902781e-01 -6.46918896e-02 2.23567092e-03 -1.02147180e+02] [-2.24044171e-03 1.20126981e-06 -9.99997490e-01 6.85003196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.977628 meters 0.011645956489210876 Centerline is valid? [True, True] Translation: X:64.75, Y:-102.27, Z:0.68 [[ 1.41134272e-01 -9.89990451e-01 -1.53769145e-04 6.47536505e+01] [-9.89989871e-01 -1.41134356e-01 1.07149350e-03 -1.02266434e+02] [-1.08247044e-03 1.00544134e-06 -9.99999414e-01 6.84191239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.007628 meters 0.011708377387313373 Centerline is valid? [True, True] Translation: X:64.75, Y:-102.39, Z:0.68 [[ 2.16421748e-01 -9.76299958e-01 -1.36303597e-04 6.47482285e+01] [-9.76299767e-01 -2.16421791e-01 6.10681547e-04 -1.02385015e+02] [-6.25707438e-04 9.08402477e-07 -9.99999804e-01 6.83420998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.037628 meters 0.011726967705918455 Centerline is valid? [True, True] Translation: X:64.75, Y:-102.51, Z:0.68 [[ 2.90787399e-01 -9.56787692e-01 2.76066030e-05 6.47529657e+01] [-9.56787688e-01 -2.90787401e-01 -8.72513618e-05 -1.02509268e+02] [ 9.15086813e-05 -1.04206127e-06 -9.99999996e-01 6.83382900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.067628 meters 0.01189974806905809 Centerline is valid? [True, True] Translation: X:64.77, Y:-102.62, Z:0.68 [[ 3.61983825e-01 -9.32184375e-01 4.31145426e-05 6.47651909e+01] [-9.32184368e-01 -3.61983828e-01 -1.07257718e-04 -1.02624328e+02] [ 1.15590736e-04 -1.36514371e-06 -9.99999993e-01 6.84041117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09762800000001 meters 0.012095074755776014 Centerline is valid? [True, True] Translation: X:64.79, Y:-102.74, Z:0.68 [[ 4.32001687e-01 -9.01872760e-01 -2.59846164e-04 6.47876184e+01] [-9.01872601e-01 -4.32001766e-01 5.35131032e-04 -1.02741707e+02] [-5.94874102e-04 3.17062702e-06 -9.99999823e-01 6.84679120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12762800000002 meters 0.012118849863404186 Centerline is valid? [True, True] Translation: X:64.82, Y:-102.86, Z:0.69 [[ 4.99335784e-01 -8.66408173e-01 -8.08030510e-04 6.48191243e+01] [-8.66407077e-01 -4.99336437e-01 1.37843270e-03 -1.02857206e+02] [-1.59776444e-03 1.17825769e-05 -9.99998724e-01 6.85411620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15762800000002 meters 0.012397111386840985 Centerline is valid? [True, True] Translation: X:64.86, Y:-102.97, Z:0.69 [[ 5.63096285e-01 -8.26388869e-01 -2.00274860e-03 6.48573875e+01] [-8.26383853e-01 -5.63099845e-01 2.87946596e-03 -1.02966359e+02] [-3.50730605e-03 3.36225221e-05 -9.99993849e-01 6.86387905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18762800000002 meters 0.012687955479140365 Centerline is valid? [True, True] Translation: X:64.90, Y:-103.07, Z:0.69 [[ 6.24180725e-01 -7.81276090e-01 -2.46857058e-03 6.49022591e+01] [-7.81270245e-01 -6.24185605e-01 3.02250878e-03 -1.03071495e+02] [-3.90226006e-03 4.20290193e-05 -9.99992385e-01 6.86834630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21762800000002 meters 0.012992354491620974 Centerline is valid? [True, True] Translation: X:64.95, Y:-103.17, Z:0.69 [[ 6.81207124e-01 -7.32084145e-01 -3.10796032e-03 6.49544718e+01] [-7.32076898e-01 -6.81214211e-01 3.25797098e-03 -1.03172484e+02] [-4.50229564e-03 5.59129137e-05 -9.99989863e-01 6.87253688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24762800000002 meters 0.013390266862413848 Centerline is valid? [True, True] Translation: X:65.01, Y:-103.26, Z:0.69 [[ 7.33734742e-01 -6.79426099e-01 -3.67470415e-03 6.50091295e+01] [-6.79418075e-01 -7.33743940e-01 3.30298367e-03 -1.03264048e+02] [-4.94042522e-03 7.31465511e-05 -9.99987793e-01 6.87838235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27762800000002 meters 0.014955268650814136 Centerline is valid? [True, True] Translation: X:65.00, Y:-103.27, Z:0.69 [[ 7.80761118e-01 -6.24814676e-01 -4.32396118e-03 6.50041665e+01] [-6.24805895e-01 -7.80773083e-01 3.31452295e-03 -1.03267735e+02] [-5.44699509e-03 1.13785787e-04 -9.99985159e-01 6.89210267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30762800000002 meters 0.01563564129083033 Centerline is valid? [True, True] Translation: X:65.00, Y:-103.27, Z:0.69 [[ 8.25358891e-01 -5.64591057e-01 -4.43151227e-03 6.49980787e+01] [-5.64583742e-01 -8.25370778e-01 2.87683721e-03 -1.03272628e+02] [-5.28187729e-03 1.27536615e-04 -9.99986043e-01 6.89598719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33762800000002 meters 0.016019718989947213 Centerline is valid? [True, True] Translation: X:64.99, Y:-103.28, Z:0.69 [[ 8.65208791e-01 -5.01386068e-01 -5.07543138e-03 6.49907398e+01] [-5.01378516e-01 -8.65223662e-01 2.75646008e-03 -1.03279201e+02] [-5.77343401e-03 1.59798759e-04 -9.99983321e-01 6.89442881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36762800000002 meters 0.01823167661032233 Centerline is valid? [True, True] Translation: X:64.98, Y:-103.29, Z:0.69 [[ 9.00235446e-01 -4.35367423e-01 -5.59894806e-03 6.49837750e+01] [-4.35360314e-01 -9.00252837e-01 2.49538487e-03 -1.03285455e+02] [-6.12687815e-03 1.91125874e-04 -9.99981212e-01 6.91357890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39762800000003 meters 0.017893944025061625 Centerline is valid? [True, True] Translation: X:64.98, Y:-103.29, Z:0.69 [[ 9.30418528e-01 -3.66461764e-01 -5.20950018e-03 6.49779728e+01] [-3.66457150e-01 -9.30433093e-01 1.84869262e-03 -1.03292521e+02] [-5.52456652e-03 1.89000724e-04 -9.99984722e-01 6.89672585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42762800000003 meters 0.018771496690670002 Centerline is valid? [True, True] Translation: X:64.97, Y:-103.30, Z:0.69 [[ 9.55297624e-01 -2.95602529e-01 -5.05906428e-03 6.49716781e+01] [-2.95599464e-01 -9.55311000e-01 1.36042584e-03 -1.03300280e+02] [-5.23512507e-03 1.95845113e-04 -9.99986277e-01 6.89680175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45762800000003 meters 0.02173937826551785 Centerline is valid? [True, True] Translation: X:64.96, Y:-103.31, Z:0.69 [[ 9.74404387e-01 -2.24757111e-01 -4.50897555e-03 6.49621605e+01] [-2.24755622e-01 -9.74414800e-01 8.40865065e-04 -1.03305505e+02] [-4.58260291e-03 1.94074996e-04 -9.99989481e-01 6.90168869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48762800000003 meters 0.022402439669324606 Centerline is valid? [True, True] Translation: X:64.95, Y:-103.31, Z:0.69 [[ 9.88809288e-01 -1.49131058e-01 -4.01503121e-03 6.49541851e+01] [-1.49130550e-01 -9.88817423e-01 4.27157354e-04 -1.03312013e+02] [-4.03383525e-03 1.76386657e-04 -9.99991849e-01 6.90179959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.517628 meters 0.021498012498298233 Centerline is valid? [True, True] Translation: X:64.95, Y:-103.32, Z:0.69 [[ 9.97372882e-01 -7.23283986e-02 -3.99206032e-03 6.49465295e+01] [-7.23285352e-02 -9.97380855e-01 1.10330512e-04 -1.03323726e+02] [-3.98958456e-03 1.78699214e-04 -9.99992026e-01 6.90214721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.547628 meters 0.020662206166528887 Centerline is valid? [True, True] Translation: X:64.94, Y:-103.34, Z:0.69 [[ 9.99969494e-01 6.77413403e-03 -3.88864008e-03 6.49395409e+01] [ 6.77341756e-03 -9.99977041e-01 -1.97385625e-04 -1.03337682e+02] [-3.88988792e-03 1.71040221e-04 -9.99992420e-01 6.90224244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.577628 meters 0.022797170505691976 Centerline is valid? [True, True] Translation: X:64.93, Y:-103.35, Z:0.69 [[ 9.96244005e-01 8.64801395e-02 -4.36670528e-03 6.49321946e+01] [ 8.64784837e-02 -9.96253557e-01 -5.66939612e-04 -1.03345737e+02] [-4.39937468e-03 1.87184138e-04 -9.99990305e-01 6.90916963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.607628 meters 0.019140244905453407 Centerline is valid? [True, True] Translation: X:64.93, Y:-103.36, Z:0.69 [[ 9.86051358e-01 1.66383441e-01 -4.38980006e-03 6.49290519e+01] [ 1.66380972e-01 -9.86061113e-01 -9.24311019e-04 -1.03364485e+02] [-4.48240118e-03 1.81038936e-04 -9.99989938e-01 6.91278013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.637628 meters 0.018971550592340822 Centerline is valid? [True, True] Translation: X:64.92, Y:-103.38, Z:0.69 [[ 9.69497911e-01 2.45048275e-01 -5.01441129e-03 6.49245011e+01] [ 2.45043922e-01 -9.69510857e-01 -1.47435070e-03 -1.03378045e+02] [-5.22281329e-03 2.00628917e-04 -9.99986341e-01 6.91772146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.667628 meters 0.01764913350341398 Centerline is valid? [True, True] Translation: X:64.92, Y:-103.39, Z:0.69 [[ 9.45858481e-01 3.24550024e-01 -4.36072503e-03 6.49234682e+01] [ 3.24545803e-01 -9.45868520e-01 -1.66274724e-03 -1.03394055e+02] [-4.66431719e-03 1.57468575e-04 -9.99989110e-01 6.92533687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.697628 meters 0.0168510386541814 Centerline is valid? [True, True] Translation: X:64.92, Y:-103.41, Z:0.69 [[ 9.16491434e-01 4.00034832e-01 -3.94762597e-03 6.49230318e+01] [ 4.00030479e-01 -9.16499926e-01 -1.87121373e-03 -1.03407516e+02] [-4.36654958e-03 1.35780653e-04 -9.99990457e-01 6.92011979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.727628 meters 0.01646786458389036 Centerline is valid? [True, True] Translation: X:64.92, Y:-103.42, Z:0.69 [[ 8.80755540e-01 4.73561761e-01 -2.98964169e-03 6.49221673e+01] [ 4.73558663e-01 -8.80760608e-01 -1.71561900e-03 -1.03419968e+02] [-3.44561019e-03 9.52702186e-05 -9.99994059e-01 6.91492077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.757628 meters 0.014546719984665753 Centerline is valid? [True, True] Translation: X:64.93, Y:-103.44, Z:0.69 [[ 8.39108762e-01 5.43960543e-01 -1.84756040e-03 6.49259794e+01] [ 5.43959082e-01 -8.39110794e-01 -1.26194540e-03 -1.03436202e+02] [-2.23675638e-03 5.39121835e-05 -9.99997497e-01 6.90326127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.787628 meters 0.013258066578115674 Centerline is valid? [True, True] Translation: X:64.93, Y:-103.45, Z:0.69 [[ 7.89064326e-01 6.14310544e-01 -2.12697505e-04 6.49288840e+01] [ 6.14310520e-01 -7.89064355e-01 -1.70386890e-04 -1.03450973e+02] [-2.72502482e-04 3.78390141e-06 -9.99999963e-01 6.88646480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.817628 meters 0.012507734452460338 Centerline is valid? [True, True] Translation: X:64.93, Y:-103.46, Z:0.69 [[ 7.35702353e-01 6.77304936e-01 2.68126166e-04 6.49332023e+01] [ 6.77304888e-01 -7.35702402e-01 2.53922731e-04 -1.03463096e+02] [ 3.69244183e-04 -5.20838737e-06 -9.99999932e-01 6.88497440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84762800000001 meters 0.012066070129234772 Centerline is valid? [True, True] Translation: X:64.94, Y:-103.48, Z:0.69 [[ 6.77533758e-01 7.35491434e-01 5.98210559e-04 6.49368187e+01] [ 7.35491137e-01 -6.77534022e-01 6.61308485e-04 -1.03475324e+02] [ 8.91694732e-04 -8.08025879e-06 -9.99999602e-01 6.88820168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87762800000002 meters 0.011534117236810191 Centerline is valid? [True, True] Translation: X:64.94, Y:-103.49, Z:0.69 [[ 6.12150277e-01 7.90741269e-01 5.33522980e-04 6.49446394e+01] [ 7.90740966e-01 -6.12150509e-01 6.91778180e-04 -1.03488759e+02] [ 8.73613920e-04 -1.59372745e-06 -9.99999618e-01 6.89664836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90762800000002 meters 0.011575412957643142 Centerline is valid? [True, True] Translation: X:64.95, Y:-103.50, Z:0.69 [[ 5.45690063e-01 8.37987015e-01 3.43812762e-04 6.49495621e+01] [ 8.37986849e-01 -5.45690172e-01 5.26815249e-04 -1.03499525e+02] [ 6.29079583e-04 6.32727050e-07 -9.99999802e-01 6.90250979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93762800000002 meters 0.011664596881934929 Centerline is valid? [True, True] Translation: X:64.96, Y:-103.51, Z:0.69 [[ 4.76185543e-01 8.79344828e-01 4.10271675e-05 6.49558895e+01] [ 8.79344825e-01 -4.76185545e-01 7.63637901e-05 -1.03509466e+02] [ 8.66866479e-05 -2.86305400e-07 -9.99999996e-01 6.91012319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96762800000002 meters 0.011943529505425479 Centerline is valid? [True, True] Translation: X:64.96, Y:-103.52, Z:0.69 [[ 4.03845368e-01 9.14827259e-01 -6.80980123e-05 6.49613323e+01] [ 9.14827247e-01 -4.03845374e-01 -1.49813105e-04 -1.03519131e+02] [-1.64554179e-04 -1.79658863e-06 -9.99999986e-01 6.91988140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99762800000002 meters 0.01219905963193665 Centerline is valid? [True, True] Translation: X:64.97, Y:-103.53, Z:0.69 [[ 3.28520217e-01 9.44496847e-01 -4.16229111e-04 6.49673548e+01] [ 9.44496135e-01 -3.28520480e-01 -1.15961663e-03 -1.03526664e+02] [-1.23199404e-03 -1.21692804e-05 -9.99999241e-01 6.93228402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02762800000002 meters 0.012221609539869399 Centerline is valid? [True, True] Translation: X:64.97, Y:-103.53, Z:0.69 [[ 2.53076083e-01 9.67446257e-01 -4.85696312e-04 6.49744830e+01] [ 9.67444615e-01 -2.53076548e-01 -1.78239074e-03 -1.03533947e+02] [-1.84728559e-03 -1.88038163e-05 -9.99998294e-01 6.94009289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05762800000002 meters 0.012515106718310288 Centerline is valid? [True, True] Translation: X:64.98, Y:-103.54, Z:0.69 [[ 1.76010384e-01 9.84388210e-01 -4.43077653e-04 6.49809262e+01] [ 9.84385442e-01 -1.76010940e-01 -2.33450428e-03 -1.03542174e+02] [-2.37604501e-03 -2.52621958e-05 -9.99997177e-01 6.94622729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08762800000002 meters 0.012277799969193079 Centerline is valid? [True, True] Translation: X:64.98, Y:-103.55, Z:0.70 [[ 9.90865778e-02 9.95078710e-01 -4.58822800e-04 6.49829049e+01] [ 9.95069882e-01 -9.90876315e-02 -4.19177156e-03 -1.03548752e+02] [-4.21660630e-03 -4.12124505e-05 -9.99991109e-01 6.96625043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11762800000002 meters 0.012211168385444804 Centerline is valid? [True, True] Translation: X:64.99, Y:-103.56, Z:0.70 [[ 2.21655052e-02 9.99754300e-01 -1.72655366e-04 6.49863195e+01] [ 9.99738349e-01 -2.21661269e-02 -5.64760473e-03 -1.03555604e+02] [-5.65004421e-03 -4.74281787e-05 -9.99984037e-01 6.97639798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14762800000003 meters 0.012211168385444804 Centerline is valid? [True, True] Translation: X:64.99, Y:-103.56, Z:0.70 [[-5.62252021e-02 9.98418076e-01 2.70326824e-04 6.49929298e+01] [ 9.98402125e-01 5.62258320e-02 -5.64374659e-03 -1.03562430e+02] [-5.65001796e-03 -4.74259170e-05 -9.99984037e-01 6.97639573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17762800000003 meters 0.012042863890978379 Centerline is valid? [True, True] Translation: X:65.00, Y:-103.57, Z:0.70 [[-1.32636639e-01 9.91164340e-01 8.79640916e-04 6.49962274e+01] [ 9.91140137e-01 1.32639547e-01 -6.92667370e-03 -1.03570231e+02] [-6.98214714e-03 -4.68832978e-05 -9.99975623e-01 6.98983632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20762800000003 meters 0.011807699193541766 Centerline is valid? [True, True] Translation: X:65.00, Y:-103.58, Z:0.70 [[-2.07527880e-01 9.78227816e-01 1.58742655e-03 6.50026029e+01] [ 9.78197950e-01 2.07533949e-01 -7.64396634e-03 -1.03576003e+02] [-7.80698540e-03 -3.35187369e-05 -9.99969524e-01 6.99181642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23762800000003 meters 0.01183104743146368 Centerline is valid? [True, True] Translation: X:65.01, Y:-103.58, Z:0.70 [[-2.82739136e-01 9.59194241e-01 2.23373249e-03 6.50128108e+01] [ 9.59163529e-01 2.82747959e-01 -7.67576047e-03 -1.03581523e+02] [-7.99412853e-03 -2.77231519e-05 -9.99968046e-01 6.99638674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.267628 meters 0.011846157807790383 Centerline is valid? [True, True] Translation: X:65.02, Y:-103.58, Z:0.70 [[-3.56193585e-01 9.34408505e-01 2.62231380e-03 6.50242589e+01] [ 9.34382782e-01 3.56203237e-01 -6.93331226e-03 -1.03584592e+02] [-7.41262260e-03 -1.93564860e-05 -9.99972526e-01 6.99687062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.297628 meters 0.011937664780434303 Centerline is valid? [True, True] Translation: X:65.03, Y:-103.59, Z:0.70 [[-4.26934163e-01 9.04276786e-01 3.27331641e-03 6.50346774e+01] [ 9.04250058e-01 4.26946711e-01 -6.95267145e-03 -1.03587754e+02] [-7.68467107e-03 -8.43641014e-06 -9.99970472e-01 6.99462389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.327628 meters 0.012214161143879588 Centerline is valid? [True, True] Translation: X:65.04, Y:-103.59, Z:0.70 [[-4.94292615e-01 8.69287784e-01 3.68229478e-03 6.50448879e+01] [ 8.69263819e-01 4.94306331e-01 -6.45476882e-03 -1.03591717e+02] [-7.43123330e-03 1.03410601e-05 -9.99972388e-01 7.00340072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.357628 meters 0.0125427695132766 Centerline is valid? [True, True] Translation: X:65.05, Y:-103.59, Z:0.70 [[-5.58228367e-01 8.29678191e-01 3.89732846e-03 6.50534816e+01] [ 8.29658369e-01 5.58241971e-01 -5.73528168e-03 -1.03594839e+02] [-6.93409045e-03 3.18542449e-05 -9.99975958e-01 6.99714985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.387628 meters 0.013752015730095392 Centerline is valid? [True, True] Translation: X:65.06, Y:-103.60, Z:0.70 [[-6.14231850e-01 7.89121018e-01 2.69309672e-03 6.50591447e+01] [ 7.89113854e-01 6.14237751e-01 -3.36306248e-03 -1.03599042e+02] [-4.30806496e-03 5.94598408e-05 -9.99990718e-01 6.96357697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.417628 meters 0.014674599041546263 Centerline is valid? [True, True] Translation: X:65.07, Y:-103.60, Z:0.69 [[-6.70521790e-01 7.41887456e-01 1.87905106e-03 6.50677301e+01] [ 7.41884755e-01 6.70524421e-01 -2.00285542e-03 -1.03601081e+02] [-2.74584294e-03 5.10811356e-05 -9.99996229e-01 6.94261639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.447628 meters 0.015803558805770935 Centerline is valid? [True, True] Translation: X:65.08, Y:-103.60, Z:0.69 [[-7.23127893e-01 6.90712566e-01 1.48390330e-03 6.50782151e+01] [ 6.90711244e-01 7.23129414e-01 -1.35210502e-03 -1.03600390e+02] [-2.00697005e-03 4.72038422e-05 -9.99997985e-01 6.93264363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.477628 meters 0.016789371206953646 Centerline is valid? [True, True] Translation: X:65.10, Y:-103.58, Z:0.69 [[-7.67084730e-01 6.41544232e-01 1.41984952e-03 6.51014690e+01] [ 6.41543255e-01 7.67086042e-01 -1.12072257e-03 -1.03584710e+02] [-1.80813985e-03 5.12057119e-05 -9.99998364e-01 6.93551838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.507628 meters 0.019716924577604353 Centerline is valid? [True, True] Translation: X:65.13, Y:-103.57, Z:0.70 [[-8.05601808e-01 5.92450570e-01 2.83697508e-03 6.51293130e+01] [ 5.92447442e-01 8.05606794e-01 -1.92946588e-03 -1.03572613e+02] [-3.42859956e-03 1.26377425e-04 -9.99994114e-01 6.95707048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.537628 meters 0.022134494565251055 Centerline is valid? [True, True] Translation: X:65.15, Y:-103.55, Z:0.70 [[-8.43862742e-01 5.36544399e-01 3.97260292e-03 6.51489366e+01] [ 5.36539463e-01 8.43872072e-01 -2.30873139e-03 -1.03554123e+02] [-4.59110555e-03 1.83205836e-04 -9.99989444e-01 6.96873286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.567628 meters 0.021380549485420397 Centerline is valid? [True, True] Translation: X:65.17, Y:-103.53, Z:0.70 [[-8.78674533e-01 4.77396776e-01 4.83561524e-03 6.51736632e+01] [ 4.77390950e-01 8.78687810e-01 -2.36932462e-03 -1.03531777e+02] [-5.38010410e-03 2.26613749e-04 -9.99985501e-01 6.97674630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59762800000001 meters 0.0231324348961604 Centerline is valid? [True, True] Translation: X:65.19, Y:-103.51, Z:0.70 [[-9.09348624e-01 4.15990392e-01 6.08886002e-03 6.51921134e+01] [ 4.15983190e-01 9.09368962e-01 -2.46506453e-03 -1.03507081e+02] [-6.56246347e-03 2.91260373e-04 -9.99978424e-01 6.98620958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62762800000002 meters 0.021804630168122972 Centerline is valid? [True, True] Translation: X:65.21, Y:-103.48, Z:0.70 [[-9.36597291e-01 3.50359952e-01 5.78079140e-03 6.52067386e+01] [ 3.50355034e-01 9.36615093e-01 -1.87567227e-03 -1.03480060e+02] [-6.07153692e-03 2.68579798e-04 -9.99981532e-01 6.96888624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65762800000002 meters 0.02157960226237872 Centerline is valid? [True, True] Translation: X:65.22, Y:-103.45, Z:0.70 [[-9.59230902e-01 2.82575929e-01 5.18861567e-03 6.52155639e+01] [ 2.82573103e-01 9.59244906e-01 -1.28517272e-03 -1.03451298e+02] [-5.34031203e-03 2.33385840e-04 -9.99985713e-01 6.95782864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68762800000002 meters 0.02297313069813031 Centerline is valid? [True, True] Translation: X:65.23, Y:-103.42, Z:0.70 [[-9.77141442e-01 2.12545474e-01 4.36173871e-03 6.52250439e+01] [ 2.12544208e-01 9.77151158e-01 -7.56988273e-04 -1.03424682e+02] [-4.42297247e-03 1.87377690e-04 -9.99990201e-01 6.95215285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71762800000002 meters 0.018172994261438258 Centerline is valid? [True, True] Translation: X:65.23, Y:-103.39, Z:0.69 [[-9.90510479e-01 1.37402933e-01 3.06998401e-03 6.52317874e+01] [ 1.37402629e-01 9.90515230e-01 -3.10657770e-04 -1.03385899e+02] [-3.08355121e-03 1.14114099e-04 -9.99995239e-01 6.93699035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74762800000002 meters 0.017721600728136874 Centerline is valid? [True, True] Translation: X:65.32, Y:-102.58, Z:-0.21 [[-9.91015099e-01 -1.33727545e-01 2.45281224e-03 6.53173920e+01] [ 1.33726804e-01 -9.91018126e-01 -4.64517981e-04 -1.02582913e+02] [ 2.49290024e-03 -1.32337592e-04 9.99996884e-01 -2.06341718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77762800000002 meters 0.01661963833216234 Centerline is valid? [True, True] Translation: X:65.16, Y:-103.37, Z:0.69 [[-9.92021695e-01 1.26056506e-01 1.64724930e-03 6.51598880e+01] [ 1.26056416e-01 9.92023062e-01 -1.59050068e-04 -1.03372521e+02] [-1.65415859e-03 4.98652241e-05 -9.99998631e-01 6.93052564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80762800000002 meters 0.01588228673209597 Centerline is valid? [True, True] Translation: X:65.24, Y:-102.58, Z:-0.21 [[-9.90606483e-01 -1.36737476e-01 1.28820105e-03 6.52417532e+01] [ 1.36737277e-01 -9.90607318e-01 -2.41568310e-04 -1.02581271e+02] [ 1.30913283e-03 -6.31540310e-05 9.99999141e-01 -2.05853671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83762800000002 meters 0.013715809399864054 Centerline is valid? [True, True] Translation: X:65.08, Y:-103.36, Z:0.69 [[-9.94064691e-01 1.08781674e-01 1.39193228e-03 6.50838447e+01] [ 1.08781601e-01 9.94065665e-01 -1.27930815e-04 -1.03355764e+02] [-1.39758861e-03 2.42451152e-05 -9.99999023e-01 6.92399440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86762800000002 meters 0.013063478620815656 Centerline is valid? [True, True] Translation: X:65.16, Y:-102.58, Z:-0.21 [[-9.89410473e-01 -1.45134053e-01 1.73881051e-03 6.51642408e+01] [ 1.45133819e-01 -9.89412000e-01 -2.60756286e-04 -1.02583788e+02] [ 1.75824460e-03 -5.63479134e-06 9.99998454e-01 -2.06001326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89762800000003 meters 0.012114033967751164 Centerline is valid? [True, True] Translation: X:65.02, Y:-103.34, Z:0.69 [[-9.95380880e-01 9.59754827e-02 2.36867457e-03 6.50225275e+01] [ 9.59752624e-02 9.95383698e-01 -2.06757136e-04 -1.03343330e+02] [-2.37758367e-03 2.15320630e-05 -9.99997173e-01 6.93604774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92762800000003 meters 0.011728403907542 Centerline is valid? [True, True] Translation: X:65.09, Y:-102.58, Z:-0.21 [[-9.88855088e-01 -1.48853695e-01 2.86226347e-03 6.50873539e+01] [ 1.48853099e-01 -9.88859230e-01 -4.21547169e-04 -1.02583310e+02] [ 2.89312450e-03 9.20772314e-06 9.99995815e-01 -2.07174691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95762800000003 meters 0.011497309275348165 Centerline is valid? [True, True] Translation: X:64.95, Y:-103.33, Z:0.69 [[-9.96763809e-01 8.02987627e-02 3.74397912e-03 6.49467402e+01] [ 8.02981662e-02 9.96770841e-01 -3.09620822e-04 -1.03328766e+02] [-3.75675138e-03 -7.98417212e-06 -9.99992943e-01 6.94938652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98762800000003 meters 0.011574146598645347 Centerline is valid? [True, True] Translation: X:65.01, Y:-102.58, Z:-0.21 [[-9.88103871e-01 -1.53737570e-01 3.93703617e-03 6.50146529e+01] [ 1.53736444e-01 -9.88111714e-01 -5.88748025e-04 -1.02583751e+02] [ 3.98074425e-03 2.35217395e-05 9.99992077e-01 -2.08481713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.017628 meters 0.011652631841763872 Centerline is valid? [True, True] Translation: X:64.88, Y:-103.32, Z:0.70 [[-9.97391936e-01 7.20504432e-02 4.24963996e-03 6.48777997e+01] [ 7.20496827e-02 9.97400989e-01 -3.31978523e-04 -1.03321247e+02] [-4.26251430e-03 -2.49274909e-05 -9.99990915e-01 6.95459995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.047628 meters 0.011676185928479969 Centerline is valid? [True, True] Translation: X:64.89, Y:-103.29, Z:0.70 [[-9.99987473e-01 7.95747425e-04 4.94179613e-03 6.48877702e+01] [ 7.95590017e-04 9.99999683e-01 -3.38180817e-05 -1.03294665e+02] [-4.94182147e-03 -2.98860144e-05 -9.99987789e-01 6.95509428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.077628 meters 0.011385883574350771 Centerline is valid? [True, True] Translation: X:64.88, Y:-103.27, Z:0.69 [[-9.97668108e-01 -6.80356537e-02 5.43101803e-03 6.48849227e+01] [-6.80347562e-02 9.97682890e-01 3.50046128e-04 -1.03271143e+02] [-5.44224938e-03 -2.02681295e-05 -9.99985191e-01 6.94801236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.107628 meters 0.011327769039796407 Centerline is valid? [True, True] Translation: X:64.88, Y:-103.25, Z:0.69 [[-9.90640640e-01 -1.36391356e-01 5.34054062e-03 6.48807147e+01] [-1.36389405e-01 9.90655035e-01 7.29439546e-04 -1.03246618e+02] [-5.39012270e-03 -5.78070044e-06 -9.99985473e-01 6.94607012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.137628 meters 0.011347206163121825 Centerline is valid? [True, True] Translation: X:64.86, Y:-103.22, Z:0.69 [[-9.78937160e-01 -2.04103032e-01 4.89792725e-03 6.48622144e+01] [-2.04100427e-01 9.78949412e-01 1.03133892e-03 -1.03224935e+02] [-5.00532240e-03 9.94695318e-06 -9.99987473e-01 6.94342380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.167628 meters 0.01157489293439826 Centerline is valid? [True, True] Translation: X:64.83, Y:-103.21, Z:0.69 [[-9.62498715e-01 -2.71244333e-01 4.76811521e-03 6.48258231e+01] [-2.71240864e-01 9.62510525e-01 1.37220129e-03 -1.03209203e+02] [-4.96156290e-03 2.74342911e-05 -9.99987691e-01 6.94016548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.197628 meters 0.012668819241220585 Centerline is valid? [True, True] Translation: X:64.77, Y:-103.21, Z:0.69 [[-9.42329426e-01 -3.34656156e-01 4.52869809e-03 6.47716836e+01] [-3.34651980e-01 9.42340307e-01 1.67300843e-03 -1.03205894e+02] [-4.82745732e-03 6.09872949e-05 -9.99988346e-01 6.93536590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.227628 meters 0.013401722675853427 Centerline is valid? [True, True] Translation: X:64.71, Y:-103.21, Z:0.69 [[-9.16194855e-01 -4.00704431e-01 4.79029240e-03 6.47096048e+01] [-4.00698473e-01 9.16207374e-01 2.18673751e-03 -1.03205478e+02] [-5.26513663e-03 8.40148122e-05 -9.99986136e-01 6.93245164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.257628 meters 0.014174032659632203 Centerline is valid? [True, True] Translation: X:64.63, Y:-103.22, Z:0.69 [[-8.85155317e-01 -4.65269282e-01 4.95575519e-03 6.46329971e+01] [-4.65261300e-01 8.85169184e-01 2.72748837e-03 -1.03216357e+02] [-5.65569833e-03 1.08529731e-04 -9.99984001e-01 6.93890520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.287628 meters 0.015033787156780025 Centerline is valid? [True, True] Translation: X:64.55, Y:-103.24, Z:0.69 [[-8.49003100e-01 -5.28361428e-01 5.28563567e-03 6.45500054e+01] [-5.28350172e-01 8.49019542e-01 3.45161506e-03 -1.03237182e+02] [-6.31130824e-03 1.37765376e-04 -9.99980074e-01 6.94464862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.317628 meters 0.015683086427893397 Centerline is valid? [True, True] Translation: X:64.46, Y:-103.27, Z:0.70 [[-8.08584799e-01 -5.88343192e-01 6.55062452e-03 6.44639350e+01] [-5.88321777e-01 8.08611307e-01 5.02411612e-03 -1.03269658e+02] [-8.25281357e-03 2.08548870e-04 -9.99965923e-01 6.95477323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34762800000001 meters 0.015927182463445013 Centerline is valid? [True, True] Translation: X:64.37, Y:-103.31, Z:0.70 [[-7.62262817e-01 -6.47234109e-01 6.58837583e-03 6.43717615e+01] [-6.47207263e-01 7.62291253e-01 5.89951989e-03 -1.03312507e+02] [-8.84063176e-03 2.32939965e-04 -9.99960894e-01 6.95704177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37762800000002 meters 0.016382474720113713 Centerline is valid? [True, True] Translation: X:64.28, Y:-103.36, Z:0.70 [[-7.10922090e-01 -7.03239305e-01 6.65299633e-03 6.42834408e+01] [-7.03205085e-01 7.10953173e-01 6.94217770e-03 -1.03362447e+02] [-9.61198107e-03 2.56926629e-04 -9.99953771e-01 6.96300280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40762800000002 meters 0.016526845435538836 Centerline is valid? [True, True] Translation: X:64.19, Y:-103.43, Z:0.70 [[-6.54277323e-01 -7.56217021e-01 7.54991608e-03 6.41930962e+01] [-7.56161210e-01 6.54320811e-01 9.19240315e-03 -1.03425994e+02] [-1.18915189e-02 3.05427245e-04 -9.99929247e-01 6.97948629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43762800000002 meters 0.015918211200840637 Centerline is valid? [True, True] Translation: X:64.11, Y:-103.50, Z:0.70 [[-5.93325857e-01 -8.04928385e-01 7.39744487e-03 6.41053622e+01] [-8.04859088e-01 5.93371886e-01 1.05666126e-02 -1.03495200e+02] [-1.28948022e-02 3.15543744e-04 -9.99916809e-01 6.98434642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46762800000002 meters 0.01533636590945006 Centerline is valid? [True, True] Translation: X:64.02, Y:-103.57, Z:0.70 [[-5.28250586e-01 -8.49062061e-01 6.70333105e-03 6.40214032e+01] [-8.48986351e-01 5.28293030e-01 1.13423801e-02 -1.03573795e+02] [-1.31717077e-02 3.00582384e-04 -9.99913204e-01 6.98682473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49762800000002 meters 0.014885933481341278 Centerline is valid? [True, True] Translation: X:63.94, Y:-103.66, Z:0.70 [[-4.59660828e-01 -8.88074274e-01 6.00063213e-03 6.39416717e+01] [-8.87990335e-01 4.59699905e-01 1.22132109e-02 -1.03663070e+02] [-1.36047285e-02 2.85431317e-04 -9.99907411e-01 6.98779437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52762800000002 meters 0.013657709541095065 Centerline is valid? [True, True] Translation: X:63.87, Y:-103.76, Z:0.70 [[-3.86311215e-01 -9.22353275e-01 5.29927853e-03 6.38684769e+01] [-9.22257589e-01 3.86347481e-01 1.32877140e-02 -1.03757529e+02] [-1.43033294e-02 2.45893102e-04 -9.99897672e-01 6.98945175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55762800000002 meters 0.013386477428186251 Centerline is valid? [True, True] Translation: X:63.80, Y:-103.86, Z:0.70 [[-3.12142260e-01 -9.50025639e-01 4.30058556e-03 6.38020298e+01] [-9.49925492e-01 3.12171806e-01 1.37957393e-02 -1.03862170e+02] [-1.44488276e-02 2.20997401e-04 -9.99895586e-01 6.99430769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58762800000002 meters 0.013204994858502754 Centerline is valid? [True, True] Translation: X:63.75, Y:-103.97, Z:0.70 [[-2.36019911e-01 -9.71743242e-01 3.11032005e-03 6.37456280e+01] [-9.71647992e-01 2.36040329e-01 1.36067588e-02 -1.03966300e+02] [-1.39564369e-02 1.89329775e-04 -9.99902586e-01 6.99536895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61762800000002 meters 0.012871238678688753 Centerline is valid? [True, True] Translation: X:63.70, Y:-104.08, Z:0.70 [[-1.58379755e-01 -9.87376395e-01 1.92568535e-03 6.36966479e+01] [-9.87291070e-01 1.58391385e-01 1.29812273e-02 -1.04077239e+02] [-1.31223694e-02 1.54751642e-04 -9.99913886e-01 6.98883956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64762800000003 meters 0.012245321067461998 Centerline is valid? [True, True] Translation: X:63.66, Y:-104.19, Z:0.70 [[-7.79539438e-02 -9.96956654e-01 7.82728814e-04 6.36559856e+01] [-9.96893695e-01 7.79578178e-02 1.12044396e-02 -1.04194970e+02] [-1.12313604e-02 9.31328354e-05 -9.99936922e-01 6.96753092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67762800000003 meters 0.01186588858572393 Centerline is valid? [True, True] Translation: X:63.62, Y:-104.32, Z:0.69 [[ 7.71608619e-04 -9.99999699e-01 -7.91543665e-05 6.36242961e+01] [-9.99948274e-01 -7.72371696e-04 1.01416693e-02 -1.04316260e+02] [-1.01417274e-02 7.13248727e-05 -9.99948569e-01 6.94924059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70762800000003 meters 0.0118493329083079 Centerline is valid? [True, True] Translation: X:63.60, Y:-104.44, Z:0.69 [[ 7.93936102e-02 -9.96843023e-01 -8.01459819e-04 6.36028089e+01] [-9.96799089e-01 -7.93976357e-02 9.35901639e-03 -1.04435574e+02] [-9.39310420e-03 5.58483183e-05 -9.99955882e-01 6.94486877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73762800000003 meters 0.011531855718101678 Centerline is valid? [True, True] Translation: X:63.59, Y:-104.56, Z:0.69 [[ 1.57184284e-01 -9.87568370e-01 -1.34778468e-03 6.35909034e+01] [-9.87534357e-01 -1.57190056e-01 8.19628042e-03 -1.04559423e+02] [-8.30624564e-03 4.26572141e-05 -9.99965502e-01 6.92349933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.767628 meters 0.01164236310891453 Centerline is valid? [True, True] Translation: X:63.59, Y:-104.68, Z:0.69 [[ 2.32811806e-01 -9.72520092e-01 -1.82581286e-03 6.35883179e+01] [-9.72491609e-01 -2.32818962e-01 7.44320237e-03 -1.04680612e+02] [-7.66374771e-03 4.27222982e-05 -9.99970632e-01 6.92367074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.797628 meters 0.01153912573963893 Centerline is valid? [True, True] Translation: X:63.59, Y:-104.80, Z:0.69 [[ 3.06879607e-01 -9.51745574e-01 -2.29538156e-03 6.35941010e+01] [-9.51720043e-01 -3.06888188e-01 6.97135297e-03 -1.04802450e+02] [-7.33937982e-03 4.51945716e-05 -9.99973065e-01 6.91739557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.827628 meters 0.012005687649893355 Centerline is valid? [True, True] Translation: X:63.61, Y:-104.92, Z:0.69 [[ 3.78866803e-01 -9.25446920e-01 -2.81843455e-03 6.36101491e+01] [-9.25422300e-01 -3.78877283e-01 6.75065127e-03 -1.04922769e+02] [-7.31521025e-03 5.06445188e-05 -9.99973242e-01 6.93569547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.857628 meters 0.012255401312193312 Centerline is valid? [True, True] Translation: X:63.63, Y:-105.04, Z:0.69 [[ 4.47939031e-01 -8.94057590e-01 -3.41332167e-03 6.36347289e+01] [-8.94032695e-01 -4.47952031e-01 6.67217612e-03 -1.05040137e+02] [-7.49431408e-03 6.28930686e-05 -9.99971915e-01 6.94353000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.887628 meters 0.01274095377405133 Centerline is valid? [True, True] Translation: X:63.67, Y:-105.15, Z:0.69 [[ 5.11631320e-01 -8.59194769e-01 -4.21190962e-03 6.36662928e+01] [-8.59167337e-01 -5.11648646e-01 6.86663650e-03 -1.05149118e+02] [-8.05479602e-03 1.05548873e-04 -9.99967554e-01 6.93614906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.917628 meters 0.013223742072470951 Centerline is valid? [True, True] Translation: X:63.71, Y:-105.26, Z:0.69 [[ 5.74176644e-01 -8.18717443e-01 -4.78859174e-03 6.37065774e+01] [-8.18690820e-01 -5.74196597e-01 6.60376134e-03 -1.05257301e+02] [-8.15620768e-03 1.28650577e-04 -9.99966729e-01 6.93822459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.947628 meters 0.013734279985255676 Centerline is valid? [True, True] Translation: X:63.75, Y:-105.36, Z:0.69 [[ 6.32949996e-01 -7.74173843e-01 -5.40032993e-03 6.37516970e+01] [-7.74147779e-01 -6.32973014e-01 6.35450333e-03 -1.05358937e+02] [-8.33775337e-03 1.58570557e-04 -9.99965228e-01 6.93936276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.977628 meters 0.01502250674621236 Centerline is valid? [True, True] Translation: X:63.80, Y:-105.45, Z:0.69 [[ 6.88011547e-01 -7.25674147e-01 -6.09452262e-03 6.38036681e+01] [-7.25648139e-01 -6.88038513e-01 6.14678734e-03 -1.05453245e+02] [-8.65383094e-03 1.93418333e-04 -9.99962536e-01 6.94429024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.007628 meters 0.016688582725028104 Centerline is valid? [True, True] Translation: X:63.86, Y:-105.54, Z:0.69 [[ 7.36971469e-01 -6.75892880e-01 -6.47056232e-03 6.38600431e+01] [-6.75869765e-01 -7.36999832e-01 5.59545791e-03 -1.05541968e+02] [-8.55073351e-03 2.49564595e-04 -9.99963411e-01 6.94564532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.037628 meters 0.01802385039319311 Centerline is valid? [True, True] Translation: X:63.85, Y:-105.55, Z:0.70 [[ 7.85538102e-01 -6.18766476e-01 -7.61171622e-03 6.38537645e+01] [-6.18741159e-01 -7.85574920e-01 5.60567315e-03 -1.05546200e+02] [-9.44817598e-03 3.06212265e-04 -9.99955318e-01 6.95290785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.067628 meters 0.01802385039319311 Centerline is valid? [True, True] Translation: X:63.85, Y:-105.55, Z:0.70 [[ 8.31501248e-01 -5.55464894e-01 -8.02660527e-03 6.38464445e+01] [-5.55442533e-01 -8.31539932e-01 4.99350433e-03 -1.05551208e+02] [-9.44815915e-03 3.06212874e-04 -9.99955318e-01 6.95290609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09762800000001 meters 0.02115884640770046 Centerline is valid? [True, True] Translation: X:63.84, Y:-105.56, Z:0.70 [[ 8.70901034e-01 -4.91366179e-01 -9.52193416e-03 6.38404241e+01] [-4.91341534e-01 -8.70953003e-01 4.93598041e-03 -1.05555749e+02] [-1.07185310e-02 3.79771287e-04 -9.99942483e-01 6.98176631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12762800000002 meters 0.020363883265282795 Centerline is valid? [True, True] Translation: X:63.83, Y:-105.56, Z:0.70 [[ 9.05424395e-01 -4.24390609e-01 -9.96368427e-03 6.38342683e+01] [-4.24369905e-01 -9.05479121e-01 4.21245130e-03 -1.05560423e+02] [-1.08096328e-02 4.14231565e-04 -9.99941488e-01 6.97270641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15762800000002 meters 0.020542331632982025 Centerline is valid? [True, True] Translation: X:63.83, Y:-105.57, Z:0.70 [[ 9.34248583e-01 -3.56438686e-01 -1.14476293e-02 6.38277573e+01] [-3.56418633e-01 -9.34318574e-01 3.81580913e-03 -1.05570065e+02] [-1.20558347e-02 5.15234112e-04 -9.99927193e-01 6.97394680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18762800000002 meters 0.02094678517395827 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.58, Z:0.70 [[ 9.58907692e-01 -2.83461195e-01 -1.20742911e-02 6.38180321e+01] [-2.83445877e-01 -9.58983551e-01 2.99742849e-03 -1.05577802e+02] [-1.24287012e-02 5.48150788e-04 -9.99922610e-01 6.97200359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21762800000002 meters 0.02111665703187867 Centerline is valid? [True, True] Translation: X:63.81, Y:-105.59, Z:0.70 [[ 9.78017860e-01 -2.08189998e-01 -1.17469072e-02 6.38092659e+01] [-2.08181501e-01 -9.78088258e-01 1.95510677e-03 -1.05587694e+02] [-1.18965457e-02 5.33359430e-04 -9.99929091e-01 6.96923645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24762800000002 meters 0.021511507380920523 Centerline is valid? [True, True] Translation: X:63.80, Y:-105.60, Z:0.70 [[ 9.91363530e-01 -1.30631400e-01 -1.15667027e-02 6.38003807e+01] [-1.30628565e-01 -9.91430871e-01 1.00350802e-03 -1.05597549e+02] [-1.15986758e-02 5.16100523e-04 -9.99932600e-01 6.96833823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27762800000002 meters 0.01905963307056832 Centerline is valid? [True, True] Translation: X:63.79, Y:-105.62, Z:0.70 [[ 9.98734288e-01 -4.91421438e-02 -1.07177833e-02 6.37932332e+01] [-4.91440276e-02 -9.98791698e-01 8.76937971e-05 -1.05616674e+02] [-1.07091425e-02 4.39132237e-04 -9.99942559e-01 6.95435895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30762800000002 meters 0.019671618165647605 Centerline is valid? [True, True] Translation: X:63.79, Y:-105.63, Z:0.70 [[ 9.99423232e-01 3.22537881e-02 -1.06252308e-02 6.37860842e+01] [ 3.22476668e-02 -9.99479630e-01 -7.46976661e-04 -1.05628563e+02] [-1.06437946e-02 4.03906926e-04 -9.99943272e-01 6.95488428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33762800000002 meters 0.018333313017185007 Centerline is valid? [True, True] Translation: X:63.78, Y:-105.64, Z:0.70 [[ 9.93428393e-01 1.13988849e-01 -1.03233353e-02 6.37815286e+01] [ 1.13978942e-01 -9.93481965e-01 -1.54494413e-03 -1.05642386e+02] [-1.04321538e-02 3.58148533e-04 -9.99945519e-01 6.95166344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36762800000002 meters 0.017211115545479046 Centerline is valid? [True, True] Translation: X:63.78, Y:-105.66, Z:0.70 [[ 9.79948104e-01 1.99036691e-01 -9.27949971e-03 6.37778459e+01] [ 1.99025319e-01 -9.79992006e-01 -2.14258088e-03 -1.05656202e+02] [-9.52028774e-03 2.52762678e-04 -9.99954649e-01 6.95055685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39762800000003 meters 0.016120211694607114 Centerline is valid? [True, True] Translation: X:63.77, Y:-105.67, Z:0.70 [[ 9.60193697e-01 2.79183136e-01 -9.21091791e-03 6.37740587e+01] [ 2.79168130e-01 -9.60237851e-01 -2.90255200e-03 -1.05665353e+02] [-9.65501559e-03 2.15617406e-04 -9.99953366e-01 6.95287240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42762800000003 meters 0.01340906411364568 Centerline is valid? [True, True] Translation: X:63.78, Y:-105.68, Z:0.69 [[ 9.33688382e-01 3.57960229e-01 -9.51208973e-03 6.37758641e+01] [ 3.57939684e-01 -9.33736816e-01 -3.83941113e-03 -1.05683507e+02] [-1.02561449e-02 1.80059175e-04 -9.99947388e-01 6.94549911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45762800000003 meters 0.012615030089937678 Centerline is valid? [True, True] Translation: X:63.78, Y:-105.70, Z:0.70 [[ 9.00625181e-01 4.34496440e-01 -9.33419078e-03 6.37768475e+01] [ 4.34471599e-01 -9.00673541e-01 -4.64790502e-03 -1.05697757e+02] [-1.04265568e-02 1.30579510e-04 -9.99945633e-01 6.95155004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48762800000003 meters 0.011371559158084492 Centerline is valid? [True, True] Translation: X:63.78, Y:-105.71, Z:0.69 [[ 8.59082198e-01 5.11771810e-01 -8.20919675e-03 6.37823551e+01] [ 5.11748114e-01 -8.59121419e-01 -4.92489773e-03 -1.05714683e+02] [-9.57312059e-03 2.98510093e-05 -9.99954176e-01 6.94140674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.517628 meters 0.011336720169713679 Centerline is valid? [True, True] Translation: X:63.79, Y:-105.73, Z:0.69 [[ 8.13876090e-01 5.80993211e-01 -7.25258236e-03 6.37865354e+01] [ 5.80970266e-01 -8.13908403e-01 -5.16347367e-03 -1.05727601e+02] [-8.90288087e-03 -1.11069409e-05 -9.99960369e-01 6.93554958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.547628 meters 0.011481258774565366 Centerline is valid? [True, True] Translation: X:63.79, Y:-105.74, Z:0.69 [[ 7.63527106e-01 6.45743429e-01 -6.46391093e-03 6.37902886e+01] [ 6.45720745e-01 -7.63554466e-01 -5.41260113e-03 -1.05739195e+02] [-8.43069967e-03 -4.12137045e-05 -9.99964460e-01 6.93368810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.577628 meters 0.011678691310675306 Centerline is valid? [True, True] Translation: X:63.80, Y:-105.75, Z:0.69 [[ 7.08550808e-01 7.05634547e-01 -5.96981003e-03 6.37950224e+01] [ 7.05610278e-01 -7.08575953e-01 -5.85274896e-03 -1.05748465e+02] [-8.35996570e-03 -6.53893096e-05 -9.99965053e-01 6.92861174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.607628 meters 0.012123767501344954 Centerline is valid? [True, True] Translation: X:63.80, Y:-105.76, Z:0.69 [[ 6.48837308e-01 7.60908794e-01 -5.28718615e-03 6.38000120e+01] [ 7.60884621e-01 -6.48858844e-01 -6.06583539e-03 -1.05757860e+02] [-8.04618498e-03 -8.71983217e-05 -9.99967625e-01 6.92622164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.637628 meters 0.012378494717024692 Centerline is valid? [True, True] Translation: X:63.80, Y:-105.77, Z:0.69 [[ 5.87010378e-01 8.09564317e-01 -4.94302863e-03 6.38041506e+01] [ 8.09536931e-01 -5.87031182e-01 -6.65955066e-03 -1.05766269e+02] [-8.29304652e-03 -9.23388804e-05 -9.99965608e-01 6.93525839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.667628 meters 0.012345294373182035 Centerline is valid? [True, True] Translation: X:63.81, Y:-105.77, Z:0.69 [[ 5.21873271e-01 8.53011052e-01 -4.52036750e-03 6.38069428e+01] [ 8.52980607e-01 -5.21892840e-01 -7.20748915e-03 -1.05772017e+02] [-8.50721534e-03 -9.43898771e-05 -9.99963809e-01 6.93642550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.697628 meters 0.015235145625570079 Centerline is valid? [True, True] Translation: X:63.81, Y:-105.78, Z:0.70 [[ 4.55078023e-01 8.90441205e-01 -4.29572284e-03 6.38077039e+01] [ 8.90403299e-01 -4.55098289e-01 -8.21663370e-03 -1.05776902e+02] [-9.27140533e-03 -8.57163690e-05 -9.99957016e-01 6.95075345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.727628 meters 0.012052473282864873 Centerline is valid? [True, True] Translation: X:63.81, Y:-105.78, Z:0.69 [[ 3.84085055e-01 9.23290812e-01 -3.57027117e-03 6.38095602e+01] [ 9.23252901e-01 -3.84101640e-01 -8.36728783e-03 -1.05783005e+02] [-9.09678699e-03 -8.25130040e-05 -9.99958620e-01 6.92408376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.757628 meters 0.011941137322248578 Centerline is valid? [True, True] Translation: X:63.81, Y:-105.79, Z:0.69 [[ 3.11750322e-01 9.50159345e-01 -2.99254340e-03 6.38116361e+01] [ 9.50117815e-01 -3.11764676e-01 -8.88391765e-03 -1.05789178e+02] [-9.37410670e-03 -7.37046101e-05 -9.99956059e-01 6.92603750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.787628 meters 0.011876313969058052 Centerline is valid? [True, True] Translation: X:63.81, Y:-105.79, Z:0.69 [[ 2.37379932e-01 9.71414002e-01 -2.36747729e-03 6.38138885e+01] [ 9.71368441e-01 -2.37391729e-01 -9.40840474e-03 -1.05794829e+02] [-9.70147562e-03 -6.63262436e-05 -9.99952937e-01 6.93365789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.817628 meters 0.011726477587230973 Centerline is valid? [True, True] Translation: X:63.81, Y:-105.80, Z:0.69 [[ 1.62365046e-01 9.86729141e-01 -1.78695937e-03 6.38148904e+01] [ 9.86672946e-01 -1.62374870e-01 -1.05308315e-02 -1.05800434e+02] [-1.06812356e-02 -5.33055348e-05 -9.99942953e-01 6.94991096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84762800000001 meters 0.011663292790169862 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.81, Z:0.70 [[ 8.53723632e-02 9.96348633e-01 -9.80490374e-04 6.38164452e+01] [ 9.96288961e-01 -8.53779811e-02 -1.09044582e-02 -1.05806049e+02] [-1.09483543e-02 -4.59123723e-05 -9.99940064e-01 6.95445139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87762800000002 meters 0.01170176413067777 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.81, Z:0.70 [[ 7.66744752e-03 9.99970597e-01 -1.26960048e-04 6.38176561e+01] [ 9.99906679e-01 -7.66839289e-03 -1.13061168e-02 -1.05811496e+02] [-1.13067579e-02 -4.02591428e-05 -9.99936076e-01 6.95685022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90762800000002 meters 0.011853477084227763 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.82, Z:0.70 [[-6.96077084e-02 9.97574103e-01 8.21742075e-04 6.38164217e+01] [ 9.97499386e-01 6.96125522e-02 -1.22092840e-02 -1.05818376e+02] [-1.22368691e-02 -3.01730653e-05 -9.99925126e-01 6.95818557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93762800000002 meters 0.01184893082980366 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.82, Z:0.70 [[-1.46970822e-01 9.89139115e-01 1.84105792e-03 6.38178457e+01] [ 9.89059479e-01 1.46982350e-01 -1.25513073e-02 -1.05824728e+02] [-1.26855920e-02 -2.37601539e-05 -9.99919534e-01 6.95808148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96762800000002 meters 0.011901228309155134 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.83, Z:0.70 [[-2.23097789e-01 9.74791909e-01 2.84778955e-03 6.38196965e+01] [ 9.74711776e-01 2.23115963e-01 -1.24987965e-02 -1.05831431e+02] [-1.28191130e-02 -1.26798389e-05 -9.99917832e-01 6.96014533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99762800000002 meters 0.012071154537845586 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.84, Z:0.70 [[-2.96333871e-01 9.55076473e-01 3.89464450e-03 6.38188995e+01] [ 9.54994890e-01 2.96359463e-01 -1.24831224e-02 -1.05839680e+02] [-1.30765513e-02 2.01936006e-05 -9.99914498e-01 6.96310862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02762800000002 meters 0.012218959586009244 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.85, Z:0.70 [[-3.68543369e-01 9.29597648e-01 4.89881865e-03 6.38182895e+01] [ 9.29517136e-01 3.68575924e-01 -1.22344995e-02 -1.05847341e+02] [-1.31787485e-02 4.45922229e-05 -9.99913156e-01 6.96186478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05762800000002 meters 0.01261024436536975 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.86, Z:0.70 [[-4.38144834e-01 8.98884961e-01 5.91029807e-03 6.38182746e+01] [ 8.98805518e-01 4.38184689e-01 -1.19506588e-02 -1.05855974e+02] [-1.33320695e-02 7.60891207e-05 -9.99911121e-01 6.95879121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08762800000002 meters 0.012710304551972557 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.86, Z:0.69 [[-5.04919549e-01 8.63137273e-01 7.09199373e-03 6.38232749e+01] [ 8.63055338e-01 5.04969340e-01 -1.18932730e-02 -1.05861821e+02] [-1.38467666e-02 1.15636996e-04 -9.99904122e-01 6.94664705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11762800000002 meters 0.01419563352476097 Centerline is valid? [True, True] Translation: X:63.82, Y:-105.87, Z:0.69 [[-5.65699846e-01 8.24576873e-01 7.52762017e-03 6.38249044e+01] [ 8.24508357e-01 5.65749895e-01 -1.06313504e-02 -1.05871663e+02] [-1.30251160e-02 1.92432473e-04 -9.99915151e-01 6.93902540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14762800000003 meters 0.015277527583366493 Centerline is valid? [True, True] Translation: X:63.83, Y:-105.88, Z:0.69 [[-6.26050317e-01 7.79738818e-01 8.26901225e-03 6.38290185e+01] [ 7.79675658e-01 6.26104881e-01 -9.92705195e-03 -1.05878652e+02] [-1.29177767e-02 2.32313546e-04 -9.99916535e-01 6.93443234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17762800000003 meters 0.016492126679258833 Centerline is valid? [True, True] Translation: X:63.83, Y:-105.89, Z:0.69 [[-6.82468505e-01 7.30864560e-01 8.58683308e-03 6.38338488e+01] [ 7.30811580e-01 6.82522471e-01 -8.80408193e-03 -1.05885767e+02] [-1.22952980e-02 2.66848415e-04 -9.99924374e-01 6.92787715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20762800000003 meters 0.017800707070855227 Centerline is valid? [True, True] Translation: X:63.84, Y:-105.89, Z:0.69 [[-7.35440018e-01 6.77532895e-01 8.78379003e-03 6.38395607e+01] [ 6.77489252e-01 7.35492414e-01 -7.69560548e-03 -1.05893497e+02] [-1.16744368e-02 2.91267097e-04 -9.99931809e-01 6.91701253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23762800000003 meters 0.019347057390470792 Centerline is valid? [True, True] Translation: X:63.86, Y:-105.88, Z:0.69 [[-7.79461433e-01 6.26397418e-01 8.13317470e-03 6.38643925e+01] [ 6.26367127e-01 7.79503811e-01 -6.16693592e-03 -1.05880822e+02] [-1.02027934e-02 2.87464555e-04 -9.99947909e-01 6.89870178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.267628 meters 0.022265431912172697 Centerline is valid? [True, True] Translation: X:63.89, Y:-105.86, Z:0.69 [[-8.21084166e-01 5.70742049e-01 8.62005416e-03 6.38871157e+01] [ 5.70714434e-01 8.21129358e-01 -5.62256399e-03 -1.05863575e+02] [-1.02872132e-02 3.02991067e-04 -9.99947039e-01 6.91679371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.297628 meters 0.01846116774372489 Centerline is valid? [True, True] Translation: X:63.91, Y:-105.84, Z:0.69 [[-8.59234570e-01 5.11503962e-01 8.92469716e-03 6.39072191e+01] [ 5.11480022e-01 8.59280865e-01 -4.95813333e-03 -1.05840347e+02] [-1.02049263e-02 3.04604736e-04 -9.99947882e-01 6.87803392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.327628 meters 0.021068239604073665 Centerline is valid? [True, True] Translation: X:63.93, Y:-105.83, Z:0.69 [[-8.92964027e-01 4.50032826e-01 9.25755284e-03 6.39308439e+01] [ 4.50012216e-01 8.93011959e-01 -4.31808356e-03 -1.05825123e+02] [-1.02103847e-02 3.10118589e-04 -9.99947825e-01 6.88705568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.357628 meters 0.021513866266561505 Centerline is valid? [True, True] Translation: X:63.95, Y:-105.80, Z:0.69 [[-9.22524505e-01 3.85824298e-01 9.38875146e-03 6.39486424e+01] [ 3.85807687e-01 9.22572228e-01 -3.59335117e-03 -1.05802519e+02] [-1.00482035e-02 3.07297968e-04 -9.99949468e-01 6.88619334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.387628 meters 0.019351273165173957 Centerline is valid? [True, True] Translation: X:64.27, Y:-104.99, Z:-0.20 [[-9.20142364e-01 -3.91485859e-01 8.76656080e-03 6.42721784e+01] [ 3.91464763e-01 -9.20184069e-01 -4.07658130e-03 -1.04988353e+02] [ 9.66277352e-03 -3.19235508e-04 9.99953263e-01 -2.00221622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.417628 meters 0.018014699451761762 Centerline is valid? [True, True] Translation: X:63.91, Y:-105.78, Z:0.69 [[-9.24435679e-01 3.81237005e-01 8.77619402e-03 6.39081219e+01] [ 3.81222642e-01 9.24477295e-01 -3.32083025e-03 -1.05779549e+02] [-9.37941549e-03 2.75789902e-04 -9.99955974e-01 6.86619441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.447628 meters 0.016297797078171132 Centerline is valid? [True, True] Translation: X:64.22, Y:-104.98, Z:-0.20 [[-9.20694399e-01 -3.90188755e-01 8.63478259e-03 6.42217019e+01] [ 3.90168809e-01 -9.20734849e-01 -3.95463346e-03 -1.04979273e+02] [ 9.49339874e-03 -2.71986040e-04 9.99954900e-01 -1.99372121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.477628 meters 0.01759503139034904 Centerline is valid? [True, True] Translation: X:63.86, Y:-105.76, Z:0.69 [[-9.26744898e-01 3.75577736e-01 9.23358320e-03 6.38645019e+01] [ 3.75561945e-01 9.26790857e-01 -3.45427647e-03 -1.05758672e+02] [-9.85494983e-03 2.66549374e-04 -9.99951403e-01 6.87845840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.507628 meters 0.014889491857898651 Centerline is valid? [True, True] Translation: X:63.88, Y:-105.73, Z:0.69 [[-9.52114294e-01 3.05563154e-01 1.04656642e-02 6.38804955e+01] [ 3.05547644e-01 9.52171777e-01 -3.08932821e-03 -1.05726033e+02] [-1.09090949e-02 2.56365491e-04 -9.99940461e-01 6.87334253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.537628 meters 0.017561714832845923 Centerline is valid? [True, True] Translation: X:63.89, Y:-105.70, Z:0.69 [[-9.71536849e-01 2.36608479e-01 1.15142371e-02 6.38911524e+01] [ 2.36595131e-01 9.71605041e-01 -2.52757844e-03 -1.05698609e+02] [-1.17853373e-02 2.68576837e-04 -9.99930514e-01 6.90032612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.567628 meters 0.017387624321964782 Centerline is valid? [True, True] Translation: X:64.07, Y:-104.88, Z:-0.20 [[-9.65672070e-01 -2.59481649e-01 1.21130828e-02 6.40714873e+01] [ 2.59458191e-01 -9.65748010e-01 -3.49686565e-03 -1.04883462e+02] [ 1.26055581e-02 -2.33986950e-04 9.99920519e-01 -2.03468392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59762800000001 meters 0.013597943383161079 Centerline is valid? [True, True] Translation: X:63.84, Y:-105.68, Z:0.69 [[-9.73757725e-01 2.27194641e-01 1.33599209e-02 6.38366056e+01] [ 2.27176569e-01 9.73849341e-01 -2.87525097e-03 -1.05682901e+02] [-1.36637918e-02 2.35263149e-04 -9.99906618e-01 6.89082539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62762800000002 meters 0.016965760033141736 Centerline is valid? [True, True] Translation: X:64.02, Y:-104.88, Z:-0.21 [[-9.65573408e-01 -2.59745621e-01 1.41494154e-02 6.40185212e+01] [ 2.59714901e-01 -9.65677057e-01 -3.99907878e-03 -1.04876463e+02] [ 1.47025090e-02 -1.86590116e-04 9.99891895e-01 -2.05053201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65762800000002 meters 0.013382779121683737 Centerline is valid? [True, True] Translation: X:63.78, Y:-105.67, Z:0.69 [[-9.75258211e-01 2.20647809e-01 1.36369466e-02 6.37833018e+01] [ 2.20629131e-01 9.75353528e-01 -2.87799521e-03 -1.05671068e+02] [-1.39358673e-02 2.01919218e-04 -9.99902871e-01 6.89573420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68762800000002 meters 0.013092241062879859 Centerline is valid? [True, True] Translation: X:63.79, Y:-105.64, Z:0.69 [[-9.88679972e-01 1.49399032e-01 1.38506835e-02 6.37897937e+01] [ 1.49386935e-01 9.88776970e-01 -1.90973460e-03 -1.05642678e+02] [-1.39805494e-02 1.80994807e-04 -9.99902251e-01 6.89203805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71762800000002 meters 0.015707347975134973 Centerline is valid? [True, True] Translation: X:63.91, Y:-104.83, Z:-0.20 [[-9.81204488e-01 -1.92479971e-01 1.37554969e-02 6.39080953e+01] [ 1.92458526e-01 -9.81300886e-01 -2.87861626e-03 -1.04830493e+02] [ 1.40523572e-02 -1.77148540e-04 9.99901245e-01 -2.04223375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74762800000002 meters 0.012344044607947817 Centerline is valid? [True, True] Translation: X:63.73, Y:-105.63, Z:0.69 [[-9.89925603e-01 1.41010262e-01 1.27830684e-02 6.37251518e+01] [ 1.41000035e-01 9.90008127e-01 -1.70228296e-03 -1.05631027e+02] [-1.28953810e-02 1.17279620e-04 -9.99916844e-01 6.88090300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77762800000002 meters 0.012289018953924083 Centerline is valid? [True, True] Translation: X:63.84, Y:-104.82, Z:-0.20 [[-9.81660683e-01 -1.90244053e-01 1.22272092e-02 6.38397265e+01] [ 1.90227514e-01 -9.81736818e-01 -2.51242723e-03 -1.04821311e+02] [ 1.24818758e-02 -1.40399425e-04 9.99922089e-01 -2.00942431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80762800000002 meters 0.014655335443238524 Centerline is valid? [True, True] Translation: X:63.66, Y:-105.62, Z:0.69 [[-9.90643345e-01 1.35833395e-01 1.32307086e-02 6.36583414e+01] [ 1.35822799e-01 9.90731687e-01 -1.70038046e-03 -1.05623690e+02] [-1.33390507e-02 1.12561290e-04 -9.99911025e-01 6.89706617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83762800000002 meters 0.012090905831653608 Centerline is valid? [True, True] Translation: X:63.66, Y:-105.60, Z:0.69 [[-9.97865187e-01 6.40362327e-02 1.28230104e-02 6.36646830e+01] [ 6.40321630e-02 9.97947570e-01 -7.28109624e-04 -1.05597446e+02] [-1.28433174e-02 9.45298439e-05 -9.99917517e-01 6.86922444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86762800000002 meters 0.012076465746994905 Centerline is valid? [True, True] Translation: X:63.67, Y:-105.57, Z:0.69 [[-9.99894816e-01 -7.38510810e-03 1.24826963e-02 6.36651764e+01] [-7.38343301e-03 9.99972726e-01 1.80272741e-04 -1.05570222e+02] [-1.24836871e-02 8.80886273e-05 -9.99922072e-01 6.87322419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89762800000003 meters 0.011925061899487912 Centerline is valid? [True, True] Translation: X:63.66, Y:-104.75, Z:-0.20 [[-9.98871594e-01 -4.57929533e-02 1.25914680e-02 6.36580136e+01] [ 4.57882966e-02 -9.98950949e-01 -6.58013528e-04 -1.04747238e+02] [ 1.26083913e-02 -8.07291500e-05 9.99920508e-01 -1.99835558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92762800000003 meters 0.012342291656972327 Centerline is valid? [True, True] Translation: X:63.57, Y:-105.57, Z:0.69 [[-9.99839743e-01 -1.30581995e-02 1.22463140e-02 6.35671709e+01] [-1.30560729e-02 9.99914734e-01 2.53585358e-04 -1.05573609e+02] [-1.22485811e-02 9.36559508e-05 -9.99924979e-01 6.87939521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95762800000003 meters 0.012342291656972327 Centerline is valid? [True, True] Translation: X:63.56, Y:-105.55, Z:0.69 [[-9.96372390e-01 -8.42216688e-02 1.21971607e-02 6.35649841e+01] [-8.42142080e-02 9.96447039e-01 1.12492461e-03 -1.05546002e+02] [-1.22485677e-02 9.36695871e-05 -9.99924979e-01 6.87939346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98762800000003 meters 0.012480141257305791 Centerline is valid? [True, True] Translation: X:63.55, Y:-105.52, Z:0.69 [[-9.87881693e-01 -1.54734527e-01 1.21237926e-02 6.35521000e+01] [-1.54721627e-01 9.87956080e-01 2.00051110e-03 -1.05521481e+02] [-1.22873227e-02 1.00455377e-04 -9.99924503e-01 6.88090209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.017628 meters 0.015126498081862208 Centerline is valid? [True, True] Translation: X:63.52, Y:-105.50, Z:0.69 [[-9.74573736e-01 -2.23691325e-01 1.29701411e-02 6.35244340e+01] [-2.23669639e-01 9.74660029e-01 3.11777665e-03 -1.05501739e+02] [-1.33388977e-02 1.37476465e-04 -9.99911024e-01 6.88614784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.047628 meters 0.012549702762888536 Centerline is valid? [True, True] Translation: X:63.47, Y:-105.49, Z:0.69 [[-9.55500273e-01 -2.94723136e-01 1.25499249e-02 6.34699037e+01] [-2.94695849e-01 9.55582678e-01 4.01270684e-03 -1.05490034e+02] [-1.31751284e-02 1.35731697e-04 -9.99913195e-01 6.86653288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.077628 meters 0.01265420885326418 Centerline is valid? [True, True] Translation: X:63.41, Y:-105.49, Z:0.69 [[-9.31220404e-01 -3.64232474e-01 1.27774462e-02 6.34061319e+01] [-3.64196006e-01 9.31308049e-01 5.15623990e-03 -1.05485340e+02] [-1.37778085e-02 1.48100926e-04 -9.99905071e-01 6.86877541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.107628 meters 0.012578464918371978 Centerline is valid? [True, True] Translation: X:63.34, Y:-105.49, Z:0.69 [[-9.01563850e-01 -4.32456801e-01 1.27961062e-02 6.33353436e+01] [-4.32410770e-01 9.01654641e-01 6.31149512e-03 -1.05488127e+02] [-1.42671175e-02 1.57041690e-04 -9.99898207e-01 6.86872460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.137628 meters 0.012828702959557585 Centerline is valid? [True, True] Translation: X:63.26, Y:-105.50, Z:0.69 [[-8.66583081e-01 -4.98869986e-01 1.27476012e-02 6.32574491e+01] [-4.98813220e-01 8.66676820e-01 7.52739858e-03 -1.05500594e+02] [-1.48032437e-02 1.64444244e-04 -9.99890412e-01 6.87652141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.167628 meters 0.01407479546949548 Centerline is valid? [True, True] Translation: X:63.17, Y:-105.52, Z:0.69 [[-8.26624932e-01 -5.62611515e-01 1.26295149e-02 6.31713567e+01] [-5.62542580e-01 8.26721387e-01 8.80874617e-03 -1.05524059e+02] [-1.53969921e-02 1.76889305e-04 -9.99881444e-01 6.88863773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.197628 meters 0.012846792215078121 Centerline is valid? [True, True] Translation: X:63.08, Y:-105.56, Z:0.69 [[-7.81095793e-01 -6.24285742e-01 1.25169402e-02 6.30824187e+01] [-6.24201992e-01 7.81196058e-01 1.02270177e-02 -1.05559967e+02] [-1.61627657e-02 1.75181525e-04 -9.99869359e-01 6.88129266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.227628 meters 0.012947184107659987 Centerline is valid? [True, True] Translation: X:62.99, Y:-105.60, Z:0.69 [[-7.30412595e-01 -6.82910932e-01 1.14061024e-02 6.29915670e+01] [-6.82824425e-01 7.30501633e-01 1.08705640e-02 -1.05603550e+02] [-1.57558034e-02 1.51631569e-04 -9.99875858e-01 6.88231355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.257628 meters 0.012932340186105047 Centerline is valid? [True, True] Translation: X:62.90, Y:-105.66, Z:0.69 [[-6.74228562e-01 -7.38465511e-01 9.19426952e-03 6.28977618e+01] [-7.38394890e-01 6.74291242e-01 1.02130476e-02 -1.05660456e+02] [-1.37415988e-02 9.69267613e-05 -9.99905575e-01 6.85581021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.287628 meters 0.012827860996046573 Centerline is valid? [True, True] Translation: X:62.81, Y:-105.72, Z:0.68 [[-6.15038933e-01 -7.88457806e-01 7.83580920e-03 6.28111908e+01] [-7.88392137e-01 6.15088841e-01 1.01762796e-02 -1.05721153e+02] [-1.28432859e-02 8.11178003e-05 -9.99917518e-01 6.83880867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.317628 meters 0.01293665882380564 Centerline is valid? [True, True] Translation: X:62.72, Y:-105.80, Z:0.68 [[-5.51983677e-01 -8.33828243e-01 6.66944474e-03 6.27240380e+01] [-8.33765886e-01 5.52023964e-01 1.01975680e-02 -1.05795137e+02] [-1.21847135e-02 6.81355754e-05 -9.99925761e-01 6.83066372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34762800000001 meters 0.013311529610512882 Centerline is valid? [True, True] Translation: X:62.64, Y:-105.88, Z:0.68 [[-4.85542770e-01 -8.74196434e-01 5.36769930e-03 6.26419961e+01] [-8.74141763e-01 4.85572436e-01 9.77689302e-03 -1.05878008e+02] [-1.11533318e-02 5.49695960e-05 -9.99937798e-01 6.84318909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37762800000002 meters 0.013309043245761978 Centerline is valid? [True, True] Translation: X:62.57, Y:-105.96, Z:0.68 [[-4.15570007e-01 -9.09551966e-01 4.09756627e-03 6.25673207e+01] [-9.09506866e-01 4.15590206e-01 9.05761696e-03 -1.05964151e+02] [-9.94128173e-03 3.73092927e-05 -9.99950584e-01 6.82674416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40762800000002 meters 0.0133331118813774 Centerline is valid? [True, True] Translation: X:62.50, Y:-106.06, Z:0.68 [[-3.43502751e-01 -9.39145761e-01 3.33175113e-03 6.24974069e+01] [-9.39100706e-01 3.43518907e-01 9.19919813e-03 -1.06063626e+02] [-9.78390743e-03 3.11000312e-05 -9.99952136e-01 6.82764570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43762800000002 meters 0.013291345584663066 Centerline is valid? [True, True] Translation: X:62.44, Y:-106.17, Z:0.68 [[-2.69273017e-01 -9.63060424e-01 2.58110366e-03 6.24354107e+01] [-9.63015278e-01 2.69285386e-01 9.32493571e-03 -1.06166639e+02] [-9.67553003e-03 2.53113112e-05 -9.99953191e-01 6.81663472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46762800000002 meters 0.013454530658276832 Centerline is valid? [True, True] Translation: X:62.38, Y:-106.27, Z:0.68 [[-1.93524416e-01 -9.81093662e-01 1.87779538e-03 6.23816738e+01] [-9.81046429e-01 1.93533525e-01 9.62698271e-03 -1.06271254e+02] [-9.80838808e-03 2.08517599e-05 -9.99951896e-01 6.81751139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49762800000002 meters 0.013734249865601506 Centerline is valid? [True, True] Translation: X:62.33, Y:-106.39, Z:0.68 [[-1.15627053e-01 -9.93291941e-01 1.22622412e-03 6.23339574e+01] [-9.93235268e-01 1.15633555e-01 1.06105651e-02 -1.06386424e+02] [-1.06811815e-02 8.93933748e-06 -9.99942955e-01 6.82820659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52762800000002 meters 0.013847894565713679 Centerline is valid? [True, True] Translation: X:62.30, Y:-106.51, Z:0.68 [[-3.74930322e-02 -9.99296804e-01 4.12413453e-04 6.22963132e+01] [-9.99236190e-01 3.74953004e-02 1.10062877e-02 -1.06505724e+02] [-1.10140116e-02 5.60649522e-07 -9.99939344e-01 6.82578090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55762800000002 meters 0.013922084410803932 Centerline is valid? [True, True] Translation: X:62.27, Y:-106.62, Z:0.68 [[ 4.03248967e-02 -9.99186527e-01 -4.31858292e-04 6.22682333e+01] [-9.99127673e-01 -4.03272087e-02 1.08448099e-02 -1.06616090e+02] [-1.08534036e-02 -5.83426849e-06 -9.99941100e-01 6.81558709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58762800000002 meters 0.014216636517149174 Centerline is valid? [True, True] Translation: X:62.25, Y:-106.74, Z:0.68 [[ 1.18161050e-01 -9.92993625e-01 -1.27528197e-03 6.22499921e+01] [-9.92934679e-01 -1.18167931e-01 1.08195902e-02 -1.06737648e+02] [-1.08944815e-02 -1.21824397e-05 -9.99940653e-01 6.81058987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61762800000002 meters 0.014397225839356471 Centerline is valid? [True, True] Translation: X:62.24, Y:-106.86, Z:0.68 [[ 1.94634273e-01 -9.80873666e-01 -2.08609679e-03 6.22416486e+01] [-9.80816759e-01 -1.94645452e-01 1.05656319e-02 -1.06860865e+02] [-1.07695994e-02 -1.03553972e-05 -9.99942006e-01 6.82152494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64762800000003 meters 0.014149681632410148 Centerline is valid? [True, True] Translation: X:62.24, Y:-106.98, Z:0.68 [[ 2.69703737e-01 -9.62938697e-01 -2.99350514e-03 6.22423800e+01] [-9.62879120e-01 -2.69720349e-01 1.07113646e-02 -1.06981110e+02] [-1.11217967e-02 -6.51145833e-06 -9.99938151e-01 6.80568806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67762800000003 meters 0.014300144042210724 Centerline is valid? [True, True] Translation: X:62.25, Y:-107.10, Z:0.68 [[ 3.43097567e-01 -9.39291524e-01 -3.93605741e-03 6.22527007e+01] [-9.39229659e-01 -3.43120144e-01 1.07802484e-02 -1.07101723e+02] [-1.14763365e-02 -1.81513955e-06 -9.99934145e-01 6.81281200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70762800000003 meters 0.014266975881805262 Centerline is valid? [True, True] Translation: X:62.27, Y:-107.22, Z:0.68 [[ 4.13364719e-01 -9.10550371e-01 -5.25659152e-03 6.22720924e+01] [-9.10477297e-01 -4.13398140e-01 1.15355909e-02 -1.07219273e+02] [-1.26768017e-02 1.76009665e-05 -9.99919646e-01 6.82837056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73762800000003 meters 0.01434109822707208 Centerline is valid? [True, True] Translation: X:62.30, Y:-107.34, Z:0.68 [[ 4.81692235e-01 -8.76318572e-01 -6.19278130e-03 6.23013733e+01] [-8.76246966e-01 -4.81732041e-01 1.12024626e-02 -1.07337292e+02] [-1.28001872e-02 3.02665959e-05 -9.99918074e-01 6.83116921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76762800000003 meters 0.014398123915344303 Centerline is valid? [True, True] Translation: X:62.34, Y:-107.45, Z:0.68 [[ 5.46725984e-01 -8.37282261e-01 -7.00812565e-03 6.23388746e+01] [-8.37214606e-01 -5.46770896e-01 1.06438079e-02 -1.07450977e+02] [-1.27437107e-02 4.80588160e-05 -9.99918794e-01 6.83243701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.797628 meters 0.014499864623078397 Centerline is valid? [True, True] Translation: X:62.38, Y:-107.55, Z:0.68 [[ 6.08878690e-01 -7.93228510e-01 -7.43442667e-03 6.23781227e+01] [-7.93170558e-01 -6.08924073e-01 9.58849224e-03 -1.07550803e+02] [-1.21328668e-02 5.85397536e-05 -9.99926392e-01 6.83692490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.827628 meters 0.01461396884254476 Centerline is valid? [True, True] Translation: X:62.43, Y:-107.65, Z:0.68 [[ 6.67006043e-01 -7.45012150e-01 -7.73534140e-03 6.24264073e+01] [-7.44963307e-01 -6.67050891e-01 8.53113230e-03 -1.07649443e+02] [-1.15156636e-02 7.22287148e-05 -9.99933690e-01 6.82887217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.857628 meters 0.01492674646128353 Centerline is valid? [True, True] Translation: X:62.50, Y:-107.76, Z:0.68 [[ 7.20721440e-01 -6.93187631e-01 -7.17739833e-03 6.25011819e+01] [-6.93154416e-01 -7.20757173e-01 6.78634309e-03 -1.07761765e+02] [-9.87737041e-03 8.39823815e-05 -9.99951214e-01 6.82250862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.887628 meters 0.015062681906511473 Centerline is valid? [True, True] Translation: X:62.50, Y:-107.76, Z:0.68 [[ 7.72005172e-01 -6.35575067e-01 -7.23523070e-03 6.24973595e+01] [-6.35548233e-01 -7.72039071e-01 5.84090716e-03 -1.07762843e+02] [-9.29821574e-03 8.91275449e-05 -9.99956767e-01 6.82082555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.917628 meters 0.01511072488207339 Centerline is valid? [True, True] Translation: X:62.49, Y:-107.77, Z:0.68 [[ 8.18915735e-01 -5.73868398e-01 -7.21668398e-03 6.24917714e+01] [-5.73847078e-01 -8.18947528e-01 4.94750213e-03 -1.07766086e+02] [-8.74930063e-03 8.96856667e-05 -9.99961720e-01 6.82381560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.947628 meters 0.015373167128374852 Centerline is valid? [True, True] Translation: X:62.49, Y:-107.77, Z:0.68 [[ 8.60466994e-01 -5.09455096e-01 -7.21513547e-03 6.24855201e+01] [-5.09438144e-01 -8.60497237e-01 4.15715306e-03 -1.07767791e+02] [-8.32648695e-03 9.85722254e-05 -9.99965329e-01 6.82842868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.977628 meters 0.01506141305801781 Centerline is valid? [True, True] Translation: X:62.48, Y:-107.77, Z:0.68 [[ 8.97388684e-01 -4.41185574e-01 -6.98844952e-03 6.24781697e+01] [-4.41173030e-01 -8.97415890e-01 3.32833326e-03 -1.07773900e+02] [-7.73995827e-03 9.63068446e-05 -9.99970041e-01 6.81984214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.007628 meters 0.014989738790204116 Centerline is valid? [True, True] Translation: X:62.47, Y:-107.78, Z:0.68 [[ 9.28774855e-01 -3.70587917e-01 -6.47032729e-03 6.24711943e+01] [-3.70579620e-01 -9.28797388e-01 2.48147110e-03 -1.07781926e+02] [-6.92922629e-03 9.30434745e-05 -9.99975988e-01 6.80899295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.037628 meters 0.015150085329695999 Centerline is valid? [True, True] Translation: X:62.46, Y:-107.79, Z:0.68 [[ 9.54862080e-01 -2.96977372e-01 -6.54594290e-03 6.24642197e+01] [-2.96971057e-01 -9.54884512e-01 1.93894114e-03 -1.07789022e+02] [-6.82644114e-03 9.25342114e-05 -9.99976695e-01 6.80763959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.067628 meters 0.015205737018018977 Centerline is valid? [True, True] Translation: X:62.45, Y:-107.80, Z:0.68 [[ 9.75160967e-01 -2.21391568e-01 -6.84562348e-03 6.24547498e+01] [-2.21386799e-01 -9.75184990e-01 1.45624524e-03 -1.07795856e+02] [-6.99814968e-03 9.54571558e-05 -9.99975508e-01 6.81041743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09762800000001 meters 0.015621518692414427 Centerline is valid? [True, True] Translation: X:62.45, Y:-107.80, Z:0.68 [[ 9.89520375e-01 -1.44236155e-01 -6.73488915e-03 6.24458052e+01] [-1.44233444e-01 -9.89543290e-01 8.89057804e-04 -1.07802465e+02] [-6.79269865e-03 9.16554438e-05 -9.99976925e-01 6.82115026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12762800000002 meters 0.01555494021508783 Centerline is valid? [True, True] Translation: X:62.44, Y:-107.81, Z:0.68 [[ 9.97793619e-01 -6.60046850e-02 -7.16075434e-03 6.24381342e+01] [-6.60036653e-02 -9.97819309e-01 3.78882173e-04 -1.07811566e+02] [-7.17014694e-03 9.45898179e-05 -9.99974290e-01 6.82588885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15762800000002 meters 0.015792397379296868 Centerline is valid? [True, True] Translation: X:62.43, Y:-107.82, Z:0.68 [[ 9.99890745e-01 1.28780811e-02 -7.25621794e-03 6.24294778e+01] [ 1.28770770e-02 -9.99917070e-01 -1.85071675e-04 -1.07819398e+02] [-7.25799955e-03 9.16125776e-05 -9.99973656e-01 6.83332219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18762800000002 meters 0.015617304200100775 Centerline is valid? [True, True] Translation: X:62.42, Y:-107.83, Z:0.68 [[ 9.95737380e-01 9.19316944e-02 -7.45878110e-03 6.24237902e+01] [ 9.19284508e-02 -9.95765312e-01 -7.77290137e-04 -1.07830173e+02] [-7.49865308e-03 8.83026536e-05 -9.99971881e-01 6.82543185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21762800000002 meters 0.015672237655067454 Centerline is valid? [True, True] Translation: X:62.42, Y:-107.84, Z:0.68 [[ 9.85426314e-01 1.69922438e-01 -7.83224468e-03 6.24179829e+01] [ 1.69916332e-01 -9.85457435e-01 -1.44341598e-03 -1.07839507e+02] [-7.96361252e-03 9.15537936e-05 -9.99968286e-01 6.82812343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24762800000002 meters 0.015644921860438088 Centerline is valid? [True, True] Translation: X:62.41, Y:-107.85, Z:0.68 [[ 9.69059428e-01 2.46700526e-01 -7.91682476e-03 6.24136584e+01] [ 2.46691508e-01 -9.69091761e-01 -2.11142142e-03 -1.07849754e+02] [-8.19301843e-03 9.30793949e-05 -9.99966432e-01 6.83034073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27762800000002 meters 0.015656412690059785 Centerline is valid? [True, True] Translation: X:62.41, Y:-107.86, Z:0.68 [[ 9.46759149e-01 3.21841854e-01 -8.05816129e-03 6.24084873e+01] [ 3.21829326e-01 -9.46793437e-01 -2.84130632e-03 -1.07859564e+02] [-8.54386551e-03 9.66801343e-05 -9.99963496e-01 6.82732860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30762800000002 meters 0.015495208493799349 Centerline is valid? [True, True] Translation: X:62.41, Y:-107.87, Z:0.68 [[ 9.18367270e-01 3.95662005e-01 -7.28934358e-03 6.24061236e+01] [ 3.95648815e-01 -9.18396195e-01 -3.23177601e-03 -1.07870913e+02] [-7.97319638e-03 8.39371687e-05 -9.99968210e-01 6.82159367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33762800000002 meters 0.015160421574365255 Centerline is valid? [True, True] Translation: X:62.40, Y:-107.88, Z:0.68 [[ 8.84201956e-01 4.67060968e-01 -6.39949872e-03 6.24048524e+01] [ 4.67048156e-01 -8.84225111e-01 -3.46019434e-03 -1.07883940e+02] [-7.27471918e-03 7.06365262e-05 -9.99973536e-01 6.81356698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36762800000002 meters 0.015152623441685257 Centerline is valid? [True, True] Translation: X:62.40, Y:-107.90, Z:0.68 [[ 8.44702546e-01 5.35204088e-01 -5.84745048e-03 6.24030610e+01] [ 5.35190732e-01 -8.44722783e-01 -3.78164694e-03 -1.07896276e+02] [-6.96342754e-03 6.48655009e-05 -9.99975753e-01 6.81200935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39762800000003 meters 0.014996970869129685 Centerline is valid? [True, True] Translation: X:62.40, Y:-107.91, Z:0.68 [[ 7.99719323e-01 6.00350644e-01 -5.30177844e-03 6.24026099e+01] [ 6.00336979e-01 -7.99736895e-01 -4.05098967e-03 -1.07906776e+02] [-6.67204208e-03 5.68010699e-05 -9.99977740e-01 6.80722146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42762800000003 meters 0.014894582485063488 Centerline is valid? [True, True] Translation: X:62.40, Y:-107.92, Z:0.68 [[ 7.49696412e-01 6.61768174e-01 -4.26300740e-03 6.24017293e+01] [ 6.61757144e-01 -7.49708531e-01 -3.82109593e-03 -1.07918470e+02] [-5.72469270e-03 4.35863075e-05 -9.99983613e-01 6.80243797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45762800000003 meters 0.014808130721623597 Centerline is valid? [True, True] Translation: X:62.40, Y:-107.93, Z:0.68 [[ 6.95545082e-01 7.18472267e-01 -3.82630819e-03 6.24021233e+01] [ 7.18461064e-01 -6.95555605e-01 -4.01237573e-03 -1.07928189e+02] [-5.54419079e-03 4.17347504e-05 -9.99984630e-01 6.80360828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48762800000003 meters 0.014777672356550047 Centerline is valid? [True, True] Translation: X:62.40, Y:-107.94, Z:0.68 [[ 6.36951063e-01 7.70895968e-01 -3.57072076e-03 6.24011386e+01] [ 7.70883490e-01 -6.36961070e-01 -4.38622513e-03 -1.07938379e+02] [-5.65573338e-03 4.12010729e-05 -9.99984005e-01 6.80641961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51762800000003 meters 0.014898938718418374 Centerline is valid? [True, True] Translation: X:62.40, Y:-107.95, Z:0.68 [[ 5.74694438e-01 8.18360427e-01 -3.53761042e-03 6.24017506e+01] [ 8.18344430e-01 -5.74705324e-01 -5.11706908e-03 -1.07947258e+02] [-6.22069038e-03 4.57673622e-05 -9.99980650e-01 6.80799552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.547628 meters 0.014976162297160124 Centerline is valid? [True, True] Translation: X:62.40, Y:-107.96, Z:0.68 [[ 5.09200978e-01 8.60640568e-01 -3.48950388e-03 6.24021256e+01] [ 8.60619628e-01 -5.09212931e-01 -6.00383716e-03 -1.07955850e+02] [-6.94404633e-03 5.40242230e-05 -9.99975888e-01 6.81604859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.577628 meters 0.015111391141784749 Centerline is valid? [True, True] Translation: X:62.41, Y:-107.97, Z:0.68 [[ 4.41929608e-01 8.97043658e-01 -3.30112149e-03 6.24066040e+01] [ 8.97017372e-01 -4.41941931e-01 -6.86761184e-03 -1.07966444e+02] [-7.61945165e-03 7.38376795e-05 -9.99970969e-01 6.81082906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.607628 meters 0.015310859311561831 Centerline is valid? [True, True] Translation: X:62.41, Y:-107.98, Z:0.68 [[ 3.71672537e-01 9.28360379e-01 -2.55584344e-03 6.24111075e+01] [ 9.28336947e-01 -3.71681317e-01 -6.59638847e-03 -1.07975901e+02] [-7.07378496e-03 7.90125495e-05 -9.99974977e-01 6.80595499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.637628 meters 0.015639441583406678 Centerline is valid? [True, True] Translation: X:62.41, Y:-107.99, Z:0.68 [[ 2.99266497e-01 9.54167760e-01 -1.85701871e-03 6.24148418e+01] [ 9.54147656e-01 -2.99272248e-01 -6.19451510e-03 -1.07986141e+02] [-6.46636076e-03 8.19407902e-05 -9.99979090e-01 6.79913210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.667628 meters 0.016111561959455283 Centerline is valid? [True, True] Translation: X:62.42, Y:-107.99, Z:0.68 [[ 2.27090250e-01 9.73873299e-01 -9.03882138e-04 6.24192676e+01] [ 9.73864320e-01 -2.27092038e-01 -4.18233340e-03 -1.07994999e+02] [-4.27832726e-03 6.95085707e-05 -9.99990846e-01 6.78522433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.697628 meters 0.01646543467687538 Centerline is valid? [True, True] Translation: X:62.42, Y:-108.00, Z:0.68 [[ 1.51607716e-01 9.88440574e-01 -5.76337305e-04 6.24243093e+01] [ 9.88431393e-01 -1.51608792e-01 -4.26099497e-03 -1.08003977e+02] [-4.29911812e-03 7.63298290e-05 -9.99990756e-01 6.78257470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.727628 meters 0.01671991517164093 Centerline is valid? [True, True] Translation: X:62.43, Y:-108.01, Z:0.68 [[ 7.49886848e-02 9.97184345e-01 -2.82556785e-04 6.24292304e+01] [ 9.97171614e-01 -7.49891555e-02 -5.03971213e-03 -1.08012665e+02] [-5.04671074e-03 9.61637792e-05 -9.99987261e-01 6.78498152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.757628 meters 0.016905119218331408 Centerline is valid? [True, True] Translation: X:62.44, Y:-108.02, Z:0.68 [[-2.79252095e-03 9.99996092e-01 1.36155529e-04 6.24354455e+01] [ 9.99977606e-01 2.79329736e-03 -6.08148451e-03 -1.08021164e+02] [-6.08184107e-03 1.19169807e-04 -9.99981498e-01 6.79162164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.787628 meters 0.0166072851467249 Centerline is valid? [True, True] Translation: X:62.44, Y:-108.03, Z:0.68 [[-8.20578331e-02 9.96627275e-01 7.65996440e-04 6.24424454e+01] [ 9.96598503e-01 8.20612856e-02 -7.57427283e-03 -1.08029479e+02] [-7.61158555e-03 1.41862490e-04 -9.99971021e-01 6.80373302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.817628 meters 0.01636225109226251 Centerline is valid? [True, True] Translation: X:62.45, Y:-108.04, Z:0.68 [[-1.60589731e-01 9.87019979e-01 1.58119433e-03 6.24512801e+01] [ 9.86981404e-01 1.60597436e-01 -8.72765053e-03 -1.08036777e+02] [-8.86830120e-03 1.59038353e-04 -9.99960663e-01 6.80745899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84762800000001 meters 0.016143661472675045 Centerline is valid? [True, True] Translation: X:62.46, Y:-108.04, Z:0.68 [[-2.38606654e-01 9.71113004e-01 2.52961982e-03 6.24603902e+01] [ 9.71065574e-01 2.38620005e-01 -9.59915176e-03 -1.08043974e+02] [-9.92547899e-03 1.66005243e-04 -9.99950727e-01 6.81045671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87762800000002 meters 0.016143661472675045 Centerline is valid? [True, True] Translation: X:62.47, Y:-108.05, Z:0.68 [[-3.13975775e-01 9.49425349e-01 3.27412741e-03 6.24703056e+01] [ 9.49379112e-01 3.13992802e-01 -9.37136683e-03 -1.08050468e+02] [-9.92546566e-03 1.66006004e-04 -9.99950728e-01 6.81045558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90762800000002 meters 0.015965372554283007 Centerline is valid? [True, True] Translation: X:62.48, Y:-108.06, Z:0.68 [[-3.88192757e-01 9.21568044e-01 4.32709941e-03 6.24811072e+01] [ 9.21515598e-01 3.88216835e-01 -9.83315582e-03 -1.08055205e+02] [-1.07417750e-02 1.70329733e-04 -9.99942291e-01 6.81906019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93762800000002 meters 0.01582739146866982 Centerline is valid? [True, True] Translation: X:62.49, Y:-108.06, Z:0.68 [[-4.59551251e-01 8.88134757e-01 5.41313285e-03 6.24921450e+01] [ 8.88077608e-01 4.59583097e-01 -1.00766326e-02 -1.08059845e+02] [-1.14371920e-02 1.76552957e-04 -9.99934578e-01 6.82198222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96762800000002 meters 0.015750725983910488 Centerline is valid? [True, True] Translation: X:62.50, Y:-108.06, Z:0.68 [[-5.28596994e-01 8.48846779e-01 6.66059501e-03 6.25025393e+01] [ 8.48783571e-01 5.28638927e-01 -1.03602589e-02 -1.08064776e+02] [-1.23153222e-02 1.77001922e-04 -9.99924148e-01 6.82187232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99762800000002 meters 0.01591004477134035 Centerline is valid? [True, True] Translation: X:62.51, Y:-108.07, Z:0.68 [[-5.93354260e-01 8.04909035e-01 7.22267424e-03 6.25113018e+01] [ 8.04852926e-01 5.93398193e-01 -9.50533693e-03 -1.08069631e+02] [-1.19368534e-02 1.73158338e-04 -9.99928738e-01 6.81496622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02762800000002 meters 0.016002807623796116 Centerline is valid? [True, True] Translation: X:62.52, Y:-108.07, Z:0.68 [[-6.54376220e-01 7.56134928e-01 7.19259930e-03 6.25194425e+01] [ 7.56091911e-01 6.54415728e-01 -8.06699111e-03 -1.08074926e+02] [-1.08066838e-02 1.59419001e-04 -9.99941593e-01 6.80224295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05762800000002 meters 0.01598444974843634 Centerline is valid? [True, True] Translation: X:62.53, Y:-108.08, Z:0.68 [[-7.11450861e-01 7.02698740e-01 7.22167222e-03 6.25271601e+01] [ 7.02664662e-01 7.11487497e-01 -6.92203222e-03 -1.08079125e+02] [-1.00022328e-02 1.49728082e-04 -9.99949965e-01 6.79504895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08762800000002 meters 0.015255966516259668 Centerline is valid? [True, True] Translation: X:62.55, Y:-108.06, Z:0.68 [[-7.58954412e-01 6.51100321e-01 7.52147636e-03 6.25517047e+01] [ 6.51070326e-01 7.58991666e-01 -6.25156199e-03 -1.08062795e+02] [-9.77913189e-03 1.52359508e-04 -9.99952172e-01 6.77336548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11762800000002 meters 0.015344519798093249 Centerline is valid? [True, True] Translation: X:62.58, Y:-108.05, Z:0.68 [[-8.02748083e-01 5.96271212e-01 7.49382995e-03 6.25756630e+01] [ 5.96246961e-01 8.02783047e-01 -5.37979130e-03 -1.08047735e+02] [-9.22373431e-03 1.49556172e-04 -9.99957449e-01 6.76586533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14762800000003 meters 0.015627827577604347 Centerline is valid? [True, True] Translation: X:62.59, Y:-108.03, Z:0.68 [[-8.42057334e-01 5.39337137e-01 7.40941578e-03 6.25948715e+01] [ 5.39317873e-01 8.42089917e-01 -4.56109130e-03 -1.08028246e+02] [-8.69936024e-03 1.55329980e-04 -9.99962148e-01 6.76346451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17762800000003 meters 0.01581240568189704 Centerline is valid? [True, True] Translation: X:62.62, Y:-108.01, Z:0.68 [[-8.77975829e-01 4.78651777e-01 7.13589508e-03 6.26176313e+01] [ 4.78637314e-01 8.78004815e-01 -3.72375411e-03 -1.08009743e+02] [-8.04773176e-03 1.46139555e-04 -9.99967606e-01 6.76431432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20762800000003 meters 0.015322384270522085 Centerline is valid? [True, True] Translation: X:62.64, Y:-107.99, Z:0.68 [[-9.09526166e-01 4.15588250e-01 6.96844176e-03 6.26362655e+01] [ 4.15577230e-01 9.09552850e-01 -3.02975083e-03 -1.07986782e+02] [-7.59729491e-03 1.40288064e-04 -9.99971130e-01 6.75429207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23762800000003 meters 0.015412902140736253 Centerline is valid? [True, True] Translation: X:62.99, Y:-107.20, Z:-0.19 [[-8.96492371e-01 -4.43013927e-01 6.33168865e-03 6.29928138e+01] [ 4.43001613e-01 -8.96514716e-01 -3.30689539e-03 -1.07200413e+02] [ 7.14145276e-03 -1.59658202e-04 9.99974487e-01 -1.88118777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26762800000003 meters 0.015425870862457645 Centerline is valid? [True, True] Translation: X:62.60, Y:-107.97, Z:0.67 [[-9.11277446e-01 4.11746783e-01 6.16464029e-03 6.25979768e+01] [ 4.11738251e-01 9.11298289e-01 -2.65337520e-03 -1.07971198e+02] [-6.71034486e-03 1.20257239e-04 -9.99977478e-01 6.74571725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.297628 meters 0.014924849534714188 Centerline is valid? [True, True] Translation: X:62.61, Y:-107.95, Z:0.67 [[-9.38535042e-01 3.45132786e-01 5.94439198e-03 6.26124794e+01] [ 3.45126575e-01 9.38553860e-01 -2.07322799e-03 -1.07945976e+02] [-6.29467099e-03 1.05770532e-04 -9.99980183e-01 6.73653514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.327628 meters 0.015092705512846565 Centerline is valid? [True, True] Translation: X:62.62, Y:-107.92, Z:0.67 [[-9.60852312e-01 2.76987937e-01 6.36536477e-03 6.26229633e+01] [ 2.76982587e-01 9.60873390e-01 -1.72492311e-03 -1.07920361e+02] [-6.59409252e-03 1.05698844e-04 -9.99978253e-01 6.73771253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.357628 meters 0.01475136508181881 Centerline is valid? [True, True] Translation: X:62.86, Y:-107.09, Z:-0.19 [[-9.50199956e-01 -3.11568883e-01 6.69890277e-03 6.28616330e+01] [ 3.11560525e-01 -9.50223565e-01 -2.28358766e-03 -1.07092684e+02] [ 7.07695013e-03 -8.27512262e-05 9.99974955e-01 -1.87027562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.387628 meters 0.014339075645065912 Centerline is valid? [True, True] Translation: X:62.58, Y:-107.91, Z:0.68 [[-9.62798675e-01 2.70105159e-01 7.86856613e-03 6.25774967e+01] [ 2.70097020e-01 9.62830822e-01 -2.09933577e-03 -1.07905979e+02] [-8.14313942e-03 1.04038569e-04 -9.99966839e-01 6.75342071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.417628 meters 0.014165180807831367 Centerline is valid? [True, True] Translation: X:62.59, Y:-107.88, Z:0.68 [[-9.79734854e-01 2.00112684e-01 8.63303121e-03 6.25870787e+01] [ 2.00105841e-01 9.79772883e-01 -1.65808695e-03 -1.07878887e+02] [-8.79021411e-03 1.03034394e-04 -9.99961360e-01 6.75795615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.447628 meters 0.014160040770674655 Centerline is valid? [True, True] Translation: X:62.76, Y:-107.04, Z:-0.19 [[-9.69713508e-01 -2.44083587e-01 8.88336494e-03 6.27603024e+01] [ 2.44072568e-01 -9.69754193e-01 -2.32077807e-03 -1.07041788e+02] [ 9.18114424e-03 -8.23041493e-05 9.99957849e-01 -1.89783865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.477628 meters 0.013563321985486662 Centerline is valid? [True, True] Translation: X:62.53, Y:-107.87, Z:0.68 [[-9.81128468e-01 1.93090148e-01 1.01550184e-02 6.25317233e+01] [ 1.93080752e-01 9.81181016e-01 -1.90694681e-03 -1.07865586e+02] [-1.03321239e-02 8.97787952e-05 -9.99946618e-01 6.76329829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.507628 meters 0.013492631653734892 Centerline is valid? [True, True] Translation: X:62.54, Y:-107.84, Z:0.68 [[-9.92487001e-01 1.21932292e-01 1.01029158e-02 6.25389824e+01] [ 1.21926773e-01 9.92538417e-01 -1.16271713e-03 -1.07837606e+02] [-1.01693048e-02 7.78342825e-05 -9.99948288e-01 6.76627875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.537628 meters 0.01344103980955486 Centerline is valid? [True, True] Translation: X:62.55, Y:-107.81, Z:0.68 [[-9.98694388e-01 5.00018650e-02 1.04562505e-02 6.25451872e+01] [ 4.99998444e-02 9.98749122e-01 -4.54735456e-04 -1.07809558e+02] [-1.04659087e-02 6.86691516e-05 -9.99945229e-01 6.77205416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.567628 meters 0.013371610694514167 Centerline is valid? [True, True] Translation: X:62.55, Y:-107.78, Z:0.68 [[-9.99703980e-01 -2.19257270e-02 1.05458653e-02 6.25505806e+01] [-2.19238643e-02 9.99759601e-01 2.92213376e-04 -1.07780941e+02] [-1.05497371e-02 6.09207550e-05 -9.99944348e-01 6.77031495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59762800000001 meters 0.013217095480868071 Centerline is valid? [True, True] Translation: X:62.53, Y:-106.94, Z:-0.19 [[-9.99359421e-01 -3.45461989e-02 9.34386966e-03 6.25336461e+01] [ 3.45434350e-02 -9.99403093e-01 -4.57075243e-04 -1.06939247e+02] [ 9.35408246e-03 -1.34013096e-04 9.99956241e-01 -1.89772923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62762800000002 meters 0.013396628219360229 Centerline is valid? [True, True] Translation: X:62.45, Y:-107.78, Z:0.68 [[-9.99546432e-01 -2.88046021e-02 8.78783639e-03 6.24492611e+01] [-2.88030821e-02 9.99585060e-01 2.99508471e-04 -1.07782344e+02] [-8.79281719e-03 4.62558501e-05 -9.99961341e-01 6.76926567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65762800000002 meters 0.013263530557299298 Centerline is valid? [True, True] Translation: X:62.43, Y:-106.94, Z:-0.19 [[-9.99589480e-01 -2.73940771e-02 8.39266191e-03 6.24302145e+01] [ 2.73925222e-02 -9.99624709e-01 -3.00186009e-04 -1.06940625e+02] [ 8.39773554e-03 -7.01665993e-05 9.99964736e-01 -1.88322747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68762800000002 meters 0.013378428347161369 Centerline is valid? [True, True] Translation: X:62.35, Y:-107.79, Z:0.67 [[-9.99416429e-01 -3.33350178e-02 7.45507133e-03 6.23494711e+01] [-3.33336914e-02 9.99444232e-01 3.02133623e-04 -1.07785484e+02] [-7.46099967e-03 5.34522589e-05 -9.99972165e-01 6.74734808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71762800000002 meters 0.01384010746812835 Centerline is valid? [True, True] Translation: X:62.32, Y:-106.94, Z:-0.19 [[-9.99826311e-01 -1.73392280e-02 6.83366616e-03 6.23200076e+01] [ 1.73382149e-02 -9.99849660e-01 -2.07478382e-04 -1.06940436e+02] [ 6.83623630e-03 -8.89587734e-05 9.99976629e-01 -1.87806384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74762800000002 meters 0.014045388025951852 Centerline is valid? [True, True] Translation: X:62.24, Y:-107.79, Z:0.67 [[-9.99325022e-01 -3.60191048e-02 7.21977336e-03 6.22423787e+01] [-3.60175897e-02 9.99351098e-01 3.39807620e-04 -1.07791856e+02] [-7.22732800e-03 7.95394224e-05 -9.99973879e-01 6.74859939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77762800000002 meters 0.014277322269361058 Centerline is valid? [True, True] Translation: X:62.24, Y:-107.76, Z:0.67 [[-9.94358653e-01 -1.05804334e-01 7.50419518e-03 6.22431169e+01] [-1.05800606e-01 9.94386964e-01 8.93111955e-04 -1.07764735e+02] [-7.55656898e-03 9.41252031e-05 -9.99971444e-01 6.74684572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80762800000002 meters 0.01470812303261053 Centerline is valid? [True, True] Translation: X:62.14, Y:-106.92, Z:-0.19 [[-9.97869136e-01 6.47792940e-02 7.79940943e-03 6.21372880e+01] [-6.47779475e-02 -9.97899612e-01 4.25404137e-04 -1.06918536e+02] [ 7.81058503e-03 -8.07320765e-05 9.99969494e-01 -1.87616910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83762800000002 meters 0.015087273548990296 Centerline is valid? [True, True] Translation: X:62.11, Y:-107.78, Z:0.67 [[-9.93931421e-01 -1.09675510e-01 8.46240277e-03 6.21128163e+01] [-1.09670394e-01 9.93967436e-01 1.06769098e-03 -1.07781660e+02] [-8.52845234e-03 1.33136565e-04 -9.99963623e-01 6.74984476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86762800000002 meters 0.01624380854267135 Centerline is valid? [True, True] Translation: X:62.09, Y:-107.76, Z:0.68 [[-9.84050289e-01 -1.77622470e-01 9.76146522e-03 6.20936947e+01] [-1.77611825e-01 9.84098685e-01 1.95375270e-03 -1.07759126e+02] [-9.95327547e-03 1.88839253e-04 -9.99950447e-01 6.76659146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89762800000003 meters 0.01620232282529558 Centerline is valid? [True, True] Translation: X:62.06, Y:-107.74, Z:0.68 [[-9.68892052e-01 -2.47279494e-01 1.00520587e-02 6.20565125e+01] [-2.47263896e-01 9.68944171e-01 2.78555927e-03 -1.07739443e+02] [-1.04286954e-02 2.13395036e-04 -9.99945597e-01 6.76830853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92762800000003 meters 0.01592131148678743 Centerline is valid? [True, True] Translation: X:62.00, Y:-107.73, Z:0.68 [[-9.48473259e-01 -3.16694960e-01 1.01380363e-02 6.19987140e+01] [-3.16674193e-01 9.48527409e-01 3.63447657e-03 -1.07728175e+02] [-1.07672257e-02 2.36749373e-04 -9.99942004e-01 6.76573894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95762800000003 meters 0.01827416706532078 Centerline is valid? [True, True] Translation: X:61.93, Y:-107.73, Z:0.68 [[-9.23155256e-01 -3.84306160e-01 9.65130205e-03 6.19314550e+01] [-3.84282230e-01 9.23205670e-01 4.29639273e-03 -1.07730592e+02] [-1.05612670e-02 2.57413657e-04 -9.99944195e-01 6.77389533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98762800000003 meters 0.017346457286996037 Centerline is valid? [True, True] Translation: X:61.85, Y:-107.74, Z:0.68 [[-8.92173725e-01 -4.51608544e-01 8.70441044e-03 6.18498091e+01] [-4.51584309e-01 8.92216152e-01 4.68515196e-03 -1.07738188e+02] [-9.88207024e-03 2.49194299e-04 -9.99951140e-01 6.75912027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01762800000003 meters 0.01707478831852546 Centerline is valid? [True, True] Translation: X:61.76, Y:-107.76, Z:0.67 [[-8.55784829e-01 -5.17279464e-01 7.36773992e-03 6.17640685e+01] [-5.17258020e-01 8.55816514e-01 4.71532469e-03 -1.07755933e+02] [-8.74457413e-03 2.24280767e-04 -9.99961740e-01 6.74963819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.047628 meters 0.016991907394765637 Centerline is valid? [True, True] Translation: X:61.67, Y:-107.78, Z:0.67 [[-8.13642546e-01 -5.81336603e-01 5.79323339e-03 6.16735507e+01] [-5.81320282e-01 8.13663150e-01 4.35982339e-03 -1.07783982e+02] [-7.24826545e-03 1.79613737e-04 -9.99973715e-01 6.73361820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.077628 meters 0.01687742683970679 Centerline is valid? [True, True] Translation: X:61.58, Y:-107.83, Z:0.67 [[-7.66317210e-01 -6.42441687e-01 5.15876905e-03 6.15767505e+01] [-6.42425695e-01 7.66334556e-01 4.53590149e-03 -1.07825686e+02] [-6.86739519e-03 1.61813581e-04 -9.99976406e-01 6.73340017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.107628 meters 0.016513226864620548 Centerline is valid? [True, True] Translation: X:61.49, Y:-107.87, Z:0.67 [[-7.13873638e-01 -7.00258567e-01 4.72962641e-03 6.14875261e+01] [-7.00241804e-01 7.13889290e-01 4.84745118e-03 -1.07869574e+02] [-6.77089885e-03 1.48585479e-04 -9.99977066e-01 6.73373888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.137628 meters 0.016104377030556505 Centerline is valid? [True, True] Translation: X:61.39, Y:-107.93, Z:0.67 [[-6.56613937e-01 -7.54214638e-01 4.29163898e-03 6.13934250e+01] [-7.54197190e-01 6.56627949e-01 5.13183941e-03 -1.07929542e+02] [-6.68851850e-03 1.32895219e-04 -9.99977623e-01 6.73369544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.167628 meters 0.015694972513871506 Centerline is valid? [True, True] Translation: X:61.31, Y:-108.00, Z:0.67 [[-5.95318446e-01 -8.03479798e-01 4.02020487e-03 6.13051807e+01] [-8.03460041e-01 5.95332007e-01 5.63591258e-03 -1.07995380e+02] [-6.92169853e-03 1.25088745e-04 -9.99976037e-01 6.73861295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.197628 meters 0.014857268632706384 Centerline is valid? [True, True] Translation: X:61.22, Y:-108.07, Z:0.67 [[-5.28723100e-01 -8.48786155e-01 3.73452021e-03 6.12167177e+01] [-8.48763571e-01 5.28736279e-01 6.19254366e-03 -1.08073379e+02] [-7.23072164e-03 1.04416173e-04 -9.99973853e-01 6.74111845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.227628 meters 0.01448464661708633 Centerline is valid? [True, True] Translation: X:61.14, Y:-108.16, Z:0.67 [[-4.59954656e-01 -8.87936318e-01 3.28781582e-03 6.11363217e+01] [-8.87912198e-01 4.59966398e-01 6.54526322e-03 -1.08158065e+02] [-7.32406173e-03 9.12325194e-05 -9.99973175e-01 6.74420036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.257628 meters 0.014178320971715206 Centerline is valid? [True, True] Translation: X:61.06, Y:-108.25, Z:0.67 [[-3.88623018e-01 -9.21392401e-01 2.86246620e-03 6.10620885e+01] [-9.21365838e-01 3.88633551e-01 6.99688973e-03 -1.08250128e+02] [-7.55933144e-03 8.17738327e-05 -9.99971425e-01 6.74686207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.287628 meters 0.013600648405070604 Centerline is valid? [True, True] Translation: X:60.99, Y:-108.36, Z:0.68 [[-3.13432128e-01 -9.49607683e-01 2.35583699e-03 6.09900740e+01] [-9.49579413e-01 3.13440976e-01 7.32760188e-03 -1.08356870e+02] [-7.69676288e-03 5.96515428e-05 -9.99970378e-01 6.75010403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.317628 meters 0.013324131520611782 Centerline is valid? [True, True] Translation: X:60.93, Y:-108.46, Z:0.67 [[-2.37879442e-01 -9.71293325e-01 1.62705494e-03 6.09324270e+01] [-9.71269256e-01 2.37885002e-01 6.83802144e-03 -1.08455284e+02] [-7.02877655e-03 4.63162843e-05 -9.99975297e-01 6.74669369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34762800000001 meters 0.013091604794402717 Centerline is valid? [True, True] Translation: X:60.88, Y:-108.57, Z:0.67 [[-1.60706606e-01 -9.87001748e-01 9.68001334e-04 6.08809754e+01] [-9.86982592e-01 1.60709518e-01 6.14928770e-03 -1.08566543e+02] [-6.22492473e-03 3.28306861e-05 -9.99980624e-01 6.73511303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37762800000002 meters 0.013048801087870923 Centerline is valid? [True, True] Translation: X:60.84, Y:-108.68, Z:0.67 [[-8.28353776e-02 -9.96563162e-01 4.04367131e-04 6.08391430e+01] [-9.96549949e-01 8.28363617e-02 5.13180866e-03 -1.08681954e+02] [-5.14766777e-03 2.21232643e-05 -9.99986750e-01 6.72398142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40762800000002 meters 0.012737483928073499 Centerline is valid? [True, True] Translation: X:60.81, Y:-108.80, Z:0.67 [[-4.57627797e-03 -9.99989529e-01 4.57659453e-06 6.08063091e+01] [-9.99982207e-01 4.57626198e-03 3.82676672e-03 -1.08800450e+02] [-3.82674760e-03 1.29358352e-05 -9.99992678e-01 6.70664647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43762800000002 meters 0.01280181875911188 Centerline is valid? [True, True] Translation: X:60.78, Y:-108.92, Z:0.67 [[ 7.29119111e-02 -9.97338345e-01 -2.79084130e-04 6.07834083e+01] [-9.97331679e-01 -7.29124442e-02 3.64665583e-03 -1.08921143e+02] [-3.65729840e-03 1.24547977e-05 -9.99993312e-01 6.70700440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46762800000002 meters 0.012845659313595383 Centerline is valid? [True, True] Translation: X:60.77, Y:-109.04, Z:0.67 [[ 1.49607863e-01 -9.88745266e-01 -5.35189185e-04 6.07696785e+01] [-9.88739249e-01 -1.49608820e-01 3.44941891e-03 -1.09041872e+02] [-3.49066564e-03 1.31023605e-05 -9.99993908e-01 6.70583586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49762800000002 meters 0.012813096101274311 Centerline is valid? [True, True] Translation: X:60.77, Y:-109.17, Z:0.67 [[ 2.25377981e-01 -9.74271103e-01 -7.63852202e-04 6.07663812e+01] [-9.74265713e-01 -2.25379275e-01 3.24076657e-03 -1.09168541e+02] [-3.32954168e-03 1.37975843e-05 -9.99994457e-01 6.70517839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52762800000002 meters 0.013029993158908215 Centerline is valid? [True, True] Translation: X:60.77, Y:-109.29, Z:0.67 [[ 2.98973396e-01 -9.54261050e-01 -8.70004784e-04 6.07710696e+01] [-9.54257159e-01 -2.98974661e-01 2.72530657e-03 -1.09285803e+02] [-2.86076329e-03 1.54141348e-05 -9.99995908e-01 6.70890756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55762800000002 meters 0.01322293377568689 Centerline is valid? [True, True] Translation: X:60.79, Y:-109.40, Z:0.67 [[ 3.71027523e-01 -9.28621319e-01 -1.01185587e-03 6.07852092e+01] [-9.28617990e-01 -3.71028902e-01 2.48626535e-03 -1.09403865e+02] [-2.68422678e-03 1.71546925e-05 -9.99996397e-01 6.71140459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58762800000002 meters 0.013351369828977899 Centerline is valid? [True, True] Translation: X:60.81, Y:-109.52, Z:0.67 [[ 4.40940773e-01 -8.97535277e-01 -1.28876396e-03 6.08086896e+01] [-8.97531581e-01 -4.40942656e-01 2.57582133e-03 -1.09521109e+02] [-2.88016152e-03 2.09217092e-05 -9.99995852e-01 6.71572655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61762800000002 meters 0.01358118211505503 Centerline is valid? [True, True] Translation: X:60.84, Y:-109.64, Z:0.67 [[ 5.08412439e-01 -8.61111505e-01 -1.94109261e-03 6.08404299e+01] [-8.61105451e-01 -5.08416144e-01 3.22917587e-03 -1.09635027e+02] [-3.76756331e-03 2.97322517e-05 -9.99992902e-01 6.72766255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64762800000003 meters 0.014140739821084772 Centerline is valid? [True, True] Translation: X:60.88, Y:-109.75, Z:0.67 [[ 5.72091157e-01 -8.20183023e-01 -3.39365287e-03 6.08817641e+01] [-8.20169159e-01 -5.72101220e-01 4.76904141e-03 -1.09745810e+02] [-5.85299975e-03 5.50430002e-05 -9.99982870e-01 6.74804216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67762800000003 meters 0.014522157968430129 Centerline is valid? [True, True] Translation: X:60.93, Y:-109.85, Z:0.68 [[ 6.32744277e-01 -7.74348713e-01 -4.33013898e-03 6.09285901e+01] [-7.74331336e-01 -6.32759090e-01 5.18806772e-03 -1.09850555e+02] [-6.75730837e-03 7.02421443e-05 -9.99977167e-01 6.76244883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70762800000003 meters 0.014896994107324311 Centerline is valid? [True, True] Translation: X:60.98, Y:-109.95, Z:0.68 [[ 6.89841844e-01 -7.23939495e-01 -5.46238099e-03 6.09804395e+01] [-7.23917790e-01 -6.89863465e-01 5.60658968e-03 -1.09947980e+02] [-7.82712878e-03 8.66546115e-05 -9.99969364e-01 6.77378367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73762800000003 meters 0.01532707089147158 Centerline is valid? [True, True] Translation: X:61.04, Y:-110.04, Z:0.68 [[ 7.42793802e-01 -6.69487928e-01 -6.57893122e-03 6.10393023e+01] [-6.69462900e-01 -7.42822929e-01 5.78973203e-03 -1.10040518e+02] [-8.76313666e-03 1.03773310e-04 -9.99961598e-01 6.78291604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76762800000003 meters 0.01532707089147158 Centerline is valid? [True, True] Translation: X:61.04, Y:-110.03, Z:0.68 [[ 7.92851452e-01 -6.09374610e-01 -7.01137723e-03 6.10417080e+01] [-6.09351937e-01 -7.92882446e-01 5.25775758e-03 -1.10032821e+02] [-8.76314190e-03 1.03775556e-04 -9.99961598e-01 6.78291657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.797628 meters 0.01683899536788669 Centerline is valid? [True, True] Translation: X:61.05, Y:-110.02, Z:0.68 [[ 8.36414951e-01 -5.48031549e-01 -8.45286052e-03 6.10459153e+01] [-5.48005348e-01 -8.36457649e-01 5.36088309e-03 -1.10020532e+02] [-1.00083929e-02 1.48290000e-04 -9.99949904e-01 6.79439292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.827628 meters 0.01737505875950554 Centerline is valid? [True, True] Translation: X:61.05, Y:-110.01, Z:0.68 [[ 8.75789688e-01 -4.82607089e-01 -9.10052449e-03 6.10478500e+01] [-4.82583065e-01 -8.75836953e-01 4.81847650e-03 -1.10010512e+02] [-1.02960066e-02 1.71786968e-04 -9.99946980e-01 6.79028144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.857628 meters 0.018520838028421045 Centerline is valid? [True, True] Translation: X:61.05, Y:-110.00, Z:0.68 [[ 9.09806992e-01 -4.14926928e-01 -9.32106941e-03 6.10495384e+01] [-4.14907334e-01 -9.09854718e-01 4.03701909e-03 -1.09998960e+02] [-1.01558869e-02 1.94471862e-04 -9.99948409e-01 6.78642792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.887628 meters 0.020029111066927303 Centerline is valid? [True, True] Translation: X:61.05, Y:-109.99, Z:0.68 [[ 9.38472162e-01 -3.45230073e-01 -9.28425241e-03 6.10510705e+01] [-3.45215448e-01 -9.38518061e-01 3.18495076e-03 -1.09986778e+02] [-9.81297935e-03 2.16079728e-04 -9.99951828e-01 6.78033385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.917628 meters 0.024174651509295108 Centerline is valid? [True, True] Translation: X:61.05, Y:-109.97, Z:0.68 [[ 9.60622760e-01 -2.77748745e-01 -7.71668010e-03 6.10514819e+01] [-2.77741725e-01 -9.60653726e-01 1.98845407e-03 -1.09969034e+02] [-7.96534811e-03 2.33089798e-04 -9.99968249e-01 6.76448405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.947628 meters 0.02666559021134616 Centerline is valid? [True, True] Translation: X:61.05, Y:-109.95, Z:0.68 [[ 9.78539616e-01 -2.05952794e-01 -6.60812228e-03 6.10469344e+01] [-2.05949648e-01 -9.78561902e-01 1.16042854e-03 -1.09953971e+02] [-6.70545020e-03 2.25415157e-04 -9.99977493e-01 6.75273814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.977628 meters 0.02451615601535953 Centerline is valid? [True, True] Translation: X:61.04, Y:-109.95, Z:0.67 [[ 9.91106086e-01 -1.32944729e-01 -5.86721932e-03 6.10381747e+01] [-1.32943730e-01 -9.91123428e-01 5.61794330e-04 -1.09953832e+02] [-5.88982612e-03 2.23212240e-04 -9.99982630e-01 6.72993958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.007628 meters 0.022551330332178963 Centerline is valid? [True, True] Translation: X:61.03, Y:-109.96, Z:0.67 [[ 9.98221591e-01 -5.93863539e-02 -5.18806291e-03 6.10294207e+01] [-5.93866937e-02 -9.98235049e-01 8.86758929e-05 -1.09961444e+02] [-5.18417237e-03 2.19583712e-04 -9.99986538e-01 6.71464022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.037628 meters 0.03178809638553047 Centerline is valid? [True, True] Translation: X:61.02, Y:-109.95, Z:0.67 [[ 9.99938570e-01 1.04000626e-02 -3.83329633e-03 6.10199178e+01] [ 1.03992373e-02 -9.99945899e-01 -2.35166651e-04 -1.09952998e+02] [-3.83553470e-03 1.95288847e-04 -9.99992625e-01 6.70251059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.067628 meters 0.033606387403906306 Centerline is valid? [True, True] Translation: X:61.01, Y:-109.95, Z:0.67 [[ 9.96370677e-01 8.50641172e-02 -3.09354294e-03 6.10096809e+01] [ 8.50631761e-02 -9.96375465e-01 -4.34771569e-04 -1.09949119e+02] [-3.11931375e-03 1.70047054e-04 -9.99995120e-01 6.69414617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09762800000001 meters 0.03722414531924046 Centerline is valid? [True, True] Translation: X:61.00, Y:-109.94, Z:0.67 [[ 9.87384742e-01 1.58317239e-01 -2.65012515e-03 6.09978129e+01] [ 1.58316231e-01 -9.87388285e-01 -5.87115560e-04 -1.09944968e+02] [-2.70965305e-03 1.60151119e-04 -9.99996316e-01 6.68928093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12762800000002 meters 0.0319314569775686 Centerline is valid? [True, True] Translation: X:60.99, Y:-109.96, Z:0.67 [[ 9.72137818e-01 2.34390612e-01 -3.01729181e-03 6.09911435e+01] [ 2.34388877e-01 -9.72142482e-01 -9.21341630e-04 -1.09958881e+02] [-3.14919137e-03 1.88451403e-04 -9.99995024e-01 6.69177792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15762800000002 meters 0.03863289787777034 Centerline is valid? [True, True] Translation: X:60.98, Y:-109.96, Z:0.67 [[ 9.50625411e-01 3.10313198e-01 -4.12896279e-03 6.09796959e+01] [ 3.10309060e-01 -9.50634341e-01 -1.62385274e-03 -1.09958396e+02] [-4.42903675e-03 2.62421115e-04 -9.99990157e-01 6.71140513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18762800000002 meters 0.0320815805659647 Centerline is valid? [True, True] Translation: X:60.98, Y:-109.97, Z:0.67 [[ 9.22835873e-01 3.85154007e-01 -5.50834469e-03 6.09758597e+01] [ 3.85144833e-01 -9.22852245e-01 -2.68156043e-03 -1.09974115e+02] [-6.11620201e-03 3.53129660e-04 -9.99981234e-01 6.72165250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21762800000002 meters 0.032223394339296295 Centerline is valid? [True, True] Translation: X:60.97, Y:-109.98, Z:0.68 [[ 8.89108216e-01 4.57650032e-01 -6.55957494e-03 6.09701891e+01] [ 4.57633989e-01 -8.89132311e-01 -3.85563438e-03 -1.09983394e+02] [-7.59686122e-03 4.26191762e-04 -9.99971053e-01 6.75832626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24762800000002 meters 0.027875538339218825 Centerline is valid? [True, True] Translation: X:60.97, Y:-110.00, Z:0.67 [[ 8.48715521e-01 5.28807882e-01 -6.64739159e-03 6.09687237e+01] [ 5.28787665e-01 -8.48741446e-01 -4.64360946e-03 -1.09997482e+02] [-8.09749403e-03 4.26044746e-04 -9.99967124e-01 6.72908278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27762800000002 meters 0.020685914046726293 Centerline is valid? [True, True] Translation: X:60.98, Y:-110.02, Z:0.67 [[ 8.00937370e-01 5.98717875e-01 -6.01958679e-03 6.09788026e+01] [ 5.98697528e-01 -8.00959910e-01 -4.94902227e-03 -1.10024213e+02] [-7.78451578e-03 3.59945149e-04 -9.99969635e-01 6.71116944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30762800000002 meters 0.02230082375912312 Centerline is valid? [True, True] Translation: X:60.98, Y:-110.04, Z:0.67 [[ 7.49991202e-01 6.61425724e-01 -5.40442943e-03 6.09823282e+01] [ 6.61405335e-01 -7.50010602e-01 -5.20372398e-03 -1.10039973e+02] [-7.49525628e-03 3.28228744e-04 -9.99971856e-01 6.73221765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33762800000002 meters 0.02694972899993727 Centerline is valid? [True, True] Translation: X:60.98, Y:-110.05, Z:0.67 [[ 6.93444927e-01 7.20498472e-01 -4.01049765e-03 6.09789994e+01] [ 7.20484345e-01 -6.93456482e-01 -4.51855799e-03 -1.10048796e+02] [-6.03671972e-03 2.43870344e-04 -9.99981749e-01 6.71477944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36762800000002 meters 0.020938794397299842 Centerline is valid? [True, True] Translation: X:60.99, Y:-110.07, Z:0.67 [[ 6.32880993e-01 7.74241871e-01 -3.34284323e-03 6.09885719e+01] [ 7.74229281e-01 -6.32889787e-01 -4.42020224e-03 -1.10065751e+02] [-5.53795699e-03 2.09334870e-04 -9.99984643e-01 6.69768780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39762800000003 meters 0.017349211359820878 Centerline is valid? [True, True] Translation: X:61.00, Y:-110.08, Z:0.67 [[ 5.66633280e-01 8.23965662e-01 -2.70443087e-03 6.10027989e+01] [ 8.23954834e-01 -5.66639709e-01 -4.22756202e-03 -1.10083960e+02] [-5.01580386e-03 1.67148442e-04 -9.99987407e-01 6.68749917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42762800000003 meters 0.017576608945827073 Centerline is valid? [True, True] Translation: X:61.01, Y:-110.10, Z:0.67 [[ 4.99101571e-01 8.66540993e-01 -2.08064301e-03 6.10104627e+01] [ 8.66532255e-01 -4.99105888e-01 -3.89398694e-03 -1.10096333e+02] [-4.41276049e-03 1.40550719e-04 -9.99990254e-01 6.68618588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45762800000003 meters 0.017082731927702998 Centerline is valid? [True, True] Translation: X:61.02, Y:-110.11, Z:0.67 [[ 4.28427882e-01 9.03574693e-01 -1.52440471e-03 6.10195165e+01] [ 9.03567979e-01 -4.28430578e-01 -3.48526843e-03 -1.10107290e+02] [-3.80230194e-03 1.15782890e-04 -9.99992765e-01 6.68247415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48762800000003 meters 0.01694776226688541 Centerline is valid? [True, True] Translation: X:61.03, Y:-110.12, Z:0.67 [[ 3.56125885e-01 9.34437476e-01 -9.78042144e-04 6.10315005e+01] [ 9.34433227e-01 -3.56127217e-01 -2.81933903e-03 -1.10117895e+02] [-2.98280347e-03 9.01245306e-05 -9.99995547e-01 6.68070504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51762800000003 meters 0.017913937501777857 Centerline is valid? [True, True] Translation: X:61.04, Y:-110.13, Z:0.67 [[ 2.82667931e-01 9.59217545e-01 -7.36411711e-04 6.10390472e+01] [ 9.59213407e-01 -2.82668876e-01 -2.81903132e-03 -1.10127056e+02] [-2.91222497e-03 9.04737632e-05 -9.99995755e-01 6.68200901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.547628 meters 0.01726889558757894 Centerline is valid? [True, True] Translation: X:61.05, Y:-110.14, Z:0.67 [[ 2.08063324e-01 9.78115171e-01 -6.03966866e-04 6.10518263e+01] [ 9.78109356e-01 -2.08064171e-01 -3.37459019e-03 -1.10135362e+02] [-3.42640173e-03 1.11382809e-04 -9.99994124e-01 6.68358241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.577628 meters 0.018373416544074483 Centerline is valid? [True, True] Translation: X:61.06, Y:-110.14, Z:0.67 [[ 1.32208613e-01 9.91221837e-01 -3.90375691e-04 6.10610340e+01] [ 9.91214010e-01 -1.32209121e-01 -3.94133252e-03 -1.10143565e+02] [-3.95834608e-03 1.34132251e-04 -9.99992157e-01 6.68859193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.607628 meters 0.018320044181183767 Centerline is valid? [True, True] Translation: X:61.08, Y:-110.15, Z:0.67 [[ 5.74290226e-02 9.98349587e-01 -9.76154790e-05 6.10762361e+01] [ 9.98337993e-01 -5.74288264e-02 -4.81471006e-03 -1.10150019e+02] [-4.81236974e-03 1.79050851e-04 -9.99988404e-01 6.70148387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.637628 meters 0.01938328512713703 Centerline is valid? [True, True] Translation: X:61.09, Y:-110.16, Z:0.67 [[-1.91793746e-02 9.99816018e-01 2.87216879e-04 6.10872518e+01] [ 9.99803847e-01 1.91805593e-02 -4.93695831e-03 -1.10156378e+02] [-4.94155898e-03 1.92472768e-04 -9.99987772e-01 6.70630385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.667628 meters 0.021209956144497433 Centerline is valid? [True, True] Translation: X:61.10, Y:-110.16, Z:0.67 [[-9.53156203e-02 9.95446805e-01 7.68136345e-04 6.10978524e+01] [ 9.95431120e-01 9.53184342e-02 -5.59294692e-03 -1.10161368e+02] [-5.64069870e-03 2.31531616e-04 -9.99984064e-01 6.72754612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.697628 meters 0.021560761725111004 Centerline is valid? [True, True] Translation: X:61.11, Y:-110.17, Z:0.67 [[-1.71983037e-01 9.85099258e-01 1.13447095e-03 6.11074975e+01] [ 9.85085569e-01 1.71986633e-01 -5.19800274e-03 -1.10166921e+02] [-5.31566248e-03 2.23582664e-04 -9.99985847e-01 6.71291962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.727628 meters 0.021594574334506275 Centerline is valid? [True, True] Translation: X:61.12, Y:-110.17, Z:0.67 [[-2.47285347e-01 9.68941497e-01 1.52732124e-03 6.11192142e+01] [ 9.68928328e-01 2.47289957e-01 -5.05680888e-03 -1.10169682e+02] [-5.27744317e-03 2.29390074e-04 -9.99986048e-01 6.71365657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.757628 meters 0.021856741139618812 Centerline is valid? [True, True] Translation: X:61.13, Y:-110.17, Z:0.67 [[-3.21499178e-01 9.46907910e-01 1.92053012e-03 6.11306076e+01] [ 9.46895124e-01 3.21504829e-01 -4.92642474e-03 -1.10171996e+02] [-5.28233026e-03 2.34699103e-04 -9.99986021e-01 6.71416641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.787628 meters 0.02196120549992237 Centerline is valid? [True, True] Translation: X:61.14, Y:-110.17, Z:0.67 [[-3.92234772e-01 9.19862307e-01 2.28480615e-03 6.11441960e+01] [ 9.19850187e-01 3.92241348e-01 -4.72846416e-03 -1.10171442e+02] [-5.24573140e-03 2.47011308e-04 -9.99986211e-01 6.70823177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.817628 meters 0.02213243843741475 Centerline is valid? [True, True] Translation: X:61.16, Y:-110.17, Z:0.67 [[-4.61629557e-01 8.87068825e-01 2.65560528e-03 6.11570046e+01] [ 8.87057205e-01 4.61637124e-01 -4.54765608e-03 -1.10170035e+02] [-5.26000992e-03 2.56341337e-04 -9.99986133e-01 6.70542565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84762800000001 meters 0.022138027413071176 Centerline is valid? [True, True] Translation: X:61.17, Y:-110.17, Z:0.67 [[-5.28164302e-01 8.49138149e-01 2.62186055e-03 6.11706948e+01] [ 8.49129786e-01 5.28170759e-01 -3.77560902e-03 -1.10166832e+02] [-4.59080373e-03 2.32157991e-04 -9.99989435e-01 6.70575645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87762800000002 meters 0.024448195224901773 Centerline is valid? [True, True] Translation: X:61.18, Y:-110.16, Z:0.67 [[-5.90767842e-01 8.06835259e-01 3.19697650e-03 6.11829479e+01] [ 8.06825828e-01 5.90776431e-01 -3.91045096e-03 -1.10163815e+02] [-5.04378809e-03 2.69234539e-04 -9.99987244e-01 6.73295900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90762800000002 meters 0.02668214904377555 Centerline is valid? [True, True] Translation: X:61.19, Y:-110.16, Z:0.67 [[-6.49047908e-01 7.60736008e-01 4.18806406e-03 6.11941279e+01] [ 7.60723516e-01 6.49061327e-01 -4.37327087e-03 -1.10161047e+02] [-6.04521504e-03 3.47496509e-04 -9.99981667e-01 6.74035580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93762800000002 meters 0.025208191161228417 Centerline is valid? [True, True] Translation: X:61.21, Y:-110.15, Z:0.67 [[-7.05454450e-01 7.08744514e-01 3.90289072e-03 6.12057983e+01] [ 7.08736022e-01 7.05465179e-01 -3.48312935e-03 -1.10154639e+02] [-5.22200232e-03 3.08930144e-04 -9.99986318e-01 6.70937338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96762800000002 meters 0.02652486171855869 Centerline is valid? [True, True] Translation: X:61.23, Y:-110.14, Z:0.67 [[-7.52676453e-01 6.58376982e-01 4.23155960e-03 6.12281318e+01] [ 6.58368944e-01 7.52688278e-01 -3.26941871e-03 -1.10136044e+02] [-5.33755533e-03 3.25112952e-04 -9.99985702e-01 6.71303349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99762800000002 meters 0.02770667352493305 Centerline is valid? [True, True] Translation: X:61.25, Y:-110.11, Z:0.67 [[-7.96258218e-01 6.04937197e-01 4.88237763e-03 6.12516703e+01] [ 6.04928589e-01 7.96273102e-01 -3.24799311e-03 -1.10114131e+02] [-5.85253782e-03 3.67248604e-04 -9.99982806e-01 6.71435309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02762800000002 meters 0.027445528292693706 Centerline is valid? [True, True] Translation: X:61.27, Y:-110.09, Z:0.67 [[-8.37328787e-01 5.46676136e-01 5.06993379e-03 6.12706994e+01] [ 5.46668687e-01 8.37344057e-01 -2.87692207e-03 -1.10088745e+02] [-5.81802358e-03 3.62644376e-04 -9.99983009e-01 6.71389523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05762800000002 meters 0.02719080003217595 Centerline is valid? [True, True] Translation: X:61.29, Y:-110.06, Z:0.67 [[-8.74465955e-01 4.85061383e-01 4.97481462e-03 6.12859527e+01] [ 4.85055682e-01 8.74480041e-01 -2.37548796e-03 -1.10061159e+02] [-5.50263357e-03 3.35778757e-04 -9.99984804e-01 6.71455870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08762800000002 meters 0.026977634232584126 Centerline is valid? [True, True] Translation: X:61.30, Y:-110.03, Z:0.67 [[-9.07313906e-01 4.20424504e-01 4.97111037e-03 6.13023151e+01] [ 4.20420083e-01 9.07327469e-01 -1.95403081e-03 -1.10033745e+02] [-5.33194743e-03 3.17035306e-04 -9.99985735e-01 6.71120281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11762800000002 meters 0.022997952401858025 Centerline is valid? [True, True] Translation: X:61.31, Y:-110.00, Z:0.67 [[-9.36479258e-01 3.50698885e-01 4.10997306e-03 6.13138060e+01] [ 3.50696601e-01 9.36488247e-01 -1.28748589e-03 -1.09995171e+02] [-4.30046133e-03 2.35649755e-04 -9.99990725e-01 6.70198572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14762800000003 meters 0.02215425974167611 Centerline is valid? [True, True] Translation: X:61.32, Y:-109.96, Z:0.67 [[-9.59848290e-01 2.80495235e-01 3.69908088e-03 6.13194081e+01] [ 2.80493935e-01 9.59855398e-01 -8.76205315e-04 -1.09962531e+02] [-3.79635416e-03 1.96545580e-04 -9.99992775e-01 6.69943687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17762800000003 meters 0.023184062321390954 Centerline is valid? [True, True] Translation: X:61.48, Y:-109.27, Z:-0.19 [[-9.68536539e-01 -2.48834733e-01 4.27169451e-03 6.14840963e+01] [ 2.48831459e-01 -9.68545941e-01 -1.29004927e-03 -1.09270766e+02] [ 4.45834145e-03 -1.86527875e-04 9.99990044e-01 -1.85723178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20762800000003 meters 0.019296477509460744 Centerline is valid? [True, True] Translation: X:61.27, Y:-109.94, Z:0.67 [[-9.63927076e-01 2.66144235e-01 3.44057490e-03 6.12665191e+01] [ 2.66143069e-01 9.63933206e-01 -8.00826435e-04 -1.09936473e+02] [-3.52961974e-03 1.43746878e-04 -9.99993761e-01 6.70708759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23762800000003 meters 0.019135879097669624 Centerline is valid? [True, True] Translation: X:61.27, Y:-109.91, Z:0.67 [[-9.81117826e-01 1.93387492e-01 3.01502541e-03 6.12681195e+01] [ 1.93386931e-01 9.81122452e-01 -4.79416930e-04 -1.09905195e+02] [-3.05082236e-03 1.12702014e-04 -9.99995340e-01 6.70860713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26762800000003 meters 0.018480658951224985 Centerline is valid? [True, True] Translation: X:61.37, Y:-109.23, Z:-0.18 [[-9.81627368e-01 -1.90778195e-01 3.37496608e-03 6.13730232e+01] [ 1.90776716e-01 -9.81633165e-01 -7.57826236e-04 -1.09234035e+02] [ 3.45755535e-03 -1.00038028e-04 9.99994018e-01 -1.83819252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.297628 meters 0.017263578973073082 Centerline is valid? [True, True] Translation: X:61.21, Y:-109.89, Z:0.67 [[-9.83265757e-01 1.82147626e-01 3.27019105e-03 6.12086021e+01] [ 1.82146949e-01 9.83271190e-01 -5.06144668e-04 -1.09889299e+02] [-3.30767769e-03 9.79806024e-05 -9.99994525e-01 6.70715449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.327628 meters 0.0183310493733635 Centerline is valid? [True, True] Translation: X:61.31, Y:-109.23, Z:-0.19 [[-9.80651546e-01 -1.95704142e-01 4.73651571e-03 6.13084357e+01] [ 1.95701680e-01 -9.80662984e-01 -9.82218281e-04 -1.09234657e+02] [ 4.83714981e-03 -3.62697930e-05 9.99988300e-01 -1.86762519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.357628 meters 0.014152229162178608 Centerline is valid? [True, True] Translation: X:61.15, Y:-109.87, Z:0.67 [[-9.85450614e-01 1.69938494e-01 2.82780178e-03 6.11527939e+01] [ 1.69937969e-01 9.85454669e-01 -4.26373489e-04 -1.09871455e+02] [-2.85912774e-03 6.03808768e-05 -9.99995911e-01 6.70577462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.387628 meters 0.014181970535435533 Centerline is valid? [True, True] Translation: X:61.15, Y:-109.84, Z:0.67 [[-9.95211116e-01 9.77229154e-02 2.25074086e-03 6.11510848e+01] [ 9.77227643e-02 9.95213660e-01 -1.77294691e-04 -1.09842640e+02] [-2.25729381e-03 4.35029710e-05 -9.99997451e-01 6.70484245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.417628 meters 0.013918724856415958 Centerline is valid? [True, True] Translation: X:61.20, Y:-109.20, Z:-0.18 [[-9.91850741e-01 -1.27394005e-01 1.69578294e-03 6.12019680e+01] [ 1.27393700e-01 -9.91852188e-01 -2.87184624e-04 -1.09197021e+02] [ 1.71855162e-03 -6.88122186e-05 9.99998521e-01 -1.83396074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.447628 meters 0.013049182861658317 Centerline is valid? [True, True] Translation: X:61.09, Y:-109.83, Z:0.67 [[-9.95823911e-01 9.12883141e-02 1.08690655e-03 6.10850640e+01] [ 9.12882801e-02 9.95824504e-01 -8.09854318e-05 -1.09833563e+02] [-1.08976120e-03 1.85746003e-05 -9.99999406e-01 6.70758292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.477628 meters 0.013151892730239615 Centerline is valid? [True, True] Translation: X:61.14, Y:-109.20, Z:-0.18 [[-9.92325265e-01 -1.23647353e-01 1.37871823e-03 6.11358390e+01] [ 1.23647228e-01 -9.92326223e-01 -1.76088687e-04 -1.09195061e+02] [ 1.38991115e-03 -4.26256589e-06 9.99999034e-01 -1.84475182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.507628 meters 0.013335012292088805 Centerline is valid? [True, True] Translation: X:61.02, Y:-109.83, Z:0.67 [[-9.96150435e-01 8.76438514e-02 1.69293559e-03 6.10228326e+01] [ 8.76437770e-02 9.96151873e-01 -1.18249903e-04 -1.09830334e+02] [-1.69678484e-03 3.05805767e-05 -9.99998560e-01 6.71995761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.537628 meters 0.014467761337685193 Centerline is valid? [True, True] Translation: X:61.02, Y:-109.81, Z:0.67 [[-9.99804651e-01 1.95073125e-02 3.18184468e-03 6.10215398e+01] [ 1.95074269e-02 9.99809712e-01 4.92089185e-06 -1.09806549e+02] [-3.18114322e-03 6.69895330e-05 -9.99994938e-01 6.73192560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.567628 meters 0.014391341496958338 Centerline is valid? [True, True] Translation: X:61.02, Y:-109.15, Z:-0.19 [[-9.99103063e-01 -4.22199685e-02 3.24712250e-03 6.10232560e+01] [ 4.22195374e-02 -9.99108338e-01 -2.01212280e-04 -1.09154961e+02] [ 3.25272234e-03 -6.39397953e-05 9.99994708e-01 -1.86458536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59762800000001 meters 0.015372151521015955 Centerline is valid? [True, True] Translation: X:60.94, Y:-109.81, Z:0.67 [[-9.99810480e-01 1.92121965e-02 3.14580416e-03 6.09437557e+01] [ 1.92123597e-02 9.99815425e-01 2.16598879e-05 -1.09809763e+02] [-3.14480739e-03 8.20941039e-05 -9.99995052e-01 6.73683122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62762800000002 meters 0.016409281423222885 Centerline is valid? [True, True] Translation: X:60.94, Y:-109.78, Z:0.67 [[-9.98793630e-01 -4.90162363e-02 2.94847983e-03 6.09360177e+01] [-4.90157676e-02 9.98797978e-01 2.31028753e-04 -1.09784380e+02] [-2.95625985e-03 8.62280443e-05 -9.99995627e-01 6.74137358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65762800000002 meters 0.01717793090670708 Centerline is valid? [True, True] Translation: X:60.92, Y:-109.76, Z:0.67 [[-9.93097822e-01 -1.17247848e-01 3.10767789e-03 6.09222860e+01] [-1.17246954e-01 9.93102680e-01 4.68766927e-04 -1.09760255e+02] [-3.14120515e-03 1.01165647e-04 -9.99995061e-01 6.74156709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68762800000002 meters 0.01717793090670708 Centerline is valid? [True, True] Translation: X:60.90, Y:-109.74, Z:0.67 [[-9.82094312e-01 -1.88364973e-01 3.06590297e-03 6.08952683e+01] [-1.88363733e-01 9.82099092e-01 6.91041778e-04 -1.09736792e+02] [-3.14118859e-03 1.01163271e-04 -9.99995061e-01 6.74156400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71762800000002 meters 0.019530014708142363 Centerline is valid? [True, True] Translation: X:60.85, Y:-109.73, Z:0.67 [[-9.67374027e-01 -2.53329459e-01 3.41704258e-03 6.08507269e+01] [-2.53327371e-01 9.67380053e-01 1.03783794e-03 -1.09726999e+02] [-3.56849375e-03 1.38347053e-04 -9.99993623e-01 6.74671519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74762800000002 meters 0.023011322576328347 Centerline is valid? [True, True] Translation: X:60.79, Y:-109.72, Z:0.68 [[-9.47231978e-01 -3.20505629e-01 5.26503256e-03 6.07918307e+01] [-3.20499266e-01 9.47246581e-01 2.03372957e-03 -1.09722407e+02] [-5.63910587e-03 2.38974615e-04 -9.99984072e-01 6.77223410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77762800000002 meters 0.02140281646986844 Centerline is valid? [True, True] Translation: X:60.72, Y:-109.72, Z:0.68 [[-9.21624714e-01 -3.88057134e-01 4.42117988e-03 6.07201302e+01] [-3.88051533e-01 9.21635294e-01 2.09609086e-03 -1.09724192e+02] [-4.88811843e-03 2.16163510e-04 -9.99988030e-01 6.75175720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80762800000002 meters 0.022530220675499 Centerline is valid? [True, True] Translation: X:60.64, Y:-109.74, Z:0.68 [[-8.90751167e-01 -4.54462163e-01 5.14782710e-03 6.06425224e+01] [-4.54452801e-01 8.90766001e-01 2.92957506e-03 -1.09735337e+02] [-5.91689038e-03 2.70077954e-04 -9.99982459e-01 6.75807335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83762800000002 meters 0.022166480155795344 Centerline is valid? [True, True] Translation: X:60.56, Y:-109.75, Z:0.68 [[-8.54415090e-01 -5.19563597e-01 5.34063132e-03 6.05574600e+01] [-5.19551248e-01 8.54431730e-01 3.59447468e-03 -1.09754372e+02] [-6.43076305e-03 2.96441738e-04 -9.99979279e-01 6.76702232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86762800000002 meters 0.023134572945682826 Centerline is valid? [True, True] Translation: X:60.47, Y:-109.79, Z:0.68 [[-8.11990261e-01 -5.83644607e-01 5.54883698e-03 6.04693752e+01] [-5.83628287e-01 8.12009159e-01 4.37589775e-03 -1.09786659e+02] [-7.05967557e-03 3.14728140e-04 -9.99975031e-01 6.77300960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89762800000003 meters 0.019998429942178975 Centerline is valid? [True, True] Translation: X:60.38, Y:-109.82, Z:0.68 [[-7.64829598e-01 -6.44215549e-01 4.69172597e-03 6.03770673e+01] [-6.44201170e-01 7.64843939e-01 4.31298491e-03 -1.09822883e+02] [-6.36693011e-03 2.76283157e-04 -9.99979693e-01 6.76431082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92762800000003 meters 0.021823120847241133 Centerline is valid? [True, True] Translation: X:60.29, Y:-109.88, Z:0.68 [[-7.12268694e-01 -7.01886942e-01 5.29407372e-03 6.02864404e+01] [-7.01864148e-01 7.12288297e-01 5.66565541e-03 -1.09875317e+02] [-7.74755631e-03 3.19748438e-04 -9.99969936e-01 6.78226259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95762800000003 meters 0.022191564159583507 Centerline is valid? [True, True] Translation: X:60.20, Y:-109.94, Z:0.68 [[-6.55797472e-01 -7.54922829e-01 4.60413836e-03 6.01977029e+01] [-7.54901006e-01 6.55813568e-01 5.74762487e-03 -1.09937124e+02] [-7.35846963e-03 2.93609184e-04 -9.99972883e-01 6.77510811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98762800000003 meters 0.018771176063677786 Centerline is valid? [True, True] Translation: X:60.11, Y:-110.01, Z:0.67 [[-5.94417581e-01 -8.04152057e-01 2.68486995e-03 6.01103455e+01] [-8.04142465e-01 5.94423618e-01 3.93172885e-03 -1.10006418e+02] [-4.75765796e-03 1.78070811e-04 -9.99988666e-01 6.73524626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01762800000003 meters 0.021214137906240525 Centerline is valid? [True, True] Translation: X:60.03, Y:-110.09, Z:0.68 [[-5.30177954e-01 -8.47881926e-01 2.75247835e-03 6.00282231e+01] [-8.47868487e-01 5.30185061e-01 4.77811561e-03 -1.10085034e+02] [-5.51060077e-03 1.99511903e-04 -9.99984797e-01 6.75622230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.047628 meters 0.01762703306073092 Centerline is valid? [True, True] Translation: X:59.95, Y:-110.17, Z:0.67 [[-4.59153214e-01 -8.88356068e-01 1.35048441e-03 5.99487625e+01] [-8.88351584e-01 4.59155189e-01 2.82391220e-03 -1.10171870e+02] [-3.12872146e-03 9.69033927e-05 -9.99995101e-01 6.72601669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.077628 meters 0.01605205504377321 Centerline is valid? [True, True] Translation: X:59.88, Y:-110.26, Z:0.67 [[-3.87522248e-01 -9.21859851e-01 9.60299459e-04 5.98765492e+01] [-9.21856518e-01 3.87523430e-01 2.48023983e-03 -1.10263218e+02] [-2.65857206e-03 7.58897985e-05 -9.99996463e-01 6.71887808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.107628 meters 0.017087494135375646 Centerline is valid? [True, True] Translation: X:59.81, Y:-110.37, Z:0.67 [[-3.14109672e-01 -9.49386236e-01 9.43020710e-04 5.98114536e+01] [-9.49381080e-01 3.14111076e-01 3.13017087e-03 -1.10365326e+02] [-3.26795439e-03 8.79309253e-05 -9.99994656e-01 6.73134669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.137628 meters 0.01583420008439028 Centerline is valid? [True, True] Translation: X:59.76, Y:-110.47, Z:0.67 [[-2.37954722e-01 -9.71276218e-01 2.41272202e-04 5.97565875e+01] [-9.71275596e-01 2.37954843e-01 1.09962673e-03 -1.10472124e+02] [-1.12545318e-03 2.73195728e-05 -9.99999366e-01 6.70735232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.167628 meters 0.015190745507995458 Centerline is valid? [True, True] Translation: X:59.71, Y:-110.58, Z:0.67 [[-1.60344745e-01 -9.87061070e-01 7.80849989e-05 5.97086197e+01] [-9.87060914e-01 1.60344763e-01 5.56477697e-04 -1.10580601e+02] [-5.61797992e-04 1.21536238e-05 -9.99999842e-01 6.70022870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.197628 meters 0.01468834529638406 Centerline is valid? [True, True] Translation: X:59.67, Y:-110.70, Z:0.67 [[-8.15514419e-02 -9.96669133e-01 4.07405159e-05 5.96689860e+01] [-9.96668919e-01 8.15514510e-02 6.53417162e-04 -1.10696602e+02] [-6.54563165e-04 1.26823057e-05 -9.99999786e-01 6.69576987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.227628 meters 0.012746916270480817 Centerline is valid? [True, True] Translation: X:59.64, Y:-110.82, Z:0.67 [[ 5.40717880e-04 -9.99999854e-01 -1.32391790e-05 5.96354480e+01] [-9.99999461e-01 -5.40729398e-04 8.86058290e-04 -1.10817903e+02] [-8.86065319e-04 1.27600643e-05 -9.99999607e-01 6.70055717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.257628 meters 0.012295107349677056 Centerline is valid? [True, True] Translation: X:59.61, Y:-110.94, Z:0.67 [[ 7.97404980e-02 -9.96815645e-01 -1.49837059e-04 5.96135702e+01] [-9.96814325e-01 -7.97406362e-02 1.62267697e-03 -1.10938183e+02] [-1.62945789e-03 1.99666573e-05 -9.99998672e-01 6.70998355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.287628 meters 0.011897816038487682 Centerline is valid? [True, True] Translation: X:59.60, Y:-111.06, Z:0.67 [[ 1.58703703e-01 -9.87326160e-01 -4.34284749e-04 5.96006036e+01] [-9.87322888e-01 -1.58704295e-01 2.54186196e-03 -1.11055217e+02] [-2.57856966e-03 2.53763680e-05 -9.99996675e-01 6.71637012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.317628 meters 0.011677829469551971 Centerline is valid? [True, True] Translation: X:59.60, Y:-111.18, Z:0.67 [[ 2.36544613e-01 -9.71620292e-01 -8.09518923e-04 5.95984611e+01] [-9.71614953e-01 -2.36545996e-01 3.22083801e-03 -1.11177515e+02] [-3.32092003e-03 2.46688116e-05 -9.99994485e-01 6.72726056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34762800000001 meters 0.014919293155494902 Centerline is valid? [True, True] Translation: X:59.61, Y:-111.30, Z:0.68 [[ 3.13574019e-01 -9.49561638e-01 -2.00753970e-03 5.96065114e+01] [-9.49542727e-01 -3.13580444e-01 5.99278796e-03 -1.11300589e+02] [-6.32004674e-03 2.70621106e-05 -9.99980028e-01 6.75884487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37762800000002 meters 0.011173938278260409 Centerline is valid? [True, True] Translation: X:59.62, Y:-111.42, Z:0.67 [[ 3.87369758e-01 -9.21922319e-01 -1.97704876e-03 5.96216256e+01] [-9.21910472e-01 -3.87374803e-01 4.67361053e-03 -1.11415009e+02] [-5.07456473e-03 1.22465797e-05 -9.99987124e-01 6.73302112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40762800000002 meters 0.011236507230757937 Centerline is valid? [True, True] Translation: X:59.65, Y:-111.53, Z:0.67 [[ 4.57954757e-01 -8.88972275e-01 -2.39487129e-03 5.96475046e+01] [-8.88960202e-01 -4.57961018e-01 4.63294914e-03 -1.11529988e+02] [-5.21532103e-03 7.26417235e-06 -9.99986400e-01 6.73680800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43762800000002 meters 0.011260359424398198 Centerline is valid? [True, True] Translation: X:59.68, Y:-111.64, Z:0.67 [[ 5.25318252e-01 -8.50901625e-01 -2.67533128e-03 5.96836930e+01] [-8.50890631e-01 -5.25325065e-01 4.32561621e-03 -1.11639361e+02] [-5.08609244e-03 4.08917224e-06 -9.99987066e-01 6.73023583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46762800000002 meters 0.011254984824261531 Centerline is valid? [True, True] Translation: X:59.72, Y:-111.74, Z:0.67 [[ 5.88914054e-01 -8.08190194e-01 -2.97440039e-03 5.97236152e+01] [-8.08179928e-01 -5.88921565e-01 4.07360671e-03 -1.11742990e+02] [-5.04393753e-03 4.84645364e-06 -9.99987279e-01 6.73165496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49762800000002 meters 0.011289624228191197 Centerline is valid? [True, True] Translation: X:59.77, Y:-111.84, Z:0.67 [[ 6.48748282e-01 -7.60996237e-01 -3.22396603e-03 5.97720464e+01] [-7.60986892e-01 -6.48756293e-01 3.77130018e-03 -1.11843765e+02] [-4.96151349e-03 6.77137572e-06 -9.99987692e-01 6.73231867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52762800000002 meters 0.011342327519090171 Centerline is valid? [True, True] Translation: X:59.83, Y:-111.94, Z:0.67 [[ 7.04654117e-01 -7.09542063e-01 -3.55483293e-03 5.98259599e+01] [-7.09533101e-01 -7.04663084e-01 3.56615448e-03 -1.11937572e+02] [-5.03529613e-03 9.36619679e-06 -9.99987323e-01 6.73750620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55762800000002 meters 0.011548648308335274 Centerline is valid? [True, True] Translation: X:59.89, Y:-112.02, Z:0.67 [[ 7.56122719e-01 -6.54418907e-01 -3.78508520e-03 5.98895024e+01] [-6.54410801e-01 -7.56132193e-01 3.25725919e-03 -1.12023144e+02] [-4.99363677e-03 1.41129655e-05 -9.99987532e-01 6.73493724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58762800000002 meters 0.011535195453196161 Centerline is valid? [True, True] Translation: X:59.89, Y:-112.03, Z:0.67 [[ 8.04655240e-01 -5.93726194e-01 -4.37631065e-03 5.98879233e+01] [-5.93717535e-01 -8.04667140e-01 3.20659911e-03 -1.12027205e+02] [-5.42531526e-03 1.80855942e-05 -9.99985283e-01 6.73586053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61762800000002 meters 0.011596158320645837 Centerline is valid? [True, True] Translation: X:59.89, Y:-112.03, Z:0.67 [[ 8.48467576e-01 -5.29224025e-01 -4.97030985e-03 5.98861311e+01] [-5.29215090e-01 -8.48482134e-01 3.07531998e-03 -1.12030323e+02] [-5.84475233e-03 2.10536796e-05 -9.99982919e-01 6.73478166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64762800000003 meters 0.011620212274340408 Centerline is valid? [True, True] Translation: X:59.88, Y:-112.03, Z:0.67 [[ 8.87253491e-01 -4.61246519e-01 -5.73501874e-03 5.98848697e+01] [-4.61237052e-01 -8.87272026e-01 2.95530063e-03 -1.12034081e+02] [-6.45164382e-03 2.31023375e-05 -9.99979188e-01 6.73419246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67762800000003 meters 0.011773987572270599 Centerline is valid? [True, True] Translation: X:59.88, Y:-112.04, Z:0.67 [[ 9.20653069e-01 -3.90330367e-01 -6.33493394e-03 5.98847142e+01] [-3.90321303e-01 -9.20674863e-01 2.66018406e-03 -1.12035329e+02] [-6.87076506e-03 2.35530534e-05 -9.99976396e-01 6.72592949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70762800000003 meters 0.011824156593241505 Centerline is valid? [True, True] Translation: X:59.88, Y:-112.04, Z:0.67 [[ 9.48321231e-01 -3.17245074e-01 -6.51202603e-03 5.98819128e+01] [-3.17237769e-01 -9.48343589e-01 2.15300105e-03 -1.12038426e+02] [-6.85866712e-03 2.41240042e-05 -9.99976479e-01 6.72266522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73762800000003 meters 0.01186002528921068 Centerline is valid? [True, True] Translation: X:59.88, Y:-112.04, Z:0.67 [[ 9.70138442e-01 -2.42455075e-01 -6.85127811e-03 5.98795689e+01] [-2.42449228e-01 -9.70162634e-01 1.68408843e-03 -1.12040422e+02] [-7.05516980e-03 2.72881601e-05 -9.99975112e-01 6.72897938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76762800000003 meters 0.012182211830851167 Centerline is valid? [True, True] Translation: X:59.87, Y:-112.03, Z:0.67 [[ 9.85774049e-01 -1.67881507e-01 -8.08233722e-03 5.98747867e+01] [-1.67876276e-01 -9.85807181e-01 1.32610116e-03 -1.12034764e+02] [-8.19025393e-03 4.95965636e-05 -9.99966458e-01 6.74191859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.797628 meters 0.012230007586679807 Centerline is valid? [True, True] Translation: X:59.87, Y:-112.04, Z:0.67 [[ 9.95700412e-01 -9.22048426e-02 -8.88571138e-03 5.98691861e+01] [-9.22018159e-02 -9.95740057e-01 7.50542416e-04 -1.12039357e+02] [-8.91706241e-03 7.19633319e-05 -9.99960240e-01 6.73757203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.827628 meters 0.012730698868996476 Centerline is valid? [True, True] Translation: X:59.86, Y:-112.04, Z:0.67 [[ 9.99818143e-01 -1.65601144e-02 -9.45745210e-03 5.98622506e+01] [-1.65603234e-02 -9.99862867e-01 5.62193220e-05 -1.12042015e+02] [-9.45708617e-03 1.00409367e-04 -9.99955276e-01 6.74580654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.857628 meters 0.013282099791419495 Centerline is valid? [True, True] Translation: X:59.86, Y:-112.04, Z:0.67 [[ 9.98234151e-01 5.86100785e-02 -9.66636814e-03 5.98561301e+01] [ 5.86060371e-02 -9.98280943e-01 -7.01059158e-04 -1.12044444e+02] [-9.69084024e-03 1.33313663e-04 -9.99953034e-01 6.74645420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.887628 meters 0.014976460337547756 Centerline is valid? [True, True] Translation: X:59.85, Y:-112.04, Z:0.67 [[ 9.91446661e-01 1.30185727e-01 -9.23004821e-03 5.98482880e+01] [ 1.30178313e-01 -9.91489607e-01 -1.40212315e-03 -1.12039769e+02] [-9.33403329e-03 1.88578211e-04 -9.99956419e-01 6.73537361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.917628 meters 0.015947199374695128 Centerline is valid? [True, True] Translation: X:59.84, Y:-112.04, Z:0.67 [[ 9.78840582e-01 2.04452422e-01 -8.38586057e-03 5.98409716e+01] [ 2.04443166e-01 -9.78876482e-01 -1.95570750e-03 -1.12041335e+02] [-8.60857083e-03 1.99893985e-04 -9.99962926e-01 6.72605717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.947628 meters 0.018406504369910214 Centerline is valid? [True, True] Translation: X:59.83, Y:-112.04, Z:0.67 [[ 9.60510424e-01 2.78118776e-01 -8.34698133e-03 5.98341993e+01] [ 2.78106237e-01 -9.60546665e-01 -2.65041939e-03 -1.12044806e+02] [-8.75479648e-03 2.24407880e-04 -9.99961651e-01 6.73616048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.977628 meters 0.016297466872389064 Centerline is valid? [True, True] Translation: X:59.83, Y:-112.05, Z:0.67 [[ 9.34777744e-01 3.55205462e-01 -4.43276897e-03 5.98275114e+01] [ 3.55200916e-01 -9.34788248e-01 -1.80027101e-03 -1.12053952e+02] [-4.78316644e-03 1.08329673e-04 -9.99988555e-01 6.68892021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.007628 meters 0.015384489441813814 Centerline is valid? [True, True] Translation: X:59.82, Y:-112.06, Z:0.67 [[ 9.03445532e-01 4.28686942e-01 -3.69817798e-03 5.98230110e+01] [ 4.28682953e-01 -9.03453097e-01 -1.85135105e-03 -1.12063789e+02] [-4.13478037e-03 8.72489793e-05 -9.99991448e-01 6.68004756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.037628 meters 0.017474392275209402 Centerline is valid? [True, True] Translation: X:59.82, Y:-112.07, Z:0.67 [[ 8.66720411e-01 4.98776084e-01 -4.25996591e-03 5.98177388e+01] [ 4.98769483e-01 -8.66730874e-01 -2.56821852e-03 -1.12072204e+02] [-4.97320996e-03 1.01186417e-04 -9.99987628e-01 6.70682239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.067628 meters 0.014147932291533567 Centerline is valid? [True, True] Translation: X:59.82, Y:-112.09, Z:0.67 [[ 8.23838888e-01 5.66808700e-01 -4.16947470e-03 5.98173897e+01] [ 5.66800860e-01 -8.23849434e-01 -2.98259008e-03 -1.12086373e+02] [-5.12557737e-03 9.39118540e-05 -9.99986860e-01 6.67970003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09762800000001 meters 0.017404053987622826 Centerline is valid? [True, True] Translation: X:59.81, Y:-112.10, Z:0.67 [[ 7.76115456e-01 6.30565495e-01 -5.65298663e-03 5.98140789e+01] [ 6.30547578e-01 -7.76136032e-01 -4.75511913e-03 -1.12097675e+02] [-7.38590067e-03 1.26044421e-04 -9.99972716e-01 6.73619664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12762800000002 meters 0.014671770648050005 Centerline is valid? [True, True] Translation: X:59.81, Y:-112.11, Z:0.67 [[ 7.23635068e-01 6.90163300e-01 -5.18727386e-03 5.98097663e+01] [ 6.90144406e-01 -7.23653650e-01 -5.10825400e-03 -1.12106276e+02] [-7.27931911e-03 1.16543693e-04 -9.99973499e-01 6.71367695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15762800000002 meters 0.01696217866005674 Centerline is valid? [True, True] Translation: X:59.80, Y:-112.11, Z:0.67 [[ 6.68047556e-01 7.44099723e-01 -5.29759555e-03 5.98037527e+01] [ 7.44074690e-01 -6.68068547e-01 -6.10505569e-03 -1.12113592e+02] [-8.08192721e-03 1.36660769e-04 -9.99967331e-01 6.74709798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18762800000002 meters 0.016240542788841177 Centerline is valid? [True, True] Translation: X:59.81, Y:-112.13, Z:0.67 [[ 6.09101334e-01 7.93075950e-01 -5.10894159e-03 5.98104469e+01] [ 7.93045817e-01 -6.09122739e-01 -6.91531458e-03 -1.12129305e+02] [-8.59634217e-03 1.60502583e-04 -9.99963038e-01 6.73972638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21762800000002 meters 0.016185308719852055 Centerline is valid? [True, True] Translation: X:59.81, Y:-112.14, Z:0.67 [[ 5.47200402e-01 8.36989014e-01 -4.59456912e-03 5.98120769e+01] [ 8.36956643e-01 -5.47219660e-01 -7.36350980e-03 -1.12141844e+02] [-8.67741536e-03 1.83860375e-04 -9.99962334e-01 6.73770224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24762800000002 meters 0.015408304275744146 Centerline is valid? [True, True] Translation: X:59.82, Y:-112.15, Z:0.67 [[ 4.82548259e-01 8.75860837e-01 -3.86953283e-03 5.98155806e+01] [ 8.75829240e-01 -4.82563731e-01 -7.44233894e-03 -1.12153671e+02] [-8.38574941e-03 2.02237695e-04 -9.99964819e-01 6.71733216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27762800000002 meters 0.017532350962801656 Centerline is valid? [True, True] Translation: X:59.82, Y:-112.17, Z:0.67 [[ 4.18900095e-01 9.08026771e-01 -3.17685658e-03 5.98155775e+01] [ 9.07995901e-01 -4.18912065e-01 -7.49170276e-03 -1.12165200e+02] [-8.13349022e-03 2.53702246e-04 -9.99966890e-01 6.70998990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30762800000002 meters 0.019732583506645668 Centerline is valid? [True, True] Translation: X:59.82, Y:-112.18, Z:0.67 [[ 3.49423491e-01 9.36961554e-01 -2.50418917e-03 5.98167325e+01] [ 9.36931653e-01 -3.49432359e-01 -7.49033079e-03 -1.12176885e+02] [-7.89319671e-03 2.71043431e-04 -9.99968812e-01 6.71348657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33762800000002 meters 0.018850376164673416 Centerline is valid? [True, True] Translation: X:59.83, Y:-112.19, Z:0.67 [[ 2.79240930e-01 9.60218968e-01 -2.00920331e-03 5.98267430e+01] [ 9.60185177e-01 -2.79247973e-01 -8.06197635e-03 -1.12189455e+02] [-8.30232856e-03 3.22026546e-04 -9.99965483e-01 6.70424927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36762800000002 meters 0.02847253123338964 Centerline is valid? [True, True] Translation: X:59.82, Y:-112.20, Z:0.67 [[ 2.04718143e-01 9.78820019e-01 -1.36126118e-03 5.98219818e+01] [ 9.78786276e-01 -2.04722398e-01 -8.13420645e-03 -1.12199329e+02] [-8.24060476e-03 3.32835872e-04 -9.99965990e-01 6.73044776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39762800000003 meters 0.020650465216524076 Centerline is valid? [True, True] Translation: X:59.85, Y:-112.21, Z:0.67 [[ 1.28563776e-01 9.91700921e-01 -7.98973198e-04 5.98477848e+01] [ 9.91659025e-01 -1.28565695e-01 -9.12359907e-03 -1.12212673e+02] [-9.15060215e-03 3.80655361e-04 -9.99958060e-01 6.72928302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42762800000003 meters 0.020192214944142427 Centerline is valid? [True, True] Translation: X:59.86, Y:-112.22, Z:0.67 [[ 4.97146379e-02 9.98763460e-01 -7.43308856e-05 5.98581876e+01] [ 9.98729006e-01 -4.97135408e-02 -8.30274999e-03 -1.12223197e+02] [-8.29617856e-03 3.38531798e-04 -9.99965529e-01 6.71246052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45762800000003 meters 0.020656133083397143 Centerline is valid? [True, True] Translation: X:59.87, Y:-112.23, Z:0.67 [[-2.94007603e-02 9.99567528e-01 5.94208735e-04 5.98678772e+01] [ 9.99531123e-01 2.94047649e-02 -8.53779057e-03 -1.12233597e+02] [-8.55157078e-03 3.42912590e-04 -9.99963376e-01 6.71739489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48762800000003 meters 0.01834995593066826 Centerline is valid? [True, True] Translation: X:59.89, Y:-112.24, Z:0.67 [[-1.11001513e-01 9.93819450e-01 1.25114822e-03 5.98852595e+01] [ 9.93784030e-01 1.11008128e-01 -8.39625593e-03 -1.12240826e+02] [-8.48325007e-03 3.11374006e-04 -9.99963968e-01 6.70727539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51762800000003 meters 0.018148148266105103 Centerline is valid? [True, True] Translation: X:59.90, Y:-112.25, Z:0.67 [[-1.90427117e-01 9.81699944e-01 1.65338073e-03 5.98986468e+01] [ 9.81673723e-01 1.90434123e-01 -7.17955259e-03 -1.12248383e+02] [-7.36302648e-03 2.55898914e-04 -9.99972860e-01 6.70348528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.547628 meters 0.018148148266105103 Centerline is valid? [True, True] Translation: X:59.91, Y:-112.25, Z:0.67 [[-2.66736675e-01 9.63766911e-01 2.21067250e-03 5.99106960e+01] [ 9.63741320e-01 2.66745713e-01 -7.02796761e-03 -1.12254734e+02] [-7.36301005e-03 2.55899721e-04 -9.99972860e-01 6.70348387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.577628 meters 0.019485734257550173 Centerline is valid? [True, True] Translation: X:59.92, Y:-112.26, Z:0.67 [[-3.43720989e-01 9.39068615e-01 2.45298986e-03 5.99216290e+01] [ 9.39048924e-01 3.43729677e-01 -6.08503411e-03 -1.12261021e+02] [-6.55742996e-03 2.11923542e-04 -9.99978477e-01 6.70495383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.607628 meters 0.01682159912881877 Centerline is valid? [True, True] Translation: X:59.94, Y:-112.26, Z:0.67 [[-4.18083100e-01 9.08405076e-01 2.59619884e-03 5.99386236e+01] [ 9.08390098e-01 4.18091123e-01 -5.21936373e-03 -1.12262672e+02] [-5.82674420e-03 1.76233557e-04 -9.99983009e-01 6.69084909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.637628 meters 0.016591559181909247 Centerline is valid? [True, True] Translation: X:59.95, Y:-112.27, Z:0.67 [[-4.91474102e-01 8.70889719e-01 2.07472050e-03 5.99525967e+01] [ 8.70882846e-01 4.91478470e-01 -3.46146701e-03 -1.12265881e+02] [-4.03423649e-03 1.05617105e-04 -9.99991857e-01 6.67627445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.667628 meters 0.015194050464394312 Centerline is valid? [True, True] Translation: X:59.97, Y:-112.26, Z:0.67 [[-5.59585526e-01 8.28770221e-01 1.98998633e-03 5.99680832e+01] [ 8.28765505e-01 5.59589058e-01 -2.79714884e-03 -1.12264787e+02] [-3.43176824e-03 8.39880222e-05 -9.99994108e-01 6.66711394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.697628 meters 0.017179970273481886 Centerline is valid? [True, True] Translation: X:59.98, Y:-112.26, Z:0.67 [[-6.23504459e-01 7.81815401e-01 2.62065721e-03 5.99841754e+01] [ 7.81809135e-01 6.23509959e-01 -3.13166906e-03 -1.12262142e+02] [-4.08239297e-03 9.62441290e-05 -9.99991662e-01 6.70079263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.727628 meters 0.014724409466203727 Centerline is valid? [True, True] Translation: X:60.00, Y:-112.26, Z:0.67 [[-6.84716597e-01 7.28804051e-01 2.79939024e-03 5.99983739e+01] [ 7.28798456e-01 6.84722314e-01 -2.85717835e-03 -1.12260993e+02] [-3.99912812e-03 8.38338485e-05 -9.99992000e-01 6.67131713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.757628 meters 0.01403783742334625 Centerline is valid? [True, True] Translation: X:60.01, Y:-112.26, Z:0.67 [[-7.40662647e-01 6.71867993e-01 3.49898416e-03 6.00121844e+01] [ 6.71861069e-01 7.40670906e-01 -3.05160359e-03 -1.12256455e+02] [-4.64187054e-03 9.06224458e-05 -9.99989222e-01 6.67496290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.787628 meters 0.016079000832065905 Centerline is valid? [True, True] Translation: X:60.03, Y:-112.24, Z:0.67 [[-7.87787314e-01 6.15935180e-01 3.87317072e-03 6.00327832e+01] [ 6.15928252e-01 7.87796831e-01 -2.92265171e-03 -1.12235620e+02] [-4.85143563e-03 8.31673260e-05 -9.99988228e-01 6.71891188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.817628 meters 0.013489073385058203 Centerline is valid? [True, True] Translation: X:60.06, Y:-112.22, Z:0.67 [[-8.30651436e-01 5.56781974e-01 3.46780258e-03 6.00557752e+01] [ 5.56777429e-01 8.30658672e-01 -2.25047047e-03 -1.12216143e+02] [-4.13358168e-03 6.14376769e-05 -9.99991455e-01 6.69063926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84762800000001 meters 0.013192971030211107 Centerline is valid? [True, True] Translation: X:60.08, Y:-112.20, Z:0.67 [[-8.68627881e-01 4.95452250e-01 3.55973492e-03 6.00776004e+01] [ 4.95448349e-01 8.68635173e-01 -1.96698414e-03 -1.12196216e+02] [-4.06665768e-03 5.50875209e-05 -9.99991730e-01 6.68785372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87762800000002 meters 0.012960184856312168 Centerline is valid? [True, True] Translation: X:60.10, Y:-112.17, Z:0.67 [[-9.02467981e-01 4.30746537e-01 2.99386053e-03 6.00952697e+01] [ 4.30744303e-01 9.02472947e-01 -1.38798782e-03 -1.12174241e+02] [-3.29974908e-03 3.69737997e-05 -9.99994555e-01 6.67905616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90762800000002 meters 0.012742404261073557 Centerline is valid? [True, True] Translation: X:60.11, Y:-112.15, Z:0.67 [[-9.31069450e-01 3.64829091e-01 3.06825190e-03 6.01110364e+01] [ 3.64827229e-01 9.31074505e-01 -1.16623956e-03 -1.12150989e+02] [-3.28224924e-03 3.35318157e-05 -9.99994613e-01 6.67691923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93762800000002 meters 0.012724387074373442 Centerline is valid? [True, True] Translation: X:60.41, Y:-111.37, Z:-0.18 [[-9.12776986e-01 -4.08445844e-01 3.18840344e-03 6.04123894e+01] [ 4.08443268e-01 -9.12782554e-01 -1.45100535e-03 -1.11369986e+02] [ 3.50297614e-03 -2.21623668e-05 9.99993864e-01 -1.81142377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96762800000002 meters 0.012720813679120148 Centerline is valid? [True, True] Translation: X:60.07, Y:-112.14, Z:0.67 [[-9.32831587e-01 3.60299052e-01 3.13437902e-03 6.00685900e+01] [ 3.60297128e-01 9.32836852e-01 -1.17788201e-03 -1.12137436e+02] [-3.34825403e-03 3.05422161e-05 -9.99994394e-01 6.68618924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99762800000002 meters 0.012606529541086667 Centerline is valid? [True, True] Translation: X:60.08, Y:-112.11, Z:0.67 [[-9.56263137e-01 2.92480412e-01 4.00254825e-03 6.00778976e+01] [ 2.92478001e-01 9.56271513e-01 -1.18812200e-03 -1.12113904e+02] [-4.17502529e-03 3.45000425e-05 -9.99991284e-01 6.69201521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02762800000002 meters 0.012586574761299743 Centerline is valid? [True, True] Translation: X:60.09, Y:-112.09, Z:0.67 [[-9.74679796e-01 2.23557540e-01 4.61764105e-03 6.00935669e+01] [ 2.23555211e-01 9.74690733e-01 -1.02098214e-03 -1.12090739e+02] [-4.72902020e-03 3.71670526e-05 -9.99988817e-01 6.69082476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05762800000002 meters 0.012549948118783629 Centerline is valid? [True, True] Translation: X:60.28, Y:-111.26, Z:-0.18 [[-9.61768483e-01 -2.73821428e-01 4.81778067e-03 6.02795670e+01] [ 2.73817881e-01 -9.61780549e-01 -1.39381677e-03 -1.11262844e+02] [ 5.01530464e-03 -2.13345462e-05 9.99987423e-01 -1.82297598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08762800000002 meters 0.012544757165640774 Centerline is valid? [True, True] Translation: X:60.04, Y:-112.08, Z:0.67 [[-9.75781161e-01 2.18697503e-01 4.74642354e-03 6.00388909e+01] [ 2.18695084e-01 9.75792704e-01 -1.02928232e-03 -1.12082258e+02] [-4.85662693e-03 3.36651987e-05 -9.99988206e-01 6.69682167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11762800000002 meters 0.012533275564011145 Centerline is valid? [True, True] Translation: X:60.23, Y:-111.25, Z:-0.18 [[-9.62486533e-01 -2.71291020e-01 4.56690431e-03 6.02309939e+01] [ 2.71287772e-01 -9.62497367e-01 -1.32817417e-03 -1.11249029e+02] [ 4.75595510e-03 -3.94044601e-05 9.99988690e-01 -1.83391053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14762800000003 meters 0.014545652057100839 Centerline is valid? [True, True] Translation: X:59.99, Y:-112.08, Z:0.67 [[-9.76725174e-01 2.14439511e-01 4.86110461e-03 5.99889158e+01] [ 2.14437023e-01 9.76737270e-01 -1.03347596e-03 -1.12076596e+02] [-4.96964013e-03 3.29788174e-05 -9.99987651e-01 6.73154956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17762800000003 meters 0.012653496615733216 Centerline is valid? [True, True] Translation: X:59.99, Y:-112.05, Z:0.67 [[-9.89580069e-01 1.43932032e-01 3.85460490e-03 5.99936776e+01] [ 1.43931031e-01 9.89587576e-01 -5.37427060e-04 -1.12051423e+02] [-3.89182208e-03 2.29701493e-05 -9.99992427e-01 6.70290438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20762800000003 meters 0.012816169804238997 Centerline is valid? [True, True] Translation: X:60.00, Y:-112.03, Z:0.67 [[-9.97210867e-01 7.45836060e-02 2.78796092e-03 6.00040116e+01] [ 7.45833705e-02 9.97214764e-01 -1.88481264e-04 -1.12029373e+02] [-2.79425340e-03 1.99799578e-05 -9.99996096e-01 6.69350283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23762800000003 meters 0.012937710045142738 Centerline is valid? [True, True] Translation: X:60.01, Y:-112.00, Z:0.67 [[-9.99993114e-01 3.33282676e-03 1.63200951e-03 6.00114200e+01] [ 3.33284057e-03 9.99994446e-01 5.73932741e-06 -1.12002795e+02] [-1.63198131e-03 1.11785154e-05 -9.99998668e-01 6.68611346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26762800000003 meters 0.012872860038997458 Centerline is valid? [True, True] Translation: X:60.01, Y:-111.97, Z:0.67 [[-9.97673397e-01 -6.81746144e-02 1.25960522e-04 6.00133668e+01] [-6.81746138e-02 9.97673404e-01 9.01845242e-06 -1.11973681e+02] [-1.26282292e-04 4.10160117e-07 -9.99999992e-01 6.67990534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.297628 meters 0.012803662372062449 Centerline is valid? [True, True] Translation: X:60.01, Y:-111.95, Z:0.67 [[-9.90297520e-01 -1.38962504e-01 -4.93593516e-04 6.00051919e+01] [-1.38962485e-01 9.90297643e-01 -7.32470065e-05 -1.11946402e+02] [ 4.98983083e-04 -3.94534721e-06 -9.99999876e-01 6.67890209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.327628 meters 0.012906809607133102 Centerline is valid? [True, True] Translation: X:59.99, Y:-111.92, Z:0.67 [[-9.77886692e-01 -2.09133054e-01 -9.91397629e-04 5.99880131e+01] [-2.09132938e-01 9.77887195e-01 -2.20468091e-04 -1.11921222e+02] [ 1.01558221e-03 -8.25891383e-06 -9.99999484e-01 6.67993294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.357628 meters 0.013006757216968381 Centerline is valid? [True, True] Translation: X:59.94, Y:-111.90, Z:0.67 [[-9.60507569e-01 -2.78251341e-01 -1.18369021e-03 5.99429781e+01] [-2.78251114e-01 9.60508298e-01 -3.55488841e-04 -1.11904165e+02] [ 1.23585952e-03 -1.20866029e-05 -9.99999236e-01 6.68394589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.387628 meters 0.01644039943240719 Centerline is valid? [True, True] Translation: X:59.89, Y:-111.90, Z:0.67 [[-9.38063146e-01 -3.46464287e-01 -1.80323609e-04 5.98867859e+01] [-3.46464280e-01 9.38063163e-01 -6.94937505e-05 -1.11895803e+02] [ 1.93232037e-04 -2.71383691e-06 -9.99999981e-01 6.71780076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.417628 meters 0.01325966626059076 Centerline is valid? [True, True] Translation: X:59.82, Y:-111.89, Z:0.67 [[-9.09688401e-01 -4.15290146e-01 -1.05264491e-03 5.98166454e+01] [-4.15289850e-01 9.09689010e-01 -4.96077855e-04 -1.11894492e+02] [ 1.16359575e-03 -1.41235241e-05 -9.99999323e-01 6.68362227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.447628 meters 0.013464987985488739 Centerline is valid? [True, True] Translation: X:59.74, Y:-111.90, Z:0.67 [[-8.76659569e-01 -4.81110772e-01 -6.51945395e-04 5.97388869e+01] [-4.81110631e-01 8.76659811e-01 -3.69563059e-04 -1.11903372e+02] [ 7.49335096e-04 -1.03231315e-05 -9.99999719e-01 6.69046691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.477628 meters 0.014618646318969433 Centerline is valid? [True, True] Translation: X:59.65, Y:-111.92, Z:0.67 [[-8.40659382e-01 -5.41564148e-01 -2.78478569e-04 5.96546243e+01] [-5.41564115e-01 8.40659428e-01 -1.87318979e-04 -1.11923599e+02] [ 3.35550878e-04 -6.65745714e-06 -9.99999944e-01 6.71204535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.507628 meters 0.015383911114009404 Centerline is valid? [True, True] Translation: X:59.57, Y:-111.95, Z:0.67 [[-7.99083056e-01 -6.01220649e-01 -9.11687462e-06 5.95668140e+01] [-6.01220649e-01 7.99083056e-01 -7.76787149e-06 -1.11954049e+02] [ 1.19553447e-05 -7.25921216e-07 -1.00000000e+00 6.71831142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.537628 meters 0.01636242976189172 Centerline is valid? [True, True] Translation: X:59.47, Y:-112.00, Z:0.67 [[-7.53120390e-01 -6.57882723e-01 -3.74257579e-05 5.94742140e+01] [-6.57882722e-01 7.53120391e-01 -3.50119570e-05 -1.11997667e+02] [ 5.12198629e-05 -1.74645923e-06 -9.99999999e-01 6.72378026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.567628 meters 0.017219381943093758 Centerline is valid? [True, True] Translation: X:59.38, Y:-112.05, Z:0.67 [[-7.02870397e-01 -7.11317910e-01 -1.87105365e-04 5.93849765e+01] [-7.11317882e-01 7.02870422e-01 -2.01038505e-04 -1.12048187e+02] [ 2.74513116e-04 -8.21262213e-06 -9.99999962e-01 6.72543872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59762800000001 meters 0.01816441967160408 Centerline is valid? [True, True] Translation: X:59.30, Y:-112.11, Z:0.67 [[-6.50867603e-01 -7.59191211e-01 -2.63431476e-04 5.92960102e+01] [-7.59191139e-01 6.50867656e-01 -3.30309447e-04 -1.12108129e+02] [ 4.22227056e-04 -1.49928757e-05 -9.99999911e-01 6.72419718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62762800000002 meters 0.021434058691891314 Centerline is valid? [True, True] Translation: X:59.21, Y:-112.18, Z:0.67 [[-5.92423521e-01 -8.05626592e-01 -4.06927926e-04 5.92110638e+01] [-8.05626370e-01 5.92423661e-01 -5.99109035e-04 -1.12182992e+02] [ 7.23731901e-04 -2.70944167e-05 -9.99999738e-01 6.72638663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65762800000002 meters 0.018547597817676124 Centerline is valid? [True, True] Translation: X:59.12, Y:-112.26, Z:0.67 [[-5.29759357e-01 -8.48147920e-01 -3.59363008e-04 5.91204930e+01] [-8.48147688e-01 5.29759478e-01 -6.28386066e-04 -1.12264232e+02] [ 7.23340295e-04 -2.81004932e-05 -9.99999738e-01 6.73143934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68762800000002 meters 0.018831454935288105 Centerline is valid? [True, True] Translation: X:59.04, Y:-112.35, Z:0.67 [[-4.63201454e-01 -8.86253016e-01 -7.30201686e-05 5.90434162e+01] [-8.86253002e-01 4.63201460e-01 -1.55058631e-04 -1.12349182e+02] [ 1.71244228e-04 -7.10903969e-06 -9.99999985e-01 6.74056060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71762800000002 meters 0.019141206588149388 Centerline is valid? [True, True] Translation: X:58.97, Y:-112.45, Z:0.67 [[-3.92444325e-01 -9.19775742e-01 -1.90403221e-04 5.89703452e+01] [-9.19775607e-01 3.92444371e-01 -4.98930359e-04 -1.12446612e+02] [ 5.33626713e-04 -2.06741500e-05 -9.99999857e-01 6.74303926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74762800000002 meters 0.019657436569535554 Centerline is valid? [True, True] Translation: X:58.91, Y:-112.55, Z:0.67 [[-3.18339741e-01 -9.47976623e-01 -3.61973124e-04 5.89050816e+01] [-9.47975835e-01 3.18339943e-01 -1.22373988e-03 -1.12549786e+02] [ 1.27530730e-03 -4.64232608e-05 -9.99999186e-01 6.74585360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77762800000002 meters 0.019693565686763632 Centerline is valid? [True, True] Translation: X:58.85, Y:-112.66, Z:0.67 [[-2.41180557e-01 -9.70480173e-01 -4.14960918e-04 5.88462462e+01] [-9.70478227e-01 2.41180904e-01 -1.94463225e-03 -1.12659797e+02] [ 1.98730769e-03 -6.62969523e-05 -9.99998023e-01 6.74855599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80762800000002 meters 0.015511352792150488 Centerline is valid? [True, True] Translation: X:58.79, Y:-112.78, Z:0.68 [[-1.57031718e-01 -9.87593544e-01 -1.78458532e-04 5.87865779e+01] [-9.87592638e-01 1.57031816e-01 -1.33770046e-03 -1.12777581e+02] [ 1.34912801e-03 -3.38170694e-05 -9.99999089e-01 6.76364808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83762800000002 meters 0.01471725915982565 Centerline is valid? [True, True] Translation: X:58.74, Y:-112.90, Z:0.68 [[-7.55619947e-02 -9.97141105e-01 -4.64619770e-05 5.87440831e+01] [-9.97140746e-01 7.55620069e-02 -8.46077597e-04 -1.12898481e+02] [ 8.47169510e-04 -1.76021805e-05 -9.99999641e-01 6.77544869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86762800000002 meters 0.016777920867979433 Centerline is valid? [True, True] Translation: X:58.71, Y:-113.02, Z:0.68 [[ 5.35202226e-03 -9.99985677e-01 -2.69928781e-05 5.87111922e+01] [-9.99984912e-01 -5.35205157e-03 1.23742424e-03 -1.13019169e+02] [-1.23755098e-03 2.03697487e-05 -9.99999234e-01 6.81720398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89762800000003 meters 0.013454154321357468 Centerline is valid? [True, True] Translation: X:58.69, Y:-113.14, Z:0.68 [[ 8.70775502e-02 -9.96201536e-01 -2.22775705e-05 5.86899082e+01] [-9.96201510e-01 -8.70775530e-02 2.27728506e-04 -1.13142552e+02] [-2.28803364e-04 2.36290892e-06 -9.99999974e-01 6.78567592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92762800000003 meters 0.012648574298692056 Centerline is valid? [True, True] Translation: X:58.68, Y:-113.27, Z:0.68 [[ 1.69713761e-01 -9.85493397e-01 -5.59227892e-05 5.86774849e+01] [-9.85493347e-01 -1.69713770e-01 3.15084976e-04 -1.13267419e+02] [-3.20005031e-04 1.63728049e-06 -9.99999949e-01 6.78214976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95762800000003 meters 0.01239857197348082 Centerline is valid? [True, True] Translation: X:58.67, Y:-113.39, Z:0.68 [[ 2.47332883e-01 -9.68930566e-01 -4.89675563e-05 5.86748267e+01] [-9.68930548e-01 -2.47332888e-01 1.89908112e-04 -1.13388431e+02] [-1.96119062e-04 4.75640125e-07 -9.99999981e-01 6.78110311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98762800000003 meters 0.012336401934575492 Centerline is valid? [True, True] Translation: X:58.68, Y:-113.51, Z:0.68 [[ 3.22642276e-01 -9.46520971e-01 1.13766273e-04 5.86829683e+01] [-9.46520914e-01 -3.22642296e-01 -3.28564863e-04 -1.13511990e+02] [ 3.47699345e-04 -1.67324110e-06 -9.99999940e-01 6.77812505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01762800000003 meters 0.01235127304817127 Centerline is valid? [True, True] Translation: X:58.70, Y:-113.63, Z:0.68 [[ 3.95594712e-01 -9.18425121e-01 3.48318088e-04 5.86988597e+01] [-9.18424771e-01 -3.95594865e-01 -8.01295532e-04 -1.13629416e+02] [ 8.73722793e-04 -2.91568569e-06 -9.99999618e-01 6.77970186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.047628 meters 0.012340796214485758 Centerline is valid? [True, True] Translation: X:58.73, Y:-113.75, Z:0.68 [[ 4.65750896e-01 -8.84915660e-01 6.14301419e-04 5.87267262e+01] [-8.84914901e-01 -4.65751301e-01 -1.15925427e-03 -1.13746574e+02] [ 1.31195394e-03 -3.68076334e-06 -9.99999139e-01 6.78027606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.077628 meters 0.012431540261331872 Centerline is valid? [True, True] Translation: X:58.76, Y:-113.86, Z:0.68 [[ 5.32228890e-01 -8.46600051e-01 8.72797573e-04 5.87630496e+01] [-8.46598929e-01 -5.32229606e-01 -1.37829338e-03 -1.13860689e+02] [ 1.63139195e-03 -5.34193629e-06 -9.99998669e-01 6.78154327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.107628 meters 0.012484712811182113 Centerline is valid? [True, True] Translation: X:58.80, Y:-113.96, Z:0.68 [[ 5.95409446e-01 -8.03422111e-01 7.09366007e-04 5.88032291e+01] [-8.03421550e-01 -5.95409869e-01 -9.49163246e-04 -1.13964619e+02] [ 1.18494226e-03 -4.77917489e-06 -9.99999298e-01 6.78363340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.137628 meters 0.01268196189435393 Centerline is valid? [True, True] Translation: X:58.85, Y:-114.06, Z:0.68 [[ 6.53480823e-01 -7.56942983e-01 3.66367248e-04 5.88543898e+01] [-7.56942868e-01 -6.53480926e-01 -4.18325887e-04 -1.14064091e+02] [ 5.56062853e-04 -3.95112997e-06 -9.99999845e-01 6.79341347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.167628 meters 0.012712888428094917 Centerline is valid? [True, True] Translation: X:58.91, Y:-114.16, Z:0.68 [[ 7.09028383e-01 -7.05179862e-01 3.39126718e-04 5.89102506e+01] [-7.05179784e-01 -7.09028464e-01 -3.31826073e-04 -1.14160866e+02] [ 4.74447560e-04 -3.87120204e-06 -9.99999887e-01 6.79201978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.197628 meters 0.012758827352396706 Centerline is valid? [True, True] Translation: X:58.91, Y:-114.17, Z:0.68 [[ 7.62054506e-01 -6.47512503e-01 6.98317337e-04 5.89057494e+01] [-6.47512239e-01 -7.62054826e-01 -5.84410379e-04 -1.14166606e+02] [ 9.10569124e-04 -6.81646032e-06 -9.99999585e-01 6.79105241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.227628 meters 0.012748577685770479 Centerline is valid? [True, True] Translation: X:58.90, Y:-114.17, Z:0.68 [[ 8.10380932e-01 -5.85902924e-01 7.13427292e-04 5.88997751e+01] [-5.85902704e-01 -8.10381246e-01 -5.07866554e-04 -1.14170491e+02] [ 8.75708596e-04 -6.43360819e-06 -9.99999617e-01 6.79472066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.257628 meters 0.012803117000683966 Centerline is valid? [True, True] Translation: X:58.89, Y:-114.18, Z:0.68 [[ 8.53025612e-01 -5.21868898e-01 -3.97825928e-04 5.88921176e+01] [-5.21868843e-01 -8.53025705e-01 2.39487791e-04 -1.14178421e+02] [-4.64336972e-04 3.32373724e-06 -9.99999892e-01 6.80908224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.287628 meters 0.01301393629135911 Centerline is valid? [True, True] Translation: X:58.88, Y:-114.18, Z:0.68 [[ 8.90586856e-01 -4.54811708e-01 -1.16723387e-03 5.88839156e+01] [-4.54811335e-01 -8.90587621e-01 5.82730309e-04 -1.14183924e+02] [-1.30455660e-03 1.18992419e-05 -9.99999149e-01 6.81226217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.317628 meters 0.013217105421269632 Centerline is valid? [True, True] Translation: X:58.88, Y:-114.19, Z:0.68 [[ 9.22837428e-01 -3.85185311e-01 -1.83233766e-03 5.88782300e+01] [-3.85184597e-01 -9.22839247e-01 7.41832396e-04 -1.14189867e+02] [-1.97669605e-03 2.11975422e-05 -9.99998046e-01 6.81736301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34762800000001 meters 0.014048106599517607 Centerline is valid? [True, True] Translation: X:58.87, Y:-114.20, Z:0.68 [[ 9.48252790e-01 -3.17506588e-01 -2.49273221e-03 5.88719141e+01] [-3.17505612e-01 -9.48256065e-01 7.88448252e-04 -1.14196159e+02] [-2.61408595e-03 4.38082123e-05 -9.99996582e-01 6.81698770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37762800000002 meters 0.017404133714197342 Centerline is valid? [True, True] Translation: X:58.86, Y:-114.20, Z:0.68 [[ 9.67928185e-01 -2.51196454e-01 -3.92047135e-03 5.88629290e+01] [-2.51194830e-01 -9.67936119e-01 9.09294651e-04 -1.14199426e+02] [-4.02317741e-03 1.04670214e-04 -9.99991902e-01 6.84271140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40762800000002 meters 0.017424913927579798 Centerline is valid? [True, True] Translation: X:58.85, Y:-114.21, Z:0.68 [[ 9.83807539e-01 -1.79191609e-01 -3.61857719e-03 5.88542356e+01] [-1.79190814e-01 -9.83814187e-01 5.45218423e-04 -1.14206477e+02] [-3.65770615e-03 1.12025799e-04 -9.99993304e-01 6.83590005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43762800000002 meters 0.017424913927579798 Centerline is valid? [True, True] Translation: X:58.85, Y:-114.21, Z:0.68 [[ 9.94818574e-01 -1.01600601e-01 -3.65014329e-03 5.88454243e+01] [-1.01600330e-01 -9.94825264e-01 2.60177341e-04 -1.14214938e+02] [-3.65768893e-03 1.12026509e-04 -9.99993304e-01 6.83589848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46762800000002 meters 0.01878375457730264 Centerline is valid? [True, True] Translation: X:58.84, Y:-114.22, Z:0.68 [[ 9.99581405e-01 -2.86607918e-02 -3.94627042e-03 5.88376234e+01] [-2.86611279e-02 -9.99589185e-01 -2.86392586e-05 -1.14223448e+02] [-3.94382841e-03 1.41731832e-04 -9.99992213e-01 6.84296894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49762800000002 meters 0.01878375457730264 Centerline is valid? [True, True] Translation: X:58.83, Y:-114.23, Z:0.68 [[ 9.98757405e-01 4.96808366e-02 -3.93189994e-03 5.88303271e+01] [ 4.96798924e-02 -9.98765135e-01 -3.37488510e-04 -1.14233327e+02] [-3.94381129e-03 1.41732783e-04 -9.99992213e-01 6.84296737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52762800000002 meters 0.020136998434688323 Centerline is valid? [True, True] Translation: X:58.82, Y:-114.24, Z:0.68 [[ 9.92450821e-01 1.22573831e-01 -4.12608142e-03 5.88238167e+01] [ 1.22572050e-01 -9.92459383e-01 -6.82720212e-04 -1.14242559e+02] [-4.17865185e-03 1.71823976e-04 -9.99991255e-01 6.84670217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55762800000002 meters 0.02319033638409251 Centerline is valid? [True, True] Translation: X:58.82, Y:-114.25, Z:0.68 [[ 9.81330706e-01 1.92285931e-01 -4.02065726e-03 5.88168058e+01] [ 1.92283468e-01 -9.81338922e-01 -9.94008859e-04 -1.14249572e+02] [-4.13676138e-03 2.02345492e-04 -9.99991423e-01 6.83888942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58762800000002 meters 0.02279247238183782 Centerline is valid? [True, True] Translation: X:58.81, Y:-114.26, Z:0.68 [[ 9.63890534e-01 2.66271505e-01 -3.81105513e-03 5.88125707e+01] [ 2.66268574e-01 -9.63898046e-01 -1.26615731e-03 -1.14263333e+02] [-4.01061020e-03 2.05672836e-04 -9.99991936e-01 6.83220115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61762800000002 meters 0.024036587270508242 Centerline is valid? [True, True] Translation: X:58.81, Y:-114.28, Z:0.68 [[ 9.40601323e-01 3.39496013e-01 -3.40708842e-03 5.88089739e+01] [ 3.39493028e-01 -9.40607473e-01 -1.43701348e-03 -1.14275613e+02] [-3.69259317e-03 1.94974017e-04 -9.99993163e-01 6.83897106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64762800000003 meters 0.02484286862771758 Centerline is valid? [True, True] Translation: X:58.81, Y:-114.29, Z:0.68 [[ 9.10677638e-01 4.13109443e-01 -2.61279803e-03 5.88063308e+01] [ 4.13107259e-01 -9.10681374e-01 -1.35178269e-03 -1.14290328e+02] [-2.93786069e-03 1.51672437e-04 -9.99995673e-01 6.84001760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67762800000003 meters 0.023468815602950232 Centerline is valid? [True, True] Translation: X:58.81, Y:-114.30, Z:0.68 [[ 8.74118608e-01 4.85709583e-01 -1.69136186e-03 5.88056631e+01] [ 4.85708457e-01 -8.74120239e-01 -1.05038753e-03 -1.14304040e+02] [-1.98863692e-03 9.66545257e-05 -9.99998018e-01 6.82425325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70762800000003 meters 0.021443314768665612 Centerline is valid? [True, True] Translation: X:58.81, Y:-114.32, Z:0.68 [[ 8.31454392e-01 5.55591453e-01 -1.31586898e-03 5.88080433e+01] [ 5.55590615e-01 -8.31455430e-01 -9.67636384e-04 -1.14320713e+02] [-1.63169692e-03 7.34610630e-05 -9.99998666e-01 6.82157661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73762800000003 meters 0.02038011664699076 Centerline is valid? [True, True] Translation: X:58.81, Y:-114.34, Z:0.68 [[ 7.82577389e-01 6.22552786e-01 -8.12507165e-04 5.88103911e+01] [ 6.22552392e-01 -7.82577809e-01 -7.01654049e-04 -1.14335529e+02] [-1.07266676e-03 4.32703147e-05 -9.99999424e-01 6.81702972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76762800000003 meters 0.016789391729975272 Centerline is valid? [True, True] Translation: X:58.82, Y:-114.35, Z:0.68 [[ 7.24248368e-01 6.89538973e-01 -5.52440167e-04 5.88190748e+01] [ 6.89538748e-01 -7.24248579e-01 -5.58169826e-04 -1.14354918e+02] [-7.84983855e-04 2.33246844e-05 -9.99999692e-01 6.81591620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.797628 meters 0.014870481388280163 Centerline is valid? [True, True] Translation: X:58.83, Y:-114.37, Z:0.68 [[ 6.59666167e-01 7.51558719e-01 -1.99716679e-04 5.88263645e+01] [ 7.51558682e-01 -6.59666197e-01 -2.35831850e-04 -1.14371206e+02] [-3.08987825e-04 5.47148914e-06 -9.99999952e-01 6.81987127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.827628 meters 0.013237240091549892 Centerline is valid? [True, True] Translation: X:58.83, Y:-114.38, Z:0.68 [[ 5.94486464e-01 8.04105606e-01 -1.33984822e-04 5.88331449e+01] [ 8.04105585e-01 -5.94486479e-01 -1.85813535e-04 -1.14383560e+02] [-2.29065870e-04 2.72568808e-06 -9.99999974e-01 6.81808422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.857628 meters 0.013237240091549892 Centerline is valid? [True, True] Translation: X:58.84, Y:-114.39, Z:0.68 [[ 5.29702446e-01 8.48183532e-01 -1.19015080e-04 5.88359618e+01] [ 8.48183510e-01 -5.29702460e-01 -1.95720392e-04 -1.14392810e+02] [-2.29049394e-04 2.72694274e-06 -9.99999974e-01 6.81808277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.887628 meters 0.011928228955559422 Centerline is valid? [True, True] Translation: X:58.85, Y:-114.41, Z:0.68 [[ 4.52703083e-01 8.91661317e-01 1.19113039e-04 5.88457777e+01] [ 8.91661286e-01 -4.52703098e-01 2.37672338e-04 -1.14405320e+02] [ 2.65846071e-04 -1.38651418e-06 -9.99999965e-01 6.82241571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.917628 meters 0.011813001679930935 Centerline is valid? [True, True] Translation: X:58.86, Y:-114.42, Z:0.68 [[ 3.77616338e-01 9.25962145e-01 8.96687283e-05 5.88562826e+01] [ 9.25962118e-01 -3.77616348e-01 2.20674239e-04 -1.14415021e+02] [ 2.38196369e-04 -3.00352116e-07 -9.99999972e-01 6.82597754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.947628 meters 0.012190174421180956 Centerline is valid? [True, True] Translation: X:58.87, Y:-114.42, Z:0.68 [[ 2.98708686e-01 9.54344340e-01 4.84608437e-05 5.88661058e+01] [ 9.54344327e-01 -2.98708690e-01 1.53005470e-04 -1.14424818e+02] [ 1.60495579e-04 5.44268415e-07 -9.99999987e-01 6.83018321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.977628 meters 0.012241613721204048 Centerline is valid? [True, True] Translation: X:58.87, Y:-114.43, Z:0.68 [[ 2.21873975e-01 9.75075351e-01 1.62680249e-05 5.88719084e+01] [ 9.75075348e-01 -2.21873975e-01 7.09997436e-05 -1.14431789e+02] [ 7.28395511e-05 1.09554742e-07 -9.99999997e-01 6.83442161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.007628 meters 0.012182061428941961 Centerline is valid? [True, True] Translation: X:58.88, Y:-114.44, Z:0.68 [[ 1.44664100e-01 9.89480819e-01 -8.67580625e-05 5.88787151e+01] [ 9.89480659e-01 -1.44664126e-01 -5.61871111e-04 -1.14438221e+02] [-5.68511466e-04 -4.56284620e-06 -9.99999838e-01 6.83327170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.037628 meters 0.012238619640155397 Centerline is valid? [True, True] Translation: X:58.89, Y:-114.45, Z:0.68 [[ 6.73832795e-02 9.97727164e-01 -1.61165057e-05 5.88858752e+01] [ 9.97727141e-01 -6.73832814e-02 -2.11579400e-04 -1.14445504e+02] [-2.12184498e-04 -1.82296133e-06 -9.99999978e-01 6.83247264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.067628 meters 0.011997185256214538 Centerline is valid? [True, True] Translation: X:58.89, Y:-114.45, Z:0.68 [[-8.09983951e-03 9.99967196e-01 1.20226242e-06 5.88884236e+01] [ 9.99967126e-01 8.09983939e-03 -3.73954617e-04 -1.14451489e+02] [-3.73952088e-04 -1.82674949e-06 -9.99999930e-01 6.82716745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09762800000001 meters 0.011970859431855723 Centerline is valid? [True, True] Translation: X:58.89, Y:-114.46, Z:0.68 [[-8.44843481e-02 9.96424803e-01 8.33546353e-05 5.88944285e+01] [ 9.96424291e-01 8.44843892e-02 -1.01037318e-03 -1.14457627e+02] [-1.01380306e-03 -2.30413612e-06 -9.99999486e-01 6.83548030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12762800000002 meters 0.012007690780237848 Centerline is valid? [True, True] Translation: X:58.90, Y:-114.46, Z:0.68 [[-1.60193288e-01 9.87085592e-01 3.79558877e-04 5.89004705e+01] [ 9.87082824e-01 1.60193738e-01 -2.33757973e-03 -1.14463096e+02] [-2.36819423e-03 1.91464419e-07 -9.99997196e-01 6.84335894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15762800000002 meters 0.0119665747529497 Centerline is valid? [True, True] Translation: X:58.91, Y:-114.47, Z:0.68 [[-2.34849662e-01 9.72031445e-01 7.11147051e-04 5.89064323e+01] [ 9.72027081e-01 2.34850738e-01 -2.91294487e-03 -1.14468717e+02] [-2.99848742e-03 7.15007540e-06 -9.99995505e-01 6.84623982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18762800000002 meters 0.01232485504692632 Centerline is valid? [True, True] Translation: X:58.91, Y:-114.47, Z:0.68 [[-3.05823685e-01 9.52087906e-01 7.02173963e-04 5.89103975e+01] [ 9.52085513e-01 3.05824490e-01 -2.13462607e-03 -1.14474994e+02] [-2.24709366e-03 1.57104474e-05 -9.99997475e-01 6.84925103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21762800000002 meters 0.012599714150993596 Centerline is valid? [True, True] Translation: X:58.92, Y:-114.48, Z:0.68 [[-3.77075742e-01 9.26182168e-01 6.90467209e-04 5.89177952e+01] [ 9.26180697e-01 3.77076374e-01 -1.65084018e-03 -1.14479957e+02] [-1.78933761e-03 1.70056134e-05 -9.99998399e-01 6.84373390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24762800000002 meters 0.016258580690459778 Centerline is valid? [True, True] Translation: X:58.92, Y:-114.49, Z:0.69 [[-4.45505007e-01 8.95278895e-01 9.94153689e-04 5.89248827e+01] [ 8.95276805e-01 4.45506115e-01 -1.93500223e-03 -1.14486119e+02] [-2.17526820e-03 2.79895584e-05 -9.99997634e-01 6.87581868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27762800000002 meters 0.013830951030465917 Centerline is valid? [True, True] Translation: X:58.93, Y:-114.49, Z:0.68 [[-5.11825814e-01 8.59088878e-01 7.97068644e-04 5.89317840e+01] [ 8.59087908e-01 5.11826434e-01 -1.29147933e-03 -1.14490919e+02] [-1.51745633e-03 2.37395738e-05 -9.99998848e-01 6.84092687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30762800000002 meters 0.018170890585986327 Centerline is valid? [True, True] Translation: X:58.94, Y:-114.50, Z:0.69 [[-5.71212038e-01 8.20799901e-01 2.08081785e-03 5.89373661e+01] [ 8.20794976e-01 5.71215822e-01 -2.84473531e-03 -1.14497578e+02] [-3.52355454e-03 8.29777836e-05 -9.99993789e-01 6.88921771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33762800000002 meters 0.01502689589300365 Centerline is valid? [True, True] Translation: X:58.95, Y:-114.50, Z:0.68 [[-6.33622848e-01 7.73639892e-01 1.84490296e-03 5.89520460e+01] [ 7.73636916e-01 6.33625531e-01 -2.14671523e-03 -1.14496441e+02] [-2.82976215e-03 6.70772187e-05 -9.99995994e-01 6.84298805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36762800000002 meters 0.01735203293462047 Centerline is valid? [True, True] Translation: X:58.96, Y:-114.50, Z:0.69 [[-6.91792480e-01 7.22092880e-01 2.24458289e-03 5.89646174e+01] [ 7.22089437e-01 6.91796117e-01 -2.23119150e-03 -1.14496707e+02] [-3.16392122e-03 7.72680877e-05 -9.99994992e-01 6.87418357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39762800000003 meters 0.015467820857271037 Centerline is valid? [True, True] Translation: X:58.99, Y:-114.48, Z:0.69 [[-7.40772320e-01 6.71751608e-01 2.47926753e-03 5.89894792e+01] [ 6.71748210e-01 7.40776465e-01 -2.13806261e-03 -1.14480478e+02] [-3.27283003e-03 8.16259230e-05 -9.99994641e-01 6.85155794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42762800000003 meters 0.017440620728538428 Centerline is valid? [True, True] Translation: X:59.01, Y:-114.47, Z:0.69 [[-7.84714962e-01 6.19843583e-01 4.04491331e-03 5.90132875e+01] [ 6.19836258e-01 7.84725374e-01 -3.01663200e-03 -1.14468083e+02] [-5.04398610e-03 1.39987665e-04 -9.99987269e-01 6.85853914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45762800000003 meters 0.017485269353252533 Centerline is valid? [True, True] Translation: X:59.04, Y:-114.45, Z:0.69 [[-8.25153379e-01 5.64889151e-01 4.70617439e-03 5.90373727e+01] [ 5.64881124e-01 8.25166782e-01 -3.01615099e-03 -1.14450596e+02] [-5.58716975e-03 1.69641893e-04 -9.99984377e-01 6.86352707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48762800000003 meters 0.017416615087294134 Centerline is valid? [True, True] Translation: X:59.06, Y:-114.43, Z:0.69 [[-8.61616709e-01 5.07525953e-01 5.83555861e-03 5.90597814e+01] [ 5.07516033e-01 8.61636442e-01 -3.18097561e-03 -1.14430601e+02] [-6.64255763e-03 2.20857822e-04 -9.99977914e-01 6.86437760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51762800000003 meters 0.019263529214812142 Centerline is valid? [True, True] Translation: X:59.08, Y:-114.41, Z:0.69 [[-8.92400323e-01 4.51201256e-01 6.25222383e-03 5.90799836e+01] [ 4.51191856e-01 8.92422198e-01 -2.92041440e-03 -1.14409004e+02] [-6.89731798e-03 2.14773720e-04 -9.99976190e-01 6.87561955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.547628 meters 0.022458290836713482 Centerline is valid? [True, True] Translation: X:59.11, Y:-114.39, Z:0.69 [[-9.19396121e-01 3.93281784e-01 6.34123147e-03 5.91052754e+01] [ 3.93274614e-01 9.19417942e-01 -2.39288871e-03 -1.14390521e+02] [-6.77132153e-03 2.93832755e-04 -9.99977031e-01 6.88182953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.577628 meters 0.021733307809051985 Centerline is valid? [True, True] Translation: X:59.43, Y:-113.58, Z:-0.20 [[-9.28031549e-01 -3.72458499e-01 5.66652918e-03 5.94264126e+01] [ 3.72449548e-01 -9.28048800e-01 -2.59982402e-03 -1.13578945e+02] [ 6.22714216e-03 -3.02222481e-04 9.99980566e-01 -2.00799938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.607628 meters 0.02230842592429031 Centerline is valid? [True, True] Translation: X:59.07, Y:-114.37, Z:0.69 [[-9.18454240e-01 3.95494952e-01 5.05494391e-03 5.90676191e+01] [ 3.95490547e-01 9.18468111e-01 -1.88556341e-03 -1.14373396e+02] [-5.38853560e-03 2.67378822e-04 -9.99985446e-01 6.87261226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.637628 meters 0.02262133736276659 Centerline is valid? [True, True] Translation: X:59.08, Y:-114.35, Z:0.69 [[-9.43303044e-01 3.31900106e-01 4.65702162e-03 5.90836199e+01] [ 3.31897375e-01 9.43314505e-01 -1.36996125e-03 -1.14347703e+02] [-4.84772633e-03 2.53364632e-04 -9.99988218e-01 6.86185848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.667628 meters 0.024986684825473063 Centerline is valid? [True, True] Translation: X:59.10, Y:-114.32, Z:0.69 [[-9.64041742e-01 2.65717846e-01 4.18876872e-03 5.90957769e+01] [ 2.65716370e-01 9.64050815e-01 -9.15229536e-04 -1.14323811e+02] [-4.28137872e-03 2.30704941e-04 -9.99990808e-01 6.85825748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.697628 meters 0.024442562805998064 Centerline is valid? [True, True] Translation: X:59.11, Y:-114.29, Z:0.69 [[-9.80235222e-01 1.97804172e-01 3.52414960e-03 5.91059799e+01] [ 1.97803607e-01 9.80241537e-01 -5.11436772e-04 -1.14291943e+02] [-3.55568215e-03 1.95761166e-04 -9.99993659e-01 6.85145314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.727628 meters 0.024382783290621324 Centerline is valid? [True, True] Translation: X:59.24, Y:-113.44, Z:-0.20 [[-9.87580737e-01 -1.57084602e-01 2.95224512e-03 5.92380500e+01] [ 1.57083287e-01 -9.87585129e-01 -6.73649209e-04 -1.13443862e+02] [ 3.02141329e-03 -2.01534616e-04 9.99995415e-01 -1.97866898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.757628 meters 0.023461744319202376 Centerline is valid? [True, True] Translation: X:59.04, Y:-114.28, Z:0.68 [[-9.81864206e-01 1.89577186e-01 1.78089587e-03 5.90377465e+01] [ 1.89577044e-01 9.81865817e-01 -2.49998145e-04 -1.14275503e+02] [-1.79599473e-03 9.21527454e-05 -9.99998383e-01 6.84131702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.787628 meters 0.021313985275608113 Centerline is valid? [True, True] Translation: X:59.16, Y:-113.45, Z:-0.20 [[-9.86698803e-01 -1.62558747e-01 -3.56086409e-04 5.91558175e+01] [ 1.62558785e-01 -9.86698857e-01 -7.92013067e-05 -1.13445214e+02] [-3.38475188e-04 -1.36032808e-04 9.99999933e-01 -1.96243200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.817628 meters 0.01963366416959454 Centerline is valid? [True, True] Translation: X:58.97, Y:-114.25, Z:0.68 [[-9.84904945e-01 1.73094861e-01 -6.47630793e-04 5.89695927e+01] [ 1.73094840e-01 9.84905157e-01 8.87137947e-05 -1.14250522e+02] [ 6.53210810e-04 -2.47268932e-05 -9.99999786e-01 6.83216001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84762800000001 meters 0.018619134418969098 Centerline is valid? [True, True] Translation: X:58.97, Y:-114.22, Z:0.68 [[-9.95154440e-01 9.83207795e-02 -8.15363296e-04 5.89672525e+01] [ 9.83207691e-02 9.95154774e-01 5.29450542e-05 -1.14217383e+02] [ 8.16618276e-04 -2.74786407e-05 -9.99999666e-01 6.83804111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87762800000002 meters 0.017548057224818607 Centerline is valid? [True, True] Translation: X:58.97, Y:-114.19, Z:0.68 [[-9.99730397e-01 2.32177398e-02 -2.64583377e-04 5.89699850e+01] [ 2.32177409e-02 9.99730432e-01 -1.14906837e-06 -1.14185052e+02] [ 2.64485375e-04 -7.29178687e-06 -9.99999965e-01 6.84688796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90762800000002 meters 0.015191027292878962 Centerline is valid? [True, True] Translation: X:58.97, Y:-113.39, Z:-0.20 [[-9.99325906e-01 -3.67106461e-02 -2.50232305e-04 5.89663457e+01] [ 3.67106429e-02 -9.99325937e-01 1.70761919e-05 -1.13394441e+02] [-2.50690510e-04 7.87849213e-06 9.99999969e-01 -1.98460982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93762800000002 meters 0.014762358043885263 Centerline is valid? [True, True] Translation: X:58.87, Y:-114.17, Z:0.69 [[-9.99974184e-01 7.16873889e-03 -4.89566545e-04 5.88702697e+01] [ 7.16874254e-03 9.99974304e-01 -5.70448005e-06 -1.14173711e+02] [ 4.89513071e-04 -9.21390931e-06 -9.99999880e-01 6.85387604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96762800000002 meters 0.014375999330947825 Centerline is valid? [True, True] Translation: X:58.87, Y:-114.14, Z:0.69 [[-9.97808669e-01 -6.61627273e-02 -5.94244625e-04 5.88651319e+01] [-6.61627095e-02 9.97808846e-01 -4.95825298e-05 -1.14143700e+02] [ 5.96223059e-04 -1.01570435e-05 -9.99999822e-01 6.85430966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99762800000002 meters 0.014046326114432336 Centerline is valid? [True, True] Translation: X:58.81, Y:-113.38, Z:-0.20 [[-9.99407133e-01 3.44271839e-02 -3.89646580e-04 5.88066237e+01] [-3.44271892e-02 -9.99407209e-01 6.96684193e-06 -1.13375853e+02] [-3.89175752e-04 2.03771481e-05 9.99999924e-01 -1.98964528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02762800000002 meters 0.01456544151664736 Centerline is valid? [True, True] Translation: X:58.76, Y:-114.15, Z:0.69 [[-9.97406362e-01 -7.19735709e-02 -5.95373604e-04 5.87624142e+01] [-7.19735517e-02 9.97406539e-01 -5.35659908e-05 -1.14148784e+02] [ 5.97684861e-04 -1.05759071e-05 -9.99999821e-01 6.86838451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05762800000002 meters 0.014460344177948815 Centerline is valid? [True, True] Translation: X:58.75, Y:-114.12, Z:0.69 [[-9.90078697e-01 -1.40513731e-01 -2.55363699e-04 5.87499956e+01] [-1.40513725e-01 9.90078730e-01 -4.11395228e-05 -1.14121848e+02] [ 2.58610835e-04 -4.84926052e-06 -9.99999967e-01 6.87671224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08762800000002 meters 0.01629848206981871 Centerline is valid? [True, True] Translation: X:58.73, Y:-114.10, Z:0.69 [[-9.78108174e-01 -2.08096482e-01 5.04307742e-04 5.87253475e+01] [-2.08096447e-01 9.78108304e-01 1.21307271e-04 -1.14102765e+02] [-5.18511207e-04 1.37069839e-05 -9.99999865e-01 6.88311042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11762800000002 meters 0.01705352582705286 Centerline is valid? [True, True] Translation: X:58.67, Y:-114.09, Z:0.69 [[-9.62373496e-01 -2.71730103e-01 7.76937499e-05 5.86730284e+01] [-2.71730102e-01 9.62373499e-01 2.55058007e-05 -1.14092034e+02] [-8.17010999e-05 3.43437597e-06 -9.99999997e-01 6.87872704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14762800000003 meters 0.021565952799106544 Centerline is valid? [True, True] Translation: X:58.61, Y:-114.09, Z:0.69 [[-9.40907600e-01 -3.38663367e-01 1.10344821e-04 5.86115820e+01] [-3.38663364e-01 9.40907606e-01 4.51718008e-05 -1.14092458e+02] [-1.19122316e-04 5.13274241e-06 -9.99999993e-01 6.87846183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17762800000003 meters 0.022588034879344507 Centerline is valid? [True, True] Translation: X:58.54, Y:-114.10, Z:0.69 [[-9.14360674e-01 -4.04900674e-01 -5.33766894e-05 5.85393036e+01] [-4.04900673e-01 9.14360675e-01 -2.54298627e-05 -1.14096097e+02] [ 5.91021142e-05 -1.63980890e-06 -9.99999998e-01 6.87712251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20762800000003 meters 0.020380349127755323 Centerline is valid? [True, True] Translation: X:58.46, Y:-114.10, Z:0.69 [[-8.82502244e-01 -4.70308169e-01 -1.22662110e-04 5.84578270e+01] [-4.70308163e-01 8.82502253e-01 -7.13448274e-05 -1.14104889e+02] [ 1.41803644e-04 -5.27297852e-06 -9.99999990e-01 6.87604614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23762800000003 meters 0.02067319166023797 Centerline is valid? [True, True] Translation: X:58.37, Y:-114.13, Z:0.69 [[-8.45981105e-01 -5.33212700e-01 -4.31612005e-04 5.83705847e+01] [-5.33212617e-01 8.45981215e-01 -2.99137557e-04 -1.14127968e+02] [ 5.24639592e-04 -2.29237548e-05 -9.99999862e-01 6.86900756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26762800000003 meters 0.021113203355133482 Centerline is valid? [True, True] Translation: X:58.27, Y:-114.17, Z:0.69 [[-8.03634865e-01 -5.95122537e-01 -4.10988297e-04 5.82742853e+01] [-5.95122444e-01 8.03634970e-01 -3.33527647e-04 -1.14165113e+02] [ 5.28774387e-04 -2.34460858e-05 -9.99999860e-01 6.86947173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.297628 meters 0.020277369116815425 Centerline is valid? [True, True] Translation: X:58.19, Y:-114.20, Z:0.69 [[-7.55949839e-01 -6.54629534e-01 -1.17830689e-04 5.81856286e+01] [-6.54629525e-01 7.55949848e-01 -1.10817470e-04 -1.14202949e+02] [ 1.61618480e-04 -6.63700052e-06 -9.99999987e-01 6.87015500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.327628 meters 0.02135552633830682 Centerline is valid? [True, True] Translation: X:58.09, Y:-114.26, Z:0.69 [[-7.03480584e-01 -7.10714474e-01 6.83771017e-05 5.80928631e+01] [-7.10714470e-01 7.03480587e-01 7.67079109e-05 -1.14258698e+02] [-1.02619386e-04 5.36593037e-06 -9.99999995e-01 6.87276932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.357628 meters 0.022367333845631998 Centerline is valid? [True, True] Translation: X:58.00, Y:-114.32, Z:0.69 [[-6.46396836e-01 -7.63001208e-01 5.35190181e-04 5.80022194e+01] [-7.63000895e-01 6.46397057e-01 6.92748054e-04 -1.14323610e+02] [-8.74512960e-04 3.94395637e-05 -9.99999617e-01 6.87698367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.387628 meters 0.022367333845631998 Centerline is valid? [True, True] Translation: X:57.91, Y:-114.40, Z:0.69 [[-5.86013441e-01 -8.10301189e-01 4.80534678e-04 5.79149290e+01] [-8.10300859e-01 5.86013636e-01 7.31754179e-04 -1.14397023e+02] [-8.74541155e-04 3.94401217e-05 -9.99999617e-01 6.87699740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.417628 meters 0.02140613460292668 Centerline is valid? [True, True] Translation: X:57.83, Y:-114.48, Z:0.69 [[-5.19368194e-01 -8.54549924e-01 1.05162884e-03 5.78266388e+01] [-8.54547809e-01 5.19369251e-01 1.90337533e-03 -1.14480070e+02] [-2.17271293e-03 8.98854821e-05 -9.99997636e-01 6.88994199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.447628 meters 0.019073493123857456 Centerline is valid? [True, True] Translation: X:57.75, Y:-114.57, Z:0.69 [[-4.50037486e-01 -8.93009000e-01 1.09002019e-03 5.77450915e+01] [-8.93005807e-01 4.50038794e-01 2.38993120e-03 -1.14567751e+02] [-2.62478145e-03 1.02164266e-04 -9.99996550e-01 6.89252242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.477628 meters 0.018416048804196037 Centerline is valid? [True, True] Translation: X:57.67, Y:-114.67, Z:0.69 [[-3.77399981e-01 -9.26049754e-01 1.05267663e-03 5.76714148e+01] [-9.26045294e-01 3.77401433e-01 2.87611004e-03 -1.14666651e+02] [-3.06070267e-03 1.10617633e-04 -9.99995310e-01 6.89702073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.507628 meters 0.017424030182285673 Centerline is valid? [True, True] Translation: X:57.61, Y:-114.77, Z:0.69 [[-2.99394260e-01 -9.54129049e-01 9.13615460e-04 5.76056188e+01] [-9.54123509e-01 2.99395637e-01 3.25296213e-03 -1.14767131e+02] [-3.37727815e-03 1.02216202e-04 -9.99994292e-01 6.90425999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.537628 meters 0.01690811282409252 Centerline is valid? [True, True] Translation: X:57.55, Y:-114.88, Z:0.69 [[-2.22294628e-01 -9.74979247e-01 7.52566256e-04 5.75484427e+01] [-9.74971939e-01 2.22295877e-01 3.77634654e-03 -1.14877901e+02] [-3.84915188e-03 1.05730568e-04 -9.99992586e-01 6.90728582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.567628 meters 0.016197863106395587 Centerline is valid? [True, True] Translation: X:57.50, Y:-114.99, Z:0.69 [[-1.43900729e-01 -9.89591983e-01 5.35475789e-04 5.75006727e+01] [-9.89581947e-01 1.43901682e-01 4.45817463e-03 -1.14989582e+02] [-4.48882974e-03 1.11637406e-04 -9.99989919e-01 6.91158152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59762800000001 meters 0.015541367726785393 Centerline is valid? [True, True] Translation: X:57.46, Y:-115.11, Z:0.69 [[-6.51364975e-02 -9.97876340e-01 2.15758720e-04 5.74612952e+01] [-9.97863330e-01 6.51367503e-02 5.09696948e-03 -1.15109565e+02] [-5.10019907e-03 1.16701025e-04 -9.99986987e-01 6.91656221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62762800000002 meters 0.015030204294729555 Centerline is valid? [True, True] Translation: X:57.43, Y:-115.23, Z:0.69 [[ 1.53735046e-02 -9.99881805e-01 -1.77526492e-04 5.74323022e+01] [-9.99868941e-01 -1.53742075e-02 5.07296588e-03 -1.15228489e+02] [-5.07509561e-03 9.95139610e-05 -9.99987117e-01 6.91786816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65762800000002 meters 0.014778344151049724 Centerline is valid? [True, True] Translation: X:57.41, Y:-115.36, Z:0.69 [[ 9.41276637e-02 -9.95559968e-01 -5.77814148e-04 5.74145325e+01] [-9.95546771e-01 -9.41293916e-02 5.12679469e-03 -1.15358661e+02] [-5.15842085e-03 9.26678028e-05 -9.99986691e-01 6.91693666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68762800000002 meters 0.014296704025117131 Centerline is valid? [True, True] Translation: X:57.40, Y:-115.48, Z:0.69 [[ 1.72662148e-01 -9.84980586e-01 -1.01405693e-03 5.74045748e+01] [-9.84966406e-01 -1.72665104e-01 5.28590382e-03 -1.15477225e+02] [-5.38160488e-03 8.61365034e-05 -9.99985515e-01 6.90640022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71762800000002 meters 0.013137855666923359 Centerline is valid? [True, True] Translation: X:57.40, Y:-115.60, Z:0.69 [[ 2.53132260e-01 -9.67430989e-01 -1.15789750e-03 5.74024752e+01] [-9.67421716e-01 -2.53134904e-01 4.23600583e-03 -1.15597962e+02] [-4.39114758e-03 4.79054543e-05 -9.99990358e-01 6.89552892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74762800000002 meters 0.012573541806619527 Centerline is valid? [True, True] Translation: X:57.41, Y:-115.72, Z:0.69 [[ 3.29868409e-01 -9.44025999e-01 -1.32132313e-03 5.74105219e+01] [-9.44018798e-01 -3.29871053e-01 3.68752182e-03 -1.15720522e+02] [-3.91698272e-03 3.09569145e-05 -9.99992328e-01 6.88956694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77762800000002 meters 0.01213210885754796 Centerline is valid? [True, True] Translation: X:57.43, Y:-115.84, Z:0.69 [[ 4.04424503e-01 -9.14570004e-01 -1.59035384e-03 5.74283444e+01] [-9.14563117e-01 -4.04427630e-01 3.54933742e-03 -1.15841945e+02] [-3.88930057e-03 1.90399415e-05 -9.99992436e-01 6.88283682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80762800000002 meters 0.011798351279316622 Centerline is valid? [True, True] Translation: X:57.45, Y:-115.96, Z:0.69 [[ 4.76353874e-01 -8.79252114e-01 -1.64507980e-03 5.74545775e+01] [-8.79246916e-01 -4.76356715e-01 3.02358217e-03 -1.15960510e+02] [-3.44213582e-03 6.13626333e-06 -9.99994076e-01 6.87527771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83762800000002 meters 0.011883647837551923 Centerline is valid? [True, True] Translation: X:57.49, Y:-116.07, Z:0.69 [[ 5.46674766e-01 -8.37344030e-01 -1.29435017e-03 5.74887588e+01] [-8.37341652e-01 -5.46676298e-01 1.99594461e-03 -1.16073374e+02] [-2.37888287e-03 -7.31924270e-06 -9.99997170e-01 6.86853544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86762800000002 meters 0.011792084363411065 Centerline is valid? [True, True] Translation: X:57.53, Y:-116.18, Z:0.69 [[ 6.10574105e-01 -7.91958101e-01 -1.27608239e-03 5.75329440e+01] [-7.91956338e-01 -6.10575439e-01 1.67089356e-03 -1.16182909e+02] [-2.10242226e-03 -9.60280316e-06 -9.99997790e-01 6.86126335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89762800000003 meters 0.012069410689074666 Centerline is valid? [True, True] Translation: X:57.58, Y:-116.28, Z:0.69 [[ 6.70374047e-01 -7.42022333e-01 -1.22263958e-03 5.75807671e+01] [-7.42021070e-01 -6.70375162e-01 1.36903871e-03 -1.16282633e+02] [-1.83548450e-03 -1.05436892e-05 -9.99998315e-01 6.85765847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92762800000003 meters 0.012030845573609292 Centerline is valid? [True, True] Translation: X:57.64, Y:-116.38, Z:0.69 [[ 7.25347612e-01 -6.88381529e-01 -1.30834641e-03 5.76357727e+01] [-6.88380382e-01 -7.25348792e-01 1.25664414e-03 -1.16376641e+02] [-1.81405810e-03 -1.08638252e-05 -9.99998355e-01 6.85286312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95762800000003 meters 0.011881517131312073 Centerline is valid? [True, True] Translation: X:57.63, Y:-116.38, Z:0.69 [[ 7.76458697e-01 -6.30166950e-01 -1.22757948e-03 5.76344456e+01] [-6.30166146e-01 -7.76459667e-01 1.00699252e-03 -1.16382314e+02] [-1.58773936e-03 -8.30906624e-06 -9.99998740e-01 6.85274108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98762800000003 meters 0.011864247739943266 Centerline is valid? [True, True] Translation: X:57.63, Y:-116.39, Z:0.69 [[ 8.22606187e-01 -5.68608927e-01 -1.71762610e-03 5.76313666e+01] [-5.68607665e-01 -8.22607980e-01 1.19782809e-03 -1.16389508e+02] [-2.09402868e-03 -8.68542859e-06 -9.99997807e-01 6.85695472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01762800000003 meters 0.011813197327779865 Centerline is valid? [True, True] Translation: X:57.63, Y:-116.39, Z:0.69 [[ 8.63698418e-01 -5.04002696e-01 -2.51512856e-03 5.76275930e+01] [-5.04000534e-01 -8.63702080e-01 1.47637318e-03 -1.16394778e+02] [-2.91641783e-03 -7.51504485e-06 -9.99995747e-01 6.86197393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.047628 meters 0.011821871978116493 Centerline is valid? [True, True] Translation: X:57.63, Y:-116.39, Z:0.69 [[ 8.98333560e-01 -4.39293892e-01 -4.20618710e-03 5.76277490e+01] [-4.39289129e-01 -8.98343407e-01 2.04555020e-03 -1.16392756e+02] [-4.67719816e-03 1.01458789e-05 -9.99989062e-01 6.86848596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.077628 meters 0.012124091095282907 Centerline is valid? [True, True] Translation: X:57.63, Y:-116.39, Z:0.69 [[ 9.28726788e-01 -3.70725955e-01 -5.36832010e-03 5.76252462e+01] [-3.70719954e-01 -9.28742303e-01 2.10954033e-03 -1.16394978e+02] [-5.76784732e-03 3.09567654e-05 -9.99983365e-01 6.87640825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.107628 meters 0.012459711108454005 Centerline is valid? [True, True] Translation: X:57.62, Y:-116.40, Z:0.69 [[ 9.53933265e-01 -2.99943156e-01 -6.74006825e-03 5.76228819e+01] [-2.99936109e-01 -9.53957074e-01 2.05689605e-03 -1.16398631e+02] [-7.04668768e-03 5.94482827e-05 -9.99975170e-01 6.88063232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.137628 meters 0.013052606110302829 Centerline is valid? [True, True] Translation: X:57.62, Y:-116.40, Z:0.69 [[ 9.73681955e-01 -2.27786477e-01 -7.53464259e-03 5.76186487e+01] [-2.27780385e-01 -9.73711103e-01 1.66841301e-03 -1.16401009e+02] [-7.71660708e-03 9.17401437e-05 -9.99970222e-01 6.88852992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.167628 meters 0.014125065581432993 Centerline is valid? [True, True] Translation: X:57.61, Y:-116.40, Z:0.69 [[ 9.87989522e-01 -1.54294515e-01 -8.36109391e-03 5.76117670e+01] [-1.54290098e-01 -9.88024891e-01 1.17458541e-03 -1.16401226e+02] [-8.44220099e-03 1.29555927e-04 -9.99964356e-01 6.89751828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.197628 meters 0.017694700672934962 Centerline is valid? [True, True] Translation: X:57.61, Y:-116.40, Z:0.69 [[ 9.96439743e-01 -8.37473902e-02 -9.70631194e-03 5.76051679e+01] [-8.37455670e-02 -9.96486992e-01 5.94839623e-04 -1.16400082e+02] [-9.72202986e-03 2.20138756e-04 -9.99952716e-01 6.91239646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.227628 meters 0.015471411977109764 Centerline is valid? [True, True] Translation: X:57.60, Y:-116.41, Z:0.69 [[ 9.99957929e-01 -5.40547781e-03 -7.41081443e-03 5.75984944e+01] [-5.40657132e-03 -9.99985376e-01 -1.27529594e-04 -1.16407909e+02] [-7.41001670e-03 1.67591326e-04 -9.99972531e-01 6.87724005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.257628 meters 0.01560295797191256 Centerline is valid? [True, True] Translation: X:57.59, Y:-116.42, Z:0.69 [[ 9.97400379e-01 7.17117151e-02 -7.06501305e-03 5.75920056e+01] [ 7.17087152e-02 -9.97425386e-01 -6.77346952e-04 -1.16415871e+02] [-7.09539708e-03 1.68963098e-04 -9.99974813e-01 6.87341578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.287628 meters 0.01524662052454465 Centerline is valid? [True, True] Translation: X:57.59, Y:-116.43, Z:0.69 [[ 9.88842286e-01 1.48821443e-01 -6.56593543e-03 5.75871914e+01] [ 1.48817062e-01 -9.88864071e-01 -1.15350913e-03 -1.16427405e+02] [-6.66448453e-03 1.63515385e-04 -9.99977779e-01 6.86323614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.317628 meters 0.015716843837489218 Centerline is valid? [True, True] Translation: X:57.58, Y:-116.44, Z:0.69 [[ 9.74278673e-01 2.25262207e-01 -6.16489960e-03 5.75816866e+01] [ 2.25256658e-01 -9.74298164e-01 -1.58918254e-03 -1.16437745e+02] [-6.36443312e-03 1.59621979e-04 -9.99979734e-01 6.86049514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34762800000001 meters 0.0160975071526676 Centerline is valid? [True, True] Translation: X:57.58, Y:-116.45, Z:0.69 [[ 9.54185461e-01 2.99137341e-01 -6.85249373e-03 5.75779019e+01] [ 2.99128156e-01 -9.54210047e-01 -2.35228087e-03 -1.16447844e+02] [-7.24237341e-03 1.94738390e-04 -9.99973755e-01 6.85797955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37762800000002 meters 0.01776099544245597 Centerline is valid? [True, True] Translation: X:57.57, Y:-116.46, Z:0.69 [[ 9.28199373e-01 3.72014656e-01 -7.14279886e-03 5.75727481e+01] [ 3.72001836e-01 -9.28226831e-01 -3.09599806e-03 -1.16456666e+02] [-7.78189420e-03 2.16569166e-04 -9.99969697e-01 6.86667839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40762800000002 meters 0.016704122565687433 Centerline is valid? [True, True] Translation: X:57.57, Y:-116.47, Z:0.69 [[ 8.96561025e-01 4.42855792e-01 -7.55488495e-03 5.75714072e+01] [ 4.42837758e-01 -8.96592822e-01 -4.00403030e-03 -1.16470263e+02] [-8.54686363e-03 2.44269196e-04 -9.99963445e-01 6.86860135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43762800000002 meters 0.02022310053740843 Centerline is valid? [True, True] Translation: X:57.57, Y:-116.48, Z:0.69 [[ 8.60419556e-01 5.09510434e-01 -8.79231434e-03 5.75686425e+01] [ 5.09479951e-01 -8.60464417e-01 -5.58273781e-03 -1.16482284e+02] [-1.04099368e-02 3.23988908e-04 -9.99945763e-01 6.92779760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46762800000002 meters 0.01707077461025512 Centerline is valid? [True, True] Translation: X:57.57, Y:-116.50, Z:0.69 [[ 8.18295007e-01 5.74739558e-01 -8.22934074e-03 5.75701508e+01] [ 5.74706429e-01 -8.18336320e-01 -6.17956250e-03 -1.16497644e+02] [-1.02860074e-02 3.27250105e-04 -9.99947044e-01 6.90048667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49762800000002 meters 0.01974392395198956 Centerline is valid? [True, True] Translation: X:57.57, Y:-116.51, Z:0.69 [[ 7.71503938e-01 6.36175877e-01 -7.86937383e-03 5.75687744e+01] [ 6.36138157e-01 -7.71543994e-01 -6.93620026e-03 -1.16508949e+02] [-1.04842114e-02 3.45296852e-04 -9.99944980e-01 6.92134508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52762800000002 meters 0.017511126182847576 Centerline is valid? [True, True] Translation: X:57.57, Y:-116.52, Z:0.69 [[ 7.19601486e-01 6.94349440e-01 -7.24951730e-03 5.75726769e+01] [ 6.94309265e-01 -7.19637919e-01 -7.47729491e-03 -1.16523557e+02] [-1.04088831e-02 3.47265504e-04 -9.99945766e-01 6.89405976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55762800000002 meters 0.018206620892533408 Centerline is valid? [True, True] Translation: X:57.57, Y:-116.54, Z:0.69 [[ 6.63264585e-01 7.48358641e-01 -6.27970183e-03 5.75743381e+01] [ 7.48320276e-01 -6.63294229e-01 -7.58488791e-03 -1.16536306e+02] [-9.84150640e-03 3.31559325e-04 -9.99951516e-01 6.88528940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58762800000002 meters 0.017373780898616548 Centerline is valid? [True, True] Translation: X:57.58, Y:-116.55, Z:0.69 [[ 6.02148233e-01 7.98366067e-01 -5.39702848e-03 5.75792614e+01] [ 7.98329276e-01 -6.02172340e-01 -7.67078581e-03 -1.16549584e+02] [-9.37403637e-03 3.10344286e-04 -9.99956015e-01 6.87461202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61762800000002 meters 0.017942827987398907 Centerline is valid? [True, True] Translation: X:57.58, Y:-116.56, Z:0.69 [[ 5.36870940e-01 8.43650143e-01 -4.90201263e-03 5.75822519e+01] [ 8.43609604e-01 -5.36893230e-01 -8.27623427e-03 -1.16561850e+02] [-9.61410363e-03 3.07884736e-04 -9.99953736e-01 6.87544727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64762800000003 meters 0.017021642883363542 Centerline is valid? [True, True] Translation: X:57.59, Y:-116.57, Z:0.69 [[ 4.66305813e-01 8.84613391e-01 -4.24699708e-03 5.75884863e+01] [ 8.84571120e-01 -4.66325070e-01 -8.65235888e-03 -1.16574240e+02] [-9.63447374e-03 2.77874288e-04 -9.99953549e-01 6.88895653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67762800000003 meters 0.01592202504052442 Centerline is valid? [True, True] Translation: X:57.60, Y:-116.59, Z:0.69 [[ 3.93947380e-01 9.19125974e-01 -3.59238790e-03 5.75972682e+01] [ 9.19081451e-01 -3.93963671e-01 -9.05052931e-03 -1.16586420e+02] [-9.73384690e-03 2.63735228e-04 -9.99952590e-01 6.89557453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70762800000003 meters 0.015656120266755807 Centerline is valid? [True, True] Translation: X:57.61, Y:-116.60, Z:0.69 [[ 3.19333545e-01 9.47637819e-01 -2.94128305e-03 5.76050263e+01] [ 9.47589962e-01 -3.19346989e-01 -9.52709853e-03 -1.16596553e+02] [-9.96752876e-03 2.55191858e-04 -9.99950290e-01 6.90416611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73762800000003 meters 0.015351660495557532 Centerline is valid? [True, True] Translation: X:57.61, Y:-116.61, Z:0.69 [[ 2.42143420e-01 9.70238049e-01 -2.16607500e-03 5.76124415e+01] [ 9.70190186e-01 -2.42152996e-01 -9.64000223e-03 -1.16606910e+02] [-9.87761851e-03 2.32758403e-04 -9.99951188e-01 6.92442680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76762800000003 meters 0.016340389316081425 Centerline is valid? [True, True] Translation: X:57.62, Y:-116.62, Z:0.69 [[ 1.65126204e-01 9.86271377e-01 -1.45186646e-03 5.76219014e+01] [ 9.86219565e-01 -1.65132416e-01 -1.01121018e-02 -1.16615586e+02] [-1.02130268e-02 2.37913879e-04 -9.99947817e-01 6.94290338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.797628 meters 0.016519358004926224 Centerline is valid? [True, True] Translation: X:57.63, Y:-116.62, Z:0.69 [[ 8.66130109e-02 9.96241821e-01 -6.47816909e-04 5.76282255e+01] [ 9.96190861e-01 -8.66151344e-02 -1.00789867e-02 -1.16624808e+02] [-1.00972188e-02 2.27622098e-04 -9.99948996e-01 6.94090753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.827628 meters 0.014439421424871821 Centerline is valid? [True, True] Translation: X:57.64, Y:-116.63, Z:0.69 [[ 6.77131020e-03 9.99977065e-01 1.39169642e-04 5.76376923e+01] [ 9.99929186e-01 -6.76962385e-03 -9.78745596e-03 -1.16633008e+02] [-9.78628935e-03 2.05433687e-04 -9.99952092e-01 6.91415765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.857628 meters 0.014172977556267456 Centerline is valid? [True, True] Translation: X:57.65, Y:-116.64, Z:0.69 [[-7.34501860e-02 9.97298505e-01 8.73334396e-04 5.76464231e+01] [ 9.97254231e-01 7.34551558e-02 -9.39883269e-03 -1.16639622e+02] [-9.43759270e-03 1.80590413e-04 -9.99955449e-01 6.91076413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.887628 meters 0.012976369242711151 Centerline is valid? [True, True] Translation: X:57.66, Y:-116.65, Z:0.69 [[-1.56620436e-01 9.87657807e-01 1.44743500e-03 5.76584315e+01] [ 9.87622272e-01 1.56627080e-01 -8.37886316e-03 -1.16645990e+02] [-8.50215714e-03 1.17217844e-04 -9.99963849e-01 6.90830087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.917628 meters 0.01534212257698437 Centerline is valid? [True, True] Translation: X:57.67, Y:-116.65, Z:0.69 [[-2.35995491e-01 9.71751789e-01 2.14236520e-03 5.76683811e+01] [ 9.71715407e-01 2.36005195e-01 -8.40931242e-03 -1.16652264e+02] [-8.67737370e-03 9.72094543e-05 -9.99962346e-01 6.94290064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.947628 meters 0.011911236672970036 Centerline is valid? [True, True] Translation: X:57.68, Y:-116.66, Z:0.69 [[-3.14369416e-01 9.49297338e-01 2.53640848e-03 5.76810054e+01] [ 9.49268050e-01 3.14379642e-01 -7.45722844e-03 -1.16655784e+02] [-7.87652230e-03 6.34069763e-05 -9.99968978e-01 6.91362919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.977628 meters 0.011532806302172138 Centerline is valid? [True, True] Translation: X:57.69, Y:-116.66, Z:0.69 [[-3.92505273e-01 9.19744442e-01 3.12621905e-03 5.76938725e+01] [ 9.19715736e-01 3.92517721e-01 -7.26660266e-03 -1.16659397e+02] [-7.91051379e-03 2.30529986e-05 -9.99968711e-01 6.93385454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.007628 meters 0.011493506209314953 Centerline is valid? [True, True] Translation: X:57.70, Y:-116.66, Z:0.69 [[-4.65285629e-01 8.85151565e-01 3.99873133e-03 5.77038082e+01] [ 8.85118992e-01 4.65302811e-01 -7.59361774e-03 -1.16661982e+02] [-8.58212356e-03 6.15183719e-06 -9.99963173e-01 6.93934410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.037628 meters 0.01143163409657684 Centerline is valid? [True, True] Translation: X:57.71, Y:-116.66, Z:0.69 [[-5.34777077e-01 8.44979980e-01 4.72336877e-03 5.77146200e+01] [ 8.44946856e-01 5.34797936e-01 -7.48180886e-03 -1.16663016e+02] [-8.84802657e-03 -1.01042815e-05 -9.99960855e-01 6.94325504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.067628 meters 0.011605854539232456 Centerline is valid? [True, True] Translation: X:57.72, Y:-116.66, Z:0.69 [[-6.01235880e-01 7.99053048e-01 5.44449629e-03 5.77237712e+01] [ 7.99019808e-01 6.01260530e-01 -7.28848488e-03 -1.16664622e+02] [-9.09744678e-03 -3.18382438e-05 -9.99958617e-01 6.94318675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09762800000001 meters 0.011623492960577323 Centerline is valid? [True, True] Translation: X:57.73, Y:-116.67, Z:0.69 [[-6.62320217e-01 7.49195249e-01 6.19742849e-03 5.77328869e+01] [ 7.49161922e-01 6.62349211e-01 -7.06668635e-03 -1.16665513e+02] [-9.39918971e-03 -3.75318015e-05 -9.99955826e-01 6.93944205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12762800000002 meters 0.011792577099958686 Centerline is valid? [True, True] Translation: X:57.74, Y:-116.67, Z:0.69 [[-7.19437098e-01 6.94525689e-01 6.65801812e-03 5.77433499e+01] [ 6.94495389e-01 7.19467904e-01 -6.48771276e-03 -1.16666837e+02] [-9.29611351e-03 -4.35383576e-05 -9.99956789e-01 6.94736220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15762800000002 meters 0.011816824482866925 Centerline is valid? [True, True] Translation: X:57.77, Y:-116.65, Z:0.69 [[-7.67924785e-01 6.40504737e-01 6.72362801e-03 5.77685958e+01] [ 6.40479527e-01 7.67954217e-01 -5.68302896e-03 -1.16651679e+02] [-8.80344545e-03 -5.77927063e-05 -9.99961247e-01 6.93889864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18762800000002 meters 0.014290439572246379 Centerline is valid? [True, True] Translation: X:57.79, Y:-116.63, Z:0.70 [[-8.12020726e-01 5.83581784e-01 7.39204564e-03 5.77858756e+01] [ 5.83556800e-01 8.12054368e-01 -5.40041891e-03 -1.16628793e+02] [-9.15432905e-03 -7.15735848e-05 -9.99958096e-01 6.96218666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21762800000002 meters 0.012328154344938865 Centerline is valid? [True, True] Translation: X:57.81, Y:-116.61, Z:0.69 [[-8.52667207e-01 5.22388554e-01 8.29652538e-03 5.78055559e+01] [ 5.22362646e-01 8.52707563e-01 -5.20365124e-03 -1.16607178e+02] [-9.79283778e-03 -1.03187817e-04 -9.99952044e-01 6.94840539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24762800000002 meters 0.012488472263754703 Centerline is valid? [True, True] Translation: X:57.83, Y:-116.59, Z:0.70 [[-8.87729892e-01 4.60267395e-01 9.46383046e-03 5.78335366e+01] [ 4.60239816e-01 8.87780328e-01 -5.03986123e-03 -1.16590599e+02] [-1.07214863e-02 -1.18403876e-04 -9.99942516e-01 6.95967311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27762800000002 meters 0.012357218386598014 Centerline is valid? [True, True] Translation: X:57.85, Y:-116.57, Z:0.70 [[-9.17949684e-01 3.96554518e-01 1.06250420e-02 5.78456104e+01] [ 3.96526364e-01 9.18011165e-01 -4.72696851e-03 -1.16565854e+02] [-1.16284079e-02 -1.26009961e-04 -9.99932380e-01 6.95870490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30762800000002 meters 0.012357218386598014 Centerline is valid? [True, True] Translation: X:58.19, Y:-115.82, Z:-0.21 [[-8.79016537e-01 -4.76680085e-01 1.02967543e-02 5.81879692e+01] [ 4.76649074e-01 -8.79076834e-01 -5.43880125e-03 -1.15820987e+02] [ 1.16442064e-02 1.27142142e-04 9.99932196e-01 -2.08920747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33762800000002 meters 0.012631532868792855 Centerline is valid? [True, True] Translation: X:57.81, Y:-116.55, Z:0.70 [[-9.19122933e-01 3.93832596e-01 1.04365188e-02 5.78145106e+01] [ 3.93805789e-01 9.19182176e-01 -4.59638685e-03 -1.16551724e+02] [-1.14032690e-02 -1.14683046e-04 -9.99934974e-01 6.97113305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36762800000002 meters 0.012055053056615838 Centerline is valid? [True, True] Translation: X:57.83, Y:-116.53, Z:0.70 [[-9.44311544e-01 3.28888853e-01 1.03841117e-02 5.78281814e+01] [ 3.28867828e-01 9.44368632e-01 -3.72006364e-03 -1.16529181e+02] [-1.10299169e-02 -9.78987640e-05 -9.99939164e-01 6.95384861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39762800000003 meters 0.01188589883486197 Centerline is valid? [True, True] Translation: X:57.84, Y:-116.51, Z:0.69 [[-9.64879733e-01 2.62516998e-01 9.58784691e-03 5.78442287e+01] [ 2.62503277e-01 9.64927365e-01 -2.68501220e-03 -1.16506447e+02] [-9.95643720e-03 -7.38726150e-05 -9.99950431e-01 6.94479176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42762800000003 meters 0.011651590925434002 Centerline is valid? [True, True] Translation: X:57.86, Y:-116.48, Z:0.69 [[-9.80292806e-01 1.97406935e-01 7.51770069e-03 5.78579751e+01] [ 1.97400928e-01 9.80321632e-01 -1.54011737e-03 -1.16483902e+02] [-7.67379446e-03 -2.57648811e-05 -9.99970556e-01 6.92949048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45762800000003 meters 0.01517461255269548 Centerline is valid? [True, True] Translation: X:57.86, Y:-116.46, Z:0.69 [[-9.91428634e-01 1.30436798e-01 7.45023461e-03 5.78646351e+01] [ 1.30433102e-01 9.91456626e-01 -9.81948833e-04 -1.16459593e+02] [-7.51466673e-03 -1.77498074e-06 -9.99971765e-01 6.94643509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48762800000003 meters 0.011667862504346524 Centerline is valid? [True, True] Translation: X:57.98, Y:-115.63, Z:-0.20 [[-9.80665780e-01 -1.95587305e-01 6.34306384e-03 5.79841152e+01] [ 1.95582798e-01 -9.80686291e-01 -1.32921744e-03 -1.15634316e+02] [ 6.48053381e-03 -6.29238788e-05 9.99978999e-01 -2.04213121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51762800000003 meters 0.011839600758165375 Centerline is valid? [True, True] Translation: X:57.81, Y:-116.46, Z:0.69 [[-9.91394941e-01 1.30760129e-01 6.15308122e-03 5.78061043e+01] [ 1.30757794e-01 9.91414034e-01 -7.81981873e-04 -1.16457658e+02] [-6.20250313e-03 2.93104567e-05 -9.99980764e-01 6.90021082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.547628 meters 0.011986611825696833 Centerline is valid? [True, True] Translation: X:57.81, Y:-116.43, Z:0.69 [[-9.98065248e-01 6.19709948e-02 5.03560778e-03 5.78144528e+01] [ 6.19703770e-02 9.98077950e-01 -2.78772405e-04 -1.16431643e+02] [-5.04320489e-03 3.38254623e-05 -9.99987282e-01 6.89175030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.577628 meters 0.01221857071149989 Centerline is valid? [True, True] Translation: X:57.87, Y:-115.59, Z:-0.20 [[-9.93383665e-01 -1.14765158e-01 4.22513648e-03 5.78695300e+01] [ 1.14763783e-01 -9.93392648e-01 -5.67234593e-04 -1.15589542e+02] [ 4.26231828e-03 -7.85889326e-05 9.99990913e-01 -2.01808777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.607628 meters 0.012460195786608553 Centerline is valid? [True, True] Translation: X:57.73, Y:-116.43, Z:0.69 [[-9.98178188e-01 6.01840553e-02 4.26440929e-03 5.77304215e+01] [ 6.01837003e-02 9.98187296e-01 -2.11618279e-04 -1.16426703e+02] [-4.26941522e-03 4.54151808e-05 -9.99990885e-01 6.89070347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.637628 meters 0.01293273744994182 Centerline is valid? [True, True] Translation: X:57.73, Y:-116.40, Z:0.69 [[-9.99942567e-01 -9.73010832e-03 4.49304126e-03 5.77271119e+01] [-9.72977137e-03 9.99952660e-01 9.68471403e-05 -1.16399879e+02] [-4.49377089e-03 5.31253139e-05 -9.99989902e-01 6.89518214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.667628 meters 0.013163457961382151 Centerline is valid? [True, True] Translation: X:57.72, Y:-116.37, Z:0.69 [[-9.96811977e-01 -7.96427593e-02 4.78674107e-03 5.77238306e+01] [-7.96415383e-02 9.96823468e-01 4.45455463e-04 -1.16373057e+02] [-4.80701313e-03 6.28119189e-05 -9.99988444e-01 6.89804200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.697628 meters 0.015709321585392517 Centerline is valid? [True, True] Translation: X:57.72, Y:-116.35, Z:0.69 [[-9.88815074e-01 -1.49059779e-01 5.09225140e-03 5.77152140e+01] [-1.49057402e-01 9.88828184e-01 8.45182241e-04 -1.16346216e+02] [-5.16134438e-03 7.66911767e-05 -9.99986677e-01 6.92591425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.727628 meters 0.01592846741160782 Centerline is valid? [True, True] Translation: X:57.69, Y:-116.32, Z:0.69 [[-9.75884768e-01 -2.18238568e-01 4.56577990e-03 5.76882540e+01] [-2.18235794e-01 9.75895446e-01 1.10334698e-03 -1.16322865e+02] [-4.69651667e-03 8.03229081e-05 -9.99988968e-01 6.92905624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.757628 meters 0.01619666165564428 Centerline is valid? [True, True] Translation: X:57.64, Y:-116.31, Z:0.69 [[-9.57365165e-01 -2.88841305e-01 4.75828107e-03 5.76352459e+01] [-2.88837275e-01 9.57376986e-01 1.52820580e-03 -1.16308406e+02] [-4.99687774e-03 8.86820584e-05 -9.99987512e-01 6.93172693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.787628 meters 0.01556383721460909 Centerline is valid? [True, True] Translation: X:57.57, Y:-116.30, Z:0.69 [[-9.33608549e-01 -3.58255978e-01 5.26600775e-03 5.75675933e+01] [-3.58249649e-01 9.33623395e-01 2.13211147e-03 -1.16301077e+02] [-5.68030971e-03 1.04012068e-04 -9.99983862e-01 6.93225422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.817628 meters 0.017323980709431124 Centerline is valid? [True, True] Translation: X:57.50, Y:-116.30, Z:0.70 [[-9.04435901e-01 -4.26571915e-01 5.66579974e-03 5.74973081e+01] [-4.26562720e-01 9.04453640e-01 2.80338834e-03 -1.16302080e+02] [-6.32029993e-03 1.18666115e-04 -9.99980020e-01 6.95303884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84762800000001 meters 0.014555187455782203 Centerline is valid? [True, True] Translation: X:57.41, Y:-116.32, Z:0.69 [[-8.69564558e-01 -4.93795990e-01 4.79584825e-03 5.74110850e+01] [-4.93787839e-01 8.69577777e-01 2.83906001e-03 -1.16317660e+02] [-5.57227950e-03 1.00614420e-04 -9.99984470e-01 6.91619607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87762800000002 meters 0.014410100775789756 Centerline is valid? [True, True] Translation: X:57.32, Y:-116.34, Z:0.69 [[-8.29786106e-01 -5.58067974e-01 3.89291923e-03 5.73240943e+01] [-5.58061344e-01 8.29795233e-01 2.72163361e-03 -1.16339806e+02] [-4.74918238e-03 8.58860141e-05 -9.99988719e-01 6.90464260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90762800000002 meters 0.013846211382416337 Centerline is valid? [True, True] Translation: X:57.24, Y:-116.37, Z:0.69 [[-7.84944401e-01 -6.19557675e-01 3.25177210e-03 5.72367253e+01] [-6.19551958e-01 7.84951133e-01 2.66256782e-03 -1.16368514e+02] [-4.20209652e-03 7.53259280e-05 -9.99991168e-01 6.89641838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93762800000002 meters 0.013956060309184611 Centerline is valid? [True, True] Translation: X:57.14, Y:-116.41, Z:0.69 [[-7.34713475e-01 -6.78374288e-01 2.10597106e-03 5.71443846e+01] [-6.78371308e-01 7.34716492e-01 2.01128216e-03 -1.16410901e+02] [-2.91169377e-03 4.90857610e-05 -9.99995760e-01 6.89028480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96762800000002 meters 0.013477144326851515 Centerline is valid? [True, True] Translation: X:57.05, Y:-116.46, Z:0.69 [[-6.80087687e-01 -7.33128604e-01 1.78547284e-03 5.70531610e+01] [-7.33125911e-01 6.80090030e-01 1.98746131e-03 -1.16462390e+02] [-2.67134701e-03 4.26715614e-05 -9.99996431e-01 6.88798325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99762800000002 meters 0.013417420267934825 Centerline is valid? [True, True] Translation: X:56.96, Y:-116.53, Z:0.69 [[-6.20351186e-01 -7.84322883e-01 1.42140168e-03 5.69622202e+01] [-7.84320703e-01 6.20352814e-01 1.84965554e-03 -1.16525611e+02] [-2.33249769e-03 3.26012449e-05 -9.99997279e-01 6.89524001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02762800000002 meters 0.013191600038930752 Centerline is valid? [True, True] Translation: X:56.87, Y:-116.60, Z:0.69 [[-5.57434103e-01 -8.30220542e-01 1.03554971e-03 5.68741493e+01] [-8.30219026e-01 5.57435065e-01 1.58648232e-03 -1.16599436e+02] [-1.89438193e-03 2.46262823e-05 -9.99998205e-01 6.89849736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05762800000002 meters 0.012900881540180252 Centerline is valid? [True, True] Translation: X:56.79, Y:-116.68, Z:0.69 [[-4.90756984e-01 -8.71296208e-01 7.08044728e-04 5.67931028e+01] [-8.71295250e-01 4.90757494e-01 1.29238991e-03 -1.16678587e+02] [-1.47353268e-03 1.73333631e-05 -9.99998914e-01 6.89618123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08762800000002 meters 0.012727022193519795 Centerline is valid? [True, True] Translation: X:56.72, Y:-116.77, Z:0.69 [[-4.20996948e-01 -9.07061637e-01 8.70198096e-04 5.67157044e+01] [-9.07059591e-01 4.20997846e-01 1.92635622e-03 -1.16770122e+02] [-2.11367535e-03 2.16685572e-05 -9.99997766e-01 6.89557288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11762800000002 meters 0.012588801991284648 Centerline is valid? [True, True] Translation: X:56.65, Y:-116.87, Z:0.69 [[-3.48398186e-01 -9.37346301e-01 7.84537196e-04 5.66452155e+01] [-9.37343792e-01 3.48399068e-01 2.16895308e-03 -1.16867989e+02] [-2.30639217e-03 2.02782465e-05 -9.99997340e-01 6.90006206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14762800000003 meters 0.012278894099621171 Centerline is valid? [True, True] Translation: X:56.58, Y:-116.97, Z:0.69 [[-2.71917984e-01 -9.62319963e-01 9.48581259e-04 5.65827748e+01] [-9.62313853e-01 2.71919637e-01 3.42911448e-03 -1.16967411e+02] [-3.55784319e-03 1.96050081e-05 -9.99993671e-01 6.91198365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17762800000003 meters 0.012156473358573052 Centerline is valid? [True, True] Translation: X:56.53, Y:-117.08, Z:0.69 [[-1.95248178e-01 -9.80753603e-01 7.20103710e-04 5.65270958e+01] [-9.80746648e-01 1.95249505e-01 3.69374742e-03 -1.17076662e+02] [-3.76325599e-03 1.49581544e-05 -9.99992919e-01 6.91002010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20762800000003 meters 0.012026566049188834 Centerline is valid? [True, True] Translation: X:56.48, Y:-117.19, Z:0.69 [[-1.17595030e-01 -9.93061540e-01 4.33214973e-04 5.64805363e+01] [-9.93054470e-01 1.17595827e-01 3.74718714e-03 -1.17192196e+02] [-3.77213171e-03 1.04445177e-05 -9.99992885e-01 6.91048201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23762800000003 meters 0.01204392663594846 Centerline is valid? [True, True] Translation: X:56.44, Y:-117.31, Z:0.69 [[-3.88493037e-02 -9.99245077e-01 8.89281649e-05 5.64439926e+01] [-9.99242261e-01 3.88494054e-02 2.37224668e-03 -1.17307838e+02] [-2.37391062e-03 3.29935119e-06 -9.99997182e-01 6.91051841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26762800000003 meters 0.012063868736252521 Centerline is valid? [True, True] Translation: X:56.42, Y:-117.43, Z:0.69 [[ 3.86647967e-02 -9.99252232e-01 -1.02782130e-04 5.64173080e+01] [-9.99248941e-01 -3.86649332e-02 2.56449912e-03 -1.17426085e+02] [-2.56655553e-03 3.54909714e-06 -9.99996706e-01 6.90614768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.297628 meters 0.012148563542327918 Centerline is valid? [True, True] Translation: X:55.60, Y:-117.57, Z:-0.20 [[-2.68420452e-02 9.99639684e-01 8.59861843e-05 5.56040538e+01] [-9.99637199e-01 -2.68421702e-02 2.22891507e-03 -1.17574921e+02] [ 2.23042001e-03 -2.61263495e-05 9.99997512e-01 -2.03533681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.327628 meters 0.012261333765259178 Centerline is valid? [True, True] Translation: X:56.43, Y:-117.72, Z:0.69 [[ 4.73606523e-02 -9.98877844e-01 -1.46931090e-04 5.64301339e+01] [-9.98873584e-01 -4.73608794e-02 2.91734894e-03 -1.17723942e+02] [-2.92103400e-03 8.59803607e-06 -9.99995734e-01 6.91208436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.357628 meters 0.012295880207469877 Centerline is valid? [True, True] Translation: X:56.41, Y:-117.85, Z:0.69 [[ 1.23674806e-01 -9.92322712e-01 -4.20729777e-04 5.64149035e+01] [-9.92317317e-01 -1.23675521e-01 3.27240059e-03 -1.17846763e+02] [-3.29931140e-03 1.27839360e-05 -9.99994557e-01 6.91304546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.387628 meters 0.012458939049146139 Centerline is valid? [True, True] Translation: X:56.41, Y:-117.97, Z:0.69 [[ 1.99477339e-01 -9.79902153e-01 -7.49126219e-04 5.64093143e+01] [-9.79895556e-01 -1.99478745e-01 3.59591078e-03 -1.17967587e+02] [-3.67307547e-03 1.67627383e-05 -9.99993254e-01 6.91280445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.417628 meters 0.01247562738098717 Centerline is valid? [True, True] Translation: X:56.41, Y:-118.09, Z:0.69 [[ 2.73854987e-01 -9.61770188e-01 -1.24572206e-03 5.64127729e+01] [-9.61760637e-01 -2.73857819e-01 4.28637519e-03 -1.18088348e+02] [-4.46365860e-03 2.42412197e-05 -9.99990038e-01 6.91399782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.447628 meters 0.012608044868076651 Centerline is valid? [True, True] Translation: X:56.42, Y:-118.21, Z:0.69 [[ 3.46987436e-01 -9.37868169e-01 -1.73662912e-03 5.64248975e+01] [-9.37856842e-01 -3.46991781e-01 4.60947173e-03 -1.18207320e+02] [-4.92567284e-03 2.92807279e-05 -9.99987868e-01 6.91803426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.477628 meters 0.01242837462740306 Centerline is valid? [True, True] Translation: X:56.45, Y:-118.35, Z:0.69 [[ 4.20289117e-01 -9.07388168e-01 -1.94172339e-03 5.64511366e+01] [-9.07378682e-01 -4.20293602e-01 4.14906658e-03 -1.18346160e+02] [-4.58090784e-03 1.80708772e-05 -9.99989507e-01 6.92020071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.507628 meters 0.01240646225253991 Centerline is valid? [True, True] Translation: X:56.48, Y:-118.46, Z:0.69 [[ 4.89900397e-01 -8.71775117e-01 -2.39738995e-03 5.64780130e+01] [-8.71764826e-01 -4.89906262e-01 4.23579958e-03 -1.18459318e+02] [-4.86716102e-03 1.48403379e-05 -9.99988155e-01 6.92014348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.537628 meters 0.012412868266783133 Centerline is valid? [True, True] Translation: X:56.51, Y:-118.56, Z:0.69 [[ 5.56253838e-01 -8.31007061e-01 -2.98862044e-03 5.65071032e+01] [-8.30995189e-01 -5.56261866e-01 4.44218903e-03 -1.18559361e+02] [-5.35394603e-03 1.25445092e-05 -9.99985667e-01 6.92601404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.567628 meters 0.012461892918021144 Centerline is valid? [True, True] Translation: X:56.55, Y:-118.66, Z:0.69 [[ 6.18908782e-01 -7.85454015e-01 -3.72964052e-03 5.65462817e+01] [-7.85439867e-01 -6.18920019e-01 4.71431545e-03 -1.18662855e+02] [-6.01122718e-03 1.16771276e-05 -9.99981932e-01 6.92742773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59762800000001 meters 0.01245607990296324 Centerline is valid? [True, True] Translation: X:56.60, Y:-118.76, Z:0.69 [[ 6.77308404e-01 -7.35688272e-01 -4.01160505e-03 5.65953804e+01] [-7.35675477e-01 -6.77320283e-01 4.33894653e-03 -1.18763826e+02] [-5.90925354e-03 1.24345141e-05 -9.99982540e-01 6.93590127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62762800000002 meters 0.01245355635970066 Centerline is valid? [True, True] Translation: X:56.65, Y:-118.86, Z:0.69 [[ 7.31106051e-01 -6.82249420e-01 -4.43517291e-03 5.66521395e+01] [-6.82237018e-01 -7.31119503e-01 4.11371491e-03 -1.18860213e+02] [-6.04922102e-03 1.82772758e-05 -9.99981703e-01 6.93587004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65762800000002 meters 0.012873690148271779 Centerline is valid? [True, True] Translation: X:56.65, Y:-118.86, Z:0.69 [[ 7.79965040e-01 -6.25799873e-01 -5.39033593e-03 5.66477917e+01] [-6.25785323e-01 -7.79983665e-01 4.26765542e-03 -1.18863646e+02] [-6.87507220e-03 4.45710783e-05 -9.99976365e-01 6.94717465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68762800000002 meters 0.013082321621402352 Centerline is valid? [True, True] Translation: X:56.64, Y:-118.87, Z:0.69 [[ 8.24969517e-01 -5.65149015e-01 -5.64694632e-03 5.66427464e+01] [-5.65136291e-01 -8.24988841e-01 3.79283096e-03 -1.18868317e+02] [-6.80218237e-03 6.23243720e-05 -9.99976863e-01 6.94554345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71762800000002 meters 0.013493928973657797 Centerline is valid? [True, True] Translation: X:56.64, Y:-118.87, Z:0.69 [[ 8.64956622e-01 -5.01811834e-01 -5.90983272e-03 5.66375310e+01] [-5.01800787e-01 -8.64976807e-01 3.33073698e-03 -1.18872415e+02] [-6.78327147e-03 8.46157003e-05 -9.99976990e-01 6.94612152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74762800000002 meters 0.013951847470593528 Centerline is valid? [True, True] Translation: X:56.63, Y:-118.88, Z:0.69 [[ 9.00090158e-01 -4.35654906e-01 -6.52000071e-03 5.66315517e+01] [-4.35644387e-01 -9.00113765e-01 3.02956886e-03 -1.18878372e+02] [-7.18858893e-03 1.13516594e-04 -9.99974155e-01 6.94196922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77762800000002 meters 0.01737825417498372 Centerline is valid? [True, True] Translation: X:56.63, Y:-118.88, Z:0.70 [[ 9.28930317e-01 -3.70193506e-01 -6.72561590e-03 5.66266193e+01] [-3.70185055e-01 -9.28954650e-01 2.50655601e-03 -1.18881487e+02] [-7.17570292e-03 1.61306624e-04 -9.99974241e-01 6.95143609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80762800000002 meters 0.016022468244745167 Centerline is valid? [True, True] Translation: X:56.62, Y:-118.89, Z:0.69 [[ 9.54365228e-01 -2.98581194e-01 -6.02350292e-03 5.66217570e+01] [-2.98576267e-01 -9.54384224e-01 1.72224288e-03 -1.18887772e+02] [-6.26296550e-03 1.54826293e-04 -9.99980375e-01 6.92673371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83762800000002 meters 0.018504286418219395 Centerline is valid? [True, True] Translation: X:56.61, Y:-118.90, Z:0.69 [[ 9.74284942e-01 -2.25199877e-01 -7.33948880e-03 5.66129756e+01] [-2.25195043e-01 -9.74312565e-01 1.48920861e-03 -1.18896311e+02] [-7.48632575e-03 2.01902973e-04 -9.99971957e-01 6.94582000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86762800000002 meters 0.019326099994071564 Centerline is valid? [True, True] Translation: X:56.60, Y:-118.90, Z:0.70 [[ 9.88459980e-01 -1.51284198e-01 -7.74340662e-03 5.66042567e+01] [-1.51281409e-01 -9.88490281e-01 9.47955985e-04 -1.18903698e+02] [-7.79769295e-03 2.34416914e-04 -9.99969570e-01 6.95291989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89762800000003 meters 0.02034799008988698 Centerline is valid? [True, True] Translation: X:56.60, Y:-118.91, Z:0.70 [[ 9.97169381e-01 -7.47711135e-02 -7.90613668e-03 5.65967703e+01] [-7.47707361e-02 -9.97200691e-01 3.43726002e-04 -1.18911440e+02] [-7.90970574e-03 2.48394615e-04 -9.99968687e-01 6.95827000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92762800000003 meters 0.020909402437570716 Centerline is valid? [True, True] Translation: X:56.59, Y:-118.92, Z:0.70 [[ 9.99965033e-01 2.70039907e-03 -7.91462992e-03 5.65893674e+01] [ 2.69829353e-03 -9.99996321e-01 -2.76697309e-04 -1.18918369e+02] [-7.91534800e-03 2.55331639e-04 -9.99968641e-01 6.95652926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95762800000003 meters 0.020987501201055737 Centerline is valid? [True, True] Translation: X:56.58, Y:-118.93, Z:0.70 [[ 9.96728971e-01 8.05016275e-02 -7.13062823e-03 5.65832097e+01] [ 8.04978779e-02 -9.96754450e-01 -8.11767171e-04 -1.18925560e+02] [-7.17283400e-03 2.35111417e-04 -9.99974247e-01 6.95412612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98762800000003 meters 0.018929435578385802 Centerline is valid? [True, True] Translation: X:56.58, Y:-118.93, Z:0.69 [[ 9.87272159e-01 1.58929132e-01 -5.93426592e-03 5.65773345e+01] [ 1.58925076e-01 -9.87289974e-01 -1.15190876e-03 -1.18934175e+02] [-6.04191311e-03 1.94143790e-04 -9.99981729e-01 6.92756016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01762800000003 meters 0.017353125338151767 Centerline is valid? [True, True] Translation: X:56.57, Y:-118.95, Z:0.69 [[ 9.71147358e-01 2.38412680e-01 -5.67478908e-03 5.65742662e+01] [ 2.38407564e-01 -9.71163922e-01 -1.57140059e-03 -1.18948905e+02] [-5.88579224e-03 1.73148885e-04 -9.99982664e-01 6.92080904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.047628 meters 0.01646391812675604 Centerline is valid? [True, True] Translation: X:56.57, Y:-118.96, Z:0.69 [[ 9.48716082e-01 3.16084746e-01 -5.31302641e-03 5.65718425e+01] [ 3.16078887e-01 -9.48730947e-01 -1.93056672e-03 -1.18962553e+02] [-5.65085527e-03 1.52224223e-04 -9.99984022e-01 6.91967595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.077628 meters 0.01588087205672586 Centerline is valid? [True, True] Translation: X:56.57, Y:-118.98, Z:0.69 [[ 9.19822921e-01 3.92308640e-01 -4.44136500e-03 5.65706094e+01] [ 3.92303453e-01 -9.19833636e-01 -2.02065637e-03 -1.18975616e+02] [-4.87803786e-03 1.16283217e-04 -9.99988096e-01 6.91808891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.107628 meters 0.015273083161125543 Centerline is valid? [True, True] Translation: X:56.57, Y:-118.99, Z:0.69 [[ 8.84680349e-01 4.66185269e-01 -3.46056672e-03 5.65694834e+01] [ 4.66181344e-01 -8.84687113e-01 -1.91469405e-03 -1.18988419e+02] [-3.95412094e-03 8.06405602e-05 -9.99992179e-01 6.91760206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.137628 meters 0.013853370694210424 Centerline is valid? [True, True] Translation: X:56.57, Y:-119.00, Z:0.69 [[ 8.41343476e-01 5.40494636e-01 -2.58915263e-03 5.65713247e+01] [ 5.40491931e-01 -8.41347459e-01 -1.71043677e-03 -1.19003568e+02] [-3.10285888e-03 3.96487142e-05 -9.99995185e-01 6.91997904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.167628 meters 0.013315702867918954 Centerline is valid? [True, True] Translation: X:56.57, Y:-119.02, Z:0.69 [[ 7.94179542e-01 6.07678659e-01 -2.34571113e-03 5.65739113e+01] [ 6.07675908e-01 -7.94183006e-01 -1.82870305e-03 -1.19015994e+02] [-2.97418773e-03 2.68864099e-05 -9.99995577e-01 6.92791381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.197628 meters 0.013315702867918954 Centerline is valid? [True, True] Translation: X:56.57, Y:-119.03, Z:0.69 [[ 7.44167822e-01 6.67989097e-01 -2.19537802e-03 5.65745961e+01] [ 6.67986083e-01 -7.44171060e-01 -2.00675914e-03 -1.19026147e+02] [-2.97423001e-03 2.68836134e-05 -9.99995577e-01 6.92791761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.227628 meters 0.01304192941839436 Centerline is valid? [True, True] Translation: X:56.58, Y:-119.04, Z:0.69 [[ 6.87100546e-01 7.26557802e-01 -2.56903781e-03 5.65764826e+01] [ 7.26552609e-01 -6.87105349e-01 -2.74712949e-03 -1.19037859e+02] [-3.76114799e-03 2.10130470e-05 -9.99992927e-01 6.94048113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.257628 meters 0.012973061863666892 Centerline is valid? [True, True] Translation: X:56.58, Y:-119.05, Z:0.69 [[ 6.25672356e-01 7.80082098e-01 -2.45422972e-03 5.65811248e+01] [ 7.80076037e-01 -6.25677169e-01 -3.07512770e-03 -1.19049368e+02] [-3.93440757e-03 9.53659570e-06 -9.99992260e-01 6.94457835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.287628 meters 0.013286979963478721 Centerline is valid? [True, True] Translation: X:56.59, Y:-119.06, Z:0.69 [[ 5.58971439e-01 8.29182061e-01 -2.83538508e-03 5.65850126e+01] [ 8.29171489e-01 -5.58978630e-01 -4.18727506e-03 -1.19060235e+02] [-5.05693304e-03 -1.04533055e-05 -9.99987214e-01 6.94959761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.317628 meters 0.013332134483553647 Centerline is valid? [True, True] Translation: X:56.59, Y:-119.07, Z:0.70 [[ 4.91073711e-01 8.71113942e-01 -2.66647906e-03 5.65884813e+01] [ 8.71101308e-01 -4.91080949e-01 -4.69171299e-03 -1.19069210e+02] [-5.39647367e-03 -1.87964851e-05 -9.99985439e-01 6.95301275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.34762800000001 meters 0.013320517625710983 Centerline is valid? [True, True] Translation: X:56.59, Y:-119.08, Z:0.70 [[ 4.20589751e-01 9.07247572e-01 -2.47080920e-03 5.65937555e+01] [ 9.07232265e-01 -4.20597008e-01 -5.27003694e-03 -1.19078336e+02] [-5.82044317e-03 -2.50742999e-05 -9.99983061e-01 6.95913779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37762800000002 meters 0.013342206212523775 Centerline is valid? [True, True] Translation: X:56.60, Y:-119.09, Z:0.70 [[ 3.47886083e-01 9.37534389e-01 -2.13150301e-03 5.65992611e+01] [ 9.37517289e-01 -3.47892612e-01 -5.66255275e-03 -1.19086450e+02] [-6.05037208e-03 -2.83976300e-05 -9.99981696e-01 6.96286164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40762800000002 meters 0.013382532991974807 Centerline is valid? [True, True] Translation: X:56.60, Y:-119.10, Z:0.70 [[ 2.73631286e-01 9.61833232e-01 -1.65936078e-03 5.66026290e+01] [ 9.61816129e-01 -2.73636316e-01 -5.73597631e-03 -1.19095362e+02] [-5.97111401e-03 -2.64573902e-05 -9.99982172e-01 6.96898309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43762800000002 meters 0.013223081945824592 Centerline is valid? [True, True] Translation: X:56.61, Y:-119.10, Z:0.70 [[ 1.98163139e-01 9.80168310e-01 -1.20576267e-03 5.66054851e+01] [ 9.80150835e-01 -1.98166806e-01 -5.85295132e-03 -1.19102958e+02] [-5.97581954e-03 -2.19900843e-05 -9.99982144e-01 6.96746697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46762800000002 meters 0.013153350996921626 Centerline is valid? [True, True] Translation: X:56.61, Y:-119.11, Z:0.70 [[ 1.21780275e-01 9.92556837e-01 -6.99936537e-04 5.66106866e+01] [ 9.92541134e-01 -1.21782285e-01 -5.58328558e-03 -1.19110935e+02] [-5.62696814e-03 -1.47817530e-05 -9.99984168e-01 6.96303573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49762800000002 meters 0.013128970732812514 Centerline is valid? [True, True] Translation: X:56.62, Y:-119.12, Z:0.70 [[ 4.50703210e-02 9.98983793e-01 -2.18248243e-04 5.66163369e+01] [ 9.98972674e-01 -4.50708491e-02 -4.71335453e-03 -1.19118245e+02] [-4.71840142e-03 -5.59162962e-06 -9.99988868e-01 6.95849841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52762800000002 meters 0.013116595272484748 Centerline is valid? [True, True] Translation: X:56.62, Y:-119.13, Z:0.69 [[-2.92465479e-02 9.99572222e-01 1.13613334e-04 5.66194017e+01] [ 9.99566016e-01 2.92467666e-02 -3.52237190e-03 -1.19125755e+02] [-3.52418793e-03 1.05468094e-05 -9.99993790e-01 6.94742187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55762800000002 meters 0.013231186837431064 Centerline is valid? [True, True] Translation: X:56.62, Y:-119.13, Z:0.69 [[-1.05216318e-01 9.94449303e-01 3.32012165e-04 5.66249220e+01] [ 9.94444820e-01 1.05216840e-01 -2.98607183e-03 -1.19134207e+02] [-3.00443032e-03 1.59842963e-05 -9.99995487e-01 6.94540107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58762800000002 meters 0.013448152505745983 Centerline is valid? [True, True] Translation: X:56.63, Y:-119.14, Z:0.69 [[-1.80842484e-01 9.83511980e-01 4.26093215e-04 5.66311782e+01] [ 9.83509465e-01 1.80842985e-01 -2.22416744e-03 -1.19140787e+02] [-2.26455129e-03 1.68427462e-05 -9.99997436e-01 6.92946953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61762800000002 meters 0.013407117576384351 Centerline is valid? [True, True] Translation: X:56.64, Y:-119.15, Z:0.69 [[-2.57551024e-01 9.66264593e-01 4.53496655e-04 5.66421920e+01] [ 9.66263180e-01 2.57551423e-01 -1.65271487e-03 -1.19146744e+02] [-1.71375857e-03 1.25387140e-05 -9.99998531e-01 6.92915390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64762800000003 meters 0.013247735143794239 Centerline is valid? [True, True] Translation: X:56.65, Y:-119.15, Z:0.69 [[-3.33301295e-01 9.42820052e-01 7.71971927e-04 5.66526760e+01] [ 9.42817622e-01 3.33302189e-01 -2.14072646e-03 -1.19151541e+02] [-2.27561977e-03 1.43218337e-05 -9.99997411e-01 6.93194408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67762800000003 meters 0.013281656833250083 Centerline is valid? [True, True] Translation: X:56.66, Y:-119.16, Z:0.69 [[-4.06683660e-01 9.13568148e-01 1.28050783e-03 5.66624493e+01] [ 9.13563753e-01 4.06685675e-01 -2.83377282e-03 -1.19157337e+02] [-3.10960878e-03 1.73764338e-05 -9.99995165e-01 6.94630986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70762800000003 meters 0.013172866548118382 Centerline is valid? [True, True] Translation: X:56.67, Y:-119.16, Z:0.70 [[-4.77214191e-01 8.78783764e-01 2.38986798e-03 5.66733711e+01] [ 8.78773015e-01 4.77220175e-01 -4.34652412e-03 -1.19160911e+02] [-4.96014804e-03 2.59285007e-05 -9.99987698e-01 6.96014827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73762800000003 meters 0.013240600158914005 Centerline is valid? [True, True] Translation: X:56.69, Y:-119.16, Z:0.70 [[-5.44300733e-01 8.38881855e-01 3.73436989e-03 5.66868678e+01] [ 8.38862583e-01 5.44313542e-01 -5.68647755e-03 -1.19162072e+02] [-6.80295094e-03 3.74692753e-05 -9.99976859e-01 6.98868828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76762800000003 meters 0.015386671994668201 Centerline is valid? [True, True] Translation: X:56.70, Y:-119.16, Z:0.70 [[-6.07686209e-01 7.94160653e-01 5.13122508e-03 5.66984058e+01] [ 7.94133076e-01 6.07707870e-01 -6.61831793e-03 -1.19164348e+02] [-8.37429355e-03 5.30150298e-05 -9.99964934e-01 7.01556537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79762800000003 meters 0.01319855715763463 Centerline is valid? [True, True] Translation: X:56.71, Y:-119.16, Z:0.70 [[-6.68414457e-01 7.43767736e-01 5.62751027e-03 5.67098451e+01] [ 7.43741986e-01 6.68438145e-01 -6.18911678e-03 -1.19164448e+02] [-8.36490790e-03 4.85205336e-05 -9.99965012e-01 7.00344814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.827628 meters 0.01569167221420783 Centerline is valid? [True, True] Translation: X:56.72, Y:-119.16, Z:0.70 [[-7.24182919e-01 6.89569823e-01 7.24978038e-03 5.67211263e+01] [ 6.89536145e-01 7.24219204e-01 -6.81536343e-03 -1.19163335e+02] [-9.95009913e-03 6.34158362e-05 -9.99950495e-01 7.02415731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.857628 meters 0.0134827152986314 Centerline is valid? [True, True] Translation: X:56.74, Y:-119.15, Z:0.70 [[-7.70674630e-01 6.37185446e-01 7.43790698e-03 5.67446578e+01] [ 6.37156623e-01 7.70710518e-01 -6.06088490e-03 -1.19146700e+02] [-9.59438079e-03 6.81414664e-05 -9.99953971e-01 7.00950416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.887628 meters 0.013461011618264743 Centerline is valid? [True, True] Translation: X:56.77, Y:-119.13, Z:0.70 [[-8.13306998e-01 5.81785517e-01 7.57228428e-03 5.67680373e+01] [ 5.81761146e-01 8.13342244e-01 -5.32562979e-03 -1.19129265e+02] [-9.25723298e-03 7.38888060e-05 -9.99957148e-01 7.00520249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.917628 meters 0.013495545293566771 Centerline is valid? [True, True] Translation: X:56.79, Y:-119.11, Z:0.70 [[-8.52019890e-01 5.23450292e-01 7.86760499e-03 5.67901689e+01] [ 5.23428845e-01 8.52056210e-01 -4.73910712e-03 -1.19110785e+02] [-9.18432870e-03 8.03178635e-05 -9.99957820e-01 6.99676040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.947628 meters 0.01365140393407464 Centerline is valid? [True, True] Translation: X:56.81, Y:-119.09, Z:0.70 [[-8.86466336e-01 4.62728713e-01 7.71838670e-03 5.68059466e+01] [ 4.62712003e-01 8.86499933e-01 -3.93339480e-03 -1.19088642e+02] [-8.66244400e-03 8.45680918e-05 -9.99962477e-01 6.99159201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.977628 meters 0.013868048277067396 Centerline is valid? [True, True] Translation: X:57.20, Y:-118.35, Z:-0.21 [[-8.64188786e-01 -5.03129090e-01 6.23378665e-03 5.71993934e+01] [ 5.03114731e-01 -8.64211256e-01 -3.80414615e-03 -1.18351086e+02] [ 7.30128518e-03 -1.51190552e-04 9.99973334e-01 -2.09985158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.007628 meters 0.014068016551532534 Centerline is valid? [True, True] Translation: X:56.77, Y:-119.07, Z:0.70 [[-8.86828253e-01 4.62061229e-01 5.92195775e-03 5.67717561e+01] [ 4.62051565e-01 8.86848021e-01 -2.98964163e-03 -1.19074572e+02] [-6.63327400e-03 8.49511837e-05 -9.99977996e-01 6.95828012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.037628 meters 0.014300560203371232 Centerline is valid? [True, True] Translation: X:56.79, Y:-119.05, Z:0.69 [[-9.16751360e-01 3.99428476e-01 4.88222972e-03 5.67896860e+01] [ 3.99423247e-01 9.16764357e-01 -2.04518877e-03 -1.19053235e+02] [-5.29276083e-03 7.51464596e-05 -9.99985990e-01 6.94084549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.067628 meters 0.014405188866207942 Centerline is valid? [True, True] Translation: X:57.13, Y:-118.28, Z:-0.21 [[-9.00877298e-01 -4.34057786e-01 3.73247968e-03 5.71255612e+01] [ 4.34053482e-01 -9.00885022e-01 -1.93718167e-03 -1.18282054e+02] [ 4.20338382e-03 -1.25067187e-04 9.99991158e-01 -2.05195684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09762800000001 meters 0.01509741618507632 Centerline is valid? [True, True] Translation: X:56.75, Y:-119.04, Z:0.69 [[-9.16980618e-01 3.98929346e-01 1.38651822e-03 5.67516702e+01] [ 3.98928935e-01 9.16981666e-01 -5.73420809e-04 -1.19039437e+02] [-1.50016617e-03 2.73064673e-05 -9.99998874e-01 6.90785853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12762800000002 meters 0.01473075584455363 Centerline is valid? [True, True] Translation: X:56.77, Y:-119.01, Z:0.69 [[-9.42730842e-01 3.33551556e-01 1.38540723e-03 5.67678793e+01] [ 3.33551238e-01 9.42731860e-01 -4.61012080e-04 -1.19014350e+02] [-1.45983883e-03 2.74939901e-05 -9.99998934e-01 6.89896152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15762800000002 meters 0.014960053222493193 Centerline is valid? [True, True] Translation: X:56.78, Y:-118.99, Z:0.69 [[-9.63892580e-01 2.66287625e-01 1.41245268e-03 5.67752349e+01] [ 2.66287382e-01 9.63893614e-01 -3.61162301e-04 -1.18987479e+02] [-1.45762717e-03 2.79966634e-05 -9.99998937e-01 6.90137980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18762800000002 meters 0.01573002715047495 Centerline is valid? [True, True] Translation: X:56.79, Y:-118.96, Z:0.69 [[-9.80317122e-01 1.97415011e-01 2.37791563e-03 5.67902485e+01] [ 1.97414544e-01 9.80320005e-01 -4.32134175e-04 -1.18963920e+02] [-2.41642803e-03 4.58065975e-05 -9.99997079e-01 6.90249973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21762800000002 meters 0.015101528818886226 Centerline is valid? [True, True] Translation: X:56.80, Y:-118.93, Z:0.69 [[-9.91875034e-01 1.27132789e-01 4.60118214e-03 5.67958089e+01] [ 1.27131820e-01 9.91885702e-01 -5.03477667e-04 -1.18934391e+02] [-4.62785530e-03 8.55697334e-05 -9.99989288e-01 6.92330024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24762800000002 meters 0.014791399914403675 Centerline is valid? [True, True] Translation: X:56.89, Y:-118.10, Z:-0.21 [[-9.87452707e-01 -1.57786013e-01 6.38160769e-03 5.68931006e+01] [ 1.57782714e-01 -9.87473328e-01 -1.02035745e-03 -1.18102507e+02] [ 6.46266552e-03 -6.47351417e-07 9.99979117e-01 -2.06266714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27762800000002 meters 0.014586206039411282 Centerline is valid? [True, True] Translation: X:56.72, Y:-118.92, Z:0.69 [[-9.92389063e-01 1.22912257e-01 7.51824102e-03 5.67239986e+01] [ 1.22909818e-01 9.92417531e-01 -7.87451710e-04 -1.18924343e+02] [-7.55802166e-03 1.42607168e-04 -9.99971428e-01 6.94755220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30762800000002 meters 0.01567795066996867 Centerline is valid? [True, True] Translation: X:56.73, Y:-118.90, Z:0.70 [[-9.98574530e-01 5.26076660e-02 9.01895035e-03 5.67346398e+01] [ 5.26071000e-02 9.98615243e-01 -3.00145778e-04 -1.18899336e+02] [-9.02225126e-03 1.74742893e-04 -9.99959283e-01 6.96649811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33762800000002 meters 0.01608001458238665 Centerline is valid? [True, True] Translation: X:56.73, Y:-118.87, Z:0.70 [[-9.99777336e-01 -1.81248297e-02 1.08059274e-02 5.67337271e+01] [-1.81214586e-02 9.99835709e-01 4.09807012e-04 -1.18871898e+02] [-1.08115798e-02 2.13896596e-04 -9.99941530e-01 6.98372377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36762800000002 meters 0.016120093450715012 Centerline is valid? [True, True] Translation: X:56.73, Y:-118.84, Z:0.70 [[-9.95904720e-01 -8.96870808e-02 1.14024954e-02 5.67306051e+01] [-8.96786351e-02 9.95969968e-01 1.25086570e-03 -1.18844276e+02] [-1.14687295e-02 2.23182830e-04 -9.99934207e-01 6.98673486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39762800000003 meters 0.014783792695002743 Centerline is valid? [True, True] Translation: X:56.64, Y:-118.01, Z:-0.21 [[-9.98142190e-01 5.98117082e-02 1.16072243e-02 5.66365913e+01] [-5.98101804e-02 -9.98209654e-01 4.79022927e-04 -1.18012499e+02] [ 1.16150946e-02 -2.16097188e-04 9.99932519e-01 -2.09757547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42762800000003 meters 0.014263013894815813 Centerline is valid? [True, True] Translation: X:56.60, Y:-118.85, Z:0.70 [[-9.94811263e-01 -1.01136476e-01 1.10437776e-02 5.66049746e+01] [-1.01128413e-01 9.94872548e-01 1.28757828e-03 -1.18852222e+02] [-1.11173723e-02 1.64057677e-04 -9.99938187e-01 6.96361775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45762800000003 meters 0.013527593152178505 Centerline is valid? [True, True] Translation: X:56.51, Y:-118.03, Z:-0.21 [[-9.98103493e-01 6.06313246e-02 1.06423776e-02 5.65071920e+01] [-6.06299008e-02 -9.98160211e-01 4.56665451e-04 -1.18029815e+02] [ 1.06504861e-02 -1.89446917e-04 9.99943264e-01 -2.08771211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48762800000003 meters 0.013154426532408286 Centerline is valid? [True, True] Translation: X:56.48, Y:-118.86, Z:0.70 [[-9.93540960e-01 -1.13013666e-01 1.02113476e-02 5.64793101e+01] [-1.13006675e-01 9.93593429e-01 1.26084944e-03 -1.18860915e+02] [-1.02884211e-02 9.87551277e-05 -9.99947068e-01 6.95838867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51762800000003 meters 0.01575654848567694 Centerline is valid? [True, True] Translation: X:56.46, Y:-118.83, Z:0.70 [[-9.81845342e-01 -1.89385120e-01 1.06301703e-02 5.64626895e+01] [-1.89373537e-01 9.81902884e-01 2.09506213e-03 -1.18832306e+02] [-1.08345685e-02 4.39540472e-05 -9.99941303e-01 6.97137935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54762800000003 meters 0.012328037481287213 Centerline is valid? [True, True] Translation: X:56.43, Y:-118.81, Z:0.69 [[-9.65026333e-01 -2.61967687e-01 9.85436582e-03 5.64296451e+01] [-2.61953825e-01 9.65076645e-01 2.69494246e-03 -1.18811204e+02] [-1.02162061e-02 1.93016156e-05 -9.99947813e-01 6.94557530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.577628 meters 0.012308370425148258 Centerline is valid? [True, True] Translation: X:56.38, Y:-118.80, Z:0.69 [[-9.42542272e-01 -3.33942774e-01 9.81272333e-03 5.63753766e+01] [-3.33924664e-01 9.42593350e-01 3.47782799e-03 -1.18799320e+02] [-1.04108033e-02 1.28955660e-06 -9.99945806e-01 6.94196518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.607628 meters 0.01233351935933364 Centerline is valid? [True, True] Translation: X:56.31, Y:-118.80, Z:0.69 [[-9.14757173e-01 -4.03895335e-01 9.37406903e-03 5.63090247e+01] [-4.03874251e-01 9.14805202e-01 4.12687762e-03 -1.18796043e+02] [-1.02422737e-02 -1.08542040e-05 -9.99947546e-01 6.93295239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.637628 meters 0.012359583931964874 Centerline is valid? [True, True] Translation: X:56.23, Y:-118.80, Z:0.69 [[-8.81284193e-01 -4.72505041e-01 8.78390033e-03 5.62339968e+01] [-4.72481887e-01 8.81327967e-01 4.67772917e-03 -1.18801442e+02] [-9.95174763e-03 -2.78250245e-05 -9.99950480e-01 6.92243207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.667628 meters 0.012280792336352792 Centerline is valid? [True, True] Translation: X:56.15, Y:-118.82, Z:0.69 [[-8.43052392e-01 -5.37768665e-01 8.21745841e-03 5.61505654e+01] [-5.37743501e-01 8.43092439e-01 5.20247940e-03 -1.18817532e+02] [-9.72580746e-03 -3.29221505e-05 -9.99952703e-01 6.92102707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.697628 meters 0.012342222777274316 Centerline is valid? [True, True] Translation: X:56.07, Y:-118.84, Z:0.69 [[-7.99543529e-01 -6.00554601e-01 8.01971027e-03 5.60650667e+01] [-6.00524918e-01 7.99583748e-01 5.97102825e-03 -1.18842280e+02] [-9.99835848e-03 -4.19388480e-05 -9.99950014e-01 6.92271957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.727628 meters 0.012353293253908612 Centerline is valid? [True, True] Translation: X:55.98, Y:-118.88, Z:0.69 [[-7.51293762e-01 -6.59923953e-01 7.61968404e-03 5.59759724e+01] [-6.59890681e-01 7.51332399e-01 6.62686776e-03 -1.18878149e+02] [-1.00981443e-02 -4.94340864e-05 -9.99949011e-01 6.92199311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.757628 meters 0.012532999644412192 Centerline is valid? [True, True] Translation: X:55.89, Y:-118.92, Z:0.69 [[-6.97903893e-01 -7.16145020e-01 8.15270809e-03 5.58870890e+01] [-7.16097375e-01 6.97951506e-01 8.26107386e-03 -1.18922611e+02] [-1.16063218e-02 -7.26972553e-05 -9.99932642e-01 6.93634221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.787628 meters 0.012574336101806633 Centerline is valid? [True, True] Translation: X:55.80, Y:-118.98, Z:0.69 [[-6.40839718e-01 -7.67631818e-01 8.11465907e-03 5.57979615e+01] [-7.67571937e-01 6.40891086e-01 9.58837076e-03 -1.18979719e+02] [-1.25609512e-02 -8.39757692e-05 -9.99921105e-01 6.94045024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.817628 meters 0.012770596490908809 Centerline is valid? [True, True] Translation: X:55.71, Y:-119.05, Z:0.69 [[-5.79829115e-01 -8.14702176e-01 7.65257048e-03 5.57089541e+01] [-8.14633350e-01 5.79879604e-01 1.05900708e-02 -1.19048877e+02] [-1.30653233e-02 -9.36077345e-05 -9.99914641e-01 6.94995412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.84762800000001 meters 0.012745200280435244 Centerline is valid? [True, True] Translation: X:55.63, Y:-119.12, Z:0.69 [[-5.15516694e-01 -8.56851608e-01 6.91809638e-03 5.56313865e+01] [-8.56776908e-01 5.15563102e-01 1.13144774e-02 -1.19117932e+02] [-1.32615434e-02 -9.44632427e-05 -9.99912057e-01 6.94675790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87762800000002 meters 0.012632684178358743 Centerline is valid? [True, True] Translation: X:55.55, Y:-119.20, Z:0.69 [[-4.48277236e-01 -8.93873751e-01 6.10228900e-03 5.55527611e+01] [-8.93793719e-01 4.48318759e-01 1.19615580e-02 -1.19204100e+02] [-1.34278933e-02 -9.20934399e-05 -9.99909838e-01 6.94601666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90762800000002 meters 0.012642047738964542 Centerline is valid? [True, True] Translation: X:55.48, Y:-119.30, Z:0.69 [[-3.78609622e-01 -9.25543161e-01 4.96100198e-03 5.54831216e+01] [-9.25466480e-01 3.78642115e-01 1.19139661e-02 -1.19295976e+02] [-1.29053341e-02 -8.04988357e-05 -9.99916719e-01 6.93582779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93762800000002 meters 0.012713127688838376 Centerline is valid? [True, True] Translation: X:55.42, Y:-119.39, Z:0.69 [[-3.06007965e-01 -9.52020908e-01 3.91357455e-03 5.54180583e+01] [-9.51946314e-01 3.06032980e-01 1.19176808e-02 -1.19394177e+02] [-1.25435641e-02 -7.86076292e-05 -9.99921323e-01 6.93418536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96762800000002 meters 0.012595044643587001 Centerline is valid? [True, True] Translation: X:55.36, Y:-119.50, Z:0.69 [[-2.30946574e-01 -9.72962130e-01 2.89382063e-03 5.53595652e+01] [-9.72890205e-01 2.30964689e-01 1.18305234e-02 -1.19500688e+02] [-1.21790216e-02 -8.31508971e-05 -9.99925830e-01 6.92592088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99762800000002 meters 0.012860036919180114 Centerline is valid? [True, True] Translation: X:55.31, Y:-119.61, Z:0.69 [[-1.54094010e-01 -9.88054284e-01 1.94107366e-03 5.53076956e+01] [-9.87983268e-01 1.54106208e-01 1.18465086e-02 -1.19613139e+02] [-1.20041251e-02 -9.22722751e-05 -9.99927944e-01 6.93418351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02762800000002 meters 0.012992422253503715 Centerline is valid? [True, True] Translation: X:55.27, Y:-119.72, Z:0.69 [[-7.43250130e-02 -9.97233513e-01 1.05477859e-03 5.52658154e+01] [-9.97156437e-01 7.43323829e-02 1.23990921e-02 -1.19722925e+02] [-1.24431944e-02 -1.30216582e-04 -9.99922572e-01 6.93263618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05762800000002 meters 0.013073904672465506 Centerline is valid? [True, True] Translation: X:55.23, Y:-119.84, Z:0.69 [[ 4.47113284e-03 -9.99990000e-01 9.39434634e-05 5.52325492e+01] [-9.99908002e-01 -4.46956310e-03 1.28066239e-02 -1.19840686e+02] [-1.28060760e-02 -1.51194938e-04 -9.99917987e-01 6.93551843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08762800000002 meters 0.013649055588949108 Centerline is valid? [True, True] Translation: X:55.21, Y:-119.96, Z:0.70 [[ 8.29458486e-02 -9.96553611e-01 -9.41138486e-04 5.52074223e+01] [-9.96463611e-01 -8.29510069e-02 1.33940878e-02 -1.19963687e+02] [-1.34259950e-02 -1.73173727e-04 -9.99909852e-01 6.95242848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11762800000002 meters 0.013649055588949108 Centerline is valid? [True, True] Translation: X:55.19, Y:-120.08, Z:0.70 [[ 1.59957028e-01 -9.87121999e-01 -1.97682231e-03 5.51930246e+01] [-9.87032669e-01 -1.59969149e-01 1.32808443e-02 -1.20084533e+02] [-1.34260441e-02 -1.73176173e-04 -9.99909852e-01 6.95245340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14762800000003 meters 0.013589206077746108 Centerline is valid? [True, True] Translation: X:55.19, Y:-120.20, Z:0.69 [[ 2.36921637e-01 -9.71523770e-01 -3.11484463e-03 5.51877373e+01] [-9.71428754e-01 -2.36942033e-01 1.35885539e-02 -1.20203821e+02] [-1.39396407e-02 -1.93572803e-04 -9.99902820e-01 6.94772148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17762800000003 meters 0.013684381300234498 Centerline is valid? [True, True] Translation: X:55.19, Y:-120.32, Z:0.69 [[ 3.12131670e-01 -9.50030480e-01 -3.98845674e-03 5.51924618e+01] [-9.49944694e-01 -3.12157090e-01 1.27683449e-02 -1.20324216e+02] [-1.33753419e-02 -1.96591497e-04 -9.99910527e-01 6.93324319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20762800000003 meters 0.013771136497394816 Centerline is valid? [True, True] Translation: X:55.21, Y:-120.44, Z:0.69 [[ 3.84697421e-01 -9.23030562e-01 -4.74086358e-03 5.52061678e+01] [-9.22954358e-01 -3.84726586e-01 1.18619965e-02 -1.20444187e+02] [-1.27729216e-02 -1.87678767e-04 -9.99918405e-01 6.92576428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23762800000003 meters 0.013669208449714336 Centerline is valid? [True, True] Translation: X:55.23, Y:-120.56, Z:0.69 [[ 4.54819621e-01 -8.90568067e-01 -5.25641135e-03 5.52290408e+01] [-8.90504137e-01 -4.54849962e-01 1.06721708e-02 -1.20562505e+02] [-1.18951730e-02 -1.73056607e-04 -9.99929235e-01 6.91121092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26762800000003 meters 0.013647983997797087 Centerline is valid? [True, True] Translation: X:55.26, Y:-120.68, Z:0.69 [[ 5.22139988e-01 -8.52840213e-01 -5.77957698e-03 5.52628520e+01] [-8.52784464e-01 -5.22171949e-01 9.75260268e-03 -1.20683652e+02] [-1.13353447e-02 -1.63490392e-04 -9.99935740e-01 6.90316796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29762800000003 meters 0.013312975058143271 Centerline is valid? [True, True] Translation: X:55.30, Y:-120.79, Z:0.69 [[ 5.86039072e-01 -8.10263474e-01 -5.59539660e-03 5.52958693e+01] [-8.10224296e-01 -5.86065767e-01 7.96909367e-03 -1.20788070e+02] [-9.73633593e-03 -1.36673987e-04 -9.99952591e-01 6.90228304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.327628 meters 0.013526771856527446 Centerline is valid? [True, True] Translation: X:55.34, Y:-120.89, Z:0.69 [[ 6.46548383e-01 -7.62849209e-01 -6.02277184e-03 5.53382287e+01] [-7.62814202e-01 -6.46576420e-01 7.30928912e-03 -1.20891613e+02] [-9.47006768e-03 -1.31553160e-04 -9.99955149e-01 6.91110075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.357628 meters 0.013405432190368423 Centerline is valid? [True, True] Translation: X:55.39, Y:-120.99, Z:0.69 [[ 7.03109700e-01 -7.11051437e-01 -6.52717330e-03 5.53898820e+01] [-7.11019078e-01 -7.03139984e-01 6.78479796e-03 -1.20990670e+02] [-9.41385687e-03 -1.29512518e-04 -9.99955680e-01 6.91055556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.387628 meters 0.013519412104479406 Centerline is valid? [True, True] Translation: X:55.44, Y:-121.08, Z:0.69 [[ 7.54775437e-01 -6.55940355e-01 -7.50268393e-03 5.54446266e+01] [-6.55906273e-01 -7.54812715e-01 6.68773858e-03 -1.21081647e+02] [-1.00498788e-02 -1.26683362e-04 -9.99949491e-01 6.92590984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.417628 meters 0.013133974557537594 Centerline is valid? [True, True] Translation: X:55.44, Y:-121.09, Z:0.69 [[ 8.03262905e-01 -5.95567343e-01 -8.26108798e-03 5.54408866e+01] [-5.95534263e-01 -8.03305375e-01 6.27825848e-03 -1.21087536e+02] [-1.03753021e-02 -1.23331202e-04 -9.99946168e-01 6.92584129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.447628 meters 0.013091347558796167 Centerline is valid? [True, True] Translation: X:55.44, Y:-121.09, Z:0.69 [[ 8.46776627e-01 -5.31863074e-01 -9.54015373e-03 5.54363456e+01] [-5.31827679e-01 -8.46830358e-01 6.13714697e-03 -1.21092132e+02] [-1.13430137e-02 -1.23074795e-04 -9.99935658e-01 6.93414005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.477628 meters 0.012886063431498604 Centerline is valid? [True, True] Translation: X:55.43, Y:-121.10, Z:0.69 [[ 8.85061963e-01 -4.65350080e-01 -1.07063192e-02 5.54322062e+01] [-4.65314473e-01 -8.85126708e-01 5.75772339e-03 -1.21096284e+02] [-1.21558061e-02 -1.14136699e-04 -9.99926109e-01 6.93583162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.507628 meters 0.012508967055714993 Centerline is valid? [True, True] Translation: X:55.43, Y:-121.10, Z:0.69 [[ 9.17104211e-01 -3.98457317e-01 -1.23139465e-02 5.54282150e+01] [-3.98420355e-01 -9.17186874e-01 5.42762068e-03 -1.21100290e+02] [-1.34568652e-02 -7.15668560e-05 -9.99909450e-01 6.94473214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.537628 meters 0.015112537348220951 Centerline is valid? [True, True] Translation: X:55.42, Y:-121.11, Z:0.70 [[ 9.44514417e-01 -3.28196821e-01 -1.33926374e-02 5.54238168e+01] [-3.28163306e-01 -9.44609361e-01 4.69032009e-03 -1.21105746e+02] [-1.41901588e-02 -3.51027814e-05 -9.99899314e-01 6.96900340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.567628 meters 0.012451512009821546 Centerline is valid? [True, True] Translation: X:55.42, Y:-121.11, Z:0.70 [[ 9.66587786e-01 -2.56000052e-01 -1.31158457e-02 5.54191557e+01] [-2.55976540e-01 -9.66676768e-01 3.46957322e-03 -1.21110355e+02] [-1.35669942e-02 3.70169006e-06 -9.99907964e-01 6.95065523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59762800000001 meters 0.012627421619441376 Centerline is valid? [True, True] Translation: X:55.41, Y:-121.11, Z:0.69 [[ 9.83047596e-01 -1.82866991e-01 -1.33074623e-02 5.54119497e+01] [-1.82850921e-01 -9.83137661e-01 2.42478625e-03 -1.21112511e+02] [-1.35264807e-02 4.96014428e-05 -9.99908512e-01 6.94893724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62762800000002 meters 0.012984314874821276 Centerline is valid? [True, True] Translation: X:55.41, Y:-121.11, Z:0.69 [[ 9.93976302e-01 -1.08845194e-01 -1.27998317e-02 5.54055386e+01] [-1.08837371e-01 -9.94058708e-01 1.30826115e-03 -1.21114290e+02] [-1.28661822e-02 9.27194489e-05 -9.99917223e-01 6.94539230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65762800000002 meters 0.014280485707490917 Centerline is valid? [True, True] Translation: X:55.40, Y:-121.11, Z:0.69 [[ 9.99266782e-01 -3.67755133e-02 -1.06518066e-02 5.53979980e+01] [-3.67749333e-02 -9.99323542e-01 2.50375270e-04 -1.21113502e+02] [-1.06538088e-02 1.41527788e-04 -9.99943237e-01 6.92780153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68762800000002 meters 0.014199608140010136 Centerline is valid? [True, True] Translation: X:55.39, Y:-121.12, Z:0.69 [[ 9.99189991e-01 3.90051546e-02 -9.89748174e-03 5.53912443e+01] [ 3.90016810e-02 -9.99238997e-01 -5.43807803e-04 -1.21121937e+02] [-9.91116104e-03 1.57348888e-04 -9.99950871e-01 6.90943389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71762800000002 meters 0.014882368778074008 Centerline is valid? [True, True] Translation: X:55.39, Y:-121.13, Z:0.69 [[ 9.93425274e-01 1.14117209e-01 -9.13713978e-03 5.53850335e+01] [ 1.14110765e-01 -9.93467278e-01 -1.22513853e-03 -1.21128970e+02] [-9.21725878e-03 1.74437570e-04 -9.99957505e-01 6.90665775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74762800000002 meters 0.0157606438563739 Centerline is valid? [True, True] Translation: X:55.38, Y:-121.14, Z:0.69 [[ 9.82007725e-01 1.88642007e-01 -8.66154192e-03 5.53787435e+01] [ 1.88632923e-01 -9.82045903e-01 -1.86138275e-03 -1.21135462e+02] [-8.85716673e-03 1.94040273e-04 -9.99960756e-01 6.90436005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77762800000002 meters 0.01658505441581845 Centerline is valid? [True, True] Translation: X:55.37, Y:-121.14, Z:0.69 [[ 9.65715480e-01 2.59501633e-01 -7.24662521e-03 5.53740395e+01] [ 2.59492702e-01 -9.65742646e-01 -2.16306782e-03 -1.21144454e+02] [-7.55969464e-03 2.08461722e-04 -9.99971403e-01 6.88331624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80762800000002 meters 0.018397507799251724 Centerline is valid? [True, True] Translation: X:55.37, Y:-121.15, Z:0.69 [[ 9.43261470e-01 3.31987730e-01 -6.47657564e-03 5.53682397e+01] [ 3.31978380e-01 -9.43283682e-01 -2.50032397e-03 -1.21152984e+02] [-6.93932499e-03 2.08376181e-04 -9.99975901e-01 6.88019966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83762800000002 meters 0.01759403099916005 Centerline is valid? [True, True] Translation: X:55.37, Y:-121.17, Z:0.69 [[ 9.15283619e-01 4.02775016e-01 -5.30875232e-03 5.53668721e+01] [ 4.02767029e-01 -9.15298995e-01 -2.54364672e-03 -1.21167589e+02] [-5.88361301e-03 1.89967776e-04 -9.99982673e-01 6.87012588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86762800000002 meters 0.01880657989249415 Centerline is valid? [True, True] Translation: X:55.36, Y:-121.18, Z:0.69 [[ 8.82300478e-01 4.70669820e-01 -3.97328712e-03 5.53647479e+01] [ 4.70664214e-01 -8.82309410e-01 -2.30282304e-03 -1.21181061e+02] [-4.58953792e-03 1.61697805e-04 -9.99989455e-01 6.86815371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89762800000003 meters 0.019044853578727296 Centerline is valid? [True, True] Translation: X:55.36, Y:-121.19, Z:0.69 [[ 8.42964428e-01 5.37956783e-01 -3.67037486e-03 5.53644984e+01] [ 5.37950854e-01 -8.42972404e-01 -2.53079828e-03 -1.21194115e+02] [-4.45548483e-03 1.58891638e-04 -9.99990062e-01 6.86938826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92762800000003 meters 0.01932247594796074 Centerline is valid? [True, True] Translation: X:55.37, Y:-121.21, Z:0.69 [[ 7.98204087e-01 6.02376593e-01 -3.56017492e-03 5.53651030e+01] [ 6.02369678e-01 -7.98212010e-01 -2.89090238e-03 -1.21207240e+02] [-4.58318631e-03 1.62988679e-04 -9.99989484e-01 6.87259796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95762800000003 meters 0.01945188191767224 Centerline is valid? [True, True] Translation: X:55.37, Y:-121.22, Z:0.69 [[ 7.48078499e-01 6.63602188e-01 -3.27036011e-03 5.53662118e+01] [ 6.63594915e-01 -7.48085631e-01 -3.11090215e-03 -1.21219676e+02] [-4.51091088e-03 1.57004667e-04 -9.99989813e-01 6.87673010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98762800000003 meters 0.019233239369564756 Centerline is valid? [True, True] Translation: X:55.37, Y:-121.23, Z:0.69 [[ 6.92094524e-01 7.21799738e-01 -3.21069147e-03 5.53689643e+01] [ 7.21790912e-01 -6.92101954e-01 -3.57286187e-03 -1.21233568e+02] [-4.80101660e-03 1.55310213e-04 -9.99988463e-01 6.88424272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01762800000003 meters 0.018881279204424936 Centerline is valid? [True, True] Translation: X:55.37, Y:-121.25, Z:0.69 [[ 6.31911784e-01 7.75033038e-01 -3.35951102e-03 5.53699730e+01] [ 7.75020649e-01 -6.31920692e-01 -4.38537249e-03 -1.21245362e+02] [-5.52175309e-03 1.67478144e-04 -9.99984741e-01 6.88512210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04762800000003 meters 0.018585319507079125 Centerline is valid? [True, True] Translation: X:55.37, Y:-121.26, Z:0.69 [[ 5.67761545e-01 8.23186704e-01 -3.23723593e-03 5.53728719e+01] [ 8.23171586e-01 -5.67770748e-01 -4.99169646e-03 -1.21255490e+02] [-5.94710602e-03 1.69292655e-04 -9.99982301e-01 6.88780402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.077628 meters 0.01804826442428882 Centerline is valid? [True, True] Translation: X:55.38, Y:-121.27, Z:0.69 [[ 4.99483876e-01 8.66317659e-01 -3.09363560e-03 5.53753691e+01] [ 8.66298895e-01 -4.99493428e-01 -5.70433485e-03 -1.21266652e+02] [-6.48701666e-03 1.69210182e-04 -9.99978945e-01 6.89516991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.107628 meters 0.017019513597552473 Centerline is valid? [True, True] Translation: X:55.38, Y:-121.28, Z:0.69 [[ 4.26419324e-01 9.04521773e-01 -2.63082746e-03 5.53818292e+01] [ 9.04502449e-01 -4.26427416e-01 -5.91429474e-03 -1.21278220e+02] [-6.47146532e-03 1.42379688e-04 -9.99979050e-01 6.90772864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.137628 meters 0.016722277115558206 Centerline is valid? [True, True] Translation: X:55.38, Y:-121.29, Z:0.69 [[ 3.52758504e-01 9.35711682e-01 -2.25512858e-03 5.53842284e+01] [ 9.35689991e-01 -3.52765686e-01 -6.37276727e-03 -1.21286774e+02] [-6.75860476e-03 1.37946614e-04 -9.99977151e-01 6.91203347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.167628 meters 0.016316534462284232 Centerline is valid? [True, True] Translation: X:55.39, Y:-121.29, Z:0.69 [[ 2.77014213e-01 9.60864418e-01 -1.64178467e-03 5.53864274e+01] [ 9.60844881e-01 -2.77019052e-01 -6.12852117e-03 -1.21294000e+02] [-6.34348356e-03 1.20187077e-04 -9.99979873e-01 6.91482767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.197628 meters 0.016031974242197128 Centerline is valid? [True, True] Translation: X:55.39, Y:-121.30, Z:0.69 [[ 1.99655944e-01 9.79865435e-01 -1.11042489e-03 5.53885537e+01] [ 9.79847130e-01 -1.99659003e-01 -5.99035337e-03 -1.21300386e+02] [-6.09144654e-03 1.07963011e-04 -9.99981441e-01 6.91619849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.227628 meters 0.01566358629087666 Centerline is valid? [True, True] Translation: X:55.39, Y:-121.31, Z:0.69 [[ 1.20607883e-01 9.92700087e-01 -5.24688365e-04 5.53904131e+01] [ 9.92687565e-01 -1.20608997e-01 -4.98670884e-03 -1.21308103e+02] [-5.01358844e-03 8.05847787e-05 -9.99987429e-01 6.90683207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.257628 meters 0.015474115412827765 Centerline is valid? [True, True] Translation: X:55.39, Y:-121.31, Z:0.69 [[ 4.18835426e-02 9.99122491e-01 -1.28810928e-04 5.53891006e+01] [ 9.99110593e-01 -4.18836725e-02 -4.87652301e-03 -1.21314403e+02] [-4.87763889e-03 7.55496961e-05 -9.99988101e-01 6.89759002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.287628 meters 0.015420569091307013 Centerline is valid? [True, True] Translation: X:55.39, Y:-121.32, Z:0.69 [[-3.71509343e-02 9.99309635e-01 2.46045792e-04 5.53879568e+01] [ 9.99298472e-01 3.71516824e-02 -4.72402449e-03 -1.21321392e+02] [-4.72990421e-03 7.03712599e-05 -9.99988811e-01 6.89297039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.317628 meters 0.015258637544023453 Centerline is valid? [True, True] Translation: X:55.39, Y:-121.33, Z:0.69 [[-1.15733730e-01 9.93280114e-01 5.64087802e-04 5.53870619e+01] [ 9.93270814e-01 1.15735088e-01 -4.29886982e-03 -1.21327942e+02] [-4.33526666e-03 6.27677089e-05 -9.99990601e-01 6.89194850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34762800000001 meters 0.014966848206658574 Centerline is valid? [True, True] Translation: X:55.39, Y:-121.34, Z:0.69 [[-1.94134110e-01 9.80974807e-01 6.12968117e-04 5.53886531e+01] [ 9.80970552e-01 1.94135073e-01 -2.88958649e-03 -1.21335266e+02] [-2.95361016e-03 4.03363721e-05 -9.99995637e-01 6.89334947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37762800000002 meters 0.014784564196413197 Centerline is valid? [True, True] Translation: X:55.39, Y:-121.34, Z:0.69 [[-2.71049970e-01 9.62564978e-01 7.59639389e-04 5.53869131e+01] [ 9.62561549e-01 2.71051032e-01 -2.56940765e-03 -1.21342602e+02] [-2.67912286e-03 3.47618022e-05 -9.99996411e-01 6.89130257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40762800000002 meters 0.014702975041920117 Centerline is valid? [True, True] Translation: X:55.38, Y:-121.35, Z:0.69 [[-3.46048757e-01 9.38216232e-01 7.47849245e-04 5.53844494e+01] [ 9.38214204e-01 3.46049564e-01 -1.95113350e-03 -1.21349577e+02] [-2.08937803e-03 2.64554616e-05 -9.99997817e-01 6.88969604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43762800000002 meters 0.014527218914783131 Centerline is valid? [True, True] Translation: X:55.38, Y:-121.36, Z:0.69 [[-4.19031291e-01 9.07971162e-01 1.07046668e-03 5.53815163e+01] [ 9.07968379e-01 4.19032658e-01 -2.24821789e-03 -1.21358302e+02] [-2.48987750e-03 2.98762518e-05 -9.99996900e-01 6.88929984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46762800000002 meters 0.013086932693313765 Centerline is valid? [True, True] Translation: X:55.40, Y:-121.36, Z:0.69 [[-4.89372570e-01 8.72073482e-01 1.52668928e-03 5.53956949e+01] [ 8.72069456e-01 4.89374950e-01 -2.64986568e-03 -1.21355724e+02] [-3.05800108e-03 3.46075071e-05 -9.99995324e-01 6.88494478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49762800000002 meters 0.013087235161276488 Centerline is valid? [True, True] Translation: X:55.41, Y:-121.35, Z:0.69 [[-5.56601659e-01 8.30776697e-01 2.16160020e-03 5.54060233e+01] [ 8.30770716e-01 5.56605855e-01 -3.15285321e-03 -1.21354522e+02] [-3.82247631e-03 4.09108239e-05 -9.99992693e-01 6.88742378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52762800000002 meters 0.013069763045916132 Centerline is valid? [True, True] Translation: X:55.42, Y:-121.35, Z:0.69 [[-6.20238680e-01 7.84407605e-01 2.94769200e-03 5.54160357e+01] [ 7.84399114e-01 6.20245682e-01 -3.65008105e-03 -1.21351875e+02] [-4.69144457e-03 4.82455458e-05 -9.99988994e-01 6.89642214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55762800000002 meters 0.013043166925832163 Centerline is valid? [True, True] Translation: X:55.42, Y:-121.35, Z:0.69 [[-6.79898377e-01 7.33295947e-01 3.90527193e-03 5.54247920e+01] [ 7.33284330e-01 6.79909590e-01 -4.12802587e-03 -1.21348919e+02] [-5.68229648e-03 5.70366245e-05 -9.99983854e-01 6.90611170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58762800000002 meters 0.013023930464055221 Centerline is valid? [True, True] Translation: X:55.43, Y:-121.35, Z:0.69 [[-7.35434862e-01 6.77575425e-01 5.20651881e-03 5.54336630e+01] [ 6.77559100e-01 7.35453288e-01 -4.70391506e-03 -1.21345078e+02] [-7.01640862e-03 6.83010753e-05 -9.99975382e-01 6.91710519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61762800000002 meters 0.013198377651778073 Centerline is valid? [True, True] Translation: X:55.45, Y:-121.33, Z:0.69 [[-7.81286300e-01 6.24145855e-01 5.80253616e-03 5.54529023e+01] [ 6.24129346e-01 7.81307844e-01 -4.54006841e-03 -1.21325642e+02] [-7.36723189e-03 7.44398463e-05 -9.99972859e-01 6.92047718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64762800000003 meters 0.013079049847827833 Centerline is valid? [True, True] Translation: X:55.47, Y:-121.31, Z:0.69 [[-8.22720500e-01 5.68412377e-01 6.19267353e-03 5.54744593e+01] [ 5.68397055e-01 8.22743801e-01 -4.17444041e-03 -1.21306608e+02] [-7.46778736e-03 8.54996992e-05 -9.99972112e-01 6.91243942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67762800000003 meters 0.013483234292708639 Centerline is valid? [True, True] Translation: X:55.49, Y:-121.29, Z:0.69 [[-8.59846817e-01 5.10513464e-01 6.28128087e-03 5.54921244e+01] [ 5.10500672e-01 8.59869754e-01 -3.61526413e-03 -1.21286491e+02] [-7.24672444e-03 9.80247542e-05 -9.99973737e-01 6.91434127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70762800000003 meters 0.014420972030641166 Centerline is valid? [True, True] Translation: X:55.51, Y:-121.27, Z:0.69 [[-8.91529676e-01 4.52910451e-01 6.85265930e-03 5.55065735e+01] [ 4.52898290e-01 8.91556001e-01 -3.32208964e-03 -1.21265803e+02] [-7.61413864e-03 1.41816177e-04 -9.99971002e-01 6.91817975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73762800000003 meters 0.01829238491337704 Centerline is valid? [True, True] Translation: X:55.52, Y:-121.25, Z:0.70 [[-9.20056551e-01 3.91691994e-01 8.56298065e-03 5.55241714e+01] [ 3.91677068e-01 9.20096376e-01 -3.42535323e-03 -1.21245386e+02] [-9.22045089e-03 2.02404480e-04 -9.99957470e-01 6.95080422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76762800000003 meters 0.015513355092060721 Centerline is valid? [True, True] Translation: X:55.53, Y:-121.22, Z:0.69 [[-9.44680237e-01 3.27877057e-01 8.71122824e-03 5.55345287e+01] [ 3.27865292e-01 9.44720374e-01 -2.78655081e-03 -1.21220305e+02] [-9.14332088e-03 2.23709905e-04 -9.99958174e-01 6.92394213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79762800000003 meters 0.017235662666971536 Centerline is valid? [True, True] Translation: X:55.55, Y:-121.20, Z:0.69 [[-9.63994166e-01 2.65738786e-01 9.90682620e-03 5.55488870e+01] [ 2.65728040e-01 9.64045021e-01 -2.40973866e-03 -1.21200173e+02] [-1.01909875e-02 3.09547500e-04 -9.99948023e-01 6.92315816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.827628 meters 0.01783354772159597 Centerline is valid? [True, True] Translation: X:55.56, Y:-121.18, Z:0.69 [[-9.79904325e-01 1.99208580e-01 1.01712692e-02 5.55580278e+01] [ 1.99201403e-01 9.79957054e-01 -1.72411638e-03 -1.21175145e+02] [-1.03108658e-02 3.36662007e-04 -9.99946785e-01 6.91981566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.857628 meters 0.02046048424497386 Centerline is valid? [True, True] Translation: X:55.57, Y:-121.15, Z:0.69 [[-9.91255016e-01 1.31483562e-01 1.12056361e-02 5.55652266e+01] [ 1.31479646e-01 9.91318273e-01 -1.08867967e-03 -1.21148644e+02] [-1.12514953e-02 3.94153892e-04 -9.99936622e-01 6.93905395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.887628 meters 0.01895761309940773 Centerline is valid? [True, True] Translation: X:55.57, Y:-121.12, Z:0.69 [[-9.98047511e-01 6.14681754e-02 1.10827986e-02 5.55658876e+01] [ 6.14687973e-02 9.98108965e-01 -2.84839083e-04 -1.21121007e+02] [-1.10793492e-02 3.96963361e-04 -9.99938543e-01 6.91879548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.917628 meters 0.021271512606606348 Centerline is valid? [True, True] Translation: X:55.57, Y:-121.10, Z:0.69 [[-9.99890971e-01 -9.27801878e-03 1.14875707e-02 5.55653189e+01] [-9.27261467e-03 9.99956871e-01 5.23604850e-04 -1.21095631e+02] [-1.14919333e-02 4.17027946e-04 -9.99933879e-01 6.93006481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.947628 meters 0.021590265208926228 Centerline is valid? [True, True] Translation: X:55.56, Y:-121.07, Z:0.69 [[-9.96669857e-01 -8.07257696e-02 1.15128506e-02 5.55558439e+01] [-8.07155247e-02 9.96736261e-01 1.35251852e-03 -1.21065295e+02] [-1.15844587e-02 4.18748661e-04 -9.99932810e-01 6.94231971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.977628 meters 0.019168717049590264 Centerline is valid? [True, True] Translation: X:55.46, Y:-120.29, Z:-0.20 [[-9.96432790e-01 8.37323345e-02 1.05162811e-02 5.54554558e+01] [-8.37324607e-02 -9.96488179e-01 4.29059310e-04 -1.20292951e+02] [ 1.05152759e-02 -4.53025326e-04 9.99944610e-01 -2.03862223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.007628 meters 0.019168717049590264 Centerline is valid? [True, True] Translation: X:55.43, Y:-121.08, Z:0.69 [[-9.95982266e-01 -8.89441292e-02 1.04051450e-02 5.54258759e+01] [-8.89354504e-02 9.96036550e-01 1.29475172e-03 -1.21078314e+02] [-1.04790653e-02 3.64163494e-04 -9.99945027e-01 6.91189719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.037628 meters 0.017714150709583185 Centerline is valid? [True, True] Translation: X:55.40, Y:-121.05, Z:0.69 [[-9.86742297e-01 -1.62013989e-01 9.54496668e-03 5.54043715e+01] [-1.62003246e-01 9.86788409e-01 1.89324510e-03 -1.21050343e+02] [-9.72559468e-03 3.21829437e-04 -9.99952654e-01 6.90131133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.067628 meters 0.016885934430111178 Centerline is valid? [True, True] Translation: X:55.36, Y:-121.03, Z:0.69 [[-9.71879613e-01 -2.35304212e-01 9.05239818e-03 5.53628474e+01] [-2.35291227e-01 9.71921728e-01 2.48879706e-03 -1.21029382e+02] [-9.38384691e-03 2.88861248e-04 -9.99955929e-01 6.89538429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09762800000001 meters 0.0182666040263953 Centerline is valid? [True, True] Translation: X:55.30, Y:-121.02, Z:0.69 [[-9.50367700e-01 -3.11017472e-01 8.32867325e-03 5.53039582e+01] [-3.11003427e-01 9.50404167e-01 2.96441448e-03 -1.21015861e+02] [-8.83759046e-03 2.27037853e-04 -9.99960922e-01 6.91007075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12762800000002 meters 0.014677708004214429 Centerline is valid? [True, True] Translation: X:55.24, Y:-121.01, Z:0.69 [[-9.23417931e-01 -3.83736993e-01 6.72641101e-03 5.52355565e+01] [-3.83725526e-01 9.23442415e-01 2.97105334e-03 -1.21010378e+02] [-7.35155630e-03 1.62428324e-04 -9.99972964e-01 6.87610997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15762800000002 meters 0.01426180820774487 Centerline is valid? [True, True] Translation: X:55.16, Y:-121.02, Z:0.69 [[-8.90922605e-01 -4.54114589e-01 6.07059403e-03 5.51574771e+01] [-4.54103046e-01 8.90943277e-01 3.24044544e-03 -1.21015468e+02] [-6.88008849e-03 1.30310850e-04 -9.99976323e-01 6.87786203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18762800000002 meters 0.013731782296240053 Centerline is valid? [True, True] Translation: X:55.07, Y:-121.03, Z:0.69 [[-8.52788032e-01 -5.22228395e-01 5.48408875e-03 5.50746336e+01] [-5.22216819e-01 8.52805659e-01 3.47869259e-03 -1.21029420e+02] [-6.49353397e-03 1.02704027e-04 -9.99978912e-01 6.88355155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21762800000002 meters 0.012689753173703737 Centerline is valid? [True, True] Translation: X:54.99, Y:-121.05, Z:0.69 [[-8.07752789e-01 -5.89499333e-01 5.09582104e-03 5.49873395e+01] [-5.89487098e-01 8.07768860e-01 3.79863513e-03 -1.21052002e+02] [-6.35553843e-03 6.44373660e-05 -9.99979801e-01 6.88432449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24762800000002 meters 0.012352302205191774 Centerline is valid? [True, True] Translation: X:54.90, Y:-121.09, Z:0.69 [[-7.59120320e-01 -6.50931776e-01 4.91559062e-03 5.48978933e+01] [-6.50917720e-01 7.59136234e-01 4.27791508e-03 -1.21086575e+02] [-6.51623381e-03 4.78072224e-05 -9.99978768e-01 6.88355017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27762800000002 meters 0.012242422058000921 Centerline is valid? [True, True] Translation: X:54.80, Y:-121.13, Z:0.69 [[-7.06036180e-01 -7.08159499e-01 4.79970106e-03 5.48049102e+01] [-7.08142801e-01 7.06052493e-01 4.86315195e-03 -1.21134519e+02] [-6.83272815e-03 3.46874699e-05 -9.99976656e-01 6.88634522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30762800000002 meters 0.011969517340448528 Centerline is valid? [True, True] Translation: X:54.71, Y:-121.19, Z:0.69 [[-6.47082235e-01 -7.62408231e-01 4.27433163e-03 5.47139396e+01] [-7.62391530e-01 6.47096352e-01 5.04641393e-03 -1.21189834e+02] [-6.61333193e-03 6.73057537e-06 -9.99978132e-01 6.88320368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33762800000002 meters 0.011965578020695802 Centerline is valid? [True, True] Translation: X:54.63, Y:-121.25, Z:0.69 [[-5.85879748e-01 -8.10388174e-01 3.99112561e-03 5.46314321e+01] [-8.10369397e-01 5.85893342e-01 5.51650799e-03 -1.21250039e+02] [-6.80888676e-03 -2.27574585e-06 -9.99976819e-01 6.88783355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36762800000002 meters 0.012048316788737651 Centerline is valid? [True, True] Translation: X:54.55, Y:-121.33, Z:0.69 [[-5.21479081e-01 -8.53255972e-01 3.71676776e-03 5.45477996e+01] [-8.53234415e-01 5.21492326e-01 6.06514618e-03 -1.21326528e+02] [-7.11338806e-03 -8.42730874e-06 -9.99974700e-01 6.89285466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39762800000003 meters 0.012088936366813925 Centerline is valid? [True, True] Translation: X:54.47, Y:-121.41, Z:0.69 [[-4.54257372e-01 -8.90862048e-01 3.87962040e-03 5.44732256e+01] [-8.90829823e-01 4.54273939e-01 7.57726848e-03 -1.21405456e+02] [-8.51271135e-03 -1.40514845e-05 -9.99963766e-01 6.89576445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42762800000003 meters 0.012145874185078162 Centerline is valid? [True, True] Translation: X:54.40, Y:-121.50, Z:0.69 [[-3.84294566e-01 -9.23202156e-01 3.93260801e-03 5.44021209e+01] [-9.23154332e-01 3.84314687e-01 9.39688418e-03 -1.21500379e+02] [-1.01865828e-02 -1.92325868e-05 -9.99948115e-01 6.91425096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45762800000003 meters 0.012119982063040049 Centerline is valid? [True, True] Translation: X:54.34, Y:-121.59, Z:0.69 [[-3.12147224e-01 -9.50028252e-01 3.22965598e-03 5.43395640e+01] [-9.49978015e-01 3.12163931e-01 9.76992132e-03 -1.21592776e+02] [-1.02898834e-02 -1.84483645e-05 -9.99947058e-01 6.91046644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48762800000003 meters 0.0121594171615516 Centerline is valid? [True, True] Translation: X:54.28, Y:-121.70, Z:0.69 [[-2.38087281e-01 -9.71240755e-01 2.41703739e-03 5.42818588e+01] [-9.71191438e-01 2.38099549e-01 9.78748031e-03 -1.21697983e+02] [-1.00814953e-02 -1.71314452e-05 -9.99949180e-01 6.91673819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51762800000003 meters 0.012195855333483394 Centerline is valid? [True, True] Translation: X:54.23, Y:-121.81, Z:0.69 [[-1.62290849e-01 -9.86741608e-01 1.63722406e-03 5.42329944e+01] [-9.86692528e-01 1.62299106e-01 9.84150265e-03 -1.21805327e+02] [-9.97674015e-03 -1.82509333e-05 -9.99950231e-01 6.92101973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54762800000003 meters 0.012255981812328242 Centerline is valid? [True, True] Translation: X:54.19, Y:-121.92, Z:0.69 [[-8.51839360e-02 -9.96364905e-01 8.20591228e-04 5.41938092e+01] [-9.96321023e-01 8.51878858e-02 9.35111711e-03 -1.21920251e+02] [-9.38702934e-03 -2.10073304e-05 -9.99955941e-01 6.92145107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.577628 meters 0.012300864137799296 Centerline is valid? [True, True] Translation: X:54.16, Y:-122.04, Z:0.69 [[-7.62657925e-03 -9.99970913e-01 9.56242972e-05 5.41622589e+01] [-9.99926830e-01 7.62714093e-03 9.38947106e-03 -1.22038258e+02] [-9.38992728e-03 -2.40077552e-05 -9.99955913e-01 6.92596420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.607628 meters 0.012443582181754584 Centerline is valid? [True, True] Translation: X:54.14, Y:-122.15, Z:0.69 [[ 7.06468412e-02 -9.97501146e-01 -6.98233146e-04 5.41424986e+01] [-9.97447167e-01 -7.06502821e-02 1.03772421e-02 -1.22154928e+02] [-1.04006412e-02 -3.66686991e-05 -9.99945911e-01 6.92584171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.637628 meters 0.012491646424716419 Centerline is valid? [True, True] Translation: X:54.13, Y:-122.28, Z:0.69 [[ 1.48005809e-01 -9.88985340e-01 -1.50897634e-03 5.41297134e+01] [-9.88931051e-01 -1.48013495e-01 1.03625054e-02 -1.22280276e+02] [-1.04717148e-02 -4.14374404e-05 -9.99945169e-01 6.93008467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.667628 meters 0.012484048108510963 Centerline is valid? [True, True] Translation: X:54.13, Y:-122.40, Z:0.69 [[ 2.24259627e-01 -9.74526806e-01 -2.26347435e-03 5.41251732e+01] [-9.74475227e-01 -2.24271045e-01 1.00264536e-02 -1.22397128e+02] [-1.02786796e-02 -4.28290694e-05 -9.99947172e-01 6.93359405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.697628 meters 0.012570611285654665 Centerline is valid? [True, True] Translation: X:54.13, Y:-122.52, Z:0.69 [[ 2.98884366e-01 -9.54283861e-01 -3.23231621e-03 5.41305031e+01] [-9.54226416e-01 -2.98901841e-01 1.04707720e-02 -1.22517162e+02] [-1.09582340e-02 -4.51885534e-05 -9.99939956e-01 6.93864056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.727628 meters 0.012551608349399659 Centerline is valid? [True, True] Translation: X:54.15, Y:-122.64, Z:0.69 [[ 3.71398608e-01 -9.28464470e-01 -4.09900050e-03 5.41455437e+01] [-9.28406671e-01 -3.71421225e-01 1.03598803e-02 -1.22636298e+02] [-1.11412365e-02 -4.21057081e-05 -9.99937934e-01 6.94455471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.757628 meters 0.012605245182588076 Centerline is valid? [True, True] Translation: X:54.17, Y:-122.75, Z:0.69 [[ 4.41561389e-01 -8.97216404e-01 -5.12493162e-03 5.41699130e+01] [-8.97154961e-01 -4.41591127e-01 1.05001289e-02 -1.22753445e+02] [-1.16840122e-02 -3.85936627e-05 -9.99931739e-01 6.94828234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.787628 meters 0.012609540560091214 Centerline is valid? [True, True] Translation: X:54.20, Y:-122.86, Z:0.69 [[ 5.08446461e-01 -8.61070694e-01 -6.28136185e-03 5.42049618e+01] [-8.61004325e-01 -5.08485259e-01 1.06908448e-02 -1.22864148e+02] [-1.23995530e-02 -2.74424626e-05 -9.99923122e-01 6.94534763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.817628 meters 0.012575062754383316 Centerline is valid? [True, True] Translation: X:54.25, Y:-122.97, Z:0.69 [[ 5.72829808e-01 -8.19642441e-01 -7.23052652e-03 5.42464638e+01] [-8.19576688e-01 -5.72875439e-01 1.03819189e-02 -1.22974579e+02] [-1.26516524e-02 -2.11016592e-05 -9.99919964e-01 6.94587722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84762800000001 meters 0.012644462772233125 Centerline is valid? [True, True] Translation: X:54.29, Y:-123.08, Z:0.69 [[ 6.33434113e-01 -7.73755687e-01 -7.95991279e-03 5.42939882e+01] [-7.73694427e-01 -6.33484125e-01 9.73640770e-03 -1.23077819e+02] [-1.25760792e-02 -8.83261417e-06 -9.99920918e-01 6.94465840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87762800000002 meters 0.012637834282678253 Centerline is valid? [True, True] Translation: X:54.35, Y:-123.17, Z:0.69 [[ 6.90146813e-01 -7.23617492e-01 -8.66613978e-03 5.43453917e+01] [-7.23560560e-01 -6.90201221e-01 9.07697722e-03 -1.23172958e+02] [-1.25496397e-02 6.03005161e-06 -9.99921250e-01 6.94387809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90762800000002 meters 0.012798696915579019 Centerline is valid? [True, True] Translation: X:54.40, Y:-123.26, Z:0.69 [[ 7.41888080e-01 -6.70461130e-01 -9.16237523e-03 5.44028310e+01] [-6.70410613e-01 -7.41944655e-01 8.23036325e-03 -1.23259368e+02] [-1.23161140e-02 3.65452007e-05 -9.99924153e-01 6.94707120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93762800000002 meters 0.012776132983915058 Centerline is valid? [True, True] Translation: X:54.40, Y:-123.26, Z:0.69 [[ 7.91958587e-01 -6.10502910e-01 -9.36984361e-03 5.43985069e+01] [-6.10460721e-01 -7.92014013e-01 7.17721965e-03 -1.23263309e+02] [-1.18027609e-02 3.58607537e-05 -9.99930344e-01 6.94008902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96762800000002 meters 0.012674277159013697 Centerline is valid? [True, True] Translation: X:54.39, Y:-123.27, Z:0.69 [[ 8.37735604e-01 -5.46005124e-01 -8.80129782e-03 5.43926060e+01] [-5.45975277e-01 -8.37781835e-01 5.70906675e-03 -1.23268513e+02] [-1.04907471e-02 2.26025280e-05 -9.99944970e-01 6.93322215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99762800000002 meters 0.012574360486779538 Centerline is valid? [True, True] Translation: X:54.39, Y:-123.27, Z:0.69 [[ 8.78201717e-01 -4.78210221e-01 -8.75947490e-03 5.43856885e+01] [-4.78186596e-01 -8.78245401e-01 4.75341414e-03 -1.23274657e+02] [-9.96609978e-03 1.42070233e-05 -9.99950337e-01 6.92232191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02762800000002 meters 0.015932771865405055 Centerline is valid? [True, True] Translation: X:54.38, Y:-123.28, Z:0.70 [[ 9.12910391e-01 -4.08023857e-01 -1.05427881e-02 5.43793520e+01] [-4.07996843e-01 -9.12971266e-01 4.69511863e-03 -1.23279048e+02] [-1.15409830e-02 1.52016565e-05 -9.99933401e-01 6.95512653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05762800000002 meters 0.012448634034833945 Centerline is valid? [True, True] Translation: X:54.37, Y:-123.29, Z:0.69 [[ 9.42041200e-01 -3.35341800e-01 -1.02104929e-02 5.43742764e+01] [-3.35322256e-01 -9.42096533e-01 3.62050251e-03 -1.23285586e+02] [-1.08333758e-02 1.31429880e-05 -9.99941317e-01 6.92986791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08762800000002 meters 0.012499271985267884 Centerline is valid? [True, True] Translation: X:54.37, Y:-123.29, Z:0.69 [[ 9.65460220e-01 -2.60334930e-01 -1.05966048e-02 5.43690070e+01] [-2.60319358e-01 -9.65518371e-01 2.84741971e-03 -1.23291369e+02] [-1.09724994e-02 9.43091295e-06 -9.99939800e-01 6.93534235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11762800000002 meters 0.012572382713227748 Centerline is valid? [True, True] Translation: X:54.36, Y:-123.30, Z:0.69 [[ 9.82986935e-01 -1.83326750e-01 -1.13132127e-02 5.43612610e+01] [-1.83314639e-01 -9.83052035e-01 2.10723623e-03 -1.23296978e+02] [-1.15077896e-02 2.49182404e-06 -9.99933783e-01 6.94058932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14762800000003 meters 0.012473733569769533 Centerline is valid? [True, True] Translation: X:54.35, Y:-123.31, Z:0.69 [[ 9.94287062e-01 -1.06090566e-01 -1.17486441e-02 5.43539652e+01] [-1.06083233e-01 -9.94356471e-01 1.24735759e-03 -1.23305304e+02] [-1.18146732e-02 6.10263285e-06 -9.99930204e-01 6.94632064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17762800000003 meters 0.012535481805358987 Centerline is valid? [True, True] Translation: X:54.35, Y:-123.31, Z:0.70 [[ 9.99513024e-01 -2.85264931e-02 -1.26472570e-02 5.43472642e+01] [-2.85243886e-02 -9.99593037e-01 3.46794240e-04 -1.23313056e+02] [-1.26520029e-02 1.41299136e-05 -9.99919960e-01 6.96098047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20762800000003 meters 0.012524224131929666 Centerline is valid? [True, True] Translation: X:54.34, Y:-123.32, Z:0.70 [[ 9.98742194e-01 4.83008572e-02 -1.34557382e-02 5.43412794e+01] [ 4.82959918e-02 -9.98832832e-01 -6.86486472e-04 -1.23321708e+02] [-1.34731910e-02 3.57647841e-05 -9.99909232e-01 6.96676172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23762800000003 meters 0.012803071383955146 Centerline is valid? [True, True] Translation: X:54.34, Y:-123.33, Z:0.70 [[ 9.92459330e-01 1.21810283e-01 -1.36650334e-02 5.43362323e+01] [ 1.21797350e-01 -9.92553397e-01 -1.77773841e-03 -1.23328815e+02] [-1.37798221e-02 9.99682118e-05 -9.99905049e-01 6.96622749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26762800000003 meters 0.013057757066602968 Centerline is valid? [True, True] Translation: X:54.33, Y:-123.34, Z:0.70 [[ 9.80331045e-01 1.96901889e-01 -1.34420013e-02 5.43314373e+01] [ 1.96881544e-01 -9.80423189e-01 -2.83350704e-03 -1.23337987e+02] [-1.37367727e-02 1.31292945e-04 -9.99905637e-01 6.96206672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29762800000003 meters 0.015904549335189463 Centerline is valid? [True, True] Translation: X:54.33, Y:-123.35, Z:0.70 [[ 9.62663873e-01 2.70364000e-01 -1.34749999e-02 5.43275065e+01] [ 2.70334995e-01 -9.62758162e-01 -3.96395465e-03 -1.23347369e+02] [-1.40448768e-02 1.73191903e-04 -9.99901351e-01 6.98402903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.327628 meters 0.014197838856669812 Centerline is valid? [True, True] Translation: X:54.32, Y:-123.36, Z:0.70 [[ 9.40107496e-01 3.40664457e-01 -1.20674448e-02 5.43239598e+01] [ 3.40633420e-01 -9.40184918e-01 -4.60356292e-03 -1.23355258e+02] [-1.29138999e-02 2.17269011e-04 -9.99916589e-01 6.95079211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.357628 meters 0.014844470416661605 Centerline is valid? [True, True] Translation: X:54.32, Y:-123.36, Z:0.69 [[ 9.11570263e-01 4.10989243e-01 -1.12914685e-02 5.43196290e+01] [ 4.10954426e-01 -9.11640162e-01 -5.35493587e-03 -1.23364127e+02] [-1.24945772e-02 2.41121334e-04 -9.99921911e-01 6.94673985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.387628 meters 0.01504755732813344 Centerline is valid? [True, True] Translation: X:54.32, Y:-123.37, Z:0.69 [[ 8.77731082e-01 4.79052992e-01 -9.81724600e-03 5.43178662e+01] [ 4.79019889e-01 -8.77785948e-01 -5.63697943e-03 -1.23374999e+02] [-1.13178524e-02 2.45095972e-04 -9.99935921e-01 6.93740383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.417628 meters 0.015534340256690603 Centerline is valid? [True, True] Translation: X:54.32, Y:-123.39, Z:0.69 [[ 8.38662478e-01 5.44590099e-01 -8.17757739e-03 5.43163301e+01] [ 5.44561460e-01 -8.38702313e-01 -5.58992910e-03 -1.23385669e+02] [-9.90277311e-03 2.34870309e-04 -9.99950939e-01 6.92949710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.447628 meters 0.015486083447363528 Centerline is valid? [True, True] Translation: X:54.32, Y:-123.40, Z:0.69 [[ 7.94533215e-01 6.07187965e-01 -6.30435892e-03 5.43171296e+01] [ 6.07166768e-01 -7.94558200e-01 -5.07767872e-03 -1.23398133e+02] [-8.09228548e-03 2.06587168e-04 -9.99967236e-01 6.91413716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.477628 meters 0.015853655410358856 Centerline is valid? [True, True] Translation: X:54.32, Y:-123.41, Z:0.69 [[ 7.45779074e-01 6.66185675e-01 -3.19688544e-03 5.43181086e+01] [ 6.66178851e-01 -7.45785916e-01 -3.01769693e-03 -1.23410527e+02] [-4.39453861e-03 1.20837756e-04 -9.99990337e-01 6.88670664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.507628 meters 0.016220422029398114 Centerline is valid? [True, True] Translation: X:54.32, Y:-123.42, Z:0.69 [[ 6.91675275e-01 7.22206389e-01 -1.80132938e-03 5.43193301e+01] [ 7.22203651e-01 -6.91677617e-01 -1.99016096e-03 -1.23423054e+02] [-2.68324617e-03 7.56184759e-05 -9.99996397e-01 6.87613745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.537628 meters 0.016066952648294133 Centerline is valid? [True, True] Translation: X:54.32, Y:-123.44, Z:0.69 [[ 6.33056502e-01 7.74104809e-01 -1.09948267e-03 5.43234231e+01] [ 7.74103499e-01 -6.33057455e-01 -1.42552316e-03 -1.23435475e+02] [-1.79954003e-03 5.13233240e-05 -9.99998380e-01 6.87437016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.567628 meters 0.016284452335331167 Centerline is valid? [True, True] Translation: X:54.33, Y:-123.45, Z:0.69 [[ 5.69865326e-01 8.21737577e-01 -9.30000767e-04 5.43262603e+01] [ 8.21736344e-01 -5.69866083e-01 -1.42408929e-03 -1.23447684e+02] [-1.70020358e-03 4.73236763e-05 -9.99998554e-01 6.87180478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59762800000001 meters 0.015752038319742635 Centerline is valid? [True, True] Translation: X:54.33, Y:-123.46, Z:0.69 [[ 5.01218302e-01 8.65319613e-01 -1.47723516e-03 5.43302274e+01] [ 8.65315401e-01 -5.01220473e-01 -2.70092261e-03 -1.23460443e+02] [-3.07758181e-03 7.54775084e-05 -9.99995261e-01 6.88595898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62762800000002 meters 0.0150556356785148 Centerline is valid? [True, True] Translation: X:54.34, Y:-123.47, Z:0.69 [[ 4.29909226e-01 9.02870816e-01 -1.53215232e-03 5.43361561e+01] [ 9.02864376e-01 -4.29911948e-01 -3.41107128e-03 -1.23471834e+02] [-3.73844730e-03 8.31252660e-05 -9.99993009e-01 6.89759862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65762800000002 meters 0.014673301508084805 Centerline is valid? [True, True] Translation: X:54.34, Y:-123.48, Z:0.69 [[ 3.55515921e-01 9.34668448e-01 -1.82256343e-03 5.43407537e+01] [ 9.34654594e-01 -3.55520576e-01 -5.09017104e-03 -1.23483084e+02] [-5.40558107e-03 1.06169556e-04 -9.99985384e-01 6.90867064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68762800000002 meters 0.013558491015275493 Centerline is valid? [True, True] Translation: X:54.35, Y:-123.49, Z:0.69 [[ 2.76317478e-01 9.61064168e-01 -2.07748587e-03 5.43488541e+01] [ 9.61033809e-01 -2.76325264e-01 -7.63976631e-03 -1.23493063e+02] [-7.91636749e-03 1.14466808e-04 -9.99968659e-01 6.93119281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71762800000002 meters 0.013226018544531787 Centerline is valid? [True, True] Translation: X:54.36, Y:-123.50, Z:0.69 [[ 1.98074374e-01 9.80185785e-01 -1.53938562e-03 5.43550143e+01] [ 9.80152059e-01 -1.98080329e-01 -8.13172786e-03 -1.23503066e+02] [-8.27552606e-03 1.01854918e-04 -9.99965752e-01 6.94140068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74762800000002 meters 0.012954528276122297 Centerline is valid? [True, True] Translation: X:54.36, Y:-123.51, Z:0.69 [[ 1.18730244e-01 9.92926070e-01 -9.74007422e-04 5.43612316e+01] [ 9.92885978e-01 -1.18734203e-01 -8.92322612e-03 -1.23511260e+02] [-8.97575184e-03 9.23785034e-05 -9.99959713e-01 6.94708562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77762800000002 meters 0.012639987552279273 Centerline is valid? [True, True] Translation: X:54.37, Y:-123.52, Z:0.70 [[ 3.88474017e-02 9.99245118e-01 -2.70285531e-04 5.43669426e+01] [ 9.99205447e-01 -3.88482679e-02 -8.90431539e-03 -1.23518693e+02] [-8.90809381e-03 7.58387413e-05 -9.99960319e-01 6.95211559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80762800000002 meters 0.012298384683873585 Centerline is valid? [True, True] Translation: X:54.37, Y:-123.53, Z:0.69 [[-4.26269268e-02 9.99090982e-01 3.93691927e-04 5.43722439e+01] [ 9.99057474e-01 4.26287216e-02 -8.18264125e-03 -1.23527051e+02] [-8.19198567e-03 4.45200121e-05 -9.99966444e-01 6.94826796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83762800000002 meters 0.012208242676394088 Centerline is valid? [True, True] Translation: X:54.38, Y:-123.53, Z:0.69 [[-1.21649388e-01 9.92572610e-01 1.01996885e-03 5.43757671e+01] [ 9.92540184e-01 1.21653658e-01 -8.02312039e-03 -1.23533764e+02] [-8.08761248e-03 3.63523835e-05 -9.99967294e-01 6.94175035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86762800000002 meters 0.012141185796305286 Centerline is valid? [True, True] Translation: X:54.38, Y:-123.54, Z:0.69 [[-1.99678835e-01 9.79860197e-01 1.53525536e-03 5.43787754e+01] [ 9.79832349e-01 1.99684734e-01 -7.38747578e-03 -1.23542204e+02] [-7.54526054e-03 2.91703118e-05 -9.99971534e-01 6.93365249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89762800000003 meters 0.012131837307245161 Centerline is valid? [True, True] Translation: X:54.38, Y:-123.55, Z:0.69 [[-2.76108604e-01 9.61124465e-01 1.94959729e-03 5.43814405e+01] [ 9.61101144e-01 2.76115486e-01 -6.69544745e-03 -1.23551122e+02] [-6.97347236e-03 2.50895338e-05 -9.99975685e-01 6.92717241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92762800000003 meters 0.012131837307245161 Centerline is valid? [True, True] Translation: X:54.38, Y:-123.56, Z:0.69 [[-3.50571068e-01 9.36532879e-01 2.46826895e-03 5.43847707e+01] [ 9.36510169e-01 3.50579757e-01 -6.52213851e-03 -1.23558813e+02] [-6.97352229e-03 2.50859032e-05 -9.99975684e-01 6.92717654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95762800000003 meters 0.012054068892802253 Centerline is valid? [True, True] Translation: X:54.39, Y:-123.56, Z:0.69 [[-4.22740572e-01 9.06248354e-01 2.08051982e-03 5.43909262e+01] [ 9.06237595e-01 4.22745691e-01 -4.41599173e-03 -1.23564376e+02] [-4.88151603e-03 1.86264089e-05 -9.99988085e-01 6.90034141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98762800000003 meters 0.012132385855648959 Centerline is valid? [True, True] Translation: X:54.40, Y:-123.57, Z:0.69 [[-4.92155594e-01 8.70505227e-01 1.87642770e-03 5.43980348e+01] [ 8.70499023e-01 4.92159171e-01 -3.28643046e-03 -1.23569644e+02] [-3.78435600e-03 1.59933445e-05 -9.99992839e-01 6.88783540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01762800000003 meters 0.012133160878625572 Centerline is valid? [True, True] Translation: X:54.41, Y:-123.57, Z:0.69 [[-5.58962065e-01 8.29191316e-01 1.78078525e-03 5.44063726e+01] [ 8.29187182e-01 5.58964901e-01 -2.61835339e-03 -1.23573219e+02] [-3.16651235e-03 1.30440889e-05 -9.99994987e-01 6.87485224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04762800000003 meters 0.012025943282066477 Centerline is valid? [True, True] Translation: X:54.41, Y:-123.58, Z:0.69 [[-6.22367497e-01 7.82723011e-01 1.84061651e-03 5.44147934e+01] [ 7.82719643e-01 6.22370218e-01 -2.29615171e-03 -1.23577456e+02] [-2.94279567e-03 1.16365041e-05 -9.99995670e-01 6.87141703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.077628 meters 0.012121388079668716 Centerline is valid? [True, True] Translation: X:54.42, Y:-123.58, Z:0.69 [[-6.82322334e-01 7.31046977e-01 2.55921514e-03 5.44243778e+01] [ 7.31041899e-01 6.82327133e-01 -2.72477273e-03 -1.23578656e+02] [-3.73815880e-03 1.17202132e-05 -9.99993013e-01 6.87644520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.107628 meters 0.01199965741951329 Centerline is valid? [True, True] Translation: X:54.43, Y:-123.58, Z:0.69 [[-7.37814048e-01 6.74994173e-01 3.64658686e-03 5.44343270e+01] [ 6.74986014e-01 7.37823059e-01 -3.31889790e-03 -1.23580493e+02] [-4.93077261e-03 1.26656328e-05 -9.99987844e-01 6.89021854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.137628 meters 0.012048890686499355 Centerline is valid? [True, True] Translation: X:54.46, Y:-123.56, Z:0.69 [[-7.84080462e-01 6.20640180e-01 4.85766603e-03 5.44562234e+01] [ 6.20628362e-01 7.84095509e-01 -3.83006618e-03 -1.23562928e+02] [-6.18596708e-03 1.17252543e-05 -9.99980867e-01 6.89437776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.167628 meters 0.014863704883437441 Centerline is valid? [True, True] Translation: X:54.48, Y:-123.54, Z:0.69 [[-8.26015605e-01 5.63604761e-01 6.92049637e-03 5.44754431e+01] [ 5.63585138e-01 8.26044595e-01 -4.70317907e-03 -1.23543877e+02] [-8.36737274e-03 1.53895910e-05 -9.99964993e-01 6.93233304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.197628 meters 0.012142682996391877 Centerline is valid? [True, True] Translation: X:54.49, Y:-123.52, Z:0.69 [[-8.64514353e-01 5.02546539e-01 7.86828204e-03 5.44897944e+01] [ 5.02525769e-01 8.64550158e-01 -4.56893868e-03 -1.23521575e+02] [-9.09862880e-03 4.10141600e-06 -9.99958607e-01 6.91428146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.227628 meters 0.012212318698279734 Centerline is valid? [True, True] Translation: X:54.51, Y:-123.50, Z:0.69 [[-8.97875756e-01 4.40161274e-01 8.78517987e-03 5.45137371e+01] [ 4.40140268e-01 8.97918734e-01 -4.30023963e-03 -1.23504219e+02] [-9.78117654e-03 5.63051565e-06 -9.99952163e-01 6.91611912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.257628 meters 0.012215445472387834 Centerline is valid? [True, True] Translation: X:54.90, Y:-122.75, Z:-0.20 [[-8.66838031e-01 -4.98510770e-01 8.87923674e-03 5.48995569e+01] [ 4.98484869e-01 -8.66883505e-01 -5.08163514e-03 -1.22751750e+02] [ 1.02305137e-02 2.12105716e-05 9.99947667e-01 -2.04435916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.287628 meters 0.01223059718728508 Centerline is valid? [True, True] Translation: X:54.48, Y:-123.49, Z:0.69 [[-8.99136315e-01 4.37562061e-01 9.66070594e-03 5.44769859e+01] [ 4.37536968e-01 8.99188213e-01 -4.68601099e-03 -1.23489411e+02] [-1.07372135e-02 1.35533344e-05 -9.99942354e-01 6.91590008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.317628 meters 0.012342942893011211 Centerline is valid? [True, True] Translation: X:54.50, Y:-123.47, Z:0.69 [[-9.27191352e-01 3.74462724e-01 9.68840209e-03 5.44964888e+01] [ 3.74442643e-01 9.27241968e-01 -3.87807737e-03 -1.23470258e+02] [-1.04356884e-02 3.20310904e-05 -9.99945546e-01 6.91144361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34762800000001 meters 0.01232437289958426 Centerline is valid? [True, True] Translation: X:54.82, Y:-122.68, Z:-0.20 [[-9.02894684e-01 -4.29760315e-01 9.34139266e-03 5.48245313e+01] [ 4.29736901e-01 -9.02943005e-01 -4.48617989e-03 -1.22681702e+02] [ 1.03627272e-02 -3.62068379e-05 9.99946305e-01 -2.02290036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37762800000002 meters 0.012711408432316568 Centerline is valid? [True, True] Translation: X:54.45, Y:-123.46, Z:0.69 [[-9.27239186e-01 3.74382799e-01 8.06300010e-03 5.44529756e+01] [ 3.74369188e-01 9.27274240e-01 -3.19294579e-03 -1.23456728e+02] [-8.67199627e-03 5.79143399e-05 -9.99962396e-01 6.88534561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40762800000002 meters 0.01267086304208807 Centerline is valid? [True, True] Translation: X:54.47, Y:-123.43, Z:0.69 [[-9.50807451e-01 3.09678842e-01 8.01288654e-03 5.44739365e+01] [ 3.09668490e-01 9.50841212e-01 -2.53313797e-03 -1.23434799e+02] [-8.40344197e-03 7.28120167e-05 -9.99964688e-01 6.87003341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43762800000002 meters 0.013003116368500824 Centerline is valid? [True, True] Translation: X:54.49, Y:-123.41, Z:0.69 [[-9.69730548e-01 2.44045161e-01 8.03885476e-03 5.44886321e+01] [ 2.44037566e-01 9.69763864e-01 -1.92748555e-03 -1.23410972e+02] [-8.26618437e-03 9.26409328e-05 -9.99965830e-01 6.86937035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46762800000002 meters 0.014858270729653095 Centerline is valid? [True, True] Translation: X:54.50, Y:-123.39, Z:0.69 [[-9.84055733e-01 1.77660996e-01 8.41929397e-03 5.44996124e+01] [ 1.77655554e-01 9.84091741e-01 -1.39590711e-03 -1.23385185e+02] [-8.53335591e-03 1.22083938e-04 -9.99963583e-01 6.87952962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49762800000002 meters 0.01452854199157422 Centerline is valid? [True, True] Translation: X:54.51, Y:-123.36, Z:0.69 [[-9.93558208e-01 1.13053817e-01 7.80524861e-03 5.45107312e+01] [ 1.13051567e-01 9.93588854e-01 -7.30256566e-04 -1.23361533e+02] [-7.83776631e-03 1.56843182e-04 -9.99969272e-01 6.86278877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52762800000002 meters 0.015472699068372715 Centerline is valid? [True, True] Translation: X:54.60, Y:-122.50, Z:-0.20 [[-9.90489416e-01 -1.37370261e-01 7.75428942e-03 5.46009506e+01] [ 1.37364814e-01 -9.90519756e-01 -1.23321813e-03 -1.22498038e+02] [ 7.85018436e-03 -1.56322979e-04 9.99969175e-01 -1.98475831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55762800000002 meters 0.016531280457747648 Centerline is valid? [True, True] Translation: X:54.43, Y:-123.36, Z:0.69 [[-9.93504819e-01 1.13518573e-01 7.85551853e-03 5.44304401e+01] [ 1.13516660e-01 9.93535853e-01 -6.90408935e-04 -1.23356590e+02] [-7.88311354e-03 2.05807619e-04 -9.99968907e-01 6.85921913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58762800000002 meters 0.01784178111738895 Centerline is valid? [True, True] Translation: X:54.52, Y:-122.49, Z:-0.20 [[-9.92184267e-01 -1.24526893e-01 7.96455178e-03 5.45195187e+01] [ 1.24521261e-01 -9.92216213e-01 -1.20105651e-03 -1.22489546e+02] [ 8.05212124e-03 -1.99913340e-04 9.99967561e-01 -1.98209489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61762800000002 meters 0.018777044291221377 Centerline is valid? [True, True] Translation: X:54.35, Y:-123.35, Z:0.69 [[-9.93467863e-01 1.13820870e-01 8.14957038e-03 5.43488234e+01] [ 1.13819189e-01 9.93501254e-01 -6.71218395e-04 -1.23348891e+02] [-8.17300706e-03 2.60743589e-04 -9.99966566e-01 6.85709915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64762800000003 meters 0.018477614268521753 Centerline is valid? [True, True] Translation: X:54.36, Y:-123.32, Z:0.68 [[-9.99003711e-01 4.37968461e-02 8.56868844e-03 5.43550134e+01] [ 4.37976441e-02 9.99040418e-01 -9.45775789e-05 -1.23319222e+02] [-8.56460828e-03 2.80805014e-04 -9.99963284e-01 6.84794068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67762800000003 meters 0.018469057382074116 Centerline is valid? [True, True] Translation: X:54.37, Y:-122.45, Z:-0.20 [[-9.98931089e-01 -4.54286357e-02 8.53920215e-03 5.43722366e+01] [ 4.54245703e-02 -9.98967547e-01 -6.69536006e-04 -1.22453553e+02] [ 8.56080194e-03 -2.80930744e-04 9.99963316e-01 -1.97026567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70762800000003 meters 0.017414367189405998 Centerline is valid? [True, True] Translation: X:54.25, Y:-123.31, Z:0.68 [[-9.99293779e-01 3.64681566e-02 9.05626415e-03 5.42547126e+01] [ 3.64692612e-02 9.99334774e-01 -4.32016960e-05 -1.23309246e+02] [-9.05181518e-03 2.87104077e-04 -9.99958990e-01 6.84383465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73762800000003 meters 0.018718338104248368 Centerline is valid? [True, True] Translation: X:54.25, Y:-123.28, Z:0.69 [[-9.99326213e-01 -3.55366707e-02 9.17961977e-03 5.42541185e+01] [-3.55325569e-02 9.99368333e-01 6.10902785e-04 -1.23280793e+02] [-9.19553075e-03 2.84315805e-04 -9.99957680e-01 6.85622831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76762800000003 meters 0.01712950540332866 Centerline is valid? [True, True] Translation: X:54.20, Y:-122.44, Z:-0.20 [[-9.99545381e-01 2.87013991e-02 9.23367676e-03 5.42037775e+01] [-2.87027893e-02 -9.99587990e-01 -1.80437650e-05 -1.22436319e+02] [ 9.22935451e-03 -2.83067840e-04 9.99957369e-01 -1.97649492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79762800000003 meters 0.016465870423291312 Centerline is valid? [True, True] Translation: X:54.14, Y:-123.28, Z:0.68 [[-9.98970950e-01 -4.44293738e-02 9.11437706e-03 5.41415611e+01] [-4.44251177e-02 9.99012493e-01 6.68988850e-04 -1.23278479e+02] [-9.13509930e-03 2.63393154e-04 -9.99958239e-01 6.84749206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.827628 meters 0.017120067233000236 Centerline is valid? [True, True] Translation: X:54.13, Y:-123.25, Z:0.69 [[-9.93088835e-01 -1.17007278e-01 9.15764361e-03 5.41269278e+01] [-1.16999938e-01 9.93131025e-01 1.33509667e-03 -1.23246675e+02] [-9.25095601e-03 2.54425867e-04 -9.99957177e-01 6.85929866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.857628 meters 0.01596462656311422 Centerline is valid? [True, True] Translation: X:54.10, Y:-123.22, Z:0.69 [[-9.81850490e-01 -1.89459995e-01 8.63281423e-03 5.41039133e+01] [-1.89450580e-01 9.81888413e-01 1.90306358e-03 -1.23220353e+02] [-8.83701469e-03 2.33032247e-04 -9.99960926e-01 6.85053947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.887628 meters 0.01601995308343227 Centerline is valid? [True, True] Translation: X:54.05, Y:-123.20, Z:0.69 [[-9.65217717e-01 -2.61317078e-01 8.25491698e-03 5.40545588e+01] [-2.61305549e-01 9.65252991e-01 2.46456848e-03 -1.23202392e+02] [-8.61211714e-03 2.21789543e-04 -9.99962890e-01 6.85130970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.917628 meters 0.015125588779057179 Centerline is valid? [True, True] Translation: X:53.99, Y:-123.19, Z:0.68 [[-9.43051996e-01 -3.32546192e-01 8.12177946e-03 5.39931713e+01] [-3.32531867e-01 9.43086943e-01 3.09425991e-03 -1.23190532e+02] [-8.68852851e-03 2.17297492e-04 -9.99962230e-01 6.84674550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.947628 meters 0.015299830181200557 Centerline is valid? [True, True] Translation: X:53.92, Y:-123.19, Z:0.68 [[-9.15304875e-01 -4.02688254e-01 7.69129942e-03 5.39199124e+01] [-4.02672164e-01 9.15337167e-01 3.60549945e-03 -1.23190191e+02] [-8.49202450e-03 2.03059041e-04 -9.99963922e-01 6.84992700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.977628 meters 0.014379406367043095 Centerline is valid? [True, True] Translation: X:53.84, Y:-123.20, Z:0.68 [[-8.81150035e-01 -4.72774235e-01 7.69012788e-03 5.38387545e+01] [-4.72754408e-01 8.81183573e-01 4.33364613e-03 -1.23195774e+02] [-8.82525060e-03 1.83050587e-04 -9.99961040e-01 6.84812630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.007628 meters 0.013883748758255241 Centerline is valid? [True, True] Translation: X:53.75, Y:-123.21, Z:0.68 [[-8.41884620e-01 -5.39602701e-01 7.69485391e-03 5.37510772e+01] [-5.39578300e-01 8.41919768e-01 5.13446696e-03 -1.23213685e+02] [-9.24902185e-03 1.70652577e-04 -9.99957212e-01 6.84771696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.037628 meters 0.013360767584387628 Centerline is valid? [True, True] Translation: X:53.66, Y:-123.24, Z:0.69 [[-7.97117741e-01 -6.03773776e-01 7.78039640e-03 5.36601046e+01] [-6.03743095e-01 7.97155696e-01 6.08866043e-03 -1.23241397e+02] [-9.87836080e-03 1.56018644e-04 -9.99951196e-01 6.85117078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.067628 meters 0.012450111604812814 Centerline is valid? [True, True] Translation: X:53.56, Y:-123.28, Z:0.69 [[-7.45341911e-01 -6.66634665e-01 7.97866469e-03 5.35643803e+01] [-6.66594897e-01 7.45384606e-01 7.28231485e-03 -1.23277370e+02] [-1.08018174e-02 1.09277296e-04 -9.99941653e-01 6.86568005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09762800000001 meters 0.012063178800679615 Centerline is valid? [True, True] Translation: X:53.47, Y:-123.32, Z:0.69 [[-6.90525475e-01 -7.23267785e-01 7.63412023e-03 5.34724444e+01] [-7.23222273e-01 6.90567669e-01 8.11410680e-03 -1.23324508e+02] [-1.11405487e-02 8.18316665e-05 -9.99937939e-01 6.87090582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12762800000002 meters 0.011801735030972055 Centerline is valid? [True, True] Translation: X:53.38, Y:-123.38, Z:0.69 [[-6.31451188e-01 -7.75384262e-01 6.97446359e-03 5.33817190e+01] [-7.75336010e-01 6.31489702e-01 8.65034356e-03 -1.23382504e+02] [-1.11116422e-02 5.47169499e-05 -9.99938262e-01 6.87264773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15762800000002 meters 0.01544592248452896 Centerline is valid? [True, True] Translation: X:53.29, Y:-123.45, Z:0.69 [[-5.68914281e-01 -8.22371231e-01 6.48833555e-03 5.32932185e+01] [-8.22317009e-01 5.68951278e-01 9.44350225e-03 -1.23452351e+02] [-1.14576114e-02 3.70746151e-05 -9.99934359e-01 6.88965636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18762800000002 meters 0.011487715127429094 Centerline is valid? [True, True] Translation: X:53.21, Y:-123.53, Z:0.68 [[-5.01388535e-01 -8.65210871e-01 4.43689054e-03 5.32102521e+01] [-8.65177012e-01 5.01408167e-01 7.65435436e-03 -1.23525737e+02] [-8.84732375e-03 -8.90179728e-07 -9.99960862e-01 6.84819211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21762800000002 meters 0.01147378534966875 Centerline is valid? [True, True] Translation: X:53.13, Y:-123.61, Z:0.68 [[-4.32585785e-01 -9.01585642e-01 3.58733798e-03 5.31315482e+01] [-9.01554823e-01 4.32600660e-01 7.45461855e-03 -1.23611175e+02] [-8.27286182e-03 -9.41983561e-06 -9.99965779e-01 6.84151896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24762800000002 meters 0.0114313838796307 Centerline is valid? [True, True] Translation: X:53.06, Y:-123.70, Z:0.68 [[-3.61071881e-01 -9.32533369e-01 2.93470084e-03 5.30607378e+01] [-9.32502955e-01 3.61083807e-01 7.53146959e-03 -1.23699910e+02] [-8.08301966e-03 -1.72153157e-05 -9.99967332e-01 6.84434281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27762800000002 meters 0.011498852031948531 Centerline is valid? [True, True] Translation: X:53.00, Y:-123.80, Z:0.69 [[-2.87565795e-01 -9.57757363e-01 2.59754118e-03 5.29952933e+01] [-9.57719084e-01 2.87577525e-01 8.56293757e-03 -1.23799441e+02] [-8.94821097e-03 -2.53068085e-05 -9.99959964e-01 6.85480476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30762800000002 meters 0.011779419369542065 Centerline is valid? [True, True] Translation: X:52.94, Y:-123.90, Z:0.69 [[-2.11651493e-01 -9.77342016e-01 2.49570256e-03 5.29366807e+01] [-9.77276772e-01 2.11666201e-01 1.12929128e-02 -1.23904111e+02] [-1.15652941e-02 -4.88302758e-05 -9.99933119e-01 6.88120716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33762800000002 meters 0.012015218835804503 Centerline is valid? [True, True] Translation: X:52.89, Y:-124.01, Z:0.69 [[-1.34923061e-01 -9.90854404e-01 1.82127010e-03 5.28880203e+01] [-9.90770511e-01 1.34935337e-01 1.28937718e-02 -1.24014142e+02] [-1.30216042e-02 -6.47935502e-05 -9.99915213e-01 6.89556519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36762800000002 meters 0.012091431842116324 Centerline is valid? [True, True] Translation: X:52.85, Y:-124.13, Z:0.69 [[-5.76399040e-02 -9.98337068e-01 8.59944144e-04 5.28485505e+01] [-9.98244287e-01 5.76462711e-02 1.36107048e-02 -1.24128893e+02] [-1.36376437e-02 -7.39146096e-05 -9.99907000e-01 6.90162657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39762800000003 meters 0.014830514433568403 Centerline is valid? [True, True] Translation: X:52.82, Y:-124.25, Z:0.69 [[ 1.95465517e-02 -9.99808924e-01 -2.18468788e-04 5.28193398e+01] [-9.99690811e-01 -1.95476007e-02 1.53679699e-02 -1.24245033e+02] [-1.53693040e-02 -8.19895788e-05 -9.99881882e-01 6.92478673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42762800000003 meters 0.012342025138236644 Centerline is valid? [True, True] Translation: X:52.80, Y:-124.37, Z:0.69 [[ 9.72422323e-02 -9.95259812e-01 -1.36160700e-03 5.27981872e+01] [-9.95149034e-01 -9.72517239e-02 1.48493312e-02 -1.24365282e+02] [-1.49113613e-02 -8.89802232e-05 -9.99888816e-01 6.90280516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45762800000003 meters 0.011758159636206614 Centerline is valid? [True, True] Translation: X:52.79, Y:-124.48, Z:0.69 [[ 1.73940518e-01 -9.84753146e-01 -2.43675252e-03 5.27867199e+01] [-9.84649172e-01 -1.73957563e-01 1.43099284e-02 -1.24481601e+02] [-1.45156386e-02 -8.97300230e-05 -9.99894639e-01 6.87132353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48762800000003 meters 0.015785408741420294 Centerline is valid? [True, True] Translation: X:52.78, Y:-124.60, Z:0.69 [[ 2.49281559e-01 -9.68424218e-01 -3.63860283e-03 5.27829015e+01] [-9.68315720e-01 -2.49308096e-01 1.44962090e-02 -1.24603747e+02] [-1.49456130e-02 -9.03212590e-05 -9.99888304e-01 6.93290163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51762800000003 meters 0.011832545786963659 Centerline is valid? [True, True] Translation: X:52.79, Y:-124.73, Z:0.69 [[ 3.24364883e-01 -9.45921606e-01 -4.44278019e-03 5.27914290e+01] [-9.45828577e-01 -3.24395292e-01 1.32664099e-02 -1.24726163e+02] [-1.39902007e-02 -1.01049016e-04 -9.99902127e-01 6.87820646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54762800000003 meters 0.01192923968941094 Centerline is valid? [True, True] Translation: X:52.81, Y:-124.84, Z:0.69 [[ 3.97371122e-01 -9.17644133e-01 -5.04338553e-03 5.28071511e+01] [-9.17566730e-01 -3.97403111e-01 1.19190449e-02 -1.24841954e+02] [-1.29416987e-02 -1.08641477e-04 -9.99916247e-01 6.86339532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.577628 meters 0.012092497328290534 Centerline is valid? [True, True] Translation: X:52.83, Y:-124.96, Z:0.69 [[ 4.67589008e-01 -8.83927560e-01 -5.70866264e-03 5.28311248e+01] [-8.83858684e-01 -4.67623840e-01 1.10349773e-02 -1.24956721e+02] [-1.24236273e-02 -1.14183038e-04 -9.99922817e-01 6.85690434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.607628 meters 0.012166748393016857 Centerline is valid? [True, True] Translation: X:52.86, Y:-125.07, Z:0.68 [[ 5.34880949e-01 -8.44905774e-01 -6.05010690e-03 5.28637794e+01] [-8.44849285e-01 -5.34915152e-01 9.77062977e-03 -1.25068875e+02] [-1.14915554e-02 -1.14695229e-04 -9.99933963e-01 6.84482332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.637628 meters 0.012124815495862185 Centerline is valid? [True, True] Translation: X:52.90, Y:-125.17, Z:0.68 [[ 5.98649620e-01 -8.00992006e-01 -5.51714863e-03 5.29022762e+01] [-8.00956473e-01 -5.98675035e-01 7.54527505e-03 -1.25174894e+02] [-9.34668415e-03 -9.79801373e-05 -9.99956314e-01 6.82899394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.667628 meters 0.012009689054333078 Centerline is valid? [True, True] Translation: X:52.95, Y:-125.28, Z:0.68 [[ 6.58177655e-01 -7.52842307e-01 -5.53490846e-03 5.29503600e+01] [-7.52814563e-01 -6.58200921e-01 6.46383833e-03 -1.25278707e+02] [-8.50933281e-03 -8.75942591e-05 -9.99963791e-01 6.82227093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.697628 meters 0.012111224097946006 Centerline is valid? [True, True] Translation: X:53.00, Y:-125.37, Z:0.68 [[ 7.13596222e-01 -7.00535315e-01 -5.54110794e-03 5.30019796e+01] [-7.00513347e-01 -7.13617731e-01 5.54837980e-03 -1.25374463e+02] [-7.84106887e-03 -7.76827945e-05 -9.99969255e-01 6.82069207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.727628 meters 0.011828283489539017 Centerline is valid? [True, True] Translation: X:53.06, Y:-125.46, Z:0.68 [[ 7.64326070e-01 -6.44806430e-01 -5.50699520e-03 5.30625507e+01] [-6.44789089e-01 -7.64345906e-01 4.72930177e-03 -1.25463293e+02] [-7.25873343e-03 -6.38782107e-05 -9.99973653e-01 6.80866227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.757628 meters 0.011732197330479976 Centerline is valid? [True, True] Translation: X:53.06, Y:-125.47, Z:0.68 [[ 8.11926329e-01 -5.83730437e-01 -5.86626663e-03 5.30599015e+01] [-5.83714679e-01 -8.11947519e-01 4.28951375e-03 -1.25469101e+02] [-7.26702037e-03 -5.85432042e-05 -9.99973593e-01 6.80556867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.787628 meters 0.011591270264256248 Centerline is valid? [True, True] Translation: X:53.06, Y:-125.47, Z:0.68 [[ 8.54416519e-01 -5.19550861e-01 -6.27017062e-03 5.30572470e+01] [-5.19536438e-01 -8.54439524e-01 3.87155932e-03 -1.25474664e+02] [-7.36895358e-03 -5.03421283e-05 -9.99972848e-01 6.80667967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.817628 meters 0.011591270264256248 Centerline is valid? [True, True] Translation: X:53.05, Y:-125.48, Z:0.68 [[ 8.92403438e-01 -4.51190818e-01 -6.55356482e-03 5.30529509e+01] [-4.51178237e-01 -8.92427500e-01 3.36974272e-03 -1.25481924e+02] [-7.36897845e-03 -5.03441702e-05 -9.99972847e-01 6.80668223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84762800000001 meters 0.011508899991548981 Centerline is valid? [True, True] Translation: X:53.05, Y:-125.49, Z:0.68 [[ 9.24488230e-01 -3.81146351e-01 -6.99803529e-03 5.30511149e+01] [-3.81135080e-01 -9.24514715e-01 2.93141120e-03 -1.25487597e+02] [-7.58708328e-03 -4.28584104e-05 -9.99971217e-01 6.80829803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87762800000002 meters 0.011389503454320337 Centerline is valid? [True, True] Translation: X:53.05, Y:-125.49, Z:0.68 [[ 9.50633193e-01 -3.10228343e-01 -7.40999908e-03 5.30492321e+01] [-3.10218728e-01 -9.50662072e-01 2.44248573e-03 -1.25493593e+02] [-7.80213338e-03 -2.31875154e-05 -9.99969563e-01 6.82041726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90762800000002 meters 0.011414498822863887 Centerline is valid? [True, True] Translation: X:53.05, Y:-125.50, Z:0.68 [[ 9.71711758e-01 -2.36021525e-01 -8.37256332e-03 5.30459171e+01] [-2.36012617e-01 -9.71747827e-01 2.05068538e-03 -1.25500090e+02] [-8.62002611e-03 -1.66445160e-05 -9.99962847e-01 6.83596529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93762800000002 meters 0.011470454776617971 Centerline is valid? [True, True] Translation: X:53.04, Y:-125.50, Z:0.68 [[ 9.87069752e-01 -1.60027563e-01 -9.19145899e-03 5.30417304e+01] [-1.60020526e-01 -9.87112546e-01 1.50073666e-03 -1.25502915e+02] [-9.31316372e-03 -1.05096522e-05 -9.99956632e-01 6.84217985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96762800000002 meters 0.01163220972694935 Centerline is valid? [True, True] Translation: X:53.04, Y:-125.51, Z:0.68 [[ 9.96403010e-01 -8.40761042e-02 -1.05948367e-02 5.30375840e+01] [-8.40714278e-02 -9.96459336e-01 8.86777925e-04 -1.25505069e+02] [-1.06318808e-02 7.13485421e-06 -9.99943480e-01 6.83936370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99762800000002 meters 0.011638904225028307 Centerline is valid? [True, True] Translation: X:53.03, Y:-125.51, Z:0.68 [[ 9.99915036e-01 -7.10243990e-03 -1.09305255e-02 5.30331654e+01] [-7.10225287e-03 -9.99974777e-01 5.59285867e-05 -1.25510671e+02] [-1.09306470e-02 2.17075211e-05 -9.99940258e-01 6.83494310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02762800000002 meters 0.011811948514691884 Centerline is valid? [True, True] Translation: X:53.03, Y:-125.52, Z:0.68 [[ 9.97526494e-01 6.94611153e-02 -1.07724898e-02 5.30287586e+01] [ 6.94566304e-02 -9.97584659e-01 -7.90348292e-04 -1.25516839e+02] [-1.08013690e-02 4.01725185e-05 -9.99941663e-01 6.83184087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05762800000002 meters 0.01564209273009947 Centerline is valid? [True, True] Translation: X:53.02, Y:-125.52, Z:0.69 [[ 9.89475167e-01 1.44296594e-01 -1.08345663e-02 5.30235441e+01] [ 1.44287116e-01 -9.89534480e-01 -1.65555983e-03 -1.25522380e+02] [-1.09600686e-02 7.48470145e-05 -9.99939934e-01 6.86257003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08762800000002 meters 0.012663954679744651 Centerline is valid? [True, True] Translation: X:53.02, Y:-125.53, Z:0.68 [[ 9.76250492e-01 2.16473306e-01 -8.61885429e-03 5.30194346e+01] [ 2.16463923e-01 -9.76288532e-01 -2.01818881e-03 -1.25527473e+02] [-8.85137261e-03 1.04586799e-04 -9.99960820e-01 6.82048969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11762800000002 meters 0.013440403028391673 Centerline is valid? [True, True] Translation: X:53.01, Y:-125.53, Z:0.68 [[ 9.57344071e-01 2.88842960e-01 -7.87870165e-03 5.30148370e+01] [ 2.88832084e-01 -9.57376482e-01 -2.50984534e-03 -1.25534300e+02] [-8.26783483e-03 1.27163742e-04 -9.99965813e-01 6.81941375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14762800000003 meters 0.014576055811262055 Centerline is valid? [True, True] Translation: X:53.01, Y:-125.54, Z:0.68 [[ 9.33169608e-01 3.59368594e-01 -6.97827194e-03 5.30094233e+01] [ 3.59357382e-01 -9.33195688e-01 -2.84246940e-03 -1.25539745e+02] [-7.53358752e-03 1.44812521e-04 -9.99971612e-01 6.81417409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17762800000003 meters 0.017387287206801102 Centerline is valid? [True, True] Translation: X:53.01, Y:-125.55, Z:0.68 [[ 9.04173659e-01 4.27116493e-01 -6.44170280e-03 5.30053827e+01] [ 4.27104289e-01 -9.04196589e-01 -3.23336079e-03 -1.25545585e+02] [-7.20558742e-03 1.72240772e-04 -9.99974025e-01 6.83041598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20762800000003 meters 0.017653147950860947 Centerline is valid? [True, True] Translation: X:53.00, Y:-125.55, Z:0.68 [[ 8.71723130e-01 4.89968070e-01 -5.48408670e-03 5.29989299e+01] [ 4.89956901e-01 -8.71740357e-01 -3.31445305e-03 -1.25549022e+02] [-6.40467586e-03 2.02319264e-04 -9.99979469e-01 6.80180864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23762800000003 meters 0.019918135943969326 Centerline is valid? [True, True] Translation: X:53.00, Y:-125.56, Z:0.68 [[ 8.32379767e-01 5.54180783e-01 -5.25200231e-03 5.29976328e+01] [ 5.54168035e-01 -8.32396306e-01 -3.76541701e-03 -1.25560660e+02] [-6.45846907e-03 2.23765133e-04 -9.99979119e-01 6.81979112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26762800000003 meters 0.018248018228189486 Centerline is valid? [True, True] Translation: X:53.00, Y:-125.57, Z:0.68 [[ 7.85703750e-01 6.18591162e-01 -3.81977196e-03 5.29966895e+01] [ 6.18582804e-01 -7.85713018e-01 -3.21999300e-03 -1.25573578e+02] [-4.99310377e-03 1.67115326e-04 -9.99987520e-01 6.78843451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29762800000003 meters 0.019324446935421173 Centerline is valid? [True, True] Translation: X:52.99, Y:-125.58, Z:0.68 [[ 7.34749671e-01 6.78328818e-01 -3.59663099e-03 5.29949079e+01] [ 6.78319552e-01 -7.34758454e-01 -3.54953642e-03 -1.25584433e+02] [-5.05040787e-03 1.68355600e-04 -9.99987232e-01 6.79066591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.327628 meters 0.021601092994920256 Centerline is valid? [True, True] Translation: X:52.99, Y:-125.60, Z:0.68 [[ 6.79522777e-01 7.33641411e-01 -4.36763670e-03 5.29938460e+01] [ 7.33624102e-01 -6.79536777e-01 -5.04436890e-03 -1.25595017e+02] [-6.66872768e-03 2.23560015e-04 -9.99977739e-01 6.82921045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.357628 meters 0.01869195721297731 Centerline is valid? [True, True] Translation: X:53.00, Y:-125.61, Z:0.68 [[ 6.18214282e-01 7.85995619e-01 -4.68929458e-03 5.29954823e+01] [ 7.85969916e-01 -6.18232017e-01 -6.36121668e-03 -1.25607211e+02] [-7.89896048e-03 2.46950536e-04 -9.99968772e-01 6.81645555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.387628 meters 0.020237859836162036 Centerline is valid? [True, True] Translation: X:52.99, Y:-125.62, Z:0.68 [[ 5.54536856e-01 8.32146919e-01 -4.51439364e-03 5.29944640e+01] [ 8.32115366e-01 -5.54555168e-01 -7.25141516e-03 -1.25617935e+02] [-8.53772311e-03 2.64680648e-04 -9.99963518e-01 6.83922925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.417628 meters 0.020987913501624 Centerline is valid? [True, True] Translation: X:53.00, Y:-125.63, Z:0.69 [[ 4.87353734e-01 8.73194730e-01 -4.15935373e-03 5.29974488e+01] [ 8.73157943e-01 -4.87371405e-01 -8.02004278e-03 -1.25629502e+02] [-9.03020916e-03 2.76825053e-04 -9.99959189e-01 6.85853082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.447628 meters 0.018713179469713244 Centerline is valid? [True, True] Translation: X:53.00, Y:-125.64, Z:0.68 [[ 4.15735073e-01 9.09480123e-01 -3.20240440e-03 5.29983692e+01] [ 9.09448617e-01 -4.15747340e-01 -7.57380085e-03 -1.25640432e+02] [-8.21961243e-03 2.36272397e-04 -9.99966191e-01 6.82541641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.477628 meters 0.01982385251521539 Centerline is valid? [True, True] Translation: X:53.01, Y:-125.65, Z:0.68 [[ 3.42321212e-01 9.39579616e-01 -2.51638345e-03 5.30071604e+01] [ 9.39549292e-01 -3.42330390e-01 -7.55194954e-03 -1.25652428e+02] [-7.95709238e-03 2.20926230e-04 -9.99968317e-01 6.84815823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.507628 meters 0.019139584914291526 Centerline is valid? [True, True] Translation: X:53.02, Y:-125.66, Z:0.68 [[ 2.66403339e-01 9.63859908e-01 -1.82720584e-03 5.30159514e+01] [ 9.63831796e-01 -2.66409529e-01 -7.36424748e-03 -1.25662596e+02] [-7.58488795e-03 2.00741031e-04 -9.99971214e-01 6.84294620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.537628 meters 0.014864561696495674 Centerline is valid? [True, True] Translation: X:53.03, Y:-125.67, Z:0.68 [[ 1.87476373e-01 9.82268588e-01 -1.01559387e-03 5.30298174e+01] [ 9.82249618e-01 -1.87479066e-01 -6.10630626e-03 -1.25673285e+02] [-6.18843541e-03 1.47221463e-04 -9.99980841e-01 6.79924794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.567628 meters 0.014554847804274714 Centerline is valid? [True, True] Translation: X:53.04, Y:-125.68, Z:0.68 [[ 1.07678834e-01 9.94185585e-01 -5.39926478e-04 5.30408735e+01] [ 9.94166057e-01 -1.07680104e-01 -6.23274019e-03 -1.25682729e+02] [-6.25463980e-03 1.34357621e-04 -9.99980431e-01 6.80284567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59762800000001 meters 0.013417781294051145 Centerline is valid? [True, True] Translation: X:53.05, Y:-125.69, Z:0.68 [[ 2.28485354e-02 9.99738937e-01 -5.66769986e-05 5.30546383e+01] [ 9.99713737e-01 -2.28483619e-02 -7.09902968e-03 -1.25690735e+02] [-7.09847136e-03 1.05541657e-04 -9.99974800e-01 6.81111807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62762800000002 meters 0.01637900397308503 Centerline is valid? [True, True] Translation: X:53.07, Y:-125.70, Z:0.69 [[-5.86543815e-02 9.98278181e-01 5.80162026e-04 5.30657005e+01] [ 9.98244339e-01 5.86571705e-02 -8.22042330e-03 -1.25699058e+02] [-8.24029988e-03 9.69796135e-05 -9.99966043e-01 6.85629260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65762800000002 meters 0.014934149584584642 Centerline is valid? [True, True] Translation: X:53.08, Y:-125.70, Z:0.69 [[-1.45354363e-01 9.89378753e-01 1.33840702e-03 5.30813718e+01] [ 9.89338513e-01 1.45360523e-01 -8.92326633e-03 -1.25704499e+02] [-9.02304166e-03 2.71019162e-05 -9.99959291e-01 6.86583456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68762800000002 meters 0.012107851026074836 Centerline is valid? [True, True] Translation: X:53.09, Y:-125.71, Z:0.68 [[-2.26872430e-01 9.73922543e-01 1.94444517e-03 5.30938627e+01] [ 9.73886254e-01 2.26880762e-01 -8.40736228e-03 -1.25708736e+02] [-8.62927686e-03 -1.37302905e-05 -9.99962767e-01 6.84263905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71762800000002 meters 0.015152908665158534 Centerline is valid? [True, True] Translation: X:53.10, Y:-125.71, Z:0.69 [[-3.05592678e-01 9.52157951e-01 2.88982059e-03 5.31045315e+01] [ 9.52113919e-01 3.05606338e-01 -9.15703601e-03 -1.25712003e+02] [-9.60209213e-03 -4.68847453e-05 -9.99953898e-01 6.87908748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74762800000002 meters 0.014978314059376696 Centerline is valid? [True, True] Translation: X:53.11, Y:-125.71, Z:0.69 [[-3.82343754e-01 9.24013038e-01 3.62765284e-03 5.31143100e+01] [ 9.23969458e-01 3.82360955e-01 -8.97441916e-03 -1.25714855e+02] [-9.67955311e-03 -7.94726764e-05 -9.99953149e-01 6.87920197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77762800000002 meters 0.013277451515280494 Centerline is valid? [True, True] Translation: X:53.12, Y:-125.72, Z:0.69 [[-4.56167604e-01 8.89884037e-01 4.18538838e-03 5.31232916e+01] [ 8.89844453e-01 4.56186792e-01 -8.39409884e-03 -1.25717740e+02] [-9.37909346e-03 -1.04771318e-04 -9.99956010e-01 6.85009603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80762800000002 meters 0.013860240678378504 Centerline is valid? [True, True] Translation: X:53.13, Y:-125.72, Z:0.68 [[-5.27450596e-01 8.49575439e-01 4.17644422e-03 5.31319847e+01] [ 8.49547000e-01 5.27467118e-01 -6.95234582e-03 -1.25720204e+02] [-8.10947925e-03 -1.18933289e-04 -9.99967111e-01 6.83469561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83762800000002 meters 0.014339552874370054 Centerline is valid? [True, True] Translation: X:53.14, Y:-125.72, Z:0.68 [[-5.92966075e-01 8.05217878e-01 3.92460560e-03 5.31402594e+01] [ 8.05199069e-01 5.92979053e-01 -5.50465628e-03 -1.25723382e+02] [-6.75965656e-03 -1.03985652e-04 -9.99977148e-01 6.82700482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86762800000002 meters 0.014414356541756079 Centerline is valid? [True, True] Translation: X:53.15, Y:-125.73, Z:0.68 [[-6.54299200e-01 7.56226624e-01 3.72162730e-03 5.31461839e+01] [ 7.56213606e-01 6.54309778e-01 -4.43805474e-03 -1.25726880e+02] [-5.79127228e-03 -8.94704695e-05 -9.99983226e-01 6.81541388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89762800000003 meters 0.014565154091401428 Centerline is valid? [True, True] Translation: X:53.15, Y:-125.73, Z:0.68 [[-7.11199957e-01 7.02983236e-01 3.03171319e-03 5.31510780e+01] [ 7.02976457e-01 7.11206416e-01 -3.08771442e-03 -1.25732327e+02] [-4.32678535e-03 -6.47593708e-05 -9.99990637e-01 6.79804818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92762800000003 meters 0.014513015968516845 Centerline is valid? [True, True] Translation: X:53.16, Y:-125.74, Z:0.68 [[-7.63812212e-01 6.45432574e-01 2.77443256e-03 5.31558743e+01] [ 6.45428061e-01 7.63817249e-01 -2.41427298e-03 -1.25736675e+02] [-3.67740987e-03 -5.33545533e-05 -9.99993237e-01 6.79524153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95762800000003 meters 0.014497891502955423 Centerline is valid? [True, True] Translation: X:53.18, Y:-125.72, Z:0.68 [[-8.07298826e-01 5.90135530e-01 2.94298109e-03 5.31757255e+01] [ 5.90131373e-01 8.07304189e-01 -2.21558417e-03 -1.25719192e+02] [-3.68337590e-03 -5.18930316e-05 -9.99993215e-01 6.79701933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98762800000003 meters 0.014114103728342571 Centerline is valid? [True, True] Translation: X:53.20, Y:-125.71, Z:0.68 [[-8.46107863e-01 5.32994841e-01 4.24070844e-03 5.31965839e+01] [ 5.32987774e-01 8.46118488e-01 -2.74529011e-03 -1.25705196e+02] [-5.05136728e-03 -6.25657944e-05 -9.99987240e-01 6.81757781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01762800000003 meters 0.014033851512265431 Centerline is valid? [True, True] Translation: X:53.21, Y:-125.68, Z:0.68 [[-8.81316788e-01 4.72490517e-01 5.78195908e-03 5.32082740e+01] [ 4.72479778e-01 8.81335751e-01 -3.18656707e-03 -1.25683089e+02] [-6.60146996e-03 -7.65163143e-05 -9.99978207e-01 6.82806192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04762800000003 meters 0.013725962409647841 Centerline is valid? [True, True] Translation: X:53.24, Y:-125.67, Z:0.68 [[-9.11901591e-01 4.10339913e-01 7.52617110e-03 5.32373877e+01] [ 4.10325145e-01 9.11932644e-01 -3.48242509e-03 -1.25669527e+02] [-8.29233912e-03 -8.74517366e-05 -9.99965614e-01 6.84489947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.077628 meters 0.013679763623496941 Centerline is valid? [True, True] Translation: X:53.25, Y:-125.65, Z:0.69 [[-9.38292006e-01 3.45718072e-01 9.33414095e-03 5.32514140e+01] [ 3.45699956e-01 9.38338428e-01 -3.54042728e-03 -1.25647729e+02] [-9.98257284e-03 -9.51424961e-05 -9.99950168e-01 6.86373850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.107628 meters 0.013778836458747922 Centerline is valid? [True, True] Translation: X:53.27, Y:-125.62, Z:0.69 [[-9.60398594e-01 2.78432963e-01 1.04702691e-02 5.32662821e+01] [ 2.78415241e-01 9.60455660e-01 -3.14312088e-03 -1.25623523e+02] [-1.09313776e-02 -1.03566395e-04 -9.99940245e-01 6.87560569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.137628 meters 0.013862715953405333 Centerline is valid? [True, True] Translation: X:53.28, Y:-125.60, Z:0.69 [[-9.77650351e-01 2.09810470e-01 1.33924333e-02 5.32790598e+01] [ 2.09788997e-01 9.77742067e-01 -3.00441186e-03 -1.25596896e+02] [-1.37247025e-02 -1.27679155e-04 -9.99905804e-01 6.90371601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.167628 meters 0.013891749377426127 Centerline is valid? [True, True] Translation: X:53.29, Y:-125.57, Z:0.69 [[-9.89916536e-01 1.40871541e-01 1.48479348e-02 5.32882443e+01] [ 1.40853798e-01 9.90027875e-01 -2.23932901e-03 -1.25570777e+02] [-1.50153271e-02 -1.25360816e-04 -9.99887256e-01 6.91603416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.197628 meters 0.013664876757705583 Centerline is valid? [True, True] Translation: X:53.29, Y:-125.54, Z:0.69 [[-9.97278895e-01 7.19833498e-02 1.59123527e-02 5.32899343e+01] [ 7.19725065e-02 9.97405828e-01 -1.25379278e-03 -1.25544371e+02] [-1.59613255e-02 -1.05129174e-04 -9.99872604e-01 6.92637538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.227628 meters 0.012797980707495549 Centerline is valid? [True, True] Translation: X:53.30, Y:-125.52, Z:0.69 [[-9.99867892e-01 3.18587233e-03 1.59389183e-02 5.33010632e+01] [ 3.18437822e-03 9.99994923e-01 -1.19118506e-04 -1.25520523e+02] [-1.59392169e-02 -6.83472248e-05 -9.99872960e-01 6.88174910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.257628 meters 0.012599834375527533 Centerline is valid? [True, True] Translation: X:53.30, Y:-125.50, Z:0.69 [[-9.97919132e-01 -6.28595869e-02 1.43554054e-02 5.33026127e+01] [-6.28529011e-02 9.98022381e-01 9.16865212e-04 -1.25497352e+02] [-1.43846496e-02 1.26784604e-05 -9.99896536e-01 6.85609897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.287628 meters 0.012681595608349082 Centerline is valid? [True, True] Translation: X:53.30, Y:-125.47, Z:0.68 [[-9.91284772e-01 -1.31056377e-01 1.33689064e-02 5.32985178e+01] [-1.31043767e-01 9.91374916e-01 1.81867252e-03 -1.25472181e+02] [-1.34919471e-02 5.09105207e-05 -9.99908978e-01 6.84405263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.317628 meters 0.012816594869115716 Centerline is valid? [True, True] Translation: X:53.27, Y:-125.45, Z:0.68 [[-9.79959578e-01 -1.98857062e-01 1.16230309e-02 5.32735052e+01] [-1.98842094e-01 9.80028501e-01 2.44115219e-03 -1.25449907e+02] [-1.18763419e-02 8.10826729e-05 -9.99929470e-01 6.83135772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34762800000001 meters 0.013135142568153504 Centerline is valid? [True, True] Translation: X:53.23, Y:-125.43, Z:0.68 [[-9.63551051e-01 -2.67321417e-01 1.04226299e-02 5.32310137e+01] [-2.67304583e-01 9.63607414e-01 3.00191929e-03 -1.25433282e+02] [-1.08458008e-02 1.06485739e-04 -9.99941177e-01 6.82790254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37762800000002 meters 0.016952176611679068 Centerline is valid? [True, True] Translation: X:53.18, Y:-125.42, Z:0.69 [[-9.43353583e-01 -3.31642316e-01 9.86876940e-03 5.31788483e+01] [-3.31622236e-01 9.43405186e-01 3.65355194e-03 -1.25424104e+02] [-1.05219207e-02 1.73887935e-04 -9.99944628e-01 6.85805290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40762800000002 meters 0.01468702638075523 Centerline is valid? [True, True] Translation: X:53.11, Y:-125.43, Z:0.68 [[-9.16888321e-01 -3.99058564e-01 8.25038835e-03 5.31059064e+01] [-3.99040754e-01 9.16925425e-01 3.77387295e-03 -1.25425523e+02] [-9.07098716e-03 1.67978845e-04 -9.99958844e-01 6.82488462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43762800000002 meters 0.015045714307156868 Centerline is valid? [True, True] Translation: X:53.03, Y:-125.43, Z:0.68 [[-8.85318281e-01 -4.64927481e-01 7.34703172e-03 5.30303688e+01] [-4.64909843e-01 8.85348749e-01 4.05340017e-03 -1.25433683e+02] [-8.38922248e-03 1.72841901e-04 -9.99964795e-01 6.81412264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46762800000002 meters 0.01574683263344865 Centerline is valid? [True, True] Translation: X:52.95, Y:-125.45, Z:0.68 [[-8.48668485e-01 -5.28886912e-01 6.35897330e-03 5.29475454e+01] [-5.28870572e-01 8.48692292e-01 4.16074205e-03 -1.25452663e+02] [-7.59737364e-03 1.68016809e-04 -9.99971125e-01 6.80298851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49762800000002 meters 0.01547687145855115 Centerline is valid? [True, True] Translation: X:52.86, Y:-125.48, Z:0.68 [[-8.06856818e-01 -5.90727947e-01 4.75046317e-03 5.28579772e+01] [-5.90716678e-01 8.06870791e-01 3.65149525e-03 -1.25480183e+02] [-5.99005027e-03 1.40056012e-04 -9.99982050e-01 6.77908303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52762800000002 meters 0.016212084013801177 Centerline is valid? [True, True] Translation: X:52.77, Y:-125.52, Z:0.68 [[-7.59727324e-01 -6.50228786e-01 4.11334532e-03 5.27658717e+01] [-6.50218316e-01 7.59738448e-01 3.69221107e-03 -1.25520492e+02] [-5.52584851e-03 1.30501162e-04 -9.99984724e-01 6.78119026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55762800000002 meters 0.01598684971983344 Centerline is valid? [True, True] Translation: X:52.67, Y:-125.57, Z:0.68 [[-7.07456539e-01 -7.06745657e-01 3.97758473e-03 5.26725529e+01] [-7.06733418e-01 7.07467708e-01 4.16138308e-03 -1.25569886e+02] [-5.75505218e-03 1.32905618e-04 -9.99983431e-01 6.78234327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58762800000002 meters 0.016209564974313532 Centerline is valid? [True, True] Translation: X:52.58, Y:-125.63, Z:0.68 [[-6.50202264e-01 -7.59752171e-01 3.69514969e-03 5.25815531e+01] [-7.59738782e-01 6.50212752e-01 4.51222703e-03 -1.25629881e+02] [-5.83080773e-03 1.26511706e-04 -9.99982993e-01 6.78667374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61762800000002 meters 0.015271931334075247 Centerline is valid? [True, True] Translation: X:52.49, Y:-125.70, Z:0.68 [[-5.89449243e-01 -8.07796689e-01 3.75485087e-03 5.24904406e+01] [-8.07778784e-01 5.89461186e-01 5.38016336e-03 -1.25699946e+02] [-6.55941700e-03 1.38244352e-04 -9.99978477e-01 6.77927356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64762800000003 meters 0.015036569181414938 Centerline is valid? [True, True] Translation: X:52.41, Y:-125.78, Z:0.68 [[-5.24853229e-01 -8.51186022e-01 3.38302425e-03 5.24068025e+01] [-8.51166652e-01 5.24864114e-01 5.74388116e-03 -1.25776699e+02] [-6.66473938e-03 1.35177147e-04 -9.99977781e-01 6.78753917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67762800000003 meters 0.01499065411655514 Centerline is valid? [True, True] Translation: X:52.33, Y:-125.86, Z:0.68 [[-4.57005242e-01 -8.89457743e-01 3.33638297e-03 5.23278013e+01] [-8.89431628e-01 4.57017396e-01 6.81754124e-03 -1.25862113e+02] [-7.58869990e-03 1.48167543e-04 -9.99971194e-01 6.79926771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70762800000003 meters 0.014510197756532176 Centerline is valid? [True, True] Translation: X:52.25, Y:-125.96, Z:0.68 [[-3.85780268e-01 -9.22585158e-01 3.19549707e-03 5.22505597e+01] [-9.22550059e-01 3.85793470e-01 8.04900833e-03 -1.25957833e+02] [-8.65869753e-03 1.57142575e-04 -9.99962500e-01 6.82119153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73762800000003 meters 0.014510197756532176 Centerline is valid? [True, True] Translation: X:52.19, Y:-126.06, Z:0.68 [[-3.13254896e-01 -9.49665625e-01 2.56324858e-03 5.21852918e+01] [-9.49629610e-01 3.13265343e-01 8.27211241e-03 -1.26058963e+02] [-8.65871775e-03 1.57142961e-04 -9.99962500e-01 6.82120177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76762800000003 meters 0.01463264609149871 Centerline is valid? [True, True] Translation: X:52.13, Y:-126.16, Z:0.68 [[-2.38556566e-01 -9.71126378e-01 2.07932895e-03 5.21266747e+01] [-9.71083109e-01 2.38565569e-01 9.16871818e-03 -1.26164845e+02] [-9.40004037e-03 1.68056701e-04 -9.99955805e-01 6.83140437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79762800000003 meters 0.014549918973784767 Centerline is valid? [True, True] Translation: X:52.08, Y:-126.27, Z:0.68 [[-1.62441275e-01 -9.86717272e-01 1.36314148e-03 5.20771441e+01] [-9.86673495e-01 1.62446910e-01 9.29599212e-03 -1.26273921e+02] [-9.39395411e-03 1.65077239e-04 -9.99955862e-01 6.83436500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.827628 meters 0.014387311451617408 Centerline is valid? [True, True] Translation: X:52.04, Y:-126.39, Z:0.68 [[-8.52664735e-02 -9.96357978e-01 6.39162257e-04 5.20360089e+01] [-9.96313952e-01 8.52687152e-02 9.36780944e-03 -1.26391935e+02] [-9.38819221e-03 1.61953801e-04 -9.99955917e-01 6.83002920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.857628 meters 0.014226004683509494 Centerline is valid? [True, True] Translation: X:52.00, Y:-126.51, Z:0.68 [[-7.04215766e-03 -9.99975200e-01 -8.57996994e-05 5.20040523e+01] [-9.99933751e-01 7.04108446e-03 9.10585778e-03 -1.26513800e+02] [-9.10502783e-03 1.49918901e-04 -9.99958537e-01 6.82239350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.887628 meters 0.013978851183121723 Centerline is valid? [True, True] Translation: X:51.98, Y:-126.63, Z:0.68 [[ 7.12756881e-02 -9.97456385e-01 -7.31782156e-04 5.19812816e+01] [-9.97421129e-01 -7.12793223e-02 8.38748728e-03 -1.26631713e+02] [-8.41831368e-03 1.32071057e-04 -9.99964557e-01 6.81723166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.917628 meters 0.013778702914228868 Centerline is valid? [True, True] Translation: X:51.16, Y:-126.82, Z:-0.19 [[ 3.29864985e-02 9.99455790e-01 -1.23758217e-04 5.11604405e+01] [-9.99422422e-01 3.29864086e-02 8.16815611e-03 -1.26818642e+02] [ 8.16779325e-03 -1.45752133e-04 9.99966632e-01 -1.94020124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.947628 meters 0.012965961296825911 Centerline is valid? [True, True] Translation: X:52.00, Y:-126.93, Z:0.68 [[ 8.85621051e-02 -9.96070380e-01 -7.43197649e-04 5.19993680e+01] [-9.96041234e-01 -8.85651993e-02 7.62005749e-03 -1.26933780e+02] [-7.65593501e-03 6.54071713e-05 -9.99970691e-01 6.81727047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.977628 meters 0.012513849658971137 Centerline is valid? [True, True] Translation: X:51.99, Y:-127.06, Z:0.68 [[ 1.68672235e-01 -9.85671275e-01 -1.34697544e-03 5.19858177e+01] [-9.85641712e-01 -1.68677608e-01 7.63408829e-03 -1.27058359e+02] [-7.75190614e-03 3.99764443e-05 -9.99969953e-01 6.82074673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.007628 meters 0.015849191369491086 Centerline is valid? [True, True] Translation: X:51.98, Y:-127.18, Z:0.69 [[ 2.47241924e-01 -9.68950773e-01 -2.41466875e-03 5.19814765e+01] [-9.68905387e-01 -2.47253714e-01 9.37830645e-03 -1.27180863e+02] [-9.68415310e-03 2.08750237e-05 -9.99953107e-01 6.85727687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.037628 meters 0.012206962801878185 Centerline is valid? [True, True] Translation: X:51.99, Y:-127.31, Z:0.68 [[ 3.25547393e-01 -9.45521510e-01 -2.82297030e-03 5.19886933e+01] [-9.45485447e-01 -3.25559631e-01 8.25804994e-03 -1.27310965e+02] [-8.72720902e-03 -1.93092877e-05 -9.99961917e-01 6.83398801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.067628 meters 0.015311715567033785 Centerline is valid? [True, True] Translation: X:52.00, Y:-127.43, Z:0.69 [[ 4.02102381e-01 -9.15585099e-01 -4.19538655e-03 5.20011536e+01] [-9.15533306e-01 -4.02124260e-01 9.73884342e-03 -1.27428363e+02] [-1.06038066e-02 -7.49960092e-05 -9.99943775e-01 6.86991216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09762800000001 meters 0.012906286954946437 Centerline is valid? [True, True] Translation: X:52.03, Y:-127.55, Z:0.68 [[ 4.74229937e-01 -8.80389884e-01 -4.42935642e-03 5.20260580e+01] [-8.80349582e-01 -4.74250612e-01 8.42444544e-03 -1.27546182e+02] [-9.51742154e-03 -9.57421533e-05 -9.99954704e-01 6.84927646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12762800000002 meters 0.013067551975103555 Centerline is valid? [True, True] Translation: X:52.06, Y:-127.66, Z:0.68 [[ 5.42190641e-01 -8.40240916e-01 -4.95091973e-03 5.20602916e+01] [-8.40204016e-01 -5.42213234e-01 7.87528687e-03 -1.27660438e+02] [-9.30159245e-03 -1.10124192e-04 -9.99956733e-01 6.84153615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15762800000002 meters 0.013384971520113505 Centerline is valid? [True, True] Translation: X:52.10, Y:-127.77, Z:0.68 [[ 6.06250106e-01 -7.95257060e-01 -5.19789218e-03 5.20997680e+01] [-7.95226208e-01 -6.06272378e-01 7.00581824e-03 -1.27767087e+02] [-8.72276487e-03 -1.13777963e-04 -9.99961950e-01 6.83909234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18762800000002 meters 0.01371103184679088 Centerline is valid? [True, True] Translation: X:52.15, Y:-127.88, Z:0.68 [[ 6.66177371e-01 -7.45772090e-01 -5.63026734e-03 5.21524205e+01] [-7.45743934e-01 -6.66201153e-01 6.48143835e-03 -1.27875821e+02] [-8.58456641e-03 -1.19049845e-04 -9.99963145e-01 6.83549246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21762800000002 meters 0.013720554551455846 Centerline is valid? [True, True] Translation: X:52.20, Y:-127.97, Z:0.68 [[ 7.21624217e-01 -6.92261200e-01 -5.73766229e-03 5.22033335e+01] [-6.92238051e-01 -7.21647018e-01 5.66229378e-03 -1.27967228e+02] [-8.06035317e-03 -1.14220154e-04 -9.99967508e-01 6.83229005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24762800000002 meters 0.013616039028898111 Centerline is valid? [True, True] Translation: X:52.20, Y:-127.97, Z:0.68 [[ 7.73510525e-01 -6.33753704e-01 -6.14093082e-03 5.21998620e+01] [-6.33732557e-01 -7.73534892e-01 5.17849446e-03 -1.27972888e+02] [-8.03211431e-03 -1.13912173e-04 -9.99967736e-01 6.83862185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27762800000002 meters 0.013460016969787754 Centerline is valid? [True, True] Translation: X:52.20, Y:-127.98, Z:0.68 [[ 8.20312464e-01 -5.71875306e-01 -6.78937889e-03 5.21952601e+01] [-5.71854570e-01 -8.20340552e-01 4.87122328e-03 -1.27976969e+02] [-8.35533513e-03 -1.13387822e-04 -9.99965087e-01 6.84374963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30762800000002 meters 0.013281645000662933 Centerline is valid? [True, True] Translation: X:52.19, Y:-127.98, Z:0.68 [[ 8.61262642e-01 -5.08106146e-01 -7.40312586e-03 5.21926987e+01] [-5.08086410e-01 -8.61294453e-01 4.47937852e-03 -1.27977227e+02] [-8.65227100e-03 -9.64937385e-05 -9.99962564e-01 6.84644782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33762800000002 meters 0.012693084044102763 Centerline is valid? [True, True] Translation: X:52.19, Y:-127.98, Z:0.68 [[ 8.97295952e-01 -4.41355278e-01 -8.09272610e-03 5.21890791e+01] [-4.41336527e-01 -8.97332442e-01 4.06919930e-03 -1.27980721e+02] [-9.05782827e-03 -7.96604341e-05 -9.99958974e-01 6.84062072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36762800000002 meters 0.012515085067297435 Centerline is valid? [True, True] Translation: X:52.18, Y:-127.98, Z:0.68 [[ 9.28145674e-01 -3.72126085e-01 -8.23318400e-03 5.21846219e+01] [-3.72110904e-01 -9.28182188e-01 3.36170241e-03 -1.27983836e+02] [-8.89287189e-03 -5.64920024e-05 -9.99960456e-01 6.84573641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39762800000003 meters 0.012387460856935066 Centerline is valid? [True, True] Translation: X:52.18, Y:-127.99, Z:0.69 [[ 9.53580013e-01 -3.01018988e-01 -8.52799137e-03 5.21810402e+01] [-3.01006648e-01 -9.53618146e-01 2.72588862e-03 -1.27985521e+02] [-8.95299155e-03 -3.23708119e-05 -9.99959921e-01 6.85464736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42762800000003 meters 0.01219689264100712 Centerline is valid? [True, True] Translation: X:52.18, Y:-127.99, Z:0.68 [[ 9.73353614e-01 -2.29159525e-01 -8.28582846e-03 5.21783890e+01] [-2.29151227e-01 -9.73388880e-01 1.95014625e-03 -1.27986074e+02] [-8.51222788e-03 5.25854821e-07 -9.99963770e-01 6.84419449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45762800000003 meters 0.012153915103120307 Centerline is valid? [True, True] Translation: X:52.17, Y:-127.99, Z:0.68 [[ 9.88166133e-01 -1.53201397e-01 -7.55155849e-03 5.21708788e+01] [-1.53196984e-01 -9.88194987e-01 1.16289320e-03 -1.27991827e+02] [-7.64056910e-03 7.74431185e-06 -9.99970810e-01 6.83736335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48762800000003 meters 0.012249990183600007 Centerline is valid? [True, True] Translation: X:52.16, Y:-128.00, Z:0.68 [[ 9.97022209e-01 -7.66826065e-02 -8.15428558e-03 5.21627696e+01] [-7.66801981e-02 -9.97055554e-01 6.08049460e-04 -1.27996347e+02] [-8.17690254e-03 1.90334176e-05 -9.99966568e-01 6.83991635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51762800000003 meters 0.01221456631455373 Centerline is valid? [True, True] Translation: X:52.16, Y:-128.00, Z:0.68 [[ 9.99962269e-01 -1.34846178e-04 -8.68573387e-03 5.21559147e+01] [-1.35147772e-04 -9.99999990e-01 -3.41359847e-05 -1.28004292e+02] [-8.68572918e-03 3.53085543e-05 -9.99962278e-01 6.83208887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54762800000003 meters 0.012799091864223948 Centerline is valid? [True, True] Translation: X:52.15, Y:-128.01, Z:0.68 [[ 9.97272337e-01 7.33402313e-02 -8.31238314e-03 5.21483909e+01] [ 7.33370660e-02 -9.97306976e-01 -6.85376552e-04 -1.28010241e+02] [-8.34026337e-03 7.39012846e-05 -9.99965217e-01 6.83169198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.577628 meters 0.01316389626738373 Centerline is valid? [True, True] Translation: X:52.14, Y:-128.02, Z:0.68 [[ 9.88984928e-01 1.47809125e-01 -7.82776493e-03 5.21419424e+01] [ 1.47803714e-01 -9.89015901e-01 -1.26838882e-03 -1.28017077e+02] [-7.92926343e-03 9.74446920e-05 -9.99968558e-01 6.82587803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.607628 meters 0.013879800412517853 Centerline is valid? [True, True] Translation: X:52.14, Y:-128.02, Z:0.68 [[ 9.75117110e-01 2.21559153e-01 -7.62645032e-03 5.21366200e+01] [ 2.21551392e-01 -9.75146926e-01 -1.85846068e-03 -1.28023842e+02] [-7.84866855e-03 1.22566126e-04 -9.99969191e-01 6.81852976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.637628 meters 0.01444179200234337 Centerline is valid? [True, True] Translation: X:52.13, Y:-128.03, Z:0.68 [[ 9.55616957e-01 2.94526741e-01 -7.08738346e-03 5.21314565e+01] [ 2.94517568e-01 -9.55643228e-01 -2.32854270e-03 -1.28033189e+02] [-7.45882810e-03 1.37835944e-04 -9.99972173e-01 6.81250423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.667628 meters 0.016394894007946987 Centerline is valid? [True, True] Translation: X:52.13, Y:-128.04, Z:0.68 [[ 9.32280966e-01 3.61652817e-01 -7.70975305e-03 5.21255873e+01] [ 3.61638532e-01 -9.32312819e-01 -3.22159019e-03 -1.28040108e+02] [-8.35299877e-03 2.15283435e-04 -9.99965090e-01 6.81753840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.697628 meters 0.017838631772391558 Centerline is valid? [True, True] Translation: X:52.12, Y:-128.05, Z:0.68 [[ 9.02998692e-01 4.29567901e-01 -8.04859268e-03 5.21211594e+01] [ 4.29548129e-01 -9.03034520e-01 -4.13048595e-03 -1.28047741e+02] [-9.04248121e-03 2.72565482e-04 -9.99959079e-01 6.82087756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.727628 meters 0.02194930546018322 Centerline is valid? [True, True] Translation: X:52.12, Y:-128.06, Z:0.68 [[ 8.68766570e-01 4.95137687e-01 -9.12780580e-03 5.21157064e+01] [ 4.95105838e-01 -8.68814441e-01 -5.62813133e-03 -1.28055812e+02] [-1.07170694e-02 3.70302411e-04 -9.99942502e-01 6.84640715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.757628 meters 0.023232003579962475 Centerline is valid? [True, True] Translation: X:52.11, Y:-128.07, Z:0.69 [[ 8.30551455e-01 5.56878367e-01 -8.41213771e-03 5.21127131e+01] [ 5.56844622e-01 -8.30593949e-01 -6.14477713e-03 -1.28066317e+02] [-1.04089641e-02 4.19299941e-04 -9.99945737e-01 6.85054417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.787628 meters 0.02324826778442436 Centerline is valid? [True, True] Translation: X:52.11, Y:-128.08, Z:0.68 [[ 7.85822711e-01 6.18413105e-01 -6.92089804e-03 5.21084899e+01] [ 6.18384698e-01 -7.85853092e-01 -5.94001697e-03 -1.28075506e+02] [-9.11219346e-03 3.88022791e-04 -9.99958408e-01 6.83054665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.817628 meters 0.0239592019443832 Centerline is valid? [True, True] Translation: X:52.11, Y:-128.09, Z:0.68 [[ 7.36361202e-01 6.76561090e-01 -6.10506173e-03 5.21059268e+01] [ 6.76533406e-01 -7.36386408e-01 -6.13258372e-03 -1.28085150e+02] [-8.64475201e-03 3.85518510e-04 -9.99962559e-01 6.81498552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84762800000001 meters 0.02790747714843248 Centerline is valid? [True, True] Translation: X:52.10, Y:-128.09, Z:0.68 [[ 6.82593643e-01 7.30777786e-01 -5.45408228e-03 5.21005976e+01] [ 7.30749751e-01 -6.82615319e-01 -6.41301171e-03 -1.28094114e+02] [-8.40952661e-03 3.91911754e-04 -9.99964563e-01 6.82264897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87762800000002 meters 0.024831397248368785 Centerline is valid? [True, True] Translation: X:52.10, Y:-128.11, Z:0.68 [[ 6.23791110e-01 7.81584583e-01 -3.19244415e-03 5.21045811e+01] [ 7.81572168e-01 -6.23799226e-01 -4.41279473e-03 -1.28108589e+02] [-5.44041652e-03 2.57536625e-04 -9.99985168e-01 6.77386456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90762800000002 meters 0.025189866049468084 Centerline is valid? [True, True] Translation: X:52.11, Y:-128.12, Z:0.68 [[ 5.60060939e-01 8.28447896e-01 -2.41406560e-03 5.21051194e+01] [ 8.28438478e-01 -5.60066100e-01 -3.95612859e-03 -1.28120286e+02] [-4.62948271e-03 2.15768262e-04 -9.99989261e-01 6.76796908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93762800000002 meters 0.02487230935884713 Centerline is valid? [True, True] Translation: X:52.11, Y:-128.13, Z:0.68 [[ 4.91890285e-01 8.70654938e-01 -1.98129456e-03 5.21072906e+01] [ 8.70646202e-01 -4.91894236e-01 -3.90534071e-03 -1.28131452e+02] [-4.37479155e-03 1.95992571e-04 -9.99990411e-01 6.76206116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96762800000002 meters 0.02385250885221831 Centerline is valid? [True, True] Translation: X:52.11, Y:-128.14, Z:0.68 [[ 4.19941374e-01 9.07550190e-01 -1.37644543e-03 5.21115429e+01] [ 9.07544063e-01 -4.19943602e-01 -3.33824196e-03 -1.28142621e+02] [-3.60765158e-03 1.52681040e-04 -9.99993481e-01 6.75735309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99762800000002 meters 0.019115157757303262 Centerline is valid? [True, True] Translation: X:52.13, Y:-128.16, Z:0.68 [[ 3.41322569e-01 9.39945486e-01 -1.17822204e-03 5.21298171e+01] [ 9.39938429e-01 -3.41324575e-01 -3.64483944e-03 -1.28157573e+02] [-3.82810652e-03 1.36609784e-04 -9.99992663e-01 6.75686913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02762800000002 meters 0.018438612228594015 Centerline is valid? [True, True] Translation: X:52.14, Y:-128.17, Z:0.68 [[ 2.63421824e-01 9.64680269e-01 -9.59476481e-04 5.21386177e+01] [ 9.64671902e-01 -2.63423538e-01 -4.02010484e-03 -1.28168367e+02] [-4.13086451e-03 1.33403350e-04 -9.99991459e-01 6.75940383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05762800000002 meters 0.01759240069214247 Centerline is valid? [True, True] Translation: X:52.15, Y:-128.18, Z:0.68 [[ 1.83828409e-01 9.82958058e-01 -7.55851393e-04 5.21479540e+01] [ 9.82946305e-01 -1.83829909e-01 -4.80903659e-03 -1.28176576e+02] [-4.86602936e-03 1.41076212e-04 -9.99988151e-01 6.76469354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08762800000002 meters 0.01646074470574417 Centerline is valid? [True, True] Translation: X:52.16, Y:-128.18, Z:0.68 [[ 1.01114410e-01 9.94874691e-01 -4.74668194e-04 5.21606403e+01] [ 9.94855919e-01 -1.01115419e-01 -6.11337672e-03 -1.28184947e+02] [-6.13004005e-03 1.45924016e-04 -9.99981200e-01 6.77542786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11762800000002 meters 0.015929689989551382 Centerline is valid? [True, True] Translation: X:52.17, Y:-128.19, Z:0.68 [[ 2.06558464e-02 9.99786645e-01 6.10696924e-06 5.21683520e+01] [ 9.99765286e-01 -2.06553652e-02 -6.53677145e-03 -1.28191225e+02] [-6.53525065e-03 1.41128083e-04 -9.99978635e-01 6.77979758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14762800000003 meters 0.015020277303063465 Centerline is valid? [True, True] Translation: X:52.18, Y:-128.20, Z:0.68 [[-5.92305703e-02 9.98244186e-01 5.33356595e-04 5.21787071e+01] [ 9.98221656e-01 5.92328175e-02 -6.70807306e-03 -1.28195912e+02] [-6.72788714e-03 1.35085111e-04 -9.99977358e-01 6.78229775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17762800000003 meters 0.014871512571213006 Centerline is valid? [True, True] Translation: X:52.19, Y:-128.20, Z:0.68 [[-1.39719528e-01 9.90190509e-01 1.09979301e-03 5.21881772e+01] [ 9.90166389e-01 1.39723802e-01 -6.91237390e-03 -1.28201096e+02] [-6.99823429e-03 1.23184456e-04 -9.99975504e-01 6.78307877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20762800000003 meters 0.013611504827942777 Centerline is valid? [True, True] Translation: X:52.20, Y:-128.20, Z:0.68 [[-2.17653022e-01 9.76024678e-01 1.72945581e-03 5.22008240e+01] [ 9.75998233e-01 2.17659857e-01 -7.18579737e-03 -1.28203571e+02] [-7.38994867e-03 1.23935308e-04 -9.99972686e-01 6.77302288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23762800000003 meters 0.01452751871696115 Centerline is valid? [True, True] Translation: X:52.21, Y:-128.21, Z:0.68 [[-2.94258223e-01 9.55723150e-01 2.31486048e-03 5.22087566e+01] [ 9.55696686e-01 2.94267304e-01 -7.11317691e-03 -1.28206785e+02] [-7.47941559e-03 1.19193692e-04 -9.99972022e-01 6.78530286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26762800000003 meters 0.014014828545694687 Centerline is valid? [True, True] Translation: X:52.22, Y:-128.21, Z:0.68 [[-3.68912251e-01 9.29459341e-01 3.01391947e-03 5.22151266e+01] [ 9.29430930e-01 3.68924543e-01 -7.26824376e-03 -1.28209051e+02] [-7.86744592e-03 1.19885802e-04 -9.99969044e-01 6.78455953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29762800000003 meters 0.014025329011243006 Centerline is valid? [True, True] Translation: X:52.22, Y:-128.21, Z:0.68 [[-4.41980749e-01 8.97017267e-01 3.61110011e-03 5.22219713e+01] [ 8.96989310e-01 4.41995487e-01 -7.08281437e-03 -1.28211961e+02] [-7.94949674e-03 1.08650598e-04 -9.99968396e-01 6.79276500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.327628 meters 0.013917986734252737 Centerline is valid? [True, True] Translation: X:52.23, Y:-128.22, Z:0.68 [[-5.11706028e-01 8.59150538e-01 4.15855752e-03 5.22250542e+01] [ 8.59123762e-01 5.11722916e-01 -6.78373241e-03 -1.28216830e+02] [-7.95627653e-03 1.01438814e-04 -9.99968343e-01 6.79633599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.357628 meters 0.01359642745316207 Centerline is valid? [True, True] Translation: X:52.23, Y:-128.22, Z:0.68 [[-5.78337472e-01 8.15786352e-01 4.28908806e-03 5.22274038e+01] [ 8.15765003e-01 5.78353370e-01 -5.90243126e-03 -1.28221066e+02] [-7.29573140e-03 8.52907635e-05 -9.99973382e-01 6.79808746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.387628 meters 0.01565178064431143 Centerline is valid? [True, True] Translation: X:52.23, Y:-128.22, Z:0.68 [[-6.41083640e-01 7.67455528e-01 4.87635937e-03 5.22310531e+01] [ 7.67434289e-01 6.41102181e-01 -5.71019921e-03 -1.28222790e+02] [-7.50856857e-03 8.15700869e-05 -9.99971807e-01 6.81220600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.417628 meters 0.011915515555971163 Centerline is valid? [True, True] Translation: X:52.24, Y:-128.22, Z:0.68 [[-7.01505076e-01 7.12646388e-01 5.07490408e-03 5.22414454e+01] [ 7.12628307e-01 7.01523430e-01 -5.07669279e-03 -1.28216577e+02] [-7.17805090e-03 5.51945446e-05 -9.99974236e-01 6.77323747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.447628 meters 0.011717293721909293 Centerline is valid? [True, True] Translation: X:52.25, Y:-128.21, Z:0.68 [[-7.55923823e-01 6.54634078e-01 5.77903883e-03 5.22503590e+01] [ 6.54615449e-01 7.55945912e-01 -4.93894460e-03 -1.28210539e+02] [-7.60184222e-03 4.95822167e-05 -9.99971104e-01 6.76842135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.477628 meters 0.014155643667846116 Centerline is valid? [True, True] Translation: X:52.72, Y:-127.67, Z:-0.19 [[-7.18828385e-01 -6.95163296e-01 5.80902666e-03 5.27233921e+01] [ 6.95140340e-01 -7.18851857e-01 -5.64942002e-03 -1.27671423e+02] [ 8.10309904e-03 -2.28747005e-05 9.99967169e-01 -1.91764603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.507628 meters 0.011649107295283387 Centerline is valid? [True, True] Translation: X:52.70, Y:-127.70, Z:-0.19 [[-6.69351137e-01 -7.42923316e-01 5.83113860e-03 5.27034578e+01] [ 7.42894617e-01 -6.69376535e-01 -6.53020008e-03 -1.27696385e+02] [ 8.75466525e-03 -3.90753794e-05 9.99961676e-01 -1.91341654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.537628 meters 0.011631706141631164 Centerline is valid? [True, True] Translation: X:52.68, Y:-127.68, Z:-0.19 [[-6.69213194e-01 -7.43038505e-01 6.89070184e-03 5.26849680e+01] [ 7.42998478e-01 -6.69248667e-01 -7.71250612e-03 -1.27676353e+02] [ 1.03422820e-02 -4.15298682e-05 9.99946516e-01 -1.92219606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.567628 meters 0.011564900589142897 Centerline is valid? [True, True] Translation: X:52.67, Y:-127.66, Z:-0.19 [[-6.69051799e-01 -7.43175604e-01 7.72734826e-03 5.26660064e+01] [ 7.43125334e-01 -6.69096421e-01 -8.64390363e-03 -1.27656159e+02] [ 1.15942794e-02 -4.08310133e-05 9.99932783e-01 -1.92358213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59762800000001 meters 0.014663719959516522 Centerline is valid? [True, True] Translation: X:52.65, Y:-127.64, Z:-0.20 [[-6.68796801e-01 -7.43388262e-01 9.20489623e-03 5.26479274e+01] [ 7.43317024e-01 -6.68860142e-01 -1.02913678e-02 -1.27635884e+02] [ 1.38072702e-02 -4.06778016e-05 9.99904674e-01 -1.96044732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62762800000002 meters 0.014663719959516522 Centerline is valid? [True, True] Translation: X:52.63, Y:-127.62, Z:-0.20 [[-6.69030187e-01 -7.43178188e-01 9.20812727e-03 5.26300038e+01] [ 7.43106969e-01 -6.69093551e-01 -1.02884770e-02 -1.27616002e+02] [ 1.38072702e-02 -4.06781335e-05 9.99904674e-01 -1.96044574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65762800000002 meters 0.011897705628396383 Centerline is valid? [True, True] Translation: X:52.61, Y:-127.60, Z:-0.20 [[-6.67469538e-01 -7.44554839e-01 1.10682958e-02 5.26129552e+01] [ 7.44452220e-01 -6.67561301e-01 -1.23612869e-02 -1.27595536e+02] [ 1.65924219e-02 -1.09650791e-05 9.99862336e-01 -1.96273724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68762800000002 meters 0.011859815009978318 Centerline is valid? [True, True] Translation: X:52.59, Y:-127.57, Z:-0.20 [[-6.67104002e-01 -7.44868873e-01 1.19420779e-02 5.25943254e+01] [ 7.44749594e-01 -6.67210883e-01 -1.33296373e-02 -1.27574079e+02] [ 1.78967163e-02 1.60332229e-06 9.99839841e-01 -1.95767238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71762800000002 meters 0.015734424117928317 Centerline is valid? [True, True] Translation: X:52.58, Y:-127.55, Z:-0.20 [[-6.67167211e-01 -7.44805866e-01 1.23343077e-02 5.25759895e+01] [ 7.44678757e-01 -6.67281217e-01 -1.37596189e-02 -1.27553359e+02] [ 1.84786968e-02 5.13035636e-06 9.99829254e-01 -1.97877852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74762800000002 meters 0.014363163182232078 Centerline is valid? [True, True] Translation: X:52.56, Y:-127.53, Z:-0.20 [[-6.67088604e-01 -7.44887016e-01 1.16673911e-02 5.25576812e+01] [ 7.44773423e-01 -6.67190627e-01 -1.30082743e-02 -1.27532308e+02] [ 1.74740686e-02 1.18912513e-05 9.99847317e-01 -1.97114018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77762800000002 meters 0.011527345574669537 Centerline is valid? [True, True] Translation: X:52.54, Y:-127.51, Z:-0.19 [[-6.67391742e-01 -7.44636835e-01 1.02100948e-02 5.25425640e+01] [ 7.44549917e-01 -6.67469837e-01 -1.13770653e-02 -1.27509721e+02] [ 1.52867122e-02 8.96577666e-06 9.99883151e-01 -1.93652766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80762800000002 meters 0.011421128579598963 Centerline is valid? [True, True] Translation: X:52.53, Y:-127.49, Z:-0.19 [[-6.68485866e-01 -7.43667217e-01 9.25833868e-03 5.25265187e+01] [ 7.43595719e-01 -6.68549975e-01 -1.03119949e-02 -1.27486841e+02] [ 1.38583546e-02 -8.96181010e-06 9.99903968e-01 -1.91838294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83762800000002 meters 0.01456667247356277 Centerline is valid? [True, True] Translation: X:52.51, Y:-127.46, Z:-0.19 [[-6.70150637e-01 -7.42171675e-01 8.90660217e-03 5.25120622e+01] [ 7.42105461e-01 -6.70209820e-01 -9.91367122e-03 -1.27464840e+02] [ 1.33269382e-02 -3.40149817e-05 9.99911192e-01 -1.92381983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86762800000002 meters 0.01492354059970839 Centerline is valid? [True, True] Translation: X:52.50, Y:-127.44, Z:-0.19 [[-6.73351177e-01 -7.39292183e-01 6.72758213e-03 5.24991394e+01] [ 7.39254308e-01 -6.73384782e-01 -7.48352911e-03 -1.27440023e+02] [ 1.00627660e-02 -6.56490628e-05 9.99949367e-01 -1.89441275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89762800000003 meters 0.01162892691696178 Centerline is valid? [True, True] Translation: X:52.48, Y:-127.42, Z:-0.19 [[-6.74806412e-01 -7.37972446e-01 5.74239841e-03 5.24826158e+01] [ 7.37944836e-01 -6.74830841e-01 -6.38395779e-03 -1.27417601e+02] [ 8.58633249e-03 -7.03623982e-05 9.99963134e-01 -1.85232411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92762800000003 meters 0.011875280172496018 Centerline is valid? [True, True] Translation: X:52.47, Y:-127.40, Z:-0.18 [[-6.76311843e-01 -7.36601279e-01 4.56576388e-03 5.24664099e+01] [ 7.36583808e-01 -6.76327251e-01 -5.07373085e-03 -1.27395206e+02] [ 6.82526717e-03 -6.83565184e-05 9.99976705e-01 -1.84206534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95762800000003 meters 0.01234709081365875 Centerline is valid? [True, True] Translation: X:52.45, Y:-127.37, Z:-0.18 [[-6.77680493e-01 -7.35346007e-01 3.92417256e-03 5.24510830e+01] [ 7.35333092e-01 -6.77691851e-01 -4.35874758e-03 -1.27373257e+02] [ 5.86456740e-03 -6.82642674e-05 9.99982801e-01 -1.83851340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98762800000003 meters 0.013439163823552222 Centerline is valid? [True, True] Translation: X:52.44, Y:-127.35, Z:-0.18 [[-6.79108745e-01 -7.34028147e-01 3.74056471e-03 5.24354306e+01] [ 7.34016407e-01 -6.79119042e-01 -4.15216679e-03 -1.27350600e+02] [ 5.58809602e-03 -7.41369053e-05 9.99984384e-01 -1.84605159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01762800000003 meters 0.012663349794184181 Centerline is valid? [True, True] Translation: X:52.42, Y:-127.33, Z:-0.18 [[-6.79332393e-01 -7.33820670e-01 3.83724374e-03 5.24192043e+01] [ 7.33808328e-01 -6.79343226e-01 -4.25665124e-03 -1.27329903e+02] [ 5.73042421e-03 -7.58796603e-05 9.99983578e-01 -1.84271696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04762800000003 meters 0.012555393216474826 Centerline is valid? [True, True] Translation: X:52.40, Y:-127.31, Z:-0.19 [[-6.79374386e-01 -7.33778938e-01 4.34902010e-03 5.24011698e+01] [ 7.33763103e-01 -6.79388301e-01 -4.82130231e-03 -1.27308908e+02] [ 6.49244346e-03 -8.43188041e-05 9.99978920e-01 -1.85141524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.077628 meters 0.012628856407298316 Centerline is valid? [True, True] Translation: X:52.38, Y:-127.29, Z:-0.19 [[-6.79542126e-01 -7.33614990e-01 5.61662993e-03 5.23835092e+01] [ 7.33588607e-01 -6.79565328e-01 -6.22261324e-03 -1.27287659e+02] [ 8.38186930e-03 -1.08232104e-04 9.99964866e-01 -1.86142007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.107628 meters 0.016410485645929566 Centerline is valid? [True, True] Translation: X:52.37, Y:-127.27, Z:-0.19 [[-6.80381135e-01 -7.32815742e-01 7.91197037e-03 5.23671272e+01] [ 7.32763397e-01 -6.80427117e-01 -8.76033885e-03 -1.27265301e+02] [ 1.18032334e-02 -1.62767003e-04 9.99930326e-01 -1.90826675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.137628 meters 0.017313663987722876 Centerline is valid? [True, True] Translation: X:52.35, Y:-127.24, Z:-0.19 [[-6.81129083e-01 -7.32111595e-01 8.70551638e-03 5.23496927e+01] [ 7.32048234e-01 -6.81184687e-01 -9.63357901e-03 -1.27243285e+02] [ 1.29829193e-02 -1.88852945e-04 9.99915701e-01 -1.92012526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.167628 meters 0.013962118572087956 Centerline is valid? [True, True] Translation: X:52.33, Y:-127.22, Z:-0.19 [[-6.82861084e-01 -7.30492280e-01 9.04259169e-03 5.23340895e+01] [ 7.30423855e-01 -6.82920917e-01 -1.00006736e-02 -1.27220187e+02] [ 1.34807899e-02 -2.24146146e-04 9.99909105e-01 -1.89689067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.197628 meters 0.016294125933461794 Centerline is valid? [True, True] Translation: X:52.32, Y:-127.20, Z:-0.19 [[-6.84425735e-01 -7.29020722e-01 9.49732632e-03 5.23172824e+01] [ 7.28945189e-01 -6.84491576e-01 -1.04972934e-02 -1.27198085e+02] [ 1.41535843e-02 -2.61587418e-04 9.99899799e-01 -1.91406486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.227628 meters 0.014521201127397725 Centerline is valid? [True, True] Translation: X:52.30, Y:-127.18, Z:-0.19 [[-6.85461038e-01 -7.28049222e-01 9.35394717e-03 5.23004660e+01] [ 7.27975953e-01 -6.85524803e-01 -1.03322753e-02 -1.27176844e+02] [ 1.39347678e-02 -2.72923528e-04 9.99902869e-01 -1.89523130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.257628 meters 0.01538898001481267 Centerline is valid? [True, True] Translation: X:52.28, Y:-127.15, Z:-0.19 [[-6.86489740e-01 -7.27078119e-01 9.44696537e-03 5.22840794e+01] [ 7.27003381e-01 -6.86554676e-01 -1.04288451e-02 -1.27154764e+02] [ 1.40684433e-02 -2.91319392e-04 9.99900992e-01 -1.90109666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.287628 meters 0.015454247426996413 Centerline is valid? [True, True] Translation: X:52.27, Y:-127.13, Z:-0.19 [[-6.88224735e-01 -7.25447359e-01 8.53488258e-03 5.22672006e+01] [ 7.25386297e-01 -6.88277594e-01 -9.41670517e-03 -1.27132487e+02] [ 1.27056923e-02 -2.89722544e-04 9.99919237e-01 -1.88791721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.317628 meters 0.015671890319186824 Centerline is valid? [True, True] Translation: X:52.25, Y:-127.11, Z:-0.19 [[-6.88727151e-01 -7.24977071e-01 7.94720521e-03 5.22506638e+01] [ 7.24924166e-01 -6.88772947e-01 -8.76254736e-03 -1.27111869e+02] [ 1.18264659e-02 -2.73883174e-04 9.99930027e-01 -1.88225559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34762800000001 meters 0.01805814873936272 Centerline is valid? [True, True] Translation: X:52.23, Y:-127.09, Z:-0.19 [[-6.89172350e-01 -7.24554288e-01 7.90924877e-03 5.22346158e+01] [ 7.24501908e-01 -6.89217678e-01 -8.71650660e-03 -1.27091498e+02] [ 1.17667763e-02 -2.76909508e-04 9.99930731e-01 -1.89951079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37762800000002 meters 0.01614126523657958 Centerline is valid? [True, True] Translation: X:52.22, Y:-127.07, Z:-0.19 [[-6.88140340e-01 -7.25541659e-01 7.22311453e-03 5.22150922e+01] [ 7.25498076e-01 -6.88178209e-01 -7.95579438e-03 -1.27071426e+02] [ 1.07430503e-02 -2.34347360e-04 9.99942264e-01 -1.87742861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40762800000002 meters 0.01449939465029875 Centerline is valid? [True, True] Translation: X:52.20, Y:-127.05, Z:-0.19 [[-6.86968880e-01 -7.26655242e-01 6.77628833e-03 5.21973476e+01] [ 7.26616981e-01 -6.87002270e-01 -7.45941559e-03 -1.27050279e+02] [ 1.00757489e-02 -2.00620206e-04 9.99949218e-01 -1.85890911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43762800000002 meters 0.015174917816250525 Centerline is valid? [True, True] Translation: X:52.18, Y:-127.03, Z:-0.19 [[-6.86071311e-01 -7.27504391e-01 6.59675370e-03 5.21811399e+01] [ 7.27468218e-01 -6.86103001e-01 -7.25698338e-03 -1.27029587e+02] [ 9.80553979e-03 -1.79879443e-04 9.99951908e-01 -1.86750911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46762800000002 meters 0.014012031227192186 Centerline is valid? [True, True] Translation: X:52.16, Y:-127.01, Z:-0.19 [[-6.84681861e-01 -7.28811552e-01 6.66868068e-03 5.21612307e+01] [ 7.28774690e-01 -6.84714317e-01 -7.33181458e-03 -1.27010228e+02] [ 9.90965230e-03 -1.59994756e-04 9.99950885e-01 -1.86154084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49762800000002 meters 0.01559659374647202 Centerline is valid? [True, True] Translation: X:52.14, Y:-126.99, Z:-0.19 [[-6.81791920e-01 -7.31508399e-01 7.43232630e-03 5.21406738e+01] [ 7.31462821e-01 -6.81832417e-01 -8.16679882e-03 -1.26990450e+02] [ 1.10416829e-02 -1.31587081e-04 9.99939030e-01 -1.89146618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52762800000002 meters 0.012495427637223446 Centerline is valid? [True, True] Translation: X:52.12, Y:-126.97, Z:-0.19 [[-6.79743231e-01 -7.33415521e-01 7.12838397e-03 5.21206987e+01] [ 7.33373746e-01 -6.79780601e-01 -7.82837337e-03 -1.26970103e+02] [ 1.05871877e-02 -9.35141564e-05 9.99943950e-01 -1.86811890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55762800000002 meters 0.012329812965386284 Centerline is valid? [True, True] Translation: X:52.10, Y:-126.95, Z:-0.19 [[-6.78206066e-01 -7.34837686e-01 7.07873992e-03 5.21025626e+01] [ 7.34796623e-01 -6.78243003e-01 -7.76864844e-03 -1.26950672e+02] [ 1.05098015e-02 -6.73103059e-05 9.99944768e-01 -1.87150106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58762800000002 meters 0.01222701400420048 Centerline is valid? [True, True] Translation: X:52.09, Y:-126.93, Z:-0.19 [[-6.76604677e-01 -7.36314309e-01 6.88109358e-03 5.20851010e+01] [ 7.36275635e-01 -6.76639665e-01 -7.54672349e-03 -1.26931528e+02] [ 1.02127814e-02 -3.97668628e-05 9.99947847e-01 -1.87729191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61762800000002 meters 0.014838559557979091 Centerline is valid? [True, True] Translation: X:52.07, Y:-126.91, Z:-0.19 [[-6.73498878e-01 -7.39151120e-01 7.40826434e-03 5.20662906e+01] [ 7.39106515e-01 -6.73539621e-01 -8.12022936e-03 -1.26910679e+02] [ 1.09918362e-02 6.53107389e-06 9.99939588e-01 -1.89149297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64762800000003 meters 0.012125226474367938 Centerline is valid? [True, True] Translation: X:52.05, Y:-126.89, Z:-0.19 [[-6.71682486e-01 -7.40806034e-01 7.00416794e-03 5.20479622e+01] [ 7.40766300e-01 -6.71719003e-01 -7.67265335e-03 -1.26890769e+02] [ 1.03887806e-02 3.48646923e-05 9.99946035e-01 -1.86783028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67762800000003 meters 0.01236677259753383 Centerline is valid? [True, True] Translation: X:52.03, Y:-126.87, Z:-0.19 [[-6.70577091e-01 -7.41808197e-01 6.85304857e-03 5.20293580e+01] [ 7.41770260e-01 -6.70612106e-01 -7.50234528e-03 -1.26871090e+02] [ 1.01610386e-02 5.24867503e-05 9.99948374e-01 -1.87192716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70762800000003 meters 0.012471552592313646 Centerline is valid? [True, True] Translation: X:52.01, Y:-126.85, Z:-0.19 [[-6.69680718e-01 -7.42616836e-01 6.92605735e-03 5.20107206e+01] [ 7.42578179e-01 -6.69716530e-01 -7.57744118e-03 -1.26850575e+02] [ 1.02656305e-02 6.86728045e-05 9.99947305e-01 -1.87630607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73762800000003 meters 0.012751936083907445 Centerline is valid? [True, True] Translation: X:51.99, Y:-126.83, Z:-0.19 [[-6.68088992e-01 -7.44049924e-01 6.84173701e-03 5.19935084e+01] [ 7.44012326e-01 -6.68124017e-01 -7.48044186e-03 -1.26829323e+02] [ 1.01369510e-02 9.27358061e-05 9.99948616e-01 -1.87913459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76762800000003 meters 0.013024438927041035 Centerline is valid? [True, True] Translation: X:51.98, Y:-126.81, Z:-0.19 [[-6.67605259e-01 -7.44485149e-01 6.71426900e-03 5.19761907e+01] [ 7.44449009e-01 -6.67639014e-01 -7.33619380e-03 -1.26808999e+02] [ 9.94439527e-03 1.00749344e-04 9.99950548e-01 -1.87747881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79762800000003 meters 0.013434327193201855 Centerline is valid? [True, True] Translation: X:51.96, Y:-126.79, Z:-0.19 [[-6.66897928e-01 -7.45117676e-01 6.84119248e-03 5.19585544e+01] [ 7.45080240e-01 -6.66933007e-01 -7.46997234e-03 -1.26789031e+02] [ 1.01286255e-02 1.15528254e-04 9.99948697e-01 -1.88030187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.827628 meters 0.013752787223217867 Centerline is valid? [True, True] Translation: X:51.94, Y:-126.77, Z:-0.19 [[-6.66437647e-01 -7.45530178e-01 6.75405460e-03 5.19411974e+01] [ 7.45493757e-01 -6.66471859e-01 -7.37011617e-03 -1.26768594e+02] [ 9.99603135e-03 1.23382664e-04 9.99950031e-01 -1.88298006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.857628 meters 0.014105284778609211 Centerline is valid? [True, True] Translation: X:51.92, Y:-126.75, Z:-0.19 [[-6.65585420e-01 -7.46278490e-01 8.02897849e-03 5.19244606e+01] [ 7.46227133e-01 -6.65633825e-01 -8.75658683e-03 -1.26746149e+02] [ 1.18792121e-02 1.63185078e-04 9.99929426e-01 -1.90240538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.887628 meters 0.014314580149127313 Centerline is valid? [True, True] Translation: X:51.91, Y:-126.73, Z:-0.19 [[-6.65443379e-01 -7.46399205e-01 8.56367531e-03 5.19066372e+01] [ 7.46340857e-01 -6.65498456e-01 -9.33438039e-03 -1.26725040e+02] [ 1.26662868e-02 1.79919148e-04 9.99919763e-01 -1.91462228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.917628 meters 0.014101169577918526 Centerline is valid? [True, True] Translation: X:51.89, Y:-126.70, Z:-0.19 [[-6.64920149e-01 -7.46862563e-01 8.80382747e-03 5.18879363e+01] [ 7.46801007e-01 -6.64978401e-01 -9.59078309e-03 -1.26704022e+02] [ 1.30173519e-02 1.97602293e-04 9.99915251e-01 -1.91021672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.947628 meters 0.017067906826975773 Centerline is valid? [True, True] Translation: X:51.87, Y:-126.69, Z:-0.19 [[-6.65097632e-01 -7.46702309e-01 8.98897136e-03 5.18693675e+01] [ 7.46638185e-01 -6.65158343e-01 -9.78772126e-03 -1.26685627e+02] [ 1.32876034e-02 2.01719034e-04 9.99911696e-01 -1.94325737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.977628 meters 0.013899227923009088 Centerline is valid? [True, True] Translation: X:51.85, Y:-126.67, Z:-0.19 [[-6.65494320e-01 -7.46345289e-01 9.27467972e-03 5.18506230e+01] [ 7.46277078e-01 -6.65558913e-01 -1.00923634e-02 -1.26665502e+02] [ 1.37052336e-02 2.05070386e-04 9.99906058e-01 -1.91754913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.007628 meters 0.013662404180555275 Centerline is valid? [True, True] Translation: X:51.83, Y:-126.65, Z:-0.19 [[-6.66760904e-01 -7.45210283e-01 9.56714604e-03 5.18317962e+01] [ 7.45137679e-01 -6.66829511e-01 -1.04039536e-02 -1.26645398e+02] [ 1.41327885e-02 1.91891492e-04 9.99900109e-01 -1.91855564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.037628 meters 0.013421247509332717 Centerline is valid? [True, True] Translation: X:51.81, Y:-126.63, Z:-0.19 [[-6.67929394e-01 -7.44162335e-01 9.63035333e-03 5.18134600e+01] [ 7.44088754e-01 -6.67998794e-01 -1.04660056e-02 -1.26625779e+02] [ 1.42214716e-02 1.75284818e-04 9.99898854e-01 -1.91497504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.067628 meters 0.01327732183757733 Centerline is valid? [True, True] Translation: X:51.80, Y:-126.61, Z:-0.19 [[-6.69128895e-01 -7.43086221e-01 9.45461851e-03 5.17957497e+01] [ 7.43015289e-01 -6.69195670e-01 -1.02681651e-02 -1.26606814e+02] [ 1.39571218e-02 1.54200105e-04 9.99902583e-01 -1.91508551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09762800000001 meters 0.015302918135806505 Centerline is valid? [True, True] Translation: X:51.78, Y:-126.59, Z:-0.19 [[-6.70593375e-01 -7.41765449e-01 9.40979606e-03 5.17785916e+01] [ 7.41695152e-01 -6.70659379e-01 -1.02127278e-02 -1.26587175e+02] [ 1.38862166e-02 1.30612484e-04 9.99903573e-01 -1.92622914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12762800000002 meters 0.013033041623863493 Centerline is valid? [True, True] Translation: X:51.76, Y:-126.57, Z:-0.19 [[-6.70301037e-01 -7.42039940e-01 8.55847221e-03 5.17602293e+01] [ 7.41981884e-01 -6.70355660e-01 -9.28292068e-03 -1.26567321e+02] [ 1.26255182e-02 1.27879975e-04 9.99920287e-01 -1.88986950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15762800000002 meters 0.013239776085291833 Centerline is valid? [True, True] Translation: X:51.74, Y:-126.55, Z:-0.19 [[-6.70112558e-01 -7.42215698e-01 8.06332884e-03 5.17414411e+01] [ 7.42164229e-01 -6.70161057e-01 -8.74162484e-03 -1.26548346e+02] [ 1.18919002e-02 1.26441644e-04 9.99929281e-01 -1.89007860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18762800000002 meters 0.013155677524598704 Centerline is valid? [True, True] Translation: X:51.72, Y:-126.53, Z:-0.19 [[-6.69970849e-01 -7.42348773e-01 7.57376672e-03 5.17229776e+01] [ 7.42303430e-01 -6.70013645e-01 -8.20573101e-03 -1.26528840e+02] [ 1.11660414e-02 1.24432444e-04 9.99937650e-01 -1.88435349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21762800000002 meters 0.013197446404904499 Centerline is valid? [True, True] Translation: X:51.70, Y:-126.51, Z:-0.19 [[-6.70324245e-01 -7.42033640e-01 7.17527671e-03 5.17037279e+01] [ 7.41992976e-01 -6.70362636e-01 -7.76913807e-03 -1.26509256e+02] [ 1.05749992e-02 1.16163313e-04 9.99944076e-01 -1.88570875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24762800000002 meters 0.0133005418085805 Centerline is valid? [True, True] Translation: X:51.69, Y:-126.49, Z:-0.19 [[-6.70918414e-01 -7.41493812e-01 7.44372894e-03 5.16858451e+01] [ 7.41450073e-01 -6.70959696e-01 -8.05452509e-03 -1.26490505e+02] [ 1.09668226e-02 1.15224176e-04 9.99939856e-01 -1.89043221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27762800000002 meters 0.013046285234086834 Centerline is valid? [True, True] Translation: X:51.67, Y:-126.47, Z:-0.19 [[-6.71782769e-01 -7.40710100e-01 7.51395263e-03 5.16674503e+01] [ 7.40665538e-01 -6.71824781e-01 -8.12548537e-03 -1.26470529e+02] [ 1.10666887e-02 1.06764711e-04 9.99938757e-01 -1.89175744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30762800000002 meters 0.012805901819813082 Centerline is valid? [True, True] Translation: X:51.65, Y:-126.45, Z:-0.19 [[-6.72832834e-01 -7.39758742e-01 7.27875777e-03 5.16498085e+01] [ 7.39716924e-01 -6.72872198e-01 -7.86624170e-03 -1.26449849e+02] [ 1.07167948e-02 9.15546097e-05 9.99942569e-01 -1.88697212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33762800000002 meters 0.012594160808604557 Centerline is valid? [True, True] Translation: X:51.63, Y:-126.43, Z:-0.19 [[-6.75299909e-01 -7.37512981e-01 6.68106877e-03 5.16338519e+01] [ 7.37477677e-01 -6.75332955e-01 -7.21632054e-03 -1.26426658e+02] [ 9.83407599e-03 5.39584702e-05 9.99951643e-01 -1.86725475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36762800000002 meters 0.012608589306552237 Centerline is valid? [True, True] Translation: X:51.62, Y:-126.41, Z:-0.19 [[-6.76506254e-01 -7.36408473e-01 6.46913636e-03 5.16173442e+01] [ 7.36375366e-01 -6.76537183e-01 -6.98285743e-03 -1.26406750e+02] [ 9.51884667e-03 3.97659377e-05 9.99954694e-01 -1.86790029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39762800000003 meters 0.012498802951913064 Centerline is valid? [True, True] Translation: X:51.60, Y:-126.39, Z:-0.19 [[-6.77557983e-01 -7.35442359e-01 6.30208119e-03 5.15998881e+01] [ 7.35410936e-01 -6.77587290e-01 -6.79846836e-03 -1.26386163e+02] [ 9.27009172e-03 2.82629121e-05 9.99957031e-01 -1.86439932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42762800000003 meters 0.012436456828257877 Centerline is valid? [True, True] Translation: X:51.58, Y:-126.37, Z:-0.19 [[-6.78490183e-01 -7.34581183e-01 6.44653132e-03 5.15825097e+01] [ 7.34548304e-01 -6.78520807e-01 -6.95008356e-03 -1.26365148e+02] [ 9.47950623e-03 1.97251811e-05 9.99955068e-01 -1.87429778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45762800000003 meters 0.012458490730672218 Centerline is valid? [True, True] Translation: X:51.56, Y:-126.35, Z:-0.19 [[-6.78855778e-01 -7.34238795e-01 6.94444076e-03 5.15644810e+01] [ 7.34200671e-01 -6.78891296e-01 -7.48213761e-03 -1.26345560e+02] [ 1.02081961e-02 1.93207251e-05 9.99947895e-01 -1.88170620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48762800000003 meters 0.012393384449137424 Centerline is valid? [True, True] Translation: X:51.55, Y:-126.33, Z:-0.19 [[-6.78662800e-01 -7.34416380e-01 7.02740056e-03 5.15458779e+01] [ 7.34377399e-01 -6.78699183e-01 -7.56674369e-03 -1.26326145e+02] [ 1.03266315e-02 2.54966827e-05 9.99946679e-01 -1.87885858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51762800000003 meters 0.012489020203321037 Centerline is valid? [True, True] Translation: X:51.53, Y:-126.31, Z:-0.19 [[-6.77813562e-01 -7.35196250e-01 7.43303582e-03 5.15265645e+01] [ 7.35152741e-01 -6.77854315e-01 -7.99842603e-03 -1.26306502e+02] [ 1.09189282e-02 4.29750212e-05 9.99940386e-01 -1.87578432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54762800000003 meters 0.012489020203321037 Centerline is valid? [True, True] Translation: X:51.51, Y:-126.29, Z:-0.19 [[-6.78046496e-01 -7.34981403e-01 7.43557012e-03 5.15082489e+01] [ 7.34937907e-01 -6.78087263e-01 -7.99607012e-03 -1.26286949e+02] [ 1.09189282e-02 4.29750212e-05 9.99940386e-01 -1.87578275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.577628 meters 0.015969890233258704 Centerline is valid? [True, True] Translation: X:51.49, Y:-126.27, Z:-0.19 [[-6.78500987e-01 -7.34554366e-01 8.14216124e-03 5.14902585e+01] [ 7.34502249e-01 -6.78549837e-01 -8.75009866e-03 -1.26267203e+02] [ 1.19522854e-02 4.34851652e-05 9.99928568e-01 -1.90746983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.607628 meters 0.012499200414789687 Centerline is valid? [True, True] Translation: X:51.47, Y:-126.25, Z:-0.19 [[-6.78070468e-01 -7.34959526e-01 7.41190025e-03 5.14719898e+01] [ 7.34916418e-01 -6.78110974e-01 -7.96025554e-03 -1.26247358e+02] [ 1.08765565e-02 4.95129903e-05 9.99940847e-01 -1.86773715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.637628 meters 0.012514070201306652 Centerline is valid? [True, True] Translation: X:51.45, Y:-126.23, Z:-0.19 [[-6.78190202e-01 -7.34851271e-01 7.18747234e-03 5.14535653e+01] [ 7.34810780e-01 -6.78228285e-01 -7.71434943e-03 -1.26227503e+02] [ 1.05436465e-02 4.96359624e-05 9.99944413e-01 -1.85917004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.667628 meters 0.012560289463978082 Centerline is valid? [True, True] Translation: X:51.43, Y:-126.21, Z:-0.19 [[-6.78637708e-01 -7.34442061e-01 6.76171023e-03 5.14344021e+01] [ 7.34406245e-01 -6.78671391e-01 -7.25324183e-03 -1.26206342e+02] [ 9.91606517e-03 4.35188086e-05 9.99950834e-01 -1.85244872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.697628 meters 0.012450636744017989 Centerline is valid? [True, True] Translation: X:51.42, Y:-126.19, Z:-0.18 [[-6.80168629e-01 -7.33032292e-01 5.85624650e-03 5.14169504e+01] [ 7.33005410e-01 -6.80193839e-01 -6.27774148e-03 -1.26186326e+02] [ 8.58517001e-03 2.27375524e-05 9.99963147e-01 -1.84323824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.727628 meters 0.012476511823429069 Centerline is valid? [True, True] Translation: X:51.40, Y:-126.17, Z:-0.18 [[-6.81345188e-01 -7.31940419e-01 5.65305445e-03 5.13988077e+01] [ 7.31915365e-01 -6.81368639e-01 -6.05609266e-03 -1.26166372e+02] [ 8.28451302e-03 1.12678177e-05 9.99965683e-01 -1.83977541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.757628 meters 0.016170351958743515 Centerline is valid? [True, True] Translation: X:51.38, Y:-126.15, Z:-0.19 [[-6.84071100e-01 -7.29388796e-01 6.22208068e-03 5.13805163e+01] [ 7.29358376e-01 -6.84099396e-01 -6.66149391e-03 -1.26145969e+02] [ 9.11534066e-03 -1.88088036e-05 9.99958454e-01 -1.88274777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.787628 meters 0.012498017751088898 Centerline is valid? [True, True] Translation: X:51.36, Y:-126.13, Z:-0.18 [[-6.84317741e-01 -7.29157420e-01 6.21980314e-03 5.13609964e+01] [ 7.29127048e-01 -6.84346006e-01 -6.65522742e-03 -1.26126038e+02] [ 9.10920589e-03 -1.92634933e-05 9.99958510e-01 -1.84696053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.817628 meters 0.012629559953505771 Centerline is valid? [True, True] Translation: X:51.34, Y:-126.11, Z:-0.19 [[-6.85101718e-01 -7.28416788e-01 6.67967181e-03 5.13428567e+01] [ 7.28381766e-01 -6.85134280e-01 -7.14296593e-03 -1.26106204e+02] [ 9.77952843e-03 -2.83070842e-05 9.99952179e-01 -1.85555523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84762800000001 meters 0.012840119870610787 Centerline is valid? [True, True] Translation: X:51.33, Y:-126.09, Z:-0.19 [[-6.86413325e-01 -7.27175618e-01 7.23653538e-03 5.13254375e+01] [ 7.27134497e-01 -6.86451468e-01 -7.73337510e-03 -1.26086294e+02] [ 1.05910522e-02 -4.63572055e-05 9.99943912e-01 -1.86359004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87762800000002 meters 0.01603833173700068 Centerline is valid? [True, True] Translation: X:51.31, Y:-126.07, Z:-0.19 [[-6.89537915e-01 -7.24198953e-01 8.56392315e-03 5.13093923e+01] [ 7.24141182e-01 -6.89591086e-01 -9.14788803e-03 -1.26065000e+02] [ 1.25304960e-02 -1.06326204e-04 9.99921485e-01 -1.90308060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90762800000002 meters 0.016339407299110417 Centerline is valid? [True, True] Translation: X:51.29, Y:-126.04, Z:-0.19 [[-6.91254477e-01 -7.22558211e-01 8.76804642e-03 5.12902255e+01] [ 7.22497588e-01 -6.91310070e-01 -9.36067842e-03 -1.26044479e+02] [ 1.28250738e-02 -1.35718481e-04 9.99917746e-01 -1.89688767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93762800000002 meters 0.013756459994172826 Centerline is valid? [True, True] Translation: X:51.27, Y:-126.02, Z:-0.19 [[-6.91976453e-01 -7.21869790e-01 8.52029941e-03 5.12718935e+01] [ 7.21812563e-01 -6.92028892e-01 -9.09048012e-03 -1.26024152e+02] [ 1.24584363e-02 -1.40339030e-04 9.99922381e-01 -1.87118766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96762800000002 meters 0.013971102533775814 Centerline is valid? [True, True] Translation: X:51.25, Y:-126.00, Z:-0.19 [[-6.93243191e-01 -7.20657682e-01 8.14755563e-03 5.12537444e+01] [ 7.20605334e-01 -6.93291052e-01 -8.68735069e-03 -1.26004202e+02] [ 1.19092334e-02 -1.51274670e-04 9.99929071e-01 -1.86834087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99762800000002 meters 0.014480189628682059 Centerline is valid? [True, True] Translation: X:51.24, Y:-125.98, Z:-0.19 [[-6.94709510e-01 -7.19254052e-01 7.23218552e-03 5.12354230e+01] [ 7.19212784e-01 -6.94747138e-01 -7.70627786e-03 -1.25984685e+02] [ 1.05673118e-02 -1.52144240e-04 9.99944153e-01 -1.86317105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02762800000002 meters 0.013986516739053819 Centerline is valid? [True, True] Translation: X:51.22, Y:-125.97, Z:-0.18 [[-6.95141974e-01 -7.18840654e-01 6.76396191e-03 5.12153047e+01] [ 7.18804577e-01 -6.95174866e-01 -7.20320590e-03 -1.25965686e+02] [ 9.88009355e-03 -1.45283984e-04 9.99951180e-01 -1.84920946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05762800000002 meters 0.014115953166769278 Centerline is valid? [True, True] Translation: X:51.20, Y:-125.95, Z:-0.18 [[-6.95206857e-01 -7.18782766e-01 6.22588695e-03 5.11964858e+01] [ 7.18752235e-01 -6.95234722e-01 -6.62621553e-03 -1.25945522e+02] [ 9.09126231e-03 -1.31720317e-04 9.99958665e-01 -1.84892153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08762800000002 meters 0.013761512784720365 Centerline is valid? [True, True] Translation: X:51.18, Y:-125.93, Z:-0.18 [[-6.94360716e-01 -7.19603848e-01 5.78782307e-03 5.11770262e+01] [ 7.19577524e-01 -6.94384829e-01 -6.15605898e-03 -1.25926615e+02] [ 8.44890026e-03 -1.09738127e-04 9.99964301e-01 -1.83744753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11762800000002 meters 0.013737897396861341 Centerline is valid? [True, True] Translation: X:51.16, Y:-125.91, Z:-0.18 [[-6.93488563e-01 -7.20442328e-01 6.03858008e-03 5.11582131e+01] [ 7.20413743e-01 -6.93514846e-01 -6.41848459e-03 -1.25907853e+02] [ 8.81199292e-03 -1.00869579e-04 9.99961169e-01 -1.84457034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14762800000003 meters 0.013299704803215597 Centerline is valid? [True, True] Translation: X:51.14, Y:-125.89, Z:-0.18 [[-6.92240008e-01 -7.21641763e-01 6.07760558e-03 5.11377862e+01] [ 7.21612890e-01 -6.92266682e-01 -6.45586127e-03 -1.25889024e+02] [ 8.86614295e-03 -8.33269219e-05 9.99960692e-01 -1.84502491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17762800000003 meters 0.013110618818513447 Centerline is valid? [True, True] Translation: X:51.12, Y:-125.87, Z:-0.19 [[-6.90728154e-01 -7.23084046e-01 6.63930471e-03 5.11176840e+01] [ 7.23049699e-01 -6.90760058e-01 -7.04804729e-03 -1.25870658e+02] [ 9.68249706e-03 -6.77374221e-05 9.99953121e-01 -1.85485860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20762800000003 meters 0.01274144634555612 Centerline is valid? [True, True] Translation: X:51.10, Y:-125.85, Z:-0.19 [[-6.86790282e-01 -7.26813133e-01 7.85995298e-03 5.10955992e+01] [ 7.26765298e-01 -6.86835257e-01 -8.33855139e-03 -1.25853532e+02] [ 1.14590615e-02 -1.44949902e-05 9.99934343e-01 -1.87066050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23762800000003 meters 0.015292709489914139 Centerline is valid? [True, True] Translation: X:51.08, Y:-125.84, Z:-0.19 [[-6.85689807e-01 -7.27844810e-01 8.45110171e-03 5.10754881e+01] [ 7.27789662e-01 -6.85741885e-01 -8.95967436e-03 -1.25835663e+02] [ 1.23165269e-02 7.06706545e-06 9.99924149e-01 -1.90513850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26762800000003 meters 0.016062544939044503 Centerline is valid? [True, True] Translation: X:51.06, Y:-125.82, Z:-0.19 [[-6.84188756e-01 -7.29257546e-01 8.31732997e-03 5.10551872e+01] [ 7.29204301e-01 -6.84239308e-01 -8.81225451e-03 -1.25817271e+02] [ 1.21174472e-02 3.57873376e-05 9.99926580e-01 -1.91517704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29762800000003 meters 0.01276643440873287 Centerline is valid? [True, True] Translation: X:51.04, Y:-125.80, Z:-0.19 [[-6.82457627e-01 -7.30879469e-01 8.17245425e-03 5.10355661e+01] [ 7.30828245e-01 -6.82506555e-01 -8.65326278e-03 -1.25798679e+02] [ 1.19022457e-02 6.71752154e-05 9.99929164e-01 -1.88947451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.327628 meters 0.01300533544428731 Centerline is valid? [True, True] Translation: X:51.02, Y:-125.78, Z:-0.19 [[-6.81001737e-01 -7.32235376e-01 8.24552023e-03 5.10167932e+01] [ 7.32183394e-01 -6.81051646e-01 -8.72544187e-03 -1.25779465e+02] [ 1.20047023e-02 9.51919179e-05 9.99927936e-01 -1.88115048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.357628 meters 0.01316072789680117 Centerline is valid? [True, True] Translation: X:51.00, Y:-125.76, Z:-0.19 [[-6.80718664e-01 -7.32501498e-01 7.97843802e-03 5.09989826e+01] [ 7.32452911e-01 -6.80765411e-01 -8.43726523e-03 -1.25760618e+02] [ 1.16117541e-02 1.00426234e-04 9.99932576e-01 -1.88135820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.387628 meters 0.013225364732875148 Centerline is valid? [True, True] Translation: X:50.98, Y:-125.74, Z:-0.19 [[-6.80866140e-01 -7.32366049e-01 7.82755433e-03 5.09804469e+01] [ 7.32319332e-01 -6.80911125e-01 -8.27255130e-03 -1.25740470e+02] [ 1.13884045e-02 9.97692919e-05 9.99935145e-01 -1.87898105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.417628 meters 0.013208470281009363 Centerline is valid? [True, True] Translation: X:50.96, Y:-125.72, Z:-0.19 [[-6.81064184e-01 -7.32195722e-01 6.40336028e-03 5.09636955e+01] [ 7.32164482e-01 -6.81094280e-01 -6.76412974e-03 -1.25720498e+02] [ 9.31395892e-03 8.15064640e-05 9.99956621e-01 -1.86549275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.447628 meters 0.01311765970812166 Centerline is valid? [True, True] Translation: X:50.95, Y:-125.70, Z:-0.19 [[-6.81371898e-01 -7.31916562e-01 5.52111890e-03 5.09456366e+01] [ 7.31893357e-01 -6.81394263e-01 -5.82862772e-03 -1.25699380e+02] [ 8.02812791e-03 6.94071138e-05 9.99967772e-01 -1.85473125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.477628 meters 0.013041844978340876 Centerline is valid? [True, True] Translation: X:50.93, Y:-125.68, Z:-0.18 [[-6.81791637e-01 -7.31530319e-01 4.85359372e-03 5.09275267e+01] [ 7.31512398e-01 -6.81808910e-01 -5.12077998e-03 -1.25679056e+02] [ 7.05522925e-03 5.91590160e-05 9.99975110e-01 -1.84722861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.507628 meters 0.013113899720861237 Centerline is valid? [True, True] Translation: X:50.91, Y:-125.66, Z:-0.19 [[-6.81829711e-01 -7.31496861e-01 4.53739018e-03 5.09096373e+01] [ 7.31481213e-01 -6.81844806e-01 -4.78490080e-03 -1.25659810e+02] [ 6.59393584e-03 5.65281409e-05 9.99978258e-01 -1.85105890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.537628 meters 0.01290161638004505 Centerline is valid? [True, True] Translation: X:50.89, Y:-125.64, Z:-0.18 [[-6.81816704e-01 -7.31510912e-01 4.21516634e-03 5.08924597e+01] [ 7.31497425e-01 -6.81829732e-01 -4.44226904e-03 -1.25637983e+02] [ 6.12359401e-03 5.45700859e-05 9.99981249e-01 -1.84845743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.567628 meters 0.012953951163213006 Centerline is valid? [True, True] Translation: X:50.87, Y:-125.62, Z:-0.19 [[-6.81862498e-01 -7.31464362e-01 4.83957177e-03 5.08745892e+01] [ 7.31446606e-01 -6.81879669e-01 -5.09706733e-03 -1.25617705e+02] [ 7.02832870e-03 6.43892883e-05 9.99975299e-01 -1.85307070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59762800000001 meters 0.013046739724551459 Centerline is valid? [True, True] Translation: X:50.86, Y:-125.60, Z:-0.19 [[-6.81968963e-01 -7.31359408e-01 5.63474725e-03 5.08571945e+01] [ 7.31335366e-01 -6.81992237e-01 -5.93059245e-03 -1.25598467e+02] [ 8.18024847e-03 7.64099586e-05 9.99966538e-01 -1.86330336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62762800000002 meters 0.013122090682432941 Centerline is valid? [True, True] Translation: X:50.84, Y:-125.58, Z:-0.19 [[-6.81984873e-01 -7.31338432e-01 6.38204057e-03 5.08379602e+01] [ 7.31307628e-01 -6.82014729e-01 -6.71286523e-03 -1.25578498e+02] [ 9.26202200e-03 8.91624100e-05 9.99957103e-01 -1.87277221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65762800000002 meters 0.013515312430635319 Centerline is valid? [True, True] Translation: X:50.82, Y:-125.56, Z:-0.19 [[-6.80695281e-01 -7.32531354e-01 7.19370611e-03 5.08167318e+01] [ 7.32492316e-01 -6.80733281e-01 -7.56350046e-03 -1.25561169e+02] [ 1.04374964e-02 1.20895378e-04 9.99945521e-01 -1.89623468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68762800000002 meters 0.013532423054728222 Centerline is valid? [True, True] Translation: X:50.80, Y:-125.54, Z:-0.19 [[-6.79959635e-01 -7.33207005e-01 7.89821889e-03 5.07964615e+01] [ 7.33160046e-01 -6.80005489e-01 -8.29949805e-03 -1.25541404e+02] [ 1.14560823e-02 1.47334857e-04 9.99934366e-01 -1.89761828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71762800000002 meters 0.01407035063374842 Centerline is valid? [True, True] Translation: X:50.78, Y:-125.52, Z:-0.19 [[-6.79628026e-01 -7.33510430e-01 8.25802709e-03 5.07761775e+01] [ 7.33459186e-01 -6.79678175e-01 -8.67180292e-03 -1.25523761e+02] [ 1.19736587e-02 1.63325533e-04 9.99928300e-01 -1.91027946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74762800000002 meters 0.01395356109324589 Centerline is valid? [True, True] Translation: X:50.76, Y:-125.50, Z:-0.19 [[-6.79612189e-01 -7.33519070e-01 8.77757195e-03 5.07562651e+01] [ 7.33461249e-01 -6.79668847e-01 -9.21165881e-03 -1.25504656e+02] [ 1.27227696e-02 1.77653273e-04 9.99919047e-01 -1.90839792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77762800000002 meters 0.016951608451732908 Centerline is valid? [True, True] Translation: X:50.74, Y:-125.49, Z:-0.19 [[-6.80929162e-01 -7.32293529e-01 9.03680199e-03 5.07373064e+01] [ 7.32232192e-01 -6.80989105e-01 -9.47916847e-03 -1.25486499e+02] [ 1.30954974e-02 1.62395086e-04 9.99914237e-01 -1.94317747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80762800000002 meters 0.013150177875578824 Centerline is valid? [True, True] Translation: X:50.72, Y:-125.47, Z:-0.19 [[-6.82295864e-01 -7.31030212e-01 8.19658828e-03 5.07190609e+01] [ 7.30979718e-01 -6.82345084e-01 -8.59298596e-03 -1.25465319e+02] [ 1.18746341e-02 1.28581009e-04 9.99929486e-01 -1.90459748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83762800000002 meters 0.012808425919803733 Centerline is valid? [True, True] Translation: X:50.70, Y:-125.44, Z:-0.19 [[-6.84702990e-01 -7.28772697e-01 8.49538049e-03 5.07019238e+01] [ 7.28718349e-01 -6.84755684e-01 -8.90062736e-03 -1.25444438e+02] [ 1.23037943e-02 9.64534787e-05 9.99924301e-01 -1.90222491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86762800000002 meters 0.01253135020925854 Centerline is valid? [True, True] Translation: X:50.69, Y:-125.42, Z:-0.19 [[-6.87774708e-01 -7.25879031e-01 8.09836601e-03 5.06854160e+01] [ 7.25829505e-01 -6.87822383e-01 -8.47932323e-03 -1.25422289e+02] [ 1.17252003e-02 4.61689394e-05 9.99931256e-01 -1.89463099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89762800000003 meters 0.01501828982022235 Centerline is valid? [True, True] Translation: X:50.67, Y:-125.40, Z:-0.19 [[-6.95603610e-01 -7.18388318e-01 7.33779364e-03 5.06728522e+01] [ 7.18347291e-01 -6.95642308e-01 -7.67789882e-03 -1.25397373e+02] [ 1.06201925e-02 -6.96899504e-05 9.99943602e-01 -1.90523727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92762800000003 meters 0.01589885937528066 Centerline is valid? [True, True] Translation: X:50.66, Y:-125.37, Z:-0.19 [[-7.00063435e-01 -7.14051738e-01 6.42677120e-03 5.06556756e+01] [ 7.14020117e-01 -7.00092924e-01 -6.72089158e-03 -1.25374710e+02] [ 9.29840135e-03 -1.16206519e-04 9.99956762e-01 -1.89186674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95762800000003 meters 0.014497712981326122 Centerline is valid? [True, True] Translation: X:50.64, Y:-125.35, Z:-0.19 [[-7.03590740e-01 -7.10586407e-01 5.19895692e-03 5.06388582e+01] [ 7.10565636e-01 -7.03609935e-01 -5.43467944e-03 -1.25352964e+02] [ 7.51984708e-03 -1.29589994e-04 9.99971717e-01 -1.85181553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98762800000003 meters 0.01788595288122533 Centerline is valid? [True, True] Translation: X:50.62, Y:-125.33, Z:-0.19 [[-7.07558793e-01 -7.06642097e-01 4.18342967e-03 5.06219627e+01] [ 7.06628589e-01 -7.07571147e-01 -4.37135101e-03 -1.25331596e+02] [ 6.04905478e-03 -1.36856840e-04 9.99981695e-01 -1.86367537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01762800000003 meters 0.017572710241797157 Centerline is valid? [True, True] Translation: X:50.60, Y:-125.31, Z:-0.18 [[-7.13531905e-01 -7.00616836e-01 2.87574420e-03 5.06034955e+01] [ 7.00610412e-01 -7.13537688e-01 -3.00312362e-03 -1.25310583e+02] [ 4.15599084e-03 -1.28048188e-04 9.99991356e-01 -1.82559530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04762800000003 meters 0.019796178802194486 Centerline is valid? [True, True] Translation: X:50.59, Y:-125.29, Z:-0.18 [[-7.16544936e-01 -6.97535317e-01 2.79932808e-03 5.05878263e+01] [ 6.97529212e-01 -7.16550390e-01 -2.92168960e-03 -1.25288824e+02] [ 4.04384131e-03 -1.40908772e-04 9.99991814e-01 -1.82685342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07762800000003 meters 0.020929109812841 Centerline is valid? [True, True] Translation: X:50.57, Y:-125.27, Z:-0.19 [[-7.19632693e-01 -6.94348480e-01 2.99608617e-03 5.05667673e+01] [ 6.94341466e-01 -7.19638910e-01 -3.12532468e-03 -1.25269743e+02] [ 4.32616462e-03 -1.68778950e-04 9.99990628e-01 -1.85274349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.107628 meters 0.019688312448393797 Centerline is valid? [True, True] Translation: X:50.55, Y:-125.25, Z:-0.18 [[-7.22420831e-01 -6.91446027e-01 3.24576754e-03 5.05485704e+01] [ 6.91437777e-01 -7.22428094e-01 -3.38367744e-03 -1.25248735e+02] [ 4.68446398e-03 -2.00192771e-04 9.99989008e-01 -1.82146905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.137628 meters 0.02297143445434277 Centerline is valid? [True, True] Translation: X:50.53, Y:-125.23, Z:-0.19 [[-7.23818484e-01 -6.89980113e-01 3.77443621e-03 5.05295127e+01] [ 6.89968949e-01 -7.23828284e-01 -3.93243191e-03 -1.25228946e+02] [ 5.44534350e-03 -2.42123121e-04 9.99985145e-01 -1.86450671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.167628 meters 0.02259677339996823 Centerline is valid? [True, True] Translation: X:50.51, Y:-125.21, Z:-0.19 [[-7.23916527e-01 -6.89876740e-01 3.86601639e-03 5.05080194e+01] [ 6.89865039e-01 -7.23926807e-01 -4.02555849e-03 -1.25210427e+02] [ 5.57585207e-03 -2.47138769e-04 9.99984424e-01 -1.87558548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.197628 meters 0.021984439597451756 Centerline is valid? [True, True] Translation: X:50.49, Y:-125.19, Z:-0.19 [[-7.22908117e-01 -6.90931047e-01 4.25936240e-03 5.04880931e+01] [ 6.90916878e-01 -7.22920618e-01 -4.43262909e-03 -1.25191494e+02] [ 6.14182196e-03 -2.61518178e-04 9.99981105e-01 -1.86800742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.227628 meters 0.019920449480237676 Centerline is valid? [True, True] Translation: X:50.47, Y:-125.17, Z:-0.19 [[-7.21502684e-01 -6.92398998e-01 4.18381238e-03 5.04654858e+01] [ 6.92385367e-01 -7.21514774e-01 -4.35150699e-03 -1.25174777e+02] [ 6.03166153e-03 -2.42813505e-04 9.99981780e-01 -1.86075133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.257628 meters 0.020681313275826035 Centerline is valid? [True, True] Translation: X:50.44, Y:-125.16, Z:-0.19 [[-7.18933082e-01 -6.95068959e-01 3.79032403e-03 5.04416636e+01] [ 6.95057820e-01 -7.18943046e-01 -3.94001653e-03 -1.25158701e+02] [ 5.46361029e-03 -1.98113875e-04 9.99985055e-01 -1.87774552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.287628 meters 0.01939182701292051 Centerline is valid? [True, True] Translation: X:50.42, Y:-125.14, Z:-0.19 [[-7.17200095e-01 -6.96860650e-01 3.04280361e-03 5.04197962e+01] [ 6.96853495e-01 -7.17206535e-01 -3.16124919e-03 -1.25140263e+02] [ 4.38526880e-03 -1.46859886e-04 9.99990374e-01 -1.85884938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.317628 meters 0.017012144951220543 Centerline is valid? [True, True] Translation: X:50.40, Y:-125.12, Z:-0.18 [[-7.15053616e-01 -6.99065659e-01 2.35182342e-03 5.03985299e+01] [ 6.99061401e-01 -7.15057476e-01 -2.44194630e-03 -1.25122122e+02] [ 3.38876972e-03 -1.02053552e-04 9.99994253e-01 -1.82718950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34762800000001 meters 0.015952741178816305 Centerline is valid? [True, True] Translation: X:50.38, Y:-125.11, Z:-0.18 [[-7.10833722e-01 -7.03359623e-01 8.12571717e-04 5.03759165e+01] [ 7.03359118e-01 -7.10834186e-01 -8.43176411e-04 -1.25106599e+02] [ 1.17066000e-03 -2.78285005e-05 9.99999314e-01 -1.80751288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37762800000002 meters 0.014423219111123363 Centerline is valid? [True, True] Translation: X:50.35, Y:-125.09, Z:-0.18 [[-7.08719041e-01 -7.05490837e-01 9.46749342e-06 5.03518182e+01] [ 7.05490837e-01 -7.08719041e-01 -9.82106230e-06 -1.25090017e+02] [ 1.36384625e-05 -2.81144002e-07 1.00000000e+00 -1.81042801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40762800000002 meters 0.0172240721948092 Centerline is valid? [True, True] Translation: X:50.33, Y:-125.07, Z:-0.18 [[-7.07379368e-01 -7.06834048e-01 2.40634036e-04 5.03304058e+01] [ 7.06834004e-01 -7.07379409e-01 -2.49424943e-04 -1.25072291e+02] [ 3.46521604e-04 -6.34973912e-06 9.99999940e-01 -1.84449933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43762800000002 meters 0.0172240721948092 Centerline is valid? [True, True] Translation: X:50.31, Y:-125.05, Z:-0.18 [[-7.07598552e-01 -7.06614627e-01 2.40711260e-04 5.03117304e+01] [ 7.06614583e-01 -7.07598593e-01 -2.49350418e-04 -1.25053088e+02] [ 3.46521601e-04 -6.34990808e-06 9.99999940e-01 -1.84449776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46762800000002 meters 0.013558352627435837 Centerline is valid? [True, True] Translation: X:50.29, Y:-125.04, Z:-0.18 [[-7.05288996e-01 -7.08919551e-01 -7.08634756e-04 5.02888696e+01] [ 7.08919171e-01 -7.05289352e-01 7.33678677e-04 -1.25035431e+02] [-1.01991171e-03 1.50907338e-05 9.99999480e-01 -1.81624155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49762800000002 meters 0.01272704023426336 Centerline is valid? [True, True] Translation: X:50.26, Y:-125.02, Z:-0.18 [[-7.02856006e-01 -7.11331571e-01 -9.11057616e-04 5.02649114e+01] [ 7.11330947e-01 -7.02856597e-01 9.42725683e-04 -1.25019658e+02] [-1.31093340e-03 1.45369318e-05 9.99999141e-01 -1.81794846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52762800000002 meters 0.012538544037583914 Centerline is valid? [True, True] Translation: X:50.24, Y:-125.00, Z:-0.18 [[-7.02151471e-01 -7.12026403e-01 -1.30894485e-03 5.02443284e+01] [ 7.12025116e-01 -7.02152691e-01 1.35364042e-03 -1.25000930e+02] [-1.88290687e-03 1.84590018e-05 9.99998227e-01 -1.81698704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55762800000002 meters 0.012347833769408916 Centerline is valid? [True, True] Translation: X:50.22, Y:-124.98, Z:-0.18 [[-7.01548125e-01 -7.12620975e-01 -1.25459374e-03 5.02242365e+01] [ 7.12619796e-01 -7.01549246e-01 1.29662051e-03 -1.24982717e+02] [-1.80415826e-03 1.55933528e-05 9.99998372e-01 -1.81479711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58762800000002 meters 0.012320680675232992 Centerline is valid? [True, True] Translation: X:50.20, Y:-124.96, Z:-0.18 [[-7.01183771e-01 -7.12979054e-01 -1.47911191e-03 5.02035949e+01] [ 7.12977417e-01 -7.01185331e-01 1.52770721e-03 -1.24964242e+02] [-2.12635482e-03 1.66301170e-05 9.99997739e-01 -1.81598440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61762800000002 meters 0.012245754202040979 Centerline is valid? [True, True] Translation: X:50.18, Y:-124.95, Z:-0.18 [[-7.01121313e-01 -7.13041227e-01 -1.05480095e-03 5.01817364e+01] [ 7.13040396e-01 -7.01122106e-01 1.08877209e-03 -1.24947089e+02] [-1.51588365e-03 1.12456306e-05 9.99998851e-01 -1.83430648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64762800000003 meters 0.012220719135987598 Centerline is valid? [True, True] Translation: X:50.16, Y:-124.93, Z:-0.18 [[-7.01481582e-01 -7.12687252e-01 -6.85899114e-04 5.01612194e+01] [ 7.12686901e-01 -7.01481917e-01 7.07587455e-04 -1.24928275e+02] [-9.85434384e-04 7.52825326e-06 9.99999514e-01 -1.84503174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67762800000003 meters 0.012524167124182136 Centerline is valid? [True, True] Translation: X:50.14, Y:-124.91, Z:-0.19 [[-7.02371905e-01 -7.11810130e-01 -2.13352946e-04 5.01433401e+01] [ 7.11810096e-01 -7.02371937e-01 2.19950358e-04 -1.24909483e+02] [-3.06416015e-04 2.62017131e-06 9.99999953e-01 -1.85554121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70762800000003 meters 0.012694330975071118 Centerline is valid? [True, True] Translation: X:50.12, Y:-124.89, Z:-0.19 [[-7.03754013e-01 -7.10443640e-01 3.51064092e-04 5.01242747e+01] [ 7.10443548e-01 -7.03754101e-01 -3.61701972e-04 -1.24889703e+02] [ 5.04031660e-04 -5.13799534e-06 9.99999873e-01 -1.86197622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73762800000003 meters 0.013248767461528605 Centerline is valid? [True, True] Translation: X:50.11, Y:-124.87, Z:-0.19 [[-7.07924530e-01 -7.06286505e-01 1.49429985e-03 5.01063556e+01] [ 7.06284829e-01 -7.07926106e-01 -1.53874194e-03 -1.24867445e+02] [ 2.14464654e-03 -3.39118468e-05 9.99997700e-01 -1.86411557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76762800000003 meters 0.014199074018302721 Centerline is valid? [True, True] Translation: X:50.09, Y:-124.85, Z:-0.19 [[-7.10668812e-01 -7.03524472e-01 1.77693255e-03 5.00894200e+01] [ 7.03522097e-01 -7.10671032e-01 -1.82866788e-03 -1.24846203e+02] [ 2.54932709e-03 -4.94659138e-05 9.99996749e-01 -1.87069037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79762800000003 meters 0.014852384885090223 Centerline is valid? [True, True] Translation: X:50.07, Y:-124.83, Z:-0.19 [[-7.13623909e-01 -7.00526612e-01 1.83917835e-03 5.00715129e+01] [ 7.00524060e-01 -7.13626277e-01 -1.89158173e-03 -1.24825080e+02] [ 2.63758934e-03 -6.14892662e-05 9.99996520e-01 -1.87410717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82762800000003 meters 0.01590663771190845 Centerline is valid? [True, True] Translation: X:50.05, Y:-124.80, Z:-0.19 [[-7.16418703e-01 -6.97668239e-01 1.80841809e-03 5.00536769e+01] [ 6.97665766e-01 -7.16420982e-01 -1.85889079e-03 -1.24803455e+02] [ 2.59247772e-03 -7.00727326e-05 9.99996637e-01 -1.87582663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.857628 meters 0.018084333092632184 Centerline is valid? [True, True] Translation: X:50.04, Y:-124.78, Z:-0.19 [[-7.21291259e-01 -6.92630503e-01 1.38030436e-03 5.00382073e+01] [ 6.92629055e-01 -7.21292577e-01 -1.41796753e-03 -1.24780968e+02] [ 1.97773085e-03 -6.67286783e-05 9.99998042e-01 -1.88219502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.887628 meters 0.018744657332183865 Centerline is valid? [True, True] Translation: X:50.02, Y:-124.76, Z:-0.19 [[-7.23275984e-01 -6.90556580e-01 1.86019050e-03 5.00197982e+01] [ 6.90553946e-01 -7.23278370e-01 -1.90981219e-03 -1.24760203e+02] [ 2.66426893e-03 -9.67594048e-05 9.99996446e-01 -1.88667004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.917628 meters 0.01953660602254342 Centerline is valid? [True, True] Translation: X:50.00, Y:-124.74, Z:-0.19 [[-7.24785646e-01 -6.88970249e-01 2.40078831e-03 5.00015011e+01] [ 6.88965858e-01 -7.24789610e-01 -2.46337379e-03 -1.24739306e+02] [ 3.43725768e-03 -1.31356787e-04 9.99994084e-01 -1.88945663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.947628 meters 0.02109232829386452 Centerline is valid? [True, True] Translation: X:49.98, Y:-124.72, Z:-0.19 [[-7.26791419e-01 -6.86847176e-01 3.89749348e-03 4.99806244e+01] [ 6.86835584e-01 -7.26801833e-01 -3.99692489e-03 -1.24719769e+02] [ 5.57798198e-03 -2.27993496e-04 9.99984417e-01 -1.92402334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.977628 meters 0.020414934799661805 Centerline is valid? [True, True] Translation: X:49.96, Y:-124.70, Z:-0.19 [[-7.26791473e-01 -6.86851922e-01 2.93130629e-03 4.99629946e+01] [ 6.86845373e-01 -7.26797364e-01 -3.00431760e-03 -1.24698767e+02] [ 4.19398700e-03 -1.70158245e-04 9.99991191e-01 -1.90018388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.007628 meters 0.01924610190810797 Centerline is valid? [True, True] Translation: X:49.94, Y:-124.68, Z:-0.19 [[-7.26489820e-01 -6.87170714e-01 2.99172735e-03 4.99420563e+01] [ 6.87163902e-01 -7.26495960e-01 -3.06451094e-03 -1.24680465e+02] [ 4.27932001e-03 -1.70528959e-04 9.99990829e-01 -1.89337428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.037628 meters 0.021105304550644226 Centerline is valid? [True, True] Translation: X:49.92, Y:-124.66, Z:-0.19 [[-7.26073217e-01 -6.87607044e-01 3.77313449e-03 4.99219481e+01] [ 6.87596226e-01 -7.26082990e-01 -3.86274826e-03 -1.24661409e+02] [ 5.39566168e-03 -2.10245019e-04 9.99985421e-01 -1.91268021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.067628 meters 0.018124792848901436 Centerline is valid? [True, True] Translation: X:49.90, Y:-124.64, Z:-0.19 [[-7.22306476e-01 -6.91567510e-01 2.78103247e-03 4.99009769e+01] [ 6.91561669e-01 -7.22311818e-01 -2.84529934e-03 -1.24644916e+02] [ 3.97648920e-03 -1.31922683e-04 9.99992085e-01 -1.88720225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09762800000001 meters 0.017557715285545023 Centerline is valid? [True, True] Translation: X:49.88, Y:-124.63, Z:-0.19 [[-7.20128075e-01 -6.93834940e-01 2.93793052e-03 4.98788434e+01] [ 6.93828447e-01 -7.20134058e-01 -3.00420159e-03 -1.24626848e+02] [ 4.20012386e-03 -1.24990142e-04 9.99991172e-01 -1.89748578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12762800000002 meters 0.016983281097581925 Centerline is valid? [True, True] Translation: X:49.85, Y:-124.61, Z:-0.19 [[-7.14703373e-01 -6.99417047e-01 3.85794764e-03 4.98541837e+01] [ 6.99405944e-01 -7.14713775e-01 -3.94270066e-03 -1.24612199e+02] [ 5.51492038e-03 -1.19589947e-04 9.99984786e-01 -1.91335845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15762800000002 meters 0.013344459279694606 Centerline is valid? [True, True] Translation: X:49.83, Y:-124.59, Z:-0.19 [[-7.11183432e-01 -7.02999252e-01 3.19010012e-03 4.98319358e+01] [ 7.02991705e-01 -7.11190583e-01 -3.25839693e-03 -1.24594169e+02] [ 4.55941977e-03 -7.47039881e-05 9.99989603e-01 -1.89670152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18762800000002 meters 0.01266050137205881 Centerline is valid? [True, True] Translation: X:49.81, Y:-124.58, Z:-0.19 [[-7.08087586e-01 -7.06116076e-01 3.47249104e-03 4.98096289e+01] [ 7.06107180e-01 -7.08096098e-01 -3.54495217e-03 -1.24576041e+02] [ 4.96200507e-03 -5.81857605e-05 9.99987688e-01 -1.90198450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21762800000002 meters 0.012164801259456676 Centerline is valid? [True, True] Translation: X:49.79, Y:-124.56, Z:-0.19 [[-7.05253408e-01 -7.08946421e-01 3.54990132e-03 4.97878793e+01] [ 7.08937170e-01 -7.05262342e-01 -3.62193767e-03 -1.24558197e+02] [ 5.07137147e-03 -3.77268845e-05 9.99987140e-01 -1.90499028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24762800000002 meters 0.011774473587995925 Centerline is valid? [True, True] Translation: X:49.77, Y:-124.54, Z:-0.19 [[-7.02625613e-01 -7.11551593e-01 3.40288527e-03 4.97666678e+01] [ 7.11543132e-01 -7.02633853e-01 -3.46998332e-03 -1.24540037e+02] [ 4.86005455e-03 -1.67995140e-05 9.99988190e-01 -1.90341460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27762800000002 meters 0.01167417990817539 Centerline is valid? [True, True] Translation: X:49.74, Y:-124.52, Z:-0.19 [[-6.97889517e-01 -7.16201222e-01 2.45596777e-03 4.97449482e+01] [ 7.16196848e-01 -6.97893839e-01 -2.50296788e-03 -1.24522154e+02] [ 3.50663343e-03 1.21613302e-05 9.99993852e-01 -1.88991564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30762800000002 meters 0.011986378829050919 Centerline is valid? [True, True] Translation: X:49.73, Y:-124.50, Z:-0.19 [[-6.96090224e-01 -7.17950956e-01 2.19648262e-03 4.97254074e+01] [ 7.17947471e-01 -6.96093689e-01 -2.23717031e-03 -1.24503531e+02] [ 3.13513625e-03 1.96867542e-05 9.99995085e-01 -1.88231040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33762800000002 meters 0.01226454827075979 Centerline is valid? [True, True] Translation: X:49.70, Y:-124.48, Z:-0.19 [[-6.94518788e-01 -7.19471953e-01 1.93976787e-03 4.97049282e+01] [ 7.19469243e-01 -6.94521496e-01 -1.97458085e-03 -1.24483770e+02] [ 2.76786602e-03 2.42198245e-05 9.99996169e-01 -1.87795922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36762800000002 meters 0.013025154540842507 Centerline is valid? [True, True] Translation: X:49.69, Y:-124.47, Z:-0.19 [[-6.91600148e-01 -7.22278354e-01 1.79289520e-03 4.96850528e+01] [ 7.22276051e-01 -6.91602472e-01 -1.82428673e-03 -1.24466017e+02] [ 2.55761357e-03 3.32882903e-05 9.99996729e-01 -1.88157905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39762800000003 meters 0.013158112384977355 Centerline is valid? [True, True] Translation: X:49.67, Y:-124.45, Z:-0.19 [[-6.90350883e-01 -7.23471565e-01 2.13354078e-03 4.96656286e+01] [ 7.23468313e-01 -6.90354179e-01 -2.16965090e-03 -1.24446139e+02] [ 3.04257952e-03 4.57287368e-05 9.99995370e-01 -1.88276849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42762800000003 meters 0.013762985683462398 Centerline is valid? [True, True] Translation: X:49.65, Y:-124.43, Z:-0.19 [[-6.89348484e-01 -7.24426578e-01 2.19092171e-03 4.96464951e+01] [ 7.24423157e-01 -6.89351964e-01 -2.22707013e-03 -1.24427549e+02] [ 3.12366497e-03 5.19270006e-05 9.99995120e-01 -1.88651294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45762800000003 meters 0.014460262118772238 Centerline is valid? [True, True] Translation: X:49.63, Y:-124.41, Z:-0.19 [[-6.88501568e-01 -7.25230577e-01 2.49023460e-03 4.96275996e+01] [ 7.25226166e-01 -6.88506068e-01 -2.53016647e-03 -1.24408883e+02] [ 3.54949573e-03 6.39597118e-05 9.99993698e-01 -1.89112866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48762800000003 meters 0.017520688872003677 Centerline is valid? [True, True] Translation: X:49.61, Y:-124.39, Z:-0.19 [[-6.88134871e-01 -7.25573976e-01 3.57838980e-03 4.96104384e+01] [ 7.25564883e-01 -6.88144168e-01 -3.63371178e-03 -1.24386653e+02] [ 5.09897478e-03 9.58701921e-05 9.99986996e-01 -1.91942150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51762800000003 meters 0.015013955907995513 Centerline is valid? [True, True] Translation: X:49.59, Y:-124.37, Z:-0.19 [[-6.87630508e-01 -7.26054966e-01 2.91033071e-03 4.95924699e+01] [ 7.26048964e-01 -6.87636662e-01 -2.95335600e-03 -1.24367861e+02] [ 4.14554889e-03 8.22249117e-05 9.99991404e-01 -1.89312515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54762800000003 meters 0.014637198760784535 Centerline is valid? [True, True] Translation: X:49.58, Y:-124.35, Z:-0.19 [[-6.87929945e-01 -7.25771114e-01 2.94621168e-03 4.95750388e+01] [ 7.25764969e-01 -6.87936249e-01 -2.98787325e-03 -1.24347264e+02] [ 4.19531791e-03 8.28097426e-05 9.99991196e-01 -1.89551314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57762800000003 meters 0.014165591405639572 Centerline is valid? [True, True] Translation: X:49.56, Y:-124.33, Z:-0.19 [[-6.88362010e-01 -7.25361632e-01 2.87168158e-03 4.95569149e+01] [ 7.25355797e-01 -6.88367995e-01 -2.91060253e-03 -1.24325125e+02] [ 4.08801310e-03 7.94426763e-05 9.99991641e-01 -1.89246251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.607628 meters 0.015876481586884678 Centerline is valid? [True, True] Translation: X:49.54, Y:-124.30, Z:-0.19 [[-6.89739059e-01 -7.24051395e-01 3.09949578e-03 4.95404431e+01] [ 7.24044592e-01 -6.89746019e-01 -3.13967736e-03 -1.24301689e+02] [ 4.41115265e-03 7.86150519e-05 9.99990268e-01 -1.91463286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.637628 meters 0.014233903504852707 Centerline is valid? [True, True] Translation: X:49.52, Y:-124.28, Z:-0.19 [[-6.90198597e-01 -7.23614709e-01 2.76597266e-03 4.95223370e+01] [ 7.23609294e-01 -6.90204135e-01 -2.80011851e-03 -1.24281065e+02] [ 3.93529271e-03 6.88456600e-05 9.99992254e-01 -1.89590213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.667628 meters 0.013749551745150973 Centerline is valid? [True, True] Translation: X:49.51, Y:-124.26, Z:-0.19 [[-6.91419554e-01 -7.22446572e-01 3.15440253e-03 4.95051227e+01] [ 7.22439526e-01 -6.91426746e-01 -3.19152190e-03 -1.24258940e+02] [ 4.48674234e-03 7.21844170e-05 9.99989932e-01 -1.89923133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.697628 meters 0.013192534280459835 Centerline is valid? [True, True] Translation: X:49.49, Y:-124.23, Z:-0.19 [[-6.93523798e-01 -7.20420575e-01 4.35168233e-03 4.94904409e+01] [ 7.20407141e-01 -6.93537446e-01 -4.40036171e-03 -1.24233801e+02] [ 6.18816576e-03 8.32274578e-05 9.99980850e-01 -1.91273417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.727628 meters 0.013101769972956374 Centerline is valid? [True, True] Translation: X:49.47, Y:-124.21, Z:-0.19 [[-6.94517749e-01 -7.19460938e-01 4.58857154e-03 4.94727073e+01] [ 7.19445998e-01 -6.94532902e-01 -4.63724386e-03 -1.24211287e+02] [ 6.52322973e-03 8.05812686e-05 9.99978720e-01 -1.91444436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.757628 meters 0.01326595225362561 Centerline is valid? [True, True] Translation: X:49.46, Y:-124.19, Z:-0.19 [[-6.95235388e-01 -7.18765998e-01 4.81620250e-03 4.94553537e+01] [ 7.18749542e-01 -6.95252065e-01 -4.86435143e-03 -1.24190763e+02] [ 6.84480514e-03 7.97740900e-05 9.99976571e-01 -1.92089129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.787628 meters 0.013052200166286611 Centerline is valid? [True, True] Translation: X:49.44, Y:-124.17, Z:-0.19 [[-6.95883340e-01 -7.18137337e-01 5.01424613e-03 4.94378767e+01] [ 7.18119507e-01 -6.95901400e-01 -5.06114259e-03 -1.24169288e+02] [ 7.12401637e-03 7.88631530e-05 9.99974621e-01 -1.92309153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.817628 meters 0.012937988762366848 Centerline is valid? [True, True] Translation: X:49.42, Y:-124.15, Z:-0.19 [[-6.96989104e-01 -7.17053440e-01 6.36811363e-03 4.94208783e+01] [ 7.17024669e-01 -6.97018189e-01 -6.42401079e-03 -1.24146026e+02] [ 9.04505007e-03 8.86290443e-05 9.99959089e-01 -1.93792846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84762800000001 meters 0.012817441043052071 Centerline is valid? [True, True] Translation: X:49.40, Y:-124.12, Z:-0.19 [[-6.97854970e-01 -7.16206078e-01 6.87714279e-03 4.94029456e+01] [ 7.16172521e-01 -6.97888850e-01 -6.93356236e-03 -1.24124501e+02] [ 9.76534077e-03 8.65997367e-05 9.99952314e-01 -1.94421338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87762800000002 meters 0.016413523587450976 Centerline is valid? [True, True] Translation: X:49.39, Y:-124.10, Z:-0.20 [[-6.99199835e-01 -7.14884591e-01 7.72092212e-03 4.93852185e+01] [ 7.14842262e-01 -6.99242458e-01 -7.77983064e-03 -1.24102237e+02] [ 1.09604776e-02 7.95851290e-05 9.99939929e-01 -1.97683732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90762800000002 meters 0.012648431035752333 Centerline is valid? [True, True] Translation: X:49.37, Y:-124.08, Z:-0.19 [[-7.00213161e-01 -7.13897205e-01 7.23256737e-03 4.93676502e+01] [ 7.13860056e-01 -7.00250510e-01 -7.28310148e-03 -1.24080748e+02] [ 1.02639948e-02 6.33174430e-05 9.99947322e-01 -1.93981590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93762800000002 meters 0.012427960902783485 Centerline is valid? [True, True] Translation: X:49.35, Y:-124.06, Z:-0.19 [[-7.02534001e-01 -7.11626188e-01 5.84351040e-03 4.93507069e+01] [ 7.11601887e-01 -7.02558302e-01 -5.88104132e-03 -1.24057371e+02] [ 8.29050976e-03 2.66215412e-05 9.99965633e-01 -1.92128306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96762800000002 meters 0.012394308204214399 Centerline is valid? [True, True] Translation: X:49.33, Y:-124.04, Z:-0.19 [[-7.03446337e-01 -7.10734817e-01 4.38990329e-03 4.93315722e+01] [ 7.10721102e-01 -7.03460034e-01 -4.41528765e-03 -1.24037475e+02] [ 6.22622018e-03 1.40789771e-05 9.99980617e-01 -1.90492258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99762800000002 meters 0.012270378861392133 Centerline is valid? [True, True] Translation: X:49.31, Y:-124.02, Z:-0.19 [[-7.04582205e-01 -7.09613952e-01 3.45764241e-03 4.93123969e+01] [ 7.09605440e-01 -7.04590689e-01 -3.47565002e-03 -1.24017158e+02] [ 4.90259239e-03 4.68071523e-06 9.99987982e-01 -1.89077337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02762800000002 meters 0.01236847805803685 Centerline is valid? [True, True] Translation: X:49.29, Y:-124.00, Z:-0.19 [[-7.07405223e-01 -7.06803375e-01 2.61501357e-03 4.92939714e+01] [ 7.06798493e-01 -7.07410057e-01 -2.62713504e-03 -1.23995757e+02] [ 3.70675481e-03 -1.01614047e-05 9.99993130e-01 -1.86959021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05762800000002 meters 0.012480629519089022 Centerline is valid? [True, True] Translation: X:49.28, Y:-123.98, Z:-0.19 [[-7.08980398e-01 -7.05223779e-01 2.49333238e-03 4.92759511e+01] [ 7.05219337e-01 -7.08984782e-01 -2.50320874e-03 -1.23976515e+02] [ 3.53305704e-03 -1.63797168e-05 9.99993759e-01 -1.86544955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08762800000002 meters 0.012541693519322083 Centerline is valid? [True, True] Translation: X:49.26, Y:-123.96, Z:-0.19 [[-7.10465624e-01 -7.03727127e-01 2.59370400e-03 4.92562556e+01] [ 7.03722316e-01 -7.10470358e-01 -2.60248140e-03 -1.23956014e+02] [ 3.67418657e-03 -2.37261864e-05 9.99993250e-01 -1.86078526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11762800000002 meters 0.012816658344841173 Centerline is valid? [True, True] Translation: X:49.24, Y:-123.94, Z:-0.19 [[-7.11727965e-01 -7.02451053e-01 2.41292392e-03 4.92376803e+01] [ 7.02446885e-01 -7.11732055e-01 -2.42007510e-03 -1.23936030e+02] [ 3.41733960e-03 -2.74842348e-05 9.99994161e-01 -1.86053542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14762800000003 meters 0.013175149096847636 Centerline is valid? [True, True] Translation: X:49.22, Y:-123.92, Z:-0.19 [[-7.13749877e-01 -7.00398103e-01 1.90024723e-03 4.92189431e+01] [ 7.00395514e-01 -7.13752406e-01 -1.90474600e-03 -1.23916352e+02] [ 2.69038652e-03 -2.85875922e-05 9.99996381e-01 -1.85828146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17762800000003 meters 0.013287771079999426 Centerline is valid? [True, True] Translation: X:49.20, Y:-123.90, Z:-0.19 [[-7.14810916e-01 -6.99315059e-01 1.95000654e-03 4.91987949e+01] [ 6.99312331e-01 -7.14813575e-01 -1.95338709e-03 -1.23897378e+02] [ 2.75992415e-03 -3.26387951e-05 9.99996191e-01 -1.85910620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20762800000003 meters 0.013484607848362223 Centerline is valid? [True, True] Translation: X:49.18, Y:-123.88, Z:-0.19 [[-7.15530250e-01 -6.98578895e-01 1.99708061e-03 4.91789938e+01] [ 6.98576035e-01 -7.15533036e-01 -1.99928260e-03 -1.23879029e+02] [ 2.82563378e-03 -3.54345289e-05 9.99996007e-01 -1.86505659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23762800000003 meters 0.013634349074506436 Centerline is valid? [True, True] Translation: X:49.16, Y:-123.86, Z:-0.19 [[-7.16263428e-01 -6.97826847e-01 2.09631349e-03 4.91588246e+01] [ 6.97823696e-01 -7.16266494e-01 -2.09730957e-03 -1.23860316e+02] [ 2.96507804e-03 -3.93689197e-05 9.99995603e-01 -1.87524153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26762800000003 meters 0.013718847202215513 Centerline is valid? [True, True] Translation: X:49.14, Y:-123.84, Z:-0.19 [[-7.17138769e-01 -6.96925711e-01 2.55711639e-03 4.91379593e+01] [ 6.96921024e-01 -7.17143326e-01 -2.55673436e-03 -1.23842493e+02] [ 3.61567287e-03 -5.14251642e-05 9.99993462e-01 -1.88831975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29762800000003 meters 0.013797027186654699 Centerline is valid? [True, True] Translation: X:48.54, Y:-124.46, Z:0.68 [[-7.45433957e-01 6.66572036e-01 3.15236677e-03 4.85354732e+01] [ 6.66566433e-01 7.45440620e-01 -2.73368617e-03 -1.24456235e+02] [-4.17210100e-03 6.34793760e-05 -9.99991295e-01 6.77141396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32762800000003 meters 0.017071857280921726 Centerline is valid? [True, True] Translation: X:48.56, Y:-124.44, Z:0.68 [[-7.89936402e-01 6.13174874e-01 4.12964487e-03 4.85586396e+01] [ 6.13167054e-01 7.89947192e-01 -3.09808425e-03 -1.24437580e+02] [-5.16186879e-03 8.48726520e-05 -9.99986674e-01 6.80537933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.357628 meters 0.017071857280921726 Centerline is valid? [True, True] Translation: X:49.08, Y:-123.76, Z:-0.19 [[-7.68259672e-01 -6.40126320e-01 3.92070489e-03 4.90803125e+01] [ 6.40117420e-01 -7.68269671e-01 -3.37656998e-03 -1.23761485e+02] [ 5.17358997e-03 -8.43710492e-05 9.99986613e-01 -1.92803762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.387628 meters 0.014329303390813024 Centerline is valid? [True, True] Translation: X:48.53, Y:-124.42, Z:0.68 [[-7.91842311e-01 6.10715119e-01 3.57753141e-03 4.85264724e+01] [ 6.10709313e-01 7.91850389e-01 -2.66408339e-03 -1.24415330e+02] [-4.45986564e-03 7.52977966e-05 -9.99990052e-01 6.78101120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.417628 meters 0.01433373385965661 Centerline is valid? [True, True] Translation: X:48.55, Y:-124.40, Z:0.68 [[-8.32123148e-01 5.54581990e-01 3.14372477e-03 4.85501277e+01] [ 5.54578346e-01 8.32129083e-01 -2.01175973e-03 -1.24396397e+02] [-3.73167053e-03 6.94098465e-05 -9.99993035e-01 6.77547553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.447628 meters 0.014646364890356813 Centerline is valid? [True, True] Translation: X:48.57, Y:-124.38, Z:0.68 [[-8.68811409e-01 4.95133761e-01 3.04847974e-03 4.85704731e+01] [ 4.95130985e-01 8.68816755e-01 -1.65935136e-03 -1.24376455e+02] [-3.47017116e-03 6.77333859e-05 -9.99993977e-01 6.77774318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.477628 meters 0.014915063003049579 Centerline is valid? [True, True] Translation: X:48.59, Y:-124.35, Z:0.68 [[-9.01410026e-01 4.32956256e-01 2.97405903e-03 4.85887351e+01] [ 4.32954139e-01 9.01414930e-01 -1.35546299e-03 -1.24354379e+02] [-3.26771740e-03 6.58032372e-05 -9.99994659e-01 6.78140162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.507628 meters 0.014966211688963773 Centerline is valid? [True, True] Translation: X:48.61, Y:-124.33, Z:0.68 [[-9.29742182e-01 3.68196671e-01 3.26907743e-03 4.86063445e+01] [ 3.68194662e-01 9.29747926e-01 -1.21856745e-03 -1.24331154e+02] [-3.48809044e-03 7.07032956e-05 -9.99993914e-01 6.78405551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.537628 meters 0.015113649280233064 Centerline is valid? [True, True] Translation: X:48.91, Y:-123.54, Z:-0.19 [[-9.19425339e-01 -3.93249238e-01 3.47594585e-03 4.89138310e+01] [ 3.93246190e-01 -9.19431908e-01 -1.54930347e-03 -1.23536418e+02] [ 3.80515794e-03 -5.75664035e-05 9.99992759e-01 -1.91542579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.567628 meters 0.014696057523436855 Centerline is valid? [True, True] Translation: X:48.56, Y:-124.31, Z:0.68 [[-9.31286480e-01 3.64271020e-01 3.48078743e-03 4.85574139e+01] [ 3.64268768e-01 9.31292982e-01 -1.28284243e-03 -1.24311883e+02] [-3.70893522e-03 7.32483419e-05 -9.99993119e-01 6.79453157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59762800000001 meters 0.015126550233028608 Centerline is valid? [True, True] Translation: X:48.57, Y:-124.29, Z:0.68 [[-9.55002393e-01 2.96571964e-01 3.93691688e-03 4.85720100e+01] [ 2.96569778e-01 9.55010505e-01 -1.14143203e-03 -1.24286562e+02] [-4.09831372e-03 7.75002405e-05 -9.99991599e-01 6.80192770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62762800000002 meters 0.013817341692359415 Centerline is valid? [True, True] Translation: X:48.82, Y:-123.48, Z:-0.19 [[-9.44587735e-01 -3.28246710e-01 2.84768676e-03 4.88172093e+01] [ 3.28244812e-01 -9.44592019e-01 -1.12344976e-03 -1.23475881e+02] [ 3.05867087e-03 -1.26458461e-04 9.99995314e-01 -1.90796488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65762800000002 meters 0.013605504039238055 Centerline is valid? [True, True] Translation: X:48.53, Y:-124.27, Z:0.68 [[-9.57791375e-01 2.87451289e-01 2.72733943e-03 4.85281075e+01] [ 2.87450236e-01 9.57795257e-01 -7.78895989e-04 -1.24273320e+02] [-2.83612743e-03 3.79545031e-05 -9.99995977e-01 6.78061078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68762800000002 meters 0.013013566614605903 Centerline is valid? [True, True] Translation: X:48.54, Y:-124.25, Z:0.68 [[-9.76302901e-01 2.16394754e-01 2.44043035e-03 4.85402291e+01] [ 2.16394148e-01 9.76305951e-01 -5.12990695e-04 -1.24245450e+02] [-2.49361517e-03 2.72605432e-05 -9.99996891e-01 6.78138132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71762800000002 meters 0.012721498416901404 Centerline is valid? [True, True] Translation: X:48.55, Y:-124.22, Z:0.68 [[-9.89565668e-01 1.44060276e-01 2.53479438e-03 4.85472968e+01] [ 1.44059859e-01 9.89568914e-01 -3.47448277e-04 -1.24216614e+02] [-2.55840722e-03 2.13392331e-05 -9.99996727e-01 6.78705679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74762800000002 meters 0.012273729659697497 Centerline is valid? [True, True] Translation: X:48.66, Y:-123.39, Z:-0.19 [[-9.79841732e-01 -1.99758204e-01 2.61538493e-03 4.86627024e+01] [ 1.99757453e-01 -9.79845222e-01 -5.47889258e-04 -1.23391327e+02] [ 2.67211781e-03 -1.44021266e-05 9.99996430e-01 -1.92908133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77762800000002 meters 0.01213525315698346 Centerline is valid? [True, True] Translation: X:48.48, Y:-124.20, Z:0.68 [[-9.91242485e-01 1.32017626e-01 3.11167279e-03 4.84818057e+01] [ 1.32016982e-01 9.91247369e-01 -4.12217122e-04 -1.24202390e+02] [-3.13885740e-03 2.18652745e-06 -9.99995074e-01 6.81650890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80762800000002 meters 0.012231517869875646 Centerline is valid? [True, True] Translation: X:48.48, Y:-124.17, Z:0.68 [[-9.98258372e-01 5.88709044e-02 3.79982680e-03 4.84832612e+01] [ 5.88704514e-02 9.98265604e-01 -2.31030938e-04 -1.24174097e+02] [-3.80683739e-03 -6.93104966e-06 -9.99992754e-01 6.82407980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83762800000002 meters 0.012291805931801021 Centerline is valid? [True, True] Translation: X:48.54, Y:-123.35, Z:-0.20 [[-9.91221659e-01 -1.32120319e-01 4.88301094e-03 4.85426962e+01] [ 1.32119131e-01 -9.91233683e-01 -5.66472686e-04 -1.23351392e+02] [ 4.91504747e-03 8.36391660e-05 9.99987918e-01 -1.95487506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86762800000002 meters 0.012636415544756857 Centerline is valid? [True, True] Translation: X:48.41, Y:-124.17, Z:0.69 [[-9.98773340e-01 4.90898789e-02 6.48065353e-03 4.84089945e+01] [ 4.90885594e-02 9.98794364e-01 -3.62610016e-04 -1.24169864e+02] [-6.49064071e-03 -4.40392711e-05 -9.99978935e-01 6.85278041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89762800000003 meters 0.012679317345142263 Centerline is valid? [True, True] Translation: X:48.41, Y:-124.14, Z:0.69 [[-9.99718678e-01 -2.25902382e-02 7.22813125e-03 4.84135894e+01] [-2.25900347e-02 9.99744807e-01 1.09811486e-04 -1.24143513e+02] [-7.22876734e-03 -5.35031418e-05 -9.99973871e-01 6.86152916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92762800000003 meters 0.015069540659615072 Centerline is valid? [True, True] Translation: X:48.40, Y:-123.31, Z:-0.20 [[-9.98220966e-01 -5.90029038e-02 8.57669053e-03 4.84032643e+01] [ 5.90020324e-02 -9.98257800e-01 -3.54811760e-04 -1.23313702e+02] [ 8.58268314e-03 1.51861635e-04 9.99963157e-01 -2.00890138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95762800000003 meters 0.013782872429060762 Centerline is valid? [True, True] Translation: X:48.31, Y:-124.15, Z:0.69 [[-9.99630755e-01 -2.59503574e-02 8.05813167e-03 4.83148497e+01] [-2.59498100e-02 9.99663232e-01 1.72497218e-04 -1.24149721e+02] [-8.05989431e-03 -3.66734618e-05 -9.99967518e-01 6.88492820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98762800000003 meters 0.012321276134269593 Centerline is valid? [True, True] Translation: X:48.31, Y:-123.31, Z:-0.20 [[-9.98757416e-01 -4.92791506e-02 7.42900703e-03 4.83075921e+01] [ 4.92777387e-02 -9.98785045e-01 -3.73080508e-04 -1.23308011e+02] [ 7.43836621e-03 -6.53225618e-06 9.99972335e-01 -1.98501155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01762800000003 meters 0.012232854254270273 Centerline is valid? [True, True] Translation: X:48.21, Y:-124.16, Z:0.68 [[-9.99558202e-01 -2.91985073e-02 5.55404212e-03 4.82073644e+01] [-2.91981061e-02 9.99573633e-01 1.53321307e-04 -1.24156212e+02] [-5.55615081e-03 -8.91394147e-06 -9.99984564e-01 6.83357694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04762800000003 meters 0.01214677842618142 Centerline is valid? [True, True] Translation: X:48.20, Y:-123.31, Z:-0.19 [[-9.99153271e-01 -4.08884414e-02 4.56905139e-03 4.81977897e+01] [ 4.08877518e-02 -9.99163716e-01 -2.44255683e-04 -1.23306633e+02] [ 4.57521760e-03 -5.72306256e-05 9.99989532e-01 -1.94580740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07762800000003 meters 0.012157202463638462 Centerline is valid? [True, True] Translation: X:48.12, Y:-124.16, Z:0.68 [[-9.99455771e-01 -3.28058885e-02 3.45487869e-03 4.81156835e+01] [-3.28056774e-02 9.99461742e-01 1.17748298e-04 -1.24158451e+02] [-3.45688191e-03 4.34457960e-06 -9.99994025e-01 6.81893924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.107628 meters 0.012206057619345774 Centerline is valid? [True, True] Translation: X:48.12, Y:-124.13, Z:0.68 [[-9.94827240e-01 -1.01530192e-01 3.22207397e-03 4.81223929e+01] [-1.01529620e-01 9.94832458e-01 3.41082669e-04 -1.24131145e+02] [-3.24005396e-03 1.21823857e-05 -9.99994751e-01 6.82079836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.137628 meters 0.012206057619345774 Centerline is valid? [True, True] Translation: X:48.11, Y:-124.10, Z:0.68 [[-9.85006324e-01 -1.72488754e-01 3.18940391e-03 4.81122511e+01] [-1.72487810e-01 9.85011487e-01 5.70875702e-04 -1.24104656e+02] [-3.24006913e-03 1.21828809e-05 -9.99994751e-01 6.82080066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.167628 meters 0.012206057619345774 Centerline is valid? [True, True] Translation: X:48.09, Y:-124.08, Z:0.68 [[-9.69976579e-01 -2.43178077e-01 3.13985930e-03 4.80859199e+01] [-2.43176762e-01 9.69981661e-01 7.99737252e-04 -1.24081986e+02] [-3.24008451e-03 1.21855844e-05 -9.99994751e-01 6.82080381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.197628 meters 0.012309000498032647 Centerline is valid? [True, True] Translation: X:48.03, Y:-124.07, Z:0.68 [[-9.50061054e-01 -3.12051991e-01 2.74749068e-03 4.80313807e+01] [-3.12050635e-01 9.50065026e-01 9.19999501e-04 -1.24070054e+02] [-2.89738248e-03 1.66994826e-05 -9.99995802e-01 6.81885569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.227628 meters 0.012349577554847226 Centerline is valid? [True, True] Translation: X:47.97, Y:-124.06, Z:0.68 [[-9.24475848e-01 -3.81230921e-01 2.71864529e-03 4.79696314e+01] [-3.81229215e-01 9.24479845e-01 1.14051702e-03 -1.24063510e+02] [-2.94813313e-03 1.79534315e-05 -9.99995654e-01 6.81843436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.257628 meters 0.012256248309243777 Centerline is valid? [True, True] Translation: X:47.89, Y:-124.07, Z:0.68 [[-8.93030520e-01 -4.49983383e-01 3.38296524e-03 4.78945489e+01] [-4.49980074e-01 8.93036928e-01 1.72602702e-03 -1.24065926e+02] [-3.79779636e-03 1.91278585e-05 -9.99992788e-01 6.82565824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.287628 meters 0.012226121162976795 Centerline is valid? [True, True] Translation: X:47.81, Y:-124.08, Z:0.68 [[-8.56254511e-01 -5.16540298e-01 3.78595871e-03 4.78087874e+01] [-5.16535157e-01 8.56262880e-01 2.30477391e-03 -1.24080662e+02] [-4.43228451e-03 1.78922760e-05 -9.99990177e-01 6.83554376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.317628 meters 0.014832536736408705 Centerline is valid? [True, True] Translation: X:47.72, Y:-124.10, Z:0.69 [[-8.14402558e-01 -5.80277036e-01 5.19949608e-03 4.77236285e+01] [-5.80265042e-01 8.14419155e-01 3.73102825e-03 -1.24101834e+02] [-6.39959923e-03 2.14731422e-05 -9.99979522e-01 6.86814991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34762800000001 meters 0.012098749701500842 Centerline is valid? [True, True] Translation: X:47.63, Y:-124.14, Z:0.69 [[-7.66865106e-01 -6.41787369e-01 5.18490654e-03 4.76321734e+01] [-6.41772610e-01 7.66882633e-01 4.35236405e-03 -1.24135133e+02] [-6.76950705e-03 1.01451143e-05 -9.99977087e-01 6.85385662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37762800000002 meters 0.014736786452790984 Centerline is valid? [True, True] Translation: X:47.54, Y:-124.18, Z:0.69 [[-7.14923310e-01 -6.99178482e-01 5.84048540e-03 4.75410230e+01] [-6.99155125e-01 7.14947166e-01 5.71500216e-03 -1.24178105e+02] [-8.17144502e-03 2.38296498e-06 -9.99966613e-01 6.88908581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40762800000002 meters 0.012278182620796382 Centerline is valid? [True, True] Translation: X:47.45, Y:-124.23, Z:0.69 [[-6.56570019e-01 -7.54245205e-01 5.47536570e-03 4.74469134e+01] [-7.54219362e-01 6.56592849e-01 6.24380055e-03 -1.24232230e+02] [-8.30444259e-03 -3.01345727e-05 -9.99965517e-01 6.87110832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43762800000002 meters 0.01229122411165044 Centerline is valid? [True, True] Translation: X:47.36, Y:-124.29, Z:0.69 [[-5.95734419e-01 -8.03165940e-01 4.99750421e-03 4.73602236e+01] [-8.03138272e-01 5.95755379e-01 6.66672532e-03 -1.24294044e+02] [-8.33177672e-03 -4.20891581e-05 -9.99965289e-01 6.86836131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46762800000002 meters 0.012333113688636353 Centerline is valid? [True, True] Translation: X:47.27, Y:-124.37, Z:0.69 [[-5.31455169e-01 -8.47075420e-01 4.31706100e-03 4.72743471e+01] [-8.47048219e-01 5.31472700e-01 6.78854178e-03 -1.24368587e+02] [-8.04480694e-03 -4.89532107e-05 -9.99967639e-01 6.86456508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49762800000002 meters 0.012406547562893227 Centerline is valid? [True, True] Translation: X:47.19, Y:-124.45, Z:0.69 [[-4.64485311e-01 -8.85574078e-01 3.45666038e-03 4.71923383e+01] [-8.85550309e-01 4.64498171e-01 6.48844777e-03 -1.24454762e+02] [-7.35161358e-03 -4.72579849e-05 -9.99972975e-01 6.86226572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52762800000002 meters 0.012197965362595596 Centerline is valid? [True, True] Translation: X:47.12, Y:-124.54, Z:0.68 [[-3.95545158e-01 -9.18444103e-01 2.11142700e-03 4.71239070e+01] [-9.18431412e-01 3.95550793e-01 4.82831559e-03 -1.24536125e+02] [-5.26971460e-03 -2.93840274e-05 -9.99986115e-01 6.84953532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55762800000002 meters 0.012083002046260715 Centerline is valid? [True, True] Translation: X:47.06, Y:-124.64, Z:0.68 [[-3.24651339e-01 -9.45832617e-01 1.47249115e-03 4.70564436e+01] [-9.45823160e-01 3.24654678e-01 4.22977307e-03 -1.24635964e+02] [-4.47870847e-03 -1.95147441e-05 -9.99989970e-01 6.84581510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58762800000002 meters 0.012034302885316376 Centerline is valid? [True, True] Translation: X:47.00, Y:-124.74, Z:0.68 [[-2.53633823e-01 -9.67300085e-01 6.55260700e-04 4.70000182e+01] [-9.67296886e-01 2.53634669e-01 2.48777989e-03 -1.24737404e+02] [-2.57262653e-03 -2.84651070e-06 -9.99996691e-01 6.83805030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61762800000002 meters 0.011903202899357009 Centerline is valid? [True, True] Translation: X:46.95, Y:-124.84, Z:0.68 [[-1.79725876e-01 -9.83716650e-01 4.02657635e-04 4.69504130e+01] [-9.83714160e-01 1.79726327e-01 2.21330467e-03 -1.24843504e+02] [-2.24963284e-03 1.68810322e-06 -9.99997470e-01 6.83201127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64762800000003 meters 0.012008538613014616 Centerline is valid? [True, True] Translation: X:46.91, Y:-124.96, Z:0.68 [[-1.04288071e-01 -9.94547116e-01 1.77546115e-04 4.69086585e+01] [-9.94545613e-01 1.04288222e-01 1.72906973e-03 -1.24955452e+02] [-1.73815728e-03 3.74363674e-06 -9.99998489e-01 6.82577672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67762800000003 meters 0.012033359218867114 Centerline is valid? [True, True] Translation: X:46.88, Y:-125.07, Z:0.68 [[-2.89541976e-02 -9.99580739e-01 3.60027085e-05 4.68751605e+01] [-9.99579709e-01 2.89542195e-02 1.43450531e-03 -1.25068504e+02] [-1.43494631e-03 5.54737326e-06 -9.99998970e-01 6.82377152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70762800000003 meters 0.01213878817523398 Centerline is valid? [True, True] Translation: X:46.85, Y:-125.19, Z:0.68 [[ 4.80959966e-02 -9.98842718e-01 9.34357659e-06 4.68493999e+01] [-9.98842700e-01 -4.80959975e-02 -1.87241213e-04 -1.25188734e+02] [ 1.87473911e-04 -3.27210527e-07 -9.99999982e-01 6.81224878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73762800000003 meters 0.012087642683663953 Centerline is valid? [True, True] Translation: X:46.83, Y:-125.32, Z:0.68 [[ 1.25639658e-01 -9.92075940e-01 7.51241389e-05 4.68332334e+01] [-9.92075771e-01 -1.25639681e-01 -5.78973122e-04 -1.25319484e+02] [ 5.83823877e-04 -1.78685273e-06 -9.99999830e-01 6.80904824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76762800000003 meters 0.012033676813801466 Centerline is valid? [True, True] Translation: X:46.82, Y:-125.43, Z:0.68 [[ 2.02351701e-01 -9.79312912e-01 9.69778529e-05 4.68239707e+01] [-9.79312802e-01 -2.02351725e-01 -4.63078321e-04 -1.25432314e+02] [ 4.73122215e-04 -1.26696671e-06 -9.99999888e-01 6.80279167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79762800000003 meters 0.011940386174790858 Centerline is valid? [True, True] Translation: X:46.83, Y:-125.56, Z:0.68 [[ 2.78026688e-01 -9.60573344e-01 -1.05379819e-04 4.68258274e+01] [-9.60573277e-01 -2.78026708e-01 3.58302996e-04 -1.25557278e+02] [-3.73474712e-04 1.60724287e-06 -9.99999930e-01 6.80851333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82762800000003 meters 0.012025599542658234 Centerline is valid? [True, True] Translation: X:46.83, Y:-125.68, Z:0.68 [[ 3.52081047e-01 -9.35968716e-01 -1.22455368e-03 4.68347713e+01] [-9.35963148e-01 -3.52083176e-01 3.22827719e-03 -1.25679457e+02] [-3.45271121e-03 9.52189950e-06 -9.99994039e-01 6.84235957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.857628 meters 0.012009346337176052 Centerline is valid? [True, True] Translation: X:46.85, Y:-125.79, Z:0.69 [[ 4.23558155e-01 -9.05866690e-01 -2.00726666e-03 4.68523213e+01] [-9.05856653e-01 -4.23562911e-01 4.26436829e-03 -1.25794598e+02] [-4.71315290e-03 1.20878937e-05 -9.99988893e-01 6.85968545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.887628 meters 0.013004031567900913 Centerline is valid? [True, True] Translation: X:46.89, Y:-125.92, Z:0.69 [[ 4.92122330e-01 -8.70520839e-01 -3.01355972e-03 4.68860224e+01] [-8.70504724e-01 -4.92131557e-01 5.29677155e-03 -1.25920529e+02] [-6.09401784e-03 1.66584164e-05 -9.99981431e-01 6.88199139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.917628 meters 0.015165906183139207 Centerline is valid? [True, True] Translation: X:46.92, Y:-126.03, Z:0.69 [[ 5.57317076e-01 -8.30290377e-01 -3.94550550e-03 4.69188480e+01] [-8.30269868e-01 -5.57331041e-01 5.83584222e-03 -1.26026005e+02] [-7.04439633e-03 2.34198124e-05 -9.99975188e-01 6.90335296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.947628 meters 0.012202572784226004 Centerline is valid? [True, True] Translation: X:46.96, Y:-126.13, Z:0.69 [[ 6.19210368e-01 -7.85215217e-01 -3.94760636e-03 4.69629212e+01] [-7.85199511e-01 -6.19222950e-01 4.96641459e-03 -1.26131957e+02] [-6.34415277e-03 2.44031785e-05 -9.99979875e-01 6.87295937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.977628 meters 0.015550181651815025 Centerline is valid? [True, True] Translation: X:47.01, Y:-126.23, Z:0.69 [[ 6.76975198e-01 -7.35991025e-01 -4.66815552e-03 4.70113206e+01] [-7.35973872e-01 -6.76991292e-01 5.02491203e-03 -1.26230769e+02] [-6.85859079e-03 3.38996756e-05 -9.99976479e-01 6.89477777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.007628 meters 0.012166379181157226 Centerline is valid? [True, True] Translation: X:47.06, Y:-126.32, Z:0.69 [[ 7.31436561e-01 -6.81896701e-01 -4.17699809e-03 4.70601522e+01] [-6.81885802e-01 -7.31448487e-01 3.85537704e-03 -1.26319273e+02] [-5.68422781e-03 2.82719723e-05 -9.99983844e-01 6.86505597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.037628 meters 0.012206473678378868 Centerline is valid? [True, True] Translation: X:47.05, Y:-126.33, Z:0.69 [[ 7.82317358e-01 -6.22862155e-01 -4.72098130e-03 4.70547001e+01] [-6.22851054e-01 -7.82331602e-01 3.71888355e-03 -1.26325632e+02] [-6.00972468e-03 3.11210226e-05 -9.99981941e-01 6.86530523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.067628 meters 0.015590420372111067 Centerline is valid? [True, True] Translation: X:47.05, Y:-126.33, Z:0.69 [[ 8.28169541e-01 -5.60449669e-01 -5.60181921e-03 4.70489621e+01] [-5.60437171e-01 -8.28188485e-01 3.74305972e-03 -1.26331549e+02] [-6.73715875e-03 3.95796623e-05 -9.99977304e-01 6.89219424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09762800000001 meters 0.012164240969956901 Centerline is valid? [True, True] Translation: X:47.04, Y:-126.34, Z:0.69 [[ 8.69852143e-01 -4.93286642e-01 -5.05353777e-03 4.70433719e+01] [-4.93278515e-01 -8.69866822e-01 2.83174281e-03 -1.26336988e+02] [-5.79276574e-03 2.96040593e-05 -9.99983221e-01 6.86288491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12762800000002 meters 0.01226289851510177 Centerline is valid? [True, True] Translation: X:47.04, Y:-126.34, Z:0.69 [[ 9.05726596e-01 -4.23837725e-01 -4.57342601e-03 4.70379126e+01] [-4.23832468e-01 -9.05738142e-01 2.11114036e-03 -1.26341127e+02] [-5.03710731e-03 2.62504603e-05 -9.99987313e-01 6.85947305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15762800000002 meters 0.015220424148367617 Centerline is valid? [True, True] Translation: X:47.03, Y:-126.35, Z:0.69 [[ 9.35807210e-01 -3.52484903e-01 -4.38843452e-03 4.70327659e+01] [-3.52481168e-01 -9.35817499e-01 1.62281952e-03 -1.26347526e+02] [-4.67879320e-03 2.81943172e-05 -9.99989054e-01 6.87669030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18762800000002 meters 0.012111096119856985 Centerline is valid? [True, True] Translation: X:47.03, Y:-126.35, Z:0.68 [[ 9.60656911e-01 -2.77730225e-01 -2.05451216e-03 4.70276926e+01] [-2.77729616e-01 -9.60659108e-01 5.81521410e-04 -1.26354815e+02] [-2.13519189e-03 1.19563106e-05 -9.99997720e-01 6.84087810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21762800000002 meters 0.01220909495205518 Centerline is valid? [True, True] Translation: X:47.02, Y:-126.36, Z:0.68 [[ 9.79495286e-01 -2.01462953e-01 -1.28989778e-03 4.70205346e+01] [-2.01462788e-01 -9.79496135e-01 2.57957697e-04 -1.26361006e+02] [-1.31541881e-03 7.19805442e-06 -9.99999135e-01 6.83779026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24762800000002 meters 0.01220909495205518 Centerline is valid? [True, True] Translation: X:47.01, Y:-126.37, Z:0.68 [[ 9.92261337e-01 -1.24160108e-01 -1.30615009e-03 4.70132788e+01] [-1.24160010e-01 -9.92262197e-01 1.56183187e-04 -1.26365407e+02] [-1.31543508e-03 7.19706974e-06 -9.99999135e-01 6.83779174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27762800000002 meters 0.012135323318005754 Centerline is valid? [True, True] Translation: X:47.01, Y:-126.37, Z:0.68 [[ 9.98961120e-01 -4.55683164e-02 -4.57352410e-04 4.70071996e+01] [-4.55683128e-02 -9.98961225e-01 1.83194964e-05 -1.26373972e+02] [-4.57712113e-04 2.54031301e-06 -9.99999895e-01 6.83782588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30762800000002 meters 0.011974203919953694 Centerline is valid? [True, True] Translation: X:47.00, Y:-126.38, Z:0.68 [[ 9.99399477e-01 3.46508717e-02 3.91405917e-05 4.70009811e+01] [ 3.46508717e-02 -9.99399478e-01 1.05207970e-06 -1.26383908e+02] [ 3.91535423e-05 3.04807720e-07 -9.99999999e-01 6.83439880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33762800000002 meters 0.011996194392105253 Centerline is valid? [True, True] Translation: X:47.00, Y:-126.39, Z:0.68 [[ 9.93506744e-01 1.13772917e-01 -2.70639531e-04 4.69957970e+01] [ 1.13772912e-01 -9.93506781e-01 -3.18888827e-05 -1.26393029e+02] [-2.72510300e-04 8.90372403e-07 -9.99999963e-01 6.83246184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36762800000002 meters 0.011974376750175906 Centerline is valid? [True, True] Translation: X:46.99, Y:-126.40, Z:0.68 [[ 9.81357252e-01 1.92191816e-01 -5.00357759e-04 4.69905536e+01] [ 1.92191791e-01 -9.81357379e-01 -9.88258087e-05 -1.26401734e+02] [-5.10023291e-04 8.18770185e-07 -9.99999870e-01 6.83498297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39762800000003 meters 0.011927105964057666 Centerline is valid? [True, True] Translation: X:46.99, Y:-126.41, Z:0.68 [[ 9.63165317e-01 2.68909078e-01 -6.92599179e-04 4.69866011e+01] [ 2.68909008e-01 -9.63165566e-01 -1.93999871e-04 -1.26411033e+02] [-7.19256007e-04 6.07789268e-07 -9.99999741e-01 6.84025682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42762800000003 meters 0.011971753036013739 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.42, Z:0.69 [[ 9.38903862e-01 3.44174778e-01 -1.80556532e-03 4.69831739e+01] [ 3.44174143e-01 -9.38905598e-01 -6.61411444e-04 -1.26419742e+02] [-1.92289653e-03 -4.27136990e-07 -9.99998151e-01 6.85435695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45762800000003 meters 0.011974898836641441 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.43, Z:0.69 [[ 9.09075366e-01 4.16627699e-01 -1.82728632e-03 4.69804450e+01] [ 4.16626858e-01 -9.09077203e-01 -8.36918858e-04 -1.26429110e+02] [-2.00982791e-03 -4.74239644e-07 -9.99997980e-01 6.85885826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48762800000003 meters 0.011815442073683922 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.44, Z:0.69 [[ 8.73672040e-01 4.86511996e-01 -1.80141843e-03 4.69790560e+01] [ 4.86510963e-01 -8.73673897e-01 -1.00247515e-03 -1.26438429e+02] [-2.06156844e-03 -5.75309877e-07 -9.99997875e-01 6.86361174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51762800000003 meters 0.011924081973021323 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.45, Z:0.69 [[ 8.33104902e-01 5.53111938e-01 -1.84545146e-03 4.69775807e+01] [ 5.53110580e-01 -8.33106946e-01 -1.22539192e-03 -1.26448062e+02] [-2.21523733e-03 1.41283929e-07 -9.99997546e-01 6.86435547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54762800000003 meters 0.011892121499920649 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.46, Z:0.69 [[ 7.87796654e-01 6.15932902e-01 -1.75841592e-03 4.69761376e+01] [ 6.15931362e-01 -7.87798617e-01 -1.37749568e-03 -1.26458023e+02] [-2.23372254e-03 2.12297903e-06 -9.99997505e-01 6.86798142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57762800000003 meters 0.011907515111946657 Centerline is valid? [True, True] Translation: X:46.97, Y:-126.47, Z:0.69 [[ 7.37665076e-01 6.75164785e-01 -1.65804174e-03 4.69740330e+01] [ 6.75163068e-01 -7.37666939e-01 -1.52279872e-03 -1.26466590e+02] [-2.25122264e-03 3.86688623e-06 -9.99997466e-01 6.87159900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.607628 meters 0.011933714852153448 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.48, Z:0.69 [[ 6.83446041e-01 7.29998953e-01 -1.74266990e-03 4.69755843e+01] [ 7.29996552e-01 -6.83448263e-01 -1.87252741e-03 -1.26477372e+02] [-2.55796776e-03 7.62842719e-06 -9.99996728e-01 6.88054113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.637628 meters 0.011949166925185075 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.49, Z:0.69 [[ 6.24735654e-01 7.80834741e-01 -1.57126951e-03 4.69779342e+01] [ 7.80832234e-01 -6.24737630e-01 -1.97868273e-03 -1.26487806e+02] [-2.52665541e-03 9.25576900e-06 -9.99996808e-01 6.88637251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.667628 meters 0.011954573566439832 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.50, Z:0.69 [[ 5.62489789e-01 8.26802716e-01 -1.58319770e-03 4.69801715e+01] [ 8.26799375e-01 -5.62492017e-01 -2.35054007e-03 -1.26497388e+02] [-2.83396898e-03 1.31679173e-05 -9.99995984e-01 6.89160295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.697628 meters 0.012122634833358067 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.51, Z:0.69 [[ 4.96916156e-01 8.67797336e-01 -1.45513889e-03 4.69821857e+01] [ 8.67793516e-01 -4.96918286e-01 -2.57487814e-03 -1.26507400e+02] [-2.95755751e-03 1.67384511e-05 -9.99995626e-01 6.89549761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.727628 meters 0.015095068386179522 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.52, Z:0.69 [[ 4.29558819e-01 9.03036743e-01 -1.96520730e-03 4.69824288e+01] [ 9.03026895e-01 -4.29563313e-01 -4.21751997e-03 -1.26516739e+02] [-4.65275646e-03 3.70378557e-05 -9.99989175e-01 6.92743639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.757628 meters 0.01515408978653215 Centerline is valid? [True, True] Translation: X:46.98, Y:-126.53, Z:0.69 [[ 3.58420974e-01 9.33558442e-01 -1.74388001e-03 4.69848957e+01] [ 9.33546780e-01 -3.58425214e-01 -4.66652663e-03 -1.26526189e+02] [-4.98152589e-03 4.45874546e-05 -9.99987591e-01 6.93163656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.787628 meters 0.012544505850889474 Centerline is valid? [True, True] Translation: X:46.99, Y:-126.54, Z:0.69 [[ 2.84846172e-01 9.58572353e-01 -1.30497083e-03 4.69923737e+01] [ 9.58561546e-01 -2.84849158e-01 -4.55182872e-03 -1.26536722e+02] [-4.73497700e-03 4.56761327e-05 -9.99988789e-01 6.91004642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.817628 meters 0.01265686515614925 Centerline is valid? [True, True] Translation: X:47.00, Y:-126.55, Z:0.69 [[ 2.09559733e-01 9.77795219e-01 -1.10831338e-03 4.70005376e+01] [ 9.77780055e-01 -2.09562655e-01 -5.44587039e-03 -1.26546789e+02] [-5.55720713e-03 5.75484282e-05 -9.99984557e-01 6.91822662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84762800000001 meters 0.01350893962359461 Centerline is valid? [True, True] Translation: X:47.01, Y:-126.56, Z:0.69 [[ 1.33775031e-01 9.91011465e-01 -7.19401093e-04 4.70078702e+01] [ 9.90994198e-01 -1.33776947e-01 -5.85048489e-03 -1.26556295e+02] [-5.89413688e-03 6.97264904e-05 -9.99982627e-01 6.93283201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87762800000002 meters 0.015173953873487482 Centerline is valid? [True, True] Translation: X:47.02, Y:-126.56, Z:0.69 [[ 5.63736602e-02 9.98409703e-01 -2.74332872e-04 4.70169768e+01] [ 9.98390216e-01 -5.63742740e-02 -6.23837218e-03 -1.26564695e+02] [-6.24391663e-03 7.77886182e-05 -9.99980504e-01 6.94323961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90762800000002 meters 0.013193341596960903 Centerline is valid? [True, True] Translation: X:47.03, Y:-126.57, Z:0.69 [[-2.18882815e-02 9.99760408e-01 1.70813005e-04 4.70258834e+01] [ 9.99748122e-01 2.18888594e-02 -4.95693690e-03 -1.26573082e+02] [-4.95948816e-03 6.22711512e-05 -9.99987700e-01 6.91745909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93762800000002 meters 0.01312168900688813 Centerline is valid? [True, True] Translation: X:47.04, Y:-126.58, Z:0.69 [[-1.00185631e-01 9.94968655e-01 4.63127258e-04 4.70358411e+01] [ 9.94960274e-01 1.00186688e-01 -4.08421120e-03 -1.26580290e+02] [-4.11006131e-03 5.16139459e-05 -9.99991552e-01 6.91637815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96762800000002 meters 0.01624396361372593 Centerline is valid? [True, True] Translation: X:47.05, Y:-126.59, Z:0.69 [[-1.79026973e-01 9.83843724e-01 9.32518280e-04 4.70463351e+01] [ 9.83831942e-01 1.79029393e-01 -4.81515794e-03 -1.26586841e+02] [-4.90431110e-03 5.53981177e-05 -9.99987972e-01 6.93767835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99762800000002 meters 0.014843965516673885 Centerline is valid? [True, True] Translation: X:47.06, Y:-126.59, Z:0.69 [[-2.56873335e-01 9.66444436e-01 1.11424677e-03 4.70577687e+01] [ 9.66436032e-01 2.56875748e-01 -4.03073365e-03 -1.26591978e+02] [-4.18170308e-03 4.14602338e-05 -9.99991256e-01 6.93470724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02762800000002 meters 0.015854825847525535 Centerline is valid? [True, True] Translation: X:47.07, Y:-126.60, Z:0.69 [[-3.33553776e-01 9.42730000e-01 1.42351413e-03 4.70688297e+01] [ 9.42721838e-01 3.33556812e-01 -3.92293960e-03 -1.26597334e+02] [-4.17309568e-03 3.34665464e-05 -9.99991292e-01 6.94709193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05762800000002 meters 0.012199305872641359 Centerline is valid? [True, True] Translation: X:47.08, Y:-126.60, Z:0.69 [[-4.09825744e-01 9.12162907e-01 1.30024522e-03 4.70837504e+01] [ 9.12158419e-01 4.09827806e-01 -2.86137084e-03 -1.26599043e+02] [-3.14291299e-03 1.33661886e-05 -9.99995061e-01 6.92052782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08762800000002 meters 0.012089026631454246 Centerline is valid? [True, True] Translation: X:47.10, Y:-126.60, Z:0.69 [[-4.81495370e-01 8.76447393e-01 1.47490365e-03 4.70960612e+01] [ 8.76443331e-01 4.81497629e-01 -2.66836353e-03 -1.26600654e+02] [-3.04884287e-03 7.86478571e-06 -9.99995352e-01 6.92140765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11762800000002 meters 0.011959328364620362 Centerline is valid? [True, True] Translation: X:47.11, Y:-126.60, Z:0.69 [[-5.49900808e-01 8.35228400e-01 1.61898931e-03 4.71078218e+01] [ 8.35224798e-01 5.49903191e-01 -2.45302980e-03 -1.26602900e+02] [-2.93912754e-03 3.29694766e-06 -9.99995681e-01 6.92575936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14762800000003 meters 0.01196164627202684 Centerline is valid? [True, True] Translation: X:47.12, Y:-126.60, Z:0.69 [[-6.15591847e-01 7.88062185e-01 2.16095277e-03 4.71183401e+01] [ 7.88057302e-01 6.15595640e-01 -2.77443407e-03 -1.26603451e+02] [-3.51669968e-03 -4.96438630e-06 -9.99993816e-01 6.93188329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17762800000003 meters 0.012074467220515382 Centerline is valid? [True, True] Translation: X:47.13, Y:-126.60, Z:0.69 [[-6.76427014e-01 7.36505536e-01 2.46799270e-03 4.71300075e+01] [ 7.36500578e-01 6.76431516e-01 -2.70221117e-03 -1.26602331e+02] [-3.65962153e-03 -1.01705850e-05 -9.99993304e-01 6.93717131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20762800000003 meters 0.012025584056712876 Centerline is valid? [True, True] Translation: X:47.14, Y:-126.60, Z:0.69 [[-7.32677071e-01 6.80570607e-01 2.82097227e-03 4.71418640e+01] [ 6.80565487e-01 7.32682502e-01 -2.63996917e-03 -1.26599364e+02] [-3.86356244e-03 -1.43885147e-05 -9.99992536e-01 6.93786135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23762800000003 meters 0.012133507157991344 Centerline is valid? [True, True] Translation: X:47.17, Y:-126.58, Z:0.69 [[-7.79663926e-01 6.26192460e-01 2.67679602e-03 4.71669087e+01] [ 6.26188696e-01 7.79668521e-01 -2.17116110e-03 -1.26583993e+02] [-3.44657831e-03 -1.65965765e-05 -9.99994060e-01 6.93837997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26762800000003 meters 0.012228148901686827 Centerline is valid? [True, True] Translation: X:47.19, Y:-126.57, Z:0.69 [[-8.22323323e-01 5.69015131e-01 2.47643546e-03 4.71880563e+01] [ 5.69012491e-01 8.22327052e-01 -1.73333100e-03 -1.26566485e+02] [-3.02273144e-03 -1.62357992e-05 -9.99995431e-01 6.93227643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29762800000003 meters 0.012290608732017292 Centerline is valid? [True, True] Translation: X:47.21, Y:-126.55, Z:0.69 [[-8.61154568e-01 5.08336534e-01 2.60341767e-03 4.72081789e+01] [ 5.08334140e-01 8.61158503e-01 -1.56018355e-03 -1.26547685e+02] [-3.03505356e-03 -2.01531070e-05 -9.99995394e-01 6.93087831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32762800000003 meters 0.01227556211197012 Centerline is valid? [True, True] Translation: X:47.23, Y:-126.53, Z:0.69 [[-8.95108067e-01 4.45843281e-01 2.30574813e-03 4.72250894e+01] [ 4.45841751e-01 8.95111037e-01 -1.16836130e-03 -1.26525320e+02] [-2.58480664e-03 -1.78108360e-05 -9.99996659e-01 6.93137595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.357628 meters 0.01221163207536618 Centerline is valid? [True, True] Translation: X:47.24, Y:-126.50, Z:0.69 [[-9.24627465e-01 3.80866453e-01 2.18992725e-03 4.72446054e+01] [ 3.80865339e-01 9.24630058e-01 -9.21096721e-04 -1.26504397e+02] [-2.37568740e-03 -1.76039416e-05 -9.99997178e-01 6.92589407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.387628 meters 0.01235196094043733 Centerline is valid? [True, True] Translation: X:47.25, Y:-126.48, Z:0.69 [[-9.49326737e-01 3.14285469e-01 1.84130970e-03 4.72541420e+01] [ 3.14284848e-01 9.49328522e-01 -6.24984028e-04 -1.26478207e+02] [-1.94443122e-03 -1.46183082e-05 -9.99998110e-01 6.92352580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.417628 meters 0.01217261091661585 Centerline is valid? [True, True] Translation: X:47.27, Y:-126.45, Z:0.69 [[-9.69079980e-01 2.46744137e-01 1.15004161e-03 4.72684644e+01] [ 2.46743953e-01 9.69080663e-01 -3.01229130e-04 -1.26454552e+02] [-1.18880960e-03 -8.14930701e-06 -9.99999293e-01 6.92073963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.447628 meters 0.012118579388384159 Centerline is valid? [True, True] Translation: X:47.49, Y:-125.66, Z:-0.20 [[-9.46065784e-01 -3.23973085e-01 9.86320784e-04 4.74863062e+01] [ 3.23972907e-01 -9.46066298e-01 -3.39697106e-04 -1.25656848e+02] [ 1.04317757e-03 -1.83459743e-06 9.99999456e-01 -2.04167915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.477628 meters 0.012032438364230956 Centerline is valid? [True, True] Translation: X:47.23, Y:-126.45, Z:0.69 [[-9.69379294e-01 2.45566311e-01 9.85442202e-04 4.72252998e+01] [ 2.45566180e-01 9.69379795e-01 -2.53878710e-04 -1.26445389e+02] [-1.01761182e-03 -4.11348781e-06 -9.99999482e-01 6.92173657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.507628 meters 0.01183015622944314 Centerline is valid? [True, True] Translation: X:47.44, Y:-125.64, Z:-0.21 [[-9.49407189e-01 -3.14041349e-01 2.00522006e-03 4.74402153e+01] [ 3.14040805e-01 -9.49409304e-01 -5.88844785e-04 -1.25640762e+02] [ 2.08869619e-03 7.06674483e-05 9.99997816e-01 -2.05183867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.537628 meters 0.011972584017143241 Centerline is valid? [True, True] Translation: X:47.18, Y:-126.44, Z:0.69 [[-9.68481049e-01 2.49074887e-01 2.48147267e-03 4.71797287e+01] [ 2.49074091e-01 9.68484228e-01 -6.29708446e-04 -1.26441116e+02] [-2.56011170e-03 8.20985094e-06 -9.99996723e-01 6.93190871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.567628 meters 0.013916573894571032 Centerline is valid? [True, True] Translation: X:47.19, Y:-126.42, Z:0.69 [[-9.83108409e-01 1.82988751e-01 3.60174528e-03 4.71936956e+01] [ 1.82987612e-01 9.83115007e-01 -6.46231495e-04 -1.26417868e+02] [-3.65918293e-03 2.37591486e-05 -9.99993305e-01 6.94274200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59762800000001 meters 0.012382614656022346 Centerline is valid? [True, True] Translation: X:47.20, Y:-126.39, Z:0.69 [[-9.93329478e-01 1.15270158e-01 3.05591241e-03 4.72046042e+01] [ 1.15269698e-01 9.93334178e-01 -3.26792298e-04 -1.26392430e+02] [-3.07321164e-03 2.76416762e-05 -9.99995277e-01 6.92327815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62762800000002 meters 0.013538378629916277 Centerline is valid? [True, True] Translation: X:47.31, Y:-125.55, Z:-0.20 [[-9.87421556e-01 -1.58054873e-01 4.16267678e-03 4.73052004e+01] [ 1.58053591e-01 -9.87430330e-01 -6.37282512e-04 -1.25547941e+02] [ 4.21107891e-03 2.86595228e-05 9.99991133e-01 -2.04898145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65762800000002 meters 0.014059481270483284 Centerline is valid? [True, True] Translation: X:47.13, Y:-126.39, Z:0.69 [[-9.92801660e-01 1.19653791e-01 5.27572332e-03 4.71349416e+01] [ 1.19652625e-01 9.92815673e-01 -5.37133841e-04 -1.26388509e+02] [-5.30209090e-03 9.79867773e-05 -9.99985939e-01 6.92959747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68762800000002 meters 0.01741716939849678 Centerline is valid? [True, True] Translation: X:47.14, Y:-126.36, Z:0.70 [[-9.98607022e-01 5.22361378e-02 7.44317488e-03 4.71369082e+01] [ 5.22359061e-02 9.98634748e-01 -2.25672472e-04 -1.26361053e+02] [-7.44480133e-03 1.63442869e-04 -9.99972274e-01 6.95912728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71762800000002 meters 0.01586457990067029 Centerline is valid? [True, True] Translation: X:47.15, Y:-126.33, Z:0.69 [[-9.99868558e-01 -1.35647940e-02 8.88044135e-03 4.71452013e+01] [-1.35620936e-02 9.99907964e-01 3.64242851e-04 -1.26333833e+02] [-8.88456491e-03 2.43757597e-04 -9.99960502e-01 6.94823856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74762800000002 meters 0.017945232420804855 Centerline is valid? [True, True] Translation: X:47.14, Y:-126.31, Z:0.70 [[-9.96560287e-01 -8.22982100e-02 9.72621629e-03 4.71420658e+01] [-8.22914004e-02 9.96607705e-01 1.09895302e-03 -1.26308307e+02] [-9.78366396e-03 2.94788976e-04 -9.99952095e-01 6.95860636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77762800000002 meters 0.018792720278522232 Centerline is valid? [True, True] Translation: X:47.12, Y:-126.28, Z:0.70 [[-9.88407245e-01 -1.51483062e-01 1.01980445e-02 4.71210099e+01] [-1.51471474e-01 9.88459796e-01 1.90377664e-03 -1.26282996e+02] [-1.03687469e-02 3.36993793e-04 -9.99946186e-01 6.95911574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80762800000002 meters 0.0209395125972695 Centerline is valid? [True, True] Translation: X:47.07, Y:-126.26, Z:0.70 [[-9.75759658e-01 -2.18648293e-01 9.27432493e-03 4.70741481e+01] [-2.18634891e-01 9.75803666e-01 2.44756251e-03 -1.26264023e+02] [-9.58507563e-03 3.60541733e-04 -9.99953997e-01 6.95188849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83762800000002 meters 0.02224424751594845 Centerline is valid? [True, True] Translation: X:47.01, Y:-126.25, Z:0.70 [[-9.57534217e-01 -2.88173858e-01 9.16796275e-03 4.70145063e+01] [-2.88156786e-01 9.57578028e-01 3.16025974e-03 -1.26250223e+02] [-9.68974393e-03 3.84246155e-04 -9.99952980e-01 6.95512691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86762800000002 meters 0.021149756046998355 Centerline is valid? [True, True] Translation: X:46.94, Y:-126.25, Z:0.69 [[-9.33663321e-01 -3.58076012e-01 7.37376469e-03 4.69417724e+01] [-3.58062103e-01 9.33692383e-01 3.17242894e-03 -1.26247572e+02] [-8.02079863e-03 3.21714849e-04 -9.99967781e-01 6.92652240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89762800000003 meters 0.018751402115824482 Centerline is valid? [True, True] Translation: X:46.86, Y:-126.25, Z:0.69 [[-9.03480065e-01 -4.28586613e-01 6.10631363e-03 4.68611808e+01] [-4.28574835e-01 9.03500662e-01 3.18824569e-03 -1.26247266e+02] [-6.88349783e-03 2.63504065e-04 -9.99976274e-01 6.89587833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92762800000003 meters 0.020501194374527097 Centerline is valid? [True, True] Translation: X:46.77, Y:-126.27, Z:0.69 [[-8.67390950e-01 -4.97598468e-01 5.35759677e-03 4.67746588e+01] [-4.97587359e-01 8.67407467e-01 3.33261001e-03 -1.26265660e+02] [-6.30552108e-03 2.24803340e-04 -9.99980095e-01 6.88631025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95762800000003 meters 0.01651958713986823 Centerline is valid? [True, True] Translation: X:46.68, Y:-126.29, Z:0.69 [[-8.25248763e-01 -5.64754775e-01 4.06481121e-03 4.66796258e+01] [-5.64746954e-01 8.25258758e-01 2.97655019e-03 -1.26286115e+02] [-5.03554198e-03 1.60804617e-04 -9.99987309e-01 6.86394444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98762800000003 meters 0.014110186854645265 Centerline is valid? [True, True] Translation: X:46.58, Y:-126.32, Z:0.69 [[-7.73538845e-01 -6.33742760e-01 2.78726122e-03 4.65814053e+01] [-6.33738277e-01 7.73543863e-01 2.38493514e-03 -1.26315595e+02] [-3.66750419e-03 7.84458463e-05 -9.99993272e-01 6.85525068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01762800000003 meters 0.013171824927326353 Centerline is valid? [True, True] Translation: X:46.49, Y:-126.36, Z:0.69 [[-7.19220376e-01 -6.94778769e-01 2.12427036e-03 4.64851469e+01] [-6.94775545e-01 7.19223512e-01 2.11709364e-03 -1.26359435e+02] [-2.99873690e-03 4.67657922e-05 -9.99995503e-01 6.86163344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04762800000003 meters 0.01223604305826518 Centerline is valid? [True, True] Translation: X:46.39, Y:-126.42, Z:0.69 [[-6.59710771e-01 -7.51516725e-01 2.07602074e-03 4.63885904e+01] [-7.51512858e-01 6.59714037e-01 2.41121203e-03 -1.26415143e+02] [-3.18164619e-03 3.05462684e-05 -9.99994938e-01 6.86636601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07762800000003 meters 0.014367424275548548 Centerline is valid? [True, True] Translation: X:46.29, Y:-126.48, Z:0.69 [[-5.92999127e-01 -8.05198329e-01 2.77256146e-03 4.62921388e+01] [-8.05189515e-01 5.93005608e-01 3.76750880e-03 -1.26479123e+02] [-4.67773628e-03 1.69201179e-06 -9.99989059e-01 6.89868889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.107628 meters 0.011493428171104611 Centerline is valid? [True, True] Translation: X:46.21, Y:-126.55, Z:0.69 [[-5.26082657e-01 -8.50430236e-01 2.33495451e-03 4.62082345e+01] [-8.50422002e-01 5.26087838e-01 3.74229141e-03 -1.26548592e+02] [-4.41094894e-03 -1.69420752e-05 -9.99990272e-01 6.88060884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.137628 meters 0.011875678031957248 Centerline is valid? [True, True] Translation: X:46.13, Y:-126.63, Z:0.69 [[-4.56609563e-01 -8.89664786e-01 2.06753874e-03 4.61279560e+01] [-8.89655968e-01 4.56614243e-01 3.96133741e-03 -1.26630098e+02] [-4.46833004e-03 -3.06136326e-05 -9.99990017e-01 6.88118833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.167628 meters 0.011875678031957248 Centerline is valid? [True, True] Translation: X:46.06, Y:-126.72, Z:0.69 [[-3.86905552e-01 -9.22117675e-01 1.75706157e-03 4.60555226e+01] [-9.22108523e-01 3.86909540e-01 4.10846669e-03 -1.26718601e+02] [-4.46831363e-03 -3.06128804e-05 -9.99990017e-01 6.88118042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.197628 meters 0.012209988721771588 Centerline is valid? [True, True] Translation: X:45.99, Y:-126.81, Z:0.69 [[-3.12776563e-01 -9.49825446e-01 1.56325558e-03 4.59894990e+01] [-9.49814279e-01 3.12780467e-01 4.60598016e-03 -1.26811118e+02] [-4.86383297e-03 -4.41598234e-05 -9.99988171e-01 6.88558721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.227628 meters 0.012378389260772418 Centerline is valid? [True, True] Translation: X:45.93, Y:-126.91, Z:0.69 [[-2.37075483e-01 -9.71489985e-01 1.55685533e-03 4.59313664e+01] [-9.71470855e-01 2.37080586e-01 6.09706250e-03 -1.26913063e+02] [-6.29233533e-03 -6.69755436e-05 -9.99980201e-01 6.89183483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.257628 meters 0.012420200039146078 Centerline is valid? [True, True] Translation: X:45.88, Y:-127.02, Z:0.69 [[-1.61314045e-01 -9.86902390e-01 1.20515846e-03 4.58810168e+01] [-9.86878215e-01 1.61318530e-01 6.90804244e-03 -1.27020901e+02] [-7.01197798e-03 -7.49803634e-05 -9.99975413e-01 6.89565924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.287628 meters 0.01228811729589066 Centerline is valid? [True, True] Translation: X:45.84, Y:-127.14, Z:0.69 [[-8.49648825e-02 -9.96383686e-01 7.19851572e-04 4.58394362e+01] [-9.96355303e-01 8.49678959e-02 7.52108870e-03 -1.27135033e+02] [-7.55505436e-03 -7.81995131e-05 -9.99971457e-01 6.90047913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.317628 meters 0.012274606073477771 Centerline is valid? [True, True] Translation: X:45.81, Y:-127.25, Z:0.69 [[-8.52210009e-03 -9.99963675e-01 1.46965203e-04 4.58069478e+01] [-9.99930835e-01 8.52301134e-03 8.10451380e-03 -1.27250988e+02] [-8.10547199e-03 -7.78875601e-05 -9.99967147e-01 6.91123069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34762800000001 meters 0.012124843969897594 Centerline is valid? [True, True] Translation: X:45.79, Y:-127.36, Z:0.69 [[ 6.67225290e-02 -9.97771384e-01 -6.08073945e-04 4.57871875e+01] [-9.97718836e-01 -6.67252558e-02 1.02402975e-02 -1.27364651e+02] [-1.02580497e-02 -7.65717199e-05 -9.99947382e-01 6.92817518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37762800000002 meters 0.0121360349377283 Centerline is valid? [True, True] Translation: X:45.77, Y:-127.49, Z:0.69 [[ 1.42329181e-01 -9.89818310e-01 -1.45502590e-03 4.57745257e+01] [-9.89761827e-01 -1.42336603e-01 1.05743870e-02 -1.27487100e+02] [-1.06738253e-02 -6.49147456e-05 -9.99943031e-01 6.94135143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40762800000002 meters 0.01204289244903849 Centerline is valid? [True, True] Translation: X:45.77, Y:-127.61, Z:0.69 [[ 2.17102845e-01 -9.76145640e-01 -2.45841699e-03 4.57711670e+01] [-9.76080234e-01 -2.17116758e-01 1.13000264e-02 -1.27606248e+02] [-1.15642351e-02 -5.36556581e-05 -9.99933131e-01 6.93914418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43762800000002 meters 0.01199203200461627 Centerline is valid? [True, True] Translation: X:45.78, Y:-127.73, Z:0.69 [[ 2.88226476e-01 -9.57556228e-01 -3.40136215e-03 4.57807330e+01] [-9.57489201e-01 -2.88246545e-01 1.13295956e-02 -1.27725626e+02] [-1.18291558e-02 -8.72190061e-06 -9.99930033e-01 6.94236578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46762800000002 meters 0.012156541976596486 Centerline is valid? [True, True] Translation: X:45.80, Y:-127.84, Z:0.69 [[ 3.59038873e-01 -9.33313056e-01 -4.22223093e-03 4.57960678e+01] [-9.33249234e-01 -3.59063698e-01 1.09145384e-02 -1.27842633e+02] [-1.17027310e-02 2.16502177e-05 -9.99931520e-01 6.94619012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49762800000002 meters 0.012350997438165177 Centerline is valid? [True, True] Translation: X:45.82, Y:-127.96, Z:0.69 [[ 4.27556445e-01 -9.03975513e-01 -4.87435314e-03 4.58197343e+01] [-9.03918157e-01 -4.27584225e-01 1.01831074e-02 -1.27956154e+02] [-1.12894762e-02 5.21631200e-05 -9.99936270e-01 6.93782835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52762800000002 meters 0.012655451448241213 Centerline is valid? [True, True] Translation: X:45.85, Y:-128.07, Z:0.69 [[ 4.93364982e-01 -8.69805046e-01 -5.49325536e-03 4.58527652e+01] [-8.69753040e-01 -4.93395556e-01 9.51186874e-03 -1.28069072e+02] [-1.09838192e-02 8.49525943e-05 -9.99939672e-01 6.92833922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55762800000002 meters 0.013780097207440055 Centerline is valid? [True, True] Translation: X:45.89, Y:-128.17, Z:0.69 [[ 5.53757158e-01 -8.32656505e-01 -6.01276617e-03 4.58945946e+01] [-8.32610337e-01 -5.53789781e-01 8.76958644e-03 -1.28170605e+02] [-1.06318617e-02 1.50069997e-04 -9.99943469e-01 6.92248406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58762800000002 meters 0.014369111736296934 Centerline is valid? [True, True] Translation: X:45.94, Y:-128.28, Z:0.69 [[ 6.13975365e-01 -7.89297916e-01 -6.56138975e-03 4.59422503e+01] [-7.89255908e-01 -6.14010398e-01 8.14508456e-03 -1.28275566e+02] [-1.04576598e-02 1.77734369e-04 -9.99945301e-01 6.92109452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61762800000002 meters 0.01403561161171392 Centerline is valid? [True, True] Translation: X:45.99, Y:-128.37, Z:0.69 [[ 6.72672005e-01 -7.39908190e-01 -6.94579703e-03 4.59903307e+01] [-7.39871394e-01 -6.72707842e-01 7.38104813e-03 -1.28374532e+02] [-1.01337901e-02 1.73972085e-04 -9.99948637e-01 6.91407006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64762800000003 meters 0.014098383091653788 Centerline is valid? [True, True] Translation: X:46.05, Y:-128.47, Z:0.69 [[ 7.27370001e-01 -6.86204130e-01 -7.53474933e-03 4.60456319e+01] [-6.86169798e-01 -7.27409005e-01 6.86643413e-03 -1.28468586e+02] [-1.01926200e-02 1.75679218e-04 -9.99948038e-01 6.91641083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67762800000003 meters 0.014125325688969763 Centerline is valid? [True, True] Translation: X:46.04, Y:-128.48, Z:0.69 [[ 7.78601233e-01 -6.27448617e-01 -9.39961120e-03 4.60395809e+01] [-6.27406092e-01 -7.78657942e-01 7.30789712e-03 -1.28475565e+02] [-1.19044118e-02 2.07435625e-04 -9.99929118e-01 6.91930892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70762800000003 meters 0.0162957755721221 Centerline is valid? [True, True] Translation: X:46.03, Y:-128.48, Z:0.69 [[ 8.24587047e-01 -5.65632910e-01 -1.07523770e-02 4.60324533e+01] [-5.65588577e-01 -8.24657113e-01 7.08571116e-03 -1.28482312e+02] [-1.28749356e-02 2.38635982e-04 -9.99917086e-01 6.94322046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73762800000003 meters 0.016637202856916534 Centerline is valid? [True, True] Translation: X:46.03, Y:-128.49, Z:0.70 [[ 8.64863056e-01 -5.01850913e-01 -1.25521020e-02 4.60257092e+01] [-5.01803170e-01 -8.64954084e-01 6.92903883e-03 -1.28488251e+02] [-1.43343364e-02 3.06014874e-04 -9.99897211e-01 6.95851190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76762800000003 meters 0.015505543333823247 Centerline is valid? [True, True] Translation: X:46.02, Y:-128.49, Z:0.69 [[ 9.00816134e-01 -4.34008284e-01 -1.29267954e-02 4.60192029e+01] [-4.33968723e-01 -9.00908822e-01 5.86880057e-03 -1.28494619e+02] [-1.41929720e-02 3.23114637e-04 -9.99899223e-01 6.94692878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79762800000003 meters 0.016255275015420276 Centerline is valid? [True, True] Translation: X:46.01, Y:-128.50, Z:0.69 [[ 9.31029214e-01 -3.64691568e-01 -1.35890553e-02 4.60130135e+01] [-3.64658450e-01 -9.31128308e-01 4.92842466e-03 -1.28501003e+02] [-1.44505090e-02 3.66856488e-04 -9.99895519e-01 6.94822508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82762800000003 meters 0.016771053779573095 Centerline is valid? [True, True] Translation: X:46.01, Y:-128.51, Z:0.69 [[ 9.55905064e-01 -2.93337383e-01 -1.40956648e-02 4.60072408e+01] [-2.93311800e-01 -9.56008897e-01 3.89571860e-03 -1.28509111e+02] [-1.46183409e-02 4.10487671e-04 -9.99893062e-01 6.94478292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.857628 meters 0.018633140886172187 Centerline is valid? [True, True] Translation: X:46.00, Y:-128.51, Z:0.69 [[ 9.74719371e-01 -2.23072139e-01 -1.26873450e-02 4.59983820e+01] [-2.23059037e-01 -9.74801842e-01 2.45660199e-03 -1.28514748e+02] [-1.29156468e-02 4.35529429e-04 -9.99916495e-01 6.93499524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.887628 meters 0.019404084303948046 Centerline is valid? [True, True] Translation: X:45.99, Y:-128.52, Z:0.69 [[ 9.88869776e-01 -1.48331197e-01 -1.15940770e-02 4.59908817e+01] [-1.48325967e-01 -9.88937652e-01 1.31448466e-03 -1.28520915e+02] [-1.16607983e-02 4.19848527e-04 -9.99931922e-01 6.91786270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.917628 meters 0.020489151373867694 Centerline is valid? [True, True] Translation: X:45.98, Y:-128.53, Z:0.69 [[ 9.97323281e-01 -7.24091606e-02 -1.01581185e-02 4.59835933e+01] [-7.24093369e-02 -9.97374937e-01 3.50905630e-04 -1.28527592e+02] [-1.01568616e-02 3.85576268e-04 -9.99948343e-01 6.90230558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.947628 meters 0.01979622717171863 Centerline is valid? [True, True] Translation: X:45.98, Y:-128.54, Z:0.69 [[ 9.99952395e-01 5.28610989e-03 -8.20151638e-03 4.59766217e+01] [ 5.28333804e-03 -9.99985978e-01 -3.59596617e-04 -1.28538412e+02] [-8.20330225e-03 3.16248115e-04 -9.99966302e-01 6.87728957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.977628 meters 0.018887447471554235 Centerline is valid? [True, True] Translation: X:45.97, Y:-128.55, Z:0.69 [[ 9.96331023e-01 8.54405002e-02 -4.94103378e-03 4.59709800e+01] [ 8.54385406e-02 -9.96343258e-01 -6.06716672e-04 -1.28553578e+02] [-4.97480387e-03 1.82335927e-04 -9.99987609e-01 6.85414807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.007628 meters 0.019270990598784312 Centerline is valid? [True, True] Translation: X:45.97, Y:-128.56, Z:0.69 [[ 9.86220932e-01 1.65398382e-01 -3.41303919e-03 4.59653226e+01] [ 1.65396971e-01 -9.86226830e-01 -6.93552690e-04 -1.28564600e+02] [-3.48074331e-03 1.19489836e-04 -9.99993935e-01 6.85002478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.037628 meters 0.018526886564349723 Centerline is valid? [True, True] Translation: X:45.96, Y:-128.58, Z:0.68 [[ 9.69533582e-01 2.44947794e-01 -2.28308892e-03 4.59610741e+01] [ 2.44946933e-01 -9.69536267e-01 -6.53502595e-04 -1.28575103e+02] [-2.37361153e-03 7.43570810e-05 -9.99997180e-01 6.84582609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.067628 meters 0.015522916270014687 Centerline is valid? [True, True] Translation: X:45.96, Y:-128.59, Z:0.68 [[ 9.45073540e-01 3.26855787e-01 -1.13971777e-03 4.59607372e+01] [ 3.26855512e-01 -9.45074226e-01 -4.25114848e-04 -1.28592762e+02] [-1.21606913e-03 2.92417600e-05 -9.99999260e-01 6.83889044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09762800000001 meters 0.014689581399654815 Centerline is valid? [True, True] Translation: X:45.96, Y:-128.61, Z:0.68 [[ 9.14856568e-01 4.03777714e-01 -1.00876080e-03 4.59585433e+01] [ 4.03777442e-01 -9.14857124e-01 -4.69169999e-04 -1.28605017e+02] [-1.11231240e-03 2.19083975e-05 -9.99999381e-01 6.84117885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12762800000002 meters 0.0135556391699977 Centerline is valid? [True, True] Translation: X:45.96, Y:-128.62, Z:0.68 [[ 8.78387572e-01 4.77948334e-01 -8.14953901e-04 4.59595038e+01] [ 4.77948113e-01 -8.78387950e-01 -4.59713287e-04 -1.28616489e+02] [-9.35564886e-04 1.43007592e-05 -9.99999562e-01 6.84764646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15762800000002 meters 0.012689551482340328 Centerline is valid? [True, True] Translation: X:45.96, Y:-128.63, Z:0.69 [[ 8.35802555e-01 5.49028124e-01 -1.48618989e-03 4.59608944e+01] [ 5.49027214e-01 -8.35803876e-01 -9.99762744e-04 -1.28627946e+02] [-1.79106113e-03 1.96455638e-05 -9.99998396e-01 6.85602297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18762800000002 meters 0.011620350643116966 Centerline is valid? [True, True] Translation: X:45.97, Y:-128.64, Z:0.69 [[ 7.85224225e-01 6.19206092e-01 -2.59470932e-03 4.59664803e+01] [ 6.19202671e-01 -7.85228512e-01 -2.05828166e-03 -1.28642481e+02] [-3.31194028e-03 9.56167724e-06 -9.99994515e-01 6.87159284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21762800000002 meters 0.011587983230006987 Centerline is valid? [True, True] Translation: X:45.97, Y:-128.65, Z:0.69 [[ 7.32069920e-01 6.81224451e-01 -2.62276427e-03 4.59686357e+01] [ 6.81220087e-01 -7.32074618e-01 -2.43847146e-03 -1.28652992e+02] [-3.58120554e-03 -1.54809415e-06 -9.99993587e-01 6.87736981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24762800000002 meters 0.011689641424566863 Centerline is valid? [True, True] Translation: X:45.97, Y:-128.66, Z:0.69 [[ 6.74439278e-01 7.38325535e-01 -2.65805954e-03 4.59727917e+01] [ 7.38319873e-01 -6.74444516e-01 -2.89142698e-03 -1.28663134e+02] [-3.92752805e-03 -1.24062588e-05 -9.99992287e-01 6.87715832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27762800000002 meters 0.0118401358856462 Centerline is valid? [True, True] Translation: X:45.98, Y:-128.67, Z:0.69 [[ 6.13106408e-01 7.89996064e-01 -2.59841840e-03 4.59785975e+01] [ 7.89989114e-01 -6.13111914e-01 -3.31370491e-03 -1.28673006e+02] [-4.21093511e-03 -2.10685364e-05 -9.99991134e-01 6.88200460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30762800000002 meters 0.012107618692289253 Centerline is valid? [True, True] Translation: X:45.98, Y:-128.68, Z:0.69 [[ 5.48065911e-01 8.36429816e-01 -2.98660661e-03 4.59831551e+01] [ 8.36417744e-01 -5.48074047e-01 -4.49400232e-03 -1.28682884e+02] [-5.39579911e-03 -3.50412957e-05 -9.99985442e-01 6.89685004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33762800000002 meters 0.012023784024441741 Centerline is valid? [True, True] Translation: X:45.99, Y:-128.69, Z:0.69 [[ 4.81115207e-01 8.76653576e-01 -2.58155520e-03 4.59850631e+01] [ 8.76641322e-01 -4.81122132e-01 -4.63532259e-03 -1.28689825e+02] [-5.30561547e-03 -3.29737788e-05 -9.99985925e-01 6.90052774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36762800000002 meters 0.011805416266459917 Centerline is valid? [True, True] Translation: X:45.99, Y:-128.70, Z:0.69 [[ 4.12672126e-01 9.10876797e-01 -2.27554538e-03 4.59862942e+01] [ 9.10863267e-01 -4.12678399e-01 -4.96462101e-03 -1.28696021e+02] [-5.46122651e-03 -2.39499889e-05 -9.99985087e-01 6.90333581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39762800000003 meters 0.011754233145539762 Centerline is valid? [True, True] Translation: X:45.99, Y:-128.70, Z:0.69 [[ 3.41179899e-01 9.39996310e-01 -1.79254551e-03 4.59895094e+01] [ 9.39983593e-01 -3.41184607e-01 -4.88964301e-03 -1.28702697e+02] [-5.20783533e-03 -1.67154604e-05 -9.99986439e-01 6.90741469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42762800000003 meters 0.01178486331985983 Centerline is valid? [True, True] Translation: X:45.99, Y:-128.71, Z:0.69 [[ 2.67548643e-01 9.63543461e-01 -1.31260092e-03 4.59924604e+01] [ 9.63532056e-01 -2.67551863e-01 -4.68810977e-03 -1.28709719e+02] [-4.86838633e-03 -1.04356534e-05 -9.99988149e-01 6.90809319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45762800000003 meters 0.01178468694843414 Centerline is valid? [True, True] Translation: X:45.99, Y:-128.72, Z:0.69 [[ 1.92422383e-01 9.81311761e-01 -9.23680187e-04 4.59949571e+01] [ 9.81300569e-01 -1.92424600e-01 -4.68692012e-03 -1.28716161e+02] [-4.77706863e-03 -4.53955355e-06 -9.99988590e-01 6.90840307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48762800000003 meters 0.011825196562397345 Centerline is valid? [True, True] Translation: X:45.99, Y:-128.72, Z:0.69 [[ 1.17400813e-01 9.93084475e-01 -5.23186918e-04 4.59939777e+01] [ 9.93074362e-01 -1.17401979e-01 -4.48175796e-03 -1.28723019e+02] [-4.51218743e-03 6.59851367e-06 -9.99989820e-01 6.90122963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51762800000003 meters 0.01195710829293693 Centerline is valid? [True, True] Translation: X:46.00, Y:-128.73, Z:0.69 [[ 4.01995358e-02 9.99191657e-01 -1.70265418e-04 4.59964689e+01] [ 9.99181492e-01 -4.01998948e-02 -4.50711231e-03 -1.28729892e+02] [-4.51031367e-03 1.10577681e-05 -9.99989828e-01 6.89960685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54762800000003 meters 0.011942333394328066 Centerline is valid? [True, True] Translation: X:46.00, Y:-128.74, Z:0.69 [[-3.71910665e-02 9.99308156e-01 1.85227944e-04 4.60003907e+01] [ 9.99297783e-01 3.71915244e-02 -4.55307922e-03 -1.28736968e+02] [-4.55681811e-03 1.57640022e-05 -9.99989618e-01 6.90324827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57762800000003 meters 0.012081986763903914 Centerline is valid? [True, True] Translation: X:46.01, Y:-128.74, Z:0.69 [[-1.14023679e-01 9.93477873e-01 5.62447061e-04 4.60055663e+01] [ 9.93466750e-01 1.14025064e-01 -4.70131657e-03 -1.28744420e+02] [-4.73478705e-03 2.27110410e-05 -9.99988791e-01 6.90898183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.607628 meters 0.012236232366153225 Centerline is valid? [True, True] Translation: X:46.01, Y:-128.75, Z:0.69 [[-1.91073751e-01 9.81575187e-01 9.86468313e-04 4.60123209e+01] [ 9.81562810e-01 1.91076295e-01 -4.92935112e-03 -1.28752582e+02] [-5.02701946e-03 2.64110033e-05 -9.99987364e-01 6.91299183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.637628 meters 0.012027385103549821 Centerline is valid? [True, True] Translation: X:46.02, Y:-128.76, Z:0.69 [[-2.69540144e-01 9.62988448e-01 1.16643990e-03 4.60233824e+01] [ 9.62979636e-01 2.69542667e-01 -4.11963172e-03 -1.28758246e+02] [-4.28156308e-03 1.28517470e-05 -9.99990834e-01 6.90759333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.667628 meters 0.011880225392693159 Centerline is valid? [True, True] Translation: X:46.03, Y:-128.76, Z:0.69 [[-3.45194307e-01 9.38529789e-01 1.65078176e-03 4.60340931e+01] [ 9.38519183e-01 3.45198254e-01 -4.46200316e-03 -1.28763126e+02] [-4.75756987e-03 9.03225870e-06 -9.99988683e-01 6.90959400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.697628 meters 0.011847833481351594 Centerline is valid? [True, True] Translation: X:46.05, Y:-128.77, Z:0.69 [[-4.18174805e-01 9.08363774e-01 2.25555906e-03 4.60463348e+01] [ 9.08350649e-01 4.18180887e-01 -4.88297065e-03 -1.28766186e+02] [-5.37874534e-03 6.90323489e-06 -9.99985534e-01 6.91581065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.727628 meters 0.011926449719055075 Centerline is valid? [True, True] Translation: X:46.06, Y:-128.77, Z:0.69 [[-4.86935829e-01 8.73430403e-01 3.58184142e-03 4.60588517e+01] [ 8.73407060e-01 4.86949003e-01 -6.38557345e-03 -1.28767717e+02] [-7.32152810e-03 1.90410842e-05 -9.99973197e-01 6.93775435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.757628 meters 0.012047393459149435 Centerline is valid? [True, True] Translation: X:46.07, Y:-128.77, Z:0.69 [[-5.52246632e-01 8.33670102e-01 4.22112986e-03 4.60698528e+01] [ 8.33646226e-01 5.52262763e-01 -6.30958273e-03 -1.28769387e+02] [-7.59128332e-03 3.44831639e-05 -9.99971185e-01 6.94282030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.787628 meters 0.012281629271127418 Centerline is valid? [True, True] Translation: X:46.08, Y:-128.77, Z:0.69 [[-6.13929760e-01 7.89347737e-01 4.51656623e-03 4.60807446e+01] [ 7.89326986e-01 6.13946371e-01 -5.72384599e-03 -1.28772297e+02] [-7.29103433e-03 5.10082144e-05 -9.99973419e-01 6.94362498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.817628 meters 0.01257757474584797 Centerline is valid? [True, True] Translation: X:46.09, Y:-128.77, Z:0.69 [[-6.71553465e-01 7.40941643e-01 4.62868733e-03 4.60914881e+01] [ 7.40924750e-01 6.71569413e-01 -5.00379203e-03 -1.28772619e+02] [-6.81600272e-03 6.91951289e-05 -9.99976768e-01 6.93613617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84762800000001 meters 0.01659067270429961 Centerline is valid? [True, True] Translation: X:46.10, Y:-128.77, Z:0.70 [[-7.24473675e-01 6.89282223e-01 5.28316708e-03 4.61024409e+01] [ 6.89264943e-01 7.24492931e-01 -4.88174852e-03 -1.28771748e+02] [-7.19251967e-03 1.04803572e-04 -9.99974128e-01 6.96099170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87762800000002 meters 0.01722575242485934 Centerline is valid? [True, True] Translation: X:46.12, Y:-128.76, Z:0.70 [[-7.66197460e-01 6.42590831e-01 4.29833735e-03 4.61212484e+01] [ 6.42581627e-01 7.66209507e-01 -3.44155358e-03 -1.28758358e+02] [-5.50493772e-03 1.25122995e-04 -9.99984840e-01 6.95203518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90762800000002 meters 0.017862525676705324 Centerline is valid? [True, True] Translation: X:46.14, Y:-128.75, Z:0.69 [[-8.07370458e-01 5.90034332e-01 3.52570878e-03 4.61412545e+01] [ 5.90029321e-01 8.07378148e-01 -2.43462052e-03 -1.28745065e+02] [-4.28308992e-03 1.14630874e-04 -9.99990821e-01 6.92524852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93762800000002 meters 0.017149686820526536 Centerline is valid? [True, True] Translation: X:46.17, Y:-128.73, Z:0.69 [[-8.45259671e-01 5.34346425e-01 3.16022783e-03 4.61734454e+01] [ 5.34343173e-01 8.45265572e-01 -1.86741920e-03 -1.28730780e+02] [-3.66908055e-03 1.10192030e-04 -9.99993263e-01 6.91231826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96762800000002 meters 0.017542027570190466 Centerline is valid? [True, True] Translation: X:46.20, Y:-128.71, Z:0.69 [[-8.78387922e-01 4.77942707e-01 2.32983211e-03 4.61969725e+01] [ 4.77941301e-01 8.78391007e-01 -1.16295284e-03 -1.28710542e+02] [-2.60232840e-03 9.19992580e-05 -9.99996610e-01 6.90536073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99762800000002 meters 0.01852762153096827 Centerline is valid? [True, True] Translation: X:46.21, Y:-128.69, Z:0.69 [[-9.09377161e-01 4.15967831e-01 1.98579770e-03 4.62140713e+01] [ 4.15967028e-01 9.09379326e-01 -8.21112424e-04 -1.28688321e+02] [-2.14739973e-03 7.93254820e-05 -9.99997691e-01 6.90439016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02762800000002 meters 0.019270441321942798 Centerline is valid? [True, True] Translation: X:46.23, Y:-128.67, Z:0.69 [[-9.36320577e-01 3.51144330e-01 1.19846296e-03 4.62322720e+01] [ 3.51144107e-01 9.36321343e-01 -3.98900336e-04 -1.28665334e+02] [-1.26221804e-03 4.73346130e-05 -9.99999202e-01 6.90217637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05762800000002 meters 0.019270441321942798 Centerline is valid? [True, True] Translation: X:46.51, Y:-127.85, Z:-0.20 [[-9.39137377e-01 -3.43539868e-01 1.16041681e-03 4.65141133e+01] [ 3.43539543e-01 -9.39138093e-01 -4.75125376e-04 -1.27850476e+02] [ 1.25301614e-03 -4.75589377e-05 9.99999214e-01 -2.02463969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08762800000002 meters 0.019306427759218658 Centerline is valid? [True, True] Translation: X:46.18, Y:-128.65, Z:0.69 [[-9.38086430e-01 3.46401283e-01 1.42574536e-05 4.61843474e+01] [ 3.46401283e-01 9.38086430e-01 -5.02478330e-06 -1.28647666e+02] [-1.51153153e-05 2.25119200e-07 -1.00000000e+00 6.89665092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11762800000002 meters 0.017946595337724996 Centerline is valid? [True, True] Translation: X:46.46, Y:-127.84, Z:-0.20 [[-9.39340109e-01 -3.42986277e-01 -7.57706825e-04 4.64623164e+01] [ 3.42986185e-01 -9.39340414e-01 2.52485809e-04 -1.27839796e+02] [-7.98343810e-04 -2.27129266e-05 9.99999681e-01 -2.01629007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14762800000003 meters 0.017469031924960965 Centerline is valid? [True, True] Translation: X:46.14, Y:-128.63, Z:0.69 [[-9.41011213e-01 3.38374393e-01 -8.16435785e-04 4.61419968e+01] [ 3.38374291e-01 9.41011567e-01 2.64527226e-04 -1.28629285e+02] [ 8.57784757e-04 -2.73377936e-05 -9.99999632e-01 6.89255873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17762800000003 meters 0.016889729398179013 Centerline is valid? [True, True] Translation: X:46.15, Y:-128.60, Z:0.69 [[-9.63546623e-01 2.67538149e-01 -1.11515071e-03 4.61486280e+01] [ 2.67538009e-01 9.63547268e-01 2.75801122e-04 -1.28599619e+02] [ 1.14828774e-03 -3.25979593e-05 -9.99999340e-01 6.89591328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20762800000003 meters 0.01566556209309032 Centerline is valid? [True, True] Translation: X:46.16, Y:-128.57, Z:0.69 [[-9.80807047e-01 1.94979759e-01 -6.56655466e-04 4.61621018e+01] [ 1.94979726e-01 9.80807266e-01 1.13690592e-04 -1.28569607e+02] [ 6.66219816e-04 -1.65259691e-05 -9.99999778e-01 6.90208363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23762800000003 meters 0.013408160433364544 Centerline is valid? [True, True] Translation: X:46.31, Y:-127.76, Z:-0.20 [[-9.75379417e-01 -2.20533234e-01 2.91801072e-04 4.63064368e+01] [ 2.20533242e-01 -9.75379459e-01 -3.24025718e-06 -1.27755849e+02] [ 2.85331356e-04 6.11913564e-05 9.99999957e-01 -2.04110593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26762800000003 meters 0.012655937380483333 Centerline is valid? [True, True] Translation: X:46.10, Y:-128.55, Z:0.69 [[-9.83783480e-01 1.79358834e-01 6.87776881e-04 4.61017092e+01] [ 1.79358797e-01 9.83783720e-01 -1.16629656e-04 -1.28548649e+02] [-6.97542258e-04 8.62050429e-06 -9.99999757e-01 6.92336643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29762800000003 meters 0.012500389106247164 Centerline is valid? [True, True] Translation: X:46.11, Y:-128.52, Z:0.69 [[-9.94361809e-01 1.06033927e-01 1.18291514e-03 4.61068632e+01] [ 1.06033865e-01 9.94362512e-01 -1.14760013e-04 -1.28520118e+02] [-1.18841493e-03 1.13160907e-05 -9.99999294e-01 6.93050429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32762800000003 meters 0.011758289313930477 Centerline is valid? [True, True] Translation: X:46.11, Y:-128.49, Z:0.69 [[-9.99530864e-01 3.05570378e-02 2.07853020e-03 4.61074818e+01] [ 3.05569937e-02 9.99533025e-01 -5.29833801e-05 -1.28489398e+02] [-2.07917859e-03 1.05551104e-05 -9.99997838e-01 6.93434495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.357628 meters 0.011696301257853372 Centerline is valid? [True, True] Translation: X:46.14, Y:-127.69, Z:-0.21 [[-9.96051880e-01 -8.87449780e-02 2.23165856e-03 4.61355876e+01] [ 8.87447539e-02 -9.96054380e-01 -1.99435522e-04 -1.27685235e+02] [ 2.24055219e-03 -6.00136743e-07 9.99997490e-01 -2.05970626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.387628 meters 0.011601574906005028 Centerline is valid? [True, True] Translation: X:46.02, Y:-128.49, Z:0.69 [[-9.99739366e-01 2.27040262e-02 2.39306518e-03 4.60208978e+01] [ 2.27039766e-02 9.99742230e-01 -4.78602574e-05 -1.28486480e+02] [-2.39353495e-03 6.48431262e-06 -9.99997135e-01 6.93808096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.417628 meters 0.011540867828023906 Centerline is valid? [True, True] Translation: X:46.02, Y:-128.46, Z:0.69 [[-9.98795967e-01 -4.90132578e-02 2.07756968e-03 4.60209637e+01] [-4.90131423e-02 9.98798128e-01 1.06498417e-04 -1.28459324e+02] [-2.08029254e-03 4.54197135e-06 -9.99997836e-01 6.94923774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.447628 meters 0.011655192450581447 Centerline is valid? [True, True] Translation: X:46.02, Y:-128.43, Z:0.70 [[-9.92853738e-01 -1.19315584e-01 2.29049006e-03 4.60184413e+01] [-1.19315251e-01 9.92856380e-01 2.82145702e-04 -1.28433518e+02] [-2.30779205e-03 6.83901899e-06 -9.99997337e-01 6.95119349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.477628 meters 0.011783713068210315 Centerline is valid? [True, True] Translation: X:46.01, Y:-128.41, Z:0.69 [[-9.81978309e-01 -1.88979485e-01 2.31408461e-03 4.60054477e+01] [-1.88978936e-01 9.81981036e-01 4.55560172e-04 -1.28410219e+02] [-2.35847873e-03 1.00369591e-05 -9.99997219e-01 6.94906340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.507628 meters 0.011964560664088329 Centerline is valid? [True, True] Translation: X:45.97, Y:-128.39, Z:0.69 [[-9.66242661e-01 -2.57627053e-01 1.84991745e-03 4.59726559e+01] [-2.57626557e-01 9.66244431e-01 5.05805881e-04 -1.28392267e+02] [-1.91778171e-03 1.21433577e-05 -9.99998161e-01 6.94152370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.537628 meters 0.012717087486273494 Centerline is valid? [True, True] Translation: X:45.92, Y:-128.39, Z:0.69 [[-9.46146581e-01 -3.23736985e-01 1.00631730e-03 4.59201986e+01] [-3.23736789e-01 9.46147116e-01 3.56397863e-04 -1.28385808e+02] [-1.06750338e-03 1.14226885e-05 -9.99999430e-01 6.93679290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.567628 meters 0.013287341041846108 Centerline is valid? [True, True] Translation: X:45.86, Y:-128.38, Z:0.69 [[-9.20569448e-01 -3.90577363e-01 1.10210207e-03 4.58553119e+01] [-3.90577062e-01 9.20570108e-01 4.85007350e-04 -1.28384865e+02] [-1.20399511e-03 1.60271606e-05 -9.99999275e-01 6.93829990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59762800000001 meters 0.014003363478950644 Centerline is valid? [True, True] Translation: X:45.78, Y:-128.39, Z:0.69 [[-8.90039042e-01 -4.55883575e-01 8.18663759e-04 4.57841199e+01] [-4.55883367e-01 8.90039418e-01 4.35814089e-04 -1.28392018e+02] [-9.27323501e-04 1.46763630e-05 -9.99999570e-01 6.93840195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62762800000002 meters 0.014791266285104642 Centerline is valid? [True, True] Translation: X:45.70, Y:-128.41, Z:0.69 [[-8.54316750e-01 -5.19752311e-01 6.52849578e-04 4.57027518e+01] [-5.19752147e-01 8.54316999e-01 4.13409042e-04 -1.28410960e+02] [-7.72610798e-04 1.38622997e-05 -9.99999701e-01 6.93488916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65762800000002 meters 0.01614010351169397 Centerline is valid? [True, True] Translation: X:45.62, Y:-128.44, Z:0.69 [[-8.14762706e-01 -5.79793657e-01 1.02373198e-03 4.56162269e+01] [-5.79793156e-01 8.14763349e-01 7.62979702e-04 -1.28442425e+02] [-1.27647009e-03 2.80946120e-05 -9.99999185e-01 6.94072686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68762800000002 meters 0.016451262582176558 Centerline is valid? [True, True] Translation: X:45.53, Y:-128.48, Z:0.69 [[-7.68543249e-01 -6.39797101e-01 9.71701419e-04 4.55276384e+01] [-6.39796542e-01 7.68543862e-01 8.46428227e-04 -1.28478148e+02] [-1.28833749e-03 2.88254912e-05 -9.99999170e-01 6.94099785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71762800000002 meters 0.016479378995533273 Centerline is valid? [True, True] Translation: X:45.43, Y:-128.53, Z:0.69 [[-7.17329915e-01 -6.96732613e-01 1.20818716e-03 4.54314147e+01] [-6.96731534e-01 7.17330931e-01 1.22677786e-03 -1.28529306e+02] [-1.72140616e-03 3.82223667e-05 -9.99998518e-01 6.94787404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74762800000002 meters 0.01680404002343428 Centerline is valid? [True, True] Translation: X:45.34, Y:-128.58, Z:0.70 [[-6.61625442e-01 -7.49829415e-01 2.76087659e-03 4.53430494e+01] [-7.49822283e-01 6.61631196e-01 3.27184749e-03 -1.28584742e+02] [-4.28000957e-03 9.45707561e-05 -9.99990836e-01 6.96184002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77762800000002 meters 0.01709969416179324 Centerline is valid? [True, True] Translation: X:45.25, Y:-128.65, Z:0.70 [[-6.02273083e-01 -7.98283885e-01 3.15786063e-03 4.52540195e+01] [-7.98271844e-01 6.02281350e-01 4.38621069e-03 -1.28652858e+02] [-5.40336187e-03 1.20865408e-04 -9.99985394e-01 6.97340240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80762800000002 meters 0.01508968184021372 Centerline is valid? [True, True] Translation: X:45.16, Y:-128.73, Z:0.70 [[-5.38849011e-01 -8.42396447e-01 3.15745687e-03 4.51649680e+01] [-8.42380504e-01 5.38858245e-01 5.18449873e-03 -1.28728218e+02] [-6.06882498e-03 1.33881906e-04 -9.99981576e-01 6.97492777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83762800000002 meters 0.014883363262484087 Centerline is valid? [True, True] Translation: X:45.08, Y:-128.81, Z:0.70 [[-4.71605374e-01 -8.81802539e-01 3.55713798e-03 4.50846962e+01] [-8.81774739e-01 4.71618760e-01 7.00398097e-03 -1.28811308e+02] [-7.85374120e-03 1.66520648e-04 -9.99969145e-01 6.98682823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86762800000002 meters 0.014789267565932357 Centerline is valid? [True, True] Translation: X:45.01, Y:-128.90, Z:0.70 [[-4.01748010e-01 -9.15744197e-01 3.33214115e-03 4.50105542e+01] [-9.15708866e-01 4.01761787e-01 8.04610266e-03 -1.28902747e+02] [-8.70689880e-03 1.81234537e-04 -9.99962078e-01 6.99744307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89762800000003 meters 0.01703860266194519 Centerline is valid? [True, True] Translation: X:44.94, Y:-129.01, Z:0.70 [[-3.29684986e-01 -9.44085471e-01 3.22998106e-03 4.49412772e+01] [-9.44033565e-01 3.29700737e-01 9.90207289e-03 -1.29005970e+02] [-1.04133303e-02 2.15354226e-04 -9.99945757e-01 7.02449486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92762800000003 meters 0.017304094687803726 Centerline is valid? [True, True] Translation: X:44.89, Y:-129.11, Z:0.70 [[-2.54786522e-01 -9.66994750e-01 2.23210013e-03 4.48854250e+01] [-9.66950936e-01 2.54796230e-01 9.20701962e-03 -1.29111046e+02] [-9.47187033e-03 1.87493198e-04 -9.99955123e-01 7.02693914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95762800000003 meters 0.013916153374075695 Centerline is valid? [True, True] Translation: X:44.83, Y:-129.22, Z:0.70 [[-1.77684492e-01 -9.84086512e-01 1.39943179e-03 4.48273476e+01] [-9.84048507e-01 1.77689931e-01 8.65014912e-03 -1.29222886e+02] [-8.76116002e-03 1.59888597e-04 -9.99961608e-01 6.99094963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98762800000003 meters 0.013430521177398961 Centerline is valid? [True, True] Translation: X:44.78, Y:-129.34, Z:0.70 [[-9.97352018e-02 -9.95013802e-01 6.51253504e-04 4.47836575e+01] [-9.94983001e-01 9.97372394e-02 7.83012222e-03 -1.29336594e+02] [-7.85603390e-03 1.32952654e-04 -9.99969132e-01 6.97864302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01762800000003 meters 0.013636292187836265 Centerline is valid? [True, True] Translation: X:44.75, Y:-129.46, Z:0.70 [[-2.08186278e-02 -9.99783268e-01 3.85747700e-05 4.47505832e+01] [-9.99760030e-01 2.08184069e-02 6.81732925e-03 -1.29456063e+02] [-6.81665479e-03 1.03361927e-04 -9.99976761e-01 6.96917583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04762800000003 meters 0.012864087632437071 Centerline is valid? [True, True] Translation: X:44.72, Y:-129.57, Z:0.70 [[ 5.88553033e-02 -9.98266446e-01 -3.94146028e-04 4.47243613e+01] [-9.98251422e-01 -5.88565802e-02 5.47736866e-03 -1.29573190e+02] [-5.49107143e-03 7.10846392e-05 -9.99984921e-01 6.95963389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07762800000003 meters 0.012235584282548357 Centerline is valid? [True, True] Translation: X:44.71, Y:-129.70, Z:0.69 [[ 1.40796946e-01 -9.90038312e-01 -6.01536174e-04 4.47078381e+01] [-9.90030239e-01 -1.40798227e-01 3.99809712e-03 -1.29698277e+02] [-4.04296455e-03 3.26191394e-05 -9.99991827e-01 6.94821590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.107628 meters 0.012013534915469021 Centerline is valid? [True, True] Translation: X:44.70, Y:-129.82, Z:0.70 [[ 2.19427485e-01 -9.75628356e-01 -9.42861803e-04 4.47018000e+01] [-9.75619802e-01 -2.19429509e-01 4.08571289e-03 -1.29824680e+02] [-4.19302905e-03 2.33569414e-05 -9.99991209e-01 6.95000349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.137628 meters 0.011785543347801193 Centerline is valid? [True, True] Translation: X:44.70, Y:-129.95, Z:0.70 [[ 2.96286176e-01 -9.55098677e-01 -1.00956109e-03 4.47047845e+01] [-9.55093266e-01 -2.96287896e-01 3.21507979e-03 -1.29946947e+02] [-3.36983918e-03 1.16413008e-05 -9.99994322e-01 6.95255063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.167628 meters 0.011766506715203386 Centerline is valid? [True, True] Translation: X:44.72, Y:-130.07, Z:0.70 [[ 3.72714941e-01 -9.27945426e-01 -9.27221171e-04 4.47177935e+01] [-9.27942549e-01 -3.72716094e-01 2.31070525e-03 -1.30069178e+02] [-2.48979862e-03 -8.26392764e-07 -9.99996900e-01 6.95107855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.197628 meters 0.011760464439479115 Centerline is valid? [True, True] Translation: X:44.74, Y:-130.19, Z:0.70 [[ 4.44684014e-01 -8.95686723e-01 -1.19210342e-03 4.47404606e+01] [-8.95683475e-01 -4.44685612e-01 2.41238329e-03 -1.30187954e+02] [-2.69085092e-03 -5.00095217e-06 -9.99996380e-01 6.95023765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.227628 meters 0.011800255456390527 Centerline is valid? [True, True] Translation: X:44.77, Y:-130.30, Z:0.70 [[ 5.13716098e-01 -8.57958992e-01 -1.46268383e-03 4.47720019e+01] [-8.57955462e-01 -5.13718180e-01 2.46110162e-03 -1.30303963e+02] [-2.86293154e-03 -9.38994006e-06 -9.99995902e-01 6.95206912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.257628 meters 0.01189304788154966 Centerline is valid? [True, True] Translation: X:44.81, Y:-130.42, Z:0.70 [[ 5.78987106e-01 -8.15333832e-01 -2.16179559e-03 4.48125281e+01] [-8.15328050e-01 -5.78991142e-01 3.07064240e-03 -1.30416711e+02] [-3.75525913e-03 -1.52897742e-05 -9.99992949e-01 6.95760209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.287628 meters 0.011905245817220744 Centerline is valid? [True, True] Translation: X:44.86, Y:-130.52, Z:0.70 [[ 6.40909911e-01 -7.67607220e-01 -3.69346592e-03 4.48572650e+01] [-7.67594200e-01 -6.40920553e-01 4.47087531e-03 -1.30518793e+02] [-5.79909439e-03 -3.03452735e-05 -9.99983185e-01 6.97764641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.317628 meters 0.01198982747973633 Centerline is valid? [True, True] Translation: X:44.91, Y:-130.62, Z:0.70 [[ 6.98252376e-01 -7.15836001e-01 -4.73690713e-03 4.49083311e+01] [-7.15819154e-01 -6.98268442e-01 4.91139452e-03 -1.30616210e+02] [-6.82338578e-03 -3.86240487e-05 -9.99976720e-01 6.98382514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34762800000001 meters 0.012002999860183104 Centerline is valid? [True, True] Translation: X:44.97, Y:-130.71, Z:0.70 [[ 7.51206139e-01 -6.60044487e-01 -5.53271040e-03 4.49710957e+01] [-6.60026155e-01 -7.51226512e-01 4.91958777e-03 -1.30713530e+02] [-7.40346553e-03 -4.38909667e-05 -9.99972593e-01 6.98859736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37762800000002 meters 0.011981561914244999 Centerline is valid? [True, True] Translation: X:44.97, Y:-130.72, Z:0.70 [[ 8.00343345e-01 -5.99512343e-01 -5.95650913e-03 4.49679194e+01] [-5.99495339e-01 -8.00365509e-01 4.51554556e-03 -1.30718052e+02] [-7.47450976e-03 -4.30873794e-05 -9.99972065e-01 6.99825319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40762800000002 meters 0.012038656772987526 Centerline is valid? [True, True] Translation: X:44.96, Y:-130.72, Z:0.70 [[ 8.44255552e-01 -5.35900869e-01 -6.54375931e-03 4.49635223e+01] [-5.35884424e-01 -8.44280911e-01 4.19842481e-03 -1.30722072e+02] [-7.77471058e-03 -3.78447675e-05 -9.99969776e-01 7.00462285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43762800000002 meters 0.011927387702262718 Centerline is valid? [True, True] Translation: X:44.96, Y:-130.73, Z:0.70 [[ 8.83237388e-01 -4.68873119e-01 -7.05089003e-03 4.49574794e+01] [-4.68857879e-01 -8.83265530e-01 3.78057804e-03 -1.30729132e+02] [-8.00041954e-03 -3.32825288e-05 -9.99967996e-01 6.99379953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46762800000002 meters 0.011952139439901505 Centerline is valid? [True, True] Translation: X:44.95, Y:-130.74, Z:0.70 [[ 9.17182276e-01 -3.98419249e-01 -6.22693313e-03 4.49501979e+01] [-3.98409859e-01 -9.17203413e-01 2.73542655e-03 -1.30738607e+02] [-6.80121091e-03 -2.80131971e-05 -9.99976871e-01 6.99225586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49762800000002 meters 0.01200004473603083 Centerline is valid? [True, True] Translation: X:44.94, Y:-130.75, Z:0.70 [[ 9.45643815e-01 -3.25145509e-01 -6.17845564e-03 4.49441746e+01] [-3.25138367e-01 -9.45663998e-01 2.15533520e-03 -1.30746099e+02] [-6.54354062e-03 -2.93264272e-05 -9.99978590e-01 6.99650225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52762800000002 meters 0.012047868964327958 Centerline is valid? [True, True] Translation: X:44.94, Y:-130.76, Z:0.70 [[ 9.68297897e-01 -2.49726401e-01 -5.99231467e-03 4.49397364e+01] [-2.49721419e-01 -9.68316438e-01 1.57772464e-03 -1.30755014e+02] [-6.19645629e-03 -3.12981265e-05 -9.99980801e-01 6.99176990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55762800000002 meters 0.012079713434013789 Centerline is valid? [True, True] Translation: X:44.93, Y:-130.76, Z:0.70 [[ 9.84886949e-01 -1.73087809e-01 -6.18942873e-03 4.49331759e+01] [-1.73084185e-01 -9.84906396e-01 1.12046153e-03 -1.30763072e+02] [-6.28994617e-03 -3.22357081e-05 -9.99980218e-01 6.99594677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58762800000002 meters 0.01218473946478908 Centerline is valid? [True, True] Translation: X:44.93, Y:-130.77, Z:0.70 [[ 9.95418741e-01 -9.54049364e-02 -6.27925135e-03 4.49269012e+01] [-9.54028306e-02 -9.95438545e-01 6.34716980e-04 -1.30770166e+02] [-6.31116397e-03 -3.27508233e-05 -9.99980084e-01 6.99978153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61762800000002 meters 0.012174909646202079 Centerline is valid? [True, True] Translation: X:44.92, Y:-130.78, Z:0.70 [[ 9.99807391e-01 -1.84095870e-02 -6.80199039e-03 4.49214438e+01] [-1.84089768e-02 -9.99830529e-01 1.52315992e-04 -1.30779688e+02] [-6.80364172e-03 -2.70689716e-05 -9.99976855e-01 7.01359599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64762800000003 meters 0.012134235587880685 Centerline is valid? [True, True] Translation: X:44.92, Y:-130.79, Z:0.70 [[ 9.98215781e-01 5.92541074e-02 -7.36239016e-03 4.49170693e+01] [ 5.92526754e-02 -9.98242931e-01 -4.12670809e-04 -1.30788342e+02] [-7.37390637e-03 -2.43068004e-05 -9.99972812e-01 7.02299808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67762800000003 meters 0.012161332921215538 Centerline is valid? [True, True] Translation: X:44.91, Y:-130.80, Z:0.70 [[ 9.90594555e-01 1.36585480e-01 -8.17527118e-03 4.49133731e+01] [ 1.36581009e-01 -9.90628289e-01 -1.10539252e-03 -1.30796465e+02] [-8.24963547e-03 -2.15909769e-05 -9.99965971e-01 7.02798656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70762800000003 meters 0.014536176296876075 Centerline is valid? [True, True] Translation: X:44.91, Y:-130.80, Z:0.71 [[ 9.77190664e-01 2.12143898e-01 -9.66299312e-03 4.49085874e+01] [ 2.12133631e-01 -9.77238439e-01 -2.08715031e-03 -1.30804365e+02] [-9.88582452e-03 -1.03020224e-05 -9.99951134e-01 7.06224323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73762800000003 meters 0.014582605938533602 Centerline is valid? [True, True] Translation: X:44.91, Y:-130.81, Z:0.71 [[ 9.58017970e-01 2.86515013e-01 -1.05221982e-02 4.49057486e+01] [ 2.86497674e-01 -9.58075753e-01 -3.15200091e-03 -1.30814876e+02] [-1.09841586e-02 5.08819817e-06 -9.99939672e-01 7.07579261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76762800000003 meters 0.014582605938533602 Centerline is valid? [True, True] Translation: X:44.90, Y:-130.83, Z:0.71 [[ 9.32640270e-01 3.60662178e-01 -1.02430357e-02 4.49034375e+01] [ 3.60640368e-01 -9.32696517e-01 -3.96631090e-03 -1.30825786e+02] [-1.09841421e-02 5.08910574e-06 -9.99939672e-01 7.07579112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79762800000003 meters 0.012283902932943713 Centerline is valid? [True, True] Translation: X:44.90, Y:-130.84, Z:0.71 [[ 9.02102537e-01 4.31406847e-01 -9.95717333e-03 4.49013182e+01] [ 4.31380330e-01 -9.02157487e-01 -4.78325038e-03 -1.30835968e+02] [-1.10464654e-02 1.96535916e-05 -9.99938986e-01 7.06786169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82762800000003 meters 0.012265215269747087 Centerline is valid? [True, True] Translation: X:44.90, Y:-130.85, Z:0.71 [[ 8.66081030e-01 4.99831762e-01 -8.47694891e-03 4.49001979e+01] [ 4.99807512e-01 -8.66122514e-01 -4.92361259e-03 -1.30845276e+02] [-9.80305426e-03 2.74047219e-05 -9.99951949e-01 7.05944163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.857628 meters 0.012165012159101877 Centerline is valid? [True, True] Translation: X:44.90, Y:-130.85, Z:0.70 [[ 8.24858836e-01 5.65295077e-01 -7.02684275e-03 4.48992318e+01] [ 5.65274236e-01 -8.24888765e-01 -4.85420418e-03 -1.30854021e+02] [-8.54042137e-03 3.19400469e-05 -9.99963529e-01 7.04263412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.887628 meters 0.012200005220823755 Centerline is valid? [True, True] Translation: X:44.90, Y:-130.86, Z:0.70 [[ 7.78698204e-01 6.27373830e-01 -5.58440731e-03 4.48985865e+01] [ 6.27357384e-01 -7.78718227e-01 -4.54268188e-03 -1.30861905e+02] [-7.19863948e-03 3.39590539e-05 -9.99974089e-01 7.02556281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.917628 meters 0.015607032555980394 Centerline is valid? [True, True] Translation: X:44.90, Y:-130.87, Z:0.70 [[ 7.29011381e-01 6.84491054e-01 -3.79515403e-03 4.48993248e+01] [ 6.84481502e-01 -7.29021259e-01 -3.61633170e-03 -1.30871867e+02] [-5.24209467e-03 3.86342410e-05 -9.99986259e-01 7.03634312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.947628 meters 0.012366779763224804 Centerline is valid? [True, True] Translation: X:44.90, Y:-130.88, Z:0.70 [[ 6.73254184e-01 7.39406628e-01 -2.57708249e-03 4.49013559e+01] [ 7.39401047e-01 -6.73259116e-01 -2.87296484e-03 -1.30882636e+02] [-3.85933353e-03 2.87381069e-05 -9.99992552e-01 7.01321908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.977628 meters 0.012366779763224804 Centerline is valid? [True, True] Translation: X:44.90, Y:-130.89, Z:0.70 [[ 6.13280976e-01 7.89861349e-01 -2.34416338e-03 4.49044429e+01] [ 7.89855399e-01 -6.13285455e-01 -3.06595083e-03 -1.30893944e+02] [-3.85931736e-03 2.87392192e-05 -9.99992552e-01 7.01321764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.007628 meters 0.012358131826406535 Centerline is valid? [True, True] Translation: X:44.91, Y:-130.90, Z:0.70 [[ 5.49849938e-01 8.35261913e-01 -1.60717639e-03 4.49079303e+01] [ 8.35258222e-01 -5.49852286e-01 -2.48307890e-03 -1.30904452e+02] [-2.95773084e-03 2.29134859e-05 -9.99995626e-01 7.01448617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.037628 meters 0.012516211261201655 Centerline is valid? [True, True] Translation: X:44.91, Y:-130.91, Z:0.70 [[ 4.83082270e-01 8.75574815e-01 -5.13471398e-04 4.49096375e+01] [ 8.75574302e-01 -4.83082542e-01 -9.48357957e-04 -1.30914756e+02] [-1.07840741e-03 8.55255304e-06 -9.99999419e-01 7.01379534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.067628 meters 0.012364300709751879 Centerline is valid? [True, True] Translation: X:44.91, Y:-130.92, Z:0.70 [[ 4.13071765e-01 9.10698470e-01 -1.20800768e-04 4.49143764e+01] [ 9.10698429e-01 -4.13071783e-01 -2.71382879e-04 -1.30924123e+02] [-2.97047361e-04 2.08753509e-06 -9.99999956e-01 7.00344423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09762800000001 meters 0.012438371691409093 Centerline is valid? [True, True] Translation: X:44.92, Y:-130.93, Z:0.70 [[ 3.40464693e-01 9.40257295e-01 1.13164814e-04 4.49182698e+01] [ 9.40257239e-01 -3.40464712e-01 3.22136249e-04 -1.30934124e+02] [ 3.41419584e-04 -3.27198324e-06 -9.99999942e-01 6.99629042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12762800000002 meters 0.012275118815851782 Centerline is valid? [True, True] Translation: X:44.92, Y:-130.94, Z:0.70 [[ 2.65458365e-01 9.64122319e-01 1.01599568e-04 4.49247593e+01] [ 9.64122243e-01 -2.65458384e-01 3.82518921e-04 -1.30943320e+02] [ 3.95765486e-04 -3.58844374e-06 -9.99999922e-01 6.99562959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15762800000002 meters 0.012084885205095824 Centerline is valid? [True, True] Translation: X:44.93, Y:-130.95, Z:0.70 [[ 1.87037900e-01 9.82352689e-01 -1.36489474e-04 4.49346604e+01] [ 9.82352411e-01 -1.87037950e-01 -7.38428583e-04 -1.30952626e+02] [-7.50926015e-04 4.03336770e-06 -9.99999718e-01 7.01122201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18762800000002 meters 0.011913883074838927 Centerline is valid? [True, True] Translation: X:44.94, Y:-130.96, Z:0.70 [[ 1.08014493e-01 9.94149309e-01 -1.40816488e-04 4.49436102e+01] [ 9.94148397e-01 -1.08014585e-01 -1.34725639e-03 -1.30961581e+02] [-1.35458424e-03 5.53073020e-06 -9.99999083e-01 7.01967838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21762800000002 meters 0.011693657482651257 Centerline is valid? [True, True] Translation: X:44.95, Y:-130.97, Z:0.70 [[ 2.82245481e-02 9.99601606e-01 -6.27504873e-05 4.49528511e+01] [ 9.99598596e-01 -2.82246171e-02 -2.45313046e-03 -1.30969968e+02] [-2.45392425e-03 6.51319959e-06 -9.99996989e-01 7.03217446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24762800000002 meters 0.011671307522317617 Centerline is valid? [True, True] Translation: X:44.97, Y:-130.98, Z:0.71 [[-5.28630893e-02 9.98601730e-01 2.80962193e-04 4.49657668e+01] [ 9.98587645e-01 5.28638360e-02 -5.30387531e-03 -1.30976414e+02] [-5.31131180e-03 1.86140197e-07 -9.99985895e-01 7.06147026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27762800000002 meters 0.011660914918991837 Centerline is valid? [True, True] Translation: X:44.98, Y:-130.98, Z:0.71 [[-1.31517001e-01 9.91313579e-01 8.16436309e-04 4.49759027e+01] [ 9.91294311e-01 1.31519535e-01 -6.18068299e-03 -1.30982069e+02] [-6.23437230e-03 -3.53622036e-06 -9.99980566e-01 7.07200777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30762800000002 meters 0.011613857077279344 Centerline is valid? [True, True] Translation: X:44.99, Y:-130.99, Z:0.71 [[-2.09075966e-01 9.77898449e-01 1.36546045e-03 4.49886987e+01] [ 9.77877412e-01 2.09080424e-01 -6.41427346e-03 -1.30985952e+02] [-6.55799912e-03 -5.81748611e-06 -9.99978496e-01 7.08212743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33762800000002 meters 0.01162337631678449 Centerline is valid? [True, True] Translation: X:45.00, Y:-130.99, Z:0.71 [[-2.84661718e-01 9.58625853e-01 2.04452618e-03 4.50001414e+01] [ 9.58601042e-01 2.84669060e-01 -6.89698831e-03 -1.30989739e+02] [-7.19364465e-03 -3.42361341e-06 -9.99974125e-01 7.08707517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36762800000002 meters 0.011622503054353282 Centerline is valid? [True, True] Translation: X:45.01, Y:-130.99, Z:0.71 [[-3.56777712e-01 9.34186682e-01 2.21502464e-03 4.50081023e+01] [ 9.34168870e-01 3.56784588e-01 -5.76891192e-03 -1.30993088e+02] [-6.17952734e-03 1.09878667e-05 -9.99980906e-01 7.07454571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39762800000003 meters 0.01163769143440877 Centerline is valid? [True, True] Translation: X:45.02, Y:-131.00, Z:0.71 [[-4.27524215e-01 9.04001190e-01 2.21214354e-03 4.50168000e+01] [ 9.03989291e-01 4.27529938e-01 -4.63841148e-03 -1.30995903e+02] [-5.13888709e-03 1.67208422e-05 -9.99986796e-01 7.06474536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42762800000003 meters 0.011747574582887079 Centerline is valid? [True, True] Translation: X:45.03, Y:-131.00, Z:0.71 [[-4.95728975e-01 8.68474780e-01 2.08330693e-03 4.50263505e+01] [ 8.68467276e-01 4.95733352e-01 -3.61027010e-03 -1.30997694e+02] [-4.16819326e-03 1.95683985e-05 -9.99991313e-01 7.05978491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45762800000003 meters 0.011841361833167767 Centerline is valid? [True, True] Translation: X:45.04, Y:-131.00, Z:0.71 [[-5.60828223e-01 8.27929847e-01 1.96805742e-03 4.50362440e+01] [ 8.27924888e-01 5.60831676e-01 -2.86559224e-03 -1.30998474e+02] [-3.47625829e-03 2.22987125e-05 -9.99993958e-01 7.05418551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48762800000003 meters 0.012216771018790576 Centerline is valid? [True, True] Translation: X:45.04, Y:-131.00, Z:0.70 [[-6.22355332e-01 7.82732660e-01 1.85051957e-03 4.50447046e+01] [ 7.82729318e-01 6.22358083e-01 -2.28735742e-03 -1.31000878e+02] [-2.94207517e-03 2.49068317e-05 -9.99995672e-01 7.04867355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51762800000003 meters 0.012223760062482807 Centerline is valid? [True, True] Translation: X:45.05, Y:-131.00, Z:0.70 [[-6.81301822e-01 7.32000332e-01 1.82780037e-03 4.50547328e+01] [ 7.31997792e-01 6.81304274e-01 -1.92851466e-03 -1.31000863e+02] [-2.65696158e-03 2.40452881e-05 -9.99996470e-01 7.04989664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54762800000003 meters 0.012206287519188829 Centerline is valid? [True, True] Translation: X:45.06, Y:-131.00, Z:0.71 [[-7.36579087e-01 6.76344369e-01 3.08922519e-03 4.50648825e+01] [ 6.76338635e-01 7.36585564e-01 -2.78528210e-03 -1.30999404e+02] [-4.15928854e-03 3.77818071e-05 -9.99991349e-01 7.06652151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57762800000003 meters 0.01204071856058056 Centerline is valid? [True, True] Translation: X:45.09, Y:-130.98, Z:0.71 [[-7.83097545e-01 6.21884287e-01 4.26248885e-03 4.50880944e+01] [ 6.21875384e-01 7.83109144e-01 -3.32791541e-03 -1.30982560e+02] [-5.40757229e-03 4.46545016e-05 -9.99985378e-01 7.07127421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.607628 meters 0.012590326507557686 Centerline is valid? [True, True] Translation: X:45.60, Y:-130.35, Z:-0.22 [[-7.49744860e-01 -6.61705317e-01 5.35884560e-03 4.55950127e+01] [ 6.61688826e-01 -7.49764010e-01 -4.67182396e-03 -1.30348112e+02] [ 7.10924032e-03 4.32122554e-05 9.99974728e-01 -2.21070724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.637628 meters 0.011978050004491654 Centerline is valid? [True, True] Translation: X:45.58, Y:-130.38, Z:-0.22 [[-7.02340504e-01 -7.11819392e-01 5.56510375e-03 4.55796530e+01] [ 7.11796554e-01 -7.02362550e-01 -5.70211507e-03 -1.30376368e+02] [ 7.96759654e-03 -4.36047015e-05 9.99968257e-01 -2.21458349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.667628 meters 0.011650839817629282 Centerline is valid? [True, True] Translation: X:45.56, Y:-130.36, Z:-0.22 [[-7.00087393e-01 -7.14024964e-01 6.78177429e-03 4.55583020e+01] [ 7.13991203e-01 -7.00120240e-01 -6.94345953e-03 -1.30359205e+02] [ 9.70586088e-03 -1.89012921e-05 9.99952897e-01 -2.22867019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.697628 meters 0.01161521393021405 Centerline is valid? [True, True] Translation: X:45.54, Y:-130.34, Z:-0.22 [[-6.99298216e-01 -7.14792643e-01 7.31316465e-03 4.55374098e+01] [ 7.14753471e-01 -6.99336455e-01 -7.48326357e-03 -1.30340265e+02] [ 1.04633444e-02 -5.92304337e-06 9.99945258e-01 -2.22908271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.727628 meters 0.014906125859135276 Centerline is valid? [True, True] Translation: X:45.52, Y:-130.32, Z:-0.23 [[-6.98887702e-01 -7.15186227e-01 8.03995231e-03 4.55169489e+01] [ 7.15138960e-01 -6.98933946e-01 -8.22230910e-03 -1.30321480e+02] [ 1.14998778e-02 3.21242302e-06 9.99933874e-01 -2.25393040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.757628 meters 0.011653022571846926 Centerline is valid? [True, True] Translation: X:45.50, Y:-130.30, Z:-0.22 [[-6.98202902e-01 -7.15859487e-01 7.60936432e-03 4.54962446e+01] [ 7.15817236e-01 -6.98244366e-01 -7.77748759e-03 -1.30302232e+02] [ 1.08807840e-02 1.66497332e-05 9.99940802e-01 -2.23291239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.787628 meters 0.011751424836164318 Centerline is valid? [True, True] Translation: X:45.48, Y:-130.28, Z:-0.22 [[-6.98431853e-01 -7.15631429e-01 8.03762526e-03 4.54780142e+01] [ 7.15584331e-01 -6.98478100e-01 -8.21023748e-03 -1.30282750e+02] [ 1.14896092e-02 1.73073185e-05 9.99933992e-01 -2.23033024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.817628 meters 0.011780897152443097 Centerline is valid? [True, True] Translation: X:45.46, Y:-130.26, Z:-0.22 [[-6.98884081e-01 -7.15191718e-01 7.86434356e-03 4.54601487e+01] [ 7.15146662e-01 -6.98928327e-01 -8.02786869e-03 -1.30263330e+02] [ 1.12380777e-02 1.36094142e-05 9.99936851e-01 -2.22630115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84762800000001 meters 0.011724019555082612 Centerline is valid? [True, True] Translation: X:45.44, Y:-130.24, Z:-0.22 [[-6.99593454e-01 -7.14499742e-01 7.68880097e-03 4.54422774e+01] [ 7.14456687e-01 -6.99635704e-01 -7.84376565e-03 -1.30243330e+02] [ 1.09837282e-02 5.86816267e-06 9.99939677e-01 -2.22056681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87762800000002 meters 0.011693275231838425 Centerline is valid? [True, True] Translation: X:45.42, Y:-130.22, Z:-0.22 [[-7.00110731e-01 -7.13994876e-01 7.50207160e-03 4.54233105e+01] [ 7.13953904e-01 -7.00150924e-01 -7.64891131e-03 -1.30222856e+02] [ 1.07138658e-02 1.04841771e-06 9.99942605e-01 -2.21492790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90762800000002 meters 0.011783828307962112 Centerline is valid? [True, True] Translation: X:45.41, Y:-130.20, Z:-0.22 [[-7.00435976e-01 -7.13675178e-01 7.56198771e-03 4.54056539e+01] [ 7.13633586e-01 -7.00476795e-01 -7.70480847e-03 -1.30203917e+02] [ 1.07957275e-02 -2.36637939e-07 9.99941724e-01 -2.21328505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93762800000002 meters 0.011719743006906454 Centerline is valid? [True, True] Translation: X:45.39, Y:-130.18, Z:-0.22 [[-7.00478299e-01 -7.13638083e-01 7.13013466e-03 4.53867274e+01] [ 7.13601151e-01 -7.00514587e-01 -7.26018803e-03 -1.30184873e+02] [ 1.01759100e-02 2.46813850e-06 9.99948224e-01 -2.21054685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96762800000002 meters 0.014472250052676975 Centerline is valid? [True, True] Translation: X:45.37, Y:-130.16, Z:-0.22 [[-7.00610045e-01 -7.13503753e-01 7.61308813e-03 4.53668819e+01] [ 7.13461689e-01 -7.00651407e-01 -7.74751810e-03 -1.30164780e+02] [ 1.08620041e-02 3.65770388e-06 9.99941007e-01 -2.22246457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99762800000002 meters 0.011719833143928014 Centerline is valid? [True, True] Translation: X:45.35, Y:-130.15, Z:-0.22 [[-7.00229087e-01 -7.13882171e-01 7.17437115e-03 4.53474599e+01] [ 7.13844880e-01 -7.00265839e-01 -7.29665356e-03 -1.30145580e+02] [ 1.02329179e-02 1.20590551e-05 9.99947642e-01 -2.20685087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02762800000002 meters 0.011843266210552867 Centerline is valid? [True, True] Translation: X:45.33, Y:-130.13, Z:-0.22 [[-6.99431877e-01 -7.14657005e-01 7.77265765e-03 4.53284060e+01] [ 7.14613342e-01 -6.99475063e-01 -7.89989054e-03 -1.30127855e+02] [ 1.10824923e-02 2.90095829e-05 9.99938587e-01 -2.21260588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05762800000002 meters 0.011812872656143204 Centerline is valid? [True, True] Translation: X:45.31, Y:-130.11, Z:-0.22 [[-6.99126265e-01 -7.14956740e-01 7.70238541e-03 4.53096648e+01] [ 7.14913936e-01 -6.99168692e-01 -7.82339540e-03 -1.30109946e+02] [ 1.09786560e-02 3.70014671e-05 9.99939732e-01 -2.21761402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08762800000002 meters 0.011814866104623229 Centerline is valid? [True, True] Translation: X:45.29, Y:-130.09, Z:-0.22 [[-6.98871596e-01 -7.15205714e-01 7.69924808e-03 4.52901288e+01] [ 7.15163014e-01 -6.98914004e-01 -7.81532960e-03 -1.30091150e+02] [ 1.09706807e-02 4.43055851e-05 9.99939819e-01 -2.21450639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11762800000002 meters 0.011814368345628098 Centerline is valid? [True, True] Translation: X:45.27, Y:-130.07, Z:-0.22 [[-6.98370865e-01 -7.15694416e-01 7.72253263e-03 4.52702381e+01] [ 7.15651523e-01 -6.98413559e-01 -7.83564364e-03 -1.30072043e+02] [ 1.10014479e-02 5.44570094e-05 9.99939481e-01 -2.20609972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14762800000003 meters 0.011945121549234657 Centerline is valid? [True, True] Translation: X:45.25, Y:-130.05, Z:-0.22 [[-6.97689750e-01 -7.16361056e-01 7.47331620e-03 4.52496160e+01] [ 7.16320974e-01 -6.97729771e-01 -7.57816058e-03 -1.30054463e+02] [ 1.06430543e-02 6.60881872e-05 9.99943359e-01 -2.21099546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17762800000003 meters 0.012044340097461638 Centerline is valid? [True, True] Translation: X:45.23, Y:-130.04, Z:-0.22 [[-6.97740818e-01 -7.16308770e-01 7.71342010e-03 4.52300500e+01] [ 7.16266123e-01 -6.97783448e-01 -7.81666595e-03 -1.30035261e+02] [ 1.09814433e-02 7.08546165e-05 9.99939700e-01 -2.21130334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20762800000003 meters 0.012051886183933337 Centerline is valid? [True, True] Translation: X:45.21, Y:-130.02, Z:-0.22 [[-6.98049568e-01 -7.16006167e-01 7.87205275e-03 4.52114469e+01] [ 7.15961773e-01 -6.98093950e-01 -7.97350642e-03 -1.30016317e+02] [ 1.12045122e-02 7.01861283e-05 9.99937225e-01 -2.21325429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23762800000003 meters 0.011976601420514953 Centerline is valid? [True, True] Translation: X:45.19, Y:-130.00, Z:-0.22 [[-6.98656342e-01 -7.15408629e-01 8.35520870e-03 4.51920511e+01] [ 7.15358632e-01 -6.98706296e-01 -8.45807442e-03 -1.29995406e+02] [ 1.18888164e-02 6.76833357e-05 9.99929323e-01 -2.20858108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26762800000003 meters 0.013418585481359064 Centerline is valid? [True, True] Translation: X:45.18, Y:-129.97, Z:-0.22 [[-7.01308981e-01 -7.12811166e-01 8.12130015e-03 4.51756268e+01] [ 7.12763817e-01 -7.01356002e-01 -8.21577892e-03 -1.29974898e+02] [ 1.15522216e-02 2.67693557e-05 9.99933271e-01 -2.21282272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29762800000003 meters 0.01180581280337724 Centerline is valid? [True, True] Translation: X:45.16, Y:-129.95, Z:-0.22 [[-7.02778831e-01 -7.11365372e-01 7.82454676e-03 4.51574009e+01] [ 7.11321386e-01 -7.02822387e-01 -7.91059927e-03 -1.29954506e+02] [ 1.11265930e-02 6.36574254e-06 9.99938098e-01 -2.20198944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32762800000003 meters 0.011889609213097537 Centerline is valid? [True, True] Translation: X:45.14, Y:-129.94, Z:-0.22 [[-7.04457501e-01 -7.09701005e-01 8.00705836e-03 4.51397114e+01] [ 7.09654897e-01 -7.04503004e-01 -8.08979244e-03 -1.29935362e+02] [ 1.13823305e-02 -1.66667917e-05 9.99935219e-01 -2.20871393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.357628 meters 0.012038108237598493 Centerline is valid? [True, True] Translation: X:45.12, Y:-129.92, Z:-0.22 [[-7.05756008e-01 -7.08411071e-01 7.88737299e-03 4.51215420e+01] [ 7.08366306e-01 -7.05800080e-01 -7.96388961e-03 -1.29915455e+02] [ 1.12086161e-02 -3.34136714e-05 9.99937181e-01 -2.21276744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.387628 meters 0.014898543847577786 Centerline is valid? [True, True] Translation: X:45.10, Y:-129.89, Z:-0.22 [[-7.08833683e-01 -7.05321141e-01 8.76909821e-03 4.51037935e+01] [ 7.05265633e-01 -7.08887918e-01 -8.84916000e-03 -1.29894061e+02] [ 1.24578074e-02 -8.80390820e-05 9.99922395e-01 -2.23052883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.417628 meters 0.012494599046972902 Centerline is valid? [True, True] Translation: X:45.08, Y:-129.87, Z:-0.22 [[-7.09566669e-01 -7.04586706e-01 8.52742862e-03 4.50849244e+01] [ 7.04534227e-01 -7.09617901e-01 -8.59985277e-03 -1.29874012e+02] [ 1.21105579e-02 -9.43035451e-05 9.99926660e-01 -2.21570432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.447628 meters 0.012602061356257308 Centerline is valid? [True, True] Translation: X:45.07, Y:-129.85, Z:-0.22 [[-7.10248757e-01 -7.03894718e-01 8.88422257e-03 4.50655229e+01] [ 7.03837773e-01 -7.10304312e-01 -8.95402601e-03 -1.29854673e+02] [ 1.26131932e-02 -1.06534423e-04 9.99920445e-01 -2.22046273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.477628 meters 0.012413336905515658 Centerline is valid? [True, True] Translation: X:45.04, Y:-129.84, Z:-0.22 [[-7.10533154e-01 -7.03610693e-01 8.63889118e-03 4.50445431e+01] [ 7.03556890e-01 -7.10585661e-01 -8.70180101e-03 -1.29835224e+02] [ 1.22613524e-02 -1.04966704e-04 9.99924821e-01 -2.22117964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.507628 meters 0.012366404380885796 Centerline is valid? [True, True] Translation: X:45.02, Y:-129.82, Z:-0.22 [[-7.10134312e-01 -7.04017360e-01 8.29551449e-03 4.50236065e+01] [ 7.03967833e-01 -7.10182757e-01 -8.35112352e-03 -1.29816564e+02] [ 1.17706673e-02 -9.06439969e-05 9.99930719e-01 -2.21220066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.537628 meters 0.012283082802241479 Centerline is valid? [True, True] Translation: X:45.00, Y:-129.80, Z:-0.22 [[-7.09974313e-01 -7.04183072e-01 7.91685579e-03 4.50036691e+01] [ 7.04138027e-01 -7.10018447e-01 -7.96513548e-03 -1.29797612e+02] [ 1.12300272e-02 -8.04823712e-05 9.99936938e-01 -2.20495980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.567628 meters 0.012209130646138662 Centerline is valid? [True, True] Translation: X:44.98, Y:-129.78, Z:-0.22 [[-7.09694635e-01 -7.04475446e-01 6.91882004e-03 4.49836514e+01] [ 7.04441101e-01 -7.09728358e-01 -6.95660198e-03 -1.29779052e+02] [ 9.81123806e-03 -6.31618998e-05 9.99951867e-01 -2.19367448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59762800000001 meters 0.012084814297935172 Centerline is valid? [True, True] Translation: X:44.96, Y:-129.76, Z:-0.22 [[-7.09399164e-01 -7.04776902e-01 6.50727187e-03 4.49641445e+01] [ 7.04746573e-01 -7.09429007e-01 -6.53846619e-03 -1.29761072e+02] [ 9.22460737e-03 -5.24048979e-05 9.99957451e-01 -2.18119071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62762800000002 meters 0.011859767761317969 Centerline is valid? [True, True] Translation: X:44.94, Y:-129.74, Z:-0.22 [[-7.07974830e-01 -7.06218251e-01 5.23657247e-03 4.49427856e+01] [ 7.06198675e-01 -7.07994195e-01 -5.25839114e-03 -1.29744232e+02] [ 7.42103471e-03 -2.47480335e-05 9.99972463e-01 -2.16722193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65762800000002 meters 0.011863521597868857 Centerline is valid? [True, True] Translation: X:44.92, Y:-129.73, Z:-0.22 [[-7.07296868e-01 -7.06899076e-01 4.98375096e-03 4.49216448e+01] [ 7.06881383e-01 -7.07314426e-01 -5.00134932e-03 -1.29726176e+02] [ 7.06052816e-03 -1.45179367e-05 9.99975074e-01 -2.16542367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68762800000002 meters 0.011744128006216423 Centerline is valid? [True, True] Translation: X:44.90, Y:-129.71, Z:-0.22 [[-7.06713293e-01 -7.07483500e-01 4.83929061e-03 4.49006034e+01] [ 7.07466851e-01 -7.06729861e-01 -4.85363907e-03 -1.29707956e+02] [ 6.85394074e-03 -6.49355829e-06 9.99976511e-01 -2.16909265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71762800000002 meters 0.01173653749930493 Centerline is valid? [True, True] Translation: X:44.88, Y:-129.69, Z:-0.22 [[-7.06115133e-01 -7.08080140e-01 4.89233499e-03 4.48800175e+01] [ 7.08063159e-01 -7.06132081e-01 -4.90374792e-03 -1.29689563e+02] [ 6.92688120e-03 1.47155183e-06 9.99976009e-01 -2.17822466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74762800000002 meters 0.011839683123340008 Centerline is valid? [True, True] Translation: X:44.86, Y:-129.67, Z:-0.22 [[-7.05011677e-01 -7.09177845e-01 5.03188624e-03 4.48596772e+01] [ 7.09159932e-01 -7.05029634e-01 -5.04043268e-03 -1.29671665e+02] [ 7.12219210e-03 1.48482109e-05 9.99974637e-01 -2.18061638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77762800000002 meters 0.011857545288041116 Centerline is valid? [True, True] Translation: X:44.84, Y:-129.65, Z:-0.22 [[-7.05044838e-01 -7.09145487e-01 4.94510976e-03 4.48409072e+01] [ 7.09128210e-01 -7.05062180e-01 -4.95022384e-03 -1.29653614e+02] [ 6.99703877e-03 1.65870639e-05 9.99975520e-01 -2.18271431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80762800000002 meters 0.011850470529161437 Centerline is valid? [True, True] Translation: X:44.82, Y:-129.63, Z:-0.22 [[-7.05344877e-01 -7.08849825e-01 4.53090785e-03 4.48218315e+01] [ 7.08835333e-01 -7.05359429e-01 -4.53277656e-03 -1.29634580e+02] [ 6.40897645e-03 1.44968502e-05 9.99979462e-01 -2.17880905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83762800000002 meters 0.011773740678341122 Centerline is valid? [True, True] Translation: X:44.80, Y:-129.61, Z:-0.22 [[-7.07065152e-01 -7.07137297e-01 3.96403715e-03 4.48031154e+01] [ 7.07126191e-01 -7.07076264e-01 -3.96318617e-03 -1.29614194e+02] [ 5.60539333e-03 8.43662573e-07 9.99984290e-01 -2.17308535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86762800000002 meters 0.011773740678341122 Centerline is valid? [True, True] Translation: X:44.25, Y:-130.17, Z:0.70 [[-7.55533629e-01 6.55096072e-01 4.25102041e-03 4.42494984e+01] [ 6.55085691e-01 7.55545588e-01 -3.68801806e-03 -1.30172868e+02] [-5.62784586e-03 -1.63903026e-06 -9.99984164e-01 7.04981072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89762800000003 meters 0.01166111078770309 Centerline is valid? [True, True] Translation: X:44.27, Y:-130.15, Z:0.70 [[-7.99202158e-01 6.01044497e-01 4.62859558e-03 4.42684475e+01] [ 6.01034460e-01 7.99215561e-01 -3.47346296e-03 -1.30154031e+02] [-5.78695141e-03 5.94635159e-06 -9.99983255e-01 7.04904993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92762800000003 meters 0.011756733114330368 Centerline is valid? [True, True] Translation: X:44.29, Y:-130.14, Z:0.70 [[-8.39098705e-01 5.43955587e-01 5.06789112e-03 4.42900866e+01] [ 5.43945762e-01 8.39114009e-01 -3.26932425e-03 -1.30137091e+02] [-6.03090563e-03 1.33721537e-05 -9.99981814e-01 7.04664088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95762800000003 meters 0.011996989566587834 Centerline is valid? [True, True] Translation: X:44.31, Y:-130.12, Z:0.71 [[-8.74202169e-01 4.85527988e-01 5.75676483e-03 4.43063774e+01] [ 4.85517702e-01 8.74221123e-01 -3.16056548e-03 -1.30118346e+02] [-6.56722841e-03 3.20380313e-05 -9.99978435e-01 7.05008196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98762800000003 meters 0.012206869186314539 Centerline is valid? [True, True] Translation: X:44.70, Y:-129.42, Z:-0.22 [[-8.45455648e-01 -5.34009805e-01 6.18665441e-03 4.46957851e+01] [ 5.33995581e-01 -8.45478284e-01 -3.89766699e-03 -1.29423261e+02] [ 7.31207434e-03 8.34153792e-06 9.99973266e-01 -2.18068841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01762800000003 meters 0.012335306288041937 Centerline is valid? [True, True] Translation: X:44.27, Y:-130.10, Z:0.71 [[-8.74946517e-01 4.84174201e-01 6.62841194e-03 4.42711308e+01] [ 4.84160761e-01 8.74971622e-01 -3.60795304e-03 -1.30102683e+02] [-7.54655013e-03 5.24510274e-05 -9.99971523e-01 7.06201147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04762800000003 meters 0.012824625019864417 Centerline is valid? [True, True] Translation: X:44.29, Y:-130.08, Z:0.71 [[-9.06188089e-01 4.22813138e-01 7.22474197e-03 4.42851290e+01] [ 4.22800322e-01 9.06216886e-01 -3.29285131e-03 -1.30080481e+02] [-7.93944397e-03 7.06805964e-05 -9.99968480e-01 7.06893145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07762800000003 meters 0.013015392550339766 Centerline is valid? [True, True] Translation: X:44.63, Y:-129.35, Z:-0.22 [[-8.84624803e-01 -4.66250113e-01 7.05617286e-03 4.46272299e+01] [ 4.66234676e-01 -8.84652942e-01 -3.79463142e-03 -1.29353456e+02] [ 8.01151141e-03 -6.69926059e-05 9.99967905e-01 -2.19135768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.107628 meters 0.013122049901286735 Centerline is valid? [True, True] Translation: X:44.25, Y:-130.07, Z:0.71 [[-9.07295055e-01 4.20442420e-01 6.62224676e-03 4.42483868e+01] [ 4.20431803e-01 9.07319220e-01 -2.98873980e-03 -1.30065929e+02] [-7.26508475e-03 7.25343008e-05 -9.99973606e-01 7.06435525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.137628 meters 0.012565125040208092 Centerline is valid? [True, True] Translation: X:44.26, Y:-130.04, Z:0.70 [[-9.34809911e-01 3.55105177e-01 5.54467064e-03 4.42632759e+01] [ 3.55099303e-01 9.34826353e-01 -2.04327301e-03 -1.30040749e+02] [-5.90888106e-03 5.88368225e-05 -9.99982541e-01 7.03561608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.167628 meters 0.012442701200201026 Centerline is valid? [True, True] Translation: X:44.55, Y:-129.29, Z:-0.22 [[-9.16866711e-01 -3.99163155e-01 4.92030197e-03 4.45473304e+01] [ 3.99156907e-01 -9.16879910e-01 -2.23491234e-03 -1.29290351e+02] [ 5.40342069e-03 -8.51442086e-05 9.99985398e-01 -2.15204821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.197628 meters 0.012389857597600732 Centerline is valid? [True, True] Translation: X:44.22, Y:-130.02, Z:0.70 [[-9.36414222e-01 3.50859047e-01 5.13165625e-03 4.42202762e+01] [ 3.50854072e-01 9.36428282e-01 -1.86907360e-03 -1.30024884e+02] [-5.46120943e-03 5.02353933e-05 -9.99985086e-01 7.02792156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.227628 meters 0.012322609764857292 Centerline is valid? [True, True] Translation: X:44.23, Y:-130.00, Z:0.70 [[-9.58977589e-01 2.83443434e-01 4.66944796e-03 4.42301279e+01] [ 2.83440297e-01 9.58988956e-01 -1.33440651e-03 -1.29998124e+02] [-4.85617778e-03 4.38437783e-05 -9.99988208e-01 7.02788637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.257628 meters 0.012264388120757532 Centerline is valid? [True, True] Translation: X:44.46, Y:-129.23, Z:-0.22 [[-9.43735762e-01 -3.30667137e-01 4.69640578e-03 4.44579637e+01] [ 3.30662849e-01 -9.43747447e-01 -1.68435349e-03 -1.29232857e+02] [ 4.98918131e-03 -3.66577130e-05 9.99987553e-01 -2.15783953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.287628 meters 0.012295062837115255 Centerline is valid? [True, True] Translation: X:44.19, Y:-129.99, Z:0.70 [[-9.60408499e-01 2.78550904e-01 4.99096549e-03 4.41858562e+01] [ 2.78547363e-01 9.60421466e-01 -1.40509282e-03 -1.29985086e+02] [-5.18482027e-03 4.07571867e-05 -9.99986558e-01 7.03200015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.317628 meters 0.012148131213028449 Centerline is valid? [True, True] Translation: X:44.20, Y:-129.96, Z:0.70 [[-9.77789087e-01 2.09529007e-01 5.10848522e-03 4.41954720e+01] [ 2.09526361e-01 9.77802431e-01 -1.05382241e-03 -1.29958618e+02] [-5.21589562e-03 3.99462680e-05 -9.99986396e-01 7.02842047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34762800000001 meters 0.012175582417527173 Centerline is valid? [True, True] Translation: X:44.36, Y:-129.18, Z:-0.21 [[-9.65663948e-01 -2.59756634e-01 4.43070410e-03 4.43635337e+01] [ 2.59753549e-01 -9.65674109e-01 -1.26813050e-03 -1.29180291e+02] [ 4.60802155e-03 -7.36967876e-05 9.99989380e-01 -2.14878420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37762800000002 meters 0.01223145334779469 Centerline is valid? [True, True] Translation: X:44.14, Y:-129.95, Z:0.70 [[-9.78551318e-01 2.05953199e-01 4.53857178e-03 4.41431664e+01] [ 2.05951159e-01 9.78561842e-01 -9.17366021e-04 -1.29947656e+02] [-4.63020763e-03 3.70343916e-05 -9.99989280e-01 7.02184583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40762800000002 meters 0.012348867142772241 Centerline is valid? [True, True] Translation: X:44.15, Y:-129.92, Z:0.70 [[-9.90600346e-01 1.36698480e-01 4.94763551e-03 4.41533560e+01] [ 1.36696994e-01 9.90612701e-01 -6.38964728e-04 -1.29921517e+02] [-4.98853609e-03 4.33682194e-05 -9.99987556e-01 7.02135913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43762800000002 meters 0.012570454007038913 Centerline is valid? [True, True] Translation: X:44.16, Y:-129.89, Z:0.70 [[-9.97699313e-01 6.76155060e-02 4.92187728e-03 4.41583728e+01] [ 6.76149341e-02 9.97711452e-01 -2.82693972e-04 -1.29894750e+02] [-4.92972782e-03 5.07488267e-05 -9.99987848e-01 7.02174957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46762800000002 meters 0.012666141752880236 Centerline is valid? [True, True] Translation: X:44.21, Y:-129.10, Z:-0.21 [[-9.93571970e-01 -1.13110100e-01 4.56578373e-03 4.42101820e+01] [ 1.13108589e-01 -9.93582458e-01 -5.88588185e-04 -1.29099812e+02] [ 4.60305789e-03 -6.83753677e-05 9.99989404e-01 -2.14197590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49762800000002 meters 0.012695612003242323 Centerline is valid? [True, True] Translation: X:44.08, Y:-129.89, Z:0.70 [[-9.97962952e-01 6.36772191e-02 3.89338434e-03 4.40805489e+01] [ 6.36769126e-02 9.97970546e-01 -2.02770601e-04 -1.29889748e+02] [-3.89839477e-03 4.55611474e-05 -9.99992400e-01 7.01402452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52762800000002 meters 0.012753230439669926 Centerline is valid? [True, True] Translation: X:44.08, Y:-129.86, Z:0.70 [[-9.99969329e-01 -6.96255193e-03 3.58669802e-03 4.40821281e+01] [-6.96235085e-03 9.99975760e-01 6.85461054e-05 -1.29861752e+02] [-3.58708833e-03 4.35721530e-05 -9.99993565e-01 7.01406945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55762800000002 meters 0.01300435734601005 Centerline is valid? [True, True] Translation: X:44.07, Y:-129.07, Z:-0.21 [[-9.99381583e-01 -3.49517779e-02 3.85023097e-03 4.40689571e+01] [ 3.49514049e-02 -9.99389000e-01 -1.64132083e-04 -1.29066651e+02] [ 3.85361519e-03 -2.94595988e-05 9.99992574e-01 -2.13762217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58762800000002 meters 0.013025522832139437 Centerline is valid? [True, True] Translation: X:43.98, Y:-129.86, Z:0.70 [[-9.99917583e-01 -1.22158819e-02 3.94955477e-03 4.39830318e+01] [-1.22155812e-02 9.99925382e-01 1.00253496e-04 -1.29862192e+02] [-3.95048475e-03 5.19991266e-05 -9.99992195e-01 7.01083330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61762800000002 meters 0.012854955364646673 Centerline is valid? [True, True] Translation: X:43.97, Y:-129.07, Z:-0.21 [[-9.99593767e-01 -2.82894016e-02 3.46571115e-03 4.39678792e+01] [ 2.82889631e-02 -9.99599772e-01 -1.75483750e-04 -1.29069024e+02] [ 3.46928841e-03 -7.73710880e-05 9.99993979e-01 -2.12686345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64762800000003 meters 0.01321641051358264 Centerline is valid? [True, True] Translation: X:43.88, Y:-129.86, Z:0.70 [[-9.99825317e-01 -1.85186158e-02 2.52907464e-03 4.38832654e+01] [-1.85184732e-02 9.99828515e-01 7.97976957e-05 -1.29863424e+02] [-2.53011869e-03 3.29491553e-05 -9.99996799e-01 6.99625712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67762800000003 meters 0.012966143438925565 Centerline is valid? [True, True] Translation: X:43.86, Y:-129.07, Z:-0.21 [[-9.99716126e-01 -2.37842102e-02 1.40657223e-03 4.38590132e+01] [ 2.37840545e-02 -9.99717111e-01 -1.27331259e-04 -1.29072448e+02] [ 1.40920280e-03 -9.38411222e-05 9.99999003e-01 -2.10078934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70762800000003 meters 0.012768748834570614 Centerline is valid? [True, True] Translation: X:43.78, Y:-129.86, Z:0.70 [[-9.99617228e-01 -2.76496370e-02 9.46530754e-04 4.37773254e+01] [-2.76496156e-02 9.99617676e-01 3.57596527e-05 -1.29861301e+02] [-9.47157614e-04 9.57475342e-06 -9.99999551e-01 6.97078742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73762800000003 meters 0.012322473924708848 Centerline is valid? [True, True] Translation: X:43.75, Y:-129.08, Z:-0.21 [[-9.99792153e-01 -2.03758627e-02 6.89227667e-04 4.37517414e+01] [ 2.03758411e-02 -9.99792390e-01 -3.83765217e-05 -1.29080375e+02] [ 6.89866532e-04 -2.43249518e-05 9.99999762e-01 -2.09682683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76762800000003 meters 0.012122247031134464 Centerline is valid? [True, True] Translation: X:43.68, Y:-129.86, Z:0.70 [[-9.99326087e-01 -3.66840854e-02 1.28413830e-03 4.36782784e+01] [-3.66840428e-02 9.99326912e-01 5.67267963e-05 -1.29858424e+02] [-1.28535493e-03 9.58118321e-06 -9.99999174e-01 6.98228557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79762800000003 meters 0.011873774997147217 Centerline is valid? [True, True] Translation: X:43.65, Y:-129.09, Z:-0.21 [[-9.99829032e-01 -1.82706746e-02 2.84406359e-03 4.36467427e+01] [ 1.82708459e-02 -9.99833074e-01 3.42606827e-05 -1.29090669e+02] [ 2.84296287e-03 8.62182729e-05 9.99995955e-01 -2.13063983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82762800000003 meters 0.011749238325647421 Centerline is valid? [True, True] Translation: X:43.58, Y:-129.86, Z:0.70 [[-9.98896128e-01 -4.68223188e-02 3.76776620e-03 4.35768143e+01] [-4.68219363e-02 9.98903234e-01 1.89715833e-04 -1.29855533e+02] [-3.77251677e-03 1.30923025e-05 -9.99992884e-01 7.01334536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.857628 meters 0.01175877238540236 Centerline is valid? [True, True] Translation: X:43.57, Y:-129.83, Z:0.70 [[-9.92894751e-01 -1.18907029e-01 4.59684802e-03 4.35704824e+01] [-1.18905701e-01 9.92905392e-01 5.62141253e-04 -1.29827335e+02] [-4.63107773e-03 1.15556641e-05 -9.99989276e-01 7.01715445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.887628 meters 0.011817476998660509 Centerline is valid? [True, True] Translation: X:43.55, Y:-129.80, Z:0.70 [[-9.81579565e-01 -1.90984312e-01 5.15270632e-03 4.35548770e+01] [-1.90981649e-01 9.81593089e-01 1.00867510e-03 -1.29800315e+02] [-5.25050203e-03 6.02251715e-06 -9.99986216e-01 7.02220800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.917628 meters 0.011777848685426402 Centerline is valid? [True, True] Translation: X:43.53, Y:-129.78, Z:0.70 [[-9.65131506e-01 -2.61712568e-01 5.26383280e-03 4.35275660e+01] [-2.61708657e-01 9.65145860e-01 1.43085060e-03 -1.29777656e+02] [-5.45483802e-03 3.36838742e-06 -9.99985122e-01 7.02370362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.947628 meters 0.01182133117393023 Centerline is valid? [True, True] Translation: X:43.48, Y:-129.76, Z:0.70 [[-9.43326494e-01 -3.31822317e-01 5.39223779e-03 4.34808784e+01] [-3.31816898e-01 9.43341905e-01 1.89641251e-03 -1.29762683e+02] [-5.71599587e-03 -2.99457192e-07 -9.99983664e-01 7.02414047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.977628 meters 0.011776408917072727 Centerline is valid? [True, True] Translation: X:43.42, Y:-129.76, Z:0.70 [[-9.15974574e-01 -4.01201508e-01 5.28496030e-03 4.34178704e+01] [-4.01194858e-01 9.15989820e-01 2.30988273e-03 -1.29757323e+02] [-5.76769827e-03 -4.50504808e-06 -9.99983367e-01 7.02066251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.007628 meters 0.011747727521787795 Centerline is valid? [True, True] Translation: X:43.35, Y:-129.76, Z:0.70 [[-8.83433902e-01 -4.68521987e-01 5.62920369e-03 4.33464937e+01] [-4.68512531e-01 8.83451837e-01 2.97670257e-03 -1.29760243e+02] [-6.36778094e-03 -7.63250183e-06 -9.99979725e-01 7.01526578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.037628 meters 0.011743970373423056 Centerline is valid? [True, True] Translation: X:43.27, Y:-129.77, Z:0.70 [[-8.46041332e-01 -5.33088023e-01 5.58789350e-03 4.32693940e+01] [-5.33076443e-01 8.46059785e-01 3.51366493e-03 -1.29772392e+02] [-6.60078467e-03 -6.06863640e-06 -9.99978215e-01 7.01700777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.067628 meters 0.011763881121489341 Centerline is valid? [True, True] Translation: X:43.19, Y:-129.80, Z:0.70 [[-8.03913669e-01 -5.94718222e-01 5.74877733e-03 4.31856394e+01] [-5.94703032e-01 8.03934224e-01 4.25059865e-03 -1.29795526e+02] [-7.14954732e-03 -1.70095043e-06 -9.99974442e-01 7.01850511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09762800000001 meters 0.011955347746483862 Centerline is valid? [True, True] Translation: X:43.10, Y:-129.83, Z:0.70 [[-7.57979562e-01 -6.52251036e-01 5.96402194e-03 4.30954847e+01] [-6.52230706e-01 7.58003025e-01 5.14976383e-03 -1.29832349e+02] [-7.87968547e-03 1.34974988e-05 -9.99968955e-01 7.02748240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12762800000002 meters 0.011957680386480119 Centerline is valid? [True, True] Translation: X:43.01, Y:-129.87, Z:0.70 [[-7.07056628e-01 -7.07133772e-01 5.72305215e-03 4.30105889e+01] [-7.07110345e-01 7.07079789e-01 5.75603831e-03 -1.29874557e+02] [-8.11694359e-03 2.30156542e-05 -9.99967057e-01 7.02255629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15762800000002 meters 0.012166291363836259 Centerline is valid? [True, True] Translation: X:42.92, Y:-129.93, Z:0.70 [[-6.52161473e-01 -7.58060764e-01 5.41220973e-03 4.29240337e+01] [-7.58034215e-01 6.52183929e-01 6.34444514e-03 -1.29928800e+02] [-8.33923114e-03 3.49625340e-05 -9.99965227e-01 7.02125932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18762800000002 meters 0.01242383201720915 Centerline is valid? [True, True] Translation: X:42.84, Y:-130.00, Z:0.70 [[-5.94768959e-01 -8.03879505e-01 5.25620941e-03 4.28366305e+01] [-8.03847170e-01 5.94792180e-01 7.21034576e-03 -1.29995769e+02] [-8.92260143e-03 6.33007814e-05 -9.99960191e-01 7.01745572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21762800000002 meters 0.012755810224625602 Centerline is valid? [True, True] Translation: X:42.76, Y:-130.07, Z:0.70 [[-5.32595195e-01 -8.46356015e-01 4.88414932e-03 4.27562685e+01] [-8.46319062e-01 5.32617583e-01 7.90915970e-03 -1.30065445e+02] [-9.29534869e-03 7.88317817e-05 -9.99956794e-01 7.02416447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24762800000002 meters 0.015791512696533772 Centerline is valid? [True, True] Translation: X:42.68, Y:-130.15, Z:0.70 [[-4.67632796e-01 -8.83908635e-01 5.00933366e-03 4.26767558e+01] [-8.83855342e-01 4.67659613e-01 9.70675271e-03 -1.30146604e+02] [-1.09225456e-02 1.11669599e-04 -9.99940341e-01 7.04441263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27762800000002 meters 0.012809573091466393 Centerline is valid? [True, True] Translation: X:42.60, Y:-130.24, Z:0.70 [[-3.98564864e-01 -9.17131545e-01 3.97207215e-03 4.26026817e+01] [-9.17083306e-01 3.98584642e-01 9.40710132e-03 -1.30237644e+02] [-1.02107563e-02 1.06619000e-04 -9.99947863e-01 7.02459726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30762800000002 meters 0.013244481407073154 Centerline is valid? [True, True] Translation: X:42.54, Y:-130.33, Z:0.70 [[-3.27508034e-01 -9.44843339e-01 3.09066057e-03 4.25379620e+01] [-9.44798073e-01 3.27522599e-01 9.24928792e-03 -1.30332919e+02] [-9.75138927e-03 1.09165959e-04 -9.99952448e-01 7.02294520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33762800000002 meters 0.013240841630661877 Centerline is valid? [True, True] Translation: X:42.48, Y:-130.44, Z:0.70 [[-2.53943334e-01 -9.67215855e-01 2.50449273e-03 4.24785523e+01] [-9.67164133e-01 2.53955657e-01 1.00032241e-02 -1.30436360e+02] [-1.03113070e-02 1.17996546e-04 -9.99946830e-01 7.01986762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36762800000002 meters 0.013127550352786729 Centerline is valid? [True, True] Translation: X:42.43, Y:-130.54, Z:0.70 [[-1.78530327e-01 -9.83932847e-01 1.75334414e-03 4.24262462e+01] [-9.83878616e-01 1.78538897e-01 1.03311191e-02 -1.30544693e+02] [-1.04781676e-02 1.19340265e-04 -9.99945095e-01 7.02056496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39762800000003 meters 0.013107427596040711 Centerline is valid? [True, True] Translation: X:42.38, Y:-130.66, Z:0.70 [[-1.01996828e-01 -9.94784255e-01 9.65722738e-04 4.23824813e+01] [-9.94727760e-01 1.02001328e-01 1.06024385e-02 -1.30658234e+02] [-1.06456439e-02 1.20783881e-04 -9.99943326e-01 7.02172715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42762800000003 meters 0.013122532802870894 Centerline is valid? [True, True] Translation: X:42.35, Y:-130.77, Z:0.70 [[-2.47049601e-02 -9.99694774e-01 1.55440203e-04 4.23465314e+01] [-9.99629515e-01 2.47051236e-02 1.14231935e-02 -1.30774750e+02] [-1.14235470e-02 1.26826926e-04 -9.99934741e-01 7.02587665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45762800000003 meters 0.013025969458306459 Centerline is valid? [True, True] Translation: X:42.32, Y:-130.90, Z:0.70 [[ 5.26602454e-02 -9.98612214e-01 -7.38261524e-04 4.23205487e+01] [-9.98544992e-01 -5.26652670e-02 1.15874685e-02 -1.30896300e+02] [-1.16102683e-02 1.26988411e-04 -9.99932591e-01 7.03068296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48762800000003 meters 0.013127015395796337 Centerline is valid? [True, True] Translation: X:42.30, Y:-131.01, Z:0.70 [[ 1.29426588e-01 -9.91587632e-01 -1.65092569e-03 4.23040907e+01] [-9.91519313e-01 -1.29437052e-01 1.16405160e-02 -1.31013961e+02] [-1.17562827e-02 1.30332425e-04 -9.99930884e-01 7.03874357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51762800000003 meters 0.01336408689989232 Centerline is valid? [True, True] Translation: X:42.30, Y:-131.14, Z:0.70 [[ 2.05494288e-01 -9.78654406e-01 -2.76596685e-03 4.22986353e+01] [-9.78574850e-01 -2.05512853e-01 1.24792251e-02 -1.31138216e+02] [-1.27812903e-02 1.42296124e-04 -9.99918306e-01 7.04539064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54762800000003 meters 0.013339775671271223 Centerline is valid? [True, True] Translation: X:42.30, Y:-131.26, Z:0.70 [[ 2.80297449e-01 -9.59905533e-01 -3.83502492e-03 4.23011578e+01] [-9.59822762e-01 -2.80323644e-01 1.26063720e-02 -1.31257480e+02] [-1.31759744e-02 1.47410294e-04 -9.99913182e-01 7.04209329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57762800000003 meters 0.013324976213253955 Centerline is valid? [True, True] Translation: X:42.31, Y:-131.38, Z:0.70 [[ 3.53227027e-01 -9.35524366e-01 -4.98277082e-03 4.23124394e+01] [-9.35437432e-01 -3.53262136e-01 1.27543908e-02 -1.31375904e+02] [-1.36922676e-02 1.55874805e-04 -9.99906244e-01 7.04209731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.607628 meters 0.0134129530134457 Centerline is valid? [True, True] Translation: X:42.33, Y:-131.49, Z:0.71 [[ 4.23908941e-01 -9.05684063e-01 -6.13092859e-03 4.23312360e+01] [-9.05594900e-01 -4.23953242e-01 1.27092863e-02 -1.31491908e+02] [-1.41098251e-02 1.64557557e-04 -9.99900438e-01 7.05339871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.637628 meters 0.013474343488314059 Centerline is valid? [True, True] Translation: X:42.36, Y:-131.60, Z:0.71 [[ 4.92106899e-01 -8.70505547e-01 -7.13393599e-03 4.23600797e+01] [-8.70418956e-01 -4.92158577e-01 1.22791177e-02 -1.31604853e+02] [-1.42000678e-02 1.66874591e-04 -9.99899160e-01 7.05197869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.667628 meters 0.013519604177281593 Centerline is valid? [True, True] Translation: X:42.40, Y:-131.71, Z:0.70 [[ 5.56788481e-01 -8.30622077e-01 -7.31794707e-03 4.23965694e+01] [-8.30554155e-01 -5.56836546e-01 1.06234188e-02 -1.31712216e+02] [-1.28989465e-02 1.62954133e-04 -9.99916792e-01 7.03403498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.697628 meters 0.013244183729448307 Centerline is valid? [True, True] Translation: X:42.44, Y:-131.82, Z:0.70 [[ 6.18826201e-01 -7.85490859e-01 -7.63169584e-03 4.24394411e+01] [-7.85434154e-01 -6.18873239e-01 9.43948103e-03 -1.31816823e+02] [-1.21376784e-02 1.52796380e-04 -9.99926324e-01 7.01670771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.727628 meters 0.013156243452191095 Centerline is valid? [True, True] Translation: X:42.49, Y:-131.92, Z:0.70 [[ 6.77069773e-01 -7.35881726e-01 -7.38973707e-03 4.24887910e+01] [-7.35840067e-01 -6.77110085e-01 7.83131724e-03 -1.31915447e+02] [-1.07665887e-02 1.35316431e-04 -9.99942029e-01 7.00601980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.757628 meters 0.012988324492950306 Centerline is valid? [True, True] Translation: X:42.54, Y:-132.01, Z:0.70 [[ 7.31744584e-01 -6.81547496e-01 -6.54789979e-03 4.25434856e+01] [-6.81521485e-01 -7.31773872e-01 5.95537331e-03 -1.32008039e+02] [-8.85045175e-03 1.04722223e-04 -9.99960829e-01 6.99296736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.787628 meters 0.012988324492950306 Centerline is valid? [True, True] Translation: X:42.54, Y:-132.02, Z:0.70 [[ 7.82754113e-01 -6.22291808e-01 -6.99314002e-03 4.25384256e+01] [-6.22268164e-01 -7.82785344e-01 5.42558670e-03 -1.32016714e+02] [-8.85042567e-03 1.04708092e-04 -9.99960829e-01 6.99296464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.817628 meters 0.012938508585554873 Centerline is valid? [True, True] Translation: X:42.53, Y:-132.02, Z:0.70 [[ 8.29491520e-01 -5.58476480e-01 -6.91661452e-03 4.25339049e+01] [-5.58457974e-01 -8.29520351e-01 4.54731591e-03 -1.32024648e+02] [-8.27704149e-03 9.06785461e-05 -9.99965741e-01 6.99517049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84762800000001 meters 0.012689801860843912 Centerline is valid? [True, True] Translation: X:42.53, Y:-132.03, Z:0.70 [[ 8.71132883e-01 -4.90999747e-01 -6.83727865e-03 4.25306597e+01] [-4.90985316e-01 -8.71159712e-01 3.76513270e-03 -1.32033908e+02] [-7.80504090e-03 7.70725183e-05 -9.99969537e-01 6.99514702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87762800000002 meters 0.01247328032240202 Centerline is valid? [True, True] Translation: X:42.53, Y:-132.04, Z:0.70 [[ 9.07438837e-01 -4.20122965e-01 -7.17294046e-03 4.25275570e+01] [-4.20110418e-01 -9.07467184e-01 3.24749135e-03 -1.32043296e+02] [-7.87355377e-03 6.65272458e-05 -9.99969001e-01 6.99707175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90762800000002 meters 0.012300474915488727 Centerline is valid? [True, True] Translation: X:42.53, Y:-132.05, Z:0.70 [[ 9.38116560e-01 -3.46237751e-01 -7.53264194e-03 4.25256582e+01] [-3.46227046e-01 -9.38146799e-01 2.72315131e-03 -1.32052112e+02] [-8.00958171e-03 5.33710278e-05 -9.99967921e-01 6.99773968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93762800000002 meters 0.012169902609887215 Centerline is valid? [True, True] Translation: X:42.52, Y:-132.06, Z:0.70 [[ 9.63093840e-01 -2.69017661e-01 -8.93046546e-03 4.25234472e+01] [-2.69006429e-01 -9.63135243e-01 2.45858301e-03 -1.32059920e+02] [-9.26264828e-03 3.45064630e-05 -9.99957100e-01 7.01537345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96762800000002 meters 0.012121970586088123 Centerline is valid? [True, True] Translation: X:42.52, Y:-132.07, Z:0.70 [[ 9.81468464e-01 -1.91402816e-01 -9.19871040e-03 4.25231468e+01] [-1.91394607e-01 -9.81511570e-01 1.77286879e-03 -1.32069034e+02] [-9.36797276e-03 2.05687522e-05 -9.99956119e-01 7.02247535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99762800000002 meters 0.012003619962635206 Centerline is valid? [True, True] Translation: X:42.52, Y:-132.08, Z:0.70 [[ 9.93731866e-01 -1.11290502e-01 -1.05547788e-02 4.25200150e+01] [-1.11284168e-01 -9.93787917e-01 1.18732300e-03 -1.32076123e+02] [-1.06213494e-02 -5.30092123e-06 -9.99943592e-01 7.03404771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02762800000002 meters 0.012080096594362285 Centerline is valid? [True, True] Translation: X:42.52, Y:-132.08, Z:0.70 [[ 9.99422670e-01 -3.18887421e-02 -1.17232895e-02 4.25177226e+01] [-3.18863083e-02 -9.99491425e-01 3.94511597e-04 -1.32083839e+02] [-1.17299078e-02 -2.04714117e-05 -9.99931202e-01 7.03760928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05762800000002 meters 0.012083408097254257 Centerline is valid? [True, True] Translation: X:42.52, Y:-132.09, Z:0.70 [[ 9.98786039e-01 4.75514972e-02 -1.28570719e-02 4.25159551e+01] [ 4.75480262e-02 -9.98868787e-01 -5.75679253e-04 -1.32092984e+02] [-1.28699022e-02 -3.63479904e-05 -9.99917179e-01 7.03795085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08762800000002 meters 0.012273652837456085 Centerline is valid? [True, True] Translation: X:42.51, Y:-132.10, Z:0.71 [[ 9.91865984e-01 1.26601173e-01 -1.31914043e-02 4.25138515e+01] [ 1.26590669e-01 -9.91953699e-01 -1.63161444e-03 -1.32101717e+02] [-1.32918266e-02 -5.15658273e-05 -9.99911658e-01 7.05686977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11762800000002 meters 0.012495798237240873 Centerline is valid? [True, True] Translation: X:42.51, Y:-132.11, Z:0.71 [[ 9.78651107e-01 2.05017268e-01 -1.44889700e-02 4.25124477e+01] [ 2.04995930e-01 -9.78758353e-01 -2.95877618e-03 -1.32105787e+02] [-1.47878006e-02 -7.45702973e-05 -9.99890652e-01 7.06997304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14762800000003 meters 0.01255540067282049 Centerline is valid? [True, True] Translation: X:42.51, Y:-132.11, Z:0.71 [[ 9.59561941e-01 2.81135284e-01 -1.42770272e-02 4.25093087e+01] [ 2.81105356e-01 -9.59668144e-01 -4.10276760e-03 -1.32110606e+02] [-1.48546409e-02 -7.64891722e-05 -9.99889661e-01 7.07457756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17762800000003 meters 0.012402584951047856 Centerline is valid? [True, True] Translation: X:42.51, Y:-132.12, Z:0.71 [[ 9.34766795e-01 3.54989935e-01 -1.38990985e-02 4.25076007e+01] [ 3.54951819e-01 -9.34870120e-01 -5.20238855e-03 -1.32115823e+02] [-1.48406475e-02 -7.04902238e-05 -9.99889869e-01 7.06497655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20762800000003 meters 0.012504141552127502 Centerline is valid? [True, True] Translation: X:42.51, Y:-132.12, Z:0.71 [[ 9.04214678e-01 4.26880456e-01 -1.29958568e-02 4.25051572e+01] [ 4.26837396e-01 -9.04308062e-01 -6.06346545e-03 -1.32121145e+02] [-1.43406330e-02 -6.44432360e-05 -9.99897166e-01 7.06688257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23762800000003 meters 0.012514134851907171 Centerline is valid? [True, True] Translation: X:42.50, Y:-132.12, Z:0.71 [[ 8.68252545e-01 4.95984548e-01 -1.16981396e-02 4.25007428e+01] [ 4.95940376e-01 -8.68331345e-01 -6.61958484e-03 -1.32122235e+02] [-1.34410731e-02 -5.41083653e-05 -9.99909663e-01 7.05294835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26762800000003 meters 0.012384798735120552 Centerline is valid? [True, True] Translation: X:42.50, Y:-132.13, Z:0.70 [[ 8.26687040e-01 5.62562913e-01 -1.05596459e-02 4.24998348e+01] [ 5.62517840e-01 -8.26754478e-01 -7.12135668e-03 -1.32127418e+02] [-1.27364457e-02 -5.28559069e-05 -9.99918887e-01 7.03596631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29762800000003 meters 0.015127334569027593 Centerline is valid? [True, True] Translation: X:42.50, Y:-132.13, Z:0.70 [[ 7.80296924e-01 6.25329607e-01 -9.97968330e-03 4.24987159e+01] [ 6.25279274e-01 -7.80360737e-01 -7.93401201e-03 -1.32133057e+02] [-1.27491256e-02 -4.92039717e-05 -9.99918725e-01 7.04848729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32762800000003 meters 0.012436024542875632 Centerline is valid? [True, True] Translation: X:42.50, Y:-132.14, Z:0.70 [[ 7.28030466e-01 6.85509526e-01 -6.95197812e-03 4.24974086e+01] [ 6.85478921e-01 -7.28063656e-01 -6.47771175e-03 -1.32138811e+02] [-9.50201572e-03 -4.94629601e-05 -9.99954854e-01 7.00999537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35762800000003 meters 0.012467198816439703 Centerline is valid? [True, True] Translation: X:42.50, Y:-132.15, Z:0.70 [[ 6.71583223e-01 7.40904970e-01 -5.98320896e-03 4.24988492e+01] [ 7.40876263e-01 -6.71609873e-01 -6.52233840e-03 -1.32147595e+02] [-8.85081515e-03 -5.25244468e-05 -9.99960829e-01 7.00538627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.387628 meters 0.012579491937266471 Centerline is valid? [True, True] Translation: X:42.50, Y:-132.16, Z:0.70 [[ 6.10770460e-01 7.91789050e-01 -5.43562916e-03 4.24998708e+01] [ 7.91758576e-01 -6.10794644e-01 -6.94693529e-03 -1.32156521e+02] [-8.82056047e-03 -6.07231435e-05 -9.99961096e-01 7.00438698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.417628 meters 0.012641858137175499 Centerline is valid? [True, True] Translation: X:42.50, Y:-132.16, Z:0.70 [[ 5.46185510e-01 8.37649887e-01 -4.90464038e-03 4.25023756e+01] [ 8.37617236e-01 -5.46207527e-01 -7.39615800e-03 -1.32164868e+02] [-8.87434240e-03 -6.85369934e-05 -9.99960620e-01 7.00307270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.447628 meters 0.012897034733024301 Centerline is valid? [True, True] Translation: X:42.50, Y:-132.17, Z:0.70 [[ 4.78100231e-01 8.78293933e-01 -4.46511283e-03 4.25028441e+01] [ 8.78257170e-01 -4.78121074e-01 -8.03629248e-03 -1.32171626e+02] [-9.19309147e-03 -7.93640740e-05 -9.99957740e-01 7.00627540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.477628 meters 0.012889692427514273 Centerline is valid? [True, True] Translation: X:42.50, Y:-132.18, Z:0.70 [[ 4.08845319e-01 9.12594322e-01 -4.13634905e-03 4.25039527e+01] [ 9.12549456e-01 -4.08866235e-01 -9.04943831e-03 -1.32180447e+02] [-9.94967948e-03 -7.48025850e-05 -9.99950498e-01 7.01440589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.507628 meters 0.01264573451745174 Centerline is valid? [True, True] Translation: X:42.51, Y:-132.19, Z:0.70 [[ 3.38724582e-01 9.40877241e-01 -3.95903840e-03 4.25076886e+01] [ 9.40814861e-01 -3.38747714e-01 -1.08344094e-02 -1.32188429e+02] [-1.15349645e-02 -5.48413570e-05 -9.99933469e-01 7.02683266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.537628 meters 0.012663140961587318 Centerline is valid? [True, True] Translation: X:42.51, Y:-132.20, Z:0.71 [[ 2.68578944e-01 9.63250878e-01 -3.61884743e-03 4.25115716e+01] [ 9.63163433e-01 -2.68603323e-01 -1.29790625e-02 -1.32197334e+02] [-1.34741278e-02 3.61401308e-07 -9.99909220e-01 7.05888624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.567628 meters 0.016008375035897054 Centerline is valid? [True, True] Translation: X:42.52, Y:-132.21, Z:0.71 [[ 1.94990329e-01 9.80801265e-01 -2.76579614e-03 4.25174145e+01] [ 9.80699659e-01 -1.95009940e-01 -1.41174140e-02 -1.32205405e+02] [-1.43857352e-02 4.03438623e-05 -9.99896519e-01 7.07576365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59762800000001 meters 0.012783447296859722 Centerline is valid? [True, True] Translation: X:42.52, Y:-132.21, Z:0.70 [[ 1.19093875e-01 9.92881836e-01 -1.51938280e-03 4.25224074e+01] [ 9.92794789e-01 -1.19103552e-01 -1.31472982e-02 -1.32214135e+02] [-1.32346775e-02 5.73273562e-05 -9.99912416e-01 7.04845711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62762800000002 meters 0.013421896036044939 Centerline is valid? [True, True] Translation: X:42.52, Y:-132.22, Z:0.70 [[ 4.61931198e-02 9.98932425e-01 -4.53643825e-04 4.25241419e+01] [ 9.98855737e-01 -4.61951948e-02 -1.23782613e-02 -1.32222095e+02] [-1.23860027e-02 1.18665770e-04 -9.99923284e-01 7.01851122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65762800000002 meters 0.014087210531406092 Centerline is valid? [True, True] Translation: X:42.53, Y:-132.23, Z:0.70 [[-2.93435895e-02 9.99569266e-01 4.86931761e-04 4.25273442e+01] [ 9.99501272e-01 2.93472733e-02 -1.16595557e-02 -1.32230423e+02] [-1.16688236e-02 1.44555698e-04 -9.99931907e-01 7.01220651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68762800000002 meters 0.014511931827687237 Centerline is valid? [True, True] Translation: X:42.53, Y:-132.24, Z:0.70 [[-1.04345434e-01 9.94540237e-01 1.32207273e-03 4.25327769e+01] [ 9.94479997e-01 1.04353667e-01 -1.09475330e-02 -1.32237622e+02] [-1.10257252e-02 1.72449802e-04 -9.99939200e-01 6.99720940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71762800000002 meters 0.015313318428776711 Centerline is valid? [True, True] Translation: X:42.54, Y:-132.25, Z:0.70 [[-1.79039660e-01 9.83839866e-01 1.97927799e-03 4.25377557e+01] [ 9.83790740e-01 1.79050503e-01 -9.83351500e-03 -1.32246364e+02] [-1.00289948e-02 1.86606178e-04 -9.99949691e-01 6.99227735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74762800000002 meters 0.016511371692935848 Centerline is valid? [True, True] Translation: X:42.55, Y:-132.25, Z:0.70 [[-2.49784819e-01 9.68298595e-01 2.31853337e-03 4.25455919e+01] [ 9.68264289e-01 2.49795492e-01 -8.15346307e-03 -1.32252553e+02] [-8.47414601e-03 2.08341765e-04 -9.99964072e-01 6.98385359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77762800000002 meters 0.018352145489116352 Centerline is valid? [True, True] Translation: X:42.55, Y:-132.26, Z:0.70 [[-3.22585430e-01 9.46536693e-01 2.63239455e-03 4.25528068e+01] [ 9.46510152e-01 3.22596106e-01 -7.09114881e-03 -1.32260376e+02] [-7.56123277e-03 2.04086871e-04 -9.99971393e-01 6.98227250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80762800000002 meters 0.016770518607251244 Centerline is valid? [True, True] Translation: X:42.57, Y:-132.26, Z:0.70 [[-3.94297172e-01 9.18979320e-01 2.59792706e-03 4.25683602e+01] [ 9.18962230e-01 3.94305691e-01 -5.60725697e-03 -1.32262232e+02] [-6.17733063e-03 1.76471281e-04 -9.99980905e-01 6.96603647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83762800000002 meters 0.019456694583233465 Centerline is valid? [True, True] Translation: X:42.58, Y:-132.27, Z:0.69 [[-4.64610840e-01 8.85512291e-01 2.17931574e-03 4.25778955e+01] [ 8.85503818e-01 4.64615933e-01 -3.87590147e-03 -1.32267990e+02] [-4.44470321e-03 1.29006576e-04 -9.99990114e-01 6.94004117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86762800000002 meters 0.018279741406016004 Centerline is valid? [True, True] Translation: X:42.59, Y:-132.27, Z:0.69 [[-5.33634683e-01 8.45712800e-01 1.97099062e-03 4.25875615e+01] [ 8.45707696e-01 5.33638314e-01 -2.93990904e-03 -1.32271388e+02] [-3.53811482e-03 9.80445021e-05 -9.99993736e-01 6.92057117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89762800000003 meters 0.01605493034358197 Centerline is valid? [True, True] Translation: X:42.60, Y:-132.27, Z:0.69 [[-6.00178491e-01 7.99864096e-01 1.79069028e-03 4.26033472e+01] [ 7.99860892e-01 6.00181158e-01 -2.26510517e-03 -1.32269069e+02] [-2.88651486e-03 7.28357228e-05 -9.99995831e-01 6.91102751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92762800000003 meters 0.01379376746674908 Centerline is valid? [True, True] Translation: X:42.62, Y:-132.26, Z:0.69 [[-6.67288011e-01 7.44796330e-01 2.26673832e-03 4.26229933e+01] [ 7.44792316e-01 6.67291858e-01 -2.44594695e-03 -1.32261019e+02] [-3.33430834e-03 5.60982092e-05 -9.99994440e-01 6.92507969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95762800000003 meters 0.013077087374186286 Centerline is valid? [True, True] Translation: X:42.64, Y:-132.26, Z:0.69 [[-7.26964597e-01 6.86667890e-01 3.11180787e-03 4.26376504e+01] [ 6.86661896e-01 7.26971256e-01 -2.86957021e-03 -1.32257013e+02] [-4.23263660e-03 5.06839436e-05 -9.99991041e-01 6.94330147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98762800000003 meters 0.012341619348066235 Centerline is valid? [True, True] Translation: X:42.66, Y:-132.23, Z:0.70 [[-7.76663770e-01 6.29900628e-01 4.31119642e-03 4.26561092e+01] [ 6.29891211e-01 7.76675735e-01 -3.44462157e-03 -1.32230186e+02] [-5.51817094e-03 4.02719627e-05 -9.99984774e-01 6.95672152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01762800000003 meters 0.011908580980744536 Centerline is valid? [True, True] Translation: X:42.68, Y:-132.21, Z:0.70 [[-8.23810898e-01 5.66821640e-01 6.98798976e-03 4.26836329e+01] [ 5.66801192e-01 8.23840536e-01 -4.81464779e-03 -1.32207979e+02] [-8.48603579e-03 -5.55839725e-06 -9.99963993e-01 6.98076481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04762800000003 meters 0.012144156338613987 Centerline is valid? [True, True] Translation: X:42.70, Y:-132.18, Z:0.70 [[-8.63671403e-01 5.03975003e-01 8.99467475e-03 4.27010518e+01] [ 5.03947135e-01 8.63718238e-01 -5.30002570e-03 -1.32183224e+02] [-1.04399451e-02 -4.46400580e-05 -9.99945501e-01 6.99417385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07762800000003 meters 0.012437896523149078 Centerline is valid? [True, True] Translation: X:42.72, Y:-132.16, Z:0.70 [[-8.98347668e-01 4.39154200e-01 1.07264214e-02 4.27156378e+01] [ 4.39121789e-01 8.98411699e-01 -5.33595556e-03 -1.32157496e+02] [-1.19800497e-02 -8.33378966e-05 -9.99928233e-01 7.01091012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10762800000003 meters 0.012884710897990304 Centerline is valid? [True, True] Translation: X:43.07, Y:-131.47, Z:-0.21 [[-8.57978153e-01 -5.13560987e-01 1.13402861e-02 4.30682015e+01] [ 5.13518653e-01 -8.58053079e-01 -6.59598186e-03 -1.31468130e+02] [ 1.31180063e-02 1.64240085e-04 9.99913942e-01 -2.13726387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.137628 meters 0.012967097351763376 Centerline is valid? [True, True] Translation: X:42.68, Y:-132.14, Z:0.70 [[-9.01712534e-01 4.32182497e-01 1.15236588e-02 4.26769201e+01] [ 4.32145182e-01 9.01786155e-01 -5.68097285e-03 -1.32137888e+02] [-1.28470930e-02 -1.42710782e-04 -9.99917463e-01 7.00532346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.167628 meters 0.013084171107408941 Centerline is valid? [True, True] Translation: X:42.69, Y:-132.11, Z:0.70 [[-9.30156344e-01 3.66988383e-01 1.13447441e-02 4.26902373e+01] [ 3.66959259e-01 9.30225514e-01 -4.62544711e-03 -1.32114284e+02] [-1.22506558e-02 -1.39330070e-04 -9.99924948e-01 6.99511806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.197628 meters 0.013062022076657605 Centerline is valid? [True, True] Translation: X:42.70, Y:-132.09, Z:0.70 [[-9.53769802e-01 3.00359310e-01 1.03658176e-02 4.27031292e+01] [ 3.00340184e-01 9.53826122e-01 -3.39167346e-03 -1.32089987e+02] [-1.09059083e-02 -1.21604158e-04 -9.99940521e-01 6.98729455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.227628 meters 0.012524816461758112 Centerline is valid? [True, True] Translation: X:42.72, Y:-132.07, Z:0.70 [[-9.72272867e-01 2.33726349e-01 7.58062248e-03 4.27161536e+01] [ 2.33718660e-01 9.72302416e-01 -1.89719424e-03 -1.32067812e+02] [-7.81408184e-03 -7.28575470e-05 -9.99969467e-01 6.96214940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.257628 meters 0.012516033556983377 Centerline is valid? [True, True] Translation: X:42.72, Y:-132.04, Z:0.70 [[-9.86165671e-01 1.65621673e-01 6.83595347e-03 4.27248609e+01] [ 1.65617309e-01 9.86189362e-01 -1.20359973e-03 -1.32043046e+02] [-6.94088680e-03 -5.47965124e-05 -9.99975910e-01 6.95824965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.287628 meters 0.01220726120442535 Centerline is valid? [True, True] Translation: X:42.87, Y:-131.27, Z:-0.21 [[-9.69451795e-01 -2.45209558e-01 5.95735294e-03 4.28653721e+01] [ 2.45204924e-01 -9.69470099e-01 -1.50753710e-03 -1.31269857e+02] [ 6.14513805e-03 -7.12267985e-07 9.99981118e-01 -2.06765664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.317628 meters 0.012067450600719868 Centerline is valid? [True, True] Translation: X:42.67, Y:-132.04, Z:0.69 [[-9.86094695e-01 1.66109227e-01 4.99779645e-03 4.26717985e+01] [ 1.66107009e-01 9.86107360e-01 -8.58437369e-04 -1.32042668e+02] [-5.07095823e-03 -1.63315137e-05 -9.99987142e-01 6.94161209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34762800000001 meters 0.01209203842981758 Centerline is valid? [True, True] Translation: X:42.68, Y:-132.02, Z:0.69 [[-9.95318744e-01 9.64766070e-02 5.73259951e-03 4.26781937e+01] [ 9.64749270e-02 9.95335252e-01 -5.69526595e-04 -1.32018134e+02] [-5.76080437e-03 -1.38083763e-05 -9.99983406e-01 6.94842805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37762800000002 meters 0.012104244509812831 Centerline is valid? [True, True] Translation: X:42.77, Y:-131.22, Z:-0.21 [[-9.85865950e-01 -1.67407111e-01 6.57178360e-03 4.27650405e+01] [ 1.67403886e-01 -9.85887851e-01 -1.04173477e-03 -1.31217274e+02] [ 6.65343542e-03 7.31312724e-05 9.99977863e-01 -2.08021815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40762800000002 meters 0.012132485171052337 Centerline is valid? [True, True] Translation: X:42.61, Y:-132.01, Z:0.70 [[-9.95810946e-01 9.11562885e-02 7.14773248e-03 4.26111681e+01] [ 9.11537749e-02 9.95836598e-01 -6.77330937e-04 -1.32012914e+02] [-7.17971657e-03 -2.29507639e-05 -9.99974225e-01 6.95968226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43762800000002 meters 0.012346222182896141 Centerline is valid? [True, True] Translation: X:42.61, Y:-131.98, Z:0.70 [[-9.99820344e-01 1.69142643e-02 8.55493420e-03 4.26141267e+01] [ 1.69131715e-02 9.99856942e-01 -2.00078636e-04 -1.31981041e+02] [-8.55709453e-03 -5.53516212e-05 -9.99963386e-01 6.98760281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46762800000002 meters 0.01244128634914404 Centerline is valid? [True, True] Translation: X:42.64, Y:-131.19, Z:-0.21 [[-9.95138971e-01 -9.79451591e-02 1.02554824e-02 4.26355763e+01] [ 9.79418348e-02 -9.95191797e-01 -8.27095004e-04 -1.31185385e+02] [ 1.02871819e-02 1.81366291e-04 9.99947069e-01 -2.12451428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49762800000002 meters 0.012591630463805735 Centerline is valid? [True, True] Translation: X:42.53, Y:-131.98, Z:0.70 [[-9.99877312e-01 9.91870131e-03 1.21235474e-02 4.25257061e+01] [ 9.91685524e-03 9.99950804e-01 -2.12379582e-04 -1.31976376e+02] [-1.21250575e-02 -9.21260616e-05 -9.99926485e-01 7.01548087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52762800000002 meters 0.012635788033774837 Centerline is valid? [True, True] Translation: X:42.52, Y:-131.95, Z:0.70 [[-9.98137547e-01 -5.92216583e-02 1.46367022e-02 4.25227240e+01] [-5.92164896e-02 9.98244854e-01 7.86653814e-04 -1.31949133e+02] [-1.46575996e-02 -8.15454142e-05 -9.99892568e-01 7.04331271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55762800000002 meters 0.012324247489979562 Centerline is valid? [True, True] Translation: X:42.48, Y:-131.16, Z:-0.22 [[-9.99735469e-01 -1.74257666e-02 1.50111424e-02 4.24812610e+01] [ 1.74254008e-02 -9.99848154e-01 -1.55168646e-04 -1.31155151e+02] [ 1.50115670e-02 1.06447574e-04 9.99887314e-01 -2.15310066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58762800000002 meters 0.012396679761786992 Centerline is valid? [True, True] Translation: X:42.42, Y:-131.96, Z:0.70 [[-9.97956401e-01 -6.19720535e-02 1.55719398e-02 4.24226928e+01] [-6.19649366e-02 9.98077885e-01 9.39570095e-04 -1.31956311e+02] [-1.56002358e-02 -2.72642694e-05 -9.99878309e-01 7.03272871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61762800000002 meters 0.012459382439458756 Centerline is valid? [True, True] Translation: X:42.41, Y:-131.93, Z:0.70 [[-9.91761537e-01 -1.27216414e-01 1.50012301e-02 4.24137197e+01] [-1.27200929e-01 9.91874982e-01 1.98577960e-03 -1.31932890e+02] [-1.51319686e-02 6.12494129e-05 -9.99885503e-01 7.01144199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64762800000003 meters 0.01281339781775021 Centerline is valid? [True, True] Translation: X:42.40, Y:-131.91, Z:0.70 [[-9.80735276e-01 -1.94814802e-01 1.43356552e-02 4.23997425e+01] [-1.94792348e-01 9.80840038e-01 2.95981449e-03 -1.31909000e+02] [-1.46376002e-02 1.10318546e-04 -9.99892859e-01 7.00647114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67762800000003 meters 0.01281339781775021 Centerline is valid? [True, True] Translation: X:42.36, Y:-131.89, Z:0.70 [[-9.63971304e-01 -2.65633227e-01 1.40823810e-02 4.23594099e+01] [-2.65603214e-01 9.64074155e-01 3.99454945e-03 -1.31890308e+02] [-1.46375446e-02 1.10305403e-04 -9.99892859e-01 7.00645725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70762800000003 meters 0.013278098002363858 Centerline is valid? [True, True] Translation: X:42.30, Y:-131.88, Z:0.70 [[-9.42960685e-01 -3.32627596e-01 1.35657117e-02 4.23042521e+01] [-3.32590725e-01 9.43058247e-01 4.95511713e-03 -1.31880389e+02] [-1.44414650e-02 1.60650772e-04 -9.99895704e-01 7.00403760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73762800000003 meters 0.014727708938052085 Centerline is valid? [True, True] Translation: X:42.24, Y:-131.88, Z:0.70 [[-9.18652012e-01 -3.94863457e-01 1.27016077e-02 4.22389573e+01] [-3.94821772e-01 9.18739779e-01 5.74339441e-03 -1.31879591e+02] [-1.39373289e-02 2.61309561e-04 -9.99902837e-01 7.00325543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76762800000003 meters 0.015232429318798308 Centerline is valid? [True, True] Translation: X:42.16, Y:-131.89, Z:0.70 [[-8.88202386e-01 -4.59298160e-01 1.19047326e-02 4.21568151e+01] [-4.59252317e-01 8.88282111e-01 6.49617293e-03 -1.31889886e+02] [-1.35584413e-02 3.02640264e-04 -9.99908034e-01 6.99520216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79762800000003 meters 0.0161479908144478 Centerline is valid? [True, True] Translation: X:42.08, Y:-131.91, Z:0.70 [[-8.52855711e-01 -5.22034499e-01 1.08221296e-02 4.20791381e+01] [-5.21987522e-01 8.52924306e-01 7.01102911e-03 -1.31905007e+02] [-1.28904565e-02 3.30379587e-04 -9.99916860e-01 6.99056236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82762800000003 meters 0.017928032738941557 Centerline is valid? [True, True] Translation: X:41.99, Y:-131.94, Z:0.70 [[-8.12562875e-01 -5.82797305e-01 9.42732945e-03 4.19905007e+01] [-5.82753222e-01 8.12617491e-01 7.17602062e-03 -1.31936317e+02] [-1.18429783e-02 3.37161337e-04 -9.99929813e-01 6.98502660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85762800000003 meters 0.017707992050750587 Centerline is valid? [True, True] Translation: X:41.90, Y:-131.97, Z:0.69 [[-7.68397597e-01 -6.39926885e-01 7.66251795e-03 4.18998360e+01] [-6.39890715e-01 7.68435731e-01 6.81175530e-03 -1.31972878e+02] [-1.02471779e-02 3.30962316e-04 -9.99947442e-01 6.94745390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.887628 meters 0.016958166318862967 Centerline is valid? [True, True] Translation: X:41.81, Y:-132.02, Z:0.69 [[-7.17589020e-01 -6.96432424e-01 6.91941954e-03 4.18051769e+01] [-6.96395615e-01 7.17622306e-01 7.16750625e-03 -1.32021655e+02] [-9.95721355e-03 3.24670352e-04 -9.99950373e-01 6.93703079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.917628 meters 0.017671921770213577 Centerline is valid? [True, True] Translation: X:41.71, Y:-132.09, Z:0.69 [[-6.61990863e-01 -7.49486129e-01 6.21609036e-03 4.17099353e+01] [-7.49448546e-01 6.62019972e-01 7.51222069e-03 -1.32085772e+02] [-9.74548118e-03 3.14381579e-04 -9.99952462e-01 6.94285395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.947628 meters 0.017040679255162963 Centerline is valid? [True, True] Translation: X:41.62, Y:-132.15, Z:0.69 [[-6.00141766e-01 -7.99872415e-01 5.82935916e-03 4.16212564e+01] [-7.99829802e-01 6.00170003e-01 8.26168912e-03 -1.32148182e+02] [-1.01069037e-02 2.95689520e-04 -9.99948880e-01 6.94122406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.977628 meters 0.016185692369915183 Centerline is valid? [True, True] Translation: X:41.53, Y:-132.23, Z:0.69 [[-5.34888128e-01 -8.44907975e-01 5.02046470e-03 4.15339265e+01] [-8.44866057e-01 5.34911624e-01 8.42017421e-03 -1.32225172e+02] [-9.79977727e-03 2.62230999e-04 -9.99951947e-01 6.94533566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.007628 meters 0.016219429645336562 Centerline is valid? [True, True] Translation: X:41.45, Y:-132.31, Z:0.70 [[-4.66197010e-01 -8.84669637e-01 4.46990631e-03 4.14533165e+01] [-8.84623821e-01 4.66218374e-01 9.00682351e-03 -1.32309607e+02] [-1.00520157e-02 2.44768592e-04 -9.99949447e-01 6.95278545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.037628 meters 0.014814187704534387 Centerline is valid? [True, True] Translation: X:41.37, Y:-132.41, Z:0.70 [[-3.92380371e-01 -9.19794860e-01 3.88064545e-03 4.13728094e+01] [-9.19744635e-01 3.92399508e-01 9.61416047e-03 -1.32406361e+02] [-1.03658187e-02 2.03205020e-04 -9.99946253e-01 6.95863098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.067628 meters 0.016006144928339495 Centerline is valid? [True, True] Translation: X:41.31, Y:-132.50, Z:0.70 [[-3.19075729e-01 -9.47723885e-01 3.18067648e-03 4.13078988e+01] [-9.47670594e-01 3.19091523e-01 1.00521106e-02 -1.32502253e+02] [-1.05415523e-02 1.93150965e-04 -9.99944418e-01 6.97255819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09762800000001 meters 0.014115959972064582 Centerline is valid? [True, True] Translation: X:41.25, Y:-132.61, Z:0.70 [[-2.44055120e-01 -9.69758703e-01 2.27091065e-03 4.12479621e+01] [-9.69709899e-01 2.44065624e-01 9.73052782e-03 -1.32608464e+02] [-9.99051526e-03 1.72660603e-04 -9.99950079e-01 6.95261572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12762800000002 meters 0.014363693089767609 Centerline is valid? [True, True] Translation: X:41.20, Y:-132.72, Z:0.69 [[-1.68402117e-01 -9.85717419e-01 1.37742759e-03 4.11985119e+01] [-9.85676407e-01 1.68407677e-01 8.99300677e-03 -1.32719699e+02] [-9.09653280e-03 1.56743494e-04 -9.99958613e-01 6.94948207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15762800000002 meters 0.01467692724736235 Centerline is valid? [True, True] Translation: X:41.16, Y:-132.84, Z:0.69 [[-9.49872595e-02 -9.95478326e-01 5.67654949e-04 4.11581079e+01] [-9.95449433e-01 9.49888284e-02 7.58603894e-03 -1.32839367e+02] [-7.60565823e-03 1.55505252e-04 -9.99971064e-01 6.92809494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18762800000002 meters 0.015527847161144977 Centerline is valid? [True, True] Translation: X:41.13, Y:-132.95, Z:0.69 [[-2.01526446e-02 -9.99796915e-01 -1.93820470e-05 4.11280172e+01] [-9.99772030e-01 2.01520062e-02 7.05575772e-03 -1.32950234e+02] [-7.05393421e-03 1.61569806e-04 -9.99975108e-01 6.92101854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21762800000002 meters 0.0157950685018538 Centerline is valid? [True, True] Translation: X:41.11, Y:-133.07, Z:0.69 [[ 5.46666322e-02 -9.98504544e-01 -4.84415462e-04 4.11052730e+01] [-9.98486333e-01 -5.46685618e-02 6.03251055e-03 -1.33070750e+02] [-6.04997150e-03 1.53905183e-04 -9.99981687e-01 6.91611075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24762800000002 meters 0.017281990484147924 Centerline is valid? [True, True] Translation: X:41.09, Y:-133.19, Z:0.69 [[ 1.26674859e-01 -9.91944076e-01 -6.56101103e-04 4.10926879e+01] [-9.91935477e-01 -1.26676494e-01 4.13229221e-03 -1.33188951e+02] [-4.18211536e-03 1.27352428e-04 -9.99991247e-01 6.90930797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27762800000002 meters 0.018715437791035783 Centerline is valid? [True, True] Translation: X:41.09, Y:-133.31, Z:0.69 [[ 2.01007474e-01 -9.79589283e-01 -9.12657012e-04 4.10903587e+01] [-9.79581862e-01 -2.01009505e-01 3.81494666e-03 -1.33310866e+02] [-3.92053359e-03 1.27189467e-04 -9.99992307e-01 6.90964181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30762800000002 meters 0.018364186775076476 Centerline is valid? [True, True] Translation: X:41.09, Y:-133.43, Z:0.69 [[ 2.74501218e-01 -9.61586002e-01 -1.20094959e-03 4.10944823e+01] [-9.61578805e-01 -2.74503813e-01 3.72266481e-03 -1.33432968e+02] [-3.90932761e-03 1.32931645e-04 -9.99992350e-01 6.90987514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33762800000002 meters 0.01878897747827792 Centerline is valid? [True, True] Translation: X:41.11, Y:-133.55, Z:0.69 [[ 3.47240779e-01 -9.37774528e-01 -1.66630793e-03 4.11075408e+01] [-9.37765748e-01 -3.47244744e-01 4.06068554e-03 -1.33552334e+02] [-4.38662413e-03 1.52570892e-04 -9.99990367e-01 6.91519586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36762800000002 meters 0.018636146650819436 Centerline is valid? [True, True] Translation: X:41.13, Y:-133.67, Z:0.69 [[ 4.19462915e-01 -9.07769896e-01 -2.16308651e-03 4.11305862e+01] [-9.07759752e-01 -4.19468461e-01 4.29456906e-03 -1.33673136e+02] [-4.80582708e-03 1.62150420e-04 -9.99988439e-01 6.91906247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39762800000003 meters 0.01724870204409254 Centerline is valid? [True, True] Translation: X:41.16, Y:-133.79, Z:0.69 [[ 4.89379565e-01 -8.72065854e-01 -2.96441049e-03 4.11589467e+01] [-8.72052082e-01 -4.89388509e-01 4.90444434e-03 -1.33789010e+02] [-5.72774686e-03 1.84985500e-04 -9.99983579e-01 6.91907431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42762800000003 meters 0.0168503497621884 Centerline is valid? [True, True] Translation: X:41.19, Y:-133.90, Z:0.69 [[ 5.56463793e-01 -8.30864460e-01 -3.50674827e-03 4.11949574e+01] [-8.30849990e-01 -5.56474812e-01 4.90692294e-03 -1.33898008e+02] [-6.02840496e-03 1.83056814e-04 -9.99981812e-01 6.92062835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45762800000003 meters 0.016183986155008507 Centerline is valid? [True, True] Translation: X:41.24, Y:-134.01, Z:0.69 [[ 6.21659360e-01 -7.83275977e-01 -4.28777915e-03 4.12400154e+01] [-7.83259266e-01 -6.21674122e-01 5.11941828e-03 -1.34007646e+02] [-6.67551869e-03 1.75908465e-04 -9.99977703e-01 6.92898002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48762800000003 meters 0.015991716753123757 Centerline is valid? [True, True] Translation: X:41.29, Y:-134.11, Z:0.69 [[ 6.80956798e-01 -7.32310491e-01 -4.37988095e-03 4.12895525e+01] [-7.32296783e-01 -6.80970866e-01 4.48339720e-03 -1.34105581e+02] [-6.26581013e-03 1.54372929e-04 -9.99980358e-01 6.92558195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51762800000003 meters 0.015595327609560597 Centerline is valid? [True, True] Translation: X:41.35, Y:-134.20, Z:0.69 [[ 7.35982272e-01 -6.76986049e-01 -4.47041488e-03 4.13478394e+01] [-6.76974678e-01 -7.35995836e-01 3.92622140e-03 -1.34200061e+02] [-5.94820385e-03 1.36728326e-04 -9.99982300e-01 6.91918763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54762800000003 meters 0.014939294638321249 Centerline is valid? [True, True] Translation: X:41.34, Y:-134.21, Z:0.69 [[ 7.88687117e-01 -6.14776460e-01 -4.74706431e-03 4.13424927e+01] [-6.14766206e-01 -7.88701395e-01 3.55262125e-03 -1.34206582e+02] [-5.92808416e-03 1.16428099e-04 -9.99982422e-01 6.92003862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57762800000003 meters 0.017437436668985895 Centerline is valid? [True, True] Translation: X:41.34, Y:-134.22, Z:0.70 [[ 8.35181836e-01 -5.49932213e-01 -6.77211921e-03 4.13364554e+01] [-5.49915541e-01 -8.35209279e-01 4.28461604e-03 -1.34216227e+02] [-8.01238519e-03 1.45660105e-04 -9.99967890e-01 6.95610181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60762800000003 meters 0.013906976250382829 Centerline is valid? [True, True] Translation: X:41.33, Y:-134.22, Z:0.69 [[ 8.76786080e-01 -4.80824751e-01 -7.33005602e-03 4.13308974e+01] [-4.80809186e-01 -8.76816710e-01 3.87092310e-03 -1.34224487e+02] [-8.28835123e-03 1.30386777e-04 -9.99965643e-01 6.94788065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.637628 meters 0.01336846401235438 Centerline is valid? [True, True] Translation: X:41.33, Y:-134.23, Z:0.70 [[ 9.13096689e-01 -4.07635844e-01 -9.35173006e-03 4.13270297e+01] [-4.07615863e-01 -9.13144569e-01 4.03789976e-03 -1.34233594e+02] [-1.01854742e-02 1.24920615e-04 -9.99948119e-01 6.96229589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.667628 meters 0.013400047322256348 Centerline is valid? [True, True] Translation: X:41.32, Y:-134.24, Z:0.70 [[ 9.42646398e-01 -3.33665067e-01 -9.24074994e-03 4.13241724e+01] [-3.33650137e-01 -9.42691684e-01 3.15827778e-03 -1.34239898e+02] [-9.76498509e-03 1.06038306e-04 -9.99952316e-01 6.96450760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.697628 meters 0.013008243161307696 Centerline is valid? [True, True] Translation: X:41.32, Y:-134.25, Z:0.70 [[ 9.66155173e-01 -2.57800058e-01 -9.12757708e-03 4.13233248e+01] [-2.57789443e-01 -9.66198283e-01 2.34116046e-03 -1.34247858e+02] [-9.42260060e-03 9.10687254e-05 -9.99955602e-01 6.95038225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.727628 meters 0.012799203005959853 Centerline is valid? [True, True] Translation: X:41.32, Y:-134.25, Z:0.69 [[ 9.83453514e-01 -1.80997996e-01 -7.67534000e-03 4.13200295e+01] [-1.80993054e-01 -9.83483462e-01 1.33936327e-03 -1.34254777e+02] [-7.79099203e-03 7.19817188e-05 -9.99969647e-01 6.93157351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.757628 meters 0.012727581143156601 Centerline is valid? [True, True] Translation: X:41.32, Y:-134.26, Z:0.69 [[ 9.94556584e-01 -1.03931799e-01 -7.44189544e-03 4.13161656e+01] [-1.03929435e-01 -9.94584424e-01 7.04776071e-04 -1.34264768e+02] [-7.47484193e-03 7.24923028e-05 -9.99972060e-01 6.91978803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.787628 meters 0.015062185885861239 Centerline is valid? [True, True] Translation: X:41.31, Y:-134.27, Z:0.69 [[ 9.99587772e-01 -2.76029170e-02 -7.89714260e-03 4.13121337e+01] [-2.76027794e-02 -9.99618963e-01 1.26428789e-04 -1.34272431e+02] [-7.89762329e-03 9.16064134e-05 -9.99968809e-01 6.93735089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.817628 meters 0.013798266268182006 Centerline is valid? [True, True] Translation: X:41.31, Y:-134.28, Z:0.69 [[ 9.98892213e-01 4.66815081e-02 -5.93162215e-03 4.13093861e+01] [ 4.66801344e-02 -9.98909820e-01 -3.69893024e-04 -1.34277306e+02] [-5.94242278e-03 9.25943414e-05 -9.99982339e-01 6.90996312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84762800000001 meters 0.014429654564968072 Centerline is valid? [True, True] Translation: X:41.31, Y:-134.28, Z:0.69 [[ 9.92545843e-01 1.21778317e-01 -4.77402682e-03 4.13063561e+01] [ 1.21776476e-01 -9.92557320e-01 -6.75503965e-04 -1.34283533e+02] [-4.82075700e-03 8.91044903e-05 -9.99988376e-01 6.90547322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87762800000002 meters 0.01510860428471345 Centerline is valid? [True, True] Translation: X:41.30, Y:-134.29, Z:0.69 [[ 9.80560624e-01 1.96172832e-01 -4.13302110e-03 4.13042694e+01] [ 1.96170700e-01 -9.80569330e-01 -9.19209213e-04 -1.34290564e+02] [-4.23303761e-03 9.05627181e-05 -9.99991037e-01 6.89793055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90762800000002 meters 0.01621270812456605 Centerline is valid? [True, True] Translation: X:41.30, Y:-134.30, Z:0.69 [[ 9.62998585e-01 2.69482113e-01 -3.62146866e-03 4.13009337e+01] [ 2.69479847e-01 -9.63005391e-01 -1.10901546e-03 -1.34297205e+02] [-3.78635367e-03 9.20674994e-05 -9.99992828e-01 6.89172434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93762800000002 meters 0.016679573566237497 Centerline is valid? [True, True] Translation: X:41.30, Y:-134.31, Z:0.69 [[ 9.40587325e-01 3.39538423e-01 -3.02389078e-03 4.12997079e+01] [ 3.39536344e-01 -9.40592181e-01 -1.19185823e-03 -1.34306977e+02] [-3.24892969e-03 9.43259281e-05 -9.99994718e-01 6.89125077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96762800000002 meters 0.01742947846760311 Centerline is valid? [True, True] Translation: X:41.30, Y:-134.32, Z:0.69 [[ 9.11994224e-01 4.10193304e-01 -2.82658776e-03 4.12997069e+01] [ 4.10190998e-01 -9.11998599e-01 -1.37878373e-03 -1.34316808e+02] [-3.14341193e-03 9.80019437e-05 -9.99995055e-01 6.88822766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99762800000002 meters 0.018975908956731815 Centerline is valid? [True, True] Translation: X:41.30, Y:-134.33, Z:0.69 [[ 8.78104631e-01 4.78461598e-01 -2.59918152e-03 4.12981022e+01] [ 4.78459160e-01 -8.78108472e-01 -1.53051484e-03 -1.34325249e+02] [-3.01465590e-03 1.00349962e-04 -9.99995451e-01 6.89429733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02762800000002 meters 0.01967747578226341 Centerline is valid? [True, True] Translation: X:41.30, Y:-134.33, Z:0.69 [[ 8.39820173e-01 5.42857498e-01 -2.79519000e-03 4.12984531e+01] [ 5.42853988e-01 -8.39824816e-01 -1.95633732e-03 -1.34334314e+02] [-3.40948231e-03 1.25591515e-04 -9.99994180e-01 6.90281460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05762800000002 meters 0.019357621898295208 Centerline is valid? [True, True] Translation: X:41.30, Y:-134.35, Z:0.69 [[ 7.95752218e-01 6.05615497e-01 -2.87693899e-03 4.13013178e+01] [ 6.05610877e-01 -7.95757406e-01 -2.37001209e-03 -1.34347113e+02] [-3.72466156e-03 1.43636831e-04 -9.99993053e-01 6.90934498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08762800000002 meters 0.021267532704084758 Centerline is valid? [True, True] Translation: X:41.30, Y:-134.36, Z:0.69 [[ 7.46774917e-01 6.65070826e-01 -2.83188767e-03 4.13013308e+01] [ 6.65065232e-01 -7.46780270e-01 -2.73219932e-03 -1.34357216e+02] [-3.93190390e-03 1.56947891e-04 -9.99992258e-01 6.92015288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11762800000002 meters 0.02118023389137778 Centerline is valid? [True, True] Translation: X:41.30, Y:-134.37, Z:0.69 [[ 6.93352303e-01 7.20592725e-01 -2.95100191e-03 4.13042624e+01] [ 7.20585046e-01 -6.93358559e-01 -3.33175399e-03 -1.34367906e+02] [-4.44694012e-03 1.83631451e-04 -9.99990095e-01 6.92836165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14762800000003 meters 0.021377833525501558 Centerline is valid? [True, True] Translation: X:41.31, Y:-134.38, Z:0.69 [[ 6.35942016e-01 7.71731510e-01 -2.86857917e-03 4.13072068e+01] [ 7.71722176e-01 -6.35948453e-01 -3.80114882e-03 -1.34378254e+02] [-4.75773480e-03 2.03564086e-04 -9.99988661e-01 6.93291766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17762800000003 meters 0.02135030149166097 Centerline is valid? [True, True] Translation: X:41.31, Y:-134.39, Z:0.69 [[ 5.73738226e-01 8.19034419e-01 -2.65893224e-03 4.13118466e+01] [ 8.19023852e-01 -5.73744347e-01 -4.16575001e-03 -1.34388608e+02] [-4.93743998e-03 2.12321089e-04 -9.99987788e-01 6.92776861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20762800000003 meters 0.021307230158443224 Centerline is valid? [True, True] Translation: X:41.32, Y:-134.40, Z:0.69 [[ 5.07370808e-01 8.61724616e-01 -2.35547826e-03 4.13176761e+01] [ 8.61713313e-01 -5.07376232e-01 -4.41886393e-03 -1.34398885e+02] [-5.00295751e-03 2.12255590e-04 -9.99987463e-01 6.92510737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23762800000003 meters 0.021424347205284553 Centerline is valid? [True, True] Translation: X:41.32, Y:-134.41, Z:0.69 [[ 4.35581250e-01 9.00146658e-01 -2.22888236e-03 4.13248761e+01] [ 9.00132181e-01 -4.35586898e-01 -5.10988672e-03 -1.34409946e+02] [-5.57051940e-03 2.19482107e-04 -9.99984460e-01 6.93800070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26762800000003 meters 0.020769440380653505 Centerline is valid? [True, True] Translation: X:41.33, Y:-134.42, Z:0.70 [[ 3.61653948e-01 9.32310113e-01 -2.06764718e-03 4.13323700e+01] [ 9.32290961e-01 -3.61659782e-01 -5.98042967e-03 -1.34419449e+02] [-6.32339989e-03 2.35197228e-04 -9.99979979e-01 6.95151469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29762800000003 meters 0.01926576419056519 Centerline is valid? [True, True] Translation: X:41.34, Y:-134.43, Z:0.70 [[ 2.84953300e-01 9.58539722e-01 -1.79390990e-03 4.13429208e+01] [ 9.58514934e-01 -2.84958840e-01 -6.89784644e-03 -1.34428592e+02] [-7.12305030e-03 2.46074678e-04 -9.99974600e-01 6.95559311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32762800000003 meters 0.01807874674238302 Centerline is valid? [True, True] Translation: X:41.35, Y:-134.44, Z:0.70 [[ 2.06035562e-01 9.78543783e-01 -1.18855601e-03 4.13543618e+01] [ 9.78520997e-01 -2.06038880e-01 -6.68118479e-03 -1.34437032e+02] [-6.78272058e-03 2.13534654e-04 -9.99976974e-01 6.95852285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35762800000003 meters 0.01693344597868598 Centerline is valid? [True, True] Translation: X:41.37, Y:-134.45, Z:0.70 [[ 1.22764304e-01 9.92435673e-01 -6.00789422e-04 4.13670309e+01] [ 9.92416742e-01 -1.22765675e-01 -6.13183492e-03 -1.34445362e+02] [-6.15920803e-03 1.56536968e-04 -9.99981020e-01 6.95116704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.387628 meters 0.016501369570651146 Centerline is valid? [True, True] Translation: X:41.38, Y:-134.45, Z:0.69 [[ 4.15131147e-02 9.99137954e-01 -9.72894252e-05 4.13764438e+01] [ 9.99125300e-01 -4.15130787e-02 -5.02987532e-03 -1.34452400e+02] [-5.02957812e-03 1.11601465e-04 -9.99987345e-01 6.94962709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.417628 meters 0.0151294114414868 Centerline is valid? [True, True] Translation: X:41.39, Y:-134.46, Z:0.69 [[-4.02151334e-02 9.99191009e-01 2.66012653e-04 4.13902643e+01] [ 9.99180882e-01 4.02159237e-02 -4.49936163e-03 -1.34457205e+02] [-4.50641964e-03 8.48523292e-05 -9.99989842e-01 6.94141436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.447628 meters 0.014456651016684545 Centerline is valid? [True, True] Translation: X:41.40, Y:-134.46, Z:0.69 [[-1.21811239e-01 9.92553134e-01 5.45420550e-04 4.14030616e+01] [ 9.92545298e-01 1.21812445e-01 -3.94464574e-03 -1.34460271e+02] [-3.98170951e-03 6.08524181e-05 -9.99992071e-01 6.93538041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.477628 meters 0.013572001829331692 Centerline is valid? [True, True] Translation: X:41.42, Y:-134.46, Z:0.69 [[-2.05357690e-01 9.78686756e-01 6.73304397e-04 4.14193733e+01] [ 9.78681933e-01 2.05358792e-01 -3.07248710e-03 -1.34461921e+02] [-3.14527141e-03 2.79919970e-05 -9.99995053e-01 6.92682694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.507628 meters 0.013400466330209679 Centerline is valid? [True, True] Translation: X:41.43, Y:-134.46, Z:0.69 [[-2.83841965e-01 9.58870734e-01 8.09186651e-04 4.14311319e+01] [ 9.58867011e-01 2.83843118e-01 -2.67198889e-03 -1.34463676e+02] [-2.79177401e-03 1.74798084e-05 -9.99996103e-01 6.92706775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.537628 meters 0.013176710470516611 Centerline is valid? [True, True] Translation: X:41.44, Y:-134.46, Z:0.69 [[-3.60403862e-01 9.32795854e-01 9.74796954e-04 4.14434577e+01] [ 9.32792518e-01 3.60405180e-01 -2.49487734e-03 -1.34463179e+02] [-2.67853311e-03 1.01198779e-05 -9.99996413e-01 6.92255780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.567628 meters 0.013045195831397167 Centerline is valid? [True, True] Translation: X:41.46, Y:-134.46, Z:0.69 [[-4.35778340e-01 9.00053109e-01 1.28069626e-03 4.14552622e+01] [ 9.00049222e-01 4.35780222e-01 -2.64491348e-03 -1.34462156e+02] [-2.93866470e-03 9.36644399e-08 -9.99995682e-01 6.92915350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59762800000001 meters 0.013045195831397167 Centerline is valid? [True, True] Translation: X:41.46, Y:-134.46, Z:0.69 [[-5.04969178e-01 8.63136100e-01 1.48399846e-03 4.14647584e+01] [ 8.63132373e-01 5.04971358e-01 -2.53637238e-03 -1.34461447e+02] [-2.93861128e-03 9.72389393e-08 -9.99995682e-01 6.92914889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62762800000002 meters 0.013104114877315515 Centerline is valid? [True, True] Translation: X:41.47, Y:-134.46, Z:0.69 [[-5.71638886e-01 8.20503060e-01 1.92679209e-03 4.14744294e+01] [ 8.20498386e-01 5.71642133e-01 -2.76964357e-03 -1.34458936e+02] [-3.37393656e-03 -2.30616505e-06 -9.99994308e-01 6.93323974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65762800000002 meters 0.013210844623488231 Centerline is valid? [True, True] Translation: X:41.48, Y:-134.46, Z:0.69 [[-6.34462633e-01 7.72950328e-01 2.22664402e-03 4.14839723e+01] [ 7.72945547e-01 6.34466541e-01 -2.71856244e-03 -1.34455916e+02] [-3.51404486e-03 -3.75170504e-06 -9.99993826e-01 6.94120122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68762800000002 meters 0.013221389965628999 Centerline is valid? [True, True] Translation: X:41.49, Y:-134.45, Z:0.70 [[-6.92927742e-01 7.21001992e-01 2.69662384e-03 4.14926058e+01] [ 7.20996514e-01 6.92932989e-01 -2.81065610e-03 -1.34453461e+02] [-3.89506826e-03 -3.32519657e-06 -9.99992414e-01 6.95410556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71762800000002 meters 0.013298784022809654 Centerline is valid? [True, True] Translation: X:41.50, Y:-134.45, Z:0.70 [[-7.46347846e-01 6.65545212e-01 3.80297806e-03 4.14975800e+01] [ 6.65536594e-01 7.46357535e-01 -3.38693806e-03 -1.34453053e+02] [-5.09254174e-03 3.18714113e-06 -9.99987033e-01 6.96731880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74762800000002 meters 0.013377749624591144 Centerline is valid? [True, True] Translation: X:41.52, Y:-134.44, Z:0.70 [[-7.90864183e-01 6.11974986e-01 4.52343288e-03 4.15174290e+01] [ 6.11965050e-01 7.90877118e-01 -3.48732863e-03 -1.34437318e+02] [-5.71163745e-03 1.01795244e-05 -9.99983688e-01 6.97320176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77762800000002 meters 0.013551431387828087 Centerline is valid? [True, True] Translation: X:41.54, Y:-134.42, Z:0.70 [[-8.31408818e-01 5.55637749e-01 5.10582681e-03 4.15352502e+01] [ 5.55627418e-01 8.31424495e-01 -3.38839106e-03 -1.34419857e+02] [-6.12782746e-03 1.97991638e-05 -9.99981225e-01 6.98030352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80762800000002 meters 0.013831450892057118 Centerline is valid? [True, True] Translation: X:41.55, Y:-134.40, Z:0.70 [[-8.67328111e-01 4.97700978e-01 5.97360895e-03 4.15508223e+01] [ 4.97689495e-01 8.67348681e-01 -3.38114120e-03 -1.34404772e+02] [-6.86399913e-03 4.04436088e-05 -9.99976442e-01 6.98535853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83762800000002 meters 0.013989858052940769 Centerline is valid? [True, True] Translation: X:41.56, Y:-134.38, Z:0.70 [[-8.99995948e-01 4.35847564e-01 6.64783564e-03 4.15640446e+01] [ 4.35836083e-01 9.00020499e-01 -3.16392716e-03 -1.34384145e+02] [-7.36217830e-03 4.98450241e-05 -9.99972898e-01 6.98361399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86762800000002 meters 0.01407925769390356 Centerline is valid? [True, True] Translation: X:41.58, Y:-134.36, Z:0.70 [[-9.28291833e-01 3.71791761e-01 6.72007386e-03 4.15776571e+01] [ 3.71782449e-01 9.28316155e-01 -2.63204131e-03 -1.34363271e+02] [-7.21692440e-03 5.51030632e-05 -9.99973956e-01 6.97806279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89762800000003 meters 0.014464933677901401 Centerline is valid? [True, True] Translation: X:41.87, Y:-133.63, Z:-0.21 [[-9.08541369e-01 -4.17749967e-01 6.12748460e-03 4.18743256e+01] [ 4.17739887e-01 -9.08562028e-01 -2.90306056e-03 -1.33632511e+02] [ 6.77995329e-03 -7.78558941e-05 9.99977013e-01 -2.09734238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92762800000003 meters 0.014516652967773547 Centerline is valid? [True, True] Translation: X:41.53, Y:-134.36, Z:0.70 [[-9.28628129e-01 3.70960371e-01 6.18062565e-03 4.15325720e+01] [ 3.70952651e-01 9.28648695e-01 -2.39434040e-03 -1.34357659e+02] [-6.62783535e-03 6.92676236e-05 -9.99978033e-01 6.96414564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95762800000003 meters 0.014867830077823654 Centerline is valid? [True, True] Translation: X:41.83, Y:-133.61, Z:-0.21 [[-9.11132904e-01 -4.12065566e-01 6.22907648e-03 4.18278308e+01] [ 4.12055503e-01 -9.11154195e-01 -2.88037760e-03 -1.33607037e+02] [ 6.86255359e-03 -5.76815703e-05 9.99976451e-01 -2.09032758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98762800000003 meters 0.015335263154883557 Centerline is valid? [True, True] Translation: X:41.49, Y:-134.35, Z:0.70 [[-9.29099166e-01 3.69778813e-01 6.19427036e-03 4.14899235e+01] [ 3.69771211e-01 9.29119810e-01 -2.37267217e-03 -1.34351188e+02] [-6.63258320e-03 8.60151184e-05 -9.99978000e-01 6.96270023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01762800000003 meters 0.017266967001453484 Centerline is valid? [True, True] Translation: X:41.80, Y:-133.59, Z:-0.21 [[-9.14500455e-01 -4.04528091e-01 6.77804018e-03 4.17974155e+01] [ 4.04516576e-01 -9.14525571e-01 -3.05264592e-03 -1.33585664e+02] [ 7.43357210e-03 -4.98164755e-05 9.99972369e-01 -2.09800847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04762800000003 meters 0.015860510672080167 Centerline is valid? [True, True] Translation: X:41.44, Y:-134.34, Z:0.70 [[-9.29885632e-01 3.67801997e-01 5.86535404e-03 4.14434301e+01] [ 3.67795294e-01 9.29904126e-01 -2.22232026e-03 -1.34340812e+02] [-6.27159075e-03 9.07459303e-05 -9.99980329e-01 6.95947112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07762800000003 meters 0.01503889318307998 Centerline is valid? [True, True] Translation: X:41.46, Y:-134.31, Z:0.70 [[-9.54265610e-01 2.98899123e-01 6.03816038e-03 4.14594362e+01] [ 2.98893652e-01 9.54284710e-01 -1.81001387e-03 -1.34314366e+02] [-6.30313569e-03 7.75338229e-05 -9.99980132e-01 6.95237908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10762800000003 meters 0.0148359448820275 Centerline is valid? [True, True] Translation: X:41.47, Y:-134.29, Z:0.70 [[-9.73302114e-01 2.29415687e-01 7.17192658e-03 4.14725158e+01] [ 2.29410083e-01 9.73328534e-01 -1.60576991e-03 -1.34288792e+02] [-7.34902959e-03 8.24130205e-05 -9.99972992e-01 6.95413007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.137628 meters 0.014845538889081083 Centerline is valid? [True, True] Translation: X:41.48, Y:-134.26, Z:0.70 [[-9.87184541e-01 1.59365627e-01 8.32346374e-03 4.14814233e+01] [ 1.59360741e-01 9.87219625e-01 -1.25121212e-03 -1.34261878e+02] [-8.41648696e-03 9.12560917e-05 -9.99964577e-01 6.95985990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.167628 meters 0.015037094758589721 Centerline is valid? [True, True] Translation: X:41.48, Y:-134.23, Z:0.70 [[-9.95972889e-01 8.90909231e-02 1.00404804e-02 4.14773432e+01] [ 8.90875270e-02 9.96023491e-01 -7.85875762e-04 -1.34234629e+02] [-1.00705688e-02 1.11770618e-04 -9.99949284e-01 6.96548091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.197628 meters 0.015084102378124626 Centerline is valid? [True, True] Translation: X:41.55, Y:-133.41, Z:-0.21 [[-9.91057646e-01 -1.33038780e-01 1.02676636e-02 4.15476171e+01] [ 1.33030639e-01 -9.91110828e-01 -1.47485952e-03 -1.33409263e+02] [ 1.03726061e-02 -9.57569524e-05 9.99946199e-01 -2.09351097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.227628 meters 0.01533272431686718 Centerline is valid? [True, True] Translation: X:41.40, Y:-134.23, Z:0.70 [[-9.96280827e-01 8.54936259e-02 1.07402405e-02 4.14001395e+01] [ 8.54901969e-02 9.96338707e-01 -7.78808735e-04 -1.34229061e+02] [-1.07675005e-02 1.42273066e-04 -9.99942019e-01 6.96406306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.257628 meters 0.01597622755365155 Centerline is valid? [True, True] Translation: X:41.46, Y:-133.40, Z:-0.21 [[-9.92427551e-01 -1.22448871e-01 9.68654713e-03 4.14642423e+01] [ 1.22441171e-01 -9.92474805e-01 -1.38619685e-03 -1.33401998e+02] [ 9.78339221e-03 -1.89667773e-04 9.99952124e-01 -2.09093139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.287628 meters 0.015771105505046682 Centerline is valid? [True, True] Translation: X:41.32, Y:-134.22, Z:0.70 [[-9.96323811e-01 8.51317676e-02 9.56268491e-03 4.13158531e+01] [ 8.51295398e-02 9.96369686e-01 -6.40513382e-04 -1.34222250e+02] [-9.58249739e-03 1.75908231e-04 -9.99954071e-01 6.95258251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.317628 meters 0.016113290033519367 Centerline is valid? [True, True] Translation: X:41.32, Y:-134.20, Z:0.69 [[-9.99846459e-01 1.53349425e-02 8.47927048e-03 4.13244990e+01] [ 1.53357989e-02 9.99882399e-01 3.59838011e-05 -1.34195554e+02] [-8.47772150e-03 1.66014663e-04 -9.99964050e-01 6.94505086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34762800000001 meters 0.017538315796774832 Centerline is valid? [True, True] Translation: X:41.32, Y:-134.17, Z:0.69 [[-9.98492467e-01 -5.44044254e-02 7.27680649e-03 4.13235250e+01] [-5.44018581e-02 9.98518971e-01 5.50423124e-04 -1.34170674e+02] [-7.29597478e-03 1.53721548e-04 -9.99973372e-01 6.94316174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37762800000002 meters 0.016299416422155058 Centerline is valid? [True, True] Translation: X:41.31, Y:-134.14, Z:0.69 [[-9.92164966e-01 -1.24819552e-01 5.36286519e-03 4.13144769e+01] [-1.24817084e-01 9.92179452e-01 7.93809013e-04 -1.34140276e+02] [-5.42000753e-03 1.18212299e-04 -9.99985305e-01 6.91943428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40762800000002 meters 0.016251540653110446 Centerline is valid? [True, True] Translation: X:41.29, Y:-134.12, Z:0.69 [[-9.80585558e-01 -1.96051479e-01 3.97244428e-03 4.12902029e+01] [-1.96049508e-01 9.80593601e-01 8.83510610e-04 -1.34115417e+02] [-4.06856700e-03 8.75619993e-05 -9.99991720e-01 6.91309461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43762800000002 meters 0.016212154608448066 Centerline is valid? [True, True] Translation: X:41.24, Y:-134.10, Z:0.69 [[-9.63435207e-01 -2.67928207e-01 2.66057712e-03 4.12441458e+01] [-2.67927020e-01 9.63438879e-01 7.99564456e-04 -1.34097637e+02] [-2.77752931e-03 5.74880475e-05 -9.99996141e-01 6.90324529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46762800000002 meters 0.015631004730882667 Centerline is valid? [True, True] Translation: X:41.18, Y:-134.09, Z:0.69 [[-9.40200453e-01 -3.40620360e-01 9.37527384e-04 4.11834277e+01] [-3.40620172e-01 9.40200920e-01 3.57848947e-04 -1.34086094e+02] [-1.00335475e-03 1.71090026e-05 -9.99999497e-01 6.89346579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49762800000002 meters 0.015145237456467574 Centerline is valid? [True, True] Translation: X:41.11, Y:-134.08, Z:0.69 [[-9.11499306e-01 -4.11301506e-01 2.93298333e-04 4.11117480e+01] [-4.11301483e-01 9.11499353e-01 1.36452407e-04 -1.34084312e+02] [-3.23464322e-04 3.74223503e-06 -9.99999948e-01 6.89482619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52762800000002 meters 0.01488802905666776 Centerline is valid? [True, True] Translation: X:41.03, Y:-134.09, Z:0.69 [[-8.77252459e-01 -4.80029232e-01 -2.45423520e-04 4.10345907e+01] [-4.80029211e-01 8.77252493e-01 -1.40904744e-04 -1.34090924e+02] [ 2.82936791e-04 -5.79857487e-06 -9.99999960e-01 6.89641225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55762800000002 meters 0.014239687002237243 Centerline is valid? [True, True] Translation: X:40.95, Y:-134.11, Z:0.69 [[-8.36598719e-01 -5.47815856e-01 -6.09356760e-04 4.09470409e+01] [-5.47815703e-01 8.36598941e-01 -4.10394730e-04 -1.34108128e+02] [ 7.34607961e-04 -9.52050376e-06 -9.99999730e-01 6.90378117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58762800000002 meters 0.013816439145037177 Centerline is valid? [True, True] Translation: X:40.85, Y:-134.14, Z:0.69 [[-7.91617078e-01 -6.11017024e-01 -7.74247736e-04 4.08526795e+01] [-6.11016719e-01 7.91617456e-01 -6.10453333e-04 -1.34139617e+02] [ 9.85905401e-04 -1.01669725e-05 -9.99999514e-01 6.91592704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61762800000002 meters 0.013713549991732518 Centerline is valid? [True, True] Translation: X:40.77, Y:-134.18, Z:0.69 [[-7.41633796e-01 -6.70804723e-01 -5.79293165e-04 4.07665408e+01] [-6.70804511e-01 7.41634023e-01 -5.33295037e-04 -1.34175035e+02] [ 7.87360350e-04 -6.91715446e-06 -9.99999690e-01 6.92049994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64762800000003 meters 0.013509940655743949 Centerline is valid? [True, True] Translation: X:40.67, Y:-134.23, Z:0.69 [[-6.86918188e-01 -7.26734692e-01 -2.99821592e-04 4.06749806e+01] [-7.26734621e-01 6.86918254e-01 -3.22538826e-04 -1.34225562e+02] [ 4.40353078e-04 -3.66705460e-06 -9.99999903e-01 6.92350083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67762800000003 meters 0.013450734705505337 Centerline is valid? [True, True] Translation: X:40.59, Y:-134.28, Z:0.69 [[-6.29035487e-01 -7.77376524e-01 -3.10212507e-04 4.05881273e+01] [-7.77376427e-01 6.29035563e-01 -3.89252629e-04 -1.34283804e+02] [ 4.97730554e-04 -3.70182690e-06 -9.99999876e-01 6.92548396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70762800000003 meters 0.013380900626131504 Centerline is valid? [True, True] Translation: X:40.50, Y:-134.35, Z:0.69 [[-5.67787205e-01 -8.23175364e-01 -1.01019827e-04 4.05012674e+01] [-8.23175350e-01 5.67787214e-01 -1.50742651e-04 -1.34353748e+02] [ 1.81445402e-04 -2.43271722e-06 -9.99999984e-01 6.93396048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73762800000003 meters 0.013469960692136086 Centerline is valid? [True, True] Translation: X:40.42, Y:-134.43, Z:0.69 [[-5.04251930e-01 -8.63556498e-01 4.07473222e-04 4.04224905e+01] [-8.63556211e-01 5.04252094e-01 7.03834583e-04 -1.34431297e+02] [-8.13270154e-04 3.03391536e-06 -9.99999669e-01 6.94524511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76762800000003 meters 0.013640653035670238 Centerline is valid? [True, True] Translation: X:40.35, Y:-134.52, Z:0.70 [[-4.37907132e-01 -8.99020066e-01 5.14305474e-04 4.03486694e+01] [-8.99019426e-01 4.37907434e-01 1.07267723e-03 -1.34517070e+02] [-1.18957655e-03 7.36239862e-06 -9.99999292e-01 6.95009319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79762800000003 meters 0.013807333639125575 Centerline is valid? [True, True] Translation: X:40.28, Y:-134.61, Z:0.70 [[-3.69053017e-01 -9.29408068e-01 7.16913725e-04 4.02804790e+01] [-9.29406222e-01 3.69053713e-01 1.85235294e-03 -1.34611817e+02] [-1.98617144e-03 1.73123657e-05 -9.99998027e-01 6.95435746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82762800000003 meters 0.014231499610517099 Centerline is valid? [True, True] Translation: X:40.22, Y:-134.71, Z:0.70 [[-2.98416294e-01 -9.54435652e-01 5.49461443e-04 4.02198812e+01] [-9.54433902e-01 2.98416799e-01 1.82787288e-03 -1.34711753e+02] [-1.90855557e-03 2.10424226e-05 -9.99998179e-01 6.95858272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85762800000003 meters 0.014938360086729729 Centerline is valid? [True, True] Translation: X:40.17, Y:-134.82, Z:0.70 [[-2.27654817e-01 -9.73741760e-01 5.18029164e-04 4.01683873e+01] [-9.73738855e-01 2.27655404e-01 2.37901595e-03 -1.34818260e+02] [-2.43447932e-03 3.71693174e-05 -9.99997036e-01 6.96724821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.887628 meters 0.015901216800713953 Centerline is valid? [True, True] Translation: X:40.12, Y:-134.94, Z:0.70 [[-1.51619972e-01 -9.88438823e-01 2.78532348e-04 4.01214435e+01] [-9.88436761e-01 1.51620225e-01 2.01925450e-03 -1.34935281e+02] [-2.03814068e-03 3.08476997e-05 -9.99997923e-01 6.96946905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.917628 meters 0.014706393431356605 Centerline is valid? [True, True] Translation: X:40.08, Y:-135.05, Z:0.70 [[-7.43152702e-02 -9.97234790e-01 1.18899904e-04 4.00782449e+01] [-9.97232797e-01 7.43153594e-02 1.99402781e-03 -1.35048560e+02] [-1.99734999e-03 2.96158316e-05 -9.99998005e-01 6.96966954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.947628 meters 0.015556853845165216 Centerline is valid? [True, True] Translation: X:40.05, Y:-135.17, Z:0.70 [[ 4.90517858e-03 -9.99987966e-01 -8.16899626e-05 4.00490628e+01] [-9.99978156e-01 -4.90549234e-03 4.42987761e-03 -1.35169150e+02] [-4.43022503e-03 5.99588373e-05 -9.99990185e-01 6.99592066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.977628 meters 0.014472139410182907 Centerline is valid? [True, True] Translation: X:40.02, Y:-135.29, Z:0.70 [[ 8.32125032e-02 -9.96531679e-01 -5.40530291e-04 4.00247331e+01] [-9.96515890e-01 -8.32142277e-02 5.61011911e-03 -1.35291981e+02] [-5.63564123e-03 7.18149700e-05 -9.99984117e-01 6.99770438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.007628 meters 0.014462482565201995 Centerline is valid? [True, True] Translation: X:40.01, Y:-135.43, Z:0.70 [[ 1.60707335e-01 -9.87001502e-01 -1.08989820e-03 4.00146650e+01] [-9.86981873e-01 -1.60711013e-01 6.22523364e-03 -1.35425197e+02] [-6.31947360e-03 7.52690557e-05 -9.99980029e-01 7.00619861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.037628 meters 0.014066240676779567 Centerline is valid? [True, True] Translation: X:40.01, Y:-135.54, Z:0.70 [[ 2.37827060e-01 -9.71305552e-01 -1.95317689e-03 4.00077012e+01] [-9.71275668e-01 -2.37835065e-01 7.61963288e-03 -1.35536022e+02] [-7.86552567e-03 8.49183117e-05 -9.99969063e-01 7.01097847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.067628 meters 0.014001445201514504 Centerline is valid? [True, True] Translation: X:40.01, Y:-135.66, Z:0.70 [[ 3.12937908e-01 -9.49770042e-01 -2.59485812e-03 4.00134901e+01] [-9.49739510e-01 -3.12948656e-01 7.61587472e-03 -1.35655677e+02] [-8.04538702e-03 8.11433800e-05 -9.99967632e-01 7.01482542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09762800000001 meters 0.014045225445411666 Centerline is valid? [True, True] Translation: X:40.03, Y:-135.78, Z:0.70 [[ 3.86124015e-01 -9.22440818e-01 -3.34405139e-03 4.00293648e+01] [-9.22407977e-01 -3.86138487e-01 7.78411295e-03 -1.35776531e+02] [-8.47165046e-03 7.89467357e-05 -9.99964112e-01 7.02201809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12762800000002 meters 0.013922612063652754 Centerline is valid? [True, True] Translation: X:40.05, Y:-135.89, Z:0.70 [[ 4.57216112e-01 -8.89346599e-01 -4.00674061e-03 4.00533962e+01] [-8.89313793e-01 -4.57233663e-01 7.63904829e-03 -1.35894529e+02] [-8.62577830e-03 7.05537252e-05 -9.99962795e-01 7.02795901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15762800000002 meters 0.013535610310310094 Centerline is valid? [True, True] Translation: X:40.09, Y:-136.01, Z:0.70 [[ 5.26902191e-01 -8.49911520e-01 -4.94860930e-03 4.00853227e+01] [-8.49874909e-01 -5.26925427e-01 7.88876775e-03 -1.36010033e+02] [-9.31230266e-03 4.90898715e-05 -9.99956638e-01 7.03197244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18762800000002 meters 0.013402716312251477 Centerline is valid? [True, True] Translation: X:40.13, Y:-136.12, Z:0.70 [[ 5.92008373e-01 -8.05915128e-01 -5.18582010e-03 4.01275027e+01] [-8.05884681e-01 -5.92031084e-01 7.00537649e-03 -1.36122014e+02] [-8.71590559e-03 3.19314446e-05 -9.99962015e-01 7.02879057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21762800000002 meters 0.013230559821673985 Centerline is valid? [True, True] Translation: X:40.17, Y:-136.22, Z:0.70 [[ 6.53254194e-01 -7.57120645e-01 -5.22365006e-03 4.01725896e+01] [-7.57096655e-01 -6.53275078e-01 6.02718353e-03 -1.36223445e+02] [-7.97578548e-03 1.75250683e-05 -9.99968193e-01 7.02028767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24762800000002 meters 0.013155331657539423 Centerline is valid? [True, True] Translation: X:40.23, Y:-136.32, Z:0.70 [[ 7.09891100e-01 -7.04293863e-01 -4.97801299e-03 4.02284154e+01] [-7.04276646e-01 -7.09908553e-01 4.92463798e-03 -1.36323136e+02] [-7.00232631e-03 9.94162316e-06 -9.99975483e-01 7.01543285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27762800000002 meters 0.01311318295376391 Centerline is valid? [True, True] Translation: X:40.23, Y:-136.32, Z:0.70 [[ 7.63359923e-01 -6.45966756e-01 -2.92869906e-03 4.02260478e+01] [-6.45962009e-01 -7.63365542e-01 2.47653374e-03 -1.36324011e+02] [-3.83542641e-03 1.34172660e-06 -9.99992645e-01 6.98100595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30762800000002 meters 0.013091236869288083 Centerline is valid? [True, True] Translation: X:40.22, Y:-136.33, Z:0.70 [[ 8.11910411e-01 -5.83780042e-01 -1.53205173e-03 4.02216610e+01] [-5.83778999e-01 -8.11911857e-01 1.10342109e-03 -1.36329041e+02] [-1.88804617e-03 -1.49944215e-06 -9.99998218e-01 6.96255907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33762800000002 meters 0.013075751515036529 Centerline is valid? [True, True] Translation: X:40.22, Y:-136.33, Z:0.70 [[ 8.55309965e-01 -5.18116611e-01 -2.01060344e-04 4.02180094e+01] [-5.18116596e-01 -8.55309989e-01 1.23783599e-04 -1.36334185e+02] [-2.36103260e-04 -1.70064433e-06 -9.99999972e-01 6.95162257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36762800000002 meters 0.013127361869551327 Centerline is valid? [True, True] Translation: X:40.21, Y:-136.34, Z:0.69 [[ 8.93990705e-01 -4.48081509e-01 1.89199774e-03 4.02132467e+01] [-4.48080499e-01 -8.93992707e-01 -9.51721874e-04 -1.36338270e+02] [ 2.11788115e-03 3.06322083e-06 -9.99997757e-01 6.94104834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39762800000003 meters 0.013233058646970074 Centerline is valid? [True, True] Translation: X:40.21, Y:-136.35, Z:0.69 [[ 9.26619232e-01 -3.75993870e-01 2.32567652e-03 4.02084437e+01] [-3.75992668e-01 -9.26622151e-01 -9.50426780e-04 -1.36345193e+02] [ 2.51237802e-03 6.24641173e-06 -9.99996844e-01 6.94649540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42762800000003 meters 0.013354623931547927 Centerline is valid? [True, True] Translation: X:40.21, Y:-136.35, Z:0.69 [[ 9.53509699e-01 -3.01349964e-01 2.72993358e-03 4.02052001e+01] [-3.01348697e-01 -9.53513607e-01 -8.73763076e-04 -1.36352180e+02] [ 2.86633729e-03 1.04796396e-05 -9.99995892e-01 6.94663609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45762800000003 meters 0.013755323863262076 Centerline is valid? [True, True] Translation: X:40.20, Y:-136.36, Z:0.70 [[ 9.74639890e-01 -2.23763282e-01 2.66063227e-03 4.02011981e+01] [-2.23762404e-01 -9.74643521e-01 -6.27083364e-04 -1.36358196e+02] [ 2.73348624e-03 1.58309882e-05 -9.99996264e-01 6.95704850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48762800000003 meters 0.013755323863262076 Centerline is valid? [True, True] Translation: X:40.20, Y:-136.36, Z:0.70 [[ 9.89164178e-01 -1.46788724e-01 2.70161351e-03 4.01977901e+01] [-1.46788133e-01 -9.89167868e-01 -4.16917070e-04 -1.36360679e+02] [ 2.73354800e-03 1.58346276e-05 -9.99996264e-01 6.95704244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51762800000003 meters 0.013901471044902098 Centerline is valid? [True, True] Translation: X:40.19, Y:-136.36, Z:0.70 [[ 9.97688659e-01 -6.79075485e-02 2.43009380e-03 4.01928540e+01] [-6.79073072e-02 -9.97691618e-01 -1.81771611e-04 -1.36364387e+02] [ 2.43682788e-03 1.63303485e-05 -9.99997031e-01 6.96240451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54762800000003 meters 0.01414404491673441 Centerline is valid? [True, True] Translation: X:40.19, Y:-136.37, Z:0.70 [[ 9.99934253e-01 1.12543543e-02 2.19761384e-03 4.01873133e+01] [ 1.12543634e-02 -9.99936668e-01 8.22322993e-06 -1.36368114e+02] [ 2.19756721e-03 1.65100555e-05 -9.99997585e-01 6.96576941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57762800000003 meters 0.014082868879214026 Centerline is valid? [True, True] Translation: X:40.18, Y:-136.38, Z:0.70 [[ 9.95903201e-01 9.04069816e-02 1.84170182e-03 4.01827035e+01] [ 9.04068554e-02 -9.95904904e-01 1.51824139e-04 -1.36376412e+02] [ 1.84788583e-03 1.53003240e-05 -9.99998293e-01 6.96874147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60762800000003 meters 0.014246714741986872 Centerline is valid? [True, True] Translation: X:40.18, Y:-136.39, Z:0.70 [[ 9.85449203e-01 1.69965452e-01 1.27035667e-03 4.01791617e+01] [ 1.69965327e-01 -9.85450022e-01 2.06287887e-04 -1.36387840e+02] [ 1.28693482e-03 1.26303526e-05 -9.99999172e-01 6.99315730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.637628 meters 0.014411522858848719 Centerline is valid? [True, True] Translation: X:40.18, Y:-136.40, Z:0.70 [[ 9.68946216e-01 2.47271381e-01 3.07271483e-04 4.01758347e+01] [ 2.47271369e-01 -9.68946265e-01 7.61846967e-05 -1.36398233e+02] [ 3.16567851e-04 2.16056673e-06 -9.99999950e-01 7.00610627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.667628 meters 0.014433598571008637 Centerline is valid? [True, True] Translation: X:40.17, Y:-136.41, Z:0.70 [[ 9.46329393e-01 3.23203658e-01 -2.74135548e-04 4.01740522e+01] [ 3.23203646e-01 -9.46329433e-01 -8.81566273e-05 -1.36408358e+02] [-2.87915083e-04 -5.17640097e-06 -9.99999959e-01 7.01661627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.697628 meters 0.015407375130181162 Centerline is valid? [True, True] Translation: X:40.17, Y:-136.42, Z:0.70 [[ 9.18013626e-01 3.96547872e-01 -8.76605776e-04 4.01723762e+01] [ 3.96547705e-01 -9.18014044e-01 -3.63656510e-04 -1.36420395e+02] [-9.48943629e-04 -1.37743782e-05 -9.99999550e-01 7.02755961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.727628 meters 0.014464143971494002 Centerline is valid? [True, True] Translation: X:40.17, Y:-136.43, Z:0.70 [[ 8.84272948e-01 4.66968130e-01 -1.45542290e-03 4.01715425e+01] [ 4.66967539e-01 -8.84274146e-01 -7.43469053e-04 -1.36428308e+02] [-1.63416920e-03 -2.22056794e-05 -9.99998665e-01 7.03851366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.757628 meters 0.014465426882304037 Centerline is valid? [True, True] Translation: X:40.17, Y:-136.44, Z:0.70 [[ 8.45121525e-01 5.34573069e-01 -1.11451776e-03 4.01715341e+01] [ 5.34572632e-01 -8.45122259e-01 -6.83939682e-04 -1.36438092e+02] [-1.30751950e-03 -1.77785429e-05 -9.99999145e-01 7.04242315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.787628 meters 0.014355305992352959 Centerline is valid? [True, True] Translation: X:40.17, Y:-136.45, Z:0.70 [[ 8.00748361e-01 5.98998582e-01 -1.66178319e-03 4.01720796e+01] [ 5.98997361e-01 -8.00750085e-01 -1.20966766e-03 -1.36447918e+02] [-2.05526225e-03 -2.67643488e-05 -9.99997888e-01 7.04646516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.817628 meters 0.014506503699443767 Centerline is valid? [True, True] Translation: X:40.17, Y:-136.46, Z:0.71 [[ 7.51435247e-01 6.59801632e-01 -2.62214525e-03 4.01732337e+01] [ 6.59797817e-01 -7.51439821e-01 -2.24406648e-03 -1.36458873e+02] [-3.45102308e-03 -4.38150567e-05 -9.99994044e-01 7.06328093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84762800000001 meters 0.014440754640055115 Centerline is valid? [True, True] Translation: X:40.17, Y:-136.47, Z:0.71 [[ 6.97574976e-01 7.16506726e-01 -2.69523407e-03 4.01744974e+01] [ 7.16501640e-01 -6.97580181e-01 -2.69998597e-03 -1.36467520e+02] [-3.81469998e-03 -4.76969871e-05 -9.99992723e-01 7.06733130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87762800000002 meters 0.014595023252707536 Centerline is valid? [True, True] Translation: X:40.18, Y:-136.48, Z:0.71 [[ 6.39159144e-01 7.69070553e-01 -2.46440905e-03 4.01761057e+01] [ 7.69065126e-01 -6.39163893e-01 -2.88961896e-03 -1.36477178e+02] [-3.79748214e-03 -4.83646822e-05 -9.99992788e-01 7.06839347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90762800000002 meters 0.014637266214122552 Centerline is valid? [True, True] Translation: X:40.18, Y:-136.48, Z:0.71 [[ 5.76946395e-01 8.16778918e-01 -2.24869922e-03 4.01777056e+01] [ 8.16773042e-01 -5.76950775e-01 -3.09852749e-03 -1.36483969e+02] [-3.82820069e-03 -4.89926344e-05 -9.99992671e-01 7.06692130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93762800000002 meters 0.01466401408686899 Centerline is valid? [True, True] Translation: X:40.18, Y:-136.49, Z:0.71 [[ 5.11173627e-01 8.59475639e-01 -1.77463722e-03 4.01796230e+01] [ 8.59470754e-01 -5.11176706e-01 -2.89798122e-03 -1.36490959e+02] [-3.39789747e-03 -4.38772160e-05 -9.99994226e-01 7.07200337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96762800000002 meters 0.014419608400127848 Centerline is valid? [True, True] Translation: X:40.18, Y:-136.50, Z:0.71 [[ 4.42397425e-01 8.96818420e-01 -1.11368398e-03 4.01829745e+01] [ 8.96815757e-01 -4.42398825e-01 -2.18560927e-03 -1.36497906e+02] [-2.45278714e-03 -3.18614257e-05 -9.99996991e-01 7.06577007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99762800000002 meters 0.014276709403754034 Centerline is valid? [True, True] Translation: X:40.19, Y:-136.51, Z:0.71 [[ 3.70967438e-01 9.28645469e-01 -8.67707988e-04 4.01877039e+01] [ 9.28643109e-01 -3.70968452e-01 -2.09353616e-03 -1.36506003e+02] [-2.26604515e-03 -2.91572997e-05 -9.99997432e-01 7.05938701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02762800000002 meters 0.01420892774670019 Centerline is valid? [True, True] Translation: X:40.19, Y:-136.51, Z:0.71 [[ 2.97727329e-01 9.54650793e-01 -5.48296980e-04 4.01932019e+01] [ 9.54649307e-01 -2.97727833e-01 -1.68458160e-03 -1.36513453e+02] [-1.77143043e-03 -2.18853512e-05 -9.99998431e-01 7.05717596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05762800000002 meters 0.014291927112691344 Centerline is valid? [True, True] Translation: X:40.20, Y:-136.52, Z:0.71 [[ 2.22658113e-01 9.74896565e-01 -2.28943192e-04 4.01985595e+01] [ 9.74896104e-01 -2.22658230e-01 -9.48020442e-04 -1.36521766e+02] [-9.75197959e-04 -1.21113834e-05 -9.99999524e-01 7.05334507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08762800000002 meters 0.014040664584605216 Centerline is valid? [True, True] Translation: X:40.20, Y:-136.53, Z:0.70 [[ 1.46916970e-01 9.89148828e-01 2.63645446e-05 4.02014390e+01] [ 9.89148812e-01 -1.46916973e-01 1.76058023e-04 -1.36528482e+02] [ 1.78020986e-04 2.12546544e-07 -9.99999984e-01 7.04470828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11762800000002 meters 0.014071127037885904 Centerline is valid? [True, True] Translation: X:40.21, Y:-136.54, Z:0.70 [[ 6.92166836e-02 9.97601649e-01 3.21230021e-05 4.02060245e+01] [ 9.97601557e-01 -6.92166910e-02 4.26864831e-04 -1.36535700e+02] [ 4.28064507e-04 2.49978900e-06 -9.99999908e-01 7.04249179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14762800000003 meters 0.013951729840520089 Centerline is valid? [True, True] Translation: X:40.21, Y:-136.54, Z:0.70 [[-8.52574725e-03 9.99963655e-01 -1.33950591e-06 4.02103598e+01] [ 9.99963299e-01 8.52574534e-03 8.44143011e-04 -1.36542091e+02] [ 8.44123751e-04 5.85749321e-06 -9.99999644e-01 7.04131558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17762800000003 meters 0.013763809349553891 Centerline is valid? [True, True] Translation: X:40.22, Y:-136.55, Z:0.70 [[-8.61773731e-02 9.96279808e-01 -7.23656762e-05 4.02179585e+01] [ 9.96279397e-01 8.61774033e-02 9.04070174e-04 -1.36548299e+02] [ 9.06943145e-04 5.81396046e-06 -9.99999589e-01 7.04165592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20762800000003 meters 0.013688252222209358 Centerline is valid? [True, True] Translation: X:40.23, Y:-136.55, Z:0.71 [[-1.62832095e-01 9.86653793e-01 4.51836240e-05 4.02262677e+01] [ 9.86653749e-01 1.62832101e-01 -2.95367118e-04 -1.36554792e+02] [-2.98782432e-04 -3.51465469e-06 -9.99999955e-01 7.05044379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23762800000003 meters 0.013546560071592531 Centerline is valid? [True, True] Translation: X:40.23, Y:-136.56, Z:0.71 [[-2.39125920e-01 9.70988525e-01 2.81825464e-04 4.02347032e+01] [ 9.70987804e-01 2.39126086e-01 -1.18284015e-03 -1.36559479e+02] [-1.21591603e-03 -9.19864977e-06 -9.99999261e-01 7.05710502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26762800000003 meters 0.013509220943701819 Centerline is valid? [True, True] Translation: X:40.24, Y:-136.56, Z:0.71 [[-3.13706783e-01 9.49519192e-01 1.16577459e-03 4.02449720e+01] [ 9.49512368e-01 3.13708948e-01 -3.59992239e-03 -1.36563107e+02] [-3.78390932e-03 -2.24026747e-05 -9.99992841e-01 7.08160011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29762800000003 meters 0.013431295870853224 Centerline is valid? [True, True] Translation: X:40.25, Y:-136.57, Z:0.71 [[-3.86102022e-01 9.22454541e-01 1.68772770e-03 4.02548481e+01] [ 9.22445488e-01 3.86105710e-01 -4.08687662e-03 -1.36566290e+02] [-4.42159920e-03 -2.11145229e-05 -9.99990224e-01 7.09397783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32762800000003 meters 0.01332395545172162 Centerline is valid? [True, True] Translation: X:40.26, Y:-136.57, Z:0.71 [[-4.56033923e-01 8.89959372e-01 2.31879388e-03 4.02636687e+01] [ 8.89947670e-01 4.56039818e-01 -4.56398455e-03 -1.36569168e+02] [-5.11922317e-03 -1.77265666e-05 -9.99986897e-01 7.10037788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35762800000003 meters 0.013281574782600699 Centerline is valid? [True, True] Translation: X:40.27, Y:-136.57, Z:0.71 [[-5.22469644e-01 8.52653786e-01 2.64430398e-03 4.02718428e+01] [ 8.52642805e-01 5.22476335e-01 -4.32746615e-03 -1.36573344e+02] [-5.07141665e-03 -6.32293286e-06 -9.99987140e-01 7.10256800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.387628 meters 0.013189114699876225 Centerline is valid? [True, True] Translation: X:40.28, Y:-136.58, Z:0.71 [[-5.83958706e-01 8.11780518e-01 2.14964735e-03 4.02794261e+01] [ 8.11775091e-01 5.83962662e-01 -2.96832381e-03 -1.36575434e+02] [-3.66494123e-03 1.16516441e-05 -9.99993284e-01 7.07235171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.417628 meters 0.013477807556594872 Centerline is valid? [True, True] Translation: X:40.29, Y:-136.58, Z:0.71 [[-6.43924338e-01 7.65087051e-01 1.80312794e-03 4.02882529e+01] [ 7.65084117e-01 6.43926862e-01 -2.11892759e-03 -1.36577238e+02] [-2.78224657e-03 1.51155010e-05 -9.99996129e-01 7.06421383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.447628 meters 0.013518946224846581 Centerline is valid? [True, True] Translation: X:40.30, Y:-136.58, Z:0.70 [[-7.00186646e-01 7.13959178e-01 9.76299507e-04 4.02983620e+01] [ 7.13958504e-01 7.00187326e-01 -9.81059021e-04 -1.36576870e+02] [-1.38402863e-03 1.01129106e-05 -9.99999042e-01 7.04849300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.477628 meters 0.01393499023211035 Centerline is valid? [True, True] Translation: X:40.31, Y:-136.57, Z:0.70 [[-7.51503044e-01 6.59729608e-01 -1.36037943e-04 4.03086610e+01] [ 6.59729599e-01 7.51503056e-01 1.14669027e-04 -1.36574527e+02] [ 1.77883482e-04 -3.57413450e-06 -9.99999984e-01 7.03434311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.507628 meters 0.014520733303077698 Centerline is valid? [True, True] Translation: X:40.33, Y:-136.56, Z:0.70 [[-7.95589392e-01 6.05835855e-01 -6.60453410e-04 4.03338070e+01] [ 6.05835659e-01 7.95589666e-01 4.87681576e-04 -1.36559807e+02] [ 8.20904892e-04 -1.21319375e-05 -9.99999663e-01 7.03930430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.537628 meters 0.014292699847275612 Centerline is valid? [True, True] Translation: X:40.36, Y:-136.54, Z:0.70 [[-8.35895134e-01 5.48888834e-01 -6.11373688e-04 4.03573852e+01] [ 5.48888697e-01 8.35895357e-01 3.87597600e-04 -1.36540236e+02] [ 7.23792422e-04 -1.15851589e-05 -9.99999738e-01 7.04861499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.567628 meters 0.014605284464334995 Centerline is valid? [True, True] Translation: X:40.38, Y:-136.52, Z:0.71 [[-8.72486089e-01 4.88636827e-01 1.44072781e-03 4.03772982e+01] [ 4.88636203e-01 8.72487278e-01 -7.81003199e-04 -1.36520551e+02] [-1.63864361e-03 2.25773418e-05 -9.99998657e-01 7.06501441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59762800000001 meters 0.014337750171742129 Centerline is valid? [True, True] Translation: X:40.39, Y:-136.50, Z:0.71 [[-9.04962094e-01 4.25482637e-01 2.85183607e-03 4.03949849e+01] [ 4.25480677e-01 9.04966587e-01 -1.29248861e-03 -1.36497961e+02] [-3.13074782e-03 4.37479440e-05 -9.99995098e-01 7.06915633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62762800000002 meters 0.014313768247406832 Centerline is valid? [True, True] Translation: X:40.41, Y:-136.47, Z:0.71 [[-9.33063752e-01 3.59684644e-01 4.35788643e-03 4.04099588e+01] [ 3.59681032e-01 9.33073927e-01 -1.61312894e-03 -1.36474256e+02] [-4.64644791e-03 6.22969435e-05 -9.99989203e-01 7.07984520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65762800000002 meters 0.013870757294467548 Centerline is valid? [True, True] Translation: X:40.42, Y:-136.45, Z:0.71 [[-9.57021548e-01 2.89918920e-01 7.53507182e-03 4.04213126e+01] [ 2.89910623e-01 9.57051207e-01 -2.19502972e-03 -1.36446463e+02] [-7.84783023e-03 8.38066255e-05 -9.99969202e-01 7.11234780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68762800000002 meters 0.013664156910352835 Centerline is valid? [True, True] Translation: X:40.42, Y:-136.42, Z:0.71 [[-9.75655198e-01 2.19112490e-01 9.30866217e-03 4.04242215e+01] [ 2.19103304e-01 9.75699600e-01 -2.00790686e-03 -1.36416704e+02] [-9.52241543e-03 8.05338756e-05 -9.99954658e-01 7.13527116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71762800000002 meters 0.013495248165842336 Centerline is valid? [True, True] Translation: X:40.61, Y:-135.63, Z:-0.23 [[-9.62798246e-01 -2.70009359e-01 1.06996848e-02 4.06059383e+01] [ 2.69992805e-01 -9.62857698e-01 -2.98983961e-03 -1.35630927e+02] [ 1.11095586e-02 1.02255835e-05 9.99938287e-01 -2.27928785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74762800000002 meters 0.013238211252333565 Centerline is valid? [True, True] Translation: X:40.38, Y:-136.40, Z:0.72 [[-9.77814205e-01 2.09103994e-01 1.24459029e-02 4.03788258e+01] [ 2.09087419e-01 9.77893409e-01 -2.63289448e-03 -1.36404099e+02] [-1.27213151e-02 2.78000866e-05 -9.99919080e-01 7.15982213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77762800000002 meters 0.013293839800180562 Centerline is valid? [True, True] Translation: X:40.38, Y:-136.38, Z:0.72 [[-9.90369207e-01 1.37834787e-01 1.30539319e-02 4.03835328e+01] [ 1.37822960e-01 9.90455234e-01 -1.80563080e-03 -1.36376510e+02] [-1.31782139e-02 1.08903804e-05 -9.99913164e-01 7.16385973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80762800000002 meters 0.0145262832668914 Centerline is valid? [True, True] Translation: X:40.50, Y:-135.58, Z:-0.23 [[-9.79094992e-01 -2.03004116e-01 1.27407144e-02 4.04980015e+01] [ 2.02986648e-01 -9.79177884e-01 -2.66311186e-03 -1.35584159e+02] [ 1.30160484e-02 -2.12445801e-05 9.99915287e-01 -2.29477798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83762800000002 meters 0.015139516734120654 Centerline is valid? [True, True] Translation: X:40.32, Y:-136.37, Z:0.72 [[-9.91169276e-01 1.32083267e-01 1.17250537e-02 4.03185559e+01] [ 1.32073954e-01 9.91238624e-01 -1.56851226e-03 -1.36368933e+02] [-1.18295004e-02 -6.08696114e-06 -9.99930029e-01 7.15250582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86762800000002 meters 0.012987550916982967 Centerline is valid? [True, True] Translation: X:40.33, Y:-136.34, Z:0.71 [[-9.98078474e-01 6.10506571e-02 1.05913473e-02 4.03277075e+01] [ 6.10471205e-02 9.98134669e-01 -6.57187175e-04 -1.36343077e+02] [-1.06117126e-02 -9.35311802e-06 -9.99943694e-01 7.13148631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89762800000003 meters 0.012907220342333704 Centerline is valid? [True, True] Translation: X:40.33, Y:-136.32, Z:0.71 [[-9.99909190e-01 -9.59695095e-03 9.46099287e-03 4.03299131e+01] [-9.59656334e-03 9.99953948e-01 8.63670661e-05 -1.36316350e+02] [-9.46138603e-03 -4.43379424e-06 -9.99955240e-01 7.12190036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92762800000003 meters 0.012835211612511508 Centerline is valid? [True, True] Translation: X:40.33, Y:-135.51, Z:-0.22 [[-9.98271364e-01 -5.81951717e-02 8.22229535e-03 4.03307786e+01] [ 5.81925676e-02 -9.98305222e-01 -5.55804698e-04 -1.35509464e+02] [ 8.24070553e-03 -7.63674361e-05 9.99966042e-01 -2.24378828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95762800000003 meters 0.012750677783869818 Centerline is valid? [True, True] Translation: X:40.23, Y:-136.32, Z:0.71 [[-9.99860677e-01 -1.50586283e-02 7.20162174e-03 4.02317282e+01] [-1.50582359e-02 9.99886612e-01 1.08707587e-04 -1.36317922e+02] [-7.20244216e-03 2.48722211e-07 -9.99974062e-01 7.10982495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98762800000003 meters 0.012671850649907527 Centerline is valid? [True, True] Translation: X:40.23, Y:-135.51, Z:-0.22 [[-9.98659275e-01 -5.13492759e-02 6.55011864e-03 4.02282847e+01] [ 5.13478943e-02 -9.98680755e-01 -3.79021702e-04 -1.35507118e+02] [ 6.56093991e-03 -4.21787387e-05 9.99978476e-01 -2.23530865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01762800000003 meters 0.012663947120735472 Centerline is valid? [True, True] Translation: X:40.14, Y:-136.32, Z:0.71 [[-9.99771131e-01 -2.04941760e-02 6.13795239e-03 4.01401536e+01] [-2.04937598e-02 9.99789972e-01 1.30712496e-04 -1.36320616e+02] [-6.13934210e-03 4.89285850e-06 -9.99981154e-01 7.10254094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04762800000003 meters 0.012669025893641503 Centerline is valid? [True, True] Translation: X:40.13, Y:-136.29, Z:0.71 [[-9.95774702e-01 -9.16598315e-02 5.58728339e-03 4.01306319e+01] [-9.16583668e-02 9.95790377e-01 5.18189238e-04 -1.36292944e+02] [-5.61126017e-03 3.87846374e-06 -9.99984257e-01 7.10242487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07762800000003 meters 0.012502254692847997 Centerline is valid? [True, True] Translation: X:40.12, Y:-136.26, Z:0.71 [[-9.86478256e-01 -1.63790755e-01 5.76529496e-03 4.01245998e+01] [-1.63787975e-01 9.86495103e-01 9.54294649e-04 -1.36264155e+02] [-5.84373989e-03 -2.89506459e-06 -9.99982925e-01 7.10993300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10762800000003 meters 0.012568288821945408 Centerline is valid? [True, True] Translation: X:40.10, Y:-136.24, Z:0.71 [[-9.71997051e-01 -2.34921027e-01 5.81763730e-03 4.00984409e+01] [-2.34916861e-01 9.72014460e-01 1.39911121e-03 -1.36240734e+02] [-5.98350822e-03 -6.72912419e-06 -9.99982099e-01 7.11368375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.137628 meters 0.015095788431645281 Centerline is valid? [True, True] Translation: X:40.05, Y:-136.22, Z:0.71 [[-9.52048238e-01 -3.05883274e-01 6.29082172e-03 4.00530613e+01] [-3.05876664e-01 9.52069022e-01 2.01089854e-03 -1.36224278e+02] [-6.60439671e-03 -9.74315070e-06 -9.99978191e-01 7.13536743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.167628 meters 0.01273965571062232 Centerline is valid? [True, True] Translation: X:39.99, Y:-136.21, Z:0.71 [[-9.26357091e-01 -3.76582212e-01 6.95544141e-03 3.99915006e+01] [-3.76571781e-01 9.26383202e-01 2.80292193e-03 -1.36214977e+02] [-7.49893462e-03 -2.27163525e-05 -9.99971882e-01 7.13890004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.197628 meters 0.012736996053769739 Centerline is valid? [True, True] Translation: X:39.92, Y:-136.21, Z:0.71 [[-8.95530320e-01 -4.44942050e-01 7.21242357e-03 3.99238455e+01] [-4.44927882e-01 8.95559362e-01 3.55085864e-03 -1.36214497e+02] [-8.03907978e-03 -2.91067696e-05 -9.99967686e-01 7.14410585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.227628 meters 0.01281303607085296 Centerline is valid? [True, True] Translation: X:39.85, Y:-136.23, Z:0.72 [[-8.59534057e-01 -5.11017105e-01 7.91983551e-03 3.98451807e+01] [-5.10995808e-01 8.59570542e-01 4.66551359e-03 -1.36225211e+02] [-9.19181455e-03 -3.68349265e-05 -9.99957754e-01 7.15645993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.257628 meters 0.013029156363247585 Centerline is valid? [True, True] Translation: X:39.76, Y:-136.25, Z:0.72 [[-8.18537116e-01 -5.74381808e-01 9.08447687e-03 3.97599612e+01] [-5.74347057e-01 8.18587525e-01 6.31838308e-03 -1.36247074e+02] [-1.10656037e-02 -4.58114887e-05 -9.99938773e-01 7.17159388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.287628 meters 0.01260874566751169 Centerline is valid? [True, True] Translation: X:39.67, Y:-136.28, Z:0.71 [[-7.73043636e-01 -6.34290925e-01 8.86342092e-03 3.96736940e+01] [-6.34249852e-01 7.73094445e-01 7.21833834e-03 -1.36278709e+02] [-1.14307880e-02 -4.15328943e-05 -9.99934666e-01 7.14698591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.317628 meters 0.012515954726538776 Centerline is valid? [True, True] Translation: X:39.59, Y:-136.32, Z:0.71 [[-7.22922218e-01 -6.90878572e-01 8.38248806e-03 3.95850705e+01] [-6.90832719e-01 7.22970814e-01 7.95974385e-03 -1.36319735e+02] [-1.15595107e-02 -3.66213425e-05 -9.99933186e-01 7.14506148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34762800000001 meters 0.01436469007620297 Centerline is valid? [True, True] Translation: X:39.50, Y:-136.37, Z:0.72 [[-6.69742542e-01 -7.42554391e-01 7.60950758e-03 3.94971824e+01] [-7.42506657e-01 6.69785769e-01 8.41948255e-03 -1.36372368e+02] [-1.13486636e-02 -1.12243910e-05 -9.99935602e-01 7.15150447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37762800000002 meters 0.012485438286721348 Centerline is valid? [True, True] Translation: X:39.41, Y:-136.44, Z:0.71 [[-6.11918878e-01 -7.90894375e-01 6.43230142e-03 3.94093677e+01] [-7.90850653e-01 6.11952684e-01 8.31608748e-03 -1.36435382e+02] [-1.05134109e-02 1.78115075e-06 -9.99944733e-01 7.12769501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40762800000002 meters 0.012485438286721348 Centerline is valid? [True, True] Translation: X:39.32, Y:-136.51, Z:0.71 [[-5.49474106e-01 -8.35490783e-01 5.77565559e-03 3.93249398e+01] [-8.35444598e-01 5.49504460e-01 8.78480302e-03 -1.36506027e+02] [-1.05133705e-02 1.78152320e-06 -9.99944733e-01 7.12767582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43762800000002 meters 0.012506599877190876 Centerline is valid? [True, True] Translation: X:39.25, Y:-136.58, Z:0.71 [[-4.84969073e-01 -8.74519826e-01 4.48018552e-03 3.92464010e+01] [-8.74482217e-01 4.84989766e-01 8.11044082e-03 -1.36584388e+02] [-9.26558542e-03 1.54703946e-05 -9.99957073e-01 7.11705407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46762800000002 meters 0.01592019751029946 Centerline is valid? [True, True] Translation: X:39.17, Y:-136.67, Z:0.71 [[-4.18827820e-01 -9.08060680e-01 3.00967249e-03 3.91732737e+01] [-9.08036665e-01 4.18838632e-01 6.60416393e-03 -1.36671564e+02] [-7.25754870e-03 3.31146068e-05 -9.99973663e-01 7.12486758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49762800000002 meters 0.012653936763519655 Centerline is valid? [True, True] Translation: X:39.10, Y:-136.77, Z:0.71 [[-3.48592520e-01 -9.37271999e-01 2.11083238e-03 3.91045966e+01] [-9.37254207e-01 3.48598909e-01 5.77511283e-03 -1.36765689e+02] [-6.14868540e-03 3.47746104e-05 -9.99981096e-01 7.09445521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52762800000002 meters 0.012730467462873223 Centerline is valid? [True, True] Translation: X:39.04, Y:-136.87, Z:0.71 [[-2.76387336e-01 -9.61045320e-01 1.39018326e-03 3.90428200e+01] [-9.61032510e-01 2.76390830e-01 4.96221893e-03 -1.36867609e+02] [-5.15315119e-03 3.54831598e-05 -9.99986722e-01 7.08572623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55762800000002 meters 0.012886166348497843 Centerline is valid? [True, True] Translation: X:38.99, Y:-136.98, Z:0.71 [[-2.02322612e-01 -9.79318469e-01 9.47067304e-04 3.89877310e+01] [-9.79306826e-01 2.02324825e-01 4.77546224e-03 -1.36980837e+02] [-4.86831360e-03 3.87145190e-05 -9.99988149e-01 7.07879965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58762800000002 meters 0.013005678488626032 Centerline is valid? [True, True] Translation: X:38.94, Y:-137.09, Z:0.71 [[-1.27221150e-01 -9.91874201e-01 5.89712687e-04 3.89413882e+01] [-9.91861814e-01 1.27222509e-01 4.95738078e-03 -1.37087688e+02] [-4.99212283e-03 4.57701891e-05 -9.99987538e-01 7.07937973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61762800000002 meters 0.013197473559067552 Centerline is valid? [True, True] Translation: X:38.90, Y:-137.20, Z:0.71 [[-5.01159979e-02 -9.98743373e-01 2.46426925e-04 3.89036611e+01] [-9.98725192e-01 5.01165726e-02 6.02665111e-03 -1.37202942e+02] [-6.03142793e-03 5.59188564e-05 -9.99981809e-01 7.09528958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64762800000003 meters 0.01607556766297115 Centerline is valid? [True, True] Translation: X:38.87, Y:-137.32, Z:0.71 [[ 2.71330882e-02 -9.99631773e-01 -3.38857529e-04 3.88735122e+01] [-9.99589151e-01 -2.71350606e-02 9.23137190e-03 -1.37323905e+02] [-9.23716758e-03 8.82426808e-05 -9.99957333e-01 7.13374105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67762800000003 meters 0.016072125141349817 Centerline is valid? [True, True] Translation: X:38.85, Y:-137.45, Z:0.71 [[ 1.04476934e-01 -9.94526636e-01 -1.15802128e-03 3.88543580e+01] [-9.94475380e-01 -1.04483307e-01 1.00974281e-02 -1.37449511e+02] [-1.01631551e-02 9.66753246e-05 -9.99948349e-01 7.13961096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70762800000003 meters 0.01641658829460381 Centerline is valid? [True, True] Translation: X:38.84, Y:-137.57, Z:0.71 [[ 1.81188645e-01 -9.83446065e-01 -2.12421410e-03 3.88437682e+01] [-9.83385186e-01 -1.81201066e-01 1.09430471e-02 -1.37567269e+02] [-1.11468065e-02 1.06164798e-04 -9.99937867e-01 7.14493057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73762800000003 meters 0.01734435890486537 Centerline is valid? [True, True] Translation: X:38.84, Y:-137.69, Z:0.72 [[ 2.56818720e-01 -9.66454252e-01 -3.21305540e-03 3.88434770e+01] [-9.66384080e-01 -2.56838793e-01 1.16466603e-02 -1.37687949e+02] [-1.20812017e-02 1.13965182e-04 -9.99927013e-01 7.15917203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76762800000003 meters 0.013218282629684162 Centerline is valid? [True, True] Translation: X:38.85, Y:-137.81, Z:0.71 [[ 3.31253014e-01 -9.43532721e-01 -4.17681352e-03 3.88527395e+01] [-9.43461813e-01 -3.31279328e-01 1.15677959e-02 -1.37814015e+02] [-1.22982859e-02 1.08796786e-04 -9.99924367e-01 7.13892839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79762800000003 meters 0.01655547635013571 Centerline is valid? [True, True] Translation: X:38.87, Y:-137.93, Z:0.72 [[ 4.02722814e-01 -9.15305167e-01 -5.54855901e-03 3.88703572e+01] [-9.15222532e-01 -4.02761016e-01 1.22996694e-02 -1.37930731e+02] [-1.34926942e-02 1.24808755e-04 -9.99908962e-01 7.15463959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82762800000003 meters 0.016406008470567935 Centerline is valid? [True, True] Translation: X:38.90, Y:-138.04, Z:0.72 [[ 4.72105926e-01 -8.81519003e-01 -6.34370957e-03 3.88961127e+01] [-8.81442867e-01 -4.72148528e-01 1.15861576e-02 -1.38044894e+02] [-1.32085912e-02 1.21723910e-04 -9.99912755e-01 7.15006903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85762800000003 meters 0.01646522181476189 Centerline is valid? [True, True] Translation: X:38.93, Y:-138.16, Z:0.71 [[ 5.38457090e-01 -8.42624305e-01 -6.94579289e-03 3.89309119e+01] [-8.42557039e-01 -5.38501873e-01 1.06474641e-02 -1.38157022e+02] [-1.27121345e-02 1.19024180e-04 -9.99919190e-01 7.14877901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.887628 meters 0.013129113881289723 Centerline is valid? [True, True] Translation: X:38.97, Y:-138.26, Z:0.71 [[ 6.01596076e-01 -7.98776195e-01 -6.22499776e-03 3.89728479e+01] [-7.98735064e-01 -6.01628274e-01 8.10663628e-03 -1.38263240e+02] [-1.02205227e-02 9.52034065e-05 -9.99947765e-01 7.11714292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.917628 meters 0.01316065062795917 Centerline is valid? [True, True] Translation: X:39.02, Y:-138.36, Z:0.71 [[ 6.60982580e-01 -7.50374713e-01 -6.31025191e-03 3.90194698e+01] [-7.50341801e-01 -6.61012695e-01 7.02844708e-03 -1.38360702e+02] [-9.44512558e-03 8.91646939e-05 -9.99955390e-01 7.10823959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.947628 meters 0.0164339629184254 Centerline is valid? [True, True] Translation: X:39.08, Y:-138.46, Z:0.71 [[ 7.16255000e-01 -6.97804806e-01 -6.87222934e-03 3.90768835e+01] [-6.97773936e-01 -7.16287962e-01 6.56433855e-03 -1.38457568e+02] [-9.50312214e-03 9.35222057e-05 -9.99954840e-01 7.11768071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.977628 meters 0.012985151663007717 Centerline is valid? [True, True] Translation: X:39.07, Y:-138.46, Z:0.71 [[ 7.69420202e-01 -6.38717119e-01 -5.74410518e-03 3.90725881e+01] [-6.38699935e-01 -7.69441640e-01 4.68569581e-03 -1.38461724e+02] [-7.41258784e-03 6.34905921e-05 -9.99972524e-01 7.08520381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.007628 meters 0.012929056643756086 Centerline is valid? [True, True] Translation: X:39.07, Y:-138.47, Z:0.71 [[ 8.17262472e-01 -5.76237124e-01 -5.72966036e-03 3.90689977e+01] [-5.76223446e-01 -8.17282554e-01 3.97082202e-03 -1.38466028e+02] [-6.97088652e-03 5.63608119e-05 -9.99975702e-01 7.08349370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.037628 meters 0.012848201117208403 Centerline is valid? [True, True] Translation: X:39.06, Y:-138.47, Z:0.71 [[ 8.60096820e-01 -5.10091743e-01 -6.31455510e-03 3.90636306e+01] [-5.10078464e-01 -8.60119998e-01 3.68105476e-03 -1.38472770e+02] [-7.30895076e-03 5.48550647e-05 -9.99973288e-01 7.08219725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.067628 meters 0.012858691549319899 Centerline is valid? [True, True] Translation: X:39.06, Y:-138.48, Z:0.71 [[ 8.97647670e-01 -4.40652906e-01 -7.32650299e-03 3.90593338e+01] [-4.40638732e-01 -8.97677567e-01 3.53476236e-03 -1.38479185e+02] [-8.13444068e-03 5.53697889e-05 -9.99966913e-01 7.09295597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09762800000001 meters 0.014120649368859341 Centerline is valid? [True, True] Translation: X:39.05, Y:-138.49, Z:0.71 [[ 9.29797152e-01 -3.67943513e-01 -9.73795486e-03 3.90541138e+01] [-3.67923987e-01 -9.29848142e-01 3.79107179e-03 -1.38487219e+02] [-1.04497195e-02 5.78994208e-05 -9.99945399e-01 7.13024252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12762800000002 meters 0.015454832517667827 Centerline is valid? [True, True] Translation: X:39.05, Y:-138.49, Z:0.72 [[ 9.55964333e-01 -2.93245404e-01 -1.18036704e-02 3.90495534e+01] [-2.93223787e-01 -9.56037201e-01 3.56103880e-03 -1.38493936e+02] [-1.23290062e-02 5.68908305e-05 -9.99923993e-01 7.15001909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15762800000002 meters 0.015084563272404738 Centerline is valid? [True, True] Translation: X:39.05, Y:-138.50, Z:0.72 [[ 9.76190671e-01 -2.16514274e-01 -1.31659992e-02 3.90463897e+01] [-2.16495234e-01 -9.76279451e-01 2.87172474e-03 -1.38501780e+02] [-1.34754638e-02 4.70251704e-05 -9.99909201e-01 7.15233573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18762800000002 meters 0.012959069294435134 Centerline is valid? [True, True] Translation: X:39.04, Y:-138.51, Z:0.72 [[ 9.90382303e-01 -1.37613473e-01 -1.43326816e-02 3.90390971e+01] [-1.37599421e-01 -9.90486008e-01 1.96666201e-03 -1.38508922e+02] [-1.44669597e-02 2.44214443e-05 -9.99895348e-01 7.15454822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21762800000002 meters 0.012905232515425752 Centerline is valid? [True, True] Translation: X:39.03, Y:-138.52, Z:0.72 [[ 9.98196412e-01 -5.77760835e-02 -1.63048399e-02 3.90336906e+01] [-5.77683190e-02 -9.98329567e-01 9.47180358e-04 -1.38518276e+02] [-1.63323282e-02 -3.56883913e-06 -9.99866619e-01 7.15610202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24762800000002 meters 0.012968435672740967 Centerline is valid? [True, True] Translation: X:39.03, Y:-138.53, Z:0.72 [[ 9.99637828e-01 2.11990616e-02 -1.65774839e-02 3.90292891e+01] [ 2.11963857e-02 -9.99775275e-01 -3.37121658e-04 -1.38525886e+02] [-1.65809051e-02 -1.43831805e-05 -9.99862527e-01 7.15506175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27762800000002 meters 0.012990920851046677 Centerline is valid? [True, True] Translation: X:39.02, Y:-138.53, Z:0.72 [[ 9.94882608e-01 9.97205472e-02 -1.62606288e-02 3.90247578e+01] [ 9.97075447e-02 -9.95015483e-01 -1.61041289e-03 -1.38533011e+02] [-1.63401686e-02 -1.91355889e-05 -9.99866490e-01 7.15072008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30762800000002 meters 0.013009821153958158 Centerline is valid? [True, True] Translation: X:39.02, Y:-138.54, Z:0.71 [[ 9.84014482e-01 1.77404643e-01 -1.55913849e-02 3.90212875e+01] [ 1.77382701e-01 -9.84137995e-01 -2.79017560e-03 -1.38541609e+02] [-1.58390643e-02 -2.00687511e-05 -9.99874554e-01 7.13675689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33762800000002 meters 0.013100418279236631 Centerline is valid? [True, True] Translation: X:39.02, Y:-138.55, Z:0.71 [[ 9.67108361e-01 2.53919796e-01 -1.50384260e-02 3.90177861e+01] [ 2.53889424e-01 -9.67225277e-01 -3.92733845e-03 -1.38548409e+02] [-1.55427747e-02 -1.99354558e-05 -9.99879204e-01 7.14098645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36762800000002 meters 0.012930509673310815 Centerline is valid? [True, True] Translation: X:39.02, Y:-138.56, Z:0.71 [[ 9.44338659e-01 3.28647960e-01 -1.46634101e-02 3.90163925e+01] [ 3.28608613e-01 -9.44452496e-01 -5.08541620e-03 -1.38556547e+02] [-1.55202060e-02 -1.61677559e-05 -9.99879554e-01 7.12264347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39762800000003 meters 0.013071056983600511 Centerline is valid? [True, True] Translation: X:39.01, Y:-138.56, Z:0.71 [[ 9.15797243e-01 4.01396361e-01 -1.40132234e-02 3.90142436e+01] [ 4.01349594e-01 -9.15904450e-01 -6.12713260e-03 -1.38564411e+02] [-1.52941824e-02 -1.29903942e-05 -9.99883037e-01 7.13256090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42762800000003 meters 0.013055104719055332 Centerline is valid? [True, True] Translation: X:39.01, Y:-138.57, Z:0.71 [[ 8.81874830e-01 4.71306041e-01 -1.29382963e-02 3.90117947e+01] [ 4.71255375e-01 -8.81969736e-01 -6.91056598e-03 -1.38568943e+02] [-1.46681773e-02 -2.98748867e-06 -9.99892417e-01 7.13304997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45762800000003 meters 0.012989828538475441 Centerline is valid? [True, True] Translation: X:39.01, Y:-138.57, Z:0.71 [[ 8.42263686e-01 5.38932725e-01 -1.19750483e-02 3.90088273e+01] [ 5.38878320e-01 -8.42348810e-01 -7.65751814e-03 -1.38573245e+02] [-1.42140548e-02 -3.44447822e-06 -9.99898975e-01 7.13407009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48762800000003 meters 0.012902393721801311 Centerline is valid? [True, True] Translation: X:39.01, Y:-138.58, Z:0.71 [[ 7.97471362e-01 6.03247287e-01 -1.14950824e-02 3.90090931e+01] [ 6.03184697e-01 -7.97554205e-01 -8.68971065e-03 -1.38581841e+02] [-1.44099957e-02 -3.86242665e-06 -9.99896171e-01 7.11325567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51762800000003 meters 0.012953658482776395 Centerline is valid? [True, True] Translation: X:39.01, Y:-138.59, Z:0.71 [[ 7.47640488e-01 6.64023330e-01 -1.03304359e-02 3.90101524e+01] [ 6.63960074e-01 -7.47711854e-01 -9.16530955e-03 -1.38591073e+02] [-1.38101687e-02 -6.64045037e-06 -9.99904635e-01 7.11187979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54762800000003 meters 0.013065778003478289 Centerline is valid? [True, True] Translation: X:39.01, Y:-138.60, Z:0.71 [[ 6.92823831e-01 7.21043710e-01 -9.54502996e-03 3.90111364e+01] [ 7.20975615e-01 -6.92889578e-01 -9.90932762e-03 -1.38600731e+02] [-1.37587101e-02 -1.63155210e-05 -9.99905344e-01 7.11331392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57762800000003 meters 0.01302465609498643 Centerline is valid? [True, True] Translation: X:39.01, Y:-138.61, Z:0.71 [[ 6.33887323e-01 7.73374812e-01 -8.84658115e-03 3.90143078e+01] [ 7.73300001e-01 -6.33949052e-01 -1.07567748e-02 -1.38610302e+02] [-1.39273004e-02 -2.24780192e-05 -9.99903010e-01 7.10622213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60762800000003 meters 0.012981454161310848 Centerline is valid? [True, True] Translation: X:39.02, Y:-138.62, Z:0.71 [[ 5.70667002e-01 8.21140173e-01 -8.24561335e-03 3.90196429e+01] [ 8.21055355e-01 -5.70726568e-01 -1.18020284e-02 -1.38620727e+02] [-1.43971103e-02 -3.50768157e-05 -9.99896356e-01 7.10246666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.637628 meters 0.013211132383562548 Centerline is valid? [True, True] Translation: X:39.02, Y:-138.63, Z:0.71 [[ 5.03261909e-01 8.64097164e-01 -7.97133438e-03 3.90240766e+01] [ 8.63990742e-01 -5.03325032e-01 -1.35613303e-02 -1.38631470e+02] [-1.57304791e-02 -6.22581484e-05 -9.99876266e-01 7.11371885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.667628 meters 0.013467900496910353 Centerline is valid? [True, True] Translation: X:39.03, Y:-138.64, Z:0.71 [[ 4.33012198e-01 9.01357174e-01 -7.46205719e-03 3.90275370e+01] [ 9.01226800e-01 -4.33076481e-01 -1.53302758e-02 -1.38640203e+02] [-1.70496955e-02 -8.68095212e-05 -9.99854640e-01 7.12104471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.697628 meters 0.013588810280659724 Centerline is valid? [True, True] Translation: X:39.03, Y:-138.65, Z:0.71 [[ 3.60084859e-01 9.32897846e-01 -6.36431376e-03 3.90328942e+01] [ 9.32757423e-01 -3.60141081e-01 -1.61861459e-02 -1.38648137e+02] [-1.73920715e-02 -1.07974837e-04 -9.99848741e-01 7.12120338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.727628 meters 0.013716233326311805 Centerline is valid? [True, True] Translation: X:39.04, Y:-138.66, Z:0.71 [[ 2.83901096e-01 9.58839016e-01 -5.28282350e-03 3.90406164e+01] [ 9.58682755e-01 -2.83950204e-01 -1.73106076e-02 -1.38656567e+02] [-1.80981448e-02 -1.50051321e-04 -9.99836204e-01 7.12586137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.757628 meters 0.013965785020691809 Centerline is valid? [True, True] Translation: X:39.05, Y:-138.67, Z:0.71 [[ 2.07060244e-01 9.78320550e-01 -3.86747370e-03 3.90475640e+01] [ 9.78164414e-01 -2.07096295e-01 -1.74786835e-02 -1.38665204e+02] [-1.79006947e-02 -1.63884674e-04 -9.99839756e-01 7.13464465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.787628 meters 0.016556611608357096 Centerline is valid? [True, True] Translation: X:39.06, Y:-138.67, Z:0.71 [[ 1.29703867e-01 9.91549616e-01 -2.50297536e-03 3.90557134e+01] [ 9.91389026e-01 -1.29727909e-01 -1.78456817e-02 -1.38671787e+02] [-1.80195846e-02 -1.66768373e-04 -9.99837620e-01 7.14536002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.817628 meters 0.01395524954313674 Centerline is valid? [True, True] Translation: X:39.06, Y:-138.68, Z:0.71 [[ 5.06775769e-02 9.98714548e-01 -1.01707907e-03 3.90647878e+01] [ 9.98575300e-01 -5.06874955e-02 -1.66777877e-02 -1.38679303e+02] [-1.67079024e-02 -1.70440172e-04 -9.99860399e-01 7.11943990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84762800000001 meters 0.013968119785883002 Centerline is valid? [True, True] Translation: X:39.07, Y:-138.69, Z:0.71 [[-2.79801218e-02 9.99608446e-01 2.59269414e-04 3.90715868e+01] [ 9.99498658e-01 2.79808914e-02 -1.48156458e-02 -1.38686114e+02] [-1.48170992e-02 -1.55404141e-04 -9.99890209e-01 7.10249002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87762800000002 meters 0.013815162482288952 Centerline is valid? [True, True] Translation: X:39.08, Y:-138.69, Z:0.71 [[-1.05992996e-01 9.94366016e-01 1.30794544e-03 3.90783506e+01] [ 9.94273092e-01 1.06000972e-01 -1.35945938e-02 -1.38690858e+02] [-1.36566456e-02 -1.40476766e-04 -9.99906734e-01 7.08553127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90762800000002 meters 0.013684556537029048 Centerline is valid? [True, True] Translation: X:39.09, Y:-138.70, Z:0.71 [[-1.83247582e-01 9.83064304e-01 2.21308039e-03 3.90870701e+01] [ 9.82983976e-01 1.83260901e-01 -1.25676535e-02 -1.38695432e+02] [-1.27603826e-02 -1.27569549e-04 -9.99918575e-01 7.07415858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93762800000002 meters 0.013682003258082904 Centerline is valid? [True, True] Translation: X:39.10, Y:-138.70, Z:0.71 [[-2.59269815e-01 9.65800158e-01 3.03620482e-03 3.90965130e+01] [ 9.65728572e-01 2.59287566e-01 -1.17594195e-02 -1.38698875e+02] [-1.21444994e-02 -1.16712778e-04 -9.99926246e-01 7.07335407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96762800000002 meters 0.013764247298791006 Centerline is valid? [True, True] Translation: X:39.10, Y:-138.70, Z:0.71 [[-3.33586286e-01 9.42710621e-01 4.10789087e-03 3.91047922e+01] [ 9.42634894e-01 3.33611559e-01 -1.19492786e-02 -1.38702901e+02] [-1.26351518e-02 -1.13874210e-04 -9.99920167e-01 7.08385142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99762800000002 meters 0.013696275125570851 Centerline is valid? [True, True] Translation: X:39.11, Y:-138.71, Z:0.71 [[-4.05761084e-01 9.13963946e-01 5.27716441e-03 3.91121094e+01] [ 9.13883093e-01 4.05795383e-01 -1.21572600e-02 -1.38706814e+02] [-1.32527463e-02 -1.10231659e-04 -9.99912172e-01 7.08685000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02762800000002 meters 0.013689021353830405 Centerline is valid? [True, True] Translation: X:39.12, Y:-138.71, Z:0.71 [[-4.75934481e-01 8.79455883e-01 6.61211736e-03 3.91198839e+01] [ 8.79367663e-01 4.75980395e-01 -1.24570165e-02 -1.38709006e+02] [-1.41026347e-02 -1.14241478e-04 -9.99900546e-01 7.08564509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05762800000002 meters 0.013861995278807533 Centerline is valid? [True, True] Translation: X:39.13, Y:-138.71, Z:0.71 [[-5.43729380e-01 8.39212702e-01 8.96668978e-03 3.91289750e+01] [ 8.39094256e-01 5.43803292e-01 -1.40999707e-02 -1.38709867e+02] [-1.67089899e-02 -1.42670444e-04 -9.99860385e-01 7.10170883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08762800000002 meters 0.014059860010149307 Centerline is valid? [True, True] Translation: X:39.14, Y:-138.71, Z:0.71 [[-6.08757116e-01 7.93277043e-01 1.12386738e-02 3.91400896e+01] [ 7.93136293e-01 6.08860822e-01 -1.49438964e-02 -1.38709256e+02] [-1.86974381e-02 -1.83403197e-04 -9.99825171e-01 7.11607431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11762800000002 meters 0.014312210448832505 Centerline is valid? [True, True] Translation: X:39.15, Y:-138.71, Z:0.71 [[-6.70061671e-01 7.42184483e-01 1.33996844e-02 3.91508954e+01] [ 7.42029298e-01 6.70195600e-01 -1.51782327e-02 -1.38707138e+02] [-2.02454583e-02 -2.27393535e-04 -9.99795014e-01 7.13223062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14762800000003 meters 0.014771234138260706 Centerline is valid? [True, True] Translation: X:39.16, Y:-138.70, Z:0.72 [[-7.27809486e-01 6.85598865e-01 1.57336773e-02 3.91622469e+01] [ 6.85429738e-01 7.27979468e-01 -1.52305159e-02 -1.38703596e+02] [-2.18958184e-02 -3.00583688e-04 -9.99760213e-01 7.15143116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17762800000003 meters 0.01520038157869708 Centerline is valid? [True, True] Translation: X:39.19, Y:-138.69, Z:0.72 [[-7.75070146e-01 6.31645957e-01 1.70192083e-02 3.91890283e+01] [ 6.31484457e-01 7.75256911e-01 -1.42864191e-02 -1.38689216e+02] [-2.22182177e-02 -3.25611462e-04 -9.99753092e-01 7.16108416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20762800000003 meters 0.014730590768122038 Centerline is valid? [True, True] Translation: X:39.21, Y:-138.67, Z:0.71 [[-8.17985405e-01 5.74974420e-01 1.74440130e-02 3.92103299e+01] [ 5.74835279e-01 8.18171322e-01 -1.26526608e-02 -1.38671931e+02] [-2.15471475e-02 -3.22257784e-04 -9.99767781e-01 7.13927171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23762800000003 meters 0.016326531952534907 Centerline is valid? [True, True] Translation: X:39.23, Y:-138.65, Z:0.71 [[-8.56310969e-01 5.16143483e-01 1.80949847e-02 3.92318165e+01] [ 5.16020689e-01 8.56502079e-01 -1.12622481e-02 -1.38653645e+02] [-2.13113280e-02 -3.06600103e-04 -9.99772841e-01 7.14851778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26762800000003 meters 0.014679722765428307 Centerline is valid? [True, True] Translation: X:39.25, Y:-138.63, Z:0.71 [[-8.90575332e-01 4.54497884e-01 1.75285935e-02 3.92465012e+01] [ 4.54403684e-01 8.90747773e-01 -9.25724509e-03 -1.38630739e+02] [-1.98209539e-02 -2.79216667e-04 -9.99803507e-01 7.12012329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29762800000003 meters 0.014679722765428307 Centerline is valid? [True, True] Translation: X:39.62, Y:-137.94, Z:-0.23 [[-8.43235944e-01 -5.37279556e-01 1.68470077e-02 3.96204471e+01] [ 5.37178901e-01 -8.43404175e-01 -1.04031746e-02 -1.37941723e+02] [ 1.97982497e-02 2.77526347e-04 9.99803957e-01 -2.25049198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32762800000003 meters 0.014799224833674778 Centerline is valid? [True, True] Translation: X:39.20, Y:-138.61, Z:0.71 [[-8.91273780e-01 4.53217213e-01 1.50068948e-02 3.92023060e+01] [ 4.53149168e-01 8.91400088e-01 -7.85582046e-03 -1.38609515e+02] [-1.69375404e-02 -2.01324898e-04 -9.99856529e-01 7.10534430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35762800000003 meters 0.013905248134835723 Centerline is valid? [True, True] Translation: X:39.23, Y:-138.60, Z:0.71 [[-9.20549248e-01 3.90388113e-01 1.36456208e-02 3.92290541e+01] [ 3.90342744e-01 9.20650366e-01 -5.95356680e-03 -1.38595404e+02] [-1.48870475e-02 -1.54082356e-04 -9.99889170e-01 7.06782599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.387628 meters 0.013549759777967641 Centerline is valid? [True, True] Translation: X:39.56, Y:-137.87, Z:-0.22 [[-8.84604599e-01 -4.66236208e-01 9.92481427e-03 3.95582156e+01] [ 4.66205720e-01 -8.84660268e-01 -5.33261445e-03 -1.37871488e+02] [ 1.12663468e-02 -9.02500847e-05 9.99936529e-01 -2.16796865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.417628 meters 0.013211690641902944 Centerline is valid? [True, True] Translation: X:39.19, Y:-138.59, Z:0.70 [[-9.19610952e-01 3.92729360e-01 8.90765837e-03 3.91921494e+01] [ 3.92710522e-01 9.19654092e-01 -3.84679560e-03 -1.38585615e+02] [-9.70271404e-03 -3.94241984e-05 -9.99952927e-01 7.02827977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.447628 meters 0.013194092344535635 Centerline is valid? [True, True] Translation: X:39.21, Y:-138.56, Z:0.70 [[-9.44522490e-01 3.28334787e-01 8.57512258e-03 3.92071042e+01] [ 3.28321066e-01 9.44561415e-01 -3.00171684e-03 -1.38563307e+02] [-9.08529798e-03 -1.97956770e-05 -9.99958728e-01 7.02885487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.477628 meters 0.013139266089511305 Centerline is valid? [True, True] Translation: X:39.48, Y:-137.81, Z:-0.22 [[-9.19548495e-01 -3.92895784e-01 7.96673067e-03 3.94815452e+01] [ 3.92880983e-01 -9.19583005e-01 -3.41034986e-03 -1.37805455e+02] [ 8.66598220e-03 -6.00509788e-06 9.99962450e-01 -2.16407948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.507628 meters 0.0133794831426369 Centerline is valid? [True, True] Translation: X:39.17, Y:-138.56, Z:0.70 [[-9.43431928e-01 3.31433824e-01 9.37113310e-03 3.91657538e+01] [ 3.31417988e-01 9.43478467e-01 -3.24027411e-03 -1.38555349e+02] [-9.91539874e-03 4.87840291e-05 -9.99950840e-01 7.04068874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.537628 meters 0.013508363318632526 Centerline is valid? [True, True] Translation: X:39.17, Y:-138.53, Z:0.70 [[-9.64158553e-01 2.65139137e-01 9.97615082e-03 3.91737029e+01] [ 2.65125653e-01 9.64210161e-01 -2.67474805e-03 -1.38529734e+02] [-1.03282864e-02 6.60522950e-05 -9.99946660e-01 7.04786393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.567628 meters 0.013519100879943884 Centerline is valid? [True, True] Translation: X:39.40, Y:-137.75, Z:-0.22 [[-9.48387555e-01 -3.16946669e-01 1.02885726e-02 3.94002413e+01] [ 3.16927606e-01 -9.48443360e-01 -3.47636411e-03 -1.37746051e+02] [ 1.08599503e-02 -3.62077934e-05 9.99941028e-01 -2.17600449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59762800000001 meters 0.013530852438977708 Centerline is valid? [True, True] Translation: X:39.13, Y:-138.52, Z:0.70 [[-9.64991349e-01 2.62046136e-01 1.11139445e-02 3.91310929e+01] [ 2.62029727e-01 9.65055344e-01 -2.93360810e-03 -1.38517956e+02] [-1.14943122e-02 8.12774147e-05 -9.99933935e-01 7.04657182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62762800000002 meters 0.013713504203447512 Centerline is valid? [True, True] Translation: X:39.14, Y:-138.49, Z:0.71 [[-9.80985141e-01 1.93641158e-01 1.30864149e-02 3.91422784e+01] [ 1.93625343e-01 9.81072419e-01 -2.47696467e-03 -1.38491086e+02] [-1.33183631e-02 1.03996042e-04 -9.99911301e-01 7.05729046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65762800000002 meters 0.013799759329285921 Centerline is valid? [True, True] Translation: X:39.15, Y:-138.46, Z:0.71 [[-9.92175903e-01 1.24108692e-01 1.35650656e-02 3.91516581e+01] [ 1.24098668e-01 9.92268623e-01 -1.58151584e-03 -1.38463883e+02] [-1.36564688e-02 1.14264660e-04 -9.99906740e-01 7.06470608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68762800000002 meters 0.014273361551450781 Centerline is valid? [True, True] Translation: X:39.25, Y:-137.66, Z:-0.22 [[-9.84733133e-01 -1.73520241e-01 1.38340982e-02 3.92463883e+01] [ 1.73501811e-01 -9.84830299e-01 -2.53062059e-03 -1.37657831e+02] [ 1.40633530e-02 -9.17448528e-05 9.99901102e-01 -2.21040764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71762800000002 meters 0.015987583651285085 Centerline is valid? [True, True] Translation: X:39.08, Y:-138.46, Z:0.71 [[-9.92428745e-01 1.21979717e-01 1.43574201e-02 3.90817351e+01] [ 1.21969285e-01 9.92532580e-01 -1.60327717e-03 -1.38455954e+02] [-1.44457745e-02 1.60025911e-04 -9.99895642e-01 7.09277871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74762800000002 meters 0.014284637153649584 Centerline is valid? [True, True] Translation: X:39.18, Y:-137.65, Z:-0.22 [[-9.85952431e-01 -1.66530281e-01 1.28634578e-02 3.91795257e+01] [ 1.66513027e-01 -9.86036314e-01 -2.40839590e-03 -1.37651047e+02] [ 1.30849073e-02 -2.32630503e-04 9.99914362e-01 -2.20227511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77762800000002 meters 0.014295737424255996 Centerline is valid? [True, True] Translation: X:39.02, Y:-138.45, Z:0.71 [[-9.92914527e-01 1.18194052e-01 1.22844408e-02 3.90167117e+01] [ 1.18186847e-01 9.92990506e-01 -1.31339302e-03 -1.38448504e+02] [-1.23535683e-02 1.47772305e-04 -9.99923681e-01 7.06413676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80762800000002 meters 0.014183782482470708 Centerline is valid? [True, True] Translation: X:39.11, Y:-137.64, Z:-0.22 [[-9.86929171e-01 -1.60750291e-01 1.14085851e-02 3.91142261e+01] [ 1.60737350e-01 -9.86995091e-01 -2.04832134e-03 -1.37644208e+02] [ 1.15894857e-02 -1.87762348e-04 9.99932822e-01 -2.18437288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83762800000002 meters 0.01423791479096974 Centerline is valid? [True, True] Translation: X:38.96, Y:-138.44, Z:0.70 [[-9.93449288e-01 1.13835182e-01 1.00031882e-02 3.89550303e+01] [ 1.13830661e-01 9.93499641e-01 -1.02198415e-03 -1.38442070e+02] [-1.00545016e-02 1.23380098e-04 -9.99949445e-01 7.03498076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86762800000002 meters 0.014073358749786552 Centerline is valid? [True, True] Translation: X:38.96, Y:-138.41, Z:0.70 [[-9.99065722e-01 4.22053015e-02 9.29490326e-03 3.89583433e+01] [ 4.22044703e-02 9.99108954e-01 -2.85638131e-04 -1.38413541e+02] [-9.29867651e-03 1.06915203e-04 -9.99956761e-01 7.02887109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89762800000003 meters 0.013909922634514656 Centerline is valid? [True, True] Translation: X:38.96, Y:-138.38, Z:0.70 [[-9.99504575e-01 -3.02841751e-02 8.57166943e-03 3.89578099e+01] [-3.02823148e-02 9.99541325e-01 3.46761810e-04 -1.38384540e+02] [-8.57823922e-03 8.70200235e-05 -9.99963202e-01 7.02685212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92762800000003 meters 0.013625853625054514 Centerline is valid? [True, True] Translation: X:38.95, Y:-138.36, Z:0.70 [[-9.94590110e-01 -1.03525175e-01 8.54702657e-03 3.89503711e+01] [-1.03520759e-01 9.94626831e-01 9.58665512e-04 -1.38355600e+02] [-8.60034797e-03 6.86845561e-05 -9.99963014e-01 7.02282224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95762800000003 meters 0.013113239014313285 Centerline is valid? [True, True] Translation: X:38.94, Y:-138.33, Z:0.70 [[-9.83768810e-01 -1.79268490e-01 7.85732679e-03 3.89364962e+01] [-1.79262579e-01 9.83800187e-01 1.45598653e-03 -1.38325843e+02] [-7.99105207e-03 2.38294763e-05 -9.99968071e-01 7.02872997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98762800000003 meters 0.012987620964127863 Centerline is valid? [True, True] Translation: X:38.77, Y:-137.55, Z:-0.22 [[-9.93258237e-01 1.15611974e-01 8.48210150e-03 3.87699456e+01] [-1.15607649e-01 -9.93294454e-01 1.00002130e-03 -1.37550183e+02] [ 8.54083881e-03 1.26835799e-05 9.99963526e-01 -2.15626906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01762800000003 meters 0.012989120887670527 Centerline is valid? [True, True] Translation: X:38.79, Y:-138.35, Z:0.70 [[-9.81475696e-01 -1.91398371e-01 8.49245457e-03 3.87949496e+01] [-1.91391364e-01 9.81512437e-01 1.63780651e-03 -1.38346787e+02] [-8.64892328e-03 -1.79151788e-05 -9.99962597e-01 7.03197048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04762800000003 meters 0.013237269619734471 Centerline is valid? [True, True] Translation: X:38.63, Y:-137.58, Z:-0.22 [[-9.93162252e-01 1.16391302e-01 9.04465912e-03 3.86252074e+01] [-1.16386001e-01 -9.93203434e-01 1.11201399e-03 -1.37580381e+02] [ 9.11261526e-03 5.17386066e-05 9.99958478e-01 -2.16929036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07762800000003 meters 0.013377317364119429 Centerline is valid? [True, True] Translation: X:38.65, Y:-138.37, Z:0.70 [[-9.78978480e-01 -2.03765879e-01 8.97785085e-03 3.86470923e+01] [-2.03757968e-01 9.79019643e-01 1.79692595e-03 -1.38369320e+02] [-9.15564453e-03 -7.01568129e-05 -9.99958084e-01 7.04504569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10762800000003 meters 0.013474886677026301 Centerline is valid? [True, True] Translation: X:38.62, Y:-138.35, Z:0.71 [[-9.61423047e-01 -2.74913523e-01 9.39572782e-03 3.86183117e+01] [-2.74901238e-01 9.61468953e-01 2.60024749e-03 -1.38347324e+02] [-9.74854379e-03 -8.29593393e-05 -9.99952478e-01 7.05111788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.137628 meters 0.013328891531416484 Centerline is valid? [True, True] Translation: X:38.56, Y:-138.34, Z:0.71 [[-9.38667850e-01 -3.44686625e-01 9.68490772e-03 3.85616554e+01] [-3.44669247e-01 9.38717808e-01 3.46230785e-03 -1.38337682e+02] [-1.02848066e-02 -8.81327839e-05 -9.99947106e-01 7.05837909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.167628 meters 0.01322123290611243 Centerline is valid? [True, True] Translation: X:38.50, Y:-138.33, Z:0.71 [[-9.10924582e-01 -4.12457359e-01 9.76383881e-03 3.85012600e+01] [-4.12434633e-01 9.10976904e-01 4.33047584e-03 -1.38334111e+02] [-1.06807683e-02 -8.22083775e-05 -9.99942956e-01 7.06189167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.197628 meters 0.013123927693980858 Centerline is valid? [True, True] Translation: X:38.43, Y:-138.34, Z:0.71 [[-8.78327816e-01 -4.77958019e-01 9.81734655e-03 3.84273369e+01] [-4.77929066e-01 8.78382677e-01 5.26129437e-03 -1.38341822e+02] [-1.11380650e-02 -7.08540677e-05 -9.99937967e-01 7.06253255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.227628 meters 0.01302369479311969 Centerline is valid? [True, True] Translation: X:38.35, Y:-138.36, Z:0.71 [[-8.40805070e-01 -5.41258254e-01 9.29177211e-03 3.83489848e+01] [-5.41225915e-01 8.40856408e-01 5.91685009e-03 -1.38358626e+02] [-1.10155901e-02 -5.40303155e-05 -9.99939325e-01 7.06530310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.257628 meters 0.012845339850662704 Centerline is valid? [True, True] Translation: X:38.27, Y:-138.39, Z:0.70 [[-7.99776732e-01 -6.00247085e-01 7.78562642e-03 3.82674385e+01] [-6.00218790e-01 7.99814627e-01 5.82809763e-03 -1.38388214e+02] [-9.72535650e-03 -1.19023890e-05 -9.99952708e-01 7.04523888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.287628 meters 0.012814626042146863 Centerline is valid? [True, True] Translation: X:38.18, Y:-138.43, Z:0.70 [[-7.53187307e-01 -6.57771796e-01 6.71901019e-03 3.81800675e+01] [-6.57745555e-01 7.53217276e-01 5.87536368e-03 -1.38426763e+02] [-8.92552307e-03 5.85026394e-06 -9.99960167e-01 7.03978599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.317628 meters 0.012753353318809576 Centerline is valid? [True, True] Translation: X:38.09, Y:-138.47, Z:0.70 [[-7.02224659e-01 -7.11932274e-01 5.74157509e-03 3.80932097e+01] [-7.11908236e-01 7.02248131e-01 5.85037422e-03 -1.38474535e+02] [-8.19708060e-03 2.08024535e-05 -9.99966403e-01 7.02989119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34762800000001 meters 0.012874328021853945 Centerline is valid? [True, True] Translation: X:38.01, Y:-138.53, Z:0.70 [[-6.46873249e-01 -7.62582413e-01 4.80246326e-03 3.80059447e+01] [-7.62561058e-01 6.46891075e-01 5.70705073e-03 -1.38532917e+02] [-7.45876714e-03 2.95669769e-05 -9.99972183e-01 7.02339800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37762800000002 meters 0.01289250674003909 Centerline is valid? [True, True] Translation: X:37.92, Y:-138.60, Z:0.70 [[-5.86889120e-01 -8.09658738e-01 3.72680337e-03 3.79165594e+01] [-8.09642113e-01 5.86900952e-01 5.18850382e-03 -1.38601950e+02] [-6.38818190e-03 2.76994868e-05 -9.99979595e-01 7.01085830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40762800000002 meters 0.012799233822006264 Centerline is valid? [True, True] Translation: X:37.83, Y:-138.68, Z:0.70 [[-5.23228687e-01 -8.52185852e-01 3.31874770e-03 3.78342245e+01] [-8.52168346e-01 5.23239211e-01 5.46247213e-03 -1.38676062e+02] [-6.39154040e-03 2.99903867e-05 -9.99979573e-01 7.00957813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43762800000002 meters 0.014989121454316788 Centerline is valid? [True, True] Translation: X:37.76, Y:-138.76, Z:0.70 [[-4.56987633e-01 -8.89466833e-01 3.32506345e-03 3.77566621e+01] [-8.89442614e-01 4.56999727e-01 6.56399837e-03 -1.38759083e+02] [-7.35801193e-03 4.22129485e-05 -9.99972929e-01 7.02816291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46762800000002 meters 0.012847132448255118 Centerline is valid? [True, True] Translation: X:37.68, Y:-138.85, Z:0.70 [[-3.86921953e-01 -9.22108337e-01 2.75985343e-03 3.76840797e+01] [-9.22084125e-01 3.86931794e-01 6.68236637e-03 -1.38848218e+02] [-7.22974078e-03 4.07372156e-05 -9.99973864e-01 7.01115975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49762800000002 meters 0.012850085801214365 Centerline is valid? [True, True] Translation: X:37.62, Y:-138.95, Z:0.70 [[-3.15287073e-01 -9.48993598e-01 2.28306024e-03 3.76164986e+01] [-9.48967635e-01 3.15295335e-01 7.01997530e-03 -1.38950517e+02] [-7.38174986e-03 4.67571894e-05 -9.99972753e-01 7.01285993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52762800000002 meters 0.012936858969007179 Centerline is valid? [True, True] Translation: X:37.56, Y:-139.05, Z:0.70 [[-2.41882936e-01 -9.70303558e-01 1.91091261e-03 3.75585898e+01] [-9.70271313e-01 2.41890477e-01 7.91050651e-03 -1.39053135e+02] [-8.13782418e-03 5.93128506e-05 -9.99966886e-01 7.01803898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55762800000002 meters 0.013235280782514803 Centerline is valid? [True, True] Translation: X:37.51, Y:-139.16, Z:0.70 [[-1.68417199e-01 -9.85714665e-01 1.49903572e-03 3.75080240e+01] [-9.85670677e-01 1.68423846e-01 9.31265621e-03 -1.39160413e+02] [-9.43209515e-03 9.08559214e-05 -9.99955513e-01 7.02824263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58762800000002 meters 0.013325355095151202 Centerline is valid? [True, True] Translation: X:37.47, Y:-139.28, Z:0.70 [[-9.26525840e-02 -9.95698151e-01 8.31274431e-04 3.74653613e+01] [-9.95646910e-01 9.26562497e-02 1.01020236e-02 -1.39276459e+02] [-1.01355890e-02 1.08322771e-04 -9.99948628e-01 7.03331267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61762800000002 meters 0.013632353165827466 Centerline is valid? [True, True] Translation: X:36.64, Y:-139.32, Z:-0.22 [[-1.37411550e-01 9.90512829e-01 1.54977120e-03 3.66430895e+01] [-9.90455768e-01 -1.37420270e-01 1.06320657e-02 -1.39322031e+02] [ 1.07441675e-02 -7.40111881e-05 9.99942277e-01 -2.17325060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64762800000003 meters 0.016558393197158457 Centerline is valid? [True, True] Translation: X:37.44, Y:-139.57, Z:0.71 [[-8.62361275e-02 -9.96274371e-01 8.41017168e-04 3.74384470e+01] [-9.96205850e-01 8.62400610e-02 1.16856937e-02 -1.39571659e+02] [-1.17146865e-02 1.69902748e-04 -9.99931366e-01 7.06630603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67762800000003 meters 0.014997980394017478 Centerline is valid? [True, True] Translation: X:37.41, Y:-139.69, Z:0.70 [[-1.05234986e-02 -9.99944625e-01 -6.25998496e-05 3.74062640e+01] [-9.99882751e-01 1.05221510e-02 1.11251387e-02 -1.39689310e+02] [-1.11238640e-02 1.79667892e-04 -9.99938112e-01 7.04620783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70762800000003 meters 0.014956352660049476 Centerline is valid? [True, True] Translation: X:37.39, Y:-139.81, Z:0.70 [[ 6.32362620e-02 -9.97998260e-01 -8.05562250e-04 3.73850354e+01] [-9.97951466e-01 -6.32410993e-02 9.66622012e-03 -1.39808829e+02] [-9.69781550e-03 1.92656400e-04 -9.99952957e-01 7.02327884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73762800000003 meters 0.016057384101858745 Centerline is valid? [True, True] Translation: X:37.37, Y:-139.93, Z:0.70 [[ 1.38469263e-01 -9.90365688e-01 -1.43754217e-03 3.73739211e+01] [-9.90325950e-01 -1.38476587e-01 8.87393816e-03 -1.39932473e+02] [-8.98750981e-03 1.94867640e-04 -9.99959593e-01 7.01775330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76762800000003 meters 0.015614103069447322 Centerline is valid? [True, True] Translation: X:37.37, Y:-140.06, Z:0.70 [[ 2.13369928e-01 -9.76969481e-01 -1.97642481e-03 3.73692416e+01] [-9.76935546e-01 -2.13378995e-01 8.14516006e-03 -1.40055111e+02] [-8.37930034e-03 1.92907435e-04 -9.99964874e-01 7.00278316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79762800000003 meters 0.017637459464506032 Centerline is valid? [True, True] Translation: X:37.37, Y:-140.17, Z:0.70 [[ 2.86307961e-01 -9.58135246e-01 -2.14517753e-03 3.73739975e+01] [-9.58112712e-01 -2.86315944e-01 6.57345636e-03 -1.40173814e+02] [-6.91245876e-03 1.73288977e-04 -9.99976094e-01 6.99766594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82762800000003 meters 0.018349689873993626 Centerline is valid? [True, True] Translation: X:37.39, Y:-140.29, Z:0.70 [[ 3.58831036e-01 -9.33399492e-01 -2.38242925e-03 3.73876946e+01] [-9.33381791e-01 -3.58838909e-01 5.75058379e-03 -1.40293706e+02] [-6.22250030e-03 1.60228149e-04 -9.99980627e-01 6.99520895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85762800000003 meters 0.01534520089072978 Centerline is valid? [True, True] Translation: X:37.41, Y:-140.41, Z:0.70 [[ 4.30407827e-01 -9.02631798e-01 -2.22262342e-03 3.74090832e+01] [-9.02621202e-01 -4.30413548e-01 4.37524282e-03 -1.40413172e+02] [-4.90588053e-03 1.23048273e-04 -9.99987959e-01 6.96419985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.887628 meters 0.016068603437511268 Centerline is valid? [True, True] Translation: X:37.44, Y:-140.53, Z:0.70 [[ 4.99254212e-01 -8.66453361e-01 -1.95060159e-03 3.74411538e+01] [-8.66447450e-01 -4.99258014e-01 3.20183229e-03 -1.40529406e+02] [-3.74809182e-03 9.15655161e-05 -9.99992972e-01 6.95264942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.917628 meters 0.015143621013728568 Centerline is valid? [True, True] Translation: X:37.48, Y:-140.64, Z:0.69 [[ 5.65029693e-01 -8.25069124e-01 -1.54480157e-03 3.74779495e+01] [-8.25066339e-01 -5.65031801e-01 2.14469557e-03 -1.40639971e+02] [-2.64238411e-03 6.27470946e-05 -9.99996507e-01 6.94488785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.947628 meters 0.014956172585083582 Centerline is valid? [True, True] Translation: X:37.52, Y:-140.75, Z:0.69 [[ 6.27674470e-01 -7.78474091e-01 -1.68791291e-03 3.75241032e+01] [-7.78471525e-01 -6.27676737e-01 1.99967549e-03 -1.40746636e+02] [-2.61615923e-03 5.88468855e-05 -9.99996576e-01 6.94111463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.977628 meters 0.01457825740375495 Centerline is valid? [True, True] Translation: X:37.58, Y:-140.85, Z:0.69 [[ 6.86712757e-01 -7.26925859e-01 -2.09399329e-03 3.75750070e+01] [-7.26922753e-01 -6.86715947e-01 2.12610842e-03 -1.40846309e+02] [-2.98350177e-03 6.21455877e-05 -9.99995547e-01 6.94194650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.007628 meters 0.01422701455781207 Centerline is valid? [True, True] Translation: X:37.63, Y:-140.94, Z:0.69 [[ 7.41487760e-01 -6.70962668e-01 -2.23622403e-03 3.76328142e+01] [-6.70959843e-01 -7.41491130e-01 1.94769205e-03 -1.40941407e+02] [-2.96496893e-03 5.62267131e-05 -9.99995603e-01 6.94195044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.037628 meters 0.013361845390661565 Centerline is valid? [True, True] Translation: X:37.63, Y:-140.95, Z:0.69 [[ 7.94585347e-01 -6.07147054e-01 -2.56523690e-03 3.76250010e+01] [-6.07144073e-01 -7.94589487e-01 1.90319320e-03 -1.40951041e+02] [-3.19382841e-03 4.52189519e-05 -9.99994899e-01 6.94493769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.067628 meters 0.012922278635957933 Centerline is valid? [True, True] Translation: X:37.62, Y:-140.96, Z:0.70 [[ 8.41230125e-01 -5.40670503e-01 -2.69891001e-03 3.76187137e+01] [-5.40667856e-01 -8.41234453e-01 1.69230954e-03 -1.40958403e+02] [-3.18539793e-03 3.55921252e-05 -9.99994926e-01 6.95193078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09762800000001 meters 0.011867490676117825 Centerline is valid? [True, True] Translation: X:37.61, Y:-140.97, Z:0.70 [[ 8.83987231e-01 -4.67502520e-01 -2.82283172e-03 3.76119123e+01] [-4.67500190e-01 -8.83991738e-01 1.47608599e-03 -1.40970296e+02] [-3.18543384e-03 1.48331963e-05 -9.99994926e-01 6.95214029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12762800000002 meters 0.011657084307446313 Centerline is valid? [True, True] Translation: X:37.61, Y:-140.98, Z:0.70 [[ 9.19092898e-01 -3.94031314e-01 -2.75106733e-03 3.76075946e+01] [-3.94029563e-01 -9.19097015e-01 1.17465282e-03 -1.40978501e+02] [-2.99134777e-03 4.38679435e-06 -9.99995526e-01 6.95225401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15762800000002 meters 0.011685249463915465 Centerline is valid? [True, True] Translation: X:37.60, Y:-140.99, Z:0.70 [[ 9.47972611e-01 -3.18341721e-01 -2.54515610e-03 3.76041766e+01] [-3.18340563e-01 -9.47976028e-01 8.58517650e-04 -1.40987677e+02] [-2.68604896e-03 -3.62479119e-06 -9.99996393e-01 6.95445552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18762800000002 meters 0.01178564050395615 Centerline is valid? [True, True] Translation: X:37.60, Y:-141.00, Z:0.70 [[ 9.70589580e-01 -2.40728644e-01 -2.36385198e-03 3.76019144e+01] [-2.40727906e-01 -9.70592458e-01 5.96200313e-04 -1.40998789e+02] [-2.43785939e-03 -9.62067499e-06 -9.99997028e-01 6.95139337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21762800000002 meters 0.01178564050395615 Centerline is valid? [True, True] Translation: X:37.60, Y:-141.01, Z:0.70 [[ 9.86451650e-01 -1.64034653e-01 -2.40325625e-03 3.75981913e+01] [-1.64034143e-01 -9.86454577e-01 4.09383022e-04 -1.41007988e+02] [-2.43785613e-03 -9.62047836e-06 -9.99997028e-01 6.95139306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24762800000002 meters 0.012084166821662176 Centerline is valid? [True, True] Translation: X:37.59, Y:-141.02, Z:0.70 [[ 9.96498030e-01 -8.35738026e-02 -2.66376272e-03 3.75935746e+01] [-8.35734560e-02 -9.96501590e-01 2.41353403e-04 -1.41017496e+02] [-2.67461461e-03 -1.78883339e-05 -9.99996423e-01 6.95496075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27762800000002 meters 0.012142615521788377 Centerline is valid? [True, True] Translation: X:37.59, Y:-141.02, Z:0.70 [[ 9.99983885e-01 -4.81446923e-03 -3.00831665e-03 3.75904413e+01] [-4.81438226e-03 -9.99988410e-01 3.61505127e-05 -1.41024895e+02] [-3.00845583e-03 -2.16667438e-05 -9.99995474e-01 6.95350048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30762800000002 meters 0.012065706227946291 Centerline is valid? [True, True] Translation: X:37.59, Y:-141.03, Z:0.70 [[ 9.97288881e-01 7.34946529e-02 -3.66377096e-03 3.75873355e+01] [ 7.34942540e-02 -9.97295611e-01 -2.43554484e-04 -1.41031805e+02] [-3.67176265e-03 -2.63719347e-05 -9.99993259e-01 6.95063563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33762800000002 meters 0.012039924497331019 Centerline is valid? [True, True] Translation: X:37.59, Y:-141.04, Z:0.70 [[ 9.88533529e-01 1.50954668e-01 -3.76167505e-03 3.75850665e+01] [ 1.50953675e-01 -9.88540686e-01 -5.48222671e-04 -1.41040339e+02] [-3.80132561e-03 -2.59021802e-05 -9.99992775e-01 6.95232059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36762800000002 meters 0.011987179183544298 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.05, Z:0.70 [[ 9.73967302e-01 2.26645915e-01 -4.39592706e-03 3.75825258e+01] [ 2.26643721e-01 -9.73977222e-01 -9.97411483e-04 -1.41047004e+02] [-4.50759207e-03 -2.48630977e-05 -9.99989840e-01 6.95591195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39762800000003 meters 0.01187764581985301 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.05, Z:0.70 [[ 9.53469169e-01 3.01457150e-01 -4.48677541e-03 3.75813729e+01] [ 3.01453923e-01 -9.53479725e-01 -1.39508916e-03 -1.41053834e+02] [-4.69860898e-03 -2.23815474e-05 -9.99988961e-01 6.95921886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42762800000003 meters 0.011876386226911086 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.06, Z:0.70 [[ 9.27268905e-01 3.74367273e-01 -4.63934622e-03 3.75798698e+01] [ 3.74362693e-01 -9.27280510e-01 -1.85194295e-03 -1.41062222e+02] [-4.99528216e-03 -1.95490359e-05 -9.99987523e-01 6.96072027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45762800000003 meters 0.011892453723358011 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.07, Z:0.70 [[ 8.95503517e-01 4.45018161e-01 -5.68217704e-03 3.75782498e+01] [ 4.45009338e-01 -8.95521544e-01 -2.80219021e-03 -1.41068929e+02] [-6.33553749e-03 -1.92506606e-05 -9.99979930e-01 6.96753402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48762800000003 meters 0.011945165428084487 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.08, Z:0.70 [[ 8.57990396e-01 5.13628315e-01 -6.19952421e-03 3.75780940e+01] [ 5.13615083e-01 -8.58012793e-01 -3.68691683e-03 -1.41077226e+02] [-7.21297597e-03 -2.08299149e-05 -9.99973986e-01 6.97095842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51762800000003 meters 0.011994625400842514 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.09, Z:0.70 [[ 8.15073656e-01 5.79320025e-01 -6.57592584e-03 3.75772534e+01] [ 5.79301408e-01 -8.15100183e-01 -4.64445788e-03 -1.41085811e+02] [-8.05066581e-03 -2.38678278e-05 -9.99967593e-01 6.98053625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54762800000003 meters 0.012089443925046068 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.09, Z:0.70 [[ 7.67125322e-01 6.41460136e-01 -6.90179601e-03 3.75761044e+01] [ 6.41434500e-01 -7.67156368e-01 -5.73491215e-03 -1.41093510e+02] [-8.97347429e-03 -2.76537426e-05 -9.99959737e-01 6.99216510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57762800000003 meters 0.012141412635660554 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.10, Z:0.70 [[ 7.14450023e-01 6.99638471e-01 -8.19593072e-03 3.75766796e+01] [ 6.99593031e-01 -7.14497031e-01 -7.97386266e-03 -1.41100733e+02] [-1.14347893e-02 -3.68896595e-05 -9.99934620e-01 7.01223494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60762800000003 meters 0.012278636181282828 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.11, Z:0.70 [[ 6.57539752e-01 7.53372947e-01 -8.40697269e-03 3.75767673e+01] [ 7.53312150e-01 -6.57593492e-01 -9.57095168e-03 -1.41108850e+02] [-1.27388666e-02 -3.97934792e-05 -9.99918857e-01 7.02645223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.637628 meters 0.01223993391689193 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.12, Z:0.70 [[ 5.96694123e-01 8.02425922e-01 -8.29233623e-03 3.75780314e+01] [ 8.02349376e-01 -5.96751739e-01 -1.10833676e-02 -1.41116256e+02] [-1.38420476e-02 -3.99704739e-05 -9.99904193e-01 7.02930885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.667628 meters 0.012905619176132501 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.13, Z:0.70 [[ 5.31682359e-01 8.46911435e-01 -7.40885140e-03 3.75795434e+01] [ 8.46830405e-01 -5.31733975e-01 -1.17151492e-02 -1.41125479e+02] [-1.38612318e-02 -4.53024738e-05 -9.99903928e-01 7.03675524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.697628 meters 0.012336944191482126 Centerline is valid? [True, True] Translation: X:37.58, Y:-141.13, Z:0.70 [[ 4.62968841e-01 8.86352811e-01 -6.20861887e-03 3.75838521e+01] [ 8.86274711e-01 -4.63010466e-01 -1.17662380e-02 -1.41134549e+02] [-1.33036937e-02 -5.51403171e-05 -9.99911500e-01 7.02483735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.727628 meters 0.012329120807678362 Centerline is valid? [True, True] Translation: X:37.59, Y:-141.14, Z:0.70 [[ 3.92158070e-01 9.19883703e-01 -5.10114642e-03 3.75881584e+01] [ 9.19807622e-01 -3.92191243e-01 -1.18307829e-02 -1.41142803e+02] [-1.28835694e-02 -5.25363528e-05 -9.99917002e-01 7.01500230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.757628 meters 0.012196191132252314 Centerline is valid? [True, True] Translation: X:37.59, Y:-141.15, Z:0.70 [[ 3.19726098e-01 9.47502852e-01 -3.68357926e-03 3.75926111e+01] [ 9.47441277e-01 -3.19747314e-01 -1.08019490e-02 -1.41150990e+02] [-1.14126920e-02 -3.63100403e-05 -9.99934872e-01 6.99323909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.787628 meters 0.012155710027795518 Centerline is valid? [True, True] Translation: X:37.60, Y:-141.16, Z:0.70 [[ 2.45195951e-01 9.69469722e-01 -2.72117986e-03 3.75995107e+01] [ 9.69411244e-01 -2.45211048e-01 -1.06480420e-02 -1.41159631e+02] [-1.09902177e-02 -2.70855643e-05 -9.99939605e-01 6.98471014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.817628 meters 0.012104557412393373 Centerline is valid? [True, True] Translation: X:37.61, Y:-141.17, Z:0.70 [[ 1.69563109e-01 9.85517771e-01 -1.75362438e-03 3.76058448e+01] [ 9.85465942e-01 -1.69572176e-01 -1.01071166e-02 -1.41168617e+02] [-1.02581089e-02 -1.43429953e-05 -9.99947384e-01 6.97988267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84762800000001 meters 0.012143270195693869 Centerline is valid? [True, True] Translation: X:37.61, Y:-141.18, Z:0.70 [[ 9.29631264e-02 9.95669147e-01 -8.97838891e-04 3.76118175e+01] [ 9.95623026e-01 -9.29674619e-02 -9.58340576e-03 -1.41176558e+02] [-9.62537125e-03 -3.00571241e-06 -9.99953675e-01 6.97951962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87762800000002 meters 0.012244028385132666 Centerline is valid? [True, True] Translation: X:37.62, Y:-141.18, Z:0.70 [[ 1.72051304e-02 9.99851970e-01 -1.43940921e-04 3.76166870e+01] [ 9.99806024e-01 -1.72057197e-02 -9.58529340e-03 -1.41184626e+02] [-9.58635110e-03 2.10032230e-05 -9.99954050e-01 6.99684695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90762800000002 meters 0.015000716659137001 Centerline is valid? [True, True] Translation: X:37.63, Y:-141.19, Z:0.70 [[-5.88003590e-02 9.98269535e-01 6.73168996e-04 3.76251744e+01] [ 9.98213183e-01 5.88041924e-02 -1.06069638e-02 -1.41191263e+02] [-1.06281940e-02 4.82728877e-05 -9.99943518e-01 7.01331309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93762800000002 meters 0.01238054884896693 Centerline is valid? [True, True] Translation: X:37.63, Y:-141.20, Z:0.70 [[-1.35712828e-01 9.90747196e-01 1.42166203e-03 3.76336055e+01] [ 9.90697152e-01 1.35720262e-01 -9.95807217e-03 -1.41197032e+02] [-1.00588804e-02 5.69983916e-05 -9.99949407e-01 6.99405000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96762800000002 meters 0.012773000526087184 Centerline is valid? [True, True] Translation: X:37.64, Y:-141.20, Z:0.70 [[-2.10104091e-01 9.77676496e-01 2.22249617e-03 3.76414822e+01] [ 9.77626105e-01 2.10115827e-01 -9.92663220e-03 -1.41203241e+02] [-1.01720166e-02 8.71442401e-05 -9.99948260e-01 6.99855520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99762800000002 meters 0.012991526578897758 Centerline is valid? [True, True] Translation: X:37.65, Y:-141.21, Z:0.70 [[-2.84813853e-01 9.58578597e-01 2.85368823e-03 3.76511184e+01] [ 9.58533794e-01 2.84828132e-01 -9.26825646e-03 -1.41208165e+02] [-9.69716296e-03 9.56287795e-05 -9.99952977e-01 6.99958324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02762800000002 meters 0.012948196144765486 Centerline is valid? [True, True] Translation: X:37.66, Y:-141.21, Z:0.70 [[-3.58417483e-01 9.33554699e-01 3.54000420e-03 3.76628619e+01] [ 9.33511909e-01 3.58434951e-01 -8.93882852e-03 -1.41211673e+02] [-9.61374660e-03 1.00803652e-04 -9.99953782e-01 6.99445410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05762800000002 meters 0.015383802020948937 Centerline is valid? [True, True] Translation: X:37.67, Y:-141.22, Z:0.70 [[-4.29393237e-01 9.03107946e-01 4.18149832e-03 3.76728605e+01] [ 9.03067608e-01 4.29413582e-01 -8.53640609e-03 -1.41215852e+02] [-9.50488834e-03 1.10700641e-04 -9.99954821e-01 7.00738360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08762800000002 meters 0.013068102858124327 Centerline is valid? [True, True] Translation: X:37.68, Y:-141.22, Z:0.70 [[-4.98490921e-01 8.66887037e-01 3.69689290e-03 3.76836947e+01] [ 8.66864488e-01 4.98504622e-01 -6.25312356e-03 -1.41217599e+02] [-7.26366995e-03 8.75798463e-05 -9.99973615e-01 6.96253288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11762800000002 meters 0.013920738200673482 Centerline is valid? [True, True] Translation: X:37.70, Y:-141.22, Z:0.70 [[-5.64739566e-01 8.25261364e-01 3.59233823e-03 3.76964114e+01] [ 8.25245517e-01 5.64750986e-01 -5.11474647e-03 -1.41217298e+02] [-6.24977920e-03 7.60613226e-05 -9.99980467e-01 6.96807599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14762800000003 meters 0.013009475495548256 Centerline is valid? [True, True] Translation: X:37.71, Y:-141.22, Z:0.70 [[-6.28250902e-01 7.78002894e-01 3.50728040e-03 3.77092657e+01] [ 7.77991325e-01 6.28260689e-01 -4.24321480e-03 -1.41217714e+02] [-5.50471979e-03 6.28302012e-05 -9.99984847e-01 6.95732579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17762800000003 meters 0.015461560274530621 Centerline is valid? [True, True] Translation: X:37.72, Y:-141.22, Z:0.70 [[-6.87570934e-01 7.26104800e-01 4.24622176e-03 3.77202135e+01] [ 7.26091552e-01 6.87584042e-01 -4.38670580e-03 -1.41216287e+02] [-6.10484245e-03 6.69743444e-05 -9.99981363e-01 6.97814548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20762800000003 meters 0.012477212261726718 Centerline is valid? [True, True] Translation: X:37.73, Y:-141.21, Z:0.70 [[-7.44321461e-01 6.67804350e-01 4.78678008e-03 3.77326778e+01] [ 6.67790978e-01 7.44336851e-01 -4.22623088e-03 -1.41212325e+02] [-6.38527218e-03 5.08942096e-05 -9.99979613e-01 6.96966807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23762800000003 meters 0.012271318115195842 Centerline is valid? [True, True] Translation: X:37.76, Y:-141.19, Z:0.70 [[-7.90644334e-01 6.12250396e-01 5.56676660e-03 3.77568024e+01] [ 6.12235618e-01 7.90663930e-01 -4.25419385e-03 -1.41193451e+02] [-7.00607343e-03 4.46185280e-05 -9.99975456e-01 6.97897147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26762800000003 meters 0.012100348113526943 Centerline is valid? [True, True] Translation: X:37.77, Y:-141.17, Z:0.70 [[-8.32974494e-01 5.53280450e-01 5.85110798e-03 3.77730439e+01] [ 5.53267069e-01 8.32995043e-01 -3.84811667e-03 -1.41169427e+02] [-7.00303167e-03 3.18423298e-05 -9.99975478e-01 6.98338919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29762800000003 meters 0.011920547751909533 Centerline is valid? [True, True] Translation: X:37.80, Y:-141.15, Z:0.70 [[-8.71679453e-01 4.90042495e-01 5.76924697e-03 3.77957155e+01] [ 4.90031823e-01 8.71698545e-01 -3.23417963e-03 -1.41149064e+02] [-6.61392964e-03 7.94667857e-06 -9.99978128e-01 6.97388491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32762800000003 meters 0.011903147360479819 Centerline is valid? [True, True] Translation: X:37.81, Y:-141.13, Z:0.70 [[-9.04746182e-01 4.25909291e-01 5.96838309e-03 3.78114552e+01] [ 4.25900019e-01 9.04765868e-01 -2.81021761e-03 -1.41125136e+02] [-6.59688710e-03 -5.99184367e-07 -9.99978240e-01 6.96956570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35762800000003 meters 0.011872795780859823 Centerline is valid? [True, True] Translation: X:37.82, Y:-141.10, Z:0.70 [[-9.33040345e-01 3.59720718e-01 6.05969385e-03 3.78213884e+01] [ 3.59713077e-01 9.33060022e-01 -2.34470284e-03 -1.41098738e+02] [-6.49749626e-03 -7.95122329e-06 -9.99978891e-01 6.96845667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.387628 meters 0.011884648823756526 Centerline is valid? [True, True] Translation: X:37.84, Y:-141.08, Z:0.70 [[-9.56516715e-01 2.91619818e-01 5.80138649e-03 3.78400270e+01] [ 2.91614364e-01 9.56534308e-01 -1.78357953e-03 -1.41075822e+02] [-6.06935235e-03 -1.42560035e-05 -9.99981581e-01 6.96639535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.417628 meters 0.011930475045002529 Centerline is valid? [True, True] Translation: X:38.08, Y:-140.32, Z:-0.21 [[-9.32966421e-01 -3.59917187e-01 5.76846869e-03 3.80816970e+01] [ 3.59910447e-01 -9.32984254e-01 -2.20271227e-03 -1.40315160e+02] [ 6.17468446e-03 2.10755570e-05 9.99980936e-01 -2.09374027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.447628 meters 0.012017527602459045 Centerline is valid? [True, True] Translation: X:37.80, Y:-141.06, Z:0.70 [[-9.57630137e-01 2.87935752e-01 6.12565475e-03 3.77955392e+01] [ 2.87929760e-01 9.57649729e-01 -1.85758049e-03 -1.41064238e+02] [-6.40109544e-03 -1.51167543e-05 -9.99979513e-01 6.97079483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.477628 meters 0.012055394350534874 Centerline is valid? [True, True] Translation: X:37.80, Y:-141.04, Z:0.70 [[-9.75565955e-01 2.19614177e-01 6.37808670e-03 3.78041025e+01] [ 2.19609394e-01 9.75586805e-01 -1.44948832e-03 -1.41038750e+02] [-6.54070541e-03 -1.33836985e-05 -9.99978609e-01 6.97770129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.507628 meters 0.012038016758118442 Centerline is valid? [True, True] Translation: X:37.81, Y:-141.02, Z:0.70 [[-9.88465306e-01 1.51278491e-01 7.15234388e-03 3.78135159e+01] [ 1.51274499e-01 9.88491183e-01 -1.09911297e-03 -1.41016532e+02] [-7.23630101e-03 -4.46780415e-06 -9.99973818e-01 6.97560105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.537628 meters 0.01216635660451231 Centerline is valid? [True, True] Translation: X:37.94, Y:-140.22, Z:-0.21 [[-9.75963726e-01 -2.17808725e-01 7.35965773e-03 3.79448043e+01] [ 2.17802714e-01 -9.75991475e-01 -1.61833708e-03 -1.40215709e+02] [ 7.53545114e-03 2.35151436e-05 9.99971608e-01 -2.10267779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.567628 meters 0.012146507535189166 Centerline is valid? [True, True] Translation: X:37.75, Y:-141.01, Z:0.70 [[-9.88883740e-01 1.48489997e-01 7.72458711e-03 3.77535465e+01] [ 1.48485523e-01 9.88913910e-01 -1.15268454e-03 -1.41011785e+02] [-7.81011377e-03 7.11835241e-06 -9.99969501e-01 6.97666670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59762800000001 meters 0.012188852588927086 Centerline is valid? [True, True] Translation: X:37.89, Y:-140.20, Z:-0.21 [[-9.76904632e-01 -2.13564681e-01 6.88962226e-03 3.78861782e+01] [ 2.13558975e-01 -9.76928925e-01 -1.56212516e-03 -1.40204766e+02] [ 7.06428603e-03 -5.47066375e-05 9.99975046e-01 -2.10564372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62762800000002 meters 0.012204243718281042 Centerline is valid? [True, True] Translation: X:37.70, Y:-141.00, Z:0.70 [[-9.89823568e-01 1.42144457e-01 6.65258488e-03 3.76978031e+01] [ 1.42141192e-01 9.89845924e-01 -9.63459178e-04 -1.41003101e+02] [-6.72198441e-03 -8.04825656e-06 -9.99977407e-01 6.97233120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65762800000002 meters 0.012404857275175363 Centerline is valid? [True, True] Translation: X:37.82, Y:-140.20, Z:-0.21 [[-9.77002123e-01 -2.13069306e-01 8.26577962e-03 3.78213344e+01] [ 2.13062749e-01 -9.77037080e-01 -1.67613628e-03 -1.40198878e+02] [ 8.43310637e-03 1.23541023e-04 9.99964433e-01 -2.11758536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68762800000002 meters 0.013784284141710942 Centerline is valid? [True, True] Translation: X:37.64, Y:-140.99, Z:0.70 [[-9.90773467e-01 1.35165843e-01 9.90620835e-03 3.76382401e+01] [ 1.35158698e-01 9.90822988e-01 -1.39034256e-03 -1.40992589e+02] [-1.00032258e-02 -3.86043005e-05 -9.99949966e-01 7.00889010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71762800000002 meters 0.012473941992632015 Centerline is valid? [True, True] Translation: X:37.76, Y:-140.19, Z:-0.21 [[-9.77670428e-01 -2.09892571e-01 1.02782835e-02 3.77598937e+01] [ 2.09881753e-01 -9.77724452e-01 -2.13226812e-03 -1.40190903e+02] [ 1.04968763e-02 7.25686696e-05 9.99944904e-01 -2.12903875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74762800000002 meters 0.01260176570983187 Centerline is valid? [True, True] Translation: X:37.58, Y:-140.98, Z:0.70 [[-9.91500278e-01 1.29642734e-01 1.09526622e-02 3.75793782e+01] [ 1.29634211e-01 9.91560769e-01 -1.48757974e-03 -1.40984034e+02] [-1.10530840e-02 -5.50960040e-05 -9.99938911e-01 7.00552976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77762800000002 meters 0.012415363218352026 Centerline is valid? [True, True] Translation: X:37.59, Y:-140.96, Z:0.70 [[-9.98163518e-01 5.96500826e-02 1.05574073e-02 3.75858835e+01] [ 5.96462600e-02 9.98219347e-01 -6.76856692e-04 -1.40957155e+02] [-1.05789827e-02 -4.59037989e-05 -9.99944040e-01 6.99328317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80762800000002 meters 0.012412407771653393 Centerline is valid? [True, True] Translation: X:37.64, Y:-140.15, Z:-0.21 [[-9.90852317e-01 -1.34552828e-01 1.03548254e-02 3.76425225e+01] [ 1.34545869e-01 -9.90906421e-01 -1.36901656e-03 -1.40148889e+02] [ 1.04448680e-02 3.67057554e-05 9.99945450e-01 -2.11962994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83762800000002 meters 0.012276098951590214 Centerline is valid? [True, True] Translation: X:37.51, Y:-140.95, Z:0.70 [[-9.98344452e-01 5.66964065e-02 9.68880169e-03 3.75080577e+01] [ 5.66935373e-02 9.98391465e-01 -5.70749376e-04 -1.40952207e+02] [-9.70557635e-03 -2.05120331e-05 -9.99952900e-01 6.98525953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86762800000002 meters 0.012222186836618494 Centerline is valid? [True, True] Translation: X:37.52, Y:-140.93, Z:0.70 [[-9.99915196e-01 -1.04058744e-02 7.83067846e-03 3.75152064e+01] [-1.04054378e-02 9.99945857e-01 9.64912811e-05 -1.40927097e+02] [-7.83125856e-03 1.50014604e-05 -9.99969335e-01 6.96753129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89762800000003 meters 0.012315858711982099 Centerline is valid? [True, True] Translation: X:37.51, Y:-140.11, Z:-0.21 [[-9.98704415e-01 -5.03897636e-02 7.09671233e-03 3.75137977e+01] [ 5.03880682e-02 -9.98729627e-01 -4.17599984e-04 -1.40110353e+02] [ 7.10873963e-03 -5.94693229e-05 9.99974731e-01 -2.09074558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92762800000003 meters 0.012678966373438382 Centerline is valid? [True, True] Translation: X:37.42, Y:-140.93, Z:0.70 [[-9.99919670e-01 -1.07902281e-02 6.65022571e-03 3.74210071e+01] [-1.07896454e-02 9.99941782e-01 1.23501457e-04 -1.40930842e+02] [-6.65117116e-03 5.17379593e-05 -9.99977879e-01 6.95615578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95762800000003 meters 0.016357740151094157 Centerline is valid? [True, True] Translation: X:37.41, Y:-140.11, Z:-0.21 [[-9.99289127e-01 -3.70079629e-02 7.18691450e-03 3.74107357e+01] [ 3.70068457e-02 -9.99314970e-01 -2.88414256e-04 -1.40107031e+02] [ 7.19266487e-03 -2.22441937e-05 9.99974132e-01 -2.11605717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98762800000003 meters 0.014245561489494206 Centerline is valid? [True, True] Translation: X:37.32, Y:-140.94, Z:0.70 [[-9.99944766e-01 -8.18732909e-03 6.59028744e-03 3.73234130e+01] [-8.18642115e-03 9.99966477e-01 1.64733385e-04 -1.40937529e+02] [-6.59141524e-03 1.10773418e-04 -9.99978270e-01 6.96599402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01762800000003 meters 0.014592652614899984 Centerline is valid? [True, True] Translation: X:37.31, Y:-140.10, Z:-0.21 [[-9.99718040e-01 -2.27518164e-02 6.79672747e-03 3.73103733e+01] [ 2.27506040e-02 -9.99741139e-01 -2.55646578e-04 -1.40103260e+02] [ 6.80078448e-03 -1.00944840e-04 9.99976869e-01 -2.09284268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04762800000003 meters 0.01754218858234017 Centerline is valid? [True, True] Translation: X:37.22, Y:-140.94, Z:0.70 [[-9.99926904e-01 -9.56795508e-03 7.39195971e-03 3.72221493e+01] [-9.56649680e-03 9.99954213e-01 2.32612729e-04 -1.40941647e+02] [-7.39384688e-03 1.61880567e-04 -9.99972652e-01 6.98832470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07762800000003 meters 0.018379781564511876 Centerline is valid? [True, True] Translation: X:37.22, Y:-140.92, Z:0.70 [[-9.96820361e-01 -7.92812516e-02 7.97820001e-03 3.72158207e+01] [-7.92772040e-02 9.96852270e-01 8.22808335e-04 -1.40915013e+02] [-8.01832007e-03 1.87702711e-04 -9.99967835e-01 6.99686486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10762800000003 meters 0.018379781564511876 Centerline is valid? [True, True] Translation: X:37.20, Y:-140.89, Z:0.70 [[-9.88559540e-01 -1.50624196e-01 7.89853896e-03 3.72005430e+01] [-1.50617868e-01 9.88591076e-01 1.39329888e-03 -1.40889028e+02] [-8.01828966e-03 1.87697796e-04 -9.99967835e-01 6.99685970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.137628 meters 0.018757817815778788 Centerline is valid? [True, True] Translation: X:37.16, Y:-140.87, Z:0.70 [[-9.75197127e-01 -2.21140472e-01 9.35175173e-03 3.71641365e+01] [-2.21127971e-01 9.75241937e-01 2.36322190e-03 -1.40867156e+02] [-9.64282448e-03 2.36673320e-04 -9.99953479e-01 7.00841592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.167628 meters 0.0163851562921695 Centerline is valid? [True, True] Translation: X:37.10, Y:-140.85, Z:0.70 [[-9.56045300e-01 -2.93064346e-01 9.52230987e-03 3.71039802e+01] [-2.93047324e-01 9.56092690e-01 3.16757005e-03 -1.40854869e+02] [-1.00325127e-02 2.37853031e-04 -9.99949645e-01 6.98716264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.197628 meters 0.018127742553496504 Centerline is valid? [True, True] Translation: X:37.04, Y:-140.85, Z:0.70 [[-9.31624906e-01 -3.63281481e-01 1.00796499e-02 3.70375756e+01] [-3.63257216e-01 9.31679397e-01 4.20665064e-03 -1.40849698e+02] [-1.09192005e-02 2.57514935e-04 -9.99940351e-01 7.00496386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.227628 meters 0.015093969030869374 Centerline is valid? [True, True] Translation: X:36.96, Y:-140.85, Z:0.70 [[-9.00859299e-01 -4.34027133e-01 8.54236523e-03 3.69595041e+01] [-4.34005490e-01 9.00899777e-01 4.33901999e-03 -1.40849546e+02] [-9.57906733e-03 2.01413099e-04 -9.99954099e-01 6.96564932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.257628 meters 0.01419175027256762 Centerline is valid? [True, True] Translation: X:36.88, Y:-140.86, Z:0.70 [[-8.65018336e-01 -5.01687516e-01 7.27428965e-03 3.68761355e+01] [-5.01668152e-01 8.65048906e-01 4.41094117e-03 -1.40860349e+02] [-8.50553042e-03 1.66265542e-04 -9.99963814e-01 6.95242993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.287628 meters 0.014107165562486786 Centerline is valid? [True, True] Translation: X:36.79, Y:-140.88, Z:0.69 [[-8.23648921e-01 -5.67066104e-01 6.20398429e-03 3.67877114e+01] [-5.67048784e-01 8.23672274e-01 4.43411864e-03 -1.40883565e+02] [-7.62448824e-03 1.34195289e-04 -9.99970924e-01 6.94899640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.317628 meters 0.013299341357384175 Centerline is valid? [True, True] Translation: X:36.69, Y:-140.91, Z:0.69 [[-7.75315821e-01 -6.31554438e-01 4.93651098e-03 3.66938494e+01] [-6.31540966e-01 7.75331532e-01 4.12594231e-03 -1.40914845e+02] [-6.43318980e-03 8.12994373e-05 -9.99979304e-01 6.94511028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34762800000001 meters 0.012951418176111085 Centerline is valid? [True, True] Translation: X:36.60, Y:-140.96, Z:0.69 [[-7.23214146e-01 -6.90611341e-01 4.15622944e-03 3.66011139e+01] [-6.90599479e-01 7.23226087e-01 4.04816154e-03 -1.40957905e+02] [-5.80159982e-03 5.73978105e-05 -9.99983169e-01 6.94988188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37762800000002 meters 0.01263546913564205 Centerline is valid? [True, True] Translation: X:36.51, Y:-141.01, Z:0.69 [[-6.66615358e-01 -7.45392560e-01 3.72779939e-03 3.65101882e+01] [-7.45380554e-01 6.66625779e-01 4.23076578e-03 -1.41010189e+02] [-5.63862851e-03 4.16642661e-05 -9.99984102e-01 6.94605430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40762800000002 meters 0.012349936663575024 Centerline is valid? [True, True] Translation: X:36.42, Y:-141.07, Z:0.69 [[-6.05919224e-01 -7.95519353e-01 3.29434364e-03 3.64202190e+01] [-7.95507343e-01 6.05928179e-01 4.37148490e-03 -1.41074975e+02] [-5.47373648e-03 2.80921876e-05 -9.99985019e-01 6.94216128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43762800000002 meters 0.012356832166455075 Centerline is valid? [True, True] Translation: X:36.33, Y:-141.15, Z:0.69 [[-5.41422356e-01 -8.40745290e-01 3.03155898e-03 3.63329220e+01] [-8.40731935e-01 5.41430842e-01 4.73889203e-03 -1.41152406e+02] [-5.62558069e-03 1.70136385e-05 -9.99984176e-01 6.94559042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46762800000002 meters 0.012256719507766812 Centerline is valid? [True, True] Translation: X:36.25, Y:-141.24, Z:0.69 [[-4.72531815e-01 -8.81308548e-01 2.98773634e-03 3.62519808e+01] [-8.81290938e-01 4.72541260e-01 5.57142984e-03 -1.41237025e+02] [-6.32197744e-03 -3.87106577e-07 -9.99980016e-01 6.93809896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49762800000002 meters 0.012339748704177096 Centerline is valid? [True, True] Translation: X:36.18, Y:-141.32, Z:0.69 [[-4.02031152e-01 -9.15622034e-01 2.69142413e-03 3.61809876e+01] [-9.15601665e-01 4.02040160e-01 6.10748723e-03 -1.41320155e+02] [-6.67421047e-03 -8.87229242e-06 -9.99977727e-01 6.93860778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52762800000002 meters 0.012472968193341195 Centerline is valid? [True, True] Translation: X:36.11, Y:-141.42, Z:0.70 [[-3.27862855e-01 -9.44721830e-01 2.57140060e-03 3.61123009e+01] [-9.44693481e-01 3.27872937e-01 7.31877130e-03 -1.41416570e+02] [-7.75729569e-03 -2.96321300e-05 -9.99969911e-01 6.96386846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55762800000002 meters 0.012482975077429992 Centerline is valid? [True, True] Translation: X:36.05, Y:-141.52, Z:0.70 [[-2.52953926e-01 -9.67475547e-01 2.31894944e-03 3.60507905e+01] [-9.67436475e-01 2.52964551e-01 8.69494612e-03 -1.41524401e+02] [-8.99875976e-03 -4.40155112e-05 -9.99959509e-01 6.96894842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58762800000002 meters 0.012626984989768603 Centerline is valid? [True, True] Translation: X:36.00, Y:-141.63, Z:0.70 [[-1.76361087e-01 -9.84323865e-01 1.81565888e-03 3.59994249e+01] [-9.84275113e-01 1.76370423e-01 9.79667756e-03 -1.41631943e+02] [-9.96333204e-03 -5.93551390e-05 -9.99950363e-01 6.98213831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61762800000002 meters 0.012760533083244777 Centerline is valid? [True, True] Translation: X:35.96, Y:-141.74, Z:0.70 [[-9.90505831e-02 -9.95081711e-01 1.17054534e-03 3.59574730e+01] [-9.95020659e-01 9.90574726e-02 1.10229815e-02 -1.41742100e+02] [-1.10847185e-02 -7.28840554e-05 -9.99938560e-01 6.98756746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64762800000003 meters 0.016348706155509627 Centerline is valid? [True, True] Translation: X:35.93, Y:-141.86, Z:0.70 [[-2.11564861e-02 -9.99776110e-01 3.64955739e-04 3.59250848e+01] [-9.99693611e-01 2.11594288e-02 1.28437903e-02 -1.41859150e+02] [-1.28486370e-02 -9.31144482e-05 -9.99917449e-01 7.02719344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67762800000003 meters 0.01322991137462611 Centerline is valid? [True, True] Translation: X:35.90, Y:-141.97, Z:0.70 [[ 5.85818421e-02 -9.98282454e-01 -5.57150662e-04 3.58972682e+01] [-9.98217213e-01 -5.85843835e-02 1.14134223e-02 -1.41972541e+02] [-1.14264596e-02 -1.12461923e-04 -9.99934710e-01 6.98787940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70762800000003 meters 0.013559590378730517 Centerline is valid? [True, True] Translation: X:35.88, Y:-142.10, Z:0.70 [[ 1.37504327e-01 -9.90500230e-01 -1.36143189e-03 3.58790173e+01] [-9.90442171e-01 -1.37511009e-01 1.07251208e-02 -1.42097132e+02] [-1.08104465e-02 -1.26330963e-04 -9.99941557e-01 6.98566229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73762800000003 meters 0.014014552810952832 Centerline is valid? [True, True] Translation: X:35.87, Y:-142.21, Z:0.70 [[ 2.16055455e-01 -9.76379232e-01 -1.90669310e-03 3.58684463e+01] [-9.76335537e-01 -2.16063827e-01 9.23803141e-03 -1.42213129e+02] [-9.43178942e-03 -1.34354851e-04 -9.99955511e-01 6.97106643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76762800000003 meters 0.01405809180817139 Centerline is valid? [True, True] Translation: X:35.87, Y:-142.34, Z:0.70 [[ 2.91666655e-01 -9.56516875e-01 -2.45563109e-03 3.58694088e+01] [-9.56479042e-01 -2.91676961e-01 8.50839746e-03 -1.42336421e+02] [-8.85467677e-03 -1.32856150e-04 -9.99960788e-01 6.96253093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79762800000003 meters 0.014281036393445003 Centerline is valid? [True, True] Translation: X:35.88, Y:-142.46, Z:0.70 [[ 3.65162990e-01 -9.30939315e-01 -2.82542787e-03 3.58794538e+01] [-9.30908752e-01 -3.65173899e-01 7.54451171e-03 -1.42458745e+02] [-8.05525508e-03 -1.24760923e-04 -9.99967548e-01 6.95556831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82762800000003 meters 0.014238353662829233 Centerline is valid? [True, True] Translation: X:35.90, Y:-142.58, Z:0.69 [[ 4.35426772e-01 -9.00219709e-01 -2.82874578e-03 3.58997864e+01] [-9.00199201e-01 -4.35435949e-01 6.07724014e-03 -1.42578767e+02] [-6.70258896e-03 -9.97583664e-05 -9.99977532e-01 6.94835819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85762800000003 meters 0.013958322756196266 Centerline is valid? [True, True] Translation: X:35.93, Y:-142.69, Z:0.70 [[ 5.02796843e-01 -8.64398075e-01 -3.36187374e-03 3.59260880e+01] [-8.64377467e-01 -5.02808074e-01 5.96957990e-03 -1.42689174e+02] [-6.85047063e-03 -9.55580245e-05 -9.99976531e-01 6.95211789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.887628 meters 0.013717460838293519 Centerline is valid? [True, True] Translation: X:35.96, Y:-142.80, Z:0.70 [[ 5.66709083e-01 -8.23907222e-01 -4.20766749e-03 3.59601756e+01] [-8.23883267e-01 -5.66724696e-01 6.28342365e-03 -1.42795076e+02] [-7.56154720e-03 -9.42464176e-05 -9.99971407e-01 6.96400212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.917628 meters 0.01307711121773832 Centerline is valid? [True, True] Translation: X:36.01, Y:-142.90, Z:0.70 [[ 6.25712756e-01 -7.80030112e-01 -6.04748850e-03 3.60075106e+01] [-7.79992320e-01 -6.25741973e-01 7.67881421e-03 -1.42900614e+02] [-9.77387370e-03 -8.77374142e-05 -9.99952231e-01 6.98982747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.947628 meters 0.013109455023903415 Centerline is valid? [True, True] Translation: X:36.06, Y:-143.00, Z:0.70 [[ 6.82430114e-01 -7.30912699e-01 -7.46766503e-03 3.60559131e+01] [-7.30867679e-01 -6.82470967e-01 8.11265401e-03 -1.42998155e+02] [-1.10261064e-02 -7.84443958e-05 -9.99939208e-01 7.00719124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.977628 meters 0.01277330284337932 Centerline is valid? [True, True] Translation: X:36.11, Y:-143.09, Z:0.70 [[ 7.34619588e-01 -6.78416155e-01 -9.25100314e-03 3.61096633e+01] [-6.78361407e-01 -7.34677833e-01 8.61883380e-03 -1.43090054e+02] [-1.26436630e-02 -5.60406358e-05 -9.99920064e-01 7.01828009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.007628 meters 0.01287760525915267 Centerline is valid? [True, True] Translation: X:36.10, Y:-143.10, Z:0.70 [[ 7.84766945e-01 -6.19706646e-01 -1.02232065e-02 3.61044468e+01] [-6.19653321e-01 -7.84833530e-01 8.12968495e-03 -1.43095545e+02] [-1.30615350e-02 -4.50641831e-05 -9.99914694e-01 7.02161667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.037628 meters 0.015059186321007554 Centerline is valid? [True, True] Translation: X:36.10, Y:-143.10, Z:0.70 [[ 8.29538379e-01 -5.58332301e-01 -1.14507532e-02 3.60996615e+01] [-5.58278832e-01 -8.29617407e-01 7.72687834e-03 -1.43100769e+02] [-1.38139099e-02 -1.70290221e-05 -9.99904583e-01 7.04246491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.067628 meters 0.012792445085633314 Centerline is valid? [True, True] Translation: X:36.09, Y:-143.11, Z:0.70 [[ 8.69793211e-01 -4.93283789e-01 -1.14400164e-02 3.60939703e+01] [-4.93241236e-01 -8.69868440e-01 6.47920316e-03 -1.43106578e+02] [-1.31473951e-02 7.12092164e-06 -9.99913569e-01 7.01479865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09762800000001 meters 0.01279999963431806 Centerline is valid? [True, True] Translation: X:36.09, Y:-143.11, Z:0.70 [[ 9.04511614e-01 -4.26290535e-01 -1.16241627e-02 3.60890206e+01] [-4.26255940e-01 -9.04586302e-01 5.43096884e-03 -1.43112588e+02] [-1.28302289e-02 4.24939909e-05 -9.99917688e-01 7.00749664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12762800000002 meters 0.013499449664505737 Centerline is valid? [True, True] Translation: X:36.09, Y:-143.11, Z:0.70 [[ 9.32890290e-01 -3.59999579e-01 -1.07708445e-02 3.60853274e+01] [-3.59976931e-01 -9.32952459e-01 4.03952574e-03 -1.43114785e+02] [-1.15029135e-02 1.08821218e-04 -9.99933833e-01 6.99547231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15762800000002 meters 0.013824876443678965 Centerline is valid? [True, True] Translation: X:36.08, Y:-143.12, Z:0.70 [[ 9.57304173e-01 -2.88896313e-01 -1.03750523e-02 3.60816717e+01] [-2.88880872e-01 -9.57360383e-01 2.98990553e-03 -1.43119136e+02] [-1.07964367e-02 1.34905108e-04 -9.99941708e-01 6.98321331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18762800000002 meters 0.014007285461046974 Centerline is valid? [True, True] Translation: X:36.07, Y:-143.13, Z:0.70 [[ 9.76352882e-01 -2.15972404e-01 -9.53789491e-03 3.60742545e+01] [-2.15963599e-01 -9.76399456e-01 1.95594999e-03 -1.43126810e+02] [-9.73522663e-03 1.50140702e-04 -9.99952600e-01 6.97229776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21762800000002 meters 0.01738686278844662 Centerline is valid? [True, True] Translation: X:36.07, Y:-143.13, Z:0.70 [[ 9.89498551e-01 -1.44294032e-01 -8.47646338e-03 3.60677777e+01] [-1.44290281e-01 -9.89534841e-01 1.05559112e-03 -1.43134082e+02] [-8.54007134e-03 1.78565405e-04 -9.99963517e-01 6.99075547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24762800000002 meters 0.015606356333545904 Centerline is valid? [True, True] Translation: X:36.06, Y:-143.14, Z:0.70 [[ 9.97652696e-01 -6.81787440e-02 -6.38419551e-03 3.60600972e+01] [-6.81782770e-02 -9.97673112e-01 2.91011498e-04 -1.43141880e+02] [-6.38918100e-03 1.44935045e-04 -9.99979578e-01 6.96910663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27762800000002 meters 0.016254705738424875 Centerline is valid? [True, True] Translation: X:36.05, Y:-143.15, Z:0.70 [[ 9.99951293e-01 8.28553102e-03 -5.36290022e-03 3.60533229e+01] [ 8.28470716e-03 -9.99965666e-01 -1.75818682e-04 -1.43148482e+02] [-5.36417284e-03 1.31380061e-04 -9.99985604e-01 6.96686899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30762800000002 meters 0.016235540310147924 Centerline is valid? [True, True] Translation: X:36.05, Y:-143.16, Z:0.69 [[ 9.96514809e-01 8.33153603e-02 -4.09702715e-03 3.60482068e+01] [ 8.33141850e-02 -9.96523225e-01 -4.57011502e-04 -1.43158899e+02] [-4.12085878e-03 1.14078252e-04 -9.99991503e-01 6.94920660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33762800000002 meters 0.019044991634294104 Centerline is valid? [True, True] Translation: X:36.04, Y:-143.17, Z:0.70 [[ 9.87133794e-01 1.59807320e-01 -5.33789243e-03 3.60438679e+01] [ 1.59804118e-01 -9.87148214e-01 -1.02394362e-03 -1.43168475e+02] [-5.43292467e-03 1.57752155e-04 -9.99985229e-01 6.96409364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36762800000002 meters 0.01630819633637339 Centerline is valid? [True, True] Translation: X:36.04, Y:-143.18, Z:0.69 [[ 9.71577744e-01 2.36691767e-01 -3.70056171e-03 3.60413651e+01] [ 2.36689614e-01 -9.71584785e-01 -1.01546347e-03 -1.43181546e+02] [-3.83576130e-03 1.10717180e-04 -9.99992637e-01 6.93459742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39762800000003 meters 0.01786775198331945 Centerline is valid? [True, True] Translation: X:36.04, Y:-143.19, Z:0.69 [[ 9.49882682e-01 3.12590062e-01 -3.21613526e-03 3.60376179e+01] [ 3.12587924e-01 -9.49888122e-01 -1.15998425e-03 -1.43191408e+02] [-3.41756823e-03 9.65239061e-05 -9.99994155e-01 6.93726819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42762800000003 meters 0.015265540728271547 Centerline is valid? [True, True] Translation: X:36.04, Y:-143.21, Z:0.70 [[ 9.20963284e-01 3.89622664e-01 -4.56166735e-03 3.60401295e+01] [ 3.89617226e-01 -9.20974573e-01 -2.06224030e-03 -1.43211647e+02] [-5.00467520e-03 1.21943422e-04 -9.99987469e-01 6.96149875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45762800000003 meters 0.0188821523454407 Centerline is valid? [True, True] Translation: X:36.04, Y:-143.23, Z:0.70 [[ 8.86703357e-01 4.62286270e-01 -6.96858071e-03 3.60401742e+01] [ 4.62270403e-01 -8.86730722e-01 -3.83432400e-03 -1.43225159e+02] [-7.95180995e-03 1.78539353e-04 -9.99968368e-01 7.01433757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48762800000003 meters 0.014074245634030022 Centerline is valid? [True, True] Translation: X:36.04, Y:-143.24, Z:0.70 [[ 8.45186877e-01 5.34422751e-01 -7.17398226e-03 3.60441351e+01] [ 5.34401978e-01 -8.45217310e-01 -4.71433347e-03 -1.43241450e+02] [-8.58302104e-03 1.50702475e-04 -9.99963154e-01 7.01059592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51762800000003 meters 0.013934292603468488 Centerline is valid? [True, True] Translation: X:36.05, Y:-143.25, Z:0.70 [[ 7.99855108e-01 6.00149808e-01 -7.21205096e-03 3.60451579e+01] [ 6.00123746e-01 -7.99887608e-01 -5.59496593e-03 -1.43252631e+02] [-9.12664792e-03 1.47039037e-04 -9.99958340e-01 7.01386616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54762800000003 meters 0.015093764501618792 Centerline is valid? [True, True] Translation: X:36.05, Y:-143.26, Z:0.70 [[ 7.49792025e-01 6.61627839e-01 -7.77963377e-03 3.60478467e+01] [ 6.61590005e-01 -7.49832366e-01 -7.07732607e-03 -1.43262956e+02] [-1.05159771e-02 1.59594701e-04 -9.99944693e-01 7.02443835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57762800000003 meters 0.013357052583884088 Centerline is valid? [True, True] Translation: X:36.05, Y:-143.28, Z:0.70 [[ 6.95018502e-01 7.18958516e-01 -6.92349764e-03 3.60519147e+01] [ 7.18920770e-01 -6.95052971e-01 -7.36851178e-03 -1.43275005e+02] [-1.01098519e-02 1.43805766e-04 -9.99948884e-01 7.00530388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60762800000003 meters 0.01550670132171906 Centerline is valid? [True, True] Translation: X:36.06, Y:-143.29, Z:0.70 [[ 6.35680440e-01 7.71932878e-01 -5.47814005e-03 3.60559999e+01] [ 7.71902656e-01 -6.35704034e-01 -6.83152595e-03 -1.43286351e+02] [-8.75595522e-03 1.14076566e-04 -9.99961659e-01 7.02512346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63762800000003 meters 0.013024114058119644 Centerline is valid? [True, True] Translation: X:36.06, Y:-143.30, Z:0.70 [[ 5.72493977e-01 8.19900314e-01 -3.75786073e-03 3.60621002e+01] [ 8.19881718e-01 -5.72506304e-01 -5.52266953e-03 -1.43296966e+02] [-6.67943744e-03 8.06937291e-05 -9.99977689e-01 7.00140569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.667628 meters 0.014754006715618656 Centerline is valid? [True, True] Translation: X:36.07, Y:-143.31, Z:0.70 [[ 5.05822975e-01 8.62631079e-01 -3.27700889e-03 3.60660491e+01] [ 8.62612013e-01 -5.05833585e-01 -5.73584549e-03 -1.43306667e+02] [-6.60553974e-03 7.45351901e-05 -9.99978180e-01 7.01835154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.697628 meters 0.012564955711537954 Centerline is valid? [True, True] Translation: X:36.07, Y:-143.31, Z:0.70 [[ 4.34422932e-01 9.00706287e-01 -2.21399664e-03 3.60698820e+01] [ 9.00694055e-01 -4.34428571e-01 -4.69430265e-03 -1.43314730e+02] [-5.19001131e-03 4.51791083e-05 -9.99986531e-01 6.99971083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.727628 meters 0.014307826503409707 Centerline is valid? [True, True] Translation: X:36.07, Y:-143.32, Z:0.70 [[ 3.62067331e-01 9.32149857e-01 -1.97268575e-03 3.60735888e+01] [ 9.32135327e-01 -3.62072702e-01 -5.20487259e-03 -1.43322645e+02] [-5.56597691e-03 4.57042512e-05 -9.99984509e-01 7.01593241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.757628 meters 0.012264529601518666 Centerline is valid? [True, True] Translation: X:36.08, Y:-143.33, Z:0.70 [[ 2.86686480e-01 9.58023527e-01 -1.33571347e-03 3.60779834e+01] [ 9.58012590e-01 -2.86689590e-01 -4.57785105e-03 -1.43330444e+02] [-4.76862415e-03 3.27776889e-05 -9.99988630e-01 6.99390112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.787628 meters 0.012271992006652455 Centerline is valid? [True, True] Translation: X:36.08, Y:-143.34, Z:0.70 [[ 2.10062441e-01 9.77687574e-01 -8.82703655e-04 3.60812812e+01] [ 9.77678404e-01 -2.10064294e-01 -4.23457493e-03 -1.43338847e+02] [-4.32551581e-03 2.65248454e-05 -9.99990645e-01 6.99153612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.817628 meters 0.01213404110239726 Centerline is valid? [True, True] Translation: X:36.08, Y:-143.35, Z:0.70 [[ 1.31450745e-01 9.91322537e-01 -5.73542721e-04 3.60843449e+01] [ 9.91312373e-01 -1.31451994e-01 -4.48913696e-03 -1.43345869e+02] [-4.52557598e-03 2.15404027e-05 -9.99989759e-01 6.99308763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84762800000001 meters 0.012104143566112746 Centerline is valid? [True, True] Translation: X:36.09, Y:-143.35, Z:0.70 [[ 5.26984680e-02 9.98610440e-01 -2.45715005e-04 3.60881086e+01] [ 9.98597692e-01 -5.26990369e-02 -5.04585610e-03 -1.43352333e+02] [-5.05179352e-03 2.05384490e-05 -9.99987239e-01 7.00500937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87762800000002 meters 0.012140755609805747 Centerline is valid? [True, True] Translation: X:36.09, Y:-143.36, Z:0.70 [[-2.72311284e-02 9.99629145e-01 1.97700350e-04 3.60930509e+01] [ 9.99607137e-01 2.72318407e-02 -6.63313440e-03 -1.43358425e+02] [-6.63605821e-03 1.69949459e-05 -9.99977981e-01 7.02541174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90762800000002 meters 0.013630587229522071 Centerline is valid? [True, True] Translation: X:36.10, Y:-143.37, Z:0.71 [[-1.05126757e-01 9.94458406e-01 9.18496133e-04 3.60967454e+01] [ 9.94422452e-01 1.05130766e-01 -8.45630540e-03 -1.43365849e+02] [-8.50600619e-03 2.43892169e-05 -9.99963823e-01 7.05328033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93762800000002 meters 0.012316265069706726 Centerline is valid? [True, True] Translation: X:36.10, Y:-143.37, Z:0.70 [[-1.82882923e-01 9.83133148e-01 1.74660669e-03 3.61004142e+01] [ 9.83089626e-01 1.82891262e-01 -9.25055206e-03 -1.43372693e+02] [-9.41396347e-03 2.53029181e-05 -9.99955687e-01 7.04601613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96762800000002 meters 0.01220283466283946 Centerline is valid? [True, True] Translation: X:36.11, Y:-143.38, Z:0.70 [[-2.58867614e-01 9.65908647e-01 2.83636714e-03 3.61078992e+01] [ 9.65852118e-01 2.58883150e-01 -1.04499479e-02 -1.43377526e+02] [-1.08279827e-02 3.43581249e-05 -9.99941375e-01 7.04886828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99762800000002 meters 0.012913659687257873 Centerline is valid? [True, True] Translation: X:36.11, Y:-143.38, Z:0.71 [[-3.32042380e-01 9.43254719e-01 4.28870344e-03 3.61129055e+01] [ 9.43178491e-01 3.32070069e-01 -1.19918193e-02 -1.43384750e+02] [-1.27354902e-02 6.32206036e-05 -9.99918898e-01 7.08167037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02762800000002 meters 0.012913659687257873 Centerline is valid? [True, True] Translation: X:36.12, Y:-143.39, Z:0.71 [[-4.04904420e-01 9.14344145e-01 5.21487445e-03 3.61164770e+01] [ 9.14270321e-01 4.04937995e-01 -1.16189943e-02 -1.43392191e+02] [-1.27354602e-02 6.32227898e-05 -9.99918899e-01 7.08166789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05762800000002 meters 0.012732275346430323 Centerline is valid? [True, True] Translation: X:36.12, Y:-143.40, Z:0.71 [[-4.75117484e-01 8.79899769e-01 6.30651745e-03 3.61229236e+01] [ 8.79824144e-01 4.75159333e-01 -1.15362430e-02 -1.43397744e+02] [-1.31473382e-02 6.75555650e-05 -9.99913568e-01 7.08152868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08762800000002 meters 0.012482218537882988 Centerline is valid? [True, True] Translation: X:36.13, Y:-143.40, Z:0.71 [[-5.43424982e-01 8.39425514e-01 7.35490209e-03 3.61336297e+01] [ 8.39350018e-01 5.43474749e-01 -1.12580909e-02 -1.43399515e+02] [-1.34475323e-02 5.54093720e-05 -9.99909576e-01 7.07396452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11762800000002 meters 0.012281361427378002 Centerline is valid? [True, True] Translation: X:36.15, Y:-143.40, Z:0.71 [[-6.09190180e-01 7.92987891e-01 7.58478845e-03 3.61451208e+01] [ 7.92926938e-01 6.09237396e-01 -9.83194945e-03 -1.43400117e+02] [-1.24175536e-02 2.46560225e-05 -9.99922899e-01 7.06566618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14762800000003 meters 0.01205624462773961 Centerline is valid? [True, True] Translation: X:36.16, Y:-143.40, Z:0.71 [[-6.70314427e-01 7.42034857e-01 7.92719290e-03 3.61554304e+01] [ 7.41983143e-01 6.70361299e-01 -8.76036840e-03 -1.43400335e+02] [-1.18145820e-02 9.64218392e-06 -9.99930205e-01 7.05756200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17762800000003 meters 0.011942477600532266 Centerline is valid? [True, True] Translation: X:36.17, Y:-143.40, Z:0.70 [[-7.27498374e-01 6.86074630e-01 6.90780222e-03 3.61662558e+01] [ 6.86043606e-01 7.27531169e-01 -6.52440747e-03 -1.43399699e+02] [-9.50187187e-03 -7.44227608e-06 -9.99954856e-01 7.04478850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20762800000003 meters 0.011982952858767328 Centerline is valid? [True, True] Translation: X:36.19, Y:-143.38, Z:0.70 [[-7.74517167e-01 6.32518037e-01 6.64007245e-03 3.61853411e+01] [ 6.32494673e-01 7.74545630e-01 -5.43657185e-03 -1.43378719e+02] [-8.58176885e-03 -1.09077785e-05 -9.99963176e-01 7.04170475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23762800000003 meters 0.011910999931205875 Centerline is valid? [True, True] Translation: X:36.71, Y:-142.76, Z:-0.22 [[-7.28548323e-01 -6.84965901e-01 6.24940186e-03 3.67103595e+01] [ 6.84940821e-01 -7.28575126e-01 -5.86154887e-03 -1.42761834e+02] [ 8.56811985e-03 1.00488429e-05 9.99963293e-01 -2.17394796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26762800000003 meters 0.01185978637231927 Centerline is valid? [True, True] Translation: X:36.15, Y:-143.35, Z:0.70 [[-7.76368790e-01 6.30246349e-01 6.40642339e-03 3.61543976e+01] [ 6.30224833e-01 7.76395222e-01 -5.20768012e-03 -1.43354809e+02] [-8.25603788e-03 -5.59320392e-06 -9.99965918e-01 7.04488081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29762800000003 meters 0.014670945370454295 Centerline is valid? [True, True] Translation: X:36.19, Y:-143.34, Z:0.71 [[-8.15174879e-01 5.79173476e-01 6.92831629e-03 3.61855869e+01] [ 5.79152348e-01 8.15204321e-01 -4.94708687e-03 -1.43344806e+02] [-8.51321488e-03 -2.01902947e-05 -9.99963762e-01 7.05303539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32762800000003 meters 0.011977690988919997 Centerline is valid? [True, True] Translation: X:36.21, Y:-143.33, Z:0.70 [[-8.53713009e-01 5.20709293e-01 5.99417542e-03 3.62073613e+01] [ 5.20696645e-01 8.53734052e-01 -3.62933888e-03 -1.43328154e+02] [-7.00726215e-03 2.27332123e-05 -9.99975449e-01 7.01527727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35762800000003 meters 0.012081687472129586 Centerline is valid? [True, True] Translation: X:36.22, Y:-143.31, Z:0.70 [[-8.87703646e-01 4.60383083e-01 5.44549927e-03 3.62233617e+01] [ 4.60374623e-01 8.87720348e-01 -2.79108075e-03 -1.43306795e+02] [-6.11904686e-03 2.93171169e-05 -9.99981278e-01 7.00492533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38762800000003 meters 0.012187174153572254 Centerline is valid? [True, True] Translation: X:36.24, Y:-143.28, Z:0.70 [[-9.16574275e-01 3.99834619e-01 4.88634795e-03 3.62372249e+01] [ 3.99829199e-01 9.16587298e-01 -2.08245862e-03 -1.43283615e+02] [-5.31140351e-03 4.49765851e-05 -9.99985893e-01 6.98903399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.417628 meters 0.012506632632092495 Centerline is valid? [True, True] Translation: X:36.26, Y:-143.26, Z:0.70 [[-9.41783297e-01 3.36185585e-01 4.84506027e-03 3.62598584e+01] [ 3.36181441e-01 9.41795758e-01 -1.67019843e-03 -1.43263836e+02] [-5.12455384e-03 5.58543610e-05 -9.99986868e-01 6.98406880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.447628 meters 0.013117636872825874 Centerline is valid? [True, True] Translation: X:36.28, Y:-143.24, Z:0.70 [[-9.62405409e-01 2.71582039e-01 4.36182229e-03 3.62762527e+01] [ 2.71579547e-01 9.62415291e-01 -1.16504815e-03 -1.43241728e+02] [-4.51429062e-03 6.33330862e-05 -9.99989809e-01 6.98021048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.477628 meters 0.014227535563505 Centerline is valid? [True, True] Translation: X:36.50, Y:-142.44, Z:-0.21 [[-9.52095059e-01 -3.05776170e-01 3.99169355e-03 3.65018165e+01] [ 3.05773143e-01 -9.52103423e-01 -1.36261411e-03 -1.42440568e+02] [ 4.21716002e-03 -7.67854727e-05 9.99991105e-01 -2.11069102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.507628 meters 0.016919559542531524 Centerline is valid? [True, True] Translation: X:36.23, Y:-143.24, Z:0.70 [[-9.60393603e-01 2.78617957e-01 4.02002174e-03 3.62311053e+01] [ 2.78615972e-01 9.60402011e-01 -1.05691965e-03 -1.43235316e+02] [-4.15531376e-03 1.04983391e-04 -9.99991361e-01 6.99308093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.537628 meters 0.016730267071718694 Centerline is valid? [True, True] Translation: X:36.25, Y:-143.21, Z:0.70 [[-9.77167140e-01 2.12440010e-01 3.69089741e-03 3.62468438e+01] [ 2.12438900e-01 9.77174105e-01 -6.94877407e-04 -1.43212185e+02] [-3.75426914e-03 1.05078816e-04 -9.99992947e-01 6.97751181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.567628 meters 0.01750981653097261 Centerline is valid? [True, True] Translation: X:36.41, Y:-142.38, Z:-0.21 [[-9.75369787e-01 -2.20551035e-01 3.31944521e-03 3.64101418e+01] [ 2.20549352e-01 -9.75375429e-01 -8.69221952e-04 -1.42384450e+02] [ 3.42941309e-03 -1.15711341e-04 9.99994113e-01 -2.11045739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59762800000001 meters 0.018744386022458957 Centerline is valid? [True, True] Translation: X:36.19, Y:-143.20, Z:0.70 [[-9.76652071e-01 2.14806730e-01 2.96652674e-03 3.61883392e+01] [ 2.14806065e-01 9.76656571e-01 -5.44775653e-04 -1.43203774e+02] [-3.01429931e-03 1.05171667e-04 -9.99995451e-01 6.97283071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62762800000002 meters 0.018434555709184765 Centerline is valid? [True, True] Translation: X:36.35, Y:-142.37, Z:-0.21 [[-9.77455099e-01 -2.11130553e-01 2.32793552e-03 3.63508042e+01] [ 2.11129656e-01 -9.77457863e-01 -6.27649347e-04 -1.42374276e+02] [ 2.40797483e-03 -1.22002830e-04 9.99997093e-01 -2.10170186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65762800000002 meters 0.018818410905254587 Centerline is valid? [True, True] Translation: X:36.13, Y:-143.19, Z:0.70 [[-9.77122599e-01 2.12662111e-01 2.50060200e-03 3.61302954e+01] [ 2.12661661e-01 9.77125794e-01 -4.47761256e-04 -1.43189172e+02] [-2.53862457e-03 9.42645326e-05 -9.99996773e-01 6.98050070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68762800000002 meters 0.01882231125963898 Centerline is valid? [True, True] Translation: X:36.14, Y:-143.16, Z:0.70 [[-9.89764711e-01 1.42683798e-01 2.67393169e-03 3.61358975e+01] [ 1.42683549e-01 9.89768318e-01 -2.84860101e-04 -1.43160375e+02] [-2.68721779e-03 9.95815866e-05 -9.99996384e-01 6.98780222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71762800000002 meters 0.01874843031066376 Centerline is valid? [True, True] Translation: X:36.23, Y:-142.33, Z:-0.21 [[-9.90608853e-01 -1.36695016e-01 2.92796708e-03 3.62307625e+01] [ 1.36694145e-01 -9.90613176e-01 -4.96480242e-04 -1.42330758e+02] [ 2.96834914e-03 -9.15817678e-05 9.99995590e-01 -2.11717758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74762800000002 meters 0.020181916626049297 Centerline is valid? [True, True] Translation: X:36.06, Y:-143.15, Z:0.70 [[-9.90735195e-01 1.35751481e-01 3.91257554e-03 3.60615607e+01] [ 1.35750973e-01 9.90742911e-01 -3.96424297e-04 -1.43150373e+02] [-3.93017167e-03 1.38384433e-04 -9.99992267e-01 7.00094748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77762800000002 meters 0.01660300000525802 Centerline is valid? [True, True] Translation: X:36.06, Y:-143.12, Z:0.70 [[-9.98234954e-01 5.92014352e-02 4.70822593e-03 3.60561579e+01] [ 5.92014289e-02 9.98246047e-01 -1.40832777e-04 -1.43116527e+02] [-4.70830542e-03 1.38149502e-04 -9.99988906e-01 6.98368963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80762800000002 meters 0.015987703006668085 Centerline is valid? [True, True] Translation: X:36.06, Y:-143.09, Z:0.70 [[-9.99871517e-01 -1.52221936e-02 5.02346845e-03 3.60593226e+01] [-1.52213424e-02 9.99884127e-01 2.07650614e-04 -1.43085873e+02] [-5.02604727e-03 1.31160001e-04 -9.99987361e-01 6.98876074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83762800000002 meters 0.014274104450871121 Centerline is valid? [True, True] Translation: X:36.05, Y:-143.05, Z:0.70 [[-9.95678417e-01 -9.26405466e-02 6.49769591e-03 3.60515015e+01] [-9.26377218e-02 9.95699609e-01 7.35021317e-04 -1.43052186e+02] [-6.53784606e-03 1.29913115e-04 -9.99978620e-01 6.99831819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86762800000002 meters 0.013757053625674118 Centerline is valid? [True, True] Translation: X:36.03, Y:-143.02, Z:0.70 [[-9.86088152e-01 -1.66097526e-01 6.46288111e-03 3.60349840e+01] [-1.66093193e-01 9.86109324e-01 1.20516691e-03 -1.43024114e+02] [-6.57328256e-03 1.14960254e-04 -9.99978389e-01 7.00052685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89762800000003 meters 0.013596429638016308 Centerline is valid? [True, True] Translation: X:36.00, Y:-143.00, Z:0.70 [[-9.71047772e-01 -2.38810601e-01 5.97675400e-03 3.60032468e+01] [-2.38805468e-01 9.71066160e-01 1.56863234e-03 -1.43001166e+02] [-6.17842959e-03 9.59354050e-05 -9.99980909e-01 7.00073806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92762800000003 meters 0.013242014873763074 Centerline is valid? [True, True] Translation: X:35.95, Y:-142.99, Z:0.70 [[-9.50397193e-01 -3.10989591e-01 5.53625549e-03 3.59456253e+01] [-3.10983811e-01 9.50413314e-01 1.89793933e-03 -1.42987283e+02] [-5.85197030e-03 8.21103807e-05 -9.99982874e-01 6.99571770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95762800000003 meters 0.012726558182219334 Centerline is valid? [True, True] Translation: X:35.88, Y:-142.98, Z:0.70 [[-9.23860732e-01 -3.82710967e-01 3.69647532e-03 3.58802207e+01] [-3.82707705e-01 9.23868126e-01 1.58084830e-03 -1.42979313e+02] [-4.02006371e-03 4.58140806e-05 -9.99991918e-01 6.98395737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98762800000003 meters 0.012591333943478115 Centerline is valid? [True, True] Translation: X:35.81, Y:-142.98, Z:0.70 [[-8.92558982e-01 -4.50921493e-01 2.87607596e-03 3.58060650e+01] [-4.50919026e-01 8.92563615e-01 1.49199401e-03 -1.42982476e+02] [-3.23985293e-03 3.48152833e-05 -9.99994751e-01 6.97292448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01762800000003 meters 0.01253248611063565 Centerline is valid? [True, True] Translation: X:35.72, Y:-143.00, Z:0.70 [[-8.56027708e-01 -5.16924264e-01 2.42258784e-03 3.57246231e+01] [-5.16922097e-01 8.56031135e-01 1.49697198e-03 -1.42995376e+02] [-2.84763176e-03 2.91603106e-05 -9.99995945e-01 6.96544248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04762800000003 meters 0.012338074991439787 Centerline is valid? [True, True] Translation: X:35.64, Y:-143.02, Z:0.70 [[-8.14185723e-01 -5.80603190e-01 1.24250323e-03 3.56357036e+01] [-5.80602487e-01 8.14186671e-01 9.03397431e-04 -1.43018956e+02] [-1.53614500e-03 1.41328241e-05 -9.99998820e-01 6.95656109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07762800000003 meters 0.012540395453279791 Centerline is valid? [True, True] Translation: X:35.55, Y:-143.05, Z:0.70 [[-7.67855670e-01 -6.40621860e-01 1.14161215e-03 3.55499014e+01] [-6.40621125e-01 7.67856518e-01 9.70071046e-04 -1.43050464e+02] [-1.49804305e-03 1.35336930e-05 -9.99998878e-01 6.96101977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10762800000003 meters 0.012230522358432892 Centerline is valid? [True, True] Translation: X:35.46, Y:-143.09, Z:0.70 [[-7.16627150e-01 -6.97455889e-01 9.00920318e-04 3.54601316e+01] [-6.97455319e-01 7.16627716e-01 8.91728131e-04 -1.43092679e+02] [-1.26756551e-03 1.06849216e-05 -9.99999197e-01 6.96408362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13762800000003 meters 0.012209985391550679 Centerline is valid? [True, True] Translation: X:35.37, Y:-143.15, Z:0.70 [[-6.60415577e-01 -7.50899950e-01 7.28749151e-04 3.53695941e+01] [-7.50899479e-01 6.60415979e-01 8.40302841e-04 -1.43145857e+02] [-1.11226095e-03 7.73172757e-06 -9.99999381e-01 6.97390098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.167628 meters 0.012113843763807806 Centerline is valid? [True, True] Translation: X:35.28, Y:-143.21, Z:0.70 [[-6.00251777e-01 -7.99810920e-01 5.44399794e-04 3.52815163e+01] [-7.99810583e-01 6.00252024e-01 7.34245588e-04 -1.43208571e+02] [-9.14034718e-04 5.31550256e-06 -9.99999582e-01 6.97899330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.197628 meters 0.011888455088476954 Centerline is valid? [True, True] Translation: X:35.20, Y:-143.28, Z:0.70 [[-5.36380569e-01 -8.43975629e-01 1.01099416e-03 3.51964391e+01] [-8.43974097e-01 5.36381522e-01 1.60806227e-03 -1.43279892e+02] [-1.89944395e-03 9.28047123e-06 -9.99998196e-01 6.98954272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.227628 meters 0.012016669934361733 Centerline is valid? [True, True] Translation: X:35.12, Y:-143.36, Z:0.70 [[-4.68820608e-01 -8.83290302e-01 2.34114186e-03 3.51164498e+01] [-8.83279093e-01 4.68826453e-01 4.44979015e-03 -1.43364765e+02] [-5.02804572e-03 1.82716611e-05 -9.99987359e-01 7.01753559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.257628 meters 0.012040839020675369 Centerline is valid? [True, True] Translation: X:35.04, Y:-143.45, Z:0.70 [[-4.00064732e-01 -9.16482828e-01 2.72704586e-03 3.50443338e+01] [-9.16461033e-01 4.00074025e-01 6.32053568e-03 -1.43453046e+02] [-6.88368263e-03 2.93921453e-05 -9.99976307e-01 7.02317930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.287628 meters 0.015423696220051119 Centerline is valid? [True, True] Translation: X:34.98, Y:-143.55, Z:0.71 [[-3.29745633e-01 -9.44064663e-01 3.11930450e-03 3.49794080e+01] [-9.44020793e-01 3.29760382e-01 9.10123950e-03 -1.43549017e+02] [-9.62078164e-03 5.64056673e-05 -9.99953718e-01 7.05807441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.317628 meters 0.012842749229645284 Centerline is valid? [True, True] Translation: X:34.92, Y:-143.65, Z:0.71 [[-2.59524815e-01 -9.65732556e-01 2.73883833e-03 3.49233513e+01] [-9.65674453e-01 2.59539246e-01 1.05938640e-02 -1.43652834e+02] [-1.09416754e-02 1.04544389e-04 -9.99940133e-01 7.05633286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34762800000001 meters 0.013393841735661206 Centerline is valid? [True, True] Translation: X:34.87, Y:-143.77, Z:0.71 [[-1.86649290e-01 -9.82424645e-01 1.96459282e-03 3.48734135e+01] [-9.82362328e-01 1.86659580e-01 1.10660467e-02 -1.43765463e+02] [-1.12382671e-02 1.35527792e-04 -9.99936840e-01 7.05998772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37762800000002 meters 0.01651386077270354 Centerline is valid? [True, True] Translation: X:34.83, Y:-143.87, Z:0.71 [[-1.13331605e-01 -9.93556516e-01 1.18189845e-03 3.48331829e+01] [-9.93484289e-01 1.13337619e-01 1.19812848e-02 -1.43874252e+02] [-1.20380371e-02 1.83660701e-04 -9.99927523e-01 7.07582095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40762800000002 meters 0.015165790889195892 Centerline is valid? [True, True] Translation: X:34.81, Y:-143.99, Z:0.70 [[-4.15351942e-02 -9.99137014e-01 2.35002319e-04 3.48053876e+01] [-9.99073621e-01 4.15352067e-02 1.12572957e-02 -1.43993610e+02] [-1.12573417e-02 2.32789345e-04 -9.99936607e-01 7.04195259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43762800000002 meters 0.01664447232459522 Centerline is valid? [True, True] Translation: X:34.78, Y:-144.11, Z:0.70 [[ 3.30538285e-02 -9.99453373e-01 -6.32725756e-04 3.47824416e+01] [-9.99391110e-01 -3.30588338e-02 1.11590095e-02 -1.44105611e+02] [-1.11738269e-02 2.63492508e-04 -9.99937536e-01 7.04262890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46762800000002 meters 0.015539402365807125 Centerline is valid? [True, True] Translation: X:34.77, Y:-144.23, Z:0.70 [[ 1.08468827e-01 -9.94098846e-01 -1.41353083e-03 3.47664104e+01] [-9.94043657e-01 -1.08477705e-01 1.04783859e-02 -1.44226815e+02] [-1.05698879e-02 2.68533130e-04 -9.99944101e-01 7.01825877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49762800000002 meters 0.0165955184651956 Centerline is valid? [True, True] Translation: X:34.76, Y:-144.35, Z:0.70 [[ 1.82348186e-01 -9.83232259e-01 -1.86123508e-03 3.47626167e+01] [-9.83194080e-01 -1.82357514e-01 8.66823987e-03 -1.44348905e+02] [-8.86230328e-03 2.49317498e-04 -9.99960698e-01 7.00831106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52762800000002 meters 0.01694563833691322 Centerline is valid? [True, True] Translation: X:34.77, Y:-144.47, Z:0.70 [[ 2.57035235e-01 -9.66399269e-01 -2.31119096e-03 3.47660847e+01] [-9.66368017e-01 -2.57045518e-01 7.77543190e-03 -1.44471501e+02] [-8.10825298e-03 2.34901060e-04 -9.99967100e-01 6.99697984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55762800000002 meters 0.017315381242948392 Centerline is valid? [True, True] Translation: X:34.78, Y:-144.59, Z:0.70 [[ 3.30381984e-01 -9.43844526e-01 -2.29253195e-03 3.47784150e+01] [-9.43825621e-01 -3.30389883e-01 5.97675734e-03 -1.44592683e+02] [-6.39855907e-03 1.89137449e-04 -9.99979511e-01 6.98881262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58762800000002 meters 0.017265037733343883 Centerline is valid? [True, True] Translation: X:34.80, Y:-144.71, Z:0.70 [[ 4.02725597e-01 -9.15317296e-01 -2.51809232e-03 3.47982331e+01] [-9.15301971e-01 -4.02733433e-01 5.29948571e-03 -1.44709338e+02] [-5.86483090e-03 1.70576312e-04 -9.99982787e-01 6.98378601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61762800000002 meters 0.017219278535180127 Centerline is valid? [True, True] Translation: X:34.83, Y:-144.83, Z:0.70 [[ 4.73004151e-01 -8.81055405e-01 -2.90639285e-03 3.48279320e+01] [-8.81040848e-01 -4.73013051e-01 5.06732199e-03 -1.44825737e+02] [-5.83935318e-03 1.63786487e-04 -9.99982937e-01 6.97809776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64762800000003 meters 0.01872899212773912 Centerline is valid? [True, True] Translation: X:34.87, Y:-144.94, Z:0.70 [[ 5.40704280e-01 -8.41204670e-01 -3.68582319e-03 3.48650973e+01] [-8.41187277e-01 -5.40716814e-01 5.41221451e-03 -1.44939459e+02] [-6.54576670e-03 1.74060023e-04 -9.99978561e-01 6.99737615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67762800000003 meters 0.01460670820506389 Centerline is valid? [True, True] Translation: X:34.91, Y:-145.05, Z:0.70 [[ 6.09255204e-01 -7.92963417e-01 -4.13717778e-03 3.49057182e+01] [-7.92946568e-01 -6.09269237e-01 5.17092752e-03 -1.45052331e+02] [-6.62101151e-03 1.30146420e-04 -9.99978072e-01 6.98625580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70762800000003 meters 0.014330797099737473 Centerline is valid? [True, True] Translation: X:34.96, Y:-145.16, Z:0.70 [[ 6.71635551e-01 -7.40862253e-01 -5.36741092e-03 3.49562042e+01] [-7.40839994e-01 -6.71656987e-01 5.74418123e-03 -1.45156153e+02] [-7.86070609e-03 1.18396341e-04 -9.99969097e-01 7.00022624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73762800000003 meters 0.01335355905315161 Centerline is valid? [True, True] Translation: X:35.01, Y:-145.26, Z:0.70 [[ 7.29526293e-01 -6.83920869e-01 -6.60550102e-03 3.50111517e+01] [-6.83893986e-01 -7.29556191e-01 6.06462477e-03 -1.45255146e+02] [-8.96680761e-03 9.31591959e-05 -9.99959793e-01 7.00817408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76762800000003 meters 0.012823627956091417 Centerline is valid? [True, True] Translation: X:35.00, Y:-145.26, Z:0.70 [[ 7.86512966e-01 -6.17516216e-01 -8.43079411e-03 3.50020607e+01] [-6.17480899e-01 -7.86558150e-01 6.60426397e-03 -1.45264932e+02] [-1.07095499e-02 1.15150803e-05 -9.99942651e-01 7.03542540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79762800000003 meters 0.014631288225716145 Centerline is valid? [True, True] Translation: X:35.00, Y:-145.27, Z:0.70 [[ 8.34086361e-01 -5.51539524e-01 -1.02027652e-02 3.49961466e+01] [-5.51497893e-01 -8.34148760e-01 6.77649132e-03 -1.45273430e+02] [-1.22481267e-02 -2.53754673e-05 -9.99924989e-01 7.04365330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82762800000003 meters 0.013097256762234118 Centerline is valid? [True, True] Translation: X:34.99, Y:-145.28, Z:0.70 [[ 8.76516742e-01 -4.81244703e-01 -1.10425557e-02 3.49902485e+01] [-4.81205431e-01 -8.76586294e-01 6.14842033e-03 -1.45281077e+02] [-1.26386477e-02 -7.54555598e-05 -9.99920126e-01 7.03876151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85762800000003 meters 0.012939001295916526 Centerline is valid? [True, True] Translation: X:34.99, Y:-145.29, Z:0.70 [[ 9.11440503e-01 -4.11280844e-01 -1.11479860e-02 3.49866458e+01] [-4.11249107e-01 -9.11508674e-01 5.10976784e-03 -1.45287667e+02] [-1.22630356e-02 -7.26500643e-05 -9.99924804e-01 7.03211852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88762800000003 meters 0.01280885012886012 Centerline is valid? [True, True] Translation: X:34.98, Y:-145.29, Z:0.70 [[ 9.40538395e-01 -3.39528607e-01 -1.03852096e-02 3.49830389e+01] [-3.39507240e-01 -9.40595727e-01 3.80941678e-03 -1.45292660e+02] [-1.10616897e-02 -5.70488975e-05 -9.99938816e-01 7.01886713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.917628 meters 0.01280885012886012 Centerline is valid? [True, True] Translation: X:34.98, Y:-145.30, Z:0.70 [[ 9.64196658e-01 -2.64974257e-01 -1.06511678e-02 3.49800665e+01] [-2.64957438e-01 -9.64255485e-01 2.98606520e-03 -1.45299788e+02] [-1.10616774e-02 -5.70479684e-05 -9.99938816e-01 7.01886585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.947628 meters 0.012842670763808071 Centerline is valid? [True, True] Translation: X:34.98, Y:-145.31, Z:0.70 [[ 9.81797091e-01 -1.89685209e-01 -9.69502967e-03 3.49777839e+01] [-1.89675545e-01 -9.81844957e-01 1.91511873e-03 -1.45305147e+02] [-9.88228568e-03 -4.13479569e-05 -9.99951168e-01 6.99647389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.977628 meters 0.012672378500055396 Centerline is valid? [True, True] Translation: X:34.97, Y:-145.31, Z:0.70 [[ 9.93375588e-01 -1.14706628e-01 -6.87973956e-03 3.49731509e+01] [-1.14703795e-01 -9.93399411e-01 8.06270445e-04 -1.45308735e+02] [-6.92681378e-03 -1.17971456e-05 -9.99976009e-01 6.95787467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.007628 meters 0.012632175464291288 Centerline is valid? [True, True] Translation: X:34.97, Y:-145.32, Z:0.69 [[ 9.99270797e-01 -3.77352235e-02 -5.82472582e-03 3.49683971e+01] [-3.77345645e-02 -9.99287773e-01 2.23017119e-04 -1.45317731e+02] [-5.82899289e-03 -3.06100157e-06 -9.99983011e-01 6.94896521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.037628 meters 0.012587223890408885 Centerline is valid? [True, True] Translation: X:34.96, Y:-145.33, Z:0.69 [[ 9.99217410e-01 3.91588624e-02 -5.58133500e-03 3.49628410e+01] [ 3.91582224e-02 -9.99232998e-01 -2.23941626e-04 -1.45326168e+02] [-5.58582340e-03 5.21121397e-06 -9.99984399e-01 6.94716054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.067628 meters 0.012758537851669796 Centerline is valid? [True, True] Translation: X:34.96, Y:-145.33, Z:0.69 [[ 9.93438683e-01 1.14229856e-01 -5.57880812e-03 3.49586000e+01] [ 1.14227928e-01 -9.93454347e-01 -6.64075227e-04 -1.45332704e+02] [-5.61814840e-03 2.24623285e-05 -9.99984218e-01 6.94804537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09762800000001 meters 0.012926822628429086 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.34, Z:0.69 [[ 9.81686853e-01 1.90436111e-01 -5.00109462e-03 3.49536986e+01] [ 1.90433500e-01 -9.81699591e-01 -9.97419333e-04 -1.45340467e+02] [-5.09951721e-03 2.67774905e-05 -9.99986997e-01 6.94621542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12762800000002 meters 0.013037227083882249 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.35, Z:0.69 [[ 9.64306637e-01 2.64755302e-01 -4.16426640e-03 3.49506483e+01] [ 2.64752692e-01 -9.64315627e-01 -1.17591515e-03 -1.45347123e+02] [-4.32699694e-03 3.14420455e-05 -9.99990638e-01 6.93696937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15762800000002 meters 0.013152211913944284 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.36, Z:0.69 [[ 9.40907728e-01 3.38644367e-01 -3.55520319e-03 3.49467096e+01] [ 3.38641826e-01 -9.40914445e-01 -1.31218125e-03 -1.45355310e+02] [-3.78950483e-03 3.07009799e-05 -9.99992819e-01 6.93426455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18762800000002 meters 0.013131438666159184 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.37, Z:0.69 [[ 9.11714689e-01 4.10812391e-01 -3.08295553e-03 3.49459426e+01] [ 4.10809934e-01 -9.11719901e-01 -1.42118126e-03 -1.45365769e+02] [-3.39463079e-03 2.92030713e-05 -9.99994238e-01 6.93145103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21762800000002 meters 0.013211906183342975 Centerline is valid? [True, True] Translation: X:34.94, Y:-145.38, Z:0.69 [[ 8.76633460e-01 4.81145245e-01 -3.60960700e-03 3.49447049e+01] [ 4.81141004e-01 -8.76640891e-01 -2.02057784e-03 -1.45375936e+02] [-4.13652052e-03 3.45762133e-05 -9.99991444e-01 6.94348938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24762800000002 meters 0.013012894076102115 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.39, Z:0.70 [[ 8.35860690e-01 5.48920481e-01 -4.81797598e-03 3.49457780e+01] [ 5.48911056e-01 -8.35874574e-01 -3.21708197e-03 -1.45386973e+02] [-5.79314580e-03 4.43920752e-05 -9.99983219e-01 6.95426783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27762800000002 meters 0.013101377019479917 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.40, Z:0.70 [[ 7.89535087e-01 6.13681005e-01 -5.47459179e-03 3.49456617e+01] [ 6.13665863e-01 -7.89554065e-01 -4.31124311e-03 -1.45397848e+02] [-6.96821421e-03 4.43076057e-05 -9.99975721e-01 6.96936362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30762800000002 meters 0.012869266270032974 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.41, Z:0.70 [[ 7.37094822e-01 6.75751946e-01 -7.10852336e-03 3.49468046e+01] [ 6.75720085e-01 -7.37129098e-01 -6.56205951e-03 -1.45407546e+02] [-9.67422389e-03 3.34880808e-05 -9.99953203e-01 6.99564761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33762800000002 meters 0.014715234561289845 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.42, Z:0.70 [[ 6.81097070e-01 7.32148095e-01 -8.12086710e-03 3.49508531e+01] [ 7.32095572e-01 -6.81145481e-01 -8.76971871e-03 -1.45419260e+02] [-1.19522248e-02 2.77788748e-05 -9.99928569e-01 7.01810786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36762800000002 meters 0.013073302977911833 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.43, Z:0.70 [[ 6.20061775e-01 7.84511168e-01 -8.10078219e-03 3.49544937e+01] [ 7.84444153e-01 -6.20114689e-01 -1.02539693e-02 -1.45430486e+02] [-1.30677674e-02 3.48316798e-06 -9.99914613e-01 7.03063987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39762800000003 meters 0.013155271701257054 Centerline is valid? [True, True] Translation: X:34.96, Y:-145.44, Z:0.70 [[ 5.55959278e-01 8.31168824e-01 -8.22605784e-03 3.49573967e+01] [ 8.31078109e-01 -5.56020131e-01 -1.22796780e-02 -1.45439351e+02] [-1.47803393e-02 -9.49569019e-06 -9.99890765e-01 7.03952950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42762800000003 meters 0.013278626616945236 Centerline is valid? [True, True] Translation: X:34.96, Y:-145.45, Z:0.70 [[ 4.88818124e-01 8.72348120e-01 -8.09934718e-03 3.49590873e+01] [ 8.72228957e-01 -4.88885219e-01 -1.44183803e-02 -1.45446746e+02] [-1.65374980e-02 -1.65195513e-05 -9.99863246e-01 7.04957483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45762800000003 meters 0.013113293657616413 Centerline is valid? [True, True] Translation: X:34.96, Y:-145.46, Z:0.70 [[ 4.19544928e-01 9.07709461e-01 -6.75185333e-03 3.49626624e+01] [ 9.07592209e-01 -4.19599254e-01 -1.45893019e-02 -1.45455020e+02] [-1.60759200e-02 -7.06185290e-06 -9.99870774e-01 7.03811487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48762800000003 meters 0.01291787666901132 Centerline is valid? [True, True] Translation: X:34.97, Y:-145.46, Z:0.70 [[ 3.47600317e-01 9.37631641e-01 -4.57447695e-03 3.49660514e+01] [ 9.37550437e-01 -3.47630416e-01 -1.23398641e-02 -1.45463197e+02] [-1.31604743e-02 5.37802366e-07 -9.99913397e-01 7.01289720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51762800000003 meters 0.012849439114850958 Centerline is valid? [True, True] Translation: X:34.97, Y:-145.47, Z:0.70 [[ 2.73293337e-01 9.61925540e-01 -3.16329133e-03 3.49719968e+01] [ 9.61860975e-01 -2.73311644e-01 -1.11449314e-02 -1.45471890e+02] [-1.15851585e-02 3.18900551e-06 -9.99932890e-01 6.99281763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54762800000003 meters 0.012856148166704908 Centerline is valid? [True, True] Translation: X:34.98, Y:-145.48, Z:0.70 [[ 1.97439784e-01 9.80312928e-01 -2.02361895e-03 3.49770506e+01] [ 9.80261110e-01 -1.97450154e-01 -1.00793027e-02 -1.45481298e+02] [-1.02804346e-02 6.38039255e-06 -9.99947155e-01 6.98192712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57762800000003 meters 0.012771130420734213 Centerline is valid? [True, True] Translation: X:34.98, Y:-145.49, Z:0.70 [[ 1.20973507e-01 9.92655275e-01 -9.57112333e-04 3.49830375e+01] [ 9.92623379e-01 -1.20977293e-01 -7.95749352e-03 -1.45488721e+02] [-8.01483677e-03 1.25938223e-05 -9.99967881e-01 6.95356694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60762800000003 meters 0.012742623565600459 Centerline is valid? [True, True] Translation: X:34.99, Y:-145.50, Z:0.69 [[ 4.32569763e-02 9.99063943e-01 -2.68127989e-04 3.49907615e+01] [ 9.99042860e-01 -4.32578054e-02 -6.49051778e-03 -1.45495796e+02] [-6.49604091e-03 1.28888211e-05 -9.99978900e-01 6.94520048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63762800000003 meters 0.01280576130916597 Centerline is valid? [True, True] Translation: X:35.00, Y:-145.50, Z:0.69 [[-3.51698674e-02 9.99381328e-01 2.02259286e-04 3.49987006e+01] [ 9.99366515e-01 3.51704473e-02 -5.44135910e-03 -1.45503666e+02] [-5.44510623e-03 1.07592803e-05 -9.99985175e-01 6.93975688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.667628 meters 0.012827143785541645 Centerline is valid? [True, True] Translation: X:35.01, Y:-145.51, Z:0.69 [[-1.14132225e-01 9.93465472e-01 4.37063168e-04 3.50071560e+01] [ 9.93458333e-01 1.14133062e-01 -3.76618525e-03 -1.45510991e+02] [-3.79145836e-03 4.36094267e-06 -9.99992812e-01 6.93596789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.697628 meters 0.012805171274775855 Centerline is valid? [True, True] Translation: X:35.02, Y:-145.52, Z:0.69 [[-1.91989615e-01 9.81396615e-01 8.19969463e-04 3.50181756e+01] [ 9.81387739e-01 1.91991366e-01 -4.17397007e-03 -1.45516104e+02] [-4.25374715e-03 3.34906996e-06 -9.99990953e-01 6.93483378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.727628 meters 0.012828031499117707 Centerline is valid? [True, True] Translation: X:35.03, Y:-145.52, Z:0.69 [[-2.68341877e-01 9.63322920e-01 1.26049681e-03 3.50288180e+01] [ 9.63312353e-01 2.68344837e-01 -4.51216021e-03 -1.45520690e+02] [-4.68491516e-03 3.45061157e-06 -9.99989026e-01 6.94266497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.757628 meters 0.012873364674827997 Centerline is valid? [True, True] Translation: X:35.04, Y:-145.53, Z:0.70 [[-3.42805575e-01 9.39404136e-01 2.05111813e-03 3.50392151e+01] [ 9.39387415e-01 3.42811711e-01 -5.60483795e-03 -1.45525771e+02] [-5.96835527e-03 5.42485819e-06 -9.99982189e-01 6.96525687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.787628 meters 0.012865962592163998 Centerline is valid? [True, True] Translation: X:35.05, Y:-145.53, Z:0.70 [[-4.15180829e-01 9.09734411e-01 2.86018512e-03 3.50480006e+01] [ 9.09712950e-01 4.15190680e-01 -6.24878725e-03 -1.45528985e+02] [-6.87225900e-03 7.57077994e-06 -9.99976386e-01 6.97254730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.817628 meters 0.012919064217723627 Centerline is valid? [True, True] Translation: X:35.06, Y:-145.53, Z:0.70 [[-4.84627796e-01 8.74711322e-01 4.00030662e-03 3.50560384e+01] [ 8.74681768e-01 4.84644305e-01 -7.19045988e-03 -1.45531946e+02] [-8.22830250e-03 1.42985429e-05 -9.99966147e-01 6.98270357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84762800000001 meters 0.01326308545717194 Centerline is valid? [True, True] Translation: X:35.06, Y:-145.54, Z:0.70 [[-5.49781174e-01 8.35285876e-01 6.17785591e-03 3.50626610e+01] [ 8.35234053e-01 5.49815881e-01 -9.30443492e-03 -1.45536895e+02] [-1.11685464e-02 4.45524798e-05 -9.99937629e-01 7.00456593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87762800000002 meters 0.013465202024177806 Centerline is valid? [True, True] Translation: X:35.07, Y:-145.54, Z:0.70 [[-6.12645489e-01 7.90317359e-01 7.99861001e-03 3.50702085e+01] [ 7.90251413e-01 6.12697697e-01 -1.02096175e-02 -1.45540243e+02] [-1.29695678e-02 6.60367830e-05 -9.99915889e-01 7.02063505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90762800000002 meters 0.013429780852363234 Centerline is valid? [True, True] Translation: X:35.08, Y:-145.54, Z:0.70 [[-6.72186628e-01 7.40316774e-01 9.80874687e-03 3.50812818e+01] [ 7.40239770e-01 6.72258185e-01 -1.06778125e-02 -1.45539989e+02] [-1.44989740e-02 8.33417748e-05 -9.99894881e-01 7.02896212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93762800000002 meters 0.013567960488687096 Centerline is valid? [True, True] Translation: X:35.09, Y:-145.54, Z:0.71 [[-7.28127480e-01 6.85351809e-01 1.11027605e-02 3.50927094e+01] [ 6.85273963e-01 7.28212119e-01 -1.03298360e-02 -1.45539041e+02] [-1.51647366e-02 8.69952501e-05 -9.99885005e-01 7.05526988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96762800000002 meters 0.013418620027856041 Centerline is valid? [True, True] Translation: X:35.12, Y:-145.52, Z:0.70 [[-7.74578563e-01 6.32370995e-01 1.16178905e-02 3.51187941e+01] [ 6.32301612e-01 7.74665681e-01 -9.36771177e-03 -1.45524722e+02] [-1.49238503e-02 8.99821791e-05 -9.99888629e-01 7.04266147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99762800000002 meters 0.013444370915375729 Centerline is valid? [True, True] Translation: X:35.14, Y:-145.51, Z:0.70 [[-8.17081255e-01 5.76402329e-01 1.17718664e-02 3.51411921e+01] [ 5.76344157e-01 8.17166046e-01 -8.18938796e-03 -1.45507080e+02] [-1.43399518e-02 9.32510378e-05 -9.99897173e-01 7.03439681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02762800000002 meters 0.01354875426349799 Centerline is valid? [True, True] Translation: X:35.61, Y:-144.84, Z:-0.21 [[-7.85547898e-01 -6.18735975e-01 8.96061960e-03 3.56126720e+01] [ 6.18692308e-01 -7.85598968e-01 -7.35460267e-03 -1.44837202e+02] [ 1.15900108e-02 -2.33526247e-04 9.99932806e-01 -2.14152300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05762800000002 meters 0.013843832970275166 Centerline is valid? [True, True] Translation: X:35.11, Y:-145.49, Z:0.70 [[-8.17908753e-01 5.75289358e-01 8.21135556e-03 3.51078983e+01] [ 5.75261446e-01 8.17949966e-01 -5.66767829e-03 -1.45486904e+02] [-9.97703301e-03 8.80325823e-05 -9.99950224e-01 7.00564101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08762800000002 meters 0.013616512722957066 Centerline is valid? [True, True] Translation: X:35.13, Y:-145.46, Z:0.70 [[-8.56244096e-01 5.16528358e-01 6.67108447e-03 3.51268918e+01] [ 5.16513349e-01 8.56270080e-01 -3.93820436e-03 -1.45464817e+02] [-7.74644427e-03 7.36399540e-05 -9.99969993e-01 6.97952834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11762800000002 meters 0.013563791310743098 Centerline is valid? [True, True] Translation: X:35.55, Y:-144.76, Z:-0.21 [[-8.30064730e-01 -5.57635855e-01 5.89892637e-03 3.55499209e+01] [ 5.57620892e-01 -8.30085684e-01 -4.08631950e-03 -1.44763753e+02] [ 7.17529260e-03 -1.02545110e-04 9.99974252e-01 -2.10737149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14762800000003 meters 0.013394920786147825 Centerline is valid? [True, True] Translation: X:35.09, Y:-145.44, Z:0.70 [[-8.58416260e-01 5.12916440e-01 6.18460805e-03 3.50894348e+01] [ 5.12903664e-01 8.58438537e-01 -3.62081237e-03 -1.45442625e+02] [-7.16628007e-03 6.39439125e-05 -9.99974320e-01 6.96912712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17762800000003 meters 0.016576269578256572 Centerline is valid? [True, True] Translation: X:35.11, Y:-145.42, Z:0.70 [[-8.92809105e-01 4.50380893e-01 6.99664335e-03 3.51100786e+01] [ 4.50367636e-01 8.92836517e-01 -3.45622071e-03 -1.45420626e+02] [-7.80347445e-03 6.53164123e-05 -9.99969550e-01 7.00524470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20762800000003 meters 0.013316895454894256 Centerline is valid? [True, True] Translation: X:35.12, Y:-145.40, Z:0.70 [[-9.23098300e-01 3.84497954e-01 7.13109889e-03 3.51239608e+01] [ 3.84486916e-01 9.23125842e-01 -2.91394972e-03 -1.45395571e+02] [-7.70330937e-03 5.19521831e-05 -9.99970328e-01 6.98592557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23762800000003 meters 0.01309340363528402 Centerline is valid? [True, True] Translation: X:35.14, Y:-145.37, Z:0.70 [[-9.48310538e-01 3.17263767e-01 7.12919142e-03 3.51357311e+01] [ 3.17255150e-01 9.48337335e-01 -2.33867681e-03 -1.45368617e+02] [-7.50285581e-03 4.39808252e-05 -9.99971852e-01 6.98740725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26762800000003 meters 0.01302612518512484 Centerline is valid? [True, True] Translation: X:35.15, Y:-145.34, Z:0.70 [[-9.68861148e-01 2.47478007e-01 7.91902792e-03 3.51510124e+01] [ 2.47470021e-01 9.68893511e-01 -1.98846759e-03 -1.45342420e+02] [-8.16479676e-03 3.31730072e-05 -9.99966667e-01 6.99876681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29762800000003 meters 0.012923438450069795 Centerline is valid? [True, True] Translation: X:35.35, Y:-144.56, Z:-0.21 [[-9.52276328e-01 -3.05133815e-01 7.94667221e-03 3.53539642e+01] [ 3.05122998e-01 -9.52309484e-01 -2.56939157e-03 -1.44564186e+02] [ 8.35169956e-03 -2.20583152e-05 9.99965124e-01 -2.13562172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32762800000003 meters 0.01288479538880244 Centerline is valid? [True, True] Translation: X:35.10, Y:-145.33, Z:0.70 [[-9.70227536e-01 2.41974693e-01 1.03332490e-02 3.51041609e+01] [ 2.41961241e-01 9.70282560e-01 -2.55165486e-03 -1.45329100e+02] [-1.06436072e-02 2.45599313e-05 -9.99943355e-01 7.02284562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35762800000003 meters 0.012973968590672716 Centerline is valid? [True, True] Translation: X:35.29, Y:-144.55, Z:-0.22 [[-9.52989204e-01 -3.02789825e-01 1.13972937e-02 3.52935294e+01] [ 3.02768854e-01 -9.53057353e-01 -3.56402288e-03 -1.44549827e+02] [ 1.19414244e-02 5.42702183e-05 9.99928697e-01 -2.17703663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38762800000003 meters 0.012979525009888663 Centerline is valid? [True, True] Translation: X:35.05, Y:-145.32, Z:0.70 [[-9.71246178e-01 2.37742623e-01 1.26216877e-02 3.50545236e+01] [ 2.37722892e-01 9.71328186e-01 -3.06308791e-03 -1.45319017e+02] [-1.29880276e-02 2.54516783e-05 -9.99915652e-01 7.04333684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.417628 meters 0.013233257389045405 Centerline is valid? [True, True] Translation: X:35.25, Y:-144.54, Z:-0.22 [[-9.54263962e-01 -2.98697427e-01 1.26545520e-02 3.52492865e+01] [ 2.98671045e-01 -9.54347865e-01 -3.96987223e-03 -1.44537104e+02] [ 1.32626353e-02 -8.75772879e-06 9.99912047e-01 -2.19106345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.447628 meters 0.013111806226610215 Centerline is valid? [True, True] Translation: X:35.00, Y:-145.31, Z:0.71 [[-9.72014270e-01 2.34548280e-01 1.32424730e-02 3.50018323e+01] [ 2.34527013e-01 9.72104471e-01 -3.15861471e-03 -1.45310827e+02] [-1.36139149e-02 3.54990767e-05 -9.99907326e-01 7.05071430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.477628 meters 0.013157165686440668 Centerline is valid? [True, True] Translation: X:35.01, Y:-145.29, Z:0.71 [[-9.86186448e-01 1.65135041e-01 1.29115092e-02 3.50148968e+01] [ 1.65121367e-01 9.86270965e-01 -2.12537735e-03 -1.45286163e+02] [-1.30852209e-02 3.59477059e-05 -9.99914384e-01 7.05262036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.507628 meters 0.01439909450335618 Centerline is valid? [True, True] Translation: X:35.02, Y:-145.26, Z:0.70 [[-9.95503645e-01 9.39429670e-02 1.21330921e-02 3.50174152e+01] [ 9.39362860e-02 9.95577580e-01 -1.12062023e-03 -1.45260156e+02] [-1.21847089e-02 2.41560904e-05 -9.99925763e-01 7.04474194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.537628 meters 0.013012607842916843 Centerline is valid? [True, True] Translation: X:35.10, Y:-144.45, Z:-0.21 [[-9.87322807e-01 -1.58370697e-01 1.06017314e-02 3.51018424e+01] [ 1.58360305e-01 -9.87379719e-01 -1.81798596e-03 -1.44448789e+02] [ 1.07558502e-02 -1.16045588e-04 9.99942147e-01 -2.14447335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.567628 meters 0.01288654959565632 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.25, Z:0.70 [[-9.96251057e-01 8.60267480e-02 9.12307501e-03 3.49517829e+01] [ 8.60230314e-02 9.96292828e-01 -7.99741318e-04 -1.45251925e+02] [-9.15805334e-03 -1.19485657e-05 -9.99958064e-01 7.00277476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59762800000001 meters 0.013063954415669935 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.22, Z:0.70 [[-9.99914588e-01 1.11207425e-02 6.86622707e-03 3.49532838e+01] [ 1.11202354e-02 9.99938162e-01 -1.12033504e-04 -1.45220345e+02] [-6.86704837e-03 -3.56698734e-05 -9.99976421e-01 6.99640671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62762800000002 meters 0.01313211771854388 Centerline is valid? [True, True] Translation: X:34.95, Y:-145.19, Z:0.70 [[-9.98072934e-01 -6.17260532e-02 6.34930503e-03 3.49496288e+01] [-6.17250833e-02 9.98093128e-01 3.48794630e-04 -1.45191643e+02] [-6.35872744e-03 -4.37889021e-05 -9.99979782e-01 6.99152286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65762800000002 meters 0.013223612351129649 Centerline is valid? [True, True] Translation: X:34.91, Y:-144.39, Z:-0.21 [[-9.99762639e-01 -2.10858137e-02 5.48211443e-03 3.49117489e+01] [ 2.10853773e-02 -9.99777669e-01 -1.37395769e-04 -1.44392446e+02] [ 5.48379269e-03 -2.17707057e-05 9.99984964e-01 -2.12110536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68762800000002 meters 0.013274378208627625 Centerline is valid? [True, True] Translation: X:34.85, Y:-145.20, Z:0.70 [[-9.97607754e-01 -6.89050135e-02 5.55597699e-03 3.48517097e+01] [-6.89041847e-02 9.97623224e-01 3.40677770e-04 -1.45195785e+02] [-5.56624609e-03 -4.29672798e-05 -9.99984507e-01 6.98780228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71762800000002 meters 0.013171361500203442 Centerline is valid? [True, True] Translation: X:34.81, Y:-144.40, Z:-0.21 [[-9.99892595e-01 -1.33873286e-02 5.96472861e-03 3.48081713e+01] [ 1.33875216e-02 -9.99910383e-01 -7.57513370e-06 -1.44395288e+02] [ 5.96429548e-03 7.22786129e-05 9.99982211e-01 -2.11927249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74762800000002 meters 0.013083197992340414 Centerline is valid? [True, True] Translation: X:34.75, Y:-145.20, Z:0.70 [[-9.97266679e-01 -7.36004796e-02 6.49162474e-03 3.47524889e+01] [-7.35991754e-02 9.97287806e-01 4.39892872e-04 -1.45202367e+02] [-6.50639452e-03 -3.90877245e-05 -9.99978832e-01 6.99775293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77762800000002 meters 0.013010514271249655 Centerline is valid? [True, True] Translation: X:34.75, Y:-145.18, Z:0.70 [[-9.89806390e-01 -1.42230070e-01 7.34278058e-03 3.47465325e+01] [-1.42226362e-01 9.89833626e-01 1.02748552e-03 -1.45177261e+02] [-7.41427047e-03 -2.73252330e-05 -9.99972514e-01 7.00861045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80762800000002 meters 0.012968497556465237 Centerline is valid? [True, True] Translation: X:34.73, Y:-145.15, Z:0.70 [[-9.77188868e-01 -2.12213148e-01 8.21555284e-03 3.47287009e+01] [-2.12205853e-01 9.77223403e-01 1.75981490e-03 -1.45153805e+02] [-8.40188636e-03 -2.37168651e-05 -9.99964703e-01 7.00432044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83762800000002 meters 0.012968497556465237 Centerline is valid? [True, True] Translation: X:34.69, Y:-145.13, Z:0.70 [[-9.59192676e-01 -2.82638193e-01 8.06604278e-03 3.46913099e+01] [-2.82628408e-01 9.59226590e-01 2.35195883e-03 -1.45134704e+02] [-8.40191611e-03 -2.37111502e-05 -9.99964703e-01 7.00432751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86762800000002 meters 0.01298017737788321 Centerline is valid? [True, True] Translation: X:34.64, Y:-145.12, Z:0.70 [[-9.36053801e-01 -3.51769286e-01 7.85189122e-03 3.46357483e+01] [-3.51757065e-01 9.36086732e-01 2.93221581e-03 -1.45124754e+02] [-8.38151465e-03 -1.72464524e-05 -9.99964874e-01 7.01075645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89762800000003 meters 0.015131832313045927 Centerline is valid? [True, True] Translation: X:34.57, Y:-145.12, Z:0.70 [[-9.08171428e-01 -4.18498619e-01 9.14131450e-03 3.45667838e+01] [-4.18477445e-01 9.08217433e-01 4.20978064e-03 -1.45124558e+02] [-1.00640886e-02 -2.23143028e-06 -9.99949356e-01 7.04373108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92762800000003 meters 0.012907826779377029 Centerline is valid? [True, True] Translation: X:34.49, Y:-145.13, Z:0.70 [[-8.74155068e-01 -4.85569484e-01 8.67143016e-03 3.44908091e+01] [-4.85545672e-01 8.74198076e-01 4.80874041e-03 -1.45131800e+02] [-9.91552516e-03 -6.79058016e-06 -9.99950840e-01 7.01927931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95762800000003 meters 0.015977808522276697 Centerline is valid? [True, True] Translation: X:34.41, Y:-145.15, Z:0.71 [[-8.35253755e-01 -5.49787037e-01 9.24007523e-03 3.44081753e+01] [-5.49753474e-01 8.35304863e-01 6.07484336e-03 -1.45145656e+02] [-1.10581499e-02 -5.72773191e-06 -9.99938857e-01 7.05400771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98762800000003 meters 0.01303163868720378 Centerline is valid? [True, True] Translation: X:34.32, Y:-145.17, Z:0.70 [[-7.90517776e-01 -6.12381702e-01 8.38432385e-03 3.43190575e+01] [-6.12347541e-01 7.90562237e-01 6.46826368e-03 -1.45172281e+02] [-1.05893761e-02 -2.08426799e-05 -9.99943931e-01 7.03936645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01762800000003 meters 0.013933303281381352 Centerline is valid? [True, True] Translation: X:34.23, Y:-145.21, Z:0.71 [[-7.41336553e-01 -6.71078987e-01 8.55030336e-03 3.42304446e+01] [-6.71034830e-01 7.41385859e-01 7.69841257e-03 -1.45208386e+02] [-1.15053169e-02 -3.04367181e-05 -9.99933811e-01 7.05422325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04762800000003 meters 0.012996725025527277 Centerline is valid? [True, True] Translation: X:34.14, Y:-145.26, Z:0.70 [[-6.87256841e-01 -7.26370414e-01 8.00347930e-03 3.41395892e+01] [-7.26321922e-01 6.87303441e-01 8.39318776e-03 -1.45257112e+02] [-1.15973821e-02 -4.48267650e-05 -9.99932747e-01 7.04380977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07762800000003 meters 0.012958131165419752 Centerline is valid? [True, True] Translation: X:34.05, Y:-145.32, Z:0.70 [[-6.29444083e-01 -7.77018990e-01 6.45264134e-03 3.40504656e+01] [-7.76978892e-01 6.29477154e-01 7.89391010e-03 -1.45316928e+02] [-1.01955084e-02 -4.47911129e-05 -9.99948023e-01 7.02685589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10762800000003 meters 0.012902535999491661 Centerline is valid? [True, True] Translation: X:33.97, Y:-145.38, Z:0.70 [[-5.68401241e-01 -8.22736705e-01 4.93390999e-03 3.39687548e+01] [-8.22706237e-01 5.68422654e-01 7.08060906e-03 -1.45381000e+02] [-8.63002318e-03 -3.45315376e-05 -9.99962760e-01 7.00788875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13762800000003 meters 0.012872182980074013 Centerline is valid? [True, True] Translation: X:33.89, Y:-145.46, Z:0.70 [[-5.04012196e-01 -8.63688855e-01 3.64248943e-03 3.38878967e+01] [-8.63666654e-01 5.04025357e-01 6.19276575e-03 -1.45457606e+02] [-7.18452980e-03 -2.46671975e-05 -9.99974191e-01 6.99276505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.167628 meters 0.012744186536544846 Centerline is valid? [True, True] Translation: X:33.81, Y:-145.54, Z:0.70 [[-4.37266339e-01 -8.99328903e-01 2.38202615e-03 3.38106770e+01] [-8.99315698e-01 4.37272826e-01 4.87341863e-03 -1.45541980e+02] [-5.42440153e-03 -1.12115871e-05 -9.99985288e-01 6.99243274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.197628 meters 0.01273865394368994 Centerline is valid? [True, True] Translation: X:33.74, Y:-145.64, Z:0.70 [[-3.67469856e-01 -9.30033553e-01 1.86947978e-03 3.37394938e+01] [-9.30021602e-01 3.67474612e-01 4.71492741e-03 -1.45635013e+02] [-5.07202705e-03 -6.06288404e-06 -9.99987137e-01 6.99446856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.227628 meters 0.012667970610046847 Centerline is valid? [True, True] Translation: X:33.68, Y:-145.73, Z:0.70 [[-2.96997852e-01 -9.54877057e-01 1.44274531e-03 3.36777883e+01] [-9.54865682e-01 2.97001357e-01 4.66087004e-03 -1.45734596e+02] [-4.87905519e-03 6.64040942e-06 -9.99988097e-01 6.98939678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.257628 meters 0.012696296722987308 Centerline is valid? [True, True] Translation: X:33.62, Y:-145.84, Z:0.70 [[-2.23983888e-01 -9.74592336e-01 9.98643568e-04 3.36234037e+01] [-9.74582366e-01 2.23986113e-01 4.40820188e-03 -1.45838634e+02] [-4.51988206e-03 1.41057821e-05 -9.99989785e-01 6.98413348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.287628 meters 0.012865388671169417 Centerline is valid? [True, True] Translation: X:33.58, Y:-145.95, Z:0.70 [[-1.49606200e-01 -9.88745489e-01 5.85882479e-04 3.35757667e+01] [-9.88737393e-01 1.49607346e-01 4.00114407e-03 -1.45953228e+02] [-4.04376548e-03 1.93120453e-05 -9.99991824e-01 6.97969423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.317628 meters 0.013100434330991595 Centerline is valid? [True, True] Translation: X:33.54, Y:-146.06, Z:0.70 [[-7.56317618e-02 -9.97135770e-01 3.04077353e-04 3.35391646e+01] [-9.97125748e-01 7.56323650e-02 4.47069729e-03 -1.46063931e+02] [-4.48089028e-03 3.49233548e-05 -9.99989960e-01 6.97786856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34762800000001 meters 0.015557339051317213 Centerline is valid? [True, True] Translation: X:33.51, Y:-146.18, Z:0.70 [[ 3.17240225e-04 -9.99999949e-01 -4.84810402e-05 3.35088935e+01] [-9.99986801e-01 -3.17484667e-04 5.12804584e-03 -1.46177879e+02] [-5.12806097e-03 4.68535778e-05 -9.99986850e-01 7.00483828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37762800000002 meters 0.013228890164240333 Centerline is valid? [True, True] Translation: X:33.49, Y:-146.30, Z:0.70 [[ 7.69419352e-02 -9.97035498e-01 -3.92608330e-04 3.34865781e+01] [-9.97025344e-01 -7.69429236e-02 4.49988837e-03 -1.46298083e+02] [-4.51675687e-03 4.52103361e-05 -9.99989798e-01 6.98780223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40762800000002 meters 0.013159331492200008 Centerline is valid? [True, True] Translation: X:33.47, Y:-146.42, Z:0.70 [[ 1.53732525e-01 -9.88112152e-01 -8.27624421e-04 3.34732809e+01] [-9.88099588e-01 -1.53734744e-01 4.98330937e-03 -1.46422346e+02] [-5.05130317e-03 5.16786178e-05 -9.99987241e-01 6.99985822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43762800000002 meters 0.013091668341957758 Centerline is valid? [True, True] Translation: X:33.47, Y:-146.54, Z:0.70 [[ 2.29762549e-01 -9.73245555e-01 -1.50351417e-03 3.34678500e+01] [-9.73226497e-01 -2.29767459e-01 6.09093623e-03 -1.46544386e+02] [-6.27343525e-03 6.37907972e-05 -9.99980320e-01 7.02322181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46762800000002 meters 0.01310911262780599 Centerline is valid? [True, True] Translation: X:33.47, Y:-146.67, Z:0.70 [[ 3.04885805e-01 -9.52386281e-01 -2.23999040e-03 3.34734604e+01] [-9.52362209e-01 -3.04894026e-01 6.77171351e-03 -1.46665928e+02] [-7.13224674e-03 6.86828792e-05 -9.99974563e-01 7.03257106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49762800000002 meters 0.012843173490086386 Centerline is valid? [True, True] Translation: X:33.49, Y:-146.79, Z:0.70 [[ 3.78979195e-01 -9.25399778e-01 -3.16570914e-03 3.34870797e+01] [-9.25368946e-01 -3.78992411e-01 7.55427811e-03 -1.46786849e+02] [-8.19050702e-03 6.65346919e-05 -9.99966455e-01 7.04233802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52762800000002 meters 0.012775803254796441 Centerline is valid? [True, True] Translation: X:33.51, Y:-146.90, Z:0.70 [[ 4.50288301e-01 -8.92874115e-01 -4.03237027e-03 3.35098878e+01] [-8.92839540e-01 -4.50306352e-01 7.85779692e-03 -1.46904530e+02] [-8.83182542e-03 6.19855887e-05 -9.99960997e-01 7.04470192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55762800000002 meters 0.013378405428984504 Centerline is valid? [True, True] Translation: X:33.54, Y:-147.02, Z:0.71 [[ 5.18749098e-01 -8.54913519e-01 -4.71677602e-03 3.35438104e+01] [-8.54879109e-01 -5.18770539e-01 7.67051739e-03 -1.47022173e+02] [-9.00455345e-03 5.31993076e-05 -9.99959457e-01 7.06507252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58762800000002 meters 0.012495236687483854 Centerline is valid? [True, True] Translation: X:33.58, Y:-147.13, Z:0.71 [[ 5.85235877e-01 -8.10843734e-01 -5.60424320e-03 3.35794448e+01] [-8.10807049e-01 -5.85262709e-01 7.71305513e-03 -1.47132088e+02] [-9.53403698e-03 3.00033018e-05 -9.99954550e-01 7.05596861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61762800000002 meters 0.012317666144872999 Centerline is valid? [True, True] Translation: X:33.63, Y:-147.24, Z:0.71 [[ 6.46643150e-01 -7.62767588e-01 -6.18419143e-03 3.36274939e+01] [-7.62732991e-01 -6.46672720e-01 7.26477314e-03 -1.47240225e+02] [-9.54048138e-03 1.91710435e-05 -9.99954488e-01 7.06334254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64762800000003 meters 0.012315856904210746 Centerline is valid? [True, True] Translation: X:33.68, Y:-147.34, Z:0.71 [[ 7.03994882e-01 -7.10173606e-01 -6.68244169e-03 3.36780817e+01] [-7.10141726e-01 -7.04026597e-01 6.72899980e-03 -1.47337262e+02] [-9.48337473e-03 8.29925262e-06 -9.99955032e-01 7.06569625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67762800000003 meters 0.012242641170786505 Centerline is valid? [True, True] Translation: X:33.73, Y:-147.43, Z:0.71 [[ 7.56950571e-01 -6.53441546e-01 -6.32292334e-03 3.37335166e+01] [-6.53418734e-01 -7.56976978e-01 5.46008240e-03 -1.47427069e+02] [-8.35415209e-03 -1.49591871e-06 -9.99965103e-01 7.05957883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70762800000003 meters 0.012160930079533038 Centerline is valid? [True, True] Translation: X:33.73, Y:-147.43, Z:0.71 [[ 8.05628690e-01 -5.92390239e-01 -6.01811218e-03 3.37297681e+01] [-5.92373712e-01 -8.05651168e-01 4.42508475e-03 -1.47431498e+02] [-7.46987613e-03 -3.78186942e-09 -9.99972100e-01 7.05739694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73762800000003 meters 0.012207066197704888 Centerline is valid? [True, True] Translation: X:33.73, Y:-147.43, Z:0.71 [[ 8.49165643e-01 -5.28095835e-01 -5.70087667e-03 3.37261821e+01] [-5.28083966e-01 -8.49184779e-01 3.54055769e-03 -1.47434216e+02] [-6.71085147e-03 4.02161512e-06 -9.99977482e-01 7.05324112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76762800000003 meters 0.012124818502723697 Centerline is valid? [True, True] Translation: X:33.72, Y:-147.44, Z:0.70 [[ 8.87384925e-01 -4.61001627e-01 -5.04916982e-03 3.37232382e+01] [-4.60994225e-01 -8.87399290e-01 2.61244956e-03 -1.47436912e+02] [-5.68497321e-03 9.38976296e-06 -9.99983840e-01 7.04248633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79762800000003 meters 0.012218396709516433 Centerline is valid? [True, True] Translation: X:33.72, Y:-147.44, Z:0.70 [[ 9.20092054e-01 -3.91686849e-01 -3.46768981e-03 3.37208617e+01] [-3.91684117e-01 -9.20098589e-01 1.46279449e-03 -1.47437356e+02] [-3.76357386e-03 1.23334350e-05 -9.99992918e-01 7.01962757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82762800000003 meters 0.012253254429299282 Centerline is valid? [True, True] Translation: X:33.72, Y:-147.44, Z:0.70 [[ 9.47734959e-01 -3.19045969e-01 -2.84893290e-03 3.37192660e+01] [-3.19044564e-01 -9.47739241e-01 9.46904567e-04 -1.47439011e+02] [-3.00215159e-03 1.15219950e-05 -9.99995493e-01 7.01125031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85762800000003 meters 0.012314913438608136 Centerline is valid? [True, True] Translation: X:33.72, Y:-147.44, Z:0.70 [[ 9.69607459e-01 -2.44653862e-01 -2.42133783e-03 3.37171486e+01] [-2.44653128e-01 -9.69610482e-01 5.99236569e-04 -1.47440864e+02] [-2.49436008e-03 1.13636270e-05 -9.99996889e-01 7.01277635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88762800000003 meters 0.01233999151826518 Centerline is valid? [True, True] Translation: X:33.71, Y:-147.45, Z:0.70 [[ 9.85598268e-01 -1.69078994e-01 -2.88939462e-03 3.37102361e+01] [-1.69078316e-01 -9.85602503e-01 4.79005840e-04 -1.47448283e+02] [-2.92878439e-03 1.64266490e-05 -9.99995711e-01 7.02409503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.917628 meters 0.012357264633650314 Centerline is valid? [True, True] Translation: X:33.70, Y:-147.45, Z:0.70 [[ 9.95794421e-01 -9.15429224e-02 -3.65576215e-03 3.37033931e+01] [-9.15423828e-02 -9.95801131e-01 3.15007329e-04 -1.47454589e+02] [-3.66924877e-03 2.09746371e-05 -9.99993268e-01 7.03534050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.947628 meters 0.012304059073447098 Centerline is valid? [True, True] Translation: X:33.70, Y:-147.46, Z:0.70 [[ 9.99904788e-01 -1.31466336e-02 -4.19292163e-03 3.36984698e+01] [-1.31466154e-02 -9.99913579e-01 3.18965211e-05 -1.47464019e+02] [-4.19297861e-03 2.32292439e-05 -9.99991209e-01 7.04033186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.977628 meters 0.012298220028166641 Centerline is valid? [True, True] Translation: X:33.69, Y:-147.47, Z:0.71 [[ 9.97727407e-01 6.71189119e-02 -5.92229348e-03 3.36932496e+01] [ 6.71176046e-02 -9.97744983e-01 -4.19426392e-04 -1.47473712e+02] [-5.93709005e-03 2.09830536e-05 -9.99982375e-01 7.05030358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.007628 meters 0.012238626130587066 Centerline is valid? [True, True] Translation: X:33.69, Y:-147.48, Z:0.71 [[ 9.89230265e-01 1.46225583e-01 -6.44687394e-03 3.36896796e+01] [ 1.46222379e-01 -9.89251272e-01 -9.68196391e-04 -1.47484365e+02] [-6.51915333e-03 1.50919298e-05 -9.99978750e-01 7.05836532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.037628 meters 0.014931818812654195 Centerline is valid? [True, True] Translation: X:33.69, Y:-147.50, Z:0.71 [[ 9.74536604e-01 2.24094890e-01 -7.73871167e-03 3.36872313e+01] [ 2.24087734e-01 -9.74567330e-01 -1.79093759e-03 -1.47495926e+02] [-7.94323553e-03 1.11838815e-05 -9.99968452e-01 7.08796466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.067628 meters 0.01602359394033691 Centerline is valid? [True, True] Translation: X:33.68, Y:-147.51, Z:0.71 [[ 9.53670344e-01 3.00756972e-01 -7.62362729e-03 3.36849482e+01] [ 3.00747342e-01 -9.53700815e-01 -2.40670543e-03 -1.47507543e+02] [-7.99449299e-03 2.41794639e-06 -9.99968044e-01 7.10046824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09762800000001 meters 0.012221976583430225 Centerline is valid? [True, True] Translation: X:33.68, Y:-147.52, Z:0.71 [[ 9.26500762e-01 3.76249676e-01 -5.70265234e-03 3.36834141e+01] [ 3.76242614e-01 -9.26518311e-01 -2.30519631e-03 -1.47519210e+02] [-6.15094118e-03 -9.81469176e-06 -9.99981083e-01 7.06863549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12762800000002 meters 0.012242572765599069 Centerline is valid? [True, True] Translation: X:33.68, Y:-147.53, Z:0.71 [[ 8.93806914e-01 4.48429149e-01 -4.52758541e-03 3.36831019e+01] [ 4.48423467e-01 -8.93818381e-01 -2.25742350e-03 -1.47527753e+02] [-5.05913356e-03 -1.25748209e-05 -9.99987202e-01 7.05921911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15762800000002 meters 0.012229798590060804 Centerline is valid? [True, True] Translation: X:33.68, Y:-147.54, Z:0.71 [[ 8.55767040e-01 5.17346210e-01 -3.95889892e-03 3.36818672e+01] [ 5.17340745e-01 -8.55776197e-01 -2.37797617e-03 -1.47535864e+02] [-4.61816842e-03 -1.31060940e-05 -9.99989336e-01 7.05468225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18762800000002 meters 0.012334803815371116 Centerline is valid? [True, True] Translation: X:33.68, Y:-147.55, Z:0.70 [[ 8.12481918e-01 5.82977173e-01 -3.27858281e-03 3.36834882e+01] [ 5.82972488e-01 -8.12488532e-01 -2.33726223e-03 -1.47545652e+02] [-4.02638146e-03 -1.23402832e-05 -9.99991894e-01 7.04643136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21762800000002 meters 0.012228176573066827 Centerline is valid? [True, True] Translation: X:33.68, Y:-147.55, Z:0.70 [[ 7.65494407e-01 6.43434836e-01 -3.15035516e-03 3.36832418e+01] [ 6.43429416e-01 -7.65500889e-01 -2.64104310e-03 -1.47554898e+02] [-4.11093882e-03 -5.32745736e-06 -9.99991550e-01 7.04978254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24762800000002 meters 0.012258724730518014 Centerline is valid? [True, True] Translation: X:33.69, Y:-147.56, Z:0.70 [[ 7.13832144e-01 7.00312016e-01 -2.59801425e-03 3.36850734e+01] [ 7.00307373e-01 -7.13836872e-01 -2.55023136e-03 -1.47563404e+02] [-3.64051603e-03 1.02858401e-06 -9.99993373e-01 7.04485612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27762800000002 meters 0.012267057735916341 Centerline is valid? [True, True] Translation: X:33.69, Y:-147.57, Z:0.70 [[ 6.59446861e-01 7.51749143e-01 -1.75028804e-03 3.36859918e+01] [ 7.51746454e-01 -6.59449184e-01 -2.01075970e-03 -1.47570807e+02] [-2.66581290e-03 1.02163479e-05 -9.99996447e-01 7.04078454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30762800000002 meters 0.012389323382508907 Centerline is valid? [True, True] Translation: X:33.69, Y:-147.58, Z:0.70 [[ 6.00008836e-01 7.99992129e-01 -1.41086945e-03 3.36868452e+01] [ 7.99989864e-01 -6.00010495e-01 -1.90365623e-03 -1.47580208e+02] [-2.36944648e-03 1.35292994e-05 -9.99997193e-01 7.03614045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33762800000002 meters 0.01436457261368652 Centerline is valid? [True, True] Translation: X:33.69, Y:-147.59, Z:0.71 [[ 5.37555516e-01 8.43226947e-01 -1.54382282e-03 3.36887427e+01] [ 8.43223343e-01 -5.37557733e-01 -2.46537981e-03 -1.47589064e+02] [-2.90876859e-03 2.34910792e-05 -9.99995769e-01 7.05000442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36762800000002 meters 0.013040275663710996 Centerline is valid? [True, True] Translation: X:33.69, Y:-147.60, Z:0.70 [[ 4.73231556e-01 8.80936729e-01 -1.54060637e-03 3.36912258e+01] [ 8.80931787e-01 -4.73234062e-01 -2.95116795e-03 -1.47597567e+02] [-3.32885966e-03 3.94166767e-05 -9.99994459e-01 7.04734314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39762800000003 meters 0.014052863256723886 Centerline is valid? [True, True] Translation: X:33.69, Y:-147.61, Z:0.71 [[ 4.04571587e-01 9.14504380e-01 -1.88925786e-03 3.36941984e+01] [ 9.14493635e-01 -4.04575993e-01 -4.43361832e-03 -1.47607335e+02] [-4.81891175e-03 6.60017148e-05 -9.99988387e-01 7.06753690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42762800000003 meters 0.013731535095779688 Centerline is valid? [True, True] Translation: X:33.70, Y:-147.62, Z:0.71 [[ 3.32745304e-01 9.43014571e-01 -2.02002055e-03 3.36991206e+01] [ 9.42995453e-01 -3.32751423e-01 -6.00560207e-03 -1.47616390e+02] [-6.33553498e-03 9.34656949e-05 -9.99979926e-01 7.07096906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45762800000003 meters 0.014065541508633213 Centerline is valid? [True, True] Translation: X:33.70, Y:-147.63, Z:0.71 [[ 2.59276104e-01 9.65801217e-01 -1.97753256e-03 3.37040478e+01] [ 9.65769137e-01 -2.59283612e-01 -7.87284902e-03 -1.47625053e+02] [-8.11634895e-03 1.31401703e-04 -9.99967053e-01 7.07878181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48762800000003 meters 0.01395376463136246 Centerline is valid? [True, True] Translation: X:33.71, Y:-147.63, Z:0.71 [[ 1.82381135e-01 9.83226960e-01 -1.36640342e-03 3.37117215e+01] [ 9.83193842e-01 -1.82386208e-01 -8.07096028e-03 -1.47633506e+02] [-8.18479888e-03 1.28551465e-04 -9.99966496e-01 7.07542337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51762800000003 meters 0.013801922490155268 Centerline is valid? [True, True] Translation: X:33.72, Y:-147.64, Z:0.71 [[ 1.04266716e-01 9.94549072e-01 -7.71637906e-04 3.37215112e+01] [ 9.94511773e-01 -1.04269489e-01 -8.61436216e-03 -1.47641513e+02] [-8.64786418e-03 1.30788272e-04 -9.99962598e-01 7.07374174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54762800000003 meters 0.01346746422025499 Centerline is valid? [True, True] Translation: X:33.73, Y:-147.65, Z:0.71 [[ 2.47880456e-02 9.99692724e-01 -9.94329706e-05 3.37341750e+01] [ 9.99651389e-01 -2.47879249e-02 -9.09172598e-03 -1.47648805e+02] [-9.09139705e-03 1.25967811e-04 -9.99958664e-01 7.07204993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57762800000003 meters 0.013652926889611247 Centerline is valid? [True, True] Translation: X:33.74, Y:-147.66, Z:0.71 [[-5.43533372e-02 9.98521589e-01 5.92834656e-04 3.37442570e+01] [ 9.98483058e-01 5.43564482e-02 -8.77268879e-03 -1.47655891e+02] [-8.79194354e-03 1.15110448e-04 -9.99961344e-01 7.06982472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60762800000003 meters 0.013486350772698847 Centerline is valid? [True, True] Translation: X:33.75, Y:-147.66, Z:0.71 [[-1.33171348e-01 9.91092322e-01 1.18402733e-03 3.37535477e+01] [ 9.91059585e-01 1.33176573e-01 -8.05604653e-03 -1.47661184e+02] [-8.14197056e-03 1.00607055e-04 -9.99966849e-01 7.06024781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63762800000003 meters 0.014865610554016024 Centerline is valid? [True, True] Translation: X:33.77, Y:-147.67, Z:0.71 [[-2.11070384e-01 9.77469192e-01 1.80865336e-03 3.37652248e+01] [ 9.77437071e-01 2.11078111e-01 -7.92487329e-03 -1.47665372e+02] [-8.12808663e-03 9.51387954e-05 -9.99966962e-01 7.06207788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.667628 meters 0.012929363359938257 Centerline is valid? [True, True] Translation: X:33.78, Y:-147.67, Z:0.70 [[-2.89385755e-01 9.57210409e-01 2.02943543e-03 3.37768506e+01] [ 9.57188373e-01 2.89392864e-01 -6.49523594e-03 -1.47668497e+02] [-6.80461158e-03 6.29232479e-05 -9.99976846e-01 7.03382743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.697628 meters 0.012817050168725152 Centerline is valid? [True, True] Translation: X:33.79, Y:-147.67, Z:0.70 [[-3.64575930e-01 9.31170160e-01 2.55422104e-03 3.37878753e+01] [ 9.31148359e-01 3.64584873e-01 -6.37215242e-03 -1.47672143e+02] [-6.86478854e-03 5.52253419e-05 -9.99976436e-01 7.03506329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.727628 meters 0.012817050168725152 Centerline is valid? [True, True] Translation: X:33.80, Y:-147.68, Z:0.70 [[-4.36430718e-01 8.99732711e-01 3.04577560e-03 3.37974608e+01] [ 8.99711678e-01 4.36441342e-01 -6.15239920e-03 -1.47675415e+02] [-6.86481720e-03 5.52238721e-05 -9.99976435e-01 7.03506573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.757628 meters 0.012597074052719683 Centerline is valid? [True, True] Translation: X:33.81, Y:-147.68, Z:0.70 [[-5.06949421e-01 8.61967537e-01 3.77474326e-03 3.38093172e+01] [ 8.61944339e-01 5.06963472e-01 -6.32415419e-03 -1.47676349e+02] [-7.36487256e-03 4.75922700e-05 -9.99972878e-01 7.03676254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.787628 meters 0.012485213987693358 Centerline is valid? [True, True] Translation: X:33.82, Y:-147.68, Z:0.70 [[-5.74261451e-01 8.18658554e-01 4.68596177e-03 3.38213477e+01] [ 8.18631850e-01 5.74280568e-01 -6.61243996e-03 -1.47675598e+02] [-8.10438733e-03 3.88081889e-05 -9.99967158e-01 7.03791801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.817628 meters 0.012307622783976211 Centerline is valid? [True, True] Translation: X:33.83, Y:-147.67, Z:0.70 [[-6.39530474e-01 7.68745832e-01 5.53333271e-03 3.38327191e+01] [ 7.68717173e-01 6.39554411e-01 -6.63792962e-03 -1.47673977e+02] [-8.64174807e-03 8.40959857e-06 -9.99962659e-01 7.03539821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84762800000001 meters 0.0123026850185223 Centerline is valid? [True, True] Translation: X:33.84, Y:-147.67, Z:0.70 [[-6.99022961e-01 7.15071086e-01 6.34358643e-03 3.38436567e+01] [ 7.15041551e-01 6.99051744e-01 -6.49919476e-03 -1.47672678e+02] [-9.08188141e-03 -7.15848942e-06 -9.99958759e-01 7.04456644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87762800000002 meters 0.012408811592654828 Centerline is valid? [True, True] Translation: X:33.85, Y:-147.67, Z:0.71 [[-7.55062480e-01 6.55612636e-01 7.26110565e-03 3.38543055e+01] [ 6.55581819e-01 7.55097391e-01 -6.35679700e-03 -1.47668974e+02] [-9.65043837e-03 -3.95300593e-05 -9.99953433e-01 7.05282729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90762800000002 meters 0.012431531105321211 Centerline is valid? [True, True] Translation: X:33.88, Y:-147.65, Z:0.71 [[-8.00323393e-01 5.99514041e-01 8.08581162e-03 3.38773511e+01] [ 5.99482752e-01 8.00364237e-01 -6.12523590e-03 -1.47652189e+02] [-1.01437594e-02 -5.48649688e-05 -9.99948549e-01 7.05164900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93762800000002 meters 0.012681094819622277 Centerline is valid? [True, True] Translation: X:34.36, Y:-147.03, Z:-0.22 [[-7.50469419e-01 -6.60860186e-01 7.71141890e-03 3.43584569e+01] [ 6.60826119e-01 -7.50509035e-01 -6.71036561e-03 -1.47028619e+02] [ 1.02221030e-02 5.99828466e-05 9.99947751e-01 -2.18463913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96762800000002 meters 0.012742858451155756 Centerline is valid? [True, True] Translation: X:33.84, Y:-147.63, Z:0.70 [[-8.03652141e-01 5.95043043e-01 8.18613994e-03 3.38417865e+01] [ 5.95011203e-01 8.03693829e-01 -6.15602154e-03 -1.47628110e+02] [-1.02422479e-02 -7.64549140e-05 -9.99947544e-01 7.04789736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99762800000002 meters 0.012757605512112392 Centerline is valid? [True, True] Translation: X:33.86, Y:-147.61, Z:0.70 [[-8.43798331e-01 5.36587674e-01 8.83424709e-03 3.38615395e+01] [ 5.36557271e-01 8.43844572e-01 -5.71254956e-03 -1.47609739e+02] [-1.05200151e-02 -8.01602721e-05 -9.99944660e-01 7.04474037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02762800000002 meters 0.012762222827924557 Centerline is valid? [True, True] Translation: X:33.88, Y:-147.59, Z:0.70 [[-8.79640558e-01 4.75538005e-01 9.80274970e-03 3.38775950e+01] [ 4.75507397e-01 8.79695173e-01 -5.39602346e-03 -1.47589177e+02] [-1.11894458e-02 -8.52810937e-05 -9.99937393e-01 7.03787970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05762800000002 meters 0.012723597351492843 Centerline is valid? [True, True] Translation: X:33.90, Y:-147.57, Z:0.70 [[-9.11121578e-01 4.12015448e-01 1.00369550e-02 3.38952220e+01] [ 4.11989425e-01 9.11176856e-01 -4.63145800e-03 -1.47567904e+02] [-1.10536733e-02 -8.47020111e-05 -9.99938903e-01 7.03765995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08762800000002 meters 0.012612050995789766 Centerline is valid? [True, True] Translation: X:33.91, Y:-147.55, Z:0.70 [[-9.38081231e-01 3.46263574e-01 1.02538366e-02 3.39097487e+01] [ 3.46241882e-01 9.38137266e-01 -3.87676668e-03 -1.47545354e+02] [-1.09618893e-02 -8.64143676e-05 -9.99939913e-01 7.03150538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11762800000002 meters 0.012711853203791257 Centerline is valid? [True, True] Translation: X:33.93, Y:-147.52, Z:0.70 [[-9.60212528e-01 2.79068183e-01 1.06230848e-02 3.39278395e+01] [ 2.79050066e-01 9.60271285e-01 -3.18113969e-03 -1.47523570e+02] [-1.10887981e-02 -9.01976741e-05 -9.99938513e-01 7.02933356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14762800000003 meters 0.012668030094177867 Centerline is valid? [True, True] Translation: X:34.17, Y:-146.76, Z:-0.22 [[-9.33348648e-01 -3.58812236e-01 1.06808293e-02 3.41661013e+01] [ 3.58790117e-01 -9.33409753e-01 -3.98558409e-03 -1.46757085e+02] [ 1.13996666e-02 1.12236472e-04 9.99935015e-01 -2.15098970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17762800000003 meters 0.012941559139850912 Centerline is valid? [True, True] Translation: X:33.87, Y:-147.51, Z:0.70 [[-9.61572867e-01 2.74354397e-01 1.03579490e-02 3.38681089e+01] [ 2.74337360e-01 9.61628647e-01 -3.05905778e-03 -1.47509638e+02] [-1.07997665e-02 -9.99345652e-05 -9.99941676e-01 7.00986870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20762800000003 meters 0.012892223855813897 Centerline is valid? [True, True] Translation: X:33.89, Y:-147.49, Z:0.70 [[-9.78738069e-01 2.04841026e-01 1.05804799e-02 3.38923263e+01] [ 2.04827874e-01 9.78795251e-01 -2.32368981e-03 -1.47488417e+02] [-1.08321105e-02 -1.07106466e-04 -9.99941325e-01 7.00195455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23762800000003 meters 0.013057498259534452 Centerline is valid? [True, True] Translation: X:33.90, Y:-147.46, Z:0.70 [[-9.90871082e-01 1.34387563e-01 1.06996367e-02 3.38999769e+01] [ 1.34378507e-01 9.90928842e-01 -1.56416987e-03 -1.47461675e+02] [-1.08127835e-02 -1.12089497e-04 -9.99941534e-01 7.00362924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26762800000003 meters 0.013199091891019763 Centerline is valid? [True, True] Translation: X:33.91, Y:-147.43, Z:0.70 [[-9.98007386e-01 6.20467166e-02 1.14657458e-02 3.39050033e+01] [ 6.20410293e-02 9.98073237e-01 -8.51387126e-04 -1.47433621e+02] [-1.14964798e-02 -1.38343971e-04 -9.99933904e-01 7.00645917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29762800000003 meters 0.013315067493786385 Centerline is valid? [True, True] Translation: X:33.91, Y:-147.41, Z:0.70 [[-9.99884200e-01 -9.76922767e-03 1.16682823e-02 3.39061114e+01] [-9.77029696e-03 9.99952269e-01 -3.46402707e-05 -1.47405017e+02] [-1.16673870e-02 -1.48638842e-04 -9.99931923e-01 7.01112706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32762800000003 meters 0.013393322162676658 Centerline is valid? [True, True] Translation: X:33.91, Y:-146.60, Z:-0.21 [[-9.96435201e-01 -8.34943200e-02 1.20660506e-02 3.39102473e+01] [ 8.34904116e-02 -9.96508236e-01 -8.28155460e-04 -1.46601171e+02] [ 1.20930651e-02 1.82196280e-04 9.99926860e-01 -2.14329702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35762800000003 meters 0.0131674714526631 Centerline is valid? [True, True] Translation: X:33.81, Y:-147.40, Z:0.70 [[-9.99793434e-01 -1.55411715e-02 1.30981160e-02 3.38115052e+01] [-1.55419409e-02 9.99879216e-01 4.30519556e-05 -1.47403356e+02] [-1.30972030e-02 -1.60527081e-04 -9.99914215e-01 7.00632676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38762800000003 meters 0.013057957821054289 Centerline is valid? [True, True] Translation: X:33.81, Y:-146.60, Z:-0.21 [[-9.97057986e-01 -7.55116650e-02 1.31666341e-02 3.38127470e+01] [ 7.55073031e-02 -9.97144904e-01 -8.28792152e-04 -1.46599473e+02] [ 1.31916256e-02 1.67823200e-04 9.99912973e-01 -2.13196258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.417628 meters 0.012931316815714853 Centerline is valid? [True, True] Translation: X:33.71, Y:-147.40, Z:0.70 [[-9.99720179e-01 -1.95872774e-02 1.32628064e-02 3.37143733e+01] [-1.95873486e-02 9.99808142e-01 1.24541265e-04 -1.47403630e+02] [-1.32627012e-02 -1.35276796e-04 -9.99912037e-01 7.00260737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.447628 meters 0.012642432038800342 Centerline is valid? [True, True] Translation: X:33.71, Y:-147.38, Z:0.70 [[-9.96075059e-01 -8.75993261e-02 1.26820723e-02 3.37128046e+01] [-8.75933784e-02 9.96155786e-01 1.02475195e-03 -1.47377891e+02] [-1.27230872e-02 -9.01356977e-05 -9.99919054e-01 7.00215844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.477628 meters 0.012413206412799586 Centerline is valid? [True, True] Translation: X:33.71, Y:-147.35, Z:0.70 [[-9.87679957e-01 -1.56001421e-01 1.23231423e-02 3.37086216e+01] [-1.55989991e-01 9.87756829e-01 1.88928430e-03 -1.47352551e+02] [-1.24669990e-02 -5.62786220e-05 -9.99922282e-01 6.99790112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.507628 meters 0.012328997906319503 Centerline is valid? [True, True] Translation: X:33.69, Y:-147.33, Z:0.70 [[-9.74606138e-01 -2.23606008e-01 1.19678009e-02 3.36908617e+01] [-2.23589366e-01 9.74679616e-01 2.72807243e-03 -1.47329378e+02] [-1.22747850e-02 -1.70768796e-05 -9.99924662e-01 6.99968111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.537628 meters 0.012744955630569295 Centerline is valid? [True, True] Translation: X:33.64, Y:-147.32, Z:0.70 [[-9.57902542e-01 -2.86864467e-01 1.14672692e-02 3.36418174e+01] [-2.86842890e-01 9.57971174e-01 3.51933140e-03 -1.47318363e+02] [-1.19948845e-02 8.18718419e-05 -9.99928055e-01 7.00449007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.567628 meters 0.013554112038124799 Centerline is valid? [True, True] Translation: X:33.58, Y:-147.31, Z:0.70 [[-9.35883331e-01 -3.52131874e-01 1.12042006e-02 3.35833260e+01] [-3.52104799e-01 9.35950385e-01 4.36897105e-03 -1.47313049e+02] [-1.20250299e-02 1.43794369e-04 -9.99927686e-01 7.00432925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59762800000001 meters 0.014619770821310748 Centerline is valid? [True, True] Translation: X:33.51, Y:-147.32, Z:0.70 [[-9.09192018e-01 -4.16233240e-01 1.09436993e-02 3.35142118e+01] [-4.16200326e-01 9.09257855e-01 5.23855067e-03 -1.47316741e+02] [-1.21311035e-02 2.08077228e-04 -9.99926394e-01 6.98857184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62762800000002 meters 0.017331733201871438 Centerline is valid? [True, True] Translation: X:33.44, Y:-147.33, Z:0.70 [[-8.80136776e-01 -4.74632065e-01 9.14652871e-03 3.34392750e+01] [-4.74603024e-01 8.80184254e-01 5.25818451e-03 -1.47332242e+02] [-1.05463335e-02 2.86951375e-04 -9.99944345e-01 6.96485127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65762800000002 meters 0.017591839306149198 Centerline is valid? [True, True] Translation: X:33.35, Y:-147.35, Z:0.69 [[-8.44002532e-01 -5.36279614e-01 7.99385333e-03 3.33519631e+01] [-5.36252121e-01 8.44040333e-01 5.43863556e-03 -1.47354089e+02] [-9.66376400e-03 3.03501378e-04 -9.99953259e-01 6.94961971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68762800000002 meters 0.01812579242245436 Centerline is valid? [True, True] Translation: X:33.26, Y:-147.39, Z:0.69 [[-8.02745998e-01 -5.96280594e-01 6.95092177e-03 3.32608018e+01] [-5.96254884e-01 8.02776032e-01 5.54568120e-03 -1.47387255e+02] [-8.88681549e-03 3.07252330e-04 -9.99960464e-01 6.94028994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71762800000002 meters 0.02123149120873459 Centerline is valid? [True, True] Translation: X:33.17, Y:-147.43, Z:0.69 [[-7.56326454e-01 -6.54166432e-01 6.04767406e-03 3.31696812e+01] [-6.54142269e-01 7.56350572e-01 5.63072491e-03 -1.47434465e+02] [-8.25759296e-03 3.02626971e-04 -9.99965860e-01 6.94135926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74762800000002 meters 0.021511656041414133 Centerline is valid? [True, True] Translation: X:33.07, Y:-147.48, Z:0.70 [[-7.04750177e-01 -7.09428732e-01 6.16950935e-03 3.30737273e+01] [-7.09397222e-01 7.04777098e-01 6.69506571e-03 -1.47482497e+02] [-9.09780087e-03 3.41715953e-04 -9.99958556e-01 6.96846934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77762800000002 meters 0.01902392136374008 Centerline is valid? [True, True] Translation: X:32.98, Y:-147.54, Z:0.70 [[-6.45119812e-01 -7.64056838e-01 6.12996728e-03 3.29789853e+01] [-7.64017384e-01 6.45148851e-01 7.77157314e-03 -1.47542898e+02] [-9.89266494e-03 3.30194243e-04 -9.99951012e-01 6.96409141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80762800000002 meters 0.01788139550551401 Centerline is valid? [True, True] Translation: X:32.89, Y:-147.61, Z:0.70 [[-5.82412922e-01 -8.12872102e-01 5.84238494e-03 3.28874200e+01] [-8.12825541e-01 5.82442136e-01 8.70618012e-03 -1.47614186e+02] [-1.04798621e-02 3.21752107e-04 -9.99945033e-01 6.97107321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83762800000002 meters 0.01657102259077718 Centerline is valid? [True, True] Translation: X:32.80, Y:-147.69, Z:0.70 [[-5.15546117e-01 -8.56846160e-01 5.18268407e-03 3.28007671e+01] [-8.56797046e-01 5.15572084e-01 9.17866667e-03 -1.47694375e+02] [-1.05367525e-02 2.91517552e-04 -9.99944444e-01 6.96904166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86762800000002 meters 0.015539328169210267 Centerline is valid? [True, True] Translation: X:32.72, Y:-147.78, Z:0.70 [[-4.44965611e-01 -8.95535896e-01 4.58948389e-03 3.27203972e+01] [-8.95482018e-01 4.44989201e-01 9.82677722e-03 -1.47783021e+02] [-1.08425025e-02 2.62777635e-04 -9.99941184e-01 6.95824950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89762800000003 meters 0.01631876381718417 Centerline is valid? [True, True] Translation: X:32.65, Y:-147.88, Z:0.70 [[-3.71925945e-01 -9.28254657e-01 3.79254409e-03 3.26456772e+01] [-9.28199956e-01 3.71945210e-01 1.00798244e-02 -1.47881595e+02] [-1.07672626e-02 2.28708973e-04 -9.99942005e-01 6.97177921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92762800000003 meters 0.013604660814842687 Centerline is valid? [True, True] Translation: X:32.58, Y:-147.98, Z:0.69 [[-2.92693773e-01 -9.56202796e-01 2.56283396e-03 3.25774054e+01] [-9.56162076e-01 2.92704963e-01 8.82547087e-03 -1.47979164e+02] [-9.18909414e-03 1.32675723e-04 -9.99957771e-01 6.94317245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95762800000003 meters 0.012942597044433624 Centerline is valid? [True, True] Translation: X:32.52, Y:-148.09, Z:0.69 [[-2.15212995e-01 -9.76565748e-01 1.64509130e-03 3.25175626e+01] [-9.76533796e-01 2.15219262e-01 7.90027090e-03 -1.48087928e+02] [-8.06918930e-03 9.37537119e-05 -9.99967439e-01 6.93528799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98762800000003 meters 0.012578915779506308 Centerline is valid? [True, True] Translation: X:32.47, Y:-148.20, Z:0.69 [[-1.36159487e-01 -9.90686471e-01 9.54103420e-04 3.24669555e+01] [-9.90658736e-01 1.36162815e-01 7.41333142e-03 -1.48203400e+02] [-7.47420055e-03 6.42045169e-05 -9.99972066e-01 6.93471711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01762800000003 meters 0.012236767130218597 Centerline is valid? [True, True] Translation: X:32.43, Y:-148.32, Z:0.69 [[-5.68786323e-02 -9.98381040e-01 3.46607659e-04 3.24257368e+01] [-9.98357603e-01 5.68796721e-02 6.84096570e-03 -1.48315890e+02] [-6.84960538e-03 4.30663807e-05 -9.99976540e-01 6.93857707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04762800000003 meters 0.011869643014139977 Centerline is valid? [True, True] Translation: X:32.39, Y:-148.44, Z:0.69 [[ 2.37725933e-02 -9.99717371e-01 -2.04007341e-04 3.23927670e+01] [-9.99688176e-01 -2.37734582e-02 7.64020610e-03 -1.48436474e+02] [-7.64289672e-03 2.23162140e-05 -9.99970792e-01 6.94790796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07762800000003 meters 0.011970604511166839 Centerline is valid? [True, True] Translation: X:32.37, Y:-148.56, Z:0.70 [[ 1.01854279e-01 -9.94798943e-01 -8.76417193e-04 3.23731311e+01] [-9.94763541e-01 -1.01858048e-01 8.39258762e-03 -1.48560374e+02] [-8.43820744e-03 1.70069098e-05 -9.99964398e-01 6.95655928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10762800000003 meters 0.012018185011523871 Centerline is valid? [True, True] Translation: X:32.36, Y:-148.68, Z:0.70 [[ 1.78481196e-01 -9.83942092e-01 -1.55616892e-03 3.23628335e+01] [-9.83905517e-01 -1.78487979e-01 8.48378789e-03 -1.48682447e+02] [-8.62531346e-03 1.69265790e-05 -9.99962801e-01 6.95397519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13762800000003 meters 0.011958506536305055 Centerline is valid? [True, True] Translation: X:32.36, Y:-148.80, Z:0.69 [[ 2.53360706e-01 -9.67369764e-01 -2.02277708e-03 3.23612396e+01] [-9.67339588e-01 -2.53368780e-01 7.64088293e-03 -1.48800465e+02] [-7.90406768e-03 2.08128537e-05 -9.99968762e-01 6.94369943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.167628 meters 0.011956628791544084 Centerline is valid? [True, True] Translation: X:32.37, Y:-148.92, Z:0.69 [[ 3.26891997e-01 -9.45059007e-01 -2.25734650e-03 3.23690080e+01] [-9.45036914e-01 -3.26899790e-01 6.46208016e-03 -1.48920960e+02] [-6.84497315e-03 2.08734843e-05 -9.99976573e-01 6.93572045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.197628 meters 0.012006633233871342 Centerline is valid? [True, True] Translation: X:32.39, Y:-149.04, Z:0.69 [[ 3.98689870e-01 -9.17082556e-01 -2.44402090e-03 3.23852841e+01] [-9.17065621e-01 -3.98697361e-01 5.57324706e-03 -1.49037707e+02] [-6.08555234e-03 1.93303919e-05 -9.99981483e-01 6.92900576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.227628 meters 0.011849194702966382 Centerline is valid? [True, True] Translation: X:32.41, Y:-149.16, Z:0.69 [[ 4.68975992e-01 -8.83208752e-01 -1.95409762e-03 3.24110941e+01] [-8.83201171e-01 -4.68980063e-01 3.65943863e-03 -1.49155574e+02] [-4.14848105e-03 9.67244095e-06 -9.99991395e-01 6.91209562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.257628 meters 0.011896786599588488 Centerline is valid? [True, True] Translation: X:32.44, Y:-149.27, Z:0.69 [[ 5.36337507e-01 -8.44001686e-01 -1.79824478e-03 3.24434761e+01] [-8.43996972e-01 -5.36340521e-01 2.82074257e-03 -1.49267270e+02] [-3.34518303e-03 4.84310708e-06 -9.99994405e-01 6.90887365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.287628 meters 0.011826203169715303 Centerline is valid? [True, True] Translation: X:32.48, Y:-149.38, Z:0.69 [[ 6.00623932e-01 -7.99529395e-01 -1.90770188e-03 3.24839543e+01] [-7.99525364e-01 -6.00626961e-01 2.53880232e-03 -1.49375520e+02] [-3.17566427e-03 3.90603197e-07 -9.99994958e-01 6.90835726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.317628 meters 0.011843644553017074 Centerline is valid? [True, True] Translation: X:32.53, Y:-149.48, Z:0.69 [[ 6.61899254e-01 -7.49587651e-01 -2.78042621e-03 3.25311742e+01] [-7.49580978e-01 -6.61905094e-01 3.16292347e-03 -1.49479691e+02] [-4.21126665e-03 -9.38208790e-06 -9.99991133e-01 6.92262034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34762800000001 meters 0.011959503702403543 Centerline is valid? [True, True] Translation: X:32.59, Y:-149.58, Z:0.69 [[ 7.18204299e-01 -6.95821187e-01 -3.93210436e-03 3.25856771e+01] [-6.95810613e-01 -7.18215062e-01 3.83604589e-03 -1.49577550e+02] [-5.49329858e-03 -1.90647029e-05 -9.99984912e-01 6.93311687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37762800000002 meters 0.012131269093546039 Centerline is valid? [True, True] Translation: X:32.58, Y:-149.59, Z:0.70 [[ 7.70905638e-01 -6.36928266e-01 -5.18460035e-03 3.25800065e+01] [-6.36913606e-01 -7.70923072e-01 4.32156941e-03 -1.49585301e+02] [-6.74945775e-03 -2.93797212e-05 -9.99977222e-01 6.95071192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40762800000002 meters 0.012238692596265198 Centerline is valid? [True, True] Translation: X:32.58, Y:-149.59, Z:0.69 [[ 8.19029643e-01 -5.73716034e-01 -6.35269975e-03 3.25757396e+01] [-5.73698361e-01 -8.19054278e-01 4.50340878e-03 -1.49593330e+02] [-7.78688373e-03 -4.38918468e-05 -9.99969681e-01 6.94798503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43762800000002 meters 0.012268002474098155 Centerline is valid? [True, True] Translation: X:32.57, Y:-149.60, Z:0.70 [[ 8.61347381e-01 -5.07966884e-01 -7.09463295e-03 3.25707525e+01] [-5.07949210e-01 -8.61376598e-01 4.23763591e-03 -1.49599873e+02] [-8.26372950e-03 -4.63633934e-05 -9.99965854e-01 6.95347877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46762800000002 meters 0.012333166876348067 Centerline is valid? [True, True] Translation: X:32.57, Y:-149.60, Z:0.70 [[ 8.98269532e-01 -4.39367627e-01 -8.24235913e-03 3.25679766e+01] [-4.39348639e-01 -8.98307345e-01 4.08503650e-03 -1.49604742e+02] [-9.19900454e-03 -4.81945588e-05 -9.99957687e-01 6.95878795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49762800000002 meters 0.012206752882742453 Centerline is valid? [True, True] Translation: X:32.57, Y:-149.61, Z:0.70 [[ 9.29627736e-01 -3.68380084e-01 -9.40139359e-03 3.25655933e+01] [-3.68360740e-01 -9.29675272e-01 3.77538552e-03 -1.49611675e+02] [-1.01310200e-02 -4.65987978e-05 -9.99948679e-01 6.96541474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52762800000002 meters 0.012262803182986544 Centerline is valid? [True, True] Translation: X:32.56, Y:-149.62, Z:0.70 [[ 9.55027342e-01 -2.96356656e-01 -9.77288903e-03 3.25629079e+01] [-2.96340840e-01 -9.55077343e-01 3.06185227e-03 -1.49615845e+02] [-1.02412652e-02 -2.80464856e-05 -9.99947556e-01 6.98030786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55762800000002 meters 0.012257058707194986 Centerline is valid? [True, True] Translation: X:32.56, Y:-149.62, Z:0.70 [[ 9.74955518e-01 -2.22177358e-01 -9.94782747e-03 3.25603514e+01] [-2.22165655e-01 -9.75006267e-01 2.28038223e-03 -1.49620038e+02] [-1.02058434e-02 -1.32056345e-05 -9.99947919e-01 6.98150118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58762800000002 meters 0.012333134572925947 Centerline is valid? [True, True] Translation: X:32.56, Y:-149.62, Z:0.70 [[ 9.89133023e-01 -1.46666245e-01 -1.02408525e-02 3.25554027e+01] [-1.46658406e-01 -9.89186035e-01 1.51640983e-03 -1.49623447e+02] [-1.03525144e-02 1.97606245e-06 -9.99946411e-01 6.97803005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61762800000002 meters 0.012372199802562838 Centerline is valid? [True, True] Translation: X:32.55, Y:-149.63, Z:0.70 [[ 9.97468320e-01 -7.03338140e-02 -1.04931278e-02 3.25494943e+01] [-7.03301150e-02 -9.97523511e-01 7.21560873e-04 -1.49626233e+02] [-1.05178918e-02 1.82487735e-05 -9.99944685e-01 6.98072139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64762800000003 meters 0.012372199802562838 Centerline is valid? [True, True] Translation: X:32.54, Y:-149.63, Z:0.70 [[ 9.99912795e-01 7.98659992e-03 -1.05174258e-02 3.25444806e+01] [ 7.98596623e-03 -9.99968106e-01 -1.02248474e-04 -1.49632119e+02] [-1.05179070e-02 1.82477500e-05 -9.99944685e-01 6.98072277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67762800000003 meters 0.012614740614004482 Centerline is valid? [True, True] Translation: X:32.54, Y:-149.63, Z:0.70 [[ 9.96441229e-01 8.34949798e-02 -1.15526937e-02 3.25394949e+01] [ 8.34887637e-02 -9.96508196e-01 -1.02013972e-03 -1.49632621e+02] [-1.15975305e-02 5.19891673e-05 -9.99932745e-01 6.99213185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70762800000003 meters 0.012843828890719328 Centerline is valid? [True, True] Translation: X:32.53, Y:-149.64, Z:0.70 [[ 9.87013006e-01 1.60214408e-01 -1.16905702e-02 3.25340995e+01] [ 1.60202391e-01 -9.87082235e-01 -1.96333230e-03 -1.49635351e+02] [-1.18541083e-02 6.49772158e-05 -9.99929736e-01 6.99737256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73762800000003 meters 0.012958858536930214 Centerline is valid? [True, True] Translation: X:32.53, Y:-149.64, Z:0.70 [[ 9.71480891e-01 2.36801961e-01 -1.22355817e-02 3.25291992e+01] [ 2.36782253e-01 -9.71557938e-01 -3.05586276e-03 -1.49637244e+02] [-1.26112108e-02 7.15436732e-05 -9.99920473e-01 6.99894949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76762800000003 meters 0.015611740775683464 Centerline is valid? [True, True] Translation: X:32.52, Y:-149.64, Z:0.70 [[ 9.49845705e-01 3.12455393e-01 -1.28360745e-02 3.25243738e+01] [ 3.12425843e-01 -9.49932430e-01 -4.29768512e-03 -1.49641638e+02] [-1.35362383e-02 7.18163512e-05 -9.99908378e-01 7.02149481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79762800000003 meters 0.012720598851658821 Centerline is valid? [True, True] Translation: X:32.52, Y:-149.65, Z:0.70 [[ 9.21938686e-01 3.87173674e-01 -1.12074017e-02 3.25198089e+01] [ 3.87144444e-01 -9.22006802e-01 -4.75768168e-03 -1.49646075e+02] [-1.21753497e-02 4.74075013e-05 -9.99925877e-01 6.98934476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82762800000003 meters 0.012469167374344642 Centerline is valid? [True, True] Translation: X:32.52, Y:-149.66, Z:0.70 [[ 8.88313554e-01 4.59123867e-01 -1.02129272e-02 3.25180008e+01] [ 4.59093103e-01 -8.88372261e-01 -5.31498198e-03 -1.49655777e+02] [-1.15131163e-02 3.26860895e-05 -9.99933721e-01 6.96896400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85762800000003 meters 0.012393281779256662 Centerline is valid? [True, True] Translation: X:32.52, Y:-149.67, Z:0.70 [[ 8.48294579e-01 5.29461726e-01 -8.16018725e-03 3.25176228e+01] [ 5.29437201e-01 -8.48333826e-01 -5.09603331e-03 -1.49665543e+02] [-9.62071747e-03 2.63072605e-06 -9.99953720e-01 6.95309858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88762800000003 meters 0.012359781421443264 Centerline is valid? [True, True] Translation: X:32.52, Y:-149.68, Z:0.70 [[ 8.03691636e-01 5.95002400e-01 -7.20405034e-03 3.25177790e+01] [ 5.94978562e-01 -8.03723923e-01 -5.32603215e-03 -1.49676439e+02] [-8.95906951e-03 -5.76801864e-06 -9.99959867e-01 6.95319612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.917628 meters 0.012324189558675827 Centerline is valid? [True, True] Translation: X:32.52, Y:-149.69, Z:0.70 [[ 7.54070878e-01 6.56762980e-01 -6.28487507e-03 3.25184653e+01] [ 6.56740311e-01 -7.54097068e-01 -5.45667454e-03 -1.49686459e+02] [-8.32314769e-03 -1.28114501e-05 -9.99965362e-01 6.95363469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.947628 meters 0.012325307077717068 Centerline is valid? [True, True] Translation: X:32.52, Y:-149.70, Z:0.69 [[ 6.99694171e-01 7.14425659e-01 -4.90350503e-03 3.25179313e+01] [ 7.14408284e-01 -6.99711353e-01 -4.98262878e-03 -1.49695115e+02] [-6.99075599e-03 -1.67882985e-05 -9.99975564e-01 6.93609614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.977628 meters 0.012364000947121399 Centerline is valid? [True, True] Translation: X:32.52, Y:-149.70, Z:0.69 [[ 6.41389621e-01 7.67205542e-01 -3.87432791e-03 3.25179500e+01] [ 7.67191697e-01 -6.41401322e-01 -4.60919965e-03 -1.49703817e+02] [-6.02120256e-03 -1.60593873e-05 -9.99981872e-01 6.92500077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.007628 meters 0.012358537063819007 Centerline is valid? [True, True] Translation: X:32.52, Y:-149.71, Z:0.69 [[ 5.78796654e-01 8.15467483e-01 -2.68677946e-03 3.25187533e+01] [ 8.15458821e-01 -5.78802889e-01 -3.75859447e-03 -1.49712942e+02] [-4.62012728e-03 -1.54961126e-05 -9.99989327e-01 6.91526411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.037628 meters 0.012390838250283065 Centerline is valid? [True, True] Translation: X:32.52, Y:-149.72, Z:0.69 [[ 5.12533898e-01 8.58664299e-01 -2.15044611e-03 3.25228733e+01] [ 8.58656879e-01 -5.12538409e-01 -3.56965307e-03 -1.49723615e+02] [-4.16731988e-03 -1.69271380e-05 -9.99991317e-01 6.91242955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.067628 meters 0.012441328361127622 Centerline is valid? [True, True] Translation: X:32.53, Y:-149.73, Z:0.69 [[ 4.43090806e-01 8.96475468e-01 -1.50748585e-03 3.25277531e+01] [ 8.96470403e-01 -4.43093370e-01 -3.01363784e-03 -1.49733745e+02] [-3.36960938e-03 -1.61012278e-05 -9.99994323e-01 6.91641412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09762800000001 meters 0.01253760110461438 Centerline is valid? [True, True] Translation: X:32.53, Y:-149.74, Z:0.69 [[ 3.70865684e-01 9.28685880e-01 -1.08664771e-03 3.25342236e+01] [ 9.28682018e-01 -3.70867275e-01 -2.67832923e-03 -1.49744310e+02] [-2.89032861e-03 -1.58497893e-05 -9.99995823e-01 6.91757458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12762800000002 meters 0.014369246996919742 Centerline is valid? [True, True] Translation: X:32.54, Y:-149.75, Z:0.69 [[ 2.96031108e-01 9.55177624e-01 -1.13594200e-03 3.25435436e+01] [ 9.55170906e-01 -2.96033286e-01 -3.58248434e-03 -1.49754421e+02] [-3.75818553e-03 -2.44919393e-05 -9.99992938e-01 6.94500683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15762800000002 meters 0.01262560908939701 Centerline is valid? [True, True] Translation: X:32.55, Y:-149.76, Z:0.69 [[ 2.19389983e-01 9.75636860e-01 -8.68021439e-04 3.25514477e+01] [ 9.75629732e-01 -2.19391698e-01 -3.72957101e-03 -1.49763280e+02] [-3.82914364e-03 -2.86370047e-05 -9.99992668e-01 6.93396027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18762800000002 meters 0.012629516727162771 Centerline is valid? [True, True] Translation: X:32.56, Y:-149.77, Z:0.69 [[ 1.42399303e-01 9.89809070e-01 -6.66065435e-04 3.25588956e+01] [ 9.89799299e-01 -1.42400857e-01 -4.39819718e-03 -1.49771839e+02] [-4.44822375e-03 -3.29708873e-05 -9.99990106e-01 6.94343792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21762800000002 meters 0.012604095104659539 Centerline is valid? [True, True] Translation: X:32.57, Y:-149.78, Z:0.70 [[ 6.52102673e-02 9.97871438e-01 -4.63846311e-04 3.25654714e+01] [ 9.97850666e-01 -6.52119028e-02 -6.43866743e-03 -1.49779505e+02] [-6.45521062e-03 -4.29821262e-05 -9.99979164e-01 6.95345496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24762800000002 meters 0.012509775462805656 Centerline is valid? [True, True] Translation: X:32.57, Y:-149.79, Z:0.70 [[-1.20357702e-02 9.99927566e-01 4.61238003e-05 3.25735444e+01] [ 9.99902012e-01 1.20357924e-02 -7.14886237e-03 -1.49786065e+02] [-7.14889968e-03 -3.99227842e-05 -9.99974446e-01 6.96087733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27762800000002 meters 0.012422054703039441 Centerline is valid? [True, True] Translation: X:32.58, Y:-149.79, Z:0.70 [[-8.87806694e-02 9.96050988e-01 6.49462550e-04 3.25812295e+01] [ 9.96021715e-01 8.87830394e-02 -7.63645113e-03 -1.49793323e+02] [-7.66395595e-03 -3.10904399e-05 -9.99970631e-01 6.96582971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30762800000002 meters 0.012380936088283476 Centerline is valid? [True, True] Translation: X:32.59, Y:-149.80, Z:0.70 [[-1.64792310e-01 9.86327477e-01 1.26571048e-03 3.25893290e+01] [ 9.86297547e-01 1.64797170e-01 -7.68382092e-03 -1.49799605e+02] [-7.78734921e-03 -1.78674611e-05 -9.99969678e-01 6.96627739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33762800000002 meters 0.01237866311950315 Centerline is valid? [True, True] Translation: X:32.60, Y:-149.81, Z:0.70 [[-2.36463607e-01 9.71638805e-01 1.73065391e-03 3.25968482e+01] [ 9.71613439e-01 2.36469939e-01 -7.02093815e-03 -1.49805445e+02] [-7.23106358e-03 2.13302380e-05 -9.99973855e-01 6.96489085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36762800000002 meters 0.012621408028523521 Centerline is valid? [True, True] Translation: X:32.61, Y:-149.81, Z:0.70 [[-3.09083405e-01 9.51032433e-01 2.18182971e-03 3.26059220e+01] [ 9.51009658e-01 3.09091103e-01 -6.58188182e-03 -1.49812040e+02] [-6.93396723e-03 4.05906858e-05 -9.99975959e-01 6.96346017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39762800000003 meters 0.012894072478510819 Centerline is valid? [True, True] Translation: X:32.62, Y:-149.82, Z:0.70 [[-3.80069177e-01 9.24954621e-01 2.52386120e-03 3.26162717e+01] [ 9.24935198e-01 3.80077553e-01 -5.99440397e-03 -1.49816144e+02] [-6.50381464e-03 5.61198743e-05 -9.99978848e-01 6.96137298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42762800000003 meters 0.013370187771267148 Centerline is valid? [True, True] Translation: X:32.63, Y:-149.82, Z:0.70 [[-4.48702831e-01 8.93676838e-01 2.73457883e-03 3.26263805e+01] [ 8.93661174e-01 4.48711158e-01 -5.29167031e-03 -1.49821223e+02] [-5.95607923e-03 6.93994808e-05 -9.99982260e-01 6.96242296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45762800000003 meters 0.014456843662316905 Centerline is valid? [True, True] Translation: X:32.63, Y:-149.83, Z:0.69 [[-5.12793114e-01 8.58509226e-01 2.26531478e-03 3.26343492e+01] [ 8.58501468e-01 5.12798113e-01 -3.65028716e-03 -1.49826893e+02] [-4.29545435e-03 7.29339462e-05 -9.99990772e-01 6.94814570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48762800000003 meters 0.014675401359586424 Centerline is valid? [True, True] Translation: X:32.65, Y:-149.83, Z:0.69 [[-5.76598732e-01 8.17024600e-01 2.16930421e-03 3.26458697e+01] [ 8.17019272e-01 5.76602808e-01 -2.95143612e-03 -1.49828723e+02] [-3.66222282e-03 7.05690236e-05 -9.99993292e-01 6.94315650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51762800000003 meters 0.015328948149042985 Centerline is valid? [True, True] Translation: X:32.66, Y:-149.83, Z:0.69 [[-6.37374651e-01 7.70551383e-01 2.02987730e-03 3.26564253e+01] [ 7.70547800e-01 6.37377880e-01 -2.35087296e-03 -1.49831071e+02] [-3.10526730e-03 6.57306532e-05 -9.99995177e-01 6.93958311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54762800000003 meters 0.015804486375327744 Centerline is valid? [True, True] Translation: X:32.67, Y:-149.83, Z:0.69 [[-6.93736184e-01 7.20225857e-01 2.19609176e-03 3.26677148e+01] [ 7.20222583e-01 6.93739656e-01 -2.17295020e-03 -1.49831250e+02] [-3.08853086e-03 7.42206979e-05 -9.99995228e-01 6.94051756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57762800000003 meters 0.015939948995604452 Centerline is valid? [True, True] Translation: X:32.69, Y:-149.82, Z:0.69 [[-7.42334259e-01 6.70023489e-01 2.89364456e-03 3.26931388e+01] [ 6.70018892e-01 7.42339892e-01 -2.48375106e-03 -1.49816743e+02] [-3.81223934e-03 9.50230202e-05 -9.99992729e-01 6.94503138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60762800000003 meters 0.016849354547544163 Centerline is valid? [True, True] Translation: X:32.71, Y:-149.80, Z:0.70 [[-7.87472782e-01 6.16338562e-01 3.65998120e-03 3.27135922e+01] [ 6.16332585e-01 7.87481278e-01 -2.71690713e-03 -1.49798667e+02] [-4.55670130e-03 1.16275254e-04 -9.99989611e-01 6.95665839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63762800000003 meters 0.016307770936262848 Centerline is valid? [True, True] Translation: X:32.74, Y:-149.78, Z:0.70 [[-8.29075743e-01 5.59108766e-01 5.54973275e-03 3.27361437e+01] [ 5.59097585e-01 8.29094301e-01 -3.53983607e-03 -1.49777769e+02] [-6.58040517e-03 1.68049953e-04 -9.99978335e-01 6.97498541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.667628 meters 0.01637691737668214 Centerline is valid? [True, True] Translation: X:32.76, Y:-149.76, Z:0.70 [[-8.66924602e-01 4.98396755e-01 6.51223453e-03 3.27564240e+01] [ 4.98384277e-01 8.66949042e-01 -3.53149396e-03 -1.49756693e+02] [-7.40586061e-03 1.84056299e-04 -9.99972559e-01 6.98144878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.697628 meters 0.016291104185549275 Centerline is valid? [True, True] Translation: X:32.78, Y:-149.73, Z:0.70 [[-9.00458902e-01 4.34874346e-01 7.62028521e-03 3.27760178e+01] [ 4.34860640e-01 9.00491123e-01 -3.45845764e-03 -1.49734288e+02] [-8.36599370e-03 1.99563133e-04 -9.99964985e-01 6.98582548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.727628 meters 0.015638933457117896 Centerline is valid? [True, True] Translation: X:33.13, Y:-148.97, Z:-0.21 [[-8.90330582e-01 -4.55248089e-01 7.78665727e-03 3.31294597e+01] [ 4.55228895e-01 -8.90364614e-01 -4.18427113e-03 -1.48971571e+02] [ 8.83784553e-03 -1.80673174e-04 9.99960929e-01 -2.11194767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.757628 meters 0.01517248905907388 Centerline is valid? [True, True] Translation: X:32.73, Y:-149.71, Z:0.70 [[-9.03906761e-01 4.27658533e-01 7.79406462e-03 3.27333637e+01] [ 4.27644222e-01 9.03940347e-01 -3.50256740e-03 -1.49709938e+02] [-8.54327231e-03 1.67092342e-04 -9.99963492e-01 6.97926749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.787628 meters 0.014529757247182614 Centerline is valid? [True, True] Translation: X:32.75, Y:-149.68, Z:0.70 [[-9.32582466e-01 3.60883931e-01 7.26165374e-03 3.27520157e+01] [ 3.60874137e-01 9.32610728e-01 -2.66229042e-03 -1.49683533e+02] [-7.73307401e-03 1.37737661e-04 -9.99970090e-01 6.97080085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.817628 meters 0.014609743471900583 Centerline is valid? [True, True] Translation: X:32.76, Y:-149.66, Z:0.70 [[-9.55837410e-01 2.93806355e-01 7.25756696e-03 3.27637042e+01] [ 2.93798947e-01 9.55864953e-01 -2.09071433e-03 -1.49657500e+02] [-7.55151905e-03 1.33882561e-04 -9.99971478e-01 6.97120738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84762800000001 meters 0.01443296427329592 Centerline is valid? [True, True] Translation: X:32.78, Y:-149.63, Z:0.70 [[-9.74239564e-01 2.25413068e-01 6.79862466e-03 3.27756074e+01] [ 2.25408469e-01 9.74263277e-01 -1.44536521e-03 -1.49630802e+02] [-6.94945455e-03 1.24335603e-04 -9.99975845e-01 6.96638013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87762800000002 meters 0.017599401476528023 Centerline is valid? [True, True] Translation: X:32.78, Y:-149.60, Z:0.70 [[-9.87616265e-01 1.56718946e-01 7.29966341e-03 3.27840539e+01] [ 1.56715705e-01 9.87643232e-01 -1.01734278e-03 -1.49604515e+02] [-7.36890005e-03 1.39227625e-04 -9.99972840e-01 6.98831186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90762800000002 meters 0.01540474139414451 Centerline is valid? [True, True] Translation: X:32.91, Y:-148.79, Z:-0.21 [[-9.82781700e-01 -1.84702369e-01 5.01651439e-03 3.29055300e+01] [ 1.84698726e-01 -9.82794474e-01 -1.18401700e-03 -1.48788192e+02] [ 5.14889337e-03 -2.37086418e-04 9.99986716e-01 -2.08567796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93762800000002 meters 0.015380872981581023 Centerline is valid? [True, True] Translation: X:32.72, Y:-149.60, Z:0.69 [[-9.87994169e-01 1.54417264e-01 4.77804447e-03 3.27224483e+01] [ 1.54415962e-01 9.88005718e-01 -6.42458443e-04 -1.49597902e+02] [-4.81994193e-03 1.03061138e-04 -9.99988379e-01 6.94843243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96762800000002 meters 0.01597870184315091 Centerline is valid? [True, True] Translation: X:32.84, Y:-148.78, Z:-0.21 [[-9.83979957e-01 -1.78243508e-01 3.56309976e-03 3.28389359e+01] [ 1.78241776e-01 -9.83986397e-01 -8.00405186e-04 -1.48777674e+02] [ 3.64870872e-03 -1.52489431e-04 9.99993332e-01 -2.07455427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99762800000002 meters 0.016890609650691717 Centerline is valid? [True, True] Translation: X:32.66, Y:-149.59, Z:0.69 [[-9.88501268e-01 1.51177881e-01 3.23893385e-03 3.26564023e+01] [ 1.51177317e-01 9.88506572e-01 -4.19522890e-04 -1.49592303e+02] [-3.26512998e-03 7.49544228e-05 -9.99994667e-01 6.93813024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02762800000002 meters 0.01574863382493592 Centerline is valid? [True, True] Translation: X:32.66, Y:-149.56, Z:0.69 [[-9.96790888e-01 8.00322301e-02 1.66365493e-03 3.26581672e+01] [ 8.00321819e-02 9.96792276e-01 -9.56168676e-05 -1.49562205e+02] [-1.66597081e-03 3.78359115e-05 -9.99998612e-01 6.92183107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05762800000002 meters 0.018086059444800708 Centerline is valid? [True, True] Translation: X:32.66, Y:-149.54, Z:0.69 [[-9.99960964e-01 8.49810199e-03 2.41907044e-03 3.26633777e+01] [ 8.49820584e-03 9.99963889e-01 3.26535768e-05 -1.49535031e+02] [-2.41870559e-03 5.32100606e-05 -9.99997074e-01 6.94871368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08762800000002 meters 0.01484687686685688 Centerline is valid? [True, True] Translation: X:32.66, Y:-148.71, Z:-0.21 [[-9.99386709e-01 -3.49234247e-02 2.56137197e-03 3.26587989e+01] [ 3.49231910e-02 -9.99389990e-01 -1.35941912e-04 -1.48708083e+02] [ 2.56455707e-03 -4.64072576e-05 9.99996710e-01 -2.05685053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11762800000002 meters 0.01464571067858201 Centerline is valid? [True, True] Translation: X:32.56, Y:-149.53, Z:0.69 [[-9.99994358e-01 -1.09224609e-04 3.35746431e-03 3.25622904e+01] [-1.09004727e-04 9.99999992e-01 6.56736009e-05 -1.49531861e+02] [-3.35747146e-03 6.53072509e-05 -9.99994362e-01 6.93527833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14762800000003 meters 0.015649155310938783 Centerline is valid? [True, True] Translation: X:32.55, Y:-149.51, Z:0.70 [[-9.97405969e-01 -7.18331012e-02 4.61931917e-03 3.25543501e+01] [-7.18319256e-02 9.97416662e-01 4.20122381e-04 -1.49506182e+02] [-4.63756460e-03 8.72179801e-05 -9.99989243e-01 6.95712613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17762800000003 meters 0.014999412327304722 Centerline is valid? [True, True] Translation: X:32.54, Y:-149.48, Z:0.70 [[-9.89593637e-01 -1.43612496e-01 8.93777919e-03 3.25435539e+01] [-1.43605128e-01 9.89633985e-01 1.46404171e-03 -1.49477200e+02] [-9.05538472e-03 1.65295438e-04 -9.99958986e-01 6.99251292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20762800000003 meters 0.015087256380356956 Centerline is valid? [True, True] Translation: X:32.51, Y:-149.46, Z:0.70 [[-9.76785991e-01 -2.13965934e-01 1.03781902e-02 3.25135993e+01] [-2.13951673e-01 9.76841102e-01 2.47844708e-03 -1.49455764e+02] [-1.06681460e-02 2.00481224e-04 -9.99943074e-01 7.00357721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23762800000003 meters 0.015464689055870008 Centerline is valid? [True, True] Translation: X:32.46, Y:-149.44, Z:0.70 [[-9.58740360e-01 -2.84070224e-01 1.10013955e-02 3.24646075e+01] [-2.84048750e-01 9.58803449e-01 3.50041863e-03 -1.49442242e+02] [-1.15425406e-02 2.31059982e-04 -9.99933356e-01 7.01095585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26762800000003 meters 0.017068835144243257 Centerline is valid? [True, True] Translation: X:32.40, Y:-149.44, Z:0.70 [[-9.36567850e-01 -3.50308533e-01 1.11621813e-02 3.24037568e+01] [-3.50279908e-01 9.36634318e-01 4.48780447e-03 -1.49438808e+02] [-1.20269983e-02 2.93245525e-04 -9.99927630e-01 7.01762640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29762800000003 meters 0.019638037069738698 Centerline is valid? [True, True] Translation: X:32.33, Y:-149.44, Z:0.70 [[-9.09207861e-01 -4.16189033e-01 1.13028275e-02 3.23284742e+01] [-4.16152066e-01 9.09278047e-01 5.55801617e-03 -1.49442802e+02] [-1.25905983e-02 3.49696978e-04 -9.99920674e-01 7.03534195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32762800000003 meters 0.01979391317578686 Centerline is valid? [True, True] Translation: X:32.25, Y:-149.46, Z:0.70 [[-8.76680630e-01 -4.80956024e-01 1.06007892e-02 3.22469482e+01] [-4.80915644e-01 8.76744639e-01 6.24350418e-03 -1.49457859e+02] [-1.22970360e-02 3.75473830e-04 -9.99924318e-01 7.02867566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35762800000003 meters 0.019798927741262257 Centerline is valid? [True, True] Translation: X:32.16, Y:-149.48, Z:0.70 [[-8.40866562e-01 -5.41169646e-01 8.87918731e-03 3.21627278e+01] [-5.41134500e-01 8.40913349e-01 6.18000094e-03 -1.49484990e+02] [-1.08110561e-02 3.91721557e-04 -9.99941482e-01 6.98659538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38762800000003 meters 0.02150307288138441 Centerline is valid? [True, True] Translation: X:32.07, Y:-149.52, Z:0.70 [[-7.98751839e-01 -6.01612374e-01 7.61917724e-03 3.20702992e+01] [-6.01580412e-01 7.98788087e-01 6.21282179e-03 -1.49523910e+02] [-9.82381848e-03 3.78955045e-04 -9.99951673e-01 6.97925196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.417628 meters 0.020358656232573838 Centerline is valid? [True, True] Translation: X:31.98, Y:-149.57, Z:0.70 [[-7.51634359e-01 -6.59544913e-01 6.80429988e-03 3.19792206e+01] [-6.59513254e-01 7.51665062e-01 6.47326037e-03 -1.49565134e+02] [-9.38396044e-03 3.77998955e-04 -9.99955898e-01 6.96537778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.447628 meters 0.021167969801093502 Centerline is valid? [True, True] Translation: X:31.89, Y:-149.62, Z:0.70 [[-6.99741714e-01 -7.14370937e-01 5.97473651e-03 3.18867902e+01] [-7.14340301e-01 6.99767124e-01 6.62618715e-03 -1.49621318e+02] [-8.91447971e-03 3.68624477e-04 -9.99960197e-01 6.95939051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.477628 meters 0.02115848297019068 Centerline is valid? [True, True] Translation: X:31.79, Y:-149.69, Z:0.70 [[-6.42846943e-01 -7.65977392e-01 5.14229291e-03 3.17942320e+01] [-7.65948450e-01 6.42867416e-01 6.66764424e-03 -1.49686507e+02] [-8.41307730e-03 3.47543433e-04 -9.99964549e-01 6.95874115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.507628 meters 0.02092339766292983 Centerline is valid? [True, True] Translation: X:31.71, Y:-149.76, Z:0.70 [[-5.80779644e-01 -8.14046682e-01 4.79640274e-03 3.17063193e+01] [-8.14013831e-01 5.80799345e-01 7.32148104e-03 -1.49759183e+02] [-8.74577491e-03 3.47828975e-04 -9.99961695e-01 6.95972728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.537628 meters 0.02092339766292983 Centerline is valid? [True, True] Translation: X:31.62, Y:-149.84, Z:0.70 [[-5.16354704e-01 -8.56364423e-01 4.21824148e-03 3.16232505e+01] [-8.56330152e-01 5.16371817e-01 7.66921697e-03 -1.49842429e+02] [-8.74582559e-03 3.47828891e-04 -9.99961694e-01 6.95975274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.567628 meters 0.019877550993808474 Centerline is valid? [True, True] Translation: X:31.54, Y:-149.93, Z:0.70 [[-4.46799671e-01 -8.94626567e-01 3.65507515e-03 3.15427247e+01] [-8.94590296e-01 4.46814497e-01 8.06269915e-03 -1.49934079e+02] [-8.84624543e-03 3.32616564e-04 -9.99960816e-01 6.96066606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59762800000001 meters 0.020639025671438913 Centerline is valid? [True, True] Translation: X:31.47, Y:-150.04, Z:0.70 [[-3.70794193e-01 -9.28710881e-01 2.78656910e-03 3.14698256e+01] [-9.28679215e-01 3.70804575e-01 7.67356324e-03 -1.50036568e+02] [-8.15979425e-03 2.57483887e-04 -9.99966675e-01 6.95466192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62762800000002 meters 0.017147191001806034 Centerline is valid? [True, True] Translation: X:31.40, Y:-150.14, Z:0.69 [[-2.94634069e-01 -9.55608188e-01 1.93818445e-03 3.13989721e+01] [-9.55582744e-01 2.94640374e-01 6.97631688e-03 -1.50141341e+02] [-7.23769293e-03 2.03365013e-04 -9.99973787e-01 6.93835114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65762800000002 meters 0.01921228499295625 Centerline is valid? [True, True] Translation: X:31.34, Y:-150.25, Z:0.70 [[-2.16896611e-01 -9.76193612e-01 1.37532977e-03 3.13436329e+01] [-9.76168408e-01 2.16900897e-01 7.01706773e-03 -1.50248092e+02] [-7.14832696e-03 1.79424739e-04 -9.99974434e-01 6.96647704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68762800000002 meters 0.016224878072358073 Centerline is valid? [True, True] Translation: X:31.29, Y:-150.36, Z:0.69 [[-1.37472420e-01 -9.90505322e-01 7.35518207e-04 3.12918833e+01] [-9.90485269e-01 1.37474318e-01 6.30420138e-03 -1.50361685e+02] [-6.34545988e-03 1.38133867e-04 -9.99979858e-01 6.94863998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71762800000002 meters 0.014380475764293367 Centerline is valid? [True, True] Translation: X:31.25, Y:-150.48, Z:0.69 [[-5.46511379e-02 -9.98505479e-01 2.49496335e-04 3.12501354e+01] [-9.98484749e-01 5.46516112e-02 6.43487121e-03 -1.50482465e+02] [-6.43888953e-03 1.02554749e-04 -9.99979265e-01 6.93559559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74762800000002 meters 0.013807328576458833 Centerline is valid? [True, True] Translation: X:31.22, Y:-150.61, Z:0.69 [[ 2.53358872e-02 -9.99678961e-01 -2.61824358e-04 3.12193414e+01] [-9.99656108e-01 -2.53370785e-02 6.76000737e-03 -1.50605577e+02] [-6.76447100e-03 9.04635352e-05 -9.99977117e-01 6.93470988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77762800000002 meters 0.013534368439951169 Centerline is valid? [True, True] Translation: X:31.20, Y:-150.73, Z:0.69 [[ 1.05120617e-01 -9.94459189e-01 -7.60079546e-04 3.11983037e+01] [-9.94437856e-01 -1.05123341e-01 6.51412628e-03 -1.50726098e+02] [-6.55793484e-03 7.10829008e-05 -9.99978494e-01 6.93928910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80762800000002 meters 0.01324351199037818 Centerline is valid? [True, True] Translation: X:31.19, Y:-150.85, Z:0.69 [[ 1.83933924e-01 -9.82937847e-01 -1.22480387e-03 3.11877219e+01] [-9.82917986e-01 -1.83937994e-01 6.24880973e-03 -1.50849477e+02] [-6.36747955e-03 5.45136636e-05 -9.99979726e-01 6.94228407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83762800000002 meters 0.012991544753227058 Centerline is valid? [True, True] Translation: X:31.19, Y:-150.97, Z:0.69 [[ 2.62638538e-01 -9.64892976e-01 -1.59464343e-03 3.11862086e+01] [-9.64875900e-01 -2.62643377e-01 5.74057519e-03 -1.50974094e+02] [-5.95786321e-03 3.09367363e-05 -9.99982251e-01 6.93429933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86762800000002 meters 0.012890226827476935 Centerline is valid? [True, True] Translation: X:31.19, Y:-151.10, Z:0.69 [[ 3.37594763e-01 -9.41289759e-01 -1.83439400e-03 3.11947372e+01] [-9.41276203e-01 -3.37599746e-01 5.05181539e-03 -1.51095524e+02] [-5.37451304e-03 2.12049969e-05 -9.99985557e-01 6.92655242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89762800000003 meters 0.01283231238191435 Centerline is valid? [True, True] Translation: X:31.21, Y:-151.22, Z:0.69 [[ 4.09915291e-01 -9.12121443e-01 -1.98186974e-03 3.12136741e+01] [-9.12110963e-01 -4.09920082e-01 4.37235165e-03 -1.51217218e+02] [-4.80052390e-03 1.53913184e-05 -9.99988477e-01 6.92038260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92762800000003 meters 0.012929255480217927 Centerline is valid? [True, True] Translation: X:31.24, Y:-151.33, Z:0.69 [[ 4.79102461e-01 -8.77757300e-01 -1.71865662e-03 3.12396499e+01] [-8.77751739e-01 -4.79105544e-01 3.12454810e-03 -1.51330924e+02] [-3.56601282e-03 1.15751560e-05 -9.99993642e-01 6.91112927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95762800000003 meters 0.012955698099063148 Centerline is valid? [True, True] Translation: X:31.27, Y:-151.44, Z:0.69 [[ 5.44625780e-01 -8.38677659e-01 -1.59514607e-03 3.12745005e+01] [-8.38674126e-01 -5.44628116e-01 2.43453012e-03 -1.51442508e+02] [-2.91054742e-03 1.18998678e-05 -9.99995764e-01 6.90985853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98762800000003 meters 0.013079373986973373 Centerline is valid? [True, True] Translation: X:31.32, Y:-151.55, Z:0.69 [[ 6.06733667e-01 -7.94904047e-01 -1.34657278e-03 3.13173046e+01] [-7.94902131e-01 -6.06735161e-01 1.74527237e-03 -1.51550449e+02] [-2.20433712e-03 1.14780736e-05 -9.99997570e-01 6.90770855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01762800000003 meters 0.013114059332203509 Centerline is valid? [True, True] Translation: X:31.37, Y:-151.65, Z:0.69 [[ 6.64498894e-01 -7.47289243e-01 -8.09887908e-05 3.13663968e+01] [-7.47289238e-01 -6.64498899e-01 8.80166751e-05 -1.51650861e+02] [-1.19590877e-04 2.03506849e-06 -9.99999993e-01 6.89450887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04762800000003 meters 0.013249263225643678 Centerline is valid? [True, True] Translation: X:31.42, Y:-151.74, Z:0.69 [[ 7.19224305e-01 -6.94777712e-01 5.74631600e-04 3.14181878e+01] [-6.94777495e-01 -7.19224535e-01 -5.48658687e-04 -1.51741899e+02] [ 7.94484972e-04 -4.63244117e-06 -9.99999684e-01 6.88605670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07762800000003 meters 0.013518073824979803 Centerline is valid? [True, True] Translation: X:31.41, Y:-151.74, Z:0.69 [[ 7.70474940e-01 -6.37469029e-01 1.26681068e-03 3.14149657e+01] [-6.37468195e-01 -7.70475981e-01 -1.03122223e-03 -1.51743953e+02] [ 1.63341944e-03 -1.30206331e-05 -9.99998666e-01 6.87442565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10762800000003 meters 0.013428471332221593 Centerline is valid? [True, True] Translation: X:31.41, Y:-151.75, Z:0.69 [[ 8.17570038e-01 -5.75828494e-01 8.83089782e-04 3.14100891e+01] [-5.75828169e-01 -8.17570514e-01 -6.11237145e-04 -1.51750707e+02] [ 1.07395593e-03 -8.77879623e-06 -9.99999423e-01 6.88461000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13762800000003 meters 0.013662817805199044 Centerline is valid? [True, True] Translation: X:31.41, Y:-151.76, Z:0.69 [[ 8.59656554e-01 -5.10872401e-01 -1.47291879e-05 3.14058612e+01] [-5.10872401e-01 -8.59656554e-01 7.10125585e-06 -1.51756255e+02] [-1.62898787e-05 1.42009443e-06 -1.00000000e+00 6.89767301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.167628 meters 0.014133488482421474 Centerline is valid? [True, True] Translation: X:31.40, Y:-151.76, Z:0.69 [[ 8.95622002e-01 -4.44810774e-01 -2.14599982e-03 3.14023842e+01] [-4.44809584e-01 -8.95624572e-01 1.02941030e-03 -1.51760678e+02] [-2.37990296e-03 3.25987719e-05 -9.99997168e-01 6.92032341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.197628 meters 0.014608663116241758 Centerline is valid? [True, True] Translation: X:31.40, Y:-151.77, Z:0.69 [[ 9.26938308e-01 -3.75198722e-01 -3.36029935e-03 3.13998315e+01] [-3.75196474e-01 -9.26944397e-01 1.30019185e-03 -1.51765675e+02] [-3.60264098e-03 5.55748342e-05 -9.99993509e-01 6.92403997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.227628 meters 0.014815674855279558 Centerline is valid? [True, True] Translation: X:31.40, Y:-151.77, Z:0.69 [[ 9.52718832e-01 -3.03827276e-01 -3.97659310e-03 3.13962636e+01] [-3.03824950e-01 -9.52727128e-01 1.19095872e-03 -1.51774068e+02] [-4.15045387e-03 7.35393945e-05 -9.99991384e-01 6.92253266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.257628 meters 0.01612796462525744 Centerline is valid? [True, True] Translation: X:31.39, Y:-151.78, Z:0.69 [[ 9.73048025e-01 -2.30556567e-01 -4.60551460e-03 3.13915012e+01] [-2.30554441e-01 -9.73058919e-01 9.94581100e-04 -1.51778455e+02] [-4.71074426e-03 9.40466690e-05 -9.99988900e-01 6.92431595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.287628 meters 0.016554641360903864 Centerline is valid? [True, True] Translation: X:31.38, Y:-151.79, Z:0.69 [[ 9.87165143e-01 -1.59618472e-01 -5.18885574e-03 3.13848701e+01] [-1.59616988e-01 -9.87178771e-01 7.01510475e-04 -1.51785585e+02] [-5.23430226e-03 1.35722835e-04 -9.99986292e-01 6.91600079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.317628 meters 0.019216913326249783 Centerline is valid? [True, True] Translation: X:31.38, Y:-151.79, Z:0.69 [[ 9.96339365e-01 -8.53145532e-02 -5.41273883e-03 3.13780557e+01] [-8.53141628e-02 -9.96354054e-01 3.03391510e-04 -1.51789667e+02] [-5.41888799e-03 1.59502378e-04 -9.99985305e-01 6.92268742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34762800000001 meters 0.019575778615123912 Centerline is valid? [True, True] Translation: X:31.37, Y:-151.80, Z:0.69 [[ 9.99882116e-01 -1.44665679e-02 -5.14508107e-03 3.13720360e+01] [-1.44673511e-02 -9.99895336e-01 -1.15035868e-04 -1.51798545e+02] [-5.14287839e-03 1.89458002e-04 -9.99986757e-01 6.92072651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37762800000002 meters 0.021021287998085093 Centerline is valid? [True, True] Translation: X:31.37, Y:-151.81, Z:0.69 [[ 9.98164097e-01 6.03813135e-02 -4.74686515e-03 3.13658681e+01] [ 6.03797137e-02 -9.98175365e-01 -4.79737936e-04 -1.51805006e+02] [-4.76717107e-03 1.92242825e-04 -9.99988619e-01 6.91764648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40762800000002 meters 0.020994109165271814 Centerline is valid? [True, True] Translation: X:31.36, Y:-151.82, Z:0.69 [[ 9.90799545e-01 1.35265518e-01 -4.41612222e-03 3.13616861e+01] [ 1.35263296e-01 -9.90809367e-01 -7.99447648e-04 -1.51815300e+02] [-4.48367296e-03 1.94753118e-04 -9.99989929e-01 6.90322200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43762800000002 meters 0.021886875394186878 Centerline is valid? [True, True] Translation: X:31.36, Y:-151.83, Z:0.69 [[ 9.78169328e-01 2.07789757e-01 -2.86039800e-03 3.13585094e+01] [ 2.07788440e-01 -9.78173500e-01 -7.53548984e-04 -1.51826316e+02] [-2.95454528e-03 1.42740865e-04 -9.99995625e-01 6.88046368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46762800000002 meters 0.021709028481765733 Centerline is valid? [True, True] Translation: X:31.36, Y:-151.84, Z:0.69 [[ 9.59238332e-01 2.82587298e-01 -2.49819982e-03 3.13568342e+01] [ 2.82585982e-01 -9.59241576e-01 -8.72558861e-04 -1.51841334e+02] [-2.64295118e-03 1.31035659e-04 -9.99996499e-01 6.87623697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49762800000002 meters 0.02335338512184221 Centerline is valid? [True, True] Translation: X:31.35, Y:-151.85, Z:0.69 [[ 9.34377522e-01 3.56278804e-01 -2.01484163e-03 3.13540801e+01] [ 3.56277718e-01 -9.34379688e-01 -8.86498691e-04 -1.51853935e+02] [-2.19846779e-03 1.10481273e-04 -9.99997577e-01 6.87664668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52762800000002 meters 0.022271710066941515 Centerline is valid? [True, True] Translation: X:31.36, Y:-151.87, Z:0.69 [[ 9.03449490e-01 4.28691014e-01 -1.74183569e-03 3.13550330e+01] [ 4.28690004e-01 -9.03451164e-01 -9.35639698e-04 -1.51870124e+02] [-1.97476381e-03 9.85956591e-05 -9.99998045e-01 6.87476311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55762800000002 meters 0.022275787903939134 Centerline is valid? [True, True] Translation: X:31.36, Y:-151.89, Z:0.69 [[ 8.65351323e-01 5.01163267e-01 -1.57079838e-03 3.13560780e+01] [ 5.01162257e-01 -8.65352745e-01 -1.00988493e-03 -1.51885864e+02] [-1.86541192e-03 8.66804027e-05 -9.99998256e-01 6.87172910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58762800000002 meters 0.021092574416434664 Centerline is valid? [True, True] Translation: X:31.36, Y:-151.90, Z:0.69 [[ 8.21511908e-01 5.70189773e-01 -1.34439587e-03 3.13598207e+01] [ 5.70188863e-01 -8.21513005e-01 -1.02157821e-03 -1.51900620e+02] [-1.68693213e-03 7.26791105e-05 -9.99998575e-01 6.86983308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61762800000002 meters 0.0179907178823065 Centerline is valid? [True, True] Translation: X:31.37, Y:-151.92, Z:0.69 [[ 7.68410012e-01 6.39956479e-01 -1.32603545e-03 3.13699133e+01] [ 6.39955390e-01 -7.68411154e-01 -1.18221919e-03 -1.51920353e+02] [-1.77550926e-03 5.98255301e-05 -9.99998422e-01 6.87012420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64762800000003 meters 0.01713358443866203 Centerline is valid? [True, True] Translation: X:31.38, Y:-151.93, Z:0.69 [[ 7.12289010e-01 7.01884716e-01 -1.48734279e-03 3.13761681e+01] [ 7.01883004e-01 -7.12290560e-01 -1.55107222e-03 -1.51934661e+02] [-2.14809412e-03 6.08710729e-05 -9.99997691e-01 6.87300035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67762800000003 meters 0.016215897279263498 Centerline is valid? [True, True] Translation: X:31.38, Y:-151.95, Z:0.69 [[ 6.51212856e-01 7.58893636e-01 -1.50520625e-03 3.13825606e+01] [ 7.58891412e-01 -6.51214593e-01 -1.83822505e-03 -1.51947409e+02] [-2.37522957e-03 5.47876855e-05 -9.99997178e-01 6.87751924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70762800000003 meters 0.01406241029961908 Centerline is valid? [True, True] Translation: X:31.39, Y:-151.96, Z:0.69 [[ 5.82061659e-01 8.13142909e-01 -1.68392780e-03 3.13945562e+01] [ 8.13139307e-01 -5.82064093e-01 -2.42045859e-03 -1.51961389e+02] [-2.94833265e-03 3.95882577e-05 -9.99995653e-01 6.88348672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73762800000003 meters 0.013333715410728088 Centerline is valid? [True, True] Translation: X:31.40, Y:-151.97, Z:0.69 [[ 5.12781306e-01 8.58518299e-01 -1.28926635e-03 3.14029702e+01] [ 8.58515472e-01 -5.12782926e-01 -2.20357685e-03 -1.51971614e+02] [-2.55292482e-03 2.30979070e-05 -9.99996741e-01 6.88471824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76762800000003 meters 0.012891901093384398 Centerline is valid? [True, True] Translation: X:31.42, Y:-151.98, Z:0.69 [[ 4.37712847e-01 8.99114487e-01 -7.76319011e-04 3.14159950e+01] [ 8.99113057e-01 -4.37713535e-01 -1.60381539e-03 -1.51981901e+02] [-1.78181899e-03 4.01204276e-06 -9.99998413e-01 6.88585766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79762800000003 meters 0.01277556301287165 Centerline is valid? [True, True] Translation: X:31.43, Y:-151.99, Z:0.69 [[ 3.63073359e-01 9.31760349e-01 -6.22700236e-04 3.14253870e+01] [ 9.31758985e-01 -3.63073893e-01 -1.59417215e-03 -1.51989914e+02] [-1.71147260e-03 -1.40510089e-06 -9.99998535e-01 6.89218452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82762800000003 meters 0.012904085866799753 Centerline is valid? [True, True] Translation: X:31.43, Y:-152.00, Z:0.69 [[ 2.86421483e-01 9.58103545e-01 -5.75022756e-04 3.14339213e+01] [ 9.58101664e-01 -2.86422060e-01 -1.89860607e-03 -1.51995680e+02] [-1.98376041e-03 -7.12869245e-06 -9.99998032e-01 6.89741328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85762800000003 meters 0.013060366597730622 Centerline is valid? [True, True] Translation: X:31.44, Y:-152.00, Z:0.69 [[ 2.08258774e-01 9.78073619e-01 -5.27421827e-04 3.14420465e+01] [ 9.78070661e-01 -2.08259441e-01 -2.40565423e-03 -1.52000499e+02] [-2.46274751e-03 -1.48572155e-05 -9.99996967e-01 6.90412649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88762800000003 meters 0.013153828964398573 Centerline is valid? [True, True] Translation: X:31.45, Y:-152.01, Z:0.69 [[ 1.29024356e-01 9.91641338e-01 -4.15011752e-04 3.14501142e+01] [ 9.91636801e-01 -1.29025021e-01 -2.99971688e-03 -1.52005305e+02] [-3.02819016e-03 -2.45043881e-05 -9.99995415e-01 6.91303888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.917628 meters 0.013122492743760601 Centerline is valid? [True, True] Translation: X:31.46, Y:-152.01, Z:0.69 [[ 5.11915476e-02 9.98688836e-01 -1.87370147e-04 3.14569684e+01] [ 9.98683815e-01 -5.11918844e-02 -3.16685134e-03 -1.52009199e+02] [-3.17229090e-03 -2.50075126e-05 -9.99994968e-01 6.91791952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.947628 meters 0.012974275625641567 Centerline is valid? [True, True] Translation: X:31.46, Y:-152.01, Z:0.69 [[-2.63691977e-02 9.99652270e-01 7.42701024e-05 3.14640187e+01] [ 9.99644847e-01 2.63692881e-02 -3.85239952e-03 -1.52012507e+02] [-3.85301837e-03 -2.73409595e-05 -9.99992577e-01 6.92083476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.977628 meters 0.012923081393357233 Centerline is valid? [True, True] Translation: X:31.47, Y:-152.02, Z:0.69 [[-1.03413517e-01 9.94638355e-01 4.31938619e-04 3.14703593e+01] [ 9.94628588e-01 1.03414416e-01 -4.40808547e-03 -1.52016088e+02] [-4.42911956e-03 -2.62371238e-05 -9.99990191e-01 6.92830182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.007628 meters 0.012686113919031572 Centerline is valid? [True, True] Translation: X:31.47, Y:-152.02, Z:0.69 [[-1.77324152e-01 9.84152054e-01 9.38116583e-04 3.14727003e+01] [ 9.84137918e-01 1.77326633e-01 -5.27474029e-03 -1.52021054e+02] [-5.35749954e-03 -1.21027457e-05 -9.99985648e-01 6.93704902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.037628 meters 0.01257994489938187 Centerline is valid? [True, True] Translation: X:31.48, Y:-152.02, Z:0.69 [[-2.51851384e-01 9.67764932e-01 1.38471296e-03 3.14770930e+01] [ 9.67750281e-01 2.51855191e-01 -5.32515329e-03 -1.52024813e+02] [-5.50224375e-03 -1.09086967e-06 -9.99984863e-01 6.93614475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.067628 meters 0.012573401658687536 Centerline is valid? [True, True] Translation: X:31.48, Y:-152.03, Z:0.69 [[-3.24543016e-01 9.45869326e-01 1.74635383e-03 3.14838559e+01] [ 9.45855836e-01 3.24547714e-01 -5.05165523e-03 -1.52027271e+02] [-5.34498087e-03 1.23195381e-05 -9.99985715e-01 6.93643627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09762800000001 meters 0.01294151641877019 Centerline is valid? [True, True] Translation: X:31.49, Y:-152.03, Z:0.69 [[-3.92626787e-01 9.19695213e-01 2.21840730e-03 3.14875104e+01] [ 9.19681147e-01 3.92633051e-01 -5.08673140e-03 -1.52030855e+02] [-5.54926255e-03 4.30403661e-05 -9.99984602e-01 6.94148263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12762800000002 meters 0.01333939996603438 Centerline is valid? [True, True] Translation: X:31.49, Y:-152.03, Z:0.69 [[-4.60608592e-01 8.87598228e-01 3.01833488e-03 3.14946917e+01] [ 8.87580157e-01 4.60618476e-01 -5.66423950e-03 -1.52033173e+02] [-6.41786976e-03 7.00167679e-05 -9.99979403e-01 6.94535203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15762800000002 meters 0.014018806550901645 Centerline is valid? [True, True] Translation: X:31.50, Y:-152.04, Z:0.70 [[-5.25998346e-01 8.50476200e-01 3.99667067e-03 3.15015824e+01] [ 8.50453149e-01 5.26013519e-01 -6.26254226e-03 -1.52037012e+02] [-7.42844595e-03 1.04894281e-04 -9.99972403e-01 6.95474671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18762800000002 meters 0.015234889336298987 Centerline is valid? [True, True] Translation: X:31.51, Y:-152.04, Z:0.70 [[-5.85073822e-01 8.10964492e-01 5.02149193e-03 3.15058171e+01] [ 8.10937205e-01 5.85095343e-01 -6.65498411e-03 -1.52040617e+02] [-8.33500735e-03 1.78457650e-04 -9.99965247e-01 6.95763583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21762800000002 meters 0.01661504610523761 Centerline is valid? [True, True] Translation: X:31.51, Y:-152.04, Z:0.70 [[-6.44173499e-01 7.64857792e-01 5.74983480e-03 3.15138859e+01] [ 7.64830268e-01 6.44199124e-01 -6.49225676e-03 -1.52044118e+02] [-8.66969171e-03 2.15507936e-04 -9.99962394e-01 6.96308832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24762800000002 meters 0.01712971264606432 Centerline is valid? [True, True] Translation: X:31.52, Y:-152.04, Z:0.70 [[-6.99715805e-01 7.14395202e-01 6.10640517e-03 3.15225021e+01] [ 7.14370936e-01 6.99742409e-01 -5.89300187e-03 -1.52044561e+02] [-8.48284292e-03 2.38811838e-04 -9.99963992e-01 6.96175963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27762800000002 meters 0.01868530156287666 Centerline is valid? [True, True] Translation: X:31.54, Y:-152.03, Z:0.70 [[-7.44882211e-01 6.67159504e-01 6.97777011e-03 3.15427442e+01] [ 6.67134019e-01 7.44914830e-01 -5.83926592e-03 -1.52033790e+02] [-9.09356619e-03 3.05542507e-04 -9.99958606e-01 6.96602880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30762800000002 meters 0.01894120524790466 Centerline is valid? [True, True] Translation: X:31.56, Y:-152.02, Z:0.70 [[-7.89106212e-01 6.14214464e-01 7.20965837e-03 3.15645809e+01] [ 6.14192426e-01 7.89139084e-01 -5.21256679e-03 -1.52018193e+02] [-8.89105712e-03 3.14848734e-04 -9.99960424e-01 6.96638737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33762800000002 meters 0.019308952758880737 Centerline is valid? [True, True] Translation: X:31.59, Y:-152.00, Z:0.70 [[-8.29917673e-01 5.57832241e-01 7.73611297e-03 3.15876844e+01] [ 5.57811702e-01 8.29953662e-01 -4.79842870e-03 -1.52002416e+02] [-9.09733352e-03 3.32993568e-04 -9.99958563e-01 6.96642932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36762800000002 meters 0.01898013320095271 Centerline is valid? [True, True] Translation: X:31.61, Y:-151.98, Z:0.70 [[-8.67633982e-01 4.97157167e-01 6.78417756e-03 3.16055040e+01] [ 4.97144428e-01 8.67660461e-01 -3.56963537e-03 -1.51980331e+02] [-7.66103243e-03 2.75579123e-04 -9.99970616e-01 6.96056230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39762800000003 meters 0.018331717848816584 Centerline is valid? [True, True] Translation: X:31.62, Y:-151.96, Z:0.70 [[-9.00949209e-01 4.33876153e-01 6.48125419e-03 3.16248987e+01] [ 4.33866903e-01 9.00972486e-01 -2.84422509e-03 -1.51957421e+02] [-7.07347315e-03 2.49499339e-04 -9.99974952e-01 6.95620171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42762800000003 meters 0.020635337051476407 Centerline is valid? [True, True] Translation: X:31.97, Y:-151.18, Z:-0.21 [[-9.02108026e-01 -4.31467978e-01 6.04105447e-03 3.19700099e+01] [ 4.31456385e-01 -9.02128216e-01 -3.17318659e-03 -1.51183199e+02] [ 6.81893409e-03 -2.56105565e-04 9.99976718e-01 -2.10508979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45762800000003 meters 0.020635337051476407 Centerline is valid? [True, True] Translation: X:31.58, Y:-151.94, Z:0.70 [[-9.02674200e-01 4.30279522e-01 6.23066843e-03 3.15777978e+01] [ 4.30271077e-01 9.02695672e-01 -2.70630473e-03 -1.51939520e+02] [-6.78886493e-03 2.37964957e-04 -9.99976927e-01 6.97653443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48762800000003 meters 0.019712505256145502 Centerline is valid? [True, True] Translation: X:31.60, Y:-151.91, Z:0.70 [[-9.31304492e-01 3.64176641e-01 6.87871013e-03 3.15966536e+01] [ 3.64168655e-01 9.31329863e-01 -2.42444145e-03 -1.51914320e+02] [-7.28927311e-03 2.47117399e-04 -9.99973402e-01 6.97415427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51762800000003 meters 0.018994501819137383 Centerline is valid? [True, True] Translation: X:31.61, Y:-151.89, Z:0.70 [[-9.54659965e-01 2.97625559e-01 6.58615108e-03 3.16138323e+01] [ 2.97620112e-01 9.54682657e-01 -1.81492382e-03 -1.51890420e+02] [-6.82785192e-03 2.27535904e-04 -9.99976664e-01 6.96006560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54762800000003 meters 0.01953892476576925 Centerline is valid? [True, True] Translation: X:31.85, Y:-151.08, Z:-0.21 [[-9.54544246e-01 -2.97997805e-01 6.52618992e-03 3.18513726e+01] [ 2.97989219e-01 -9.54566529e-01 -2.27329703e-03 -1.51080422e+02] [ 6.90711998e-03 -2.25228365e-04 9.99976120e-01 -2.09844630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57762800000003 meters 0.018478792260989533 Centerline is valid? [True, True] Translation: X:31.57, Y:-151.88, Z:0.69 [[-9.55721567e-01 2.94211640e-01 5.98313254e-03 3.15705739e+01] [ 2.94207237e-01 9.55740272e-01 -1.62321473e-03 -1.51877082e+02] [-6.19588939e-03 2.08939571e-04 -9.99980783e-01 6.94323330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60762800000003 meters 0.022549648553019785 Centerline is valid? [True, True] Translation: X:31.58, Y:-151.85, Z:0.70 [[-9.73985866e-01 2.26537800e-01 5.67074823e-03 3.15813029e+01] [ 2.26535149e-01 9.74002354e-01 -1.11402994e-03 -1.51853732e+02] [-5.77569202e-03 1.99574379e-04 -9.99983301e-01 6.96747225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63762800000003 meters 0.019461822402372646 Centerline is valid? [True, True] Translation: X:31.59, Y:-151.82, Z:0.70 [[-9.87528352e-01 1.57377515e-01 4.48017244e-03 3.15899237e+01] [ 1.57376621e-01 9.87538502e-01 -5.53583315e-04 -1.51821006e+02] [-4.51146435e-03 1.58395180e-04 -9.99989811e-01 6.95373819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.667628 meters 0.017815995085421622 Centerline is valid? [True, True] Translation: X:31.60, Y:-151.79, Z:0.69 [[-9.96202314e-01 8.70367654e-02 2.35623048e-03 3.15951209e+01] [ 8.70367205e-02 9.96205097e-01 -1.21789106e-04 -1.51790215e+02] [-2.35788894e-03 8.37519845e-05 -9.99997217e-01 6.92155073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.697628 meters 0.018333282570447446 Centerline is valid? [True, True] Translation: X:31.60, Y:-151.76, Z:0.69 [[-9.99873218e-01 1.58410575e-02 1.61504255e-03 3.15959540e+01] [ 1.58411296e-02 9.99874521e-01 3.18415450e-05 -1.51762035e+02] [-1.61433549e-03 5.74216065e-05 -9.99998695e-01 6.92074762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.727628 meters 0.018382965175159898 Centerline is valid? [True, True] Translation: X:31.59, Y:-151.73, Z:0.69 [[-9.98359271e-01 -5.72564091e-02 6.85407777e-04 3.15914112e+01] [-5.72563792e-02 9.98359506e-01 6.31435809e-05 -1.51732546e+02] [-6.87898745e-04 2.37960118e-05 -9.99999763e-01 6.91360801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.757628 meters 0.016935647468155596 Centerline is valid? [True, True] Translation: X:31.52, Y:-150.91, Z:-0.20 [[-9.98530325e-01 5.41954052e-02 -2.21219607e-04 3.15184232e+01] [-5.41953914e-02 -9.98530348e-01 -6.81309141e-05 -1.50912784e+02] [-2.24586874e-04 -5.60417006e-05 9.99999973e-01 -2.03554184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.787628 meters 0.01665254505067518 Centerline is valid? [True, True] Translation: X:31.48, Y:-151.74, Z:0.69 [[-9.97704297e-01 -6.77049368e-02 -1.47589063e-03 3.14760463e+01] [-6.77048000e-02 9.97705387e-01 -1.42481952e-04 -1.51736411e+02] [ 1.48215076e-03 -4.22299764e-05 -9.99998901e-01 6.90319038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.817628 meters 0.016276542418197128 Centerline is valid? [True, True] Translation: X:31.40, Y:-150.93, Z:-0.20 [[-9.98377497e-01 5.69045504e-02 -2.06053354e-03 3.14015777e+01] [-5.69044692e-02 -9.98379623e-01 -9.80662120e-05 -1.50926019e+02] [-2.06277511e-03 1.93464680e-05 9.99997872e-01 -2.02554713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84762800000001 meters 0.01524034435330813 Centerline is valid? [True, True] Translation: X:31.36, Y:-151.74, Z:0.69 [[-9.96694276e-01 -8.12026225e-02 -2.57973963e-03 3.13609271e+01] [-8.12022037e-02 9.96697613e-01 -2.66812004e-04 -1.51738710e+02] [ 2.59288617e-03 -5.64494535e-05 -9.99996637e-01 6.90131240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87762800000002 meters 0.014633042484639855 Centerline is valid? [True, True] Translation: X:31.28, Y:-150.94, Z:-0.20 [[-9.98431943e-01 5.59451850e-02 -1.94723479e-03 3.12832344e+01] [-5.59452479e-02 -9.98433838e-01 -2.22003686e-05 -1.50944866e+02] [-1.94542711e-03 8.67729758e-05 9.99998104e-01 -2.03904956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90762800000002 meters 0.013951608362146503 Centerline is valid? [True, True] Translation: X:31.25, Y:-151.74, Z:0.69 [[-9.95645521e-01 -9.32093944e-02 -1.41585772e-03 3.12490272e+01] [-9.32092677e-02 9.95646528e-01 -1.55396816e-04 -1.51744080e+02] [ 1.42417827e-03 -2.27490827e-05 -9.99998986e-01 6.92109641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93762800000002 meters 0.01283585583430601 Centerline is valid? [True, True] Translation: X:31.23, Y:-151.72, Z:0.69 [[-9.85582409e-01 -1.69196081e-01 -2.06741280e-05 3.12336461e+01] [-1.69196081e-01 9.85582410e-01 -2.49656216e-06 -1.51715253e+02] [ 2.07984652e-05 1.03741368e-06 -1.00000000e+00 6.93121717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96762800000002 meters 0.016022793839162 Centerline is valid? [True, True] Translation: X:31.21, Y:-151.69, Z:0.70 [[-9.70473182e-01 -2.41207756e-01 7.88191651e-04 3.12068271e+01] [-2.41207668e-01 9.70473502e-01 2.05853711e-04 -1.51692362e+02] [-8.14572623e-04 9.65763546e-06 -9.99999668e-01 6.96832925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99762800000002 meters 0.01214305123472911 Centerline is valid? [True, True] Translation: X:31.16, Y:-151.68, Z:0.69 [[-9.49052243e-01 -3.15118239e-01 5.79645132e-04 3.11550782e+01] [-3.15118177e-01 9.49052420e-01 1.97916649e-04 -1.51678238e+02] [-6.12480761e-04 5.17652230e-06 -9.99999812e-01 6.94443199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02762800000002 meters 0.012072238165772325 Centerline is valid? [True, True] Translation: X:31.09, Y:-151.67, Z:0.70 [[-9.22739911e-01 -3.85422484e-01 7.51624189e-04 3.10913191e+01] [-3.85422352e-01 9.22740217e-01 3.19794782e-04 -1.51672799e+02] [-8.16809967e-04 5.39464605e-06 -9.99999666e-01 6.95203386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05762800000002 meters 0.011948627866011566 Centerline is valid? [True, True] Translation: X:31.02, Y:-151.67, Z:0.70 [[-8.90992102e-01 -4.54018286e-01 6.85217433e-04 3.10234793e+01] [-4.54018148e-01 8.90992366e-01 3.54034005e-04 -1.51674421e+02] [-7.71261414e-04 4.34035252e-06 -9.99999703e-01 6.95664488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08762800000002 meters 0.011839652009942145 Centerline is valid? [True, True] Translation: X:30.94, Y:-151.69, Z:0.70 [[-8.53880524e-01 -5.20468443e-01 8.07219449e-04 3.09447493e+01] [-5.20468206e-01 8.53880905e-01 4.96608725e-04 -1.51689570e+02] [-9.47738443e-04 3.91245982e-06 -9.99999551e-01 6.96255914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11762800000002 meters 0.011968400623422262 Centerline is valid? [True, True] Translation: X:30.86, Y:-151.72, Z:0.70 [[-8.12281830e-01 -5.83264791e-01 6.42272680e-04 3.08592926e+01] [-5.83264606e-01 8.12282083e-01 4.65435016e-04 -1.51715738e+02] [-7.93178448e-04 3.44948474e-06 -9.99999685e-01 6.95851235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14762800000003 meters 0.01190766319056896 Centerline is valid? [True, True] Translation: X:30.77, Y:-151.75, Z:0.70 [[-7.65657706e-01 -6.43247904e-01 6.41097883e-04 3.07747317e+01] [-6.43247675e-01 7.65657975e-01 5.43005456e-04 -1.51749018e+02] [-8.40148828e-04 3.37158931e-06 -9.99999647e-01 6.95313678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17762800000003 meters 0.011976174649344714 Centerline is valid? [True, True] Translation: X:30.68, Y:-151.80, Z:0.70 [[-7.14300105e-01 -6.99838594e-01 1.14147032e-03 3.06832994e+01] [-6.99837690e-01 7.14301017e-01 1.12474373e-03 -1.51799064e+02] [-1.60249248e-03 4.56061021e-06 -9.99998716e-01 6.96242043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20762800000003 meters 0.012048010400020204 Centerline is valid? [True, True] Translation: X:30.60, Y:-151.85, Z:0.70 [[-6.58709482e-01 -7.52395286e-01 1.77557503e-03 3.05961087e+01] [-7.52392526e-01 6.58711875e-01 2.03772043e-03 -1.51853407e+02] [-2.70276360e-03 6.33638528e-06 -9.99996348e-01 6.97336775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23762800000003 meters 0.012110984023244165 Centerline is valid? [True, True] Translation: X:30.52, Y:-151.92, Z:0.70 [[-5.99165245e-01 -8.00622549e-01 2.13136645e-03 3.05151463e+01] [-8.00617436e-01 5.99169036e-01 2.86146475e-03 -1.51915183e+02] [-3.56800198e-03 8.08108909e-06 -9.99993635e-01 6.98235178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26762800000003 meters 0.012152145894544369 Centerline is valid? [True, True] Translation: X:30.43, Y:-151.99, Z:0.70 [[-5.36354306e-01 -8.43990261e-01 2.12092104e-03 3.04310500e+01] [-8.43983583e-01 5.36358499e-01 3.35745802e-03 -1.51992026e+02] [-3.97123590e-03 1.07645275e-05 -9.99992115e-01 6.98260413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29762800000003 meters 0.012248867002012023 Centerline is valid? [True, True] Translation: X:30.35, Y:-152.07, Z:0.70 [[-4.70791895e-01 -8.82242564e-01 1.74646654e-03 3.03542386e+01] [-8.82236382e-01 4.70795134e-01 3.30270814e-03 -1.52073474e+02] [-3.73601765e-03 1.40919064e-05 -9.99993021e-01 6.98618943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32762800000003 meters 0.012448433613904027 Centerline is valid? [True, True] Translation: X:30.28, Y:-152.16, Z:0.70 [[-4.02399727e-01 -9.15462962e-01 1.42280299e-03 3.02817578e+01] [-9.15457086e-01 4.02402242e-01 3.28024300e-03 -1.52163285e+02] [-3.57548009e-03 1.74538109e-05 -9.99993608e-01 6.98709969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35762800000003 meters 0.012423583333971264 Centerline is valid? [True, True] Translation: X:30.21, Y:-152.26, Z:0.70 [[-3.31245507e-01 -9.43544112e-01 9.60346996e-04 3.02133933e+01] [-9.43540000e-01 3.31246898e-01 2.78584787e-03 -1.52259526e+02] [-2.94668232e-03 1.66737824e-05 -9.99995658e-01 6.99031772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38762800000003 meters 0.01254664599137184 Centerline is valid? [True, True] Translation: X:30.15, Y:-152.36, Z:0.70 [[-2.57859067e-01 -9.66182221e-01 7.86066313e-04 3.01538694e+01] [-9.66177500e-01 2.57860264e-01 3.02040894e-03 -1.52360925e+02] [-3.12096069e-03 1.93602451e-05 -9.99995130e-01 6.98808393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.417628 meters 0.012663282593889645 Centerline is valid? [True, True] Translation: X:30.10, Y:-152.47, Z:0.70 [[-1.83883884e-01 -9.82947812e-01 5.61441662e-04 3.01011932e+01] [-9.82942810e-01 1.83884739e-01 3.13600402e-03 -1.52470225e+02] [-3.18576885e-03 2.47955541e-05 -9.99994925e-01 6.98615894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.447628 meters 0.012904640301715354 Centerline is valid? [True, True] Translation: X:30.06, Y:-152.58, Z:0.70 [[-1.09035648e-01 -9.94037772e-01 3.68184596e-04 3.00584376e+01] [-9.94030962e-01 1.09036264e-01 3.67957927e-03 -1.52582456e+02] [-3.69778625e-03 3.52184234e-05 -9.99993163e-01 6.98392957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.477628 meters 0.013383423064092752 Centerline is valid? [True, True] Translation: X:30.02, Y:-152.70, Z:0.70 [[-3.39275581e-02 -9.99424291e-01 9.01521603e-05 3.00249430e+01] [-9.99416064e-01 3.39276446e-02 4.05528051e-03 -1.52699388e+02] [-4.05600450e-03 4.74862480e-05 -9.99991773e-01 6.97976850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.507628 meters 0.014814603215818883 Centerline is valid? [True, True] Translation: X:30.00, Y:-152.82, Z:0.70 [[ 3.74857576e-02 -9.99297148e-01 -1.68640857e-04 3.00014531e+01] [-9.99292534e-01 -3.74860971e-02 3.03725395e-03 -1.52817109e+02] [-3.04144090e-03 5.46677842e-05 -9.99995373e-01 6.97586089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.537628 meters 0.015759427562881286 Centerline is valid? [True, True] Translation: X:29.99, Y:-152.94, Z:0.70 [[ 1.11481849e-01 -9.93766401e-01 -3.70162312e-04 2.99866549e+01] [-9.93762557e-01 -1.11482447e-01 2.76482826e-03 -1.52943437e+02] [-2.78886004e-03 5.96252796e-05 -9.99996109e-01 6.97557558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.567628 meters 0.01660662925447301 Centerline is valid? [True, True] Translation: X:29.98, Y:-153.06, Z:0.70 [[ 1.84532155e-01 -9.82826321e-01 -5.52826286e-04 2.99798728e+01] [-9.82822924e-01 -1.84532972e-01 2.58490603e-03 -1.53061603e+02] [-2.64252836e-03 6.63320659e-05 -9.99996506e-01 6.97454520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59762800000001 meters 0.021881488342907762 Centerline is valid? [True, True] Translation: X:29.98, Y:-153.18, Z:0.70 [[ 2.52819541e-01 -9.67512790e-01 -1.13165342e-03 2.99848892e+01] [-9.67505262e-01 -2.52822041e-01 3.81894228e-03 -1.53179242e+02] [-3.98098243e-03 1.29377407e-04 -9.99992068e-01 7.02363405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62762800000002 meters 0.020518342515547915 Centerline is valid? [True, True] Translation: X:30.00, Y:-153.30, Z:0.70 [[ 3.24511043e-01 -9.45881110e-01 -1.22846299e-03 2.99964127e+01] [-9.45875674e-01 -3.24513346e-01 3.20898154e-03 -1.53298181e+02] [-3.43396766e-03 1.20623318e-04 -9.99994097e-01 6.98756194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65762800000002 meters 0.02152308088195354 Centerline is valid? [True, True] Translation: X:30.02, Y:-153.42, Z:0.70 [[ 3.94625741e-01 -9.18840638e-01 -1.55133698e-03 3.00183709e+01] [-9.18834829e-01 -3.94628767e-01 3.27001343e-03 -1.53419134e+02] [-3.61682343e-03 1.34990979e-04 -9.99993450e-01 6.99161105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68762800000002 meters 0.02244565289156747 Centerline is valid? [True, True] Translation: X:30.05, Y:-153.53, Z:0.70 [[ 4.63337162e-01 -8.86179455e-01 -2.15570606e-03 3.00478750e+01] [-8.86171480e-01 -4.63342147e-01 3.76323145e-03 -1.53534929e+02] [-4.33372787e-03 1.66680252e-04 -9.99990595e-01 6.99099353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71762800000002 meters 0.020338768944509894 Centerline is valid? [True, True] Translation: X:30.08, Y:-153.65, Z:0.70 [[ 5.30736832e-01 -8.47533237e-01 -2.41399560e-03 3.00819484e+01] [-8.47525824e-01 -5.30742297e-01 3.54843910e-03 -1.53651903e+02] [-4.28862964e-03 1.62636279e-04 -9.99990791e-01 6.98263489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74762800000002 meters 0.023718079669761895 Centerline is valid? [True, True] Translation: X:30.13, Y:-153.75, Z:0.70 [[ 5.95864159e-01 -8.03080950e-01 -2.62520214e-03 3.01252443e+01] [-8.03074252e-01 -5.95869923e-01 3.28357909e-03 -1.53754604e+02] [-4.20125881e-03 1.51665152e-04 -9.99991163e-01 7.00673422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77762800000002 meters 0.02118219309067939 Centerline is valid? [True, True] Translation: X:30.17, Y:-153.86, Z:0.70 [[ 6.58110377e-01 -7.52917247e-01 -2.52026136e-03 3.01728676e+01] [-7.52912421e-01 -6.58115191e-01 2.69851260e-03 -1.53859708e+02] [-3.69037897e-03 1.21616938e-04 -9.99993183e-01 6.98051882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80762800000002 meters 0.01608281806151256 Centerline is valid? [True, True] Translation: X:30.22, Y:-153.97, Z:0.70 [[ 7.19119900e-01 -6.94884903e-01 -1.24095878e-03 3.02212311e+01] [-6.94883971e-01 -7.19120970e-01 1.13910486e-03 -1.53966060e+02] [-1.68394625e-03 4.31693890e-05 -9.99998581e-01 6.96331798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83762800000002 meters 0.015192014083695788 Centerline is valid? [True, True] Translation: X:30.21, Y:-153.97, Z:0.70 [[ 7.74043909e-01 -6.33131702e-01 -5.24723782e-04 3.02134732e+01] [-6.33131570e-01 -7.74044086e-01 4.09987795e-04 -1.53974611e+02] [-6.65735611e-04 1.48706363e-05 -9.99999778e-01 6.95568262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86762800000002 meters 0.014071769841202503 Centerline is valid? [True, True] Translation: X:30.21, Y:-153.98, Z:0.69 [[ 8.23704180e-01 -5.67019772e-01 -3.52464875e-05 3.02060209e+01] [-5.67019772e-01 -8.23704181e-01 2.19077713e-05 -1.53984953e+02] [-4.14548188e-05 1.93993255e-06 -9.99999999e-01 6.94868079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89762800000003 meters 0.01289964734284615 Centerline is valid? [True, True] Translation: X:30.20, Y:-154.00, Z:0.69 [[ 8.69703367e-01 -4.93573640e-01 1.05636671e-03 3.01973252e+01] [-4.93573287e-01 -8.69704008e-01 -5.90589857e-04 -1.53996227e+02] [ 1.21022595e-03 -7.75640346e-06 -9.99999268e-01 6.93812503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92762800000003 meters 0.012616200676322077 Centerline is valid? [True, True] Translation: X:30.19, Y:-154.01, Z:0.69 [[ 9.07217923e-01 -4.20658121e-01 1.54449817e-03 3.01923167e+01] [-4.20657521e-01 -9.07219238e-01 -7.10564334e-04 -1.54005582e+02] [ 1.70010311e-03 -5.06807068e-06 -9.99998555e-01 6.93534016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95762800000003 meters 0.01255888146265114 Centerline is valid? [True, True] Translation: X:30.19, Y:-154.02, Z:0.69 [[ 9.38391095e-01 -3.45570726e-01 1.73935358e-03 3.01882253e+01] [-3.45570132e-01 -9.38392707e-01 -6.40627831e-04 -1.54016289e+02] [ 1.85357894e-03 9.08051833e-08 -9.99998282e-01 6.93609348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98762800000003 meters 0.012761099868057244 Centerline is valid? [True, True] Translation: X:30.18, Y:-154.03, Z:0.69 [[ 9.63635522e-01 -2.67216851e-01 1.31752305e-03 3.01843838e+01] [-2.67216593e-01 -9.63636422e-01 -3.71601683e-04 -1.54027247e+02] [ 1.36891143e-03 6.02456065e-06 -9.99999063e-01 6.94279801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01762800000003 meters 0.012856792678669769 Centerline is valid? [True, True] Translation: X:30.18, Y:-154.04, Z:0.70 [[ 9.81808741e-01 -1.89870708e-01 8.42840586e-04 3.01821026e+01] [-1.89870633e-01 -9.81809103e-01 -1.68408680e-04 -1.54035646e+02] [ 8.59484435e-04 5.31443794e-06 -9.99999631e-01 6.95167495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04762800000003 meters 0.012950197343610265 Centerline is valid? [True, True] Translation: X:30.18, Y:-154.04, Z:0.70 [[ 9.93847093e-01 -1.10756875e-01 -9.32508088e-04 3.01777683e+01] [-1.10756821e-01 -9.93847531e-01 1.08670025e-04 -1.54042983e+02] [-9.38806813e-04 -4.71975682e-06 -9.99999559e-01 6.97445263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07762800000003 meters 0.012956068833728525 Centerline is valid? [True, True] Translation: X:30.17, Y:-154.05, Z:0.70 [[ 9.99468878e-01 -3.25119338e-02 -2.22192153e-03 3.01742278e+01] [-3.25118244e-02 -9.99471347e-01 8.53701649e-05 -1.54048432e+02] [-2.22352245e-03 -1.30861004e-05 -9.99997528e-01 6.98262482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10762800000003 meters 0.012948672654333082 Centerline is valid? [True, True] Translation: X:30.17, Y:-154.05, Z:0.70 [[ 9.98957763e-01 4.55221563e-02 -3.33485631e-03 3.01710386e+01] [ 4.55219671e-02 -9.98963329e-01 -1.32671926e-04 -1.54053733e+02] [-3.33743867e-03 -1.92755688e-05 -9.99994431e-01 6.98951912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13762800000003 meters 0.012835980941249974 Centerline is valid? [True, True] Translation: X:30.17, Y:-154.06, Z:0.70 [[ 9.92397927e-01 1.23000906e-01 -4.13898152e-03 3.01683638e+01] [ 1.22999928e-01 -9.92406558e-01 -4.90945642e-04 -1.54060289e+02] [-4.16793916e-03 -2.18809931e-05 -9.99991314e-01 6.99255914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.167628 meters 0.012712162596330632 Centerline is valid? [True, True] Translation: X:30.16, Y:-154.06, Z:0.70 [[ 9.80275132e-01 1.97559994e-01 -5.54203891e-03 3.01641641e+01] [ 1.97556919e-01 -9.80290798e-01 -1.10221963e-03 -1.54064011e+02] [-5.65056425e-03 -1.43896402e-05 -9.99984035e-01 7.01020468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.197628 meters 0.012710385884855104 Centerline is valid? [True, True] Translation: X:30.16, Y:-154.07, Z:0.70 [[ 9.62292775e-01 2.71947213e-01 -6.10968171e-03 3.01610743e+01] [ 2.71941763e-01 -9.62312170e-01 -1.72170909e-03 -1.54068904e+02] [-6.34763506e-03 -4.68939815e-06 -9.99979854e-01 7.01179504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.227628 meters 0.0129556635331942 Centerline is valid? [True, True] Translation: X:30.16, Y:-154.07, Z:0.70 [[ 9.39484420e-01 3.42533552e-01 -6.30798849e-03 3.01575873e+01] [ 3.42525668e-01 -9.39505596e-01 -2.32421370e-03 -1.54071262e+02] [-6.72251166e-03 2.29145883e-05 -9.99977403e-01 7.01497277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.257628 meters 0.013021895645379856 Centerline is valid? [True, True] Translation: X:30.15, Y:-154.08, Z:0.70 [[ 9.10746369e-01 4.12925483e-01 -5.79629005e-03 3.01535704e+01] [ 4.12916866e-01 -9.10764813e-01 -2.66793546e-03 -1.54076574e+02] [-6.38071556e-03 3.64266137e-05 -9.99979642e-01 7.01232486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.287628 meters 0.013209738653968201 Centerline is valid? [True, True] Translation: X:30.15, Y:-154.08, Z:0.70 [[ 8.76757507e-01 4.80904610e-01 -5.19899075e-03 3.01511659e+01] [ 4.80895829e-01 -8.76772920e-01 -2.90655128e-03 -1.54082856e+02] [-5.95610821e-03 4.81676862e-05 -9.99982261e-01 7.01127546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.317628 meters 0.014033267117317172 Centerline is valid? [True, True] Translation: X:30.15, Y:-154.09, Z:0.70 [[ 8.39367533e-01 5.43545741e-01 -4.49136759e-03 3.01472758e+01] [ 5.43537493e-01 -8.39379546e-01 -2.99519445e-03 -1.54085710e+02] [-5.39798728e-03 7.28422898e-05 -9.99985428e-01 7.00183780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34762800000001 meters 0.014033267117317172 Centerline is valid? [True, True] Translation: X:30.15, Y:-154.10, Z:0.70 [[ 7.94217769e-01 6.07618410e-01 -4.24301847e-03 3.01471777e+01] [ 6.07609247e-01 -7.94229099e-01 -3.33779634e-03 -1.54095955e+02] [-5.39803524e-03 7.28399059e-05 -9.99985428e-01 7.00184211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37762800000002 meters 0.01474499136496996 Centerline is valid? [True, True] Translation: X:30.14, Y:-154.10, Z:0.70 [[ 7.46050493e-01 6.65880378e-01 -3.46181716e-03 3.01441241e+01] [ 6.65872728e-01 -7.46058521e-01 -3.19266848e-03 -1.54103165e+02] [-4.70865349e-03 7.67622626e-05 -9.99988911e-01 6.98902447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40762800000002 meters 0.014500223168515132 Centerline is valid? [True, True] Translation: X:30.15, Y:-154.11, Z:0.70 [[ 6.92159783e-01 7.21741568e-01 -1.98596334e-03 3.01476584e+01] [ 7.21738387e-01 -6.92162630e-01 -2.14349988e-03 -1.54114936e+02] [-2.92166257e-03 5.02984343e-05 -9.99995731e-01 6.97273959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43762800000002 meters 0.015604484419638642 Centerline is valid? [True, True] Translation: X:30.15, Y:-154.13, Z:0.70 [[ 6.35664083e-01 7.71964981e-01 -1.11444389e-03 3.01476969e+01] [ 7.71963693e-01 -6.35665059e-01 -1.41073100e-03 -1.54125194e+02] [-1.79744797e-03 3.64408050e-05 -9.99998384e-01 6.96954041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46762800000002 meters 0.015474918087808652 Centerline is valid? [True, True] Translation: X:30.15, Y:-154.14, Z:0.70 [[ 5.74288569e-01 8.18652571e-01 -7.79975147e-04 3.01519279e+01] [ 8.18651742e-01 -5.74289098e-01 -1.16500094e-03 -1.54136694e+02] [-1.40166224e-03 3.05187103e-05 -9.99999017e-01 6.97158811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49762800000002 meters 0.01617989092875043 Centerline is valid? [True, True] Translation: X:30.15, Y:-154.15, Z:0.70 [[ 5.10183448e-01 8.60065337e-01 -6.82758299e-04 3.01541035e+01] [ 8.60064478e-01 -5.10183903e-01 -1.21605236e-03 -1.54147404e+02] [-1.39421678e-03 3.31936258e-05 -9.99999028e-01 6.97400759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52762800000002 meters 0.016405552833255635 Centerline is valid? [True, True] Translation: X:30.16, Y:-154.16, Z:0.70 [[ 4.41864544e-01 8.97081296e-01 -9.33903808e-04 3.01573614e+01] [ 8.97079029e-01 -4.41865528e-01 -2.01761955e-03 -1.54156804e+02] [-2.22262866e-03 5.37290216e-05 -9.99997529e-01 6.97610441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55762800000002 meters 0.015948813382588956 Centerline is valid? [True, True] Translation: X:30.17, Y:-154.17, Z:0.70 [[ 3.69881495e-01 9.29078174e-01 -1.19379815e-03 3.01657574e+01] [ 9.29072606e-01 -3.69883413e-01 -3.21771228e-03 -1.54167656e+02] [-3.43107238e-03 8.10470684e-05 -9.99994111e-01 6.98989574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58762800000002 meters 0.016099038807897908 Centerline is valid? [True, True] Translation: X:30.17, Y:-154.18, Z:0.70 [[ 2.95598418e-01 9.55311488e-01 -1.23905083e-03 3.01722661e+01] [ 9.55301552e-01 -2.95600996e-01 -4.35831935e-03 -1.54178463e+02] [-4.52981721e-03 1.04645125e-04 -9.99989735e-01 6.99578390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61762800000002 meters 0.015907006566325432 Centerline is valid? [True, True] Translation: X:30.18, Y:-154.19, Z:0.70 [[ 2.19614690e-01 9.75586211e-01 -9.65384664e-04 3.01805606e+01] [ 9.75574425e-01 -2.19616784e-01 -4.79680782e-03 -1.54187841e+02] [-4.89171424e-03 1.11644874e-04 -9.99988029e-01 7.00395936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64762800000003 meters 0.015722026899639387 Centerline is valid? [True, True] Translation: X:30.19, Y:-154.20, Z:0.70 [[ 1.42179412e-01 9.89840707e-01 -6.24119826e-04 3.01905821e+01] [ 9.89827234e-01 -1.42180734e-01 -5.16581996e-03 -1.54196287e+02] [-5.20207670e-03 1.16702441e-04 -9.99986462e-01 7.00501038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67762800000003 meters 0.015745045227557045 Centerline is valid? [True, True] Translation: X:30.20, Y:-154.20, Z:0.70 [[ 6.34880712e-02 9.97982573e-01 -2.21362409e-04 3.01998550e+01] [ 9.97968539e-01 -6.34883526e-02 -5.29387591e-03 -1.54204622e+02] [-5.29724984e-03 1.15185251e-04 -9.99985963e-01 7.00778892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70762800000003 meters 0.015143260339903293 Centerline is valid? [True, True] Translation: X:30.21, Y:-154.21, Z:0.70 [[-1.69806755e-02 9.99855798e-01 1.97265236e-04 3.02123349e+01] [ 9.99841312e-01 1.69814916e-02 -5.38325713e-03 -1.54211187e+02] [-5.38583072e-03 1.05822590e-04 -9.99985491e-01 7.00342516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73762800000003 meters 0.014994278084075245 Centerline is valid? [True, True] Translation: X:30.22, Y:-154.22, Z:0.70 [[-9.69654966e-02 9.95287553e-01 6.16302770e-04 3.02220248e+01] [ 9.95273273e-01 9.69674073e-02 -5.33233016e-03 -1.54217808e+02] [-5.36696312e-03 9.63376330e-05 -9.99985593e-01 6.99913528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76762800000003 meters 0.013950240821906214 Centerline is valid? [True, True] Translation: X:30.24, Y:-154.22, Z:0.70 [[-1.78283848e-01 9.83978840e-01 7.15730689e-04 3.02369875e+01] [ 9.83972069e-01 1.78285277e-01 -3.65058173e-03 -1.54221408e+02] [-3.71969942e-03 5.34192475e-05 -9.99993080e-01 6.98378367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79762800000003 meters 0.013747560730467255 Centerline is valid? [True, True] Translation: X:30.25, Y:-154.22, Z:0.70 [[-2.56255321e-01 9.66608904e-01 6.61590529e-04 3.02486475e+01] [ 9.66605998e-01 2.56256173e-01 -2.37016727e-03 -1.54224395e+02] [-2.46056145e-03 3.21293987e-05 -9.99996972e-01 6.97924222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82762800000003 meters 0.01356882254043991 Centerline is valid? [True, True] Translation: X:30.26, Y:-154.23, Z:0.70 [[-3.32230704e-01 9.43197988e-01 5.61166809e-04 3.02605979e+01] [ 9.43196742e-01 3.32231177e-01 -1.53314510e-03 -1.54226132e+02] [-1.63249649e-03 1.99328289e-05 -9.99998667e-01 6.97796661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85762800000003 meters 0.013475160388160675 Centerline is valid? [True, True] Translation: X:30.27, Y:-154.23, Z:0.70 [[-4.05434569e-01 9.14124051e-01 1.72191928e-04 3.02721447e+01] [ 9.14123975e-01 4.05434605e-01 -3.74054189e-04 -1.54228334e+02] [-4.11744497e-04 5.75027118e-06 -9.99999915e-01 6.97787083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88762800000003 meters 0.013544091919036093 Centerline is valid? [True, True] Translation: X:30.28, Y:-154.23, Z:0.70 [[-4.74853773e-01 8.80064625e-01 -3.86255799e-04 3.02821088e+01] [ 8.80064349e-01 4.74853930e-01 6.97805635e-04 -1.54228953e+02] [ 7.97529139e-04 -8.57431928e-06 -9.99999682e-01 6.96588434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.917628 meters 0.014022134752785562 Centerline is valid? [True, True] Translation: X:30.29, Y:-154.23, Z:0.70 [[-5.40998974e-01 8.41022325e-01 -1.24872948e-03 3.02905397e+01] [ 8.41020211e-01 5.41000415e-01 1.88587095e-03 -1.54231533e+02] [ 2.26162273e-03 -2.99524815e-05 -9.99997442e-01 6.95072877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.947628 meters 0.014643776429227953 Centerline is valid? [True, True] Translation: X:30.30, Y:-154.23, Z:0.69 [[-6.01728960e-01 7.98698598e-01 -1.67568399e-03 3.02985213e+01] [ 7.98695721e-01 6.01731292e-01 2.14419463e-03 -1.54232296e+02] [ 2.72087674e-03 -4.81376298e-05 -9.99996297e-01 6.93955724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.977628 meters 0.015208806218473257 Centerline is valid? [True, True] Translation: X:30.31, Y:-154.23, Z:0.69 [[-6.60915759e-01 7.50457507e-01 -1.97231450e-03 3.03068503e+01] [ 7.50454422e-01 6.60918699e-01 2.15237863e-03 -1.54232389e+02] [ 2.91880823e-03 -5.75911778e-05 -9.99995739e-01 6.93840032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.007628 meters 0.01649838914243911 Centerline is valid? [True, True] Translation: X:30.31, Y:-154.23, Z:0.69 [[-7.16381505e-01 6.97706166e-01 -1.90923508e-03 3.03145527e+01] [ 6.97703895e-01 7.16384047e-01 1.78092836e-03 -1.54234222e+02] [ 2.61031025e-03 -5.62566158e-05 -9.99996592e-01 6.93807450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.037628 meters 0.016450592847136448 Centerline is valid? [True, True] Translation: X:30.34, Y:-154.22, Z:0.70 [[-7.62239889e-01 6.47293831e-01 -1.02394614e-03 3.03385994e+01] [ 6.47293302e-01 7.62240576e-01 8.28364255e-04 -1.54217313e+02] [ 1.31668837e-03 -3.13812016e-05 -9.99999133e-01 6.95922289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.067628 meters 0.0169721701991788 Centerline is valid? [True, True] Translation: X:30.36, Y:-154.20, Z:0.70 [[-8.05508104e-01 5.92584737e-01 -1.52207008e-04 3.03591910e+01] [ 5.92584728e-01 8.05508119e-01 1.07322920e-04 -1.54198205e+02] [ 1.86201905e-04 -3.74606671e-06 -9.99999983e-01 6.97470095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09762800000001 meters 0.016116090845906397 Centerline is valid? [True, True] Translation: X:30.38, Y:-154.18, Z:0.70 [[-8.45081583e-01 5.34637226e-01 3.93088517e-04 3.03808371e+01] [ 5.34637175e-01 8.45081675e-01 -2.33293245e-04 -1.54176856e+02] [-4.56919156e-04 1.30079090e-05 -9.99999896e-01 6.98418654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12762800000002 meters 0.018856594261970956 Centerline is valid? [True, True] Translation: X:30.80, Y:-153.50, Z:-0.21 [[-8.37472058e-01 -5.46477281e-01 1.76991295e-03 3.07963841e+01] [ 5.46476163e-01 -8.37473928e-01 -1.10614293e-03 -1.53498409e+02] [ 2.08673793e-03 4.08514389e-05 9.99997822e-01 -2.14622273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15762800000002 meters 0.016804811339162215 Centerline is valid? [True, True] Translation: X:30.35, Y:-154.16, Z:0.70 [[-8.47130619e-01 5.31383463e-01 1.15342832e-03 3.03475344e+01] [ 5.31383026e-01 8.47131403e-01 -6.82410537e-04 -1.54160552e+02] [-1.33972702e-03 3.48213674e-05 -9.99999102e-01 6.98681202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18762800000002 meters 0.01644364795880964 Centerline is valid? [True, True] Translation: X:30.36, Y:-154.14, Z:0.70 [[-8.82976673e-01 4.69416481e-01 6.01647744e-04 3.03648494e+01] [ 4.69416385e-01 8.82976878e-01 -3.00308052e-04 -1.54138140e+02] [-6.72210596e-04 1.72583046e-05 -9.99999774e-01 6.97948614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21762800000002 meters 0.01583337990880048 Centerline is valid? [True, True] Translation: X:30.38, Y:-154.11, Z:0.70 [[-9.14424838e-01 4.04755068e-01 7.42301073e-04 3.03775513e+01] [ 4.04754952e-01 9.14425139e-01 -3.07054749e-04 -1.54112351e+02] [-8.03060728e-04 1.96715464e-05 -9.99999677e-01 6.97173421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24762800000002 meters 0.01643867570105874 Centerline is valid? [True, True] Translation: X:30.39, Y:-154.09, Z:0.70 [[-9.41756965e-01 3.36294091e-01 -3.20961359e-04 3.03909460e+01] [ 3.36294074e-01 9.41757020e-01 1.07660262e-04 -1.54086956e+02] [ 3.38473122e-04 -6.54760127e-06 -9.99999943e-01 6.97583360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27762800000002 meters 0.015339342919435846 Centerline is valid? [True, True] Translation: X:30.40, Y:-154.06, Z:0.70 [[-9.63683843e-01 2.67045762e-01 -1.05612294e-04 3.04039552e+01] [ 2.67045760e-01 9.63683849e-01 2.76604769e-05 -1.54058278e+02] [ 1.09163475e-04 -1.54736077e-06 -9.99999994e-01 6.98267644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30762800000002 meters 0.014847732411902964 Centerline is valid? [True, True] Translation: X:30.60, Y:-153.30, Z:-0.21 [[-9.54939349e-01 -2.96800849e-01 -3.08521374e-04 3.06009175e+01] [ 2.96800836e-01 -9.54939399e-01 8.74145371e-05 -1.53295936e+02] [-3.20563924e-04 -8.09382073e-06 9.99999949e-01 -2.11281285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33762800000002 meters 0.01369929997390728 Centerline is valid? [True, True] Translation: X:30.35, Y:-154.04, Z:0.70 [[-9.66679226e-01 2.55990335e-01 -4.72146141e-04 3.03488180e+01] [ 2.55990307e-01 9.66679341e-01 1.19786101e-04 -1.54040311e+02] [ 4.87078004e-04 -5.07010032e-06 -9.99999881e-01 6.98550031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36762800000002 meters 0.013187870766985951 Centerline is valid? [True, True] Translation: X:30.55, Y:-153.29, Z:-0.21 [[-9.53667845e-01 -3.00861482e-01 -9.93306803e-05 3.05472341e+01] [ 3.00861477e-01 -9.53667850e-01 5.78676984e-05 -1.53286943e+02] [-1.12138638e-04 2.53017880e-05 9.99999993e-01 -2.11690138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39762800000003 meters 0.012616253155190906 Centerline is valid? [True, True] Translation: X:30.30, Y:-154.03, Z:0.70 [[-9.69059863e-01 2.46824708e-01 7.38126290e-04 3.03008480e+01] [ 2.46824640e-01 9.69060144e-01 -1.82735373e-04 -1.54025649e+02] [-7.60392375e-04 5.10624048e-06 -9.99999711e-01 6.99705682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42762800000003 meters 0.01234068965053648 Centerline is valid? [True, True] Translation: X:30.49, Y:-153.28, Z:-0.21 [[-9.52266971e-01 -3.05260932e-01 1.83827210e-03 3.04916795e+01] [ 3.05260497e-01 -9.52268743e-01 -5.19470887e-04 -1.53277383e+02] [ 1.90910323e-03 6.64768881e-05 9.99998175e-01 -2.13537106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45762800000003 meters 0.012390942515710388 Centerline is valid? [True, True] Translation: X:30.25, Y:-154.01, Z:0.70 [[-9.71923771e-01 2.35284956e-01 2.27452871e-03 3.02518187e+01] [ 2.35284302e-01 9.71926432e-01 -5.55032949e-04 -1.54010718e+02] [-2.34126548e-03 -4.28881729e-06 -9.99997259e-01 7.01161196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48762800000003 meters 0.012438155947014614 Centerline is valid? [True, True] Translation: X:30.26, Y:-153.98, Z:0.70 [[-9.86538278e-01 1.63509543e-01 2.61840024e-03 3.02592229e+01] [ 1.63508938e-01 9.86541752e-01 -4.45191725e-04 -1.53982815e+02] [-2.65595426e-03 -1.10668357e-05 -9.99996473e-01 7.01980441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51762800000003 meters 0.012758093265079033 Centerline is valid? [True, True] Translation: X:30.39, Y:-153.23, Z:-0.22 [[-9.70377042e-01 -2.41577083e-01 2.98474752e-03 3.03880969e+01] [ 2.41576068e-01 -9.70381632e-01 -7.01396281e-04 -1.53229693e+02] [ 3.06578543e-03 4.04247224e-05 9.99995300e-01 -2.15831273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54762800000003 meters 0.015492957988228093 Centerline is valid? [True, True] Translation: X:30.20, Y:-153.97, Z:0.71 [[-9.87900743e-01 1.55024837e-01 4.40703853e-03 3.02013975e+01] [ 1.55023118e-01 9.87910572e-01 -7.31188707e-04 -1.53972923e+02] [-4.46711236e-03 -3.91490157e-05 -9.99990022e-01 7.05938802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57762800000003 meters 0.013042173141394981 Centerline is valid? [True, True] Translation: X:30.21, Y:-153.95, Z:0.70 [[-9.96561853e-01 8.27897127e-02 3.21511489e-03 3.02079681e+01] [ 8.27891726e-02 9.96567039e-01 -3.00936633e-04 -1.53946578e+02] [-3.22899198e-03 -3.37252674e-05 -9.99994786e-01 7.02837339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60762800000003 meters 0.013196657071452766 Centerline is valid? [True, True] Translation: X:30.21, Y:-153.92, Z:0.70 [[-9.99940485e-01 1.07472135e-02 1.87731613e-03 3.02067371e+01] [ 1.07471540e-02 9.99942247e-01 -4.17711271e-05 -1.53920253e+02] [-1.87765663e-03 -2.15928355e-05 -9.99998237e-01 7.01793285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63762800000003 meters 0.013166698536633178 Centerline is valid? [True, True] Translation: X:30.20, Y:-153.89, Z:0.70 [[-9.98174054e-01 -6.03960484e-02 9.35496464e-04 3.02028877e+01] [-6.03960320e-02 9.98174492e-01 4.58457617e-05 -1.53893956e+02] [-9.36557611e-04 -1.07382246e-05 -9.99999561e-01 7.01439814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66762800000004 meters 0.012982950318076338 Centerline is valid? [True, True] Translation: X:30.18, Y:-153.12, Z:-0.21 [[-9.99555581e-01 -2.98100074e-02 -6.83579440e-05 3.01760107e+01] [ 2.98100118e-02 -9.99555581e-01 -6.52001809e-05 -1.53123196e+02] [-6.63839464e-05 -6.72089558e-05 9.99999996e-01 -2.13340873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.697628 meters 0.01296085276601604 Centerline is valid? [True, True] Translation: X:30.11, Y:-153.90, Z:0.70 [[-9.97850564e-01 -6.55246578e-02 -8.78436587e-04 3.01123354e+01] [-6.55246409e-02 9.97850950e-01 -4.80518567e-05 -1.53901615e+02] [ 8.79697365e-04 9.61066958e-06 -9.99999613e-01 6.99825287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.727628 meters 0.012576518629669154 Centerline is valid? [True, True] Translation: X:30.11, Y:-153.88, Z:0.70 [[-9.91081881e-01 -1.33242527e-01 -1.77034522e-03 3.01065107e+01] [-1.33242339e-01 9.91083462e-01 -2.24624415e-04 -1.53877924e+02] [ 1.78448939e-03 1.32637493e-05 -9.99998408e-01 6.99150554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.757628 meters 0.012431038958620771 Centerline is valid? [True, True] Translation: X:30.10, Y:-153.85, Z:0.70 [[-9.79368086e-01 -2.02068739e-01 -2.52526780e-03 3.00959273e+01] [-2.02068105e-01 9.79371342e-01 -5.06319048e-04 -1.53852652e+02] [ 2.57548617e-03 1.44033629e-05 -9.99996683e-01 6.99196093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.787628 meters 0.01221214039775408 Centerline is valid? [True, True] Translation: X:29.92, Y:-153.09, Z:-0.21 [[-9.91843107e-01 1.27435875e-01 -2.71085019e-03 2.99239668e+01] [-1.27435329e-01 -9.91846811e-01 -3.74089030e-04 -1.53085264e+02] [-2.73642048e-03 -2.55795402e-05 9.99996256e-01 -2.13014869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.817628 meters 0.012131477327509573 Centerline is valid? [True, True] Translation: X:29.95, Y:-153.88, Z:0.70 [[-9.78724822e-01 -2.05161148e-01 -2.57422766e-03 2.99516446e+01] [-2.05160450e-01 9.78728207e-01 -5.35015113e-04 -1.53880690e+02] [ 2.62923353e-03 4.49713318e-06 -9.99996544e-01 7.00819529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84762800000001 meters 0.012104279708648646 Centerline is valid? [True, True] Translation: X:29.92, Y:-153.86, Z:0.70 [[-9.61527459e-01 -2.74700226e-01 -2.17531635e-03 2.99229107e+01] [-2.74699527e-01 9.61529919e-01 -6.19430127e-04 -1.53859269e+02] [ 2.26178935e-03 1.95929827e-06 -9.99997442e-01 7.01556390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87762800000002 meters 0.012137727903132764 Centerline is valid? [True, True] Translation: X:29.87, Y:-153.85, Z:0.70 [[-9.38924343e-01 -3.44123205e-01 -5.45309431e-04 2.98655405e+01] [-3.44123147e-01 9.38924502e-01 -1.99318998e-04 -1.53847715e+02] [ 5.80594678e-04 5.08137897e-07 -9.99999831e-01 7.03712509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90762800000002 meters 0.012065270503427835 Centerline is valid? [True, True] Translation: X:29.80, Y:-153.84, Z:0.71 [[-9.10820058e-01 -4.12803342e-01 4.72665034e-04 2.98010246e+01] [-4.12803286e-01 9.10820180e-01 2.14692385e-04 -1.53843275e+02] [-5.19138586e-04 4.28451192e-07 -9.99999865e-01 7.05320894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93762800000002 meters 0.012134068867161837 Centerline is valid? [True, True] Translation: X:29.73, Y:-153.85, Z:0.71 [[-8.77202411e-01 -4.80117617e-01 1.73303016e-03 2.97263619e+01] [-4.80116683e-01 8.77204123e-01 9.47086706e-04 -1.53848854e+02] [-1.97493421e-03 -1.26994778e-06 -9.99998050e-01 7.06508866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96762800000002 meters 0.01535512006489475 Centerline is valid? [True, True] Translation: X:29.65, Y:-153.86, Z:0.71 [[-8.38623327e-01 -5.44701138e-01 3.40378596e-03 2.96463116e+01] [-5.44696670e-01 8.38630234e-01 2.20630704e-03 -1.53864249e+02] [-4.05629577e-03 -3.77032682e-06 -9.99991773e-01 7.10806611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99762800000002 meters 0.0122090167120984 Centerline is valid? [True, True] Translation: X:29.56, Y:-153.89, Z:0.71 [[-7.94555519e-01 -6.07179593e-01 3.80379468e-03 2.95577754e+01] [-6.07172695e-01 7.94564624e-01 2.89441977e-03 -1.53893148e+02] [-4.77979331e-03 -9.78305802e-06 -9.99988577e-01 7.08702167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02762800000002 meters 0.012243436281835598 Centerline is valid? [True, True] Translation: X:29.47, Y:-153.93, Z:0.71 [[-7.46362815e-01 -6.65525501e-01 4.28443058e-03 2.94711729e+01] [-6.65514621e-01 7.46375112e-01 3.80541973e-03 -1.53929027e+02] [-5.73039622e-03 -1.11274115e-05 -9.99983581e-01 7.09029741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05762800000002 meters 0.012163301720815598 Centerline is valid? [True, True] Translation: X:29.38, Y:-153.98, Z:0.71 [[-6.94164687e-01 -7.19804256e-01 4.14981590e-03 2.93797719e+01] [-7.19791456e-01 6.94177091e-01 4.29261084e-03 -1.53978534e+02] [-5.97054668e-03 -7.22317123e-06 -9.99982176e-01 7.08928451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08762800000002 meters 0.012289333945134576 Centerline is valid? [True, True] Translation: X:29.29, Y:-154.03, Z:0.71 [[-6.38588670e-01 -7.69537526e-01 4.06281345e-03 2.92940721e+01] [-7.69521914e-01 6.38601594e-01 4.90178933e-03 -1.54031477e+02] [-6.36662998e-03 3.80314881e-06 -9.99979733e-01 7.09755431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11762800000002 meters 0.01545414471017085 Centerline is valid? [True, True] Translation: X:29.21, Y:-154.10, Z:0.71 [[-5.78654022e-01 -8.15563056e-01 4.05261567e-03 2.92089436e+01] [-8.15542918e-01 5.78668213e-01 5.73127910e-03 -1.54096445e+02] [-7.01933937e-03 1.13456901e-05 -9.99975364e-01 7.13281030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14762800000003 meters 0.012348526644398882 Centerline is valid? [True, True] Translation: X:29.13, Y:-154.17, Z:0.71 [[-5.14929319e-01 -8.57228176e-01 2.76615160e-03 2.91271267e+01] [-8.57215685e-01 5.14936748e-01 4.62766506e-03 -1.54171003e+02] [-5.39135798e-03 1.17318792e-05 -9.99985466e-01 7.09357181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17762800000003 meters 0.012356620088275705 Centerline is valid? [True, True] Translation: X:29.05, Y:-154.26, Z:0.71 [[-4.48137734e-01 -8.93961839e-01 2.19131114e-03 2.90486192e+01] [-8.93950997e-01 4.48143092e-01 4.40278429e-03 -1.54256708e+02] [-4.91794208e-03 1.41290011e-05 -9.99987907e-01 7.08367881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20762800000003 meters 0.012339514410636694 Centerline is valid? [True, True] Translation: X:28.98, Y:-154.35, Z:0.71 [[-3.78519972e-01 -9.25592204e-01 1.30497170e-03 2.89781833e+01] [-9.25586592e-01 3.78522221e-01 3.22320076e-03 -1.54346386e+02] [-3.47733028e-03 1.21815491e-05 -9.99993954e-01 7.07134396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23762800000003 meters 0.01236530067833584 Centerline is valid? [True, True] Translation: X:28.91, Y:-154.44, Z:0.71 [[-3.05827893e-01 -9.52086429e-01 8.55099181e-04 2.89134123e+01] [-9.52082622e-01 3.05829089e-01 2.69262405e-03 -1.54444612e+02] [-2.82512502e-03 9.35447058e-06 -9.99996009e-01 7.06458481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26762800000003 meters 0.01236530067833584 Centerline is valid? [True, True] Translation: X:28.86, Y:-154.55, Z:0.71 [[-2.31437134e-01 -9.72849648e-01 6.44746524e-04 2.88558013e+01] [-9.72845759e-01 2.31438032e-01 2.75060655e-03 -1.54549005e+02] [-2.82514548e-03 9.35357423e-06 -9.99996009e-01 7.06459499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29762800000003 meters 0.012342546552180563 Centerline is valid? [True, True] Translation: X:28.81, Y:-154.66, Z:0.71 [[-1.54087305e-01 -9.88057206e-01 2.43986280e-04 2.88053572e+01] [-9.88055936e-01 1.54087498e-01 1.58452685e-03 -1.54659093e+02] [-1.60319841e-03 3.08338066e-06 -9.99998715e-01 7.05339036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32762800000003 meters 0.0123897755350436 Centerline is valid? [True, True] Translation: X:28.76, Y:-154.78, Z:0.71 [[-7.59742308e-02 -9.97109776e-01 1.07330163e-04 2.87629224e+01] [-9.97108763e-01 7.59743067e-02 1.42078594e-03 -1.54776261e+02] [-1.42483389e-03 9.23273635e-07 -9.99998985e-01 7.05592033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35762800000003 meters 0.012432854581142423 Centerline is valid? [True, True] Translation: X:28.73, Y:-154.89, Z:0.71 [[ 2.35796744e-03 -9.99997220e-01 -2.98308319e-06 2.87298581e+01] [-9.99996026e-01 -2.35796923e-03 1.54535973e-03 -1.54891420e+02] [-1.54536247e-03 -6.60836582e-07 -9.99998806e-01 7.06457977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38762800000003 meters 0.012508506626127855 Centerline is valid? [True, True] Translation: X:28.71, Y:-155.01, Z:0.71 [[ 8.12946518e-02 -9.96690091e-01 -2.06906792e-04 2.87068795e+01] [-9.96686679e-01 -8.12949149e-02 2.60792721e-03 -1.55013796e+02] [-2.61611568e-03 -5.78929143e-06 -9.99996578e-01 7.08559385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41762800000004 meters 0.012584550341326002 Centerline is valid? [True, True] Translation: X:28.69, Y:-155.13, Z:0.71 [[ 1.58749744e-01 -9.87318714e-01 -5.24825931e-04 2.86938585e+01] [-9.87313114e-01 -1.58750612e-01 3.32545326e-03 -1.55132844e+02] [-3.36659867e-03 -9.74733141e-06 -9.99994333e-01 7.09120531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.447628 meters 0.01267361222560522 Centerline is valid? [True, True] Translation: X:28.69, Y:-155.26, Z:0.71 [[ 2.35018031e-01 -9.71990535e-01 -9.62300344e-04 2.86909192e+01] [-9.71982142e-01 -2.35020000e-01 4.03918149e-03 -1.55255156e+02] [-4.15220601e-03 -1.39417300e-05 -9.99991379e-01 7.09709055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.477628 meters 0.012820089248012397 Centerline is valid? [True, True] Translation: X:28.70, Y:-155.38, Z:0.71 [[ 3.11356960e-01 -9.50292082e-01 -1.34244838e-03 2.86970593e+01] [-9.50282917e-01 -3.11359853e-01 4.17359963e-03 -1.55378193e+02] [-4.38412321e-03 -2.37735290e-05 -9.99990389e-01 7.09192850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.507628 meters 0.016319138623510088 Centerline is valid? [True, True] Translation: X:28.71, Y:-155.50, Z:0.71 [[ 3.84662703e-01 -9.23054374e-01 -2.28664860e-03 2.87115371e+01] [-9.23037464e-01 -3.84669497e-01 5.58731879e-03 -1.55499115e+02] [-6.03700302e-03 -3.85708250e-05 -9.99981776e-01 7.12827220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.537628 meters 0.013065769631901964 Centerline is valid? [True, True] Translation: X:28.73, Y:-155.61, Z:0.71 [[ 4.56156974e-01 -8.89896654e-01 -2.18175565e-03 2.87315186e+01] [-8.89886062e-01 -4.56162190e-01 4.34196570e-03 -1.55613364e+02] [-4.85913519e-03 -3.91039920e-05 -9.99988194e-01 7.09501015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.567628 meters 0.013284206070863629 Centerline is valid? [True, True] Translation: X:28.76, Y:-155.73, Z:0.71 [[ 5.25323696e-01 -8.50898113e-01 -2.72306792e-03 2.87628566e+01] [-8.50886138e-01 -5.25330751e-01 4.51466273e-03 -1.55731501e+02] [-5.27202931e-03 -5.46385667e-05 -9.99986101e-01 7.10267766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59762800000001 meters 0.013487356474141728 Centerline is valid? [True, True] Translation: X:28.80, Y:-155.84, Z:0.71 [[ 5.89691728e-01 -8.07623306e-01 -2.87406105e-03 2.87984358e+01] [-8.07613262e-01 -5.89698730e-01 4.02821834e-03 -1.55838524e+02] [-4.94811316e-03 -5.42772093e-05 -9.99987757e-01 7.11138774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62762800000002 meters 0.013502546606958024 Centerline is valid? [True, True] Translation: X:28.85, Y:-155.94, Z:0.71 [[ 6.50121076e-01 -7.59824582e-01 -3.03172302e-03 2.88453526e+01] [-7.59815938e-01 -6.50128143e-01 3.62470392e-03 -1.55944671e+02] [-4.72514760e-03 -5.29449408e-05 -9.99988835e-01 7.11118948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65762800000002 meters 0.013473147887578741 Centerline is valid? [True, True] Translation: X:28.90, Y:-156.04, Z:0.71 [[ 7.06109103e-01 -7.08097048e-01 -2.91615932e-03 2.88956389e+01] [-7.08090747e-01 -7.06115124e-01 2.98774751e-03 -1.56041568e+02] [-4.17475939e-03 -4.47702827e-05 -9.99991285e-01 7.10698476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68762800000002 meters 0.013195872040983105 Centerline is valid? [True, True] Translation: X:28.95, Y:-156.13, Z:0.71 [[ 7.56679359e-01 -6.53783689e-01 -1.79904029e-03 2.89532823e+01] [-6.53781778e-01 -7.56681497e-01 1.58079884e-03 -1.56131677e+02] [-2.39480100e-03 -1.99780885e-05 -9.99997132e-01 7.09304353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71762800000002 meters 0.013001554992765786 Centerline is valid? [True, True] Translation: X:28.95, Y:-156.14, Z:0.71 [[ 8.04420817e-01 -5.94058049e-01 -1.47784368e-03 2.89503622e+01] [-5.94057019e-01 -8.04422174e-01 1.10643820e-03 -1.56137753e+02] [-1.84609875e-03 -1.21185029e-05 -9.99998296e-01 7.09114504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74762800000002 meters 0.01286231073155686 Centerline is valid? [True, True] Translation: X:28.95, Y:-156.14, Z:0.71 [[ 8.47414711e-01 -5.30930069e-01 -1.25273909e-03 2.89472009e+01] [-5.30929477e-01 -8.47415637e-01 7.93020016e-04 -1.56142800e+02] [-1.48262887e-03 -6.90071864e-06 -9.99998901e-01 7.09473726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77762800000002 meters 0.012882187162517633 Centerline is valid? [True, True] Translation: X:28.94, Y:-156.15, Z:0.71 [[ 8.85627629e-01 -4.64392458e-01 -1.82970903e-03 2.89444962e+01] [-4.64391451e-01 -8.85629519e-01 9.67135230e-04 -1.56148567e+02] [-2.06957463e-03 -6.82044961e-06 -9.99997858e-01 7.10005563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80762800000002 meters 0.01278786719072318 Centerline is valid? [True, True] Translation: X:28.94, Y:-156.15, Z:0.71 [[ 9.18481817e-01 -3.95447177e-01 -3.56114582e-03 2.89421875e+01] [-3.95444179e-01 -9.18488721e-01 1.53972017e-03 -1.56151447e+02] [-3.87975027e-03 -5.97059503e-06 -9.99992474e-01 7.12625233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83762800000002 meters 0.012878435235331626 Centerline is valid? [True, True] Translation: X:28.94, Y:-156.16, Z:0.71 [[ 9.46519918e-01 -3.22609493e-01 -4.81238237e-03 2.89394245e+01] [-3.22605287e-01 -9.46532152e-01 1.64743359e-03 -1.56159017e+02] [-5.08655235e-03 -6.82871057e-06 -9.99987063e-01 7.13724286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86762800000002 meters 0.012972029915612917 Centerline is valid? [True, True] Translation: X:28.94, Y:-156.17, Z:0.72 [[ 9.68989323e-01 -2.47026326e-01 -6.13892131e-03 2.89359141e+01] [-2.47021286e-01 -9.69008769e-01 1.57802834e-03 -1.56166244e+02] [-6.33848313e-03 -1.26483715e-05 -9.99979912e-01 7.15222203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89762800000003 meters 0.013170409472152455 Centerline is valid? [True, True] Translation: X:28.93, Y:-156.18, Z:0.72 [[ 9.85677257e-01 -1.68438724e-01 -8.29101369e-03 2.89336751e+01] [-1.68432472e-01 -9.85712126e-01 1.45163892e-03 -1.56175507e+02] [-8.41706494e-03 -3.43715385e-05 -9.99964575e-01 7.17452213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92762800000003 meters 0.013297306288724869 Centerline is valid? [True, True] Translation: X:28.93, Y:-156.18, Z:0.72 [[ 9.95922983e-01 -8.96688784e-02 -9.84400519e-03 2.89295826e+01] [-8.96639880e-02 -9.95971631e-01 9.37898275e-04 -1.56182807e+02] [-9.88845019e-03 -5.14216838e-05 -9.99951107e-01 7.18484819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95762800000003 meters 0.013442234660090927 Centerline is valid? [True, True] Translation: X:28.93, Y:-156.19, Z:0.72 [[ 9.99875463e-01 -9.52334410e-03 -1.25842780e-02 2.89255453e+01] [-9.52146058e-03 -9.99954648e-01 2.09577960e-04 -1.56193770e+02] [-1.25857031e-02 -8.97311533e-05 -9.99920793e-01 7.20145088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98762800000003 meters 0.013660928741097547 Centerline is valid? [True, True] Translation: X:28.92, Y:-156.20, Z:0.72 [[ 9.97475908e-01 6.97114544e-02 -1.34953803e-02 2.89210687e+01] [ 6.97065523e-02 -9.97567191e-01 -8.33857810e-04 -1.56202657e+02] [-1.35206781e-02 -1.08963359e-04 -9.99908586e-01 7.21323469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01762800000003 meters 0.013598241006437296 Centerline is valid? [True, True] Translation: X:28.92, Y:-156.21, Z:0.72 [[ 9.88914060e-01 1.47812969e-01 -1.41530459e-02 2.89193659e+01] [ 1.47799544e-01 -9.89015325e-01 -1.99568112e-03 -1.56212196e+02] [-1.42925669e-02 -1.18256613e-04 -9.99897849e-01 7.21299617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04762800000003 meters 0.01358238512732595 Centerline is valid? [True, True] Translation: X:28.92, Y:-156.22, Z:0.72 [[ 9.74582986e-01 2.23575074e-01 -1.42193718e-02 2.89178433e+01] [ 2.23552807e-01 -9.74686707e-01 -3.15696577e-03 -1.56221187e+02] [-1.45652515e-02 -1.02055360e-04 -9.99893916e-01 7.21778038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07762800000003 meters 0.014979117774837788 Centerline is valid? [True, True] Translation: X:28.92, Y:-156.23, Z:0.72 [[ 9.54660732e-01 2.97335275e-01 -1.46499524e-02 2.89160622e+01] [ 2.97301530e-01 -9.54773129e-01 -4.48023049e-03 -1.56228267e+02] [-1.53195115e-02 -7.83531435e-05 -9.99882646e-01 7.23694410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10762800000003 meters 0.013548201180353171 Centerline is valid? [True, True] Translation: X:28.91, Y:-156.24, Z:0.72 [[ 9.29096116e-01 3.69593398e-01 -1.34583576e-02 2.89139383e+01] [ 3.69555393e-01 -9.29193585e-01 -5.30039825e-03 -1.56235125e+02] [-1.44644117e-02 -4.90291834e-05 -9.99895384e-01 7.23002291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13762800000003 meters 0.013357608191048065 Centerline is valid? [True, True] Translation: X:28.91, Y:-156.24, Z:0.72 [[ 8.99349150e-01 4.37061261e-01 -1.21885465e-02 2.89132371e+01] [ 4.37020880e-01 -8.99431739e-01 -5.94111997e-03 -1.56240821e+02] [-1.35593990e-02 1.64918780e-05 -9.99908067e-01 7.21713169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16762800000004 meters 0.013455768957112205 Centerline is valid? [True, True] Translation: X:28.91, Y:-156.25, Z:0.72 [[ 8.63556903e-01 5.04129181e-01 -1.11015061e-02 2.89127244e+01] [ 5.04086852e-01 -8.63628257e-01 -6.53295358e-03 -1.56247731e+02] [-1.28810269e-02 4.54538937e-05 -9.99917035e-01 7.20936103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.197628 meters 0.013620823177096246 Centerline is valid? [True, True] Translation: X:28.91, Y:-156.25, Z:0.72 [[ 8.23350580e-01 5.67461293e-01 -9.02787777e-03 2.89130845e+01] [ 5.67426177e-01 -8.23400070e-01 -6.31339772e-03 -1.56254878e+02] [-1.10161640e-02 7.54855171e-05 -9.99939317e-01 7.18685660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.227628 meters 0.013733813695315143 Centerline is valid? [True, True] Translation: X:28.91, Y:-156.26, Z:0.72 [[ 7.77242038e-01 6.29150583e-01 -8.02236903e-03 2.89143481e+01] [ 6.29115945e-01 -7.77283434e-01 -6.60240469e-03 -1.56263534e+02] [-1.03895613e-02 8.46662070e-05 -9.99946023e-01 7.18257701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.257628 meters 0.013742508460528005 Centerline is valid? [True, True] Translation: X:28.92, Y:-156.27, Z:0.72 [[ 7.25965289e-01 6.87694154e-01 -7.15189322e-03 2.89169845e+01] [ 6.87659614e-01 -7.26000512e-01 -6.89294366e-03 -1.56273078e+02] [-9.93251520e-03 8.59697112e-05 -9.99950668e-01 7.17779070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.287628 meters 0.013757338278358289 Centerline is valid? [True, True] Translation: X:28.92, Y:-156.28, Z:0.72 [[ 6.69971458e-01 7.42358979e-01 -6.43365330e-03 2.89210859e+01] [ 7.42323524e-01 -6.70002343e-01 -7.25574801e-03 -1.56282381e+02] [-9.69693247e-03 8.52918785e-05 -9.99952980e-01 7.17476136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.317628 meters 0.013897193259235366 Centerline is valid? [True, True] Translation: X:28.92, Y:-156.29, Z:0.72 [[ 6.09254567e-01 7.92947651e-01 -6.54949475e-03 2.89238188e+01] [ 7.92900269e-01 -6.09289763e-01 -8.66877916e-03 -1.56291170e+02] [-1.08644282e-02 8.83971457e-05 -9.99940976e-01 7.18737511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34762800000001 meters 0.013783260125837478 Centerline is valid? [True, True] Translation: X:28.93, Y:-156.30, Z:0.72 [[ 5.44429979e-01 8.38786217e-01 -5.80342144e-03 2.89273496e+01] [ 8.38737066e-01 -5.44460904e-01 -9.08068164e-03 -1.56299228e+02] [-1.07764867e-02 7.62506427e-05 -9.99941929e-01 7.18853236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37762800000002 meters 0.01365184612380319 Centerline is valid? [True, True] Translation: X:28.93, Y:-156.31, Z:0.72 [[ 4.76044539e-01 8.79407332e-01 -4.93361876e-03 2.89316491e+01] [ 8.79358743e-01 -4.76070100e-01 -9.24457089e-03 -1.56307106e+02] [-1.04784918e-02 6.24066954e-05 -9.99945097e-01 7.18710217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40762800000002 meters 0.01330471963652825 Centerline is valid? [True, True] Translation: X:28.94, Y:-156.32, Z:0.72 [[ 4.01916439e-01 9.15666052e-01 -4.34246469e-03 2.89387706e+01] [ 9.15612081e-01 -4.01939896e-01 -9.94164338e-03 -1.56315608e+02] [-1.08486352e-02 1.96967656e-05 -9.99941152e-01 7.17963166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43762800000002 meters 0.013432550455488471 Centerline is valid? [True, True] Translation: X:28.95, Y:-156.32, Z:0.72 [[ 3.26349849e-01 9.45242689e-01 -3.46915911e-03 2.89462375e+01] [ 9.45189621e-01 -3.26368287e-01 -1.00161040e-02 -1.56324551e+02] [-1.05998726e-02 -1.02591576e-05 -9.99943820e-01 7.18672765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46762800000002 meters 0.013477589329011384 Centerline is valid? [True, True] Translation: X:28.96, Y:-156.33, Z:0.72 [[ 2.48255012e-01 9.68691084e-01 -2.65178967e-03 2.89561806e+01] [ 9.68637670e-01 -2.48269171e-01 -1.01727090e-02 -1.56332520e+02] [-1.05125701e-02 -4.31973712e-05 -9.99944741e-01 7.18491804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49762800000002 meters 0.013673810768337286 Centerline is valid? [True, True] Translation: X:28.97, Y:-156.34, Z:0.72 [[ 1.68362220e-01 9.85723611e-01 -1.76776983e-03 2.89658429e+01] [ 9.85673832e-01 -1.68371484e-01 -9.90652959e-03 -1.56340356e+02] [-1.00627422e-02 -7.45591477e-05 -9.99949367e-01 7.18715597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52762800000002 meters 0.014391418564674631 Centerline is valid? [True, True] Translation: X:28.98, Y:-156.35, Z:0.72 [[ 8.45601101e-02 9.96418032e-01 -8.32283137e-04 2.89766787e+01] [ 9.96382225e-01 -8.45641278e-02 -8.44802737e-03 -1.56345975e+02] [-8.48814811e-03 -1.14905999e-04 -9.99963968e-01 7.17271678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55762800000002 meters 0.014978602994734637 Centerline is valid? [True, True] Translation: X:28.99, Y:-156.35, Z:0.72 [[ 3.70015600e-03 9.99993143e-01 -1.50071539e-04 2.89854668e+01] [ 9.99964384e-01 -3.70118788e-03 -7.58494082e-03 -1.56352476e+02] [-7.58544425e-03 -1.22000730e-04 -9.99971223e-01 7.16877783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58762800000002 meters 0.015585042227882784 Centerline is valid? [True, True] Translation: X:28.99, Y:-156.36, Z:0.72 [[-7.71273565e-02 9.97021173e-01 3.88813371e-04 2.89927175e+01] [ 9.96999199e-01 7.71282385e-02 -6.62050596e-03 -1.56357333e+02] [-6.63077311e-03 -1.22975504e-04 -9.99978009e-01 7.15483502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61762800000002 meters 0.015509906347176857 Centerline is valid? [True, True] Translation: X:29.00, Y:-156.36, Z:0.72 [[-1.54790168e-01 9.87947011e-01 8.40587791e-04 2.89992293e+01] [ 9.87928219e-01 1.54792409e-01 -6.09452000e-03 -1.56361653e+02] [-6.15117943e-03 -1.12931377e-04 -9.99981075e-01 7.15214304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64762800000003 meters 0.01524129951108788 Centerline is valid? [True, True] Translation: X:29.01, Y:-156.37, Z:0.72 [[-2.30282529e-01 9.73122907e-01 1.32857582e-03 2.90055531e+01] [ 9.73103983e-01 2.30286338e-01 -6.06962795e-03 -1.56365157e+02] [-6.21244685e-03 -1.04886855e-04 -9.99980697e-01 7.15400453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67762800000003 meters 0.014446052062226617 Centerline is valid? [True, True] Translation: X:29.01, Y:-156.37, Z:0.72 [[-3.00828538e-01 9.53676267e-01 1.94156313e-03 2.90101931e+01] [ 9.53654694e-01 3.00834793e-01 -6.41494849e-03 -1.56370735e+02] [-6.70187386e-03 -7.82187808e-05 -9.99977539e-01 7.16643669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70762800000003 meters 0.013829655790793696 Centerline is valid? [True, True] Translation: X:29.02, Y:-156.37, Z:0.72 [[-3.71595080e-01 9.28391313e-01 2.58212041e-03 2.90155332e+01] [ 9.28367772e-01 3.71604046e-01 -6.61151212e-03 -1.56374143e+02] [-7.09759681e-03 -5.96480007e-05 -9.99974810e-01 7.16527510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73762800000003 meters 0.013377022887345307 Centerline is valid? [True, True] Translation: X:29.02, Y:-156.38, Z:0.72 [[-4.37669703e-01 8.99129440e-01 3.38846688e-03 2.90203396e+01] [ 8.99102180e-01 4.37682820e-01 -7.00131967e-03 -1.56379789e+02] [-7.77816637e-03 -1.76875406e-05 -9.99969749e-01 7.16887386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76762800000003 meters 0.013276465804718264 Centerline is valid? [True, True] Translation: X:29.03, Y:-156.38, Z:0.72 [[-5.04530850e-01 8.63383908e-01 4.10469657e-03 2.90311304e+01] [ 8.63355379e-01 5.04547546e-01 -7.01876797e-03 -1.56380596e+02] [-8.13090590e-03 2.62689459e-06 -9.99966944e-01 7.15684312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79762800000003 meters 0.013441921073041645 Centerline is valid? [True, True] Translation: X:29.04, Y:-156.38, Z:0.72 [[-5.68963445e-01 8.22349591e-01 4.66353102e-03 2.90420386e+01] [ 8.22322240e-01 5.68982557e-01 -6.70692314e-03 -1.56381408e+02] [-8.16890330e-03 1.89311811e-05 -9.99966634e-01 7.16888823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82762800000003 meters 0.013503880387326691 Centerline is valid? [True, True] Translation: X:29.05, Y:-156.38, Z:0.72 [[-6.29946217e-01 7.76621250e-01 5.21512923e-03 2.90495060e+01] [ 7.76595123e-01 6.29967802e-01 -6.37049466e-03 -1.56383625e+02] [-8.23282503e-03 3.69749155e-05 -9.99966109e-01 7.16425310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85762800000003 meters 0.013647999114051276 Centerline is valid? [True, True] Translation: X:29.06, Y:-156.38, Z:0.72 [[-6.87689846e-01 7.25978131e-01 6.19914047e-03 2.90603084e+01] [ 7.25949345e-01 6.87717784e-01 -6.46513262e-03 -1.56381890e+02] [-8.95680404e-03 5.42559188e-05 -9.99959886e-01 7.15802322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88762800000003 meters 0.014002457378137177 Centerline is valid? [True, True] Translation: X:29.07, Y:-156.38, Z:0.72 [[-7.40143464e-01 6.72406884e-01 7.52570038e-03 2.90712063e+01] [ 6.72373430e-01 7.40181717e-01 -6.70800899e-03 -1.56379616e+02] [-1.00808973e-02 9.51919660e-05 -9.99949182e-01 7.16666323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91762800000004 meters 0.014288171290834003 Centerline is valid? [True, True] Translation: X:29.09, Y:-156.36, Z:0.72 [[-7.84537884e-01 6.20023451e-01 8.43973267e-03 2.90914480e+01] [ 6.19989251e-01 7.84583268e-01 -6.51330612e-03 -1.56359988e+02] [-1.06600756e-02 1.22608139e-04 -9.99943172e-01 7.17130906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.947628 meters 0.014819340727850355 Centerline is valid? [True, True] Translation: X:29.12, Y:-156.34, Z:0.72 [[-8.25231824e-01 5.64718959e-01 9.21595767e-03 2.91164198e+01] [ 5.64685776e-01 8.25283270e-01 -6.12370306e-03 -1.56344347e+02] [-1.10639469e-02 1.50645558e-04 -9.99938781e-01 7.17450439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.977628 meters 0.015228416102746244 Centerline is valid? [True, True] Translation: X:29.14, Y:-156.32, Z:0.72 [[-8.61021972e-01 5.08477818e-01 9.56414484e-03 2.91370572e+01] [ 5.08448959e-01 8.61075067e-01 -5.42087172e-03 -1.56324703e+02] [-1.09918397e-02 1.95389826e-04 -9.99939569e-01 7.15627030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.007628 meters 0.015822704173038854 Centerline is valid? [True, True] Translation: X:29.15, Y:-156.30, Z:0.71 [[-8.94076442e-01 4.47808149e-01 9.75586268e-03 2.91506837e+01] [ 4.47784053e-01 8.94129642e-01 -4.65024431e-03 -1.56301401e+02] [-1.08054233e-02 2.10845842e-04 -9.99941598e-01 7.14840722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03762800000004 meters 0.015396145471231063 Centerline is valid? [True, True] Translation: X:29.17, Y:-156.28, Z:0.71 [[-9.22975402e-01 3.84730824e-01 9.92974009e-03 2.91721122e+01] [ 3.84711157e-01 9.23028788e-01 -3.89649970e-03 -1.56278986e+02] [-1.06645395e-02 2.23708424e-04 -9.99943107e-01 7.12979017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.067628 meters 0.016449669876063226 Centerline is valid? [True, True] Translation: X:29.18, Y:-156.25, Z:0.71 [[-9.47339078e-01 3.20092701e-01 9.45168107e-03 2.91789278e+01] [ 3.20079140e-01 9.47386200e-01 -2.95501254e-03 -1.56252181e+02] [-9.90027016e-03 2.25887102e-04 -9.99950966e-01 7.12591486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09762800000004 meters 0.0165599513263676 Centerline is valid? [True, True] Translation: X:29.19, Y:-156.23, Z:0.71 [[-9.67580549e-01 2.52387730e-01 9.39763027e-03 2.91928773e+01] [ 2.52378058e-01 9.67626159e-01 -2.22078439e-03 -1.56226430e+02] [-9.65389161e-03 2.22967901e-04 -9.99953375e-01 7.12460207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.127628 meters 0.01587347946380978 Centerline is valid? [True, True] Translation: X:29.20, Y:-156.20, Z:0.71 [[-9.83158157e-01 1.82489980e-01 9.87144329e-03 2.92018353e+01] [ 1.82483078e-01 9.83207687e-01 -1.60307633e-03 -1.56195536e+02] [-9.99822430e-03 2.25293785e-04 -9.99949991e-01 7.11192631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15762800000005 meters 0.01587347946380978 Centerline is valid? [True, True] Translation: X:29.33, Y:-155.42, Z:-0.22 [[-9.78818978e-01 -2.04495243e-01 9.75209931e-03 2.93337536e+01] [ 2.04482801e-01 -9.78867532e-01 -2.26697300e-03 -1.55424910e+02] [ 1.00095986e-02 -2.24819614e-04 9.99949877e-01 -2.23781675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.187628 meters 0.01619137917996449 Centerline is valid? [True, True] Translation: X:29.14, Y:-156.19, Z:0.71 [[-9.84077312e-01 1.77498023e-01 9.28957647e-03 2.91432714e+01] [ 1.77492079e-01 9.84121136e-01 -1.46697861e-03 -1.56186086e+02] [-9.40245435e-03 2.05205877e-04 -9.99955775e-01 7.11175261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21762800000005 meters 0.016023693347378472 Centerline is valid? [True, True] Translation: X:29.27, Y:-155.42, Z:-0.22 [[-9.79385299e-01 -2.01812825e-01 8.71893258e-03 2.92699248e+01] [ 2.01802779e-01 -9.79424082e-01 -2.02613123e-03 -1.55415922e+02] [ 8.94843180e-03 -2.24858310e-04 9.99959937e-01 -2.23215911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.247628 meters 0.015841803055259257 Centerline is valid? [True, True] Translation: X:29.08, Y:-156.18, Z:0.71 [[-9.85286559e-01 1.70667636e-01 9.10794892e-03 2.90822606e+01] [ 1.70662005e-01 9.85328639e-01 -1.39761629e-03 -1.56175208e+02] [-9.21285078e-03 1.77328279e-04 -9.99957545e-01 7.09911158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27762800000005 meters 0.015272581949005522 Centerline is valid? [True, True] Translation: X:29.20, Y:-155.41, Z:-0.22 [[-9.79758402e-01 -1.99998116e-01 8.61555056e-03 2.92045224e+01] [ 1.99988632e-01 -9.79796262e-01 -1.95735055e-03 -1.55408784e+02] [ 8.83295066e-03 -1.94718479e-04 9.99960970e-01 -2.22224746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.307628 meters 0.015120696675599102 Centerline is valid? [True, True] Translation: X:29.02, Y:-156.16, Z:0.71 [[-9.86379330e-01 1.64277163e-01 8.29644283e-03 2.90224380e+01] [ 1.64272583e-01 9.86414210e-01 -1.23525464e-03 -1.56162810e+02] [-8.38665322e-03 1.44448449e-04 -9.99964821e-01 7.09985024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.337628 meters 0.01622005062370873 Centerline is valid? [True, True] Translation: X:29.03, Y:-156.13, Z:0.71 [[-9.95594832e-01 9.33340493e-02 8.92670108e-03 2.90250709e+01] [ 9.33316447e-02 9.95634839e-01 -6.86485423e-04 -1.56133317e+02] [-8.95180706e-03 1.49682355e-04 -9.99959921e-01 7.11399837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.367628 meters 0.014361523559571638 Centerline is valid? [True, True] Translation: X:29.02, Y:-156.10, Z:0.71 [[-9.99789919e-01 1.89650675e-02 7.77457682e-03 2.90240431e+01] [ 1.89653050e-02 9.99820142e-01 -4.31859321e-05 -1.56101731e+02] [-7.77399752e-03 1.04270361e-04 -9.99969777e-01 7.10429177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.397628 meters 0.014090707449488794 Centerline is valid? [True, True] Translation: X:29.03, Y:-155.34, Z:-0.22 [[-9.98100169e-01 -6.11137844e-02 7.82030094e-03 2.90263710e+01] [ 6.11111181e-02 -9.98130801e-01 -5.79669316e-04 -1.55342616e+02] [ 7.84110903e-03 -1.00660708e-04 9.99969253e-01 -2.23487003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.427628 meters 0.013896550516381015 Centerline is valid? [True, True] Translation: X:28.93, Y:-156.10, Z:0.71 [[-9.99918718e-01 1.02030269e-02 7.64557357e-03 2.89281789e+01] [ 1.02033432e-02 9.99947945e-01 2.36485019e-06 -1.56098295e+02] [-7.64515145e-03 8.03750690e-05 -9.99970772e-01 7.10719344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.457628 meters 0.013763321532686732 Centerline is valid? [True, True] Translation: X:28.94, Y:-155.34, Z:-0.22 [[-9.98273449e-01 -5.82217316e-02 7.76862126e-03 2.89353290e+01] [ 5.82194047e-02 -9.98303674e-01 -5.25526555e-04 -1.55343361e+02] [ 7.78604020e-03 -7.23347014e-05 9.99969686e-01 -2.23139792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48762800000003 meters 0.013416276460282548 Centerline is valid? [True, True] Translation: X:28.84, Y:-156.09, Z:0.71 [[-9.99967189e-01 1.98887673e-04 8.09828925e-03 2.88411436e+01] [ 1.99281066e-04 9.99999979e-01 4.77704627e-05 -1.56094537e+02] [-8.09827958e-03 4.93827310e-05 -9.99967207e-01 7.10776126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.517628 meters 0.013350641537233433 Centerline is valid? [True, True] Translation: X:28.84, Y:-156.06, Z:0.71 [[-9.97367601e-01 -7.20356544e-02 8.29056606e-03 2.88377110e+01] [-7.20328154e-02 9.97402057e-01 6.40918648e-04 -1.56064982e+02] [-8.31519663e-03 4.20386794e-05 -9.99965427e-01 7.11317451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54762800000003 meters 0.013173768076282762 Centerline is valid? [True, True] Translation: X:28.83, Y:-156.04, Z:0.71 [[-9.89528226e-01 -1.44082734e-01 8.60554271e-03 2.88264018e+01] [-1.44076987e-01 9.89565644e-01 1.28725653e-03 -1.56035200e+02] [-8.70122086e-03 3.39160006e-05 -9.99962143e-01 7.11585865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.577628 meters 0.013273001687701938 Centerline is valid? [True, True] Translation: X:28.80, Y:-156.01, Z:0.71 [[-9.76580826e-01 -2.14968103e-01 8.86589917e-03 2.88025208e+01] [-2.14958933e-01 9.76621070e-01 1.98586322e-03 -1.56011374e+02] [-9.08552118e-03 3.35517188e-05 -9.99958725e-01 7.13057425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60762800000003 meters 0.013296999330634784 Centerline is valid? [True, True] Translation: X:28.76, Y:-155.99, Z:0.71 [[-9.58329767e-01 -2.85519307e-01 9.09853587e-03 2.87624932e+01] [-2.85506108e-01 9.58372957e-01 2.74562898e-03 -1.55992716e+02] [-9.50372080e-03 3.35304142e-05 -9.99954838e-01 7.13315416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.637628 meters 0.013170799612709705 Centerline is valid? [True, True] Translation: X:28.70, Y:-155.98, Z:0.71 [[-9.34825183e-01 -3.54962506e-01 1.01733555e-02 2.87007042e+01] [-3.54941003e-01 9.34880537e-01 3.90725908e-03 -1.55983782e+02] [-1.08978025e-02 4.16631695e-05 -9.99940616e-01 7.13365918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66762800000004 meters 0.013190222262809451 Centerline is valid? [True, True] Translation: X:28.64, Y:-155.98, Z:0.71 [[-9.06066043e-01 -4.23002747e-01 1.06301786e-02 2.86355510e+01] [-4.22973003e-01 9.06128398e-01 5.01653217e-03 -1.55981785e+02] [-1.17543136e-02 4.90308752e-05 -9.99930914e-01 7.14403262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.697628 meters 0.013348789134665896 Centerline is valid? [True, True] Translation: X:28.56, Y:-155.99, Z:0.72 [[-8.72157131e-01 -4.89111290e-01 1.05870149e-02 2.85594157e+01] [-4.89074491e-01 8.72221384e-01 5.99996017e-03 -1.55990369e+02] [-1.21688690e-02 5.50691356e-05 -9.99925955e-01 7.15073724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72762800000004 meters 0.016735871156755417 Centerline is valid? [True, True] Translation: X:28.48, Y:-156.01, Z:0.72 [[-8.33847840e-01 -5.51871581e-01 1.16420884e-02 2.84770753e+01] [-5.51816366e-01 8.33929104e-01 7.80691115e-03 -1.56009963e+02] [-1.40170887e-02 8.54811153e-05 -9.99901752e-01 7.17081923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.757628 meters 0.013133146899090835 Centerline is valid? [True, True] Translation: X:28.39, Y:-156.04, Z:0.71 [[-7.89545572e-01 -6.13618941e-01 9.46493140e-03 2.83896664e+01] [-6.13573855e-01 7.89602300e-01 7.43858592e-03 -1.56039460e+02] [-1.20379888e-02 6.56681249e-05 -9.99927539e-01 7.14270115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78762800000004 meters 0.01535981669572147 Centerline is valid? [True, True] Translation: X:28.30, Y:-156.08, Z:0.72 [[-7.41248978e-01 -6.71165979e-01 9.28344885e-03 2.83027610e+01] [-6.71112050e-01 7.41307105e-01 8.50840263e-03 -1.56076774e+02] [-1.25924370e-02 7.66103597e-05 -9.99920709e-01 7.15174588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.817628 meters 0.012748319433931826 Centerline is valid? [True, True] Translation: X:28.21, Y:-156.13, Z:0.71 [[-6.86616955e-01 -7.26975455e-01 7.99026468e-03 2.82125153e+01] [-7.26925462e-01 6.86663444e-01 8.52566156e-03 -1.56126408e+02] [-1.16845694e-02 4.55369438e-05 -9.99931732e-01 7.13993512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84762800000004 meters 0.012720040026091173 Centerline is valid? [True, True] Translation: X:28.12, Y:-156.19, Z:0.71 [[-6.28394345e-01 -7.77856733e-01 7.71033583e-03 2.81240774e+01] [-7.77797508e-01 6.28441645e-01 9.59875426e-03 -1.56186090e+02] [-1.23119518e-02 3.47229047e-05 -9.99924204e-01 7.14744809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.877628 meters 0.015590453082707635 Centerline is valid? [True, True] Translation: X:28.04, Y:-156.25, Z:0.72 [[-5.66612335e-01 -8.23945363e-01 8.03131270e-03 2.80419100e+01] [-8.23861827e-01 5.66669250e-01 1.17325153e-02 -1.56253469e+02] [-1.42180495e-02 3.10959335e-05 -9.99898918e-01 7.17949724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90762800000005 meters 0.012674118309815395 Centerline is valid? [True, True] Translation: X:27.96, Y:-156.33, Z:0.72 [[-5.00897930e-01 -8.65480864e-01 6.64366504e-03 2.79597228e+01] [-8.65404380e-01 5.00941987e-01 1.15058872e-02 -1.56333988e+02] [-1.32862159e-02 1.38182540e-05 -9.99911734e-01 7.15227638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.937628 meters 0.012709459587728185 Centerline is valid? [True, True] Translation: X:27.89, Y:-156.42, Z:0.72 [[-4.32589072e-01 -9.01573685e-01 5.62003578e-03 2.78863323e+01] [-9.01497346e-01 4.32625577e-01 1.17322795e-02 -1.56416780e+02] [-1.30088857e-02 8.80856151e-06 -9.99915381e-01 7.15734407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96762800000005 meters 0.013154285695899218 Centerline is valid? [True, True] Translation: X:27.82, Y:-156.51, Z:0.72 [[-3.62129199e-01 -9.32116296e-01 4.65345265e-03 2.78174812e+01] [-9.32038997e-01 3.62159097e-01 1.20040586e-02 -1.56508984e+02] [-1.28744688e-02 9.82077732e-06 -9.99917121e-01 7.15968549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.997628 meters 0.012556601200519301 Centerline is valid? [True, True] Translation: X:27.75, Y:-156.61, Z:0.72 [[-2.88833382e-01 -9.57372525e-01 3.62297058e-03 2.77537383e+01] [-9.57297079e-01 2.88856104e-01 1.20188712e-02 -1.56609994e+02] [-1.25530543e-02 3.19207289e-06 -9.99921207e-01 7.15202619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02762800000005 meters 0.012574818489771964 Centerline is valid? [True, True] Translation: X:27.70, Y:-156.72, Z:0.72 [[-2.13690141e-01 -9.76897632e-01 2.74609688e-03 2.76983999e+01] [-9.76817138e-01 2.13707785e-01 1.25403594e-02 -1.56715877e+02] [-1.28375096e-02 -2.68333010e-06 -9.99917596e-01 7.15695945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.057628 meters 0.012550493440748177 Centerline is valid? [True, True] Translation: X:27.65, Y:-156.83, Z:0.72 [[-1.37201780e-01 -9.90541504e-01 1.78877735e-03 2.76510541e+01] [-9.90458265e-01 1.37213440e-01 1.28412049e-02 -1.56831299e+02] [-1.29651908e-02 -9.87313445e-06 -9.99915948e-01 7.15358925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.087628 meters 0.016005076298748318 Centerline is valid? [True, True] Translation: X:27.62, Y:-156.94, Z:0.72 [[-6.03806681e-02 -9.98175046e-01 8.67483986e-04 2.76158733e+01] [-9.98074439e-01 6.03868985e-02 1.41716609e-02 -1.56940116e+02] [-1.41981829e-02 -1.01192400e-05 -9.99899201e-01 7.16290147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.117628 meters 0.012528426983303802 Centerline is valid? [True, True] Translation: X:27.59, Y:-157.06, Z:0.71 [[ 1.76584709e-02 -9.99844059e-01 -1.87846650e-04 2.75863250e+01] [-9.99777017e-01 -1.76594621e-02 1.15783973e-02 -1.57056355e+02] [-1.15799090e-02 -1.66520283e-05 -9.99932950e-01 7.14131026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.147628 meters 0.012519704978098125 Centerline is valid? [True, True] Translation: X:27.57, Y:-157.17, Z:0.71 [[ 9.33889011e-02 -9.95629212e-01 -9.92191480e-04 2.75677314e+01] [-9.95572810e-01 -9.33941716e-02 1.05975712e-02 -1.57171498e+02] [-1.06439164e-02 -1.89666909e-06 -9.99943352e-01 7.13534877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.177628 meters 0.012483580992657653 Centerline is valid? [True, True] Translation: X:27.56, Y:-157.29, Z:0.71 [[ 1.69077925e-01 -9.85601115e-01 -1.75992193e-03 2.75574766e+01] [-9.85548267e-01 -1.69087084e-01 1.02064063e-02 -1.57292692e+02] [-1.03570254e-02 8.81001649e-06 -9.99946365e-01 7.13791321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.207628 meters 0.01491089353675567 Centerline is valid? [True, True] Translation: X:27.56, Y:-157.41, Z:0.72 [[ 2.41009400e-01 -9.70519269e-01 -2.61116229e-03 2.75580751e+01] [-9.70464525e-01 -2.41023540e-01 1.03082135e-02 -1.57411325e+02] [-1.06336714e-02 4.96640149e-05 -9.99943460e-01 7.15399652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23762800000003 meters 0.012702535900440426 Centerline is valid? [True, True] Translation: X:27.57, Y:-157.53, Z:0.71 [[ 3.14328999e-01 -9.49309087e-01 -3.08836183e-03 2.75662885e+01] [-9.49264971e-01 -3.14344166e-01 9.15201302e-03 -1.57530661e+02] [-9.65889764e-03 5.49306139e-05 -9.99953350e-01 7.13724097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.267628 meters 0.012840622360017382 Centerline is valid? [True, True] Translation: X:27.58, Y:-157.65, Z:0.71 [[ 3.85552408e-01 -9.22677857e-01 -3.86168692e-03 2.75839705e+01] [-9.22633324e-01 -3.85571741e-01 9.06545214e-03 -1.57647770e+02] [-9.85344930e-03 6.77141374e-05 -9.99951451e-01 7.13664226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29762800000003 meters 0.015601445123386914 Centerline is valid? [True, True] Translation: X:27.61, Y:-157.76, Z:0.71 [[ 4.53602663e-01 -8.91189040e-01 -5.16902983e-03 2.76125052e+01] [-8.91133718e-01 -4.53632103e-01 9.93034725e-03 -1.57762766e+02] [-1.11946545e-02 1.01864809e-04 -9.99937333e-01 7.14208579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.327628 meters 0.013177440744664292 Centerline is valid? [True, True] Translation: X:27.65, Y:-157.88, Z:0.71 [[ 5.21297169e-01 -8.53357087e-01 -5.56260975e-03 2.76465260e+01] [-8.53310352e-01 -5.21326839e-01 8.93140547e-03 -1.57876376e+02] [-1.05216159e-02 9.07160968e-05 -9.99944642e-01 7.13091358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35762800000003 meters 0.013038909356433719 Centerline is valid? [True, True] Translation: X:27.69, Y:-157.98, Z:0.71 [[ 5.85533684e-01 -8.10622854e-01 -6.39478403e-03 2.76854251e+01] [-8.10576200e-01 -5.85568596e-01 8.69731150e-03 -1.57983543e+02] [-1.07948242e-02 9.08908942e-05 -9.99941730e-01 7.13090272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.387628 meters 0.012886855777549312 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.09, Z:0.71 [[ 6.46909757e-01 -7.62538385e-01 -6.55574960e-03 2.77309360e+01] [-7.62500378e-01 -6.46942969e-01 7.61367164e-03 -1.58088541e+02] [-1.00469130e-02 7.34030812e-05 -9.99949526e-01 7.13789971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41762800000004 meters 0.01280573724146119 Centerline is valid? [True, True] Translation: X:27.78, Y:-158.19, Z:0.71 [[ 7.04198763e-01 -7.09967616e-01 -7.07715901e-03 2.77835011e+01] [-7.09932649e-01 -7.04234322e-01 7.04646362e-03 -1.58188112e+02] [-9.98673926e-03 6.21952755e-05 -9.99950129e-01 7.13937984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.447628 meters 0.015757885047741615 Centerline is valid? [True, True] Translation: X:27.78, Y:-158.20, Z:0.72 [[ 7.57728724e-01 -6.52519125e-01 -8.12233371e-03 2.77775195e+01] [-6.52482519e-01 -7.57772254e-01 6.91189445e-03 -1.58197485e+02] [-1.06650224e-02 6.23397874e-05 -9.99943125e-01 7.16106292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47762800000004 meters 0.01276171675730568 Centerline is valid? [True, True] Translation: X:27.77, Y:-158.21, Z:0.71 [[ 8.07694084e-01 -5.89552767e-01 -7.60266958e-03 2.77712516e+01] [-5.89527053e-01 -8.07729864e-01 5.50641898e-03 -1.58205685e+02] [-9.38722782e-03 3.44773574e-05 -9.99955938e-01 7.14722067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.507628 meters 0.012575215092757707 Centerline is valid? [True, True] Translation: X:27.77, Y:-158.21, Z:0.71 [[ 8.52287654e-01 -5.23015123e-01 -7.80611364e-03 2.77661337e+01] [-5.22993367e-01 -8.52323401e-01 4.77050086e-03 -1.58213664e+02] [-9.14837743e-03 1.67066674e-05 -9.99958153e-01 7.13127406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53762800000004 meters 0.012650390474624983 Centerline is valid? [True, True] Translation: X:27.76, Y:-158.22, Z:0.71 [[ 8.90956761e-01 -4.54021299e-01 -7.79171440e-03 2.77614616e+01] [-4.54004024e-01 -8.90990830e-01 3.96053003e-03 -1.58221266e+02] [-8.74051108e-03 8.80868873e-06 -9.99961801e-01 7.12947116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.567628 meters 0.01247885994880837 Centerline is valid? [True, True] Translation: X:27.76, Y:-158.23, Z:0.71 [[ 9.24188122e-01 -3.81876820e-01 -6.81238601e-03 2.77572097e+01] [-3.81866437e-01 -9.24213230e-01 2.81603162e-03 -1.58230055e+02] [-7.37147448e-03 -1.12140617e-06 -9.99972830e-01 7.13218669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59762800000004 meters 0.012480765120230627 Centerline is valid? [True, True] Translation: X:27.75, Y:-158.24, Z:0.71 [[ 9.51375731e-01 -3.07960634e-01 -6.66833320e-03 2.77547843e+01] [-3.07953034e-01 -9.51399100e-01 2.16353938e-03 -1.58237121e+02] [-7.01053116e-03 -4.80541640e-06 -9.99975426e-01 7.13498021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.627628 meters 0.012573144172229031 Centerline is valid? [True, True] Translation: X:27.75, Y:-158.24, Z:0.71 [[ 9.72637086e-01 -2.32232571e-01 -6.71801732e-03 2.77526397e+01] [-2.32226979e-01 -9.72660286e-01 1.61162331e-03 -1.58244468e+02] [-6.90862008e-03 -7.41972832e-06 -9.99976135e-01 7.13099319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65762800000005 meters 0.012473952550183721 Centerline is valid? [True, True] Translation: X:27.75, Y:-158.25, Z:0.71 [[ 9.87872162e-01 -1.55134097e-01 -6.48103787e-03 2.77469253e+01] [-1.55130702e-01 -9.87893421e-01 1.02638998e-03 -1.58252202e+02] [-6.56180276e-03 -8.53413364e-06 -9.99978471e-01 7.12788285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.687628 meters 0.012438406936439047 Centerline is valid? [True, True] Translation: X:27.74, Y:-158.26, Z:0.71 [[ 9.97037583e-01 -7.67494571e-02 -5.05759575e-03 2.77422582e+01] [-7.67484224e-02 -9.97050410e-01 3.98648507e-04 -1.58260312e+02] [-5.07327398e-03 -9.30504938e-06 -9.99987131e-01 7.11881601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71762800000005 meters 0.012519608051587474 Centerline is valid? [True, True] Translation: X:27.74, Y:-158.27, Z:0.71 [[ 9.99990529e-01 1.86729769e-03 -3.93124945e-03 2.77383901e+01] [ 1.86731551e-03 -9.99998257e-01 8.61709260e-07 -1.58271418e+02] [-3.93124099e-03 -8.20258418e-06 -9.99992273e-01 7.11051145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.747628 meters 0.012570256713453474 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.28, Z:0.71 [[ 9.96722873e-01 8.07927826e-02 -4.00505673e-03 2.77338658e+01] [ 8.07921749e-02 -9.96730920e-01 -3.13564441e-04 -1.58282039e+02] [-4.01729762e-03 -1.10403929e-05 -9.99991931e-01 7.11097523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77762800000005 meters 0.012620747826775969 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.29, Z:0.71 [[ 9.87219417e-01 1.59301715e-01 -4.55923041e-03 2.77311502e+01] [ 1.59300093e-01 -9.87229944e-01 -7.19193725e-04 -1.58291651e+02] [-4.61557758e-03 -1.62838185e-05 -9.99989348e-01 7.11909476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.807628 meters 0.012752011246799425 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.30, Z:0.71 [[ 9.71472684e-01 2.37092449e-01 -5.29106239e-03 2.77282152e+01] [ 2.37089071e-01 -9.71487092e-01 -1.26584115e-03 -1.58301617e+02] [-5.44032019e-03 -2.47229705e-05 -9.99985201e-01 7.13738645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.837628 meters 0.012822171469679506 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.31, Z:0.72 [[ 9.49413642e-01 3.13952455e-01 -6.89877771e-03 2.77268537e+01] [ 3.13944511e-01 -9.49438705e-01 -2.23380261e-03 -1.58310461e+02] [-7.25127438e-03 -4.50307250e-05 -9.99973708e-01 7.16093620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.867628 meters 0.012904127042505006 Centerline is valid? [True, True] Translation: X:27.72, Y:-158.32, Z:0.72 [[ 9.21637446e-01 3.87980041e-01 -7.47704705e-03 2.77247352e+01] [ 3.87967770e-01 -9.21667773e-01 -3.08632441e-03 -1.58318444e+02] [-8.08878558e-03 -5.63811192e-05 -9.99967284e-01 7.17191769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.897628 meters 0.013007684379397576 Centerline is valid? [True, True] Translation: X:27.72, Y:-158.33, Z:0.72 [[ 8.88182423e-01 4.59429450e-01 -7.52086724e-03 2.77224820e+01] [ 4.59413583e-01 -8.88214263e-01 -3.81884166e-03 -1.58325479e+02] [-8.43462988e-03 -6.33605216e-05 -9.99964426e-01 7.17665075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.927628 meters 0.013005056552143991 Centerline is valid? [True, True] Translation: X:27.72, Y:-158.33, Z:0.72 [[ 8.49269646e-01 5.27899723e-01 -7.93415679e-03 2.77234756e+01] [ 5.27877497e-01 -8.49306704e-01 -4.84471009e-03 -1.58333781e+02] [-9.29605367e-03 -7.37976097e-05 -9.99956788e-01 7.18228944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.957628 meters 0.013000196697951667 Centerline is valid? [True, True] Translation: X:27.72, Y:-158.34, Z:0.72 [[ 8.05396042e-01 5.92685437e-01 -7.82229712e-03 2.77243097e+01] [ 5.92658395e-01 -8.05434024e-01 -5.66214917e-03 -1.58341892e+02] [-9.65621760e-03 -7.56775234e-05 -9.99953375e-01 7.18308497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98762800000003 meters 0.01280191114119096 Centerline is valid? [True, True] Translation: X:27.72, Y:-158.35, Z:0.72 [[ 7.57730797e-01 6.52529272e-01 -7.04195927e-03 2.77247909e+01] [ 6.52501775e-01 -7.57763516e-01 -5.99061052e-03 -1.58348054e+02] [-9.24518854e-03 -5.56208376e-05 -9.99957261e-01 7.16946538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.017628 meters 0.012486090452786326 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.36, Z:0.72 [[ 7.07227855e-01 7.06959638e-01 -6.06890315e-03 2.77259332e+01] [ 7.06933803e-01 -7.07253894e-01 -6.04378020e-03 -1.58355697e+02] [-8.56496404e-03 -1.59830764e-05 -9.99963320e-01 7.17061967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04762800000003 meters 0.012486090452786326 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.36, Z:0.72 [[ 6.49719260e-01 7.60153786e-01 -5.57719733e-03 2.77281131e+01] [ 7.60125993e-01 -6.49743196e-01 -6.50032555e-03 -1.58364244e+02] [-8.56499310e-03 -1.59859539e-05 -9.99963320e-01 7.17062226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.077628 meters 0.012486090452786326 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.37, Z:0.72 [[ 5.88226080e-01 8.08680755e-01 -5.05128408e-03 2.77308911e+01] [ 8.08651173e-01 -5.88247768e-01 -6.91696376e-03 -1.58372671e+02] [-8.56502206e-03 -1.59883180e-05 -9.99963319e-01 7.17062484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10762800000003 meters 0.0126314828799054 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.38, Z:0.72 [[ 5.28458029e-01 8.48948830e-01 -4.24217268e-03 2.77306727e+01] [ 8.48920928e-01 -5.28475055e-01 -6.88294362e-03 -1.58378671e+02] [-8.08514937e-03 3.60776537e-05 -9.99967314e-01 7.17645856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.137628 meters 0.016696647232215242 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.39, Z:0.72 [[ 4.64214804e-01 8.85712558e-01 -4.22858717e-03 2.77326097e+01] [ 8.85674195e-01 -4.64234056e-01 -8.24393457e-03 -1.58385266e+02] [-9.26481054e-03 8.18059301e-05 -9.99957077e-01 7.19644884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16762800000004 meters 0.013512673462978297 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.39, Z:0.72 [[ 3.96626839e-01 9.17974739e-01 -3.08680549e-03 2.77343862e+01] [ 9.17944971e-01 -3.96638839e-01 -7.39333013e-03 -1.58393384e+02] [-8.01123725e-03 9.88755833e-05 -9.99967905e-01 7.16891288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.197628 meters 0.017364780703953416 Centerline is valid? [True, True] Translation: X:27.73, Y:-158.40, Z:0.72 [[ 3.31506572e-01 9.43449621e-01 -2.49095012e-03 2.77334889e+01] [ 9.43419113e-01 -3.31515889e-01 -7.58899923e-03 -1.58399256e+02] [-7.98562799e-03 1.65793175e-04 -9.99968101e-01 7.18467933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22762800000004 meters 0.016210170472803036 Centerline is valid? [True, True] Translation: X:27.74, Y:-158.41, Z:0.72 [[ 2.59192543e-01 9.65824332e-01 -1.60791795e-03 2.77369433e+01] [ 9.65801738e-01 -2.59197482e-01 -6.60827482e-03 -1.58407366e+02] [-6.79920090e-03 1.59885609e-04 -9.99976872e-01 7.16016245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.257628 meters 0.019628084834069044 Centerline is valid? [True, True] Translation: X:27.75, Y:-158.42, Z:0.72 [[ 1.89311322e-01 9.81916577e-01 -1.02870631e-03 2.77453935e+01] [ 9.81895983e-01 -1.89314017e-01 -6.36248560e-03 -1.58415784e+02] [-6.44217861e-03 1.94407969e-04 -9.99979230e-01 7.17558187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28762800000004 meters 0.018227132320409387 Centerline is valid? [True, True] Translation: X:27.75, Y:-158.42, Z:0.72 [[ 1.13656575e-01 9.93519989e-01 -4.62739823e-04 2.77537514e+01] [ 9.93504006e-01 -1.13657373e-01 -5.63837696e-03 -1.58424318e+02] [-5.65443401e-03 1.81104746e-04 -9.99983997e-01 7.16215629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.317628 meters 0.02002687142258513 Centerline is valid? [True, True] Translation: X:27.76, Y:-158.43, Z:0.72 [[ 3.73909695e-02 9.99300713e-01 -2.10085360e-05 2.77595454e+01] [ 9.99282658e-01 -3.73904203e-02 -6.01041415e-03 -1.58432115e+02] [-6.00699666e-03 2.03741746e-04 -9.99981937e-01 7.17216442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34762800000004 meters 0.01811368338538265 Centerline is valid? [True, True] Translation: X:27.78, Y:-158.44, Z:0.72 [[-3.91962992e-02 9.99231413e-01 4.82685344e-04 2.77751543e+01] [ 9.99210718e-01 3.91985959e-02 -6.43514888e-03 -1.58437683e+02] [-6.44912349e-03 2.30070349e-04 -9.99979178e-01 7.16673581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.377628 meters 0.018602954282184437 Centerline is valid? [True, True] Translation: X:27.79, Y:-158.44, Z:0.72 [[-1.17701249e-01 9.93048570e-01 9.76820658e-04 2.77865931e+01] [ 9.93028466e-01 1.17705086e-01 -6.32287589e-03 -1.58443324e+02] [-6.39389962e-03 2.25800330e-04 -9.99979533e-01 7.16407385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40762800000005 meters 0.017743353411414097 Centerline is valid? [True, True] Translation: X:27.80, Y:-158.45, Z:0.72 [[-1.98219119e-01 9.80156662e-01 1.44884404e-03 2.78025871e+01] [ 9.80137452e-01 1.98224310e-01 -6.13992267e-03 -1.58446725e+02] [-6.30528222e-03 2.03016247e-04 -9.99980101e-01 7.15966128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.437628 meters 0.017075736791283425 Centerline is valid? [True, True] Translation: X:27.82, Y:-158.45, Z:0.72 [[-2.76300320e-01 9.61069411e-01 1.92857548e-03 2.78177138e+01] [ 9.61050594e-01 2.76306985e-01 -6.01708316e-03 -1.58448107e+02] [-6.31571344e-03 1.90936609e-04 -9.99980037e-01 7.16084490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46762800000005 meters 0.01978809170671158 Centerline is valid? [True, True] Translation: X:27.83, Y:-158.45, Z:0.72 [[-3.52422862e-01 9.35837080e-01 2.66210305e-03 2.78309633e+01] [ 9.35814507e-01 3.52432860e-01 -6.50292841e-03 -1.58450084e+02] [-7.02389413e-03 1.99454016e-04 -9.99975312e-01 7.17935289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.497628 meters 0.01613146101231088 Centerline is valid? [True, True] Translation: X:27.85, Y:-158.45, Z:0.72 [[-4.27794048e-01 9.03872861e-01 2.47064685e-03 2.78451260e+01] [ 9.03859589e-01 4.27801160e-01 -4.90014234e-03 -1.58449297e+02] [-5.48605126e-03 1.36866123e-04 -9.99984942e-01 7.15415291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52762800000005 meters 0.017779333822128842 Centerline is valid? [True, True] Translation: X:27.86, Y:-158.45, Z:0.72 [[-5.01716231e-01 8.65028868e-01 2.42527096e-03 2.78597815e+01] [ 8.65019640e-01 5.01722084e-01 -3.99663861e-03 -1.58447365e+02] [-4.67401977e-03 9.27285558e-05 -9.99989072e-01 7.15781074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.557628 meters 0.014127850369339211 Centerline is valid? [True, True] Translation: X:27.87, Y:-158.44, Z:0.71 [[-5.70958720e-01 8.20977804e-01 1.25886087e-03 2.78731861e+01] [ 8.20975944e-01 5.70960107e-01 -1.74834619e-03 -1.58444062e+02] [-2.15411276e-03 3.52609887e-05 -9.99997679e-01 7.12634585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.587628 meters 0.01401392673716519 Centerline is valid? [True, True] Translation: X:27.88, Y:-158.44, Z:0.71 [[-6.35643796e-01 7.71982405e-01 3.61614210e-04 2.78841775e+01] [ 7.71982287e-01 6.35643899e-01 -4.26390818e-04 -1.58441839e+02] [-5.59024075e-04 8.12708697e-06 -9.99999844e-01 7.11534968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.617628 meters 0.013057413519645213 Centerline is valid? [True, True] Translation: X:27.90, Y:-158.43, Z:0.71 [[-6.97816140e-01 7.16275122e-01 -1.60752064e-03 2.78995559e+01] [ 7.16273281e-01 6.97817992e-01 1.62421373e-03 -1.58432513e+02] [ 2.28514072e-03 -1.80215256e-05 -9.99997389e-01 7.09634165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.647628 meters 0.012971634994792319 Centerline is valid? [True, True] Translation: X:27.91, Y:-158.43, Z:0.71 [[-7.53213163e-01 6.57772599e-01 -2.26672692e-03 2.79105714e+01] [ 6.57769689e-01 7.53216574e-01 1.95664309e-03 -1.58426118e+02] [ 2.99436249e-03 -1.72149312e-05 -9.99995517e-01 7.09304271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.677628 meters 0.012789527219762236 Centerline is valid? [True, True] Translation: X:27.93, Y:-158.40, Z:0.71 [[-7.99948433e-01 6.00064823e-01 -2.17094882e-03 2.79301186e+01] [ 6.00062633e-01 7.99951379e-01 1.62092524e-03 -1.58399150e+02] [ 2.70931372e-03 -6.04865801e-06 -9.99996330e-01 7.09466098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.707628 meters 0.012759698492579694 Centerline is valid? [True, True] Translation: X:28.37, Y:-157.83, Z:-0.22 [[-7.59842152e-01 -6.50104994e-01 -1.84386534e-03 2.83654866e+01] [ 6.50103011e-01 -7.59844389e-01 1.60598130e-03 -1.57830495e+02] [-2.44510720e-03 2.15898757e-05 9.99997011e-01 -2.22064191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73762800000003 meters 0.0127861347512744 Centerline is valid? [True, True] Translation: X:27.90, Y:-158.37, Z:0.71 [[-8.03944816e-01 5.94700644e-01 -1.96884782e-03 2.79008119e+01] [ 5.94698854e-01 8.03947227e-01 1.45915803e-03 -1.58372670e+02] [ 2.45061197e-03 2.21099449e-06 -9.99996997e-01 7.09604190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.767628 meters 0.012931886715630746 Centerline is valid? [True, True] Translation: X:28.32, Y:-157.81, Z:-0.22 [[-7.59851620e-01 -6.50094901e-01 -1.46108603e-03 2.83246337e+01] [ 6.50093625e-01 -7.59853024e-01 1.28842115e-03 -1.57807989e+02] [-1.94780666e-03 2.91661822e-05 9.99998103e-01 -2.21981867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79762800000003 meters 0.012976906954336776 Centerline is valid? [True, True] Translation: X:28.31, Y:-157.83, Z:-0.22 [[-7.13876385e-01 -7.00271137e-01 -9.17416182e-04 2.83076711e+01] [ 7.00270567e-01 -7.13876974e-01 8.93975706e-04 -1.57834853e+02] [-1.28094767e-03 -4.25140419e-06 9.99999180e-01 -2.22138223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.827628 meters 0.013035607424253554 Centerline is valid? [True, True] Translation: X:27.82, Y:-158.34, Z:0.71 [[-7.66553108e-01 6.42180703e-01 -5.27568106e-04 2.78180831e+01] [ 6.42180548e-01 7.66553289e-01 4.46097378e-04 -1.58336060e+02] [ 6.90884194e-04 3.16335606e-06 -9.99999761e-01 7.10519256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85762800000003 meters 0.013023825096864287 Centerline is valid? [True, True] Translation: X:27.84, Y:-158.31, Z:0.71 [[-8.10549108e-01 5.85669055e-01 1.37868084e-03 2.78355887e+01] [ 5.85668191e-01 8.10550281e-01 -1.00597032e-03 -1.58311527e+02] [-1.70665583e-03 -7.93882910e-06 -9.99998544e-01 7.12695246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.887628 meters 0.01305223488068268 Centerline is valid? [True, True] Translation: X:27.85, Y:-158.29, Z:0.71 [[-8.50107733e-01 5.26603799e-01 2.29807797e-03 2.78543192e+01] [ 5.26601831e-01 8.50110839e-01 -1.43951103e-03 -1.58290223e+02] [-2.71167297e-03 -1.35673868e-05 -9.99996323e-01 7.12880460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91762800000004 meters 0.013131491896469122 Centerline is valid? [True, True] Translation: X:27.87, Y:-158.27, Z:0.71 [[-8.85496911e-01 4.64636329e-01 2.88131006e-03 2.78689265e+01] [ 4.64633803e-01 8.85501599e-01 -1.53222545e-03 -1.58266817e+02] [-3.26333227e-03 -1.80268558e-05 -9.99994675e-01 7.12352712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.947628 meters 0.01316277013124221 Centerline is valid? [True, True] Translation: X:27.88, Y:-158.24, Z:0.71 [[-9.16252535e-01 4.00590017e-01 2.98845797e-03 2.78828653e+01] [ 4.00587819e-01 9.16257408e-01 -1.32700181e-03 -1.58242762e+02] [-3.26978043e-03 -1.87289152e-05 -9.99994654e-01 7.11118453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97762800000004 meters 0.013097163408381142 Centerline is valid? [True, True] Translation: X:28.17, Y:-157.61, Z:-0.22 [[-8.81649376e-01 -4.71897317e-01 2.70182243e-03 2.81657643e+01] [ 4.71895118e-01 -8.81653516e-01 -1.44080284e-03 -1.57613066e+02] [ 3.06198224e-03 4.69388727e-06 9.99995312e-01 -2.22087962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.007628 meters 0.013050638398554202 Centerline is valid? [True, True] Translation: X:27.84, Y:-158.23, Z:0.71 [[-9.17316670e-01 3.98143082e-01 3.49470610e-03 2.78410318e+01] [ 3.98140118e-01 9.17323327e-01 -1.53628492e-03 -1.58225937e+02] [-3.81743664e-03 -1.78770648e-05 -9.99992713e-01 7.08430868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03762800000004 meters 0.012920035008322851 Centerline is valid? [True, True] Translation: X:27.85, Y:-158.20, Z:0.71 [[-9.42834733e-01 3.33234861e-01 4.14662719e-03 2.78516937e+01] [ 3.33231565e-01 9.42843851e-01 -1.48207167e-03 -1.58200981e+02] [-4.40349990e-03 -1.55615784e-05 -9.99990304e-01 7.08108381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.067628 meters 0.015112690300028509 Centerline is valid? [True, True] Translation: X:27.86, Y:-158.18, Z:0.71 [[-9.62926267e-01 2.69664840e-01 7.34016211e-03 2.78635572e+01] [ 2.69657048e-01 9.62954243e-01 -2.04993073e-03 -1.58178293e+02] [-7.62103450e-03 5.39429647e-06 -9.99970960e-01 7.09718174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09762800000004 meters 0.012967364490078164 Centerline is valid? [True, True] Translation: X:28.06, Y:-157.51, Z:-0.22 [[-9.43927281e-01 -3.30069535e-01 7.44244651e-03 2.80554521e+01] [ 3.30059360e-01 -9.43956621e-01 -2.59168917e-03 -1.57507834e+02] [ 7.88078430e-03 1.00830171e-05 9.99968946e-01 -2.21410364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.127628 meters 0.013164321082043656 Centerline is valid? [True, True] Translation: X:27.82, Y:-158.17, Z:0.71 [[-9.62470313e-01 2.71249740e-01 8.62984872e-03 2.78171090e+01] [ 2.71239351e-01 9.62509000e-01 -2.37465165e-03 -1.58168998e+02] [-8.95043071e-03 5.52228507e-05 -9.99959943e-01 7.09072793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15762800000005 meters 0.013770567062060857 Centerline is valid? [True, True] Translation: X:27.83, Y:-158.15, Z:0.71 [[-9.78191950e-01 2.07469840e-01 9.83735129e-03 2.78291529e+01] [ 2.07460529e-01 9.78241408e-01 -1.96895182e-03 -1.58147350e+02] [-1.00318025e-02 1.14849275e-04 -9.99949674e-01 7.08778767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.187628 meters 0.013995942482086016 Centerline is valid? [True, True] Translation: X:27.97, Y:-157.45, Z:-0.22 [[-9.68576359e-01 -2.48484393e-01 1.07398274e-02 2.79702783e+01] [ 2.48468417e-01 -9.68635898e-01 -2.81840156e-03 -1.57450676e+02] [ 1.11033112e-02 -6.13292061e-05 9.99938354e-01 -2.20542482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21762800000005 meters 0.014822312780610969 Centerline is valid? [True, True] Translation: X:27.78, Y:-158.14, Z:0.71 [[-9.77569879e-01 2.10274495e-01 1.19066249e-02 2.77778342e+01] [ 2.10261683e-01 9.77642361e-01 -2.33193553e-03 -1.58139752e+02] [-1.21307674e-02 2.23877049e-04 -9.99926394e-01 7.07803986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.247628 meters 0.015368692694251855 Centerline is valid? [True, True] Translation: X:27.78, Y:-158.11, Z:0.71 [[-9.89636745e-01 1.43004263e-01 1.29958820e-02 2.77849696e+01] [ 1.42995610e-01 9.89722034e-01 -1.59737881e-03 -1.58113092e+02] [-1.30907428e-02 2.77529317e-04 -9.99914274e-01 7.08020067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27762800000005 meters 0.01642874985251902 Centerline is valid? [True, True] Translation: X:27.88, Y:-157.40, Z:-0.22 [[-9.86172657e-01 -1.65164678e-01 1.35690665e-02 2.78753418e+01] [ 1.65145575e-01 -9.86265972e-01 -2.52420072e-03 -1.57402753e+02] [ 1.37996173e-02 -2.48426445e-04 9.99904750e-01 -2.20854301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.307628 meters 0.01735621086794055 Centerline is valid? [True, True] Translation: X:27.72, Y:-158.11, Z:0.71 [[-9.89571076e-01 1.43339924e-01 1.42390824e-02 2.77208686e+01] [ 1.43330530e-01 9.89673444e-01 -1.68330838e-03 -1.58109151e+02] [-1.43333271e-02 3.75141956e-04 -9.99897202e-01 7.07960660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.337628 meters 0.018559276140597453 Centerline is valid? [True, True] Translation: X:27.81, Y:-157.39, Z:-0.22 [[-9.88124483e-01 -1.52965728e-01 1.45427725e-02 2.78140085e+01] [ 1.52943788e-01 -9.88231428e-01 -2.61568095e-03 -1.57391685e+02] [ 1.47717344e-02 -3.60391686e-04 9.99890827e-01 -2.18480646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.367628 meters 0.020651128325263335 Centerline is valid? [True, True] Translation: X:27.66, Y:-158.11, Z:0.71 [[-9.89100263e-01 1.46509682e-01 1.46827192e-02 2.76612970e+01] [ 1.46501042e-01 9.89209109e-01 -1.66816814e-03 -1.58107140e+02] [-1.47686824e-02 5.01048120e-04 -9.99890812e-01 7.06325960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.397628 meters 0.019163586398389644 Centerline is valid? [True, True] Translation: X:27.66, Y:-158.07, Z:0.70 [[-9.96754210e-01 7.90949945e-02 1.50008944e-02 2.76616062e+01] [ 7.90944639e-02 9.96866927e-01 -6.29576391e-04 -1.58074094e+02] [-1.50036918e-02 5.58954783e-04 -9.99887282e-01 7.04253836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.427628 meters 0.021643533227463634 Centerline is valid? [True, True] Translation: X:27.70, Y:-157.35, Z:-0.22 [[-9.97395667e-01 -7.05611747e-02 1.49333026e-02 2.76980640e+01] [ 7.05448700e-02 -9.97507297e-01 -1.61645624e-03 -1.57354933e+02] [ 1.50101374e-02 -5.58778554e-04 9.99887185e-01 -2.18232595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.457628 meters 0.020801720800374048 Centerline is valid? [True, True] Translation: X:27.58, Y:-158.07, Z:0.70 [[-9.97099599e-01 7.48565515e-02 1.37435815e-02 2.75812120e+01] [ 7.48567312e-02 9.97194173e-01 -5.02069391e-04 -1.58069787e+02] [-1.37426026e-02 5.28186400e-04 -9.99905427e-01 7.04480513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48762800000003 meters 0.02169353927729536 Centerline is valid? [True, True] Translation: X:27.57, Y:-158.04, Z:0.70 [[-9.99901210e-01 3.10471581e-03 1.37088249e-02 2.75729903e+01] [ 3.11153359e-03 9.99995046e-01 4.76027141e-04 -1.58038977e+02] [-1.37072791e-02 5.18635584e-04 -9.99905916e-01 7.03583989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.517628 meters 0.021841372247149923 Centerline is valid? [True, True] Translation: X:27.57, Y:-158.01, Z:0.70 [[-9.97497491e-01 -6.94737223e-02 1.31208745e-02 2.75675452e+01] [-6.94613441e-02 9.97583665e-01 1.39731807e-03 -1.58010152e+02] [-1.31862470e-02 4.82427691e-04 -9.99912941e-01 7.03074056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54762800000003 meters 0.01907203698494391 Centerline is valid? [True, True] Translation: X:27.55, Y:-157.98, Z:0.70 [[-9.89613458e-01 -1.43177764e-01 1.28581505e-02 2.75457135e+01] [-1.43159818e-01 9.89696888e-01 2.31020110e-03 -1.57981965e+02] [-1.30564410e-02 4.45435613e-04 -9.99914662e-01 7.00787680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.577628 meters 0.016872556762106413 Centerline is valid? [True, True] Translation: X:27.51, Y:-157.95, Z:0.70 [[-9.75262677e-01 -2.20713704e-01 1.21725838e-02 2.75135868e+01] [-2.20692126e-01 9.75338579e-01 3.10504997e-03 -1.57950875e+02] [-1.25577177e-02 3.41845950e-04 -9.99921090e-01 7.00606329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60762800000003 meters 0.01586530640698178 Centerline is valid? [True, True] Translation: X:27.46, Y:-157.93, Z:0.70 [[-9.55311881e-01 -2.95362910e-01 1.18304989e-02 2.74605053e+01] [-2.95336576e-01 9.55385090e-01 3.95425119e-03 -1.57932066e+02] [-1.24706214e-02 2.83564098e-04 -9.99922199e-01 7.01089415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.637628 meters 0.013769064597558814 Centerline is valid? [True, True] Translation: X:27.39, Y:-157.92, Z:0.70 [[-9.27407448e-01 -3.73893075e-01 1.09267327e-02 2.73916843e+01] [-3.73865161e-01 9.27471803e-01 4.57129169e-03 -1.57918875e+02] [-1.18434108e-02 1.54325289e-04 -9.99929852e-01 7.00689616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66762800000004 meters 0.01327902708569761 Centerline is valid? [True, True] Translation: X:27.32, Y:-157.92, Z:0.70 [[-8.95146606e-01 -4.45644875e-01 1.06395239e-02 2.73207891e+01] [-4.45612090e-01 8.95209828e-01 5.40647324e-03 -1.57917761e+02] [-1.19339735e-02 9.84856765e-05 -9.99928783e-01 7.00843808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.697628 meters 0.01274011428952482 Centerline is valid? [True, True] Translation: X:27.24, Y:-157.92, Z:0.70 [[-8.57159330e-01 -5.14948097e-01 1.03121289e-02 2.72442369e+01] [-5.14910250e-01 8.57221358e-01 6.24332218e-03 -1.57924535e+02] [-1.20547640e-02 4.17010135e-05 -9.99927338e-01 7.00349478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72762800000004 meters 0.012724591199411866 Centerline is valid? [True, True] Translation: X:27.16, Y:-157.94, Z:0.70 [[-8.11700768e-01 -5.83982602e-01 1.03044959e-02 2.71567009e+01] [-5.83936475e-01 8.11766171e-01 7.34004427e-03 -1.57941170e+02] [-1.26512993e-02 -5.92514417e-05 -9.99919967e-01 7.01339447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.757628 meters 0.01299461521122896 Centerline is valid? [True, True] Translation: X:27.07, Y:-157.97, Z:0.70 [[-7.63414839e-01 -6.45830541e-01 1.00347190e-02 2.70708482e+01] [-6.45776579e-01 7.63480779e-01 8.34919180e-03 -1.57969032e+02] [-1.30534782e-02 -1.06289614e-04 -9.99914794e-01 7.02085857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78762800000004 meters 0.013445559247490727 Centerline is valid? [True, True] Translation: X:26.99, Y:-158.01, Z:0.70 [[-7.10682551e-01 -7.03448166e-01 9.53885642e-03 2.69851914e+01] [-7.03387542e-01 7.10746549e-01 9.23627837e-03 -1.58005200e+02] [-1.32769524e-02 -1.45450902e-04 -9.99911847e-01 7.03624471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.817628 meters 0.013980360905684714 Centerline is valid? [True, True] Translation: X:26.90, Y:-158.05, Z:0.70 [[-6.54123333e-01 -7.56333863e-01 9.04175176e-03 2.68983414e+01] [-7.56265291e-01 6.54185797e-01 1.01858838e-02 -1.58053494e+02] [-1.36189144e-02 -1.75138790e-04 -9.99907243e-01 7.04791748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84762800000004 meters 0.014175239074496948 Centerline is valid? [True, True] Translation: X:26.82, Y:-158.11, Z:0.70 [[-5.93417097e-01 -8.04850548e-01 8.47022121e-03 2.68180654e+01] [-8.04773497e-01 5.93477508e-01 1.11384986e-02 -1.58112509e+02] [-1.39917125e-02 -2.06834022e-04 -9.99902090e-01 7.03592704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.877628 meters 0.014236564338338661 Centerline is valid? [True, True] Translation: X:26.74, Y:-158.18, Z:0.70 [[-5.30563030e-01 -8.47610215e-01 7.73266569e-03 2.67389825e+01] [-8.47525920e-01 5.30619335e-01 1.19556297e-02 -1.58181263e+02] [-1.42368158e-02 -2.10419480e-04 -9.99898629e-01 7.03214117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90762800000005 meters 0.014052598446986371 Centerline is valid? [True, True] Translation: X:26.67, Y:-158.26, Z:0.70 [[-4.65534069e-01 -8.85003764e-01 6.80943216e-03 2.66657300e+01] [-8.84915094e-01 4.65583827e-01 1.25290392e-02 -1.58259628e+02] [-1.42586083e-02 -1.93074724e-04 -9.99898322e-01 7.02384332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.937628 meters 0.013995900200931971 Centerline is valid? [True, True] Translation: X:26.60, Y:-158.34, Z:0.70 [[-3.97452993e-01 -9.17605317e-01 5.62147407e-03 2.65965676e+01] [-9.17519670e-01 3.97492707e-01 1.25380233e-02 -1.58341580e+02] [-1.37394518e-02 -1.74538157e-04 -9.99905594e-01 7.02412019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96762800000005 meters 0.013995900200931971 Centerline is valid? [True, True] Translation: X:26.53, Y:-158.43, Z:0.70 [[-3.26082924e-01 -9.45329755e-01 4.64561994e-03 2.65301436e+01] [-9.45241321e-01 3.26115968e-01 1.29313552e-02 -1.58432686e+02] [-1.37394057e-02 -1.74537822e-04 -9.99905595e-01 7.02409879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.997628 meters 0.013886984524191836 Centerline is valid? [True, True] Translation: X:26.47, Y:-158.53, Z:0.70 [[-2.53552561e-01 -9.67314591e-01 3.68519931e-03 2.64725071e+01] [-9.67221670e-01 2.53579287e-01 1.34084776e-02 -1.58530064e+02] [-1.39047062e-02 -1.64650800e-04 -9.99903311e-01 7.02947307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02762800000005 meters 0.013909589137067597 Centerline is valid? [True, True] Translation: X:26.42, Y:-158.64, Z:0.70 [[-1.80312230e-01 -9.83605890e-01 2.63697748e-03 2.64242415e+01] [-9.83511762e-01 1.80331457e-01 1.36080480e-02 -1.58636541e+02] [-1.38604862e-02 -1.39800890e-04 -9.99903929e-01 7.03992509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.057628 meters 0.013718282278260928 Centerline is valid? [True, True] Translation: X:26.38, Y:-158.75, Z:0.70 [[-1.05746850e-01 -9.94391838e-01 1.57352192e-03 2.63831953e+01] [-9.94297738e-01 1.05758491e-01 1.36803035e-02 -1.58746461e+02] [-1.37699955e-02 -1.17900280e-04 -9.99905182e-01 7.03629870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.087628 meters 0.01361765316645887 Centerline is valid? [True, True] Translation: X:26.35, Y:-158.85, Z:0.70 [[-3.08911405e-02 -9.99522632e-01 4.94591063e-04 2.63509962e+01] [-9.99435915e-01 3.08949755e-02 1.31663467e-02 -1.58854420e+02] [-1.31753419e-02 -8.75886044e-05 -9.99913198e-01 7.03710225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.117628 meters 0.013323809167398403 Centerline is valid? [True, True] Translation: X:26.33, Y:-158.97, Z:0.70 [[ 4.14258144e-02 -9.99141440e-01 -5.33494602e-04 2.63322237e+01] [-9.99050434e-01 -4.14292415e-02 1.34851489e-02 -1.58972149e+02] [-1.34956733e-02 -2.56452596e-05 -9.99908929e-01 7.03511154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.147628 meters 0.013403957387202924 Centerline is valid? [True, True] Translation: X:26.32, Y:-159.08, Z:0.70 [[ 1.15386665e-01 -9.93319298e-01 -1.64022047e-03 2.63178657e+01] [-9.93220656e-01 -1.15398322e-01 1.39984295e-02 -1.59083411e+02] [-1.40941889e-02 1.38687510e-05 -9.99900672e-01 7.03581131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.177628 meters 0.01362212584547194 Centerline is valid? [True, True] Translation: X:26.31, Y:-159.20, Z:0.70 [[ 1.88381884e-01 -9.82091858e-01 -2.80134013e-03 2.63127510e+01] [-9.81988075e-01 -1.88402702e-01 1.42773222e-02 -1.59200593e+02] [-1.45494219e-02 6.12937587e-05 -9.99894150e-01 7.03685627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.207628 meters 0.014378909750670075 Centerline is valid? [True, True] Translation: X:26.32, Y:-159.32, Z:0.70 [[ 2.57320053e-01 -9.66319055e-01 -3.72480673e-03 2.63212558e+01] [-9.66225952e-01 -2.57346969e-01 1.34144442e-02 -1.59317724e+02] [-1.39212007e-02 1.47199444e-04 -9.99903085e-01 7.03368548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23762800000003 meters 0.014827524540072969 Centerline is valid? [True, True] Translation: X:26.33, Y:-159.43, Z:0.70 [[ 3.27956299e-01 -9.44681269e-01 -4.68687503e-03 2.63338422e+01] [-9.44592937e-01 -3.27989733e-01 1.29196858e-02 -1.59434952e+02] [-1.37422321e-02 1.90096704e-04 -9.99905553e-01 7.03185105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.267628 meters 0.015142783744802612 Centerline is valid? [True, True] Translation: X:26.35, Y:-159.55, Z:0.70 [[ 3.96964255e-01 -9.17816098e-01 -5.74378374e-03 2.63529737e+01] [-9.17728412e-01 -3.97005738e-01 1.26888360e-02 -1.59546272e+02] [-1.39263330e-02 2.34219210e-04 -9.99902997e-01 7.02699983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29762800000003 meters 0.016167183171296638 Centerline is valid? [True, True] Translation: X:26.38, Y:-159.66, Z:0.70 [[ 4.63912429e-01 -8.85855241e-01 -6.76393357e-03 2.63843516e+01] [-8.85769603e-01 -4.63961654e-01 1.23204655e-02 -1.59660898e+02] [-1.40523548e-02 2.75669653e-04 -9.99901223e-01 7.03584186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.327628 meters 0.01682158004363274 Centerline is valid? [True, True] Translation: X:26.42, Y:-159.76, Z:0.70 [[ 5.25997661e-01 -8.50453108e-01 -7.48138306e-03 2.64217245e+01] [-8.50376186e-01 -5.26050752e-01 1.14432605e-02 -1.59764301e+02] [-1.36675436e-02 3.42861742e-04 -9.99906536e-01 7.03194747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35762800000003 meters 0.0176912542927641 Centerline is valid? [True, True] Translation: X:26.47, Y:-159.87, Z:0.70 [[ 5.87557237e-01 -8.09139984e-01 -8.30541315e-03 2.64658158e+01] [-8.09068057e-01 -5.87615814e-01 1.07951312e-02 -1.59867254e+02] [-1.36151644e-02 3.76887025e-04 -9.99907238e-01 7.03080643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.387628 meters 0.021949292493326934 Centerline is valid? [True, True] Translation: X:26.52, Y:-159.96, Z:0.71 [[ 6.45303960e-01 -7.63866378e-01 -9.53709213e-03 2.65210951e+01] [-7.63792924e-01 -6.45374280e-01 1.06022863e-02 -1.59959961e+02] [-1.42537240e-02 4.42666133e-04 -9.99898313e-01 7.05937506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41762800000004 meters 0.019134778960312973 Centerline is valid? [True, True] Translation: X:26.57, Y:-160.06, Z:0.70 [[ 7.00903210e-01 -7.13177957e-01 -1.05779176e-02 2.65716671e+01] [-7.13106730e-01 -7.00982867e-01 1.00901326e-02 -1.60056381e+02] [-1.46109992e-02 4.70977941e-04 -9.99893143e-01 7.04189093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.447628 meters 0.019402587656445265 Centerline is valid? [True, True] Translation: X:26.57, Y:-160.06, Z:0.70 [[ 7.53970551e-01 -6.56810293e-01 -1.13423056e-02 2.65679316e+01] [-6.56745489e-01 -7.54055705e-01 9.23890283e-03 -1.60062016e+02] [-1.46209367e-02 4.83147391e-04 -9.99892992e-01 7.03912625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47762800000004 meters 0.019982351392902532 Centerline is valid? [True, True] Translation: X:26.56, Y:-160.06, Z:0.70 [[ 8.02279742e-01 -5.96854162e-01 -1.05982992e-02 2.65645770e+01] [-5.96809265e-01 -8.02349621e-01 7.33395875e-03 -1.60063565e+02] [-1.28808451e-02 4.41276606e-04 -9.99916941e-01 7.02087767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.507628 meters 0.019738600004827325 Centerline is valid? [True, True] Translation: X:26.56, Y:-160.07, Z:0.70 [[ 8.46538196e-01 -5.32233194e-01 -1.00453881e-02 2.65589341e+01] [-5.32201228e-01 -8.46597703e-01 5.84664926e-03 -1.60069513e+02] [-1.16161833e-02 3.96755979e-04 -9.99932451e-01 7.00862487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53762800000004 meters 0.019646830947983335 Centerline is valid? [True, True] Translation: X:26.55, Y:-160.08, Z:0.70 [[ 8.86001698e-01 -4.63591069e-01 -9.18217985e-03 2.65540206e+01] [-4.63570093e-01 -8.86049212e-01 4.42296132e-03 -1.60075737e+02] [-1.01863086e-02 3.37832731e-04 -9.99948061e-01 7.00392238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.567628 meters 0.0186519038114836 Centerline is valid? [True, True] Translation: X:26.55, Y:-160.08, Z:0.70 [[ 9.21239775e-01 -3.88927063e-01 -7.28121987e-03 2.65491592e+01] [-3.88916832e-01 -9.21268522e-01 2.82992775e-03 -1.60082814e+02] [-7.80859415e-03 2.24746958e-04 -9.99969487e-01 6.99413825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59762800000004 meters 0.018246609374050662 Centerline is valid? [True, True] Translation: X:26.55, Y:-160.09, Z:0.70 [[ 9.49640931e-01 -3.13273780e-01 -6.45299685e-03 2.65453078e+01] [-3.13267803e-01 -9.49662839e-01 1.94318001e-03 -1.60093157e+02] [-6.73691866e-03 1.76192868e-04 -9.99977291e-01 6.99545370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.627628 meters 0.016666789721364393 Centerline is valid? [True, True] Translation: X:26.54, Y:-160.10, Z:0.70 [[ 9.72079676e-01 -2.34578645e-01 -5.82772146e-03 2.65414996e+01] [-2.34575257e-01 -9.72097136e-01 1.26789053e-03 -1.60100888e+02] [-5.96253138e-03 1.34548650e-04 -9.99982215e-01 6.96710956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65762800000005 meters 0.015860885318896397 Centerline is valid? [True, True] Translation: X:26.54, Y:-160.11, Z:0.70 [[ 9.87978127e-01 -1.54520057e-01 -4.77209389e-03 2.65351093e+01] [-1.54518708e-01 -9.87989647e-01 6.52456739e-04 -1.60108235e+02] [-4.81559702e-03 9.27647937e-05 -9.99988401e-01 6.95989144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.687628 meters 0.014094624225908077 Centerline is valid? [True, True] Translation: X:26.53, Y:-160.12, Z:0.70 [[ 9.97545099e-01 -6.99374347e-02 -3.53987053e-03 2.65297563e+01] [-6.99371506e-02 -9.97551379e-01 2.04148022e-04 -1.60124945e+02] [-3.54548032e-03 4.39215997e-05 -9.99993714e-01 6.95092266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71762800000005 meters 0.013783558498609598 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.14, Z:0.70 [[ 9.99931844e-01 1.13744784e-02 -2.63204376e-03 2.65249765e+01] [ 1.13743746e-02 -9.99935308e-01 -5.44230433e-05 -1.60136701e+02] [-2.63249252e-03 2.44814824e-05 -9.99996535e-01 6.95191132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.747628 meters 0.013493040382835336 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.15, Z:0.70 [[ 9.95696519e-01 9.26437222e-02 -2.36274867e-03 2.65222506e+01] [ 9.26434263e-02 -9.95699322e-01 -2.34628865e-04 -1.60147243e+02] [-2.37432415e-03 1.47260111e-05 -9.99997181e-01 6.95134158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77762800000005 meters 0.013196673560760156 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.16, Z:0.70 [[ 9.84613628e-01 1.74736786e-01 -1.74900770e-03 2.65193134e+01] [ 1.74736506e-01 -9.84615181e-01 -3.13201218e-04 -1.60157980e+02] [-1.77682731e-03 2.76669337e-06 -9.99998421e-01 6.95094337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.807628 meters 0.013252510003145077 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.17, Z:0.69 [[ 9.67484002e-01 2.52927353e-01 -1.56857272e-03 2.65177794e+01] [ 2.52927021e-01 -9.67485273e-01 -4.09738140e-04 -1.60165579e+02] [-1.62120499e-03 -3.19328351e-07 -9.99998686e-01 6.94824769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.837628 meters 0.013260220095761669 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.18, Z:0.69 [[ 9.44296800e-01 3.29091812e-01 -1.46059393e-03 2.65168204e+01] [ 3.29091422e-01 -9.44297929e-01 -5.06604844e-04 -1.60175333e+02] [-1.54595533e-03 -2.28359934e-06 -9.99998805e-01 6.94317946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.867628 meters 0.013245979804520754 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.18, Z:0.70 [[ 9.15133744e-01 4.03142011e-01 -2.59798190e-03 2.65152981e+01] [ 4.03140408e-01 -9.15137432e-01 -1.13705090e-03 -1.60184085e+02] [-2.83590347e-03 -6.79783314e-06 -9.99995979e-01 6.95479477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.897628 meters 0.013331157314696375 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.19, Z:0.70 [[ 8.80600278e-01 4.73848190e-01 -3.32309274e-03 2.65156222e+01] [ 4.73844859e-01 -8.80606548e-01 -1.77677276e-03 -1.60192301e+02] [-3.76825778e-03 -1.00038246e-05 -9.99992900e-01 6.96789706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.927628 meters 0.013283611465012276 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.20, Z:0.70 [[ 8.41019846e-01 5.40989595e-01 -3.98454530e-03 2.65165600e+01] [ 5.40983581e-01 -8.41029285e-01 -2.55079803e-03 -1.60199894e+02] [-4.73107448e-03 -1.03018175e-05 -9.99988808e-01 6.98218130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.957628 meters 0.01598068904291594 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.20, Z:0.70 [[ 7.96913456e-01 6.04068854e-01 -5.45561448e-03 2.65154024e+01] [ 6.04054739e-01 -7.96932130e-01 -4.12946135e-03 -1.60204358e+02] [-6.84223345e-03 -4.66646161e-06 -9.99976592e-01 7.02734737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98762800000003 meters 0.013408217014486589 Centerline is valid? [True, True] Translation: X:26.51, Y:-160.21, Z:0.70 [[ 7.47232482e-01 6.64543499e-01 -5.05521775e-03 2.65144763e+01] [ 6.64528327e-01 -7.47249582e-01 -4.49057946e-03 -1.60210940e+02] [-6.76169474e-03 -3.82855168e-06 -9.99977140e-01 6.99995861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.017628 meters 0.013449064688337748 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.22, Z:0.70 [[ 6.93424632e-01 7.20511224e-01 -5.08475695e-03 2.65150864e+01] [ 7.20491838e-01 -6.93443275e-01 -5.28541305e-03 -1.60218224e+02] [-7.33418994e-03 1.50971523e-06 -9.99973104e-01 6.99710461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04762800000003 meters 0.013594018177801537 Centerline is valid? [True, True] Translation: X:26.51, Y:-160.22, Z:0.70 [[ 6.35597618e-01 7.72006526e-01 -4.64682322e-03 2.65117447e+01] [ 7.71985796e-01 -6.35614604e-01 -5.65737844e-03 -1.60224257e+02] [-7.32112178e-03 8.53473513e-06 -9.99973200e-01 6.99215286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.077628 meters 0.013741349309537944 Centerline is valid? [True, True] Translation: X:26.51, Y:-160.23, Z:0.70 [[ 5.73382881e-01 8.19274687e-01 -4.58902651e-03 2.65104407e+01] [ 8.19248288e-01 -5.73401244e-01 -6.57690233e-03 -1.60231790e+02] [-8.01964311e-03 1.15310882e-05 -9.99967842e-01 6.99569178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10762800000003 meters 0.013649500577441218 Centerline is valid? [True, True] Translation: X:26.51, Y:-160.24, Z:0.70 [[ 5.06769480e-01 8.62071970e-01 -4.07580256e-03 2.65126374e+01] [ 8.62044004e-01 -5.06785870e-01 -6.94383174e-03 -1.60240615e+02] [-8.05164186e-03 5.40084437e-06 -9.99967585e-01 6.98917383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.137628 meters 0.013603399023669078 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.25, Z:0.70 [[ 4.36159237e-01 8.99863000e-01 -3.42082161e-03 2.65169512e+01] [ 8.99835473e-01 -4.36172651e-01 -7.03848338e-03 -1.60249678e+02] [-7.82573960e-03 -8.27709723e-06 -9.99969378e-01 6.98880303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16762800000004 meters 0.01365373217721044 Centerline is valid? [True, True] Translation: X:26.52, Y:-160.26, Z:0.70 [[ 3.62239572e-01 9.32080300e-01 -2.96750565e-03 2.65216930e+01] [ 9.32049634e-01 -3.62251726e-01 -7.56082209e-03 -1.60258321e+02] [-8.12227737e-03 -2.70335963e-05 -9.99967013e-01 6.98673857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.197628 meters 0.013702776130849468 Centerline is valid? [True, True] Translation: X:26.53, Y:-160.27, Z:0.70 [[ 2.88102344e-01 9.57596363e-01 -2.49898345e-03 2.65273287e+01] [ 9.57561205e-01 -2.88113180e-01 -8.20575403e-03 -1.60266956e+02] [-8.57779028e-03 -2.88326410e-05 -9.99963210e-01 6.98149423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22762800000004 meters 0.013744314413536391 Centerline is valid? [True, True] Translation: X:26.53, Y:-160.28, Z:0.70 [[ 2.14749783e-01 9.76667110e-01 -1.97134374e-03 2.65317468e+01] [ 9.76626250e-01 -2.14758831e-01 -8.93372532e-03 -1.60275714e+02] [-9.14863917e-03 -6.75046412e-06 -9.99958150e-01 6.98039898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.257628 meters 0.0138308685989038 Centerline is valid? [True, True] Translation: X:26.54, Y:-160.28, Z:0.70 [[ 1.39506206e-01 9.90220315e-01 -1.32169110e-03 2.65357132e+01] [ 9.90175064e-01 -1.39512466e-01 -9.46645299e-03 -1.60284184e+02] [-9.55826645e-03 1.19233720e-05 -9.99954319e-01 6.98092067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28762800000004 meters 0.013894209765536843 Centerline is valid? [True, True] Translation: X:26.54, Y:-160.29, Z:0.70 [[ 6.38056793e-02 9.97962165e-01 -5.93875873e-04 2.65403958e+01] [ 9.97913721e-01 -6.38084335e-02 -9.83304656e-03 -1.60291943e+02] [-9.85090272e-03 3.47673324e-05 -9.99951478e-01 6.97791308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.317628 meters 0.01412802704433147 Centerline is valid? [True, True] Translation: X:26.55, Y:-160.30, Z:0.70 [[-1.20310351e-02 9.99927608e-01 1.81909849e-04 2.65454842e+01] [ 9.99877320e-01 1.20322545e-02 -1.00284920e-02 -1.60298781e+02] [-1.00299548e-02 6.12343920e-05 -9.99949697e-01 6.97679525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34762800000004 meters 0.014645164945088216 Centerline is valid? [True, True] Translation: X:26.55, Y:-160.31, Z:0.70 [[-8.56605861e-02 9.96323889e-01 9.85679793e-04 2.65510123e+01] [ 9.96271909e-01 8.56661861e-02 -1.01778146e-02 -1.60305976e+02] [-1.02248393e-02 1.10167521e-04 -9.99947719e-01 6.97950588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.377628 meters 0.015034719084933378 Centerline is valid? [True, True] Translation: X:26.56, Y:-160.31, Z:0.70 [[-1.61118553e-01 9.86933360e-01 1.83147915e-03 2.65585667e+01] [ 9.86878995e-01 1.61128903e-01 -1.03598280e-02 -1.60312578e+02] [-1.05195640e-02 1.38287814e-04 -9.99944658e-01 6.98212556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40762800000005 meters 0.016016603063835663 Centerline is valid? [True, True] Translation: X:26.56, Y:-160.32, Z:0.70 [[-2.35634946e-01 9.71837604e-01 2.80073753e-03 2.65648180e+01] [ 9.71777460e-01 2.35651526e-01 -1.08132519e-02 -1.60320056e+02] [-1.11687229e-02 1.73713579e-04 -9.99937613e-01 6.99366451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.437628 meters 0.015708465872280666 Centerline is valid? [True, True] Translation: X:26.58, Y:-160.32, Z:0.70 [[-3.08724424e-01 9.51143684e-01 3.86296961e-03 2.65770609e+01] [ 9.51077652e-01 3.08748517e-01 -1.12095328e-02 -1.60323747e+02] [-1.18545624e-02 2.13327516e-04 -9.99929709e-01 6.98242849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46762800000005 meters 0.017667214170666638 Centerline is valid? [True, True] Translation: X:26.59, Y:-160.33, Z:0.70 [[-3.78857895e-01 9.25439142e-01 5.39343185e-03 2.65857050e+01] [ 9.25356146e-01 3.78896170e-01 -1.23974086e-02 -1.60329258e+02] [-1.35165979e-02 2.93989181e-04 -9.99908603e-01 7.00063470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.497628 meters 0.017837491782506064 Centerline is valid? [True, True] Translation: X:26.59, Y:-160.33, Z:0.70 [[-4.49164845e-01 8.93424860e-01 6.55445766e-03 2.65941551e+01] [ 8.93339908e-01 4.49212552e-01 -1.23244538e-02 -1.60333911e+02] [-1.39553181e-02 3.19647207e-04 -9.99902569e-01 6.99886532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52762800000005 meters 0.017427447540099606 Centerline is valid? [True, True] Translation: X:26.61, Y:-160.34, Z:0.70 [[-5.17573596e-01 8.55602753e-01 7.84237288e-03 2.66054064e+01] [ 8.55514237e-01 5.17632897e-01 -1.23115749e-02 -1.60336483e+02] [-1.45932876e-02 3.37115553e-04 -9.99893456e-01 6.98896354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.557628 meters 0.017872609478517505 Centerline is valid? [True, True] Translation: X:26.62, Y:-160.34, Z:0.70 [[-5.84006691e-01 8.11704183e-01 8.51495988e-03 2.66164599e+01] [ 8.11625528e-01 5.84068681e-01 -1.13039352e-02 -1.60339117e+02] [-1.41487728e-02 3.09385037e-04 -9.99899853e-01 6.99159654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.587628 meters 0.016720116102394184 Centerline is valid? [True, True] Translation: X:26.63, Y:-160.34, Z:0.70 [[-6.46832682e-01 7.62582003e-01 8.72757975e-03 2.66285513e+01] [ 7.62518151e-01 6.46891502e-01 -9.87184914e-03 -1.60338004e+02] [-1.31738917e-02 2.69503331e-04 -9.99913184e-01 6.97468267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.617628 meters 0.016555663657970482 Centerline is valid? [True, True] Translation: X:26.64, Y:-160.34, Z:0.70 [[-7.06961241e-01 7.07211281e-01 7.61626144e-03 2.66399431e+01] [ 7.07172984e-01 7.07002243e-01 -7.36202288e-03 -1.60337397e+02] [-1.05912196e-02 1.81349498e-04 -9.99943895e-01 6.96617196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.647628 meters 0.015435711779579564 Centerline is valid? [True, True] Translation: X:26.66, Y:-160.32, Z:0.69 [[-7.56333438e-01 6.54149021e-01 6.98493124e-03 2.66636248e+01] [ 6.54122827e-01 7.56365678e-01 -5.85555601e-03 -1.60316885e+02] [-9.11356849e-03 1.40250160e-04 -9.99958461e-01 6.94817228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.677628 meters 0.015090635923481763 Centerline is valid? [True, True] Translation: X:26.69, Y:-160.30, Z:0.69 [[-8.01903755e-01 5.97419417e-01 6.35670245e-03 2.66859397e+01] [ 5.97401679e-01 8.01928942e-01 -4.60492981e-03 -1.60296898e+02] [-7.84869816e-03 1.04794205e-04 -9.99969193e-01 6.93888243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.707628 meters 0.01413824855255419 Centerline is valid? [True, True] Translation: X:26.71, Y:-160.27, Z:0.69 [[-8.44525862e-01 5.35492464e-01 4.88768526e-03 2.67088894e+01] [ 5.35483846e-01 8.44540004e-01 -3.03830284e-03 -1.60274889e+02] [-5.75483401e-03 5.13511752e-05 -9.99983440e-01 6.91866738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73762800000003 meters 0.01396349030329707 Centerline is valid? [True, True] Translation: X:26.73, Y:-160.25, Z:0.69 [[-8.81394513e-01 4.72364556e-01 3.92913369e-03 2.67264885e+01] [ 4.72360010e-01 8.81403271e-01 -2.07252302e-03 -1.60252450e+02] [-4.44213770e-03 2.92552082e-05 -9.99990133e-01 6.91314625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.767628 meters 0.01371115403353656 Centerline is valid? [True, True] Translation: X:26.74, Y:-160.23, Z:0.69 [[-9.13611144e-01 4.06575319e-01 3.34474950e-03 2.67423312e+01] [ 4.06572653e-01 9.13617266e-01 -1.47258026e-03 -1.60227312e+02] [-3.65453568e-03 1.45179416e-05 -9.99993322e-01 6.89985587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79762800000003 meters 0.013565269542788796 Centerline is valid? [True, True] Translation: X:26.76, Y:-160.20, Z:0.69 [[-9.40994184e-01 3.38408749e-01 3.07645337e-03 2.67579520e+01] [ 3.38406955e-01 9.40999213e-01 -1.10174284e-03 -1.60201997e+02] [-3.26777962e-03 4.35961650e-06 -9.99994661e-01 6.89774720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.827628 meters 0.013568433317854296 Centerline is valid? [True, True] Translation: X:26.77, Y:-160.17, Z:0.69 [[-9.63923869e-01 2.66160691e-01 3.04324258e-03 2.67667250e+01] [ 2.66159327e-01 9.63928673e-01 -8.52130003e-04 -1.60171227e+02] [-3.16027229e-03 -1.14010528e-05 -9.99995006e-01 6.90669644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85762800000003 meters 0.013739978044531169 Centerline is valid? [True, True] Translation: X:26.77, Y:-160.14, Z:0.69 [[-9.80793991e-01 1.95019684e-01 3.23576480e-03 2.67703714e+01] [ 1.95018558e-01 9.80799328e-01 -6.62903576e-04 -1.60141959e+02] [-3.30291519e-03 -1.91376598e-05 -9.99994545e-01 6.91261414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.887628 meters 0.013739978044531169 Centerline is valid? [True, True] Translation: X:26.78, Y:-160.12, Z:0.69 [[-9.92160553e-01 1.24926834e-01 3.27461687e-03 2.67774404e+01] [ 1.24926090e-01 9.92165957e-01 -4.31604985e-04 -1.60115346e+02] [-3.30288243e-03 -1.91363598e-05 -9.99994545e-01 6.91261058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91762800000004 meters 0.013770005203534916 Centerline is valid? [True, True] Translation: X:26.79, Y:-160.09, Z:0.69 [[-9.98620290e-01 5.23812860e-02 3.70361983e-03 2.67859006e+01] [ 5.23808221e-02 9.98627158e-01 -2.22209802e-04 -1.60087469e+02] [-3.71017497e-03 -2.79045658e-05 -9.99993117e-01 6.91918823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.947628 meters 0.013949807365654897 Centerline is valid? [True, True] Translation: X:26.79, Y:-160.06, Z:0.69 [[-9.99793037e-01 -1.98605019e-02 4.40945241e-03 2.67886305e+01] [-1.98604773e-02 9.99802760e-01 4.93645419e-05 -1.60058691e+02] [-4.40956309e-03 -3.82195044e-05 -9.99990277e-01 6.93283083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97762800000004 meters 0.013829664296565293 Centerline is valid? [True, True] Translation: X:26.78, Y:-159.28, Z:-0.21 [[-9.97940662e-01 -6.38855018e-02 5.75130680e-03 2.67838059e+01] [ 6.38852342e-02 -9.97957225e-01 -2.30416382e-04 -1.59275602e+02] [ 5.75427844e-03 1.37481704e-04 9.99983435e-01 -2.07405211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.007628 meters 0.013678943443022923 Centerline is valid? [True, True] Translation: X:26.69, Y:-160.06, Z:0.70 [[-9.99699531e-01 -2.36605997e-02 6.40491387e-03 2.66932954e+01] [-2.36603755e-02 9.99720048e-01 1.10796905e-04 -1.60063249e+02] [-6.40574232e-03 -4.07790530e-05 -9.99979482e-01 6.95448009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03762800000004 meters 0.013574203972692671 Centerline is valid? [True, True] Translation: X:26.70, Y:-160.04, Z:0.70 [[-9.96056518e-01 -8.84206590e-02 7.29380399e-03 2.66955607e+01] [-8.84182847e-02 9.96083223e-01 6.47967606e-04 -1.60041493e+02] [-7.32252951e-03 5.06719338e-07 -9.99973190e-01 6.96944052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.067628 meters 0.01377095109120771 Centerline is valid? [True, True] Translation: X:26.69, Y:-160.02, Z:0.70 [[-9.87845185e-01 -1.55254115e-01 7.61903796e-03 2.66866725e+01] [-1.55249240e-01 9.87874566e-01 1.23077256e-03 -1.60018514e+02] [-7.71773633e-03 3.29628967e-05 -9.99970217e-01 6.97314106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09762800000004 meters 0.014794395379526145 Centerline is valid? [True, True] Translation: X:26.66, Y:-160.00, Z:0.70 [[-9.76002583e-01 -2.17600187e-01 8.31369178e-03 2.66601301e+01] [-2.17591285e-01 9.76037984e-01 1.97158077e-03 -1.60004256e+02] [-8.54349530e-03 1.15281043e-04 -9.99963497e-01 6.97069037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.127628 meters 0.016036096715658858 Centerline is valid? [True, True] Translation: X:26.61, Y:-160.00, Z:0.70 [[-9.58550590e-01 -2.84785838e-01 8.81998557e-03 2.66080592e+01] [-2.84772200e-01 9.58591153e-01 2.79193385e-03 -1.59995519e+02] [-9.24986336e-03 1.64523141e-04 -9.99957206e-01 6.97757975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15762800000005 meters 0.016235639048579387 Centerline is valid? [True, True] Translation: X:26.55, Y:-159.99, Z:0.70 [[-9.35865907e-01 -3.52250369e-01 8.64188917e-03 2.65450071e+01] [-3.52233446e-01 9.35905786e-01 3.45812154e-03 -1.59989979e+02] [-9.30611867e-03 1.92375645e-04 -9.99956679e-01 6.96779402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.187628 meters 0.016237680389922706 Centerline is valid? [True, True] Translation: X:26.47, Y:-159.99, Z:0.70 [[-9.07164096e-01 -4.20713998e-01 7.28247430e-03 2.64698634e+01] [-4.20698928e-01 9.07193311e-01 3.56496094e-03 -1.59991599e+02] [-8.10644094e-03 1.70275440e-04 -9.99967128e-01 6.96094672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21762800000005 meters 0.016389305297551643 Centerline is valid? [True, True] Translation: X:26.39, Y:-160.01, Z:0.70 [[-8.73508556e-01 -4.86756808e-01 7.11422332e-03 2.63862610e+01] [-4.86738963e-01 8.73537508e-01 4.17183516e-03 -1.60005149e+02] [-8.24521007e-03 1.81364019e-04 -9.99965991e-01 6.96061800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.247628 meters 0.016667207429000047 Centerline is valid? [True, True] Translation: X:26.30, Y:-160.03, Z:0.70 [[-8.34605142e-01 -5.50802531e-01 7.12950298e-03 2.63003991e+01] [-5.50780412e-01 8.34635569e-01 4.94007115e-03 -1.60026516e+02] [-8.67154047e-03 1.96218196e-04 -9.99962382e-01 6.96755214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27762800000005 meters 0.01632405320076039 Centerline is valid? [True, True] Translation: X:26.21, Y:-160.06, Z:0.70 [[-7.90590337e-01 -6.12305959e-01 6.95201546e-03 2.62087971e+01] [-6.12279987e-01 7.90620876e-01 5.64338328e-03 -1.60058568e+02] [-8.95188577e-03 2.05024362e-04 -9.99959910e-01 6.96750099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.307628 meters 0.016474496592566102 Centerline is valid? [True, True] Translation: X:26.12, Y:-160.10, Z:0.70 [[-7.41152159e-01 -6.71308103e-01 6.23760436e-03 2.61153681e+01] [-6.71282160e-01 7.41178382e-01 5.90483892e-03 -1.60101906e+02] [-8.58714372e-03 1.89191591e-04 -9.99963112e-01 6.97794967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.337628 meters 0.016075760635254368 Centerline is valid? [True, True] Translation: X:26.02, Y:-160.15, Z:0.70 [[-6.86875136e-01 -7.26752733e-01 5.74568085e-03 2.60248149e+01] [-7.26725111e-01 6.86899144e-01 6.33868666e-03 -1.60151952e+02] [-8.55336111e-03 1.78355709e-04 -9.99963403e-01 6.97363276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.367628 meters 0.016165430757358528 Centerline is valid? [True, True] Translation: X:25.93, Y:-160.22, Z:0.70 [[-6.28227801e-01 -7.78012518e-01 5.13338996e-03 2.59333558e+01] [-7.77984388e-01 6.28248753e-01 6.61791447e-03 -1.60215923e+02] [-8.37386614e-03 1.63860605e-04 -9.99964925e-01 6.97657531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.397628 meters 0.015006829553259288 Centerline is valid? [True, True] Translation: X:25.84, Y:-160.29, Z:0.70 [[-5.64081762e-01 -8.25707987e-01 4.25279036e-03 2.58427725e+01] [-8.25682809e-01 5.64097779e-01 6.44947945e-03 -1.60285577e+02] [-7.72437629e-03 1.26577840e-04 -9.99970159e-01 6.97061201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.427628 meters 0.015141037355098473 Centerline is valid? [True, True] Translation: X:25.76, Y:-160.37, Z:0.70 [[-4.97255561e-01 -8.67595193e-01 3.93556759e-03 2.57574685e+01] [-8.67566130e-01 4.97271121e-01 7.10223178e-03 -1.60368963e+02] [-8.11890626e-03 1.17259104e-04 -9.99967034e-01 6.97755613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.457628 meters 0.014244783900795536 Centerline is valid? [True, True] Translation: X:25.68, Y:-160.46, Z:0.70 [[-4.26689161e-01 -9.04392435e-01 3.26850591e-03 2.56797301e+01] [-9.04364199e-01 4.26701669e-01 7.14706903e-03 -1.60455578e+02] [-7.85843209e-03 9.36571555e-05 -9.99969118e-01 6.96964097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48762800000003 meters 0.013710195420377116 Centerline is valid? [True, True] Translation: X:25.60, Y:-160.55, Z:0.70 [[-3.49734641e-01 -9.36844017e-01 2.99471287e-03 2.56048526e+01] [-9.36808487e-01 3.49747459e-01 8.15922853e-03 -1.60551583e+02] [-8.69131766e-03 4.80924294e-05 -9.99962229e-01 6.98865972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.517628 meters 0.013316729481727137 Centerline is valid? [True, True] Translation: X:25.54, Y:-160.65, Z:0.70 [[-2.73365125e-01 -9.61907449e-01 2.35982158e-03 2.55395697e+01] [-9.61870948e-01 2.73375310e-01 8.37974590e-03 -1.60653560e+02] [-8.70565695e-03 2.08864674e-05 -9.99962105e-01 6.99056534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54762800000003 meters 0.013247233506394623 Centerline is valid? [True, True] Translation: X:25.48, Y:-160.76, Z:0.70 [[-1.95428671e-01 -9.80716511e-01 1.66145637e-03 2.54827244e+01] [-9.80681280e-01 1.95435733e-01 8.31271217e-03 -1.60763700e+02] [-8.47712201e-03 -4.81687333e-06 -9.99964069e-01 6.99106374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.577628 meters 0.013419957348988801 Centerline is valid? [True, True] Translation: X:25.43, Y:-160.88, Z:0.70 [[-1.14206426e-01 -9.93456567e-01 9.70112405e-04 2.54331998e+01] [-9.93423963e-01 1.14210537e-01 8.04877621e-03 -1.60876547e+02] [-8.10690664e-03 -4.45109478e-05 -9.99967138e-01 6.98814221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60762800000003 meters 0.013589429110997628 Centerline is valid? [True, True] Translation: X:25.39, Y:-160.99, Z:0.70 [[-3.54864575e-02 -9.99370095e-01 3.53607745e-04 2.53945975e+01] [-9.99335545e-01 3.54881710e-02 8.31012251e-03 -1.60990823e+02] [-8.31743681e-03 -5.84759797e-05 -9.99965408e-01 6.99465113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.637628 meters 0.01362216798604225 Centerline is valid? [True, True] Translation: X:25.37, Y:-161.11, Z:0.70 [[ 4.29298854e-02 -9.99078045e-01 -2.91144378e-04 2.53664438e+01] [-9.99043186e-01 -4.29308197e-02 8.34612356e-03 -1.61111444e+02] [-8.35092788e-03 -6.74323212e-05 -9.99965128e-01 6.99290892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66762800000004 meters 0.01360241585352913 Centerline is valid? [True, True] Translation: X:25.35, Y:-161.23, Z:0.70 [[ 1.20300732e-01 -9.92737091e-01 -8.95227613e-04 2.53481762e+01] [-9.92705347e-01 -1.20304044e-01 7.93920664e-03 -1.61231468e+02] [-7.98924441e-03 -6.63951308e-05 -9.99968083e-01 6.99182565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.697628 meters 0.013300320678635043 Centerline is valid? [True, True] Translation: X:25.34, Y:-161.35, Z:0.70 [[ 1.94300976e-01 -9.80941177e-01 -1.23990029e-03 2.53422589e+01] [-9.80919933e-01 -1.94304928e-01 6.45605426e-03 -1.61349784e+02] [-6.57392820e-03 -3.81747310e-05 -9.99978391e-01 6.97053808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72762800000004 meters 0.013187374166089267 Centerline is valid? [True, True] Translation: X:25.34, Y:-161.47, Z:0.70 [[ 2.67496982e-01 -9.63557424e-01 -1.56708860e-03 2.53442118e+01] [-9.63540404e-01 -2.67501571e-01 5.72706532e-03 -1.61469948e+02] [-5.93755497e-03 -2.20195038e-05 -9.99982372e-01 6.96920547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.757628 meters 0.013034618580495448 Centerline is valid? [True, True] Translation: X:25.36, Y:-161.59, Z:0.70 [[ 3.36444033e-01 -9.41702281e-01 -1.49240773e-03 2.53581266e+01] [-9.41693094e-01 -3.36447343e-01 4.15956750e-03 -1.61589222e+02] [-4.41919082e-03 5.92838497e-06 -9.99990235e-01 6.95260352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78762800000004 meters 0.013150160875193112 Centerline is valid? [True, True] Translation: X:25.38, Y:-161.71, Z:0.69 [[ 4.06077001e-01 -9.13837423e-01 -1.62284945e-03 2.53779110e+01] [-9.13830268e-01 -4.06080244e-01 3.61624300e-03 -1.61705966e+02] [-3.96366529e-03 1.45358341e-05 -9.99992145e-01 6.94666307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.817628 meters 0.013312500454536852 Centerline is valid? [True, True] Translation: X:25.40, Y:-161.82, Z:0.69 [[ 4.73601283e-01 -8.80737239e-01 -1.93433696e-03 2.54036469e+01] [-8.80730091e-01 -4.73605232e-01 3.54836245e-03 -1.61816122e+02] [-4.04128705e-03 2.31197554e-05 -9.99991834e-01 6.94361025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84762800000004 meters 0.013425101776108093 Centerline is valid? [True, True] Translation: X:25.44, Y:-161.93, Z:0.69 [[ 5.38348137e-01 -8.42719598e-01 -2.22742312e-03 2.54389615e+01] [-8.42712630e-01 -5.38352744e-01 3.42723266e-03 -1.61926707e+02] [-4.08733548e-03 3.20332725e-05 -9.99991646e-01 6.94594099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.877628 meters 0.013934578218610084 Centerline is valid? [True, True] Translation: X:25.48, Y:-162.03, Z:0.70 [[ 5.98648606e-01 -8.01004500e-01 -3.41138862e-03 2.54823720e+01] [-8.00992113e-01 -5.98658322e-01 4.45521745e-03 -1.62031472e+02] [-5.61090541e-03 6.53856700e-05 -9.99984257e-01 6.96564943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90762800000005 meters 0.014265285815698324 Centerline is valid? [True, True] Translation: X:25.53, Y:-162.13, Z:0.70 [[ 6.57138258e-01 -7.53756321e-01 -4.55184209e-03 2.55328979e+01] [-7.53739197e-01 -6.57154016e-01 5.08155696e-03 -1.62133732e+02] [-6.82151698e-03 9.16163134e-05 -9.99976729e-01 6.97773512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.937628 meters 0.014516116095419912 Centerline is valid? [True, True] Translation: X:25.59, Y:-162.23, Z:0.70 [[ 7.11602730e-01 -7.02556212e-01 -6.02690632e-03 2.55872154e+01] [-7.02532536e-01 -7.11628240e-01 5.76923491e-03 -1.62228323e+02] [-8.34212857e-03 1.28694464e-04 -9.99965196e-01 6.98580796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96762800000005 meters 0.015643830809807493 Centerline is valid? [True, True] Translation: X:25.58, Y:-162.23, Z:0.70 [[ 7.61544370e-01 -6.48066824e-01 -7.71774982e-03 2.55836679e+01] [-6.48036140e-01 -7.61583451e-01 6.30946504e-03 -1.62231565e+02] [-9.96666551e-03 1.96443226e-04 -9.99950312e-01 7.01124847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.997628 meters 0.016489151195486995 Centerline is valid? [True, True] Translation: X:25.58, Y:-162.23, Z:0.70 [[ 8.08530014e-01 -5.88393673e-01 -8.49124306e-03 2.55793316e+01] [-5.88364154e-01 -8.08574569e-01 5.89818955e-03 -1.62233479e+02] [-1.03362606e-02 2.27079756e-04 -9.99946554e-01 7.01709127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02762800000005 meters 0.017377921911349153 Centerline is valid? [True, True] Translation: X:25.57, Y:-162.24, Z:0.70 [[ 8.49085500e-01 -5.28170441e-01 -9.47623678e-03 2.55743693e+01] [-5.28141497e-01 -8.49138324e-01 5.53771688e-03 -1.62236464e+02] [-1.09714942e-02 3.02798770e-04 -9.99939766e-01 7.01254240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.057628 meters 0.020427363946821524 Centerline is valid? [True, True] Translation: X:25.57, Y:-162.24, Z:0.70 [[ 8.86010710e-01 -4.63539969e-01 -1.07572770e-02 2.55691079e+01] [-4.63510904e-01 -8.86075932e-01 5.20438774e-03 -1.62241298e+02] [-1.19442060e-02 3.74971922e-04 -9.99928595e-01 7.02990542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.087628 meters 0.018876149181984738 Centerline is valid? [True, True] Translation: X:25.56, Y:-162.25, Z:0.70 [[ 9.18527450e-01 -3.95231789e-01 -9.95773373e-03 2.55633604e+01] [-3.95212823e-01 -9.18581352e-01 3.88895561e-03 -1.62247699e+02] [-1.06840274e-02 3.63311575e-04 -9.99942858e-01 7.00480212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.117628 meters 0.0201908002888176 Centerline is valid? [True, True] Translation: X:25.56, Y:-162.25, Z:0.70 [[ 9.45619619e-01 -3.25109015e-01 -1.03761612e-02 2.55578804e+01] [-3.25094074e-01 -9.45676460e-01 3.14259743e-03 -1.62252860e+02] [-1.08341781e-02 4.01526731e-04 -9.99941228e-01 7.01209411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.147628 meters 0.02242035826384854 Centerline is valid? [True, True] Translation: X:25.55, Y:-162.26, Z:0.70 [[ 9.66931141e-01 -2.54828818e-01 -1.03170632e-02 2.55495254e+01] [-2.54819175e-01 -9.66986079e-01 2.26075713e-03 -1.62256528e+02] [-1.05525626e-02 4.42989061e-04 -9.99944222e-01 7.02368392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.177628 meters 0.02232955714708534 Centerline is valid? [True, True] Translation: X:25.54, Y:-162.26, Z:0.70 [[ 9.83628112e-01 -1.79961020e-01 -9.47467011e-03 2.55418203e+01] [-1.79956736e-01 -9.83673654e-01 1.30983441e-03 -1.62263644e+02] [-9.55570251e-03 4.16640755e-04 -9.99954256e-01 7.01163522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.207628 meters 0.02045458668031537 Centerline is valid? [True, True] Translation: X:25.53, Y:-162.28, Z:0.70 [[ 9.94537642e-01 -1.03993602e-01 -8.95602514e-03 2.55340127e+01] [-1.03993043e-01 -9.94577884e-01 5.29292562e-04 -1.62278128e+02] [-8.96250757e-03 4.04962932e-04 -9.99959754e-01 6.98988988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23762800000003 meters 0.022283845178660944 Centerline is valid? [True, True] Translation: X:25.53, Y:-162.29, Z:0.70 [[ 9.99597821e-01 -2.73921167e-02 -7.33948968e-03 2.55262009e+01] [-2.73938960e-02 -9.99624707e-01 -1.41998575e-04 -1.62287475e+02] [-7.33284558e-03 3.42998683e-04 -9.99973056e-01 6.97144077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.267628 meters 0.021321638735360915 Centerline is valid? [True, True] Translation: X:25.52, Y:-162.30, Z:0.70 [[ 9.98678684e-01 5.09401990e-02 -6.78106382e-03 2.55208161e+01] [ 5.09368575e-02 -9.98701655e-01 -6.64677529e-04 -1.62302119e+02] [-6.80611846e-03 3.18393199e-04 -9.99976787e-01 6.96299075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29762800000003 meters 0.022434890775143896 Centerline is valid? [True, True] Translation: X:25.51, Y:-162.31, Z:0.70 [[ 9.91563508e-01 1.29487598e-01 -5.89676999e-03 2.55147889e+01] [ 1.29483643e-01 -9.91581003e-01 -1.04914575e-03 -1.62314151e+02] [-5.98297646e-03 2.76759376e-04 -9.99982064e-01 6.95841344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.327628 meters 0.02092198601944137 Centerline is valid? [True, True] Translation: X:25.51, Y:-162.33, Z:0.69 [[ 9.77731237e-01 2.09816648e-01 -4.31301426e-03 2.55127739e+01] [ 2.09813739e-01 -9.77740731e-01 -1.12140043e-03 -1.62332646e+02] [-4.45229819e-03 1.91498585e-04 -9.99990070e-01 6.94863742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35762800000003 meters 0.019290552934166635 Centerline is valid? [True, True] Translation: X:25.51, Y:-162.35, Z:0.69 [[ 9.57671643e-01 2.87843666e-01 -3.32402108e-03 2.55124378e+01] [ 2.87841410e-01 -9.57677401e-01 -1.14838987e-03 -1.62351318e+02] [-3.51389661e-03 1.42989494e-04 -9.99993816e-01 6.94684366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.387628 meters 0.01855698886334694 Centerline is valid? [True, True] Translation: X:25.51, Y:-162.37, Z:0.69 [[ 9.31308742e-01 3.64219479e-01 -2.86315471e-03 2.55137958e+01] [ 3.64217361e-01 -9.31313136e-01 -1.24765983e-03 -1.62368805e+02] [-3.12091560e-03 1.19145852e-04 -9.99995123e-01 6.94796803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41762800000004 meters 0.01739977781276823 Centerline is valid? [True, True] Translation: X:25.52, Y:-162.39, Z:0.70 [[ 8.97475759e-01 4.41053831e-01 -2.96330172e-03 2.55173615e+01] [ 4.41051021e-01 -8.97480644e-01 -1.57804353e-03 -1.62388848e+02] [-3.35550808e-03 1.09288562e-04 -9.99994364e-01 6.95612470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.447628 meters 0.017120395424044414 Centerline is valid? [True, True] Translation: X:25.52, Y:-162.40, Z:0.70 [[ 8.58657504e-01 5.12539240e-01 -3.28905798e-03 2.55193165e+01] [ 5.12534960e-01 -8.58663796e-01 -2.09770808e-03 -1.62402966e+02] [-3.89935272e-03 1.15455586e-04 -9.99992391e-01 6.95948060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47762800000004 meters 0.01644422709717666 Centerline is valid? [True, True] Translation: X:25.52, Y:-162.42, Z:0.70 [[ 8.14544542e-01 5.80091955e-01 -3.24227768e-03 2.55234037e+01] [ 5.80086813e-01 -8.14550987e-01 -2.44501834e-03 -1.62416415e+02] [-4.05933596e-03 1.10773812e-04 -9.99991755e-01 6.95940225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.507628 meters 0.015200289948209223 Centerline is valid? [True, True] Translation: X:25.53, Y:-162.43, Z:0.70 [[ 7.63637913e-01 6.45638806e-01 -2.76938005e-03 2.55316062e+01] [ 6.45634160e-01 -7.63642931e-01 -2.45080141e-03 -1.62432255e+02] [-3.69714999e-03 8.35185125e-05 -9.99993162e-01 6.96131924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53762800000004 meters 0.014799738652876105 Centerline is valid? [True, True] Translation: X:25.54, Y:-162.44, Z:0.70 [[ 7.09334440e-01 7.04867975e-01 -2.40626496e-03 2.55382648e+01] [ 7.04863575e-01 -7.09338518e-01 -2.49146454e-03 -1.62443738e+02] [-3.46300999e-03 7.11930773e-05 -9.99994001e-01 6.96328917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.567628 meters 0.014566771291109316 Centerline is valid? [True, True] Translation: X:25.54, Y:-162.45, Z:0.70 [[ 6.50585060e-01 7.59430637e-01 -2.04648937e-03 2.55437058e+01] [ 7.59426585e-01 -6.50588276e-01 -2.48124587e-03 -1.62454697e+02] [-3.21575612e-03 6.01030563e-05 -9.99994828e-01 6.96614314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59762800000004 meters 0.014207173001508814 Centerline is valid? [True, True] Translation: X:25.55, Y:-162.46, Z:0.70 [[ 5.87993452e-01 8.08863132e-01 -2.03312251e-03 2.55501250e+01] [ 8.08857932e-01 -5.87996964e-01 -2.90117807e-03 -1.62463464e+02] [-3.54212584e-03 6.13664387e-05 -9.99993725e-01 6.97260837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.627628 meters 0.013489096139953747 Centerline is valid? [True, True] Translation: X:25.56, Y:-162.47, Z:0.70 [[ 5.20452416e-01 8.53886709e-01 -2.60226673e-03 2.55592789e+01] [ 8.53875307e-01 -5.20458916e-01 -4.41329328e-03 -1.62473203e+02] [-5.12282539e-03 7.48978458e-05 -9.99986875e-01 6.98412887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65762800000005 meters 0.013062841480009491 Centerline is valid? [True, True] Translation: X:25.57, Y:-162.48, Z:0.70 [[ 4.50447575e-01 8.92799340e-01 -2.51410887e-03 2.55664990e+01] [ 8.92784503e-01 -4.50454584e-01 -5.14768039e-03 -1.62479797e+02] [-5.72833753e-03 7.42027065e-05 -9.99983590e-01 6.98935127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.687628 meters 0.012554702227927194 Centerline is valid? [True, True] Translation: X:25.57, Y:-162.49, Z:0.70 [[ 3.75832918e-01 9.26684762e-01 -2.22905322e-03 2.55741453e+01] [ 9.26667554e-01 -3.75839524e-01 -5.64772475e-03 -1.62487286e+02] [-6.07142677e-03 5.70095844e-05 -9.99981567e-01 6.99817665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71762800000005 meters 0.012231606522980092 Centerline is valid? [True, True] Translation: X:25.58, Y:-162.49, Z:0.70 [[ 3.00371430e-01 9.53820501e-01 -1.85896195e-03 2.55806266e+01] [ 9.53801230e-01 -3.00377179e-01 -6.06332223e-03 -1.62491671e+02] [-6.34171079e-03 4.81685800e-05 -9.99979890e-01 6.99357181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.747628 meters 0.012000237657341394 Centerline is valid? [True, True] Translation: X:25.59, Y:-162.50, Z:0.70 [[ 2.22397732e-01 9.74955101e-01 -1.34186934e-03 2.55860881e+01] [ 9.74936477e-01 -2.22401778e-01 -6.02618498e-03 -1.62497031e+02] [-6.17369391e-03 3.19725078e-05 -9.99980942e-01 6.99220856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77762800000005 meters 0.012000237657341394 Centerline is valid? [True, True] Translation: X:25.59, Y:-162.50, Z:0.70 [[ 1.45344730e-01 9.89380695e-01 -8.65686875e-04 2.55903163e+01] [ 9.89361812e-01 -1.45347304e-01 -6.11273230e-03 -1.62500860e+02] [-6.17364459e-03 3.19758872e-05 -9.99980942e-01 6.99220433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.807628 meters 0.011631415999394176 Centerline is valid? [True, True] Translation: X:25.60, Y:-162.50, Z:0.70 [[ 6.27294272e-02 9.98030503e-01 -3.65663793e-04 2.55982824e+01] [ 9.98013275e-01 -6.27304929e-02 -5.86414363e-03 -1.62504663e+02] [-5.87553249e-03 2.91705068e-06 -9.99982739e-01 6.99293700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.837628 meters 0.011531326690985654 Centerline is valid? [True, True] Translation: X:25.60, Y:-162.51, Z:0.70 [[-1.79059834e-02 9.99839671e-01 9.32943718e-05 2.56033415e+01] [ 9.99822932e-01 1.79062235e-02 -5.78555301e-03 -1.62507929e+02] [-5.78629597e-03 -1.03181638e-05 -9.99983259e-01 6.99191015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.867628 meters 0.011752397178340262 Centerline is valid? [True, True] Translation: X:25.61, Y:-162.51, Z:0.70 [[-9.91351609e-02 9.95073767e-01 6.46246213e-04 2.56079227e+01] [ 9.95050459e-01 9.91372621e-02 -6.81089609e-03 -1.62509853e+02] [-6.84141111e-03 -3.21516895e-05 -9.99976597e-01 7.00038139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.897628 meters 0.011810617362258321 Centerline is valid? [True, True] Translation: X:25.61, Y:-162.51, Z:0.70 [[-1.77805889e-01 9.84064747e-01 1.28023343e-03 2.56119204e+01] [ 9.84037478e-01 1.77810493e-01 -7.32600176e-03 -1.62511913e+02] [-7.43689901e-03 -4.28085799e-05 -9.99972345e-01 7.00080734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.927628 meters 0.011940292642611745 Centerline is valid? [True, True] Translation: X:25.62, Y:-162.51, Z:0.70 [[-2.54388488e-01 9.67100110e-01 1.96813729e-03 2.56151457e+01] [ 9.67069760e-01 2.54396097e-01 -7.66191302e-03 -1.62514365e+02] [-7.91052337e-03 -4.57764153e-05 -9.99968710e-01 7.01177926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.957628 meters 0.011895486097016432 Centerline is valid? [True, True] Translation: X:25.62, Y:-162.52, Z:0.70 [[-3.28985411e-01 9.44331049e-01 2.73297349e-03 2.56153521e+01] [ 9.44297315e-01 3.28996759e-01 -7.98211428e-03 -1.62516921e+02] [-8.43689777e-03 -4.52596119e-05 -9.99964408e-01 7.00930000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98762800000003 meters 0.011722490411811504 Centerline is valid? [True, True] Translation: X:25.61, Y:-162.52, Z:0.70 [[-3.99995549e-01 9.16510500e-01 3.47327103e-03 2.56137362e+01] [ 9.16475343e-01 4.00010628e-01 -8.02769540e-03 -1.62521192e+02] [-8.74681245e-03 -2.78751767e-05 -9.99961746e-01 7.01498578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.017628 meters 0.01168088365754115 Centerline is valid? [True, True] Translation: X:25.61, Y:-162.52, Z:0.70 [[-4.69032679e-01 8.83170588e-01 4.24959482e-03 2.56138562e+01] [ 8.83134089e-01 4.69051930e-01 -8.02917147e-03 -1.62524146e+02] [-9.08440874e-03 -1.29817489e-05 -9.99958736e-01 7.01736602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04762800000003 meters 0.011649052970478285 Centerline is valid? [True, True] Translation: X:25.62, Y:-162.53, Z:0.70 [[-5.32932571e-01 8.46142459e-01 5.08072071e-03 2.56167185e+01] [ 8.46104544e-01 5.32956788e-01 -8.01018814e-03 -1.62526277e+02] [-9.48556488e-03 2.99307168e-05 -9.99955011e-01 7.00786889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.077628 meters 0.012172500411302283 Centerline is valid? [True, True] Translation: X:25.62, Y:-162.53, Z:0.70 [[-5.95981756e-01 8.02976721e-01 5.84221485e-03 2.56204944e+01] [ 8.02938966e-01 5.96010388e-01 -7.78683170e-03 -1.62528299e+02] [-9.73466533e-03 5.01323101e-05 -9.99952616e-01 7.01509568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10762800000003 meters 0.011993805873149643 Centerline is valid? [True, True] Translation: X:25.63, Y:-162.53, Z:0.70 [[-6.55456912e-01 7.55206762e-01 6.24362707e-03 2.56276708e+01] [ 7.55173494e-01 6.55486645e-01 -7.08891546e-03 -1.62526200e+02] [-9.44621105e-03 6.85430288e-05 -9.99955381e-01 6.99047713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.137628 meters 0.01281916569058263 Centerline is valid? [True, True] Translation: X:25.63, Y:-162.53, Z:0.70 [[-7.10177453e-01 7.03988895e-01 6.90084437e-03 2.56320370e+01] [ 7.03957062e-01 7.10210972e-01 -6.69547723e-03 -1.62527722e+02] [-9.61459701e-03 1.02921170e-04 -9.99953773e-01 6.98869508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16762800000004 meters 0.01276867452312922 Centerline is valid? [True, True] Translation: X:25.66, Y:-162.51, Z:0.70 [[-7.57358941e-01 6.52959806e-01 7.13626003e-03 2.56568226e+01] [ 6.52932207e-01 7.57392553e-01 -6.00449280e-03 -1.62514701e+02] [-9.32564265e-03 1.11937699e-04 -9.99956509e-01 6.98292901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.197628 meters 0.013086250170291086 Centerline is valid? [True, True] Translation: X:25.68, Y:-162.50, Z:0.70 [[-8.00835696e-01 5.98836352e-01 7.56390192e-03 2.56769951e+01] [ 5.98811111e-01 8.00871406e-01 -5.49955067e-03 -1.62498244e+02] [-9.35104362e-03 1.25112027e-04 -9.99956270e-01 6.98865595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22762800000004 meters 0.014312675491785616 Centerline is valid? [True, True] Translation: X:25.69, Y:-162.48, Z:0.70 [[-8.40383379e-01 5.41922214e-01 8.72296158e-03 2.56910841e+01] [ 5.41894908e-01 8.40428635e-01 -5.44224578e-03 -1.62477240e+02] [-1.02803006e-02 1.53355563e-04 -9.99947145e-01 6.99795219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.257628 meters 0.013832611730833704 Centerline is valid? [True, True] Translation: X:25.71, Y:-162.46, Z:0.70 [[-8.75756864e-01 4.82669495e-01 8.94836540e-03 2.57112749e+01] [ 4.82646258e-01 8.75802564e-01 -4.73914408e-03 -1.62463178e+02] [-1.01244416e-02 1.68557114e-04 -9.99948732e-01 6.98747834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28762800000004 meters 0.014215068165928154 Centerline is valid? [True, True] Translation: X:25.72, Y:-162.44, Z:0.70 [[-9.07300534e-01 4.20392638e-01 8.70465448e-03 2.57248883e+01] [ 4.20375065e-01 9.07342274e-01 -3.84740742e-03 -1.62442567e+02] [-9.51552274e-03 1.68464891e-04 -9.99954712e-01 6.98158944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.317628 meters 0.017351415543947073 Centerline is valid? [True, True] Translation: X:25.74, Y:-162.42, Z:0.70 [[-9.33853444e-01 3.57532164e-01 9.40732759e-03 2.57371896e+01] [ 3.57516213e-01 9.33900803e-01 -3.38338588e-03 -1.62423958e+02] [-9.99518007e-03 2.03685578e-04 -9.99950026e-01 6.99990982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34762800000004 meters 0.01708881162666567 Centerline is valid? [True, True] Translation: X:25.75, Y:-162.40, Z:0.70 [[-9.56672165e-01 2.91010294e-01 9.55917077e-03 2.57489997e+01] [ 2.90997931e-01 9.56719899e-01 -2.69047820e-03 -1.62402077e+02] [-9.92840574e-03 2.07793308e-04 -9.99950691e-01 7.00021446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.377628 meters 0.015713757528026544 Centerline is valid? [True, True] Translation: X:25.76, Y:-162.38, Z:0.70 [[-9.74942550e-01 2.22266259e-01 9.20513456e-03 2.57601736e+01] [ 2.22258239e-01 9.74985986e-01 -1.89814772e-03 -1.62379020e+02] [-9.39677139e-03 1.95332021e-04 -9.99955830e-01 6.98268690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40762800000005 meters 0.014696786885028339 Centerline is valid? [True, True] Translation: X:25.77, Y:-162.35, Z:0.70 [[-9.88341186e-01 1.51952611e-01 9.59707993e-03 2.57657449e+01] [ 1.51947371e-01 9.88387761e-01 -1.27701742e-03 -1.62350916e+02] [-9.67968247e-03 1.96122153e-04 -9.99953132e-01 6.97701410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.437628 meters 0.015830883970998924 Centerline is valid? [True, True] Translation: X:25.77, Y:-162.32, Z:0.70 [[-9.96666412e-01 8.08536642e-02 1.08971203e-02 2.57708887e+01] [ 8.08511939e-02 9.96725960e-01 -6.67760062e-04 -1.62322531e+02] [-1.09154335e-02 2.15511158e-04 -9.99940402e-01 6.99007604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46762800000005 meters 0.01669309918062094 Centerline is valid? [True, True] Translation: X:25.83, Y:-161.52, Z:-0.21 [[-9.93888634e-01 -1.09833827e-01 1.10414580e-02 2.58250186e+01] [ 1.09824752e-01 -9.93949943e-01 -1.42675211e-03 -1.61517452e+02] [ 1.11313622e-02 -2.05407314e-04 9.99938023e-01 -2.13617496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.497628 meters 0.014119733134345893 Centerline is valid? [True, True] Translation: X:25.69, Y:-162.32, Z:0.70 [[-9.97422983e-01 7.09997688e-02 1.03163200e-02 2.56871949e+01] [ 7.09976080e-02 9.97476319e-01 -5.76001562e-04 -1.62320615e+02] [-1.03311809e-02 1.57916848e-04 -9.99946619e-01 6.97450918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52762800000005 meters 0.012888226373601219 Centerline is valid? [True, True] Translation: X:25.69, Y:-162.29, Z:0.70 [[-9.99952860e-01 -1.89903201e-03 9.52215487e-03 2.56873466e+01] [-1.89772421e-03 9.99998189e-01 1.46376443e-04 -1.62294035e+02] [-9.52241559e-03 1.28299119e-04 -9.99954653e-01 6.95488856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.557628 meters 0.012671978977875246 Centerline is valid? [True, True] Translation: X:25.68, Y:-161.48, Z:-0.21 [[-9.99158039e-01 -4.01601284e-02 8.38909727e-03 2.56786536e+01] [ 4.01571234e-02 -9.99193239e-01 -5.26403221e-04 -1.61480649e+02] [ 8.40346969e-03 -1.89077995e-04 9.99964672e-01 -2.07767816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.587628 meters 0.011935123541129931 Centerline is valid? [True, True] Translation: X:25.58, Y:-162.29, Z:0.70 [[-9.99853185e-01 -1.53184603e-02 7.67810079e-03 2.55836471e+01] [-1.53176324e-02 9.99882664e-01 1.66624241e-04 -1.62292467e+02] [-7.67975230e-03 4.89894527e-05 -9.99970509e-01 6.95238179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.617628 meters 0.011790303448220312 Centerline is valid? [True, True] Translation: X:25.57, Y:-161.48, Z:-0.21 [[-9.99085925e-01 -4.20872634e-02 7.48176986e-03 2.55712892e+01] [ 4.20856276e-02 -9.99113937e-01 -3.76020871e-04 -1.61484616e+02] [ 7.49096623e-03 -6.08021795e-05 9.99971940e-01 -2.08357760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.647628 meters 0.011639991692469246 Centerline is valid? [True, True] Translation: X:25.48, Y:-162.29, Z:0.70 [[-9.99590723e-01 -2.75410817e-02 7.73792285e-03 2.54792994e+01] [-2.75402326e-02 9.99620672e-01 2.16285082e-04 -1.62291989e+02] [-7.74094437e-03 3.09236626e-06 -9.99970038e-01 6.95388557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.677628 meters 0.011970138788179801 Centerline is valid? [True, True] Translation: X:25.48, Y:-162.26, Z:0.70 [[-9.94476104e-01 -1.04628660e-01 8.37388211e-03 2.54797339e+01] [-1.04625379e-01 9.94511358e-01 8.30168165e-04 -1.62262779e+02] [-8.41478025e-03 -5.05381842e-05 -9.99964594e-01 6.96966399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.707628 meters 0.012252943308245483 Centerline is valid? [True, True] Translation: X:25.41, Y:-161.46, Z:-0.21 [[-9.99706285e-01 2.26605535e-02 8.59321471e-03 2.54055756e+01] [-2.26591636e-02 -9.99743215e-01 2.59082895e-04 -1.61464480e+02] [ 8.59687906e-03 6.42917406e-05 9.99963044e-01 -2.09785916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73762800000003 meters 0.01296821617127265 Centerline is valid? [True, True] Translation: X:25.37, Y:-162.27, Z:0.70 [[-9.92975181e-01 -1.17988046e-01 8.89439227e-03 2.53705920e+01] [-1.17984351e-01 9.93015009e-01 9.40884732e-04 -1.62271257e+02] [-8.94327816e-03 -1.15123909e-04 -9.99960001e-01 6.98272370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.767628 meters 0.014599434226251987 Centerline is valid? [True, True] Translation: X:25.36, Y:-162.24, Z:0.70 [[-9.81821852e-01 -1.89556331e-01 9.70811502e-03 2.53618076e+01] [-1.89548436e-01 9.81869838e-01 1.73542658e-03 -1.62244839e+02] [-9.86106642e-03 -1.36278280e-04 -9.99951369e-01 7.00441533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79762800000003 meters 0.013902421275038232 Centerline is valid? [True, True] Translation: X:25.34, Y:-162.22, Z:0.70 [[-9.65628925e-01 -2.59712894e-01 1.04877240e-02 2.53405589e+01] [-2.59699256e-01 9.65685865e-01 2.66575726e-03 -1.62222418e+02] [-1.08201783e-02 -1.49521797e-04 -9.99941449e-01 7.00515203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.827628 meters 0.013259694731539122 Centerline is valid? [True, True] Translation: X:25.29, Y:-162.21, Z:0.70 [[-9.44439166e-01 -3.28500592e-01 1.10463616e-02 2.52908380e+01] [-3.28479951e-01 9.44503753e-01 3.68545645e-03 -1.62209560e+02] [-1.16440047e-02 -1.47818914e-04 -9.99932195e-01 7.01073570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85762800000003 meters 0.013372701543823468 Centerline is valid? [True, True] Translation: X:25.23, Y:-162.20, Z:0.70 [[-9.18461002e-01 -3.95312427e-01 1.25488165e-02 2.52331119e+01] [-3.95277626e-01 9.18546714e-01 5.24719433e-03 -1.62199146e+02] [-1.36009552e-02 -1.40923017e-04 -9.99907493e-01 7.04879899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.887628 meters 0.013203708592201192 Centerline is valid? [True, True] Translation: X:25.16, Y:-162.20, Z:0.71 [[-8.87095016e-01 -4.61397602e-01 1.32168455e-02 2.51609508e+01] [-4.61348632e-01 8.87193460e-01 6.72343392e-03 -1.62201360e+02] [-1.48280752e-02 -1.33248877e-04 -9.99890049e-01 7.06221645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91762800000004 meters 0.012696953347054698 Centerline is valid? [True, True] Translation: X:25.08, Y:-162.21, Z:0.71 [[-8.50415356e-01 -5.25937731e-01 1.35361100e-02 2.50819964e+01] [-5.25873535e-01 8.50523066e-01 8.21817225e-03 -1.62213657e+02] [-1.58350206e-02 -1.29422130e-04 -9.99874610e-01 7.05299053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.947628 meters 0.012700138010399268 Centerline is valid? [True, True] Translation: X:25.00, Y:-162.24, Z:0.71 [[-8.09431028e-01 -5.87087348e-01 1.22415536e-02 2.49950517e+01] [-5.87022023e-01 8.09523586e-01 8.75830696e-03 -1.62235569e+02] [-1.50517175e-02 -9.68161308e-05 -9.99886712e-01 7.05850706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97762800000004 meters 0.012223734040272863 Centerline is valid? [True, True] Translation: X:24.91, Y:-162.27, Z:0.70 [[-7.63216893e-01 -6.46050855e-01 1.08750382e-02 2.49109811e+01] [-6.45986753e-01 7.63294364e-01 9.10099518e-03 -1.62267395e+02] [-1.41805611e-02 -7.90973340e-05 -9.99899448e-01 7.03009091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.007628 meters 0.012188790182425604 Centerline is valid? [True, True] Translation: X:24.82, Y:-162.31, Z:0.70 [[-7.13312754e-01 -7.00788919e-01 8.93339336e-03 2.48209957e+01] [-7.00734776e-01 7.13368691e-01 8.71119024e-03 -1.62314645e+02] [-1.24775087e-02 -4.61362957e-05 -9.99922152e-01 7.01834104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03762800000004 meters 0.014859647147551103 Centerline is valid? [True, True] Translation: X:24.74, Y:-162.37, Z:0.70 [[-6.58978059e-01 -7.52112964e-01 8.60278898e-03 2.47360206e+01] [-7.52049397e-01 6.59034209e-01 9.77833693e-03 -1.62365586e+02] [-1.30239462e-02 -2.60127749e-05 -9.99915185e-01 7.04388755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.067628 meters 0.012096798502466758 Centerline is valid? [True, True] Translation: X:24.65, Y:-162.43, Z:0.70 [[-6.00807871e-01 -7.99359129e-01 7.40837918e-03 2.46493342e+01] [-7.99298452e-01 6.00853545e-01 9.84898215e-03 -1.62429601e+02] [-1.23242247e-02 -4.16001711e-06 -9.99924054e-01 7.02197651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09762800000004 meters 0.012247282269196039 Centerline is valid? [True, True] Translation: X:24.57, Y:-162.50, Z:0.70 [[-5.39526611e-01 -8.41942081e-01 6.67596520e-03 2.45683329e+01] [-8.41877113e-01 5.39567912e-01 1.04591683e-02 -1.62501071e+02] [-1.24081505e-02 2.26573286e-05 -9.99923016e-01 7.03461830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.127628 meters 0.012863072226946302 Centerline is valid? [True, True] Translation: X:24.49, Y:-162.58, Z:0.70 [[-4.78255948e-01 -8.78203181e-01 5.51557032e-03 2.44938433e+01] [-8.78142609e-01 4.78287743e-01 1.03146788e-02 -1.62584476e+02] [-1.16964134e-02 8.95991566e-05 -9.99931591e-01 7.03132822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15762800000005 meters 0.013466307425764677 Centerline is valid? [True, True] Translation: X:24.42, Y:-162.67, Z:0.70 [[-4.11958458e-01 -9.11191517e-01 4.49971759e-03 2.44223599e+01] [-9.11133948e-01 4.11983015e-01 1.02432530e-02 -1.62674698e+02] [-1.11873725e-02 1.19949260e-04 -9.99937412e-01 7.03021404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.187628 meters 0.014073385665759839 Centerline is valid? [True, True] Translation: X:24.35, Y:-162.78, Z:0.70 [[-3.44692333e-01 -9.38709453e-01 3.42913804e-03 2.43545801e+01] [-9.38658329e-01 3.44709354e-01 9.79807645e-03 -1.62780108e+02] [-1.03796029e-02 1.58532850e-04 -9.99946118e-01 6.99908767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21762800000005 meters 0.014933504960387022 Centerline is valid? [True, True] Translation: X:24.30, Y:-162.87, Z:0.70 [[-2.71844169e-01 -9.62337542e-01 2.68363182e-03 2.42989500e+01] [-9.62284342e-01 2.71857363e-01 1.01201986e-02 -1.62873487e+02] [-1.04686121e-02 1.68700104e-04 -9.99945188e-01 6.99605733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.247628 meters 0.014114525359739784 Centerline is valid? [True, True] Translation: X:24.24, Y:-162.98, Z:0.70 [[-1.97105390e-01 -9.80380511e-01 1.87564727e-03 2.42438731e+01] [-9.80327393e-01 1.97114238e-01 1.02068914e-02 -1.62981981e+02] [-1.03763542e-02 1.73084916e-04 -9.99946149e-01 6.98035586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27762800000005 meters 0.014018023321672816 Centerline is valid? [True, True] Translation: X:24.20, Y:-163.10, Z:0.70 [[-1.20325506e-01 -9.92733829e-01 1.14798354e-03 2.41964259e+01] [-9.92673181e-01 1.20330846e-01 1.09746620e-02 -1.63096276e+02] [-1.10330561e-02 1.80959282e-04 -9.99939118e-01 6.99565275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.307628 meters 0.016806237587177558 Centerline is valid? [True, True] Translation: X:24.16, Y:-163.22, Z:0.70 [[-4.30694890e-02 -9.99072023e-01 3.34486453e-04 2.41598009e+01] [-9.98993696e-01 4.30703012e-02 1.25117492e-02 -1.63216274e+02] [-1.25145450e-02 2.04724786e-04 -9.99921669e-01 7.03561602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.337628 meters 0.014244773487380435 Centerline is valid? [True, True] Translation: X:24.13, Y:-163.34, Z:0.70 [[ 3.42290795e-02 -9.99413722e-01 -7.62567642e-04 2.41312393e+01] [-9.99301222e-01 -3.42366696e-02 1.49972513e-02 -1.63336013e+02] [-1.50145665e-02 2.48692671e-04 -9.99887244e-01 7.04137901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.367628 meters 0.016212511973068736 Centerline is valid? [True, True] Translation: X:24.11, Y:-163.46, Z:0.71 [[ 1.10577100e-01 -9.93865293e-01 -2.11748562e-03 2.41137391e+01] [-9.93729779e-01 -1.10596994e-01 1.64143516e-02 -1.63456876e+02] [-1.65478419e-02 2.89157123e-04 -9.99863033e-01 7.07526273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.397628 meters 0.014804060906398986 Centerline is valid? [True, True] Translation: X:24.11, Y:-163.58, Z:0.71 [[ 1.86640221e-01 -9.82421933e-01 -3.54596205e-03 2.41063168e+01] [-9.82275164e-01 -1.86673640e-01 1.69839368e-02 -1.63578940e+02] [-1.73473297e-02 3.13224733e-04 -9.99849475e-01 7.06192585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.427628 meters 0.01804558925586352 Centerline is valid? [True, True] Translation: X:24.11, Y:-163.70, Z:0.71 [[ 2.60691535e-01 -9.65408442e-01 -5.14431257e-03 2.41112502e+01] [-9.65246768e-01 -2.60742040e-01 1.76710438e-02 -1.63704632e+02] [-1.84011135e-02 3.58839537e-04 -9.99830621e-01 7.09360129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.457628 meters 0.015866447326150182 Centerline is valid? [True, True] Translation: X:24.12, Y:-163.82, Z:0.70 [[ 3.32639256e-01 -9.43033584e-01 -6.22771571e-03 2.41216211e+01] [-9.42889155e-01 -3.32697331e-01 1.65083993e-02 -1.63822282e+02] [-1.76399194e-02 3.80703940e-04 -9.99844332e-01 7.03616498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48762800000003 meters 0.01595697547569536 Centerline is valid? [True, True] Translation: X:24.14, Y:-163.94, Z:0.70 [[ 4.03718427e-01 -9.14857100e-01 -6.92239092e-03 2.41404712e+01] [-9.14737845e-01 -4.03777603e-01 1.47757336e-02 -1.63937433e+02] [-1.63127912e-02 3.66937023e-04 -9.99866870e-01 7.02144136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.517628 meters 0.016105698379069708 Centerline is valid? [True, True] Translation: X:24.17, Y:-164.06, Z:0.70 [[ 4.72846886e-01 -8.81113760e-01 -7.37321113e-03 2.41730782e+01] [-8.81017667e-01 -4.72904246e-01 1.30170696e-02 -1.64059990e+02] [-1.49563420e-02 3.40848453e-04 -9.99888090e-01 7.00411256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54762800000003 meters 0.015400823555600433 Centerline is valid? [True, True] Translation: X:24.21, Y:-164.17, Z:0.70 [[ 5.40650004e-01 -8.41225230e-01 -6.13883104e-03 2.42056863e+01] [-8.41175828e-01 -5.40684804e-01 9.11965872e-03 -1.64167297e+02] [-1.09908597e-02 2.33292767e-04 -9.99939571e-01 6.96204771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.577628 meters 0.014873107226832914 Centerline is valid? [True, True] Translation: X:24.25, Y:-164.28, Z:0.69 [[ 6.05052017e-01 -7.96167480e-01 -5.42213820e-03 2.42492512e+01] [-7.96138022e-01 -6.05076287e-01 6.85106615e-03 -1.64277010e+02] [-8.73540333e-03 1.71518983e-04 -9.99961831e-01 6.94307908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60762800000003 meters 0.013949318533047242 Centerline is valid? [True, True] Translation: X:24.29, Y:-164.38, Z:0.69 [[ 6.67606906e-01 -7.44505931e-01 -3.45517294e-03 2.42949636e+01] [-7.44496560e-01 -6.67615842e-01 3.73625746e-03 -1.64378781e+02] [-5.08839403e-03 7.80130875e-05 -9.99987051e-01 6.92454617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.637628 meters 0.013611954666992802 Centerline is valid? [True, True] Translation: X:24.35, Y:-164.48, Z:0.69 [[ 7.24357665e-01 -6.89418996e-01 -2.72418138e-03 2.43502829e+01] [-6.89414366e-01 -7.24362786e-01 2.52711061e-03 -1.64475826e+02] [-3.71553367e-03 4.75578371e-05 -9.99993096e-01 6.91871670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66762800000004 meters 0.013273151056640774 Centerline is valid? [True, True] Translation: X:24.34, Y:-164.48, Z:0.69 [[ 7.77704819e-01 -6.28626163e-01 -2.08838659e-03 2.43438936e+01] [-6.28623988e-01 -7.77707623e-01 1.65367683e-03 -1.64483778e+02] [-2.66369869e-03 2.67374666e-05 -9.99996452e-01 6.91091633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.697628 meters 0.013273151056640774 Centerline is valid? [True, True] Translation: X:24.34, Y:-164.49, Z:0.69 [[ 8.24453348e-01 -5.65925602e-01 -2.21122166e-03 2.43384298e+01] [-5.65923653e-01 -8.24456313e-01 1.48540158e-03 -1.64490403e+02] [-2.66368244e-03 2.67383380e-05 -9.99996452e-01 6.91091459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72762800000004 meters 0.01297497658501747 Centerline is valid? [True, True] Translation: X:24.33, Y:-164.50, Z:0.69 [[ 8.67811175e-01 -4.96891634e-01 -1.57114960e-03 2.43315979e+01] [-4.96890845e-01 -8.67812597e-01 8.85730805e-04 -1.64496970e+02] [-1.80357564e-03 1.20427633e-05 -9.99998374e-01 6.90490157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.757628 meters 0.012707247468217234 Centerline is valid? [True, True] Translation: X:24.32, Y:-164.51, Z:0.69 [[ 9.07142972e-01 -4.20822513e-01 2.02913056e-04 2.43241216e+01] [-4.20822503e-01 -9.07142994e-01 -9.38069200e-05 -1.64508281e+02] [ 2.23547221e-04 -2.94091786e-07 -9.99999975e-01 6.88871771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78762800000004 meters 0.01293528542932126 Centerline is valid? [True, True] Translation: X:24.32, Y:-164.52, Z:0.69 [[ 9.38679758e-01 -3.44789949e-01 4.50819242e-04 2.43191370e+01] [-3.44789908e-01 -9.38679866e-01 -1.67546192e-04 -1.64517896e+02] [ 4.80943189e-04 1.83429325e-06 -9.99999884e-01 6.88344883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.817628 meters 0.01485277375633 Centerline is valid? [True, True] Translation: X:24.32, Y:-164.53, Z:0.69 [[ 9.63499135e-01 -2.67711347e-01 -2.27568814e-04 2.43159369e+01] [-2.67711339e-01 -9.63499162e-01 6.54830935e-05 -1.64527247e+02] [-2.36792929e-04 -2.17015200e-06 -9.99999972e-01 6.91282030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84762800000004 meters 0.01415891488463945 Centerline is valid? [True, True] Translation: X:24.31, Y:-164.54, Z:0.69 [[ 9.82614544e-01 -1.85641924e-01 -2.39463683e-03 2.43116700e+01] [-1.85641290e-01 -9.82617461e-01 4.86419571e-04 -1.64537807e+02] [-2.44331183e-03 -3.34194756e-05 -9.99997015e-01 6.92748588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.877628 meters 0.01430238587783717 Centerline is valid? [True, True] Translation: X:24.31, Y:-164.55, Z:0.70 [[ 9.94290739e-01 -1.06625322e-01 -4.11917135e-03 2.43063407e+01] [-1.06624145e-01 -9.94299269e-01 5.04931030e-04 -1.64545350e+02] [-4.14952749e-03 -6.28451243e-05 -9.99991389e-01 6.95024458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90762800000005 meters 0.014736686910352754 Centerline is valid? [True, True] Translation: X:24.30, Y:-164.55, Z:0.70 [[ 9.99585633e-01 -2.80056049e-02 -6.65195991e-03 2.43013868e+01] [-2.80042927e-02 -9.99607761e-01 2.90347497e-04 -1.64552999e+02] [-6.65748211e-03 -1.03943754e-04 -9.99977833e-01 6.97990681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.937628 meters 0.014782512319413278 Centerline is valid? [True, True] Translation: X:24.30, Y:-164.55, Z:0.70 [[ 9.98698664e-01 4.98424016e-02 -1.08033669e-02 2.42968313e+01] [ 4.98412539e-02 -9.98757082e-01 -3.75620172e-04 -1.64554428e+02] [-1.08086610e-02 -1.63321988e-04 -9.99941571e-01 7.02607744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96762800000005 meters 0.014624415759150983 Centerline is valid? [True, True] Translation: X:24.29, Y:-164.56, Z:0.70 [[ 9.91863917e-01 1.26711112e-01 -1.22581934e-02 2.42927677e+01] [ 1.26703572e-01 -9.91939648e-01 -1.39295649e-03 -1.64556384e+02] [-1.23358911e-02 -1.71533615e-04 -9.99923895e-01 7.03988579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.997628 meters 0.014001563995742018 Centerline is valid? [True, True] Translation: X:24.29, Y:-164.56, Z:0.70 [[ 9.79492109e-01 2.01072443e-01 -1.28483951e-02 2.42885978e+01] [ 2.01057061e-01 -9.79576364e-01 -2.49122682e-03 -1.64556859e+02] [-1.30869012e-02 -1.43123538e-04 -9.99914353e-01 7.03518759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02762800000005 meters 0.013844544934317369 Centerline is valid? [True, True] Translation: X:24.28, Y:-164.56, Z:0.70 [[ 9.61070194e-01 2.76049204e-01 -1.18709085e-02 2.42841606e+01] [ 2.76029696e-01 -9.61143497e-01 -3.28390700e-03 -1.64562463e+02] [-1.23161665e-02 -1.20658147e-04 -9.99924146e-01 7.02803589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.057628 meters 0.013340513565416745 Centerline is valid? [True, True] Translation: X:24.28, Y:-164.57, Z:0.70 [[ 9.37147626e-01 3.48765021e-01 -1.08298752e-02 2.42820484e+01] [ 3.48742869e-01 -9.37210196e-01 -3.93190807e-03 -1.64570059e+02] [-1.15211814e-02 -9.20634235e-05 -9.99933625e-01 7.00936434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.087628 meters 0.012905102507753006 Centerline is valid? [True, True] Translation: X:24.28, Y:-164.58, Z:0.70 [[ 9.09125155e-01 4.16418251e-01 -9.34308419e-03 2.42809698e+01] [ 4.16396602e-01 -9.09173162e-01 -4.24626586e-03 -1.64578768e+02] [-1.02627040e-02 -3.00414056e-05 -9.99947337e-01 7.00151303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.117628 meters 0.012808611296878361 Centerline is valid? [True, True] Translation: X:24.28, Y:-164.59, Z:0.70 [[ 8.75362879e-01 4.83389565e-01 -8.62310848e-03 2.42783886e+01] [ 4.83366065e-01 -8.75405351e-01 -4.76638820e-03 -1.64586346e+02] [-9.85273762e-03 4.20128326e-06 -9.99951461e-01 6.99588500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.147628 meters 0.012895022067597144 Centerline is valid? [True, True] Translation: X:24.28, Y:-164.59, Z:0.70 [[ 8.36763137e-01 5.47515491e-01 -7.36473688e-03 2.42766995e+01] [ 5.47493920e-01 -8.36795546e-01 -4.86014484e-03 -1.64593646e+02] [-8.82378361e-03 3.46413833e-05 -9.99961069e-01 6.98677978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.177628 meters 0.013175565407219186 Centerline is valid? [True, True] Translation: X:24.28, Y:-164.60, Z:0.70 [[ 7.93635164e-01 6.08356136e-01 -6.78512665e-03 2.42757243e+01] [ 6.08333189e-01 -7.93664165e-01 -5.28427239e-03 -1.64601860e+02] [-8.59983142e-03 6.61666530e-05 -9.99963019e-01 6.97685393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.207628 meters 0.014380346751075135 Centerline is valid? [True, True] Translation: X:24.27, Y:-164.61, Z:0.70 [[ 7.48329296e-01 6.63295938e-01 -6.46244168e-03 2.42717754e+01] [ 6.63269700e-01 -7.48357188e-01 -5.90114508e-03 -1.64608201e+02] [-8.75042025e-03 1.29657983e-04 -9.99961706e-01 6.97948702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23762800000003 meters 0.015133308511441927 Centerline is valid? [True, True] Translation: X:24.27, Y:-164.62, Z:0.70 [[ 6.96157027e-01 7.17860353e-01 -6.47356806e-03 2.42700000e+01] [ 7.17827055e-01 -6.96187105e-01 -6.91617596e-03 -1.64617002e+02] [-9.47166313e-03 1.67842196e-04 -9.99955129e-01 6.98031380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.267628 meters 0.018085858894149414 Centerline is valid? [True, True] Translation: X:24.27, Y:-164.63, Z:0.70 [[ 6.39848116e-01 7.68471470e-01 -6.78151531e-03 2.42703737e+01] [ 7.68424596e-01 -6.39884014e-01 -8.49050609e-03 -1.64626105e+02] [-1.08640949e-02 2.21551151e-04 -9.99940959e-01 7.01275604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29762800000003 meters 0.017229667527386545 Centerline is valid? [True, True] Translation: X:24.27, Y:-164.64, Z:0.70 [[ 5.80741052e-01 8.14059269e-01 -6.88012006e-03 2.42705174e+01] [ 8.13995997e-01 -5.80781730e-01 -1.01537915e-02 -1.64636339e+02] [-1.22616362e-02 2.96333397e-04 -9.99924779e-01 7.01082988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.327628 meters 0.017971760876235362 Centerline is valid? [True, True] Translation: X:24.27, Y:-164.64, Z:0.70 [[ 5.17240428e-01 8.55812217e-01 -6.91300439e-03 2.42714847e+01] [ 8.55725982e-01 -5.17286489e-01 -1.21545019e-02 -1.64644911e+02] [-1.39779750e-02 3.71162268e-04 -9.99902234e-01 7.02283702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35762800000003 meters 0.01790942294306961 Centerline is valid? [True, True] Translation: X:24.28, Y:-164.66, Z:0.70 [[ 4.51797304e-01 8.92095330e-01 -6.71694315e-03 2.42778630e+01] [ 8.91980612e-01 -4.51846982e-01 -1.43140889e-02 -1.64656071e+02] [-1.58045623e-02 4.75683707e-04 -9.99874987e-01 7.01302890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.387628 meters 0.01948115594860778 Centerline is valid? [True, True] Translation: X:24.28, Y:-164.67, Z:0.70 [[ 3.81538506e-01 9.24336179e-01 -5.56745816e-03 2.42810230e+01] [ 9.24218177e-01 -3.81578806e-01 -1.47775345e-02 -1.64666014e+02] [-1.57838338e-02 4.92652402e-04 -9.99875306e-01 7.01792455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41762800000004 meters 0.01817623992604671 Centerline is valid? [True, True] Translation: X:24.29, Y:-164.68, Z:0.70 [[ 3.08469831e-01 9.51224551e-01 -4.26819266e-03 2.42907077e+01] [ 9.51110530e-01 -3.08498976e-01 -1.47357563e-02 -1.64676777e+02] [-1.53337463e-02 4.86013285e-04 -9.99882313e-01 6.99904842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.447628 meters 0.017827807752247623 Centerline is valid? [True, True] Translation: X:24.30, Y:-164.69, Z:0.70 [[ 2.33398860e-01 9.72376241e-01 -3.06893283e-03 2.43013231e+01] [ 9.72262655e-01 -2.33418528e-01 -1.48701415e-02 -1.64686432e+02] [-1.51757180e-02 4.86865285e-04 -9.99884724e-01 6.98517768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47762800000004 meters 0.01837713688281285 Centerline is valid? [True, True] Translation: X:24.31, Y:-164.70, Z:0.70 [[ 1.56319119e-01 9.87705189e-01 -1.67140191e-03 2.43104237e+01] [ 9.87615853e-01 -1.56327472e-01 -1.32909507e-02 -1.64696548e+02] [-1.33888270e-02 4.26926691e-04 -9.99910275e-01 6.96675549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.507628 meters 0.018857704411298967 Centerline is valid? [True, True] Translation: X:24.32, Y:-164.71, Z:0.70 [[ 7.79843327e-02 9.96954419e-01 -5.74838995e-04 2.43179058e+01] [ 9.96878637e-01 -7.79854959e-02 -1.22982012e-02 -1.64705721e+02] [-1.23055752e-02 3.86022304e-04 -9.99924209e-01 6.96175395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53762800000004 meters 0.0177606613066266 Centerline is valid? [True, True] Translation: X:24.33, Y:-164.71, Z:0.69 [[-2.95516334e-03 9.99995587e-01 3.03592603e-04 2.43294703e+01] [ 9.99949725e-01 2.95793657e-03 -9.58110196e-03 -1.64712536e+02] [-9.58195769e-03 2.75263619e-04 -9.99954054e-01 6.93427863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.567628 meters 0.017144336422570367 Centerline is valid? [True, True] Translation: X:24.34, Y:-164.72, Z:0.69 [[-8.29338887e-02 9.96554648e-01 8.96068877e-04 2.43399812e+01] [ 9.96521687e-01 8.29384363e-02 -8.10823752e-03 -1.64718795e+02] [-8.15462034e-03 2.20504401e-04 -9.99966726e-01 6.91771929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59762800000004 meters 0.01637772791450372 Centerline is valid? [True, True] Translation: X:24.35, Y:-164.72, Z:0.69 [[-1.62969790e-01 9.86630324e-01 1.20513271e-03 2.43514920e+01] [ 9.86610109e-01 1.62974168e-01 -6.31772311e-03 -1.64723444e+02] [-6.42966270e-03 1.59398107e-04 -9.99979317e-01 6.90091749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.627628 meters 0.0160166434768456 Centerline is valid? [True, True] Translation: X:24.36, Y:-164.73, Z:0.69 [[-2.42083322e-01 9.70254700e-01 1.21738657e-03 2.43619312e+01] [ 9.70244488e-01 2.42086361e-01 -4.45286372e-03 -1.64728671e+02] [-4.61512464e-03 1.03198564e-04 -9.99989345e-01 6.88485284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65762800000005 meters 0.015088153149706756 Centerline is valid? [True, True] Translation: X:24.37, Y:-164.73, Z:0.69 [[-3.19897907e-01 9.47451401e-01 1.08271839e-03 2.43739666e+01] [ 9.47446621e-01 3.19899733e-01 -3.01024011e-03 -1.64731401e+02] [-3.19841754e-03 6.28483694e-05 -9.99994883e-01 6.86738303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.687628 meters 0.013918389176130721 Centerline is valid? [True, True] Translation: X:24.39, Y:-164.73, Z:0.69 [[-3.97760100e-01 9.17489148e-01 7.53016789e-04 2.43894954e+01] [ 9.17487628e-01 3.97760812e-01 -1.66993678e-03 -1.64732056e+02] [-1.83166944e-03 2.66493664e-05 -9.99998322e-01 6.85815569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71762800000005 meters 0.013756143092292564 Centerline is valid? [True, True] Translation: X:24.40, Y:-164.73, Z:0.69 [[-4.70433500e-01 8.82434853e-01 1.02592177e-03 2.44011916e+01] [ 8.82432874e-01 4.70434618e-01 -1.86877978e-03 -1.64733909e+02] [-2.13170553e-03 2.61704840e-05 -9.99997728e-01 6.86245542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.747628 meters 0.01324194111853899 Centerline is valid? [True, True] Translation: X:24.41, Y:-164.73, Z:0.69 [[-5.40110553e-01 8.41593172e-01 1.23434777e-03 2.44139178e+01] [ 8.41591068e-01 5.40111963e-01 -1.88204037e-03 -1.64732617e+02] [-2.25059832e-03 2.23061944e-05 -9.99997467e-01 6.86082223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77762800000005 meters 0.012900231398165105 Centerline is valid? [True, True] Translation: X:24.43, Y:-164.73, Z:0.69 [[-6.07430322e-01 7.94370668e-01 1.90933979e-03 2.44271283e+01] [ 7.94366842e-01 6.07433322e-01 -2.46562713e-03 -1.64731160e+02] [-3.11841848e-03 1.90195370e-05 -9.99995138e-01 6.86686453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.807628 meters 0.012814566910956768 Centerline is valid? [True, True] Translation: X:24.44, Y:-164.73, Z:0.69 [[-6.68830928e-01 7.43410622e-01 2.41602766e-03 2.44372899e+01] [ 7.43405862e-01 6.68835292e-01 -2.66017265e-03 -1.64728900e+02] [-3.59352517e-03 1.68833782e-05 -9.99993543e-01 6.87678714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.837628 meters 0.012864407989831362 Centerline is valid? [True, True] Translation: X:24.45, Y:-164.73, Z:0.69 [[-7.25111933e-01 6.88620350e-01 3.83382413e-03 2.44477628e+01] [ 6.88610902e-01 7.25122067e-01 -3.60742442e-03 -1.64725324e+02] [-5.26413634e-03 2.42265955e-05 -9.99986144e-01 6.89535171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.867628 meters 0.012903460051093236 Centerline is valid? [True, True] Translation: X:24.47, Y:-164.71, Z:0.69 [[-7.71299769e-01 6.36458620e-01 4.13406987e-03 2.44700457e+01] [ 6.36449689e-01 7.71310848e-01 -3.37185092e-03 -1.64708437e+02] [-5.33469652e-03 3.04196473e-05 -9.99985770e-01 6.90177729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.897628 meters 0.013180848757463854 Centerline is valid? [True, True] Translation: X:24.49, Y:-164.69, Z:0.69 [[-8.13270756e-01 5.81867053e-01 4.62705785e-03 2.44913732e+01] [ 5.81857937e-01 8.13283918e-01 -3.25741097e-03 -1.64691188e+02] [-5.65849186e-03 4.31332475e-05 -9.99983990e-01 6.90737837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.927628 meters 0.013417691031663652 Centerline is valid? [True, True] Translation: X:24.51, Y:-164.67, Z:0.69 [[-8.51126212e-01 5.24935946e-01 5.14036038e-03 2.45090753e+01] [ 5.24926801e-01 8.51141732e-01 -3.09916346e-03 -1.64671812e+02] [-6.00203754e-03 6.05336776e-05 -9.99981986e-01 6.91054961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.957628 meters 0.01480034517632942 Centerline is valid? [True, True] Translation: X:24.53, Y:-164.66, Z:0.69 [[-8.83039797e-01 4.69262527e-01 5.77909840e-03 2.45287590e+01] [ 4.69253281e-01 8.83058701e-01 -2.94770305e-03 -1.64658540e+02] [-6.48652971e-03 1.08921788e-04 -9.99978956e-01 6.91483505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98762800000003 meters 0.01526903181588906 Centerline is valid? [True, True] Translation: X:24.55, Y:-164.64, Z:0.69 [[-9.12667939e-01 4.08653330e-01 6.29997382e-03 2.45451745e+01] [ 4.08644637e-01 9.12689672e-01 -2.66896963e-03 -1.64638338e+02] [-6.84060436e-03 1.38567508e-04 -9.99976593e-01 6.91053775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.017628 meters 0.016577437765358433 Centerline is valid? [True, True] Translation: X:24.87, Y:-163.90, Z:-0.20 [[-9.04066846e-01 -4.27347645e-01 6.09337164e-03 2.48721061e+01] [ 4.27336891e-01 -9.04087369e-01 -3.03485147e-03 -1.63899365e+02] [ 6.80587696e-03 -1.39786103e-04 9.99976830e-01 -2.04083396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04762800000003 meters 0.01785960091610891 Centerline is valid? [True, True] Translation: X:24.50, Y:-164.63, Z:0.69 [[-9.10824544e-01 4.12741053e-01 6.59336451e-03 2.45023019e+01] [ 4.12731847e-01 9.10848386e-01 -2.76415508e-03 -1.64630096e+02] [-7.14643570e-03 2.03631224e-04 -9.99974443e-01 6.91515289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.077628 meters 0.019776764010870505 Centerline is valid? [True, True] Translation: X:24.83, Y:-163.88, Z:-0.21 [[-9.07438161e-01 -4.20121466e-01 7.34423850e-03 2.48318054e+01] [ 4.20106166e-01 -9.07467864e-01 -3.58953949e-03 -1.63878912e+02] [ 8.17270302e-03 -1.71925238e-04 9.99966588e-01 -2.07040529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10762800000003 meters 0.017256815413546164 Centerline is valid? [True, True] Translation: X:24.46, Y:-164.62, Z:0.69 [[-9.11456405e-01 4.11343820e-01 6.59415960e-03 2.44636258e+01] [ 4.11334779e-01 9.11480232e-01 -2.73596402e-03 -1.64615380e+02] [-7.13586802e-03 2.18695252e-04 -9.99974515e-01 6.91404634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.137628 meters 0.017827675478835292 Centerline is valid? [True, True] Translation: X:24.47, Y:-164.59, Z:0.69 [[-9.38184338e-01 3.46079813e-01 6.23795695e-03 2.44740796e+01] [ 3.46073598e-01 9.38205053e-01 -2.08398848e-03 -1.64591973e+02] [-6.57370907e-03 2.03626855e-04 -9.99978372e-01 6.90996290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16762800000004 meters 0.01703356308009682 Centerline is valid? [True, True] Translation: X:24.75, Y:-163.81, Z:-0.20 [[-9.36188910e-01 -3.51449045e-01 5.82183404e-03 2.47479210e+01] [ 3.51440830e-01 -9.36206988e-01 -2.41234621e-03 -1.63814303e+02] [ 6.29825848e-03 -2.12381581e-04 9.99980143e-01 -2.03267310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.197628 meters 0.017876919101958887 Centerline is valid? [True, True] Translation: X:24.43, Y:-164.58, Z:0.69 [[-9.40006575e-01 3.41100645e-01 6.16346428e-03 2.44309611e+01] [ 3.41094641e-01 9.40026762e-01 -2.03293960e-03 -1.64579339e+02] [-6.48725838e-03 1.91348045e-04 -9.99978939e-01 6.90251622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22762800000004 meters 0.016281726849981595 Centerline is valid? [True, True] Translation: X:24.69, Y:-163.80, Z:-0.20 [[-9.36280539e-01 -3.51204264e-01 5.85805325e-03 2.46949946e+01] [ 3.51196067e-01 -9.36298845e-01 -2.40759520e-03 -1.63798985e+02] [ 6.33044619e-03 -1.96859270e-04 9.99979943e-01 -2.02874920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.257628 meters 0.016162729846690208 Centerline is valid? [True, True] Translation: X:24.38, Y:-164.56, Z:0.69 [[-9.42704637e-01 3.33579716e-01 5.70445548e-03 2.43837085e+01] [ 3.33574579e-01 9.42721884e-01 -1.85743031e-03 -1.64560492e+02] [-5.99731609e-03 1.51853166e-04 -9.99982004e-01 6.90139149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28762800000004 meters 0.015636111606647584 Centerline is valid? [True, True] Translation: X:24.40, Y:-164.53, Z:0.69 [[-9.64423661e-01 2.64294487e-01 5.95206436e-03 2.43958439e+01] [ 2.64290378e-01 9.64442017e-01 -1.48086627e-03 -1.64533833e+02] [-6.13180574e-03 1.44890871e-04 -9.99981190e-01 6.89898310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.317628 meters 0.015344479042840026 Centerline is valid? [True, True] Translation: X:24.40, Y:-164.51, Z:0.69 [[-9.81460989e-01 1.91552738e-01 6.47114782e-03 2.44009594e+01] [ 1.91549450e-01 9.81482313e-01 -1.12988079e-03 -1.64505785e+02] [-6.56774889e-03 1.30610891e-04 -9.99978424e-01 6.90681817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34762800000004 meters 0.014713870759070916 Centerline is valid? [True, True] Translation: X:24.41, Y:-164.48, Z:0.69 [[-9.92857051e-01 1.19106863e-01 6.95926897e-03 2.44054139e+01] [ 1.19104807e-01 9.92881433e-01 -7.10746424e-04 -1.64476277e+02] [-6.99438373e-03 1.23212787e-04 -9.99975531e-01 6.91532675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.377628 meters 0.013802255752416961 Centerline is valid? [True, True] Translation: X:24.49, Y:-163.67, Z:-0.21 [[-9.87778131e-01 -1.55667248e-01 7.87850687e-03 2.44936136e+01] [ 1.55661718e-01 -9.87809548e-01 -1.31415310e-03 -1.63672087e+02] [ 7.98703491e-03 -7.17097813e-05 9.99968101e-01 -2.06054842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40762800000005 meters 0.013513026827924018 Centerline is valid? [True, True] Translation: X:24.34, Y:-164.47, Z:0.69 [[-9.94211324e-01 1.07129406e-01 8.19354732e-03 2.43388938e+01] [ 1.07126458e-01 9.94245082e-01 -7.99062122e-04 -1.64465459e+02] [-8.23199717e-03 8.33090920e-05 -9.99966113e-01 6.93239479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.437628 meters 0.013119231767969317 Centerline is valid? [True, True] Translation: X:24.34, Y:-164.44, Z:0.69 [[-9.99394158e-01 3.38818606e-02 7.95846281e-03 2.43380189e+01] [ 3.38812762e-02 9.99425843e-01 -2.08282114e-04 -1.64436382e+02] [-7.96095039e-03 6.14869495e-05 -9.99968309e-01 6.92694639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46762800000005 meters 0.012900224162579292 Centerline is valid? [True, True] Translation: X:24.37, Y:-163.64, Z:-0.21 [[-9.96141732e-01 -8.74672516e-02 7.15045417e-03 2.43662108e+01] [ 8.74642220e-02 -9.96167390e-01 -7.35908760e-04 -1.63636311e+02] [ 7.18741718e-03 -1.07660516e-04 9.99974164e-01 -2.05375272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.497628 meters 0.012544442598784133 Centerline is valid? [True, True] Translation: X:24.25, Y:-164.43, Z:0.69 [[-9.99699004e-01 2.38855366e-02 5.60194772e-03 2.42532129e+01] [ 2.38852620e-02 9.99714700e-01 -1.15923353e-04 -1.64430995e+02] [-5.60311838e-03 1.79155283e-05 -9.99984302e-01 6.91216622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52762800000005 meters 0.01263183285735414 Centerline is valid? [True, True] Translation: X:24.27, Y:-163.64, Z:-0.20 [[-9.96377581e-01 -8.48867949e-02 5.09388153e-03 2.42725136e+01] [ 8.48854376e-02 -9.96390601e-01 -4.82450092e-04 -1.63635173e+02] [ 5.11644932e-03 -4.83060932e-05 9.99986910e-01 -2.03789884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.557628 meters 0.012446882487358202 Centerline is valid? [True, True] Translation: X:24.16, Y:-164.43, Z:0.69 [[-9.99827196e-01 1.77971943e-02 5.37017617e-03 2.41615137e+01] [ 1.77970193e-02 9.99841617e-01 -8.03789519e-05 -1.64428967e+02] [-5.37075615e-03 1.52080668e-05 -9.99985577e-01 6.91057380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.587628 meters 0.012446882487358202 Centerline is valid? [True, True] Translation: X:24.18, Y:-163.63, Z:-0.20 [[-9.96831210e-01 -7.93661937e-02 5.34285114e-03 2.41799035e+01] [ 7.93649687e-02 -9.96845528e-01 -4.41253294e-04 -1.63632367e+02] [ 5.36101786e-03 -1.58198419e-05 9.99985630e-01 -2.03946019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.617628 meters 0.012551897099043407 Centerline is valid? [True, True] Translation: X:24.07, Y:-164.43, Z:0.69 [[-9.99905901e-01 1.27702492e-02 5.01105770e-03 2.40742318e+01] [ 1.27701854e-02 9.99918457e-01 -4.47302687e-05 -1.64428623e+02] [-5.01122030e-03 1.92660763e-05 -9.99987444e-01 6.91114043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.647628 meters 0.012561284550106609 Centerline is valid? [True, True] Translation: X:24.09, Y:-163.63, Z:-0.20 [[-9.97469219e-01 -7.09571326e-02 4.49920655e-03 2.40866825e+01] [ 7.09561875e-02 -9.97479365e-01 -3.69524480e-04 -1.63627904e+02] [ 4.51408609e-03 -4.93427504e-05 9.99989810e-01 -2.03953018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.677628 meters 0.012817437020458315 Centerline is valid? [True, True] Translation: X:23.98, Y:-164.43, Z:0.69 [[-9.99926590e-01 1.14539901e-02 3.95226336e-03 2.39798608e+01] [ 1.14540361e-02 9.99934400e-01 -1.09911474e-05 -1.64431578e+02] [-3.95212999e-03 3.42790266e-05 -9.99992190e-01 6.90597801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.707628 meters 0.013132434812122179 Centerline is valid? [True, True] Translation: X:23.98, Y:-164.41, Z:0.69 [[-9.98321140e-01 -5.77579411e-02 4.34983647e-03 2.39786808e+01] [-5.77571900e-02 9.98330616e-01 2.98198129e-04 -1.64405685e+02] [-4.35979823e-03 4.64631646e-05 -9.99990495e-01 6.90964519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73762800000003 meters 0.013504266557656847 Centerline is valid? [True, True] Translation: X:23.97, Y:-164.38, Z:0.69 [[-9.91941032e-01 -1.26620145e-01 4.50860767e-03 2.39736804e+01] [-1.26618566e-01 9.91951277e-01 6.35079560e-04 -1.64380007e+02] [-4.55273300e-03 5.90880372e-05 -9.99989635e-01 6.91852472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.767628 meters 0.014338474803459107 Centerline is valid? [True, True] Translation: X:23.96, Y:-164.36, Z:0.69 [[-9.81054500e-01 -1.93654125e-01 5.49062008e-03 2.39553501e+01] [-1.93650544e-01 9.81069860e-01 1.18163255e-03 -1.64358595e+02] [-5.61550989e-03 9.59843675e-05 -9.99984228e-01 6.93053631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79762800000003 meters 0.01676411672842353 Centerline is valid? [True, True] Translation: X:23.91, Y:-164.34, Z:0.70 [[-9.64995444e-01 -2.62196521e-01 6.06442916e-03 2.39079274e+01] [-2.62190522e-01 9.65014491e-01 1.77811577e-03 -1.64343906e+02] [-6.31847779e-03 1.25837768e-04 -9.99980030e-01 6.95547450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.827628 meters 0.015288536358850163 Centerline is valid? [True, True] Translation: X:23.85, Y:-164.34, Z:0.69 [[-9.43641080e-01 -3.30923092e-01 5.60531201e-03 2.38523144e+01] [-3.30916435e-01 9.43657719e-01 2.10305627e-03 -1.64335211e+02] [-5.98544583e-03 1.29640422e-04 -9.99982079e-01 6.93284819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85762800000003 meters 0.017664118002722086 Centerline is valid? [True, True] Translation: X:23.78, Y:-164.34, Z:0.69 [[-9.18222498e-01 -3.96025605e-01 5.58250424e-03 2.37802304e+01] [-3.96017209e-01 9.18239453e-01 2.58387045e-03 -1.64340961e+02] [-6.14935450e-03 1.61800233e-04 -9.99981079e-01 6.93569958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.887628 meters 0.01777146977415663 Centerline is valid? [True, True] Translation: X:23.70, Y:-164.35, Z:0.69 [[-8.86944436e-01 -4.61843695e-01 5.47441533e-03 2.37001051e+01] [-4.61833648e-01 8.86961312e-01 3.05165057e-03 -1.64350764e+02] [-6.26498018e-03 1.78375290e-04 -9.99980359e-01 6.93159671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91762800000004 meters 0.018331738080127818 Centerline is valid? [True, True] Translation: X:23.62, Y:-164.37, Z:0.69 [[-8.50294250e-01 -5.26279946e-01 5.39515130e-03 2.36168872e+01] [-5.26267896e-01 8.50311344e-01 3.56653424e-03 -1.64369857e+02] [-6.46455380e-03 1.93308630e-04 -9.99979086e-01 6.93264657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.947628 meters 0.01861303310337283 Centerline is valid? [True, True] Translation: X:23.53, Y:-164.40, Z:0.69 [[-8.08368806e-01 -5.88654768e-01 5.04359120e-03 2.35268682e+01] [-5.88641786e-01 8.08384516e-01 3.91432829e-03 -1.64400616e+02] [-6.38134905e-03 1.95352358e-04 -9.99979620e-01 6.93054699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97762800000004 meters 0.01873039366641698 Centerline is valid? [True, True] Translation: X:23.43, Y:-164.44, Z:0.69 [[-7.60976008e-01 -6.48760618e-01 5.01748601e-03 2.34334093e+01] [-6.48744722e-01 7.60992522e-01 4.54611113e-03 -1.64443241e+02] [-6.76760719e-03 2.04413930e-04 -9.99977079e-01 6.92526137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.007628 meters 0.020634883211399085 Centerline is valid? [True, True] Translation: X:23.34, Y:-164.50, Z:0.69 [[-7.08908346e-01 -7.05283576e-01 4.90250162e-03 2.33406272e+01] [-7.05264610e-01 7.08925266e-01 5.17664610e-03 -1.64495241e+02] [-7.12651074e-03 2.12206728e-04 -9.99974584e-01 6.94805163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03762800000004 meters 0.01758707307300001 Centerline is valid? [True, True] Translation: X:23.24, Y:-164.56, Z:0.69 [[-6.48785627e-01 -7.60957967e-01 4.49239033e-03 2.32444894e+01] [-7.60937840e-01 6.48801157e-01 5.53736221e-03 -1.64555470e+02] [-7.12836794e-03 1.74131221e-04 -9.99974578e-01 6.93681279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.067628 meters 0.016437432348260728 Centerline is valid? [True, True] Translation: X:23.15, Y:-164.63, Z:0.69 [[-5.85783162e-01 -8.10456599e-01 4.26483430e-03 2.31523498e+01] [-8.10433126e-01 5.85798666e-01 6.17024745e-03 -1.64626547e+02] [-7.49905200e-03 1.58064077e-04 -9.99971869e-01 6.94378040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09762800000004 meters 0.01521223468068833 Centerline is valid? [True, True] Translation: X:23.07, Y:-164.71, Z:0.69 [[-5.17960513e-01 -8.55396156e-01 3.78458706e-03 2.30656936e+01] [-8.55371541e-01 5.17974325e-01 6.49044050e-03 -1.64705029e+02] [-7.51221678e-03 1.24563832e-04 -9.99971775e-01 6.94722472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.127628 meters 0.01254043592499247 Centerline is valid? [True, True] Translation: X:22.98, Y:-164.79, Z:0.69 [[-4.42670689e-01 -8.96678899e-01 3.10061303e-03 2.29805075e+01] [-8.96656041e-01 4.42681545e-01 6.40269404e-03 -1.64787968e+02] [-7.11374480e-03 5.41015802e-05 -9.99974696e-01 6.93286901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15762800000005 meters 0.01221586807406457 Centerline is valid? [True, True] Translation: X:22.91, Y:-164.88, Z:0.69 [[-3.68271159e-01 -9.29715417e-01 2.36579760e-03 2.29055495e+01] [-9.29695861e-01 3.68278757e-01 6.03018041e-03 -1.64884235e+02] [-6.47762469e-03 2.12692946e-05 -9.99979020e-01 6.92819693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.187628 meters 0.011981764232266035 Centerline is valid? [True, True] Translation: X:22.84, Y:-164.98, Z:0.69 [[-2.91658726e-01 -9.56521030e-01 1.64541539e-03 2.28397248e+01] [-9.56505884e-01 2.91663367e-01 5.38284100e-03 -1.64982161e+02] [-5.62870802e-03 -3.89695834e-06 -9.99984159e-01 6.91794396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21762800000005 meters 0.012322379610057192 Centerline is valid? [True, True] Translation: X:22.78, Y:-165.09, Z:0.69 [[-2.10401527e-01 -9.77614698e-01 8.36517408e-04 2.27794644e+01] [-9.77607502e-01 2.10403188e-01 3.75095349e-03 -1.65089189e+02] [-3.84299319e-03 -2.85793511e-05 -9.99992615e-01 6.90069641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.247628 meters 0.012679205168849416 Centerline is valid? [True, True] Translation: X:22.73, Y:-165.20, Z:0.69 [[-1.31639237e-01 -9.91297560e-01 5.09625866e-04 2.27300050e+01] [-9.91291158e-01 1.31640219e-01 3.56270262e-03 -1.65201516e+02] [-3.59878567e-03 -3.61961591e-05 -9.99993524e-01 6.89566081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27762800000005 meters 0.013027628996546524 Centerline is valid? [True, True] Translation: X:22.69, Y:-165.32, Z:0.69 [[-5.21873032e-02 -9.98637287e-01 2.33175463e-04 2.26897057e+01] [-9.98630791e-01 5.21878048e-02 3.60228095e-03 -1.65315436e+02] [-3.60954099e-03 -4.48628695e-05 -9.99993485e-01 6.89336681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.307628 meters 0.013468396128898589 Centerline is valid? [True, True] Translation: X:22.66, Y:-165.43, Z:0.69 [[ 2.71261329e-02 -9.99632018e-01 -4.94963819e-05 2.26579534e+01] [-9.99624571e-01 -2.71261218e-02 3.85892378e-03 -1.65434256e+02] [-3.85884641e-03 -5.51998796e-05 -9.99992553e-01 6.89215960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.337628 meters 0.01393836047168892 Centerline is valid? [True, True] Translation: X:22.64, Y:-165.56, Z:0.69 [[ 1.06861676e-01 -9.94273846e-01 -3.17380629e-04 2.26361808e+01] [-9.94267663e-01 -1.06862131e-01 3.50699302e-03 -1.65560332e+02] [-3.52082741e-03 -5.92018559e-05 -9.99993800e-01 6.89434794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.367628 meters 0.014168855430859686 Centerline is valid? [True, True] Translation: X:22.63, Y:-165.69, Z:0.69 [[ 1.83934205e-01 -9.82938390e-01 -5.75089514e-04 2.26262820e+01] [-9.82932522e-01 -1.83935094e-01 3.39672684e-03 -1.65691643e+02] [-3.44455235e-03 -5.95000632e-05 -9.99994066e-01 6.89439970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.397628 meters 0.014120611019474165 Centerline is valid? [True, True] Translation: X:22.62, Y:-165.80, Z:0.69 [[ 2.59101307e-01 -9.65849562e-01 -1.06641475e-03 2.26209004e+01] [-9.65840169e-01 -2.59103491e-01 4.26016822e-03 -1.65796108e+02] [-4.39099339e-03 -7.38289524e-05 -9.99990357e-01 6.89848136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.427628 meters 0.013826095331986562 Centerline is valid? [True, True] Translation: X:22.63, Y:-165.92, Z:0.69 [[ 3.31452691e-01 -9.43470053e-01 -1.83641398e-03 2.26290518e+01] [-9.43454075e-01 -3.31457766e-01 5.49166883e-03 -1.65916676e+02] [-5.78991876e-03 -8.76561621e-05 -9.99983234e-01 6.91757826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.457628 meters 0.013417697481680774 Centerline is valid? [True, True] Translation: X:22.65, Y:-166.03, Z:0.69 [[ 4.01998391e-01 -9.15637432e-01 -2.32100231e-03 2.26457298e+01] [-9.15620984e-01 -4.02005083e-01 5.48881722e-03 -1.66033835e+02] [-5.95882123e-03 -8.13372783e-05 -9.99982243e-01 6.92408160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48762800000003 meters 0.013099542669605186 Centerline is valid? [True, True] Translation: X:22.67, Y:-166.15, Z:0.69 [[ 4.70013198e-01 -8.82654601e-01 -2.90692615e-03 2.26705170e+01] [-8.82636714e-01 -4.70022181e-01 5.61966376e-03 -1.66146443e+02] [-6.32654184e-03 -7.55563888e-05 -9.99979984e-01 6.92429782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.517628 meters 0.012655077261799862 Centerline is valid? [True, True] Translation: X:22.71, Y:-166.26, Z:0.69 [[ 5.33578357e-01 -8.45743919e-01 -3.37048376e-03 2.27073324e+01] [-8.45726421e-01 -5.33589000e-01 5.44064617e-03 -1.66256490e+02] [-6.39984648e-03 -5.25038775e-05 -9.99979519e-01 6.91648393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54762800000003 meters 0.012464748890009713 Centerline is valid? [True, True] Translation: X:22.75, Y:-166.36, Z:0.69 [[ 5.95956637e-01 -8.03008523e-01 -3.60540215e-03 2.27496831e+01] [-8.02993410e-01 -5.95967542e-01 4.92675665e-03 -1.66363800e+02] [-6.10493024e-03 -4.10191576e-05 -9.99981364e-01 6.90700974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.577628 meters 0.012279741772459165 Centerline is valid? [True, True] Translation: X:22.80, Y:-166.47, Z:0.69 [[ 6.53966459e-01 -7.56518956e-01 -2.63449131e-03 2.27999601e+01] [-7.56512716e-01 -6.53971765e-01 3.07270693e-03 -1.66466357e+02] [-4.04744397e-03 -1.64211002e-05 -9.99991809e-01 6.88910956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60762800000003 meters 0.012229143913317461 Centerline is valid? [True, True] Translation: X:22.85, Y:-166.56, Z:0.69 [[ 7.09744817e-01 -7.04454504e-01 -2.47919738e-03 2.28509582e+01] [-7.04450145e-01 -7.09749147e-01 2.47823411e-03 -1.66560787e+02] [-3.50541141e-03 -1.24428616e-05 -9.99993856e-01 6.88676335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.637628 meters 0.012302527154148089 Centerline is valid? [True, True] Translation: X:22.85, Y:-166.56, Z:0.69 [[ 7.62509859e-01 -6.46969669e-01 -2.99383930e-03 2.28475263e+01] [-6.46964613e-01 -7.62515736e-01 2.55786698e-03 -1.66564593e+02] [-3.93771193e-03 -1.34907109e-05 -9.99992247e-01 6.89118693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66762800000004 meters 0.012271313622044833 Centerline is valid? [True, True] Translation: X:22.84, Y:-166.57, Z:0.69 [[ 8.10840675e-01 -5.85253315e-01 -3.99465789e-03 2.28433614e+01] [-5.85246103e-01 -8.10850514e-01 2.90559715e-03 -1.66570074e+02] [-4.93958077e-03 -1.81183899e-05 -9.99987800e-01 6.89271154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.697628 meters 0.012433782319912635 Centerline is valid? [True, True] Translation: X:22.84, Y:-166.58, Z:0.69 [[ 8.55046622e-01 -5.18518245e-01 -5.83982040e-03 2.28381730e+01] [-5.18505851e-01 -8.55066564e-01 3.58530064e-03 -1.66576737e+02] [-6.85247895e-03 -3.76181539e-05 -9.99976521e-01 6.90348896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72762800000004 meters 0.012490117507207849 Centerline is valid? [True, True] Translation: X:22.83, Y:-166.58, Z:0.69 [[ 8.93667025e-01 -4.48685701e-01 -6.35537289e-03 2.28314200e+01] [-4.48673955e-01 -8.93689621e-01 3.24700020e-03 -1.66584643e+02] [-7.13661335e-03 -5.02467124e-05 -9.99974533e-01 6.90720450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.757628 meters 0.0127273008949987 Centerline is valid? [True, True] Translation: X:22.83, Y:-166.59, Z:0.69 [[ 9.26567321e-01 -3.76048494e-01 -7.78009044e-03 2.28253605e+01] [-3.76034582e-01 -9.26599981e-01 3.23554393e-03 -1.66594299e+02] [-8.42575308e-03 -7.23662169e-05 -9.99964500e-01 6.91538049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78762800000004 meters 0.012733475025346056 Centerline is valid? [True, True] Translation: X:22.82, Y:-166.60, Z:0.69 [[ 9.53080851e-01 -3.02589975e-01 -8.72922941e-03 2.28196613e+01] [-3.02576540e-01 -9.53120822e-01 2.85237897e-03 -1.66602310e+02] [-9.18311159e-03 -7.72877380e-05 -9.99957831e-01 6.92685501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.817628 meters 0.012740639533706095 Centerline is valid? [True, True] Translation: X:22.82, Y:-166.61, Z:0.69 [[ 9.73685214e-01 -2.27681460e-01 -9.91244783e-03 2.28165957e+01] [-2.27668821e-01 -9.73735666e-01 2.40031294e-03 -1.66610024e+02] [-1.01986107e-02 -8.03939099e-05 -9.99947990e-01 6.93700878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84762800000004 meters 0.012511948047524776 Centerline is valid? [True, True] Translation: X:22.81, Y:-166.61, Z:0.69 [[ 9.88184034e-01 -1.52934179e-01 -1.01711055e-02 2.28104765e+01] [-1.52925471e-01 -9.88236375e-01 1.63297578e-03 -1.66614625e+02] [-1.03011942e-02 -5.82594918e-05 -9.99946940e-01 6.93635207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.877628 meters 0.012365031066952845 Centerline is valid? [True, True] Translation: X:22.80, Y:-166.62, Z:0.69 [[ 9.97019729e-01 -7.64263771e-02 -1.05199503e-02 2.28049941e+01] [-7.64216414e-02 -9.97075226e-01 8.52002311e-04 -1.66619268e+02] [-1.05542973e-02 -4.55112457e-05 -9.99944301e-01 6.91845772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90762800000005 meters 0.015568817452494596 Centerline is valid? [True, True] Translation: X:22.80, Y:-166.63, Z:0.69 [[ 9.99936850e-01 -8.63729996e-05 -1.12377905e-02 2.27995562e+01] [-8.60642803e-05 -9.99999996e-01 2.79550907e-05 -1.66625039e+02] [-1.12377929e-02 -2.69861530e-05 -9.99936854e-01 6.93290431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.937628 meters 0.012349922674000018 Centerline is valid? [True, True] Translation: X:22.79, Y:-166.63, Z:0.69 [[ 9.96901208e-01 7.81261664e-02 -9.18062040e-03 2.27948939e+01] [ 7.81230487e-02 -9.96943480e-01 -6.98269968e-04 -1.66634049e+02] [-9.20711280e-03 -2.11118795e-05 -9.99957613e-01 6.88813152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96762800000005 meters 0.012336671014380988 Centerline is valid? [True, True] Translation: X:22.79, Y:-166.64, Z:0.69 [[ 9.87936399e-01 1.54651048e-01 -8.04513268e-03 2.27896762e+01] [ 1.54645991e-01 -9.87969156e-01 -1.25067477e-03 -1.66644913e+02] [-8.14176111e-03 -8.56038349e-06 -9.99966855e-01 6.88768454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.997628 meters 0.012349604518304512 Centerline is valid? [True, True] Translation: X:22.79, Y:-166.65, Z:0.69 [[ 9.73029399e-01 2.30559307e-01 -7.49632085e-03 2.27850972e+01] [ 2.30552470e-01 -9.73058275e-01 -1.77556614e-03 -1.66654283e+02] [-7.70373033e-03 -6.17235312e-07 -9.99970326e-01 6.89459379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02762800000005 meters 0.01583182906170704 Centerline is valid? [True, True] Translation: X:22.78, Y:-166.66, Z:0.69 [[ 9.52791715e-01 3.03532087e-01 -7.49803975e-03 2.27811998e+01] [ 3.03522522e-01 -9.52821217e-01 -2.40980835e-03 -1.66662341e+02] [-7.87574551e-03 2.02214968e-05 -9.99968986e-01 6.92439930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.057628 meters 0.015736258617567014 Centerline is valid? [True, True] Translation: X:22.78, Y:-166.67, Z:0.69 [[ 9.26650788e-01 3.75871002e-01 -6.26957327e-03 2.27792837e+01] [ 3.75862202e-01 -9.26671997e-01 -2.57206686e-03 -1.66672383e+02] [-6.77660333e-03 2.69121586e-05 -9.99977038e-01 6.90889840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.087628 meters 0.01283416836620879 Centerline is valid? [True, True] Translation: X:22.78, Y:-166.68, Z:0.69 [[ 8.96084916e-01 4.43874615e-01 -2.67397195e-03 2.27751693e+01] [ 4.43872561e-01 -8.96088905e-01 -1.35033501e-03 -1.66679332e+02] [-2.99549603e-03 2.31120542e-05 -9.99995513e-01 6.86457642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.117628 meters 0.013051377183059617 Centerline is valid? [True, True] Translation: X:22.77, Y:-166.69, Z:0.69 [[ 8.59769142e-01 5.10678118e-01 -2.20982394e-03 2.27730279e+01] [ 5.10676353e-01 -8.59771981e-01 -1.34273364e-03 -1.66687834e+02] [-2.58564939e-03 2.59361162e-05 -9.99996657e-01 6.85746244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.147628 meters 0.013433819642960572 Centerline is valid? [True, True] Translation: X:22.77, Y:-166.70, Z:0.69 [[ 8.18422765e-01 5.74611299e-01 -2.45617870e-03 2.27721707e+01] [ 5.74608575e-01 -8.18426450e-01 -1.76992467e-03 -1.66696465e+02] [-3.02722033e-03 3.72053007e-05 -9.99995417e-01 6.85832296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.177628 meters 0.014029553203455437 Centerline is valid? [True, True] Translation: X:22.77, Y:-166.71, Z:0.69 [[ 7.72579224e-01 6.34912904e-01 -2.63574567e-03 2.27693289e+01] [ 6.34908980e-01 -7.72583718e-01 -2.23277665e-03 -1.66705246e+02] [-3.45395290e-03 5.15382569e-05 -9.99994034e-01 6.86910999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.207628 meters 0.01389824000156459 Centerline is valid? [True, True] Translation: X:22.77, Y:-166.72, Z:0.69 [[ 7.20740672e-01 6.93196916e-01 -3.30453421e-03 2.27715096e+01] [ 6.93189173e-01 -7.20748244e-01 -3.27705356e-03 -1.66716604e+02] [-4.65338065e-03 7.12384453e-05 -9.99989170e-01 6.87483341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23762800000003 meters 0.014148924603383548 Centerline is valid? [True, True] Translation: X:22.77, Y:-166.73, Z:0.69 [[ 6.64074312e-01 7.47656037e-01 -3.96985273e-03 2.27721564e+01] [ 7.47641842e-01 -6.64086171e-01 -4.60796424e-03 -1.66728230e+02] [-6.08149658e-03 9.20026755e-05 -9.99981503e-01 6.88969375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.267628 meters 0.016074012654973643 Centerline is valid? [True, True] Translation: X:22.78, Y:-166.74, Z:0.69 [[ 6.03445377e-01 7.97380873e-01 -6.11723443e-03 2.27752288e+01] [ 7.97337256e-01 -6.03476362e-01 -8.34146288e-03 -1.66739643e+02] [-1.03429293e-02 1.56118300e-04 -9.99946498e-01 6.94317223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29762800000003 meters 0.015951378736679046 Centerline is valid? [True, True] Translation: X:22.78, Y:-166.75, Z:0.70 [[ 5.38687606e-01 8.42483348e-01 -6.12134287e-03 2.27796015e+01] [ 8.42425336e-01 -5.38722358e-01 -9.88805055e-03 -1.66751190e+02] [-1.16282222e-02 1.69795960e-04 -9.99932376e-01 6.95124779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.327628 meters 0.014647318071544275 Centerline is valid? [True, True] Translation: X:22.78, Y:-166.76, Z:0.69 [[ 4.69779985e-01 8.82766129e-01 -5.54321372e-03 2.27841250e+01] [ 8.82700642e-01 -4.69812660e-01 -1.07536288e-02 -1.66762793e+02] [-1.20972113e-02 1.58841272e-04 -9.99926813e-01 6.94819115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35762800000003 meters 0.013413421139344883 Centerline is valid? [True, True] Translation: X:22.79, Y:-166.77, Z:0.69 [[ 3.97978648e-01 9.17384157e-01 -4.39358556e-03 2.27898409e+01] [ 9.17324497e-01 -3.98002877e-01 -1.04631386e-02 -1.66773208e+02] [-1.13473773e-02 1.33762109e-04 -9.99935608e-01 6.93694472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.387628 meters 0.013060262228170545 Centerline is valid? [True, True] Translation: X:22.80, Y:-166.78, Z:0.69 [[ 3.22352791e-01 9.46615129e-01 -2.91125202e-03 2.27961081e+01] [ 9.46574134e-01 -3.22365926e-01 -8.81015409e-03 -1.66784028e+02] [-9.27831361e-03 8.42619013e-05 -9.99956952e-01 6.92632206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41762800000004 meters 0.012764856209258279 Centerline is valid? [True, True] Translation: X:22.80, Y:-166.79, Z:0.69 [[ 2.45811519e-01 9.69315428e-01 -2.07320521e-03 2.28017591e+01] [ 9.69278642e-01 -2.45820253e-01 -8.44491575e-03 -1.66793284e+02] [-8.69542295e-03 6.63440335e-05 -9.99962192e-01 6.91894684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.447628 meters 0.012545941013043554 Centerline is valid? [True, True] Translation: X:22.81, Y:-166.80, Z:0.69 [[ 1.67839417e-01 9.85813552e-01 -1.25322006e-03 2.28118938e+01] [ 9.85783861e-01 -1.67844089e-01 -7.65125935e-03 -1.66802046e+02] [-7.75306074e-03 4.87788013e-05 -9.99969943e-01 6.90707065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47762800000004 meters 0.012397023334374731 Centerline is valid? [True, True] Translation: X:22.82, Y:-166.81, Z:0.69 [[ 8.81760514e-02 9.96104713e-01 -6.20889868e-04 2.28214689e+01] [ 9.96077386e-01 -8.81782315e-02 -7.37839300e-03 -1.66810936e+02] [-7.40440101e-03 3.21432042e-05 -9.99972587e-01 6.90772748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.507628 meters 0.012397023334374731 Centerline is valid? [True, True] Translation: X:22.83, Y:-166.82, Z:0.69 [[ 9.89198543e-03 9.99951072e-01 -4.11030482e-05 2.28291527e+01] [ 9.99923659e-01 -9.89201860e-03 -7.40434867e-03 -1.66818656e+02] [-7.40439298e-03 3.21437987e-05 -9.99972587e-01 6.90772679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53762800000004 meters 0.012275873524723735 Centerline is valid? [True, True] Translation: X:22.84, Y:-166.82, Z:0.69 [[-7.00865387e-02 9.97540788e-01 5.02805451e-04 2.28388364e+01] [ 9.97516991e-01 7.00883398e-02 -6.89043370e-03 -1.66824737e+02] [-6.90872946e-03 1.86303316e-05 -9.99976134e-01 6.90981729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.567628 meters 0.012197870825418353 Centerline is valid? [True, True] Translation: X:22.85, Y:-166.83, Z:0.69 [[-1.51409272e-01 9.88470794e-01 8.49370342e-04 2.28497519e+01] [ 9.88455094e-01 1.51411654e-01 -5.57128228e-03 -1.66831674e+02] [-5.63565439e-03 -3.97935154e-06 -9.99984120e-01 6.91482370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59762800000004 meters 0.01215750207204706 Centerline is valid? [True, True] Translation: X:22.86, Y:-166.84, Z:0.69 [[-2.30079666e-01 9.73171042e-01 1.21265749e-03 2.28597516e+01] [ 9.73157227e-01 2.30082862e-01 -5.18535064e-03 -1.66836447e+02] [-5.32524479e-03 -1.29373473e-05 -9.99985821e-01 6.91700091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.627628 meters 0.01243592796622712 Centerline is valid? [True, True] Translation: X:22.87, Y:-166.84, Z:0.69 [[-3.09385777e-01 9.50934846e-01 1.83307290e-03 2.28716575e+01] [ 9.50917406e-01 3.09391205e-01 -5.75925677e-03 -1.66839643e+02] [-6.04381458e-03 -3.87312069e-05 -9.99981735e-01 6.91762621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65762800000005 meters 0.012750442759929115 Centerline is valid? [True, True] Translation: X:22.88, Y:-166.84, Z:0.69 [[-3.84768964e-01 9.23009571e-01 2.48525037e-03 2.28832971e+01] [ 9.22989380e-01 3.84776986e-01 -6.10533288e-03 -1.66843376e+02] [-6.59154783e-03 -5.52829085e-05 -9.99978274e-01 6.92320550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.687628 meters 0.012944853123141366 Centerline is valid? [True, True] Translation: X:22.89, Y:-166.85, Z:0.69 [[-4.57761055e-01 8.89069742e-01 3.13218247e-03 2.28938195e+01] [ 8.89047821e-01 4.57771765e-01 -6.24366209e-03 -1.66845298e+02] [-6.98487574e-03 -7.34453447e-05 -9.99975603e-01 6.92504694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71762800000005 meters 0.013218954400127894 Centerline is valid? [True, True] Translation: X:22.90, Y:-166.85, Z:0.69 [[-5.27179474e-01 8.49743782e-01 4.16009491e-03 2.29047815e+01] [ 8.49715876e-01 5.27195879e-01 -6.88731645e-03 -1.66846552e+02] [-8.04563923e-03 -9.59531702e-05 -9.99967629e-01 6.94066384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.747628 meters 0.013676164042808523 Centerline is valid? [True, True] Translation: X:22.91, Y:-166.85, Z:0.70 [[-5.93613500e-01 8.04724829e-01 6.40014239e-03 2.29144536e+01] [ 8.04675283e-01 5.93647982e-01 -8.93097883e-03 -1.66846836e+02] [-1.09864120e-02 -1.51513215e-04 -9.99939636e-01 6.97290357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77762800000005 meters 0.013746303724526574 Centerline is valid? [True, True] Translation: X:22.92, Y:-166.85, Z:0.70 [[-6.54898847e-01 7.55675362e-01 7.88969482e-03 2.29227661e+01] [ 7.55617380e-01 6.54946347e-01 -9.36257249e-03 -1.66847202e+02] [-1.22423922e-02 -1.69947404e-04 -9.99925045e-01 6.98484217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.807628 meters 0.013442102266521407 Centerline is valid? [True, True] Translation: X:22.93, Y:-166.85, Z:0.70 [[-7.11759720e-01 7.02367703e-01 8.81538215e-03 2.29323718e+01] [ 7.02310885e-01 7.11814288e-01 -8.93530067e-03 -1.66846571e+02] [-1.25507816e-02 -1.68648257e-04 -9.99921222e-01 6.99080033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.837628 meters 0.0134047188423374 Centerline is valid? [True, True] Translation: X:22.94, Y:-166.85, Z:0.70 [[-7.63251204e-01 6.46025083e-01 9.95950263e-03 2.29401917e+01] [ 6.45967514e-01 7.63316166e-01 -8.62565032e-03 -1.66847626e+02] [-1.31746358e-02 -1.50022842e-04 -9.99913199e-01 7.00029341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.867628 meters 0.01298520627976973 Centerline is valid? [True, True] Translation: X:22.96, Y:-166.83, Z:0.70 [[-8.05721303e-01 5.92208211e-01 1.01300143e-02 2.29579095e+01] [ 5.92159588e-01 8.05784972e-01 -7.58956846e-03 -1.66830910e+02] [-1.26572180e-02 -1.16491896e-04 -9.99919887e-01 6.99105789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.897628 meters 0.012579352154316652 Centerline is valid? [True, True] Translation: X:23.46, Y:-166.19, Z:-0.21 [[-7.53741641e-01 -6.57110273e-01 8.92342561e-03 2.34553669e+01] [ 6.57065161e-01 -7.53794458e-01 -7.69996213e-03 -1.66185596e+02] [ 1.17861530e-02 5.94899967e-05 9.99930539e-01 -2.10632375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.927628 meters 0.014956730630602351 Centerline is valid? [True, True] Translation: X:22.92, Y:-166.81, Z:0.70 [[-8.02920350e-01 5.96041249e-01 7.33086737e-03 2.29197014e+01] [ 5.96016318e-01 8.02953815e-01 -5.45154625e-03 -1.66813417e+02] [-9.13569436e-03 -7.84084490e-06 -9.99958269e-01 6.97553984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.957628 meters 0.01566162821890693 Centerline is valid? [True, True] Translation: X:22.95, Y:-166.80, Z:0.70 [[-8.41999367e-01 5.39440223e-01 6.42744442e-03 2.29494162e+01] [ 5.39424585e-01 8.42023899e-01 -4.10748830e-03 -1.66801677e+02] [-7.62780622e-03 8.61898768e-06 -9.99970908e-01 6.96514145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98762800000003 meters 0.01219926952945422 Centerline is valid? [True, True] Translation: X:22.97, Y:-166.78, Z:0.69 [[-8.76810272e-01 4.80820991e-01 3.86283698e-03 2.29681546e+01] [ 4.80816409e-01 8.76818781e-01 -2.09916631e-03 -1.66782392e+02] [-4.39633124e-03 1.67448245e-05 -9.99990336e-01 6.90651040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.017628 meters 0.012297510474207697 Centerline is valid? [True, True] Translation: X:22.99, Y:-166.76, Z:0.69 [[-9.08074282e-01 4.18800226e-01 2.73303296e-03 2.29884997e+01] [ 4.18798381e-01 9.08078394e-01 -1.24338137e-03 -1.66762301e+02] [-3.00253658e-03 1.55071353e-05 -9.99995492e-01 6.89084453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04762800000003 meters 0.012387458498324382 Centerline is valid? [True, True] Translation: X:23.00, Y:-166.74, Z:0.69 [[-9.35104161e-01 3.54369514e-01 1.56704815e-03 2.30047624e+01] [ 3.54369034e-01 9.35105474e-01 -5.82861910e-04 -1.66739429e+02] [-1.67190380e-03 1.02767432e-05 -9.99998602e-01 6.87985275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.077628 meters 0.01245747938137969 Centerline is valid? [True, True] Translation: X:23.31, Y:-165.96, Z:-0.20 [[-9.15056295e-01 -4.03325476e-01 7.32739544e-04 2.33073598e+01] [ 4.03325298e-01 -9.15056587e-01 -3.83533643e-04 -1.65963876e+02] [ 8.25187035e-04 -5.54224799e-05 9.99999658e-01 -2.00598071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10762800000003 meters 0.012567180682976098 Centerline is valid? [True, True] Translation: X:22.96, Y:-166.72, Z:0.69 [[-9.35269755e-01 3.53934174e-01 1.04149641e-03 2.29627895e+01] [ 3.53933968e-01 9.35270335e-01 -3.82689202e-04 -1.66722345e+02] [-1.10952748e-03 1.07033196e-05 -9.99999384e-01 6.89360470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.137628 meters 0.012910480637195337 Centerline is valid? [True, True] Translation: X:23.26, Y:-165.95, Z:-0.20 [[-9.17675596e-01 -3.97325553e-01 1.97639748e-03 2.32612362e+01] [ 3.97324728e-01 -9.17677723e-01 -8.10669317e-04 -1.65949579e+02] [ 2.13579558e-03 4.13401449e-05 9.99997718e-01 -2.04298565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16762800000004 meters 0.01354787184373151 Centerline is valid? [True, True] Translation: X:22.92, Y:-166.71, Z:0.69 [[-9.34629083e-01 3.55599637e-01 4.16829775e-03 2.29245631e+01] [ 3.55596418e-01 9.34638376e-01 -1.51457384e-03 -1.66708157e+02] [-4.43443294e-03 6.66669903e-05 -9.99990166e-01 6.94575137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.197628 meters 0.013916618550705482 Centerline is valid? [True, True] Translation: X:23.22, Y:-165.93, Z:-0.21 [[-9.21576780e-01 -3.88150165e-01 5.97395085e-03 2.32186543e+01] [ 3.88142181e-01 -9.21596142e-01 -2.48968559e-03 -1.65934396e+02] [ 6.47194193e-03 2.43058814e-05 9.99979056e-01 -2.08474268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22762800000004 meters 0.01563145888610887 Centerline is valid? [True, True] Translation: X:22.88, Y:-166.70, Z:0.70 [[-9.33693487e-01 3.57952364e-01 9.30469939e-03 2.28822270e+01] [ 3.57936833e-01 9.33739825e-01 -3.34111128e-03 -1.66697923e+02] [-9.88412706e-03 2.10920792e-04 -9.99951129e-01 6.97813478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.257628 meters 0.015967280364130882 Centerline is valid? [True, True] Translation: X:23.18, Y:-165.92, Z:-0.21 [[-9.25495824e-01 -3.78636082e-01 9.60196608e-03 2.31762641e+01] [ 3.78613577e-01 -9.25545613e-01 -4.13249786e-03 -1.65916479e+02] [ 1.04517704e-02 -1.89174787e-04 9.99945361e-01 -2.11026286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28762800000004 meters 0.016868919948734015 Centerline is valid? [True, True] Translation: X:22.84, Y:-166.69, Z:0.70 [[-9.33418471e-01 3.58642532e-01 1.02709741e-02 2.28418304e+01] [ 3.58624131e-01 9.33474935e-01 -3.64390361e-03 -1.66685176e+02] [-1.08945557e-02 2.82132228e-04 -9.99940613e-01 6.98299042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.317628 meters 0.017429009847773378 Centerline is valid? [True, True] Translation: X:22.86, Y:-166.66, Z:0.70 [[-9.55867515e-01 2.93624819e-01 1.00876383e-02 2.28563240e+01] [ 2.93611693e-01 9.55920697e-01 -2.79174015e-03 -1.66660499e+02] [-1.04627064e-02 2.93314838e-04 -9.99945221e-01 6.97892000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34762800000004 meters 0.02019941813732969 Centerline is valid? [True, True] Translation: X:23.09, Y:-165.85, Z:-0.21 [[-9.53548997e-01 -3.01141896e-01 7.60722301e-03 2.30913035e+01] [ 3.01129213e-01 -9.53579270e-01 -2.78816645e-03 -1.65854818e+02] [ 8.09372389e-03 -3.67896242e-04 9.99967178e-01 -2.09339276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.377628 meters 0.019426122014492283 Centerline is valid? [True, True] Translation: X:22.81, Y:-166.65, Z:0.69 [[-9.55833844e-01 2.93839643e-01 6.31873405e-03 2.28115404e+01] [ 2.93834671e-01 9.55854707e-01 -1.72223472e-03 -1.66650207e+02] [-6.54585252e-03 2.10492903e-04 -9.99978554e-01 6.94273901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40762800000005 meters 0.019836689408820177 Centerline is valid? [True, True] Translation: X:22.82, Y:-166.62, Z:0.69 [[-9.74118657e-01 2.25982484e-01 4.97586810e-03 2.28204072e+01] [ 2.25980405e-01 9.74131351e-01 -9.83633270e-04 -1.66623992e+02] [-5.06943300e-03 1.66273167e-04 -9.99987137e-01 6.92224594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.437628 meters 0.01811836385695087 Centerline is valid? [True, True] Translation: X:22.99, Y:-165.81, Z:-0.20 [[-9.73774244e-01 -2.27506931e-01 2.07809479e-03 2.29912592e+01] [ 2.27505847e-01 -9.73776428e-01 -7.46939794e-04 -1.65805069e+02] [ 2.19353370e-03 -2.54572017e-04 9.99997562e-01 -2.01572292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46762800000005 meters 0.017495608571096173 Centerline is valid? [True, True] Translation: X:22.77, Y:-166.61, Z:0.69 [[-9.75178343e-01 2.21419926e-01 6.45139248e-04 2.27685111e+01] [ 2.21419892e-01 9.75178556e-01 -1.24248405e-04 -1.66608731e+02] [-6.56637033e-04 2.16823091e-05 -9.99999784e-01 6.87346045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.497628 meters 0.01764162450354251 Centerline is valid? [True, True] Translation: X:22.93, Y:-165.80, Z:-0.20 [[-9.74207161e-01 -2.25624721e-01 -3.72740418e-03 2.29292419e+01] [ 2.25623725e-01 -9.74214277e-01 6.91056311e-04 -1.65798196e+02] [-3.78720975e-03 -1.67758807e-04 9.99992814e-01 -1.96538353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52762800000005 meters 0.017219968479090984 Centerline is valid? [True, True] Translation: X:22.71, Y:-166.59, Z:0.68 [[-9.76967859e-01 2.13327965e-01 -4.99815545e-03 2.27132672e+01] [ 2.13325920e-01 9.76980634e-01 9.45083958e-04 -1.66593316e+02] [ 5.08471392e-03 -1.42919457e-04 -9.99987063e-01 6.81937647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.557628 meters 0.016628823790271155 Centerline is valid? [True, True] Translation: X:22.87, Y:-165.79, Z:-0.19 [[-9.74143498e-01 -2.25844506e-01 -6.22121503e-03 2.28685725e+01] [ 2.25839287e-01 -9.74163359e-01 1.53828069e-03 -1.65791993e+02] [-6.40789197e-03 9.35113648e-05 9.99979465e-01 -1.93567677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.587628 meters 0.01778964313909897 Centerline is valid? [True, True] Translation: X:22.66, Y:-166.58, Z:0.68 [[-9.78745622e-01 2.04983579e-01 -6.22406845e-03 2.26576414e+01] [ 2.04980407e-01 9.78765401e-01 1.15013230e-03 -1.66576676e+02] [ 6.32766109e-03 -1.50125127e-04 -9.99979969e-01 6.83262251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.617628 meters 0.014098686047377327 Centerline is valid? [True, True] Translation: X:22.80, Y:-165.79, Z:-0.19 [[-9.73089411e-01 -2.30362151e-01 -5.50246220e-03 2.28046141e+01] [ 2.30357423e-01 -9.73104952e-01 1.48672926e-03 -1.65790492e+02] [-5.69695936e-03 1.79187490e-04 9.99983756e-01 -1.94463176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.647628 meters 0.01331460222686989 Centerline is valid? [True, True] Translation: X:22.60, Y:-166.56, Z:0.68 [[-9.81439971e-01 1.91726643e-01 -4.05927861e-03 2.26002418e+01] [ 1.91725251e-01 9.81448364e-01 7.33053623e-04 -1.66556124e+02] [ 4.12451826e-03 -5.88180837e-05 -9.99991492e-01 6.84006145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.677628 meters 0.012912977037658119 Centerline is valid? [True, True] Translation: X:22.61, Y:-166.52, Z:0.69 [[-9.93081030e-01 1.17427824e-01 -8.79475705e-04 2.26052243e+01] [ 1.17427785e-01 9.93081420e-01 9.63378856e-05 -1.66523472e+02] [ 8.84703730e-04 -7.60355740e-06 -9.99999609e-01 6.88631167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.707628 meters 0.01242867065921482 Centerline is valid? [True, True] Translation: X:22.69, Y:-165.76, Z:-0.20 [[-9.86294232e-01 -1.64994260e-01 7.62806790e-04 2.26933342e+01] [ 1.64994288e-01 -9.86294522e-01 -2.72760315e-05 -1.65756569e+02] [ 7.56852548e-04 9.89565707e-05 9.99999709e-01 -2.03677044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73762800000003 meters 0.012380840427217108 Centerline is valid? [True, True] Translation: X:22.54, Y:-166.51, Z:0.69 [[-9.93939021e-01 1.09879613e-01 3.41939603e-03 2.25375983e+01] [ 1.09879055e-01 9.93944903e-01 -3.51112697e-04 -1.66512349e+02] [-3.43727138e-03 2.67353938e-05 -9.99994092e-01 6.92810588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.767628 meters 0.012290605400599447 Centerline is valid? [True, True] Translation: X:22.54, Y:-166.48, Z:0.69 [[-9.99240453e-01 3.87945503e-02 3.67419742e-03 2.25402079e+01] [ 3.87943909e-02 9.99247208e-01 -1.14667469e-04 -1.66484537e+02] [-3.67587999e-03 2.79578775e-05 -9.99993244e-01 6.92665752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79762800000003 meters 0.01235486397977679 Centerline is valid? [True, True] Translation: X:22.54, Y:-166.46, Z:0.69 [[-9.99469473e-01 -3.23256066e-02 3.97844805e-03 2.25382007e+01] [-3.23252291e-02 9.99477391e-01 1.59184633e-04 -1.66457237e+02] [-3.98151462e-03 3.04959368e-05 -9.99992073e-01 6.92714721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.827628 meters 0.012358312632887345 Centerline is valid? [True, True] Translation: X:22.53, Y:-166.43, Z:0.69 [[-9.94652281e-01 -1.03213398e-01 3.71950049e-03 2.25339966e+01] [-1.03212564e-01 9.94659235e-01 4.15836809e-04 -1.66430508e+02] [-3.74255544e-03 2.97138471e-05 -9.99992996e-01 6.92847598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85762800000003 meters 0.012419426876346878 Centerline is valid? [True, True] Translation: X:22.52, Y:-166.40, Z:0.69 [[-9.84701747e-01 -1.74219401e-01 3.17317327e-03 2.25213130e+01] [-1.74218412e-01 9.84706860e-01 5.87305086e-04 -1.66404694e+02] [-3.22696543e-03 2.54951346e-05 -9.99994793e-01 6.92912398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.887628 meters 0.012282327895454992 Centerline is valid? [True, True] Translation: X:22.50, Y:-166.38, Z:0.69 [[-9.69510321e-01 -2.45029387e-01 3.21514781e-03 2.24950108e+01] [-2.45027954e-01 9.69515652e-01 8.38458257e-04 -1.66382607e+02] [-3.32258303e-03 2.50928451e-05 -9.99994480e-01 6.92693758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91762800000004 meters 0.012278088057485816 Centerline is valid? [True, True] Translation: X:22.45, Y:-166.37, Z:0.69 [[-9.48831414e-01 -3.15767462e-01 3.13981942e-03 2.24450427e+01] [-3.15765653e-01 9.48836608e-01 1.06930743e-03 -1.66369413e+02] [-3.31682810e-03 2.31453571e-05 -9.99994499e-01 6.92798723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.947628 meters 0.012105648662198733 Centerline is valid? [True, True] Translation: X:22.38, Y:-166.36, Z:0.69 [[-9.22478190e-01 -3.86039089e-01 2.79470489e-03 2.23815710e+01] [-3.86037260e-01 9.22482423e-01 1.18842113e-03 -1.66364913e+02] [-3.03684316e-03 1.74323559e-05 -9.99995389e-01 6.93269358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97762800000004 meters 0.012083182432152475 Centerline is valid? [True, True] Translation: X:22.31, Y:-166.37, Z:0.69 [[-8.90826644e-01 -4.54334445e-01 2.84633413e-03 2.23093641e+01] [-4.54332070e-01 8.90831192e-01 1.46901125e-03 -1.66368764e+02] [-3.20302564e-03 1.54534784e-05 -9.99994870e-01 6.93193654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.007628 meters 0.011964938375843186 Centerline is valid? [True, True] Translation: X:22.23, Y:-166.38, Z:0.69 [[-8.53507234e-01 -5.21070520e-01 3.30385058e-03 2.22306382e+01] [-5.21066561e-01 8.53513628e-01 2.03127275e-03 -1.66382354e+02] [-3.87831784e-03 1.21799273e-05 -9.99992479e-01 6.93487130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03762800000004 meters 0.011951177932255155 Centerline is valid? [True, True] Translation: X:22.15, Y:-166.40, Z:0.69 [[-8.11468429e-01 -5.84389325e-01 2.84716630e-03 2.21489258e+01] [-5.84385693e-01 8.11473423e-01 2.06048206e-03 -1.66403649e+02] [-3.51452351e-03 8.17289007e-06 -9.99993824e-01 6.93884512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.067628 meters 0.011917350223077994 Centerline is valid? [True, True] Translation: X:22.06, Y:-166.44, Z:0.69 [[-7.64289836e-01 -6.44867487e-01 2.64024557e-03 2.20638229e+01] [-6.44863621e-01 7.64294396e-01 2.23320282e-03 -1.66435371e+02] [-3.45804478e-03 4.21589821e-06 -9.99994021e-01 6.94175498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09762800000004 meters 0.012065632056995063 Centerline is valid? [True, True] Translation: X:21.97, Y:-166.48, Z:0.69 [[-7.11166927e-01 -7.03015311e-01 3.32794898e-03 2.19744115e+01] [-7.03007666e-01 7.11174713e-01 3.27853288e-03 -1.66480723e+02] [-4.67161198e-03 -7.98948849e-06 -9.99989088e-01 6.94984334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.127628 meters 0.012182346577551276 Centerline is valid? [True, True] Translation: X:21.88, Y:-166.54, Z:0.70 [[-6.54228914e-01 -7.56288181e-01 3.56586325e-03 2.18846129e+01] [-7.56277103e-01 6.54238632e-01 4.09340786e-03 -1.66536443e+02] [-5.42872147e-03 -1.87549466e-05 -9.99985264e-01 6.95646501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15762800000005 meters 0.012334596989740284 Centerline is valid? [True, True] Translation: X:21.80, Y:-166.60, Z:0.70 [[-5.93062910e-01 -8.05147564e-01 3.71287174e-03 2.17992530e+01] [-8.05132138e-01 5.93074531e-01 4.98413781e-03 -1.66598743e+02] [-6.21497608e-03 -3.34450872e-05 -9.99980686e-01 6.96761817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.187628 meters 0.01253308499836635 Centerline is valid? [True, True] Translation: X:21.71, Y:-166.68, Z:0.70 [[-5.28121236e-01 -8.49159706e-01 3.96900902e-03 2.17137576e+01] [-8.49136486e-01 5.28136147e-01 6.27993753e-03 -1.66675365e+02] [-7.42884705e-03 -5.36620016e-05 -9.99972404e-01 6.97841326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21762800000005 meters 0.012955415204065587 Centerline is valid? [True, True] Translation: X:21.64, Y:-166.75, Z:0.70 [[-4.58911912e-01 -8.88469302e-01 4.70707874e-03 2.16393079e+01] [-8.88424781e-01 4.58936041e-01 8.89480991e-03 -1.66753758e+02] [-1.00630136e-02 -9.99511727e-05 -9.99949362e-01 7.00254122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.247628 meters 0.013119577736428368 Centerline is valid? [True, True] Translation: X:21.57, Y:-166.84, Z:0.70 [[-3.88845590e-01 -9.21292102e-01 4.46875825e-03 2.15678983e+01] [-9.21234639e-01 3.88871250e-01 1.02903255e-02 -1.66843551e+02] [-1.12181672e-02 -1.15427216e-04 -9.99937068e-01 7.01545688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27762800000005 meters 0.015933660804648222 Centerline is valid? [True, True] Translation: X:21.50, Y:-166.94, Z:0.70 [[-3.17406510e-01 -9.48279475e-01 4.37547360e-03 2.15040595e+01] [-9.48194809e-01 3.17436642e-01 1.26720926e-02 -1.66942414e+02] [-1.34056209e-02 -1.26596683e-04 -9.99910133e-01 7.04524419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.307628 meters 0.012707105440581429 Centerline is valid? [True, True] Translation: X:21.45, Y:-167.05, Z:0.70 [[-2.44737812e-01 -9.69584576e-01 3.02534976e-03 2.14503920e+01] [-9.69515186e-01 2.44756492e-01 1.16001602e-02 -1.67049390e+02] [-1.19878104e-02 -9.41247185e-05 -9.99928139e-01 7.00274169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.337628 meters 0.012619860372544173 Centerline is valid? [True, True] Translation: X:21.40, Y:-167.16, Z:0.70 [[-1.68244114e-01 -9.85743958e-01 1.66362417e-03 2.13990192e+01] [-9.85700417e-01 1.68252320e-01 9.26528863e-03 -1.67156952e+02] [-9.41311091e-03 -8.10047598e-05 -9.99955692e-01 6.97612464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.367628 meters 0.012634166858875277 Centerline is valid? [True, True] Translation: X:21.36, Y:-167.27, Z:0.69 [[-9.13398838e-02 -9.95819556e-01 6.62210027e-04 2.13552071e+01] [-9.95797883e-01 9.13422650e-02 6.57017537e-03 -1.67267137e+02] [-6.60319688e-03 -5.93082874e-05 -9.99978197e-01 6.94866772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.397628 meters 0.012634166858875277 Centerline is valid? [True, True] Translation: X:21.32, Y:-167.38, Z:0.69 [[-1.39070782e-02 -9.99903281e-01 1.51135472e-04 2.13204955e+01] [-9.99881488e-01 1.39077729e-02 6.60177887e-03 -1.67383298e+02] [-6.60324230e-03 -5.93061061e-05 -9.99978197e-01 6.94869062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.427628 meters 0.012661037530610127 Centerline is valid? [True, True] Translation: X:21.29, Y:-167.50, Z:0.69 [[ 6.35362648e-02 -9.97979472e-01 -3.40902824e-04 2.12936371e+01] [-9.97960061e-01 -6.35371553e-02 6.22461345e-03 -1.67497769e+02] [-6.23369644e-03 -5.52812853e-05 -9.99980569e-01 6.94904558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.457628 meters 0.012636432538237595 Centerline is valid? [True, True] Translation: X:21.28, Y:-167.62, Z:0.70 [[ 1.40027365e-01 -9.90147229e-01 -8.96059585e-04 2.12760628e+01] [-9.90124292e-01 -1.40030221e-01 6.73966952e-03 -1.67624179e+02] [-6.79874051e-03 -5.65278017e-05 -9.99976887e-01 6.95720610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48762800000003 meters 0.012461923487861048 Centerline is valid? [True, True] Translation: X:21.26, Y:-167.74, Z:0.70 [[ 2.15025692e-01 -9.76607205e-01 -1.52246995e-03 2.12645555e+01] [-9.76580970e-01 -2.15031076e-01 7.15853401e-03 -1.67735977e+02] [-7.31845425e-03 -5.24535506e-05 -9.99973218e-01 6.97141802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.517628 meters 0.012407456471600447 Centerline is valid? [True, True] Translation: X:21.27, Y:-167.87, Z:0.70 [[ 2.89414046e-01 -9.57202092e-01 -1.91455511e-03 2.12682488e+01] [-9.57180118e-01 -2.89420375e-01 6.48600434e-03 -1.67865434e+02] [-6.76252818e-03 -4.45666660e-05 -9.99977133e-01 6.97330127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54762800000003 meters 0.012370625503380025 Centerline is valid? [True, True] Translation: X:21.28, Y:-167.98, Z:0.70 [[ 3.62230554e-01 -9.32086138e-01 -2.11137786e-03 2.12780840e+01] [-9.32069707e-01 -3.62236705e-01 5.53452881e-03 -1.67979821e+02] [-5.92347614e-03 -3.68240959e-05 -9.99982455e-01 6.96393278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.577628 meters 0.01245248410049728 Centerline is valid? [True, True] Translation: X:21.30, Y:-168.10, Z:0.70 [[ 4.33539509e-01 -9.01132231e-01 -2.04858467e-03 2.12980294e+01] [-9.01121825e-01 -4.33544347e-01 4.33064270e-03 -1.68095198e+02] [-4.79063402e-03 -3.14803520e-05 -9.99988524e-01 6.95189813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60762800000003 meters 0.01246233944661716 Centerline is valid? [True, True] Translation: X:21.33, Y:-168.21, Z:0.69 [[ 5.02078458e-01 -8.64820030e-01 -1.88103118e-03 2.13295639e+01] [-8.64813766e-01 -5.02081981e-01 3.29169715e-03 -1.68214889e+02] [-3.79115748e-03 -2.59485749e-05 -9.99992813e-01 6.94388377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.637628 meters 0.012518642965429918 Centerline is valid? [True, True] Translation: X:21.36, Y:-168.32, Z:0.69 [[ 5.68070334e-01 -8.22977705e-01 -1.94757380e-03 2.13633268e+01] [-8.22972705e-01 -5.68073672e-01 2.86887945e-03 -1.68320708e+02] [-3.46738923e-03 -2.69252287e-05 -9.99993988e-01 6.93653475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66762800000004 meters 0.01279290986202236 Centerline is valid? [True, True] Translation: X:21.41, Y:-168.43, Z:0.69 [[ 6.30399175e-01 -7.76268078e-01 -2.17972689e-03 2.14058843e+01] [-7.76263271e-01 -6.30402943e-01 2.73211797e-03 -1.68426970e+02] [-3.49496221e-03 -3.02829848e-05 -9.99993892e-01 6.93976078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.697628 meters 0.01280114652017989 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.53, Z:0.70 [[ 6.89042100e-01 -7.24714836e-01 -3.06433229e-03 2.14549478e+01] [-7.24707379e-01 -6.89048913e-01 3.28790860e-03 -1.68527540e+02] [-4.49427098e-03 -4.47632283e-05 -9.99989900e-01 6.95469003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72762800000004 meters 0.012951287079796025 Centerline is valid? [True, True] Translation: X:21.51, Y:-168.62, Z:0.70 [[ 7.42746865e-01 -6.69561677e-01 -3.77550175e-03 2.15103231e+01] [-6.69552665e-01 -7.42756459e-01 3.47439835e-03 -1.68621842e+02] [-5.13060230e-03 -5.27012212e-05 -9.99986837e-01 6.96727510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.757628 meters 0.012849277754073381 Centerline is valid? [True, True] Translation: X:21.51, Y:-168.63, Z:0.70 [[ 7.93043961e-01 -6.09146297e-01 -4.69741762e-03 2.15066727e+01] [-6.09135129e-01 -7.93057870e-01 3.68907378e-03 -1.68628645e+02] [-5.97250965e-03 -6.42355900e-05 -9.99982162e-01 6.96770312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78762800000004 meters 0.01293248150695016 Centerline is valid? [True, True] Translation: X:21.50, Y:-168.63, Z:0.70 [[ 8.38224620e-01 -5.45296018e-01 -5.63375007e-03 2.15026593e+01] [-5.45283114e-01 -8.38243549e-01 3.75206816e-03 -1.68634704e+02] [-6.76844248e-03 -7.30871293e-05 -9.99977091e-01 6.97246524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.817628 meters 0.013193765804946363 Centerline is valid? [True, True] Translation: X:21.50, Y:-168.64, Z:0.70 [[ 8.78607075e-01 -4.77489475e-01 -7.30810527e-03 2.14978393e+01] [-4.77472043e-01 -8.78637463e-01 4.08126727e-03 -1.68638588e+02] [-8.36993724e-03 -9.64143465e-05 -9.99964967e-01 6.97715905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84762800000004 meters 0.013333706911746027 Centerline is valid? [True, True] Translation: X:21.49, Y:-168.64, Z:0.70 [[ 9.13283694e-01 -4.07246995e-01 -7.92333053e-03 2.14937721e+01] [-4.07230701e-01 -9.13318058e-01 3.64439184e-03 -1.68642908e+02] [-8.72068847e-03 -1.01740198e-04 -9.99961969e-01 6.97977433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.877628 meters 0.013295717938933138 Centerline is valid? [True, True] Translation: X:21.49, Y:-168.65, Z:0.70 [[ 9.42256143e-01 -3.34806328e-01 -7.62132455e-03 2.14906690e+01] [-3.34794577e-01 -9.42286960e-01 2.80665878e-03 -1.68647465e+02] [-8.12116186e-03 -9.30133512e-05 -9.99967019e-01 6.97431613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90762800000005 meters 0.01311967756486818 Centerline is valid? [True, True] Translation: X:21.49, Y:-168.65, Z:0.70 [[ 9.65351517e-01 -2.60845123e-01 -7.50131509e-03 2.14871363e+01] [-2.60836576e-01 -9.65380658e-01 2.11324992e-03 -1.68654542e+02] [-7.79285543e-03 -8.34116785e-05 -9.99969632e-01 6.97237121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.937628 meters 0.01289299707704929 Centerline is valid? [True, True] Translation: X:21.48, Y:-168.66, Z:0.70 [[ 9.82578945e-01 -1.85709943e-01 -7.10169331e-03 2.14846405e+01] [-1.85704584e-01 -9.82604606e-01 1.41242267e-03 -1.68662449e+02] [-7.24045750e-03 -6.89997699e-05 -9.99973785e-01 6.97288527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96762800000005 meters 0.0126587475620222 Centerline is valid? [True, True] Translation: X:21.48, Y:-168.67, Z:0.70 [[ 9.93919121e-01 -1.09918967e-01 -6.52692038e-03 2.14773913e+01] [-1.09916257e-01 -9.93940551e-01 7.73509089e-04 -1.68668820e+02] [-6.57239416e-03 -5.13908128e-05 -9.99978400e-01 6.97413118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.997628 meters 0.012210044606950106 Centerline is valid? [True, True] Translation: X:21.47, Y:-168.67, Z:0.70 [[ 9.99324273e-01 -3.63408713e-02 -5.50796952e-03 2.14723599e+01] [-3.63402210e-02 -9.99339452e-01 2.18132166e-04 -1.68672944e+02] [-5.51225835e-03 -1.78239393e-05 -9.99984807e-01 6.95686988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02762800000005 meters 0.012177879136249547 Centerline is valid? [True, True] Translation: X:21.47, Y:-168.68, Z:0.69 [[ 9.99205205e-01 3.95625333e-02 -4.87487930e-03 2.14678910e+01] [ 3.95620802e-02 -9.99217097e-01 -1.89374490e-04 -1.68679468e+02] [-4.87855487e-03 -3.63638934e-06 -9.99988100e-01 6.94706800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.057628 meters 0.01216281714253749 Centerline is valid? [True, True] Translation: X:21.46, Y:-168.69, Z:0.69 [[ 9.93322855e-01 1.15297148e-01 -4.03414417e-03 2.14618569e+01] [ 1.15296169e-01 -9.93331046e-01 -4.75200876e-04 -1.68685675e+02] [-4.06202996e-03 6.90652388e-06 -9.99991750e-01 6.93822462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.087628 meters 0.012234860343253502 Centerline is valid? [True, True] Translation: X:21.46, Y:-168.69, Z:0.69 [[ 9.81767262e-01 1.90062569e-01 -3.04348081e-03 2.14579580e+01] [ 1.90061612e-01 -9.81771980e-01 -6.03244327e-04 -1.68691974e+02] [-3.10265835e-03 1.37966616e-05 -9.99995187e-01 6.92827219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.117628 meters 0.012759512913103104 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.70, Z:0.69 [[ 9.65237238e-01 2.61369982e-01 -1.67558458e-03 2.14535334e+01] [ 2.61369557e-01 -9.65238692e-01 -4.71524910e-04 -1.68697081e+02] [-1.74058153e-03 1.71866008e-05 -9.99998485e-01 6.91971154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.147628 meters 0.01307685843878496 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.71, Z:0.69 [[ 9.42664197e-01 3.33741390e-01 -9.46824514e-04 2.14509475e+01] [ 3.33741208e-01 -9.42664672e-01 -3.49021102e-04 -1.68706294e+02] [-1.00902081e-03 1.30153398e-05 -9.99999491e-01 6.92410911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.177628 meters 0.014052847439826228 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.71, Z:0.69 [[ 9.15983149e-01 4.01214035e-01 -1.47290874e-03 2.14487372e+01] [ 4.01213464e-01 -9.15984333e-01 -6.77539737e-04 -1.68714943e+02] [-1.62099978e-03 2.96641656e-05 -9.99998686e-01 6.93672281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.207628 meters 0.014591911588884645 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.73, Z:0.69 [[ 8.83062850e-01 4.69250113e-01 -2.08198201e-03 2.14474814e+01] [ 4.69248675e-01 -8.83065303e-01 -1.16265923e-03 -1.68725878e+02] [-2.38410405e-03 4.97338802e-05 -9.99997157e-01 6.94328658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23762800000003 meters 0.015085095807329247 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.74, Z:0.69 [[ 8.44737067e-01 5.35175288e-01 -2.58821293e-03 2.14474565e+01] [ 5.35172517e-01 -8.44741029e-01 -1.72381124e-03 -1.68736522e+02] [-3.10891083e-03 7.10268201e-05 -9.99995165e-01 6.94837851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.267628 meters 0.015963162198842255 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.75, Z:0.70 [[ 8.02362688e-01 5.96825392e-01 -3.68351020e-03 2.14470456e+01] [ 5.96818393e-01 -8.02371133e-01 -2.89311025e-03 -1.68747110e+02] [-4.68222392e-03 1.22937077e-04 -9.99989031e-01 6.95424816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29762800000003 meters 0.017072619798465187 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.76, Z:0.70 [[ 7.54170225e-01 6.56664655e-01 -4.33609782e-03 2.14461234e+01] [ 6.56652540e-01 -7.54182673e-01 -3.99230778e-03 -1.68757712e+02] [-5.89181725e-03 1.63570017e-04 -9.99982630e-01 6.96380325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.327628 meters 0.017145713886381628 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.77, Z:0.70 [[ 7.01387787e-01 7.12763860e-01 -4.78028027e-03 2.14475395e+01] [ 7.12745292e-01 -7.01404047e-01 -5.14895473e-03 -1.68769094e+02] [-7.02289678e-03 2.04291712e-04 -9.99975318e-01 6.96891477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35762800000003 meters 0.01814835636646056 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.78, Z:0.70 [[ 6.45066417e-01 7.64110714e-01 -4.91270416e-03 2.14494046e+01] [ 7.64085582e-01 -6.45085076e-01 -6.20221715e-03 -1.68780123e+02] [-7.90829271e-03 2.47115571e-04 -9.99968698e-01 6.97853798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.387628 meters 0.018098902488330945 Centerline is valid? [True, True] Translation: X:21.45, Y:-168.79, Z:0.70 [[ 5.84130622e-01 8.11647231e-01 -4.49324206e-03 2.14534550e+01] [ 8.11619712e-01 -5.84147845e-01 -6.68861512e-03 -1.68791818e+02] [-8.05351361e-03 2.60221075e-04 -9.99967536e-01 6.97859987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41762800000004 meters 0.018593596991689325 Centerline is valid? [True, True] Translation: X:21.46, Y:-168.80, Z:0.70 [[ 5.19209679e-01 8.54638436e-01 -3.80157913e-03 2.14568072e+01] [ 8.54611842e-01 -5.19223534e-01 -6.74689812e-03 -1.68803276e+02] [-7.74002781e-03 2.54180268e-04 -9.99970013e-01 6.98201608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.447628 meters 0.017653350399515714 Centerline is valid? [True, True] Translation: X:21.47, Y:-168.82, Z:0.70 [[ 4.50880905e-01 8.92579099e-01 -2.99377632e-03 2.14660373e+01] [ 8.92555838e-01 -4.50890782e-01 -6.44814103e-03 -1.68815134e+02] [-7.10534206e-03 2.35231129e-04 -9.99974729e-01 6.97952499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47762800000004 meters 0.01891310702607345 Centerline is valid? [True, True] Translation: X:21.47, Y:-168.83, Z:0.70 [[ 3.78350326e-01 9.25659312e-01 -2.42249147e-03 2.14731830e+01] [ 9.25636450e-01 -3.78358017e-01 -6.50944630e-03 -1.68826389e+02] [-6.94209866e-03 2.20504721e-04 -9.99975879e-01 6.98742092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.507628 meters 0.017230693319286783 Centerline is valid? [True, True] Translation: X:21.48, Y:-168.84, Z:0.70 [[ 3.03124071e-01 9.52948913e-01 -2.04126386e-03 2.14837538e+01] [ 9.52922068e-01 -3.03130861e-01 -7.15631656e-03 -1.68836466e+02] [-7.43837416e-03 2.24086434e-04 -9.99972310e-01 6.98426169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53762800000004 meters 0.018462219354287653 Centerline is valid? [True, True] Translation: X:21.49, Y:-168.85, Z:0.70 [[ 2.25341479e-01 9.74278811e-01 -1.42009070e-03 2.14886771e+01] [ 9.74253503e-01 -2.25345865e-01 -7.02513617e-03 -1.68845547e+02] [-7.16445288e-03 1.99526235e-04 -9.99974315e-01 6.98822874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.567628 meters 0.015166423193890444 Centerline is valid? [True, True] Translation: X:21.50, Y:-168.85, Z:0.70 [[ 1.44027693e-01 9.89573453e-01 -6.36515246e-04 2.15044018e+01] [ 9.89559615e-01 -1.44029046e-01 -5.23469524e-03 -1.68854058e+02] [-5.27179213e-03 1.24071299e-04 -9.99986096e-01 6.95924781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59762800000004 meters 0.014801570055319275 Centerline is valid? [True, True] Translation: X:21.51, Y:-168.86, Z:0.70 [[ 6.37444682e-02 9.97966236e-01 -1.84686114e-04 2.15144031e+01] [ 9.97956812e-01 -6.37446690e-02 -4.33813195e-03 -1.68861262e+02] [-4.34108197e-03 9.22231484e-05 -9.99990573e-01 6.95125264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.627628 meters 0.013668853226591468 Centerline is valid? [True, True] Translation: X:21.53, Y:-168.87, Z:0.69 [[-1.92607167e-02 9.99814491e-01 9.66359564e-05 2.15284604e+01] [ 9.99810891e-01 1.92609067e-02 -2.68340111e-03 -1.68866781e+02] [-2.68476461e-03 4.49334529e-05 -9.99996395e-01 6.94412849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65762800000005 meters 0.012944991659707519 Centerline is valid? [True, True] Translation: X:21.54, Y:-168.87, Z:0.70 [[-1.00414421e-01 9.94945631e-01 3.68632836e-04 2.15423484e+01] [ 9.94940455e-01 1.00415087e-01 -3.20954957e-03 -1.68870783e+02] [-3.23034362e-03 4.44826617e-05 -9.99994781e-01 6.95220924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.687628 meters 0.012591512609096979 Centerline is valid? [True, True] Translation: X:21.55, Y:-168.87, Z:0.70 [[-1.80977879e-01 9.83486872e-01 7.62101036e-04 2.15540803e+01] [ 9.83479118e-01 1.80979478e-01 -3.90538672e-03 -1.68874733e+02] [-3.97882122e-03 4.27218504e-05 -9.99992084e-01 6.96762399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71762800000005 meters 0.01207593557276256 Centerline is valid? [True, True] Translation: X:21.57, Y:-168.88, Z:0.70 [[-2.60180567e-01 9.65559190e-01 1.23390428e-03 2.15667183e+01] [ 9.65548983e-01 2.60183490e-01 -4.43983672e-03 -1.68876450e+02] [-4.60796667e-03 3.62357834e-05 -9.99989383e-01 6.97567404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.747628 meters 0.011781196730141288 Centerline is valid? [True, True] Translation: X:21.58, Y:-168.88, Z:0.70 [[-3.38922182e-01 9.40813026e-01 1.61400554e-03 2.15774266e+01] [ 9.40802602e-01 3.38926024e-01 -4.42885482e-03 -1.68877484e+02] [-4.71375278e-03 1.74234721e-05 -9.99988890e-01 6.96728616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77762800000005 meters 0.011732756561959028 Centerline is valid? [True, True] Translation: X:21.59, Y:-168.88, Z:0.70 [[-4.12645528e-01 9.10889818e-01 1.84605717e-03 2.15883507e+01] [ 9.10880823e-01 4.12649657e-01 -4.04801604e-03 -1.68877639e+02] [-4.44907145e-03 1.11423546e-05 -9.99990103e-01 6.96510076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.807628 meters 0.011774394771231864 Centerline is valid? [True, True] Translation: X:21.60, Y:-168.88, Z:0.70 [[-4.83533689e-01 8.75323925e-01 1.78826686e-03 2.15987792e+01] [ 8.75317984e-01 4.83536996e-01 -3.22489738e-03 -1.68877714e+02] [-3.68752302e-03 5.95562065e-06 -9.99993201e-01 6.96483480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.837628 meters 0.01180004505184088 Centerline is valid? [True, True] Translation: X:21.61, Y:-168.88, Z:0.70 [[-5.51634622e-01 8.34083884e-01 1.82135582e-03 2.16085503e+01] [ 8.34079347e-01 5.51637629e-01 -2.75122919e-03 -1.68877535e+02] [-3.29948434e-03 1.48199896e-06 -9.99994557e-01 6.97593100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.867628 meters 0.011742625676912912 Centerline is valid? [True, True] Translation: X:21.62, Y:-168.88, Z:0.70 [[-6.15652144e-01 7.88014871e-01 2.23611899e-03 2.16178268e+01] [ 7.88009672e-01 6.15656205e-01 -2.86258171e-03 -1.68875215e+02] [-3.63243749e-03 -2.71178877e-07 -9.99993403e-01 6.98171199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.897628 meters 0.011785930226533863 Centerline is valid? [True, True] Translation: X:21.63, Y:-168.87, Z:0.70 [[-6.75736957e-01 7.37138222e-01 2.60906416e-03 2.16267072e+01] [ 7.37132717e-01 6.75741994e-01 -2.84865141e-03 -1.68874148e+02] [-3.86290405e-03 -1.71248309e-06 -9.99992539e-01 6.99205577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.927628 meters 0.011819836629523208 Centerline is valid? [True, True] Translation: X:21.63, Y:-168.87, Z:0.70 [[-7.31441181e-01 6.81897536e-01 3.09024034e-03 2.16326460e+01] [ 6.81891436e-01 7.31447708e-01 -2.88426752e-03 -1.68874142e+02] [-4.22712413e-03 -2.46361409e-06 -9.99991066e-01 6.99816991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.957628 meters 0.01190903975301364 Centerline is valid? [True, True] Translation: X:21.65, Y:-168.86, Z:0.70 [[-7.77468218e-01 6.28910365e-01 3.86297585e-03 2.16545591e+01] [ 6.28902601e-01 7.77477815e-01 -3.12496113e-03 -1.68858415e+02] [-4.96869847e-03 -1.22402167e-07 -9.99987656e-01 7.00390206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98762800000003 meters 0.012029408280147398 Centerline is valid? [True, True] Translation: X:21.67, Y:-168.84, Z:0.70 [[-8.18750786e-01 5.74130876e-01 4.57025043e-03 2.16730605e+01] [ 5.74122013e-01 8.18763542e-01 -3.19016391e-03 -1.68842590e+02] [-5.57352603e-03 1.19321700e-05 -9.99984468e-01 7.01957861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.017628 meters 0.012060768002512377 Centerline is valid? [True, True] Translation: X:21.69, Y:-168.82, Z:0.70 [[-8.56596965e-01 5.15963294e-01 4.84957647e-03 2.16915576e+01] [ 5.15955158e-01 8.56610693e-01 -2.89773203e-03 -1.68824660e+02] [-5.64932242e-03 1.99755271e-05 -9.99984042e-01 7.02178238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04762800000003 meters 0.012271081207728324 Centerline is valid? [True, True] Translation: X:21.71, Y:-168.80, Z:0.70 [[-8.90244914e-01 4.55451452e-01 5.28850787e-03 2.17058037e+01] [ 4.55443618e-01 8.90260621e-01 -2.67157755e-03 -1.68803706e+02] [-5.92492417e-03 3.02588263e-05 -9.99982447e-01 7.02641711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.077628 meters 0.012612055976433775 Centerline is valid? [True, True] Translation: X:21.72, Y:-168.79, Z:0.70 [[-9.18998983e-01 3.94220236e-01 5.59235810e-03 2.17237642e+01] [ 3.94213272e-01 9.19015997e-01 -2.34380728e-03 -1.68786668e+02] [-6.06344281e-03 5.06252790e-05 -9.99981616e-01 7.03424600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10762800000003 meters 0.013113934185762744 Centerline is valid? [True, True] Translation: X:22.04, Y:-168.06, Z:-0.22 [[-8.98660520e-01 -4.38604742e-01 5.92876193e-03 2.20401768e+01] [ 4.38595030e-01 -8.98680076e-01 -2.91895377e-03 -1.68056438e+02] [ 6.60832719e-03 -2.28229904e-05 9.99978165e-01 -2.16958200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.137628 meters 0.013540505862158412 Centerline is valid? [True, True] Translation: X:21.68, Y:-168.78, Z:0.70 [[-9.18791687e-01 3.94691277e-01 6.37433805e-03 2.16815767e+01] [ 3.94682428e-01 9.18813794e-01 -2.64426348e-03 -1.68777105e+02] [-6.90049746e-03 8.63119169e-05 -9.99976188e-01 7.04330545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16762800000004 meters 0.01430170984128574 Centerline is valid? [True, True] Translation: X:22.00, Y:-168.03, Z:-0.22 [[-9.02064408e-01 -4.31548967e-01 6.72995027e-03 2.20010305e+01] [ 4.31536471e-01 -9.02089511e-01 -3.28463095e-03 -1.68034191e+02] [ 7.48849664e-03 -5.87296811e-05 9.99971959e-01 -2.17648161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.197628 meters 0.014272692990827417 Centerline is valid? [True, True] Translation: X:21.64, Y:-168.77, Z:0.71 [[-9.18107001e-01 3.96256799e-01 7.75143093e-03 2.16403515e+01] [ 3.96244054e-01 9.18139710e-01 -3.18164723e-03 -1.68767240e+02] [-8.37764589e-03 1.50365818e-04 -9.99964896e-01 7.05144770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22762800000004 meters 0.014024806683335167 Centerline is valid? [True, True] Translation: X:21.96, Y:-168.02, Z:-0.22 [[-9.05234508e-01 -4.24844318e-01 7.60206229e-03 2.19598483e+01] [ 4.24827973e-01 -9.05266416e-01 -3.72952331e-03 -1.68015954e+02] [ 8.46635847e-03 -1.46524476e-04 9.99964149e-01 -2.17382391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.257628 meters 0.013735233382707894 Centerline is valid? [True, True] Translation: X:21.60, Y:-168.75, Z:0.70 [[-9.20383901e-01 3.90942059e-01 7.60135255e-03 2.15987531e+01] [ 3.90929894e-01 9.20415281e-01 -3.08689770e-03 -1.68747579e+02] [-8.20319919e-03 1.30464999e-04 -9.99966345e-01 7.04829058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28762800000004 meters 0.013472045103857924 Centerline is valid? [True, True] Translation: X:21.61, Y:-168.72, Z:0.71 [[-9.46036562e-01 3.23967178e-01 7.75190580e-03 2.16128681e+01] [ 3.23957363e-01 9.46068313e-01 -2.52470011e-03 -1.68722297e+02] [-8.15175241e-03 1.22828349e-04 -9.99966766e-01 7.05157767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.317628 meters 0.013472045103857924 Centerline is valid? [True, True] Translation: X:21.62, Y:-168.70, Z:0.71 [[-9.66612643e-01 2.56119913e-01 7.91132270e-03 2.16242320e+01] [ 2.56112373e-01 9.66645010e-01 -1.96910317e-03 -1.68696611e+02] [-8.15176714e-03 1.22827613e-04 -9.99966766e-01 7.05157925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34762800000004 meters 0.013550049720428378 Centerline is valid? [True, True] Translation: X:21.83, Y:-167.91, Z:-0.22 [[-9.56305523e-01 -2.92268290e-01 7.68065979e-03 2.18281257e+01] [ 2.92257796e-01 -9.56336359e-01 -2.47985898e-03 -1.67914062e+02] [ 8.07007836e-03 -1.26770140e-04 9.99967428e-01 -2.18375588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.377628 meters 0.01618147274993092 Centerline is valid? [True, True] Translation: X:21.57, Y:-168.68, Z:0.71 [[-9.67603254e-01 2.52356596e-01 7.75188061e-03 2.15710782e+01] [ 2.52349489e-01 9.67634298e-01 -1.89762090e-03 -1.68684193e+02] [-7.97986270e-03 1.20038951e-04 -9.99968153e-01 7.07426279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40762800000005 meters 0.013682389756112377 Centerline is valid? [True, True] Translation: X:21.78, Y:-167.90, Z:-0.22 [[-9.57487573e-01 -2.88400371e-01 6.54020837e-03 2.17764759e+01] [ 2.88392405e-01 -9.57509893e-01 -2.15051895e-03 -1.67901289e+02] [ 6.88252468e-03 -1.72948752e-04 9.99976300e-01 -2.16878761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.437628 meters 0.013647943527765688 Centerline is valid? [True, True] Translation: X:21.53, Y:-168.67, Z:0.70 [[-9.68554198e-01 2.48738037e-01 5.67046418e-03 2.15280425e+01] [ 2.48734313e-01 9.68570793e-01 -1.36395500e-03 -1.68674484e+02] [-5.83151348e-03 8.93746682e-05 -9.99982993e-01 7.03086205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46762800000005 meters 0.013750061111011258 Centerline is valid? [True, True] Translation: X:21.73, Y:-167.89, Z:-0.22 [[-9.58699681e-01 -2.84377253e-01 4.94975499e-03 2.17254734e+01] [ 2.84372816e-01 -9.58712451e-01 -1.59303819e-03 -1.67889855e+02] [ 5.19841557e-03 -1.19669436e-04 9.99986481e-01 -2.15016290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.497628 meters 0.01394391192554317 Centerline is valid? [True, True] Translation: X:21.48, Y:-168.66, Z:0.70 [[-9.69425552e-01 2.45350142e-01 4.17207077e-03 2.14783763e+01] [ 2.45348171e-01 9.69434527e-01 -9.85936607e-04 -1.68662036e+02] [-4.28644914e-03 6.78177924e-05 -9.99990811e-01 7.01809475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52762800000005 meters 0.014023956199488445 Centerline is valid? [True, True] Translation: X:21.49, Y:-168.64, Z:0.70 [[-9.84395177e-01 1.75926532e-01 3.99887080e-03 2.14867127e+01] [ 1.75925344e-01 9.84403297e-01 -6.49643431e-04 -1.68635583e+02] [-4.05079111e-03 6.39968593e-05 -9.99991793e-01 7.01692673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.557628 meters 0.013509135203109113 Centerline is valid? [True, True] Translation: X:21.62, Y:-167.84, Z:-0.21 [[-9.77244493e-01 -2.12083172e-01 3.73211046e-03 2.16246705e+01] [ 2.12081333e-01 -9.77251617e-01 -8.86237344e-04 -1.67841027e+02] [ 3.83516701e-03 -7.45596027e-05 9.99992643e-01 -2.13760290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.587628 meters 0.013828074897735125 Centerline is valid? [True, True] Translation: X:21.43, Y:-168.63, Z:0.70 [[-9.85416607e-01 1.70120656e-01 3.61570919e-03 2.14302725e+01] [ 1.70119705e-01 9.85423239e-01 -5.71179374e-04 -1.68626816e+02] [-3.66017327e-03 5.22537415e-05 -9.99993300e-01 7.01069363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.617628 meters 0.013622509232160709 Centerline is valid? [True, True] Translation: X:21.44, Y:-168.60, Z:0.70 [[-9.95117150e-01 9.86314196e-02 3.70134138e-03 2.14350689e+01] [ 9.86309197e-02 9.95124033e-01 -3.17779640e-04 -1.68599126e+02] [-3.71463682e-03 4.88387343e-05 -9.99993100e-01 7.00955047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.647628 meters 0.013459630505287937 Centerline is valid? [True, True] Translation: X:21.44, Y:-168.57, Z:0.70 [[-9.99648575e-01 2.61953842e-02 4.06554140e-03 2.14364349e+01] [ 2.61953604e-02 9.99656841e-01 -5.91219662e-05 -1.68571102e+02] [-4.06569499e-03 4.73971328e-05 -9.99991734e-01 7.01276101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.677628 meters 0.012525481650054904 Centerline is valid? [True, True] Translation: X:21.43, Y:-168.54, Z:0.70 [[-9.98847563e-01 -4.78468749e-02 3.77129582e-03 2.14334216e+01] [-4.78464082e-02 9.98854682e-01 2.13917655e-04 -1.68540138e+02] [-3.77721178e-03 3.32281687e-05 -9.99992866e-01 7.01035461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.707628 meters 0.012395852865692567 Centerline is valid? [True, True] Translation: X:21.43, Y:-168.51, Z:0.70 [[-9.92758038e-01 -1.20086061e-01 3.28880049e-03 2.14288516e+01] [-1.20085317e-01 9.92763485e-01 4.23517865e-04 -1.68511965e+02] [-3.31585962e-03 2.55141171e-05 -9.99994502e-01 7.01123871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73762800000003 meters 0.012457029561016405 Centerline is valid? [True, True] Translation: X:21.32, Y:-167.72, Z:-0.21 [[-9.97807180e-01 6.61367765e-02 2.59966800e-03 2.13205648e+01] [-6.61367322e-02 -9.97810564e-01 1.03130358e-04 -1.67718762e+02] [ 2.60079691e-03 -6.90293351e-05 9.99996616e-01 -2.12872885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.767628 meters 0.012270554919424493 Centerline is valid? [True, True] Translation: X:21.31, Y:-168.53, Z:0.70 [[-9.91575556e-01 -1.29511324e-01 2.17564849e-03 2.13108134e+01] [-1.29510985e-01 9.91577943e-01 2.96677350e-04 -1.68527326e+02] [-2.19574813e-03 1.24076299e-05 -9.99997589e-01 6.99244116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79762800000003 meters 0.012170939500437893 Centerline is valid? [True, True] Translation: X:21.29, Y:-168.50, Z:0.70 [[-9.79592317e-01 -2.00981803e-01 2.28201852e-03 2.12921763e+01] [-2.00981231e-01 9.79594975e-01 4.79689148e-04 -1.68502527e+02] [-2.33186267e-03 1.12569112e-05 -9.99997281e-01 6.99092314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.827628 meters 0.012152898725375587 Centerline is valid? [True, True] Translation: X:21.26, Y:-168.48, Z:0.70 [[-9.62025605e-01 -2.72947475e-01 2.53190307e-03 2.12575524e+01] [-2.72946507e-01 9.62028937e-01 7.27098367e-04 -1.68483063e+02] [-2.63422368e-03 8.41314844e-06 -9.99996530e-01 6.99716616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85762800000003 meters 0.01219491672014839 Centerline is valid? [True, True] Translation: X:21.20, Y:-168.47, Z:0.70 [[-9.39243135e-01 -3.43244557e-01 2.34697923e-03 2.12043626e+01] [-3.43243465e-01 9.39246067e-01 8.65703000e-04 -1.68472115e+02] [-2.50153885e-03 7.52031620e-06 -9.99996871e-01 6.99498676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.887628 meters 0.012227305186951747 Centerline is valid? [True, True] Translation: X:21.14, Y:-168.47, Z:0.70 [[-9.11285239e-01 -4.11769876e-01 2.18698932e-03 2.11386479e+01] [-4.11768670e-01 9.11287863e-01 9.96611967e-04 -1.68470280e+02] [-2.40335161e-03 7.66409109e-06 -9.99997112e-01 6.99450261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91762800000004 meters 0.012405125434955084 Centerline is valid? [True, True] Translation: X:21.06, Y:-168.48, Z:0.70 [[-8.78979946e-01 -4.76848921e-01 3.05939493e-03 2.10643989e+01] [-4.76845963e-01 8.78985271e-01 1.67988637e-03 -1.68478616e+02] [-3.49021509e-03 1.77263107e-05 -9.99993909e-01 7.00421645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.947628 meters 0.012453346135858552 Centerline is valid? [True, True] Translation: X:20.98, Y:-168.50, Z:0.70 [[-8.41542907e-01 -5.40176935e-01 3.79669091e-03 2.09819592e+01] [-5.40171277e-01 8.41551471e-01 2.47251988e-03 -1.68497096e+02] [-4.53070903e-03 2.98681941e-05 -9.99989736e-01 7.01132521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97762800000004 meters 0.012886019880389819 Centerline is valid? [True, True] Translation: X:20.90, Y:-168.53, Z:0.70 [[-8.00534459e-01 -5.99271144e-01 4.32157034e-03 2.08977168e+01] [-5.99262030e-01 8.00546122e-01 3.30546654e-03 -1.68526065e+02] [-5.44048709e-03 5.63868525e-05 -9.99985199e-01 7.01051107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.007628 meters 0.013083569714200976 Centerline is valid? [True, True] Translation: X:20.81, Y:-168.56, Z:0.70 [[-7.53604140e-01 -6.57315145e-01 4.19514693e-03 2.08086019e+01] [-6.57304472e-01 7.53615814e-01 3.74637122e-03 -1.68564067e+02] [-5.62407561e-03 6.57920237e-05 -9.99984183e-01 7.00898154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03762800000004 meters 0.013417351870882723 Centerline is valid? [True, True] Translation: X:20.72, Y:-168.61, Z:0.70 [[-7.02418916e-01 -7.11753464e-01 3.83045179e-03 2.07177094e+01] [-7.11742308e-01 7.02429356e-01 3.98575028e-03 -1.68613442e+02] [-5.52749336e-03 7.33717931e-05 -9.99984721e-01 7.00578058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.067628 meters 0.014667007545446172 Centerline is valid? [True, True] Translation: X:20.63, Y:-168.67, Z:0.70 [[-6.47363834e-01 -7.62169912e-01 4.13406312e-03 2.06299801e+01] [-7.62153391e-01 6.47377027e-01 5.01935701e-03 -1.68671022e+02] [-6.50190038e-03 9.85599756e-05 -9.99978858e-01 7.01383579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09762800000004 meters 0.014303870490356453 Centerline is valid? [True, True] Translation: X:20.54, Y:-168.74, Z:0.70 [[-5.89251893e-01 -8.07939120e-01 4.07251447e-03 2.05426763e+01] [-8.07918315e-01 5.89265952e-01 5.79943254e-03 -1.68739620e+02] [-7.08538254e-03 1.27067573e-04 -9.99974890e-01 7.01143878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.127628 meters 0.014565883983745871 Centerline is valid? [True, True] Translation: X:20.46, Y:-168.82, Z:0.70 [[-5.26435145e-01 -8.50206080e-01 3.95720990e-03 2.04600464e+01] [-8.50179910e-01 5.26449997e-01 6.67246381e-03 -1.68815586e+02] [-7.75624244e-03 1.48279098e-04 -9.99969909e-01 7.01575929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15762800000005 meters 0.014966650642561976 Centerline is valid? [True, True] Translation: X:20.38, Y:-168.90, Z:0.70 [[-4.61284098e-01 -8.87244151e-01 3.84673818e-03 2.03811493e+01] [-8.87209906e-01 4.61300100e-01 7.79743334e-03 -1.68901765e+02] [-8.69272783e-03 1.83967786e-04 -9.99962201e-01 7.02899386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.187628 meters 0.014917847344409783 Centerline is valid? [True, True] Translation: X:20.31, Y:-168.99, Z:0.70 [[-3.92014989e-01 -9.19952141e-01 3.50804092e-03 2.03084568e+01] [-9.19910502e-01 3.92030631e-01 8.75519495e-03 -1.68993900e+02] [-9.42961984e-03 2.05083967e-04 -9.99955519e-01 7.03312284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21762800000005 meters 0.015118469978499706 Centerline is valid? [True, True] Translation: X:20.24, Y:-169.10, Z:0.70 [[-3.19846114e-01 -9.47465161e-01 2.86920469e-03 2.02409679e+01] [-9.47420988e-01 3.19858914e-01 9.15126483e-03 -1.69099789e+02] [-9.58824530e-03 2.08651742e-04 -9.99954010e-01 7.03735135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.247628 meters 0.015293327473693776 Centerline is valid? [True, True] Translation: X:20.18, Y:-169.20, Z:0.70 [[-2.45433547e-01 -9.69410807e-01 2.24989449e-03 2.01837538e+01] [-9.69361628e-01 2.45443764e-01 9.76694132e-03 -1.69202911e+02] [-1.00204010e-02 2.16173669e-04 -9.99949771e-01 7.03401341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27762800000005 meters 0.014946488350530047 Centerline is valid? [True, True] Translation: X:20.13, Y:-169.31, Z:0.70 [[-1.69030340e-01 -9.85609784e-01 1.44864227e-03 2.01326624e+01] [-9.85562565e-01 1.69036425e-01 9.64976904e-03 -1.69314524e+02] [-9.75578008e-03 2.03376146e-04 -9.99952391e-01 7.02512732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.307628 meters 0.014429588551512162 Centerline is valid? [True, True] Translation: X:20.09, Y:-169.43, Z:0.70 [[-8.90789299e-02 -9.96024344e-01 6.71550811e-04 2.00887411e+01] [-9.95980356e-01 8.90813082e-02 9.36223528e-03 -1.69429496e+02] [-9.38483688e-03 1.65126485e-04 -9.99955948e-01 7.00905443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.337628 meters 0.013689688582664169 Centerline is valid? [True, True] Translation: X:20.05, Y:-169.55, Z:0.70 [[-9.61366875e-03 -9.99953786e-01 -5.21549613e-05 2.00540068e+01] [-9.99914361e-01 9.61282653e-03 8.88053208e-03 -1.69552061e+02] [-8.87962032e-03 1.37524989e-04 -9.99960566e-01 7.00114532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.367628 meters 0.01301993348539096 Centerline is valid? [True, True] Translation: X:20.03, Y:-169.68, Z:0.70 [[ 7.18879950e-02 -9.97412427e-01 -7.53233531e-04 2.00271489e+01] [-9.97371643e-01 -7.18918675e-02 9.02027822e-03 -1.69677837e+02] [-9.05108896e-03 1.02804048e-04 -9.99959033e-01 7.00042070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.397628 meters 0.012696345279212753 Centerline is valid? [True, True] Translation: X:20.01, Y:-169.80, Z:0.70 [[ 1.50484927e-01 -9.88611351e-01 -1.37236909e-03 2.00117171e+01] [-9.88575130e-01 -1.50491161e-01 8.46297642e-03 -1.69798438e+02] [-8.57312397e-03 8.31395670e-05 -9.99963247e-01 7.00225245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.427628 meters 0.012396938245436834 Centerline is valid? [True, True] Translation: X:20.01, Y:-169.92, Z:0.70 [[ 2.28938099e-01 -9.73439123e-01 -1.90280633e-03 2.00058229e+01] [-9.73407564e-01 -2.28945999e-01 7.83860856e-03 -1.69920186e+02] [-8.06604814e-03 5.76499329e-05 -9.99967467e-01 7.00971219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.457628 meters 0.014236645938175327 Centerline is valid? [True, True] Translation: X:20.01, Y:-170.04, Z:0.70 [[ 3.03863569e-01 -9.52711837e-01 -2.66232638e-03 2.00112526e+01] [-9.52676910e-01 -3.03875226e-01 8.15791317e-03 -1.70042148e+02] [-8.58115547e-03 5.74442633e-05 -9.99963180e-01 7.02720844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48762800000003 meters 0.015463675109082886 Centerline is valid? [True, True] Translation: X:20.03, Y:-170.16, Z:0.70 [[ 3.76936342e-01 -9.26232898e-01 -3.40783641e-03 2.00259051e+01] [-9.26196361e-01 -3.76951742e-01 8.22706580e-03 -1.70161126e+02] [-8.90476887e-03 5.52455978e-05 -9.99960350e-01 7.03295011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.517628 meters 0.012169469370217617 Centerline is valid? [True, True] Translation: X:20.05, Y:-170.28, Z:0.70 [[ 4.48680912e-01 -8.93685794e-01 -3.33777816e-03 2.00505081e+01] [-8.93661630e-01 -4.48693326e-01 6.57200561e-03 -1.70278592e+02] [-7.37094684e-03 3.41107922e-05 -9.99972834e-01 6.99393757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54762800000003 meters 0.01210935525249533 Centerline is valid? [True, True] Translation: X:20.08, Y:-170.39, Z:0.70 [[ 5.16497912e-01 -8.56278897e-01 -4.04445170e-03 2.00818025e+01] [-8.56253145e-01 -5.16513746e-01 6.64091857e-03 -1.70391349e+02] [-7.77549333e-03 3.30539123e-05 -9.99969770e-01 6.98561653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.577628 meters 0.012088454414400195 Centerline is valid? [True, True] Translation: X:20.12, Y:-170.50, Z:0.70 [[ 5.81969059e-01 -8.13197167e-01 -4.73096882e-03 2.01222937e+01] [-8.13170618e-01 -5.81988288e-01 6.57106629e-03 -1.70501985e+02] [-8.09694093e-03 2.29275725e-05 -9.99967219e-01 6.98633177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60762800000003 meters 0.011926354461361447 Centerline is valid? [True, True] Translation: X:20.17, Y:-170.61, Z:0.70 [[ 6.43237419e-01 -7.65650088e-01 -5.05628637e-03 2.01672089e+01] [-7.65626640e-01 -6.43257291e-01 5.99209320e-03 -1.70605288e+02] [-7.84033975e-03 1.68889810e-05 -9.99969264e-01 6.97712324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.637628 meters 0.011882159220959037 Centerline is valid? [True, True] Translation: X:20.22, Y:-170.70, Z:0.70 [[ 7.01064446e-01 -7.13079233e-01 -5.16237799e-03 2.02203650e+01] [-7.13059959e-01 -7.01083452e-01 5.24290077e-03 -1.70704548e+02] [-7.35786144e-03 5.47371790e-06 -9.99972931e-01 6.97343136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66762800000004 meters 0.011884403858668478 Centerline is valid? [True, True] Translation: X:20.28, Y:-170.80, Z:0.70 [[ 7.55365484e-01 -6.55279184e-01 -5.67247928e-03 2.02762742e+01] [-6.55260550e-01 -7.55386782e-01 4.94168875e-03 -1.70795349e+02] [-7.52310164e-03 -1.58292225e-05 -9.99971701e-01 6.97306287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.697628 meters 0.012020584407710979 Centerline is valid? [True, True] Translation: X:20.27, Y:-170.80, Z:0.70 [[ 8.05017517e-01 -5.93214641e-01 -6.57165279e-03 2.02718765e+01] [-5.93194594e-01 -8.05044340e-01 4.87692899e-03 -1.70802835e+02] [-8.18353756e-03 -2.77443595e-05 -9.99966514e-01 6.97816644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72762800000004 meters 0.012066331179277804 Centerline is valid? [True, True] Translation: X:20.27, Y:-170.81, Z:0.70 [[ 8.49409847e-01 -5.27684751e-01 -7.19130258e-03 2.02674880e+01] [-5.27665477e-01 -8.49440288e-01 4.51026814e-03 -1.70809039e+02] [-8.48858186e-03 -3.64640683e-05 -9.99963971e-01 6.98514350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.757628 meters 0.01208638462370456 Centerline is valid? [True, True] Translation: X:20.26, Y:-170.81, Z:0.70 [[ 8.88371708e-01 -4.59051864e-01 -8.19120757e-03 2.02637000e+01] [-4.59031874e-01 -8.88409469e-01 4.28418331e-03 -1.70814833e+02] [-9.24380870e-03 -4.59218827e-05 -9.99957274e-01 6.98955735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78762800000004 meters 0.012391074006333378 Centerline is valid? [True, True] Translation: X:20.26, Y:-170.82, Z:0.70 [[ 9.22256316e-01 -3.86482493e-01 -8.63540466e-03 2.02595145e+01] [-3.86464902e-01 -9.22296741e-01 3.68794101e-03 -1.70819540e+02] [-9.38973021e-03 -6.39460710e-05 -9.99955913e-01 6.99174936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.817628 meters 0.012400551747221194 Centerline is valid? [True, True] Translation: X:20.26, Y:-170.83, Z:0.70 [[ 9.50052483e-01 -3.11981655e-01 -8.22958134e-03 2.02566820e+01] [-3.11969311e-01 -9.50088123e-01 2.77616373e-03 -1.70827181e+02] [-8.68493964e-03 -7.01244318e-05 -9.99962283e-01 6.98085273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84762800000004 meters 0.012788008700519304 Centerline is valid? [True, True] Translation: X:20.25, Y:-170.83, Z:0.70 [[ 9.71962608e-01 -2.35039495e-01 -6.71746450e-03 2.02528587e+01] [-2.35033400e-01 -9.71985818e-01 1.69409398e-03 -1.70833700e+02] [-6.92745922e-03 -6.77674882e-05 -9.99976003e-01 6.96649607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.877628 meters 0.012804538419671944 Centerline is valid? [True, True] Translation: X:20.25, Y:-170.84, Z:0.70 [[ 9.87447416e-01 -1.57796721e-01 -6.91345576e-03 2.02479399e+01] [-1.57792343e-01 -9.87471615e-01 1.17757849e-03 -1.70839354e+02] [-7.01265934e-03 -7.19064500e-05 -9.99975408e-01 6.96342490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90762800000005 meters 0.01273308339958413 Centerline is valid? [True, True] Translation: X:20.24, Y:-170.85, Z:0.70 [[ 9.96748101e-01 -8.02795307e-02 -6.95840049e-03 2.02414365e+01] [-8.02770858e-02 -9.96772387e-01 6.30405262e-04 -1.70845125e+02] [-6.98655011e-03 -6.97551342e-05 -9.99975591e-01 6.96952093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.937628 meters 0.012705935085343175 Centerline is valid? [True, True] Translation: X:20.24, Y:-170.85, Z:0.70 [[ 9.99957585e-01 -3.42248198e-03 -8.55068002e-03 2.02359685e+01] [-3.42172655e-03 -9.99994141e-01 1.02975998e-04 -1.70847633e+02] [-8.55098236e-03 -7.37135418e-05 -9.99963437e-01 6.98213723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96762800000005 meters 0.01268606193670127 Centerline is valid? [True, True] Translation: X:20.23, Y:-170.85, Z:0.70 [[ 9.97209576e-01 7.41007574e-02 -9.06309468e-03 2.02312277e+01] [ 7.40983480e-02 -9.97250757e-01 -6.01809853e-04 -1.70852387e+02] [-9.08277259e-03 -7.14297950e-05 -9.99958748e-01 6.98108623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.997628 meters 0.012588789896495593 Centerline is valid? [True, True] Translation: X:20.23, Y:-170.86, Z:0.70 [[ 9.88386128e-01 1.51700117e-01 -8.94076508e-03 2.02275795e+01] [ 1.51694541e-01 -9.88426563e-01 -1.30248315e-03 -1.70859868e+02] [-9.03487654e-03 -6.89089731e-05 -9.99959182e-01 6.98091207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02762800000005 meters 0.012639997264092716 Centerline is valid? [True, True] Translation: X:20.22, Y:-170.87, Z:0.70 [[ 9.73496911e-01 2.28504465e-01 -9.45908752e-03 2.02239014e+01] [ 2.28494408e-01 -9.73542862e-01 -2.14510949e-03 -1.70870124e+02] [-9.69899423e-03 -7.30911431e-05 -9.99952961e-01 6.99252951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.057628 meters 0.012600692005603403 Centerline is valid? [True, True] Translation: X:20.22, Y:-170.88, Z:0.70 [[ 9.52708414e-01 3.03734850e-01 -9.58221517e-03 2.02211830e+01] [ 3.03720255e-01 -9.52756598e-01 -2.97836259e-03 -1.70878852e+02] [-1.00341512e-02 -7.28017325e-05 -9.99949654e-01 6.99383638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.08762800000005 meters 0.012422716581995188 Centerline is valid? [True, True] Translation: X:20.22, Y:-170.89, Z:0.70 [[ 9.26481149e-01 3.76241296e-01 -8.66986306e-03 2.02185897e+01] [ 3.76225389e-01 -9.26521713e-01 -3.46014513e-03 -1.70887086e+02] [-9.33466586e-03 -5.60633671e-05 -9.99956430e-01 6.98240375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.117628 meters 0.012283813053391653 Centerline is valid? [True, True] Translation: X:20.22, Y:-170.89, Z:0.70 [[ 8.94660472e-01 4.46682624e-01 -7.56796738e-03 2.02167545e+01] [ 4.46667039e-01 -8.94692479e-01 -3.73157823e-03 -1.70893742e+02] [-8.43783465e-03 -4.18660424e-05 -9.99964400e-01 6.96872023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.147628 meters 0.012095891844644826 Centerline is valid? [True, True] Translation: X:20.22, Y:-170.90, Z:0.70 [[ 8.57417481e-01 5.14581338e-01 -6.42727885e-03 2.02163923e+01] [ 5.14567145e-01 -8.57441570e-01 -3.82199179e-03 -1.70902522e+02] [-7.47774172e-03 -3.02239589e-05 -9.99972041e-01 6.95386171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.177628 meters 0.011956592954752935 Centerline is valid? [True, True] Translation: X:20.21, Y:-170.91, Z:0.69 [[ 8.15953434e-01 5.78097782e-01 -4.79033644e-03 2.02148028e+01] [ 5.78087884e-01 -8.15967496e-01 -3.38292349e-03 -1.70911154e+02] [-5.86441939e-03 -8.92742126e-06 -9.99982804e-01 6.94085403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.207628 meters 0.011956592954752935 Centerline is valid? [True, True] Translation: X:20.21, Y:-170.92, Z:0.69 [[ 7.68176904e-01 6.40221756e-01 -4.51074438e-03 2.02146087e+01] [ 6.40210787e-01 -7.68190148e-01 -3.74769991e-03 -1.70919649e+02] [-5.86446841e-03 -8.93069412e-06 -9.99982804e-01 6.94085844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23762800000003 meters 0.011896888680968701 Centerline is valid? [True, True] Translation: X:20.22, Y:-170.93, Z:0.69 [[ 7.16687699e-01 6.97384530e-01 -3.68239485e-03 2.02168485e+01] [ 6.97375328e-01 -7.16697159e-01 -3.58258277e-03 -1.70929903e+02] [-5.13759973e-03 -4.18315502e-07 -9.99986802e-01 6.93283834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.267628 meters 0.012055878037311675 Centerline is valid? [True, True] Translation: X:20.22, Y:-170.94, Z:0.69 [[ 6.60762555e-01 7.50587645e-01 -3.32168980e-03 2.02186673e+01] [ 7.50578119e-01 -6.60770904e-01 -3.78152765e-03 -1.70940504e+02] [-5.03324390e-03 5.50419088e-06 -9.99987333e-01 6.93229138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29762800000003 meters 0.012014626354783458 Centerline is valid? [True, True] Translation: X:20.22, Y:-170.95, Z:0.69 [[ 6.00698934e-01 7.99468914e-01 -3.20098613e-03 2.02212658e+01] [ 7.99457470e-01 -6.00707462e-01 -4.27770625e-03 -1.70949539e+02] [-5.34274943e-03 1.05613145e-05 -9.99985727e-01 6.93380669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.327628 meters 0.012116259790918925 Centerline is valid? [True, True] Translation: X:20.22, Y:-170.96, Z:0.69 [[ 5.37464203e-01 8.43281507e-01 -2.92077287e-03 2.02229964e+01] [ 8.43268866e-01 -5.37472139e-01 -4.61728086e-03 -1.70958996e+02] [-5.46350160e-03 1.86263569e-05 -9.99985075e-01 6.94140442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35762800000003 meters 0.012136880061986292 Centerline is valid? [True, True] Translation: X:20.23, Y:-170.97, Z:0.69 [[ 4.70218185e-01 8.82547048e-01 -2.35953139e-03 2.02262440e+01] [ 8.82535723e-01 -4.70224104e-01 -4.47096741e-03 -1.70967769e+02] [-5.05534762e-03 1.99594416e-05 -9.99987221e-01 6.93806974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.387628 meters 0.012345412655049714 Centerline is valid? [True, True] Translation: X:20.23, Y:-170.98, Z:0.69 [[ 4.01137243e-01 9.16016386e-01 -1.70115337e-03 2.02301491e+01] [ 9.16007893e-01 -4.01140849e-01 -3.94453225e-03 -1.70975722e+02] [-4.29565828e-03 2.40288749e-05 -9.99990773e-01 6.92717682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41762800000004 meters 0.0124494553966133 Centerline is valid? [True, True] Translation: X:20.23, Y:-170.98, Z:0.69 [[ 3.29011948e-01 9.44324910e-01 -1.26600036e-03 2.02342776e+01] [ 9.44317617e-01 -3.29014382e-01 -3.71140087e-03 -1.70983472e+02] [-3.92130063e-03 2.55887827e-05 -9.99992311e-01 6.92683236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.447628 meters 0.012623375936895387 Centerline is valid? [True, True] Translation: X:20.24, Y:-170.99, Z:0.69 [[ 2.55277728e-01 9.66867278e-01 -9.73298761e-04 2.02390949e+01] [ 9.66859784e-01 -2.55279582e-01 -3.80704477e-03 -1.70991772e+02] [-3.92937032e-03 3.08103124e-05 -9.99992280e-01 6.92381422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47762800000004 meters 0.013046606019997348 Centerline is valid? [True, True] Translation: X:20.24, Y:-171.00, Z:0.69 [[ 1.82301409e-01 9.83242462e-01 -6.76136907e-04 2.02443168e+01] [ 9.83234746e-01 -1.82302657e-01 -3.89549614e-03 -1.70999689e+02] [-3.95347877e-03 4.53531330e-05 -9.99992184e-01 6.92466596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.507628 meters 0.01366893269569534 Centerline is valid? [True, True] Translation: X:20.25, Y:-171.01, Z:0.69 [[ 1.06494140e-01 9.94313268e-01 -3.49933234e-04 2.02494516e+01] [ 9.94306259e-01 -1.06494703e-01 -3.73379557e-03 -1.71008163e+02] [-3.74982851e-03 4.96865434e-05 -9.99992968e-01 6.92593084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53762800000004 meters 0.013631735843612285 Centerline is valid? [True, True] Translation: X:20.26, Y:-171.02, Z:0.69 [[ 2.98770092e-02 9.99553582e-01 -4.53252956e-05 2.02568908e+01] [ 9.99549007e-01 -2.98770096e-02 -3.02428438e-03 -1.71015344e+02] [-3.02428847e-03 4.50517180e-05 -9.99995426e-01 6.91898738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.567628 meters 0.013658536245469756 Centerline is valid? [True, True] Translation: X:20.27, Y:-171.02, Z:0.69 [[-4.70528361e-02 9.98892386e-01 1.77421763e-04 2.02671769e+01] [ 9.98888488e-01 4.70531482e-02 -2.79097956e-03 -1.71022145e+02] [-2.79623648e-03 4.59010529e-05 -9.99996089e-01 6.91338802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59762800000004 meters 0.014136537844451761 Centerline is valid? [True, True] Translation: X:20.28, Y:-171.03, Z:0.69 [[-1.23364094e-01 9.92361421e-01 3.32884434e-04 2.02776965e+01] [ 9.92358690e-01 1.23364536e-01 -2.32850476e-03 -1.71029218e+02] [-2.35178442e-03 4.30868803e-05 -9.99997234e-01 6.91646673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.627628 meters 0.014668223314601322 Centerline is valid? [True, True] Translation: X:20.29, Y:-171.04, Z:0.69 [[-2.00287362e-01 9.79737109e-01 4.11141984e-04 2.02869613e+01] [ 9.79735394e-01 2.00287781e-01 -1.83393130e-03 -1.71035197e+02] [-1.87911727e-03 3.54970907e-05 -9.99998234e-01 6.92100982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65762800000005 meters 0.014026719221402988 Centerline is valid? [True, True] Translation: X:20.30, Y:-171.04, Z:0.69 [[-2.76210805e-01 9.61096876e-01 6.22031769e-04 2.03017500e+01] [ 9.61094756e-01 2.76211502e-01 -2.01874644e-03 -1.71038049e+02] [-2.11202323e-03 4.02318917e-05 -9.99997769e-01 6.92129040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.687628 meters 0.014021356171657706 Centerline is valid? [True, True] Translation: X:20.31, Y:-171.04, Z:0.69 [[-3.50615092e-01 9.36519426e-01 6.50075241e-04 2.03143709e+01] [ 9.36517991e-01 3.50615693e-01 -1.63988820e-03 -1.71040135e+02] [-1.76371374e-03 3.38376060e-05 -9.99998444e-01 6.92487756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71762800000005 meters 0.014763926536917799 Centerline is valid? [True, True] Translation: X:20.33, Y:-171.04, Z:0.69 [[-4.22797965e-01 9.06223691e-01 7.08153149e-04 2.03260999e+01] [ 9.06222541e-01 4.22798557e-01 -1.44402042e-03 -1.71043254e+02] [-1.60801164e-03 3.12154520e-05 -9.99998707e-01 6.93657286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.747628 meters 0.014095447787301617 Centerline is valid? [True, True] Translation: X:20.34, Y:-171.04, Z:0.69 [[-4.92453111e-01 8.70338001e-01 1.30269544e-03 2.03403304e+01] [ 8.70335216e-01 4.92454831e-01 -2.20267432e-03 -1.71042617e+02] [-2.55858982e-03 4.90678946e-05 -9.99996726e-01 6.94526852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77762800000005 meters 0.014933108901368756 Centerline is valid? [True, True] Translation: X:20.35, Y:-171.04, Z:0.70 [[-5.59513647e-01 8.28819784e-01 1.49812548e-03 2.03510221e+01] [ 8.28817043e-01 5.59515650e-01 -2.13225390e-03 -1.71043890e+02] [-2.60547887e-03 4.86467722e-05 -9.99996605e-01 6.95421058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.807628 meters 0.013675298591069043 Centerline is valid? [True, True] Translation: X:20.37, Y:-171.04, Z:0.70 [[-6.24418946e-01 7.81087987e-01 1.59288582e-03 2.03652381e+01] [ 7.81085612e-01 6.24420976e-01 -1.92638886e-03 -1.71040055e+02] [-2.49931052e-03 4.13064903e-05 -9.99996876e-01 6.95517368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.83762800000005 meters 0.013900183660461375 Centerline is valid? [True, True] Translation: X:20.38, Y:-171.04, Z:0.70 [[-6.85015363e-01 7.28525915e-01 1.98564179e-03 2.03763033e+01] [ 7.28523030e-01 6.85018240e-01 -2.05094933e-03 -1.71039246e+02] [-2.85437058e-03 4.16539774e-05 -9.99995925e-01 6.96307361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.867628 meters 0.013378127676617314 Centerline is valid? [True, True] Translation: X:20.38, Y:-171.04, Z:0.70 [[-7.41674016e-01 6.70756727e-01 2.25088901e-03 2.03846062e+01] [ 6.70753786e-01 7.41677431e-01 -1.98681682e-03 -1.71040449e+02] [-3.00210432e-03 3.62219124e-05 -9.99995493e-01 6.96569956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.897628 meters 0.012241167213964637 Centerline is valid? [True, True] Translation: X:20.41, Y:-171.02, Z:0.70 [[-7.90747411e-01 6.12137828e-01 2.41086774e-03 2.04079196e+01] [ 6.12135056e-01 7.90751086e-01 -1.84203020e-03 -1.71017775e+02] [-3.03397265e-03 1.91960530e-05 -9.99995397e-01 6.96121123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.927628 meters 0.012023772856131393 Centerline is valid? [True, True] Translation: X:20.43, Y:-170.99, Z:0.70 [[-8.33732061e-01 5.52162366e-01 2.75175417e-03 2.04269858e+01] [ 5.52159402e-01 8.33736602e-01 -1.80931362e-03 -1.70994913e+02] [-3.29327306e-03 1.09241593e-05 -9.99994577e-01 6.96437659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.957628 meters 0.01194560183628161 Centerline is valid? [True, True] Translation: X:20.45, Y:-170.97, Z:0.70 [[-8.71953937e-01 4.89576403e-01 3.35808074e-03 2.04459605e+01] [ 4.89572785e-01 8.71960404e-01 -1.88223806e-03 -1.70971172e+02] [-3.84961278e-03 2.80005722e-06 -9.99992590e-01 6.97517484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98762800000003 meters 0.012184614909171979 Centerline is valid? [True, True] Translation: X:20.46, Y:-170.94, Z:0.70 [[-9.06360227e-01 4.22482816e-01 4.40554965e-03 2.04606862e+01] [ 4.22477722e-01 9.06370934e-01 -2.07464059e-03 -1.70942967e+02] [-4.86956215e-03 -1.91251336e-05 -9.99988143e-01 7.00066832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.017628 meters 0.012294551752851688 Centerline is valid? [True, True] Translation: X:20.47, Y:-170.92, Z:0.70 [[-9.34553201e-01 3.55794789e-01 4.51475470e-03 2.04740289e+01] [ 3.55790498e-01 9.34564105e-01 -1.74758547e-03 -1.70917924e+02] [-4.84110949e-03 -2.69047706e-05 -9.99988281e-01 7.00270595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04762800000003 meters 0.012408178704526308 Centerline is valid? [True, True] Translation: X:20.76, Y:-170.20, Z:-0.21 [[-9.03093673e-01 -4.29418920e-01 4.60530394e-03 2.07569143e+01] [ 4.29413580e-01 -9.03105414e-01 -2.14197257e-03 -1.70202310e+02] [ 5.07887848e-03 4.31781744e-05 9.99987102e-01 -2.12926940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.077628 meters 0.012602078134696418 Centerline is valid? [True, True] Translation: X:20.43, Y:-170.90, Z:0.70 [[-9.36495386e-01 3.50657153e-01 3.99410220e-03 2.04319037e+01] [ 3.50653822e-01 9.36503903e-01 -1.52875395e-03 -1.70904138e+02] [-4.27656081e-03 -3.11238207e-05 -9.99990855e-01 6.99057797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10762800000003 meters 0.012558852395817052 Centerline is valid? [True, True] Translation: X:20.44, Y:-170.88, Z:0.70 [[-9.58903946e-01 2.83706329e-01 3.73369491e-03 2.04447944e+01] [ 2.83704068e-01 9.58911215e-01 -1.13293279e-03 -1.70881077e+02] [-3.90170213e-03 -2.71092842e-05 -9.99992388e-01 6.97705033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.137628 meters 0.01252350764129549 Centerline is valid? [True, True] Translation: X:20.68, Y:-170.14, Z:-0.21 [[-9.32683046e-01 -3.60684903e-01 2.95585718e-03 2.06766988e+01] [ 3.60683014e-01 -9.32687729e-01 -1.16756172e-03 -1.70139282e+02] [ 3.17801361e-03 -2.28375441e-05 9.99994950e-01 -2.09379857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16762800000004 meters 0.012543216716231424 Centerline is valid? [True, True] Translation: X:20.40, Y:-170.87, Z:0.70 [[-9.59556000e-01 2.81504476e-01 2.74102359e-03 2.04002635e+01] [ 2.81503282e-01 9.59559915e-01 -8.19879226e-04 -1.70871448e+02] [-2.86097603e-03 -1.51128922e-05 -9.99995907e-01 6.96517875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.197628 meters 0.01240232593621287 Centerline is valid? [True, True] Translation: X:20.41, Y:-170.85, Z:0.70 [[-9.76909949e-01 2.13628721e-01 3.11796868e-03 2.04096900e+01] [ 2.13627586e-01 9.76914924e-01 -6.96527258e-04 -1.70846087e+02] [-3.19478836e-03 -1.43602880e-05 -9.99994897e-01 6.97548671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22762800000004 meters 0.0122636442059382 Centerline is valid? [True, True] Translation: X:20.41, Y:-170.82, Z:0.70 [[-9.89487471e-01 1.44575694e-01 3.52335761e-03 2.04113202e+01] [ 1.44574729e-01 9.89493744e-01 -5.28344362e-04 -1.70819545e+02] [-3.56272606e-03 -1.34016549e-05 -9.99993653e-01 6.98601640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.257628 meters 0.0123175106282413 Centerline is valid? [True, True] Translation: X:20.54, Y:-170.04, Z:-0.21 [[-9.76281390e-01 -2.16458031e-01 4.53519110e-03 2.05433752e+01] [ 2.16456092e-01 -9.76291920e-01 -9.20003044e-04 -1.70042148e+02] [ 4.62681247e-03 8.34878901e-05 9.99989293e-01 -2.12398230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28762800000004 meters 0.012297034455710613 Centerline is valid? [True, True] Translation: X:20.36, Y:-170.82, Z:0.70 [[-9.89525105e-01 1.44292704e-01 4.43649660e-03 2.03623308e+01] [ 1.44291258e-01 9.89535050e-01 -6.45895248e-04 -1.70819129e+02] [-4.48326686e-03 1.01811211e-06 -9.99989950e-01 6.99469225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.317628 meters 0.012378383251219923 Centerline is valid? [True, True] Translation: X:20.37, Y:-170.79, Z:0.70 [[-9.97136882e-01 7.54747983e-02 4.64681596e-03 2.03675732e+01] [ 7.54740222e-02 9.97147710e-01 -3.42413671e-04 -1.70794502e+02] [-4.65940549e-03 9.28059078e-06 -9.99989145e-01 6.99661974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34762800000004 meters 0.012783595913206906 Centerline is valid? [True, True] Translation: X:20.37, Y:-170.77, Z:0.70 [[-9.99956406e-01 7.95538974e-03 4.88860587e-03 2.03679237e+01] [ 7.95542726e-03 9.99968355e-01 -1.17689907e-05 -1.70772358e+02] [-4.88854479e-03 2.71224708e-05 -9.99988051e-01 6.99757541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.377628 meters 0.012873077530675518 Centerline is valid? [True, True] Translation: X:20.38, Y:-169.96, Z:-0.21 [[-9.97998913e-01 -6.30499342e-02 4.78277946e-03 2.03791347e+01] [ 6.30490532e-02 -9.98010373e-01 -3.34903441e-04 -1.69956810e+02] [ 4.79437915e-03 -3.26835544e-05 9.99988506e-01 -2.11926452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40762800000005 meters 0.012992218611791378 Centerline is valid? [True, True] Translation: X:20.27, Y:-170.78, Z:0.70 [[-9.99982006e-01 4.48730336e-03 3.98148203e-03 2.02739537e+01] [ 4.48740032e-03 9.99989931e-01 1.54201965e-05 -1.70775403e+02] [-3.98137274e-03 3.32864228e-05 -9.99992074e-01 6.98556619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.437628 meters 0.013027848368659058 Centerline is valid? [True, True] Translation: X:20.28, Y:-169.95, Z:-0.21 [[-9.98519533e-01 -5.43351690e-02 2.53587963e-03 2.02784089e+01] [ 5.43347022e-02 -9.98522747e-01 -2.52631815e-04 -1.69952501e+02] [ 2.54586029e-03 -1.14471537e-04 9.99996753e-01 -2.09179813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46762800000005 meters 0.012965759256657683 Centerline is valid? [True, True] Translation: X:20.18, Y:-170.78, Z:0.70 [[-9.99998509e-01 -5.99649163e-04 1.61943170e-03 2.01767491e+01] [-5.99621952e-04 9.99999820e-01 1.72884042e-05 -1.70775843e+02] [-1.61944177e-03 1.63173316e-05 -9.99998689e-01 6.96173036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.497628 meters 0.012979863455023603 Centerline is valid? [True, True] Translation: X:20.18, Y:-169.95, Z:-0.21 [[-9.98823785e-01 -4.84635625e-02 1.52637233e-03 2.01751233e+01] [ 4.84634731e-02 -9.98824951e-01 -9.55392195e-05 -1.69952925e+02] [ 1.52920894e-03 -2.14535406e-05 9.99998831e-01 -2.08585968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52762800000005 meters 0.012931991853995607 Centerline is valid? [True, True] Translation: X:20.07, Y:-170.77, Z:0.70 [[-9.99971856e-01 -7.42201719e-03 1.09545081e-03 2.00746482e+01] [-7.42200073e-03 9.99972456e-01 1.90901619e-05 -1.70774930e+02] [-1.09556233e-03 1.09591879e-05 -9.99999400e-01 6.96168207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.557628 meters 0.013003242153964192 Centerline is valid? [True, True] Translation: X:20.07, Y:-170.75, Z:0.70 [[-9.96912722e-01 -7.85045621e-02 1.43472900e-03 2.00747134e+01] [-7.85044604e-02 9.96913754e-01 1.27123100e-04 -1.70746530e+02] [-1.44028082e-03 1.40980096e-05 -9.99998963e-01 6.96074790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.58762800000005 meters 0.012978014240752216 Centerline is valid? [True, True] Translation: X:20.07, Y:-170.72, Z:0.70 [[-9.88684900e-01 -1.49996005e-01 1.83497571e-03 2.00664345e+01] [-1.49995715e-01 9.88686603e-01 2.95468734e-04 -1.70718642e+02] [-1.85853503e-03 1.68869830e-05 -9.99998273e-01 6.96443044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.617628 meters 0.012987443504356778 Centerline is valid? [True, True] Translation: X:20.04, Y:-170.69, Z:0.70 [[-9.75285544e-01 -2.20939320e-01 1.98087898e-03 2.00419449e+01] [-2.20938827e-01 9.75287556e-01 4.67021904e-04 -1.70694849e+02] [-2.03511012e-03 1.78266336e-05 -9.99997929e-01 6.96485707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.647628 meters 0.012985947433924767 Centerline is valid? [True, True] Translation: X:20.00, Y:-170.68, Z:0.70 [[-9.56726918e-01 -2.90979567e-01 2.12051415e-03 1.99955495e+01] [-2.90978806e-01 9.56729267e-01 6.66174434e-04 -1.70677149e+02] [-2.22260109e-03 2.03223395e-05 -9.99997530e-01 6.95896506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.677628 meters 0.013097556481920345 Centerline is valid? [True, True] Translation: X:19.94, Y:-170.67, Z:0.70 [[-9.32917966e-01 -3.60081551e-01 2.31209100e-03 1.99385094e+01] [-3.60080380e-01 9.32920831e-01 9.18717438e-04 -1.70667242e+02] [-2.48781106e-03 2.45493985e-05 -9.99996905e-01 6.96152391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.707628 meters 0.013071482420607444 Centerline is valid? [True, True] Translation: X:19.87, Y:-170.67, Z:0.70 [[-9.03699137e-01 -4.28163137e-01 2.04912897e-03 1.98689728e+01] [-4.28161977e-01 9.03701459e-01 9.96767756e-04 -1.70666181e+02] [-2.27858005e-03 2.34190488e-05 -9.99997404e-01 6.96260641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73762800000003 meters 0.013229523449295273 Centerline is valid? [True, True] Translation: X:19.79, Y:-170.68, Z:0.70 [[-8.69665097e-01 -4.93639741e-01 1.55745277e-03 1.97892934e+01] [-4.93638906e-01 8.69666491e-01 9.08034576e-04 -1.70676471e+02] [-1.80270643e-03 2.08666979e-05 -9.99998375e-01 6.95636572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.767628 meters 0.01312595873348823 Centerline is valid? [True, True] Translation: X:19.71, Y:-170.70, Z:0.69 [[-8.30025598e-01 -5.57724800e-01 7.44402452e-04 1.97057433e+01] [-5.57724564e-01 8.30025932e-01 5.13568241e-04 -1.70695075e+02] [-9.04303084e-04 1.11032540e-05 -9.99999591e-01 6.94945933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79762800000003 meters 0.013056810256730087 Centerline is valid? [True, True] Translation: X:19.62, Y:-170.73, Z:0.69 [[-7.84953097e-01 -6.19554918e-01 5.82283321e-04 1.96160838e+01] [-6.19554739e-01 7.84953313e-01 4.70768015e-04 -1.70725522e+02] [-7.48731861e-04 8.77442075e-06 -9.99999720e-01 6.94431968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.827628 meters 0.012611537209359215 Centerline is valid? [True, True] Translation: X:19.52, Y:-170.77, Z:0.69 [[-7.34138000e-01 -6.79000273e-01 1.62939301e-04 1.95221856e+01] [-6.79000255e-01 7.34138018e-01 1.54885648e-04 -1.70765597e+02] [-2.24787333e-04 3.07161305e-06 -9.99999975e-01 6.93445132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85762800000003 meters 0.012573076910985586 Centerline is valid? [True, True] Translation: X:19.43, Y:-170.81, Z:0.69 [[-6.79094153e-01 -7.34051154e-01 -1.85178896e-04 1.94335657e+01] [-7.34051127e-01 6.79094179e-01 -2.00548555e-04 -1.70813776e+02] [ 2.72966808e-04 -2.60574488e-07 -9.99999963e-01 6.92914617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.887628 meters 0.012370309021621726 Centerline is valid? [True, True] Translation: X:19.34, Y:-170.87, Z:0.69 [[-6.19948673e-01 -7.84642364e-01 6.10029019e-05 1.93433407e+01] [-7.84642360e-01 6.19948676e-01 8.01398963e-05 -1.70873319e+02] [-1.00699826e-04 1.81716141e-06 -9.99999995e-01 6.93199990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91762800000004 meters 0.012121805074333325 Centerline is valid? [True, True] Translation: X:19.26, Y:-170.94, Z:0.69 [[-5.56502601e-01 -8.30845851e-01 -1.64916271e-04 1.92553957e+01] [-8.30845815e-01 5.56502625e-01 -2.45173654e-04 -1.70941054e+02] [ 2.95477850e-04 5.80217651e-07 -9.99999956e-01 6.94448688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.947628 meters 0.012100345029768143 Centerline is valid? [True, True] Translation: X:19.17, Y:-171.02, Z:0.69 [[-4.90755219e-01 -8.71297475e-01 -1.56427093e-04 1.91721946e+01] [-8.71297431e-01 4.90755244e-01 -2.76385716e-04 -1.71022928e+02] [ 3.17581592e-04 6.56791736e-07 -9.99999950e-01 6.94589544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97762800000004 meters 0.012074543970682985 Centerline is valid? [True, True] Translation: X:19.09, Y:-171.11, Z:0.70 [[-4.22612274e-01 -9.06310579e-01 1.82598103e-05 1.90946486e+01] [-9.06310578e-01 4.22612275e-01 4.26631204e-05 -1.71113989e+02] [-4.63828575e-05 1.48089909e-06 -9.99999999e-01 6.95017102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.007628 meters 0.012157820981728483 Centerline is valid? [True, True] Translation: X:19.03, Y:-171.20, Z:0.70 [[-3.52146154e-01 -9.35944969e-01 3.17892427e-04 1.90307659e+01] [-9.35944577e-01 3.52146297e-01 8.57344588e-04 -1.71199256e+02] [-9.14371995e-04 4.38090610e-06 -9.99999582e-01 6.95528669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03762800000004 meters 0.012169394860783087 Centerline is valid? [True, True] Translation: X:18.97, Y:-171.30, Z:0.70 [[-2.79553311e-01 -9.60130048e-01 4.86823692e-04 1.89689246e+01] [-9.60128540e-01 2.79553734e-01 1.70173919e-03 -1.71300545e+02] [-1.76998431e-03 8.31350249e-06 -9.99998434e-01 6.96191660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.067628 meters 0.012289024331247345 Centerline is valid? [True, True] Translation: X:18.91, Y:-171.41, Z:0.70 [[-2.04968703e-01 -9.78768428e-01 4.42825871e-04 1.89141432e+01] [-9.78766027e-01 2.04969181e-01 2.16777036e-03 -1.71408400e+02] [-2.21251084e-03 1.09021608e-05 -9.99997552e-01 6.97150658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09762800000004 meters 0.01230620508755006 Centerline is valid? [True, True] Translation: X:18.87, Y:-171.52, Z:0.70 [[-1.28923759e-01 -9.91654454e-01 3.29217665e-04 1.88675140e+01] [-9.91650953e-01 1.28924179e-01 2.63513629e-03 -1.71522532e+02] [-2.65558876e-03 1.32626659e-05 -9.99996474e-01 6.98183474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.127628 meters 0.01230620508755006 Centerline is valid? [True, True] Translation: X:18.83, Y:-171.64, Z:0.70 [[-5.18494741e-02 -9.98654904e-01 1.24451386e-04 1.88296982e+01] [-9.98651380e-01 5.18496218e-02 2.65275644e-03 -1.71638353e+02] [-2.65564098e-03 1.32604781e-05 -9.99996474e-01 6.98186112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15762800000005 meters 0.012315016163285066 Centerline is valid? [True, True] Translation: X:18.80, Y:-171.76, Z:0.70 [[ 2.54082431e-02 -9.99677152e-01 -1.12040372e-04 1.88025719e+01] [-9.99670359e-01 -2.54084835e-02 3.68545256e-03 -1.71760684e+02] [-3.68710950e-03 1.83625639e-05 -9.99993202e-01 6.99288238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.187628 meters 0.012446675798566889 Centerline is valid? [True, True] Translation: X:18.78, Y:-171.88, Z:0.70 [[ 1.02131491e-01 -9.94770803e-01 -4.57056875e-04 1.87843547e+01] [-9.94761831e-01 -1.02132511e-01 4.22479797e-03 -1.71877949e+02] [-4.24938603e-03 2.31778177e-05 -9.99990971e-01 6.99618763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21762800000005 meters 0.012508118670093842 Centerline is valid? [True, True] Translation: X:18.78, Y:-172.00, Z:0.70 [[ 1.77907214e-01 -9.84046810e-01 -9.48183711e-04 1.87775735e+01] [-9.84033795e-01 -1.77909738e-01 5.06120157e-03 -1.71999419e+02] [-5.14915037e-03 3.26205448e-05 -9.99986743e-01 7.00470348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.247628 meters 0.012606958220515644 Centerline is valid? [True, True] Translation: X:18.78, Y:-172.12, Z:0.70 [[ 2.53232137e-01 -9.67404515e-01 -1.41031537e-03 1.87786204e+01] [-9.67390294e-01 -2.53236062e-01 5.24555492e-03 -1.72120338e+02] [-5.43171622e-03 3.59823172e-05 -9.99985248e-01 7.00420938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27762800000005 meters 0.012532183805368495 Centerline is valid? [True, True] Translation: X:18.79, Y:-172.24, Z:0.70 [[ 3.26545695e-01 -9.45179692e-01 -1.80526506e-03 1.87879754e+01] [-9.45165920e-01 -3.26550682e-01 5.10243899e-03 -1.72238686e+02] [-5.41223225e-03 4.00955230e-05 -9.99985353e-01 6.99791821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.307628 meters 0.012618872313774655 Centerline is valid? [True, True] Translation: X:18.81, Y:-172.36, Z:0.70 [[ 3.98163549e-01 -9.17312150e-01 -2.05137136e-03 1.88067873e+01] [-9.17300485e-01 -3.98168832e-01 4.62620345e-03 -1.72356032e+02] [-5.06046477e-03 3.97383575e-05 -9.99987195e-01 6.99188941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.33762800000005 meters 0.012716198452857774 Centerline is valid? [True, True] Translation: X:18.83, Y:-172.47, Z:0.70 [[ 4.67292139e-01 -8.84100387e-01 -2.13619671e-03 1.88345391e+01] [-8.84091519e-01 -4.67297020e-01 3.96000183e-03 -1.72471275e+02] [-4.49927751e-03 3.81156682e-05 -9.99989878e-01 6.98801300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.367628 meters 0.012695913234384348 Centerline is valid? [True, True] Translation: X:18.87, Y:-172.58, Z:0.70 [[ 5.34161577e-01 -8.45379145e-01 -2.34748460e-03 1.88698495e+01] [-8.45371277e-01 -5.34166734e-01 3.64751458e-03 -1.72584573e+02] [-4.33748094e-03 3.61339165e-05 -9.99990592e-01 6.98119596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.397628 meters 0.012454542814917261 Centerline is valid? [True, True] Translation: X:18.91, Y:-172.70, Z:0.70 [[ 6.00229207e-01 -7.99823740e-01 -2.62389998e-03 1.89114785e+01] [-7.99816257e-01 -6.00234941e-01 3.45981242e-03 -1.72696943e+02] [-4.34219656e-03 2.19573995e-05 -9.99990572e-01 6.97579482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.427628 meters 0.012224596153024021 Centerline is valid? [True, True] Translation: X:18.96, Y:-172.80, Z:0.70 [[ 6.61458623e-01 -7.49974477e-01 -3.28247118e-03 1.89562493e+01] [-7.49965352e-01 -6.61466767e-01 3.69960916e-03 -1.72799323e+02] [-4.94585804e-03 1.46012767e-05 -9.99987769e-01 6.97856582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.457628 meters 0.01226590599182724 Centerline is valid? [True, True] Translation: X:19.01, Y:-172.90, Z:0.70 [[ 7.18405508e-01 -6.95614033e-01 -3.82665253e-03 1.90116645e+01] [-6.95604199e-01 -7.18415700e-01 3.69878998e-03 -1.72900523e+02] [-5.32205747e-03 4.60447424e-06 -9.99985838e-01 6.98696681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48762800000003 meters 0.012390237901995203 Centerline is valid? [True, True] Translation: X:19.00, Y:-172.91, Z:0.70 [[ 7.72817747e-01 -6.34609743e-01 -4.81700343e-03 1.90045697e+01] [-6.34597280e-01 -7.72832759e-01 3.97728011e-03 -1.72907245e+02] [-6.24675876e-03 -1.68553812e-05 -9.99980489e-01 6.99257598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.517628 meters 0.012449610539867541 Centerline is valid? [True, True] Translation: X:19.00, Y:-172.91, Z:0.70 [[ 8.20501636e-01 -5.71620847e-01 -5.16454267e-03 1.89994941e+01] [-5.71609353e-01 -8.20517890e-01 3.62495761e-03 -1.72914875e+02] [-6.30970099e-03 -2.21827535e-05 -9.99980093e-01 6.99333801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54762800000003 meters 0.01256134962362459 Centerline is valid? [True, True] Translation: X:18.99, Y:-172.92, Z:0.70 [[ 8.62753731e-01 -5.05592727e-01 -5.65628273e-03 1.89941138e+01] [-5.05581678e-01 -8.62772272e-01 3.34272324e-03 -1.72921290e+02] [-6.57014046e-03 -2.42340361e-05 -9.99978416e-01 7.00597709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.577628 meters 0.01255390658890545 Centerline is valid? [True, True] Translation: X:18.99, Y:-172.93, Z:0.70 [[ 8.99384676e-01 -4.37111083e-01 -6.41133200e-03 1.89897292e+01] [-4.37099799e-01 -8.99407528e-01 3.14089881e-03 -1.72927526e+02] [-7.13932194e-03 -2.24843313e-05 -9.99974514e-01 7.01292613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60762800000003 meters 0.012687031812509185 Centerline is valid? [True, True] Translation: X:18.99, Y:-172.93, Z:0.70 [[ 9.30097001e-01 -3.67229423e-01 -7.88164961e-03 1.89867103e+01] [-3.67216138e-01 -9.30130395e-01 3.12365110e-03 -1.72933893e+02] [-8.47805846e-03 -1.10295901e-05 -9.99964061e-01 7.02083137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.637628 meters 0.012632602175055605 Centerline is valid? [True, True] Translation: X:18.98, Y:-172.94, Z:0.70 [[ 9.55634123e-01 -2.94437966e-01 -8.34909327e-03 1.89839181e+01] [-2.94426711e-01 -9.55670594e-01 2.57449170e-03 -1.72941223e+02] [-8.73701103e-03 -2.07604813e-06 -9.99961832e-01 7.02593327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66762800000004 meters 0.014709873985487825 Centerline is valid? [True, True] Translation: X:18.98, Y:-172.95, Z:0.70 [[ 9.75144049e-01 -2.21386484e-01 -9.06132417e-03 1.89818424e+01] [-2.21377135e-01 -9.75186149e-01 2.03466995e-03 -1.72947144e+02] [-9.28692624e-03 2.18736924e-05 -9.99956875e-01 7.04209263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.697628 meters 0.012963790536205185 Centerline is valid? [True, True] Translation: X:18.97, Y:-172.95, Z:0.70 [[ 9.89404665e-01 -1.44883560e-01 -9.33611317e-03 1.89745103e+01] [-1.44877373e-01 -9.89448712e-01 1.33923327e-03 -1.72953130e+02] [-9.43163803e-03 2.75479095e-05 -9.99955521e-01 7.02919743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72762800000004 meters 0.0131392488083887 Centerline is valid? [True, True] Translation: X:18.97, Y:-172.96, Z:0.70 [[ 9.97658680e-01 -6.77281537e-02 -9.48972898e-03 1.89684484e+01] [-6.77254233e-02 -9.97703812e-01 6.09150421e-04 -1.72959114e+02] [-9.50919541e-03 3.49717065e-05 -9.99954786e-01 7.03827530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.757628 meters 0.013016904074103964 Centerline is valid? [True, True] Translation: X:18.96, Y:-172.97, Z:0.70 [[ 9.99916501e-01 9.88084594e-03 -8.32820161e-03 1.89633018e+01] [ 9.88019629e-03 -9.99951183e-01 -1.19146157e-04 -1.72967830e+02] [-8.32897231e-03 3.68519419e-05 -9.99965313e-01 7.03509116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78762800000004 meters 0.013040284045195426 Centerline is valid? [True, True] Translation: X:18.96, Y:-172.98, Z:0.70 [[ 9.96037181e-01 8.85895521e-02 -7.86284691e-03 1.89590479e+01] [ 8.85865446e-02 -9.96068216e-01 -7.30638583e-04 -1.72976274e+02] [-7.89665884e-03 3.12007562e-05 -9.99968820e-01 7.02898450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.817628 meters 0.013032064088296103 Centerline is valid? [True, True] Translation: X:18.96, Y:-172.99, Z:0.70 [[ 9.86032150e-01 1.66406072e-01 -7.04404385e-03 1.89558395e+01] [ 1.66401626e-01 -9.86057310e-01 -1.21674525e-03 -1.72986096e+02] [-7.14830473e-03 2.76095854e-05 -9.99974450e-01 7.02151101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84762800000004 meters 0.012860790611994077 Centerline is valid? [True, True] Translation: X:18.95, Y:-173.00, Z:0.70 [[ 9.69818002e-01 2.43757441e-01 -5.94586410e-03 1.89536294e+01] [ 2.43752734e-01 -9.69836228e-01 -1.51490920e-03 -1.72996442e+02] [-6.13578480e-03 1.98655824e-05 -9.99981176e-01 7.00960121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.877628 meters 0.012811027791913204 Centerline is valid? [True, True] Translation: X:18.95, Y:-173.01, Z:0.70 [[ 9.47632279e-01 3.19321448e-01 -5.18426984e-03 1.89523476e+01] [ 3.19316580e-01 -9.47646460e-01 -1.76340871e-03 -1.73006062e+02] [-5.47594918e-03 1.56397030e-05 -9.99985007e-01 7.00799398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90762800000005 meters 0.012796802710254442 Centerline is valid? [True, True] Translation: X:18.95, Y:-173.02, Z:0.70 [[ 9.19618853e-01 3.92785473e-01 -4.55389527e-03 1.89520635e+01] [ 3.92780588e-01 -9.19630128e-01 -1.95887509e-03 -1.73016032e+02] [-4.95731697e-03 1.27368007e-05 -9.99987712e-01 7.00456704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.937628 meters 0.012694716901219108 Centerline is valid? [True, True] Translation: X:18.95, Y:-173.03, Z:0.70 [[ 8.86064242e-01 4.63548081e-01 -3.65172068e-03 1.89516078e+01] [ 4.63544094e-01 -8.86071767e-01 -1.92268282e-03 -1.73025588e+02] [-4.12694253e-03 1.08869414e-05 -9.99991484e-01 7.00373843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96762800000005 meters 0.012649674604464655 Centerline is valid? [True, True] Translation: X:18.95, Y:-173.03, Z:0.70 [[ 8.47696913e-01 5.30475302e-01 -2.42839199e-03 1.89511920e+01] [ 5.30473087e-01 -8.47700391e-01 -1.53311550e-03 -1.73033864e+02] [-2.87182875e-03 1.14206815e-05 -9.99995876e-01 6.99783913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.997628 meters 0.01267710290143139 Centerline is valid? [True, True] Translation: X:18.95, Y:-173.04, Z:0.70 [[ 8.04240158e-01 5.94302591e-01 -1.48281738e-03 1.89520005e+01] [ 5.94301559e-01 -8.04241525e-01 -1.10800727e-03 -1.73043654e+02] [-1.85103490e-03 9.86326779e-06 -9.99998287e-01 6.99551773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02762800000005 meters 0.012797280391665824 Centerline is valid? [True, True] Translation: X:18.95, Y:-173.05, Z:0.70 [[ 7.56339745e-01 6.54178687e-01 -6.60220814e-04 1.89518951e+01] [ 6.54178429e-01 -7.56340033e-01 -5.80041272e-04 -1.73052914e+02] [-8.78802070e-04 6.80605243e-06 -9.99999614e-01 6.99100000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.057628 meters 0.012765002493660796 Centerline is valid? [True, True] Translation: X:18.95, Y:-173.06, Z:0.70 [[ 7.03110857e-01 7.11080050e-01 -5.34940183e-04 1.89546207e+01] [ 7.11079837e-01 -7.03111060e-01 -5.50154340e-04 -1.73062378e+02] [-7.67326135e-04 6.43431098e-06 -9.99999706e-01 6.99101544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.08762800000005 meters 0.012801643095953507 Centerline is valid? [True, True] Translation: X:18.96, Y:-173.07, Z:0.70 [[ 6.45387124e-01 7.63855595e-01 -3.00934662e-04 1.89558712e+01] [ 7.63855508e-01 -6.45387194e-01 -3.63161514e-04 -1.73072186e+02] [-4.71622332e-04 4.50916575e-06 -9.99999889e-01 6.98949634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.117628 meters 0.012811680364415016 Centerline is valid? [True, True] Translation: X:18.96, Y:-173.08, Z:0.70 [[ 5.83383371e-01 8.12196627e-01 -6.94335365e-04 1.89573392e+01] [ 8.12196033e-01 -5.83383784e-01 -9.82485423e-04 -1.73081221e+02] [-1.20303534e-03 9.22922875e-06 -9.99999276e-01 6.99501166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.147628 meters 0.012579671326204555 Centerline is valid? [True, True] Translation: X:18.96, Y:-173.09, Z:0.70 [[ 5.16061519e-01 8.56550305e-01 -1.44322992e-03 1.89615209e+01] [ 8.56546881e-01 -5.16063537e-01 -2.42207343e-03 -1.73090041e+02] [-2.81942607e-03 1.37448093e-05 -9.99996025e-01 7.01086129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.177628 meters 0.012453228640754582 Centerline is valid? [True, True] Translation: X:18.97, Y:-173.10, Z:0.70 [[ 4.45812280e-01 8.95124791e-01 -1.73762120e-03 1.89662723e+01] [ 8.95117890e-01 -4.45815666e-01 -3.51485768e-03 -1.73099412e+02] [-3.92089500e-03 1.15908903e-05 -9.99992313e-01 7.02813639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.207628 meters 0.012459409306061674 Centerline is valid? [True, True] Translation: X:18.97, Y:-173.11, Z:0.70 [[ 3.72262612e-01 9.28125319e-01 -1.98512459e-03 1.89722449e+01] [ 9.28112072e-01 -3.72267905e-01 -4.95873987e-03 -1.73107744e+02] [-5.34133019e-03 3.53536162e-06 -9.99985735e-01 7.04453667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23762800000003 meters 0.012575078184428526 Centerline is valid? [True, True] Translation: X:18.98, Y:-173.12, Z:0.71 [[ 2.93608326e-01 9.55923984e-01 -1.86776823e-03 1.89793659e+01] [ 9.55905236e-01 -2.93614265e-01 -5.98692513e-03 -1.73116780e+02] [-6.27144871e-03 -2.75983670e-05 -9.99980334e-01 7.06407463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.267628 meters 0.012781887195311837 Centerline is valid? [True, True] Translation: X:18.99, Y:-173.12, Z:0.71 [[ 2.15337701e-01 9.76538756e-01 -1.31650720e-03 1.89857915e+01] [ 9.76521660e-01 -2.15341721e-01 -5.77844501e-03 -1.73124489e+02] [-5.92637442e-03 -4.12807347e-05 -9.99982438e-01 7.06116847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29762800000003 meters 0.013346649890428986 Centerline is valid? [True, True] Translation: X:19.00, Y:-173.13, Z:0.70 [[ 1.34025112e-01 9.90977623e-01 -7.87895813e-04 1.89950197e+01] [ 9.90963060e-01 -1.34027414e-01 -5.37275838e-03 -1.73131362e+02] [-5.42988297e-03 -6.06911028e-05 -9.99985256e-01 7.04723829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.327628 meters 0.013518844806787203 Centerline is valid? [True, True] Translation: X:19.00, Y:-173.14, Z:0.70 [[ 5.42477408e-02 9.98527449e-01 -3.40351980e-04 1.90043668e+01] [ 9.98514625e-01 -5.42487692e-02 -5.06103495e-03 -1.73137621e+02] [-5.07204599e-03 -6.52967178e-05 -9.99987135e-01 7.04253022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35762800000003 meters 0.014111549163266563 Centerline is valid? [True, True] Translation: X:19.01, Y:-173.14, Z:0.71 [[-2.50026658e-02 9.99687383e-01 5.99458905e-05 1.90143336e+01] [ 9.99673152e-01 2.50026298e-02 -5.33466126e-03 -1.73143873e+02] [-5.33449236e-03 -7.34544555e-05 -9.99985769e-01 7.05026267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.387628 meters 0.013967357243013947 Centerline is valid? [True, True] Translation: X:19.02, Y:-173.15, Z:0.71 [[-1.03540380e-01 9.94625131e-01 4.88154934e-04 1.90204240e+01] [ 9.94610323e-01 1.03541503e-01 -5.42794187e-03 -1.73148507e+02] [-5.44931169e-03 -7.64872307e-05 -9.99985149e-01 7.05081841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41762800000004 meters 0.013495458071446824 Centerline is valid? [True, True] Translation: X:19.03, Y:-173.15, Z:0.71 [[-1.80311169e-01 9.83609208e-01 8.98775092e-04 1.90295172e+01] [ 9.83594956e-01 1.80313395e-01 -5.29543017e-03 -1.73152351e+02] [-5.37069506e-03 -7.07945536e-05 -9.99985575e-01 7.05245431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.447628 meters 0.013406852145817792 Centerline is valid? [True, True] Translation: X:19.04, Y:-173.16, Z:0.71 [[-2.55808546e-01 9.66726708e-01 1.20849775e-03 1.90388151e+01] [ 9.66714783e-01 2.55811393e-01 -4.80193311e-03 -1.73156432e+02] [-4.95130448e-03 -6.01028885e-05 -9.99987740e-01 7.05374329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47762800000004 meters 0.013119150853344742 Centerline is valid? [True, True] Translation: X:19.05, Y:-173.16, Z:0.71 [[-3.29261670e-01 9.44237602e-01 1.45025873e-03 1.90465641e+01] [ 9.44227792e-01 3.29264860e-01 -4.30454741e-03 -1.73159369e+02] [-4.54203476e-03 -4.79478740e-05 -9.99989684e-01 7.05650456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.507628 meters 0.01289182600827668 Centerline is valid? [True, True] Translation: X:19.05, Y:-173.16, Z:0.71 [[-4.00806746e-01 9.16160806e-01 1.82491905e-03 1.90528742e+01] [ 9.16150829e-01 4.00810898e-01 -4.27572565e-03 -1.73161935e+02] [-4.64869970e-03 -4.18385854e-05 -9.99989194e-01 7.05749788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53762800000004 meters 0.012395149416622698 Centerline is valid? [True, True] Translation: X:19.06, Y:-173.16, Z:0.71 [[-4.67547036e-01 8.83965601e-01 2.14160654e-03 1.90584995e+01] [ 8.83956112e-01 4.67551940e-01 -4.09580481e-03 -1.73164550e+02] [-4.62186285e-03 -2.18952087e-05 -9.99989319e-01 7.05192292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.567628 meters 0.012205275018967815 Centerline is valid? [True, True] Translation: X:19.07, Y:-173.17, Z:0.71 [[-5.32949778e-01 8.46143714e-01 2.31292791e-03 1.90669482e+01] [ 8.46135679e-01 5.32954797e-01 -3.68751277e-03 -1.73166073e+02] [-4.35285177e-03 -8.20828518e-06 -9.99990526e-01 7.05605611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59762800000004 meters 0.012184658504322807 Centerline is valid? [True, True] Translation: X:19.07, Y:-173.17, Z:0.71 [[-5.92673878e-01 8.05437984e-01 2.70704781e-03 1.90733553e+01] [ 8.05429730e-01 5.92680060e-01 -3.64643646e-03 -1.73169700e+02] [-4.54139169e-03 1.91891488e-05 -9.99989688e-01 7.06412266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.627628 meters 0.012315531374809641 Centerline is valid? [True, True] Translation: X:19.08, Y:-173.17, Z:0.71 [[-6.52481272e-01 7.57800385e-01 2.60103192e-03 1.90838455e+01] [ 7.57794513e-01 6.52486456e-01 -2.98347414e-03 -1.73167886e+02] [-3.95801595e-03 2.43867175e-05 -9.99992167e-01 7.05963751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65762800000005 meters 0.012575290437397288 Centerline is valid? [True, True] Translation: X:19.09, Y:-173.17, Z:0.71 [[-7.08725665e-01 7.05478010e-01 2.95107783e-03 1.90944642e+01] [ 7.05472082e-01 7.08731808e-01 -2.89231025e-03 -1.73167553e+02] [-4.13198401e-03 3.20485093e-05 -9.99991463e-01 7.06685874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.687628 meters 0.012823411695419807 Centerline is valid? [True, True] Translation: X:19.12, Y:-173.15, Z:0.71 [[-7.54835321e-01 6.55901031e-01 4.18029042e-03 1.91186269e+01] [ 6.55891405e-01 7.54846894e-01 -3.55416510e-03 -1.73153188e+02] [-5.48665980e-03 5.90072015e-05 -9.99984946e-01 7.08216852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71762800000005 meters 0.0154313117344378 Centerline is valid? [True, True] Translation: X:19.14, Y:-173.14, Z:0.71 [[-7.98318915e-01 6.02207900e-01 5.70561405e-03 1.91390198e+01] [ 6.02193293e-01 7.98339300e-01 -4.19532573e-03 -1.73135529e+02] [-7.08147422e-03 8.66746245e-05 -9.99974922e-01 7.10571544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.747628 meters 0.013098002734158268 Centerline is valid? [True, True] Translation: X:19.16, Y:-173.11, Z:0.71 [[-8.38762624e-01 5.44462712e-01 6.13313706e-03 1.91588625e+01] [ 5.44448947e-01 8.38785042e-01 -3.87258991e-03 -1.73114913e+02] [-7.25286444e-03 9.09963437e-05 -9.99973694e-01 7.09375745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77762800000005 meters 0.014676992781203614 Centerline is valid? [True, True] Translation: X:19.18, Y:-173.10, Z:0.71 [[-8.74580912e-01 4.84817418e-01 7.76526926e-03 1.91805321e+01] [ 4.84799538e-01 8.74615376e-01 -4.16546462e-03 -1.73095672e+02] [-8.81111370e-03 1.21563100e-04 -9.99961174e-01 7.11540852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.807628 meters 0.013408137095331748 Centerline is valid? [True, True] Translation: X:19.20, Y:-173.07, Z:0.71 [[-9.06515010e-01 4.22087619e-01 8.51931540e-03 1.91985642e+01] [ 4.22070357e-01 9.06555031e-01 -3.81959941e-03 -1.73073196e+02] [-9.33543386e-03 1.33226299e-04 -9.99956415e-01 7.11341911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.83762800000005 meters 0.015332892124136547 Centerline is valid? [True, True] Translation: X:19.21, Y:-173.05, Z:0.71 [[-9.33878674e-01 3.57467650e-01 9.35421567e-03 1.92145373e+01] [ 3.57451311e-01 9.33925509e-01 -3.42100279e-03 -1.73048398e+02] [-9.95903846e-03 1.48875108e-04 -9.99950396e-01 7.13552073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.867628 meters 0.013521505600330927 Centerline is valid? [True, True] Translation: X:19.23, Y:-173.02, Z:0.71 [[-9.56828154e-01 2.90510408e-01 9.14255069e-03 1.92278378e+01] [ 2.90498580e-01 9.56871821e-01 -2.62545228e-03 -1.73020738e+02] [-9.51097034e-03 1.43791337e-04 -9.99954759e-01 7.13434975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.897628 meters 0.013769800480821126 Centerline is valid? [True, True] Translation: X:19.24, Y:-172.99, Z:0.71 [[-9.75003173e-01 2.21993982e-01 9.35331284e-03 1.92350787e+01] [ 2.21985191e-01 9.75048025e-01 -1.98093443e-03 -1.72993786e+02] [-9.55968473e-03 1.44879585e-04 -9.99954295e-01 7.13198493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.927628 meters 0.013530600677806337 Centerline is valid? [True, True] Translation: X:19.24, Y:-172.97, Z:0.71 [[-9.88345187e-01 1.51938086e-01 9.41324215e-03 1.92411920e+01] [ 1.51932549e-01 9.88390003e-01 -1.30468844e-03 -1.72965748e+02] [-9.50218631e-03 1.40695337e-04 -9.99954843e-01 7.12535283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.957628 meters 0.013732747683487555 Centerline is valid? [True, True] Translation: X:19.25, Y:-172.94, Z:0.71 [[-9.96653892e-01 8.11400987e-02 9.86432462e-03 1.92485930e+01] [ 8.11375562e-02 9.96702696e-01 -6.58336470e-04 -1.72937641e+02] [-9.88521643e-03 1.44233588e-04 -9.99951130e-01 7.12809064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98762800000003 meters 0.012999348374561326 Centerline is valid? [True, True] Translation: X:19.24, Y:-172.91, Z:0.71 [[-9.99917671e-01 8.59586600e-03 9.52692780e-03 1.92439852e+01] [ 8.59666225e-03 9.99963047e-01 4.26308264e-05 -1.72905532e+02] [-9.52620931e-03 1.24527097e-04 -9.99954617e-01 7.12210068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.017628 meters 0.012999348374561326 Centerline is valid? [True, True] Translation: X:19.25, Y:-172.12, Z:-0.22 [[-9.98700258e-01 -5.00683510e-02 9.53700088e-03 1.92464971e+01] [ 5.00648920e-02 -9.98745786e-01 -6.01239811e-04 -1.72122648e+02] [ 9.55514252e-03 -1.22989436e-04 9.99954341e-01 -2.24600968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04762800000003 meters 0.012971286461603919 Centerline is valid? [True, True] Translation: X:19.15, Y:-172.90, Z:0.71 [[-9.99954787e-01 1.79569144e-03 9.33803004e-03 1.91473368e+01] [ 1.79669500e-03 9.99998381e-01 9.90823616e-05 -1.72903816e+02] [-9.33783700e-03 1.15855474e-04 -9.99956395e-01 7.12228918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.077628 meters 0.012925470046977005 Centerline is valid? [True, True] Translation: X:19.15, Y:-172.87, Z:0.71 [[-9.97412768e-01 -7.14857793e-02 7.58634960e-03 1.91451659e+01] [-7.14831076e-02 9.97441616e-01 6.23087284e-04 -1.72872772e+02] [-7.61148268e-03 7.91793686e-05 -9.99971029e-01 7.11976838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10762800000003 meters 0.012355921936888005 Centerline is valid? [True, True] Translation: X:19.13, Y:-172.84, Z:0.71 [[-9.89632604e-01 -1.43445789e-01 7.11440069e-03 1.91301952e+01] [-1.43441593e-01 9.89658174e-01 1.09916940e-03 -1.72843634e+02] [-7.19849601e-03 6.72729046e-05 -9.99974088e-01 7.10997236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.137628 meters 0.012465012496222533 Centerline is valid? [True, True] Translation: X:19.11, Y:-172.82, Z:0.71 [[-9.76484198e-01 -2.15482653e-01 6.77029692e-03 1.91116894e+01] [-2.15477073e-01 9.76507667e-01 1.55164408e-03 -1.72818239e+02] [-6.94559923e-03 5.63121540e-05 -9.99975877e-01 7.11949140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16762800000004 meters 0.011914934429512814 Centerline is valid? [True, True] Translation: X:19.07, Y:-172.80, Z:0.71 [[-9.57546691e-01 -2.88207683e-01 6.37697308e-03 1.90690460e+01] [-2.88201034e-01 9.57567924e-01 1.95801490e-03 -1.72798010e+02] [-6.67069981e-03 3.70404507e-05 -9.99977750e-01 7.11630683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.197628 meters 0.011797475378545688 Centerline is valid? [True, True] Translation: X:19.02, Y:-172.79, Z:0.71 [[-9.33263949e-01 -3.59132341e-01 6.50873157e-03 1.90155671e+01] [-3.59123385e-01 9.33286644e-01 2.53646934e-03 -1.72786850e+02] [-6.98544042e-03 2.97576758e-05 -9.99975601e-01 7.11789046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22762800000004 meters 0.011789176019062153 Centerline is valid? [True, True] Translation: X:18.94, Y:-172.79, Z:0.71 [[-9.03582344e-01 -4.28357287e-01 6.99869374e-03 1.89440969e+01] [-4.28344243e-01 9.03609448e-01 3.34301963e-03 -1.72786932e+02] [-7.75609260e-03 2.28433502e-05 -9.99969921e-01 7.12226338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.257628 meters 0.011795106625264236 Centerline is valid? [True, True] Translation: X:18.87, Y:-172.79, Z:0.71 [[-8.68236375e-01 -4.96092745e-01 7.58854165e-03 1.88686615e+01] [-4.96073690e-01 8.68269537e-01 4.34813561e-03 -1.72794139e+02] [-8.74597807e-03 1.07336394e-05 -9.99961753e-01 7.12528098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28762800000004 meters 0.011989860383504839 Centerline is valid? [True, True] Translation: X:18.78, Y:-172.81, Z:0.71 [[-8.26227059e-01 -5.63280171e-01 8.01844617e-03 1.87839500e+01] [-5.63253991e-01 8.26265967e-01 5.43079692e-03 -1.72811357e+02] [-9.68442940e-03 -2.93504358e-05 -9.99953104e-01 7.13792494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.317628 meters 0.015858932834303858 Centerline is valid? [True, True] Translation: X:18.70, Y:-172.84, Z:0.72 [[-7.80574200e-01 -6.25004201e-01 8.58297264e-03 1.86968537e+01] [-6.24967099e-01 7.80621385e-01 6.81021374e-03 -1.72839631e+02] [-1.09564642e-02 -4.81983676e-05 -9.99939975e-01 7.16790800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34762800000004 meters 0.01526919521446449 Centerline is valid? [True, True] Translation: X:18.61, Y:-172.88, Z:0.72 [[-7.29128418e-01 -6.84322165e-01 8.65585531e-03 1.86067114e+01] [-6.84275335e-01 7.29179790e-01 8.00619817e-03 -1.72878777e+02] [-1.17904936e-02 -8.54416864e-05 -9.99930486e-01 7.17026441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.377628 meters 0.012936004102637828 Centerline is valid? [True, True] Translation: X:18.52, Y:-172.93, Z:0.72 [[-6.71943433e-01 -7.40555450e-01 8.34557446e-03 1.85161828e+01] [-7.40500925e-01 6.71995242e-01 8.98748813e-03 -1.72927120e+02] [-1.22639196e-02 -1.40821980e-04 -9.99924785e-01 7.15764479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40762800000005 meters 0.013625464374169297 Centerline is valid? [True, True] Translation: X:18.43, Y:-172.99, Z:0.72 [[-6.12683566e-01 -7.90286000e-01 8.17842927e-03 1.84278836e+01] [-7.90219177e-01 6.12738126e-01 1.02781968e-02 -1.72985682e+02] [-1.31339505e-02 -1.65469378e-04 -9.99913732e-01 7.17692374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.437628 meters 0.013717090025665483 Centerline is valid? [True, True] Translation: X:18.35, Y:-173.05, Z:0.72 [[-5.50303752e-01 -8.34929197e-01 7.68224676e-03 1.83462966e+01] [-8.34852267e-01 5.50357344e-01 1.13352157e-02 -1.73053103e+02] [-1.36920834e-02 -1.75729407e-04 -9.99906244e-01 7.18533388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46762800000005 meters 0.013635705249242899 Centerline is valid? [True, True] Translation: X:18.27, Y:-173.13, Z:0.72 [[-4.85198037e-01 -8.74380423e-01 6.46065319e-03 1.82684804e+01] [-8.74307269e-01 4.85241022e-01 1.13114796e-02 -1.73130978e+02] [-1.30255103e-02 -1.60288323e-04 -9.99915152e-01 7.17814166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.497628 meters 0.013445348110742265 Centerline is valid? [True, True] Translation: X:18.20, Y:-173.22, Z:0.72 [[-4.17435279e-01 -9.08691436e-01 5.25956738e-03 1.81971412e+01] [-9.08623492e-01 4.17468388e-01 1.11127845e-02 -1.73215644e+02] [-1.22937952e-02 -1.40098177e-04 -9.99924419e-01 7.15972906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52762800000005 meters 0.012795783101354291 Centerline is valid? [True, True] Translation: X:18.13, Y:-173.31, Z:0.71 [[-3.48819699e-01 -9.37183326e-01 3.49722110e-03 1.81341867e+01] [-9.37138636e-01 3.48837220e-01 9.15268062e-03 -1.73310657e+02] [-9.79770055e-03 -8.47457100e-05 -9.99951998e-01 7.12402702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.557628 meters 0.012217599142584225 Centerline is valid? [True, True] Translation: X:18.08, Y:-173.41, Z:0.71 [[-2.77085582e-01 -9.60842234e-01 2.40449026e-03 1.80752840e+01] [-9.60807893e-01 2.77096008e-01 8.12369987e-03 -1.73409705e+02] [-8.47186859e-03 -5.92931138e-05 -9.99964111e-01 7.10177681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.58762800000005 meters 0.012135612689108436 Centerline is valid? [True, True] Translation: X:18.02, Y:-173.52, Z:0.71 [[-2.03641374e-01 -9.79044479e-01 1.44886743e-03 1.80224942e+01] [-9.79020991e-01 2.03646525e-01 6.78171122e-03 -1.73516546e+02] [-6.93465374e-03 -3.74346375e-05 -9.99975954e-01 7.08827159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.617628 meters 0.011842602650970258 Centerline is valid? [True, True] Translation: X:17.98, Y:-173.62, Z:0.71 [[-1.28882419e-01 -9.91659586e-01 7.66610671e-04 1.79788334e+01] [-9.91643102e-01 1.28884697e-01 5.71780111e-03 -1.73622966e+02] [-5.76891667e-03 -2.32801449e-05 -9.99983359e-01 7.07944057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.647628 meters 0.011674431672811375 Centerline is valid? [True, True] Translation: X:17.95, Y:-173.74, Z:0.71 [[-5.34152364e-02 -9.98572349e-01 2.76565967e-04 1.79451337e+01] [-9.98560063e-01 5.34159511e-02 4.95343839e-03 -1.73736185e+02] [-4.96113964e-03 -1.15786469e-05 -9.99987693e-01 7.07046260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.677628 meters 0.011764118340168047 Centerline is valid? [True, True] Translation: X:17.91, Y:-173.86, Z:0.71 [[ 2.47622367e-02 -9.99693365e-01 -8.80559722e-05 1.79148809e+01] [-9.99685131e-01 -2.47623901e-02 4.05738562e-03 -1.73860572e+02] [-4.05832196e-03 -1.24416968e-05 -9.99991765e-01 7.06087950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.707628 meters 0.011852808956359545 Centerline is valid? [True, True] Translation: X:17.89, Y:-173.98, Z:0.71 [[ 1.03576471e-01 -9.94621421e-01 -3.78652372e-04 1.78922801e+01] [-9.94614142e-01 -1.03577162e-01 3.80515254e-03 -1.73979576e+02] [-3.82390596e-03 -1.75112677e-05 -9.99992689e-01 7.05956846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73762800000003 meters 0.011961574112966182 Centerline is valid? [True, True] Translation: X:17.88, Y:-174.10, Z:0.71 [[ 1.81813040e-01 -9.83332775e-01 -8.20190921e-04 1.78788454e+01] [-9.83322038e-01 -1.81814888e-01 4.59526094e-03 -1.74097251e+02] [-4.66779361e-03 -2.89665545e-05 -9.99989105e-01 7.06414497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.767628 meters 0.012550725027090197 Centerline is valid? [True, True] Translation: X:17.87, Y:-174.22, Z:0.71 [[ 2.60276850e-01 -9.65531948e-01 -2.00467053e-03 1.78727259e+01] [-9.65501024e-01 -2.60284559e-01 7.72800011e-03 -1.74222087e+02] [-7.98341579e-03 -7.59080781e-05 -9.99968129e-01 7.09464317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79762800000003 meters 0.013747481970445109 Centerline is valid? [True, True] Translation: X:17.88, Y:-174.34, Z:0.71 [[ 3.35228411e-01 -9.42131636e-01 -3.14516008e-03 1.78757317e+01] [-9.42087220e-01 -3.35243149e-01 9.14878794e-03 -1.74343109e+02] [-9.67375592e-03 -1.03918535e-04 -9.99953203e-01 7.12949934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.827628 meters 0.012967723732978822 Centerline is valid? [True, True] Translation: X:17.89, Y:-174.46, Z:0.71 [[ 4.08100101e-01 -9.12923757e-01 -4.95184093e-03 1.78923284e+01] [-9.12852023e-01 -4.08130115e-01 1.14452313e-02 -1.74462732e+02] [-1.24696189e-02 -1.50502015e-04 -9.99922240e-01 7.12975205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85762800000003 meters 0.013466480344854816 Centerline is valid? [True, True] Translation: X:17.92, Y:-174.58, Z:0.71 [[ 4.77321945e-01 -8.78707576e-01 -6.06269513e-03 1.79154372e+01] [-8.78632442e-01 -4.77360420e-01 1.14917733e-02 -1.74579200e+02] [-1.29919990e-02 -1.58394977e-04 -9.99915588e-01 7.14289462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.887628 meters 0.012911273332258706 Centerline is valid? [True, True] Translation: X:17.95, Y:-174.69, Z:0.71 [[ 5.42644666e-01 -8.39933238e-01 -6.99440243e-03 1.79479246e+01] [-8.39859989e-01 -5.42689722e-01 1.10934546e-02 -1.74690000e+02] [-1.31135516e-02 -1.45485243e-04 -9.99914003e-01 7.13943911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91762800000004 meters 0.012628304487884424 Centerline is valid? [True, True] Translation: X:17.99, Y:-174.80, Z:0.71 [[ 6.04407433e-01 -7.96639103e-01 -7.60225437e-03 1.79890301e+01] [-7.96573545e-01 -6.04455229e-01 1.02206947e-02 -1.74797628e+02] [-1.27374275e-02 -1.21709151e-04 -9.99918868e-01 7.13912091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.947628 meters 0.012175748412918698 Centerline is valid? [True, True] Translation: X:18.03, Y:-174.89, Z:0.71 [[ 6.62245040e-01 -7.49244906e-01 -7.97359318e-03 1.80330421e+01] [-7.49188940e-01 -6.62293034e-01 9.15796909e-03 -1.74893666e+02] [-1.21424169e-02 -9.10917845e-05 -9.99926274e-01 7.12751737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97762800000004 meters 0.011743786012990746 Centerline is valid? [True, True] Translation: X:18.09, Y:-174.99, Z:0.71 [[ 7.14954206e-01 -6.99125308e-01 -8.01789507e-03 1.80882411e+01] [-6.99080710e-01 -7.14999162e-01 7.89676658e-03 -1.74987355e+02] [-1.12536176e-02 -4.06707115e-05 -9.99936675e-01 7.10449363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.007628 meters 0.011628581854634319 Centerline is valid? [True, True] Translation: X:18.08, Y:-174.99, Z:0.71 [[ 7.66284549e-01 -6.42450993e-01 -8.04435782e-03 1.80841538e+01] [-6.42415328e-01 -7.66326772e-01 6.76944310e-03 -1.74990933e+02] [-1.05136422e-02 -1.95008870e-05 -9.99944730e-01 7.09377868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03762800000004 meters 0.011642121927104662 Centerline is valid? [True, True] Translation: X:18.08, Y:-174.99, Z:0.71 [[ 8.13272801e-01 -5.81828954e-01 -7.90062044e-03 1.80803731e+01] [-5.81801464e-01 -8.13311176e-01 5.65586064e-03 -1.74994985e+02] [-9.71640637e-03 -3.16508793e-06 -9.99952795e-01 7.08924410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.067628 meters 0.011662188497745387 Centerline is valid? [True, True] Translation: X:18.08, Y:-175.00, Z:0.71 [[ 8.55986493e-01 -5.16938724e-01 -7.84082229e-03 1.80770445e+01] [-5.16917057e-01 -8.56022404e-01 4.73289307e-03 -1.75000104e+02] [-9.15853525e-03 1.76224421e-06 -9.99958060e-01 7.08343610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09762800000004 meters 0.011537832613458324 Centerline is valid? [True, True] Translation: X:18.07, Y:-175.00, Z:0.71 [[ 8.94050613e-01 -4.47904946e-01 -7.39326526e-03 1.80735732e+01] [-4.47889600e-01 -8.94081182e-01 3.70758083e-03 -1.75004878e+02] [-8.27082313e-03 -3.39828734e-06 -9.99965796e-01 7.07464574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.127628 meters 0.011555279864327365 Centerline is valid? [True, True] Translation: X:18.07, Y:-175.01, Z:0.71 [[ 9.26581109e-01 -3.76028289e-01 -7.08339976e-03 1.80704664e+01] [-3.76017232e-01 -9.26608183e-01 2.88361614e-03 -1.75011842e+02] [-7.64785743e-03 -8.42386818e-06 -9.99970755e-01 7.06833611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15762800000005 meters 0.011510324092767083 Centerline is valid? [True, True] Translation: X:18.07, Y:-175.02, Z:0.71 [[ 9.53341071e-01 -3.01812136e-01 -7.08784585e-03 1.80673695e+01] [-3.01803693e-01 -9.53367418e-01 2.25750802e-03 -1.75021194e+02] [-7.43866462e-03 -1.30370587e-05 -9.99972333e-01 7.06152890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.187628 meters 0.01154255760902469 Centerline is valid? [True, True] Translation: X:18.06, Y:-175.03, Z:0.71 [[ 9.74302446e-01 -2.25078173e-01 -8.63477103e-03 1.80636206e+01] [-2.25069085e-01 -9.74340708e-01 2.02277968e-03 -1.75029590e+02] [-8.86849247e-03 -2.73791721e-05 -9.99960674e-01 7.07004548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21762800000005 meters 0.011604280158685653 Centerline is valid? [True, True] Translation: X:18.06, Y:-175.04, Z:0.71 [[ 9.89049941e-01 -1.47308186e-01 -8.97288345e-03 1.80583140e+01] [-1.47301800e-01 -9.89090642e-01 1.37202137e-03 -1.75037078e+02] [-9.07710502e-03 -3.52757705e-05 -9.99958802e-01 7.07271737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.247628 meters 0.011738789530333572 Centerline is valid? [True, True] Translation: X:18.05, Y:-175.04, Z:0.71 [[ 9.97641504e-01 -6.78498685e-02 -1.03838368e-02 1.80526741e+01] [-6.78456007e-02 -9.97695541e-01 7.63122906e-04 -1.75043973e+02] [-1.04116855e-02 -5.68254363e-05 -9.99945795e-01 7.07986201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27762800000005 meters 0.011873817272427258 Centerline is valid? [True, True] Translation: X:18.05, Y:-175.05, Z:0.71 [[ 9.99881272e-01 1.07513110e-02 -1.10386070e-02 1.80481232e+01] [ 1.07513544e-02 -9.99942201e-01 -5.54127744e-05 -1.75049852e+02] [-1.10385647e-02 -6.32737803e-05 -9.99939071e-01 7.08985807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.307628 meters 0.011954587140252517 Centerline is valid? [True, True] Translation: X:18.04, Y:-175.05, Z:0.71 [[ 9.95945610e-01 8.91002216e-02 -1.23891932e-02 1.80443608e+01] [ 8.90942381e-02 -9.96022663e-01 -1.03514790e-03 -1.75054351e+02] [-1.24321491e-02 -7.28547228e-05 -9.99922715e-01 7.09510695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.33762800000005 meters 0.01192655716972776 Centerline is valid? [True, True] Translation: X:18.04, Y:-175.06, Z:0.71 [[ 9.85985746e-01 1.66311777e-01 -1.31339873e-02 1.80408208e+01] [ 1.66297987e-01 -9.86073216e-01 -2.14283986e-03 -1.75059431e+02] [-1.33074526e-02 -7.13461013e-05 -9.99911449e-01 7.09654840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.367628 meters 0.011852098814962382 Centerline is valid? [True, True] Translation: X:18.04, Y:-175.06, Z:0.71 [[ 9.70432773e-01 2.41018465e-01 -1.30511469e-02 1.80367164e+01] [ 2.40997289e-01 -9.70520529e-01 -3.19518129e-03 -1.75062382e+02] [-1.34365037e-02 -4.45823863e-05 -9.99909725e-01 7.08759129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.397628 meters 0.011757819798032166 Centerline is valid? [True, True] Translation: X:18.03, Y:-175.07, Z:0.71 [[ 9.48957692e-01 3.15171198e-01 -1.21001887e-02 1.80337333e+01] [ 3.15145944e-01 -9.49034834e-01 -3.98985022e-03 -1.75068948e+02] [-1.27409864e-02 -2.71263181e-05 -9.99918830e-01 7.07416245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.427628 meters 0.01171889092422332 Centerline is valid? [True, True] Translation: X:18.03, Y:-175.08, Z:0.71 [[ 9.21853361e-01 3.87391730e-01 -1.06784276e-02 1.80305037e+01] [ 3.87365874e-01 -9.21915206e-01 -4.47579674e-03 -1.75075483e+02] [-1.15784914e-02 -1.04301612e-05 -9.99932967e-01 7.06553714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.457628 meters 0.011767464316056598 Centerline is valid? [True, True] Translation: X:18.03, Y:-175.08, Z:0.70 [[ 8.90269733e-01 4.55365642e-01 -7.86987210e-03 1.80262462e+01] [ 4.55347632e-01 -8.90304516e-01 -4.05001436e-03 -1.75079509e+02] [-8.85082006e-03 2.20775813e-05 -9.99960831e-01 7.04655968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48762800000003 meters 0.011809048521383281 Centerline is valid? [True, True] Translation: X:18.02, Y:-175.09, Z:0.70 [[ 8.52943109e-01 5.21959700e-01 -6.79153777e-03 1.80247233e+01] [ 5.21942817e-01 -8.52970146e-01 -4.19824474e-03 -1.75086195e+02] [-7.98429353e-03 3.60695607e-05 -9.99968124e-01 7.03845860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.517628 meters 0.011974517964703578 Centerline is valid? [True, True] Translation: X:18.02, Y:-175.09, Z:0.70 [[ 8.10655205e-01 5.85491470e-01 -6.15442383e-03 1.80216395e+01] [ 5.85474128e-01 -8.10678565e-01 -4.50665982e-03 -1.75092956e+02] [-7.62787036e-03 5.00913156e-05 -9.99970906e-01 7.03294175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54762800000003 meters 0.01279526413654198 Centerline is valid? [True, True] Translation: X:18.02, Y:-175.10, Z:0.70 [[ 7.65382797e-01 6.43555941e-01 -4.99244651e-03 1.80177868e+01] [ 6.43541612e-01 -7.65399075e-01 -4.29527252e-03 -1.75098389e+02] [-6.58546209e-03 7.46806170e-05 -9.99978313e-01 7.02651976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.577628 meters 0.01334035149919189 Centerline is valid? [True, True] Translation: X:18.02, Y:-175.11, Z:0.70 [[ 7.14199462e-01 6.99925734e-01 -4.80587322e-03 1.80157328e+01] [ 6.99909013e-01 -7.14215625e-01 -4.83886400e-03 -1.75105324e+02] [-6.81927518e-03 9.22400835e-05 -9.99976744e-01 7.03133276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60762800000003 meters 0.016792147820646135 Centerline is valid? [True, True] Translation: X:18.01, Y:-175.11, Z:0.71 [[ 6.58916244e-01 7.52199179e-01 -5.07719871e-03 1.80141374e+01] [ 7.52175385e-01 -6.58935793e-01 -5.98414228e-03 -1.75111512e+02] [-7.84681487e-03 1.24104657e-04 -9.99969206e-01 7.06745273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.637628 meters 0.017323141668953893 Centerline is valid? [True, True] Translation: X:18.01, Y:-175.12, Z:0.71 [[ 5.98766860e-01 8.00904272e-01 -5.53121768e-03 1.80115982e+01] [ 8.00867625e-01 -5.98792386e-01 -7.66325677e-03 -1.75118741e+02] [-9.44958612e-03 1.58731034e-04 -9.99955339e-01 7.08272037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66762800000004 meters 0.017688754967518306 Centerline is valid? [True, True] Translation: X:18.01, Y:-175.13, Z:0.71 [[ 5.33909093e-01 8.45523547e-01 -5.56885184e-03 1.80101720e+01] [ 8.45474069e-01 -5.33938106e-01 -9.14866452e-03 -1.75125766e+02] [-1.07088335e-02 1.76235352e-04 -9.99942643e-01 7.09221231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.697628 meters 0.014008438736326402 Centerline is valid? [True, True] Translation: X:18.01, Y:-175.13, Z:0.71 [[ 4.63388701e-01 8.86135843e-01 -5.84623293e-03 1.80119101e+01] [ 8.86060527e-01 -4.63425546e-01 -1.15544954e-02 -1.75133993e+02] [-1.29481462e-02 1.74106404e-04 -9.99916154e-01 7.08681105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72762800000004 meters 0.013960736217772213 Centerline is valid? [True, True] Translation: X:18.01, Y:-175.14, Z:0.71 [[ 3.91117480e-01 9.20324416e-01 -5.48517445e-03 1.80126236e+01] [ 9.20227681e-01 -3.91155903e-01 -1.33444689e-02 -1.75141628e+02] [-1.44267989e-02 1.71645681e-04 -9.99895914e-01 7.10732987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.757628 meters 0.013773514329219853 Centerline is valid? [True, True] Translation: X:18.01, Y:-175.15, Z:0.71 [[ 3.16270741e-01 9.48656556e-01 -4.85350510e-03 1.80125546e+01] [ 9.48536869e-01 -3.16307939e-01 -1.50696798e-02 -1.75148999e+02] [-1.58311528e-02 1.62370281e-04 -9.99874666e-01 7.12231302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78762800000004 meters 0.013534922191185518 Centerline is valid? [True, True] Translation: X:18.01, Y:-175.16, Z:0.71 [[ 2.39218491e-01 9.70958321e-01 -3.80167849e-03 1.80123283e+01] [ 9.70826405e-01 -2.39248657e-01 -1.60053686e-02 -1.75155250e+02] [-1.64500923e-02 1.38010248e-04 -9.99864679e-01 7.12174932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.817628 meters 0.012463897160990637 Centerline is valid? [True, True] Translation: X:18.02, Y:-175.16, Z:0.71 [[ 1.58975297e-01 9.87280011e-01 -2.24379872e-03 1.80178552e+01] [ 9.87175290e-01 -1.58991115e-01 -1.43796012e-02 -1.75162951e+02] [-1.45534369e-02 7.09787304e-05 -9.99894091e-01 7.08992567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84762800000004 meters 0.012215251865540056 Centerline is valid? [True, True] Translation: X:18.02, Y:-175.17, Z:0.71 [[ 7.94859473e-02 9.96835476e-01 -1.00905953e-03 1.80222762e+01] [ 9.96748195e-01 -7.94923405e-02 -1.31910335e-02 -1.75169626e+02] [-1.32295027e-02 4.27235295e-05 -9.99912485e-01 7.07792545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.877628 meters 0.012008626837258379 Centerline is valid? [True, True] Translation: X:18.03, Y:-175.18, Z:0.71 [[-6.59162477e-04 9.99999782e-01 2.56173757e-05 1.80258983e+01] [ 9.99924911e-01 6.59426598e-04 -1.22367664e-02 -1.75176915e+02] [-1.22367806e-02 1.75494349e-05 -9.99925128e-01 7.06417294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90762800000005 meters 0.011910053515061076 Centerline is valid? [True, True] Translation: X:18.03, Y:-175.18, Z:0.70 [[-8.23679248e-02 9.96601658e-01 8.13175805e-04 1.80309586e+01] [ 9.96550741e-01 8.23719365e-02 -1.00739134e-02 -1.75183116e+02] [-1.01066617e-02 -1.93963908e-05 -9.99948926e-01 7.04072304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.937628 meters 0.011910053515061076 Centerline is valid? [True, True] Translation: X:18.03, Y:-175.19, Z:0.70 [[-1.60181186e-01 9.87086333e-01 1.59983558e-03 1.80323234e+01] [ 9.87035887e-01 1.60189174e-01 -9.97929136e-03 -1.75189181e+02] [-1.01066984e-02 -1.93995964e-05 -9.99948926e-01 7.04072610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96762800000005 meters 0.011830585806674766 Centerline is valid? [True, True] Translation: X:18.04, Y:-175.20, Z:0.70 [[-2.38299886e-01 9.71189433e-01 2.06153178e-03 1.80351777e+01] [ 9.71152061e-01 2.38308801e-01 -8.52001632e-03 -1.75195809e+02] [-8.76583098e-03 -2.82580807e-05 -9.99961579e-01 7.03160127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.997628 meters 0.011926075177438643 Centerline is valid? [True, True] Translation: X:18.04, Y:-175.20, Z:0.70 [[-3.14682132e-01 9.49194401e-01 2.26825628e-03 1.80389724e+01] [ 9.49169021e-01 3.14690306e-01 -6.94124356e-03 -1.75200385e+02] [-7.30238779e-03 -3.13267342e-05 -9.99973337e-01 7.01475807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02762800000005 meters 0.011848167456312198 Centerline is valid? [True, True] Translation: X:18.05, Y:-175.20, Z:0.70 [[-3.89066764e-01 9.21208073e-01 1.65499145e-03 1.80500871e+01] [ 9.21199489e-01 3.89070283e-01 -3.97693395e-03 -1.75201646e+02] [-4.30749165e-03 -2.27155391e-05 -9.99990722e-01 6.98343106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.057628 meters 0.011972104084675216 Centerline is valid? [True, True] Translation: X:18.06, Y:-175.20, Z:0.70 [[-4.60162569e-01 8.87833235e-01 1.59932235e-03 1.80605262e+01] [ 8.87827730e-01 4.60165348e-01 -3.12639405e-03 -1.75203163e+02] [-3.51166927e-03 -1.87267823e-05 -9.99993834e-01 6.97998855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.08762800000005 meters 0.011829948339405387 Centerline is valid? [True, True] Translation: X:18.07, Y:-175.20, Z:0.70 [[-5.28068288e-01 8.49199637e-01 1.96458231e-03 1.80718268e+01] [ 8.49193626e-01 5.28071942e-01 -3.19537936e-03 -1.75201389e+02] [-3.75095579e-03 -1.90677292e-05 -9.99992965e-01 6.98255415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.117628 meters 0.011878901972236075 Centerline is valid? [True, True] Translation: X:18.08, Y:-175.20, Z:0.70 [[-5.92512494e-01 8.05554043e-01 3.41011552e-03 1.80831229e+01] [ 8.05540443e-01 5.92522307e-01 -4.68095447e-03 -1.75200120e+02] [-5.79133131e-03 -2.65380438e-05 -9.99983230e-01 7.00054570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.147628 meters 0.011854595344493875 Centerline is valid? [True, True] Translation: X:18.09, Y:-175.20, Z:0.70 [[-6.53218751e-01 7.57154465e-01 4.73068271e-03 1.80917504e+01] [ 7.57134295e-01 6.53235881e-01 -5.52662417e-03 -1.75199758e+02] [-7.27475985e-03 -2.83324203e-05 -9.99973538e-01 7.01389028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.177628 meters 0.011935557804558263 Centerline is valid? [True, True] Translation: X:18.10, Y:-175.20, Z:0.70 [[-7.08557012e-01 7.05612199e-01 7.64109619e-03 1.81002589e+01] [ 7.05570979e-01 7.08598211e-01 -7.62684047e-03 -1.75197515e+02] [-1.07960588e-02 -1.27155742e-05 -9.99941721e-01 7.04487198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.207628 meters 0.012111240182200552 Centerline is valid? [True, True] Translation: X:18.13, Y:-175.19, Z:0.71 [[-7.55382765e-01 6.55210030e-01 9.83339329e-03 1.81269559e+01] [ 6.55154680e-01 7.55446767e-01 -8.51632179e-03 -1.75185164e+02] [-1.30085846e-02 9.31093433e-06 -9.99915385e-01 7.06740093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23762800000003 meters 0.01226072801867453 Centerline is valid? [True, True] Translation: X:18.15, Y:-175.17, Z:0.71 [[-7.98603942e-01 6.01739431e-01 1.18911833e-02 1.81483396e+01] [ 6.01673497e-01 7.98692466e-01 -8.90774205e-03 -1.75167854e+02] [-1.48575382e-02 4.08519278e-05 -9.99889620e-01 7.08229081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.267628 meters 0.0151938185408416 Centerline is valid? [True, True] Translation: X:18.17, Y:-175.15, Z:0.71 [[-8.37839526e-01 5.45743660e-01 1.37399788e-02 1.81652812e+01] [ 5.45671953e-01 8.37952177e-01 -8.84696875e-03 -1.75148051e+02] [-1.63416222e-02 8.51809540e-05 -9.99866463e-01 7.12311783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29762800000003 meters 0.01652231981408184 Centerline is valid? [True, True] Translation: X:18.60, Y:-174.51, Z:-0.22 [[-8.08153392e-01 -5.88813153e-01 1.36808818e-02 1.85959392e+01] [ 5.88727671e-01 -8.08269181e-01 -1.00329801e-02 -1.74506329e+02] [ 1.69653858e-02 -5.38731848e-05 9.99856076e-01 -2.23326025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.327628 meters 0.013128026350351131 Centerline is valid? [True, True] Translation: X:18.13, Y:-175.13, Z:0.71 [[-8.36280571e-01 5.48134674e-01 1.35346170e-02 1.81336969e+01] [ 5.48066481e-01 8.36390067e-01 -8.64798789e-03 -1.75134218e+02] [-1.60604813e-02 1.85725678e-04 -9.99871005e-01 7.06203228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35762800000003 meters 0.013679779449808355 Centerline is valid? [True, True] Translation: X:18.56, Y:-174.48, Z:-0.22 [[-8.12523948e-01 -5.82808382e-01 1.17993042e-02 1.85598502e+01] [ 5.82742472e-01 -8.12609580e-01 -8.76829561e-03 -1.74479994e+02] [ 1.46984638e-02 -2.48494462e-04 9.99891941e-01 -2.17718488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.387628 meters 0.0138055182315498 Centerline is valid? [True, True] Translation: X:18.10, Y:-175.12, Z:0.70 [[-8.35385757e-01 5.49574714e-01 9.91316340e-03 1.80973245e+01] [ 5.49538824e-01 8.35444549e-01 -6.28383520e-03 -1.75116203e+02] [-1.17353353e-02 1.98241735e-04 -9.99931119e-01 7.01844045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41762800000004 meters 0.013978309128315039 Centerline is valid? [True, True] Translation: X:18.12, Y:-175.10, Z:0.70 [[-8.71607110e-01 4.90124866e-01 8.86920650e-03 1.81173956e+01] [ 4.90101612e-01 8.71652214e-01 -4.77778913e-03 -1.75096239e+02] [-1.00725767e-02 1.82457425e-04 -9.99949254e-01 7.00588734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.447628 meters 0.014457456728943089 Centerline is valid? [True, True] Translation: X:18.14, Y:-175.07, Z:0.70 [[-9.03436511e-01 4.28665840e-01 6.93316942e-03 1.81359596e+01] [ 4.28654483e-01 9.03463101e-01 -3.12396699e-03 -1.75074900e+02] [-7.60300068e-03 1.49628315e-04 -9.99971086e-01 6.99057801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47762800000004 meters 0.014602061256132599 Centerline is valid? [True, True] Translation: X:18.46, Y:-174.36, Z:-0.21 [[-8.91270990e-01 -4.53426443e-01 6.36264233e-03 1.84646112e+01] [ 4.53413559e-01 -8.91293685e-01 -3.42221911e-03 -1.74359585e+02] [ 7.22270757e-03 -1.65216310e-04 9.99973902e-01 -2.10704074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.507628 meters 0.014515109569698443 Centerline is valid? [True, True] Translation: X:18.10, Y:-175.06, Z:0.70 [[-9.04645071e-01 4.26122000e-01 6.11042154e-03 1.80959528e+01] [ 4.26113304e-01 9.04665696e-01 -2.72590730e-03 -1.75056567e+02] [-6.68945783e-03 1.37753311e-04 -9.99977616e-01 6.98213309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53762800000004 meters 0.01489365931728491 Centerline is valid? [True, True] Translation: X:18.11, Y:-175.03, Z:0.70 [[-9.32393210e-01 3.61389421e-01 6.37088433e-03 1.81093136e+01] [ 3.61382027e-01 9.32414965e-01 -2.31617272e-03 -1.75031772e+02] [-6.77734820e-03 1.42739375e-04 -9.99977023e-01 6.98526143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.567628 meters 0.01479880546979475 Centerline is valid? [True, True] Translation: X:18.38, Y:-174.30, Z:-0.21 [[-9.23041091e-01 -3.84648193e-01 6.39619240e-03 1.83839897e+01] [ 3.84637947e-01 -9.23063242e-01 -2.81081503e-03 -1.74298864e+02] [ 6.98526501e-03 -1.34279465e-04 9.99975594e-01 -2.10868771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59762800000004 meters 0.015740197469755128 Centerline is valid? [True, True] Translation: X:18.07, Y:-175.02, Z:0.70 [[-9.33580897e-01 3.58294075e-01 7.21557560e-03 1.80667749e+01] [ 3.58284732e-01 9.33608767e-01 -2.59259468e-03 -1.75015818e+02] [-7.66543594e-03 1.64833707e-04 -9.99970607e-01 6.99527300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.627628 meters 0.014770564576424427 Centerline is valid? [True, True] Translation: X:18.08, Y:-174.99, Z:0.70 [[-9.56717113e-01 2.90906468e-01 8.11131829e-03 1.80776878e+01] [ 2.90897588e-01 9.56751480e-01 -2.27996087e-03 -1.74987476e+02] [-8.42377115e-03 1.78285342e-04 -9.99964504e-01 6.99127306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65762800000005 meters 0.017636159187896815 Centerline is valid? [True, True] Translation: X:18.29, Y:-174.24, Z:-0.22 [[-9.49124758e-01 -3.14733732e-01 1.02406613e-02 1.82944042e+01] [ 3.14714519e-01 -9.49180000e-01 -3.47849989e-03 -1.74243526e+02] [ 1.08150321e-02 -7.86455792e-05 9.99941513e-01 -2.15447128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.687628 meters 0.014741055474929734 Centerline is valid? [True, True] Translation: X:18.03, Y:-174.97, Z:0.70 [[-9.58133178e-01 2.86121069e-01 1.07492783e-02 1.80300491e+01] [ 2.86105660e-01 9.58193448e-01 -2.97778228e-03 -1.74970285e+02] [-1.11518943e-02 2.22317374e-04 -9.99937791e-01 7.00602007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71762800000005 meters 0.0147946465746083 Centerline is valid? [True, True] Translation: X:18.04, Y:-174.94, Z:0.70 [[-9.76291837e-01 2.16154111e-01 1.14738797e-02 1.80378677e+01] [ 2.16141806e-01 9.76359234e-01 -2.31661914e-03 -1.74939499e+02] [-1.17033751e-02 2.18288717e-04 -9.99931489e-01 7.00735403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.747628 meters 0.014650457012214057 Centerline is valid? [True, True] Translation: X:18.04, Y:-174.91, Z:0.70 [[-9.89306566e-01 1.45385431e-01 1.16445012e-02 1.80432179e+01] [ 1.45377832e-01 9.89375072e-01 -1.50090765e-03 -1.74909967e+02] [-1.17389893e-02 2.07994545e-04 -9.99931074e-01 7.00700442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77762800000005 meters 0.016583724541777773 Centerline is valid? [True, True] Translation: X:18.05, Y:-174.88, Z:0.70 [[-9.97122322e-01 7.48312009e-02 1.21394498e-02 1.80508881e+01] [ 7.48282764e-02 9.97196192e-01 -6.95573097e-04 -1.74879982e+02] [-1.21574636e-02 2.14802640e-04 -9.99926072e-01 7.02178183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.807628 meters 0.016531761183607194 Centerline is valid? [True, True] Translation: X:18.09, Y:-174.13, Z:-0.21 [[-9.94065499e-01 -1.08291484e-01 1.03314313e-02 1.80925061e+01] [ 1.08282498e-01 -9.94119140e-01 -1.42692889e-03 -1.74130626e+02] [ 1.04251978e-02 -2.99747595e-04 9.99945611e-01 -2.12277426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.83762800000005 meters 0.013584950816138799 Centerline is valid? [True, True] Translation: X:17.97, Y:-174.87, Z:0.70 [[-9.97778363e-01 6.60631092e-02 8.60259815e-03 1.79731042e+01] [ 6.60617044e-02 9.97815439e-01 -4.47661808e-04 -1.74872088e+02] [-8.61337918e-03 1.21635030e-04 -9.99962897e-01 6.96058076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.867628 meters 0.013284742376078284 Centerline is valid? [True, True] Translation: X:17.97, Y:-174.84, Z:0.70 [[-9.99948363e-01 -6.96502963e-03 7.39994474e-03 1.79699077e+01] [-6.96416955e-03 9.99975740e-01 1.41989768e-04 -1.74841970e+02] [-7.40075418e-03 9.04479664e-05 -9.99972610e-01 6.95220538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.897628 meters 0.012797899320289253 Centerline is valid? [True, True] Translation: X:17.96, Y:-174.11, Z:-0.21 [[-9.99242037e-01 -3.84672385e-02 5.96850068e-03 1.79579909e+01] [ 3.84655330e-02 -9.99259847e-01 -4.00328872e-04 -1.74105409e+02] [ 5.97948262e-03 -1.70443878e-04 9.99982108e-01 -2.06474459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.927628 meters 0.012188526194190337 Centerline is valid? [True, True] Translation: X:17.88, Y:-174.83, Z:0.69 [[-9.99777252e-01 -2.08713229e-02 3.13599032e-03 1.78805765e+01] [-2.08711787e-02 9.99782170e-01 7.87162508e-05 -1.74834214e+02] [-3.13695012e-03 1.32469026e-05 -9.99995080e-01 6.92066012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.957628 meters 0.012056098414310507 Centerline is valid? [True, True] Translation: X:17.87, Y:-174.80, Z:0.69 [[-9.95472351e-01 -9.50279381e-02 2.11882393e-03 1.78726009e+01] [-9.50277168e-02 9.95474606e-01 2.05114909e-04 -1.74804559e+02] [-2.12872707e-03 2.83921988e-06 -9.99997734e-01 6.91682900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98762800000003 meters 0.012310198918994562 Centerline is valid? [True, True] Translation: X:17.86, Y:-174.77, Z:0.69 [[-9.85194947e-01 -1.71417333e-01 2.64837237e-03 1.78569722e+01] [-1.71416747e-01 9.85198507e-01 4.48445994e-04 -1.74773083e+02] [-2.68604392e-03 -1.21686500e-05 -9.99996393e-01 6.92867770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.017628 meters 0.012580587750027874 Centerline is valid? [True, True] Translation: X:17.73, Y:-174.08, Z:-0.21 [[-9.95761573e-01 9.18920893e-02 3.83839560e-03 1.77329311e+01] [-9.18910194e-02 -9.95768966e-01 4.54559227e-04 -1.74081191e+02] [ 3.86392561e-03 9.99185269e-05 9.99992530e-01 -2.06473016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04762800000003 meters 0.013129187160744448 Centerline is valid? [True, True] Translation: X:17.74, Y:-174.78, Z:0.70 [[-9.82775803e-01 -1.84662764e-01 7.16830388e-03 1.77381947e+01] [-1.84658495e-01 9.82801941e-01 1.25857401e-03 -1.74783655e+02] [-7.27743472e-03 -8.67921234e-05 -9.99973515e-01 6.97766243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.077628 meters 0.01332599526028234 Centerline is valid? [True, True] Translation: X:17.71, Y:-174.76, Z:0.70 [[-9.66569033e-01 -2.56270710e-01 8.34434952e-03 1.77138217e+01] [-2.56262192e-01 9.66605043e-01 2.09267095e-03 -1.74759031e+02] [-8.60198060e-03 -1.15630361e-04 -9.99962996e-01 6.98791851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10762800000003 meters 0.013526685524072497 Centerline is valid? [True, True] Translation: X:17.67, Y:-174.74, Z:0.70 [[-9.45239895e-01 -3.26245317e-01 9.24844234e-03 1.76735769e+01] [-3.26231121e-01 9.45285128e-01 3.04662393e-03 -1.74740533e+02] [-9.73636180e-03 -1.37339228e-04 -9.99952591e-01 6.99739492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.137628 meters 0.01338966835258136 Centerline is valid? [True, True] Translation: X:17.62, Y:-174.73, Z:0.70 [[-9.18816714e-01 -3.94573213e-01 9.37153638e-03 1.76183498e+01] [-3.94554279e-01 9.18864494e-01 3.86809186e-03 -1.74731471e+02] [-1.01374175e-02 -1.43512322e-04 -9.99948605e-01 7.00099413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16762800000004 meters 0.0132116436206599 Centerline is valid? [True, True] Translation: X:17.56, Y:-174.73, Z:0.70 [[-8.87908451e-01 -4.59908357e-01 1.01432401e-02 1.75552290e+01] [-4.59880177e-01 8.87966375e-01 5.09312861e-03 -1.74730309e+02] [-1.13492286e-02 -1.42443128e-04 -9.99935585e-01 7.00263047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.197628 meters 0.013029209489780393 Centerline is valid? [True, True] Translation: X:17.48, Y:-174.74, Z:0.70 [[-8.52203163e-01 -5.23114850e-01 1.00310652e-02 1.74815135e+01] [-5.23080339e-01 8.52262189e-01 6.01003716e-03 -1.74739806e+02] [-1.16930373e-02 -1.25280298e-04 -9.99931626e-01 7.00966271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22762800000004 meters 0.012711332567402542 Centerline is valid? [True, True] Translation: X:17.40, Y:-174.76, Z:0.70 [[-8.11989144e-01 -5.83589490e-01 9.84571228e-03 1.74022686e+01] [-5.83548097e-01 8.12048827e-01 6.95135161e-03 -1.74759787e+02] [-1.20519348e-02 -1.01024624e-04 -9.99927368e-01 7.01221217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.257628 meters 0.012517518421886056 Centerline is valid? [True, True] Translation: X:17.32, Y:-174.79, Z:0.70 [[-7.67513185e-01 -6.40962210e-01 9.53713845e-03 1.73195983e+01] [-6.40913856e-01 7.67572433e-01 7.87325105e-03 -1.74789741e+02] [-1.23669010e-02 -6.96601985e-05 -9.99923525e-01 7.01633018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28762800000004 meters 0.014005156407869045 Centerline is valid? [True, True] Translation: X:17.23, Y:-174.83, Z:0.70 [[-7.21525111e-01 -6.92331550e-01 8.86222716e-03 1.72341697e+01] [-6.92279116e-01 7.21579534e-01 8.52061104e-03 -1.74833991e+02] [-1.22938896e-02 1.27000341e-05 -9.99924427e-01 7.03276539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.317628 meters 0.012375881405757875 Centerline is valid? [True, True] Translation: X:17.15, Y:-174.88, Z:0.70 [[-6.69264627e-01 -7.42990248e-01 7.09583482e-03 1.71510512e+01] [-7.42947778e-01 6.69302241e-01 7.94419451e-03 -1.74882714e+02] [-1.06517172e-02 4.49336646e-05 -9.99943268e-01 7.00472953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34762800000004 meters 0.015647033846819803 Centerline is valid? [True, True] Translation: X:17.07, Y:-174.94, Z:0.70 [[-6.16289130e-01 -7.87498021e-01 5.88004971e-03 1.70709673e+01] [-7.87460474e-01 6.16317170e-01 7.69078370e-03 -1.74943120e+02] [-9.68045254e-03 1.09439670e-04 -9.99953137e-01 7.01869501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.377628 meters 0.013291037676685168 Centerline is valid? [True, True] Translation: X:16.99, Y:-175.01, Z:0.70 [[-5.56462732e-01 -8.30859436e-01 4.67172878e-03 1.69892445e+01] [-8.30828344e-01 5.56482329e-01 7.18884193e-03 -1.75012899e+02] [-8.57265167e-03 1.18917936e-04 -9.99963247e-01 6.97775876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40762800000005 meters 0.01662237384126045 Centerline is valid? [True, True] Translation: X:16.91, Y:-175.09, Z:0.70 [[-4.93820967e-01 -8.69553182e-01 4.25623197e-03 1.69139411e+01] [-8.69518232e-01 4.93839286e-01 7.79773764e-03 -1.75091643e+02] [-8.88244214e-03 1.49815049e-04 -9.99960539e-01 7.00062860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.437628 meters 0.0173410136555495 Centerline is valid? [True, True] Translation: X:16.84, Y:-175.18, Z:0.70 [[-4.28034254e-01 -9.03755876e-01 3.46337958e-03 1.68402521e+01] [-9.03723113e-01 4.28048233e-01 7.69704840e-03 -1.75179190e+02] [-8.43874623e-03 1.64664190e-04 -9.99964380e-01 6.99100693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46762800000005 meters 0.014483470100953577 Centerline is valid? [True, True] Translation: X:16.77, Y:-175.28, Z:0.70 [[-3.56644593e-01 -9.34235994e-01 2.78237165e-03 1.67698512e+01] [-9.34204120e-01 3.56655413e-01 7.71864245e-03 -1.75276782e+02] [-8.20338151e-03 1.53509035e-04 -9.99966340e-01 6.96451869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.497628 meters 0.016390498655362535 Centerline is valid? [True, True] Translation: X:16.71, Y:-175.38, Z:0.70 [[-2.82717146e-01 -9.59199552e-01 2.68975360e-03 1.67071311e+01] [-9.59149965e-01 2.82729885e-01 9.75488311e-03 -1.75378754e+02] [-1.01173532e-02 1.77995639e-04 -9.99948802e-01 6.99617125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52762800000005 meters 0.017521877098378526 Centerline is valid? [True, True] Translation: X:16.65, Y:-175.48, Z:0.70 [[-2.02517212e-01 -9.79275750e-01 2.40486046e-03 1.66492720e+01] [-9.79197628e-01 2.02531434e-01 1.23702337e-02 -1.75483779e+02] [-1.26009298e-02 1.50351589e-04 -9.99920594e-01 7.02366555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.557628 meters 0.01613685956696407 Centerline is valid? [True, True] Translation: X:16.60, Y:-175.60, Z:0.70 [[-1.22762976e-01 -9.92434792e-01 1.56064249e-03 1.66002174e+01] [-9.92342885e-01 1.22772846e-01 1.35065828e-02 -1.75595830e+02] [-1.35960072e-02 1.09415816e-04 -9.99907564e-01 7.01550247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.58762800000005 meters 0.015345160479603043 Centerline is valid? [True, True] Translation: X:16.56, Y:-175.71, Z:0.70 [[-4.23636735e-02 -9.99102103e-01 5.54609699e-04 1.65606174e+01] [-9.98996137e-01 4.23672578e-02 1.45511073e-02 -1.75711142e+02] [-1.45615392e-02 6.23854127e-05 -9.99893973e-01 7.03468713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.617628 meters 0.015376729385994475 Centerline is valid? [True, True] Translation: X:16.53, Y:-175.83, Z:0.71 [[ 4.04780598e-02 -9.99180219e-01 -6.45531368e-04 1.65283418e+01] [-9.99039054e-01 -4.04831917e-02 1.67952458e-02 -1.75825739e+02] [-1.68076106e-02 -3.49279170e-05 -9.99858742e-01 7.05921600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.647628 meters 0.01269650592258639 Centerline is valid? [True, True] Translation: X:16.51, Y:-175.94, Z:0.70 [[ 1.19709610e-01 -9.92807257e-01 -1.83285141e-03 1.65098385e+01] [-9.92681507e-01 -1.19723619e-01 1.58013170e-02 -1.75943654e+02] [-1.59070978e-02 -7.21318023e-05 -9.99873472e-01 7.01643663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.677628 meters 0.015656655087177618 Centerline is valid? [True, True] Translation: X:16.50, Y:-176.06, Z:0.70 [[ 1.97140085e-01 -9.80371332e-01 -2.79971508e-03 1.65024603e+01] [-9.80266148e-01 -1.97159945e-01 1.43608690e-02 -1.76063176e+02] [-1.46309759e-02 -8.66370019e-05 -9.99892958e-01 7.00014287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.707628 meters 0.014157749864428712 Centerline is valid? [True, True] Translation: X:16.50, Y:-176.18, Z:0.70 [[ 2.72404805e-01 -9.62177368e-01 -3.21472685e-03 1.65031563e+01] [-9.62107039e-01 -2.72423762e-01 1.16335349e-02 -1.76182806e+02] [-1.20692920e-02 -7.61194840e-05 -9.99927161e-01 6.96503593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73762800000003 meters 0.012541499538012413 Centerline is valid? [True, True] Translation: X:16.51, Y:-176.30, Z:0.69 [[ 3.46300331e-01 -9.38118687e-01 -3.06753915e-03 1.65119850e+01] [-9.38080242e-01 -3.46313911e-01 8.49324947e-03 -1.76300857e+02] [-9.03000753e-03 -6.36172360e-05 -9.99959227e-01 6.92933895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.767628 meters 0.012435204680141991 Centerline is valid? [True, True] Translation: X:16.53, Y:-176.42, Z:0.69 [[ 4.18480562e-01 -9.08223468e-01 -2.03739312e-03 1.65295333e+01] [-9.08212226e-01 -4.18485520e-01 4.51913091e-03 -1.76416339e+02] [-4.95700027e-03 -4.07831041e-05 -9.99987713e-01 6.89646176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79762800000003 meters 0.016304148883421153 Centerline is valid? [True, True] Translation: X:16.55, Y:-176.53, Z:0.69 [[ 4.87316071e-01 -8.73221808e-01 -2.59250182e-03 1.65540396e+01] [-8.73208939e-01 -4.87322965e-01 4.74102772e-03 -1.76529197e+02] [-5.40335447e-03 -4.65832394e-05 -9.99985401e-01 6.91909268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.827628 meters 0.016304148883421153 Centerline is valid? [True, True] Translation: X:16.59, Y:-176.64, Z:0.69 [[ 5.52813669e-01 -8.33299679e-01 -2.94828392e-03 1.65872086e+01] [-8.33287376e-01 -5.52821529e-01 4.52838684e-03 -1.76638536e+02] [-5.40337812e-03 -4.65863701e-05 -9.99985401e-01 6.91910392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85762800000003 meters 0.015013614889427998 Centerline is valid? [True, True] Translation: X:16.63, Y:-176.74, Z:0.69 [[ 6.16035467e-01 -7.87715663e-01 -2.08275527e-03 1.66280044e+01] [-7.87710973e-01 -6.16038987e-01 2.71818129e-03 -1.76743331e+02] [-3.42421242e-03 -3.38868967e-05 -9.99994137e-01 6.90164832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.887628 meters 0.015696920064999943 Centerline is valid? [True, True] Translation: X:16.68, Y:-176.85, Z:0.69 [[ 6.75128380e-01 -7.37698299e-01 -1.70031424e-03 1.66780851e+01] [-7.37695856e-01 -6.75130520e-01 1.89863307e-03 -1.76846691e+02] [-2.54855242e-03 -2.75062971e-05 -9.99996752e-01 6.89763922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91762800000004 meters 0.015860840474839193 Centerline is valid? [True, True] Translation: X:16.73, Y:-176.94, Z:0.69 [[ 7.30101828e-01 -6.83336880e-01 -1.42438770e-03 1.67279229e+01] [-6.83335517e-01 -7.30103218e-01 1.36490116e-03 -1.76936785e+02] [-1.97263734e-03 -2.31821265e-05 -9.99998054e-01 6.89281112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.947628 meters 0.01601272406459675 Centerline is valid? [True, True] Translation: X:16.73, Y:-176.94, Z:0.69 [[ 7.82271890e-01 -6.22935788e-01 -1.30185320e-03 1.67257476e+01] [-6.22934877e-01 -7.82272973e-01 1.06528712e-03 -1.76944706e+02] [-1.68201004e-03 -2.23744121e-05 -9.99998585e-01 6.88643792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97762800000004 meters 0.016590798229819233 Centerline is valid? [True, True] Translation: X:16.72, Y:-176.95, Z:0.69 [[ 8.28808977e-01 -5.59530224e-01 -1.26836443e-03 1.67226703e+01] [-5.59529529e-01 -8.28809947e-01 8.81757304e-04 -1.76951876e+02] [-1.54460292e-03 -2.11210149e-05 -9.99998807e-01 6.89092016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.007628 meters 0.01658286872673323 Centerline is valid? [True, True] Translation: X:16.72, Y:-176.96, Z:0.69 [[ 8.70345631e-01 -4.92437242e-01 -2.01122158e-03 1.67216742e+01] [-4.92435837e-01 -8.70347954e-01 1.17670345e-03 -1.76959395e+02] [-2.32991519e-03 -3.37411273e-05 -9.99997285e-01 6.90209114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03762800000004 meters 0.013496163282540215 Centerline is valid? [True, True] Translation: X:16.72, Y:-176.97, Z:0.69 [[ 9.06572020e-01 -4.22050169e-01 -9.09994324e-04 1.67204416e+01] [-4.22049939e-01 -9.06572476e-01 4.40468749e-04 -1.76967781e+02] [-1.01087572e-03 -1.52535945e-05 -9.99999489e-01 6.88111814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.067628 meters 0.014262049021306029 Centerline is valid? [True, True] Translation: X:16.72, Y:-176.97, Z:0.69 [[ 9.36564149e-01 -3.50481023e-01 -3.26300841e-03 1.67197119e+01] [-3.50478701e-01 -9.36569832e-01 1.27676625e-03 -1.76974527e+02] [-3.50351758e-03 -5.21585441e-05 -9.99993861e-01 6.90835394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09762800000004 meters 0.013299170303034421 Centerline is valid? [True, True] Translation: X:16.72, Y:-176.98, Z:0.69 [[ 9.60935698e-01 -2.76745429e-01 -3.81466468e-03 1.67205469e+01] [-2.76743011e-01 -9.60943268e-01 1.15828178e-03 -1.76980455e+02] [-3.98622554e-03 -5.73525180e-05 -9.99992053e-01 6.91205583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.127628 meters 0.013052956435118215 Centerline is valid? [True, True] Translation: X:16.72, Y:-176.99, Z:0.69 [[ 9.79341771e-01 -2.02141272e-01 -5.34810619e-03 1.67217308e+01] [-2.02137861e-01 -9.79356371e-01 1.17655864e-03 -1.76986497e+02] [-5.47553293e-03 -7.11982790e-05 -9.99985007e-01 6.93177505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15762800000005 meters 0.012384907373645563 Centerline is valid? [True, True] Translation: X:16.72, Y:-176.99, Z:0.70 [[ 9.91620785e-01 -1.28966205e-01 -7.47914360e-03 1.67200259e+01] [-1.28962028e-01 -9.91648987e-01 1.04011263e-03 -1.76987935e+02] [-7.55082456e-03 -6.68717814e-05 -9.99971490e-01 6.96147329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.187628 meters 0.012188221934257898 Centerline is valid? [True, True] Translation: X:16.72, Y:-176.99, Z:0.70 [[ 9.98515945e-01 -5.39472866e-02 -7.45635825e-03 1.67181594e+01] [-5.39454568e-02 -9.98543784e-01 4.46449781e-04 -1.76989912e+02] [-7.46958494e-03 -4.35505727e-05 -9.99972101e-01 6.96472396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21762800000005 meters 0.011959105334599065 Centerline is valid? [True, True] Translation: X:16.72, Y:-176.99, Z:0.70 [[ 9.99747193e-01 2.11898740e-02 -7.51930771e-03 1.67161651e+01] [ 2.11894233e-02 -9.99775469e-01 -1.39598650e-04 -1.76990330e+02] [-7.52057747e-03 -1.97664357e-05 -9.99971720e-01 6.95456686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.247628 meters 0.011832021214282661 Centerline is valid? [True, True] Translation: X:16.71, Y:-176.99, Z:0.69 [[ 9.95379864e-01 9.57698151e-02 -6.86072251e-03 1.67129724e+01] [ 9.57674922e-02 -9.95403507e-01 -6.67057262e-04 -1.76990846e+02] [-6.89307120e-03 6.94117674e-06 -9.99976243e-01 6.94403298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27762800000005 meters 0.014771269562134292 Centerline is valid? [True, True] Translation: X:16.71, Y:-176.99, Z:0.69 [[ 9.86064834e-01 1.66223802e-01 -6.76691579e-03 1.67080158e+01] [ 1.66219490e-01 -9.86088051e-01 -1.19870431e-03 -1.76987362e+02] [-6.87202799e-03 5.72068773e-05 -9.99976386e-01 6.94819158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.307628 meters 0.012959470177822844 Centerline is valid? [True, True] Translation: X:16.70, Y:-176.99, Z:0.69 [[ 9.70585329e-01 2.40715611e-01 -4.48495304e-03 1.67042088e+01] [ 2.40712807e-01 -9.70595689e-01 -1.16294382e-03 -1.76989006e+02] [-4.63301482e-03 4.91505755e-05 -9.99989266e-01 6.92704374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.33762800000005 meters 0.01357009581015855 Centerline is valid? [True, True] Translation: X:16.70, Y:-176.99, Z:0.69 [[ 9.49627794e-01 3.13356940e-01 -3.80538690e-03 1.66994178e+01] [ 3.13354197e-01 -9.49635417e-01 -1.31235863e-03 -1.76990526e+02] [-4.02496686e-03 5.38182739e-05 -9.99991898e-01 6.92717524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.367628 meters 0.014817741208016091 Centerline is valid? [True, True] Translation: X:16.69, Y:-176.99, Z:0.69 [[ 9.23817112e-01 3.82816862e-01 -3.63235623e-03 1.66918896e+01] [ 3.82813604e-01 -9.23824250e-01 -1.58072895e-03 -1.76987394e+02] [-3.96078847e-03 6.97890711e-05 -9.99992154e-01 6.92631965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.397628 meters 0.015411476941666793 Centerline is valid? [True, True] Translation: X:16.69, Y:-176.99, Z:0.69 [[ 8.91751004e-01 4.52511096e-01 -3.72217494e-03 1.66869146e+01] [ 4.52506774e-01 -8.91758769e-01 -1.97951836e-03 -1.76987980e+02] [-4.21503617e-03 8.09281158e-05 -9.99991113e-01 6.92580501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.427628 meters 0.0143432825274933 Centerline is valid? [True, True] Translation: X:16.69, Y:-177.00, Z:0.69 [[ 8.54420016e-01 5.19561551e-01 -4.71505123e-03 1.66870945e+01] [ 5.19552886e-01 -8.54433018e-01 -3.00290017e-03 -1.76997973e+02] [-5.58888692e-03 1.16019533e-04 -9.99984375e-01 6.93381686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.457628 meters 0.01609843848674497 Centerline is valid? [True, True] Translation: X:16.68, Y:-177.01, Z:0.70 [[ 8.10338153e-01 5.85939938e-01 -5.14469855e-03 1.66846833e+01] [ 5.85927142e-01 -8.10354474e-01 -3.87430942e-03 -1.77006752e+02] [-6.43914211e-03 1.25082218e-04 -9.99979261e-01 6.95419311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48762800000003 meters 0.01363392680382371 Centerline is valid? [True, True] Translation: X:16.69, Y:-177.02, Z:0.70 [[ 7.59607074e-01 6.50362715e-01 -5.04307738e-03 1.66892788e+01] [ 6.50347448e-01 -7.59623807e-01 -4.45752721e-03 -1.77021515e+02] [-6.72985114e-03 1.06216701e-04 -9.99977349e-01 6.95017207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.517628 meters 0.012302411497498318 Centerline is valid? [True, True] Translation: X:16.69, Y:-177.03, Z:0.70 [[ 7.00644459e-01 7.13480490e-01 -6.55229808e-03 1.66949445e+01] [ 7.13448316e-01 -7.00675092e-01 -6.77613432e-03 -1.77034893e+02] [-9.42567170e-03 7.29349349e-05 -9.99955575e-01 6.97562843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54762800000003 meters 0.012060886779088446 Centerline is valid? [True, True] Translation: X:16.70, Y:-177.05, Z:0.70 [[ 6.39788711e-01 7.68519279e-01 -6.96585538e-03 1.66987183e+01] [ 7.68472974e-01 -6.39826630e-01 -8.43641381e-03 -1.77045119e+02] [-1.09404864e-02 4.44507158e-05 -9.99940150e-01 6.99089926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.577628 meters 0.011924883099478204 Centerline is valid? [True, True] Translation: X:16.70, Y:-177.06, Z:0.70 [[ 5.75480630e-01 8.17785929e-01 -6.94405245e-03 1.67009945e+01] [ 8.17726044e-01 -5.75522523e-01 -9.89660658e-03 -1.77055165e+02] [-1.20897642e-02 1.69728482e-05 -9.99926916e-01 7.00239244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60762800000003 meters 0.011887843621273235 Centerline is valid? [True, True] Translation: X:16.71, Y:-177.06, Z:0.70 [[ 5.07788625e-01 8.61458225e-01 -6.35914985e-03 1.67060287e+01] [ 8.61390913e-01 -5.07828442e-01 -1.07688423e-02 -1.77064726e+02] [-1.25062649e-02 -9.41826901e-06 -9.99921794e-01 7.00370140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.637628 meters 0.01512681520466924 Centerline is valid? [True, True] Translation: X:16.71, Y:-177.07, Z:0.70 [[ 4.37540783e-01 8.99178793e-01 -5.96338575e-03 1.67131826e+01] [ 8.99096192e-01 -4.37581419e-01 -1.21876773e-02 -1.77074440e+02] [-1.35683678e-02 -2.90515232e-05 -9.99907945e-01 7.02141436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66762800000004 meters 0.012961832218776738 Centerline is valid? [True, True] Translation: X:16.72, Y:-177.08, Z:0.70 [[ 3.65423808e-01 9.30830742e-01 -4.42380250e-03 1.67193023e+01] [ 9.30763538e-01 -3.65450583e-01 -1.11851700e-02 -1.77083901e+02] [-1.20281813e-02 -3.01866470e-05 -9.99927658e-01 7.01453724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.697628 meters 0.011635575035711072 Centerline is valid? [True, True] Translation: X:16.73, Y:-177.09, Z:0.70 [[ 2.91507348e-01 9.56563424e-01 -3.14345304e-03 1.67268166e+01] [ 9.56508748e-01 -2.91524295e-01 -1.02274763e-02 -1.77091600e+02] [-1.06996226e-02 -2.53558526e-05 -9.99942757e-01 6.98201403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72762800000004 meters 0.011491732509615675 Centerline is valid? [True, True] Translation: X:16.73, Y:-177.10, Z:0.70 [[ 2.18468180e-01 9.75842265e-01 -1.87852155e-03 1.67322878e+01] [ 9.75806022e-01 -2.18476256e-01 -8.41034460e-03 -1.77099521e+02] [-8.61758208e-03 4.32004268e-06 -9.99962868e-01 6.95781644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.757628 meters 0.01403831217356365 Centerline is valid? [True, True] Translation: X:16.74, Y:-177.11, Z:0.70 [[ 1.44207609e-01 9.89546720e-01 -1.20627990e-03 1.67381478e+01] [ 9.89510388e-01 -1.44212651e-01 -8.47954419e-03 -1.77105795e+02] [-8.56486596e-03 2.91883037e-05 -9.99963320e-01 6.97008100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78762800000004 meters 0.011908358453088791 Centerline is valid? [True, True] Translation: X:16.74, Y:-177.11, Z:0.69 [[ 7.09066613e-02 9.97482881e-01 -3.83899183e-04 1.67438373e+01] [ 9.97464252e-01 -7.09076833e-02 -6.09646559e-03 -1.77112080e+02] [-6.10834146e-03 4.93543095e-05 -9.99981343e-01 6.92419371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.817628 meters 0.012301944278929501 Centerline is valid? [True, True] Translation: X:16.75, Y:-177.12, Z:0.69 [[-4.62911455e-03 9.99989283e-01 7.85754216e-05 1.67512786e+01] [ 9.99976529e-01 4.62945238e-03 -5.05076900e-03 -1.77119798e+02] [-5.05107863e-03 5.51929891e-05 -9.99987242e-01 6.91733350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84762800000004 meters 0.012759412994076692 Centerline is valid? [True, True] Translation: X:16.76, Y:-177.13, Z:0.69 [[-8.03165102e-02 9.96769347e-01 3.55591682e-04 1.67581720e+01] [ 9.96762216e-01 8.03172808e-02 -3.77087472e-03 -1.77126058e+02] [-3.78725249e-03 5.15768550e-05 -9.99992827e-01 6.91056701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.877628 meters 0.013352277162091771 Centerline is valid? [True, True] Translation: X:16.77, Y:-177.13, Z:0.69 [[-1.55754000e-01 9.87795859e-01 1.82871053e-04 1.67661808e+01] [ 9.87795303e-01 1.55754106e-01 -1.04749136e-03 -1.77132997e+02] [-1.06319055e-03 1.74881975e-05 -9.99999435e-01 6.89601665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90762800000005 meters 0.013542596124323457 Centerline is valid? [True, True] Translation: X:16.78, Y:-177.14, Z:0.69 [[-2.32291557e-01 9.72646162e-01 2.74678513e-04 1.67751249e+01] [ 9.72645574e-01 2.32291719e-01 -1.07015406e-03 -1.77137952e+02] [-1.10468678e-03 1.85770876e-05 -9.99999390e-01 6.89661550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.937628 meters 0.013543763373933265 Centerline is valid? [True, True] Translation: X:16.79, Y:-177.14, Z:0.69 [[-3.07487456e-01 9.51552016e-01 4.74157123e-04 1.67853431e+01] [ 9.51551007e-01 3.07487821e-01 -1.38631814e-03 -1.77142365e+02] [-1.46495136e-03 2.49092502e-05 -9.99998927e-01 6.90252721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96762800000005 meters 0.013630820170832706 Centerline is valid? [True, True] Translation: X:16.80, Y:-177.15, Z:0.69 [[-3.81456536e-01 9.24385209e-01 1.70185897e-03 1.67967955e+01] [ 9.24376815e-01 3.81460326e-01 -3.94008285e-03 -1.77145685e+02] [-4.29134599e-03 7.01886158e-05 -9.99990790e-01 6.92756896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.997628 meters 0.01352668434688883 Centerline is valid? [True, True] Translation: X:16.81, Y:-177.15, Z:0.69 [[-4.53399893e-01 8.91303299e-01 2.63925925e-03 1.68085919e+01] [ 8.91289307e-01 4.53407566e-01 -4.99494965e-03 -1.77147224e+02] [-5.64867522e-03 8.76339113e-05 -9.99984042e-01 6.94361285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02762800000005 meters 0.01620228720432179 Centerline is valid? [True, True] Translation: X:16.82, Y:-177.15, Z:0.70 [[-5.21901742e-01 8.52996176e-01 4.01178652e-03 1.68192865e+01] [ 8.52972659e-01 5.21917148e-01 -6.33506475e-03 -1.77149432e+02] [-7.49760619e-03 1.15662885e-04 -9.99971886e-01 6.98461549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.057628 meters 0.013103531948129788 Centerline is valid? [True, True] Translation: X:16.83, Y:-177.15, Z:0.70 [[-5.89342511e-01 8.07863073e-01 5.71490709e-03 1.68339313e+01] [ 8.07827062e-01 5.89370207e-01 -7.62871960e-03 -1.77146619e+02] [-9.53115683e-03 1.20727832e-04 -9.99954570e-01 6.97375725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.08762800000005 meters 0.014288699501461362 Centerline is valid? [True, True] Translation: X:16.85, Y:-177.15, Z:0.70 [[-6.50694475e-01 7.59304327e-01 7.32386409e-03 1.68467553e+01] [ 7.59258670e-01 6.50735675e-01 -8.32785329e-03 -1.77145512e+02] [-1.10892747e-02 1.41819177e-04 -9.99938502e-01 7.00080209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.117628 meters 0.013258261672035242 Centerline is valid? [True, True] Translation: X:16.86, Y:-177.14, Z:0.70 [[-7.08696425e-01 7.05466136e-01 8.17980729e-03 1.68585028e+01] [ 7.05421365e-01 7.08743616e-01 -7.94888299e-03 -1.77142579e+02] [-1.14050540e-02 1.36865871e-04 -9.99934951e-01 6.99573190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.147628 meters 0.013508233276381246 Centerline is valid? [True, True] Translation: X:17.42, Y:-176.58, Z:-0.21 [[-6.77687998e-01 -7.35304190e-01 8.16856332e-03 1.74219549e+01] [ 7.35248955e-01 -6.77737219e-01 -9.01311742e-03 -1.76577194e+02] [ 1.21635224e-02 -1.02153859e-04 9.99926016e-01 -2.12401524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.177628 meters 0.016788571455991313 Centerline is valid? [True, True] Translation: X:17.40, Y:-176.56, Z:-0.21 [[-6.79098356e-01 -7.33991666e-01 9.03642093e-03 1.74030878e+01] [ 7.33922956e-01 -6.79158448e-01 -1.00447133e-02 -1.76556523e+02] [ 1.35098975e-02 -1.89311542e-04 9.99908719e-01 -2.14781748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.207628 meters 0.017166295540671176 Centerline is valid? [True, True] Translation: X:17.39, Y:-176.54, Z:-0.21 [[-6.80190954e-01 -7.32978044e-01 9.13522934e-03 1.73861727e+01] [ 7.32907815e-01 -6.80252265e-01 -1.01484417e-02 -1.76535819e+02] [ 1.36528454e-02 -2.07597291e-04 9.99906774e-01 -2.14908711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23762800000003 meters 0.017597161110401046 Centerline is valid? [True, True] Translation: X:17.37, Y:-176.51, Z:-0.21 [[-6.82288087e-01 -7.31026976e-01 9.08442186e-03 1.73696138e+01] [ 7.30957429e-01 -6.82348520e-01 -1.00863446e-02 -1.76513268e+02] [ 1.35721318e-02 -2.41467128e-04 9.99907865e-01 -2.14577843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.267628 meters 0.014690695432763655 Centerline is valid? [True, True] Translation: X:17.35, Y:-176.49, Z:-0.21 [[-6.82776562e-01 -7.30575355e-01 8.70727181e-03 1.73523797e+01] [ 7.30511506e-01 -6.82832040e-01 -9.66148950e-03 -1.76492046e+02] [ 1.30040503e-02 -2.35876336e-04 9.99915416e-01 -2.11526106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29762800000003 meters 0.01715048722999993 Centerline is valid? [True, True] Translation: X:17.34, Y:-176.47, Z:-0.21 [[-6.84344557e-01 -7.29103684e-01 8.96355206e-03 1.73351965e+01] [ 7.29035973e-01 -6.84403205e-01 -9.93996490e-03 -1.76471322e+02] [ 1.33819488e-02 -2.67608976e-04 9.99910422e-01 -2.13943420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.327628 meters 0.015004787385737031 Centerline is valid? [True, True] Translation: X:17.32, Y:-176.45, Z:-0.21 [[-6.84675766e-01 -7.28800859e-01 8.27065163e-03 1.73169738e+01] [ 7.28743262e-01 -6.84725673e-01 -9.16577689e-03 -1.76451018e+02] [ 1.23431536e-02 -2.48403671e-04 9.99923790e-01 -2.11683531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35762800000003 meters 0.015094672566419606 Centerline is valid? [True, True] Translation: X:17.30, Y:-176.43, Z:-0.21 [[-6.84740541e-01 -7.28742982e-01 8.00357306e-03 1.72998011e+01] [ 7.28689112e-01 -6.84787273e-01 -8.86391019e-03 -1.76431466e+02] [ 1.19402573e-02 -2.37362115e-04 9.99928684e-01 -2.11596419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.387628 meters 0.014979077901822005 Centerline is valid? [True, True] Translation: X:17.28, Y:-176.41, Z:-0.21 [[-6.82856982e-01 -7.30517301e-01 7.12846235e-03 1.72823097e+01] [ 7.30474698e-01 -6.82894165e-01 -7.89151100e-03 -1.76411222e+02] [ 1.06328707e-02 -1.81612008e-04 9.99943453e-01 -2.10663534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41762800000004 meters 0.013317438914813547 Centerline is valid? [True, True] Translation: X:17.26, Y:-176.39, Z:-0.21 [[-6.81379035e-01 -7.31901594e-01 6.53199259e-03 1.72607309e+01] [ 7.31865924e-01 -6.81410329e-01 -7.22729793e-03 -1.76392294e+02] [ 9.74063810e-03 -1.43986501e-04 9.99952549e-01 -2.07971187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.447628 meters 0.012924643167014421 Centerline is valid? [True, True] Translation: X:17.24, Y:-176.37, Z:-0.21 [[-6.79708656e-01 -7.33456118e-01 6.18600216e-03 1.72421736e+01] [ 7.33424226e-01 -6.79736795e-01 -6.84056953e-03 -1.76372749e+02] [ 9.22211086e-03 -1.12630470e-04 9.99957469e-01 -2.07039442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47762800000004 meters 0.012069333162631826 Centerline is valid? [True, True] Translation: X:17.22, Y:-176.35, Z:-0.21 [[-6.75424184e-01 -7.37406854e-01 5.77088552e-03 1.72222150e+01] [ 7.37379274e-01 -6.75448835e-01 -6.37790802e-03 -1.76353279e+02] [ 8.60105099e-03 -5.24619513e-05 9.99963009e-01 -2.05651074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.507628 meters 0.014223396474113479 Centerline is valid? [True, True] Translation: X:17.20, Y:-176.33, Z:-0.21 [[-6.73478119e-01 -7.39181934e-01 6.10675321e-03 1.72017933e+01] [ 7.39151158e-01 -6.73505804e-01 -6.74524733e-03 -1.76333718e+02] [ 9.09889870e-03 -2.89627747e-05 9.99958604e-01 -2.07635556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53762800000004 meters 0.01490771580168453 Centerline is valid? [True, True] Translation: X:17.18, Y:-176.32, Z:-0.21 [[-6.71272865e-01 -7.41184125e-01 6.23164944e-03 1.71826104e+01] [ 7.41152195e-01 -6.71301789e-01 -6.87977850e-03 -1.76316273e+02] [ 9.28250003e-03 3.92037296e-07 9.99956917e-01 -2.08253430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.567628 meters 0.011641345721457261 Centerline is valid? [True, True] Translation: X:17.16, Y:-176.30, Z:-0.21 [[-6.69159900e-01 -7.43102569e-01 4.85803146e-03 1.71631462e+01] [ 7.43083240e-01 -6.69177534e-01 -5.35972214e-03 -1.76299044e+02] [ 7.23370880e-03 2.34106309e-05 9.99973836e-01 -2.06934482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59762800000004 meters 0.011910313270136027 Centerline is valid? [True, True] Translation: X:17.14, Y:-176.28, Z:-0.21 [[-6.66825969e-01 -7.45199520e-01 4.56096869e-03 1.71428693e+01] [ 7.45182553e-01 -6.66841565e-01 -5.02887652e-03 -1.76280435e+02] [ 6.78895987e-03 4.53688358e-05 9.99976954e-01 -2.07898710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.627628 meters 0.011878801530629993 Centerline is valid? [True, True] Translation: X:17.13, Y:-176.26, Z:-0.21 [[-6.66650933e-01 -7.45358207e-01 4.20433181e-03 1.71256596e+01] [ 7.45343811e-01 -6.66664189e-01 -4.63269597e-03 -1.76259623e+02] [ 6.25589542e-03 4.52816058e-05 9.99980431e-01 -2.07103149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65762800000005 meters 0.011593987808662491 Centerline is valid? [True, True] Translation: X:17.11, Y:-176.24, Z:-0.21 [[-6.68712947e-01 -7.43513146e-01 3.34612999e-03 1.71103792e+01] [ 7.43504016e-01 -6.68721318e-01 -3.68472279e-03 -1.76236145e+02] [ 4.97726829e-03 2.38392452e-05 9.99987613e-01 -2.05502079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.687628 meters 0.011559344862582014 Centerline is valid? [True, True] Translation: X:17.09, Y:-176.21, Z:-0.20 [[-6.70354110e-01 -7.42036581e-01 2.66078997e-03 1.70935686e+01] [ 7.42030803e-01 -6.70359390e-01 -2.92835675e-03 -1.76213242e+02] [ 3.95663338e-03 1.13521356e-05 9.99992172e-01 -2.04264566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71762800000005 meters 0.011599419199082542 Centerline is valid? [True, True] Translation: X:17.08, Y:-176.19, Z:-0.20 [[-6.72136496e-01 -7.40424390e-01 2.06247569e-03 1.70778274e+01] [ 7.40420915e-01 -6.72139660e-01 -2.26834593e-03 -1.76191626e+02] [ 3.06581036e-03 2.46204759e-06 9.99995300e-01 -2.03448889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.747628 meters 0.011599419199082542 Centerline is valid? [True, True] Translation: X:17.06, Y:-176.17, Z:-0.20 [[-6.72371545e-01 -7.40210949e-01 2.06319583e-03 1.70597360e+01] [ 7.40207475e-01 -6.72374710e-01 -2.26769094e-03 -1.76171878e+02] [ 3.06581036e-03 2.46211741e-06 9.99995300e-01 -2.03448787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77762800000005 meters 0.011567903141118167 Centerline is valid? [True, True] Translation: X:17.05, Y:-176.15, Z:-0.20 [[-6.75569577e-01 -7.37294970e-01 1.36870909e-03 1.70456466e+01] [ 7.37293438e-01 -6.75570963e-01 -1.50336570e-03 -1.76148676e+02] [ 2.03308409e-03 -6.48790154e-06 9.99997933e-01 -2.02893140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.807628 meters 0.011729177317209455 Centerline is valid? [True, True] Translation: X:17.03, Y:-176.13, Z:-0.20 [[-6.77093748e-01 -7.35896010e-01 1.05820721e-03 1.70288718e+01] [ 7.35895093e-01 -6.77094574e-01 -1.16174200e-03 -1.76127751e+02] [ 1.57142766e-03 -7.87875512e-06 9.99998765e-01 -2.02802911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.83762800000005 meters 0.01178059887492743 Centerline is valid? [True, True] Translation: X:17.01, Y:-176.11, Z:-0.20 [[-6.78039068e-01 -7.35025671e-01 5.34643860e-04 1.70110573e+01] [ 7.35025437e-01 -6.78039279e-01 -5.86581500e-04 -1.76107334e+02] [ 7.93661998e-04 -4.74833697e-06 9.99999685e-01 -2.02829328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.867628 meters 0.01179629032277301 Centerline is valid? [True, True] Translation: X:16.99, Y:-176.09, Z:-0.20 [[-6.78714979e-01 -7.34401742e-01 2.40666756e-04 1.69916741e+01] [ 7.34401695e-01 -6.78715022e-01 -2.63879903e-04 -1.76087598e+02] [ 3.57138004e-04 -2.35316949e-06 9.99999936e-01 -2.03422706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.897628 meters 0.01179108462924214 Centerline is valid? [True, True] Translation: X:16.97, Y:-176.07, Z:-0.20 [[-6.78752010e-01 -7.34367351e-01 5.49789439e-04 1.69725208e+01] [ 7.34367104e-01 -6.78752233e-01 -6.02433945e-04 -1.76068682e+02] [ 8.15578630e-04 -5.15597296e-06 9.99999667e-01 -2.03843497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.927628 meters 0.01172155448379553 Centerline is valid? [True, True] Translation: X:16.95, Y:-176.05, Z:-0.20 [[-6.78790098e-01 -7.34332008e-01 7.10263569e-04 1.69529217e+01] [ 7.34331597e-01 -6.78790469e-01 -7.77825329e-04 -1.76049002e+02] [ 1.05330218e-03 -6.41115099e-06 9.99999445e-01 -2.04675157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.957628 meters 0.011718719615345976 Centerline is valid? [True, True] Translation: X:16.93, Y:-176.03, Z:-0.21 [[-6.79061059e-01 -7.34080771e-01 1.22485553e-03 1.69340764e+01] [ 7.34079546e-01 -6.79062164e-01 -1.34080218e-03 -1.76028909e+02] [ 1.81601014e-03 -1.13451529e-05 9.99998351e-01 -2.05199224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98762800000003 meters 0.011761738191078043 Centerline is valid? [True, True] Translation: X:16.91, Y:-176.01, Z:-0.21 [[-6.79797317e-01 -7.33399092e-01 1.17493857e-03 1.69149991e+01] [ 7.33397965e-01 -6.79798332e-01 -1.28542904e-03 -1.76008862e+02] [ 1.74145377e-03 -1.21336525e-05 9.99998484e-01 -2.05481026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.017628 meters 0.01189147443295589 Centerline is valid? [True, True] Translation: X:16.90, Y:-175.99, Z:-0.21 [[-6.80364644e-01 -7.32872959e-01 1.08519223e-03 1.68969629e+01] [ 7.32871998e-01 -6.80365509e-01 -1.18644833e-03 -1.75989717e+02] [ 1.60784326e-03 -1.19104998e-05 9.99998707e-01 -2.05180401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04762800000003 meters 0.011935285197047419 Centerline is valid? [True, True] Translation: X:16.88, Y:-175.97, Z:-0.20 [[-6.81136517e-01 -7.32156434e-01 9.35026389e-06 1.68769233e+01] [ 7.32156434e-01 -6.81136518e-01 -1.02184667e-05 -1.75970075e+02] [ 1.38503225e-05 -1.14314938e-07 1.00000000e+00 -2.04521395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.077628 meters 0.011868972869757362 Centerline is valid? [True, True] Translation: X:16.86, Y:-175.95, Z:-0.20 [[-6.81216500e-01 -7.32082016e-01 -4.95123822e-05 1.68573232e+01] [ 7.32082014e-01 -6.81216502e-01 5.40686364e-05 -1.75950038e+02] [-7.33113279e-05 5.85322760e-07 9.99999997e-01 -2.04627247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10762800000003 meters 0.011851965985151963 Centerline is valid? [True, True] Translation: X:16.84, Y:-175.93, Z:-0.21 [[-6.80456913e-01 -7.32787805e-01 6.50239048e-04 1.68384124e+01] [ 7.32787461e-01 -6.80457224e-01 -7.09800310e-04 -1.75931047e+02] [ 9.62592868e-04 -6.50150677e-06 9.99999537e-01 -2.05464822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.137628 meters 0.01180988670506425 Centerline is valid? [True, True] Translation: X:16.82, Y:-175.91, Z:-0.21 [[-6.80267450e-01 -7.32963309e-01 9.91940617e-04 1.68202873e+01] [ 7.32962510e-01 -6.80268174e-01 -1.08208588e-03 -1.75911991e+02] [ 1.46791488e-03 -9.05251601e-06 9.99998923e-01 -2.06469612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16762800000004 meters 0.01171522828793168 Centerline is valid? [True, True] Translation: X:16.80, Y:-175.89, Z:-0.21 [[-6.80130012e-01 -7.33090491e-01 1.22434421e-03 1.68008698e+01] [ 7.33089276e-01 -6.80131114e-01 -1.33476664e-03 -1.75892593e+02] [ 1.81121932e-03 -1.02612377e-05 9.99998360e-01 -2.07170957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.197628 meters 0.011771836584430515 Centerline is valid? [True, True] Translation: X:16.78, Y:-175.87, Z:-0.21 [[-6.80148047e-01 -7.33072606e-01 1.78537786e-03 1.67818266e+01] [ 7.33070026e-01 -6.80150390e-01 -1.94516871e-03 -1.75872514e+02] [ 2.64027534e-03 -1.41957106e-05 9.99996514e-01 -2.08244837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22762800000004 meters 0.01176342079981056 Centerline is valid? [True, True] Translation: X:16.76, Y:-175.85, Z:-0.21 [[-6.80615539e-01 -7.32634726e-01 2.97416580e-03 1.67632253e+01] [ 7.32627570e-01 -6.80622037e-01 -3.23829667e-03 -1.75852011e+02] [ 4.39677137e-03 -2.50791731e-05 9.99990334e-01 -2.10107707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.257628 meters 0.014229012648923097 Centerline is valid? [True, True] Translation: X:16.75, Y:-175.83, Z:-0.21 [[-6.81471808e-01 -7.31837504e-01 3.16906162e-03 1.67463561e+01] [ 7.31829379e-01 -6.81479176e-01 -3.44869075e-03 -1.75832541e+02] [ 4.68353073e-03 -3.09731226e-05 9.99989032e-01 -2.12557894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28762800000004 meters 0.01469922405047444 Centerline is valid? [True, True] Translation: X:16.73, Y:-175.81, Z:-0.21 [[-6.82287442e-01 -7.31078267e-01 2.90070748e-03 1.67283742e+01] [ 7.31071462e-01 -6.82293607e-01 -3.15468503e-03 -1.75811807e+02] [ 4.28545584e-03 -3.17775197e-05 9.99990817e-01 -2.12748140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.317628 meters 0.01217405340157222 Centerline is valid? [True, True] Translation: X:16.71, Y:-175.79, Z:-0.21 [[-6.83402648e-01 -7.30040015e-01 1.54835879e-03 1.67117066e+01] [ 7.30038076e-01 -6.83404401e-01 -1.68286931e-03 -1.75790704e+02] [ 2.28671714e-03 -1.97164717e-05 9.99997385e-01 -2.09829373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34762800000004 meters 0.014471458710149626 Centerline is valid? [True, True] Translation: X:16.69, Y:-175.77, Z:-0.21 [[-6.84154677e-01 -7.29334771e-01 1.78034109e-03 1.66941356e+01] [ 7.29332208e-01 -6.84156993e-01 -1.93378882e-03 -1.75769539e+02] [ 2.62841223e-03 -2.45505646e-05 9.99996545e-01 -2.11294671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.377628 meters 0.012175702736159331 Centerline is valid? [True, True] Translation: X:16.68, Y:-175.75, Z:-0.21 [[-6.83840788e-01 -7.29630619e-01 9.67441663e-04 1.66761701e+01] [ 7.29629864e-01 -6.83841472e-01 -1.05016644e-03 -1.75748756e+02] [ 1.42781032e-03 -1.22723147e-05 9.99998981e-01 -2.08525763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40762800000005 meters 0.012004887316457559 Centerline is valid? [True, True] Translation: X:16.66, Y:-175.73, Z:-0.21 [[-6.83484772e-01 -7.29964351e-01 7.82808941e-04 1.66566967e+01] [ 7.29963857e-01 -6.83485220e-01 -8.49255085e-04 -1.75729002e+02] [ 1.15496428e-03 -9.03068425e-06 9.99999333e-01 -2.08402426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.437628 meters 0.012035715020086147 Centerline is valid? [True, True] Translation: X:16.64, Y:-175.71, Z:-0.21 [[-6.83244816e-01 -7.30188899e-01 8.33160870e-04 1.66385774e+01] [ 7.30188340e-01 -6.83245324e-01 -9.03329859e-04 -1.75709493e+02] [ 1.22885470e-03 -8.83109072e-06 9.99999245e-01 -2.08597235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46762800000005 meters 0.012146408531273816 Centerline is valid? [True, True] Translation: X:16.62, Y:-175.69, Z:-0.21 [[-6.83010550e-01 -7.30408487e-01 1.74853333e-04 1.66197198e+01] [ 7.30408462e-01 -6.83010573e-01 -1.89455496e-04 -1.75690979e+02] [ 2.57806578e-04 -1.68574818e-06 9.99999967e-01 -2.09153194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.497628 meters 0.01214672051027399 Centerline is valid? [True, True] Translation: X:16.60, Y:-175.67, Z:-0.21 [[-6.83419877e-01 -7.30025475e-01 -2.80396649e-04 1.66008841e+01] [ 7.30025411e-01 -6.83419934e-01 3.03622103e-04 -1.75671570e+02] [-4.13280529e-04 2.80470082e-06 9.99999915e-01 -2.09129879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52762800000005 meters 0.012093401973079369 Centerline is valid? [True, True] Translation: X:16.58, Y:-175.65, Z:-0.21 [[-6.84180536e-01 -7.29312380e-01 -6.67880576e-04 1.65814203e+01] [ 7.29312022e-01 -6.84180862e-01 7.22791602e-04 -1.75651105e+02] [-9.84091972e-04 7.42661276e-06 9.99999516e-01 -2.08575841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.557628 meters 0.012381441037413541 Centerline is valid? [True, True] Translation: X:16.56, Y:-175.63, Z:-0.21 [[-6.85205713e-01 -7.28348711e-01 -1.13412538e-03 1.65641939e+01] [ 7.28347678e-01 -6.85206652e-01 1.22676321e-03 -1.75630681e+02] [-1.67062166e-03 1.45475725e-05 9.99998604e-01 -2.08055397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.58762800000005 meters 0.012824342878341392 Centerline is valid? [True, True] Translation: X:16.55, Y:-175.61, Z:-0.21 [[-6.88056481e-01 -7.25655177e-01 -1.68603929e-03 1.65462100e+01] [ 7.25652889e-01 -6.88058546e-01 1.82273134e-03 -1.75609530e+02] [-2.48276817e-03 3.06628330e-05 9.99996917e-01 -2.07583956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.617628 meters 0.013276431201439468 Centerline is valid? [True, True] Translation: X:16.53, Y:-175.59, Z:-0.21 [[-6.89829245e-01 -7.23970232e-01 -1.64782774e-03 1.65277586e+01] [ 7.23968044e-01 -6.89831212e-01 1.78042333e-03 -1.75588461e+02] [-2.42569650e-03 3.52134504e-05 9.99997057e-01 -2.08052765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.647628 meters 0.013933058175691102 Centerline is valid? [True, True] Translation: X:16.51, Y:-175.57, Z:-0.21 [[-6.92462922e-01 -7.21452228e-01 -1.33600282e-03 1.65102042e+01] [ 7.21450786e-01 -6.92464210e-01 1.44291149e-03 -1.75567235e+02] [-1.96612585e-03 3.53024197e-05 9.99998067e-01 -2.08922104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.677628 meters 0.013957128497436626 Centerline is valid? [True, True] Translation: X:16.49, Y:-175.55, Z:-0.21 [[-6.93869861e-01 -7.20099882e-01 -8.80916263e-04 1.64910707e+01] [ 7.20099255e-01 -6.93870419e-01 9.50861994e-04 -1.75547142e+02] [-1.29595735e-03 2.54273343e-05 9.99999160e-01 -2.09753292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.707628 meters 0.01450728854960909 Centerline is valid? [True, True] Translation: X:16.47, Y:-175.53, Z:-0.21 [[-6.95404085e-01 -7.18618876e-01 -2.62642804e-04 1.64723988e+01] [ 7.18618821e-01 -6.95404135e-01 2.83334432e-04 -1.75526399e+02] [-3.86252363e-04 8.29185934e-06 9.99999925e-01 -2.11040618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73762800000003 meters 0.01561489170414199 Centerline is valid? [True, True] Translation: X:16.46, Y:-175.51, Z:-0.21 [[-6.97576294e-01 -7.16507943e-01 1.91868253e-03 1.64551208e+01] [ 7.16504961e-01 -6.97578929e-01 -2.06861206e-03 -1.75505780e+02] [ 2.82060948e-03 -6.82691843e-05 9.99996020e-01 -2.14658981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.767628 meters 0.015288365440116039 Centerline is valid? [True, True] Translation: X:16.43, Y:-175.49, Z:-0.22 [[-6.98320103e-01 -7.15779408e-01 2.97872250e-03 1.64347911e+01] [ 7.15772220e-01 -6.98326447e-01 -3.20965151e-03 -1.75485861e+02] [ 4.37752316e-03 -1.09277352e-04 9.99990413e-01 -2.15990994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79762800000003 meters 0.01843823267743429 Centerline is valid? [True, True] Translation: X:16.42, Y:-175.47, Z:-0.22 [[-6.98790196e-01 -7.15316989e-01 3.72373936e-03 1.64153579e+01] [ 7.15305762e-01 -6.98800104e-01 -4.01014121e-03 -1.75465883e+02] [ 5.47067159e-03 -1.38635144e-04 9.99985026e-01 -2.19758719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.827628 meters 0.014772659305969828 Centerline is valid? [True, True] Translation: X:16.39, Y:-175.45, Z:-0.22 [[-6.97029723e-01 -7.17031602e-01 3.90481704e-03 1.63947566e+01] [ 7.17019296e-01 -6.97040649e-01 -4.20274681e-03 -1.75447095e+02] [ 5.73531848e-03 -1.29610277e-04 9.99983545e-01 -2.17001047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85762800000003 meters 0.014814695467701732 Centerline is valid? [True, True] Translation: X:16.38, Y:-175.43, Z:-0.22 [[-6.95564381e-01 -7.18452797e-01 3.97105252e-03 1.63757375e+01] [ 7.18440108e-01 -6.95575707e-01 -4.27165265e-03 -1.75427284e+02] [ 5.83114846e-03 -1.18246031e-04 9.99982992e-01 -2.17278332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.887628 meters 0.013216724018826596 Centerline is valid? [True, True] Translation: X:16.35, Y:-175.41, Z:-0.22 [[-6.90832764e-01 -7.23005176e-01 3.68881292e-03 1.63520170e+01] [ 7.22994303e-01 -6.90842609e-01 -3.96583903e-03 -1.75410658e+02] [ 5.41571129e-03 -7.27408128e-05 9.99985332e-01 -2.16587060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91762800000004 meters 0.012566818398418094 Centerline is valid? [True, True] Translation: X:16.33, Y:-175.39, Z:-0.22 [[-6.88063001e-01 -7.25644531e-01 3.05315838e-03 1.63302347e+01] [ 7.25637116e-01 -6.88069773e-01 -3.28062128e-03 -1.75392129e+02] [ 4.48135089e-03 -4.17890797e-05 9.99989958e-01 -2.16590426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.947628 meters 0.013507614000747943 Centerline is valid? [True, True] Translation: X:16.31, Y:-175.37, Z:-0.22 [[-6.85391565e-01 -7.28169185e-01 2.83569967e-03 1.63090323e+01] [ 7.28162818e-01 -6.85397430e-01 -3.04515002e-03 -1.75373889e+02] [ 4.16096567e-03 -2.22690792e-05 9.99991343e-01 -2.17471843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97762800000004 meters 0.011819918178642346 Centerline is valid? [True, True] Translation: X:16.29, Y:-175.36, Z:-0.21 [[-6.79865916e-01 -7.33335979e-01 8.23708577e-04 1.62867464e+01] [ 7.33335446e-01 -6.79866415e-01 -8.83996464e-04 -1.75357988e+02] [ 1.20827821e-03 3.05563097e-06 9.99999270e-01 -2.14243708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.007628 meters 0.012078000904741492 Centerline is valid? [True, True] Translation: X:16.27, Y:-175.34, Z:-0.21 [[-6.77966602e-01 -7.35092651e-01 2.85006939e-04 1.62671434e+01] [ 7.35092588e-01 -6.77966661e-01 -3.05719222e-04 -1.75340261e+02] [ 4.17957157e-04 2.23906667e-06 9.99999913e-01 -2.14107984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03762800000004 meters 0.012328397329985176 Centerline is valid? [True, True] Translation: X:16.25, Y:-175.32, Z:-0.21 [[-6.76433621e-01 -7.36503568e-01 -2.25200882e-04 1.62470507e+01] [ 7.36503528e-01 -6.76433659e-01 2.41426864e-04 -1.75320252e+02] [-3.30145203e-04 -2.55199634e-06 9.99999946e-01 -2.14579216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.067628 meters 0.012642492079719823 Centerline is valid? [True, True] Translation: X:16.23, Y:-175.30, Z:-0.22 [[-6.74831196e-01 -7.37972091e-01 -2.20498863e-04 1.62276823e+01] [ 7.37972054e-01 -6.74831232e-01 2.36250777e-04 -1.75299386e+02] [-3.23145999e-04 -3.29260414e-06 9.99999948e-01 -2.15226742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09762800000004 meters 0.01267389975099318 Centerline is valid? [True, True] Translation: X:16.21, Y:-175.28, Z:-0.22 [[-6.75108188e-01 -7.37718725e-01 -1.31569751e-04 1.62087693e+01] [ 7.37718711e-01 -6.75108201e-01 1.40887828e-04 -1.75277928e+02] [-1.92759407e-04 -1.94694081e-06 9.99999981e-01 -2.15349421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.127628 meters 0.01240959976310319 Centerline is valid? [True, True] Translation: X:16.19, Y:-175.26, Z:-0.22 [[-6.76776437e-01 -7.36188600e-01 1.11652908e-05 1.61936985e+01] [ 7.36188600e-01 -6.76776437e-01 -1.19516422e-05 -1.75256144e+02] [ 1.63550687e-05 1.31169989e-07 1.00000000e+00 -2.16193827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15762800000005 meters 0.012272647446562273 Centerline is valid? [True, True] Translation: X:16.18, Y:-175.23, Z:-0.22 [[-6.78510217e-01 -7.34590910e-01 2.85317715e-04 1.61780388e+01] [ 7.34590846e-01 -6.78510277e-01 -3.05176433e-04 -1.75234996e+02] [ 4.17770836e-04 2.52645394e-06 9.99999913e-01 -2.16459980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.187628 meters 0.01202293316538851 Centerline is valid? [True, True] Translation: X:16.16, Y:-175.21, Z:-0.22 [[-6.80642979e-01 -7.32614549e-01 1.02814374e-03 1.61618462e+01] [ 7.32613725e-01 -6.80643756e-01 -1.09901312e-03 -1.75212596e+02] [ 1.50495262e-03 5.19664696e-06 9.99998868e-01 -2.16930932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21762800000005 meters 0.01201771967993293 Centerline is valid? [True, True] Translation: X:16.15, Y:-175.19, Z:-0.22 [[-6.83747728e-01 -7.29715620e-01 2.03905508e-03 1.61460471e+01] [ 7.29712369e-01 -6.83750769e-01 -2.17835482e-03 -1.75189300e+02] [ 2.98378501e-03 -1.52144803e-06 9.99995549e-01 -2.17890706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.247628 meters 0.012001622750595653 Centerline is valid? [True, True] Translation: X:16.13, Y:-175.17, Z:-0.22 [[-6.84680026e-01 -7.28841177e-01 1.94950226e-03 1.61272048e+01] [ 7.28838205e-01 -6.84682801e-01 -2.08142790e-03 -1.75169549e+02] [ 2.85182103e-03 -4.24038477e-06 9.99995934e-01 -2.17850244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27762800000005 meters 0.01213353205050789 Centerline is valid? [True, True] Translation: X:16.11, Y:-175.15, Z:-0.22 [[-6.87063358e-01 -7.26593945e-01 2.27601830e-03 1.61074473e+01] [ 7.26589887e-01 -6.87067128e-01 -2.42865892e-03 -1.75148912e+02] [ 3.32842623e-03 -1.49106768e-05 9.99994461e-01 -2.17966506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.307628 meters 0.012313051298189373 Centerline is valid? [True, True] Translation: X:16.09, Y:-175.13, Z:-0.22 [[-6.88727233e-01 -7.25016364e-01 2.46375277e-03 1.60881897e+01] [ 7.25011603e-01 -6.88731640e-01 -2.62749020e-03 -1.75128747e+02] [ 3.60183787e-03 -2.33747146e-05 9.99993513e-01 -2.18172906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.33762800000005 meters 0.012505312402706524 Centerline is valid? [True, True] Translation: X:16.07, Y:-175.11, Z:-0.22 [[-6.90497671e-01 -7.23331229e-01 2.21370013e-03 1.60693566e+01] [ 7.23327382e-01 -6.90501218e-01 -2.35932210e-03 -1.75108838e+02] [ 3.23513399e-03 -2.78764943e-05 9.99994767e-01 -2.18576327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.367628 meters 0.01487191452468626 Centerline is valid? [True, True] Translation: X:16.05, Y:-175.09, Z:-0.22 [[-6.92067003e-01 -7.21829656e-01 2.28262451e-03 1.60505685e+01] [ 7.21825562e-01 -6.92070766e-01 -2.43140328e-03 -1.75087959e+02] [ 3.33479669e-03 -3.50372574e-05 9.99994439e-01 -2.20136430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.397628 meters 0.012983141843137242 Centerline is valid? [True, True] Translation: X:16.03, Y:-175.07, Z:-0.22 [[-6.93412590e-01 -7.20539279e-01 1.45833219e-03 1.60323130e+01] [ 7.20537607e-01 -6.93414123e-01 -1.55240258e-03 -1.75068253e+02] [ 2.12979517e-03 -2.56723042e-05 9.99997732e-01 -2.16972118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.427628 meters 0.016305097821889148 Centerline is valid? [True, True] Translation: X:16.01, Y:-175.05, Z:-0.22 [[-6.94359302e-01 -7.19627418e-01 1.24078896e-03 1.60117965e+01] [ 7.19626207e-01 -6.94360410e-01 -1.31998750e-03 -1.75050024e+02] [ 1.81145393e-03 -2.36413440e-05 9.99998359e-01 -2.20420140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.457628 meters 0.01322680619654346 Centerline is valid? [True, True] Translation: X:15.99, Y:-175.03, Z:-0.22 [[-6.94813913e-01 -7.19189556e-01 9.66668458e-05 1.59924763e+01] [ 7.19189549e-01 -6.94813919e-01 -1.02773522e-04 -1.75031156e+02] [ 1.41079114e-04 -1.88668751e-06 9.99999990e-01 -2.17881220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48762800000003 meters 0.013120725320218591 Centerline is valid? [True, True] Translation: X:15.97, Y:-175.01, Z:-0.22 [[-6.95901644e-01 -7.18137016e-01 -3.57183733e-04 1.59727573e+01] [ 7.18136916e-01 -6.95901736e-01 3.79518264e-04 -1.75011646e+02] [-5.21110893e-04 7.60055922e-06 9.99999864e-01 -2.17420348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.517628 meters 0.013759839572939853 Centerline is valid? [True, True] Translation: X:15.95, Y:-174.99, Z:-0.22 [[-6.97313255e-01 -7.16766232e-01 -6.26480279e-04 1.59545252e+01] [ 7.16765924e-01 -6.97313536e-01 6.65415408e-04 -1.74990635e+02] [-9.13800474e-04 1.49632681e-05 9.99999582e-01 -2.16605670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54762800000003 meters 0.015027414463278715 Centerline is valid? [True, True] Translation: X:15.94, Y:-174.97, Z:-0.22 [[-7.00579856e-01 -7.13572971e-01 -1.21671950e-03 1.59375701e+01] [ 7.13571802e-01 -7.00580912e-01 1.29171795e-03 -1.74969875e+02] [-1.77414548e-03 3.67348518e-05 9.99998426e-01 -2.15531270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.577628 meters 0.015582344546930452 Centerline is valid? [True, True] Translation: X:15.92, Y:-174.95, Z:-0.22 [[-7.02424963e-01 -7.11757004e-01 -1.06714054e-03 1.59187030e+01] [ 7.11756104e-01 -7.02425773e-01 1.13228771e-03 -1.74949250e+02] [-1.55550073e-03 3.58033638e-05 9.99998790e-01 -2.15351270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60762800000003 meters 0.016097047278594977 Centerline is valid? [True, True] Translation: X:15.90, Y:-174.93, Z:-0.22 [[-7.04967145e-01 -7.09239192e-01 -1.04543916e-03 1.58995098e+01] [ 7.09238326e-01 -7.04967919e-01 1.10863700e-03 -1.74928964e+02] [-1.52328988e-03 4.00871392e-05 9.99998839e-01 -2.15128214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.637628 meters 0.016097047278594977 Centerline is valid? [True, True] Translation: X:15.88, Y:-174.91, Z:-0.22 [[-7.05191144e-01 -7.09016471e-01 -1.04578940e-03 1.58810592e+01] [ 7.09015606e-01 -7.05191919e-01 1.10830662e-03 -1.74909540e+02] [-1.52328988e-03 4.00870070e-05 9.99998839e-01 -2.15128112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66762800000004 meters 0.01633567336609495 Centerline is valid? [True, True] Translation: X:15.86, Y:-174.89, Z:-0.22 [[-7.06165760e-01 -7.08046015e-01 -8.71870179e-04 1.58616007e+01] [ 7.08045414e-01 -7.06166297e-01 9.23470553e-04 -1.74889714e+02] [-1.26954498e-03 3.47996030e-05 9.99999194e-01 -2.15287129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.697628 meters 0.016673511572965833 Centerline is valid? [True, True] Translation: X:15.84, Y:-174.87, Z:-0.22 [[-7.06965279e-01 -7.07247791e-01 -8.10199541e-04 1.58415339e+01] [ 7.07247272e-01 -7.06965742e-01 8.57669694e-04 -1.74869883e+02] [-1.17936832e-03 3.33312788e-05 9.99999304e-01 -2.15923218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72762800000004 meters 0.01699743884407433 Centerline is valid? [True, True] Translation: X:15.82, Y:-174.85, Z:-0.22 [[-7.07644003e-01 -7.06568686e-01 -8.10308499e-04 1.58220018e+01] [ 7.06568167e-01 -7.07644466e-01 8.57247282e-04 -1.74851058e+02] [-1.17911441e-03 3.40877075e-05 9.99999304e-01 -2.16853435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.757628 meters 0.016851326138741372 Centerline is valid? [True, True] Translation: X:15.80, Y:-174.83, Z:-0.22 [[-7.08376746e-01 -7.05834525e-01 -9.90420249e-05 1.58004893e+01] [ 7.05834517e-01 -7.08376753e-01 1.04718919e-04 -1.74832575e+02] [-1.44073296e-04 4.27316737e-06 9.99999990e-01 -2.17952823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78762800000004 meters 0.018519377759099863 Centerline is valid? [True, True] Translation: X:15.78, Y:-174.81, Z:-0.22 [[-7.07952574e-01 -7.06259891e-01 3.44824531e-04 1.57808901e+01] [ 7.06259797e-01 -7.07952658e-01 -3.64367444e-04 -1.74814268e+02] [ 5.01457555e-04 -1.44191663e-05 9.99999874e-01 -2.19809431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.817628 meters 0.01600583427033454 Centerline is valid? [True, True] Translation: X:15.76, Y:-174.80, Z:-0.22 [[-7.06780344e-01 -7.07433058e-01 -1.16599927e-04 1.57591136e+01] [ 7.07433047e-01 -7.06780354e-01 1.23136584e-04 -1.74796252e+02] [-1.69521428e-04 4.54387572e-06 9.99999986e-01 -2.17609735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84762800000004 meters 0.015308905576081954 Centerline is valid? [True, True] Translation: X:15.74, Y:-174.78, Z:-0.22 [[-7.05138152e-01 -7.09069833e-01 -3.99256382e-04 1.57383262e+01] [ 7.09069708e-01 -7.05138264e-01 4.21404698e-04 -1.74777768e+02] [-5.80336311e-04 1.40479233e-05 9.99999832e-01 -2.16846772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.877628 meters 0.014760839496601426 Centerline is valid? [True, True] Translation: X:15.72, Y:-174.76, Z:-0.22 [[-7.02853967e-01 -7.11333556e-01 -9.34979729e-04 1.57175043e+01] [ 7.11332872e-01 -7.02854588e-01 9.86290718e-04 -1.74759627e+02] [-1.35873648e-03 2.81365280e-05 9.99999077e-01 -2.16216908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90762800000005 meters 0.012789213786005432 Centerline is valid? [True, True] Translation: X:15.69, Y:-174.75, Z:-0.21 [[-6.96232453e-01 -7.17812701e-01 -2.30156558e-03 1.56921239e+01] [ 7.17808601e-01 -6.96236257e-01 2.42644910e-03 -1.74745424e+02] [-3.34416939e-03 3.72890463e-05 9.99994408e-01 -2.14742547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.937628 meters 0.012240860918398632 Centerline is valid? [True, True] Translation: X:15.67, Y:-174.73, Z:-0.21 [[-6.92396627e-01 -7.21511482e-01 -2.84454369e-03 1.56698010e+01] [ 7.21505257e-01 -6.92402470e-01 2.99719496e-03 -1.74728365e+02] [-4.13207965e-03 2.28944541e-05 9.99991463e-01 -2.14808808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96762800000005 meters 0.012092403989627168 Centerline is valid? [True, True] Translation: X:15.65, Y:-174.71, Z:-0.21 [[-6.88846679e-01 -7.24899131e-01 -3.39156361e-03 1.56490198e+01] [ 7.24890334e-01 -6.88855028e-01 3.57118751e-03 -1.74712436e+02] [-4.92504637e-03 1.48897940e-06 9.99987872e-01 -2.14684808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.997628 meters 0.012842376205214605 Centerline is valid? [True, True] Translation: X:15.62, Y:-174.70, Z:-0.22 [[-6.82435940e-01 -7.30935399e-01 -3.82500488e-03 1.56247287e+01] [ 7.30924317e-01 -6.82446657e-01 4.02518092e-03 -1.74697453e+02] [-5.55250902e-03 -4.88609543e-05 9.99984584e-01 -2.16000883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02762800000005 meters 0.013356663721401046 Centerline is valid? [True, True] Translation: X:15.60, Y:-174.68, Z:-0.22 [[-6.80180457e-01 -7.33033646e-01 -4.02730769e-03 1.56034217e+01] [ 7.33021412e-01 -6.80192376e-01 4.23568116e-03 -1.74678365e+02] [-5.84424079e-03 -7.10752249e-05 9.99982920e-01 -2.16728778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.057628 meters 0.016585000941661973 Centerline is valid? [True, True] Translation: X:15.58, Y:-174.66, Z:-0.22 [[-6.77499309e-01 -7.35517011e-01 -3.06794123e-03 1.55840153e+01] [ 7.35509943e-01 -6.77506252e-01 3.22535174e-03 -1.74659726e+02] [-4.45085043e-03 -7.13277062e-05 9.99990092e-01 -2.20926770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.08762800000005 meters 0.014576725711821503 Centerline is valid? [True, True] Translation: X:15.56, Y:-174.64, Z:-0.22 [[-6.76584788e-01 -7.36357310e-01 -3.30696608e-03 1.55648165e+01] [ 7.36349117e-01 -6.76592865e-01 3.47467657e-03 -1.74638743e+02] [-4.79607314e-03 -8.41682419e-05 9.99988495e-01 -2.19133081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.117628 meters 0.014467586425438972 Centerline is valid? [True, True] Translation: X:15.55, Y:-174.62, Z:-0.22 [[-6.76445254e-01 -7.36488254e-01 -2.62128853e-03 1.55467711e+01] [ 7.36483113e-01 -6.76450329e-01 2.75265428e-03 -1.74617402e+02] [-3.80046903e-03 -6.85148139e-05 9.99992776e-01 -2.19984196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.147628 meters 0.014846655927345404 Centerline is valid? [True, True] Translation: X:15.53, Y:-174.60, Z:-0.22 [[-6.76579980e-01 -7.36365289e-01 -2.38564864e-03 1.55292483e+01] [ 7.36361035e-01 -6.76584183e-01 2.50396404e-03 -1.74597410e+02] [-3.45792434e-03 -6.25667642e-05 9.99994019e-01 -2.20791799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.177628 meters 0.014578411625801802 Centerline is valid? [True, True] Translation: X:15.51, Y:-174.57, Z:-0.22 [[-6.77862689e-01 -7.35187358e-01 -1.31283380e-03 1.55144443e+01] [ 7.35186069e-01 -6.77863959e-01 1.37708102e-03 -1.74574387e+02] [-1.90233528e-03 -3.17052729e-05 9.99998190e-01 -2.22800072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.207628 meters 0.014299729378327035 Centerline is valid? [True, True] Translation: X:15.50, Y:-174.55, Z:-0.22 [[-6.79058488e-01 -7.34083867e-01 -6.68534005e-04 1.54976882e+01] [ 7.34083532e-01 -6.79058817e-01 7.00790644e-04 -1.74553494e+02] [-9.68413016e-04 -1.48819692e-05 9.99999531e-01 -2.24120331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23762800000003 meters 0.013770006509955409 Centerline is valid? [True, True] Translation: X:15.48, Y:-174.53, Z:-0.23 [[-6.81591344e-01 -7.31732331e-01 1.01800388e-03 1.54830041e+01] [ 7.31731554e-01 -6.81592104e-01 -1.06654548e-03 -1.74529423e+02] [ 1.47428921e-03 1.79573964e-05 9.99998913e-01 -2.27145317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.267628 meters 0.01657143572669343 Centerline is valid? [True, True] Translation: X:15.47, Y:-174.51, Z:-0.23 [[-6.83556534e-01 -7.29892988e-01 2.58678053e-03 1.54673562e+01] [ 7.29887962e-01 -6.83561427e-01 -2.70885311e-03 -1.74507619e+02] [ 3.74539629e-03 3.64057276e-05 9.99992985e-01 -2.32232938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29762800000003 meters 0.015408553994684332 Centerline is valid? [True, True] Translation: X:15.45, Y:-174.48, Z:-0.23 [[-6.85080125e-01 -7.28461441e-01 3.02500744e-03 1.54522297e+01] [ 7.28454563e-01 -6.85086803e-01 -3.16577804e-03 -1.74484879e+02] [ 4.37853991e-03 3.47688516e-05 9.99990414e-01 -2.32207608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.327628 meters 0.0126310889726259 Centerline is valid? [True, True] Translation: X:15.44, Y:-174.46, Z:-0.23 [[-6.87306096e-01 -7.26363358e-01 2.56956730e-03 1.54390802e+01] [ 7.26358386e-01 -6.87310899e-01 -2.68746283e-03 -1.74459999e+02] [ 3.71816614e-03 1.93171698e-05 9.99993087e-01 -2.28292768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35762800000003 meters 0.012496370224872483 Centerline is valid? [True, True] Translation: X:15.42, Y:-174.44, Z:-0.23 [[-6.88137629e-01 -7.25578053e-01 1.75846825e-03 1.54208638e+01] [ 7.25575725e-01 -6.88139876e-01 -1.83810627e-03 -1.74438167e+02] [ 2.54376169e-03 1.10317831e-05 9.99996765e-01 -2.26585698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.387628 meters 0.012472518051675834 Centerline is valid? [True, True] Translation: X:15.40, Y:-174.42, Z:-0.22 [[-6.88364811e-01 -7.25364124e-01 -8.79968715e-04 1.54011248e+01] [ 7.25363542e-01 -6.88365373e-01 9.19202434e-04 -1.74421281e+02] [-1.27249646e-03 -5.55061466e-06 9.99999190e-01 -2.24933820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41762800000004 meters 0.0125386695957771 Centerline is valid? [True, True] Translation: X:15.38, Y:-174.40, Z:-0.22 [[-6.88191626e-01 -7.25527693e-01 -1.36105302e-03 1.53816222e+01] [ 7.25526301e-01 -6.88192972e-01 1.42104633e-03 -1.74404218e+02] [-1.96767559e-03 -9.52758196e-06 9.99998064e-01 -2.24675741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.447628 meters 0.012502165197952182 Centerline is valid? [True, True] Translation: X:15.36, Y:-174.39, Z:-0.23 [[-6.88236019e-01 -7.25484315e-01 -1.92111682e-03 1.53601332e+01] [ 7.25481546e-01 -6.88238701e-01 2.00452059e-03 -1.74386367e+02] [-2.77643519e-03 -1.41515285e-05 9.99996146e-01 -2.25059518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47762800000004 meters 0.012443437387682079 Centerline is valid? [True, True] Translation: X:15.34, Y:-174.37, Z:-0.23 [[-6.88516159e-01 -7.25218330e-01 -1.96800576e-03 1.53405880e+01] [ 7.25215426e-01 -6.88518971e-01 2.05227397e-03 -1.74366784e+02] [-2.84335601e-03 -1.42043461e-05 9.99995958e-01 -2.25486434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.507628 meters 0.012422723382209384 Centerline is valid? [True, True] Translation: X:15.32, Y:-174.35, Z:-0.23 [[-6.89063340e-01 -7.24699706e-01 -1.43128181e-03 1.53215612e+01] [ 7.24698171e-01 -6.89064827e-01 1.49166993e-03 -1.74346826e+02] [-2.06725871e-03 -9.39224412e-06 9.99997863e-01 -2.25517121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53762800000004 meters 0.012304723703757556 Centerline is valid? [True, True] Translation: X:15.30, Y:-174.33, Z:-0.23 [[-6.90042602e-01 -7.23768279e-01 -8.28383671e-04 1.53039348e+01] [ 7.23767765e-01 -6.90043099e-01 8.62793856e-04 -1.74326614e+02] [-1.19608326e-03 -4.19288069e-06 9.99999285e-01 -2.26032623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.567628 meters 0.012230658939133918 Centerline is valid? [True, True] Translation: X:15.29, Y:-174.30, Z:-0.23 [[-6.92386982e-01 -7.21526125e-01 5.64005670e-04 1.52871325e+01] [ 7.21525887e-01 -6.92387211e-01 -5.87100230e-04 -1.74303537e+02] [ 8.14118467e-04 4.44135201e-07 9.99999669e-01 -2.27491147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59762800000004 meters 0.012764905679724712 Centerline is valid? [True, True] Translation: X:15.27, Y:-174.28, Z:-0.23 [[-6.94198698e-01 -7.19780190e-01 2.15571585e-03 1.52702024e+01] [ 7.19776696e-01 -6.94202045e-01 -2.24262878e-03 -1.74282342e+02] [ 3.11070212e-03 -5.19594967e-06 9.99995162e-01 -2.29939140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.627628 meters 0.012262431024387344 Centerline is valid? [True, True] Translation: X:15.25, Y:-174.26, Z:-0.23 [[-6.94496248e-01 -7.19491132e-01 2.73356236e-03 1.52509319e+01] [ 7.19485518e-01 -6.94501628e-01 -2.84215216e-03 -1.74261596e+02] [ 3.94336678e-03 -7.10548144e-06 9.99992225e-01 -2.29840615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65762800000005 meters 0.012307042427341377 Centerline is valid? [True, True] Translation: X:15.23, Y:-174.24, Z:-0.23 [[-6.94493047e-01 -7.19493206e-01 2.98891019e-03 1.52324289e+01] [ 7.19486503e-01 -6.94499479e-01 -3.10577500e-03 -1.74242435e+02] [ 4.31038058e-03 -6.45860337e-06 9.99990710e-01 -2.30144469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.687628 meters 0.012225330350944065 Centerline is valid? [True, True] Translation: X:15.21, Y:-174.22, Z:-0.23 [[-6.93896439e-01 -7.20066964e-01 3.36144673e-03 1.52121394e+01] [ 7.20058503e-01 -6.93904581e-01 -3.49069035e-03 -1.74223709e+02] [ 4.84605409e-03 -1.73929969e-06 9.99988258e-01 -2.29667924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71762800000005 meters 0.012224894455471992 Centerline is valid? [True, True] Translation: X:15.19, Y:-174.20, Z:-0.23 [[-6.93306433e-01 -7.20636660e-01 2.99903652e-03 1.51914569e+01] [ 7.20629938e-01 -6.93312919e-01 -3.11258399e-03 -1.74204159e+02] [ 4.32231290e-03 3.22099697e-06 9.99990659e-01 -2.28370249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.747628 meters 0.012185779795519915 Centerline is valid? [True, True] Translation: X:15.17, Y:-174.18, Z:-0.23 [[-6.93017391e-01 -7.20917114e-01 2.32619801e-03 1.51705543e+01] [ 7.20913076e-01 -6.93021295e-01 -2.41289243e-03 -1.74184815e+02] [ 3.35160020e-03 4.81014253e-06 9.99994383e-01 -2.27235496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77762800000005 meters 0.01207750827827951 Centerline is valid? [True, True] Translation: X:15.15, Y:-174.17, Z:-0.23 [[-6.92365930e-01 -7.21546321e-01 5.71113156e-04 1.51488031e+01] [ 7.21546078e-01 -6.92366165e-01 -5.92061413e-04 -1.74166416e+02] [ 8.22619160e-04 2.16130718e-06 9.99999662e-01 -2.25667980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.807628 meters 0.01216309463361915 Centerline is valid? [True, True] Translation: X:15.13, Y:-174.15, Z:-0.22 [[-6.92773930e-01 -7.21154624e-01 -5.38824302e-04 1.51302920e+01] [ 7.21154408e-01 -6.92774139e-01 5.58210076e-04 -1.74147393e+02] [-7.75839319e-04 -1.86213287e-06 9.99999699e-01 -2.24766073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.83762800000005 meters 0.012114591114065465 Centerline is valid? [True, True] Translation: X:15.11, Y:-174.13, Z:-0.22 [[-6.94106986e-01 -7.19869014e-01 -2.02342736e-03 1.51127785e+01] [ 7.19865966e-01 -6.94109936e-01 2.09484913e-03 -1.74127406e+02] [-2.91249801e-03 -2.54707309e-06 9.99995759e-01 -2.23118339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.867628 meters 0.012266685481379271 Centerline is valid? [True, True] Translation: X:15.10, Y:-174.10, Z:-0.22 [[-6.97411494e-01 -7.16657534e-01 -4.38019645e-03 1.50961705e+01] [ 7.16643203e-01 -6.97425249e-01 4.53227214e-03 -1.74104536e+02] [-6.30294658e-03 2.18206715e-05 9.99980136e-01 -2.20984715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.897628 meters 0.012412365326244136 Centerline is valid? [True, True] Translation: X:15.08, Y:-174.08, Z:-0.22 [[-6.99178690e-01 -7.14927706e-01 -5.24727427e-03 1.50781965e+01] [ 7.14907116e-01 -6.99198379e-01 5.42602955e-03 -1.74084038e+02] [-7.54810452e-03 4.24505201e-05 9.99971512e-01 -2.21015237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.927628 meters 0.012722137107885811 Centerline is valid? [True, True] Translation: X:15.06, Y:-174.06, Z:-0.22 [[-7.01267067e-01 -7.12869649e-01 -6.43141097e-03 1.50598862e+01] [ 7.12838666e-01 -7.01296554e-01 6.64675328e-03 -1.74062944e+02] [-9.24859504e-03 7.65907635e-05 9.99957228e-01 -2.21018606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.957628 meters 0.01278985053005375 Centerline is valid? [True, True] Translation: X:15.04, Y:-174.04, Z:-0.22 [[-7.01500753e-01 -7.12635520e-01 -6.87812758e-03 1.50413432e+01] [ 7.12600118e-01 -7.01534467e-01 7.10370218e-03 -1.74043685e+02] [-9.88759407e-03 8.18979022e-05 9.99951113e-01 -2.20631989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98762800000003 meters 0.012787183099265081 Centerline is valid? [True, True] Translation: X:15.02, Y:-174.02, Z:-0.22 [[-7.01432230e-01 -7.12701815e-01 -6.99641817e-03 1.50221033e+01] [ 7.12665233e-01 -7.01467118e-01 7.22136332e-03 -1.74024101e+02] [-1.00544360e-02 7.91929884e-05 9.99949450e-01 -2.20388844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.017628 meters 0.012607977491627523 Centerline is valid? [True, True] Translation: X:15.00, Y:-174.01, Z:-0.22 [[-7.00744652e-01 -7.13382404e-01 -6.51752427e-03 1.50022964e+01] [ 7.13350729e-01 -7.00774958e-01 6.72280433e-03 -1.74005008e+02] [-9.36324811e-03 6.16884948e-05 9.99956162e-01 -2.21176670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04762800000003 meters 0.012537760466908224 Centerline is valid? [True, True] Translation: X:14.98, Y:-173.99, Z:-0.22 [[-7.00487316e-01 -7.13640465e-01 -5.89973680e-03 1.49819365e+01] [ 7.13614549e-01 -7.00512158e-01 6.08211872e-03 -1.73985804e+02] [-8.47328339e-03 5.03090050e-05 9.99964100e-01 -2.21840307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.077628 meters 0.012320316414536465 Centerline is valid? [True, True] Translation: X:14.96, Y:-173.97, Z:-0.22 [[-6.99524043e-01 -7.14597440e-01 -4.07588379e-03 1.49613077e+01] [ 7.14585103e-01 -6.99535917e-01 4.19908446e-03 -1.73968908e+02] [-5.85188211e-03 2.47946975e-05 9.99982877e-01 -2.24902620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10762800000003 meters 0.012257056850524427 Centerline is valid? [True, True] Translation: X:14.94, Y:-173.95, Z:-0.23 [[-6.99163132e-01 -7.14955505e-01 -3.08869575e-03 1.49408128e+01] [ 7.14948432e-01 -6.99169954e-01 3.18024929e-03 -1.73949552e+02] [-4.43326000e-03 1.52548646e-05 9.99990173e-01 -2.26583912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.137628 meters 0.012162843879670234 Centerline is valid? [True, True] Translation: X:14.92, Y:-173.93, Z:-0.23 [[-6.98929365e-01 -7.15186122e-01 -2.55985768e-03 1.49210001e+01] [ 7.15181271e-01 -6.98934053e-01 2.63423658e-03 -1.73930153e+02] [-3.67314115e-03 1.03830308e-05 9.99993254e-01 -2.27786347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16762800000004 meters 0.012153142538852494 Centerline is valid? [True, True] Translation: X:14.90, Y:-173.91, Z:-0.23 [[-6.98551932e-01 -7.15557447e-01 -1.65472422e-03 1.49009405e+01] [ 7.15555423e-01 -6.98553892e-01 1.70183806e-03 -1.73910481e+02] [-2.37367694e-03 4.77537119e-06 9.99997183e-01 -2.29239031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.197628 meters 0.012159722337616004 Centerline is valid? [True, True] Translation: X:14.88, Y:-173.89, Z:-0.23 [[-6.98475492e-01 -7.15633458e-01 -8.60661851e-04 1.48812582e+01] [ 7.15632912e-01 -6.98476022e-01 8.84665836e-04 -1.73890724e+02] [-1.23424814e-03 1.99945861e-06 9.99999238e-01 -2.29892186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22762800000004 meters 0.012118344816567417 Centerline is valid? [True, True] Translation: X:14.86, Y:-173.87, Z:-0.23 [[-6.98478928e-01 -7.15630442e-01 -5.06756304e-04 1.48619548e+01] [ 7.15630253e-01 -6.98479112e-01 5.20560084e-04 -1.73871697e+02] [-7.26487336e-04 9.50106785e-07 9.99999736e-01 -2.30772913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.257628 meters 0.012082939893480062 Centerline is valid? [True, True] Translation: X:14.84, Y:-173.85, Z:-0.23 [[-6.98696151e-01 -7.15417947e-01 -9.21857724e-04 1.48434212e+01] [ 7.15417321e-01 -6.98696759e-01 9.46508475e-04 -1.73853686e+02] [-1.32124815e-03 1.80884386e-06 9.99999127e-01 -2.31323878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28762800000004 meters 0.012000769165619722 Centerline is valid? [True, True] Translation: X:14.82, Y:-173.83, Z:-0.23 [[-6.99014827e-01 -7.15106970e-01 -5.41795220e-04 1.48248143e+01] [ 7.15106754e-01 -6.99015037e-01 5.55935919e-04 -1.73834318e+02] [-7.76276656e-04 1.16602908e-06 9.99999699e-01 -2.31348626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.317628 meters 0.012102716498902275 Centerline is valid? [True, True] Translation: X:14.81, Y:-173.81, Z:-0.23 [[-6.99237678e-01 -7.14889015e-01 -6.05004613e-04 1.48058492e+01] [ 7.14888746e-01 -6.99237939e-01 6.20409579e-04 -1.73814201e+02] [-8.66566172e-04 1.30276375e-06 9.99999625e-01 -2.30953181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34762800000004 meters 0.012100204148340009 Centerline is valid? [True, True] Translation: X:14.79, Y:-173.79, Z:-0.23 [[-6.99340175e-01 -7.14787903e-01 -1.25450761e-03 1.47875713e+01] [ 7.14786746e-01 -6.99341300e-01 1.28583182e-03 -1.73794662e+02] [-1.79642601e-03 2.52843822e-06 9.99998386e-01 -2.29808080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.377628 meters 0.012064033559282789 Centerline is valid? [True, True] Translation: X:14.77, Y:-173.77, Z:-0.23 [[-6.99146807e-01 -7.14976563e-01 -1.50229950e-03 1.47682215e+01] [ 7.14974907e-01 -6.99148421e-01 1.53886219e-03 -1.73774863e+02] [-2.15058073e-03 1.78414241e-06 9.99997688e-01 -2.29186331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40762800000005 meters 0.01210109948650305 Centerline is valid? [True, True] Translation: X:14.75, Y:-173.76, Z:-0.23 [[-6.98650431e-01 -7.15461677e-01 -1.47090822e-03 1.47485572e+01] [ 7.15460092e-01 -6.98651980e-01 1.50584821e-03 -1.73755057e+02] [-2.10502963e-03 -3.14630447e-07 9.99997784e-01 -2.29249717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.437628 meters 0.013947701354503319 Centerline is valid? [True, True] Translation: X:14.73, Y:-173.74, Z:-0.23 [[-6.97436032e-01 -7.16647020e-01 1.73922018e-04 1.47276496e+01] [ 7.16646998e-01 -6.97436053e-01 -1.77948291e-04 -1.73736980e+02] [ 2.48825598e-04 5.33142519e-07 9.99999969e-01 -2.32166883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46762800000005 meters 0.012145951259280273 Centerline is valid? [True, True] Translation: X:14.71, Y:-173.72, Z:-0.23 [[-6.97015942e-01 -7.17055617e-01 -1.37044084e-04 1.47074349e+01] [ 7.17055603e-01 -6.97015956e-01 1.40134613e-04 -1.73717997e+02] [-1.96006224e-04 -5.92169069e-07 9.99999981e-01 -2.31978094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.497628 meters 0.014988066440013768 Centerline is valid? [True, True] Translation: X:14.69, Y:-173.70, Z:-0.24 [[-6.97141852e-01 -7.16930567e-01 1.94923613e-03 1.46892308e+01] [ 7.16927800e-01 -6.97144577e-01 -1.99205984e-03 -1.73699752e+02] [ 2.78706799e-03 8.71327876e-06 9.99996116e-01 -2.35794573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52762800000005 meters 0.012176398831615245 Centerline is valid? [True, True] Translation: X:14.67, Y:-173.68, Z:-0.23 [[-6.97254694e-01 -7.16821444e-01 1.70534338e-03 1.46706188e+01] [ 7.16819328e-01 -6.97256780e-01 -1.74181880e-03 -1.73678856e+02] [ 2.43763530e-03 7.93176086e-06 9.99997029e-01 -2.33849438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.557628 meters 0.012176398831615245 Centerline is valid? [True, True] Translation: X:14.65, Y:-173.66, Z:-0.23 [[-6.97458275e-01 -7.16623364e-01 1.70583806e-03 1.46512624e+01] [ 7.16621248e-01 -6.97460361e-01 -1.74133434e-03 -1.73659184e+02] [ 2.43763530e-03 7.93176113e-06 9.99997029e-01 -2.33849334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.58762800000005 meters 0.012240674789801837 Centerline is valid? [True, True] Translation: X:14.63, Y:-173.64, Z:-0.23 [[-6.97700022e-01 -7.16385581e-01 2.52561130e-03 1.46334823e+01] [ 7.16380948e-01 -6.97704593e-01 -2.57644040e-03 -1.73640142e+02] [ 3.60785536e-03 1.17172875e-05 9.99993492e-01 -2.34321098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.617628 meters 0.01227389013727742 Centerline is valid? [True, True] Translation: X:14.61, Y:-173.62, Z:-0.24 [[-6.97371776e-01 -7.16696677e-01 4.29882217e-03 1.46132077e+01] [ 7.16683276e-01 -6.97385025e-01 -4.38283862e-03 -1.73620115e+02] [ 6.13910008e-03 2.44260032e-05 9.99981155e-01 -2.36211298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.647628 meters 0.014805302829955859 Centerline is valid? [True, True] Translation: X:14.59, Y:-173.60, Z:-0.24 [[-6.97153735e-01 -7.16894968e-01 6.18662761e-03 1.45933680e+01] [ 7.16867254e-01 -6.97181184e-01 -6.30374943e-03 -1.73601047e+02] [ 8.83232661e-03 4.03082825e-05 9.99960993e-01 -2.39025563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.677628 meters 0.016160797843122743 Centerline is valid? [True, True] Translation: X:14.57, Y:-173.58, Z:-0.24 [[-6.96449478e-01 -7.17558653e-01 8.22831989e-03 1.45717302e+01] [ 7.17509728e-01 -6.96498080e-01 -8.37939972e-03 -1.73582521e+02] [ 1.17437198e-02 6.80710068e-05 9.99931038e-01 -2.41791920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.707628 meters 0.012579726037180442 Centerline is valid? [True, True] Translation: X:14.55, Y:-173.56, Z:-0.24 [[-6.96928443e-01 -7.17097676e-01 7.85290067e-03 1.45511190e+01] [ 7.17053136e-01 -6.96972682e-01 -7.99256961e-03 -1.73563101e+02] [ 1.12047103e-02 6.06979513e-05 9.99937223e-01 -2.40212977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73762800000003 meters 0.01524712797623907 Centerline is valid? [True, True] Translation: X:14.53, Y:-173.54, Z:-0.24 [[-6.98381620e-01 -7.15665870e-01 9.24530954e-03 1.45310250e+01] [ 7.15604078e-01 -6.98442811e-01 -9.40441402e-03 -1.73542929e+02] [ 1.31877381e-02 4.81113078e-05 9.99913037e-01 -2.43063435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.767628 meters 0.01242201644772102 Centerline is valid? [True, True] Translation: X:14.51, Y:-173.52, Z:-0.24 [[-7.01780544e-01 -7.12339120e-01 8.77757981e-03 1.45134866e+01] [ 7.12283236e-01 -7.01835435e-01 -8.92268067e-03 -1.73522665e+02] [ 1.25163910e-02 -9.64075192e-06 9.99921667e-01 -2.41125239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79762800000003 meters 0.016018063802698917 Centerline is valid? [True, True] Translation: X:14.50, Y:-173.50, Z:-0.24 [[-7.04522218e-01 -7.09625348e-01 8.96155108e-03 1.44969703e+01] [ 7.09566953e-01 -7.04579210e-01 -9.10367256e-03 -1.73502651e+02] [ 1.27743194e-02 -5.49190947e-05 9.99918404e-01 -2.41808816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.827628 meters 0.013442071115885015 Centerline is valid? [True, True] Translation: X:14.48, Y:-173.48, Z:-0.24 [[-7.10167830e-01 -7.04002754e-01 6.46343734e-03 1.44805595e+01] [ 7.03972177e-01 -7.10197234e-01 -6.56227657e-03 -1.73479077e+02] [ 9.21017609e-03 -1.10237654e-04 9.99957579e-01 -2.35942402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85762800000003 meters 0.014480627764303824 Centerline is valid? [True, True] Translation: X:14.46, Y:-173.46, Z:-0.23 [[-7.13811167e-01 -7.00314038e-01 5.81937319e-03 1.44633655e+01] [ 7.00289158e-01 -7.13834875e-01 -5.90489383e-03 -1.73458131e+02] [ 8.28935157e-03 -1.39735213e-04 9.99965633e-01 -2.34857631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.887628 meters 0.015605742124911883 Centerline is valid? [True, True] Translation: X:14.44, Y:-173.44, Z:-0.23 [[-7.17485482e-01 -6.96553201e-01 5.31240426e-03 1.44448083e+01] [ 6.96532385e-01 -7.17505130e-01 -5.38750373e-03 -1.73436738e+02] [ 7.56436028e-03 -1.65194098e-04 9.99971376e-01 -2.34709206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91762800000004 meters 0.016993562161877744 Centerline is valid? [True, True] Translation: X:14.43, Y:-173.42, Z:-0.23 [[-7.20720433e-01 -6.93206571e-01 5.16803412e-03 1.44267975e+01] [ 6.93186800e-01 -7.20738936e-01 -5.23897946e-03 -1.73415523e+02] [ 7.35649839e-03 -1.93426507e-04 9.99972922e-01 -2.34868122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.947628 meters 0.019378132289397977 Centerline is valid? [True, True] Translation: X:14.41, Y:-173.39, Z:-0.23 [[-7.25098978e-01 -6.88626322e-01 5.02607020e-03 1.44111926e+01] [ 6.88607534e-01 -7.25116360e-01 -5.09206025e-03 -1.73394097e+02] [ 7.15101245e-03 -2.31257874e-04 9.99974404e-01 -2.34953268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97762800000004 meters 0.02022217078966489 Centerline is valid? [True, True] Translation: X:14.39, Y:-173.37, Z:-0.23 [[-7.26472946e-01 -6.87178817e-01 4.72582298e-03 1.43925640e+01] [ 6.87162193e-01 -7.26488280e-01 -4.78530190e-03 -1.73373092e+02] [ 6.72161310e-03 -2.28985484e-04 9.99977384e-01 -2.34839519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.007628 meters 0.02043795712994464 Centerline is valid? [True, True] Translation: X:14.37, Y:-173.35, Z:-0.23 [[-7.26126527e-01 -6.87541751e-01 5.15823609e-03 1.43745893e+01] [ 6.87521978e-01 -7.26144808e-01 -5.22002625e-03 -1.73353176e+02] [ 7.33461234e-03 -2.43998856e-04 9.99973072e-01 -2.33962039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03762800000004 meters 0.019870092431235595 Centerline is valid? [True, True] Translation: X:14.35, Y:-173.33, Z:-0.23 [[-7.24894289e-01 -6.88838036e-01 5.51642198e-03 1.43535570e+01] [ 6.88815480e-01 -7.24915237e-01 -5.57973696e-03 -1.73333861e+02] [ 7.84247339e-03 -2.44922599e-04 9.99969217e-01 -2.34050051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.067628 meters 0.01787388288842471 Centerline is valid? [True, True] Translation: X:14.33, Y:-173.32, Z:-0.24 [[-7.20432510e-01 -6.93491947e-01 6.77622822e-03 1.43302289e+01] [ 6.93458157e-01 -7.20464339e-01 -6.84989712e-03 -1.73319407e+02] [ 9.63237928e-03 -2.35857842e-04 9.99953580e-01 -2.36259758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09762800000004 meters 0.016387288504983406 Centerline is valid? [True, True] Translation: X:14.31, Y:-173.30, Z:-0.24 [[-7.17381199e-01 -6.96644954e-01 7.07266234e-03 1.43084220e+01] [ 6.96608328e-01 -7.17416035e-01 -7.14629232e-03 -1.73303857e+02] [ 1.00524699e-02 -1.99740268e-04 9.99949453e-01 -2.37426024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.127628 meters 0.014255360918488225 Centerline is valid? [True, True] Translation: X:14.28, Y:-173.29, Z:-0.24 [[-7.13785271e-01 -7.00328752e-01 7.08704032e-03 1.42846364e+01] [ 7.00292197e-01 -7.13820438e-01 -7.15691759e-03 -1.73288009e+02] [ 1.00710694e-02 -1.45503324e-04 9.99949275e-01 -2.37129045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15762800000005 meters 0.012239153607743124 Centerline is valid? [True, True] Translation: X:14.26, Y:-173.27, Z:-0.24 [[-7.05830125e-01 -7.08351275e-01 6.50433900e-03 1.42593891e+01] [ 7.08320853e-01 -7.05860093e-01 -6.56499518e-03 -1.73273308e+02] [ 9.24147603e-03 -2.66124174e-05 9.99957296e-01 -2.35030222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.187628 meters 0.012296667696362812 Centerline is valid? [True, True] Translation: X:14.24, Y:-173.26, Z:-0.24 [[-7.02223532e-01 -7.11928221e-01 6.34972778e-03 1.42381469e+01] [ 7.11899411e-01 -7.02252239e-01 -6.40482642e-03 -1.73257509e+02] [ 9.01888724e-03 2.27476373e-05 9.99959329e-01 -2.35114075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21762800000005 meters 0.012436109191730932 Centerline is valid? [True, True] Translation: X:14.22, Y:-173.24, Z:-0.23 [[-6.99100194e-01 -7.14999355e-01 5.90272671e-03 1.42158729e+01] [ 7.14974595e-01 -6.99125110e-01 -5.95058238e-03 -1.73239780e+02] [ 8.38140702e-03 6.02463494e-05 9.99964874e-01 -2.33020667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.247628 meters 0.013429304286595516 Centerline is valid? [True, True] Translation: X:14.19, Y:-173.22, Z:-0.23 [[-6.94358558e-01 -7.19614661e-01 4.57517035e-03 1.41920218e+01] [ 7.19599903e-01 -6.94373625e-01 -4.60966689e-03 -1.73224090e+02] [ 6.49406149e-03 9.15304853e-05 9.99978909e-01 -2.32394391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27762800000005 meters 0.013859547747026737 Centerline is valid? [True, True] Translation: X:14.17, Y:-173.21, Z:-0.23 [[-6.93261370e-01 -7.20675833e-01 3.87516556e-03 1.41711002e+01] [ 7.20665273e-01 -6.93272195e-01 -3.90219120e-03 -1.73205054e+02] [ 5.49875943e-03 8.74588293e-05 9.99984878e-01 -2.31443936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.307628 meters 0.01402121714739335 Centerline is valid? [True, True] Translation: X:14.15, Y:-173.19, Z:-0.23 [[-6.93246919e-01 -7.20697068e-01 2.10854994e-03 1.41520058e+01] [ 7.20693946e-01 -6.93250124e-01 -2.12191856e-03 -1.73185319e+02] [ 2.99101299e-03 4.86056709e-05 9.99995526e-01 -2.29762512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.33762800000005 meters 0.01378804168458302 Centerline is valid? [True, True] Translation: X:14.13, Y:-173.16, Z:-0.23 [[-6.94184648e-01 -7.19795516e-01 1.44556880e-03 1.41343366e+01] [ 7.19794049e-01 -6.94186152e-01 -1.45381404e-03 -1.73164860e+02] [ 2.04994267e-03 3.12964289e-05 9.99997898e-01 -2.29262221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.367628 meters 0.013432929568980814 Centerline is valid? [True, True] Translation: X:14.12, Y:-173.14, Z:-0.23 [[-6.95402212e-01 -7.18619982e-01 1.04141210e-03 1.41160734e+01] [ 7.18619220e-01 -6.95402992e-01 -1.04676116e-03 -1.73143308e+02] [ 1.47642457e-03 2.04587291e-05 9.99998910e-01 -2.28631508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.397628 meters 0.013057205039458716 Centerline is valid? [True, True] Translation: X:14.10, Y:-173.12, Z:-0.23 [[-6.97669283e-01 -7.16417383e-01 1.92516400e-03 1.41000939e+01] [ 7.16414773e-01 -6.97671938e-01 -1.93376301e-03 -1.73122583e+02] [ 2.72851433e-03 3.00888831e-05 9.99996277e-01 -2.29467180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.427628 meters 0.012864631180459982 Centerline is valid? [True, True] Translation: X:14.08, Y:-173.10, Z:-0.23 [[-6.98511924e-01 -7.15592382e-01 2.93853231e-03 1.40814782e+01] [ 7.15586304e-01 -6.98518103e-01 -2.94981125e-03 -1.73102662e+02] [ 4.16348048e-03 4.22951417e-05 9.99991332e-01 -2.31076784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.457628 meters 0.012733228081984255 Centerline is valid? [True, True] Translation: X:14.06, Y:-173.08, Z:-0.24 [[-6.99903200e-01 -7.14216296e-01 5.53114899e-03 1.40634674e+01] [ 7.14194743e-01 -6.99925052e-01 -5.54892192e-03 -1.73082108e+02] [ 7.83452021e-03 6.66093243e-05 9.99969307e-01 -2.35223149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48762800000003 meters 0.012720556222663772 Centerline is valid? [True, True] Translation: X:14.05, Y:-173.06, Z:-0.24 [[-7.01028497e-01 -7.13101630e-01 6.71652596e-03 1.40454820e+01] [ 7.13069838e-01 -7.01060669e-01 -6.73386896e-03 -1.73061867e+02] [ 9.51062511e-03 6.87180420e-05 9.99954771e-01 -2.36743420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.517628 meters 0.012620040665742526 Centerline is valid? [True, True] Translation: X:14.03, Y:-173.04, Z:-0.24 [[-7.02228806e-01 -7.11906844e-01 7.95927834e-03 1.40284687e+01] [ 7.11862181e-01 -7.02273908e-01 -7.97457925e-03 -1.73042116e+02] [ 1.12667510e-02 6.59299718e-05 9.99936526e-01 -2.37354051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54762800000003 meters 0.014677515184766352 Centerline is valid? [True, True] Translation: X:14.01, Y:-173.02, Z:-0.24 [[-7.05883093e-01 -7.08275403e-01 8.66097947e-03 1.40120046e+01] [ 7.08222303e-01 -7.05936225e-01 -8.67269766e-03 -1.73018988e+02] [ 1.22567576e-02 1.19881809e-05 9.99924883e-01 -2.38550635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.577628 meters 0.012408542663944006 Centerline is valid? [True, True] Translation: X:13.99, Y:-173.00, Z:-0.24 [[-7.07781333e-01 -7.06386560e-01 7.97566551e-03 1.39942460e+01] [ 7.06341456e-01 -7.07826269e-01 -7.98251440e-03 -1.72999536e+02] [ 1.12841264e-02 -1.63315000e-05 9.99936332e-01 -2.36574118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60762800000003 meters 0.012635297791880747 Centerline is valid? [True, True] Translation: X:13.98, Y:-172.98, Z:-0.23 [[-7.11514814e-01 -7.02642471e-01 6.34251045e-03 1.39778260e+01] [ 7.02613833e-01 -7.11543080e-01 -6.34397198e-03 -1.72978032e+02] [ 8.97051357e-03 -5.74944668e-05 9.99959763e-01 -2.34546322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.637628 meters 0.01278958392085756 Centerline is valid? [True, True] Translation: X:13.96, Y:-172.96, Z:-0.23 [[-7.13073628e-01 -7.01065589e-01 5.74816043e-03 1.39596494e+01] [ 7.01042045e-01 -7.13096793e-01 -5.74589821e-03 -1.72957681e+02] [ 8.12724628e-03 -6.75463457e-05 9.99966971e-01 -2.33404804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66762800000004 meters 0.013011295150571244 Centerline is valid? [True, True] Translation: X:13.41, Y:-173.52, Z:0.72 [[-7.48964964e-01 6.62584955e-01 5.71486708e-03 1.34063514e+01] [ 6.62566433e-01 7.48986763e-01 -4.95487082e-03 -1.73519043e+02] [-7.56338265e-03 7.54544436e-05 -9.99971394e-01 7.20314324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.697628 meters 0.013349551552730165 Centerline is valid? [True, True] Translation: X:13.43, Y:-173.50, Z:0.72 [[-7.92777690e-01 6.09488597e-01 5.21392141e-03 1.34280396e+01] [ 6.09476057e-01 7.92794831e-01 -3.91043895e-03 -1.73501540e+02] [-6.51693789e-03 7.76515083e-05 -9.99978762e-01 7.19820862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72762800000004 meters 0.013416996876136447 Centerline is valid? [True, True] Translation: X:13.91, Y:-172.88, Z:-0.23 [[-7.65745480e-01 -6.43123594e-01 5.08945933e-03 1.39072997e+01] [ 6.43108789e-01 -7.65762390e-01 -4.36432751e-03 -1.72876766e+02] [ 6.70411854e-03 -6.88880366e-05 9.99977525e-01 -2.32035449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.757628 meters 0.013519554662590078 Centerline is valid? [True, True] Translation: X:13.39, Y:-173.48, Z:0.72 [[-7.94631994e-01 6.07061662e-01 6.01100915e-03 1.33945124e+01] [ 6.07045174e-01 7.94654723e-01 -4.47515614e-03 -1.73477371e+02] [-7.49337254e-03 9.28518543e-05 -9.99971920e-01 7.20660857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78762800000004 meters 0.013439029835961654 Centerline is valid? [True, True] Translation: X:13.42, Y:-173.46, Z:0.72 [[-8.35640110e-01 5.49229438e-01 7.25471451e-03 1.34159171e+01] [ 5.49209840e-01 8.35671594e-01 -4.64106573e-03 -1.73457197e+02] [-8.61156876e-03 1.06099912e-04 -9.99962914e-01 7.21646385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.817628 meters 0.016200264552185057 Centerline is valid? [True, True] Translation: X:13.43, Y:-173.43, Z:0.73 [[-8.71818938e-01 4.89733285e-01 9.64612590e-03 1.34311172e+01] [ 4.89705188e-01 8.71872288e-01 -5.24805051e-03 -1.73432978e+02] [-1.09803349e-02 1.48408065e-04 -9.99939703e-01 7.25465283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84762800000004 meters 0.01363380289859875 Centerline is valid? [True, True] Translation: X:13.45, Y:-173.41, Z:0.72 [[-9.04279563e-01 4.26818538e-01 1.02179968e-02 1.34509481e+01] [ 4.26793171e-01 9.04337278e-01 -4.65580055e-03 -1.73410535e+02] [-1.12276974e-02 1.50825989e-04 -9.99936956e-01 7.23905601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.877628 meters 0.013690861965273714 Centerline is valid? [True, True] Translation: X:13.47, Y:-173.39, Z:0.72 [[-9.32427199e-01 3.61195636e-01 1.08273089e-02 1.34671706e+01] [ 3.61173135e-01 9.32490048e-01 -4.03440074e-03 -1.73386025e+02] [-1.15535658e-02 1.48748123e-04 -9.99933244e-01 7.23724178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90762800000005 meters 0.013658632975920532 Centerline is valid? [True, True] Translation: X:13.48, Y:-173.36, Z:0.72 [[-9.55760325e-01 2.93941304e-01 1.09868848e-02 1.34777907e+01] [ 2.93923621e-01 9.55823461e-01 -3.22735849e-03 -1.73359677e+02] [-1.14501762e-02 1.44723769e-04 -9.99934434e-01 7.22718834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.937628 meters 0.013423503703964267 Centerline is valid? [True, True] Translation: X:13.70, Y:-172.62, Z:-0.23 [[-9.42313511e-01 -3.34574197e-01 1.02642416e-02 1.37013774e+01] [ 3.34552380e-01 -9.42369396e-01 -3.82447942e-03 -1.72615360e+02] [ 1.09522793e-02 -1.69932168e-04 9.99940008e-01 -2.33692545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96762800000005 meters 0.013091322001079691 Centerline is valid? [True, True] Translation: X:13.43, Y:-173.34, Z:0.72 [[-9.57624682e-01 2.87897896e-01 8.35282420e-03 1.34295718e+01] [ 2.87887749e-01 9.57661106e-01 -2.41874034e-03 -1.73343329e+02] [-8.69552511e-03 8.84303134e-05 -9.99962189e-01 7.19514187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.997628 meters 0.013108860066782642 Centerline is valid? [True, True] Translation: X:13.65, Y:-172.60, Z:-0.23 [[-9.42539315e-01 -3.34013050e-01 7.41088410e-03 1.36523045e+01] [ 3.34001631e-01 -9.42568441e-01 -2.76499287e-03 -1.72604617e+02] [ 7.90880917e-03 -1.30867109e-04 9.99968716e-01 -2.31535584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02762800000005 meters 0.012566747744334654 Centerline is valid? [True, True] Translation: X:13.38, Y:-173.33, Z:0.72 [[-9.60161458e-01 2.79361570e-01 6.86200032e-03 1.33791482e+01] [ 2.79354709e-01 9.60185978e-01 -1.95827044e-03 -1.73325324e+02] [-7.13586199e-03 3.66762995e-05 -9.99974539e-01 7.19005037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.057628 meters 0.012371700334458611 Centerline is valid? [True, True] Translation: X:13.39, Y:-173.30, Z:0.72 [[-9.78074015e-01 2.08156743e-01 6.48014864e-03 1.33918223e+01] [ 2.08152295e-01 9.78095481e-01 -1.36083233e-03 -1.73298107e+02] [-6.62147053e-03 1.78630705e-05 -9.99978078e-01 7.18654052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.08762800000005 meters 0.012242798238592823 Centerline is valid? [True, True] Translation: X:13.55, Y:-172.56, Z:-0.23 [[-9.62488126e-01 -2.71255230e-01 6.09975115e-03 1.35518354e+01] [ 2.71249551e-01 -9.62507454e-01 -1.75569685e-03 -1.72555838e+02] [ 6.34729791e-03 -3.52826125e-05 9.99979855e-01 -2.29328275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.117628 meters 0.012605507643577454 Centerline is valid? [True, True] Translation: X:13.33, Y:-173.28, Z:0.72 [[-9.80450145e-01 1.96675915e-01 6.00808242e-03 1.33324370e+01] [ 1.96672026e-01 9.80468553e-01 -1.23707618e-03 -1.73281219e+02] [-6.13403896e-03 -3.12697780e-05 -9.99981186e-01 7.17371647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.147628 meters 0.012521502459359733 Centerline is valid? [True, True] Translation: X:13.35, Y:-173.25, Z:0.72 [[-9.92150338e-01 1.24917929e-01 5.76348235e-03 1.33459981e+01] [ 1.24915591e-01 9.92167077e-01 -7.65379530e-04 -1.73254606e+02] [-5.81394706e-03 -3.94227573e-05 -9.99983098e-01 7.16889451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.177628 meters 0.012654925345372757 Centerline is valid? [True, True] Translation: X:13.35, Y:-173.23, Z:0.72 [[-9.98602681e-01 5.25938015e-02 5.15538341e-03 1.33499037e+01] [ 5.25928773e-02 9.98615987e-01 -3.14765855e-04 -1.73225816e+02] [-5.16480302e-03 -4.31895794e-05 -9.99986661e-01 7.17179769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.207628 meters 0.012976169937472637 Centerline is valid? [True, True] Translation: X:13.39, Y:-172.48, Z:-0.23 [[-9.90299985e-01 -1.38870580e-01 4.57177754e-03 1.33945384e+01] [ 1.38869109e-01 -9.90310538e-01 -6.39335006e-04 -1.72482347e+02] [ 4.61626430e-03 1.74522455e-06 9.99989345e-01 -2.29155320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23762800000003 meters 0.01318086754138735 Centerline is valid? [True, True] Translation: X:13.28, Y:-173.22, Z:0.72 [[-9.98980972e-01 4.49393676e-02 4.17977263e-03 1.32808402e+01] [ 4.49387760e-02 9.98989715e-01 -2.35378585e-04 -1.73219424e+02] [-4.18612763e-03 -4.73048620e-05 -9.99991237e-01 7.17285866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.267628 meters 0.013463773650202647 Centerline is valid? [True, True] Translation: X:13.33, Y:-172.48, Z:-0.23 [[-9.90631881e-01 -1.36497307e-01 4.11851618e-03 1.33254958e+01] [ 1.36496315e-01 -9.90640441e-01 -5.22468222e-04 -1.72478692e+02] [ 4.15128419e-03 4.45886032e-05 9.99991382e-01 -2.29203174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29762800000003 meters 0.013779572422488333 Centerline is valid? [True, True] Translation: X:13.21, Y:-173.22, Z:0.72 [[-9.99258511e-01 3.82405722e-02 4.48186741e-03 1.32140724e+01] [ 3.82399191e-02 9.99268560e-01 -2.31359563e-04 -1.73216380e+02] [-4.48743652e-03 -5.98017653e-05 -9.99989930e-01 7.17138309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.327628 meters 0.013709225219701046 Centerline is valid? [True, True] Translation: X:13.21, Y:-173.19, Z:0.72 [[-9.99437008e-01 -3.31154428e-02 5.38839141e-03 1.32114156e+01] [-3.31153571e-02 9.99451531e-01 1.05151728e-04 -1.73190881e+02] [-5.38891819e-03 -7.33459773e-05 -9.99985477e-01 7.17650198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35762800000003 meters 0.013589489753359715 Centerline is valid? [True, True] Translation: X:13.21, Y:-172.44, Z:-0.23 [[-9.98097449e-01 -6.14007577e-02 5.60614915e-03 1.32057749e+01] [ 6.14003010e-02 -9.98113189e-01 -2.53699851e-04 -1.72443811e+02] [ 5.61114877e-03 9.10020713e-05 9.99984253e-01 -2.30722280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.387628 meters 0.013317578664100865 Centerline is valid? [True, True] Translation: X:13.13, Y:-173.19, Z:0.72 [[-9.99312450e-01 -3.64176167e-02 6.95592936e-03 1.31255033e+01] [-3.64172663e-02 9.99336656e-01 1.77071943e-04 -1.73194921e+02] [-6.95776372e-03 -7.63657348e-05 -9.99975792e-01 7.20924973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41762800000004 meters 0.01281138376359819 Centerline is valid? [True, True] Translation: X:13.12, Y:-173.17, Z:0.72 [[-9.94568305e-01 -1.03776241e-01 8.02364905e-03 1.31221915e+01] [-1.03773338e-01 9.94600668e-01 7.78331595e-04 -1.73172587e+02] [-8.06109903e-03 -5.85369121e-05 -9.99967507e-01 7.22061798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.447628 meters 0.01281138376359819 Centerline is valid? [True, True] Translation: X:13.11, Y:-173.15, Z:0.72 [[-9.84624007e-01 -1.74506158e-01 7.94766196e-03 1.31126149e+01] [-1.74500953e-01 9.84656081e-01 1.34908059e-03 -1.73146138e+02] [-8.06113655e-03 -5.85374519e-05 -9.99967507e-01 7.22062316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47762800000004 meters 0.012462642459347669 Centerline is valid? [True, True] Translation: X:13.09, Y:-173.13, Z:0.72 [[-9.70133569e-01 -2.42435145e-01 8.12771168e-03 1.30902864e+01] [-2.42426978e-01 9.70167614e-01 1.99028199e-03 -1.73125688e+02] [-8.36775695e-03 -3.95372193e-05 -9.99964989e-01 7.21863017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.507628 meters 0.012362472486060098 Centerline is valid? [True, True] Translation: X:13.04, Y:-173.11, Z:0.72 [[-9.50626365e-01 -3.10228107e-01 8.24838266e-03 1.30443893e+01] [-3.10216593e-01 9.50662149e-01 2.67275307e-03 -1.73112713e+02] [-8.67058831e-03 -1.79956360e-05 -9.99962410e-01 7.22699643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53762800000004 meters 0.012600741265552096 Centerline is valid? [True, True] Translation: X:12.98, Y:-173.11, Z:0.72 [[-9.27306468e-01 -3.74198541e-01 8.84120058e-03 1.29849898e+01] [-3.74181181e-01 9.27348613e-01 3.60460148e-03 -1.73110543e+02] [-9.54771171e-03 3.43593831e-05 -9.99954419e-01 7.23764922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.567628 meters 0.012704997669023462 Centerline is valid? [True, True] Translation: X:12.92, Y:-173.11, Z:0.72 [[-8.97602912e-01 -4.40727954e-01 8.23908058e-03 1.29171705e+01] [-4.40708896e-01 8.97640723e-01 4.09887761e-03 -1.73110936e+02] [-9.20222419e-03 4.81283763e-05 -9.99957658e-01 7.23191263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59762800000004 meters 0.012575339545345473 Centerline is valid? [True, True] Translation: X:12.83, Y:-173.12, Z:0.72 [[-8.62755656e-01 -5.05571363e-01 7.09041866e-03 1.28349269e+01] [-5.05553780e-01 8.62784790e-01 4.21687802e-03 -1.73122396e+02] [-8.24943814e-03 5.35474098e-05 -9.99965971e-01 7.22082172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.627628 meters 0.01272489303807896 Centerline is valid? [True, True] Translation: X:12.75, Y:-173.14, Z:0.72 [[-8.22870867e-01 -5.68192027e-01 6.43090556e-03 1.27530690e+01] [-5.68174107e-01 8.22895994e-01 4.51297730e-03 -1.73141398e+02] [-7.85620414e-03 5.97235231e-05 -9.99969138e-01 7.22333194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65762800000005 meters 0.012721255622687425 Centerline is valid? [True, True] Translation: X:12.67, Y:-173.17, Z:0.72 [[-7.78269135e-01 -6.27904803e-01 5.71943448e-03 1.26653300e+01] [-6.27887246e-01 7.78290148e-01 4.69591813e-03 -1.73172574e+02] [-7.39996906e-03 6.35281754e-05 -9.99972618e-01 7.22291706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.687628 meters 0.013177176996791044 Centerline is valid? [True, True] Translation: X:12.58, Y:-173.21, Z:0.72 [[-7.30505221e-01 -6.82888006e-01 5.10817833e-03 1.25799570e+01] [-6.82870513e-01 7.30523076e-01 4.88854320e-03 -1.73212600e+02] [-7.06996966e-03 8.28819704e-05 -9.99975004e-01 7.21346425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71762800000005 meters 0.013384218605339024 Centerline is valid? [True, True] Translation: X:12.49, Y:-173.26, Z:0.72 [[-6.77668730e-01 -7.35351120e-01 4.88087749e-03 1.24909213e+01] [-7.35330991e-01 6.77686300e-01 5.44176666e-03 -1.73264890e+02] [-7.30931301e-03 9.86546183e-05 -9.99973282e-01 7.21123359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.747628 meters 0.016265524972470316 Centerline is valid? [True, True] Translation: X:12.41, Y:-173.33, Z:0.72 [[-6.21365727e-01 -7.83505746e-01 4.83521081e-03 1.24051888e+01] [-7.83480427e-01 6.21384527e-01 6.29996925e-03 -1.73326485e+02] [-7.94058729e-03 1.26291949e-04 -9.99968465e-01 7.23473875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77762800000005 meters 0.014347332240531908 Centerline is valid? [True, True] Translation: X:12.32, Y:-173.40, Z:0.72 [[-5.61199419e-01 -8.27668247e-01 4.52603712e-03 1.23199447e+01] [-8.27639164e-01 5.61217650e-01 6.93992380e-03 -1.73397320e+02] [-8.28404648e-03 1.48755622e-04 -9.99965676e-01 7.21482035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.807628 meters 0.014659994123961493 Centerline is valid? [True, True] Translation: X:12.24, Y:-173.48, Z:0.72 [[-4.96471677e-01 -8.68038423e-01 5.01687085e-03 1.22375078e+01] [-8.67990123e-01 4.96496987e-01 9.15902157e-03 -1.73477221e+02] [-1.04412439e-02 1.92600459e-04 -9.99945470e-01 7.22997554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.83762800000005 meters 0.01451781715329236 Centerline is valid? [True, True] Translation: X:12.16, Y:-173.57, Z:0.72 [[-4.27992199e-01 -9.03771264e-01 4.49209330e-03 1.21596003e+01] [-9.03716540e-01 4.28015727e-01 9.94754725e-03 -1.73567473e+02] [-1.09129939e-02 1.97893607e-04 -9.99940432e-01 7.23734322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.867628 meters 0.01691928648656901 Centerline is valid? [True, True] Translation: X:12.09, Y:-173.66, Z:0.73 [[-3.56885161e-01 -9.34139626e-01 4.01758793e-03 1.20901215e+01] [-9.34073601e-01 3.56907711e-01 1.11082223e-02 -1.73662405e+02] [-1.18105387e-02 2.11636882e-04 -9.99930231e-01 7.25790102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.897628 meters 0.014141061334273008 Centerline is valid? [True, True] Translation: X:12.03, Y:-173.77, Z:0.72 [[-2.82537667e-01 -9.59251993e-01 2.84258403e-03 1.20255173e+01] [-9.59196983e-01 2.82551911e-01 1.02744760e-02 -1.73770138e+02] [-1.06589891e-02 1.76328445e-04 -9.99943176e-01 7.22382676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.927628 meters 0.016713289542090903 Centerline is valid? [True, True] Translation: X:11.97, Y:-173.87, Z:0.72 [[-2.06465999e-01 -9.78451786e-01 1.97307741e-03 1.19695573e+01] [-9.78399517e-01 2.06475366e-01 1.01147309e-02 -1.73872951e+02] [-1.03041684e-02 1.57890038e-04 -9.99946898e-01 7.22944207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.957628 meters 0.013502805978832617 Centerline is valid? [True, True] Translation: X:11.92, Y:-173.98, Z:0.72 [[-1.27746262e-01 -9.91806418e-01 9.60619056e-04 1.19226747e+01] [-9.91771791e-01 1.27749829e-01 8.28823108e-03 -1.73984807e+02] [-8.34303970e-03 1.06075654e-04 -9.99965191e-01 7.20721627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98762800000003 meters 0.0124822155785176 Centerline is valid? [True, True] Translation: X:11.88, Y:-174.10, Z:0.72 [[-4.56983122e-02 -9.98955256e-01 2.48356895e-04 1.18809722e+01] [-9.98934043e-01 4.56989604e-02 6.51021165e-03 -1.74102714e+02] [-6.51475980e-03 4.94135280e-05 -9.99978778e-01 7.19057707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.017628 meters 0.012232222378768984 Centerline is valid? [True, True] Translation: X:11.85, Y:-174.22, Z:0.72 [[ 3.42775024e-02 -9.99412328e-01 -2.28741024e-04 1.18514848e+01] [-9.99395175e-01 -3.42782542e-02 5.85531787e-03 -1.74223040e+02] [-5.85971771e-03 2.78970036e-05 -9.99982831e-01 7.18284984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04762800000003 meters 0.012120218390898661 Centerline is valid? [True, True] Translation: X:11.83, Y:-174.34, Z:0.72 [[ 1.13969599e-01 -9.93484089e-01 -5.43063075e-04 1.18316802e+01] [-9.93473225e-01 -1.13970893e-01 4.64616338e-03 -1.74343186e+02] [-4.67778278e-03 9.99724486e-06 -9.99989059e-01 7.18179710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.077628 meters 0.012103697456152735 Centerline is valid? [True, True] Translation: X:11.82, Y:-174.47, Z:0.72 [[ 1.94447006e-01 -9.80912792e-01 -6.75244992e-04 1.18218919e+01] [-9.80906749e-01 -1.94448178e-01 3.44316955e-03 -1.74470159e+02] [-3.50874921e-03 -7.16164034e-06 -9.99993844e-01 7.16725861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10762800000003 meters 0.012209391387137442 Centerline is valid? [True, True] Translation: X:11.82, Y:-174.59, Z:0.72 [[ 2.71085267e-01 -9.62555135e-01 -6.23845994e-04 1.18210173e+01] [-9.62552517e-01 -2.71085985e-01 2.24532312e-03 -1.74587254e+02] [-2.33036320e-03 -8.18948703e-06 -9.99997285e-01 7.16095760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.137628 meters 0.012248471013398616 Centerline is valid? [True, True] Translation: X:11.83, Y:-174.71, Z:0.72 [[ 3.46053405e-01 -9.38214637e-01 -5.79188130e-04 1.18308620e+01] [-9.38213281e-01 -3.46053890e-01 1.59527312e-03 -1.74708993e+02] [-1.69713890e-03 -8.64769832e-06 -9.99998560e-01 7.15500572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16762800000004 meters 0.013512493862783895 Centerline is valid? [True, True] Translation: X:11.85, Y:-174.83, Z:0.72 [[ 4.19731360e-01 -9.07647898e-01 -9.36932596e-04 1.18501449e+01] [-9.07645541e-01 -4.19732406e-01 2.06855523e-03 -1.74825522e+02] [-2.27078078e-03 -1.78348080e-05 -9.99997422e-01 7.16271556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.197628 meters 0.012775893582063574 Centerline is valid? [True, True] Translation: X:11.88, Y:-174.95, Z:0.72 [[ 4.89728181e-01 -8.71874444e-01 -1.12321569e-03 1.18795662e+01] [-8.71872047e-01 -4.89729469e-01 2.04478283e-03 -1.74946264e+02] [-2.33286571e-03 -2.20874151e-05 -9.99997279e-01 7.15870065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22762800000004 meters 0.012998205428344201 Centerline is valid? [True, True] Translation: X:11.91, Y:-175.05, Z:0.72 [[ 5.57015199e-01 -8.30499375e-01 -2.20383412e-03 1.19122624e+01] [-8.30492539e-01 -5.57019556e-01 3.37000239e-03 -1.75052523e+02] [-4.02636359e-03 -4.68747542e-05 -9.99991893e-01 7.18094088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.257628 meters 0.013151421396592727 Centerline is valid? [True, True] Translation: X:11.96, Y:-175.16, Z:0.72 [[ 6.19296187e-01 -7.85151201e-01 -3.13452899e-03 1.19565118e+01] [-7.85140638e-01 -6.19304116e-01 4.07313580e-03 -1.75160425e+02] [-5.13925417e-03 -6.14313751e-05 -9.99986792e-01 7.18899534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28762800000004 meters 0.013141811437965816 Centerline is valid? [True, True] Translation: X:12.01, Y:-175.26, Z:0.72 [[ 6.77590062e-01 -7.35429186e-01 -3.95222533e-03 1.20058416e+01] [-7.35416069e-01 -6.77601584e-01 4.39304132e-03 -1.75259665e+02] [-5.90880495e-03 -7.01511233e-05 -9.99982540e-01 7.19274890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.317628 meters 0.013157466533443025 Centerline is valid? [True, True] Translation: X:12.06, Y:-175.35, Z:0.72 [[ 7.30333580e-01 -6.83072786e-01 -4.94265943e-03 1.20591898e+01] [-6.83056528e-01 -7.30350302e-01 4.71327772e-03 -1.75351597e+02] [-6.82938455e-03 -6.61492057e-05 -9.99976677e-01 7.21614644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34762800000004 meters 0.012656270396314697 Centerline is valid? [True, True] Translation: X:12.06, Y:-175.36, Z:0.72 [[ 7.80534958e-01 -6.25083933e-01 -5.93769074e-03 1.20567647e+01] [-6.25065231e-01 -7.80557540e-01 4.83566381e-03 -1.75356974e+02] [-7.65740503e-03 -6.29606084e-05 -9.99970680e-01 7.21760421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.377628 meters 0.012364144895169744 Centerline is valid? [True, True] Translation: X:12.05, Y:-175.36, Z:0.72 [[ 8.24853076e-01 -5.65304305e-01 -6.96034426e-03 1.20543268e+01] [-5.65283797e-01 -8.24882441e-01 4.81535915e-03 -1.75359531e+02] [-8.46360902e-03 -3.73939767e-05 -9.99964182e-01 7.22571803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40762800000005 meters 0.012309088069489927 Centerline is valid? [True, True] Translation: X:12.05, Y:-175.36, Z:0.72 [[ 8.65591796e-01 -5.00694183e-01 -7.49521290e-03 1.20514340e+01] [-5.00675188e-01 -8.65624246e-01 4.36133826e-03 -1.75363546e+02] [-8.67173471e-03 -2.24714858e-05 -9.99962400e-01 7.22866830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.437628 meters 0.012281937243333506 Centerline is valid? [True, True] Translation: X:12.05, Y:-175.37, Z:0.72 [[ 9.01637667e-01 -4.32427190e-01 -7.49951200e-03 1.20491352e+01] [-4.32412112e-01 -9.01668855e-01 3.61114199e-03 -1.75368790e+02] [-8.32363239e-03 -1.30618183e-05 -9.99965358e-01 7.22710664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46762800000005 meters 0.012156320672684838 Centerline is valid? [True, True] Translation: X:12.05, Y:-175.38, Z:0.72 [[ 9.32513939e-01 -3.61064532e-01 -7.08225471e-03 1.20461432e+01] [-3.61054051e-01 -9.32540832e-01 2.75111332e-03 -1.75376517e+02] [-7.59782114e-03 -8.37477283e-06 -9.99971136e-01 7.21842564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.497628 meters 0.012112405625295638 Centerline is valid? [True, True] Translation: X:12.04, Y:-175.38, Z:0.72 [[ 9.58075816e-01 -2.86429772e-01 -6.97973166e-03 1.20439973e+01] [-2.86422073e-01 -9.58101240e-01 2.10007389e-03 -1.75384389e+02] [-7.28881324e-03 -1.28807942e-05 -9.99973436e-01 7.21661364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52762800000005 meters 0.012246896306122626 Centerline is valid? [True, True] Translation: X:12.04, Y:-175.39, Z:0.72 [[ 9.77788926e-01 -2.09476571e-01 -6.95571566e-03 1.20417010e+01] [-2.09471117e-01 -9.77813666e-01 1.51165573e-03 -1.75392102e+02] [-7.11805029e-03 -2.10586974e-05 -9.99974666e-01 7.22249534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.557628 meters 0.012381205243427345 Centerline is valid? [True, True] Translation: X:12.04, Y:-175.40, Z:0.72 [[ 9.91510520e-01 -1.29792727e-01 -7.79338326e-03 1.20373245e+01] [-1.29788375e-01 -9.91541147e-01 1.06372306e-03 -1.75402125e+02] [-7.86552370e-03 -4.32020517e-05 -9.99969065e-01 7.22955081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.58762800000005 meters 0.012424062464390397 Centerline is valid? [True, True] Translation: X:12.03, Y:-175.41, Z:0.72 [[ 9.98678450e-01 -5.06387789e-02 -8.77876471e-03 1.20340068e+01] [-5.06363072e-02 -9.98717032e-01 5.03732467e-04 -1.75410657e+02] [-8.79301023e-03 -5.85425332e-05 -9.99961339e-01 7.23789999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.617628 meters 0.0127756731018492 Centerline is valid? [True, True] Translation: X:12.03, Y:-175.42, Z:0.73 [[ 9.99505581e-01 2.96092008e-02 -1.05777890e-02 1.20314397e+01] [ 2.96085040e-02 -9.99561547e-01 -2.22499086e-04 -1.75419293e+02] [-1.05797392e-02 -9.08034310e-05 -9.99944029e-01 7.25467994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.647628 meters 0.012815244035224792 Centerline is valid? [True, True] Translation: X:12.03, Y:-175.43, Z:0.73 [[ 9.94093627e-01 1.07928628e-01 -1.13697431e-02 1.20293348e+01] [ 1.07922720e-01 -9.94158640e-01 -1.13369704e-03 -1.75427191e+02] [-1.14256867e-02 -1.00052599e-04 -9.99934720e-01 7.26723013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.677628 meters 0.01273998502040799 Centerline is valid? [True, True] Translation: X:12.03, Y:-175.44, Z:0.73 [[ 9.82632567e-01 1.85113776e-01 -1.28890449e-02 1.20274569e+01] [ 1.85099335e-01 -9.82717089e-01 -2.31486286e-03 -1.75435118e+02] [-1.30947977e-02 -1.11094000e-04 -9.99914253e-01 7.27859647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.707628 meters 0.01263822460626346 Centerline is valid? [True, True] Translation: X:12.03, Y:-175.44, Z:0.73 [[ 9.65660806e-01 2.59415702e-01 -1.42373103e-02 1.20259664e+01] [ 2.59388935e-01 -9.65765751e-01 -3.72768818e-03 -1.75441780e+02] [-1.47169275e-02 -9.33183713e-05 -9.99891696e-01 7.28697682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73762800000003 meters 0.01545575564413199 Centerline is valid? [True, True] Translation: X:12.02, Y:-175.45, Z:0.73 [[ 9.43953207e-01 3.29688172e-01 -1.60640011e-02 1.20234876e+01] [ 3.29640918e-01 -9.44089884e-01 -5.58181534e-03 -1.75447010e+02] [-1.70061194e-02 -2.63795819e-05 -9.99855385e-01 7.32018185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.767628 meters 0.012726224075341243 Centerline is valid? [True, True] Translation: X:12.02, Y:-175.45, Z:0.73 [[ 9.16049537e-01 4.00769834e-01 -1.53878299e-02 1.20212376e+01] [ 4.00713178e-01 -9.16178771e-01 -6.73863254e-03 -1.75451127e+02] [-1.67986437e-02 6.81500913e-06 -9.99858893e-01 7.30018855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79762800000003 meters 0.012837481022491423 Centerline is valid? [True, True] Translation: X:12.02, Y:-175.45, Z:0.73 [[ 8.83267148e-01 4.68635625e-01 -1.48255121e-02 1.20187924e+01] [ 4.68568534e-01 -8.83391560e-01 -7.92975531e-03 -1.75453960e+02] [-1.68128981e-02 5.73238666e-05 -9.99858652e-01 7.29840092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.827628 meters 0.01654336661839165 Centerline is valid? [True, True] Translation: X:12.01, Y:-175.45, Z:0.73 [[ 8.47577459e-01 5.30520483e-01 -1.26676100e-02 1.20133635e+01] [ 5.30458498e-01 -8.47672102e-01 -8.11105073e-03 -1.75453339e+02] [-1.50410581e-02 1.55102413e-04 -9.99886865e-01 7.29122128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85762800000003 meters 0.013497288376754745 Centerline is valid? [True, True] Translation: X:12.01, Y:-175.46, Z:0.72 [[ 8.05084144e-01 5.93081171e-01 -9.70804258e-03 1.20130485e+01] [ 5.93035672e-01 -8.05142658e-01 -7.34795483e-03 -1.75461028e+02] [-1.21742929e-02 1.58506364e-04 -9.99925878e-01 7.23321195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.887628 meters 0.014591274204189103 Centerline is valid? [True, True] Translation: X:12.01, Y:-175.47, Z:0.72 [[ 7.59938572e-01 6.49970068e-01 -5.68125261e-03 1.20110193e+01] [ 6.49950492e-01 -7.59959795e-01 -5.04664287e-03 -1.75467153e+02] [-7.59769038e-03 1.42605650e-04 -9.99971127e-01 7.20067116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91762800000004 meters 0.01488910829709663 Centerline is valid? [True, True] Translation: X:12.01, Y:-175.48, Z:0.72 [[ 7.08276449e-01 7.05922522e-01 -4.22670171e-03 1.20131008e+01] [ 7.05908862e-01 -7.08289049e-01 -4.39337252e-03 -1.75475794e+02] [-6.09510715e-03 1.28056096e-04 -9.99981416e-01 7.18700659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.947628 meters 0.0148952490380659 Centerline is valid? [True, True] Translation: X:12.02, Y:-175.49, Z:0.72 [[ 6.52076632e-01 7.58145666e-01 -3.34877227e-03 1.20173242e+01] [ 7.58134714e-01 -6.52085220e-01 -4.07685775e-03 -1.75486725e+02] [-5.27453694e-03 1.19603160e-04 -9.99986082e-01 7.17532303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97762800000004 meters 0.0152803399205155 Centerline is valid? [True, True] Translation: X:12.02, Y:-175.50, Z:0.72 [[ 5.91824402e-01 8.06062928e-01 -2.53636177e-03 1.20216819e+01] [ 8.06054739e-01 -5.91829828e-01 -3.63502813e-03 -1.75496667e+02] [-4.43115597e-03 1.06851927e-04 -9.99990177e-01 7.16979001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.007628 meters 0.016158756941987876 Centerline is valid? [True, True] Translation: X:12.03, Y:-175.51, Z:0.72 [[ 5.28753133e-01 8.48774278e-01 -1.53305452e-03 1.20256234e+01] [ 8.48770262e-01 -5.28755349e-01 -2.61229191e-03 -1.75507213e+02] [-3.02785695e-03 8.00464401e-05 -9.99995413e-01 7.16918991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03762800000004 meters 0.015851875894949942 Centerline is valid? [True, True] Translation: X:12.03, Y:-175.52, Z:0.72 [[ 4.62167113e-01 8.86791548e-01 -1.51997727e-03 1.20345411e+01] [ 8.86786038e-01 -4.62169603e-01 -3.12762602e-03 -1.75518494e+02] [-3.47603961e-03 9.75912712e-05 -9.99993954e-01 7.16937890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.067628 meters 0.016668691926975933 Centerline is valid? [True, True] Translation: X:12.04, Y:-175.53, Z:0.72 [[ 3.91698145e-01 9.20092143e-01 -1.73525505e-03 1.20411206e+01] [ 9.20081534e-01 -3.91701966e-01 -4.42042677e-03 -1.75528245e+02] [-4.74690275e-03 1.34896838e-04 -9.99988724e-01 7.18180688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09762800000004 meters 0.01695431108286246 Centerline is valid? [True, True] Translation: X:12.05, Y:-175.54, Z:0.72 [[ 3.18711387e-01 9.47849829e-01 -1.93766351e-03 1.20479924e+01] [ 9.47828507e-01 -3.18717220e-01 -6.36042951e-03 -1.75536478e+02] [-6.64629875e-03 1.90568597e-04 -9.99977895e-01 7.19901733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.127628 meters 0.016715102322689142 Centerline is valid? [True, True] Translation: X:12.06, Y:-175.54, Z:0.72 [[ 2.43595831e-01 9.69875294e-01 -1.72746517e-03 1.20570024e+01] [ 9.69843770e-01 -2.43601848e-01 -7.82310061e-03 -1.75544417e+02] [-8.00824572e-03 2.30303363e-04 -9.99967907e-01 7.21061272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15762800000005 meters 0.016478357631883392 Centerline is valid? [True, True] Translation: X:12.07, Y:-175.55, Z:0.72 [[ 1.66429836e-01 9.86052445e-01 -1.29842893e-03 1.20687833e+01] [ 9.86008771e-01 -1.66434690e-01 -9.28425811e-03 -1.75551765e+02] [-9.37086902e-03 2.64915241e-04 -9.99956057e-01 7.21769981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.187628 meters 0.01644490729355088 Centerline is valid? [True, True] Translation: X:12.08, Y:-175.56, Z:0.72 [[ 8.83922336e-02 9.96085586e-01 -5.65058588e-04 1.20794641e+01] [ 9.96041992e-01 -8.83936537e-02 -9.32267896e-03 -1.75557659e+02] [-9.33613372e-03 2.61230335e-04 -9.99956383e-01 7.22450696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21762800000005 meters 0.015990457767701523 Centerline is valid? [True, True] Translation: X:12.09, Y:-175.56, Z:0.72 [[ 8.75371637e-03 9.99961673e-01 1.57393864e-04 1.20925021e+01] [ 9.99922911e-01 -8.75199071e-03 -8.80769613e-03 -1.75562370e+02] [-8.80598105e-03 2.34481804e-04 -9.99961199e-01 7.21614965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.247628 meters 0.0158926963049992 Centerline is valid? [True, True] Translation: X:12.10, Y:-175.57, Z:0.72 [[-7.07831689e-02 9.97491388e-01 8.21319995e-04 1.21022567e+01] [ 9.97455148e-01 7.07876006e-02 -8.50544793e-03 -1.75568132e+02] [-8.54225033e-03 2.17187300e-04 -9.99963491e-01 7.20738588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27762800000005 meters 0.014933356863757267 Centerline is valid? [True, True] Translation: X:12.12, Y:-175.57, Z:0.72 [[-1.50433021e-01 9.88619313e-01 1.32683402e-03 1.21151374e+01] [ 9.88590734e-01 1.50438764e-01 -7.51921398e-03 -1.75571006e+02] [-7.63324743e-03 1.80557747e-04 -9.99970850e-01 7.19524347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.307628 meters 0.013827016418803378 Centerline is valid? [True, True] Translation: X:12.13, Y:-175.57, Z:0.72 [[-2.32028928e-01 9.72708003e-01 1.31090643e-03 1.21315214e+01] [ 9.72694806e-01 2.32032609e-01 -5.06770512e-03 -1.75571772e+02] [-5.23357036e-03 9.92576904e-05 -9.99986300e-01 7.17997436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.33762800000005 meters 0.013046667656104773 Centerline is valid? [True, True] Translation: X:12.15, Y:-175.57, Z:0.72 [[-3.10536603e-01 9.50560307e-01 1.45616526e-03 1.21465388e+01] [ 9.50550902e-01 3.10540009e-01 -4.22919566e-03 -1.75571806e+02] [-4.47230309e-03 7.08391466e-05 -9.99989997e-01 7.18277663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.367628 meters 0.013046667656104773 Centerline is valid? [True, True] Translation: X:12.16, Y:-175.57, Z:0.72 [[-3.84051186e-01 9.23310082e-01 1.78302966e-03 1.21574863e+01] [ 9.23300972e-01 3.84055319e-01 -4.10215217e-03 -1.75572065e+02] [-4.47234048e-03 7.08366089e-05 -9.99989997e-01 7.18277986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.397628 meters 0.01176761898708497 Centerline is valid? [True, True] Translation: X:12.17, Y:-175.57, Z:0.72 [[-4.62331836e-01 8.86706688e-01 7.23003515e-04 1.21744248e+01] [ 8.86705646e-01 4.62332401e-01 -1.35920793e-03 -1.75568843e+02] [-1.53948671e-03 1.26862021e-05 -9.99998815e-01 7.17594773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.427628 meters 0.011457854292614134 Centerline is valid? [True, True] Translation: X:12.19, Y:-175.56, Z:0.72 [[-5.34488703e-01 8.45175618e-01 1.29509190e-05 1.21873781e+01] [ 8.45175618e-01 5.34488703e-01 -1.85907539e-05 -1.75564957e+02] [-2.26345720e-05 1.00925308e-06 -1.00000000e+00 7.16410144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.457628 meters 0.011413143719938599 Centerline is valid? [True, True] Translation: X:12.20, Y:-175.56, Z:0.72 [[-6.02714158e-01 7.97956661e-01 -9.00121122e-04 1.21991750e+01] [ 7.97955762e-01 6.02714830e-01 1.19777933e-03 -1.75561084e+02] [ 1.49829235e-03 3.66172590e-06 -9.99998878e-01 7.15672913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48762800000003 meters 0.012202003001314066 Centerline is valid? [True, True] Translation: X:12.21, Y:-175.55, Z:0.72 [[-6.69475462e-01 7.42832539e-01 -1.55713809e-03 1.22123382e+01] [ 7.42830444e-01 6.69477272e-01 1.76441913e-03 -1.75552553e+02] [ 2.35313651e-03 2.45457346e-05 -9.99997231e-01 7.15301127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.517628 meters 0.013204228790521286 Centerline is valid? [True, True] Translation: X:12.22, Y:-175.55, Z:0.72 [[-7.27960358e-01 6.85618205e-01 -1.18081604e-03 1.22213630e+01] [ 6.85617251e-01 7.27961316e-01 1.14383214e-03 -1.75545565e+02] [ 1.64382054e-03 2.30766122e-05 -9.99998649e-01 7.16463356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54762800000003 meters 0.014218857577162937 Centerline is valid? [True, True] Translation: X:12.24, Y:-175.52, Z:0.72 [[-7.77448645e-01 6.28946399e-01 -1.74371613e-04 1.22426704e+01] [ 6.28946382e-01 7.77448665e-01 1.47411701e-04 -1.75523096e+02] [ 2.28279036e-04 4.93463243e-06 -9.99999974e-01 7.17486530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.577628 meters 0.014341831158958995 Centerline is valid? [True, True] Translation: X:12.26, Y:-175.50, Z:0.72 [[-8.20668859e-01 5.71404056e-01 1.68171540e-04 1.22588929e+01] [ 5.71404043e-01 8.20668876e-01 -1.20886495e-04 -1.75501164e+02] [-2.07088183e-04 -3.11388383e-06 -9.99999979e-01 7.18443110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60762800000003 meters 0.014260075932272024 Centerline is valid? [True, True] Translation: X:12.27, Y:-175.48, Z:0.72 [[-8.59078620e-01 5.11836079e-01 2.78434035e-03 1.22734587e+01] [ 5.11833156e-01 8.59083130e-01 -1.73091508e-03 -1.75479353e+02] [-3.27792461e-03 -6.18744242e-05 -9.99994626e-01 7.21565451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.637628 meters 0.013845130102119433 Centerline is valid? [True, True] Translation: X:12.29, Y:-175.46, Z:0.72 [[-8.92773676e-01 4.50482581e-01 4.53960113e-03 1.22914048e+01] [ 4.50476220e-01 8.92785212e-01 -2.39578873e-03 -1.75460201e+02] [-5.13214985e-03 -9.39147535e-05 -9.99986826e-01 7.23043335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66762800000004 meters 0.013657030219952229 Centerline is valid? [True, True] Translation: X:12.31, Y:-175.44, Z:0.72 [[-9.21928258e-01 3.87314735e-01 5.96512708e-03 1.23069621e+01] [ 3.87305848e-01 9.21947549e-01 -2.62614454e-03 -1.75439303e+02] [-6.51667877e-03 -1.10788259e-04 -9.99978760e-01 7.24435907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.697628 meters 0.012660338665255427 Centerline is valid? [True, True] Translation: X:12.32, Y:-175.42, Z:0.73 [[-9.45345076e-01 3.25960387e-01 8.51554580e-03 1.23171229e+01] [ 3.25946145e-01 9.45383422e-01 -3.04891059e-03 -1.75420493e+02] [-9.04427991e-03 -1.06663289e-04 -9.99959094e-01 7.26854313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72762800000004 meters 0.012249971217269964 Centerline is valid? [True, True] Translation: X:12.33, Y:-175.40, Z:0.73 [[-9.65096072e-01 2.61729261e-01 9.34697806e-03 1.23279910e+01] [ 2.61716197e-01 9.65141331e-01 -2.61619193e-03 -1.75399271e+02] [-9.70588882e-03 -7.86210065e-05 -9.99952894e-01 7.27502367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.757628 meters 0.0117660385209231 Centerline is valid? [True, True] Translation: X:12.53, Y:-174.70, Z:-0.24 [[-9.41234178e-01 -3.37639150e-01 8.83322582e-03 1.25310558e+01] [ 3.37624838e-01 -9.41275625e-01 -3.10927405e-03 -1.74702264e+02] [ 9.36431280e-03 5.57614247e-05 9.99956152e-01 -2.39367553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78762800000004 meters 0.011878342765734821 Centerline is valid? [True, True] Translation: X:12.28, Y:-175.40, Z:0.73 [[-9.62686004e-01 2.70517448e-01 7.48121865e-03 1.22843842e+01] [ 2.70509592e-01 9.62715071e-01 -2.06203922e-03 -1.75402436e+02] [-7.76009953e-03 3.86451034e-05 -9.99969889e-01 7.26076799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.817628 meters 0.012441164784620177 Centerline is valid? [True, True] Translation: X:12.50, Y:-174.68, Z:-0.24 [[-9.46901427e-01 -3.21460666e-01 6.38185600e-03 1.24977156e+01] [ 3.21452709e-01 -9.46922928e-01 -2.26361047e-03 -1.74678387e+02] [ 6.77078750e-03 -9.19510784e-05 9.99977074e-01 -2.36220481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84762800000004 meters 0.014009999807153202 Centerline is valid? [True, True] Translation: X:12.24, Y:-175.41, Z:0.72 [[-9.60628609e-01 2.77816897e-01 3.23215762e-03 1.22436402e+01] [ 2.77815519e-01 9.60634045e-01 -8.76748201e-04 -1.75408932e+02] [-3.34849611e-03 5.57141410e-05 -9.99994392e-01 7.19999697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.877628 meters 0.014989688490536973 Centerline is valid? [True, True] Translation: X:12.46, Y:-174.65, Z:-0.23 [[-9.51360658e-01 -3.08070169e-01 2.38111619e-03 1.24581369e+01] [ 3.08068963e-01 -9.51363633e-01 -8.66942031e-04 -1.74652992e+02] [ 2.53238633e-03 -9.12265459e-05 9.99996789e-01 -2.30178993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90762800000005 meters 0.01620914474647187 Centerline is valid? [True, True] Translation: X:12.20, Y:-175.41, Z:0.72 [[-9.60222695e-01 2.79231596e-01 1.44606881e-03 1.21971150e+01] [ 2.79231332e-01 9.60223784e-01 -3.85430073e-04 -1.75405767e+02] [-1.49617392e-03 3.36890171e-05 -9.99998880e-01 7.17336142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.937628 meters 0.017118161422140375 Centerline is valid? [True, True] Translation: X:12.20, Y:-175.38, Z:0.72 [[-9.76929666e-01 2.13558764e-01 1.03999275e-03 1.22037065e+01] [ 2.13558673e-01 9.76930219e-01 -1.99129970e-04 -1.75381511e+02] [-1.05852630e-03 2.75634966e-05 -9.99999439e-01 7.16865218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96762800000005 meters 0.018144971611761884 Centerline is valid? [True, True] Translation: X:12.22, Y:-175.36, Z:0.72 [[-9.89488282e-01 1.44601845e-01 1.80167906e-03 1.22158984e+01] [ 1.44601694e-01 9.89489921e-01 -2.14693762e-04 -1.75357062e+02] [-1.81378838e-03 4.80888811e-05 -9.99998354e-01 7.18489314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.997628 meters 0.01659519163852509 Centerline is valid? [True, True] Translation: X:12.32, Y:-174.56, Z:-0.23 [[-9.87308879e-01 -1.58755951e-01 4.21012728e-03 1.23175251e+01] [ 1.58754695e-01 -9.87317855e-01 -6.32965112e-04 -1.74559002e+02] [ 4.25722081e-03 4.34453976e-05 9.99990937e-01 -2.32016066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02762800000005 meters 0.01866072904548423 Centerline is valid? [True, True] Translation: X:12.15, Y:-175.35, Z:0.72 [[-9.89918617e-01 1.41539054e-01 5.27517591e-03 1.21502727e+01] [ 1.41537832e-01 9.89932662e-01 -6.06271303e-04 -1.75350177e+02] [-5.30788000e-03 1.46477710e-04 -9.99985902e-01 7.21312309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.057628 meters 0.019867440634019115 Centerline is valid? [True, True] Translation: X:12.15, Y:-175.32, Z:0.72 [[-9.97447366e-01 7.10474877e-02 7.14183279e-03 1.21501722e+01] [ 7.10470895e-02 9.97472914e-01 -3.09768763e-04 -1.75323574e+02] [-7.14579306e-03 1.98428397e-04 -9.99974449e-01 7.22647052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.08762800000005 meters 0.017972789456528297 Centerline is valid? [True, True] Translation: X:12.19, Y:-174.52, Z:-0.24 [[-9.96541092e-01 -8.26052836e-02 9.06750818e-03 1.21907830e+01] [ 8.26007254e-02 -9.96582336e-01 -8.76692027e-04 -1.74520164e+02] [ 9.10893787e-03 -1.24676877e-04 9.99958505e-01 -2.35384243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.117628 meters 0.0163742372084813 Centerline is valid? [True, True] Translation: X:12.06, Y:-175.31, Z:0.72 [[-9.97858138e-01 6.47671495e-02 9.18440375e-03 1.20619222e+01] [ 6.47667220e-02 9.97900372e-01 -3.44284189e-04 -1.75311079e+02] [-9.18741823e-03 2.51296945e-04 -9.99957763e-01 7.22097941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.147628 meters 0.017485048672606064 Centerline is valid? [True, True] Translation: X:12.10, Y:-174.52, Z:-0.24 [[-9.96874786e-01 -7.82804054e-02 1.06225768e-02 1.20963565e+01] [ 7.82738963e-02 -9.96931362e-01 -1.02776657e-03 -1.74520909e+02] [ 1.06704339e-02 -1.93084109e-04 9.99943051e-01 -2.36051560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.177628 meters 0.015495969164470172 Centerline is valid? [True, True] Translation: X:11.97, Y:-175.30, Z:0.72 [[-9.98349131e-01 5.65280858e-02 1.01778231e-02 1.19720946e+01] [ 5.65277232e-02 9.98400978e-01 -3.23534365e-04 -1.75301711e+02] [-1.01798373e-02 2.52328914e-04 -9.99948152e-01 7.22454822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.207628 meters 0.017679565171056205 Centerline is valid? [True, True] Translation: X:12.00, Y:-174.52, Z:-0.24 [[-9.97095680e-01 -7.53622220e-02 1.09881525e-02 1.20032445e+01] [ 7.53552545e-02 -9.97156201e-01 -1.04733084e-03 -1.74519606e+02] [ 1.10358335e-02 -2.16274031e-04 9.99939080e-01 -2.35635215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23762800000003 meters 0.014949319740865441 Centerline is valid? [True, True] Translation: X:11.89, Y:-175.29, Z:0.72 [[-9.98966984e-01 4.46302111e-02 8.55040430e-03 1.18862357e+01] [ 4.46299113e-02 9.99003564e-01 -2.25960654e-04 -1.75294607e+02] [-8.55196903e-03 1.55876552e-04 -9.99963419e-01 7.21163344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.267628 meters 0.01323534594088856 Centerline is valid? [True, True] Translation: X:11.91, Y:-174.52, Z:-0.23 [[-9.96870052e-01 -7.87347204e-02 7.13742037e-03 1.19080733e+01] [ 7.87310811e-02 -9.96895578e-01 -7.89877387e-04 -1.74522958e+02] [ 7.17745357e-03 -2.25468291e-04 9.99974216e-01 -2.30918082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29762800000003 meters 0.01181114384141891 Centerline is valid? [True, True] Translation: X:11.80, Y:-175.28, Z:0.72 [[-9.99610164e-01 2.75420689e-02 4.57757341e-03 1.18041267e+01] [ 2.75419122e-02 9.99620645e-01 -9.72776686e-05 -1.75280542e+02] [-4.57851611e-03 2.88353785e-05 -9.99989518e-01 7.16548487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.327628 meters 0.011401493668181006 Centerline is valid? [True, True] Translation: X:11.79, Y:-175.25, Z:0.72 [[-9.98822032e-01 -4.83916485e-02 3.57737228e-03 1.17906414e+01] [-4.83913195e-02 9.98828438e-01 1.78540333e-04 -1.75248647e+02] [-3.58182102e-03 5.21625373e-06 -9.99993585e-01 7.15980671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35762800000003 meters 0.011470952091413893 Centerline is valid? [True, True] Translation: X:11.79, Y:-175.22, Z:0.72 [[-9.92248492e-01 -1.24246299e-01 2.40581617e-03 1.17899277e+01] [-1.24245954e-01 9.92251408e-01 2.92868720e-04 -1.75217282e+02] [-2.42356233e-03 -8.31437827e-06 -9.99997063e-01 7.15492186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.387628 meters 0.01229987443835187 Centerline is valid? [True, True] Translation: X:11.77, Y:-175.19, Z:0.71 [[-9.79278673e-01 -2.02511014e-01 1.60294361e-03 1.17697841e+01] [-2.02510774e-01 9.79279985e-01 3.12250613e-04 -1.75188802e+02] [-1.63296478e-03 -1.88329843e-05 -9.99998667e-01 7.14361700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41762800000004 meters 0.01304846947464368 Centerline is valid? [True, True] Translation: X:11.74, Y:-175.16, Z:0.71 [[-9.61322727e-01 -2.75422723e-01 9.68113146e-04 1.17443964e+01] [-2.75422599e-01 9.61323215e-01 2.61964196e-04 -1.75164402e+02] [-1.00282053e-03 -1.48081039e-05 -9.99999497e-01 7.13957267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.447628 meters 0.0136468077897865 Centerline is valid? [True, True] Translation: X:11.70, Y:-175.15, Z:0.71 [[-9.37576300e-01 -3.47779182e-01 5.67525729e-04 1.17022704e+01] [-3.47779125e-01 9.37576472e-01 1.98663014e-04 -1.75146836e+02] [-6.01189632e-04 -1.11118681e-05 -9.99999819e-01 7.13835706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47762800000004 meters 0.013863358845768071 Centerline is valid? [True, True] Translation: X:11.64, Y:-175.14, Z:0.71 [[-9.09392438e-01 -4.15937422e-01 1.20599706e-03 1.16431157e+01] [-4.15937092e-01 9.09393237e-01 5.25180663e-04 -1.75140627e+02] [-1.31516786e-03 -2.40235861e-05 -9.99999135e-01 7.14342472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.507628 meters 0.013680582877417129 Centerline is valid? [True, True] Translation: X:11.58, Y:-175.14, Z:0.72 [[-8.76354035e-01 -4.81663098e-01 2.06525055e-03 1.15758170e+01] [-4.81661871e-01 8.76356468e-01 1.08827167e-03 -1.75143776e+02] [-2.33407598e-03 -4.10411773e-05 -9.99997275e-01 7.15017061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53762800000004 meters 0.013096936024581047 Centerline is valid? [True, True] Translation: X:11.50, Y:-175.16, Z:0.72 [[-8.39631490e-01 -5.43148264e-01 2.98747275e-03 1.15011134e+01] [-5.43145041e-01 8.39636803e-01 1.87181804e-03 -1.75157420e+02] [-3.52506679e-03 -5.09936434e-05 -9.99993786e-01 7.17151634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.567628 meters 0.012545768250725323 Centerline is valid? [True, True] Translation: X:11.42, Y:-175.18, Z:0.72 [[-7.97706920e-01 -6.03039455e-01 2.66189159e-03 1.14201835e+01] [-6.03036269e-01 7.97711360e-01 1.96073959e-03 -1.75181976e+02] [-3.30582450e-03 -4.11216380e-05 -9.99994535e-01 7.17669126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59762800000004 meters 0.012193386676386182 Centerline is valid? [True, True] Translation: X:11.34, Y:-175.22, Z:0.72 [[-7.51382089e-01 -6.59860835e-01 2.93848096e-03 1.13377983e+01] [-6.59855993e-01 7.51387834e-01 2.52816758e-03 -1.75215897e+02] [-3.87617761e-03 -3.93544340e-05 -9.99992487e-01 7.17565461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.627628 meters 0.011900926061776998 Centerline is valid? [True, True] Translation: X:11.25, Y:-175.26, Z:0.72 [[-7.00751235e-01 -7.13399911e-01 2.87639573e-03 1.12520152e+01] [-7.13394091e-01 7.00757138e-01 2.88181229e-03 -1.75261828e+02] [-4.07153947e-03 -3.25701959e-05 -9.99991711e-01 7.17769173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65762800000005 meters 0.011557047642762443 Centerline is valid? [True, True] Translation: X:11.17, Y:-175.32, Z:0.72 [[-6.47953715e-01 -7.61672220e-01 3.37815058e-03 1.11695926e+01] [-7.61662003e-01 6.47962521e-01 3.94508416e-03 -1.75318445e+02] [-5.19377598e-03 -1.67770005e-05 -9.99986512e-01 7.18131545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.687628 meters 0.011524102303751295 Centerline is valid? [True, True] Translation: X:11.09, Y:-175.38, Z:0.72 [[-5.89972437e-01 -8.07416514e-01 3.33101749e-03 1.10862257e+01] [-8.07403681e-01 5.89981841e-01 4.55238456e-03 -1.75383400e+02] [-5.64091031e-03 -3.69436826e-06 -9.99984090e-01 7.19014264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71762800000005 meters 0.011603187347461057 Centerline is valid? [True, True] Translation: X:11.01, Y:-175.46, Z:0.72 [[-5.27983381e-01 -8.49248059e-01 3.35909334e-03 1.10075289e+01] [-8.49230773e-01 5.27994067e-01 5.41851357e-03 -1.75455207e+02] [-6.37524348e-03 8.23968439e-06 -9.99979678e-01 7.19346834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.747628 meters 0.011659068908417692 Centerline is valid? [True, True] Translation: X:10.93, Y:-175.54, Z:0.72 [[-4.63189940e-01 -8.86254275e-01 2.90513841e-03 1.09301174e+01] [-8.86236543e-01 4.63199050e-01 5.60621011e-03 -1.75541690e+02] [-6.31418502e-03 2.21003026e-05 -9.99980065e-01 7.19668613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77762800000005 meters 0.011696462439985277 Centerline is valid? [True, True] Translation: X:10.86, Y:-175.63, Z:0.72 [[-3.93941902e-01 -9.19132866e-01 2.13355077e-03 1.08586359e+01] [-9.19119100e-01 3.93947679e-01 5.03054270e-03 -1.75632201e+02] [-5.46424450e-03 2.07542937e-05 -9.99985071e-01 7.19066213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.807628 meters 0.011695884134407602 Centerline is valid? [True, True] Translation: X:10.80, Y:-175.73, Z:0.72 [[-3.21789376e-01 -9.46810561e-01 1.16546327e-03 1.07964070e+01] [-9.46804202e-01 3.21791486e-01 3.47017569e-03 -1.75726557e+02] [-3.66063515e-03 1.32001456e-05 -9.99993300e-01 7.16912817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.83762800000005 meters 0.011619165306605828 Centerline is valid? [True, True] Translation: X:10.74, Y:-175.83, Z:0.72 [[-2.47329843e-01 -9.68931002e-01 8.13528805e-04 1.07370406e+01] [-9.68925622e-01 2.47331181e-01 3.22889960e-03 -1.75830878e+02] [-3.32979196e-03 1.03543272e-05 -9.99994456e-01 7.16384304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.867628 meters 0.011631208227867328 Centerline is valid? [True, True] Translation: X:10.68, Y:-175.94, Z:0.72 [[-1.69878787e-01 -9.85464692e-01 7.34132342e-04 1.06842397e+01] [-9.85455368e-01 1.69880373e-01 4.28688358e-03 -1.75938677e+02] [-4.34928708e-03 4.79592392e-06 -9.99990542e-01 7.18039175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.897628 meters 0.011546219168703834 Centerline is valid? [True, True] Translation: X:10.64, Y:-176.05, Z:0.72 [[-9.26070899e-02 -9.95702617e-01 4.75599781e-04 1.06410871e+01] [-9.95689387e-01 9.26083111e-02 5.13277360e-03 -1.76048633e+02] [-5.15476060e-03 1.78157196e-06 -9.99986714e-01 7.19207148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.927628 meters 0.011575668596684248 Centerline is valid? [True, True] Translation: X:10.61, Y:-176.17, Z:0.72 [[-1.45267668e-02 -9.99894477e-01 9.19429542e-05 1.06070671e+01] [-9.99875760e-01 1.45270575e-02 6.11787397e-03 -1.76166211e+02] [-6.11856405e-03 -3.05860244e-06 -9.99981281e-01 7.19384102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.957628 meters 0.01173584056314973 Centerline is valid? [True, True] Translation: X:10.58, Y:-176.29, Z:0.72 [[ 6.33012020e-02 -9.97994341e-01 -5.02736410e-04 1.05824662e+01] [-9.97961875e-01 -6.33031978e-02 8.04990945e-03 -1.76288616e+02] [-8.06558890e-03 -7.85717331e-06 -9.99967473e-01 7.21389078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98762800000003 meters 0.011786262614699361 Centerline is valid? [True, True] Translation: X:10.57, Y:-176.41, Z:0.72 [[ 1.40120950e-01 -9.90133488e-01 -1.33978394e-03 1.05670640e+01] [-9.90087664e-01 -1.40127355e-01 9.52589920e-03 -1.76414572e+02] [-9.61965218e-03 -8.27449126e-06 -9.99953730e-01 7.22334759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.017628 meters 0.012024289203034588 Centerline is valid? [True, True] Translation: X:10.56, Y:-176.53, Z:0.72 [[ 2.16375138e-01 -9.76306557e-01 -2.70307948e-03 1.05581539e+01] [-9.76229594e-01 -2.16392022e-01 1.22585696e-02 -1.76528302e+02] [-1.25530467e-02 -1.36235059e-05 -9.99921207e-01 7.23694929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04762800000003 meters 0.012169795056063294 Centerline is valid? [True, True] Translation: X:10.56, Y:-176.65, Z:0.72 [[ 2.90959927e-01 -9.56726525e-01 -4.08380456e-03 1.05599396e+01] [-9.56631705e-01 -2.90988585e-01 1.34693685e-02 -1.76648406e+02] [-1.40748426e-02 -1.23495663e-05 -9.99900944e-01 7.24766542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.077628 meters 0.012206056093468894 Centerline is valid? [True, True] Translation: X:10.57, Y:-176.77, Z:0.72 [[ 3.63263039e-01 -9.31671876e-01 -5.24211154e-03 1.05702046e+01] [-9.31574738e-01 -3.63300861e-01 1.34533538e-02 -1.76767106e+02] [-1.44385751e-02 -3.68752375e-06 -9.99895758e-01 7.24960728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10762800000003 meters 0.0121542695815753 Centerline is valid? [True, True] Translation: X:10.59, Y:-176.88, Z:0.72 [[ 4.30901824e-01 -9.02382860e-01 -5.36582536e-03 1.05893599e+01] [-9.02314063e-01 -4.30935230e-01 1.11427101e-02 -1.76882299e+02] [-1.23673138e-02 4.02455639e-05 -9.99923521e-01 7.23247752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.137628 meters 0.012356221477141953 Centerline is valid? [True, True] Translation: X:10.62, Y:-176.99, Z:0.72 [[ 4.96631589e-01 -8.67942395e-01 -5.75013071e-03 1.06182373e+01] [-8.67885826e-01 -4.96664871e-01 9.90950877e-03 -1.76993218e+02] [-1.14567707e-02 6.90818564e-05 -9.99934367e-01 7.21592314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16762800000004 meters 0.015908112514320578 Centerline is valid? [True, True] Translation: X:10.66, Y:-177.10, Z:0.72 [[ 5.58434768e-01 -8.29524835e-01 -6.25757538e-03 1.06570444e+01] [-8.29475016e-01 -5.58469816e-01 9.09191326e-03 -1.77103138e+02] [-1.10366348e-02 1.13261967e-04 -9.99939088e-01 7.22046489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.197628 meters 0.014143209945256308 Centerline is valid? [True, True] Translation: X:10.70, Y:-177.20, Z:0.72 [[ 6.14998534e-01 -7.88509102e-01 -5.49539223e-03 1.06993885e+01] [-7.88479792e-01 -6.15023067e-01 6.80035305e-03 -1.77198858e+02] [-8.74193326e-03 1.50798569e-04 -9.99961777e-01 7.17547500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22762800000004 meters 0.01507599242491197 Centerline is valid? [True, True] Translation: X:10.75, Y:-177.29, Z:0.72 [[ 6.70772592e-01 -7.41644282e-01 -5.28087831e-03 1.07483263e+01] [-7.41623179e-01 -6.70793360e-01 5.59715542e-03 -1.77294546e+02] [-7.69347642e-03 1.62003304e-04 -9.99970392e-01 7.17105589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.257628 meters 0.01507599242491197 Centerline is valid? [True, True] Translation: X:10.80, Y:-177.39, Z:0.72 [[ 7.25462053e-01 -6.88238621e-01 -5.69298161e-03 1.08034435e+01] [-6.88219166e-01 -7.25484372e-01 5.17740921e-03 -1.77387958e+02] [-7.69346217e-03 1.62005141e-04 -9.99970392e-01 7.17104922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28762800000004 meters 0.015955203513386494 Centerline is valid? [True, True] Translation: X:10.80, Y:-177.39, Z:0.72 [[ 7.74811879e-01 -6.32168531e-01 -5.43137094e-03 1.07996802e+01] [-6.32154511e-01 -7.74830897e-01 4.21361184e-03 -1.77392771e+02] [-6.87210683e-03 1.68709131e-04 -9.99976373e-01 7.16472898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.317628 meters 0.01651859098451012 Centerline is valid? [True, True] Translation: X:10.79, Y:-177.40, Z:0.72 [[ 8.19082299e-01 -5.73660479e-01 -4.22393302e-03 1.07934362e+01] [-5.73653777e-01 -8.19093177e-01 2.77697009e-03 -1.77401731e+02] [-5.05283270e-03 1.48508085e-04 -9.99987223e-01 7.15946701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34762800000004 meters 0.016745373220389045 Centerline is valid? [True, True] Translation: X:10.79, Y:-177.41, Z:0.72 [[ 8.60801662e-01 -5.08924170e-01 -4.08512204e-03 1.07876177e+01] [-5.08919218e-01 -8.60811343e-01 2.24965144e-03 -1.77410559e+02] [-4.66142139e-03 1.42493415e-04 -9.99989125e-01 7.16308241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.377628 meters 0.01660832348573128 Centerline is valid? [True, True] Translation: X:10.78, Y:-177.42, Z:0.72 [[ 8.98509789e-01 -4.38933018e-01 -4.23855401e-03 1.07831580e+01] [-4.38928845e-01 -8.98519775e-01 1.91887055e-03 -1.77419633e+02] [-4.65068024e-03 1.36299643e-04 -9.99989176e-01 7.16302696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40762800000005 meters 0.016194616225141983 Centerline is valid? [True, True] Translation: X:10.78, Y:-177.43, Z:0.72 [[ 9.30930126e-01 -3.65170979e-01 -4.38834481e-03 1.07793138e+01] [-3.65167555e-01 -9.30940460e-01 1.58626604e-03 -1.77428251e+02] [-4.66454606e-03 1.25778302e-04 -9.99989113e-01 7.15691730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.437628 meters 0.01531205857064082 Centerline is valid? [True, True] Translation: X:10.78, Y:-177.44, Z:0.71 [[ 9.57553920e-01 -2.88223712e-01 -4.19309270e-03 1.07764799e+01] [-2.88221419e-01 -9.57563095e-01 1.15434283e-03 -1.77438485e+02] [-4.34785980e-03 1.03193625e-04 -9.99990543e-01 7.14821839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46762800000005 meters 0.01334750616754951 Centerline is valid? [True, True] Translation: X:10.77, Y:-177.45, Z:0.72 [[ 9.78905355e-01 -2.04265252e-01 -4.47356340e-03 1.07723823e+01] [-2.04263446e-01 -9.78915575e-01 8.61811633e-04 -1.77453795e+02] [-4.55527905e-03 7.01534520e-05 -9.99989622e-01 7.15935218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.497628 meters 0.012601705993733649 Centerline is valid? [True, True] Translation: X:10.77, Y:-177.47, Z:0.72 [[ 9.92400692e-01 -1.22935383e-01 -5.26855270e-03 1.07674298e+01] [-1.22933971e-01 -9.92414675e-01 5.92233852e-04 -1.77466088e+02] [-5.30139551e-03 5.99508208e-05 -9.99985946e-01 7.17386165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52762800000005 meters 0.011957147715417574 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.48, Z:0.72 [[ 9.99264564e-01 -3.73731592e-02 -8.57771318e-03 1.07632007e+01] [-3.73720645e-02 -9.99301379e-01 2.87933529e-04 -1.77479252e+02] [-8.58248159e-03 3.28450775e-05 -9.99963169e-01 7.21139374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.557628 meters 0.011812030136844148 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.49, Z:0.72 [[ 9.99001994e-01 4.37418789e-02 -9.03682243e-03 1.07612146e+01] [ 4.37400054e-02 -9.99042866e-01 -4.04946196e-04 -1.77489047e+02] [-9.04588608e-03 9.27139517e-06 -9.99959085e-01 7.21686958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.58762800000005 meters 0.011735795081869279 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.50, Z:0.72 [[ 9.92226162e-01 1.24091537e-01 -9.40924063e-03 1.07599598e+01] [ 1.24086071e-01 -9.92270775e-01 -1.16475698e-03 -1.77498521e+02] [-9.48105098e-03 -1.18533489e-05 -9.99955054e-01 7.20843298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.617628 meters 0.01182699866852826 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.51, Z:0.72 [[ 9.78860489e-01 2.04408150e-01 -7.03218854e-03 1.07588084e+01] [ 2.04403102e-01 -9.78885748e-01 -1.43679824e-03 -1.77507799e+02] [-7.17740241e-03 -3.09761289e-05 -9.99974242e-01 7.18352973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.647628 meters 0.011816390786039584 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.52, Z:0.72 [[ 9.59676051e-01 2.81046821e-01 -5.87885157e-03 1.07583157e+01] [ 2.81041741e-01 -9.59694057e-01 -1.69003201e-03 -1.77517829e+02] [-6.11687704e-03 -3.03194364e-05 -9.99981291e-01 7.17517449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.677628 meters 0.011746330390847985 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.53, Z:0.72 [[ 9.34743057e-01 3.55298045e-01 -4.32630771e-03 1.07587837e+01] [ 3.55294352e-01 -9.34753068e-01 -1.62002302e-03 -1.77526648e+02] [-4.61962042e-03 -2.28074305e-05 -9.99989329e-01 7.16938152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.707628 meters 0.011715756194025123 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.53, Z:0.72 [[ 9.05111406e-01 4.25164370e-01 -2.93276545e-03 1.07592957e+01] [ 4.25162167e-01 -9.05116158e-01 -1.36859515e-03 -1.77533254e+02] [-3.23637129e-03 -8.16983250e-06 -9.99994763e-01 7.15736885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73762800000003 meters 0.011634696785914845 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.54, Z:0.71 [[ 8.70035814e-01 4.92984779e-01 -1.92090985e-03 1.07590016e+01] [ 4.92983580e-01 -8.70037935e-01 -1.08694459e-03 -1.77540355e+02] [-2.20711158e-03 -1.29629074e-06 -9.99997564e-01 7.14976274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.767628 meters 0.011873208415278658 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.54, Z:0.71 [[ 8.31544285e-01 5.55457499e-01 -1.03397947e-03 1.07573890e+01] [ 5.55457062e-01 -8.31544928e-01 -6.97044933e-04 -1.77544126e+02] [-1.24697922e-03 5.29253439e-06 -9.99999223e-01 7.13422709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79762800000003 meters 0.012435708828593942 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.55, Z:0.71 [[ 7.88750329e-01 6.14712369e-01 -1.27380437e-03 1.07555509e+01] [ 6.14711535e-01 -7.88751357e-01 -1.01254509e-03 -1.77549954e+02] [-1.62713892e-03 1.56230280e-05 -9.99998676e-01 7.14262192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.827628 meters 0.013126685247152164 Centerline is valid? [True, True] Translation: X:10.75, Y:-177.56, Z:0.72 [[ 7.39804821e-01 6.72819617e-01 -1.60941269e-03 1.07548559e+01] [ 6.72817946e-01 -7.39806571e-01 -1.49951019e-03 -1.77557753e+02] [-2.19955395e-03 2.65031213e-05 -9.99997581e-01 7.15513890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85762800000003 meters 0.013230648286747965 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.57, Z:0.72 [[ 6.86462724e-01 7.27162208e-01 -2.01293744e-03 1.07571541e+01] [ 7.27158898e-01 -6.86465674e-01 -2.19443315e-03 -1.77566204e+02] [-2.97752131e-03 4.26711823e-05 -9.99995566e-01 7.16471402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.887628 meters 0.01345316145910326 Centerline is valid? [True, True] Translation: X:10.76, Y:-177.58, Z:0.72 [[ 6.28587753e-01 7.77735338e-01 -2.27615821e-03 1.07606799e+01] [ 7.77729898e-01 -6.28591871e-01 -2.90935179e-03 -1.77576020e+02] [-3.69348025e-03 5.85466107e-05 -9.99993177e-01 7.16889076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91762800000004 meters 0.013658563128489842 Centerline is valid? [True, True] Translation: X:10.77, Y:-177.59, Z:0.72 [[ 5.66728465e-01 8.23899066e-01 -3.02925393e-03 1.07667216e+01] [ 8.23886402e-01 -5.66736554e-01 -4.56892894e-03 -1.77585973e+02] [-5.48112522e-03 9.35809614e-05 -9.99984974e-01 7.17935098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.947628 meters 0.013982915734426789 Centerline is valid? [True, True] Translation: X:10.77, Y:-177.60, Z:0.72 [[ 5.00615358e-01 8.65663847e-01 -3.21984517e-03 1.07715462e+01] [ 8.65644445e-01 -5.00625699e-01 -5.79687482e-03 -1.77596242e+02] [-6.63008220e-03 1.14763481e-04 -9.99978014e-01 7.19142645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97762800000004 meters 0.014072265010974671 Centerline is valid? [True, True] Translation: X:10.78, Y:-177.61, Z:0.72 [[ 4.31447724e-01 9.02131294e-01 -3.46262485e-03 1.07764002e+01] [ 9.02099477e-01 -4.31461594e-01 -7.57799230e-03 -1.77605128e+02] [-8.33033364e-03 1.45875467e-04 -9.99965292e-01 7.20469493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.007628 meters 0.014563714709705645 Centerline is valid? [True, True] Translation: X:10.78, Y:-177.61, Z:0.72 [[ 3.59851642e-01 9.33000898e-01 -4.01486187e-03 1.07803113e+01] [ 9.32936152e-01 -3.59873977e-01 -1.09934749e-02 -1.77613427e+02] [-1.17017663e-02 2.10410226e-04 -9.99931510e-01 7.22479469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03762800000004 meters 0.01676886999078306 Centerline is valid? [True, True] Translation: X:10.79, Y:-177.62, Z:0.72 [[ 2.86061219e-01 9.58203796e-01 -3.80317323e-03 1.07869761e+01] [ 9.58106611e-01 -2.86086381e-01 -1.36493198e-02 -1.77621364e+02] [-1.41668661e-02 2.60695646e-04 -9.99899611e-01 7.24503818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.067628 meters 0.014685404423068291 Centerline is valid? [True, True] Translation: X:10.79, Y:-177.63, Z:0.72 [[ 2.10266988e-01 9.77640405e-01 -2.65186803e-03 1.07925589e+01] [ 9.77546582e-01 -2.10283554e-01 -1.35464937e-02 -1.77628997e+02] [-1.38012438e-02 2.56055898e-04 -9.99904726e-01 7.23461085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09762800000004 meters 0.014512457364539804 Centerline is valid? [True, True] Translation: X:10.80, Y:-177.64, Z:0.72 [[ 1.33589570e-01 9.91035475e-01 -1.58557005e-03 1.08025996e+01] [ 9.90940330e-01 -1.33598719e-01 -1.37347775e-02 -1.77635685e+02] [-1.38234819e-02 2.63617706e-04 -9.99904416e-01 7.22702133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.127628 meters 0.014007421199904307 Centerline is valid? [True, True] Translation: X:10.82, Y:-177.64, Z:0.72 [[ 5.55285601e-02 9.98456979e-01 -4.89337743e-04 1.08154297e+01] [ 9.98367095e-01 -5.55301283e-02 -1.33995477e-02 -1.77641946e+02] [-1.34060449e-02 2.55518887e-04 -9.99910102e-01 7.21841027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15762800000005 meters 0.014196739395182553 Centerline is valid? [True, True] Translation: X:10.83, Y:-177.65, Z:0.72 [[-2.31282813e-02 9.99732371e-01 5.18007861e-04 1.08270787e+01] [ 9.99655933e-01 2.31329196e-02 -1.23646322e-02 -1.77648359e+02] [-1.23733061e-02 2.31856940e-04 -9.99923421e-01 7.21916685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.187628 meters 0.01370365742250458 Centerline is valid? [True, True] Translation: X:10.84, Y:-177.65, Z:0.72 [[-1.03521637e-01 9.94626291e-01 1.34585968e-03 1.08408285e+01] [ 9.94563955e-01 1.03530218e-01 -1.11370139e-02 -1.77651857e+02] [-1.12165040e-02 1.85621621e-04 -9.99937076e-01 7.21630638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21762800000005 meters 0.013194140743441529 Centerline is valid? [True, True] Translation: X:10.85, Y:-177.65, Z:0.72 [[-1.82748885e-01 9.83157139e-01 2.21013586e-03 1.08530115e+01] [ 9.83095881e-01 1.82762173e-01 -1.09761663e-02 -1.77654500e+02] [-1.11952255e-02 1.66893316e-04 -9.99937318e-01 7.21247230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.247628 meters 0.013401699038314561 Centerline is valid? [True, True] Translation: X:10.86, Y:-177.66, Z:0.72 [[-2.60796701e-01 9.65389393e-01 2.89824863e-03 1.08636477e+01] [ 9.65335616e-01 2.60812767e-01 -1.01906035e-02 -1.77657738e+02] [-1.05938007e-02 1.40106860e-04 -9.99943874e-01 7.21733503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27762800000005 meters 0.012251941523185117 Centerline is valid? [True, True] Translation: X:10.88, Y:-177.66, Z:0.72 [[-3.38945354e-01 9.40800863e-01 3.12780867e-03 1.08783029e+01] [ 9.40763140e-01 3.38959774e-01 -8.42525325e-03 -1.77658040e+02] [-8.98668685e-03 8.68266621e-05 -9.99959615e-01 7.19678183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.307628 meters 0.0118747730754164 Centerline is valid? [True, True] Translation: X:10.89, Y:-177.66, Z:0.72 [[-4.13347994e-01 9.10567315e-01 3.25586096e-03 1.08897439e+01] [ 9.10540202e-01 4.13360812e-01 -7.02701219e-03 -1.77659201e+02] [-7.74441295e-03 5.99909102e-05 -9.99970010e-01 7.19237732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.33762800000005 meters 0.011710211480799494 Centerline is valid? [True, True] Translation: X:10.90, Y:-177.66, Z:0.72 [[-4.85333602e-01 8.74323569e-01 3.09690977e-03 1.09004443e+01] [ 8.74306229e-01 4.85343482e-01 -5.50657437e-03 -1.77658597e+02] [-6.31759273e-03 3.51219337e-05 -9.99980043e-01 7.18516201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.367628 meters 0.011441662097498641 Centerline is valid? [True, True] Translation: X:10.91, Y:-177.66, Z:0.72 [[-5.54117119e-01 8.32432440e-01 3.23281831e-03 1.09105067e+01] [ 8.32418479e-01 5.54126549e-01 -4.82105893e-03 -1.77657605e+02] [-5.80459630e-03 1.96264155e-05 -9.99983153e-01 7.17857008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.397628 meters 0.011275465789051883 Centerline is valid? [True, True] Translation: X:10.92, Y:-177.66, Z:0.72 [[-6.20965924e-01 7.83828318e-01 3.80652525e-03 1.09200562e+01] [ 7.83813539e-01 6.20977591e-01 -4.81330395e-03 -1.77656377e+02] [-6.13657082e-03 -5.29170391e-06 -9.99981171e-01 7.18137033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.427628 meters 0.011363511019338466 Centerline is valid? [True, True] Translation: X:10.93, Y:-177.66, Z:0.72 [[-6.82187292e-01 7.31162097e-01 4.74205298e-03 1.09280784e+01] [ 7.31144203e-01 6.82203773e-01 -5.11533151e-03 -1.77655176e+02] [-6.97518295e-03 -2.24896040e-05 -9.99975673e-01 7.19004638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.457628 meters 0.011784615161129273 Centerline is valid? [True, True] Translation: X:10.94, Y:-177.65, Z:0.72 [[-7.39877454e-01 6.72699434e-01 7.53819925e-03 1.09355181e+01] [ 6.72663527e-01 7.39915851e-01 -6.95080610e-03 -1.77652125e+02] [-1.02534364e-02 -7.20730323e-05 -9.99947430e-01 7.20867029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48762800000003 meters 0.012008829014523456 Centerline is valid? [True, True] Translation: X:11.45, Y:-177.11, Z:-0.23 [[-6.81533762e-01 -7.31738352e-01 8.40924726e-03 1.14514796e+01] [ 7.31686211e-01 -6.81585611e-01 -8.73755023e-03 -1.77106709e+02] [ 1.21252225e-02 1.97994785e-04 9.99926467e-01 -2.34317828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.517628 meters 0.012299293843591241 Centerline is valid? [True, True] Translation: X:11.43, Y:-177.09, Z:-0.24 [[-6.80784834e-01 -7.32423496e-01 9.37186271e-03 1.14323935e+01] [ 7.32356848e-01 -6.80849325e-01 -9.88146266e-03 -1.77086183e+02] [ 1.36182418e-02 1.36397910e-04 9.99907258e-01 -2.35494901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54762800000003 meters 0.014319197798709162 Centerline is valid? [True, True] Translation: X:11.41, Y:-177.06, Z:-0.24 [[-6.81040483e-01 -7.32163062e-01 1.10050645e-02 1.14145233e+01] [ 7.32071229e-01 -6.81129375e-01 -1.15969502e-02 -1.77064681e+02] [ 1.59867313e-02 1.58498473e-04 9.99872192e-01 -2.38797476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.577628 meters 0.01582098737238086 Centerline is valid? [True, True] Translation: X:11.40, Y:-177.04, Z:-0.24 [[-6.82567356e-01 -7.30732406e-01 1.14872037e-02 1.13976918e+01] [ 7.30632275e-01 -6.82663997e-01 -1.20973708e-02 -1.77043328e+02] [ 1.66818413e-02 1.35651345e-04 9.99860839e-01 -2.39556594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60762800000003 meters 0.011765557753588594 Centerline is valid? [True, True] Translation: X:11.38, Y:-177.02, Z:-0.24 [[-6.86389124e-01 -7.27161283e-01 1.03169460e-02 1.13833842e+01] [ 7.27080200e-01 -6.86466654e-01 -1.08589007e-02 -1.77018956e+02] [ 1.49784115e-02 4.78158291e-05 9.99887816e-01 -2.35806530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.637628 meters 0.011619155339725932 Centerline is valid? [True, True] Translation: X:11.37, Y:-177.00, Z:-0.23 [[-6.88800682e-01 -7.24886187e-01 9.67660933e-03 1.13665783e+01] [ 7.24814721e-01 -6.88868649e-01 -1.01785990e-02 -1.76997257e+02] [ 1.40442386e-02 2.72294222e-06 9.99901375e-01 -2.34146260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66762800000004 meters 0.011511665033059532 Centerline is valid? [True, True] Translation: X:11.35, Y:-176.98, Z:-0.23 [[-6.90721096e-01 -7.23069565e-01 8.64706021e-03 1.13491838e+01] [ 7.23012428e-01 -6.90775219e-01 -9.08988961e-03 -1.76976569e+02] [ 1.25457974e-02 -2.66465219e-05 9.99921298e-01 -2.32020616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.697628 meters 0.011624243061612602 Centerline is valid? [True, True] Translation: X:11.33, Y:-176.96, Z:-0.23 [[-6.94043488e-01 -7.19907926e-01 6.01785158e-03 1.13314399e+01] [ 7.19880168e-01 -6.94069575e-01 -6.32205378e-03 -1.76955373e+02] [ 8.72810431e-03 -5.56482458e-05 9.99961908e-01 -2.28482623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72762800000004 meters 0.011854626082478547 Centerline is valid? [True, True] Translation: X:11.31, Y:-176.94, Z:-0.23 [[-6.96004420e-01 -7.18019676e-01 5.05881814e-03 1.13124726e+01] [ 7.18000036e-01 -6.96022802e-01 -5.31117633e-03 -1.76935119e+02] [ 7.33458188e-03 -6.43705940e-05 9.99973100e-01 -2.27170869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.757628 meters 0.012581337690884714 Centerline is valid? [True, True] Translation: X:11.29, Y:-176.91, Z:-0.23 [[-6.99847712e-01 -7.14283921e-01 3.41483082e-03 1.12936538e+01] [ 7.14274937e-01 -6.99856039e-01 -3.58317214e-03 -1.76914380e+02] [ 4.94929222e-03 -6.85467509e-05 9.99987750e-01 -2.26132914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78762800000004 meters 0.013154044143872877 Centerline is valid? [True, True] Translation: X:11.28, Y:-176.89, Z:-0.23 [[-7.01804991e-01 -7.12363173e-01 2.90939128e-03 1.12753389e+01] [ 7.12356642e-01 -7.01811018e-01 -3.05111863e-03 -1.76893380e+02] [ 4.21534741e-03 -6.87660775e-05 9.99991113e-01 -2.25967251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.817628 meters 0.013463405824167909 Centerline is valid? [True, True] Translation: X:11.26, Y:-176.87, Z:-0.23 [[-7.03777168e-01 -7.10414811e-01 2.91465521e-03 1.12567375e+01] [ 7.10408247e-01 -7.03783199e-01 -3.05480905e-03 -1.76872980e+02] [ 4.22146696e-03 -7.93097641e-05 9.99991086e-01 -2.26314369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84762800000004 meters 0.014664137834027001 Centerline is valid? [True, True] Translation: X:11.24, Y:-176.85, Z:-0.23 [[-7.07161952e-01 -7.07038782e-01 4.25856102e-03 1.12382948e+01] [ 7.07024724e-01 -7.07174760e-01 -4.46081954e-03 -1.76851930e+02] [ 6.16551928e-03 -1.43613926e-04 9.99980983e-01 -2.27712070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.877628 meters 0.015475817208781446 Centerline is valid? [True, True] Translation: X:11.22, Y:-176.83, Z:-0.23 [[-7.08742279e-01 -7.05451519e-01 4.74719340e-03 1.12202087e+01] [ 7.05434030e-01 -7.08758156e-01 -4.97040791e-03 -1.76832383e+02] [ 6.87099385e-03 -1.73906460e-04 9.99976379e-01 -2.28729375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90762800000005 meters 0.017476546865163364 Centerline is valid? [True, True] Translation: X:11.20, Y:-176.81, Z:-0.23 [[-7.10250660e-01 -7.03926700e-01 5.58589065e-03 1.12002112e+01] [ 7.03902464e-01 -7.10272591e-01 -5.84527139e-03 -1.76812596e+02] [ 8.08214763e-03 -2.19685666e-04 9.99967315e-01 -2.31169897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.937628 meters 0.015509917188894549 Centerline is valid? [True, True] Translation: X:11.18, Y:-176.79, Z:-0.23 [[-7.11319712e-01 -7.02841265e-01 6.19872167e-03 1.11786167e+01] [ 7.02811412e-01 -7.11346675e-01 -6.48284355e-03 -1.76794229e+02] [ 8.96585001e-03 -2.54842072e-04 9.99959774e-01 -2.30369955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96762800000005 meters 0.016660887277909663 Centerline is valid? [True, True] Translation: X:11.16, Y:-176.77, Z:-0.23 [[-7.11780285e-01 -7.02373953e-01 6.29736085e-03 1.11605136e+01] [ 7.02343149e-01 -7.11808093e-01 -6.58325518e-03 -1.76773608e+02] [ 9.10641938e-03 -2.62922998e-04 9.99958501e-01 -2.30673596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.997628 meters 0.018502111818548137 Centerline is valid? [True, True] Translation: X:11.14, Y:-176.75, Z:-0.23 [[-7.12378172e-01 -7.01765106e-01 6.56323982e-03 1.11403490e+01] [ 7.01731658e-01 -7.12408350e-01 -6.85734713e-03 -1.76753830e+02] [ 9.48795379e-03 -2.79391258e-04 9.99954949e-01 -2.31860077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02762800000005 meters 0.01611522236414546 Centerline is valid? [True, True] Translation: X:11.12, Y:-176.74, Z:-0.23 [[-7.11379297e-01 -7.02786223e-01 5.56959322e-03 1.11196076e+01] [ 7.02762193e-01 -7.11401065e-01 -5.81592700e-03 -1.76735044e+02] [ 8.04956792e-03 -2.23230514e-04 9.99967577e-01 -2.28048291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.057628 meters 0.014941759770309723 Centerline is valid? [True, True] Translation: X:11.10, Y:-176.72, Z:-0.23 [[-7.10593516e-01 -7.03586000e-01 4.85755960e-03 1.10980293e+01] [ 7.03567760e-01 -7.10610094e-01 -5.06960839e-03 -1.76717001e+02] [ 7.01873638e-03 -1.84808521e-04 9.99975351e-01 -2.27008176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.08762800000005 meters 0.016929733221646304 Centerline is valid? [True, True] Translation: X:11.08, Y:-176.70, Z:-0.23 [[-7.08647136e-01 -7.05548987e-01 4.45683577e-03 1.10765067e+01] [ 7.05533687e-01 -7.08661135e-01 -4.64886834e-03 -1.76700147e+02] [ 6.43839064e-03 -1.49959455e-04 9.99979262e-01 -2.28679673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.117628 meters 0.01414359392398329 Centerline is valid? [True, True] Translation: X:11.06, Y:-176.68, Z:-0.23 [[-7.06559281e-01 -7.07646374e-01 3.25441478e-03 1.10554488e+01] [ 7.07638247e-01 -7.06566770e-01 -3.39284405e-03 -1.76682801e+02] [ 4.70039513e-03 -9.42970773e-05 9.99988949e-01 -2.26565236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.147628 meters 0.01414359392398329 Centerline is valid? [True, True] Translation: X:11.04, Y:-176.66, Z:-0.23 [[-7.06779236e-01 -7.07426684e-01 3.25546974e-03 1.10368364e+01] [ 7.07418559e-01 -7.06786727e-01 -3.39183181e-03 -1.76663549e+02] [ 4.70039514e-03 -9.42965846e-05 9.99988949e-01 -2.26565516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.177628 meters 0.012410293774132723 Centerline is valid? [True, True] Translation: X:11.01, Y:-176.65, Z:-0.23 [[-7.02385971e-01 -7.11793347e-01 2.04404448e-03 1.10124431e+01] [ 7.11790166e-01 -7.02388944e-01 -2.12842371e-03 -1.76648650e+02] [ 2.95071208e-03 -4.00441932e-05 9.99995646e-01 -2.26080618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.207628 meters 0.011718439422663393 Centerline is valid? [True, True] Translation: X:10.99, Y:-176.63, Z:-0.23 [[-6.99994412e-01 -7.14147364e-01 1.16856704e-03 1.09908434e+01] [ 7.14146329e-01 -6.99995387e-01 -1.21612201e-03 -1.76629937e+02] [ 1.68648187e-03 -1.67507528e-05 9.99998578e-01 -2.25114563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23762800000003 meters 0.014370085923693453 Centerline is valid? [True, True] Translation: X:10.97, Y:-176.61, Z:-0.23 [[-6.98409501e-01 -7.15697912e-01 8.16746389e-04 1.09713046e+01] [ 7.15697408e-01 -6.98409979e-01 -8.49419670e-04 -1.76612297e+02] [ 1.17835171e-03 -8.69949453e-06 9.99999306e-01 -2.26507248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.267628 meters 0.011057692761333244 Centerline is valid? [True, True] Translation: X:10.95, Y:-176.60, Z:-0.22 [[-6.94042389e-01 -7.19933645e-01 -8.42027775e-04 1.09490970e+01] [ 7.19933113e-01 -6.94042900e-01 8.75172834e-04 -1.76595546e+02] [-1.21446977e-03 1.20336743e-06 9.99999263e-01 -2.23167788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29762800000003 meters 0.011110277431902361 Centerline is valid? [True, True] Translation: X:10.93, Y:-176.58, Z:-0.22 [[-6.92787478e-01 -7.21140829e-01 -1.18953254e-03 1.09288329e+01] [ 7.21139771e-01 -6.92788499e-01 1.23557490e-03 -1.76577638e+02] [-1.71511797e-03 -1.82840561e-06 9.99998529e-01 -2.23199266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.327628 meters 0.011221529259531389 Centerline is valid? [True, True] Translation: X:10.91, Y:-176.56, Z:-0.22 [[-6.91225313e-01 -7.22637994e-01 -1.37720782e-03 1.09087028e+01] [ 7.22636580e-01 -6.91226685e-01 1.42956815e-03 -1.76560042e+02] [-1.98502306e-03 -7.06705180e-06 9.99998030e-01 -2.24031018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35762800000003 meters 0.011221529259531389 Centerline is valid? [True, True] Translation: X:10.89, Y:-176.54, Z:-0.22 [[-6.91451065e-01 -7.22421987e-01 -1.37765455e-03 1.08900530e+01] [ 7.22420574e-01 -6.91452437e-01 1.42913765e-03 -1.76540841e+02] [-1.98502305e-03 -7.06724071e-06 9.99998030e-01 -2.24031298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.387628 meters 0.01327635390854736 Centerline is valid? [True, True] Translation: X:10.87, Y:-176.52, Z:-0.23 [[-6.91541797e-01 -7.22336375e-01 -3.21656428e-04 1.08716067e+01] [ 7.22336298e-01 -6.91541872e-01 3.33472612e-04 -1.76520429e+02] [-4.63318286e-04 -1.73386422e-06 9.99999893e-01 -2.26575575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41762800000004 meters 0.011284356066234793 Centerline is valid? [True, True] Translation: X:10.85, Y:-176.50, Z:-0.23 [[-6.91690448e-01 -7.22194067e-01 -2.30688219e-04 1.08541086e+01] [ 7.22194028e-01 -6.91690487e-01 2.39048029e-04 -1.76501529e+02] [-3.32203915e-04 -1.25441524e-06 9.99999945e-01 -2.25152772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.447628 meters 0.011092122646385707 Centerline is valid? [True, True] Translation: X:10.84, Y:-176.48, Z:-0.23 [[-6.92973618e-01 -7.20960742e-01 1.78116091e-03 1.08373293e+01] [ 7.20958383e-01 -6.92975907e-01 -1.84448466e-03 -1.76481639e+02] [ 2.56410263e-03 5.96367470e-06 9.99996713e-01 -2.28787088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47762800000004 meters 0.011100890210899491 Centerline is valid? [True, True] Translation: X:10.82, Y:-176.46, Z:-0.23 [[-6.93757047e-01 -7.20201993e-01 3.20158299e-03 1.08188627e+01] [ 7.20194370e-01 -6.93764434e-01 -3.31350929e-03 -1.76460572e+02] [ 4.60754041e-03 6.99162220e-06 9.99989385e-01 -2.30402012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.507628 meters 0.014674855093851571 Centerline is valid? [True, True] Translation: X:10.80, Y:-176.44, Z:-0.24 [[-6.95141200e-01 -7.18854074e-01 5.24703697e-03 1.08011339e+01] [ 7.18833579e-01 -6.95161003e-01 -5.42820606e-03 -1.76440231e+02] [ 7.54962352e-03 -1.62331251e-06 9.99971501e-01 -2.35916622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53762800000004 meters 0.015060051927709308 Centerline is valid? [True, True] Translation: X:10.78, Y:-176.42, Z:-0.24 [[-6.96356527e-01 -7.17667620e-01 6.38555861e-03 1.07832827e+01] [ 7.17637253e-01 -6.96385803e-01 -6.60190846e-03 -1.76419286e+02] [ 9.18478829e-03 -1.47673017e-05 9.99957819e-01 -2.37898123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.567628 meters 0.015580246649475089 Centerline is valid? [True, True] Translation: X:10.77, Y:-176.40, Z:-0.24 [[-6.99653445e-01 -7.14448160e-01 6.99174169e-03 1.07693390e+01] [ 7.14411635e-01 -6.99688376e-01 -7.22439815e-03 -1.76395440e+02] [ 1.00534984e-02 -5.95934313e-05 9.99949461e-01 -2.40836096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59762800000004 meters 0.012247598893443349 Centerline is valid? [True, True] Translation: X:10.75, Y:-176.37, Z:-0.24 [[-7.01653426e-01 -7.12493778e-01 5.92338851e-03 1.07532569e+01] [ 7.12467524e-01 -7.01678424e-01 -6.11686557e-03 -1.76372955e+02] [ 8.51454258e-03 -7.16977370e-05 9.99963748e-01 -2.37788232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.627628 meters 0.012965178424786195 Centerline is valid? [True, True] Translation: X:10.74, Y:-176.35, Z:-0.24 [[-7.05786011e-01 -7.08401615e-01 5.76702872e-03 1.07392103e+01] [ 7.08376618e-01 -7.05809563e-01 -5.95209977e-03 -1.76347043e+02] [ 8.28690110e-03 -1.15680456e-04 9.99965656e-01 -2.36202972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65762800000005 meters 0.01476962946406316 Centerline is valid? [True, True] Translation: X:10.72, Y:-176.32, Z:-0.24 [[-7.07719887e-01 -7.06473555e-01 5.26094351e-03 1.07223424e+01] [ 7.06452723e-01 -7.07739430e-01 -5.42675904e-03 -1.76324097e+02] [ 7.55723891e-03 -1.24017421e-04 9.99971436e-01 -2.36405577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.687628 meters 0.01412816039308745 Centerline is valid? [True, True] Translation: X:10.71, Y:-176.30, Z:-0.23 [[-7.09014030e-01 -7.05178480e-01 4.73464584e-03 1.07062364e+01] [ 7.05161598e-01 -7.09029828e-01 -4.88101350e-03 -1.76302025e+02] [ 6.79899080e-03 -1.22016624e-04 9.99976879e-01 -2.34370664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71762800000005 meters 0.013636558049196341 Centerline is valid? [True, True] Translation: X:10.69, Y:-176.28, Z:-0.23 [[-7.09229746e-01 -7.04966097e-01 3.99627388e-03 1.06875940e+01] [ 7.04954081e-01 -7.09240997e-01 -4.11721685e-03 -1.76282565e+02] [ 5.73681957e-03 -1.02863078e-04 9.99983539e-01 -2.33053053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.747628 meters 0.015846782279686375 Centerline is valid? [True, True] Translation: X:10.67, Y:-176.26, Z:-0.24 [[-7.08536283e-01 -7.05664511e-01 3.73287799e-03 1.06669181e+01] [ 7.05654049e-01 -7.08546110e-01 -3.84343037e-03 -1.76264153e+02] [ 5.35708859e-03 -8.90893964e-05 9.99985647e-01 -2.35598262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77762800000005 meters 0.015530001110940451 Centerline is valid? [True, True] Translation: X:10.65, Y:-176.25, Z:-0.24 [[-7.07175019e-01 -7.07030253e-01 3.42252600e-03 1.06460381e+01] [ 7.07021485e-01 -7.07183297e-01 -3.52192971e-03 -1.76245767e+02] [ 4.91046407e-03 -7.08212946e-05 9.99987941e-01 -2.35951446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.807628 meters 0.012215050366280804 Centerline is valid? [True, True] Translation: X:10.62, Y:-176.23, Z:-0.24 [[-7.04006177e-01 -7.10182092e-01 4.08641889e-03 1.06246788e+01] [ 7.10169655e-01 -7.04018034e-01 -4.20339562e-03 -1.76229306e+02] [ 5.86208889e-03 -5.71657811e-05 9.99982816e-01 -2.35159957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.83762800000005 meters 0.012469276760472166 Centerline is valid? [True, True] Translation: X:10.60, Y:-176.21, Z:-0.24 [[-7.02736276e-01 -7.11434463e-01 4.76767849e-03 1.06044031e+01] [ 7.11417583e-01 -7.02752447e-01 -4.90114675e-03 -1.76210899e+02] [ 6.83734243e-03 -5.24033142e-05 9.99976624e-01 -2.36830124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.867628 meters 0.013642487702412604 Centerline is valid? [True, True] Translation: X:10.58, Y:-176.19, Z:-0.24 [[-7.00169885e-01 -7.13947831e-01 6.37392410e-03 1.05820515e+01] [ 7.13917797e-01 -7.00198896e-01 -6.54866350e-03 -1.76194040e+02] [ 9.13841872e-03 -3.47191169e-05 9.99958243e-01 -2.39800018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.897628 meters 0.014625063817559706 Centerline is valid? [True, True] Translation: X:10.56, Y:-176.18, Z:-0.24 [[-6.99136067e-01 -7.14952235e-01 7.21536222e-03 1.05624239e+01] [ 7.14913853e-01 -6.99173298e-01 -7.40823601e-03 -1.76176273e+02] [ 1.03413235e-02 -2.10025817e-05 9.99946527e-01 -2.42684116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.927628 meters 0.011711444360403273 Centerline is valid? [True, True] Translation: X:10.54, Y:-176.16, Z:-0.24 [[-6.98265886e-01 -7.15798490e-01 7.56795732e-03 1.05428264e+01] [ 7.15756368e-01 -6.98306897e-01 -7.76530332e-03 -1.76158465e+02] [ 1.08431492e-02 -5.43276237e-06 9.99941211e-01 -2.41420492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.957628 meters 0.011791663943156354 Centerline is valid? [True, True] Translation: X:10.52, Y:-176.14, Z:-0.24 [[-6.98395968e-01 -7.15664288e-01 8.22790110e-03 1.05235636e+01] [ 7.15614549e-01 -6.98444434e-01 -8.43741385e-03 -1.76139325e+02] [ 1.17850875e-02 -4.65008287e-06 9.99930553e-01 -2.42411699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98762800000003 meters 0.011599287524593643 Centerline is valid? [True, True] Translation: X:10.50, Y:-176.12, Z:-0.24 [[-6.98988686e-01 -7.15093215e-01 7.51735798e-03 1.05049577e+01] [ 7.15051716e-01 -6.99029108e-01 -7.70392914e-03 -1.76119257e+02] [ 1.07638795e-02 -9.65958818e-06 9.99942068e-01 -2.40597405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.017628 meters 0.01158694045666248 Centerline is valid? [True, True] Translation: X:10.49, Y:-176.10, Z:-0.24 [[-6.99592373e-01 -7.14508772e-01 6.90847747e-03 1.04877152e+01] [ 7.14473741e-01 -6.99626482e-01 -7.07527145e-03 -1.76099840e+02] [ 9.88869730e-03 -1.38802019e-05 9.99951106e-01 -2.39167554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04762800000003 meters 0.011551404905174709 Centerline is valid? [True, True] Translation: X:10.47, Y:-176.08, Z:-0.24 [[-6.99821578e-01 -7.14298160e-01 5.28179361e-03 1.04708461e+01] [ 7.14277704e-01 -6.99841509e-01 -5.40594187e-03 -1.76078780e+02] [ 7.55787274e-03 -1.05273558e-05 9.99971439e-01 -2.36362670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.077628 meters 0.011490486038251629 Centerline is valid? [True, True] Translation: X:10.45, Y:-176.06, Z:-0.23 [[-6.99585632e-01 -7.14536146e-01 4.24719365e-03 1.04520399e+01] [ 7.14522940e-01 -6.99598525e-01 -4.34431155e-03 -1.76058493e+02] [ 6.07549804e-03 -4.50065024e-06 9.99981544e-01 -2.34712561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10762800000003 meters 0.01152083290786248 Centerline is valid? [True, True] Translation: X:10.43, Y:-176.04, Z:-0.23 [[-6.98206384e-01 -7.15894380e-01 1.75555023e-03 1.04337862e+01] [ 7.15892131e-01 -6.98208591e-01 -1.79451806e-03 -1.76038999e+02] [ 2.51042565e-03 3.84062433e-06 9.99996849e-01 -2.32028932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.137628 meters 0.011508565174246827 Centerline is valid? [True, True] Translation: X:10.42, Y:-176.02, Z:-0.23 [[-6.97523076e-01 -7.16561794e-01 8.68179652e-04 1.04151413e+01] [ 7.16561246e-01 -6.97523616e-01 -8.86887650e-04 -1.76019495e+02] [ 1.24108562e-03 3.47929185e-06 9.99999230e-01 -2.30615149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16762800000004 meters 0.011650896507281124 Centerline is valid? [True, True] Translation: X:10.40, Y:-176.00, Z:-0.23 [[-6.97093982e-01 -7.16979756e-01 -9.49217227e-05 1.03964285e+01] [ 7.16979750e-01 -6.97093989e-01 9.69116053e-05 -1.75999588e+02] [-1.35653021e-04 -5.00456024e-07 9.99999991e-01 -2.29567740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.197628 meters 0.011612970109603342 Centerline is valid? [True, True] Translation: X:10.38, Y:-175.98, Z:-0.23 [[-6.97598470e-01 -7.16488302e-01 -9.41686179e-04 1.03772047e+01] [ 7.16487658e-01 -6.97599106e-01 9.60777241e-04 -1.75979838e+02] [-1.34530509e-03 -4.46979167e-06 9.99999095e-01 -2.28554483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22762800000004 meters 0.01158864601609099 Centerline is valid? [True, True] Translation: X:10.36, Y:-175.96, Z:-0.23 [[-6.98822211e-01 -7.15294772e-01 -9.52129351e-04 1.03589167e+01] [ 7.15294113e-01 -6.98822860e-01 9.70788887e-04 -1.75961079e+02] [-1.35976997e-03 -2.64368386e-06 9.99999076e-01 -2.29631852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.257628 meters 0.011588858451915011 Centerline is valid? [True, True] Translation: X:10.34, Y:-175.94, Z:-0.23 [[-7.00562943e-01 -7.13590489e-01 -4.21741977e-04 1.03408621e+01] [ 7.13590359e-01 -7.00563070e-01 4.29727324e-04 -1.75941983e+02] [-6.02106185e-04 1.00030182e-07 9.99999819e-01 -2.30210721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28762800000004 meters 0.011785269671598432 Centerline is valid? [True, True] Translation: X:10.32, Y:-175.92, Z:-0.23 [[-7.04550828e-01 -7.09653522e-01 9.63119356e-05 1.03228372e+01] [ 7.09653516e-01 -7.04550834e-01 -9.80744778e-05 -1.75920532e+02] [ 1.37455553e-04 -7.50350827e-07 9.99999991e-01 -2.30813421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.317628 meters 0.012039768123170666 Centerline is valid? [True, True] Translation: X:10.30, Y:-175.90, Z:-0.23 [[-7.06729782e-01 -7.07483574e-01 -9.08996738e-05 1.03041075e+01] [ 7.07483568e-01 -7.06729787e-01 9.25189948e-05 -1.75899904e+02] [-1.29697176e-04 1.07590342e-06 9.99999992e-01 -2.30246596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34762800000004 meters 0.012774986888008046 Centerline is valid? [True, True] Translation: X:10.29, Y:-175.88, Z:-0.23 [[-7.10416075e-01 -7.03781662e-01 -6.09632551e-04 1.02857664e+01] [ 7.03781389e-01 -7.10416337e-01 6.20211158e-04 -1.75879331e+02] [-8.69586163e-04 1.15599326e-05 9.99999622e-01 -2.29800184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.377628 meters 0.013201144126476735 Centerline is valid? [True, True] Translation: X:10.27, Y:-175.86, Z:-0.23 [[-7.12307811e-01 -7.01866801e-01 -7.59375696e-04 1.02657870e+01] [ 7.01866376e-01 -7.12308215e-01 7.72115579e-04 -1.75858998e+02] [-1.08283184e-03 1.70036897e-05 9.99999414e-01 -2.29974421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40762800000005 meters 0.0169509841517904 Centerline is valid? [True, True] Translation: X:10.25, Y:-175.84, Z:-0.23 [[-7.14883695e-01 -6.99243337e-01 2.41002113e-04 1.02462524e+01] [ 6.99243294e-01 -7.14883736e-01 -2.44901374e-04 -1.75838513e+02] [ 3.43534145e-04 -6.55688803e-06 9.99999941e-01 -2.33904129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.437628 meters 0.016924741307270345 Centerline is valid? [True, True] Translation: X:10.23, Y:-175.82, Z:-0.23 [[-7.15516258e-01 -6.98595923e-01 4.70611164e-04 1.02284262e+01] [ 6.98595759e-01 -7.15516413e-01 -4.77947704e-04 -1.75819871e+02] [ 6.70622329e-04 -1.32123895e-05 9.99999775e-01 -2.34170289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46762800000005 meters 0.014062661492452793 Centerline is valid? [True, True] Translation: X:10.21, Y:-175.80, Z:-0.23 [[-7.15372822e-01 -6.98742944e-01 1.55956389e-04 1.02081849e+01] [ 6.98742926e-01 -7.15372839e-01 -1.58284286e-04 -1.75800879e+02] [ 2.22166993e-04 -4.25885277e-06 9.99999975e-01 -2.32155707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.497628 meters 0.015780788300859785 Centerline is valid? [True, True] Translation: X:10.19, Y:-175.78, Z:-0.24 [[-7.14213274e-01 -6.99926380e-01 1.56862817e-03 1.01886402e+01] [ 6.99924573e-01 -7.14214996e-01 -1.59103208e-03 -1.75783060e+02] [ 2.23394309e-03 -3.84148272e-05 9.99997504e-01 -2.36075787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52762800000005 meters 0.013163677731430078 Centerline is valid? [True, True] Translation: X:10.17, Y:-175.76, Z:-0.23 [[-7.12748175e-01 -7.01418484e-01 1.46622501e-03 1.01670311e+01] [ 7.01416910e-01 -7.12749682e-01 -1.48633412e-03 -1.75764510e+02] [ 2.08759364e-03 -3.09469114e-05 9.99997821e-01 -2.34800236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.557628 meters 0.012750956043232047 Centerline is valid? [True, True] Translation: X:10.15, Y:-175.75, Z:-0.24 [[-7.11391690e-01 -7.02794032e-01 1.55297584e-03 1.01464546e+01] [ 7.02792272e-01 -7.11393385e-01 -1.57328250e-03 -1.75746082e+02] [ 2.21047029e-03 -2.78006797e-05 9.99997557e-01 -2.35124119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.58762800000005 meters 0.012048345729705768 Centerline is valid? [True, True] Translation: X:10.12, Y:-175.73, Z:-0.23 [[-7.08283478e-01 -7.05927326e-01 1.06037605e-03 1.01246108e+01] [ 7.05926510e-01 -7.08284272e-01 -1.07363662e-03 -1.75728080e+02] [ 1.50895710e-03 -1.18915188e-05 9.99998861e-01 -2.34147318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.617628 meters 0.011860511063643843 Centerline is valid? [True, True] Translation: X:10.10, Y:-175.71, Z:-0.23 [[-7.06700468e-01 -7.07512367e-01 8.36306031e-04 1.01047609e+01] [ 7.07511861e-01 -7.06700963e-01 -8.46201013e-04 -1.75710322e+02] [ 1.18971596e-03 -6.31421524e-06 9.99999292e-01 -2.33238820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.647628 meters 0.011656243335259605 Centerline is valid? [True, True] Translation: X:10.08, Y:-175.69, Z:-0.23 [[-7.03362358e-01 -7.10831471e-01 1.18873909e-04 1.00830108e+01] [ 7.10831461e-01 -7.03362368e-01 -1.20200736e-04 -1.75693727e+02] [ 1.69053900e-04 -4.53584838e-08 9.99999986e-01 -2.32112272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.677628 meters 0.011723645445401474 Centerline is valid? [True, True] Translation: X:10.06, Y:-175.68, Z:-0.23 [[-7.02269789e-01 -7.11910892e-01 1.57320311e-04 1.00623504e+01] [ 7.11910874e-01 -7.02269807e-01 -1.58977628e-04 -1.75675205e+02] [ 2.23659209e-04 3.52854857e-07 9.99999975e-01 -2.32297555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.707628 meters 0.011806700801330335 Centerline is valid? [True, True] Translation: X:10.04, Y:-175.66, Z:-0.23 [[-7.01493487e-01 -7.12675775e-01 3.56377382e-04 1.00427237e+01] [ 7.12675684e-01 -7.01493578e-01 -3.59912151e-04 -1.75656475e+02] [ 5.06497117e-04 1.50546466e-06 9.99999872e-01 -2.32625219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73762800000003 meters 0.011933220497777241 Centerline is valid? [True, True] Translation: X:10.02, Y:-175.64, Z:-0.23 [[-7.00937295e-01 -7.13222480e-01 7.75800582e-04 1.00230813e+01] [ 7.13222050e-01 -7.00937725e-01 -7.83056728e-04 -1.75636421e+02] [ 1.10228156e-03 4.44441663e-06 9.99999393e-01 -2.33007098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.767628 meters 0.012075386721749721 Centerline is valid? [True, True] Translation: X:10.01, Y:-175.62, Z:-0.23 [[-7.00955085e-01 -7.13203098e-01 1.81933395e-03 1.00052044e+01] [ 7.13200737e-01 -7.00957446e-01 -1.83512910e-03 -1.75617208e+02] [ 2.58409544e-03 1.12072415e-05 9.99996661e-01 -2.34129165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79762800000003 meters 0.011987295159506778 Centerline is valid? [True, True] Translation: X:9.99, Y:-175.60, Z:-0.23 [[-7.01334005e-01 -7.12828210e-01 2.56071588e-03 9.98603214e+00] [ 7.12823536e-01 -7.01338679e-01 -2.58148735e-03 -1.75596398e+02] [ 3.63608610e-03 1.48536855e-05 9.99993389e-01 -2.34771297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.827628 meters 0.01197864778714198 Centerline is valid? [True, True] Translation: X:9.97, Y:-175.58, Z:-0.24 [[-7.02114945e-01 -7.12051637e-01 4.13152587e-03 9.96868140e+00] [ 7.12039468e-01 -7.02127101e-01 -4.16299466e-03 -1.75576119e+02] [ 5.86512344e-03 1.89087131e-05 9.99982800e-01 -2.36057375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85762800000003 meters 0.012001470056017618 Centerline is valid? [True, True] Translation: X:9.95, Y:-175.56, Z:-0.24 [[-7.02522673e-01 -7.11645554e-01 4.74337712e-03 9.94933585e+00] [ 7.11629524e-01 -7.02538686e-01 -4.77650965e-03 -1.75556812e+02] [ 6.73158779e-03 1.99208760e-05 9.99977342e-01 -2.36459149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.887628 meters 0.012048408817882954 Centerline is valid? [True, True] Translation: X:9.93, Y:-175.54, Z:-0.24 [[-7.03345812e-01 -7.10829179e-01 5.15243039e-03 9.92972202e+00] [ 7.10810268e-01 -7.03364684e-01 -5.18501434e-03 -1.75539093e+02] [ 7.30969705e-03 1.55423059e-05 9.99973284e-01 -2.38339831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91762800000004 meters 0.01525698606674986 Centerline is valid? [True, True] Translation: X:9.91, Y:-175.52, Z:-0.24 [[-7.03864975e-01 -7.10304237e-01 6.47983376e-03 9.90998720e+00] [ 7.10274338e-01 -7.03894801e-01 -6.51713477e-03 -1.75519587e+02] [ 9.19026973e-03 1.52767355e-05 9.99957768e-01 -2.41059064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.947628 meters 0.011995590388416343 Centerline is valid? [True, True] Translation: X:9.89, Y:-175.50, Z:-0.24 [[-7.04563610e-01 -7.09612738e-01 6.31514673e-03 9.88971345e+00] [ 7.09584349e-01 -7.04591911e-01 -6.34747148e-03 -1.75501377e+02] [ 8.95384793e-03 8.93186126e-06 9.99959913e-01 -2.38487305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97762800000004 meters 0.012024763397768314 Centerline is valid? [True, True] Translation: X:9.87, Y:-175.48, Z:-0.24 [[-7.05209518e-01 -7.08972422e-01 6.13513832e-03 9.87055450e+00] [ 7.08945638e-01 -7.05236205e-01 -6.16265321e-03 -1.75482484e+02] [ 8.69587284e-03 3.51784486e-06 9.99962190e-01 -2.38057354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.007628 meters 0.012019762895915224 Centerline is valid? [True, True] Translation: X:9.85, Y:-175.46, Z:-0.24 [[-7.06296979e-01 -7.07888851e-01 6.16056475e-03 9.85120394e+00] [ 7.07861833e-01 -7.06323846e-01 -6.18468056e-03 -1.75462675e+02] [ 8.72942020e-03 -7.39254212e-06 9.99961898e-01 -2.37064423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03762800000004 meters 0.012291722784673349 Centerline is valid? [True, True] Translation: X:9.83, Y:-175.44, Z:-0.24 [[-7.09578942e-01 -7.04604429e-01 5.50663626e-03 9.83258132e+00] [ 7.04582768e-01 -7.09600308e-01 -5.52507066e-03 -1.75441050e+02] [ 7.80050004e-03 -4.05927737e-05 9.99969575e-01 -2.36172849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.067628 meters 0.012291722784673349 Centerline is valid? [True, True] Translation: X:9.81, Y:-175.42, Z:-0.24 [[-7.09777650e-01 -7.04404250e-01 5.50819445e-03 9.81305032e+00] [ 7.04382595e-01 -7.09799021e-01 -5.52351723e-03 -1.75421553e+02] [ 7.80050004e-03 -4.05927769e-05 9.99969575e-01 -2.36173138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09762800000004 meters 0.01260250460076614 Centerline is valid? [True, True] Translation: X:9.80, Y:-175.40, Z:-0.24 [[-7.12484361e-01 -7.01671350e-01 4.83243283e-03 9.79536942e+00] [ 7.01654640e-01 -7.12500746e-01 -4.84281266e-03 -1.75400929e+02] [ 6.84117490e-03 -5.97293612e-05 9.99976597e-01 -2.35639094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.127628 meters 0.013359664820903908 Centerline is valid? [True, True] Translation: X:9.78, Y:-175.38, Z:-0.24 [[-7.15766524e-01 -6.98326611e-01 4.26932033e-03 9.77852725e+00] [ 6.98313519e-01 -7.15779252e-01 -4.27674353e-03 -1.75379543e+02] [ 6.04245473e-03 -7.98257456e-05 9.99981741e-01 -2.35184975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15762800000005 meters 0.01770437897301523 Centerline is valid? [True, True] Translation: X:9.76, Y:-175.36, Z:-0.24 [[-7.22363420e-01 -6.91496973e-01 4.79853529e-03 9.76341483e+00] [ 6.91480296e-01 -7.22379342e-01 -4.80484141e-03 -1.75355364e+02] [ 6.78889605e-03 -1.52749071e-04 9.99976944e-01 -2.37604239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.187628 meters 0.018829123301002417 Centerline is valid? [True, True] Translation: X:9.75, Y:-175.33, Z:-0.24 [[-7.26664942e-01 -6.86974336e-01 4.93193544e-03 9.74504674e+00] [ 6.86956635e-01 -7.26681652e-01 -4.93551495e-03 -1.75334618e+02] [ 6.97451910e-03 -1.98439917e-04 9.99975658e-01 -2.37421030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21762800000005 meters 0.017544143780130545 Centerline is valid? [True, True] Translation: X:9.73, Y:-175.31, Z:-0.23 [[-7.27652173e-01 -6.85933005e-01 4.26940659e-03 9.72689692e+00] [ 6.85919733e-01 -7.27664676e-01 -4.27071865e-03 -1.75314586e+02] [ 6.03612324e-03 -1.79127475e-04 9.99981766e-01 -2.34498675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.247628 meters 0.01654043196431562 Centerline is valid? [True, True] Translation: X:9.70, Y:-175.30, Z:-0.23 [[-7.28451091e-01 -6.85084305e-01 4.30154522e-03 9.70444677e+00] [ 6.85070832e-01 -7.28463767e-01 -4.30052077e-03 -1.75296721e+02] [ 6.07973912e-03 -1.85855879e-04 9.99981501e-01 -2.34393270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27762800000005 meters 0.019365994367657176 Centerline is valid? [True, True] Translation: X:9.15, Y:-175.86, Z:0.73 [[-7.35130250e-01 6.77899782e-01 5.94987192e-03 9.15213308e+00] [ 6.77880183e-01 7.35154289e-01 -5.16031525e-03 -1.75860198e+02] [-7.87225044e-03 2.39796426e-04 -9.99968985e-01 7.25807507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.307628 meters 0.01769306638442439 Centerline is valid? [True, True] Translation: X:9.17, Y:-175.84, Z:0.72 [[-7.82105114e-01 6.23115895e-01 6.17836338e-03 9.17233964e+00] [ 6.23098694e-01 7.82129485e-01 -4.63528373e-03 -1.75838450e+02] [-7.72059914e-03 2.24451049e-04 -9.99970171e-01 7.23766736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.33762800000005 meters 0.015766082170185578 Centerline is valid? [True, True] Translation: X:9.19, Y:-175.81, Z:0.72 [[-8.26373195e-01 5.63084278e-01 6.59076828e-03 9.19376343e+00] [ 5.63068263e-01 8.26399454e-01 -4.25136756e-03 -1.75810572e+02] [-7.84048554e-03 1.97836253e-04 -9.99969243e-01 7.23608008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.367628 meters 0.015588672942059255 Centerline is valid? [True, True] Translation: X:9.62, Y:-175.17, Z:-0.24 [[-8.15748570e-01 -5.78373173e-01 6.22442015e-03 9.61500157e+00] [ 5.78354446e-01 -8.15772292e-01 -4.65861424e-03 -1.75170956e+02] [ 7.77212699e-03 -2.00336841e-04 9.99969777e-01 -2.35319335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.397628 meters 0.018309237530059357 Centerline is valid? [True, True] Translation: X:9.16, Y:-175.79, Z:0.73 [[-8.30406755e-01 5.57114117e-01 6.96282223e-03 9.15859770e+00] [ 5.57096327e-01 8.30435927e-01 -4.45585346e-03 -1.75785875e+02] [-8.26459660e-03 1.78791867e-04 -9.99965832e-01 7.26613733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.427628 meters 0.014767251706551594 Centerline is valid? [True, True] Translation: X:9.57, Y:-175.15, Z:-0.24 [[-8.15728499e-01 -5.78406540e-01 5.73498866e-03 9.56964220e+00] [ 5.78390311e-01 -8.15748629e-01 -4.33853988e-03 -1.75148562e+02] [ 7.18774897e-03 -2.22008752e-04 9.99974143e-01 -2.35396591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.457628 meters 0.013986675948143073 Centerline is valid? [True, True] Translation: X:9.12, Y:-175.75, Z:0.72 [[-8.35180772e-01 5.49949479e-01 5.35249258e-03 9.12452261e+00] [ 5.49938987e-01 8.35197917e-01 -3.39857492e-03 -1.75753643e+02] [-6.33943516e-03 1.05119923e-04 -9.99979900e-01 7.23276243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48762800000003 meters 0.013738797851233317 Centerline is valid? [True, True] Translation: X:9.15, Y:-175.73, Z:0.72 [[-8.72547429e-01 4.88498289e-01 5.51409905e-03 9.14526776e+00] [ 4.88489219e-01 8.72564847e-01 -2.97826431e-03 -1.75731089e+02] [-6.26628601e-03 9.49010677e-05 -9.99980362e-01 7.23402016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.517628 meters 0.013536325086778862 Centerline is valid? [True, True] Translation: X:9.16, Y:-175.70, Z:0.72 [[-9.06060851e-01 4.23112356e-01 5.44683407e-03 9.15982600e+00] [ 4.23105207e-01 9.06077220e-01 -2.46081724e-03 -1.75704163e+02] [-5.97645446e-03 7.49336918e-05 -9.99982138e-01 7.23984037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54762800000003 meters 0.013369313872091849 Centerline is valid? [True, True] Translation: X:9.47, Y:-175.04, Z:-0.24 [[-8.87020106e-01 -4.61696790e-01 5.60411104e-03 9.46519511e+00] [ 4.61687172e-01 -8.87037807e-01 -2.98065968e-03 -1.75037459e+02] [ 6.34721938e-03 -5.65588896e-05 9.99979855e-01 -2.35807664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.577628 meters 0.01324402597266426 Centerline is valid? [True, True] Translation: X:9.11, Y:-175.68, Z:0.72 [[-9.08543893e-01 4.17732870e-01 6.87339937e-03 9.11387833e+00] [ 4.17721557e-01 9.08569889e-01 -3.07530463e-03 -1.75683185e+02] [-7.52961953e-03 7.71178484e-05 -9.99971649e-01 7.24124652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60762800000003 meters 0.013238307225865335 Centerline is valid? [True, True] Translation: X:9.13, Y:-175.66, Z:0.72 [[-9.35930692e-01 3.52105789e-01 7.43327243e-03 9.13023969e+00] [ 3.52095358e-01 9.35960206e-01 -2.71142364e-03 -1.75659867e+02] [-7.91195516e-03 7.95161185e-05 -9.99968697e-01 7.24576961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.637628 meters 0.016735786571041748 Centerline is valid? [True, True] Translation: X:9.14, Y:-175.63, Z:0.73 [[-9.58428844e-01 2.85219447e-01 8.00119302e-03 9.13822615e+00] [ 2.85210257e-01 9.58462237e-01 -2.29115496e-03 -1.75634144e+02] [-8.32232331e-03 8.61133148e-05 -9.99965365e-01 7.28501916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66762800000004 meters 0.015568763299564074 Centerline is valid? [True, True] Translation: X:9.14, Y:-175.61, Z:0.73 [[-9.76512654e-01 2.15266740e-01 9.12510878e-03 9.14495145e+00] [ 2.15258154e-01 9.76555284e-01 -1.92446794e-03 -1.75608582e+02] [-9.32544714e-03 8.49867751e-05 -9.99956513e-01 7.28304666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.697628 meters 0.013248230365558793 Centerline is valid? [True, True] Translation: X:9.30, Y:-174.89, Z:-0.24 [[-9.64451124e-01 -2.64121096e-01 8.60677416e-03 9.30384227e+00] [ 2.64109600e-01 -9.64489521e-01 -2.46656388e-03 -1.74888985e+02] [ 8.95261504e-03 -1.05748626e-04 9.99959919e-01 -2.38087813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72762800000004 meters 0.01517454172167324 Centerline is valid? [True, True] Translation: X:9.10, Y:-175.60, Z:0.73 [[-9.77586834e-01 2.10368585e-01 8.30905417e-03 9.09560974e+00] [ 2.10361585e-01 9.77622143e-01 -1.71750333e-03 -1.75599803e+02] [-8.48442408e-03 6.88971640e-05 -9.99964004e-01 7.26881789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.757628 meters 0.013622363144752061 Centerline is valid? [True, True] Translation: X:9.25, Y:-174.88, Z:-0.24 [[-9.65375132e-01 -2.60745491e-01 7.91477694e-03 9.25055389e+00] [ 2.60736016e-01 -9.65407573e-01 -2.22437924e-03 -1.74875648e+02] [ 8.22098245e-03 -8.36929989e-05 9.99966204e-01 -2.37765970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78762800000004 meters 0.012861696711212641 Centerline is valid? [True, True] Translation: X:9.04, Y:-175.60, Z:0.72 [[-9.78803092e-01 2.04619913e-01 8.67173437e-03 9.04329829e+00] [ 2.04612380e-01 9.78841503e-01 -1.75663155e-03 -1.75595261e+02] [-8.84769530e-03 5.49478164e-05 -9.99960857e-01 7.23700969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.817628 meters 0.012858109241818223 Centerline is valid? [True, True] Translation: X:9.20, Y:-174.86, Z:-0.24 [[-9.65953777e-01 -2.58554285e-01 9.10942856e-03 9.19740337e+00] [ 2.58542584e-01 -9.65996729e-01 -2.45985411e-03 -1.74860487e+02] [ 9.43568402e-03 -2.09301700e-05 9.99955483e-01 -2.36209022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84762800000004 meters 0.016348762004197454 Centerline is valid? [True, True] Translation: X:8.99, Y:-175.59, Z:0.73 [[-9.79829110e-01 1.99563347e-01 1.04587752e-02 8.99056875e+00] [ 1.99552572e-01 9.79884926e-01 -2.07445013e-03 -1.75590645e+02] [-1.06623803e-02 5.44688599e-05 -9.99943154e-01 7.27662864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.877628 meters 0.012839726152539283 Centerline is valid? [True, True] Translation: X:9.14, Y:-174.84, Z:-0.24 [[-9.66701633e-01 -2.55737187e-01 9.29757401e-03 9.14263958e+00] [ 2.55724220e-01 -9.66746336e-01 -2.57777531e-03 -1.74844298e+02] [ 9.64762862e-03 -1.14324742e-04 9.99953454e-01 -2.36532816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90762800000005 meters 0.012761685423701291 Centerline is valid? [True, True] Translation: X:8.94, Y:-175.59, Z:0.72 [[-9.80768021e-01 1.94959548e-01 9.21213553e-03 8.93728686e+00] [ 1.94951355e-01 9.80811283e-01 -1.78784957e-03 -1.75585080e+02] [-9.38392481e-03 4.24526167e-05 -9.99955969e-01 7.23708855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.937628 meters 0.012842770004936978 Centerline is valid? [True, True] Translation: X:8.94, Y:-175.56, Z:0.72 [[-9.92051987e-01 1.25559259e-01 8.22969015e-03 8.94346454e+00] [ 1.25555303e-01 9.92086121e-01 -9.97641149e-04 -1.75562824e+02] [-8.28982446e-03 4.35693543e-05 -9.99965638e-01 7.22459217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96762800000005 meters 0.012700499186658849 Centerline is valid? [True, True] Translation: X:8.95, Y:-175.54, Z:0.72 [[-9.98488216e-01 5.45100996e-02 7.06620716e-03 8.94678052e+00] [ 5.45089854e-02 9.98513219e-01 -3.50321945e-04 -1.75535243e+02] [-7.07479734e-03 3.53794485e-05 -9.99974973e-01 7.21842490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.997628 meters 0.012708755883944467 Centerline is valid? [True, True] Translation: X:8.94, Y:-175.51, Z:0.72 [[-9.99837880e-01 -1.70109822e-02 5.90257713e-03 8.94287577e+00] [-1.70105254e-02 9.99855302e-01 1.27588603e-04 -1.75506970e+02] [-5.90389345e-03 2.71619805e-05 -9.99982572e-01 7.20664572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02762800000005 meters 0.016197040451366496 Centerline is valid? [True, True] Translation: X:8.94, Y:-174.73, Z:-0.24 [[-9.99179300e-01 -3.98725832e-02 7.13464853e-03 8.93594058e+00] [ 3.98719059e-02 -9.99204771e-01 -2.37204139e-04 -1.74730898e+02] [ 7.13843280e-03 4.74625688e-05 9.99974520e-01 -2.36112551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.057628 meters 0.012828986903454189 Centerline is valid? [True, True] Translation: X:8.85, Y:-175.51, Z:0.72 [[-9.99762778e-01 -2.09203045e-02 6.06041204e-03 8.84789911e+00] [-2.09196739e-02 9.99781146e-01 1.67433227e-04 -1.75507452e+02] [-6.06258845e-03 4.06116647e-05 -9.99981622e-01 7.20952798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.08762800000005 meters 0.016672193883064824 Centerline is valid? [True, True] Translation: X:8.84, Y:-175.48, Z:0.72 [[-9.96024264e-01 -8.88135340e-02 6.91531962e-03 8.84157264e+00] [-8.88109102e-02 9.96048268e-01 6.86189962e-04 -1.75480534e+02] [-6.94893509e-03 6.93060215e-05 -9.99975853e-01 7.24608588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.117628 meters 0.01339759431528959 Centerline is valid? [True, True] Translation: X:8.83, Y:-175.45, Z:0.72 [[-9.87216254e-01 -1.59254606e-01 6.48367497e-03 8.83406693e+00] [-1.59250703e-01 9.87237543e-01 1.11716097e-03 -1.75453791e+02] [-6.57884037e-03 7.03496729e-05 -9.99978357e-01 7.21305228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.147628 meters 0.01370022281073343 Centerline is valid? [True, True] Translation: X:8.81, Y:-175.43, Z:0.72 [[-9.73673386e-01 -2.27830872e-01 7.29602996e-03 8.80754304e+00] [-2.27823725e-01 9.73700716e-01 1.80721899e-03 -1.75431316e+02] [-7.51588987e-03 9.74323163e-05 -9.99971751e-01 7.21135549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.177628 meters 0.01430081933955065 Centerline is valid? [True, True] Translation: X:8.76, Y:-175.42, Z:0.72 [[-9.54805488e-01 -2.97139619e-01 7.38420533e-03 8.75500425e+00] [-2.97129817e-01 9.54834035e-01 2.41603398e-03 -1.75417986e+02] [-7.76858998e-03 1.12774928e-04 -9.99969818e-01 7.22256547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.207628 meters 0.01479204945304553 Centerline is valid? [True, True] Translation: X:8.69, Y:-175.41, Z:0.72 [[-9.30790375e-01 -3.65466453e-01 7.97185555e-03 8.69033225e+00] [-3.65451778e-01 9.30824502e-01 3.27795604e-03 -1.75412418e+02] [-8.61838143e-03 1.37761145e-04 -9.99962852e-01 7.23151877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23762800000003 meters 0.0151228996538266 Centerline is valid? [True, True] Translation: X:8.62, Y:-175.42, Z:0.72 [[-9.01425530e-01 -4.32834027e-01 9.31232032e-03 8.61621523e+00] [-4.32808898e-01 9.01473612e-01 4.66735869e-03 -1.75415827e+02] [-1.04150027e-02 1.76821186e-04 -9.99945747e-01 7.24449504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.267628 meters 0.014613456349319503 Centerline is valid? [True, True] Translation: X:8.54, Y:-175.42, Z:0.72 [[-8.67098954e-01 -4.98037606e-01 9.89679932e-03 8.53663047e+00] [-4.98002383e-01 8.67155406e-01 5.92681703e-03 -1.75424925e+02] [-1.15338408e-02 2.10507201e-04 -9.99933461e-01 7.24476291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29762800000003 meters 0.015460087179442725 Centerline is valid? [True, True] Translation: X:8.45, Y:-175.45, Z:0.73 [[-8.26980764e-01 -5.62142767e-01 9.91590737e-03 8.45159202e+00] [-5.62099172e-01 8.27040182e-01 7.00417893e-03 -1.75447152e+02] [-1.21382024e-02 2.18597915e-04 -9.99926305e-01 7.26298244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.327628 meters 0.01567890492099267 Centerline is valid? [True, True] Translation: X:8.36, Y:-175.48, Z:0.73 [[-7.81642937e-01 -6.23658118e-01 9.21253152e-03 8.36069626e+00] [-6.23611679e-01 7.81697198e-01 7.61341248e-03 -1.75480471e+02] [-1.19495766e-02 2.05927847e-04 -9.99928580e-01 7.26997786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35762800000003 meters 0.014122604696589271 Centerline is valid? [True, True] Translation: X:8.27, Y:-175.52, Z:0.73 [[-7.29508786e-01 -6.83918576e-01 8.50364809e-03 8.26759161e+00] [-6.83869565e-01 7.29558329e-01 8.18915369e-03 -1.75520761e+02] [-1.18046216e-02 1.58673446e-04 -9.99930310e-01 7.25934075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.387628 meters 0.013357317734242185 Centerline is valid? [True, True] Translation: X:8.18, Y:-175.57, Z:0.72 [[-6.71768099e-01 -7.40722419e-01 7.61047591e-03 8.17543006e+00] [-7.40673238e-01 6.71811201e-01 8.53611193e-03 -1.75573087e+02] [-1.14356924e-02 9.74118483e-05 -9.99934606e-01 7.24243052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41762800000004 meters 0.012859032360160607 Centerline is valid? [True, True] Translation: X:8.09, Y:-175.64, Z:0.72 [[-6.11262753e-01 -7.91402274e-01 6.34730721e-03 8.08532676e+00] [-7.91358556e-01 6.11295704e-01 8.31850479e-03 -1.75635565e+02] [-1.04633652e-02 6.17962700e-05 -9.99945256e-01 7.23208746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.447628 meters 0.016131520654039364 Centerline is valid? [True, True] Translation: X:8.00, Y:-175.71, Z:0.73 [[-5.47511721e-01 -8.36779776e-01 5.52459576e-03 7.99984914e+00] [-8.36736401e-01 5.47539591e-01 8.52005651e-03 -1.75706862e+02] [-1.01543459e-02 4.22004306e-05 -9.99948442e-01 7.25152508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47762800000004 meters 0.012450364241481366 Centerline is valid? [True, True] Translation: X:7.92, Y:-175.79, Z:0.72 [[-4.78233947e-01 -8.78227035e-01 3.09318712e-03 7.91997317e+00] [-8.78208661e-01 4.78243950e-01 5.68091608e-03 -1.75786046e+02] [-6.46843211e-03 3.43197227e-07 -9.99979080e-01 7.20400947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.507628 meters 0.01240264843262031 Centerline is valid? [True, True] Translation: X:7.85, Y:-175.87, Z:0.72 [[-4.07912354e-01 -9.13018376e-01 2.22618907e-03 7.84629470e+00] [-9.13004891e-01 4.07918428e-01 4.96233313e-03 -1.75873580e+02] [-5.43880488e-03 -8.32451862e-06 -9.99985210e-01 7.18943037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53762800000004 meters 0.012511114424655138 Centerline is valid? [True, True] Translation: X:7.78, Y:-175.97, Z:0.72 [[-3.35045205e-01 -9.42200590e-01 1.66077422e-03 7.77773963e+00] [-9.42189237e-01 3.35049321e-01 4.62531109e-03 -1.75970362e+02] [-4.91441212e-03 -1.50752885e-05 -9.99987924e-01 7.18412826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.567628 meters 0.012710069641739877 Centerline is valid? [True, True] Translation: X:7.72, Y:-176.07, Z:0.72 [[-2.58241082e-01 -9.66079695e-01 1.25186975e-03 7.71705013e+00] [-9.66068908e-01 2.58244115e-01 4.56542075e-03 -1.76074240e+02] [-4.73384828e-03 -3.04132502e-05 -9.99988795e-01 7.19028204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59762800000004 meters 0.012810111176274286 Centerline is valid? [True, True] Translation: X:7.67, Y:-176.18, Z:0.72 [[-1.81943404e-01 -9.83308462e-01 1.03246982e-03 7.66619816e+00] [-9.83293870e-01 1.81946329e-01 5.35714398e-03 -1.76179089e+02] [-5.45557910e-03 -4.05242280e-05 -9.99985117e-01 7.18983774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.627628 meters 0.012892777836364187 Centerline is valid? [True, True] Translation: X:7.62, Y:-176.29, Z:0.72 [[-1.05377241e-01 -9.94431938e-01 8.70480266e-04 7.62478520e+00] [-9.94402397e-01 1.05380820e-01 7.66517701e-03 -1.76292172e+02] [-7.71422875e-03 -5.78724609e-05 -9.99970243e-01 7.20148941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65762800000005 meters 0.012973304398990814 Centerline is valid? [True, True] Translation: X:7.59, Y:-176.41, Z:0.72 [[-2.78487260e-02 -9.99612110e-01 2.77671970e-04 7.58811971e+00] [-9.99582048e-01 2.78500420e-02 7.75276430e-03 -1.76409038e+02] [-7.75749026e-03 -6.16513075e-05 -9.99969908e-01 7.20561225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.687628 meters 0.013005280319726975 Centerline is valid? [True, True] Translation: X:7.56, Y:-176.53, Z:0.72 [[ 4.97823225e-02 -9.98760038e-01 -3.25792454e-04 7.56008679e+00] [-9.98729056e-01 -4.97833445e-02 7.86707714e-03 -1.76528024e+02] [-7.87354130e-03 -6.62629815e-05 -9.99969001e-01 7.20557339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71762800000005 meters 0.012941443047327137 Centerline is valid? [True, True] Translation: X:7.54, Y:-176.64, Z:0.72 [[ 1.26697522e-01 -9.91940825e-01 -1.06632206e-03 7.53904725e+00] [-9.91900573e-01 -1.26701987e-01 8.93639326e-03 -1.76644924e+02] [-8.99947843e-03 -7.45334182e-05 -9.99959501e-01 7.21753915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.747628 meters 0.01295615560181319 Centerline is valid? [True, True] Translation: X:7.53, Y:-176.77, Z:0.72 [[ 2.02380320e-01 -9.79305442e-01 -1.74828181e-03 7.52861571e+00] [-9.79265899e-01 -2.02387860e-01 8.80072379e-03 -1.76766605e+02] [-8.97242772e-03 -6.90605450e-05 -9.99959745e-01 7.22047747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77762800000005 meters 0.012704051361130484 Centerline is valid? [True, True] Translation: X:7.53, Y:-176.88, Z:0.72 [[ 2.75466001e-01 -9.61308396e-01 -2.15651298e-03 7.52554160e+00] [-9.61277629e-01 -2.75474438e-01 7.69121515e-03 -1.76883640e+02] [-7.98769390e-03 -4.56605927e-05 -9.99968097e-01 7.22299097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.807628 meters 0.012558363469956403 Centerline is valid? [True, True] Translation: X:7.54, Y:-177.01, Z:0.72 [[ 3.47904602e-01 -9.37526718e-01 -2.45807720e-03 7.53617712e+00] [-9.37502627e-01 -3.47913283e-01 6.72100275e-03 -1.77005539e+02] [-7.15631735e-03 -3.38139493e-05 -9.99974393e-01 7.21610522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.83762800000005 meters 0.012429895451434384 Centerline is valid? [True, True] Translation: X:7.56, Y:-177.12, Z:0.72 [[ 4.16100332e-01 -9.09316507e-01 -2.00081887e-03 7.55681591e+00] [-9.09305919e-01 -4.16105142e-01 4.38813446e-03 -1.77117996e+02] [-4.82275412e-03 -6.54775750e-06 -9.99988370e-01 7.18879728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.867628 meters 0.013984329087678497 Centerline is valid? [True, True] Translation: X:7.59, Y:-177.23, Z:0.72 [[ 4.80631736e-01 -8.76920150e-01 -2.04546831e-03 7.58774086e+00] [-8.76912341e-01 -4.80636089e-01 3.70085298e-03 -1.77228951e+02] [-4.22847844e-03 1.49490079e-05 -9.99991060e-01 7.20436234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.897628 meters 0.013984329087678497 Centerline is valid? [True, True] Translation: X:7.62, Y:-177.34, Z:0.72 [[ 5.46689677e-01 -8.37332070e-01 -2.32419774e-03 7.62250761e+00] [-8.37324619e-01 -5.46694617e-01 3.53245676e-03 -1.77340117e+02] [-4.22846573e-03 1.49503428e-05 -9.99991060e-01 7.20435612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.927628 meters 0.013161701232890583 Centerline is valid? [True, True] Translation: X:7.67, Y:-177.44, Z:0.72 [[ 6.06230421e-01 -7.95283011e-01 -3.09972773e-03 7.66634643e+00] [-7.95272940e-01 -6.06238344e-01 4.00264147e-03 -1.77442009e+02] [-5.06240657e-03 3.86065619e-05 -9.99987185e-01 7.20801584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.957628 meters 0.013161701232890583 Centerline is valid? [True, True] Translation: X:7.71, Y:-177.54, Z:0.72 [[ 6.65405629e-01 -7.46474251e-01 -3.39740930e-03 7.71470505e+00] [-7.46464816e-01 -6.65414301e-01 3.75325643e-03 -1.77543074e+02] [-5.06239402e-03 3.86085477e-05 -9.99987185e-01 7.20800984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98762800000003 meters 0.013527794911672214 Centerline is valid? [True, True] Translation: X:7.77, Y:-177.64, Z:0.72 [[ 7.19290944e-01 -6.94695581e-01 -4.31137020e-03 7.77128174e+00] [-6.94683570e-01 -7.19303862e-01 4.08546633e-03 -1.77638718e+02] [-5.93934064e-03 5.63991169e-05 -9.99982360e-01 7.22394020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.017628 meters 0.013434369286326782 Centerline is valid? [True, True] Translation: X:7.77, Y:-177.64, Z:0.72 [[ 7.71032411e-01 -6.36775217e-01 -5.13274322e-03 7.76611050e+00] [-6.36761679e-01 -7.71049492e-01 4.15277669e-03 -1.77644889e+02] [-6.60198433e-03 6.64087638e-05 -9.99978204e-01 7.23510188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04762800000003 meters 0.013811807917473148 Centerline is valid? [True, True] Translation: X:7.76, Y:-177.65, Z:0.73 [[ 8.18402946e-01 -5.74605697e-01 -6.70163088e-03 7.76182190e+00] [-5.74587255e-01 -8.18430380e-01 4.60435787e-03 -1.77649093e+02] [-8.13050856e-03 8.24516449e-05 -9.99966944e-01 7.25488016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.077628 meters 0.013365190992824346 Centerline is valid? [True, True] Translation: X:7.76, Y:-177.66, Z:0.72 [[ 8.60897444e-01 -5.08728582e-01 -7.12884238e-03 7.75792942e+00] [-5.08711926e-01 -8.60926956e-01 4.11742021e-03 -1.77656221e+02] [-8.23206191e-03 8.18505972e-05 -9.99966113e-01 7.23987104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10762800000003 meters 0.01328603356346236 Centerline is valid? [True, True] Translation: X:7.75, Y:-177.66, Z:0.72 [[ 8.98603874e-01 -4.38694351e-01 -7.63835617e-03 7.75335249e+00] [-4.38679192e-01 -8.98636334e-01 3.64768908e-03 -1.77662154e+02] [-8.46432499e-03 7.29603729e-05 -9.99964174e-01 7.23487916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.137628 meters 0.015663333439868782 Centerline is valid? [True, True] Translation: X:7.75, Y:-177.67, Z:0.73 [[ 9.30429912e-01 -3.66365431e-01 -8.74932321e-03 7.74982934e+00] [-3.66349971e-01 -9.30471045e-01 3.36640253e-03 -1.77670559e+02] [-9.37432542e-03 7.31126937e-05 -9.99956057e-01 7.25663173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16762800000004 meters 0.015602029035084716 Centerline is valid? [True, True] Translation: X:7.75, Y:-177.68, Z:0.73 [[ 9.56627047e-01 -2.91177403e-01 -8.96729976e-03 7.74726016e+00] [-2.91165197e-01 -9.56669074e-01 2.66678339e-03 -1.77679940e+02] [-9.35524541e-03 5.98484779e-05 -9.99956237e-01 7.25253110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.197628 meters 0.012737619143668569 Centerline is valid? [True, True] Translation: X:7.75, Y:-177.69, Z:0.72 [[ 9.76934300e-01 -2.13397940e-01 -7.79048101e-03 7.74573186e+00] [-2.13391428e-01 -9.76965362e-01 1.66748938e-03 -1.77689577e+02] [-7.96686890e-03 3.33942972e-05 -9.99968263e-01 7.22436041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22762800000004 meters 0.012378126574633188 Centerline is valid? [True, True] Translation: X:7.74, Y:-177.70, Z:0.72 [[ 9.90917526e-01 -1.34317593e-01 -6.42192365e-03 7.74125439e+00] [-1.34314866e-01 -9.90938335e-01 8.55992309e-04 -1.77699186e+02] [-6.47870516e-03 1.43420336e-05 -9.99979013e-01 7.22242130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.257628 meters 0.012422529455480587 Centerline is valid? [True, True] Translation: X:7.74, Y:-177.71, Z:0.72 [[ 9.98417392e-01 -5.59091609e-02 -6.07270349e-03 7.73801112e+00] [-5.59081934e-02 -9.98435860e-01 3.29088114e-04 -1.77706341e+02] [-6.08160397e-03 1.09465851e-05 -9.99981507e-01 7.21565686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28762800000004 meters 0.015208484131926717 Centerline is valid? [True, True] Translation: X:7.73, Y:-177.71, Z:0.72 [[ 9.99759653e-01 2.09434649e-02 -6.48126451e-03 7.73403436e+00] [ 2.09428863e-02 -9.99780661e-01 -1.57132352e-04 -1.77710624e+02] [-6.48313382e-03 2.13582000e-05 -9.99978984e-01 7.24660653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.317628 meters 0.012476088398842282 Centerline is valid? [True, True] Translation: X:7.73, Y:-177.72, Z:0.72 [[ 9.95094919e-01 9.87492689e-02 -5.88925993e-03 7.73081609e+00] [ 9.87474106e-02 -9.95112346e-01 -6.06200666e-04 -1.77715693e+02] [-5.92033714e-03 2.16780342e-05 -9.99982474e-01 7.21635209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34762800000004 meters 0.014973544861150543 Centerline is valid? [True, True] Translation: X:7.73, Y:-177.72, Z:0.72 [[ 9.84563266e-01 1.74899818e-01 -6.72518204e-03 7.72869667e+00] [ 1.74895496e-01 -9.84586234e-01 -1.23012759e-03 -1.77720382e+02] [-6.83667075e-03 3.49343902e-05 -9.99976629e-01 7.24819936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.377628 meters 0.012578435237144723 Centerline is valid? [True, True] Translation: X:7.73, Y:-177.72, Z:0.72 [[ 9.67784323e-01 2.51716423e-01 -5.68738215e-03 7.72580925e+00] [ 2.51711904e-01 -9.67801034e-01 -1.50866770e-03 -1.77724154e+02] [-5.88401076e-03 2.84831644e-05 -9.99982689e-01 7.21775177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40762800000005 meters 0.012585070114784176 Centerline is valid? [True, True] Translation: X:7.72, Y:-177.73, Z:0.72 [[ 9.45099610e-01 3.26747290e-01 -4.78900643e-03 7.72351896e+00] [ 3.26742966e-01 -9.45111743e-01 -1.68131816e-03 -1.77727936e+02] [-5.07551237e-03 2.42389797e-05 -9.99987119e-01 7.21332239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.437628 meters 0.012607350121133617 Centerline is valid? [True, True] Translation: X:7.72, Y:-177.73, Z:0.72 [[ 9.16524226e-01 3.99958323e-01 -4.08444458e-03 7.71924252e+00] [ 3.99954253e-01 -9.16533327e-01 -1.80434799e-03 -1.77729880e+02] [-4.46519358e-03 2.01376611e-05 -9.99990031e-01 7.20585127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46762800000005 meters 0.012553706770512431 Centerline is valid? [True, True] Translation: X:7.72, Y:-177.73, Z:0.72 [[ 8.82054443e-01 4.71131503e-01 -3.88163450e-03 7.71646140e+00] [ 4.71126858e-01 -8.82062983e-01 -2.09216356e-03 -1.77732998e+02] [-4.40953027e-03 1.66598944e-05 -9.99990278e-01 7.20765047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.497628 meters 0.012400121342081872 Centerline is valid? [True, True] Translation: X:7.72, Y:-177.74, Z:0.72 [[ 8.40668793e-01 5.41529426e-01 -4.67555942e-03 7.71848234e+00] [ 5.41521033e-01 -8.40681795e-01 -3.01491919e-03 -1.77743871e+02] [-5.56332515e-03 2.63471181e-06 -9.99984525e-01 7.21671979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52762800000005 meters 0.012435357627485677 Centerline is valid? [True, True] Translation: X:7.72, Y:-177.75, Z:0.72 [[ 7.94348170e-01 6.07442561e-01 -4.95177754e-03 7.72207003e+00] [ 6.07430842e-01 -7.94363604e-01 -3.77319860e-03 -1.77754015e+02] [-6.22551327e-03 -1.06289981e-05 -9.99980621e-01 7.23512884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.557628 meters 0.014106563880867111 Centerline is valid? [True, True] Translation: X:7.72, Y:-177.76, Z:0.73 [[ 7.43076026e-01 6.69184491e-01 -5.48977938e-03 7.72493760e+00] [ 6.69166489e-01 -7.43096304e-01 -4.90841367e-03 -1.77763612e+02] [-7.36406907e-03 -2.62518761e-05 -9.99972885e-01 7.28004186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.58762800000005 meters 0.012784600035617858 Centerline is valid? [True, True] Translation: X:7.73, Y:-177.77, Z:0.73 [[ 6.86235108e-01 7.27358669e-01 -5.54456271e-03 7.73044605e+00] [ 7.27335545e-01 -6.86257505e-01 -5.80009928e-03 -1.77773461e+02] [-8.02375027e-03 -5.25257820e-05 -9.99967808e-01 7.26188140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.617628 meters 0.015525207447979555 Centerline is valid? [True, True] Translation: X:7.73, Y:-177.78, Z:0.73 [[ 6.27302907e-01 7.78757521e-01 -5.27127055e-03 7.73375620e+00] [ 7.78730737e-01 -6.27325052e-01 -6.45898974e-03 -1.77781019e+02] [-8.33678691e-03 -5.31573556e-05 -9.99965247e-01 7.28792510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.647628 meters 0.012708963806957376 Centerline is valid? [True, True] Translation: X:7.74, Y:-177.79, Z:0.73 [[ 5.64322124e-01 8.25543789e-01 -4.24169382e-03 7.73736784e+00] [ 8.25521112e-01 -5.64338063e-01 -6.11920327e-03 -1.77787283e+02] [-7.44541953e-03 -4.84060170e-05 -9.99972281e-01 7.25632689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.677628 meters 0.012490205014661268 Centerline is valid? [True, True] Translation: X:7.74, Y:-177.79, Z:0.72 [[ 5.00960692e-01 8.65462071e-01 -3.71342367e-03 7.73960522e+00] [ 8.65438626e-01 -5.00974454e-01 -6.37027638e-03 -1.77792498e+02] [-7.37356299e-03 -2.24822111e-05 -9.99972815e-01 7.24709971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.707628 meters 0.01244500409643891 Centerline is valid? [True, True] Translation: X:7.74, Y:-177.80, Z:0.72 [[ 4.34017000e-01 9.00899051e-01 -3.18482726e-03 7.74337536e+00] [ 9.00874848e-01 -4.34028685e-01 -6.60374904e-03 -1.77799225e+02] [-7.33161763e-03 -2.99142070e-06 -9.99973123e-01 7.24630649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73762800000003 meters 0.012610271702028279 Centerline is valid? [True, True] Translation: X:7.74, Y:-177.81, Z:0.72 [[ 3.66415470e-01 9.30448307e-01 -2.37749659e-03 7.74470879e+00] [ 9.30428234e-01 -3.66423182e-01 -6.11170886e-03 -1.77805913e+02] [-6.55779902e-03 2.73347216e-05 -9.99978497e-01 7.24721962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.767628 meters 0.012661910753700996 Centerline is valid? [True, True] Translation: X:7.75, Y:-177.81, Z:0.72 [[ 2.93794949e-01 9.55866821e-01 -1.77450398e-03 7.74947954e+00] [ 9.55848672e-01 -2.93800306e-01 -5.89032802e-03 -1.77812330e+02] [-6.15171893e-03 3.43913467e-05 -9.99981077e-01 7.24256596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79762800000003 meters 0.012748663603736964 Centerline is valid? [True, True] Translation: X:7.76, Y:-177.82, Z:0.72 [[ 2.18602208e-01 9.75813344e-01 -1.18015882e-03 7.75633707e+00] [ 9.75798264e-01 -2.18605391e-01 -5.42497382e-03 -1.77819339e+02] [-5.55175092e-03 3.43143313e-05 -9.99984588e-01 7.23890722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.827628 meters 0.012781755474402984 Centerline is valid? [True, True] Translation: X:7.76, Y:-177.83, Z:0.72 [[ 1.41395235e-01 9.89952993e-01 -6.78227673e-04 7.76359167e+00] [ 9.89940547e-01 -1.41396859e-01 -4.96395649e-03 -1.77826820e+02] [-5.00998284e-03 3.04747217e-05 -9.99987450e-01 7.24177518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85762800000003 meters 0.01428307320459167 Centerline is valid? [True, True] Translation: X:7.78, Y:-177.83, Z:0.73 [[ 6.18313263e-02 9.98086583e-01 -2.44094606e-04 7.77709688e+00] [ 9.98077545e-01 -6.18318052e-02 -4.24763726e-03 -1.77833147e+02] [-4.25460257e-03 1.90117001e-05 -9.99990949e-01 7.25910568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.887628 meters 0.012370450995518695 Centerline is valid? [True, True] Translation: X:7.79, Y:-177.84, Z:0.72 [[-1.89759955e-02 9.99819937e-01 6.51099601e-05 7.78814442e+00] [ 9.99815136e-01 1.89761062e-02 -3.09860749e-03 -1.77838189e+02] [-3.09928508e-03 6.29876178e-06 -9.99995197e-01 7.23171137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91762800000004 meters 0.012310096301972766 Centerline is valid? [True, True] Translation: X:7.80, Y:-177.84, Z:0.72 [[-9.93631885e-02 9.95051202e-01 2.49107891e-04 7.79848019e+00] [ 9.95048069e-01 9.93635007e-02 -2.49697095e-03 -1.77843289e+02] [-2.50936618e-03 -2.32669625e-07 -9.99996852e-01 7.22601697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.947628 meters 0.012411072492073717 Centerline is valid? [True, True] Translation: X:7.81, Y:-177.85, Z:0.72 [[-1.80696849e-01 9.83538797e-01 2.87618508e-04 7.81238047e+00] [ 9.83537495e-01 1.80697078e-01 -1.60045122e-03 -1.77845492e+02] [-1.62607769e-03 -6.31290643e-06 -9.99998678e-01 7.22587219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97762800000004 meters 0.01254506820696057 Centerline is valid? [True, True] Translation: X:7.82, Y:-177.85, Z:0.72 [[-2.58488576e-01 9.66014236e-01 3.90316189e-04 7.82298205e+00] [ 9.66013087e-01 2.58488870e-01 -1.48994674e-03 -1.77847351e+02] [-1.54020216e-03 -8.08366568e-06 -9.99998814e-01 7.22532264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.007628 meters 0.012784745347974233 Centerline is valid? [True, True] Translation: X:7.83, Y:-177.85, Z:0.72 [[-3.35033292e-01 9.42205830e-01 9.31392269e-04 7.83260940e+00] [ 9.42202024e-01 3.35034587e-01 -2.67791078e-03 -1.77848920e+02] [-2.83519177e-03 -1.96295851e-05 -9.99995981e-01 7.24082605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03762800000004 meters 0.012706120861542434 Centerline is valid? [True, True] Translation: X:7.84, Y:-177.85, Z:0.73 [[-4.07739237e-01 9.13096991e-01 1.61247737e-03 7.84103238e+00] [ 9.13089583e-01 4.07742425e-01 -3.67803925e-03 -1.77849111e+02] [-4.01588200e-03 -2.73446292e-05 -9.99991936e-01 7.25789515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.067628 meters 0.015005986620819315 Centerline is valid? [True, True] Translation: X:7.85, Y:-177.85, Z:0.73 [[-4.76765432e-01 8.79025166e-01 3.07908731e-03 7.84883176e+00] [ 8.79006356e-01 4.76775374e-01 -5.75058213e-03 -1.77849445e+02] [-6.52293942e-03 -3.51414567e-05 -9.99978725e-01 7.30230226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09762800000004 meters 0.012674379978788128 Centerline is valid? [True, True] Translation: X:7.85, Y:-177.85, Z:0.73 [[-5.42932801e-01 8.39761408e-01 4.97499373e-03 7.85470192e+00] [ 8.39725548e-01 5.42955593e-01 -7.76072082e-03 -1.77850589e+02] [-9.21835451e-03 -3.59205596e-05 -9.99957509e-01 7.31796459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.127628 meters 0.01270651708904246 Centerline is valid? [True, True] Translation: X:7.86, Y:-177.85, Z:0.73 [[-6.06016380e-01 7.95426646e-01 6.37170278e-03 7.86128570e+00] [ 7.95382203e-01 6.06049875e-01 -8.40833609e-03 -1.77851518e+02] [-1.05497842e-02 -2.76504061e-05 -9.99944349e-01 7.33067610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15762800000005 meters 0.012740465909475142 Centerline is valid? [True, True] Translation: X:7.87, Y:-177.85, Z:0.73 [[-6.66135506e-01 7.45792410e-01 7.56101383e-03 7.86777061e+00] [ 7.45743947e-01 6.66178415e-01 -8.50202017e-03 -1.77851429e+02] [-1.13777263e-02 -2.49172087e-05 -9.99935271e-01 7.33405921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.187628 meters 0.01288708672989508 Centerline is valid? [True, True] Translation: X:7.88, Y:-177.85, Z:0.73 [[-7.23203176e-01 6.90581314e-01 8.63802015e-03 7.87599560e+00] [ 6.90531428e-01 7.23254760e-01 -8.30056740e-03 -1.77848269e+02] [-1.19797059e-02 -3.81723134e-05 -9.99928240e-01 7.33546946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21762800000005 meters 0.015566659033636618 Centerline is valid? [True, True] Translation: X:7.91, Y:-177.84, Z:0.73 [[-7.69837702e-01 6.38164191e-01 9.81724290e-03 7.90693699e+00] [ 6.38111767e-01 7.69900295e-01 -8.17974634e-03 -1.77838195e+02] [-1.27783194e-02 -3.25789066e-05 -9.99918353e-01 7.34837258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.247628 meters 0.016191117903295277 Centerline is valid? [True, True] Translation: X:7.93, Y:-177.82, Z:0.73 [[-8.12848419e-01 5.82412123e-01 8.57708877e-03 7.92841841e+00] [ 5.82379407e-01 8.12893670e-01 -6.17308416e-03 -1.77818012e+02] [-1.05675402e-02 -2.26618231e-05 -9.99944162e-01 7.33121656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27762800000005 meters 0.012579210566765267 Centerline is valid? [True, True] Translation: X:7.95, Y:-177.80, Z:0.73 [[-8.52239534e-01 5.23113529e-01 6.32552000e-03 7.94689917e+00] [ 5.23098956e-01 8.52263009e-01 -3.90465390e-03 -1.77796965e+02] [-7.43358399e-03 -1.88275105e-05 -9.99972370e-01 7.28712676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.307628 meters 0.012577550887179522 Centerline is valid? [True, True] Translation: X:7.96, Y:-177.77, Z:0.73 [[-8.86806792e-01 4.62117418e-01 4.60484593e-03 7.96135539e+00] [ 4.62111132e-01 8.86818748e-01 -2.41033103e-03 -1.77774571e+02] [-5.19751965e-03 -9.54735979e-06 -9.99986493e-01 7.26938898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.33762800000005 meters 0.012443725360603935 Centerline is valid? [True, True] Translation: X:7.97, Y:-177.75, Z:0.73 [[-9.17096405e-01 3.98650962e-01 3.40497855e-03 7.97412713e+00] [ 3.98648194e-01 9.17102726e-01 -1.48540594e-03 -1.77751853e+02] [-3.71487361e-03 -4.87189416e-06 -9.99993100e-01 7.25183841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.367628 meters 0.01259045177937825 Centerline is valid? [True, True] Translation: X:7.99, Y:-177.73, Z:0.72 [[-9.42549598e-01 3.34060643e-01 1.93420003e-03 7.98998877e+00] [ 3.34059940e-01 9.42551583e-01 -6.85339234e-04 -1.77731977e+02] [-2.05202817e-03 1.72527029e-07 -9.99997895e-01 7.23575088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.397628 meters 0.012552887563636485 Centerline is valid? [True, True] Translation: X:8.00, Y:-177.71, Z:0.72 [[-9.63669672e-01 2.67094167e-01 1.21195603e-03 8.00208964e+00] [ 2.67093957e-01 9.63670434e-01 -3.34985846e-04 -1.77708225e+02] [-1.25739896e-03 8.90432667e-07 -9.99999210e-01 7.23235639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.427628 meters 0.012505170555441777 Centerline is valid? [True, True] Translation: X:8.01, Y:-177.68, Z:0.72 [[-9.80207711e-01 1.97969113e-01 1.03569049e-03 8.00959913e+00] [ 1.97969003e-01 9.80208259e-01 -2.08584652e-04 -1.77682490e+02] [-1.05648569e-03 5.78330349e-07 -9.99999442e-01 7.23381683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.457628 meters 0.012466761774291698 Centerline is valid? [True, True] Translation: X:8.02, Y:-177.65, Z:0.72 [[-9.91899073e-01 1.27025409e-01 8.79712702e-04 8.01561967e+00] [ 1.27025359e-01 9.91899463e-01 -1.13010995e-04 -1.77654973e+02] [-8.86941825e-04 -3.49679990e-07 -9.99999607e-01 7.23472281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48762800000003 meters 0.012419902647326304 Centerline is valid? [True, True] Translation: X:8.02, Y:-177.63, Z:0.72 [[-9.98490143e-01 5.49250332e-02 8.21418616e-04 8.01830187e+00] [ 5.49250134e-02 9.98490481e-01 -4.66157413e-05 -1.77626374e+02] [-8.22739040e-04 -1.42892971e-06 -9.99999662e-01 7.23037270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.517628 meters 0.012642327633331167 Centerline is valid? [True, True] Translation: X:8.06, Y:-176.87, Z:-0.24 [[-9.91709376e-01 -1.28492783e-01 1.45563235e-03 8.06194243e+00] [ 1.28492712e-01 -9.91710443e-01 -1.42058191e-04 -1.76873976e+02] [ 1.46181926e-03 4.61577094e-05 9.99998931e-01 -2.35404400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54762800000003 meters 0.012800307143902042 Centerline is valid? [True, True] Translation: X:7.95, Y:-177.62, Z:0.72 [[-9.99004725e-01 4.45152817e-02 2.81950359e-03 7.94814482e+00] [ 4.45150457e-02 9.99008703e-01 -1.46429492e-04 -1.77615934e+02] [-2.82322698e-03 -2.07734231e-05 -9.99996015e-01 7.24523150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.577628 meters 0.012912176546123734 Centerline is valid? [True, True] Translation: X:7.99, Y:-176.87, Z:-0.24 [[-9.91847577e-01 -1.27336125e-01 4.88835246e-03 7.98965698e+00] [ 1.27335442e-01 -9.91859608e-01 -4.51875175e-04 -1.76874752e+02] [ 4.90609938e-03 1.74269224e-04 9.99987950e-01 -2.38851772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60762800000003 meters 0.012973932042827345 Centerline is valid? [True, True] Translation: X:7.88, Y:-177.61, Z:0.73 [[-9.99238313e-01 3.79661326e-02 9.02038019e-03 7.87728468e+00] [ 3.79638543e-02 9.99279023e-01 -4.23722319e-04 -1.77607217e+02] [-9.02996380e-03 -8.09511761e-05 -9.99959226e-01 7.31462925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.637628 meters 0.012651957317961544 Centerline is valid? [True, True] Translation: X:7.88, Y:-177.58, Z:0.73 [[-9.99493057e-01 -3.00553482e-02 1.05026463e-02 7.87590294e+00] [-3.00543341e-02 9.99548234e-01 2.54412166e-04 -1.77582426e+02] [-1.05055480e-02 -6.13668473e-05 -9.99944813e-01 7.32451456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66762800000004 meters 0.012632457366336522 Centerline is valid? [True, True] Translation: X:7.87, Y:-176.84, Z:-0.24 [[-9.98878399e-01 -4.62704412e-02 1.00494369e-02 7.86503524e+00] [ 4.62684049e-02 -9.98928949e-01 -4.35148335e-04 -1.76839575e+02] [ 1.00588080e-02 3.03111443e-05 9.99949408e-01 -2.43696608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.697628 meters 0.012459953805931949 Centerline is valid? [True, True] Translation: X:7.78, Y:-177.59, Z:0.73 [[-9.99466774e-01 -3.12001537e-02 9.62906758e-03 7.78348984e+00] [-3.11987813e-02 9.99513157e-01 2.92746825e-04 -1.77589502e+02] [-9.63351348e-03 -7.82444861e-06 -9.99953597e-01 7.31323907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72762800000004 meters 0.015309335389399619 Centerline is valid? [True, True] Translation: X:7.76, Y:-176.84, Z:-0.25 [[-9.99354805e-01 -3.44079439e-02 1.02989098e-02 7.76038523e+00] [ 3.44066377e-02 -9.99407870e-01 -3.04028060e-04 -1.76836164e+02] [ 1.03032725e-02 5.05189562e-05 9.99946919e-01 -2.45202570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.757628 meters 0.01634764992219936 Centerline is valid? [True, True] Translation: X:7.69, Y:-177.60, Z:0.73 [[-9.99503066e-01 -3.02516646e-02 8.85766105e-03 7.68904928e+00] [-3.02499795e-02 9.99542312e-01 3.24190558e-04 -1.77597373e+02] [-8.86341431e-03 5.60853918e-05 -9.99960718e-01 7.32512210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78762800000004 meters 0.01523972165325248 Centerline is valid? [True, True] Translation: X:7.69, Y:-177.57, Z:0.73 [[-9.94944084e-01 -1.00144488e-01 7.57310467e-03 7.68515109e+00] [-1.00141148e-01 9.94972903e-01 8.19850634e-04 -1.77570536e+02] [-7.61713746e-03 5.73261390e-05 -9.99970988e-01 7.30928203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.817628 meters 0.016160949119245115 Centerline is valid? [True, True] Translation: X:7.67, Y:-177.54, Z:0.73 [[-9.85462648e-01 -1.69818708e-01 4.99752526e-03 7.67269093e+00] [-1.69816298e-01 9.85475319e-01 9.05867489e-04 -1.77542642e+02] [-5.07877105e-03 4.40373363e-05 -9.99987102e-01 7.30166436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84762800000004 meters 0.012968612145888628 Centerline is valid? [True, True] Translation: X:7.65, Y:-177.52, Z:0.73 [[-9.70751601e-01 -2.40078467e-01 1.91257454e-03 7.64835512e+00] [-2.40077967e-01 9.70753485e-01 4.90119072e-04 -1.77517482e+02] [-1.97430544e-03 1.66168652e-05 -9.99998051e-01 7.26806839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.877628 meters 0.012968612145888628 Centerline is valid? [True, True] Translation: X:7.60, Y:-177.50, Z:0.73 [[-9.50610431e-01 -3.10380903e-01 1.87159701e-03 7.59780212e+00] [-3.10380267e-01 9.50612274e-01 6.28547619e-04 -1.77503397e+02] [-1.97425226e-03 1.65971452e-05 -9.99998051e-01 7.26805366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90762800000005 meters 0.013107386830046372 Centerline is valid? [True, True] Translation: X:7.54, Y:-177.50, Z:0.73 [[-9.25214964e-01 -3.79442655e-01 7.36215840e-04 7.53672709e+00] [-3.79442530e-01 9.25215257e-01 3.08343128e-04 -1.77495642e+02] [-7.98156662e-04 5.93207495e-06 -9.99999681e-01 7.26233422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.937628 meters 0.013080298999680554 Centerline is valid? [True, True] Translation: X:7.46, Y:-177.50, Z:0.73 [[-8.94363983e-01 -4.47339851e-01 -3.50940604e-04 7.46386341e+00] [-4.47339815e-01 8.94364052e-01 -1.81092192e-04 -1.77496826e+02] [ 3.94878415e-04 -4.97262966e-06 -9.99999922e-01 7.25695715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96762800000005 meters 0.012943249621740203 Centerline is valid? [True, True] Translation: X:7.39, Y:-177.51, Z:0.73 [[-8.58147163e-01 -5.13403560e-01 -4.80182405e-04 7.38552011e+00] [-5.13403476e-01 8.58147297e-01 -2.94433591e-04 -1.77507721e+02] [ 5.63230487e-04 -6.14003532e-06 -9.99999841e-01 7.26081678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.997628 meters 0.012866083878760343 Centerline is valid? [True, True] Translation: X:7.30, Y:-177.53, Z:0.73 [[-8.16349055e-01 -5.77558824e-01 1.57341830e-04 7.29967108e+00] [-5.77558814e-01 8.16349070e-01 1.11116119e-04 -1.77530247e+02] [-1.92621952e-04 -1.64622255e-07 -9.99999981e-01 7.26845378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02762800000005 meters 0.012889999785232123 Centerline is valid? [True, True] Translation: X:7.21, Y:-177.56, Z:0.73 [[-7.70138248e-01 -6.37876343e-01 9.22138226e-04 7.21297609e+00] [-6.37875876e-01 7.70138800e-01 7.71860733e-04 -1.77561236e+02] [-1.20252613e-03 6.22974375e-06 -9.99999277e-01 7.28442841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.057628 meters 0.014763372186169237 Centerline is valid? [True, True] Translation: X:7.12, Y:-177.60, Z:0.73 [[-7.19811898e-01 -6.94165294e-01 2.31855154e-03 7.12344270e+00] [-6.94161601e-01 7.19815632e-01 2.26431287e-03 -1.77603785e+02] [-3.24073705e-03 2.04298997e-05 -9.99994749e-01 7.31835134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.08762800000005 meters 0.01311964349841143 Centerline is valid? [True, True] Translation: X:7.04, Y:-177.65, Z:0.73 [[-6.64526467e-01 -7.47259807e-01 2.71214189e-03 7.03590328e+00] [-7.47253436e-01 6.64532001e-01 3.08587958e-03 -1.77654717e+02] [-4.10825886e-03 2.39913058e-05 -9.99991561e-01 7.32985956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.117628 meters 0.01664099588183529 Centerline is valid? [True, True] Translation: X:6.95, Y:-177.72, Z:0.74 [[-6.06181047e-01 -7.95315844e-01 4.15289685e-03 6.94949075e+00] [-7.95296653e-01 6.06195270e-01 5.52525703e-03 -1.77717869e+02] [-6.91179089e-03 4.65211191e-05 -9.99976112e-01 7.36213883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.147628 meters 0.013163702638354789 Centerline is valid? [True, True] Translation: X:6.86, Y:-177.79, Z:0.73 [[-5.42979150e-01 -8.39739366e-01 3.38233258e-03 6.86482706e+00] [-8.39722641e-01 5.42989683e-01 5.30005522e-03 -1.77791509e+02] [-6.28723670e-03 3.75982268e-05 -9.99980234e-01 7.34392999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.177628 meters 0.013192527489359448 Centerline is valid? [True, True] Translation: X:6.79, Y:-177.87, Z:0.73 [[-4.76417493e-01 -8.79212478e-01 3.43377634e-03 6.78639338e+00] [-8.79189049e-01 4.76429866e-01 6.41872754e-03 -1.77870155e+02] [-7.27937894e-03 3.90555322e-05 -9.99973504e-01 7.34975223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.207628 meters 0.01308771264958779 Centerline is valid? [True, True] Translation: X:6.71, Y:-177.96, Z:0.74 [[-4.07047008e-01 -9.13402088e-01 3.05914016e-03 6.71138395e+00] [-9.13375605e-01 4.07058502e-01 6.95554970e-03 -1.77958786e+02] [-7.59846263e-03 3.70917053e-05 -9.99971131e-01 7.35103926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23762800000003 meters 0.014422886256206469 Centerline is valid? [True, True] Translation: X:6.64, Y:-178.05, Z:0.74 [[-3.35234178e-01 -9.42130407e-01 2.88826726e-03 6.64191722e+00] [-9.42094419e-01 3.35246618e-01 8.23472645e-03 -1.78053512e+02] [-8.72646801e-03 3.95412865e-05 -9.99961923e-01 7.36375022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.267628 meters 0.013989157076971579 Centerline is valid? [True, True] Translation: X:6.58, Y:-178.16, Z:0.74 [[-2.60854478e-01 -9.65375597e-01 2.21304966e-03 6.57918823e+00] [-9.65339850e-01 2.60863863e-01 8.30776701e-03 -1.78155117e+02] [-8.59742022e-03 3.07731982e-05 -9.99963041e-01 7.38562927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29762800000003 meters 0.016046141769862753 Centerline is valid? [True, True] Translation: X:6.53, Y:-178.26, Z:0.74 [[-1.86302247e-01 -9.82491101e-01 1.64590031e-03 6.52581236e+00] [-9.82450965e-01 1.86309513e-01 8.88067675e-03 -1.78262124e+02] [-9.03183277e-03 3.74736834e-05 -9.99959211e-01 7.38872968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.327628 meters 0.01320091926351475 Centerline is valid? [True, True] Translation: X:6.48, Y:-178.37, Z:0.74 [[-1.11283977e-01 -9.93788402e-01 6.98421714e-04 6.48189189e+00] [-9.93766766e-01 1.11286163e-01 6.55774233e-03 -1.78371517e+02] [-6.59473295e-03 3.57033582e-05 -9.99978254e-01 7.37121395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35762800000003 meters 0.013238669924270545 Centerline is valid? [True, True] Translation: X:6.45, Y:-178.49, Z:0.74 [[-3.62718171e-02 -9.99341944e-01 1.87438371e-04 6.44682329e+00] [-9.99321012e-01 3.62722706e-02 6.46821987e-03 -1.78485821e+02] [-6.47076223e-03 4.73029856e-05 -9.99979063e-01 7.36606918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.387628 meters 0.015035962951658719 Centerline is valid? [True, True] Translation: X:6.42, Y:-178.60, Z:0.74 [[ 3.83849389e-02 -9.99262963e-01 -3.56981662e-04 6.42240507e+00] [-9.99235696e-01 -3.83865288e-02 7.38230812e-03 -1.78602327e+02] [-7.39057037e-03 7.33393733e-05 -9.99972687e-01 7.37854923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41762800000004 meters 0.015389493859649252 Centerline is valid? [True, True] Translation: X:6.41, Y:-178.72, Z:0.74 [[ 1.10773708e-01 -9.93845263e-01 -8.82102602e-04 6.40804174e+00] [-9.93820689e-01 -1.10777173e-01 6.98973993e-03 -1.78721180e+02] [-7.04443676e-03 1.02372402e-04 -9.99975182e-01 7.36859175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.447628 meters 0.01452928306061321 Centerline is valid? [True, True] Translation: X:6.40, Y:-178.84, Z:0.74 [[ 1.85641824e-01 -9.82616652e-01 -1.27631602e-03 6.40080212e+00] [-9.82597036e-01 -1.85646184e-01 6.20960466e-03 -1.78839707e+02] [-6.33860414e-03 1.01342003e-04 -9.99979906e-01 7.35911794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47762800000004 meters 0.014684444458409142 Centerline is valid? [True, True] Translation: X:6.40, Y:-178.96, Z:0.74 [[ 2.59888324e-01 -9.65636761e-01 -1.92456592e-03 6.40217695e+00] [-9.65613563e-01 -2.59895423e-01 6.69443712e-03 -1.78961007e+02] [-6.96458046e-03 1.18580909e-04 -9.99975740e-01 7.36620366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.507628 meters 0.01568170895932272 Centerline is valid? [True, True] Translation: X:6.42, Y:-179.08, Z:0.74 [[ 3.33314283e-01 -9.42811876e-01 -2.71189838e-03 6.41514089e+00] [-9.42783868e-01 -3.33325288e-01 7.26848260e-03 -1.79084513e+02] [-7.75675603e-03 1.34044979e-04 -9.99969907e-01 7.38140211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53762800000004 meters 0.014859940978529617 Centerline is valid? [True, True] Translation: X:6.43, Y:-179.20, Z:0.74 [[ 4.05968948e-01 -9.13878976e-01 -3.79875099e-03 6.42864216e+00] [-9.13842273e-01 -4.05986695e-01 8.19174268e-03 -1.79202064e+02] [-9.02850377e-03 1.45866082e-04 -9.99959232e-01 7.38933104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.567628 meters 0.015776975153859663 Centerline is valid? [True, True] Translation: X:6.45, Y:-179.32, Z:0.74 [[ 4.75841844e-01 -8.79513869e-01 -5.46750697e-03 6.45337310e+00] [-8.79459869e-01 -4.75873224e-01 9.74747635e-03 -1.79318277e+02] [-1.11748808e-02 1.70195842e-04 -9.99937545e-01 7.40175411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59762800000004 meters 0.016956631260930992 Centerline is valid? [True, True] Translation: X:6.48, Y:-179.43, Z:0.74 [[ 5.44016775e-01 -8.39043073e-01 -7.24366278e-03 6.48355513e+00] [-8.38972733e-01 -5.44064972e-01 1.08654640e-02 -1.79431633e+02] [-1.30576155e-02 1.66240901e-04 -9.99914732e-01 7.42820690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.627628 meters 0.014110197349036966 Centerline is valid? [True, True] Translation: X:6.53, Y:-179.54, Z:0.74 [[ 6.07763097e-01 -7.94083399e-01 -7.45480273e-03 6.52516559e+00] [-7.94026412e-01 -6.07808800e-01 9.51418059e-03 -1.79542271e+02] [-1.20861476e-02 1.36942409e-04 -9.99926951e-01 7.41253769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65762800000005 meters 0.01416683617674188 Centerline is valid? [True, True] Translation: X:6.57, Y:-179.64, Z:0.74 [[ 6.66773528e-01 -7.45205359e-01 -9.05730936e-03 6.57166269e+00] [-7.45139641e-01 -6.66835025e-01 9.89774237e-03 -1.79642652e+02] [-1.34155818e-02 1.49407643e-04 -9.99909996e-01 7.41543699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.687628 meters 0.014512267609772572 Centerline is valid? [True, True] Translation: X:6.62, Y:-179.73, Z:0.74 [[ 7.20401388e-01 -6.93485309e-01 -9.99832648e-03 6.61849808e+00] [-6.93421913e-01 -7.20470746e-01 9.37847772e-03 -1.79732514e+02] [-1.37073382e-02 1.76790305e-04 -9.99906034e-01 7.41135702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71762800000005 meters 0.014853505276869142 Centerline is valid? [True, True] Translation: X:6.62, Y:-179.74, Z:0.74 [[ 7.71280851e-01 -6.36415029e-01 -1.00876430e-02 6.61509321e+00] [-6.36363797e-01 -7.71346793e-01 8.07723714e-03 -1.79739047e+02] [-1.29215462e-02 1.89592498e-04 -9.99916495e-01 7.40535605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.747628 meters 0.015158030170306076 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.75, Z:0.74 [[ 8.17605040e-01 -5.75682785e-01 -1.05512826e-02 6.61328803e+00] [-5.75638160e-01 -8.17673093e-01 7.17088899e-03 -1.79746661e+02] [-1.27556572e-02 2.10765934e-04 -9.99918621e-01 7.39515821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77762800000005 meters 0.015674902562420445 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.75, Z:0.74 [[ 8.59234643e-01 -5.11469036e-01 -1.07356255e-02 6.61111223e+00] [-5.11432380e-01 -8.59301678e-01 6.12753807e-03 -1.79753157e+02] [-1.23591870e-02 2.25553520e-04 -9.99923597e-01 7.39345208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.807628 meters 0.018580114649445874 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.76, Z:0.74 [[ 8.95131554e-01 -4.45659919e-01 -1.12577413e-02 6.61012624e+00] [-4.45628417e-01 -8.95202304e-01 5.30555984e-03 -1.79760920e+02] [-1.24424313e-02 2.67595403e-04 -9.99922554e-01 7.39201658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.83762800000005 meters 0.019233465270580754 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.77, Z:0.74 [[ 9.26680327e-01 -3.75682335e-01 -1.12407493e-02 6.60974580e+00] [-3.75658302e-01 -9.26748459e-01 4.25834871e-03 -1.79769843e+02] [-1.20171335e-02 2.76552824e-04 -9.99927753e-01 7.38250155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.867628 meters 0.016400615612044176 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.78, Z:0.73 [[ 9.53117694e-01 -3.02472981e-01 -8.76108346e-03 6.61023765e+00] [-3.02462252e-01 -9.53157936e-01 2.55650141e-03 -1.79777562e+02] [-9.12396883e-03 2.13250305e-04 -9.99958353e-01 7.34209613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.897628 meters 0.015804561600198174 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.79, Z:0.73 [[ 9.73958278e-01 -2.26559749e-01 -8.71506915e-03 6.61032259e+00] [-2.26552545e-01 -9.73997248e-01 1.81807576e-03 -1.79788107e+02] [-8.90035616e-03 2.03691167e-04 -9.99960370e-01 7.33086078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.927628 meters 0.015225634289035108 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.80, Z:0.73 [[ 9.88861771e-01 -1.48565599e-01 -8.98109083e-03 6.60745427e+00] [-1.48561282e-01 -9.88902535e-01 1.14964973e-03 -1.79800076e+02] [-9.05222189e-03 1.97397701e-04 -9.99959008e-01 7.32568915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.957628 meters 0.014899119592417293 Centerline is valid? [True, True] Translation: X:6.60, Y:-179.81, Z:0.73 [[ 9.97765189e-01 -6.62775938e-02 -8.47992841e-03 6.60486005e+00] [-6.62764561e-02 -9.97801212e-01 4.15415746e-04 -1.79810841e+02] [-8.48881560e-03 1.47532232e-04 -9.99963959e-01 7.32915640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98762800000003 meters 0.014028234470351675 Centerline is valid? [True, True] Translation: X:6.60, Y:-179.82, Z:0.73 [[ 9.99861809e-01 1.47637797e-02 -7.64158473e-03 6.60437397e+00] [ 1.47624947e-02 -9.99891003e-01 -2.24549179e-04 -1.79820880e+02] [-7.64406702e-03 1.11709295e-04 -9.99970777e-01 7.32064976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.017628 meters 0.015029214067897053 Centerline is valid? [True, True] Translation: X:6.60, Y:-179.83, Z:0.73 [[ 9.95059211e-01 9.89421149e-02 -8.22344867e-03 6.60489102e+00] [ 9.89381394e-02 -9.95093188e-01 -8.89844180e-04 -1.79831181e+02] [-8.27114081e-03 7.18349365e-05 -9.99965791e-01 7.32810007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04762800000003 meters 0.015504649412937705 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.84, Z:0.73 [[ 9.83717827e-01 1.79496632e-01 -8.95518147e-03 6.60602635e+00] [ 1.79488715e-01 -9.83758586e-01 -1.68660956e-03 -1.79841786e+02] [-9.11247740e-03 5.17938728e-05 -9.99958479e-01 7.32688131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.077628 meters 0.012397583048922724 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.85, Z:0.73 [[ 9.65793267e-01 2.59183655e-01 -8.19748992e-03 6.60777855e+00] [ 2.59174146e-01 -9.65828055e-01 -2.22029127e-03 -1.79851242e+02] [-8.49282896e-03 1.97649119e-05 -9.99963935e-01 7.30994397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10762800000003 meters 0.012277736720414293 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.86, Z:0.73 [[ 9.40928509e-01 3.38525066e-01 -7.37026553e-03 6.61114064e+00] [ 3.38514843e-01 -9.40957374e-01 -2.63085880e-03 -1.79861297e+02] [-7.82571734e-03 -1.94942351e-05 -9.99969378e-01 7.29270892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.137628 meters 0.012266480057010459 Centerline is valid? [True, True] Translation: X:6.61, Y:-179.87, Z:0.73 [[ 9.10802642e-01 4.12794034e-01 -6.29551542e-03 6.61487951e+00] [ 4.12784398e-01 -9.10824398e-01 -2.82062819e-03 -1.79869535e+02] [-6.89844754e-03 -2.96549411e-05 -9.99976205e-01 7.28210122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16762800000004 meters 0.012406601106100036 Centerline is valid? [True, True] Translation: X:6.62, Y:-179.88, Z:0.73 [[ 8.74955680e-01 4.84171890e-01 -5.48988882e-03 6.61964116e+00] [ 4.84162621e-01 -8.74972902e-01 -2.99612086e-03 -1.79877085e+02] [-6.25414145e-03 -3.65259937e-05 -9.99980442e-01 7.27568461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.197628 meters 0.012492816138769321 Centerline is valid? [True, True] Translation: X:6.62, Y:-179.88, Z:0.73 [[ 8.33842334e-01 5.51978375e-01 -5.18028405e-03 6.62379838e+00] [ 5.51968035e-01 -8.33858424e-01 -3.37890152e-03 -1.79884530e+02] [-6.18470407e-03 -4.18800784e-05 -9.99980874e-01 7.27594438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22762800000004 meters 0.01244586831784452 Centerline is valid? [True, True] Translation: X:6.63, Y:-179.89, Z:0.73 [[ 7.87930537e-01 6.15742975e-01 -5.10465704e-03 6.62965653e+00] [ 6.15730423e-01 -7.87947071e-01 -3.93185563e-03 -1.79891638e+02] [-6.44321205e-03 -4.50635215e-05 -9.99979241e-01 7.27975995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.257628 meters 0.01236302120400011 Centerline is valid? [True, True] Translation: X:6.64, Y:-179.90, Z:0.73 [[ 7.37697324e-01 6.75113948e-01 -4.88018842e-03 6.63570232e+00] [ 6.75099554e-01 -7.37713465e-01 -4.40866307e-03 -1.79897619e+02] [-6.57653064e-03 -4.23540840e-05 -9.99978374e-01 7.28122386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28762800000004 meters 0.012379749312345185 Centerline is valid? [True, True] Translation: X:6.64, Y:-179.90, Z:0.73 [[ 6.83649227e-01 7.29799065e-01 -4.13025071e-03 6.64095922e+00] [ 7.29786012e-01 -6.83661703e-01 -4.36486331e-03 -1.79902094e+02] [-6.00916740e-03 -3.01637657e-05 -9.99981944e-01 7.26830072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.317628 meters 0.012327408131730192 Centerline is valid? [True, True] Translation: X:6.65, Y:-179.91, Z:0.73 [[ 6.25020346e-01 7.80600526e-01 -3.51921837e-03 6.64647431e+00] [ 7.80588365e-01 -6.25030253e-01 -4.35729865e-03 -1.79907102e+02] [-5.60092757e-03 -2.36606029e-05 -9.99984314e-01 7.26537144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34762800000004 meters 0.012309348118791164 Centerline is valid? [True, True] Translation: X:6.65, Y:-179.91, Z:0.73 [[ 5.62408205e-01 8.26853847e-01 -3.11871569e-03 6.65233868e+00] [ 8.26841334e-01 -5.62416852e-01 -4.54896325e-03 -1.79911763e+02] [-5.51534602e-03 -2.03087885e-05 -9.99984790e-01 7.26155540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.377628 meters 0.01240050814202871 Centerline is valid? [True, True] Translation: X:6.66, Y:-179.92, Z:0.73 [[ 4.96101756e-01 8.68259396e-01 -2.94440176e-03 6.65891255e+00] [ 8.68244350e-01 -4.96110493e-01 -5.11150263e-03 -1.79916337e+02] [-5.89885879e-03 -2.06347580e-05 -9.99982601e-01 7.25830339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40762800000005 meters 0.012592728349377304 Centerline is valid? [True, True] Translation: X:6.67, Y:-179.92, Z:0.73 [[ 4.25454281e-01 9.04975750e-01 -2.74734036e-03 6.66680018e+00] [ 9.04957341e-01 -4.25463150e-01 -5.77229877e-03 -1.79920989e+02] [-6.39268249e-03 -3.03766054e-05 -9.99979566e-01 7.26799210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.437628 meters 0.012867994893494732 Centerline is valid? [True, True] Translation: X:6.68, Y:-179.92, Z:0.73 [[ 3.52211926e-01 9.35917712e-01 -2.18974837e-03 6.67520505e+00] [ 9.35900261e-01 -3.52218731e-01 -5.71547243e-03 -1.79924523e+02] [-6.12048228e-03 -3.63285173e-05 -9.99981269e-01 7.27067173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46762800000005 meters 0.01332876622142997 Centerline is valid? [True, True] Translation: X:6.68, Y:-179.93, Z:0.73 [[ 2.75548951e-01 9.61285271e-01 -1.84478537e-03 6.68312977e+00] [ 9.61265017e-01 -2.75555121e-01 -6.24036277e-03 -1.79928614e+02] [-6.50710887e-03 -5.38022265e-05 -9.99978827e-01 7.27548045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.497628 meters 0.013373670508823123 Centerline is valid? [True, True] Translation: X:6.69, Y:-179.93, Z:0.73 [[ 1.99049749e-01 9.79988211e-01 -1.51807228e-03 6.68982405e+00] [ 9.79962080e-01 -1.99055527e-01 -7.15678833e-03 -1.79930975e+02] [-7.31574887e-03 -6.30963481e-05 -9.99973238e-01 7.28731007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52762800000005 meters 0.013416459459978118 Centerline is valid? [True, True] Translation: X:6.70, Y:-179.93, Z:0.73 [[ 1.21744771e-01 9.92560848e-01 -1.08344586e-03 6.69666504e+00] [ 9.92526567e-01 -1.21749571e-01 -8.24957395e-03 -1.79932391e+02] [-8.32011318e-03 -7.10063078e-05 -9.99965385e-01 7.29652564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.557628 meters 0.013323612391683944 Centerline is valid? [True, True] Translation: X:6.70, Y:-179.93, Z:0.73 [[ 4.57098251e-02 9.98954601e-01 -5.62468041e-04 6.70236454e+00] [ 9.98896507e-01 -4.57132329e-02 -1.07734736e-02 -1.79933883e+02] [-1.07879233e-02 -6.93937662e-05 -9.99941806e-01 7.31396802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.58762800000005 meters 0.013228272426257789 Centerline is valid? [True, True] Translation: X:6.71, Y:-179.93, Z:0.73 [[-3.08076695e-02 9.99525281e-01 3.15586297e-04 6.70863091e+00] [ 9.99452852e-01 3.08092362e-02 -1.20327467e-02 -1.79934450e+02] [-1.20367575e-02 -5.52872582e-05 -9.99927554e-01 7.32517587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.617628 meters 0.013138067270146185 Centerline is valid? [True, True] Translation: X:6.72, Y:-179.93, Z:0.73 [[-1.06699911e-01 9.94290342e-01 1.35797444e-03 6.71577027e+00] [ 9.94206265e-01 1.06708548e-01 -1.29300970e-02 -1.79934624e+02] [-1.30011781e-02 -2.95335067e-05 -9.99915481e-01 7.32782185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.64762800000005 meters 0.01675848681007569 Centerline is valid? [True, True] Translation: X:6.72, Y:-179.94, Z:0.74 [[-1.78864719e-01 9.83869222e-01 2.96065072e-03 6.72106831e+00] [ 9.83739270e-01 1.78889213e-01 -1.59905458e-02 -1.79935136e+02] [-1.62622344e-02 5.23638955e-05 -9.99867760e-01 7.35537341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.677628 meters 0.01412194210932899 Centerline is valid? [True, True] Translation: X:6.73, Y:-179.94, Z:0.74 [[-2.53689414e-01 9.67275775e-01 4.38816575e-03 6.72817347e+00] [ 9.67136780e-01 2.53727349e-01 -1.63975945e-02 -1.79935613e+02] [-1.69743936e-02 8.40603608e-05 -9.99855921e-01 7.35372320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.707628 meters 0.016392800371543195 Centerline is valid? [True, True] Translation: X:6.74, Y:-179.93, Z:0.74 [[-3.26060559e-01 9.45330131e-01 5.95443455e-03 6.73655853e+00] [ 9.45180196e-01 3.26114894e-01 -1.68366349e-02 -1.79934172e+02] [-1.78580081e-02 1.38251034e-04 -9.99840524e-01 7.36646339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73762800000003 meters 0.014173373205167993 Centerline is valid? [True, True] Translation: X:6.74, Y:-179.93, Z:0.73 [[-3.95449429e-01 9.18462702e-01 6.78338317e-03 6.74326208e+00] [ 9.18335972e-01 3.95507556e-01 -1.52583268e-02 -1.79932991e+02] [-1.66970833e-02 1.95528171e-04 -9.99860575e-01 7.34216966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.767628 meters 0.014173373205167993 Centerline is valid? [True, True] Translation: X:6.75, Y:-179.93, Z:0.73 [[-4.66171461e-01 8.84658602e-01 7.95776807e-03 6.75256983e+00] [ 8.84536815e-01 4.66239337e-01 -1.46800223e-02 -1.79930692e+02] [-1.66970326e-02 1.95531353e-04 -9.99860576e-01 7.34216527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79762800000003 meters 0.014223269542249126 Centerline is valid? [True, True] Translation: X:6.76, Y:-179.93, Z:0.73 [[-5.32597528e-01 8.46322052e-01 8.88019106e-03 6.76132789e+00] [ 8.46211226e-01 5.32671509e-01 -1.36976088e-02 -1.79927172e+02] [-1.63228132e-02 2.19204767e-04 -9.99866750e-01 7.32899874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.827628 meters 0.016264947512079166 Centerline is valid? [True, True] Translation: X:6.77, Y:-179.92, Z:0.73 [[-5.95474652e-01 8.03316832e-01 9.59201523e-03 6.76974589e+00] [ 8.03219249e-01 5.95551851e-01 -1.25232511e-02 -1.79923017e+02] [-1.57726808e-02 2.47212656e-04 -9.99875573e-01 7.32875257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85762800000003 meters 0.015546972598224643 Centerline is valid? [True, True] Translation: X:6.78, Y:-179.92, Z:0.73 [[-6.55165484e-01 7.55428827e-01 9.24535841e-03 6.77668710e+00] [ 7.55358793e-01 6.55230668e-01 -1.02890849e-02 -1.79920905e+02] [-1.38305137e-02 2.42509469e-04 -9.99904324e-01 7.30225555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.887628 meters 0.015614548534767136 Centerline is valid? [True, True] Translation: X:6.78, Y:-179.92, Z:0.73 [[-7.11918882e-01 7.02202597e-01 9.11138888e-03 6.78198573e+00] [ 7.02149147e-01 7.11977149e-01 -8.66692847e-03 -1.79917711e+02] [-1.25730404e-02 2.27403895e-04 -9.99920930e-01 7.29037292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91762800000004 meters 0.014727016264392327 Centerline is valid? [True, True] Translation: X:7.27, Y:-179.42, Z:-0.24 [[-6.89718703e-01 -7.24039904e-01 7.37070714e-03 7.26884573e+00] [ 7.23993970e-01 -6.89758024e-01 -8.16085366e-03 -1.79416419e+02] [ 1.09927881e-02 -2.92345878e-04 9.99939535e-01 -2.39150774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.947628 meters 0.014698109078632737 Centerline is valid? [True, True] Translation: X:7.25, Y:-179.40, Z:-0.24 [[-6.88295627e-01 -7.25404897e-01 6.07170994e-03 7.24965178e+00] [ 7.25374842e-01 -6.88322392e-01 -6.60473535e-03 -1.79397236e+02] [ 8.97040128e-03 -1.41744819e-04 9.99959755e-01 -2.36927247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97762800000004 meters 0.01570222339719867 Centerline is valid? [True, True] Translation: X:7.23, Y:-179.38, Z:-0.24 [[-6.87036110e-01 -7.26599543e-01 5.87268655e-03 7.22896662e+00] [ 7.26571501e-01 -6.87061198e-01 -6.38467282e-03 -1.79378640e+02] [ 8.67399542e-03 -1.19574095e-04 9.99962373e-01 -2.37414845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.007628 meters 0.013350144489959423 Centerline is valid? [True, True] Translation: X:7.21, Y:-179.36, Z:-0.24 [[-6.84625501e-01 -7.28875760e-01 5.29622861e-03 7.20813459e+00] [ 7.28853046e-01 -6.84645982e-01 -5.75476550e-03 -1.79359250e+02] [ 7.82055071e-03 -7.96868544e-05 9.99969416e-01 -2.35808353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03762800000004 meters 0.012715809997584647 Centerline is valid? [True, True] Translation: X:7.19, Y:-179.34, Z:-0.24 [[-6.80317750e-01 -7.32894133e-01 5.82648625e-03 7.18690822e+00] [ 7.32866820e-01 -6.80342699e-01 -6.32743770e-03 -1.79342187e+02] [ 8.60134935e-03 -3.46297380e-05 9.99963007e-01 -2.37260940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.067628 meters 0.012519984490058117 Centerline is valid? [True, True] Translation: X:7.17, Y:-179.32, Z:-0.24 [[-6.78139623e-01 -7.34904040e-01 6.53477587e-03 7.16637772e+00] [ 7.34869817e-01 -6.78171108e-01 -7.09228719e-03 -1.79324608e+02] [ 9.64384671e-03 -7.35141345e-06 9.99953497e-01 -2.38351109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09762800000004 meters 0.01249438080766506 Centerline is valid? [True, True] Translation: X:7.15, Y:-179.31, Z:-0.24 [[-6.76019861e-01 -7.36849313e-01 7.08775441e-03 7.14545199e+00] [ 7.36809210e-01 -6.76057016e-01 -7.68764078e-03 -1.79306238e+02] [ 1.04563589e-02 2.53248704e-05 9.99945330e-01 -2.39226946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.127628 meters 0.012601978565460383 Centerline is valid? [True, True] Translation: X:7.13, Y:-179.29, Z:-0.24 [[-6.74166077e-01 -7.38542211e-01 7.45006186e-03 7.12533756e+00] [ 7.38498061e-01 -6.74207238e-01 -8.07557401e-03 -1.79287112e+02] [ 1.09870379e-02 5.75781836e-05 9.99939639e-01 -2.40097387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15762800000005 meters 0.012701368938567313 Centerline is valid? [True, True] Translation: X:7.11, Y:-179.27, Z:-0.24 [[-6.71832079e-01 -7.40661776e-01 7.86069380e-03 7.10609367e+00] [ 7.40612824e-01 -6.71878057e-01 -8.51598313e-03 -1.79266479e+02] [ 1.15888909e-02 1.00419979e-04 9.99932842e-01 -2.38659136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.187628 meters 0.013183899563482149 Centerline is valid? [True, True] Translation: X:7.09, Y:-179.25, Z:-0.24 [[-6.71423368e-01 -7.41030920e-01 7.98973365e-03 7.08650284e+00] [ 7.40980436e-01 -6.71470895e-01 -8.65045193e-03 -1.79247387e+02] [ 1.17751260e-02 1.12120750e-04 9.99930665e-01 -2.40144737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21762800000005 meters 0.013075586575208985 Centerline is valid? [True, True] Translation: X:7.07, Y:-179.23, Z:-0.24 [[-6.71058711e-01 -7.41356496e-01 8.41142052e-03 7.06825071e+00] [ 7.41300632e-01 -6.71111413e-01 -9.10186598e-03 -1.79226472e+02] [ 1.23927278e-02 1.27504895e-04 9.99923199e-01 -2.39452345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.247628 meters 0.013071832302820162 Centerline is valid? [True, True] Translation: X:7.05, Y:-179.21, Z:-0.24 [[-6.70919323e-01 -7.41479547e-01 8.68004950e-03 7.04951668e+00] [ 7.41420136e-01 -6.70975456e-01 -9.38722340e-03 -1.79205722e+02] [ 1.27845343e-02 1.37493907e-04 9.99918265e-01 -2.39114926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27762800000005 meters 0.01296065775293193 Centerline is valid? [True, True] Translation: X:7.03, Y:-179.19, Z:-0.24 [[-6.71002957e-01 -7.41404484e-01 8.62682912e-03 7.03051629e+00] [ 7.41345860e-01 -6.71058397e-01 -9.32435233e-03 -1.79185095e+02] [ 1.27022227e-02 1.38796066e-04 9.99919314e-01 -2.38614889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.307628 meters 0.012819825543548111 Centerline is valid? [True, True] Translation: X:7.01, Y:-179.16, Z:-0.24 [[-6.71838558e-01 -7.40662346e-01 7.22781933e-03 7.01183495e+00] [ 7.40621200e-01 -6.71877427e-01 -7.80774934e-03 -1.79163553e+02] [ 1.06391146e-02 1.07529165e-04 9.99943397e-01 -2.37233678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.33762800000005 meters 0.012619477541882905 Centerline is valid? [True, True] Translation: X:6.99, Y:-179.14, Z:-0.24 [[-6.73149337e-01 -7.39477330e-01 6.57635868e-03 6.99406844e+00] [ 7.39443249e-01 -6.73181455e-01 -7.09998237e-03 -1.79142373e+02] [ 9.67735871e-03 8.34955980e-05 9.99953170e-01 -2.36595127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.367628 meters 0.012199849697274548 Centerline is valid? [True, True] Translation: X:6.98, Y:-179.12, Z:-0.24 [[-6.77063214e-01 -7.35902226e-01 5.77218215e-03 6.97873909e+00] [ 7.35875870e-01 -6.77087817e-01 -6.22826376e-03 -1.79118271e+02] [ 8.49166738e-03 3.06812895e-05 9.99963945e-01 -2.35197551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.39762800000005 meters 0.012100533232896785 Centerline is valid? [True, True] Translation: X:6.96, Y:-179.10, Z:-0.23 [[-6.79665860e-01 -7.33500747e-01 5.56533134e-03 6.96342588e+00] [ 7.33476198e-01 -6.79688645e-01 -6.00108423e-03 -1.79097038e+02] [ 8.18449228e-03 3.30600161e-06 9.99966507e-01 -2.34928788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.427628 meters 0.012127893316654412 Centerline is valid? [True, True] Translation: X:6.95, Y:-179.08, Z:-0.23 [[-6.82372935e-01 -7.30984227e-01 5.40727768e-03 6.94739180e+00] [ 7.30961002e-01 -6.82394358e-01 -5.82697548e-03 -1.79075039e+02] [ 7.94932295e-03 -2.36612457e-05 9.99968403e-01 -2.34704728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.457628 meters 0.012580045933850698 Centerline is valid? [True, True] Translation: X:6.93, Y:-179.05, Z:-0.23 [[-6.85333467e-01 -7.28210139e-01 5.29459815e-03 6.93134233e+00] [ 7.28187817e-01 -6.85353917e-01 -5.70197115e-03 -1.79053188e+02] [ 7.78090678e-03 -5.22897890e-05 9.99969727e-01 -2.34758149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48762800000003 meters 0.013733178143214227 Centerline is valid? [True, True] Translation: X:6.92, Y:-179.03, Z:-0.23 [[-6.90871634e-01 -7.22961726e-01 4.76734929e-03 6.91692402e+00] [ 7.22943524e-01 -6.90888076e-01 -5.13114163e-03 -1.79029105e+02] [ 7.00332379e-03 -9.84359061e-05 9.99975472e-01 -2.34584376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.517628 meters 0.014669867466953316 Centerline is valid? [True, True] Translation: X:6.90, Y:-179.01, Z:-0.24 [[-6.93348561e-01 -7.20586037e-01 4.85150939e-03 6.90045073e+00] [ 7.20567149e-01 -6.93365523e-01 -5.21869361e-03 -1.79006930e+02] [ 7.12438709e-03 -1.22535418e-04 9.99974614e-01 -2.35144168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54762800000003 meters 0.014809710526250068 Centerline is valid? [True, True] Translation: X:6.88, Y:-178.99, Z:-0.24 [[-6.95729505e-01 -7.18284141e-01 5.32436633e-03 6.88200323e+00] [ 7.18261350e-01 -6.95749860e-01 -5.72411866e-03 -1.78985432e+02] [ 7.81597079e-03 -1.58151690e-04 9.99969442e-01 -2.35245033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.577628 meters 0.01616663331544982 Centerline is valid? [True, True] Translation: X:6.87, Y:-178.96, Z:-0.24 [[-6.99105253e-01 -7.14990203e-01 6.39177622e-03 6.86719403e+00] [ 7.14957258e-01 -6.99134434e-01 -6.86756907e-03 -1.78962363e+02] [ 9.37895545e-03 -2.31306817e-04 9.99955990e-01 -2.36916105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60762800000003 meters 0.01587956884050341 Centerline is valid? [True, True] Translation: X:6.85, Y:-178.94, Z:-0.24 [[-7.00109652e-01 -7.14003133e-01 6.78245495e-03 6.84878810e+00] [ 7.13966032e-01 -7.00142458e-01 -7.28317379e-03 -1.78940955e+02] [ 9.94889358e-03 -2.56577819e-04 9.99950476e-01 -2.36851450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.637628 meters 0.018678517708847715 Centerline is valid? [True, True] Translation: X:6.83, Y:-178.92, Z:-0.24 [[-7.01276536e-01 -7.12838288e-01 8.53200356e-03 6.83368834e+00] [ 7.12779544e-01 -7.01328353e-01 -9.15767182e-03 -1.78918720e+02] [ 1.25116751e-02 -3.40622765e-04 9.99921668e-01 -2.39762089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66762800000004 meters 0.017156029489127155 Centerline is valid? [True, True] Translation: X:6.82, Y:-178.90, Z:-0.24 [[-7.00581165e-01 -7.13523985e-01 8.33993662e-03 6.81664919e+00] [ 7.13467966e-01 -7.00630732e-01 -8.94650157e-03 -1.78897237e+02] [ 1.22267593e-02 -3.17472878e-04 9.99925200e-01 -2.38737631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.697628 meters 0.016667521450261312 Centerline is valid? [True, True] Translation: X:6.80, Y:-178.88, Z:-0.24 [[-7.00026731e-01 -7.14070166e-01 8.14709988e-03 6.79751929e+00] [ 7.14016809e-01 -7.00074075e-01 -8.73416624e-03 -1.78877809e+02] [ 1.19403809e-02 -2.96983580e-04 9.99928667e-01 -2.39028891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72762800000004 meters 0.01585604285276345 Centerline is valid? [True, True] Translation: X:6.78, Y:-178.86, Z:-0.24 [[-6.98785031e-01 -7.15286772e-01 8.01966970e-03 6.77809864e+00] [ 7.15235207e-01 -6.98830997e-01 -8.59278889e-03 -1.78857590e+02] [ 1.17507020e-02 -2.68562129e-04 9.99930922e-01 -2.38438862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.757628 meters 0.01585444215217212 Centerline is valid? [True, True] Translation: X:6.76, Y:-178.84, Z:-0.24 [[-6.95566802e-01 -7.18417728e-01 7.92408193e-03 6.75752406e+00] [ 7.18367640e-01 -6.95611906e-01 -8.48585317e-03 -1.78838051e+02] [ 1.16084731e-02 -2.10073719e-04 9.99932597e-01 -2.39518988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78762800000004 meters 0.016079365488066332 Centerline is valid? [True, True] Translation: X:6.74, Y:-178.82, Z:-0.24 [[-6.93728731e-01 -7.20196648e-01 7.56540179e-03 6.73895367e+00] [ 7.20151146e-01 -6.93769961e-01 -8.09739589e-03 -1.78818482e+02] [ 1.10803659e-02 -1.69163410e-04 9.99938597e-01 -2.40086799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.817628 meters 0.014809157606617688 Centerline is valid? [True, True] Translation: X:6.72, Y:-178.80, Z:-0.24 [[-6.91846447e-01 -7.22008419e-01 7.23444154e-03 6.71947001e+00] [ 7.21966954e-01 -6.91884258e-01 -7.73895018e-03 -1.78797824e+02] [ 1.05929834e-02 -1.31137466e-04 9.99943884e-01 -2.39503975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84762800000004 meters 0.015287995176688154 Centerline is valid? [True, True] Translation: X:6.70, Y:-178.78, Z:-0.24 [[-6.88385820e-01 -7.25315644e-01 6.49450813e-03 6.70130756e+00] [ 7.25282408e-01 -6.88416452e-01 -6.94380539e-03 -1.78777682e+02] [ 9.50737692e-03 -6.96646707e-05 9.99954801e-01 -2.39800543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.877628 meters 0.012027857346233597 Centerline is valid? [True, True] Translation: X:6.68, Y:-178.76, Z:-0.24 [[-6.86695420e-01 -7.26925915e-01 5.30220005e-03 6.68222438e+00] [ 7.26903838e-01 -6.86715889e-01 -5.66557893e-03 -1.78758099e+02] [ 7.75956117e-03 -3.63375393e-05 9.99969894e-01 -2.37542773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90762800000005 meters 0.015245111503290621 Centerline is valid? [True, True] Translation: X:6.66, Y:-178.74, Z:-0.24 [[-6.85775152e-01 -7.27791502e-01 5.65428276e-03 6.66349559e+00] [ 7.27766454e-01 -6.85798461e-01 -6.03814248e-03 -1.78738321e+02] [ 8.27220720e-03 -2.58107583e-05 9.99965784e-01 -2.39689136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.937628 meters 0.014680389035977567 Centerline is valid? [True, True] Translation: X:6.65, Y:-178.72, Z:-0.24 [[-6.83971764e-01 -7.29489749e-01 5.22801230e-03 6.64654534e+00] [ 7.29468412e-01 -6.83991744e-01 -5.57939893e-03 -1.78718193e+02] [ 7.64603157e-03 -2.48149430e-06 9.99970769e-01 -2.39784928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96762800000005 meters 0.011710753396289804 Centerline is valid? [True, True] Translation: X:6.63, Y:-178.70, Z:-0.24 [[-6.83419517e-01 -7.30012049e-01 4.49124981e-03 6.62908259e+00] [ 7.29996332e-01 -6.83434275e-01 -4.79026214e-03 -1.78697781e+02] [ 6.56642314e-03 4.83724842e-06 9.99978441e-01 -2.37765888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.997628 meters 0.011732257930098822 Centerline is valid? [True, True] Translation: X:6.61, Y:-178.68, Z:-0.24 [[-6.82773647e-01 -7.30615257e-01 4.63606735e-03 6.61385339e+00] [ 7.30598540e-01 -6.82789386e-01 -4.94242214e-03 -1.78675393e+02] [ 6.77646660e-03 1.25484436e-05 9.99977039e-01 -2.37130405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02762800000005 meters 0.011851979926361778 Centerline is valid? [True, True] Translation: X:6.60, Y:-178.66, Z:-0.24 [[-6.82467463e-01 -7.30899807e-01 4.86141546e-03 6.59766788e+00] [ 7.30881456e-01 -6.82484777e-01 -5.17941584e-03 -1.78655061e+02] [ 7.10347609e-03 1.83356164e-05 9.99974770e-01 -2.37505163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.057628 meters 0.011945398558776714 Centerline is valid? [True, True] Translation: X:6.58, Y:-178.63, Z:-0.24 [[-6.82235826e-01 -7.31112001e-01 5.43322000e-03 6.58033213e+00] [ 7.31089113e-01 -6.82257460e-01 -5.78517860e-03 -1.78634203e+02] [ 7.93646838e-03 2.53118882e-05 9.99968505e-01 -2.38267720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.08762800000005 meters 0.012043762306545504 Centerline is valid? [True, True] Translation: X:6.56, Y:-178.61, Z:-0.24 [[-6.81920924e-01 -7.31399650e-01 6.19719022e-03 6.56279428e+00] [ 7.31369920e-01 -6.81949082e-01 -6.59473614e-03 -1.78613687e+02] [ 9.04955589e-03 3.53499566e-05 9.99959051e-01 -2.39325178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.117628 meters 0.012574290902133413 Centerline is valid? [True, True] Translation: X:6.54, Y:-178.60, Z:-0.24 [[-6.80198960e-01 -7.32988387e-01 7.57621333e-03 6.54429562e+00] [ 7.32944091e-01 -6.80241148e-01 -8.05854489e-03 -1.78595560e+02] [ 1.10604719e-02 7.15269451e-05 9.99938829e-01 -2.41627678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.14762800000005 meters 0.012797642954237345 Centerline is valid? [True, True] Translation: X:6.52, Y:-178.58, Z:-0.24 [[-6.78994875e-01 -7.34097996e-01 8.12975716e-03 6.52296124e+00] [ 7.34047124e-01 -6.79043535e-01 -8.64275823e-03 -1.78577033e+02] [ 1.18650905e-02 9.92363201e-05 9.99929602e-01 -2.42878519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.177628 meters 0.013143646605843358 Centerline is valid? [True, True] Translation: X:6.50, Y:-178.56, Z:-0.24 [[-6.78321093e-01 -7.34709127e-01 9.11012665e-03 6.50199375e+00] [ 7.34645368e-01 -6.78382255e-01 -9.67988755e-03 -1.78558470e+02] [ 1.32920500e-02 1.26640445e-04 9.99911649e-01 -2.44323825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.207628 meters 0.013386288344485136 Centerline is valid? [True, True] Translation: X:6.48, Y:-178.54, Z:-0.25 [[-6.78631095e-01 -7.34399516e-01 1.08253287e-02 6.48176388e+00] [ 7.34309517e-01 -6.78717415e-01 -1.14979411e-02 -1.78540950e+02] [ 1.57914215e-02 1.46281475e-04 9.99875297e-01 -2.46765548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23762800000003 meters 0.012805905642756132 Centerline is valid? [True, True] Translation: X:6.46, Y:-178.52, Z:-0.25 [[-6.79859235e-01 -7.33258691e-01 1.10955924e-02 6.46365722e+00] [ 7.33164108e-01 -6.79949760e-01 -1.17777073e-02 -1.78520463e+02] [ 1.61805517e-02 1.27707049e-04 9.99869078e-01 -2.45116473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.267628 meters 0.012408920855278938 Centerline is valid? [True, True] Translation: X:6.45, Y:-178.50, Z:-0.24 [[-6.81156600e-01 -7.32057225e-01 1.08584461e-02 6.44518844e+00] [ 7.31966605e-01 -6.81243135e-01 -1.15186701e-02 -1.78499953e+02] [ 1.58295675e-02 1.02001748e-04 9.99874699e-01 -2.43600346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29762800000003 meters 0.013749526500408202 Centerline is valid? [True, True] Translation: X:6.43, Y:-178.48, Z:-0.24 [[-6.84461602e-01 -7.28980172e-01 1.00111646e-02 6.42858170e+00] [ 7.28902900e-01 -6.84534811e-01 -1.06139157e-02 -1.78478968e+02] [ 1.45903248e-02 3.23491783e-05 9.99893555e-01 -2.44708260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.327628 meters 0.012156334573460678 Centerline is valid? [True, True] Translation: X:6.41, Y:-178.46, Z:-0.24 [[-6.86491160e-01 -7.27081242e-01 9.09700465e-03 6.41132616e+00] [ 7.27017348e-01 -6.86551431e-01 -9.63886786e-03 -1.78457912e+02] [ 1.32538016e-02 -3.31738084e-06 9.99912165e-01 -2.43135264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35762800000003 meters 0.015897918830852713 Centerline is valid? [True, True] Translation: X:6.40, Y:-178.43, Z:-0.25 [[-6.91249809e-01 -7.22559237e-01 9.04712941e-03 6.39710132e+00] [ 7.22495699e-01 -6.91309005e-01 -9.58245501e-03 -1.78434817e+02] [ 1.31782534e-02 -8.73580968e-05 9.99913159e-01 -2.45732433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.387628 meters 0.012922652704670315 Centerline is valid? [True, True] Translation: X:6.38, Y:-178.41, Z:-0.24 [[-6.93365487e-01 -7.20538925e-01 8.24370527e-03 6.38006295e+00] [ 7.20486094e-01 -6.93414483e-01 -8.72605354e-03 -1.78413288e+02] [ 1.20037659e-02 -1.10869362e-04 9.99927946e-01 -2.41965699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41762800000004 meters 0.013181154602461366 Centerline is valid? [True, True] Translation: X:6.36, Y:-178.39, Z:-0.24 [[-6.94914865e-01 -7.19046805e-01 8.06362080e-03 6.36299844e+00] [ 7.18996219e-01 -6.94961636e-01 -8.53010983e-03 -1.78392084e+02] [ 1.17374553e-02 -1.29987259e-04 9.99931105e-01 -2.40931610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.447628 meters 0.01322160445678787 Centerline is valid? [True, True] Translation: X:6.34, Y:-178.37, Z:-0.24 [[-6.95789168e-01 -7.18200948e-01 8.05183902e-03 6.34419945e+00] [ 7.18150515e-01 -6.95835741e-01 -8.51225572e-03 -1.78371654e+02] [ 1.17162675e-02 -1.40302983e-04 9.99931352e-01 -2.39845654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47762800000004 meters 0.013295515169911757 Centerline is valid? [True, True] Translation: X:6.33, Y:-178.35, Z:-0.24 [[-6.96318790e-01 -7.17692934e-01 7.54952736e-03 6.32553150e+00] [ 7.17648626e-01 -6.96359702e-01 -7.97593289e-03 -1.78353232e+02] [ 1.09814573e-02 -1.35883997e-04 9.99939693e-01 -2.39261087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.507628 meters 0.013255326358663494 Centerline is valid? [True, True] Translation: X:6.31, Y:-178.33, Z:-0.24 [[-6.96133598e-01 -7.17875903e-01 7.22508502e-03 6.30603836e+00] [ 7.17835382e-01 -6.96171080e-01 -7.62840285e-03 -1.78333666e+02] [ 1.05061418e-02 -1.23965859e-04 9.99944801e-01 -2.39106443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53762800000004 meters 0.014387295722830862 Centerline is valid? [True, True] Translation: X:6.29, Y:-178.31, Z:-0.24 [[-6.95784215e-01 -7.18213414e-01 7.33610892e-03 6.28608703e+00] [ 7.18171708e-01 -6.95822879e-01 -7.74073588e-03 -1.78314369e+02] [ 1.06641328e-02 -1.17295966e-04 9.99943130e-01 -2.39744526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.567628 meters 0.012671811482768695 Centerline is valid? [True, True] Translation: X:6.27, Y:-178.30, Z:-0.24 [[-6.93810818e-01 -7.20119560e-01 7.37347355e-03 6.26729119e+00] [ 7.20077591e-01 -6.93849993e-01 -7.77501813e-03 -1.78296408e+02] [ 1.07150272e-02 -8.49186202e-05 9.99942589e-01 -2.39150219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59762800000004 meters 0.012464567933526101 Centerline is valid? [True, True] Translation: X:6.25, Y:-178.28, Z:-0.24 [[-6.93125198e-01 -7.20774808e-01 7.81893104e-03 6.24795767e+00] [ 7.20727715e-01 -6.93169294e-01 -8.23956218e-03 -1.78276584e+02] [ 1.13587118e-02 -7.57278655e-05 9.99935485e-01 -2.39104373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.627628 meters 0.012362426867175496 Centerline is valid? [True, True] Translation: X:6.23, Y:-178.26, Z:-0.24 [[-6.92633814e-01 -7.21243377e-01 8.14810478e-03 6.22867884e+00] [ 7.21192325e-01 -6.92681736e-01 -8.58159713e-03 -1.78256302e+02] [ 1.18334635e-02 -6.75537206e-05 9.99929980e-01 -2.39094050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65762800000005 meters 0.012294291776784287 Centerline is valid? [True, True] Translation: X:6.21, Y:-178.24, Z:-0.24 [[-6.91892166e-01 -7.21947030e-01 8.81571806e-03 6.20996157e+00] [ 7.21887401e-01 -6.91948324e-01 -9.27886148e-03 -1.78235945e+02] [ 1.27988678e-02 -5.60157663e-05 9.99918090e-01 -2.40006092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.687628 meters 0.012294291776784287 Centerline is valid? [True, True] Translation: X:6.19, Y:-178.22, Z:-0.24 [[-6.92119916e-01 -7.21728656e-01 8.81864548e-03 6.19144345e+00] [ 7.21669045e-01 -6.92176093e-01 -9.27607931e-03 -1.78216602e+02] [ 1.27988678e-02 -5.60157671e-05 9.99918090e-01 -2.40006356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71762800000005 meters 0.012452420096634638 Centerline is valid? [True, True] Translation: X:6.17, Y:-178.20, Z:-0.24 [[-6.92287547e-01 -7.21564190e-01 9.11443357e-03 6.17331732e+00] [ 7.21500582e-01 -6.92347541e-01 -9.58086691e-03 -1.78197790e+02] [ 1.32235661e-02 -5.66457265e-05 9.99912563e-01 -2.40883270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.747628 meters 0.012446916754002346 Centerline is valid? [True, True] Translation: X:6.15, Y:-178.18, Z:-0.24 [[-6.92041674e-01 -7.21795606e-01 9.45649195e-03 6.15342660e+00] [ 7.21727241e-01 -6.92106279e-01 -9.93421500e-03 -1.78178643e+02] [ 1.37153702e-02 -4.98829397e-05 9.99905939e-01 -2.41915544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77762800000005 meters 0.012884546563588126 Centerline is valid? [True, True] Translation: X:6.13, Y:-178.16, Z:-0.24 [[-6.91447956e-01 -7.22359839e-01 9.79729428e-03 6.13405129e+00] [ 7.22286607e-01 -6.91517362e-01 -1.02857297e-02 -1.78159687e+02] [ 1.42049971e-02 -3.55923356e-05 9.99899103e-01 -2.42227961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.807628 meters 0.012187941334373982 Centerline is valid? [True, True] Translation: X:6.11, Y:-178.14, Z:-0.24 [[-6.91158484e-01 -7.22643075e-01 9.32395540e-03 6.11485996e+00] [ 7.22576849e-01 -6.91221372e-01 -9.78324249e-03 -1.78139237e+02] [ 1.35147097e-02 -2.44967368e-05 9.99908672e-01 -2.40164755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.83762800000005 meters 0.013365507068161408 Centerline is valid? [True, True] Translation: X:6.10, Y:-178.12, Z:-0.24 [[-6.91086217e-01 -7.22717216e-01 8.92559638e-03 6.09687102e+00] [ 7.22656615e-01 -6.91143853e-01 -9.35899761e-03 -1.78120345e+02] [ 1.29327798e-02 -1.77329900e-05 9.99916368e-01 -2.40097013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.867628 meters 0.012161327630099939 Centerline is valid? [True, True] Translation: X:6.08, Y:-178.10, Z:-0.24 [[-6.90059800e-01 -7.23720052e-01 6.83808269e-03 6.07742245e+00] [ 7.23684572e-01 -6.90093680e-01 -7.16617310e-03 -1.78101978e+02] [ 9.90522081e-03 3.52696415e-06 9.99950942e-01 -2.36847445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.89762800000005 meters 0.011986832519711827 Centerline is valid? [True, True] Translation: X:6.06, Y:-178.08, Z:-0.24 [[-6.90140490e-01 -7.23648015e-01 6.29723604e-03 6.05822126e+00] [ 7.23617960e-01 -6.90169219e-01 -6.59521344e-03 -1.78083053e+02] [ 9.11877159e-03 5.16926335e-06 9.99958423e-01 -2.35930449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.927628 meters 0.012128072706415277 Centerline is valid? [True, True] Translation: X:6.04, Y:-178.06, Z:-0.24 [[-6.90145673e-01 -7.23641955e-01 6.42420218e-03 6.03967736e+00] [ 7.23610707e-01 -6.90175572e-01 -6.72491267e-03 -1.78064281e+02] [ 9.30025637e-03 7.45209177e-06 9.99956752e-01 -2.36745952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.957628 meters 0.01213547126838547 Centerline is valid? [True, True] Translation: X:6.02, Y:-178.04, Z:-0.24 [[-6.90315468e-01 -7.23475484e-01 6.91221227e-03 6.02060580e+00] [ 7.23439344e-01 -6.90350073e-01 -7.23129627e-03 -1.78044947e+02] [ 1.00035118e-02 8.69064564e-06 9.99949964e-01 -2.37482385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98762800000003 meters 0.012169532398439192 Centerline is valid? [True, True] Translation: X:6.00, Y:-178.03, Z:-0.24 [[-6.90498323e-01 -7.23290599e-01 7.92307718e-03 6.00230832e+00] [ 7.23243163e-01 -6.90543778e-01 -8.28358409e-03 -1.78025037e+02] [ 1.14626701e-02 1.05104736e-05 9.99934301e-01 -2.38887417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.017628 meters 0.01222326764478259 Centerline is valid? [True, True] Translation: X:5.98, Y:-178.00, Z:-0.24 [[-6.90834449e-01 -7.22961378e-01 8.63771018e-03 5.98487173e+00] [ 7.22905048e-01 -6.90888446e-01 -9.02475560e-03 -1.78004876e+02] [ 1.24922439e-02 9.63223793e-06 9.99921969e-01 -2.39685884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04762800000003 meters 0.013772567301706872 Centerline is valid? [True, True] Translation: X:5.97, Y:-177.98, Z:-0.24 [[-6.91176579e-01 -7.22621892e-01 9.61964561e-03 5.96794192e+00] [ 7.22552080e-01 -6.91243518e-01 -1.00444299e-02 -1.77983550e+02] [ 1.39078426e-02 8.22026571e-06 9.99903281e-01 -2.41233047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.077628 meters 0.01459196371000196 Centerline is valid? [True, True] Translation: X:5.95, Y:-177.96, Z:-0.24 [[-6.91084067e-01 -7.22710865e-01 9.58214366e-03 5.94898975e+00] [ 7.22641692e-01 -6.91150494e-01 -9.99900262e-03 -1.77963878e+02] [ 1.38490912e-02 1.43051130e-05 9.99904097e-01 -2.41150559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10762800000003 meters 0.012301066701970509 Centerline is valid? [True, True] Translation: X:5.93, Y:-177.94, Z:-0.24 [[-6.90492149e-01 -7.23288137e-01 8.65240580e-03 5.92893546e+00] [ 7.23231852e-01 -6.90546357e-01 -9.02318542e-03 -1.77944837e+02] [ 1.25012503e-02 2.72567776e-05 9.99921856e-01 -2.39382531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.137628 meters 0.012454007480633538 Centerline is valid? [True, True] Translation: X:5.91, Y:-177.93, Z:-0.24 [[-6.88968487e-01 -7.24740334e-01 8.59484423e-03 5.90883818e+00] [ 7.24684981e-01 -6.89022093e-01 -8.95730048e-03 -1.77927907e+02] [ 1.24137545e-02 5.72567665e-05 9.99922945e-01 -2.39766444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16762800000004 meters 0.012424831213157916 Centerline is valid? [True, True] Translation: X:5.89, Y:-177.91, Z:-0.24 [[-6.88162355e-01 -7.25505128e-01 8.65349210e-03 5.88905577e+00] [ 7.25449148e-01 -6.88216757e-01 -9.01278185e-03 -1.77909398e+02] [ 1.24942977e-02 7.54112820e-05 9.99921940e-01 -2.39182336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.197628 meters 0.012796647620632207 Centerline is valid? [True, True] Translation: X:5.87, Y:-177.89, Z:-0.24 [[-6.87100901e-01 -7.26511951e-01 8.52860060e-03 5.86976751e+00] [ 7.26457725e-01 -6.87153822e-01 -8.87688421e-03 -1.77891843e+02] [ 1.23096230e-02 9.63526467e-05 9.99924229e-01 -2.38985185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22762800000004 meters 0.016212763876365145 Centerline is valid? [True, True] Translation: X:5.85, Y:-177.87, Z:-0.24 [[-6.87849760e-01 -7.25797468e-01 8.98576024e-03 5.85177621e+00] [ 7.25737285e-01 -6.87908444e-01 -9.34698029e-03 -1.77871079e+02] [ 1.29653950e-02 9.19830933e-05 9.99915942e-01 -2.40214225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.257628 meters 0.01258022564028112 Centerline is valid? [True, True] Translation: X:5.83, Y:-177.85, Z:-0.24 [[-6.88931000e-01 -7.24783550e-01 7.92985275e-03 5.83461769e+00] [ 7.24736671e-01 -6.88976633e-01 -8.24360601e-03 -1.77850017e+02] [ 1.14383133e-02 6.77793528e-05 9.99934578e-01 -2.37479119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28762800000004 meters 0.014764623219999188 Centerline is valid? [True, True] Translation: X:5.82, Y:-177.83, Z:-0.24 [[-6.90833861e-01 -7.22963259e-01 8.52655811e-03 5.81781785e+00] [ 7.22908986e-01 -6.90886477e-01 -8.85856574e-03 -1.77828269e+02] [ 1.22953012e-02 4.41282976e-05 9.99924409e-01 -2.38597481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.317628 meters 0.012416512772880585 Centerline is valid? [True, True] Translation: X:5.80, Y:-177.81, Z:-0.24 [[-6.95235773e-01 -7.18745165e-01 7.25312686e-03 5.80269333e+00] [ 7.18705712e-01 -6.95273606e-01 -7.53077733e-03 -1.77806171e+02] [ 1.04556175e-02 -2.28020920e-05 9.99945338e-01 -2.37110312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34762800000004 meters 0.012703590475021252 Centerline is valid? [True, True] Translation: X:5.79, Y:-177.79, Z:-0.24 [[-6.97560375e-01 -7.16489776e-01 7.20579566e-03 5.78520486e+00] [ 7.16450762e-01 -6.97597590e-01 -7.47717287e-03 -1.77785365e+02] [ 1.03840636e-02 -5.31817221e-05 9.99946083e-01 -2.36839696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.377628 meters 0.013698566936467252 Centerline is valid? [True, True] Translation: X:5.77, Y:-177.76, Z:-0.24 [[-7.01973563e-01 -7.12176986e-01 6.08746795e-03 5.76827959e+00] [ 7.12149010e-01 -7.01999951e-01 -6.31319579e-03 -1.77763648e+02] [ 8.76951495e-03 -9.65122643e-05 9.99961542e-01 -2.36168048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40762800000005 meters 0.014199981545103896 Centerline is valid? [True, True] Translation: X:5.75, Y:-177.74, Z:-0.24 [[-7.03621531e-01 -7.10550886e-01 5.84633521e-03 5.74898417e+00] [ 7.10525056e-01 -7.03645810e-01 -6.05958358e-03 -1.77744037e+02] [ 8.41939175e-03 -1.09685820e-04 9.99964550e-01 -2.36306286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.437628 meters 0.014677364365206738 Centerline is valid? [True, True] Translation: X:5.73, Y:-177.72, Z:-0.24 [[-7.04916617e-01 -7.09266636e-01 5.77944089e-03 5.73003275e+00] [ 7.09241380e-01 -7.04940298e-01 -5.98677389e-03 -1.77724983e+02] [ 8.32037976e-03 -1.21157763e-04 9.99965378e-01 -2.36521691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46762800000005 meters 0.015371545581048298 Centerline is valid? [True, True] Translation: X:5.71, Y:-177.71, Z:-0.24 [[-7.06183850e-01 -7.08003692e-01 5.92810727e-03 5.71208116e+00] [ 7.07977106e-01 -7.06208718e-01 -6.13704230e-03 -1.77706056e+02] [ 8.53152964e-03 -1.36915922e-04 9.99963597e-01 -2.36614142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.497628 meters 0.015507032323062254 Centerline is valid? [True, True] Translation: X:5.69, Y:-177.69, Z:-0.24 [[-7.06442831e-01 -7.07746308e-01 5.80426309e-03 5.69407807e+00] [ 7.07720847e-01 -7.06466662e-01 -6.00483776e-03 -1.77687888e+02] [ 8.35042013e-03 -1.34276599e-04 9.99965126e-01 -2.36714847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52762800000005 meters 0.01665884403825696 Centerline is valid? [True, True] Translation: X:5.67, Y:-177.67, Z:-0.24 [[-7.06989500e-01 -7.07196799e-01 6.20755647e-03 5.67255513e+00] [ 7.07167691e-01 -7.07016736e-01 -6.41801859e-03 -1.77671244e+02] [ 8.92764852e-03 -1.47688379e-04 9.99960137e-01 -2.36690450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.557628 meters 0.01539347355401561 Centerline is valid? [True, True] Translation: X:5.65, Y:-177.65, Z:-0.24 [[-7.05982938e-01 -7.08207302e-01 5.52340686e-03 5.65443639e+00] [ 7.08184313e-01 -7.06004535e-01 -5.70747353e-03 -1.77650798e+02] [ 7.94162472e-03 -1.17788839e-04 9.99968458e-01 -2.37023197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.58762800000005 meters 0.013598079997576146 Centerline is valid? [True, True] Translation: X:5.63, Y:-177.63, Z:-0.24 [[-7.05506658e-01 -7.08682147e-01 5.47444372e-03 5.63223537e+00] [ 7.08659606e-01 -7.05527889e-01 -5.65336216e-03 -1.77634579e+02] [ 7.86880955e-03 -1.08967519e-04 9.99969035e-01 -2.35884896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.617628 meters 0.013017928605505328 Centerline is valid? [True, True] Translation: X:5.61, Y:-177.62, Z:-0.24 [[-7.03724966e-01 -7.10449589e-01 5.70557053e-03 5.60845823e+00] [ 7.10425189e-01 -7.03748089e-01 -5.88874829e-03 -1.77617962e+02] [ 8.19894316e-03 -9.06781685e-05 9.99966384e-01 -2.36739369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.64762800000005 meters 0.012749179620812913 Centerline is valid? [True, True] Translation: X:5.59, Y:-177.60, Z:-0.24 [[-7.02641347e-01 -7.11519366e-01 5.94377891e-03 5.58781578e+00] [ 7.11492957e-01 -7.02666482e-01 -6.13075770e-03 -1.77600030e+02] [ 8.53864705e-03 -7.87670138e-05 9.99963542e-01 -2.37378325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.677628 meters 0.013593389785160356 Centerline is valid? [True, True] Translation: X:5.57, Y:-177.58, Z:-0.24 [[-7.01780132e-01 -7.12362944e-01 6.60919176e-03 5.56855155e+00] [ 7.12330371e-01 -7.01811250e-01 -6.81262263e-03 -1.77581539e+02] [ 9.49146505e-03 -7.30351948e-05 9.99954952e-01 -2.39023295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.707628 meters 0.015158468763689575 Centerline is valid? [True, True] Translation: X:5.55, Y:-177.56, Z:-0.24 [[-7.00733969e-01 -7.13387293e-01 7.10457437e-03 5.54926894e+00] [ 7.13349753e-01 -7.00769981e-01 -7.31871660e-03 -1.77562488e+02] [ 1.01997519e-02 -6.04269568e-05 9.99947979e-01 -2.39380597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73762800000003 meters 0.012106133999698933 Centerline is valid? [True, True] Translation: X:5.53, Y:-177.54, Z:-0.24 [[-6.99896590e-01 -7.14216057e-01 6.33931710e-03 5.52867087e+00] [ 7.14186236e-01 -6.99925298e-01 -6.52669019e-03 -1.77542869e+02] [ 9.09851534e-03 -4.05551925e-05 9.99958607e-01 -2.36709421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.767628 meters 0.015186292071934481 Centerline is valid? [True, True] Translation: X:5.51, Y:-177.52, Z:-0.24 [[-6.99780143e-01 -7.14330380e-01 6.31342421e-03 5.50987814e+00] [ 7.14300836e-01 -6.99808622e-01 -6.49683146e-03 -1.77524756e+02] [ 9.05907278e-03 -3.66694600e-05 9.99958965e-01 -2.38821922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79762800000003 meters 0.011856632293605736 Centerline is valid? [True, True] Translation: X:5.49, Y:-177.51, Z:-0.24 [[-6.98623770e-01 -7.15478083e-01 3.99260135e-03 5.49065596e+00] [ 7.15466302e-01 -6.98635179e-01 -4.10587723e-03 -1.77506827e+02] [ 5.72703693e-03 -1.18917132e-05 9.99983600e-01 -2.35071028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.827628 meters 0.011716897100404012 Centerline is valid? [True, True] Translation: X:5.47, Y:-177.49, Z:-0.23 [[-6.98162235e-01 -7.15933070e-01 3.05503642e-03 5.47060240e+00] [ 7.15926184e-01 -6.98168919e-01 -3.13992353e-03 -1.77486743e+02] [ 4.38090657e-03 -4.99546402e-06 9.99990404e-01 -2.33822789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85762800000003 meters 0.011715783545082157 Centerline is valid? [True, True] Translation: X:5.45, Y:-177.47, Z:-0.23 [[-6.97327908e-01 -7.16751307e-01 1.16328257e-03 5.45036807e+00] [ 7.16750311e-01 -6.97328878e-01 -1.19492112e-03 -1.77466791e+02] [ 1.66765181e-03 5.31303017e-07 9.99998610e-01 -2.32001839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.887628 meters 0.011695161545098462 Centerline is valid? [True, True] Translation: X:5.43, Y:-177.45, Z:-0.23 [[-6.96997922e-01 -7.17073029e-01 4.10280892e-04 5.43091691e+00] [ 7.17072905e-01 -6.96998042e-01 -4.21197585e-04 -1.77446191e+02] [ 5.87994407e-04 6.27469843e-07 9.99999827e-01 -2.31265078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91762800000004 meters 0.011800730485305458 Centerline is valid? [True, True] Translation: X:5.41, Y:-177.43, Z:-0.23 [[-6.96505186e-01 -7.17551715e-01 -2.48884889e-04 5.41203412e+00] [ 7.17551670e-01 -6.96505231e-01 2.55368925e-04 -1.77425214e+02] [-3.56590037e-04 -7.21987074e-07 9.99999936e-01 -2.29976431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.947628 meters 0.011892575779605737 Centerline is valid? [True, True] Translation: X:5.39, Y:-177.40, Z:-0.23 [[-6.96045653e-01 -7.17997469e-01 -2.90808407e-04 5.39314372e+00] [ 7.17997407e-01 -6.96045713e-01 2.98214998e-04 -1.77404316e+02] [-4.16533559e-04 -1.22842917e-06 9.99999913e-01 -2.29319462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97762800000004 meters 0.011952327760495719 Centerline is valid? [True, True] Translation: X:5.37, Y:-177.38, Z:-0.23 [[-6.95484464e-01 -7.18541126e-01 1.06319331e-04 5.37416302e+00] [ 7.18541118e-01 -6.95484472e-01 -1.08959008e-04 -1.77383255e+02] [ 1.52234972e-04 6.15514094e-07 9.99999988e-01 -2.30430814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.007628 meters 0.012012440436728137 Centerline is valid? [True, True] Translation: X:5.35, Y:-177.36, Z:-0.23 [[-6.95258976e-01 -7.18759069e-01 5.98123303e-04 5.35485750e+00] [ 7.18758808e-01 -6.95259233e-01 -6.12620723e-04 -1.77364271e+02] [ 8.56177449e-04 3.97633601e-06 9.99999634e-01 -2.31839396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03762800000004 meters 0.01194192647806901 Centerline is valid? [True, True] Translation: X:5.34, Y:-177.34, Z:-0.23 [[-6.95289387e-01 -7.18729143e-01 1.04288321e-03 5.33575392e+00] [ 7.18728350e-01 -6.95290169e-01 -1.06754937e-03 -1.77344314e+02] [ 1.49238529e-03 7.29398262e-06 9.99998886e-01 -2.33219866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.067628 meters 0.011898940633994248 Centerline is valid? [True, True] Translation: X:5.32, Y:-177.32, Z:-0.24 [[-6.96412817e-01 -7.17637536e-01 2.35706808e-03 5.31911699e+00] [ 7.17633483e-01 -6.96416806e-01 -2.41180999e-03 -1.77322966e+02] [ 3.37230720e-03 1.18955898e-05 9.99994314e-01 -2.35447146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09762800000004 meters 0.015006337229858628 Centerline is valid? [True, True] Translation: X:5.30, Y:-177.30, Z:-0.24 [[-6.98083450e-01 -7.16008068e-01 3.45576582e-03 5.30199456e+00] [ 7.15999348e-01 -6.98092004e-01 -3.53381083e-03 -1.77301307e+02] [ 4.94267955e-03 7.43121013e-06 9.99987785e-01 -2.38431912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.127628 meters 0.01190452258670958 Centerline is valid? [True, True] Translation: X:5.29, Y:-177.28, Z:-0.24 [[-6.99007912e-01 -7.15104215e-01 3.72836498e-03 5.28501532e+00] [ 7.15094065e-01 -6.99017855e-01 -3.81006646e-03 -1.77280502e+02] [ 5.33078827e-03 2.86506906e-06 9.99985791e-01 -2.36674051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15762800000005 meters 0.014642083086431718 Centerline is valid? [True, True] Translation: X:5.27, Y:-177.26, Z:-0.24 [[-7.01604597e-01 -7.12553772e-01 4.25582100e-03 5.26796560e+00] [ 7.12540516e-01 -7.01617504e-01 -4.34635633e-03 -1.77259278e+02] [ 6.08297110e-03 -1.69786855e-05 9.99981498e-01 -2.38171120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.187628 meters 0.011938743151593465 Centerline is valid? [True, True] Translation: X:5.25, Y:-177.24, Z:-0.24 [[-7.01604074e-01 -7.12557174e-01 3.74129088e-03 5.24821907e+00] [ 7.12546942e-01 -7.01614049e-01 -3.81850581e-03 -1.77240172e+02] [ 5.34584595e-03 -1.32338531e-05 9.99985711e-01 -2.35629599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21762800000005 meters 0.014151582589989874 Centerline is valid? [True, True] Translation: X:5.23, Y:-177.22, Z:-0.24 [[-7.01713686e-01 -7.12451210e-01 3.34325880e-03 5.22547229e+00] [ 7.12443048e-01 -7.01721650e-01 -3.41030068e-03 -1.77223262e+02] [ 4.77570992e-03 -1.11731754e-05 9.99988596e-01 -2.37476529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.247628 meters 0.01409266308859459 Centerline is valid? [True, True] Translation: X:5.20, Y:-177.21, Z:-0.24 [[-7.01310252e-01 -7.12851360e-01 2.62102291e-03 5.20408544e+00] [ 7.12846352e-01 -7.01315150e-01 -2.67205578e-03 -1.77205418e+02] [ 3.74294167e-03 -5.55349043e-06 9.99992995e-01 -2.37193323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27762800000005 meters 0.014952774099137367 Centerline is valid? [True, True] Translation: X:5.18, Y:-177.19, Z:-0.24 [[-7.01006050e-01 -7.13152750e-01 1.91663281e-03 5.18285109e+00] [ 7.13150076e-01 -7.01008670e-01 -1.95283981e-03 -1.77186255e+02] [ 2.73624930e-03 -2.10568913e-06 9.99996256e-01 -2.36817944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.307628 meters 0.011796499086375131 Centerline is valid? [True, True] Translation: X:5.16, Y:-177.17, Z:-0.23 [[-6.99875001e-01 -7.14264991e-01 7.11098264e-04 5.16235429e+00] [ 7.14264624e-01 -6.99875362e-01 -7.24114663e-04 -1.77167035e+02] [ 1.01488991e-03 1.12258350e-06 9.99999485e-01 -2.32453214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.33762800000005 meters 0.014927322747466425 Centerline is valid? [True, True] Translation: X:5.14, Y:-177.15, Z:-0.23 [[-7.00333481e-01 -7.13815058e-01 1.03860708e-03 5.14282490e+00] [ 7.13814275e-01 -7.00334251e-01 -1.05701611e-03 -1.77147506e+02] [ 1.48188613e-03 1.10879201e-06 9.99998902e-01 -2.34848656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.367628 meters 0.011738060840851747 Centerline is valid? [True, True] Translation: X:5.12, Y:-177.13, Z:-0.23 [[-7.00062168e-01 -7.14081598e-01 6.57379573e-04 5.12309236e+00] [ 7.14081285e-01 -7.00062477e-01 -6.68644151e-04 -1.77127245e+02] [ 9.37673256e-04 1.32997565e-06 9.99999560e-01 -2.32482396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.39762800000005 meters 0.011809356242300718 Centerline is valid? [True, True] Translation: X:5.10, Y:-177.11, Z:-0.23 [[-7.00548747e-01 -7.13604166e-01 7.39619874e-04 5.10426476e+00] [ 7.13603770e-01 -7.00549137e-01 -7.51836744e-04 -1.77107510e+02] [ 1.05465390e-03 1.09724164e-06 9.99999444e-01 -2.32677569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.427628 meters 0.011769299573984699 Centerline is valid? [True, True] Translation: X:5.09, Y:-177.09, Z:-0.23 [[-7.01882182e-01 -7.12292433e-01 9.45250970e-04 5.08543537e+00] [ 7.12291785e-01 -7.01882818e-01 -9.60321733e-04 -1.77087270e+02] [ 1.34748532e-03 -7.38212030e-07 9.99999092e-01 -2.33498155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.457628 meters 0.011873585378931252 Centerline is valid? [True, True] Translation: X:5.07, Y:-177.07, Z:-0.23 [[-7.02757665e-01 -7.11428434e-01 1.11676265e-03 5.06581733e+00] [ 7.11427530e-01 -7.02758553e-01 -1.13384884e-03 -1.77067752e+02] [ 1.59146681e-03 -2.32527402e-06 9.99998734e-01 -2.34768914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48762800000003 meters 0.011835672407619102 Centerline is valid? [True, True] Translation: X:5.05, Y:-177.05, Z:-0.24 [[-7.03778210e-01 -7.10415262e-01 2.52738332e-03 5.04750261e+00] [ 7.10410633e-01 -7.03782748e-01 -2.56435494e-03 -1.77048676e+02] [ 3.60048566e-03 -9.25714224e-06 9.99993518e-01 -2.36314361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.517628 meters 0.01189546258007595 Centerline is valid? [True, True] Translation: X:5.03, Y:-177.03, Z:-0.24 [[-7.04447152e-01 -7.09750775e-01 2.83691096e-03 5.02826628e+00] [ 7.09744945e-01 -7.04452864e-01 -2.87677864e-03 -1.77028357e+02] [ 4.04026592e-03 -1.30553112e-05 9.99991838e-01 -2.36333203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54762800000003 meters 0.011875427063524823 Centerline is valid? [True, True] Translation: X:5.01, Y:-177.01, Z:-0.24 [[-7.04916551e-01 -7.09282097e-01 3.40056405e-03 5.00931067e+00] [ 7.09273724e-01 -7.04924753e-01 -3.44639288e-03 -1.77007915e+02] [ 4.84160654e-03 -1.74886560e-05 9.99988279e-01 -2.36494355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.577628 meters 0.011875427063524823 Centerline is valid? [True, True] Translation: X:4.99, Y:-176.99, Z:-0.24 [[-7.05118261e-01 -7.09081566e-01 3.40154417e-03 4.98987910e+00] [ 7.09073196e-01 -7.05126465e-01 -3.44542552e-03 -1.76988318e+02] [ 4.84160654e-03 -1.74886553e-05 9.99988279e-01 -2.36494628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60762800000003 meters 0.012042265987207151 Centerline is valid? [True, True] Translation: X:4.97, Y:-176.97, Z:-0.24 [[-7.06392635e-01 -7.07809779e-01 3.84199882e-03 4.97268072e+00] [ 7.07799095e-01 -7.06403083e-01 -3.88922930e-03 -1.76967562e+02] [ 5.46683435e-03 -2.79596477e-05 9.99985056e-01 -2.36609112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.637628 meters 0.01215959802388893 Centerline is valid? [True, True] Translation: X:4.95, Y:-176.95, Z:-0.24 [[-7.07340037e-01 -7.06860543e-01 4.27139325e-03 4.95385157e+00] [ 7.06847334e-01 -7.07352933e-01 -4.32144510e-03 -1.76946756e+02] [ 6.07604157e-03 -3.75082105e-05 9.99981540e-01 -2.36830925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66762800000004 meters 0.012348056095199051 Centerline is valid? [True, True] Translation: X:4.94, Y:-176.93, Z:-0.24 [[-7.08447976e-01 -7.05748577e-01 4.51802062e-03 4.93513857e+00] [ 7.05733793e-01 -7.08462380e-01 -4.56822632e-03 -1.76926475e+02] [ 6.42486686e-03 -4.78308562e-05 9.99979359e-01 -2.37438784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.697628 meters 0.012553903280286391 Centerline is valid? [True, True] Translation: X:4.92, Y:-176.91, Z:-0.24 [[-7.10320421e-01 -7.03865472e-01 4.27742663e-03 4.91613294e+00] [ 7.03852204e-01 -7.10333297e-01 -4.32222595e-03 -1.76906676e+02] [ 6.08066417e-03 -5.94891993e-05 9.99981511e-01 -2.37740457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72762800000004 meters 0.012695271790131192 Centerline is valid? [True, True] Translation: X:4.90, Y:-176.89, Z:-0.24 [[-7.11356006e-01 -7.02821238e-01 3.86518771e-03 4.89682335e+00] [ 7.02810402e-01 -7.11366504e-01 -3.90321677e-03 -1.76887160e+02] [ 5.49282871e-03 -6.00825684e-05 9.99984913e-01 -2.37501861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.757628 meters 0.012728373309793378 Centerline is valid? [True, True] Translation: X:4.88, Y:-176.87, Z:-0.24 [[-7.12171602e-01 -7.01995677e-01 3.69842407e-03 4.87652483e+00] [ 7.01985756e-01 -7.12181203e-01 -3.73267398e-03 -1.76867397e+02] [ 5.25426910e-03 -6.20633872e-05 9.99986194e-01 -2.36869897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78762800000004 meters 0.013060452866029358 Centerline is valid? [True, True] Translation: X:4.86, Y:-176.85, Z:-0.24 [[-7.14143866e-01 -6.99990064e-01 3.52827838e-03 4.85638603e+00] [ 6.99981020e-01 -7.14152578e-01 -3.55901486e-03 -1.76846983e+02] [ 5.01100414e-03 -7.19207256e-05 9.99987442e-01 -2.36218532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.817628 meters 0.01345678800780584 Centerline is valid? [True, True] Translation: X:4.84, Y:-176.83, Z:-0.24 [[-7.15289251e-01 -6.98820095e-01 3.42975858e-03 4.83759470e+00] [ 6.98811545e-01 -7.15297469e-01 -3.45753485e-03 -1.76827034e+02] [ 4.86949246e-03 -7.63826181e-05 9.99988141e-01 -2.36069100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84762800000004 meters 0.013731270428275273 Centerline is valid? [True, True] Translation: X:4.82, Y:-176.81, Z:-0.24 [[-7.16528972e-01 -6.97547252e-01 3.75015650e-03 4.81813534e+00] [ 6.97537025e-01 -7.16538779e-01 -3.77838560e-03 -1.76806123e+02] [ 5.32273505e-03 -9.14497405e-05 9.99985830e-01 -2.35753938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.877628 meters 0.015785456331072773 Centerline is valid? [True, True] Translation: X:4.80, Y:-176.79, Z:-0.24 [[-7.17731116e-01 -6.96306278e-01 4.42846052e-03 4.79990066e+00] [ 6.96292010e-01 -7.17744769e-01 -4.45913182e-03 -1.76786247e+02] [ 6.28342585e-03 -1.16955985e-04 9.99980252e-01 -2.37825775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90762800000005 meters 0.013953476443459237 Centerline is valid? [True, True] Translation: X:4.78, Y:-176.77, Z:-0.24 [[-7.17511777e-01 -6.96531042e-01 4.62137879e-03 4.77932002e+00] [ 6.96515525e-01 -7.17526650e-01 -4.65075520e-03 -1.76767354e+02] [ 6.55535781e-03 -1.18109550e-04 9.99978506e-01 -2.36303624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.937628 meters 0.013828029827208719 Centerline is valid? [True, True] Translation: X:4.76, Y:-176.75, Z:-0.24 [[-7.17204574e-01 -6.96848864e-01 4.38867774e-03 4.75870146e+00] [ 6.96834892e-01 -7.17217993e-01 -4.41407723e-03 -1.76748441e+02] [ 6.22358334e-03 -1.07612594e-04 9.99980628e-01 -2.36744293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96762800000005 meters 0.013269021116071856 Centerline is valid? [True, True] Translation: X:4.74, Y:-176.73, Z:-0.24 [[-7.15335539e-01 -6.98767951e-01 4.29152558e-03 4.73776054e+00] [ 6.98754640e-01 -7.15348407e-01 -4.31397190e-03 -1.76731394e+02] [ 6.08440129e-03 -8.72140053e-05 9.99981486e-01 -2.37375193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.997628 meters 0.012986265025565805 Centerline is valid? [True, True] Translation: X:4.72, Y:-176.71, Z:-0.24 [[-7.14242606e-01 -6.99882291e-01 4.72013602e-03 4.71684348e+00] [ 6.99866232e-01 -7.14258197e-01 -4.74185046e-03 -1.76713390e+02] [ 6.69013301e-03 -8.33678175e-05 9.99977617e-01 -2.37675265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02762800000005 meters 0.016086129714569814 Centerline is valid? [True, True] Translation: X:4.70, Y:-176.70, Z:-0.24 [[-7.13335782e-01 -7.00806305e-01 4.75233658e-03 4.69630627e+00] [ 7.00790067e-01 -7.13351608e-01 -4.77120644e-03 -1.76695971e+02] [ 6.73377850e-03 -7.30820071e-05 9.99977325e-01 -2.40849518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.057628 meters 0.012010884385991483 Centerline is valid? [True, True] Translation: X:4.68, Y:-176.68, Z:-0.24 [[-7.10015308e-01 -7.04170855e-01 4.65495036e-03 4.67501469e+00] [ 7.04155366e-01 -7.10030566e-01 -4.67077315e-03 -1.76677971e+02] [ 6.59417937e-03 -3.85121626e-05 9.99978257e-01 -2.37640261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.08762800000005 meters 0.011906548031038773 Centerline is valid? [True, True] Translation: X:4.65, Y:-176.66, Z:-0.24 [[-7.08820064e-01 -7.05371597e-01 5.00271262e-03 4.65419944e+00] [ 7.05353756e-01 -7.08837718e-01 -5.01686908e-03 -1.76658592e+02] [ 7.08486835e-03 -2.73753270e-05 9.99974902e-01 -2.37518501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.117628 meters 0.011827152525752302 Centerline is valid? [True, True] Translation: X:4.63, Y:-176.64, Z:-0.24 [[-7.07715277e-01 -7.06481018e-01 4.86388623e-03 4.63428234e+00] [ 7.06464200e-01 -7.07731991e-01 -4.87473457e-03 -1.76640767e+02] [ 6.88623532e-03 -1.37626334e-05 9.99976290e-01 -2.37966363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.14762800000005 meters 0.011730072224946814 Centerline is valid? [True, True] Translation: X:4.61, Y:-176.62, Z:-0.24 [[-7.05599515e-01 -7.08598718e-01 4.14510587e-03 4.61295405e+00] [ 7.08586554e-01 -7.05611690e-01 -4.15200864e-03 -1.76622536e+02] [ 5.86694316e-03 7.51100366e-06 9.99982789e-01 -2.37775303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.177628 meters 0.014969305242398232 Centerline is valid? [True, True] Translation: X:4.59, Y:-176.60, Z:-0.24 [[-7.05248483e-01 -7.08947970e-01 4.16562061e-03 4.59342701e+00] [ 7.08935705e-01 -7.05260785e-01 -4.17019424e-03 -1.76602665e+02] [ 5.89429960e-03 1.21340246e-05 9.99982628e-01 -2.39604837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.207628 meters 0.01177738640926551 Centerline is valid? [True, True] Translation: X:4.57, Y:-176.58, Z:-0.24 [[-7.04573437e-01 -7.09626747e-01 2.48022344e-03 4.57428468e+00] [ 7.09622408e-01 -7.04577802e-01 -2.48151469e-03 -1.76582610e+02] [ 3.50845958e-03 1.16127906e-05 9.99993845e-01 -2.35699625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23762800000003 meters 0.011857174176834486 Centerline is valid? [True, True] Translation: X:4.56, Y:-176.56, Z:-0.24 [[-7.04518623e-01 -7.09683220e-01 1.79907109e-03 4.55518468e+00] [ 7.09680940e-01 -7.04520920e-01 -1.79891310e-03 -1.76563801e+02] [ 2.54414166e-03 9.39868226e-06 9.99996764e-01 -2.35460654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.267628 meters 0.011825234388222848 Centerline is valid? [True, True] Translation: X:4.02, Y:-177.10, Z:0.72 [[-7.57964791e-01 6.52292902e-01 1.82901306e-03 4.02226021e+00] [ 6.52290971e-01 7.57966998e-01 -1.58731566e-03 -1.77098672e+02] [-2.42172628e-03 -1.00806775e-05 -9.99997068e-01 7.22960954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29762800000003 meters 0.011893717156012042 Centerline is valid? [True, True] Translation: X:4.04, Y:-177.08, Z:0.72 [[-8.02178458e-01 5.97080792e-01 2.06140789e-03 4.04374533e+00] [ 5.97078787e-01 8.02181107e-01 -1.54754801e-03 -1.77084086e+02] [-2.57763365e-03 -1.05867547e-05 -9.99996678e-01 7.22894373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.327628 meters 0.011901869328089449 Centerline is valid? [True, True] Translation: X:4.51, Y:-176.48, Z:-0.24 [[-7.55345523e-01 -6.55323026e-01 2.20739466e-03 4.50611939e+00] [ 6.55320346e-01 -7.55348748e-01 -1.87464047e-03 -1.76481253e+02] [ 2.89584786e-03 3.05493454e-05 9.99995807e-01 -2.35727521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35762800000003 meters 0.01194654297756947 Centerline is valid? [True, True] Translation: X:4.01, Y:-177.06, Z:0.72 [[-8.04030613e-01 5.94580221e-01 3.02226003e-03 4.00642146e+00] [ 5.94575956e-01 8.04036293e-01 -2.25205649e-03 -1.77060643e+02] [-3.76903500e-03 -1.37592168e-05 -9.99992897e-01 7.24202432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.387628 meters 0.0155562976088833 Centerline is valid? [True, True] Translation: X:4.03, Y:-177.04, Z:0.73 [[-8.44007822e-01 5.36308533e-01 4.89433026e-03 4.02667353e+00] [ 5.36299377e-01 8.44022012e-01 -3.13375464e-03 -1.77042445e+02] [-5.81158183e-03 -2.00871573e-05 -9.99983112e-01 7.29098416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41762800000004 meters 0.012105416776635548 Centerline is valid? [True, True] Translation: X:4.44, Y:-176.40, Z:-0.24 [[-8.01074698e-01 -5.98528802e-01 6.52702155e-03 4.44316564e+00] [ 5.98510583e-01 -8.01101271e-01 -4.67278465e-03 -1.76401227e+02] [ 8.02560146e-03 1.63241925e-04 9.99967781e-01 -2.41774160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.447628 meters 0.012289508226591575 Centerline is valid? [True, True] Translation: X:4.00, Y:-177.02, Z:0.73 [[-8.45739661e-01 5.33547283e-01 7.19178033e-03 3.99553947e+00] [ 5.33527412e-01 8.45770237e-01 -4.60516593e-03 -1.77015309e+02] [-8.53966752e-03 -5.77595252e-05 -9.99963535e-01 7.31133483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47762800000004 meters 0.012428770054586041 Centerline is valid? [True, True] Translation: X:4.01, Y:-176.99, Z:0.73 [[-8.81921311e-01 4.71328021e-01 8.04342620e-03 4.01262779e+00] [ 4.71307676e-01 8.81957987e-01 -4.37995202e-03 -1.76989608e+02] [-9.15835810e-03 -7.18445234e-05 -9.99958059e-01 7.32541085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.507628 meters 0.012667176083012776 Centerline is valid? [True, True] Translation: X:4.03, Y:-176.97, Z:0.73 [[-9.13325162e-01 4.07133908e-01 8.89546850e-03 4.03476824e+00] [ 4.07113708e-01 9.13368476e-01 -4.05653062e-03 -1.76965282e+02] [-9.77639167e-03 -8.34643296e-05 -9.99952206e-01 7.33617662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53762800000004 meters 0.01264600704144259 Centerline is valid? [True, True] Translation: X:4.04, Y:-176.94, Z:0.73 [[-9.39689455e-01 3.41904583e-01 9.21872522e-03 4.04469015e+00] [ 3.41887308e-01 9.39734670e-01 -3.43786863e-03 -1.76939339e+02] [-9.83857874e-03 -7.87637541e-05 -9.99951597e-01 7.32897483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.567628 meters 0.012478280299857647 Centerline is valid? [True, True] Translation: X:4.06, Y:-176.92, Z:0.73 [[-9.61246669e-01 2.75543322e-01 8.98435366e-03 4.05872571e+00] [ 2.75530663e-01 9.61288653e-01 -2.64198996e-03 -1.76915479e+02] [-9.36453991e-03 -6.41391285e-05 -9.99956150e-01 7.31650063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59762800000004 meters 0.01216571175283512 Centerline is valid? [True, True] Translation: X:4.07, Y:-176.89, Z:0.73 [[-9.77644040e-01 2.10111920e-01 8.06924320e-03 4.06733107e+00] [ 2.10104530e-01 9.77677340e-01 -1.76233988e-03 -1.76891223e+02] [-8.25940485e-03 -2.75565305e-05 -9.99965890e-01 7.30094220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.627628 meters 0.015755849612220825 Centerline is valid? [True, True] Translation: X:4.08, Y:-176.87, Z:0.73 [[-9.89710067e-01 1.42864421e-01 7.98371284e-03 4.07750598e+00] [ 1.42859731e-01 9.89742268e-01 -1.15752529e-03 -1.76867149e+02] [-8.06718723e-03 -5.06336355e-06 -9.99967460e-01 7.31844211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65762800000005 meters 0.012435834829139512 Centerline is valid? [True, True] Translation: X:4.19, Y:-176.12, Z:-0.24 [[-9.78746542e-01 -2.04928006e-01 7.72786081e-03 4.19020607e+00] [ 2.04921577e-01 -9.78777049e-01 -1.62318463e-03 -1.76122564e+02] [ 7.89648879e-03 -5.08091673e-06 9.99968822e-01 -2.41736693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.687628 meters 0.015866551745676152 Centerline is valid? [True, True] Translation: X:4.02, Y:-176.87, Z:0.73 [[-9.89090698e-01 1.47089827e-01 8.01080756e-03 4.01925862e+00] [ 1.47085543e-01 9.89123136e-01 -1.12455989e-03 -1.76865168e+02] [-8.08908641e-03 6.59822463e-05 -9.99967281e-01 7.33111267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71762800000005 meters 0.01318586905669754 Centerline is valid? [True, True] Translation: X:4.13, Y:-176.11, Z:-0.24 [[-9.80949119e-01 -1.94124689e-01 7.37779277e-03 4.13066971e+00] [ 1.94118469e-01 -9.80976858e-01 -1.55691416e-03 -1.76109701e+02] [ 7.53967945e-03 -9.50877300e-05 9.99971572e-01 -2.42806177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.747628 meters 0.013488104512299372 Centerline is valid? [True, True] Translation: X:3.96, Y:-176.86, Z:0.73 [[-9.88893775e-01 1.48468690e-01 6.79330389e-03 3.95710171e+00] [ 1.48465855e-01 9.88917104e-01 -9.22492216e-04 -1.76861257e+02] [-6.85497563e-03 9.63268625e-05 -9.99976500e-01 7.29734201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77762800000005 meters 0.017214210502422958 Centerline is valid? [True, True] Translation: X:4.07, Y:-176.10, Z:-0.24 [[-9.83257689e-01 -1.82110600e-01 6.32814690e-03 4.07095145e+00] [ 1.82106078e-01 -9.83278046e-01 -1.28842484e-03 -1.76095844e+02] [ 6.45696374e-03 -1.14459615e-04 9.99979147e-01 -2.44151223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.807628 meters 0.017799272792945815 Centerline is valid? [True, True] Translation: X:3.90, Y:-176.86, Z:0.73 [[-9.88703512e-01 1.49755440e-01 6.21878741e-03 3.89873671e+00] [ 1.49753270e-01 9.88723062e-01 -8.15745945e-04 -1.76858501e+02] [-6.27082092e-03 1.24752869e-04 -9.99980330e-01 7.31646540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.83762800000005 meters 0.014965713598574595 Centerline is valid? [True, True] Translation: X:4.00, Y:-176.09, Z:-0.24 [[-9.84188872e-01 -1.77028886e-01 5.74782248e-03 4.00425618e+00] [ 1.77025018e-01 -9.84205646e-01 -1.17903337e-03 -1.76085237e+02] [ 5.86576230e-03 -1.42883147e-04 9.99982786e-01 -2.40095844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.867628 meters 0.01439529408218505 Centerline is valid? [True, True] Translation: X:3.83, Y:-176.85, Z:0.73 [[-9.89655438e-01 1.43390380e-01 4.61656222e-03 3.83431508e+00] [ 1.43389214e-01 9.89666202e-01 -5.84275353e-04 -1.76850083e+02] [-4.65263507e-03 8.37339463e-05 -9.99989173e-01 7.26701606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.89762800000005 meters 0.01345294548532714 Centerline is valid? [True, True] Translation: X:3.83, Y:-176.82, Z:0.73 [[-9.97727288e-01 6.72493515e-02 4.21696504e-03 3.83431648e+00] [ 6.72489732e-02 9.97736199e-01 -2.31587908e-04 -1.76817349e+02] [-4.22299280e-03 5.25249938e-05 -9.99991082e-01 7.26317941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.927628 meters 0.012811269192512045 Centerline is valid? [True, True] Translation: X:3.83, Y:-176.79, Z:0.73 [[-9.99965926e-01 -7.15906343e-03 4.11039659e-03 3.83474346e+00] [-7.15885479e-03 9.99974373e-01 6.54707543e-05 -1.76786343e+02] [-4.11075997e-03 3.60427911e-05 -9.99991550e-01 7.26686597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.957628 meters 0.012347764028749398 Centerline is valid? [True, True] Translation: X:3.83, Y:-176.76, Z:0.73 [[-9.96318459e-01 -8.56088520e-02 4.54462016e-03 3.82761527e+00] [-8.56079308e-02 9.96328823e-01 3.97197206e-04 -1.76755773e+02] [-4.56193965e-03 6.67938026e-06 -9.99989594e-01 7.26745538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98762800000003 meters 0.012336418533889167 Centerline is valid? [True, True] Translation: X:3.82, Y:-176.73, Z:0.73 [[-9.87199472e-01 -1.59404939e-01 5.22194091e-03 3.81684169e+00] [-1.59402751e-01 9.87213283e-01 8.35296324e-04 -1.76727369e+02] [-5.28831979e-03 -7.78765706e-06 -9.99986017e-01 7.27066278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.017628 meters 0.012404282546668054 Centerline is valid? [True, True] Translation: X:3.79, Y:-176.70, Z:0.73 [[-9.72640837e-01 -2.32228901e-01 6.28802150e-03 3.79258885e+00] [-2.32224210e-01 9.72661162e-01 1.47626899e-03 -1.76701322e+02] [-6.45894663e-03 -2.43513220e-05 -9.99979141e-01 7.28251075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04762800000003 meters 0.012682736048998325 Centerline is valid? [True, True] Translation: X:3.75, Y:-176.68, Z:0.73 [[-9.52479390e-01 -3.04529217e-01 6.70583049e-03 3.75312281e+00] [-3.04521994e-01 9.52502994e-01 2.09783692e-03 -1.76679790e+02] [-7.02617625e-03 -4.39264401e-05 -9.99975315e-01 7.29564470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.077628 meters 0.012598953657112222 Centerline is valid? [True, True] Translation: X:3.70, Y:-176.67, Z:0.73 [[-9.27404202e-01 -3.74007568e-01 6.30749146e-03 3.69528952e+00] [-3.73999242e-01 9.27425650e-01 2.49597301e-03 -1.76670709e+02] [-6.78324217e-03 -4.42211669e-05 -9.99976993e-01 7.28994504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10762800000003 meters 0.012575156359094314 Centerline is valid? [True, True] Translation: X:3.63, Y:-176.67, Z:0.73 [[-8.97350916e-01 -4.41284231e-01 5.43704080e-03 3.62612344e+00] [-4.41276384e-01 8.97367387e-01 2.63185963e-03 -1.76671189e+02] [-6.04042124e-03 -3.75360551e-05 -9.99981756e-01 7.28165764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.137628 meters 0.012413417664670582 Centerline is valid? [True, True] Translation: X:3.55, Y:-176.68, Z:0.73 [[-8.63265733e-01 -5.04738246e-01 3.40251149e-03 3.55402775e+00] [-5.04734394e-01 8.63272438e-01 1.97217239e-03 -1.76681961e+02] [-3.93272523e-03 -1.48557296e-05 -9.99992267e-01 7.25861759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16762800000004 meters 0.012376029410061143 Centerline is valid? [True, True] Translation: X:3.47, Y:-176.70, Z:0.72 [[-8.24162105e-01 -5.66349525e-01 2.24495838e-03 3.47416146e+00] [-5.66347441e-01 8.24165163e-01 1.53651121e-03 -1.76702342e+02] [-2.72041889e-03 -5.09211694e-06 -9.99996300e-01 7.24817449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.197628 meters 0.012410305486932621 Centerline is valid? [True, True] Translation: X:3.39, Y:-176.73, Z:0.72 [[-7.80639242e-01 -6.24981084e-01 1.00956246e-03 3.39006609e+00] [-6.24980561e-01 7.80639895e-01 8.08176853e-04 -1.76733239e+02] [-1.29319998e-03 -6.23454767e-08 -9.99999164e-01 7.23857329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22762800000004 meters 0.012532842010571631 Centerline is valid? [True, True] Translation: X:3.30, Y:-176.77, Z:0.72 [[-7.32419736e-01 -6.80853234e-01 4.51885385e-04 3.30485308e+00] [-6.80853104e-01 7.32419876e-01 4.20735252e-04 -1.76772668e+02] [-6.17428794e-04 4.87235874e-07 -9.99999809e-01 7.23690933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.257628 meters 0.012872612491853695 Centerline is valid? [True, True] Translation: X:3.22, Y:-176.82, Z:0.72 [[-6.81512664e-01 -7.31806116e-01 -5.44469636e-04 3.22074489e+00] [-7.31805874e-01 6.81512882e-01 -5.95352752e-04 -1.76822651e+02] [ 8.06745856e-04 -7.29436209e-06 -9.99999675e-01 7.24047735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28762800000004 meters 0.012906839911795772 Centerline is valid? [True, True] Translation: X:3.14, Y:-176.88, Z:0.72 [[-6.24950565e-01 -7.80663261e-01 -1.28966414e-03 3.13612137e+00] [-7.80661532e-01 6.24951896e-01 -1.64306355e-03 -1.76882200e+02] [ 2.08865740e-03 -2.00423073e-05 -9.99997819e-01 7.23138661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.317628 meters 0.013183275321778744 Centerline is valid? [True, True] Translation: X:3.05, Y:-176.95, Z:0.72 [[-5.64509797e-01 -8.25424164e-01 -1.90757864e-03 3.05287973e+00] [-8.25419229e-01 5.64513018e-01 -2.85448654e-03 -1.76954149e+02] [ 3.43301514e-03 -3.68335224e-05 -9.99994107e-01 7.21663186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34762800000004 meters 0.013363528354846204 Centerline is valid? [True, True] Translation: X:2.97, Y:-177.04, Z:0.72 [[-4.99859801e-01 -8.66102388e-01 -2.61374523e-03 2.97318255e+00] [-8.66089930e-01 4.99866631e-01 -4.64577392e-03 -1.77036241e+02] [ 5.33023992e-03 -5.84972037e-05 -9.99985792e-01 7.19238814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.377628 meters 0.01316220247960057 Centerline is valid? [True, True] Translation: X:2.90, Y:-177.12, Z:0.72 [[-4.30840299e-01 -9.02424779e-01 -2.48084326e-03 2.89748122e+00] [-9.02409036e-01 4.30847437e-01 -5.33075343e-03 -1.77122536e+02] [ 5.87946895e-03 -5.79680282e-05 -9.99982714e-01 7.18760246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40762800000005 meters 0.013021629063201099 Centerline is valid? [True, True] Translation: X:2.83, Y:-177.22, Z:0.72 [[-3.58434011e-01 -9.33552972e-01 -1.97686391e-03 2.82776210e+00] [-9.33538064e-01 3.58439459e-01 -5.27614171e-03 -1.77215600e+02] [ 5.63414381e-03 -4.56709335e-05 -9.99984127e-01 7.18801130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.437628 meters 0.012894778883228495 Centerline is valid? [True, True] Translation: X:2.76, Y:-177.32, Z:0.72 [[-2.83064664e-01 -9.59099822e-01 -1.38859834e-03 2.76398787e+00] [-9.59087780e-01 2.83068068e-01 -4.80606245e-03 -1.77316283e+02] [ 5.00256149e-03 -2.86387537e-05 -9.99987487e-01 7.19153546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46762800000005 meters 0.012674918881018307 Centerline is valid? [True, True] Translation: X:2.70, Y:-177.43, Z:0.72 [[-2.03216470e-01 -9.79133635e-01 -6.24838586e-04 2.70470842e+00] [-9.79128971e-01 2.03217431e-01 -3.02217988e-03 -1.77426167e+02] [ 3.08609606e-03 -2.35916483e-06 -9.99995238e-01 7.21425449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.497628 meters 0.012674918881018307 Centerline is valid? [True, True] Translation: X:2.66, Y:-177.54, Z:0.72 [[-1.27059880e-01 -9.91894972e-01 -3.89791502e-04 2.65822294e+00] [-9.91890247e-01 1.27060478e-01 -3.06143684e-03 -1.77536084e+02] [ 3.08615090e-03 -2.35540658e-06 -9.99995238e-01 7.21422725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52762800000005 meters 0.01266392027596503 Centerline is valid? [True, True] Translation: X:2.62, Y:-177.65, Z:0.72 [[-4.76138676e-02 -9.98865813e-01 -9.09023432e-05 2.61824004e+00] [-9.98864092e-01 4.76139543e-02 -1.85382105e-03 -1.77650572e+02] [ 1.85604669e-03 2.53149674e-06 -9.99998278e-01 7.22871729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.557628 meters 0.012800053322667357 Centerline is valid? [True, True] Translation: X:2.59, Y:-177.77, Z:0.72 [[ 3.17671369e-02 -9.99495297e-01 5.96208484e-06 2.58711339e+00] [-9.99495284e-01 -3.17671374e-02 -1.65000780e-04 -1.77770413e+02] [ 1.65106902e-04 -7.17473306e-07 -9.99999986e-01 7.24746606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.58762800000005 meters 0.013099255065037013 Centerline is valid? [True, True] Translation: X:2.56, Y:-177.89, Z:0.73 [[ 1.11803546e-01 -9.93730306e-01 -2.14057270e-04 2.56291422e+00] [-9.93728198e-01 -1.11803750e-01 2.04694297e-03 -1.77893994e+02] [-2.05804167e-03 -1.61407369e-05 -9.99997882e-01 7.27999264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.617628 meters 0.013034967150559297 Centerline is valid? [True, True] Translation: X:2.55, Y:-178.01, Z:0.73 [[ 1.88779932e-01 -9.82019271e-01 -5.36942934e-04 2.55004075e+00] [-9.82014924e-01 -1.88780694e-01 2.92220937e-03 -1.78013886e+02] [-2.97103038e-03 -2.43685135e-05 -9.99995586e-01 7.29236554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.64762800000005 meters 0.0129702498131304 Centerline is valid? [True, True] Translation: X:2.55, Y:-178.13, Z:0.73 [[ 2.63974356e-01 -9.64529384e-01 -7.78732739e-04 2.54618425e+00] [-9.64524905e-01 -2.63975504e-01 2.93946742e-03 -1.78134461e+02] [-3.04076907e-03 -2.48368993e-05 -9.99995377e-01 7.29691120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.677628 meters 0.012839317899227312 Centerline is valid? [True, True] Translation: X:2.55, Y:-178.25, Z:0.73 [[ 3.35841913e-01 -9.41918235e-01 -4.96818162e-04 2.55157528e+00] [-9.41917159e-01 -3.35842281e-01 1.42385195e-03 -1.78253026e+02] [-1.50800466e-03 -1.02276129e-05 -9.99998863e-01 7.29038883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.707628 meters 0.012724250761608767 Centerline is valid? [True, True] Translation: X:2.57, Y:-178.37, Z:0.73 [[ 4.05621789e-01 -9.14041008e-01 -2.64947002e-05 2.56780721e+00] [-9.14041005e-01 -4.05621790e-01 6.37801265e-05 -1.78368633e+02] [-6.90444791e-05 -1.65336665e-06 -9.99999998e-01 7.27920053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73762800000003 meters 0.012634466674818412 Centerline is valid? [True, True] Translation: X:2.59, Y:-178.48, Z:0.73 [[ 4.72874246e-01 -8.81129649e-01 6.99946110e-04 2.59477443e+00] [-8.81128680e-01 -4.72874764e-01 -1.30647337e-03 -1.78484433e+02] [ 1.48215928e-03 1.05501915e-06 -9.99998902e-01 7.26496451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.767628 meters 0.012649176662418977 Centerline is valid? [True, True] Translation: X:2.63, Y:-178.59, Z:0.73 [[ 5.37428931e-01 -8.43308102e-01 1.26102805e-03 2.62790168e+00] [-8.43305791e-01 -5.37430410e-01 -1.97407029e-03 -1.78592177e+02] [ 2.34246429e-03 -2.50977254e-06 -9.99997256e-01 7.25362337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79762800000003 meters 0.012780185190306124 Centerline is valid? [True, True] Translation: X:2.67, Y:-178.69, Z:0.72 [[ 5.97744998e-01 -8.01683921e-01 1.95159124e-03 2.67039756e+00] [-8.01679728e-01 -5.97748183e-01 -2.59289034e-03 -1.78694775e+02] [ 3.24523861e-03 -1.46639049e-05 -9.99994734e-01 7.24098788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.827628 meters 0.012905494287466311 Centerline is valid? [True, True] Translation: X:2.72, Y:-178.80, Z:0.72 [[ 6.56040144e-01 -7.54722399e-01 2.33028024e-03 2.71845894e+00] [-7.54717757e-01 -6.56044283e-01 -2.64690303e-03 -1.78795484e+02] [ 3.52644403e-03 -2.22292362e-05 -9.99993782e-01 7.24415282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85762800000003 meters 0.01308787293204977 Centerline is valid? [True, True] Translation: X:2.77, Y:-178.89, Z:0.73 [[ 7.10332910e-01 -7.03861989e-01 2.33616472e-03 2.77119415e+00] [-7.03858310e-01 -7.10336751e-01 -2.27578879e-03 -1.78890068e+02] [ 3.26130488e-03 -2.77612753e-05 -9.99994682e-01 7.25466727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.887628 meters 0.013558707236937572 Centerline is valid? [True, True] Translation: X:2.77, Y:-178.90, Z:0.73 [[ 7.60449210e-01 -6.49397340e-01 3.05119309e-04 2.76781065e+00] [-6.49397291e-01 -7.60449272e-01 -2.52388298e-04 -1.78898234e+02] [ 3.95928046e-04 -6.21517090e-06 -9.99999922e-01 7.28391227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91762800000004 meters 0.014402813588810182 Centerline is valid? [True, True] Translation: X:2.76, Y:-178.91, Z:0.73 [[ 8.08057758e-01 -5.89101450e-01 -1.46323239e-03 2.76345023e+00] [-5.89100536e-01 -8.08059083e-01 1.03829197e-03 -1.78905597e+02] [-1.79403753e-03 2.29911043e-05 -9.99998390e-01 7.31335493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.947628 meters 0.014137809785908492 Centerline is valid? [True, True] Translation: X:2.76, Y:-178.91, Z:0.73 [[ 8.51321783e-01 -5.24632534e-01 -3.45334569e-03 2.75948895e+00] [-5.24628482e-01 -8.51328786e-01 2.06271393e-03 -1.78912432e+02] [-4.02209943e-03 5.56902008e-05 -9.99991910e-01 7.32524211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97762800000004 meters 0.015316879895926215 Centerline is valid? [True, True] Translation: X:2.76, Y:-178.92, Z:0.74 [[ 8.90561065e-01 -4.54828101e-01 -5.69107602e-03 2.75581528e+00] [-4.54819365e-01 -8.90579245e-01 2.82015361e-03 -1.78919486e+02] [-6.35103930e-03 7.68925793e-05 -9.99979829e-01 7.35062892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.007628 meters 0.01358865889571986 Centerline is valid? [True, True] Translation: X:2.75, Y:-178.93, Z:0.73 [[ 9.24355206e-01 -3.81494006e-01 -5.45682112e-03 2.75262894e+00] [-3.81487717e-01 -9.24371311e-01 2.19109983e-03 -1.78929274e+02] [-5.88002034e-03 5.63557019e-05 -9.99982711e-01 7.32848104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03762800000004 meters 0.013193309464616504 Centerline is valid? [True, True] Translation: X:2.75, Y:-178.94, Z:0.73 [[ 9.52286372e-01 -3.05149966e-01 -5.84505030e-03 2.74946348e+00] [-3.05144475e-01 -9.52304309e-01 1.83104698e-03 -1.78940538e+02] [-6.12501051e-03 3.99037180e-05 -9.99981241e-01 7.32880764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.067628 meters 0.01629368018970884 Centerline is valid? [True, True] Translation: X:2.75, Y:-178.96, Z:0.74 [[ 9.74628734e-01 -2.23714552e-01 -7.11555599e-03 2.74636000e+00] [-2.23708607e-01 -9.74654708e-01 1.63091813e-03 -1.78955357e+02] [-7.30007026e-03 2.27144004e-06 -9.99973354e-01 7.36847605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09762800000004 meters 0.012822332970240885 Centerline is valid? [True, True] Translation: X:2.74, Y:-178.97, Z:0.73 [[ 9.89538610e-01 -1.44134131e-01 -6.22027286e-03 2.74288913e+00] [-1.44131191e-01 -9.89558160e-01 9.20622387e-04 -1.78965602e+02] [-6.28801488e-03 -1.44560597e-05 -9.99980230e-01 7.33437190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.127628 meters 0.012848384081705022 Centerline is valid? [True, True] Translation: X:2.74, Y:-178.98, Z:0.73 [[ 9.97863554e-01 -6.50314144e-02 -6.26438992e-03 2.74000684e+00] [-6.50299954e-02 -9.97883217e-01 4.30164376e-04 -1.78975053e+02] [-6.27910376e-03 -2.18721063e-05 -9.99980286e-01 7.33166284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15762800000005 meters 0.013773062121784389 Centerline is valid? [True, True] Translation: X:2.74, Y:-178.98, Z:0.73 [[ 9.99895348e-01 1.29173516e-02 -6.51423145e-03 2.73800545e+00] [ 1.29172075e-02 -9.99916567e-01 -6.42006480e-05 -1.78983019e+02] [-6.51451725e-03 -1.99517501e-05 -9.99978780e-01 7.34027910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.187628 meters 0.012838284310104331 Centerline is valid? [True, True] Translation: X:2.74, Y:-178.99, Z:0.73 [[ 9.95936054e-01 8.98705191e-02 -5.88772151e-03 2.73565578e+00] [ 8.98690119e-02 -9.95953458e-01 -5.20588500e-04 -1.78990866e+02] [-5.91068216e-03 -1.06508581e-05 -9.99982532e-01 7.32628776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21762800000005 meters 0.015085582456741162 Centerline is valid? [True, True] Translation: X:2.73, Y:-179.00, Z:0.74 [[ 9.86127024e-01 1.65852895e-01 -6.80508885e-03 2.73333704e+00] [ 1.65848947e-01 -9.86150504e-01 -1.14426042e-03 -1.78996948e+02] [-6.90062070e-03 -2.30699604e-07 -9.99976190e-01 7.35439521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.247628 meters 0.016317383359281585 Centerline is valid? [True, True] Translation: X:2.73, Y:-179.01, Z:0.74 [[ 9.70471608e-01 2.41119021e-01 -6.81725482e-03 2.73292740e+00] [ 2.41112998e-01 -9.70495553e-01 -1.70429244e-03 -1.79006214e+02] [-7.02705280e-03 1.02386830e-05 -9.99975310e-01 7.36129389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27762800000005 meters 0.01557827746561583 Centerline is valid? [True, True] Translation: X:2.73, Y:-179.01, Z:0.73 [[ 9.49314885e-01 3.14281990e-01 -5.29907509e-03 2.73118397e+00] [ 3.14276978e-01 -9.49329674e-01 -1.77515197e-03 -1.79013101e+02] [-5.58846752e-03 1.98008840e-05 -9.99984384e-01 7.34839378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.307628 meters 0.012949333715008789 Centerline is valid? [True, True] Translation: X:2.73, Y:-179.02, Z:0.73 [[ 9.21989415e-01 3.87201579e-01 -3.23352691e-03 2.73147473e+00] [ 3.87199146e-01 -9.21995085e-01 -1.37266927e-03 -1.79021378e+02] [-3.51279563e-03 1.35676811e-05 -9.99993830e-01 7.30611692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.33762800000005 meters 0.01299894010456145 Centerline is valid? [True, True] Translation: X:2.73, Y:-179.03, Z:0.73 [[ 8.89021712e-01 4.57861134e-01 -1.89172404e-03 2.73212531e+00] [ 4.57860077e-01 -8.89023724e-01 -9.83836628e-04 -1.79029425e+02] [-2.13224810e-03 8.50720996e-06 -9.99997727e-01 7.29362906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.367628 meters 0.015926575542075376 Centerline is valid? [True, True] Translation: X:2.73, Y:-179.04, Z:0.73 [[ 8.50682242e-01 5.25678458e-01 -1.37177165e-03 2.73184872e+00] [ 5.25677761e-01 -8.50683348e-01 -8.55710725e-04 -1.79036489e+02] [-1.61677200e-03 6.82806613e-06 -9.99998693e-01 7.30300854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.39762800000005 meters 0.013030577807172187 Centerline is valid? [True, True] Translation: X:2.73, Y:-179.05, Z:0.73 [[ 8.07036999e-01 5.90500827e-01 2.34778796e-04 2.73454924e+00] [ 5.90500801e-01 -8.07037033e-01 1.75315455e-04 -1.79045175e+02] [ 2.92999104e-04 -2.84899107e-06 -9.99999957e-01 7.27365337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.427628 meters 0.013061697308203621 Centerline is valid? [True, True] Translation: X:2.74, Y:-179.05, Z:0.73 [[ 7.58686259e-01 6.51455919e-01 5.88444838e-04 2.73628178e+00] [ 6.51455717e-01 -7.58686487e-01 5.12911470e-04 -1.79053651e+02] [ 7.80584359e-04 -5.79312975e-06 -9.99999695e-01 7.27407711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.457628 meters 0.013208412615382765 Centerline is valid? [True, True] Translation: X:2.74, Y:-179.06, Z:0.73 [[ 7.05790724e-01 7.08420311e-01 3.42251832e-04 2.73682983e+00] [ 7.08420224e-01 -7.05790807e-01 3.49808622e-04 -1.79061219e+02] [ 4.89369729e-04 -4.43356148e-06 -9.99999880e-01 7.27512718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48762800000003 meters 0.013259482215629769 Centerline is valid? [True, True] Translation: X:2.74, Y:-179.07, Z:0.73 [[ 6.49723696e-01 7.60170388e-01 3.16258461e-04 2.74040282e+00] [ 7.60170294e-01 -6.49723773e-01 3.78483238e-04 -1.79070083e+02] [ 4.93192390e-04 -5.49924105e-06 -9.99999878e-01 7.27707026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.517628 meters 0.013529412647352966 Centerline is valid? [True, True] Translation: X:2.74, Y:-179.08, Z:0.73 [[ 5.89468359e-01 8.07791427e-01 2.52990471e-04 2.74338076e+00] [ 8.07791348e-01 -5.89468414e-01 3.56366167e-04 -1.79078481e+02] [ 4.36999426e-04 -5.70306613e-06 -9.99999905e-01 7.28089804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54762800000003 meters 0.013826146614605567 Centerline is valid? [True, True] Translation: X:2.75, Y:-179.09, Z:0.73 [[ 5.26109311e-01 8.50416941e-01 1.40274246e-04 2.74713873e+00] [ 8.50416908e-01 -5.26109330e-01 2.35513810e-04 -1.79085800e+02] [ 2.74084523e-04 -4.61441761e-06 -9.99999962e-01 7.28556883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.577628 meters 0.017161868562353317 Centerline is valid? [True, True] Translation: X:2.75, Y:-179.09, Z:0.73 [[ 4.60203079e-01 8.87813265e-01 -8.56606712e-04 2.75212429e+00] [ 8.87811617e-01 -4.60203875e-01 -1.71072485e-03 -1.79093470e+02] [-1.91301794e-03 2.67754541e-05 -9.99998170e-01 7.31586982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60762800000003 meters 0.01505272958741951 Centerline is valid? [True, True] Translation: X:2.76, Y:-179.10, Z:0.73 [[ 3.93627258e-01 9.19270121e-01 -1.61173661e-04 2.75726135e+00] [ 9.19270037e-01 -3.93627291e-01 -3.94153770e-04 -1.79101187e+02] [-4.25776135e-04 6.98755057e-06 -9.99999909e-01 7.28427332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.637628 meters 0.015811497092217394 Centerline is valid? [True, True] Translation: X:2.76, Y:-179.11, Z:0.73 [[ 3.22595071e-01 9.46537055e-01 -1.56582747e-04 2.76290473e+00] [ 9.46536928e-01 -3.22595109e-01 -4.90096581e-04 -1.79109288e+02] [-5.14407402e-04 9.89138851e-06 -9.99999868e-01 7.28732033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66762800000004 meters 0.016339527921412324 Centerline is valid? [True, True] Translation: X:2.77, Y:-179.12, Z:0.73 [[ 2.49192079e-01 9.68454044e-01 -2.68024494e-04 2.76934966e+00] [ 9.68453365e-01 -2.49192222e-01 -1.14752791e-03 -1.79116566e+02] [-1.17811767e-03 2.63856437e-05 -9.99999306e-01 7.29228264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.697628 meters 0.016872350337043263 Centerline is valid? [True, True] Translation: X:2.78, Y:-179.12, Z:0.73 [[ 1.74284930e-01 9.84695222e-01 -2.88080132e-04 2.77765528e+00] [ 9.84693394e-01 -1.74285161e-01 -1.89813514e-03 -1.79123504e+02] [-1.91929270e-03 4.71457471e-05 -9.99998157e-01 7.30100097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72762800000004 meters 0.016545040011452475 Centerline is valid? [True, True] Translation: X:2.79, Y:-179.13, Z:0.73 [[ 9.67575822e-02 9.95307967e-01 -1.42461006e-04 2.78881097e+00] [ 9.95306020e-01 -9.67576748e-02 -1.96975615e-03 -1.79129314e+02] [-1.97429818e-03 4.87965458e-05 -9.99998050e-01 7.30123473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.757628 meters 0.019035171673833392 Centerline is valid? [True, True] Translation: X:2.80, Y:-179.13, Z:0.73 [[ 1.87176145e-02 9.99824810e-01 2.38443625e-05 2.80107628e+00] [ 9.99818103e-01 -1.87174016e-02 -3.66341413e-03 -1.79134467e+02] [-3.66232603e-03 9.24103987e-05 -9.99993289e-01 7.32503489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78762800000004 meters 0.016362423735684688 Centerline is valid? [True, True] Translation: X:2.81, Y:-179.14, Z:0.73 [[-6.02869219e-02 9.98181077e-01 1.53859814e-04 2.81337263e+00] [ 9.98179427e-01 6.02871021e-02 -1.81562865e-03 -1.79138579e+02] [-1.82160192e-03 4.41210387e-05 -9.99998340e-01 7.30258718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.817628 meters 0.015976962387967378 Centerline is valid? [True, True] Translation: X:2.83, Y:-179.14, Z:0.73 [[-1.39790046e-01 9.90181041e-01 4.98447354e-04 2.82925208e+00] [ 9.90176421e-01 1.39790917e-01 -3.02581556e-03 -1.79140807e+02] [-3.06578361e-03 7.05719203e-05 -9.99995298e-01 7.32052112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84762800000004 meters 0.016220803003957094 Centerline is valid? [True, True] Translation: X:2.84, Y:-179.14, Z:0.73 [[-2.17702493e-01 9.76014774e-01 8.86143716e-04 2.84043225e+00] [ 9.76008159e-01 2.17704281e-01 -3.59434416e-03 -1.79143519e+02] [-3.70105028e-03 8.23858111e-05 -9.99993148e-01 7.32648218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.877628 meters 0.01790724455638698 Centerline is valid? [True, True] Translation: X:2.85, Y:-179.14, Z:0.73 [[-2.94093858e-01 9.55775278e-01 1.55621817e-03 2.85270885e+00] [ 9.55763765e-01 2.94097955e-01 -4.69239426e-03 -1.79143917e+02] [-4.94255501e-03 1.07372603e-04 -9.99987780e-01 7.34280983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90762800000005 meters 0.01865306391811843 Centerline is valid? [True, True] Translation: X:2.87, Y:-179.14, Z:0.73 [[-3.70196485e-01 9.28951182e-01 2.06478120e-03 2.86637893e+00] [ 9.28938254e-01 3.70202229e-01 -4.90210469e-03 -1.79142406e+02] [-5.31820255e-03 1.03312319e-04 -9.99985853e-01 7.33720885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.937628 meters 0.016966571381127206 Centerline is valid? [True, True] Translation: X:2.88, Y:-179.14, Z:0.73 [[-4.42566779e-01 8.96733375e-01 1.97492175e-03 2.87922936e+00] [ 8.96725238e-01 4.42571178e-01 -3.82106857e-03 -1.79139468e+02] [-4.30052316e-03 7.98841657e-05 -9.99990750e-01 7.32772272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96762800000005 meters 0.015163664729123909 Centerline is valid? [True, True] Translation: X:2.89, Y:-179.14, Z:0.73 [[-5.12127911e-01 8.58908299e-01 1.24012743e-03 2.89007172e+00] [ 8.58905972e-01 5.12129410e-01 -1.99937490e-03 -1.79137844e+02] [-2.35238542e-03 4.12171695e-05 -9.99997232e-01 7.30666971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.997628 meters 0.015108334896920353 Centerline is valid? [True, True] Translation: X:2.90, Y:-179.14, Z:0.73 [[-5.78100736e-01 8.15964676e-01 1.08905608e-03 2.89966714e+00] [ 8.15963329e-01 5.78101761e-01 -1.48283648e-03 -1.79135358e+02] [-1.83952742e-03 3.14009664e-05 -9.99998308e-01 7.30181823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02762800000005 meters 0.01481294382213611 Centerline is valid? [True, True] Translation: X:2.91, Y:-179.13, Z:0.73 [[-6.39876094e-01 7.68477979e-01 -4.24816102e-04 2.91193150e+00] [ 7.68477823e-01 6.39876235e-01 4.89833250e-04 -1.79127924e+02] [ 6.48255793e-04 -1.30291665e-05 -9.99999790e-01 7.28818327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.057628 meters 0.015253555969163054 Centerline is valid? [True, True] Translation: X:2.92, Y:-179.12, Z:0.73 [[-6.97860115e-01 7.16233043e-01 -1.22010296e-03 2.92108687e+00] [ 7.16232030e-01 6.97861181e-01 1.20487461e-03 -1.79123228e+02] [ 1.71443350e-03 -3.30428829e-05 -9.99998530e-01 7.27979760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.08762800000005 meters 0.01521080550685346 Centerline is valid? [True, True] Translation: X:2.95, Y:-179.11, Z:0.73 [[-7.45635524e-01 6.66352016e-01 -1.62961471e-03 2.94919527e+00] [ 6.66350549e-01 7.45637304e-01 1.39903870e-03 -1.79108818e+02] [ 2.14735378e-03 -4.27217029e-05 -9.99997694e-01 7.27817017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.117628 meters 0.015363260185129457 Centerline is valid? [True, True] Translation: X:2.97, Y:-179.09, Z:0.73 [[-7.90293251e-01 6.12727462e-01 -1.27894629e-03 2.96696773e+00] [ 6.12726728e-01 7.90294285e-01 9.48990775e-04 -1.79086199e+02] [ 1.59221666e-03 -3.36635736e-05 -9.99998732e-01 7.27967471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.14762800000005 meters 0.015611322027594517 Centerline is valid? [True, True] Translation: X:2.99, Y:-179.07, Z:0.73 [[-8.31094170e-01 5.56130606e-01 -1.10920513e-03 2.98959752e+00] [ 5.56130157e-01 8.31094909e-01 7.06906688e-04 -1.79065054e+02] [ 1.31498718e-03 -2.93563958e-05 -9.99999135e-01 7.29164900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.177628 meters 0.015217244690704996 Centerline is valid? [True, True] Translation: X:3.00, Y:-179.04, Z:0.73 [[-8.68396478e-01 4.95869891e-01 -7.79386056e-04 3.00470229e+00] [ 4.95869712e-01 8.68396828e-01 4.21910452e-04 -1.79039738e+02] [ 8.86029068e-04 -2.00883891e-05 -9.99999607e-01 7.29255343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.207628 meters 0.015629219100605246 Centerline is valid? [True, True] Translation: X:3.02, Y:-179.01, Z:0.73 [[-9.01199779e-01 4.33403493e-01 -6.08982098e-04 3.01560327e+00] [ 4.33403405e-01 9.01199985e-01 2.75531898e-04 -1.79013872e+02] [ 6.68231144e-04 -1.56256300e-05 -9.99999777e-01 7.29442206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23762800000003 meters 0.015985997667439425 Centerline is valid? [True, True] Translation: X:3.03, Y:-178.99, Z:0.73 [[-9.29596106e-01 3.68579815e-01 -7.36821956e-06 3.02613223e+00] [ 3.68579815e-01 9.29596106e-01 1.56811022e-06 -1.78988196e+02] [ 7.42744173e-06 -1.25806785e-06 -1.00000000e+00 7.30012906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.267628 meters 0.015946777709445206 Centerline is valid? [True, True] Translation: X:3.04, Y:-178.96, Z:0.73 [[-9.52940562e-01 3.03155694e-01 9.53940596e-04 3.04041034e+00] [ 3.03155565e-01 9.52941040e-01 -2.80219896e-04 -1.78961057e+02] [-9.93999401e-04 2.21594952e-05 -9.99999506e-01 7.31424765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29762800000003 meters 0.016402184885401003 Centerline is valid? [True, True] Translation: X:3.24, Y:-178.29, Z:-0.24 [[-9.46643417e-01 -3.22279402e-01 1.49288627e-03 3.23605889e+00] [ 3.22279002e-01 -9.46644594e-01 -5.07618898e-04 -1.78293382e+02] [ 1.57682783e-03 5.91808064e-07 9.99998757e-01 -2.44909030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.327628 meters 0.015697279962617137 Centerline is valid? [True, True] Translation: X:2.99, Y:-178.94, Z:0.73 [[-9.53952505e-01 2.99952134e-01 1.82625213e-03 2.99457681e+00] [ 2.99951673e-01 9.53954252e-01 -5.28016008e-04 -1.78944281e+02] [-1.90054051e-03 4.40851867e-05 -9.99998193e-01 7.32778309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35762800000003 meters 0.015567953139208852 Centerline is valid? [True, True] Translation: X:3.18, Y:-178.29, Z:-0.25 [[-9.47440453e-01 -3.19916351e-01 3.18056684e-03 3.18271245e+00] [ 3.19914600e-01 -9.47445792e-01 -1.05853059e-03 -1.78286403e+02] [ 3.35205591e-03 1.46150685e-05 9.99994382e-01 -2.47114327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.387628 meters 0.015567953139208852 Centerline is valid? [True, True] Translation: X:2.94, Y:-178.93, Z:0.73 [[-9.55469585e-01 2.95071492e-01 3.26892191e-03 2.94440980e+00] [ 2.95070033e-01 9.55475174e-01 -9.31140061e-04 -1.78925850e+02] [-3.39812662e-03 7.48848867e-05 -9.99994224e-01 7.34510366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41762800000004 meters 0.015226113391139223 Centerline is valid? [True, True] Translation: X:2.95, Y:-178.90, Z:0.74 [[-9.74339786e-01 2.25042503e-01 4.22540253e-03 2.94866469e+00] [ 2.25040781e-01 9.74348944e-01 -8.84658065e-04 -1.78895281e+02] [-4.31610216e-03 8.89303387e-05 -9.99990682e-01 7.35606347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.447628 meters 0.017720704550024884 Centerline is valid? [True, True] Translation: X:2.95, Y:-178.87, Z:0.74 [[-9.88042390e-01 1.54025746e-01 6.95019154e-03 2.95394064e+00] [ 1.54022906e-01 9.88066825e-01 -9.45264107e-04 -1.78865749e+02] [-7.01284870e-03 1.36527693e-04 -9.99975400e-01 7.37787799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47762800000004 meters 0.0169227414871796 Centerline is valid? [True, True] Translation: X:3.05, Y:-178.20, Z:-0.25 [[-9.83059346e-01 -1.83152554e-01 7.03309428e-03 3.04590664e+00] [ 1.83146928e-01 -9.83084496e-01 -1.44135857e-03 -1.78204187e+02] [ 7.17811445e-03 -1.28851408e-04 9.99974229e-01 -2.50294533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.507628 meters 0.01691171697352498 Centerline is valid? [True, True] Translation: X:2.90, Y:-178.85, Z:0.74 [[-9.89195876e-01 1.46327004e-01 8.94012560e-03 2.89562037e+00] [ 1.46322342e-01 9.89236265e-01 -1.17692524e-03 -1.78854304e+02] [-9.01611240e-03 1.43930516e-04 -9.99959344e-01 7.38911513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53762800000004 meters 0.014102166015008931 Centerline is valid? [True, True] Translation: X:2.98, Y:-178.20, Z:-0.25 [[-9.83241918e-01 -1.82165482e-01 7.14620845e-03 2.98347887e+00] [ 1.82158976e-01 -9.83267860e-01 -1.55651757e-03 -1.78200512e+02] [ 7.31018086e-03 -2.28687306e-04 9.99973254e-01 -2.50596284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.567628 meters 0.01403347968653517 Centerline is valid? [True, True] Translation: X:2.84, Y:-178.84, Z:0.74 [[-9.90090541e-01 1.40192921e-01 8.16484794e-03 2.83746775e+00] [ 1.40189112e-01 9.90124200e-01 -1.03980431e-03 -1.78843402e+02] [-8.22998674e-03 1.15122369e-04 -9.99966126e-01 7.38922989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59762800000004 meters 0.013954624630238287 Centerline is valid? [True, True] Translation: X:2.92, Y:-178.20, Z:-0.25 [[-9.83642812e-01 -1.79909268e-01 8.91475677e-03 2.92354160e+00] [ 1.79901222e-01 -9.83683206e-01 -1.70302691e-03 -1.78195388e+02] [ 9.07568685e-03 -7.13945470e-05 9.99958813e-01 -2.52330847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.627628 meters 0.013514466464510396 Centerline is valid? [True, True] Translation: X:2.78, Y:-178.84, Z:0.74 [[-9.91105754e-01 1.32756364e-01 9.22670023e-03 2.78169528e+00] [ 1.32751543e-01 9.91148696e-01 -1.13578190e-03 -1.78835016e+02] [-9.29581418e-03 9.91787175e-05 -9.99956788e-01 7.39928960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65762800000005 meters 0.013176847842507984 Centerline is valid? [True, True] Translation: X:2.86, Y:-178.19, Z:-0.25 [[-9.83774994e-01 -1.79196845e-01 8.67474574e-03 2.86084208e+00] [ 1.79188763e-01 -9.83813232e-01 -1.70637692e-03 -1.78189615e+02] [ 8.84010700e-03 -1.24273985e-04 9.99960918e-01 -2.51668066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.687628 meters 0.015372285782244002 Centerline is valid? [True, True] Translation: X:2.72, Y:-178.83, Z:0.74 [[-9.91900503e-01 1.26566173e-01 1.06955789e-02 2.72160599e+00] [ 1.26559841e-01 9.91958162e-01 -1.26955675e-03 -1.78827450e+02] [-1.07702497e-02 9.43567921e-05 -9.99941995e-01 7.40046790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71762800000005 meters 0.012905429001232305 Centerline is valid? [True, True] Translation: X:2.72, Y:-178.80, Z:0.74 [[-9.98465023e-01 5.46498140e-02 8.99972103e-03 2.72026253e+00] [ 5.46482159e-02 9.98505580e-01 -4.23569868e-04 -1.78800268e+02] [-9.00941968e-03 6.88989996e-05 -9.99959412e-01 7.38564814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.747628 meters 0.013001148465934113 Centerline is valid? [True, True] Translation: X:2.71, Y:-178.77, Z:0.74 [[-9.99841310e-01 -1.59764624e-02 7.88084454e-03 2.71231937e+00] [-1.59754607e-02 9.99872366e-01 1.90050858e-04 -1.78774357e+02] [-7.88287502e-03 6.41205771e-05 -9.99968928e-01 7.38617468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77762800000005 meters 0.01315529431809808 Centerline is valid? [True, True] Translation: X:2.71, Y:-178.75, Z:0.74 [[-9.96225261e-01 -8.64633023e-02 7.70242534e-03 2.70575756e+00] [-8.64601887e-02 9.96255034e-01 7.36937024e-04 -1.78748346e+02] [-7.73729803e-03 6.82021309e-05 -9.99970064e-01 7.39111725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.807628 meters 0.012989944443769691 Centerline is valid? [True, True] Translation: X:2.69, Y:-178.72, Z:0.74 [[-9.87610534e-01 -1.56749274e-01 7.42275942e-03 2.69344395e+00] [-1.56744303e-01 9.87638426e-01 1.25036195e-03 -1.78723267e+02] [-7.52699576e-03 7.13953832e-05 -9.99971669e-01 7.38808188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.83762800000005 meters 0.01308677329027501 Centerline is valid? [True, True] Translation: X:2.67, Y:-178.71, Z:0.74 [[-9.73865531e-01 -2.26993584e-01 7.73561642e-03 2.66804000e+00] [-2.26985781e-01 9.73896250e-01 1.88378619e-03 -1.78706057e+02] [-7.96129521e-03 7.86795078e-05 -9.99968305e-01 7.37937500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.867628 meters 0.012914388768547287 Centerline is valid? [True, True] Translation: X:2.63, Y:-178.69, Z:0.74 [[-9.54642645e-01 -2.97660030e-01 7.47851184e-03 2.62529246e+00] [-2.97650304e-01 9.54671934e-01 2.40720003e-03 -1.78690738e+02] [-7.85605259e-03 7.20344737e-05 -9.99969138e-01 7.37544033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.89762800000005 meters 0.012924144587427565 Centerline is valid? [True, True] Translation: X:2.57, Y:-178.68, Z:0.74 [[-9.29710332e-01 -3.68210473e-01 7.72961379e-03 2.56614335e+00] [-3.68197153e-01 9.29742461e-01 3.13263644e-03 -1.78684185e+02] [-8.34001969e-03 6.64226790e-05 -9.99965219e-01 7.38452238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.927628 meters 0.012712911280775905 Centerline is valid? [True, True] Translation: X:2.50, Y:-178.69, Z:0.74 [[-8.98870866e-01 -4.38118328e-01 9.13764142e-03 2.49621244e+00] [-4.38095055e-01 8.98917309e-01 4.51610974e-03 -1.78687164e+02] [-1.01925745e-02 5.62439546e-05 -9.99948053e-01 7.40602561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.957628 meters 0.01264512298021105 Centerline is valid? [True, True] Translation: X:2.42, Y:-178.70, Z:0.74 [[-8.63379622e-01 -5.04471367e-01 9.17975193e-03 2.42188511e+00] [-5.04442220e-01 8.63428420e-01 5.42306638e-03 -1.78696733e+02] [-1.06618404e-02 5.15105557e-05 -9.99943160e-01 7.41523972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98762800000003 meters 0.012665692542751216 Centerline is valid? [True, True] Translation: X:2.34, Y:-178.72, Z:0.74 [[-8.22963641e-01 -5.68019073e-01 9.22919383e-03 2.33921340e+00] [-5.67982678e-01 8.23015389e-01 6.43019701e-03 -1.78718130e+02] [-1.12482431e-02 4.97961194e-05 -9.99936735e-01 7.42281751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.017628 meters 0.01539210810710109 Centerline is valid? [True, True] Translation: X:2.25, Y:-178.75, Z:0.74 [[-7.78534975e-01 -6.27515763e-01 1.03566626e-02 2.25407559e+00] [-6.27458985e-01 7.78603854e-01 8.44154955e-03 -1.78749187e+02] [-1.33609428e-02 7.36605649e-05 -9.99910736e-01 7.44059146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04762800000003 meters 0.01271531603543758 Centerline is valid? [True, True] Translation: X:2.17, Y:-178.79, Z:0.74 [[-7.29505765e-01 -6.83928291e-01 7.96442207e-03 2.17165532e+00] [-6.83886492e-01 7.29549236e-01 7.56168246e-03 -1.78793690e+02] [-1.09820866e-02 6.95302740e-05 -9.99939693e-01 7.42429229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.077628 meters 0.012932085011766415 Centerline is valid? [True, True] Translation: X:2.09, Y:-178.85, Z:0.74 [[-6.76313944e-01 -7.36579392e-01 7.08866643e-03 2.08705799e+00] [-7.36537708e-01 6.76351087e-01 7.83658100e-03 -1.78846369e+02] [-1.05666913e-02 7.89188776e-05 -9.99944168e-01 7.42041139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10762800000003 meters 0.015070485765711577 Centerline is valid? [True, True] Translation: X:2.00, Y:-178.91, Z:0.74 [[-6.19633748e-01 -7.84860145e-01 6.96931784e-03 2.00319970e+00] [-7.84808595e-01 6.19672932e-01 8.99595544e-03 -1.78908274e+02] [-1.13792645e-02 1.04617052e-04 -9.99935249e-01 7.41808399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.137628 meters 0.017446255653313515 Centerline is valid? [True, True] Translation: X:1.92, Y:-178.98, Z:0.74 [[-5.59062217e-01 -8.29100680e-01 6.44204700e-03 1.92348865e+00] [-8.29043061e-01 5.59099318e-01 9.77529452e-03 -1.78980227e+02] [-1.17064474e-02 1.24263468e-04 -9.99931470e-01 7.42976481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16762800000004 meters 0.016541148391120686 Centerline is valid? [True, True] Translation: X:1.85, Y:-179.06, Z:0.74 [[-4.94414123e-01 -8.69213057e-01 4.83077430e-03 1.84897688e+00] [-8.69169349e-01 4.94437710e-01 8.71741930e-03 -1.79061515e+02] [-9.96581166e-03 1.11254260e-04 -9.99950334e-01 7.40816437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.197628 meters 0.012772533607939372 Centerline is valid? [True, True] Translation: X:1.77, Y:-179.15, Z:0.74 [[-4.24940731e-01 -9.05215705e-01 3.14685562e-03 1.77422645e+00] [-9.05189600e-01 4.24952377e-01 6.87500519e-03 -1.79150595e+02] [-7.56062644e-03 7.29687514e-05 -9.99971415e-01 7.38234115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22762800000004 meters 0.012649409619437646 Centerline is valid? [True, True] Translation: X:1.71, Y:-179.25, Z:0.74 [[-3.52931100e-01 -9.35645752e-01 2.58169159e-03 1.70651281e+00] [-9.35619404e-01 3.52940537e-01 7.02198395e-03 -1.79246258e+02] [-7.48127307e-03 6.27957700e-05 -9.99972013e-01 7.38716366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.257628 meters 0.01455430311769383 Centerline is valid? [True, True] Translation: X:1.65, Y:-179.35, Z:0.74 [[-2.77806591e-01 -9.60634241e-01 2.31377305e-03 1.64819571e+00] [-9.60599302e-01 2.77816221e-01 8.19322092e-03 -1.79348401e+02] [-8.51349225e-03 5.35220000e-05 -9.99963758e-01 7.39051837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28762800000004 meters 0.015632912580039834 Centerline is valid? [True, True] Translation: X:1.60, Y:-179.46, Z:0.74 [[-2.01323509e-01 -9.79523320e-01 1.70607697e-03 1.59573559e+00] [-9.79486422e-01 2.01330734e-01 8.50200235e-03 -1.79456081e+02] [-8.67139530e-03 4.05737226e-05 -9.99962402e-01 7.39468343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.317628 meters 0.012008245390213031 Centerline is valid? [True, True] Translation: X:1.55, Y:-179.57, Z:0.74 [[-1.22298198e-01 -9.92493036e-01 8.50692754e-04 1.54949509e+00] [-9.92468332e-01 1.22301156e-01 7.00272294e-03 -1.79569365e+02] [-7.05419446e-03 1.21347815e-05 -9.99975119e-01 7.37011882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34762800000004 meters 0.012072693524889445 Centerline is valid? [True, True] Translation: X:1.51, Y:-179.69, Z:0.74 [[-3.82930702e-02 -9.99266498e-01 3.25870676e-04 1.50779905e+00] [-9.99238747e-01 3.82944354e-02 7.44738046e-03 -1.79685938e+02] [-7.45439683e-03 -4.04395434e-05 -9.99972215e-01 7.37149426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.377628 meters 0.015410552349806844 Centerline is valid? [True, True] Translation: X:1.48, Y:-179.81, Z:0.74 [[ 4.11054001e-02 -9.99154757e-01 -3.42489807e-04 1.47708325e+00] [-9.99102622e-01 -4.11067540e-02 1.02071292e-02 -1.79807654e+02] [-1.02125803e-02 -7.73856648e-05 -9.99947847e-01 7.39787125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40762800000005 meters 0.012539891640445807 Centerline is valid? [True, True] Translation: X:1.46, Y:-179.93, Z:0.74 [[ 1.20840221e-01 -9.92671462e-01 -1.00453150e-03 1.45512531e+00] [-9.92630398e-01 -1.20844360e-01 9.02963778e-03 -1.79927063e+02] [-9.08485570e-03 -9.40149202e-05 -9.99958727e-01 7.38725615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.437628 meters 0.012806288354054864 Centerline is valid? [True, True] Translation: X:1.44, Y:-180.05, Z:0.74 [[ 1.98691364e-01 -9.80060545e-01 -1.75228750e-03 1.44201875e+00] [-9.80017264e-01 -1.98699059e-01 9.21125432e-03 -1.80045262e+02] [-9.37576480e-03 -1.12924680e-04 -9.99956040e-01 7.39604986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46762800000005 meters 0.01292821488492493 Centerline is valid? [True, True] Translation: X:1.44, Y:-180.17, Z:0.74 [[ 2.74092433e-01 -9.61700018e-01 -2.53243864e-03 1.43719837e+00] [-9.61654789e-01 -2.74104104e-01 9.32769611e-03 -1.80167786e+02] [-9.66459734e-03 -1.21319171e-04 -9.99953289e-01 7.40752714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.497628 meters 0.01273340749990816 Centerline is valid? [True, True] Translation: X:1.45, Y:-180.29, Z:0.74 [[ 3.46184445e-01 -9.38161315e-01 -3.11070466e-03 1.44705360e+00] [-9.38120670e-01 -3.46198405e-01 8.73340673e-03 -1.80290412e+02] [-9.27026534e-03 -1.05153230e-04 -9.99957025e-01 7.40019618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52762800000005 meters 0.012428422328919482 Centerline is valid? [True, True] Translation: X:1.46, Y:-180.40, Z:0.74 [[ 4.15333673e-01 -9.09661863e-01 -3.63807532e-03 1.46254765e+00] [-9.09625244e-01 -4.15349599e-01 8.16248807e-03 -1.80399476e+02] [-8.93617722e-03 -8.08710072e-05 -9.99960068e-01 7.39499456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.557628 meters 0.01205888029843419 Centerline is valid? [True, True] Translation: X:1.49, Y:-180.51, Z:0.74 [[ 4.81730097e-01 -8.76309878e-01 -4.13657680e-03 1.48975926e+00] [-8.76276582e-01 -4.81747854e-01 7.63921890e-03 -1.80512631e+02] [-8.68710998e-03 -5.52562835e-05 -9.99962265e-01 7.39150127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.58762800000005 meters 0.011878256758915084 Centerline is valid? [True, True] Translation: X:1.52, Y:-180.61, Z:0.74 [[ 5.41641314e-01 -8.40597706e-01 -4.49265159e-03 1.52495283e+00] [-8.40568891e-01 -5.41659946e-01 6.96004418e-03 -1.80614413e+02] [-8.28408659e-03 6.53569097e-06 -9.99965686e-01 7.38923902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.617628 meters 0.012141671206495567 Centerline is valid? [True, True] Translation: X:1.57, Y:-180.72, Z:0.74 [[ 6.01478928e-01 -7.98874531e-01 -4.75223069e-03 1.56683053e+00] [-7.98850065e-01 -6.01497700e-01 6.25223145e-03 -1.80716257e+02] [-7.85320429e-03 3.57343319e-05 -9.99969163e-01 7.38872593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.64762800000005 meters 0.014944153716082978 Centerline is valid? [True, True] Translation: X:1.62, Y:-180.81, Z:0.74 [[ 6.57689998e-01 -7.53265363e-01 -5.92951923e-03 1.61530093e+00] [-7.53235825e-01 -6.57716722e-01 6.67127592e-03 -1.80813728e+02] [-8.92518503e-03 7.86948652e-05 -9.99960167e-01 7.40732906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.677628 meters 0.01565193272527551 Centerline is valid? [True, True] Translation: X:1.67, Y:-180.91, Z:0.74 [[ 7.10889252e-01 -7.03275620e-01 -6.31460151e-03 1.67011603e+00] [-7.03249220e-01 -7.10917288e-01 6.09462453e-03 -1.80907102e+02] [-8.77536023e-03 1.08135513e-04 -9.99961490e-01 7.41443804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.707628 meters 0.01715694933596634 Centerline is valid? [True, True] Translation: X:1.67, Y:-180.91, Z:0.74 [[ 7.61228279e-01 -6.48448452e-01 -6.79062550e-03 1.66518347e+00] [-6.48424302e-01 -7.61258554e-01 5.59813133e-03 -1.80914632e+02] [-8.79952134e-03 1.41750724e-04 -9.99961273e-01 7.41343098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73762800000003 meters 0.014672849447412345 Centerline is valid? [True, True] Translation: X:1.66, Y:-180.92, Z:0.74 [[ 8.09307548e-01 -5.87342409e-01 -7.08434790e-03 1.66053873e+00] [-5.87321450e-01 -8.09338541e-01 4.96387522e-03 -1.80922590e+02] [-8.64913022e-03 1.43487803e-04 -9.99962585e-01 7.40300695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.767628 meters 0.013586617974880094 Centerline is valid? [True, True] Translation: X:1.66, Y:-180.93, Z:0.74 [[ 8.52658070e-01 -5.22410476e-01 -7.84288728e-03 1.65555912e+00] [-5.22390014e-01 -8.52694125e-01 4.62625131e-03 -1.80932834e+02] [-9.10438606e-03 1.52435490e-04 -9.99958543e-01 7.39651545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79762800000003 meters 0.014156739678936629 Centerline is valid? [True, True] Translation: X:1.65, Y:-180.94, Z:0.74 [[ 8.90888227e-01 -4.54136666e-01 -8.83488927e-03 1.65139854e+00] [-4.54116161e-01 -8.90932018e-01 4.31870856e-03 -1.80941337e+02] [-9.83256964e-03 1.64579384e-04 -9.99951646e-01 7.40681391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.827628 meters 0.014584560037578723 Centerline is valid? [True, True] Translation: X:1.65, Y:-180.95, Z:0.74 [[ 9.23862828e-01 -3.82584485e-01 -1.03240559e-02 1.64741427e+00] [-3.82562767e-01 -9.23920494e-01 4.08047111e-03 -1.80952562e+02] [-1.10997318e-02 1.79803819e-04 -9.99938380e-01 7.41464224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85762800000003 meters 0.01710988222383384 Centerline is valid? [True, True] Translation: X:1.65, Y:-180.96, Z:0.74 [[ 9.50967296e-01 -3.09097491e-01 -1.09518936e-02 1.64511204e+00] [-3.09079224e-01 -9.51030340e-01 3.36541977e-03 -1.80962649e+02] [-1.14558259e-02 1.84598628e-04 -9.99934363e-01 7.42579183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.887628 meters 0.01366349138607381 Centerline is valid? [True, True] Translation: X:1.64, Y:-180.97, Z:0.74 [[ 9.72280260e-01 -2.33606513e-01 -9.95459465e-03 1.64447117e+00] [-2.33595973e-01 -9.72331204e-01 2.22498952e-03 -1.80971600e+02] [-1.01989350e-02 1.62039837e-04 -9.99947976e-01 7.39837669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91762800000004 meters 0.01643517617178182 Centerline is valid? [True, True] Translation: X:1.64, Y:-180.98, Z:0.74 [[ 9.87492168e-01 -1.57378383e-01 -9.55317703e-03 1.64063235e+00] [-1.57372577e-01 -9.87538363e-01 1.36116060e-03 -1.80975879e+02] [-9.64834607e-03 1.59272663e-04 -9.99953441e-01 7.42332337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.947628 meters 0.016196546208292098 Centerline is valid? [True, True] Translation: X:1.64, Y:-180.99, Z:0.74 [[ 9.96729540e-01 -8.02183330e-02 -9.75921501e-03 1.63743701e+00] [-8.02161347e-02 -9.96777303e-01 6.17110930e-04 -1.80986554e+02] [-9.77726763e-03 1.67753812e-04 -9.99952187e-01 7.41606676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97762800000004 meters 0.019206422812254077 Centerline is valid? [True, True] Translation: X:1.63, Y:-180.99, Z:0.74 [[ 9.99943280e-01 -2.29528352e-03 -1.04004052e-02 1.63325481e+00] [-2.29705752e-03 -9.99997349e-01 -1.58628558e-04 -1.80988365e+02] [-1.04000135e-02 1.82509890e-04 -9.99945902e-01 7.44639413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.007628 meters 0.01666007926229629 Centerline is valid? [True, True] Translation: X:1.63, Y:-181.00, Z:0.74 [[ 9.97052517e-01 7.59724825e-02 -1.06986547e-02 1.63137962e+00] [ 7.59660688e-02 -9.97109897e-01 -1.00517595e-03 -1.80998816e+02] [-1.07441002e-02 1.89478474e-04 -9.99942263e-01 7.41393823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03762800000004 meters 0.016596979687302393 Centerline is valid? [True, True] Translation: X:1.63, Y:-181.01, Z:0.74 [[ 9.88052383e-01 1.53796160e-01 -9.96141467e-03 1.62950842e+00] [ 1.53786522e-01 -9.88102580e-01 -1.73104656e-03 -1.81006380e+02] [-1.01091278e-02 1.78433361e-04 -9.99948886e-01 7.40645783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.067628 meters 0.016963783784645428 Centerline is valid? [True, True] Translation: X:1.63, Y:-181.01, Z:0.74 [[ 9.73039337e-01 2.30473499e-01 -8.74156498e-03 1.62823906e+00] [ 2.30462706e-01 -9.73078589e-01 -2.23627590e-03 -1.81013934e+02] [-9.02163205e-03 1.61379699e-04 -9.99959291e-01 7.39968379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09762800000004 meters 0.01447851366593966 Centerline is valid? [True, True] Translation: X:1.63, Y:-181.02, Z:0.74 [[ 9.52225100e-01 3.05320066e-01 -6.85687731e-03 1.62783468e+00] [ 3.05311132e-01 -9.52249778e-01 -2.33951926e-03 -1.81020477e+02] [-7.24376207e-03 1.34267994e-04 -9.99973755e-01 7.36305556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.127628 meters 0.015415460882543584 Centerline is valid? [True, True] Translation: X:1.63, Y:-181.03, Z:0.73 [[ 9.25897193e-01 3.77754758e-01 -3.96621595e-03 1.62820601e+00] [ 3.77750897e-01 -9.25905684e-01 -1.71007787e-03 -1.81027791e+02] [-4.31833194e-03 8.51146626e-05 -9.99990672e-01 7.34978189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15762800000005 meters 0.016237652527655962 Centerline is valid? [True, True] Translation: X:1.63, Y:-181.04, Z:0.74 [[ 8.93730374e-01 4.48597160e-01 -2.57052778e-03 1.62887144e+00] [ 4.48595115e-01 -8.93734068e-01 -1.35585465e-03 -1.81036809e+02] [-2.90560079e-03 5.86422820e-05 -9.99995777e-01 7.35029035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.187628 meters 0.017038860925174273 Centerline is valid? [True, True] Translation: X:1.63, Y:-181.04, Z:0.73 [[ 8.55939441e-01 5.17072645e-01 -1.88501137e-03 1.63003702e+00] [ 5.17071275e-01 -8.55941515e-01 -1.19134043e-03 -1.81044652e+02] [-2.22946904e-03 4.50300304e-05 -9.99997514e-01 7.34869590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21762800000005 meters 0.0148525664979177 Centerline is valid? [True, True] Translation: X:1.63, Y:-181.05, Z:0.73 [[ 8.12701850e-01 5.82679298e-01 -7.33423928e-04 1.63115292e+00] [ 5.82679041e-01 -8.12702181e-01 -5.47557929e-04 -1.81052137e+02] [-9.15105896e-04 1.76505906e-05 -9.99999581e-01 7.31188204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.247628 meters 0.017225269093490286 Centerline is valid? [True, True] Translation: X:1.63, Y:-181.06, Z:0.73 [[ 7.63363104e-01 6.45969632e-01 -8.33683651e-05 1.63467701e+00] [ 6.45969628e-01 -7.63363108e-01 -7.17847186e-05 -1.81061098e+02] [-1.10011083e-04 9.44373852e-07 -9.99999994e-01 7.32744633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27762800000005 meters 0.013904366696485919 Centerline is valid? [True, True] Translation: X:1.64, Y:-181.07, Z:0.73 [[ 7.09284935e-01 7.04921846e-01 -2.68414458e-04 1.63906880e+00] [ 7.04921793e-01 -7.09284986e-01 -2.74377838e-04 -1.81070923e+02] [-3.83797277e-04 5.40086572e-06 -9.99999926e-01 7.30261416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.307628 meters 0.013904366696485919 Centerline is valid? [True, True] Translation: X:1.64, Y:-181.08, Z:0.73 [[ 6.51916915e-01 7.58290364e-01 -2.46078800e-04 1.64282092e+00] [ 7.58290307e-01 -6.51916961e-01 -2.94519517e-04 -1.81079427e+02] [-3.83754255e-04 5.40308652e-06 -9.99999926e-01 7.30261032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.33762800000005 meters 0.016711911413034 Centerline is valid? [True, True] Translation: X:1.65, Y:-181.09, Z:0.73 [[ 5.89064058e-01 8.08086061e-01 -6.74058976e-04 1.64628270e+00] [ 8.08085499e-01 -5.89064443e-01 -9.52805468e-04 -1.81088304e+02] [-1.16701299e-03 1.65661709e-05 -9.99999319e-01 7.34140297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.367628 meters 0.013137896260934546 Centerline is valid? [True, True] Translation: X:1.65, Y:-181.10, Z:0.73 [[ 5.20257274e-01 8.54008668e-01 -1.25079184e-03 1.65028075e+00] [ 8.54006081e-01 -5.20258777e-01 -2.10184857e-03 -1.81095508e+02] [-2.44573233e-03 2.53181718e-05 -9.99997009e-01 7.32831256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.39762800000005 meters 0.01278224187278162 Centerline is valid? [True, True] Translation: X:1.65, Y:-181.10, Z:0.73 [[ 4.49766002e-01 8.93145956e-01 -9.18458322e-04 1.65219697e+00] [ 8.93144018e-01 -4.49766940e-01 -1.86086881e-03 -1.81102196e+02] [-2.07511964e-03 1.66399700e-05 -9.99997847e-01 7.32840442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.427628 meters 0.012385953382731097 Centerline is valid? [True, True] Translation: X:1.66, Y:-181.11, Z:0.73 [[ 3.76406824e-01 9.26454149e-01 -7.82409590e-04 1.65858549e+00] [ 9.26452079e-01 -3.76407637e-01 -1.95847875e-03 -1.81108584e+02] [-2.10894571e-03 1.23197758e-05 -9.99997776e-01 7.33013987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.457628 meters 0.012195463587550028 Centerline is valid? [True, True] Translation: X:1.66, Y:-181.12, Z:0.73 [[ 3.00424785e-01 9.53805081e-01 -9.03248934e-04 1.66293528e+00] [ 9.53800659e-01 -3.00426143e-01 -2.90448670e-03 -1.81115031e+02] [-3.04167377e-03 1.10603656e-05 -9.99995374e-01 7.33417356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48762800000003 meters 0.0157289080946084 Centerline is valid? [True, True] Translation: X:1.67, Y:-181.12, Z:0.74 [[ 2.20200423e-01 9.75454007e-01 -1.11961485e-03 1.67475919e+00] [ 9.75441504e-01 -2.20203269e-01 -4.93887730e-03 -1.81121560e+02] [-5.06419050e-03 -4.57592371e-06 -9.99987177e-01 7.37164831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.517628 meters 0.012164120700228284 Centerline is valid? [True, True] Translation: X:1.68, Y:-181.13, Z:0.73 [[ 1.40826099e-01 9.90034070e-01 -7.42218230e-04 1.68495484e+00] [ 9.90020938e-01 -1.40828054e-01 -5.09919494e-03 -1.81127169e+02] [-5.15290186e-03 -1.67118580e-05 -9.99986724e-01 7.34495983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54762800000003 meters 0.012263542112460049 Centerline is valid? [True, True] Translation: X:1.69, Y:-181.13, Z:0.73 [[ 6.08048436e-02 9.98149613e-01 -3.48643209e-04 1.69444911e+00] [ 9.98135728e-01 -6.08058367e-02 -5.26491375e-03 -1.81131134e+02] [-5.27637116e-03 -2.78609859e-05 -9.99986080e-01 7.34413919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.577628 meters 0.01250198262611084 Centerline is valid? [True, True] Translation: X:1.70, Y:-181.14, Z:0.73 [[-1.93986060e-02 9.99811827e-01 6.33115734e-05 1.70253564e+00] [ 9.99798606e-01 1.93986751e-02 -5.14180933e-03 -1.81135995e+02] [-5.14206994e-03 -3.64451106e-05 -9.99986779e-01 7.34501765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60762800000003 meters 0.012602417829887769 Centerline is valid? [True, True] Translation: X:1.71, Y:-181.14, Z:0.73 [[-9.93937390e-02 9.95048110e-01 3.79827685e-04 1.71086321e+00] [ 9.95039343e-01 9.93944578e-02 -4.17709400e-03 -1.81139120e+02] [-4.19416226e-03 -3.72335008e-05 -9.99991204e-01 7.33533112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.637628 meters 0.012729749900400843 Centerline is valid? [True, True] Translation: X:1.72, Y:-181.14, Z:0.73 [[-1.77275926e-01 9.84160988e-01 6.29380517e-04 1.72006943e+00] [ 9.84154082e-01 1.77277040e-01 -3.68700537e-03 -1.81142823e+02] [-3.74018156e-03 -3.42098847e-05 -9.99993005e-01 7.33387440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66762800000004 meters 0.012766404339320865 Centerline is valid? [True, True] Translation: X:1.73, Y:-181.14, Z:0.73 [[-2.53604360e-01 9.67307678e-01 8.28136569e-04 1.72908157e+00] [ 9.67302125e-01 2.53605710e-01 -3.27771954e-03 -1.81144340e+02] [-3.38058344e-03 -3.01857033e-05 -9.99994285e-01 7.33324651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.697628 meters 0.01250932101854396 Centerline is valid? [True, True] Translation: X:1.74, Y:-181.15, Z:0.73 [[-3.26969374e-01 9.45034770e-01 5.59136914e-04 1.73729083e+00] [ 9.45033319e-01 3.26969851e-01 -1.65611422e-03 -1.81147327e+02] [-1.74790643e-03 -1.30956148e-05 -9.99998472e-01 7.32350422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72762800000004 meters 0.012618292208689498 Centerline is valid? [True, True] Translation: X:1.75, Y:-181.15, Z:0.73 [[-3.99479266e-01 9.16742093e-01 5.01070133e-04 1.74647922e+00] [ 9.16741343e-01 3.99479581e-01 -1.17279154e-03 -1.81147928e+02] [-1.27531466e-03 -9.15419784e-06 -9.99999187e-01 7.31809437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.757628 meters 0.012532931801196844 Centerline is valid? [True, True] Translation: X:1.76, Y:-181.15, Z:0.73 [[-4.69519213e-01 8.82921975e-01 7.04139183e-04 1.75601245e+00] [ 8.82920950e-01 4.69519741e-01 -1.34481916e-03 -1.81147432e+02] [-1.51797763e-03 -9.71919524e-06 -9.99998848e-01 7.31919653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78762800000004 meters 0.012470831681762013 Centerline is valid? [True, True] Translation: X:1.77, Y:-181.15, Z:0.73 [[-5.36718891e-01 8.43759931e-01 1.41820334e-03 1.76580335e+00] [ 8.43756913e-01 5.36720765e-01 -2.25677102e-03 -1.81146412e+02] [-2.66535214e-03 -1.46327719e-05 -9.99996448e-01 7.32571751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.817628 meters 0.012401651628444255 Centerline is valid? [True, True] Translation: X:1.78, Y:-181.14, Z:0.73 [[-5.99862623e-01 8.00098105e-01 2.80284636e-03 1.77707104e+00] [ 8.00089235e-01 5.99869170e-01 -3.76754127e-03 -1.81142687e+02] [-4.69574375e-03 -1.74799830e-05 -9.99988975e-01 7.33471664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84762800000004 meters 0.012331287301971264 Centerline is valid? [True, True] Translation: X:1.79, Y:-181.14, Z:0.73 [[-6.59898837e-01 7.51346474e-01 3.46436669e-03 1.78758064e+00] [ 7.51336009e-01 6.59907930e-01 -3.96547766e-03 -1.81139667e+02] [-5.26561071e-03 -1.39106542e-05 -9.99986137e-01 7.34099123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.877628 meters 0.012379433803893947 Centerline is valid? [True, True] Translation: X:1.80, Y:-181.14, Z:0.73 [[-7.15562861e-01 6.98536958e-01 3.98871406e-03 1.79618216e+00] [ 6.98526065e-01 7.15573978e-01 -3.90102327e-03 -1.81137066e+02] [-5.57922892e-03 -5.20663586e-06 -9.99984436e-01 7.34818172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90762800000005 meters 0.012340611648192917 Centerline is valid? [True, True] Translation: X:1.81, Y:-181.12, Z:0.74 [[-7.61739726e-01 6.47865498e-01 4.78403307e-03 1.81478678e+00] [ 6.47852791e-01 7.61754748e-01 -4.05774237e-03 -1.81117162e+02] [-6.27313119e-03 8.40560873e-06 -9.99980324e-01 7.35686500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.937628 meters 0.012864542269231236 Centerline is valid? [True, True] Translation: X:1.84, Y:-181.10, Z:0.74 [[-8.01973911e-01 5.97334351e-01 5.43320471e-03 1.83903404e+00] [ 5.97321074e-01 8.01992313e-01 -3.98292854e-03 -1.81104245e+02] [-6.73652845e-03 5.11628971e-05 -9.99977308e-01 7.36643831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96762800000005 meters 0.015863409431592267 Centerline is valid? [True, True] Translation: X:1.86, Y:-181.09, Z:0.74 [[-8.40301257e-01 5.42088024e-01 5.86273532e-03 1.85920886e+00] [ 5.42075470e-01 8.40321705e-01 -3.69011431e-03 -1.81087606e+02] [-6.92695051e-03 7.72373109e-05 -9.99976005e-01 7.40387663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.997628 meters 0.017726629274185106 Centerline is valid? [True, True] Translation: X:1.88, Y:-181.07, Z:0.74 [[-8.73543910e-01 4.86704097e-01 6.33708406e-03 1.87838259e+00] [ 4.86692327e-01 8.73566887e-01 -3.38720444e-03 -1.81071301e+02] [-7.18443307e-03 1.25338375e-04 -9.99974184e-01 7.40380871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02762800000005 meters 0.0153627371275817 Centerline is valid? [True, True] Translation: X:1.89, Y:-181.05, Z:0.74 [[-9.04765688e-01 4.25859696e-01 6.52453073e-03 1.89444356e+00] [ 4.25849749e-01 9.04789201e-01 -2.91415169e-03 -1.81049777e+02] [-7.14434470e-03 1.41845318e-04 -9.99974469e-01 7.36672580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.057628 meters 0.0156803137215875 Centerline is valid? [True, True] Translation: X:2.21, Y:-180.36, Z:-0.25 [[-8.93513620e-01 -4.48994774e-01 6.09130192e-03 2.21208363e+00] [ 4.48983176e-01 -8.93534370e-01 -3.23075565e-03 -1.80358685e+02] [ 6.89338002e-03 -1.51832097e-04 9.99976229e-01 -2.48755597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.08762800000005 meters 0.015780207675903768 Centerline is valid? [True, True] Translation: X:1.85, Y:-181.03, Z:0.74 [[-9.05259392e-01 4.24817611e-01 5.95234578e-03 1.85422291e+00] [ 4.24809479e-01 9.05278950e-01 -2.63245735e-03 -1.81031888e+02] [-6.50684758e-03 1.45556175e-04 -9.99978820e-01 7.35873154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.117628 meters 0.015526640278867434 Centerline is valid? [True, True] Translation: X:2.17, Y:-180.34, Z:-0.25 [[-8.94781575e-01 -4.46472754e-01 5.29273417e-03 2.16663487e+00] [ 4.46463837e-01 -8.94797213e-01 -2.82667524e-03 -1.80343020e+02] [ 5.99795726e-03 -1.66242514e-04 9.99981998e-01 -2.48742747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.14762800000005 meters 0.015106227503006333 Centerline is valid? [True, True] Translation: X:1.81, Y:-181.01, Z:0.74 [[-9.08588858e-01 4.17655555e-01 5.48860342e-03 1.81248625e+00] [ 4.17648657e-01 9.08605429e-01 -2.40287213e-03 -1.81010705e+02] [-5.99054776e-03 1.09085003e-04 -9.99982051e-01 7.35570715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.177628 meters 0.014451774433366843 Centerline is valid? [True, True] Translation: X:1.82, Y:-180.98, Z:0.74 [[-9.36863360e-01 3.49653445e-01 5.43266343e-03 1.81916757e+00] [ 3.49648115e-01 9.36879107e-01 -1.93255803e-03 -1.80981881e+02] [-5.76547443e-03 8.89777174e-05 -9.99983376e-01 7.35365836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.207628 meters 0.01481195552124624 Centerline is valid? [True, True] Translation: X:2.08, Y:-180.28, Z:-0.25 [[-9.22644072e-01 -3.85623043e-01 4.77329478e-03 2.07941284e+00] [ 3.85617231e-01 -9.22656412e-01 -2.12034676e-03 -1.80281103e+02] [ 5.22176561e-03 -1.15660652e-04 9.99986360e-01 -2.49254935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23762800000003 meters 0.013067976052835438 Centerline is valid? [True, True] Translation: X:1.78, Y:-180.96, Z:0.74 [[-9.40735910e-01 3.39090036e-01 5.82192700e-03 1.77712173e+00] [ 3.39083867e-01 9.40753924e-01 -2.04596229e-03 -1.80963768e+02] [-6.17076610e-03 4.94113244e-05 -9.99980959e-01 7.36315006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.267628 meters 0.013548068307708485 Centerline is valid? [True, True] Translation: X:1.78, Y:-180.93, Z:0.74 [[-9.62854747e-01 2.69939398e-01 6.59222195e-03 1.78086228e+00] [ 2.69933377e-01 9.62877313e-01 -1.80349641e-03 -1.80934706e+02] [-6.83433570e-03 4.29556520e-05 -9.99976645e-01 7.36995913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29762800000003 meters 0.014636922463043057 Centerline is valid? [True, True] Translation: X:1.79, Y:-180.91, Z:0.74 [[-9.79833424e-01 1.99679334e-01 7.39080909e-03 1.78831450e+00] [ 1.99673942e-01 9.79861297e-01 -1.46788482e-03 -1.80909089e+02] [-7.53507405e-03 3.74693771e-05 -9.99971610e-01 7.39051168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.327628 meters 0.012405291721055235 Centerline is valid? [True, True] Translation: X:1.79, Y:-180.88, Z:0.73 [[-9.91877175e-01 1.26982145e-01 7.42995136e-03 1.79207120e+00] [ 1.26978714e-01 9.91905003e-01 -9.33701356e-04 -1.80880998e+02] [-7.48836932e-03 1.73286023e-05 -9.99971962e-01 7.34901913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35762800000003 meters 0.012343872497473913 Centerline is valid? [True, True] Translation: X:1.79, Y:-180.85, Z:0.73 [[-9.98463346e-01 5.50686876e-02 6.19575287e-03 1.79451320e+00] [ 5.50676734e-02 9.98482569e-01 -3.34292301e-04 -1.80853685e+02] [-6.20476027e-03 7.40708628e-06 -9.99980750e-01 7.33463596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.387628 meters 0.014284649708909938 Centerline is valid? [True, True] Translation: X:1.84, Y:-180.12, Z:-0.25 [[-9.92728260e-01 -1.20291938e-01 4.52233898e-03 1.84246110e+00] [ 1.20290170e-01 -9.92738554e-01 -6.61940300e-04 -1.80115649e+02] [ 4.56912634e-03 -1.13133917e-04 9.99989555e-01 -2.46646641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41762800000004 meters 0.012295879384418278 Centerline is valid? [True, True] Translation: X:1.73, Y:-180.85, Z:0.73 [[-9.98813807e-01 4.86430682e-02 2.19773229e-03 1.73106563e+00] [ 4.86429482e-02 9.98816225e-01 -1.08060979e-04 -1.80849112e+02] [-2.20038709e-03 -1.02861956e-06 -9.99997579e-01 7.29492624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.447628 meters 0.012377564872732071 Centerline is valid? [True, True] Translation: X:1.73, Y:-180.82, Z:0.73 [[-9.99727937e-01 -2.32946573e-02 -1.18744389e-03 1.72954986e+00] [-2.32946427e-02 9.99728643e-01 -2.60878887e-05 -1.80820586e+02] [ 1.18772937e-03 1.58028995e-06 -9.99999295e-01 7.27260586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47762800000004 meters 0.012408259353597111 Centerline is valid? [True, True] Translation: X:1.73, Y:-180.79, Z:0.73 [[-9.95568690e-01 -9.40257969e-02 -1.46054873e-03 1.72501858e+00] [-9.40256977e-02 9.95569761e-01 -1.36601154e-04 -1.80793368e+02] [ 1.46692218e-03 1.33328156e-06 -9.99998924e-01 7.27105651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.507628 meters 0.01238303034541218 Centerline is valid? [True, True] Translation: X:1.72, Y:-180.77, Z:0.73 [[-9.86423840e-01 -1.64214784e-01 -1.23021092e-03 1.71624119e+00] [-1.64214656e-01 9.86424607e-01 -2.04438305e-04 -1.80767190e+02] [ 1.24708212e-03 3.55845669e-07 -9.99999222e-01 7.27237284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53762800000004 meters 0.012499152235383604 Centerline is valid? [True, True] Translation: X:1.69, Y:-180.75, Z:0.73 [[-9.72590344e-01 -2.32521219e-01 -1.38009861e-03 1.69196456e+00] [-2.32520981e-01 9.72591324e-01 -3.32688457e-04 -1.80746309e+02] [ 1.41962906e-03 -2.66769723e-06 -9.99998992e-01 7.27206645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.567628 meters 0.012550046832327258 Centerline is valid? [True, True] Translation: X:1.65, Y:-180.73, Z:0.73 [[-9.53459436e-01 -3.01518766e-01 -1.23978187e-03 1.65119401e+00] [-3.01518505e-01 9.53460242e-01 -3.96540930e-04 -1.80729731e+02] [ 1.30164725e-03 -4.26851612e-06 -9.99999153e-01 7.27508225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59762800000004 meters 0.012629070666180877 Centerline is valid? [True, True] Translation: X:1.59, Y:-180.72, Z:0.73 [[-9.29118408e-01 -3.69781437e-01 -8.20024411e-04 1.58724647e+00] [-3.69781289e-01 9.29118770e-01 -3.30583144e-04 -1.80723926e+02] [ 8.84143582e-04 -3.92120023e-06 -9.99999609e-01 7.27951803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.627628 meters 0.01275056579346646 Centerline is valid? [True, True] Translation: X:1.52, Y:-180.72, Z:0.73 [[-8.99662045e-01 -4.36586871e-01 -3.28228517e-04 1.52137097e+00] [-4.36586842e-01 8.99662105e-01 -1.61548665e-04 -1.80723511e+02] [ 3.65824784e-04 -2.03895116e-06 -9.99999933e-01 7.28448464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65762800000005 meters 0.01288626853465246 Centerline is valid? [True, True] Translation: X:1.45, Y:-180.73, Z:0.73 [[-8.65455172e-01 -5.00982019e-01 2.08855068e-03 1.44500530e+00] [-5.00980509e-01 8.65457692e-01 1.22983735e-03 -1.80732714e+02] [-2.42367864e-03 1.80459135e-05 -9.99997063e-01 7.31467318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.687628 meters 0.016541042913862145 Centerline is valid? [True, True] Translation: X:1.36, Y:-180.75, Z:0.74 [[-8.25829647e-01 -5.63906890e-01 3.79651671e-03 1.36003129e+00] [-5.63900722e-01 8.25838373e-01 2.63790031e-03 -1.80754197e+02] [-4.62283934e-03 3.75977662e-05 -9.99989314e-01 7.36710025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71762800000005 meters 0.013028518467078344 Centerline is valid? [True, True] Translation: X:1.27, Y:-180.78, Z:0.73 [[-7.80693068e-01 -6.24901652e-01 4.03227621e-03 1.27439581e+00] [-6.24893049e-01 7.80703480e-01 3.27927094e-03 -1.80783868e+02] [-5.19723390e-03 4.03627167e-05 -9.99986494e-01 7.34119849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.747628 meters 0.013009044949787732 Centerline is valid? [True, True] Translation: X:1.18, Y:-180.83, Z:0.73 [[-7.30953028e-01 -6.82418067e-01 3.64041142e-03 1.18276511e+00] [-6.82409348e-01 7.30962092e-01 3.44994831e-03 -1.80825950e+02] [-5.01530981e-03 3.74993790e-05 -9.99987423e-01 7.34768672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77762800000005 meters 0.012975041530717315 Centerline is valid? [True, True] Translation: X:1.10, Y:-180.87, Z:0.73 [[-6.76399907e-01 -7.36526911e-01 3.35788266e-03 1.09569597e+00] [-7.36517590e-01 6.76408241e-01 3.70568910e-03 -1.80874105e+02] [-5.00063925e-03 3.33881128e-05 -9.99987496e-01 7.34902723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.807628 meters 0.01278606537938462 Centerline is valid? [True, True] Translation: X:1.01, Y:-180.93, Z:0.73 [[-6.17243764e-01 -7.86765721e-01 3.13625788e-03 1.00877397e+00] [-7.86755339e-01 6.17251731e-01 4.04196783e-03 -1.80932500e+02] [-5.11594234e-03 2.74118000e-05 -9.99986913e-01 7.34324141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.83762800000005 meters 0.015857378741005193 Centerline is valid? [True, True] Translation: X:0.92, Y:-181.01, Z:0.74 [[-5.53506677e-01 -8.32839145e-01 3.05244037e-03 9.19987790e-01] [-8.32826309e-01 5.53515093e-01 4.62392283e-03 -1.81006900e+02] [-5.54055575e-03 1.72195098e-05 -9.99984651e-01 7.36596389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.867628 meters 0.015386199052089966 Centerline is valid? [True, True] Translation: X:0.84, Y:-181.08, Z:0.74 [[-4.86784201e-01 -8.73518587e-01 2.53361253e-03 8.41110406e-01] [-8.73506665e-01 4.86790795e-01 4.56390175e-03 -1.81081806e+02] [-5.21999226e-03 8.50783987e-06 -9.99986376e-01 7.35409347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.89762800000005 meters 0.012555470560314653 Centerline is valid? [True, True] Translation: X:0.77, Y:-181.17, Z:0.73 [[-4.16749545e-01 -9.09019385e-01 1.89067549e-03 7.65872161e-01] [-9.09010036e-01 4.16753834e-01 4.12270480e-03 -1.81165976e+02] [-4.53556484e-03 -5.07642726e-07 -9.99989714e-01 7.32364829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.927628 meters 0.012674031714106075 Centerline is valid? [True, True] Translation: X:0.69, Y:-181.26, Z:0.73 [[-3.43535644e-01 -9.39137978e-01 1.76642576e-03 6.93362342e-01] [-9.39125751e-01 3.43540185e-01 4.79208377e-03 -1.81259774e+02] [-5.10726610e-03 -1.26443371e-05 -9.99986958e-01 7.33826976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.957628 meters 0.012713340705172504 Centerline is valid? [True, True] Translation: X:0.63, Y:-181.36, Z:0.73 [[-2.68914593e-01 -9.63163046e-01 1.37403913e-03 6.30572206e-01] [-9.63150846e-01 2.68918103e-01 4.84787176e-03 -1.81357979e+02] [-5.03879493e-03 -1.97434864e-05 -9.99987305e-01 7.34380754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98762800000003 meters 0.012709257732965237 Centerline is valid? [True, True] Translation: X:0.58, Y:-181.47, Z:0.74 [[-1.92953616e-01 -9.81207358e-01 1.01139208e-03 5.75111822e-01] [-9.81194565e-01 1.92956265e-01 5.01043271e-03 -1.81466313e+02] [-5.11142787e-03 -2.55912986e-05 -9.99986936e-01 7.35064084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.017628 meters 0.012703512782536452 Centerline is valid? [True, True] Translation: X:0.53, Y:-181.58, Z:0.74 [[-1.16195806e-01 -9.93226076e-01 7.05148896e-04 5.29796697e-01] [-9.93209448e-01 1.16197941e-01 5.74721479e-03 -1.81578999e+02] [-5.79022044e-03 -3.25582911e-05 -9.99983236e-01 7.36165623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04762800000003 meters 0.01269423013713296 Centerline is valid? [True, True] Translation: X:0.49, Y:-181.69, Z:0.74 [[-3.98751517e-02 -9.99204635e-01 2.63601148e-04 4.94198990e-01] [-9.99187438e-01 3.98760119e-02 5.86242635e-03 -1.81688125e+02] [-5.86827495e-03 -2.96218155e-05 -9.99982781e-01 7.36118509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.077628 meters 0.012608285496636598 Centerline is valid? [True, True] Translation: X:0.47, Y:-181.81, Z:0.74 [[ 3.65103084e-02 -9.99333261e-01 -1.77478677e-04 4.67218196e-01] [-9.99318123e-01 -3.65107322e-02 5.50050222e-03 -1.81807202e+02] [-5.50331470e-03 -2.34673742e-05 -9.99984856e-01 7.36312570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10762800000003 meters 0.012542813960391141 Centerline is valid? [True, True] Translation: X:0.45, Y:-181.92, Z:0.74 [[ 1.12515218e-01 -9.93649848e-01 -5.51907455e-04 4.49684468e-01] [-9.93637162e-01 -1.12516570e-01 5.02110504e-03 -1.81923858e+02] [-5.05131900e-03 -1.65549719e-05 -9.99987242e-01 7.35599383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.137628 meters 0.012462003209415455 Centerline is valid? [True, True] Translation: X:0.44, Y:-182.04, Z:0.73 [[ 1.86529836e-01 -9.82449038e-01 -7.12624977e-04 4.43987482e-01] [-9.82441798e-01 -1.86531197e-01 3.77183516e-03 -1.82041925e+02] [-3.83856262e-03 -3.44723171e-06 -9.99992633e-01 7.34167633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16762800000004 meters 0.012475967400462992 Centerline is valid? [True, True] Translation: X:0.45, Y:-182.17, Z:0.73 [[ 2.60963435e-01 -9.65348189e-01 -9.79703046e-04 4.45513206e-01] [-9.65341381e-01 -2.60965274e-01 3.62532160e-03 -1.82165133e+02] [-3.75536612e-03 -3.28488484e-07 -9.99992949e-01 7.32973225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.197628 meters 0.012475967400462992 Centerline is valid? [True, True] Translation: X:0.45, Y:-182.28, Z:0.73 [[ 3.34638078e-01 -9.42345891e-01 -1.25638830e-03 4.53676027e-01] [-9.42339246e-01 -3.34640437e-01 3.53896557e-03 -1.82284121e+02] [-3.75536799e-03 -3.28634025e-07 -9.99992949e-01 7.32973318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22762800000004 meters 0.012427547598756639 Centerline is valid? [True, True] Translation: X:0.47, Y:-182.40, Z:0.73 [[ 4.05858343e-01 -9.13934491e-01 -1.65860584e-03 4.70802770e-01] [-9.13926874e-01 -4.05861732e-01 3.73143143e-03 -1.82400515e+02] [-4.08344853e-03 1.41187356e-06 -9.99991663e-01 7.33622416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.257628 meters 0.012405819310639105 Centerline is valid? [True, True] Translation: X:-0.17, Y:-182.80, Z:-0.25 [[ 3.43941051e-01 9.38989266e-01 -1.92636157e-03 -1.66602017e-01] [-9.38975896e-01 3.43946435e-01 5.01157517e-03 -1.82798243e+02] [ 5.36838048e-03 8.51206516e-05 9.99985587e-01 -2.48102456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28762800000004 meters 0.012453556257597923 Centerline is valid? [True, True] Translation: X:0.58, Y:-182.65, Z:0.74 [[ 4.13692563e-01 -9.10413036e-01 -2.56267043e-03 5.80858788e-01] [-9.10395674e-01 -4.13700500e-01 5.62251267e-03 -1.82653436e+02] [-6.17898687e-03 7.05239630e-06 -9.99980910e-01 7.36443574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.317628 meters 0.012373059893071177 Centerline is valid? [True, True] Translation: X:0.61, Y:-182.77, Z:0.74 [[ 4.81868371e-01 -8.76236866e-01 -3.43905279e-03 6.08844685e-01] [-8.76214751e-01 -4.81880643e-01 6.22539470e-03 -1.82767705e+02] [-7.11213331e-03 1.35279772e-05 -9.99974708e-01 7.36769369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34762800000004 meters 0.012535636445992615 Centerline is valid? [True, True] Translation: X:0.64, Y:-182.88, Z:0.74 [[ 5.46945644e-01 -8.37157535e-01 -4.21003302e-03 6.44714504e-01] [-8.37133052e-01 -5.46961847e-01 6.40243754e-03 -1.82877228e+02] [-7.66257627e-03 2.25724660e-05 -9.99970642e-01 7.37779839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.377628 meters 0.012755101818115464 Centerline is valid? [True, True] Translation: X:0.69, Y:-182.98, Z:0.74 [[ 6.07573440e-01 -7.94245777e-01 -5.30672584e-03 6.88174546e-01] [-7.94216170e-01 -6.07596613e-01 6.85794747e-03 -1.82980069e+02] [-8.67124446e-03 4.79807399e-05 -9.99962403e-01 7.38827174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40762800000005 meters 0.012729762732458834 Centerline is valid? [True, True] Translation: X:0.74, Y:-183.08, Z:0.74 [[ 6.66034726e-01 -7.45894480e-01 -6.25851188e-03 7.36732218e-01] [-7.45862382e-01 -6.66064127e-01 6.91992474e-03 -1.83079489e+02] [-9.33010392e-03 5.90783997e-05 -9.99956472e-01 7.38097359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.437628 meters 0.01291627291267052 Centerline is valid? [True, True] Translation: X:0.79, Y:-183.17, Z:0.74 [[ 7.20735573e-01 -6.93181791e-01 -6.26407523e-03 7.90511074e-01] [-6.93156321e-01 -7.20762791e-01 5.94251910e-03 -1.83172423e+02] [-8.63415837e-03 5.89984307e-05 -9.99962723e-01 7.37433513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46762800000005 meters 0.012967841115335983 Centerline is valid? [True, True] Translation: X:0.79, Y:-183.18, Z:0.73 [[ 7.72873715e-01 -6.34542385e-01 -4.70980002e-03 7.85896278e-01] [-6.34530916e-01 -7.72888064e-01 3.81529600e-03 -1.83177820e+02] [-6.06111524e-03 3.97717298e-05 -9.99981631e-01 7.34883175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.497628 meters 0.01273950931662664 Centerline is valid? [True, True] Translation: X:0.78, Y:-183.19, Z:0.73 [[ 8.20492608e-01 -5.71645464e-01 -3.65287189e-03 7.81877859e-01] [-5.71639940e-01 -8.20500739e-01 2.51320604e-03 -1.83185317e+02] [-4.43384692e-03 2.60604929e-05 -9.99990170e-01 7.33129832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52762800000005 meters 0.012763157113856054 Centerline is valid? [True, True] Translation: X:0.78, Y:-183.19, Z:0.73 [[ 8.62911040e-01 -5.05350795e-01 -2.26049830e-03 7.78503926e-01] [-5.05349104e-01 -8.62914001e-01 1.30758717e-03 -1.83191916e+02] [-2.61140585e-03 1.40093850e-05 -9.99996590e-01 7.31463676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.557628 meters 0.012706360339262389 Centerline is valid? [True, True] Translation: X:0.78, Y:-183.20, Z:0.73 [[ 9.00283989e-01 -4.35302070e-01 -9.20451387e-04 7.75055137e-01] [-4.35301847e-01 -9.00284460e-01 4.40602499e-04 -1.83201028e+02] [-1.02046326e-03 4.00681344e-06 -9.99999479e-01 7.28602120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.58762800000005 meters 0.012574521847206437 Centerline is valid? [True, True] Translation: X:0.77, Y:-183.21, Z:0.73 [[ 9.31957499e-01 -3.62566717e-01 -7.71494497e-04 7.71763109e-01] [-3.62566595e-01 -9.31957818e-01 2.97741978e-04 -1.83208660e+02] [-8.26951660e-04 2.23526412e-06 -9.99999658e-01 7.28450024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.617628 meters 0.012568710764232443 Centerline is valid? [True, True] Translation: X:0.77, Y:-183.22, Z:0.73 [[ 9.57819175e-01 -2.87369490e-01 -1.09721491e-03 7.70154622e-01] [-2.87369304e-01 -9.57819804e-01 3.27382460e-04 -1.83217321e+02] [-1.14501390e-03 1.73268817e-06 -9.99999345e-01 7.28948683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.64762800000005 meters 0.012555730930145208 Centerline is valid? [True, True] Translation: X:0.77, Y:-183.23, Z:0.73 [[ 9.77576606e-01 -2.10570614e-01 -1.99888633e-03 7.69174588e-01] [-2.10570176e-01 -9.77578650e-01 4.29248426e-04 -1.83225656e+02] [-2.04445571e-03 1.28262806e-06 -9.99997910e-01 7.30205063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.677628 meters 0.012503844183242786 Centerline is valid? [True, True] Translation: X:0.77, Y:-183.24, Z:0.73 [[ 9.91352075e-01 -1.31165903e-01 -4.07065801e-03 7.65374259e-01] [-1.31164771e-01 -9.91360432e-01 5.44954195e-04 -1.83237402e+02] [-4.10696870e-03 -6.31454613e-06 -9.99991566e-01 7.33594805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.707628 meters 0.012559673472068279 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.25, Z:0.74 [[ 9.98627622e-01 -5.21075890e-02 -5.26046949e-03 7.61232414e-01] [-5.21067945e-02 -9.98641477e-01 2.88074718e-04 -1.83246615e+02] [-5.26833390e-03 -1.35731678e-05 -9.99986122e-01 7.35358711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73762800000003 meters 0.012592263570026624 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.26, Z:0.74 [[ 9.99622216e-01 2.68648565e-02 -5.80554439e-03 7.59256959e-01] [ 2.68645113e-02 -9.99639074e-01 -1.37441090e-04 -1.83255717e+02] [-5.80714135e-03 -1.85739458e-05 -9.99983138e-01 7.35798702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.767628 meters 0.012474166275513456 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.26, Z:0.74 [[ 9.94429280e-01 1.05254188e-01 -5.65350361e-03 7.58039139e-01] [ 1.05252597e-01 -9.94445351e-01 -5.79095166e-04 -1.83264986e+02] [-5.68305257e-03 -1.91767477e-05 -9.99983851e-01 7.36363250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79762800000003 meters 0.012481317611459852 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.27, Z:0.74 [[ 9.83221821e-01 1.82293087e-01 -6.63931723e-03 7.56371155e-01] [ 1.82289064e-01 -9.83244237e-01 -1.21121327e-03 -1.83274181e+02] [-6.74886622e-03 -1.93836066e-05 -9.99977226e-01 7.38281130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.827628 meters 0.01241307965995244 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.28, Z:0.74 [[ 9.65978457e-01 2.58506825e-01 -7.73570507e-03 7.56387171e-01] [ 2.58498711e-01 -9.66009431e-01 -2.04834692e-03 -1.83282940e+02] [-8.00227571e-03 -2.10107864e-05 -9.99967981e-01 7.38185179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85762800000003 meters 0.01244885028392243 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.29, Z:0.74 [[ 9.42929785e-01 3.32874934e-01 -8.81467235e-03 7.55818471e-01] [ 3.32860588e-01 -9.42970985e-01 -3.09043891e-03 -1.83291121e+02] [-9.34070991e-03 -1.99901295e-05 -9.99956374e-01 7.38898091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.887628 meters 0.012368190650960665 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.30, Z:0.74 [[ 9.14101647e-01 4.05398388e-01 -8.38600817e-03 7.56387646e-01] [ 4.05381499e-01 -9.14140113e-01 -3.70056262e-03 -1.83298492e+02] [-9.16618858e-03 -1.68421698e-05 -9.99957990e-01 7.38786387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91762800000004 meters 0.012358455420089932 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.31, Z:0.74 [[ 8.79816335e-01 4.75254019e-01 -7.53887719e-03 7.56904348e-01] [ 4.75236681e-01 -8.79848633e-01 -4.05959319e-03 -1.83305609e+02] [-8.56240877e-03 -1.10545781e-05 -9.99963342e-01 7.38542773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.947628 meters 0.012308985539931136 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.31, Z:0.74 [[ 8.41511406e-01 5.40208279e-01 -5.79388038e-03 7.58664446e-01] [ 5.40195384e-01 -8.41531351e-01 -3.73263358e-03 -1.83311832e+02] [-6.89213155e-03 1.12262892e-05 -9.99976249e-01 7.36399961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97762800000004 meters 0.012351425435876862 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.32, Z:0.74 [[ 7.97788183e-01 6.02917980e-01 -4.89125914e-03 7.60030014e-01] [ 6.02906482e-01 -7.97803177e-01 -3.72367819e-03 -1.83319733e+02] [-6.14733461e-03 2.17346196e-05 -9.99981105e-01 7.36069387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.007628 meters 0.012514546179175549 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.33, Z:0.74 [[ 7.49360965e-01 6.62147094e-01 -4.40107163e-03 7.60015402e-01] [ 6.62135427e-01 -7.49373889e-01 -3.93080495e-03 -1.83326049e+02] [-5.90081923e-03 3.14863472e-05 -9.99982590e-01 7.35868062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03762800000004 meters 0.014477687606434152 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.33, Z:0.74 [[ 6.96615060e-01 7.17433199e-01 -4.13074870e-03 7.61158615e-01] [ 7.17420212e-01 -6.96627306e-01 -4.31701062e-03 -1.83332171e+02] [-5.97475908e-03 4.38120068e-05 -9.99982150e-01 7.37831480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.067628 meters 0.012796398067868493 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.34, Z:0.73 [[ 6.39971525e-01 7.68393198e-01 -2.88804492e-03 7.63258253e-01] [ 7.68385067e-01 -6.39978040e-01 -3.53518522e-03 -1.83338502e+02] [-4.56469760e-03 4.32872851e-05 -9.99989581e-01 7.34892358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09762800000004 meters 0.013308317356472657 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.35, Z:0.73 [[ 5.78627580e-01 8.15588246e-01 -2.43651636e-03 7.64566320e-01] [ 8.15580687e-01 -5.78632708e-01 -3.51165917e-03 -1.83345664e+02] [-4.27391601e-03 4.47671630e-05 -9.99990866e-01 7.34968814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.127628 meters 0.013369244328582471 Centerline is valid? [True, True] Translation: X:0.76, Y:-183.35, Z:0.73 [[ 5.13105969e-01 8.58322304e-01 -2.25559273e-03 7.64889983e-01] [ 8.58313601e-01 -5.13110924e-01 -3.86551188e-03 -1.83350735e+02] [-4.47522433e-03 4.74113039e-05 -9.99989985e-01 7.34756710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15762800000005 meters 0.013484159263656205 Centerline is valid? [True, True] Translation: X:0.77, Y:-183.36, Z:0.74 [[ 4.44875693e-01 8.95591021e-01 -1.52980338e-03 7.66651483e-01] [ 8.95585419e-01 -4.44878322e-01 -3.16799983e-03 -1.83357078e+02] [-3.51780856e-03 3.92965151e-05 -9.99993812e-01 7.35330546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.187628 meters 0.013435310644826426 Centerline is valid? [True, True] Translation: X:0.77, Y:-183.36, Z:0.74 [[ 3.73001309e-01 9.27830296e-01 -9.82383695e-04 7.67330463e-01] [ 9.27826870e-01 -3.73002602e-01 -2.52159328e-03 -1.83362266e+02] [-2.70604231e-03 2.90756057e-05 -9.99996338e-01 7.35037825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21762800000005 meters 0.012757300700000125 Centerline is valid? [True, True] Translation: X:0.78, Y:-183.37, Z:0.73 [[ 2.97625960e-01 9.54682357e-01 -6.21015188e-04 7.76642084e-01] [ 9.54680140e-01 -2.97626607e-01 -2.05740376e-03 -1.83369107e+02] [-2.14899772e-03 1.94659032e-05 -9.99997691e-01 7.33471399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.247628 meters 0.012620643662638162 Centerline is valid? [True, True] Translation: X:0.78, Y:-183.38, Z:0.73 [[ 2.21016795e-01 9.75269936e-01 -3.59362406e-04 7.84436454e-01] [ 9.75268544e-01 -2.21017087e-01 -1.64728560e-03 -1.83375197e+02] [-1.68597336e-03 1.36029346e-05 -9.99998579e-01 7.33061683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27762800000005 meters 0.012485590256599384 Centerline is valid? [True, True] Translation: X:0.79, Y:-183.38, Z:0.73 [[ 1.43416891e-01 9.89662351e-01 -1.65554313e-04 7.91622677e-01] [ 9.89661616e-01 -1.43416986e-01 -1.20575625e-03 -1.83380456e+02] [-1.21703487e-03 9.08306447e-06 -9.99999259e-01 7.32154304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.307628 meters 0.012478825300571601 Centerline is valid? [True, True] Translation: X:0.80, Y:-183.39, Z:0.73 [[ 6.50375077e-02 9.97882819e-01 -3.45848087e-05 7.98116951e-01] [ 9.97882644e-01 -6.50375168e-02 -5.91743658e-04 -1.83386185e+02] [-5.92740140e-04 3.97395233e-06 -9.99999824e-01 7.31555848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.33762800000005 meters 0.012569088406766831 Centerline is valid? [True, True] Translation: X:0.80, Y:-183.39, Z:0.73 [[-1.37794029e-02 9.99905060e-01 6.86329676e-06 8.04025623e-01] [ 9.99904998e-01 1.37794045e-02 -3.50906868e-04 -1.83391848e+02] [-3.50968125e-04 2.02735760e-06 -9.99999938e-01 7.31118220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.367628 meters 0.01220880945235421 Centerline is valid? [True, True] Translation: X:0.82, Y:-183.40, Z:0.73 [[-9.37258179e-02 9.95598047e-01 2.64804985e-05 8.15374615e-01] [ 9.95598010e-01 9.37258216e-02 -2.70252476e-04 -1.83395514e+02] [-2.71544744e-04 1.03429728e-06 -9.99999963e-01 7.31708145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.39762800000005 meters 0.012126949618712033 Centerline is valid? [True, True] Translation: X:0.83, Y:-183.40, Z:0.73 [[-1.72789571e-01 9.84958754e-01 1.31298031e-04 8.26028988e-01] [ 9.84958480e-01 1.72789621e-01 -7.34233900e-04 -1.83397877e+02] [-7.45877044e-04 2.45514855e-06 -9.99999722e-01 7.31907846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.427628 meters 0.012020929892854484 Centerline is valid? [True, True] Translation: X:0.84, Y:-183.40, Z:0.73 [[-2.50481791e-01 9.68121228e-01 4.00829872e-04 8.35458085e-01] [ 9.68120013e-01 2.50482112e-01 -1.53367201e-03 -1.83400770e+02] [-1.58518114e-03 3.89451028e-06 -9.99998744e-01 7.32341800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.457628 meters 0.01192663845391338 Centerline is valid? [True, True] Translation: X:0.85, Y:-183.40, Z:0.73 [[-3.27101059e-01 9.44989006e-01 8.21991922e-04 8.47084807e-01] [ 9.44986040e-01 3.27102091e-01 -2.36760109e-03 -1.83401200e+02] [-2.50623228e-03 2.32606800e-06 -9.99996859e-01 7.34085855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48762800000003 meters 0.011848863052158293 Centerline is valid? [True, True] Translation: X:0.86, Y:-183.40, Z:0.74 [[-4.00268045e-01 9.16397401e-01 1.13812768e-03 8.57657981e-01] [ 9.16393713e-01 4.00269663e-01 -2.59986237e-03 -1.83402248e+02] [-2.83806510e-03 2.33121649e-06 -9.99995973e-01 7.35170853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.517628 meters 0.011687863213510992 Centerline is valid? [True, True] Translation: X:0.87, Y:-183.40, Z:0.74 [[-4.71015073e-01 8.82124273e-01 1.25248590e-03 8.68978756e-01] [ 8.82121163e-01 4.71016738e-01 -2.34248174e-03 -1.83400441e+02] [-2.65630183e-03 1.50011148e-06 -9.99996472e-01 7.35310065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54762800000003 meters 0.011664825333758759 Centerline is valid? [True, True] Translation: X:0.88, Y:-183.40, Z:0.74 [[-5.39022170e-01 8.42290024e-01 1.61760258e-03 8.78285587e-01] [ 8.42286234e-01 5.39024597e-01 -2.52675388e-03 -1.83399513e+02] [-3.00018716e-03 5.08030219e-07 -9.99995499e-01 7.35029244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.577628 meters 0.011692824739520753 Centerline is valid? [True, True] Translation: X:0.89, Y:-183.40, Z:0.73 [[-6.03740873e-01 7.97178646e-01 1.77893498e-03 8.87695012e-01] [ 7.97175181e-01 6.03743494e-01 -2.35044900e-03 -1.83396292e+02] [-2.94774817e-03 -9.39319317e-07 -9.99995655e-01 7.33732291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60762800000003 meters 0.011571891992823475 Centerline is valid? [True, True] Translation: X:0.90, Y:-183.39, Z:0.73 [[-6.64933956e-01 7.46901250e-01 1.16466003e-03 8.96991184e-01] [ 7.46900099e-01 6.64934976e-01 -1.31136001e-03 -1.83392221e+02] [-1.75387962e-03 -2.08310768e-06 -9.99998462e-01 7.31842855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.637628 meters 0.011615374820119343 Centerline is valid? [True, True] Translation: X:0.91, Y:-183.39, Z:0.73 [[-7.21281270e-01 6.92641567e-01 9.94644981e-04 9.05950887e-01] [ 6.92640906e-01 7.21281956e-01 -9.57206895e-04 -1.83389484e+02] [-1.38042076e-03 -1.48360407e-06 -9.99999047e-01 7.31614754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66762800000004 meters 0.01158866533097074 Centerline is valid? [True, True] Translation: X:0.93, Y:-183.37, Z:0.73 [[-7.68095470e-01 6.40334850e-01 7.93414453e-04 9.28418561e-01] [ 6.40334507e-01 7.68095880e-01 -6.62167842e-04 -1.83371756e+02] [-1.03342752e-03 -5.57467017e-07 -9.99999466e-01 7.30903946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.697628 meters 0.011550742664376671 Centerline is valid? [True, True] Translation: X:1.40, Y:-182.82, Z:-0.24 [[-7.23373652e-01 -6.90456644e-01 4.26764146e-04 1.39831126e+00] [ 6.90456504e-01 -7.23373778e-01 -4.40680482e-04 -1.82817484e+02] [ 6.12980759e-04 -2.41145698e-05 9.99999812e-01 -2.43926310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72762800000004 meters 0.011423305673731203 Centerline is valid? [True, True] Translation: X:0.90, Y:-183.35, Z:0.73 [[-7.69736469e-01 6.38361540e-01 5.59017677e-04 8.98527452e-01] [ 6.38361372e-01 7.69736672e-01 -4.63200072e-04 -1.83345055e+02] [-7.25985518e-04 3.13303499e-07 -9.99999737e-01 7.31726001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.757628 meters 0.011505996862072597 Centerline is valid? [True, True] Translation: X:0.91, Y:-183.32, Z:0.73 [[-8.12878848e-01 5.82431027e-01 1.44148842e-03 9.10498562e-01] [ 5.82430114e-01 8.12880126e-01 -1.03111783e-03 -1.83319449e+02] [-1.77231231e-03 1.39239118e-06 -9.99998429e-01 7.32361844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78762800000004 meters 0.011499676166047431 Centerline is valid? [True, True] Translation: X:1.34, Y:-182.74, Z:-0.25 [[-7.73393977e-01 -6.33920675e-01 2.51680486e-03 1.33922080e+00] [ 6.33917655e-01 -7.73398068e-01 -1.95824404e-03 -1.82735957e+02] [ 3.18786340e-03 8.09528873e-05 9.99994916e-01 -2.46086339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.817628 meters 0.011875000398510225 Centerline is valid? [True, True] Translation: X:0.88, Y:-183.30, Z:0.74 [[-8.13015552e-01 5.82223457e-01 4.64322164e-03 8.83314670e-01] [ 5.82214126e-01 8.13028810e-01 -3.29620787e-03 -1.83303451e+02] [-5.69420251e-03 2.34809736e-05 -9.99983788e-01 7.35718408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84762800000004 meters 0.012052359165366604 Centerline is valid? [True, True] Translation: X:0.90, Y:-183.28, Z:0.74 [[-8.51133680e-01 5.24917353e-01 5.76466418e-03 9.02275639e-01] [ 5.24905642e-01 8.51153200e-01 -3.50661020e-03 -1.83283698e+02] [-6.74729292e-03 4.13107109e-05 -9.99977236e-01 7.36121649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.877628 meters 0.01229722083620908 Centerline is valid? [True, True] Translation: X:1.29, Y:-182.66, Z:-0.25 [[-8.22282497e-01 -5.69044692e-01 6.29546975e-03 1.28741492e+00] [ 5.69028068e-01 -8.22306596e-01 -4.34963690e-03 -1.82663210e+02] [ 7.65194410e-03 5.66869686e-06 9.99970723e-01 -2.49647264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90762800000005 meters 0.012828428449720364 Centerline is valid? [True, True] Translation: X:0.86, Y:-183.27, Z:0.74 [[-8.50637372e-01 5.25707982e-01 6.86869976e-03 8.64985081e-01] [ 5.25691650e-01 8.50665099e-01 -4.14471179e-03 -1.83265829e+02] [-8.02187124e-03 8.51713636e-05 -9.99967821e-01 7.37133208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.937628 meters 0.016539380724168294 Centerline is valid? [True, True] Translation: X:0.89, Y:-183.25, Z:0.74 [[-8.83419077e-01 4.68519692e-01 7.74814030e-03 8.87266888e-01] [ 4.68502981e-01 8.83453044e-01 -3.95923142e-03 -1.83249479e+02] [-8.70009602e-03 1.32366260e-04 -9.99962145e-01 7.37567315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96762800000005 meters 0.015594308343042367 Centerline is valid? [True, True] Translation: X:1.23, Y:-182.59, Z:-0.25 [[-8.66602408e-01 -4.98958678e-01 6.36423808e-03 1.23094802e+00] [ 4.98943627e-01 -8.66625757e-01 -3.87998226e-03 -1.82593333e+02] [ 7.45136346e-03 -1.87005944e-04 9.99972221e-01 -2.48226810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.997628 meters 0.017144988450258133 Centerline is valid? [True, True] Translation: X:0.85, Y:-183.23, Z:0.73 [[-8.83127200e-01 4.69092084e-01 6.24219300e-03 8.46433362e-01] [ 4.69081455e-01 8.83149250e-01 -3.16076605e-03 -1.83231713e+02] [-6.99547840e-03 1.36738503e-04 -9.99975522e-01 7.34731930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02762800000005 meters 0.01562801238167806 Centerline is valid? [True, True] Translation: X:0.87, Y:-183.21, Z:0.73 [[-9.12373605e-01 4.09347880e-01 2.95258898e-03 8.65775425e-01] [ 4.09346005e-01 9.12378380e-01 -1.24123460e-03 -1.83213018e+02] [-3.20197510e-03 7.61608166e-05 -9.99994871e-01 7.30922918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.057628 meters 0.016153469577067543 Centerline is valid? [True, True] Translation: X:1.16, Y:-182.52, Z:-0.24 [[-9.05537130e-01 -4.24262611e-01 1.93455786e-03 1.16267525e+00] [ 4.24261377e-01 -9.05539190e-01 -1.02931904e-03 -1.82523794e+02] [ 2.18851954e-03 -1.11328427e-04 9.99997599e-01 -2.43355326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.08762800000005 meters 0.016776882886303104 Centerline is valid? [True, True] Translation: X:0.83, Y:-183.20, Z:0.73 [[-9.11506472e-01 4.11281023e-01 1.96789838e-03 8.25894105e-01] [ 4.11280213e-01 9.11508594e-01 -8.18477894e-04 -1.83199304e+02] [-2.13038071e-03 6.33097692e-05 -9.99997729e-01 7.30080892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.117628 meters 0.016776882886303104 Centerline is valid? [True, True] Translation: X:0.84, Y:-183.17, Z:0.73 [[-9.38357512e-01 3.45660375e-01 2.02093344e-03 8.38277630e-01] [ 3.45659718e-01 9.38359686e-01 -6.76973888e-04 -1.83173994e+02] [-2.13036552e-03 6.33117497e-05 -9.99997729e-01 7.30080734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.14762800000005 meters 0.01799156575262917 Centerline is valid? [True, True] Translation: X:1.09, Y:-182.46, Z:-0.24 [[-9.37180866e-01 -3.48836435e-01 2.27305369e-03 1.08843532e+00] [ 3.48835268e-01 -9.37183621e-01 -9.04021597e-04 -1.82461369e+02] [ 2.44562436e-03 -5.43104488e-05 9.99997008e-01 -2.43153052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.177628 meters 0.019485055567387555 Centerline is valid? [True, True] Translation: X:0.79, Y:-183.16, Z:0.73 [[-9.37894766e-01 3.46910083e-01 2.60790089e-03 7.94873197e-01] [ 3.46909024e-01 9.37898387e-01 -8.62489631e-04 -1.83163635e+02] [-2.74515239e-03 9.57798412e-05 -9.99996228e-01 7.31489272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.207628 meters 0.018742608608441 Centerline is valid? [True, True] Translation: X:0.80, Y:-183.13, Z:0.73 [[-9.60102204e-01 2.79631553e-01 3.15477148e-03 8.03685943e-01] [ 2.79630431e-01 9.60107380e-01 -8.00251620e-04 -1.83133962e+02] [-3.25269498e-03 1.13846764e-04 -9.99994704e-01 7.32549618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23762800000003 meters 0.019856216109252846 Centerline is valid? [True, True] Translation: X:0.81, Y:-183.10, Z:0.74 [[-9.77663081e-01 2.10132654e-01 4.37813657e-03 8.10661411e-01] [ 2.10131244e-01 9.77672872e-01 -7.84706930e-04 -1.83103582e+02] [-4.44527790e-03 1.52804289e-04 -9.99990108e-01 7.35027714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.267628 meters 0.016852544743808737 Centerline is valid? [True, True] Translation: X:0.94, Y:-182.37, Z:-0.25 [[-9.76899187e-01 -2.13661072e-01 4.11397412e-03 9.44293177e-01] [ 2.13658486e-01 -9.76907836e-01 -1.06325431e-03 -1.82373827e+02] [ 4.24614961e-03 -1.59706791e-04 9.99990972e-01 -2.47059267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29762800000003 meters 0.015375902767186676 Centerline is valid? [True, True] Translation: X:0.75, Y:-183.08, Z:0.74 [[-9.80184236e-01 1.98013182e-01 5.44455710e-03 7.53355630e-01] [ 1.98010942e-01 9.80199347e-01 -9.52809274e-04 -1.83082697e+02] [-5.52542011e-03 1.44153251e-04 -9.99984724e-01 7.35278290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.327628 meters 0.017217512121676774 Centerline is valid? [True, True] Translation: X:0.88, Y:-182.37, Z:-0.25 [[-9.76508879e-01 -2.15370862e-01 6.76767926e-03 8.81999663e-01] [ 2.15365077e-01 -9.76532326e-01 -1.58099270e-03 -1.82371940e+02] [ 6.94935733e-03 -8.63316480e-05 9.99975849e-01 -2.51302419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35762800000003 meters 0.017688075881762137 Centerline is valid? [True, True] Translation: X:0.70, Y:-183.07, Z:0.74 [[-9.82021211e-01 1.88623052e-01 7.46226836e-03 6.99045210e-01] [ 1.88618808e-01 9.82049551e-01 -1.27487111e-03 -1.83067559e+02] [-7.56878737e-03 1.55573685e-04 -9.99971344e-01 7.38832353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.387628 meters 0.012883715734419106 Centerline is valid? [True, True] Translation: X:0.82, Y:-182.37, Z:-0.25 [[-9.75398002e-01 -2.20377224e-01 5.71114891e-03 8.19350744e-01] [ 2.20372012e-01 -9.75414693e-01 -1.53425743e-03 -1.82367905e+02] [ 5.90885396e-03 -2.37934253e-04 9.99982514e-01 -2.46897766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41762800000004 meters 0.014173958872532547 Centerline is valid? [True, True] Translation: X:0.64, Y:-183.05, Z:0.74 [[-9.84516483e-01 1.75213950e-01 5.23130698e-03 6.38848561e-01] [ 1.75211791e-01 9.84530380e-01 -8.71711731e-04 -1.83050456e+02] [-5.30311670e-03 5.83721008e-05 -9.99985937e-01 7.35046287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.447628 meters 0.011611211407335512 Centerline is valid? [True, True] Translation: X:0.75, Y:-182.36, Z:-0.25 [[-9.74811640e-01 -2.22992123e-01 4.09628012e-03 7.53359164e-01] [ 2.22989640e-01 -9.74820239e-01 -1.05895412e-03 -1.82364522e+02] [ 4.22927519e-03 -1.18852779e-04 9.99991050e-01 -2.45723825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47762800000004 meters 0.011184361952633387 Centerline is valid? [True, True] Translation: X:0.59, Y:-183.03, Z:0.73 [[-9.86833437e-01 1.61683170e-01 4.28023245e-03 5.86660460e-01] [ 1.61681677e-01 9.86842719e-01 -6.95010921e-04 -1.83032190e+02] [-4.33628780e-03 6.17514305e-06 -9.99990598e-01 7.33904614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.507628 meters 0.011210867424816284 Centerline is valid? [True, True] Translation: X:0.58, Y:-183.00, Z:0.73 [[-9.96087063e-01 8.82630581e-02 4.49404700e-03 5.84068327e-01] [ 8.82621273e-02 9.96097200e-01 -4.05404747e-04 -1.83000946e+02] [-4.51228990e-03 -7.16427514e-06 -9.99989820e-01 7.34871133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53762800000004 meters 0.012992227991518107 Centerline is valid? [True, True] Translation: X:0.65, Y:-182.33, Z:-0.25 [[-9.86900787e-01 -1.61255148e-01 4.85948404e-03 6.45867728e-01] [ 1.61253369e-01 -9.86912750e-01 -7.58248770e-04 -1.82333184e+02] [ 4.91815828e-03 3.52918660e-05 9.99987905e-01 -2.49992637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.567628 meters 0.01148514811378861 Centerline is valid? [True, True] Translation: X:0.52, Y:-182.99, Z:0.74 [[-9.96910016e-01 7.84376863e-02 4.23667876e-03 5.24936704e-01] [ 7.84368490e-02 9.96919018e-01 -3.63684956e-04 -1.82991127e+02] [-4.25215224e-03 -3.02494428e-05 -9.99990959e-01 7.36037399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59762800000004 meters 0.012069482825849302 Centerline is valid? [True, True] Translation: X:0.58, Y:-182.33, Z:-0.25 [[-9.86597223e-01 -1.63113692e-01 4.45465311e-03 5.81205242e-01] [ 1.63112256e-01 -9.86607278e-01 -6.86328901e-04 -1.82330934e+02] [ 4.50694283e-03 4.94783311e-05 9.99989842e-01 -2.49007368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.627628 meters 0.012235267725560366 Centerline is valid? [True, True] Translation: X:0.46, Y:-182.99, Z:0.74 [[-9.97556878e-01 6.97002193e-02 4.70681680e-03 4.61953842e-01] [ 6.96991847e-02 9.97567981e-01 -3.83682548e-04 -1.82985097e+02] [-4.72211249e-03 -5.46838714e-05 -9.99988849e-01 7.35993023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65762800000005 meters 0.012383633233024294 Centerline is valid? [True, True] Translation: X:0.46, Y:-182.96, Z:0.74 [[-9.99987410e-01 -1.52965012e-03 4.77913728e-03 4.57123757e-01] [-1.52990153e-03 9.99998829e-01 -4.89508747e-05 -1.82958199e+02] [-4.77905680e-03 -5.62618679e-05 -9.99988579e-01 7.36293823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.687628 meters 0.012264638887787373 Centerline is valid? [True, True] Translation: X:0.46, Y:-182.93, Z:0.74 [[-9.97378416e-01 -7.22061847e-02 4.74997983e-03 4.55705054e-01] [-7.22056223e-02 9.97389725e-01 2.90014403e-04 -1.82932780e+02] [-4.75852191e-03 -5.37211437e-05 -9.99988677e-01 7.35799618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71762800000005 meters 0.011993768609526407 Centerline is valid? [True, True] Translation: X:0.45, Y:-182.91, Z:0.73 [[-9.90066314e-01 -1.40533881e-01 4.34986780e-03 4.48863217e-01] [-1.40532694e-01 9.90075869e-01 5.78963385e-04 -1.82910983e+02] [-4.38806311e-03 -3.80864956e-05 -9.99990372e-01 7.34518038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.747628 meters 0.01167862535316764 Centerline is valid? [True, True] Translation: X:0.43, Y:-182.89, Z:0.73 [[-9.77978725e-01 -2.08672640e-01 3.65270565e-03 4.34044429e-01] [-2.08671273e-01 9.77985546e-01 7.55561385e-04 -1.82888980e+02] [-3.72995832e-03 -2.32917793e-05 -9.99993043e-01 7.34015914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77762800000005 meters 0.011428285097395298 Centerline is valid? [True, True] Translation: X:0.41, Y:-182.87, Z:0.73 [[-9.61969206e-01 -2.73129991e-01 3.90570953e-03 4.06194622e-01] [-2.73127747e-01 9.61977135e-01 1.10729698e-03 -1.82874007e+02] [-4.05963928e-03 -1.57204410e-06 -9.99991760e-01 7.33996470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.807628 meters 0.011575826571078456 Centerline is valid? [True, True] Translation: X:0.35, Y:-182.87, Z:0.73 [[-9.40553852e-01 -3.39617964e-01 4.25325614e-03 3.52322849e-01] [-3.39614422e-01 9.40563468e-01 1.55126859e-03 -1.82865545e+02] [-4.52729603e-03 1.45845196e-05 -9.99989752e-01 7.34602636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.83762800000005 meters 0.011872527292516394 Centerline is valid? [True, True] Translation: X:0.29, Y:-182.86, Z:0.74 [[-9.14394969e-01 -4.04796556e-01 4.64650321e-03 2.90186394e-01] [-4.04791135e-01 9.14406773e-01 2.09524368e-03 -1.82864726e+02] [-5.09694143e-03 3.50169780e-05 -9.99987010e-01 7.35205961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.867628 meters 0.012377496952231877 Centerline is valid? [True, True] Translation: X:0.22, Y:-182.87, Z:0.74 [[-8.83317561e-01 -4.68743774e-01 5.41849676e-03 2.17765196e-01] [-4.68734519e-01 8.83334178e-01 2.94625494e-03 -1.82874849e+02] [-6.16738205e-03 6.26422536e-05 -9.99980980e-01 7.35940184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.89762800000005 meters 0.013103250705078832 Centerline is valid? [True, True] Translation: X:0.14, Y:-182.89, Z:0.74 [[-8.47614205e-01 -5.30581621e-01 5.77079096e-03 1.39013296e-01] [-5.30568565e-01 8.47633844e-01 3.72339569e-03 -1.82893854e+02] [-6.86708305e-03 9.42028038e-05 -9.99976417e-01 7.35871651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.927628 meters 0.014895104487501419 Centerline is valid? [True, True] Translation: X:0.06, Y:-182.92, Z:0.74 [[-8.08886285e-01 -5.87934243e-01 6.02528181e-03 5.97519094e-02] [-5.87916526e-01 8.08908711e-01 4.56682638e-03 -1.82922386e+02] [-7.55889655e-03 1.51680478e-04 -9.99971420e-01 7.36424919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.957628 meters 0.015412424608421519 Centerline is valid? [True, True] Translation: X:-0.03, Y:-182.96, Z:0.74 [[-7.64275412e-01 -6.44863209e-01 5.87676825e-03 -2.83854828e-02] [-6.44842279e-01 7.64297984e-01 5.19876786e-03 -1.82960230e+02] [-7.84409625e-03 1.83701813e-04 -9.99969218e-01 7.36584761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98762800000003 meters 0.016360623570672996 Centerline is valid? [True, True] Translation: X:-0.12, Y:-183.01, Z:0.74 [[-7.15498111e-01 -6.98592783e-01 5.52962739e-03 -1.16501616e-01] [-6.98569584e-01 7.15519446e-01 5.69722421e-03 -1.83008402e+02] [-7.93659565e-03 2.13523652e-04 -9.99968482e-01 7.37311176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.017628 meters 0.018140200646045507 Centerline is valid? [True, True] Translation: X:-0.20, Y:-183.07, Z:0.74 [[-6.65056501e-01 -7.46775857e-01 5.06664347e-03 -2.01051320e-01] [-7.46751092e-01 6.65075748e-01 6.08740396e-03 -1.83066374e+02] [-7.91562800e-03 2.64946028e-04 -9.99968636e-01 7.37519248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04762800000003 meters 0.018458678987515 Centerline is valid? [True, True] Translation: X:-0.29, Y:-183.14, Z:0.74 [[-6.07940286e-01 -7.93969796e-01 4.53547012e-03 -2.87529491e-01] [-7.93944174e-01 6.07957140e-01 6.38469985e-03 -1.83135723e+02] [-7.82663028e-03 2.80606180e-04 -9.99969332e-01 7.37094831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.077628 meters 0.019401745993945164 Centerline is valid? [True, True] Translation: X:-0.37, Y:-183.21, Z:0.74 [[-5.46642862e-01 -8.37356217e-01 4.01828858e-03 -3.67429114e-01] [-8.37329544e-01 5.46657553e-01 6.68993670e-03 -1.83211752e+02] [-7.79848789e-03 2.92374404e-04 -9.99969549e-01 7.36568385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10762800000003 meters 0.02023879535178566 Centerline is valid? [True, True] Translation: X:-0.45, Y:-183.30, Z:0.74 [[-4.80985628e-01 -8.76718590e-01 4.16416154e-03 -4.45994546e-01] [-8.76679181e-01 4.81003525e-01 8.32002129e-03 -1.83299616e+02] [-9.29729371e-03 3.51176934e-04 -9.99956718e-01 7.37142939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.137628 meters 0.021182564941763137 Centerline is valid? [True, True] Translation: X:-0.52, Y:-183.40, Z:0.74 [[-4.11767761e-01 -9.11280166e-01 3.97121948e-03 -5.23984712e-01] [-9.11228185e-01 4.11786724e-01 9.74107011e-03 -1.83396207e+02] [-1.05121394e-02 3.92371506e-04 -9.99944669e-01 7.40472840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16762800000004 meters 0.019586723718680817 Centerline is valid? [True, True] Translation: X:-0.59, Y:-183.49, Z:0.74 [[-3.39090483e-01 -9.40748199e-01 3.23582060e-03 -5.90780694e-01] [-9.40694035e-01 3.39105707e-01 1.01021085e-02 -1.83490907e+02] [-1.06008256e-02 3.81611699e-04 -9.99943737e-01 7.40095462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.197628 meters 0.021623670567409974 Centerline is valid? [True, True] Translation: X:-0.65, Y:-183.60, Z:0.74 [[-2.64436860e-01 -9.64399273e-01 2.68124178e-03 -6.52270358e-01] [-9.64333094e-01 2.64450144e-01 1.13051046e-02 -1.83600943e+02] [-1.16116895e-02 4.03876189e-04 -9.99932501e-01 7.43913913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22762800000004 meters 0.01736297914113721 Centerline is valid? [True, True] Translation: X:-0.71, Y:-183.71, Z:0.74 [[-1.83857448e-01 -9.82951323e-01 1.77058207e-03 -7.05180327e-01] [-9.82886652e-01 1.83865671e-01 1.12803040e-02 -1.83709325e+02] [-1.14135390e-02 3.33686427e-04 -9.99934808e-01 7.40550929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.257628 meters 0.01998814437186065 Centerline is valid? [True, True] Translation: X:-0.75, Y:-183.83, Z:0.74 [[-1.03925361e-01 -9.94584635e-01 9.60517723e-04 -7.47749580e-01] [-9.94509662e-01 1.03929324e-01 1.22158963e-02 -1.83825362e+02] [-1.22495687e-02 3.14297268e-04 -9.99924922e-01 7.44077667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28762800000004 meters 0.015050718891150016 Centerline is valid? [True, True] Translation: X:-0.79, Y:-183.94, Z:0.74 [[-2.26946434e-02 -9.99742443e-01 1.61259939e-05 -7.85492894e-01] [-9.99670241e-01 2.26931982e-02 1.20177939e-02 -1.83944432e+02] [-1.20150646e-02 2.56618870e-04 -9.99927784e-01 7.40652897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.317628 meters 0.014693402686755048 Centerline is valid? [True, True] Translation: X:-0.81, Y:-184.07, Z:0.74 [[ 5.90962807e-02 -9.98251899e-01 -8.81054146e-04 -8.10164181e-01] [-9.98184484e-01 -5.91025305e-02 1.16028925e-02 -1.84069424e+02] [-1.16346820e-02 1.93766786e-04 -9.99932296e-01 7.41713312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34762800000004 meters 0.01232941458396942 Centerline is valid? [True, True] Translation: X:-0.83, Y:-184.19, Z:0.74 [[ 1.45569783e-01 -9.89346535e-01 -1.69487040e-03 -8.30762862e-01] [-9.89285396e-01 -1.45579629e-01 1.09989712e-02 -1.84194396e+02] [-1.11285327e-02 7.55926784e-05 -9.99938073e-01 7.40367865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.377628 meters 0.011834810030588717 Centerline is valid? [True, True] Translation: X:-0.84, Y:-184.32, Z:0.74 [[ 2.26172110e-01 -9.74084542e-01 -2.34125582e-03 -8.38908534e-01] [-9.74033220e-01 -2.26184227e-01 9.99907467e-03 -1.84319250e+02] [-1.02694992e-02 1.89491247e-05 -9.99947267e-01 7.39537873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40762800000005 meters 0.011592407111133322 Centerline is valid? [True, True] Translation: X:-0.84, Y:-184.44, Z:0.74 [[ 3.04693813e-01 -9.52446468e-01 -2.72141841e-03 -8.37835253e-01] [-9.52407804e-01 -3.04705965e-01 8.58191468e-03 -1.84442793e+02] [-9.00304675e-03 -2.29561734e-05 -9.99959472e-01 7.38245759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.437628 meters 0.0125891485239133 Centerline is valid? [True, True] Translation: X:-0.83, Y:-184.56, Z:0.74 [[ 3.83562466e-01 -9.23511301e-01 -2.59045979e-03 -8.29069941e-01] [-9.23489054e-01 -3.83571208e-01 6.41052950e-03 -1.84564312e+02] [-6.91382223e-03 -6.65772391e-05 -9.99976097e-01 7.37617952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46762800000005 meters 0.012588733152109307 Centerline is valid? [True, True] Translation: X:-0.80, Y:-184.68, Z:0.73 [[ 4.55559234e-01 -8.90201872e-01 -2.53189915e-03 -8.04020594e-01] [-8.90187280e-01 -4.55566265e-01 5.09748709e-03 -1.84682301e+02] [-5.69124039e-03 -6.83428956e-05 -9.99983802e-01 7.34975252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.497628 meters 0.012953254937379498 Centerline is valid? [True, True] Translation: X:-0.77, Y:-184.79, Z:0.73 [[ 5.23493796e-01 -8.52025891e-01 -2.47498688e-03 -7.74822261e-01] [-8.52015791e-01 -5.23499643e-01 4.14915775e-03 -1.84790620e+02] [-4.83084458e-03 -6.33304369e-05 -9.99988329e-01 7.33372739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52762800000005 meters 0.013031148994355491 Centerline is valid? [True, True] Translation: X:-0.74, Y:-184.90, Z:0.73 [[ 5.86806030e-01 -8.09726669e-01 -1.18517822e-03 -7.35143370e-01] [-8.09724929e-01 -5.86807226e-01 1.67875619e-03 -1.84897845e+02] [-2.05480480e-03 -2.54359086e-05 -9.99997889e-01 7.30916241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.557628 meters 0.012493259970953085 Centerline is valid? [True, True] Translation: X:-0.69, Y:-185.00, Z:0.73 [[ 6.45974915e-01 -7.63357925e-01 -1.04296056e-03 -6.91528239e-01] [-7.63356885e-01 -6.45975757e-01 1.26002938e-03 -1.84996162e+02] [-1.63558065e-03 -1.77962511e-05 -9.99998662e-01 7.30412785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.58762800000005 meters 0.012298421642486786 Centerline is valid? [True, True] Translation: X:-0.64, Y:-185.09, Z:0.73 [[ 7.01150536e-01 -7.13013226e-01 -2.57163666e-04 -6.40100845e-01] [-7.13013176e-01 -7.01150583e-01 2.65976032e-04 -1.85092849e+02] [-3.69954884e-04 -3.12815506e-06 -9.99999932e-01 7.30370886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.617628 meters 0.011950634069424532 Centerline is valid? [True, True] Translation: X:-0.58, Y:-185.18, Z:0.73 [[ 7.52187012e-01 -6.58949544e-01 -4.43909208e-04 -5.83066540e-01] [-6.58949426e-01 -7.52187143e-01 3.94254070e-04 -1.85183222e+02] [-5.93696339e-04 -4.03907276e-06 -9.99999824e-01 7.31126240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.64762800000005 meters 0.0116283999099472 Centerline is valid? [True, True] Translation: X:-0.58, Y:-185.19, Z:0.73 [[ 7.98900408e-01 -6.01461487e-01 -1.48887193e-03 -5.84870522e-01] [-6.01460430e-01 -7.98901796e-01 1.12796534e-03 -1.85187749e+02] [-1.86789017e-03 -5.63442077e-06 -9.99998256e-01 7.33462745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.677628 meters 0.011644702026753974 Centerline is valid? [True, True] Translation: X:-0.59, Y:-185.19, Z:0.73 [[ 8.42488490e-01 -5.38706579e-01 -2.89234454e-03 -5.86595667e-01] [-5.38703387e-01 -8.42493455e-01 1.85449210e-03 -1.85193502e+02] [-3.43580844e-03 -4.27244467e-06 -9.99994098e-01 7.34685173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.707628 meters 0.011689217646863941 Centerline is valid? [True, True] Translation: X:-0.59, Y:-185.20, Z:0.74 [[ 8.81153528e-01 -4.72808575e-01 -4.52897536e-03 -5.88296053e-01] [-4.72802346e-01 -8.81165167e-01 2.42697143e-03 -1.85198567e+02] [-5.13826823e-03 2.77573267e-06 -9.99986799e-01 7.36314831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73762800000003 meters 0.012930076043705488 Centerline is valid? [True, True] Translation: X:-0.59, Y:-185.20, Z:0.74 [[ 9.14338340e-01 -4.04885815e-01 -7.27165738e-03 -5.87871304e-01] [-4.04873231e-01 -9.14367254e-01 3.19235722e-03 -1.85200310e+02] [-7.94150555e-03 2.52048107e-05 -9.99968465e-01 7.39496919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.767628 meters 0.011950189627070203 Centerline is valid? [True, True] Translation: X:-0.59, Y:-185.21, Z:0.74 [[ 9.43036416e-01 -3.32585704e-01 -8.31072759e-03 -5.89213659e-01] [-3.32573086e-01 -9.43073035e-01 2.89726273e-03 -1.85207344e+02] [-8.80121125e-03 3.17000598e-05 -9.99961268e-01 7.38056679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79762800000003 meters 0.014464006546546268 Centerline is valid? [True, True] Translation: X:-0.59, Y:-185.22, Z:0.74 [[ 9.65969954e-01 -2.58457496e-01 -1.00881913e-02 -5.91334268e-01] [-2.58443876e-01 -9.66022630e-01 2.65363255e-03 -1.85217543e+02] [-1.04312724e-02 4.39019681e-05 -9.99945592e-01 7.39879786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.827628 meters 0.012075669058978018 Centerline is valid? [True, True] Translation: X:-0.60, Y:-185.23, Z:0.74 [[ 9.83387487e-01 -1.81238474e-01 -1.00829383e-02 -5.96500242e-01] [-1.81229315e-01 -9.83439177e-01 1.82232676e-03 -1.85227660e+02] [-1.02462323e-02 3.52706723e-05 -9.99947505e-01 7.38611094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85762800000003 meters 0.011991014868355005 Centerline is valid? [True, True] Translation: X:-0.60, Y:-185.24, Z:0.74 [[ 9.94757519e-01 -1.01624069e-01 -1.14029602e-02 -6.00771135e-01] [-1.01617574e-01 -9.94822873e-01 1.14908020e-03 -1.85240729e+02] [-1.14606998e-02 1.56849842e-05 -9.99934324e-01 7.40485461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.887628 meters 0.011913314277552359 Centerline is valid? [True, True] Translation: X:-0.60, Y:-185.25, Z:0.74 [[ 9.99707763e-01 -2.16581797e-02 -1.07383522e-02 -6.04991258e-01] [-2.16568895e-02 -9.99765434e-01 2.36427876e-04 -1.85251033e+02] [-1.07409540e-02 -3.79947450e-06 -9.99942314e-01 7.40952995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91762800000004 meters 0.011857968570511164 Centerline is valid? [True, True] Translation: X:-0.61, Y:-185.26, Z:0.74 [[ 9.98242776e-01 5.82976146e-02 -1.06182727e-02 -6.06363876e-01] [ 5.82945389e-02 -9.98299248e-01 -5.99195048e-04 -1.85263899e+02] [-1.06351453e-02 -2.08451819e-05 -9.99943445e-01 7.40120929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.947628 meters 0.011863331999043828 Centerline is valid? [True, True] Translation: X:-0.61, Y:-185.28, Z:0.74 [[ 9.90416980e-01 1.37710181e-01 -1.04934497e-02 -6.07785088e-01] [ 1.37702837e-01 -9.90472566e-01 -1.42261582e-03 -1.85276482e+02] [-1.05893827e-02 -3.59949322e-05 -9.99943930e-01 7.40272639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97762800000004 meters 0.015624436966866363 Centerline is valid? [True, True] Translation: X:-0.61, Y:-185.29, Z:0.74 [[ 9.76812151e-01 2.13797741e-01 -1.13378652e-02 -6.08179600e-01] [ 2.13783667e-01 -9.76877948e-01 -2.45327469e-03 -1.85285626e+02] [-1.16002151e-02 -2.74618887e-05 -9.99932715e-01 7.43141398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.007628 meters 0.012965489242087243 Centerline is valid? [True, True] Translation: X:-0.61, Y:-185.29, Z:0.74 [[ 9.57423412e-01 2.88497359e-01 -1.04729859e-02 -6.09128112e-01] [ 2.88480250e-01 -9.57480691e-01 -3.14193335e-03 -1.85293234e+02] [-1.09341212e-02 -1.30890304e-05 -9.99940221e-01 7.41942039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03762800000004 meters 0.012965489242087243 Centerline is valid? [True, True] Translation: X:-0.61, Y:-185.30, Z:0.74 [[ 9.31894048e-01 3.62587300e-01 -1.01948094e-02 -6.08565359e-01] [ 3.62565758e-01 -9.31949811e-01 -3.95237945e-03 -1.85301529e+02] [-1.09341332e-02 -1.30899075e-05 -9.99940221e-01 7.41942149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.067628 meters 0.011929615271668173 Centerline is valid? [True, True] Translation: X:-0.61, Y:-185.31, Z:0.74 [[ 9.02163581e-01 4.31274711e-01 -1.01487474e-02 -6.08812971e-01] [ 4.31247101e-01 -9.02220662e-01 -4.88007998e-03 -1.85306037e+02] [-1.12610647e-02 2.60125413e-05 -9.99936592e-01 7.41059609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09762800000004 meters 0.014516039590181338 Centerline is valid? [True, True] Translation: X:-0.61, Y:-185.31, Z:0.74 [[ 8.66578599e-01 4.98925851e-01 -1.07016968e-02 -6.08226588e-01] [ 4.98887064e-01 -8.66644675e-01 -6.22139641e-03 -1.85312070e+02] [-1.23785841e-02 5.23908786e-05 -9.99923381e-01 7.44192551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.127628 meters 0.012186288558812031 Centerline is valid? [True, True] Translation: X:-0.61, Y:-185.32, Z:0.74 [[ 8.25114392e-01 5.64875719e-01 -1.00827838e-02 -6.08398610e-01] [ 5.64832701e-01 -8.25175993e-01 -6.97137800e-03 -1.85318185e+02] [-1.22580333e-02 5.70983301e-05 -9.99924866e-01 7.42690933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15762800000005 meters 0.015085434459776474 Centerline is valid? [True, True] Translation: X:-0.61, Y:-185.33, Z:0.74 [[ 7.78799119e-01 6.27189251e-01 -1.02749715e-02 -6.06111381e-01] [ 6.27133472e-01 -7.78866894e-01 -8.36478514e-03 -1.85325662e+02] [-1.32491384e-02 7.07087617e-05 -9.99912224e-01 7.44653989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.187628 meters 0.01220616491282334 Centerline is valid? [True, True] Translation: X:-0.60, Y:-185.34, Z:0.74 [[ 7.25240875e-01 6.88420886e-01 -1.01171916e-02 -6.01824138e-01] [ 6.88353277e-01 -7.25311439e-01 -9.64796373e-03 -1.85335584e+02] [-1.39799746e-02 3.28956352e-05 -9.99902275e-01 7.43117627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21762800000005 meters 0.012236140889025688 Centerline is valid? [True, True] Translation: X:-0.60, Y:-185.34, Z:0.74 [[ 6.67882591e-01 7.44202091e-01 -9.80269839e-03 -5.98451144e-01] [ 7.44121714e-01 -6.67954525e-01 -1.09374177e-02 -1.85342050e+02] [-1.46874059e-02 1.05101662e-05 -9.99892134e-01 7.44172154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.247628 meters 0.012154079457417498 Centerline is valid? [True, True] Translation: X:-0.59, Y:-185.35, Z:0.74 [[ 6.06481606e-01 7.95045721e-01 -9.07541102e-03 -5.93499039e-01] [ 7.94956946e-01 -6.06549504e-01 -1.18808190e-02 -1.85349678e+02] [-1.49504804e-02 -9.06282161e-06 -9.99888235e-01 7.44903814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27762800000005 meters 0.012158593610043318 Centerline is valid? [True, True] Translation: X:-0.59, Y:-185.36, Z:0.74 [[ 5.42998064e-01 8.39693455e-01 -8.24652087e-03 -5.89415623e-01] [ 8.39596564e-01 -5.43060680e-01 -1.27556969e-02 -1.85355556e+02] [-1.51892364e-02 2.56811472e-06 -9.99884637e-01 7.44943135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.307628 meters 0.012240707543564489 Centerline is valid? [True, True] Translation: X:-0.59, Y:-185.36, Z:0.74 [[ 4.77294677e-01 8.78714972e-01 -7.05617416e-03 -5.89000308e-01] [ 8.78617987e-01 -4.77346831e-01 -1.30551306e-02 -1.85359629e+02] [-1.48399811e-02 3.14627883e-05 -9.99889881e-01 7.44288223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.33762800000005 meters 0.0166413900656673 Centerline is valid? [True, True] Translation: X:-0.59, Y:-185.36, Z:0.75 [[ 4.10228423e-01 9.11962035e-01 -6.15529944e-03 -5.89561302e-01] [ 9.11856266e-01 -4.10274590e-01 -1.38892348e-02 -1.85362486e+02] [-1.51918178e-02 8.50105079e-05 -9.99884594e-01 7.46440028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.367628 meters 0.013888580623892054 Centerline is valid? [True, True] Translation: X:-0.60, Y:-185.37, Z:0.74 [[ 3.44161775e-01 9.38900117e-01 -4.38675974e-03 -5.95148594e-01] [ 9.38817574e-01 -3.44189691e-01 -1.24507084e-02 -1.85365651e+02] [-1.31998490e-02 1.66690771e-04 -9.99912864e-01 7.41418315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.39762800000005 meters 0.014822218762480712 Centerline is valid? [True, True] Translation: X:-0.60, Y:-185.37, Z:0.74 [[ 2.73182697e-01 9.61956217e-01 -3.38390133e-03 -5.96522610e-01] [ 9.61872380e-01 -2.73203570e-01 -1.27017039e-02 -1.85370035e+02] [-1.31429770e-02 2.15004510e-04 -9.99913604e-01 7.41057700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.427628 meters 0.018010933441154356 Centerline is valid? [True, True] Translation: X:-0.60, Y:-185.37, Z:0.74 [[ 2.00650683e-01 9.79659662e-01 -2.50006902e-03 -5.95474540e-01] [ 9.79565427e-01 -2.00666065e-01 -1.35906241e-02 -1.85374896e+02] [-1.38158652e-02 2.77986831e-04 -9.99904518e-01 7.43521863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.457628 meters 0.016085329449928524 Centerline is valid? [True, True] Translation: X:-0.59, Y:-185.38, Z:0.74 [[ 1.27933732e-01 9.91781849e-01 -1.31284855e-03 -5.88695987e-01] [ 9.91701355e-01 -1.27940080e-01 -1.26395441e-02 -1.85380604e+02] [-1.27036364e-02 3.15070359e-04 -9.99919256e-01 7.40650668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48762800000003 meters 0.01594634898656598 Centerline is valid? [True, True] Translation: X:-0.58, Y:-185.39, Z:0.74 [[ 5.13448252e-02 9.98680934e-01 -3.17738721e-04 -5.78648169e-01] [ 9.98600871e-01 -5.13447337e-02 -1.26498363e-02 -1.85386067e+02] [-1.26494645e-02 3.32209470e-04 -9.99919937e-01 7.40426408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.517628 meters 0.01830170392658868 Centerline is valid? [True, True] Translation: X:-0.57, Y:-185.39, Z:0.74 [[-2.61420067e-02 9.99657994e-01 7.01092573e-04 -5.70860252e-01] [ 9.99571756e-01 2.61489637e-02 -1.31353073e-02 -1.85391319e+02] [-1.31491478e-02 3.57409043e-04 -9.99913482e-01 7.42530558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54762800000003 meters 0.0163073828491439 Centerline is valid? [True, True] Translation: X:-0.56, Y:-185.40, Z:0.74 [[-1.05101735e-01 9.94460034e-01 1.69280488e-03 -5.60702560e-01] [ 9.94378054e-01 1.05114814e-01 -1.27734824e-02 -1.85395059e+02] [-1.28806566e-02 3.40772858e-04 -9.99916983e-01 7.40446384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.577628 meters 0.01889271529874013 Centerline is valid? [True, True] Translation: X:-0.55, Y:-185.40, Z:0.74 [[-1.83610775e-01 9.82994565e-01 2.96100120e-03 -5.50395847e-01] [ 9.82896597e-01 1.83634294e-01 -1.38825826e-02 -1.85398207e+02] [-1.41902446e-02 3.61366253e-04 -9.99899248e-01 7.42987685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60762800000003 meters 0.017290092200664367 Centerline is valid? [True, True] Translation: X:-0.54, Y:-185.40, Z:0.74 [[-2.64982845e-01 9.64246051e-01 3.69386556e-03 -5.38719532e-01] [ 9.64165785e-01 2.65008459e-01 -1.24441181e-02 -1.85401208e+02] [-1.29780974e-02 2.64020968e-04 -9.99915746e-01 7.41174911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.637628 meters 0.015860674229961198 Centerline is valid? [True, True] Translation: X:-0.53, Y:-185.40, Z:0.74 [[-3.42473475e-01 9.39516593e-01 4.52661067e-03 -5.25362027e-01] [ 9.39442827e-01 3.42503318e-01 -1.17750679e-02 -1.85400556e+02] [-1.26132509e-02 2.19843492e-04 -9.99920426e-01 7.39703565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66762800000004 meters 0.012608429207011516 Centerline is valid? [True, True] Translation: X:-0.51, Y:-185.40, Z:0.74 [[-4.21846795e-01 9.06654273e-01 4.82806145e-03 -5.11040411e-01] [ 9.06597880e-01 4.21874408e-01 -1.01127037e-02 -1.85399897e+02] [-1.12055616e-02 1.11098618e-04 -9.99937210e-01 7.36656726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.697628 meters 0.01563640931511498 Centerline is valid? [True, True] Translation: X:-0.50, Y:-185.40, Z:0.74 [[-4.94049156e-01 8.69413780e-01 5.92547960e-03 -4.97374217e-01] [ 8.69353265e-01 4.94084682e-01 -1.02580885e-02 -1.85396768e+02] [-1.18462122e-02 8.33350561e-05 -9.99929828e-01 7.37904631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72762800000004 meters 0.011758195849362739 Centerline is valid? [True, True] Translation: X:-0.48, Y:-185.39, Z:0.74 [[-5.63702706e-01 8.25954923e-01 6.14203043e-03 -4.84908748e-01] [ 8.25906592e-01 5.63736165e-01 -8.93517845e-03 -1.85393944e+02] [-1.08425393e-02 3.59591571e-05 -9.99941217e-01 7.35016876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.757628 meters 0.011687242926585984 Centerline is valid? [True, True] Translation: X:-0.47, Y:-185.39, Z:0.74 [[-6.28870804e-01 7.77479980e-01 6.81121574e-03 -4.74228944e-01] [ 7.77434476e-01 6.28907688e-01 -8.41164628e-03 -1.85390092e+02] [-1.08235125e-02 5.43517942e-06 -9.99941424e-01 7.35379889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78762800000004 meters 0.011556777895881646 Centerline is valid? [True, True] Translation: X:-0.46, Y:-185.39, Z:0.74 [[-6.90546671e-01 7.23257236e-01 6.65327522e-03 -4.64636916e-01] [ 7.23223230e-01 6.90578721e-01 -7.01353179e-03 -1.85386321e+02] [-9.66719791e-03 -3.13678366e-05 -9.99953271e-01 7.35007777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.817628 meters 0.011656863687048949 Centerline is valid? [True, True] Translation: X:-0.46, Y:-185.38, Z:0.73 [[-7.45669327e-01 6.66283906e-01 6.55838350e-03 -4.56750474e-01] [ 6.66257706e-01 7.45698167e-01 -5.90880139e-03 -1.85382300e+02] [-8.82751382e-03 -3.64384049e-05 -9.99961036e-01 7.33879239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84762800000004 meters 0.01169597155475367 Centerline is valid? [True, True] Translation: X:-0.44, Y:-185.36, Z:0.73 [[-7.91343684e-01 6.11339179e-01 6.29140816e-03 -4.37870278e-01] [ 6.11319473e-01 7.91368692e-01 -4.90861613e-03 -1.85362366e+02] [-7.97965280e-03 -3.83420457e-05 -9.99968161e-01 7.33322995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.877628 meters 0.011720291260282675 Centerline is valid? [True, True] Translation: X:-0.42, Y:-185.34, Z:0.73 [[-8.32730327e-01 5.53639167e-01 6.62385141e-03 -4.17231645e-01] [ 5.53621254e-01 8.32756670e-01 -4.45381043e-03 -1.85344283e+02] [-7.98186034e-03 -4.17180993e-05 -9.99968144e-01 7.33098123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90762800000005 meters 0.011686676212788943 Centerline is valid? [True, True] Translation: X:-0.40, Y:-185.32, Z:0.73 [[-8.69427904e-01 4.94017980e-01 6.43082945e-03 -4.01298526e-01] [ 4.94004189e-01 8.69451686e-01 -3.69139394e-03 -1.85324952e+02] [-7.41491049e-03 -3.25442110e-05 -9.99972509e-01 7.32773481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.937628 meters 0.014664511272967574 Centerline is valid? [True, True] Translation: X:-0.38, Y:-185.30, Z:0.74 [[-9.01693932e-01 4.32315216e-01 7.18388951e-03 -3.84519562e-01] [ 4.32301274e-01 9.01722548e-01 -3.47205077e-03 -1.85304791e+02] [-7.97889553e-03 -2.51225182e-05 -9.99968168e-01 7.35109588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96762800000005 meters 0.011639271763292028 Centerline is valid? [True, True] Translation: X:-0.06, Y:-184.64, Z:-0.24 [[-8.67659344e-01 -4.97127993e-01 5.56972440e-03 -5.73194740e-02] [ 4.97117221e-01 -8.67677217e-01 -3.27350478e-03 -1.84639409e+02] [ 6.46007383e-03 -7.14810969e-05 9.99979131e-01 -2.43910916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.997628 meters 0.011601026322885946 Centerline is valid? [True, True] Translation: X:-0.43, Y:-185.29, Z:0.73 [[-9.02647194e-01 4.30354965e-01 4.75898575e-03 -4.25742234e-01] [ 4.30348937e-01 9.02659739e-01 -2.27790359e-03 -1.85291491e+02] [-5.27605195e-03 -8.11882864e-06 -9.99986082e-01 7.30038927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02762800000005 meters 0.01159187514659922 Centerline is valid? [True, True] Translation: X:-0.41, Y:-185.27, Z:0.73 [[-9.30787277e-01 3.65531472e-01 4.66775594e-03 -4.12797925e-01] [ 3.65526840e-01 9.30798981e-01 -1.84020883e-03 -1.85268447e+02] [-5.01739671e-03 -6.65288524e-06 -9.99987413e-01 7.29242107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.057628 meters 0.01167763937517651 Centerline is valid? [True, True] Translation: X:-0.13, Y:-184.57, Z:-0.24 [[-9.03258361e-01 -4.29071694e-01 4.67070628e-03 -1.30234247e-01] [ 4.29066047e-01 -9.03270437e-01 -2.20127918e-03 -1.84570186e+02] [ 5.16341748e-03 1.57176581e-05 9.99986669e-01 -2.42137246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.08762800000005 meters 0.011661862557674903 Centerline is valid? [True, True] Translation: X:-0.45, Y:-185.26, Z:0.73 [[-9.31279855e-01 3.64269962e-01 5.02267459e-03 -4.54187993e-01] [ 3.64264695e-01 9.31293399e-01 -1.95877485e-03 -1.85255786e+02] [-5.39110653e-03 5.41547552e-06 -9.99985468e-01 7.29484788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.117628 meters 0.011841022170830353 Centerline is valid? [True, True] Translation: X:-0.44, Y:-185.23, Z:0.73 [[-9.53719145e-01 3.00639935e-01 5.95164402e-03 -4.44605316e-01] [ 3.00634260e-01 9.53737715e-01 -1.84741134e-03 -1.85232713e+02] [-6.23171299e-03 2.73565262e-05 -9.99980582e-01 7.29095191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.14762800000005 meters 0.011978593249401297 Centerline is valid? [True, True] Translation: X:-0.43, Y:-185.21, Z:0.73 [[-9.72310336e-01 2.33589404e-01 6.97147459e-03 -4.30773953e-01] [ 2.33583703e-01 9.72335327e-01 -1.63258370e-03 -1.85208621e+02] [-7.15996528e-03 4.10448394e-05 -9.99974366e-01 7.29672648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.177628 meters 0.012227665747012461 Centerline is valid? [True, True] Translation: X:-0.25, Y:-184.47, Z:-0.24 [[-9.58065262e-01 -2.86446183e-01 7.71613986e-03 -2.53002291e-01] [ 2.86436969e-01 -9.58096333e-01 -2.29750723e-03 -1.84465177e+02] [ 8.05091749e-03 9.02584752e-06 9.99967591e-01 -2.43989685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.207628 meters 0.014971933678159079 Centerline is valid? [True, True] Translation: X:-0.48, Y:-185.20, Z:0.74 [[-9.72316226e-01 2.33449232e-01 1.01298230e-02 -4.80410429e-01] [ 2.33437623e-01 9.72368987e-01 -2.33016077e-03 -1.85198601e+02] [-1.03939000e-02 9.90286804e-05 -9.99945977e-01 7.35293314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23762800000003 meters 0.014530120487774358 Centerline is valid? [True, True] Translation: X:-0.47, Y:-185.17, Z:0.73 [[-9.86262987e-01 1.64879973e-01 9.99579071e-03 -4.72693860e-01] [ 1.64872602e-01 9.86313633e-01 -1.56269107e-03 -1.85171729e+02] [-1.01166411e-02 1.06807661e-04 -9.99948820e-01 7.34311098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.267628 meters 0.015974314297373924 Centerline is valid? [True, True] Translation: X:-0.47, Y:-185.14, Z:0.73 [[-9.95405779e-01 9.52658375e-02 9.57887000e-03 -4.66589915e-01] [ 9.52624886e-02 9.95451861e-01 -8.06311737e-04 -1.85144682e+02] [-9.61211793e-03 1.09899631e-04 -9.99953797e-01 7.34421659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29762800000003 meters 0.013069356817166132 Centerline is valid? [True, True] Translation: X:-0.46, Y:-185.11, Z:0.73 [[-9.99642066e-01 2.58559894e-02 6.87078760e-03 -4.64387563e-01] [ 2.58559930e-02 9.99665674e-01 -8.83144623e-05 -1.85113865e+02] [-6.87077397e-03 8.93681843e-05 -9.99976392e-01 7.30466731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.327628 meters 0.015894451624457948 Centerline is valid? [True, True] Translation: X:-0.45, Y:-184.36, Z:-0.25 [[-9.97759796e-01 -6.64701665e-02 7.55682547e-03 -4.47632349e-01] [ 6.64678613e-02 -9.97788412e-01 -5.56064070e-04 -1.84356698e+02] [ 7.57707456e-03 -5.25323459e-05 9.99971292e-01 -2.46223488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35762800000003 meters 0.013156060348553666 Centerline is valid? [True, True] Translation: X:-0.55, Y:-185.11, Z:0.73 [[-9.99757558e-01 2.09980599e-02 6.62625587e-03 -5.49757810e-01] [ 2.09982092e-02 9.99779512e-01 -4.70400725e-05 -1.85109138e+02] [-6.62578261e-03 9.21108390e-05 -9.99978045e-01 7.30992590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.387628 meters 0.013095228481641812 Centerline is valid? [True, True] Translation: X:-0.56, Y:-185.08, Z:0.73 [[-9.98741440e-01 -4.98225741e-02 5.76598581e-03 -5.56010337e-01] [-4.98212666e-02 9.98758081e-01 3.70257059e-04 -1.85080815e+02] [-5.77727208e-03 8.25223514e-05 -9.99983308e-01 7.30143135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41762800000004 meters 0.013093824127095957 Centerline is valid? [True, True] Translation: X:-0.56, Y:-185.05, Z:0.73 [[-9.92642919e-01 -1.20951131e-01 5.55506907e-03 -5.63448288e-01] [-1.20948785e-01 9.92658460e-01 7.57599185e-04 -1.85053676e+02] [-5.60591878e-03 8.01466154e-05 -9.99984284e-01 7.29766401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.447628 meters 0.013241195970925638 Centerline is valid? [True, True] Translation: X:-0.58, Y:-185.03, Z:0.73 [[-9.81351636e-01 -1.92130174e-01 5.91291747e-03 -5.84004531e-01] [-1.92126161e-01 9.81369446e-01 1.24475982e-03 -1.85028877e+02] [-6.04191246e-03 8.55209494e-05 -9.99981744e-01 7.30125531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47762800000004 meters 0.013266076557956955 Centerline is valid? [True, True] Translation: X:-0.62, Y:-185.01, Z:0.73 [[-9.64834325e-01 -2.62762686e-01 7.10606579e-03 -6.23858576e-01] [-2.62754760e-01 9.64860487e-01 2.04345864e-03 -1.85007042e+02] [-7.39330678e-03 1.04446427e-04 -9.99972664e-01 7.32148987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.507628 meters 0.013394010884857194 Centerline is valid? [True, True] Translation: X:-0.68, Y:-185.00, Z:0.73 [[-9.42799713e-01 -3.33273638e-01 7.57522559e-03 -6.83912954e-01] [-3.33261921e-01 9.42830138e-01 2.79685684e-03 -1.84995631e+02] [-8.07426965e-03 1.12341591e-04 -9.99967396e-01 7.33273627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53762800000004 meters 0.01305864806902171 Centerline is valid? [True, True] Translation: X:-0.75, Y:-184.99, Z:0.73 [[-9.15294383e-01 -4.02706765e-01 7.96572742e-03 -7.49756305e-01] [-4.02690407e-01 9.15329038e-01 3.63159065e-03 -1.84990171e+02] [-8.75372774e-03 1.16252506e-04 -9.99961679e-01 7.33450332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.567628 meters 0.015580081374490757 Centerline is valid? [True, True] Translation: X:-0.83, Y:-185.00, Z:0.74 [[-8.81623538e-01 -4.71873992e-01 8.65295928e-03 -8.26937313e-01] [-4.71850079e-01 8.81665994e-01 4.75165807e-03 -1.84996319e+02] [-9.87120381e-03 1.06274074e-04 -9.99951273e-01 7.36420789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59762800000004 meters 0.012349630997980442 Centerline is valid? [True, True] Translation: X:-0.91, Y:-185.01, Z:0.73 [[-8.42532050e-01 -5.38603157e-01 6.81056786e-03 -9.09614662e-01] [-5.38584909e-01 8.42559574e-01 4.43402249e-03 -1.85012300e+02] [-8.12648766e-03 6.77369879e-05 -9.99966977e-01 7.32337463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.627628 meters 0.012214757643619453 Centerline is valid? [True, True] Translation: X:-0.99, Y:-185.04, Z:0.73 [[-7.98449883e-01 -6.02033978e-01 5.73362013e-03 -9.94452063e-01] [-6.02018046e-01 7.98470467e-01 4.38006995e-03 -1.85037377e+02] [-7.21507728e-03 4.55235571e-05 -9.99973970e-01 7.31810177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65762800000005 meters 0.013952527436615837 Centerline is valid? [True, True] Translation: X:-1.08, Y:-185.07, Z:0.73 [[-7.49633300e-01 -6.61831472e-01 5.38677592e-03 -1.08456800e+00] [-6.61814060e-01 7.49652654e-01 4.80092436e-03 -1.85074528e+02] [-7.21561370e-03 3.38887329e-05 -9.99973967e-01 7.32793903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.687628 meters 0.01177224018355731 Centerline is valid? [True, True] Translation: X:-1.18, Y:-185.12, Z:0.73 [[-6.95380021e-01 -7.18630129e-01 4.16694772e-03 -1.17537381e+00] [-7.18617126e-01 6.95392506e-01 4.32298649e-03 -1.85123177e+02] [-6.00429256e-03 1.16784422e-05 -9.99981974e-01 7.29368864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71762800000005 meters 0.01166522507755166 Centerline is valid? [True, True] Translation: X:-1.26, Y:-185.18, Z:0.73 [[-6.37946668e-01 -7.70074268e-01 3.10961799e-03 -1.26007449e+00] [-7.70065084e-01 6.37954247e-01 3.76097809e-03 -1.85175505e+02] [-4.88002645e-03 4.69519903e-06 -9.99988093e-01 7.28467160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.747628 meters 0.011699966457795606 Centerline is valid? [True, True] Translation: X:-1.35, Y:-185.24, Z:0.73 [[-5.76954787e-01 -8.16772450e-01 2.43679982e-03 -1.34562121e+00] [-8.16765150e-01 5.76959933e-01 3.45318907e-03 -1.85240243e+02] [-4.22640556e-03 2.04079910e-06 -9.99991069e-01 7.29023742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77762800000005 meters 0.011642645921449975 Centerline is valid? [True, True] Translation: X:-1.43, Y:-185.31, Z:0.73 [[-5.12681754e-01 -8.58576617e-01 1.90033826e-03 -1.42678684e+00] [-8.58570710e-01 5.12685276e-01 3.18500776e-03 -1.85313517e+02] [-3.70884863e-03 1.32059427e-06 -9.99993122e-01 7.28450321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.807628 meters 0.011611296798281797 Centerline is valid? [True, True] Translation: X:-1.50, Y:-185.40, Z:0.73 [[-4.46112261e-01 -8.94976657e-01 7.96331681e-04 -1.50369043e+00] [-8.94975223e-01 4.46112972e-01 1.60206530e-03 -1.85399460e+02] [-1.78906494e-03 2.00384944e-06 -9.99998400e-01 7.26655948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.83762800000005 meters 0.011633286071027888 Centerline is valid? [True, True] Translation: X:-1.57, Y:-185.49, Z:0.73 [[-3.77219827e-01 -9.26123550e-01 6.10553692e-04 -1.57229673e+00] [-9.26122320e-01 3.77220321e-01 1.50914887e-03 -1.85487589e+02] [-1.62797157e-03 3.83347482e-06 -9.99998675e-01 7.26053755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.867628 meters 0.012089048478484686 Centerline is valid? [True, True] Translation: X:-1.63, Y:-185.59, Z:0.73 [[-3.09199007e-01 -9.50997151e-01 6.26270135e-04 -1.63274433e+00] [-9.50995106e-01 3.09199641e-01 1.97256481e-03 -1.85587708e+02] [-2.06954601e-03 1.43352458e-05 -9.99997858e-01 7.25542358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.89762800000005 meters 0.014775771592695722 Centerline is valid? [True, True] Translation: X:-1.69, Y:-185.69, Z:0.73 [[-2.38275363e-01 -9.71197361e-01 7.32883323e-04 -1.68812113e+00] [-9.71192334e-01 2.38276488e-01 3.12495434e-03 -1.85690544e+02] [-3.20957628e-03 3.28289646e-05 -9.99994849e-01 7.28729552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.927628 meters 0.014775771592695722 Centerline is valid? [True, True] Translation: X:-1.74, Y:-185.80, Z:0.73 [[-1.62665254e-01 -9.86681192e-01 4.89697687e-04 -1.73756782e+00] [-9.86676094e-01 1.62665987e-01 3.17217051e-03 -1.85799571e+02] [-3.20957814e-03 3.28289204e-05 -9.99994849e-01 7.28729644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.957628 meters 0.015936295892106666 Centerline is valid? [True, True] Translation: X:-1.78, Y:-185.91, Z:0.73 [[-8.90421476e-02 -9.96027818e-01 2.85079220e-04 -1.77721109e+00] [-9.96020766e-01 8.90425900e-02 3.74850948e-03 -1.85907109e+02] [-3.75900391e-03 4.98305107e-05 -9.99992934e-01 7.30005037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98762800000003 meters 0.013229961074169141 Centerline is valid? [True, True] Translation: X:-1.81, Y:-186.02, Z:0.73 [[-1.40779465e-02 -9.99900901e-01 -4.49031372e-06 -1.80939700e+00] [-9.99895652e-01 1.40778580e-02 3.24016863e-03 -1.86022931e+02] [-3.23978432e-03 5.01047656e-05 -9.99994751e-01 7.28159519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.017628 meters 0.017500657243597628 Centerline is valid? [True, True] Translation: X:-1.83, Y:-186.14, Z:0.73 [[ 5.86504744e-02 -9.98278480e-01 -4.44864268e-04 -1.83068693e+00] [-9.98262523e-01 -5.86520527e-02 5.64559874e-03 -1.86143278e+02] [-5.66197193e-03 1.12974282e-04 -9.99983965e-01 7.33153768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04762800000003 meters 0.016750418698825816 Centerline is valid? [True, True] Translation: X:-1.84, Y:-186.26, Z:0.73 [[ 1.34517975e-01 -9.90910741e-01 -9.04076080e-04 -1.84473955e+00] [-9.90894056e-01 -1.34520958e-01 5.75163342e-03 -1.86261861e+02] [-5.82097252e-03 1.22145531e-04 -9.99983051e-01 7.32377075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.077628 meters 0.016780802961413984 Centerline is valid? [True, True] Translation: X:-1.85, Y:-186.39, Z:0.73 [[ 2.09712566e-01 -9.77762320e-01 -1.21867376e-03 -1.84726835e+00] [-9.77748854e-01 -2.09716075e-01 5.13282372e-03 -1.86388846e+02] [-5.27425711e-03 1.15139245e-04 -9.99986084e-01 7.31571990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10762800000003 meters 0.01495533286271522 Centerline is valid? [True, True] Translation: X:-1.84, Y:-186.50, Z:0.73 [[ 2.84197211e-01 -9.58765474e-01 -8.43638707e-04 -1.84284261e+00] [-9.58761866e-01 -2.84198456e-01 2.63094512e-03 -1.86503405e+02] [-2.76222017e-03 6.11413553e-05 -9.99996183e-01 7.26506118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.137628 meters 0.014422297316373126 Centerline is valid? [True, True] Translation: X:-1.83, Y:-186.63, Z:0.72 [[ 3.57697947e-01 -9.33837135e-01 -6.18970299e-04 -1.82936842e+00] [-9.33835904e-01 -3.57698481e-01 1.51692422e-03 -1.86625168e+02] [-1.63796491e-03 3.54160078e-05 -9.99998658e-01 7.24879982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16762800000004 meters 0.014260755114094354 Centerline is valid? [True, True] Translation: X:-1.81, Y:-186.74, Z:0.72 [[ 4.29576874e-01 -9.03030293e-01 -1.81825374e-05 -1.80794859e+00] [-9.03030292e-01 -4.29576874e-01 3.61887700e-05 -1.86743155e+02] [-4.04903534e-05 8.73523383e-07 -9.99999999e-01 7.23350265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.197628 meters 0.013911736077900179 Centerline is valid? [True, True] Translation: X:-1.78, Y:-186.86, Z:0.72 [[ 4.99090728e-01 -8.66549340e-01 8.28739996e-04 -1.77840186e+00] [-8.66548244e-01 -4.99091415e-01 -1.37825199e-03 -1.86858845e+02] [ 1.60794037e-03 -3.02704012e-05 -9.99998707e-01 7.22596134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22762800000004 meters 0.01360755498207469 Centerline is valid? [True, True] Translation: X:-1.74, Y:-186.97, Z:0.72 [[ 5.67112095e-01 -8.23638104e-01 2.03600229e-03 -1.74356675e+00] [-8.23633130e-01 -5.67115747e-01 -2.86280479e-03 -1.86969789e+02] [ 3.51256407e-03 -5.33877145e-05 -9.99993830e-01 7.21408622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.257628 meters 0.012966757327408892 Centerline is valid? [True, True] Translation: X:-1.70, Y:-187.08, Z:0.72 [[ 6.30231982e-01 -7.76402428e-01 2.63052109e-03 -1.70023411e+00] [-7.76396016e-01 -6.30237469e-01 -3.15574730e-03 -1.87075461e+02] [ 4.10798282e-03 -5.34732239e-05 -9.99991561e-01 7.20548646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28762800000004 meters 0.012726121852079872 Centerline is valid? [True, True] Translation: X:-1.65, Y:-187.18, Z:0.72 [[ 6.89159529e-01 -7.24603897e-01 2.88717970e-03 -1.64842115e+00] [-7.24597815e-01 -6.89165575e-01 -2.96922106e-03 -1.87176100e+02] [ 4.14125401e-03 -4.57771188e-05 -9.99991424e-01 7.20013439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.317628 meters 0.01228210042179414 Centerline is valid? [True, True] Translation: X:-1.59, Y:-187.27, Z:0.72 [[ 7.44959703e-01 -6.67101748e-01 3.20911241e-03 -1.59076548e+00] [-6.67095737e-01 -7.44966614e-01 -2.83208377e-03 -1.87272986e+02] [ 4.27996964e-03 -3.09969301e-05 -9.99990840e-01 7.19831451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34762800000004 meters 0.012138648511542588 Centerline is valid? [True, True] Translation: X:-1.59, Y:-187.28, Z:0.72 [[ 7.95489991e-01 -6.05958274e-01 3.20069808e-03 -1.59418696e+00] [-6.05953493e-01 -7.95496430e-01 -2.40728809e-03 -1.87279990e+02] [ 4.00486003e-03 -2.45006059e-05 -9.99991980e-01 7.20327436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.377628 meters 0.012073658212132726 Centerline is valid? [True, True] Translation: X:-1.60, Y:-187.29, Z:0.72 [[ 8.40913327e-01 -5.41164551e-01 2.38872252e-03 -1.59728944e+00] [-5.41162417e-01 -8.40916719e-01 -1.51968436e-03 -1.87287321e+02] [ 2.83111601e-03 -1.47640163e-05 -9.99995992e-01 7.22519770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40762800000005 meters 0.012082791675392465 Centerline is valid? [True, True] Translation: X:-1.60, Y:-187.29, Z:0.72 [[ 8.80645304e-01 -4.73773492e-01 1.58939463e-03 -1.59831467e+00] [-4.73772740e-01 -8.80646739e-01 -8.44515901e-04 -1.87293206e+02] [ 1.79980444e-03 -9.29288534e-06 -9.99998380e-01 7.23542289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.437628 meters 0.0121437286036605 Centerline is valid? [True, True] Translation: X:-1.60, Y:-187.30, Z:0.72 [[ 9.14886689e-01 -4.03709079e-01 1.15190354e-03 -1.59915183e+00] [-4.03708768e-01 -9.14887414e-01 -5.00896721e-04 -1.87298462e+02] [ 1.25607860e-03 -6.76981489e-06 -9.99999211e-01 7.24595493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46762800000005 meters 0.012116676044868116 Centerline is valid? [True, True] Translation: X:-1.60, Y:-187.31, Z:0.73 [[ 9.43450403e-01 -3.31513579e-01 2.90803553e-04 -1.59990193e+00] [-3.31513564e-01 -9.43450447e-01 -1.00282265e-04 -1.87307980e+02] [ 3.07603675e-04 -1.79397866e-06 -9.99999953e-01 7.25867300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.497628 meters 0.012272919175357062 Centerline is valid? [True, True] Translation: X:-1.60, Y:-187.32, Z:0.73 [[ 9.66100945e-01 -2.58159963e-01 -1.54833819e-03 -1.60023796e+00] [-2.58159651e-01 -9.66102186e-01 4.01426985e-04 -1.87318570e+02] [-1.59948528e-03 1.18994567e-05 -9.99998721e-01 7.27074447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52762800000005 meters 0.012729737173591094 Centerline is valid? [True, True] Translation: X:-1.60, Y:-187.33, Z:0.73 [[ 9.83128229e-01 -1.82902539e-01 -2.35508737e-03 -1.60049127e+00] [-1.82902064e-01 -9.83131050e-01 4.17416524e-04 -1.87326078e+02] [-2.39170606e-03 2.03763730e-05 -9.99997140e-01 7.27492533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.557628 meters 0.012538576114411632 Centerline is valid? [True, True] Translation: X:-1.60, Y:-187.34, Z:0.73 [[ 9.94318119e-01 -1.06421492e-01 -2.43792893e-03 -1.60290122e+00] [-1.06421230e-01 -9.94321108e-01 2.37287603e-04 -1.87335369e+02] [-2.44933670e-03 2.35080327e-05 -9.99997000e-01 7.26590246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.58762800000005 meters 0.016271503692904834 Centerline is valid? [True, True] Translation: X:-1.61, Y:-187.34, Z:0.73 [[ 9.99548732e-01 -2.98828248e-02 -3.05757156e-03 -1.60506336e+00] [-2.98827898e-02 -9.99553408e-01 5.71494660e-05 -1.87342772e+02] [-3.05791387e-03 3.42450920e-05 -9.99995324e-01 7.29121011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.617628 meters 0.012994255658953742 Centerline is valid? [True, True] Translation: X:-1.61, Y:-187.35, Z:0.73 [[ 9.98902970e-01 4.67835156e-02 -2.03925037e-03 -1.60655118e+00] [ 4.67833642e-02 -9.98905052e-01 -1.21924432e-04 -1.87351759e+02] [-2.04272155e-03 2.63876844e-05 -9.99997913e-01 7.26676257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.64762800000005 meters 0.012923316624757274 Centerline is valid? [True, True] Translation: X:-1.61, Y:-187.36, Z:0.73 [[ 9.92232406e-01 1.24389194e-01 -1.47670340e-03 -1.60677647e+00] [ 1.24389026e-01 -9.92233505e-01 -2.05222524e-04 -1.87362215e+02] [-1.49076206e-03 1.99427413e-05 -9.99998889e-01 7.26511532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.677628 meters 0.017287221420251485 Centerline is valid? [True, True] Translation: X:-1.61, Y:-187.37, Z:0.73 [[ 9.79431859e-01 2.01759285e-01 -2.53474375e-03 -1.60815732e+00] [ 2.01758518e-01 -9.79435138e-01 -5.57321262e-04 -1.87369009e+02] [-2.59506184e-03 3.44520558e-05 -9.99996632e-01 7.29255063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.707628 meters 0.012584889307567204 Centerline is valid? [True, True] Translation: X:-1.61, Y:-187.38, Z:0.73 [[ 9.59717436e-01 2.80960571e-01 -1.89750566e-03 -1.60663158e+00] [ 2.80959981e-01 -9.59719312e-01 -5.76100677e-04 -1.87379132e+02] [-1.98293440e-03 1.97707112e-05 -9.99998034e-01 7.25236123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73762800000003 meters 0.012358555710828233 Centerline is valid? [True, True] Translation: X:-1.61, Y:-187.39, Z:0.73 [[ 9.34205043e-01 3.56729801e-01 -2.18790154e-03 -1.60610030e+00] [ 3.56728773e-01 -9.34207605e-01 -8.56494506e-04 -1.87386698e+02] [-2.34949137e-03 1.96540550e-05 -9.99997240e-01 7.25623105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.767628 meters 0.012057704641585038 Centerline is valid? [True, True] Translation: X:-1.60, Y:-187.40, Z:0.73 [[ 9.02607716e-01 4.30455668e-01 -2.68862467e-03 -1.60316035e+00] [ 4.30453695e-01 -9.02611720e-01 -1.30369457e-03 -1.87396474e+02] [-2.98796685e-03 1.93963508e-05 -9.99995536e-01 7.26814988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79762800000003 meters 0.011808222249959328 Centerline is valid? [True, True] Translation: X:-1.60, Y:-187.41, Z:0.73 [[ 8.64472207e-01 5.02654562e-01 -5.11807713e-03 -1.59714563e+00] [ 5.02645624e-01 -8.64487357e-01 -2.99763251e-03 -1.87408962e+02] [-5.93128663e-03 1.87909185e-05 -9.99982410e-01 7.30781413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.827628 meters 0.011741747419659863 Centerline is valid? [True, True] Translation: X:-1.59, Y:-187.42, Z:0.73 [[ 8.22089131e-01 5.69330706e-01 -5.65759816e-03 -1.59281281e+00] [ 5.69317080e-01 -8.22108598e-01 -3.93901344e-03 -1.87418067e+02] [-6.89376139e-03 1.72528669e-05 -9.99976238e-01 7.32892034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85762800000003 meters 0.011720593062646265 Centerline is valid? [True, True] Translation: X:-1.59, Y:-187.42, Z:0.73 [[ 7.74852921e-01 6.32114360e-01 -5.86401276e-03 -1.58972754e+00] [ 6.32096089e-01 -7.74875109e-01 -4.80613121e-03 -1.87424882e+02] [-7.58190208e-03 1.74252732e-05 -9.99971257e-01 7.33674647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.887628 meters 0.011738349268677468 Centerline is valid? [True, True] Translation: X:-1.59, Y:-187.43, Z:0.73 [[ 7.23148130e-01 6.90670290e-01 -5.59758214e-03 -1.58692507e+00] [ 6.90649391e-01 -7.23169794e-01 -5.37292889e-03 -1.87430345e+02] [-7.75892467e-03 1.94567841e-05 -9.99969899e-01 7.33713184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91762800000004 meters 0.011929363771509643 Centerline is valid? [True, True] Translation: X:-1.59, Y:-187.43, Z:0.73 [[ 6.67995435e-01 7.44149190e-01 -4.90737473e-03 -1.58796492e+00] [ 7.44128780e-01 -6.68013459e-01 -5.51157313e-03 -1.87433585e+02] [-7.37962505e-03 2.99869165e-05 -9.99972770e-01 7.32196482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.947628 meters 0.011928480046554581 Centerline is valid? [True, True] Translation: X:-1.58, Y:-187.44, Z:0.73 [[ 6.08417364e-01 7.93603316e-01 -4.69974990e-03 -1.58466313e+00] [ 7.93579148e-01 -6.08435515e-01 -6.19361251e-03 -1.87439250e+02] [-7.77476617e-03 3.86778820e-05 -9.99969775e-01 7.32096939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97762800000004 meters 0.012026695408827011 Centerline is valid? [True, True] Translation: X:-1.58, Y:-187.44, Z:0.73 [[ 5.44772591e-01 8.38572915e-01 -4.27675613e-03 -1.58072676e+00] [ 8.38546453e-01 -5.44789377e-01 -6.66190280e-03 -1.87444500e+02] [-7.91642255e-03 4.29633742e-05 -9.99968664e-01 7.32628466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.007628 meters 0.011940184076924433 Centerline is valid? [True, True] Translation: X:-1.58, Y:-187.45, Z:0.73 [[ 4.77051331e-01 8.78867571e-01 -3.71752627e-03 -1.57814323e+00] [ 8.78840240e-01 -4.77065814e-01 -6.93117902e-03 -1.87448625e+02] [-7.86509317e-03 3.94165037e-05 -9.99969069e-01 7.32289628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03762800000004 meters 0.01190658663487385 Centerline is valid? [True, True] Translation: X:-1.57, Y:-187.45, Z:0.73 [[ 4.06348928e-01 9.13713116e-01 -2.98176543e-03 -1.57292120e+00] [ 9.13687905e-01 -4.06359866e-01 -6.78756521e-03 -1.87453745e+02] [-7.41355716e-03 3.37168331e-05 -9.99972519e-01 7.31683882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.067628 meters 0.011931643746033074 Centerline is valid? [True, True] Translation: X:-1.57, Y:-187.46, Z:0.73 [[ 3.32776147e-01 9.43002580e-01 -2.48406288e-03 -1.56830800e+00] [ 9.42975670e-01 -3.32785417e-01 -7.12400689e-03 -1.87459727e+02] [-7.54461678e-03 2.82887035e-05 -9.99971539e-01 7.32030686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09762800000004 meters 0.01188886063072755 Centerline is valid? [True, True] Translation: X:-1.56, Y:-187.47, Z:0.73 [[ 2.57096357e-01 9.66383747e-01 -1.97900051e-03 -1.56170421e+00] [ 9.66354431e-01 -2.57103973e-01 -7.52734976e-03 -1.87465029e+02] [-7.78311736e-03 2.28382911e-05 -9.99969711e-01 7.32877761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.127628 meters 0.011829473408924476 Centerline is valid? [True, True] Translation: X:-1.55, Y:-187.47, Z:0.74 [[ 1.78296030e-01 9.83975534e-01 -1.63556169e-03 -1.55456519e+00] [ 9.83933871e-01 -1.78303531e-01 -9.05469709e-03 -1.87470174e+02] [-9.20122682e-03 5.13200063e-06 -9.99957668e-01 7.36097401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15762800000005 meters 0.011815326215284453 Centerline is valid? [True, True] Translation: X:-1.55, Y:-187.47, Z:0.74 [[ 1.00077065e-01 9.94979205e-01 -9.80990326e-04 -1.54813098e+00] [ 9.94931421e-01 -1.00081873e-01 -9.75125683e-03 -1.87473987e+02] [-9.80047712e-03 -1.40933841e-07 -9.99951974e-01 7.36816117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.187628 meters 0.01187019439756997 Centerline is valid? [True, True] Translation: X:-1.54, Y:-187.48, Z:0.74 [[ 2.14936195e-02 9.99768961e-01 -2.21828578e-04 -1.54156345e+00] [ 9.99717482e-01 -2.14947638e-02 -1.01454982e-02 -1.87478021e+02] [-1.01479223e-02 -3.70243018e-06 -9.99948509e-01 7.37322418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21762800000005 meters 0.011917922651350154 Centerline is valid? [True, True] Translation: X:-1.54, Y:-187.48, Z:0.74 [[-5.65757398e-02 9.98398143e-01 5.76909614e-04 -1.53500427e+00] [ 9.98346160e-01 5.65786812e-02 -1.01881064e-02 -1.87482430e+02] [-1.02044273e-02 -4.44158163e-07 -9.99947934e-01 7.38562716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.247628 meters 0.013524842372830963 Centerline is valid? [True, True] Translation: X:-1.53, Y:-187.49, Z:0.74 [[-1.33752153e-01 9.91013848e-01 1.38391647e-03 -1.53035710e+00] [ 9.90961492e-01 1.33759312e-01 -1.01866127e-02 -1.87486106e+02] [-1.02801860e-02 8.92654642e-06 -9.99947157e-01 7.39760017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27762800000005 meters 0.011834472487729975 Centerline is valid? [True, True] Translation: X:-1.52, Y:-187.49, Z:0.74 [[-2.10622173e-01 9.77565433e-01 2.03084899e-03 -1.52256299e+00] [ 9.77520540e-01 2.10631963e-01 -9.36858403e-03 -1.87487884e+02] [-9.58616562e-03 1.19650807e-05 -9.99954052e-01 7.36681136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.307628 meters 0.015212013467246361 Centerline is valid? [True, True] Translation: X:-1.52, Y:-187.49, Z:0.74 [[-2.85825157e-01 9.58276999e-01 3.02869104e-03 -1.51780765e+00] [ 9.58223983e-01 2.85841203e-01 -1.00799535e-02 -1.87491436e+02] [-1.05251123e-02 2.10601032e-05 -9.99944609e-01 7.36515406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.33762800000005 meters 0.011951468324111363 Centerline is valid? [True, True] Translation: X:-1.51, Y:-187.49, Z:0.73 [[-3.61351453e-01 9.32421998e-01 3.78744988e-03 -1.51006470e+00] [ 9.32370959e-01 3.61371301e-01 -9.75588233e-03 -1.87494228e+02] [-1.04652750e-02 6.00602324e-06 -9.99945238e-01 7.34282275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.367628 meters 0.012075091752461761 Centerline is valid? [True, True] Translation: X:-1.50, Y:-187.49, Z:0.74 [[-4.35513105e-01 9.00167895e-01 5.10851230e-03 -1.49823995e+00] [ 9.00105378e-01 4.35543065e-01 -1.06088349e-02 -1.87493527e+02] [-1.17747096e-02 -2.20872115e-05 -9.99930675e-01 7.36856964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.39762800000005 meters 0.012038938422371913 Centerline is valid? [True, True] Translation: X:-1.49, Y:-187.49, Z:0.74 [[-5.05782151e-01 8.62637398e-01 6.41366073e-03 -1.48579940e+00] [ 8.62567044e-01 5.05822812e-01 -1.10171398e-02 -1.87490819e+02] [-1.27479727e-02 -4.00602836e-05 -9.99918741e-01 7.37256481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.427628 meters 0.014174635578238608 Centerline is valid? [True, True] Translation: X:-1.47, Y:-187.49, Z:0.74 [[-5.72166700e-01 8.20096853e-01 8.14977038e-03 -1.47462935e+00] [ 8.20012377e-01 5.72224736e-01 -1.17708678e-02 -1.87488888e+02] [-1.43167519e-02 -5.19860287e-05 -9.99897509e-01 7.40911435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.457628 meters 0.01591311935393518 Centerline is valid? [True, True] Translation: X:-1.47, Y:-187.49, Z:0.74 [[-6.35187102e-01 7.72296148e-01 9.79822464e-03 -1.46682848e+00] [ 7.72202648e-01 6.35262666e-01 -1.20173032e-02 -1.87486957e+02] [-1.55053632e-02 -6.70209561e-05 -9.99879782e-01 7.41556322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48762800000003 meters 0.016584360869207327 Centerline is valid? [True, True] Translation: X:-1.46, Y:-187.48, Z:0.74 [[-6.94196670e-01 7.19705321e-01 1.07346864e-02 -1.45908144e+00] [ 7.19617563e-01 6.94279659e-01 -1.12391502e-02 -1.87484326e+02] [-1.55417506e-02 -7.73117721e-05 -9.99879217e-01 7.41371961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.517628 meters 0.0152123645281267 Centerline is valid? [True, True] Translation: X:-1.45, Y:-187.48, Z:0.74 [[-7.48464418e-01 6.63084272e-01 1.09665030e-02 -1.45161460e+00] [ 6.63011653e-01 7.48544750e-01 -9.81351036e-03 -1.87482177e+02] [-1.47161026e-02 -7.41440434e-05 -9.99891710e-01 7.40056107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54762800000003 meters 0.012185476874349432 Centerline is valid? [True, True] Translation: X:-1.43, Y:-187.46, Z:0.74 [[-7.93486448e-01 6.08489326e-01 1.09543288e-02 -1.42946376e+00] [ 6.08430139e-01 7.93562055e-01 -8.48711076e-03 -1.87464334e+02] [-1.38572560e-02 -6.94635734e-05 -9.99903981e-01 7.37275372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.577628 meters 0.014558823706068525 Centerline is valid? [True, True] Translation: X:-1.41, Y:-187.44, Z:0.74 [[-8.33753882e-01 5.52009295e-01 1.18407382e-02 -1.41043281e+00] [ 5.51952768e-01 8.33837955e-01 -7.89974927e-03 -1.87442962e+02] [-1.42339919e-02 -5.09184114e-05 -9.99898690e-01 7.40365045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60762800000003 meters 0.012084297131696948 Centerline is valid? [True, True] Translation: X:-1.39, Y:-187.42, Z:0.74 [[-8.70472800e-01 4.92088832e-01 1.12109444e-02 -1.39384094e+00] [ 4.92047457e-01 8.70544990e-01 -6.38125332e-03 -1.87421340e+02] [-1.28997750e-02 -3.83907414e-05 -9.99916794e-01 7.37423664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.637628 meters 0.011961277170046894 Centerline is valid? [True, True] Translation: X:-1.38, Y:-187.40, Z:0.74 [[-9.02614976e-01 4.30314333e-01 1.07601175e-02 -1.38047585e+00] [ 4.30283479e-01 9.02679109e-01 -5.15306833e-03 -1.87398723e+02] [-1.19303724e-02 -2.13358683e-05 -9.99928830e-01 7.36112328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66762800000004 meters 0.011973164686283178 Centerline is valid? [True, True] Translation: X:-1.36, Y:-187.38, Z:0.74 [[-9.30416191e-01 3.66360738e-01 1.02723310e-02 -1.36499001e+00] [ 3.66338332e-01 9.30472896e-01 -4.05177513e-03 -1.87376509e+02] [-1.10425369e-02 -6.68856311e-06 -9.99939029e-01 7.35689655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.697628 meters 0.011965764905346527 Centerline is valid? [True, True] Translation: X:-1.35, Y:-187.35, Z:0.73 [[-9.53532682e-01 3.01127045e-01 9.89578782e-03 -1.35319840e+00] [ 3.01110955e-01 9.53584030e-01 -3.11292828e-03 -1.87353206e+02] [-1.03738521e-02 1.14512652e-05 -9.99946190e-01 7.34559302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72762800000004 meters 0.011979855116138161 Centerline is valid? [True, True] Translation: X:-1.13, Y:-186.65, Z:-0.25 [[-9.31973658e-01 -3.62390439e-01 9.91308803e-03 -1.12901127e+00] [ 3.62369992e-01 -9.32026378e-01 -3.84961468e-03 -1.86649741e+02] [ 1.06343231e-02 4.46614980e-06 9.99943454e-01 -2.47555819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.757628 meters 0.01203666855198523 Centerline is valid? [True, True] Translation: X:-1.40, Y:-187.34, Z:0.74 [[-9.54600190e-01 2.97690357e-01 1.09054719e-02 -1.39776269e+00] [ 2.97671115e-01 9.54662480e-01 -3.38474414e-03 -1.87340982e+02] [-1.14186505e-02 1.51665786e-05 -9.99934805e-01 7.35415223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78762800000004 meters 0.014968950066469672 Centerline is valid? [True, True] Translation: X:-1.17, Y:-186.64, Z:-0.25 [[-9.33500210e-01 -3.58381445e-01 1.18362693e-02 -1.17209753e+00] [ 3.58353455e-01 -9.33575244e-01 -4.47939209e-03 -1.86636034e+02] [ 1.26553790e-02 6.00545530e-05 9.99919916e-01 -2.51993413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.817628 meters 0.012122983632376854 Centerline is valid? [True, True] Translation: X:-1.45, Y:-187.33, Z:0.74 [[-9.55977732e-01 2.93191706e-01 1.20498855e-02 -1.45281239e+00] [ 2.93168485e-01 9.56053672e-01 -3.69002175e-03 -1.87325260e+02] [-1.26022210e-02 5.06804667e-06 -9.99920589e-01 7.38118408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84762800000004 meters 0.012122983632376854 Centerline is valid? [True, True] Translation: X:-1.44, Y:-187.30, Z:0.74 [[-9.74302794e-01 2.24907215e-01 1.22804799e-02 -1.44048258e+00] [ 2.24889417e-01 9.74380185e-01 -2.82938538e-03 -1.87300141e+02] [-1.26022055e-02 5.07188569e-06 -9.99920589e-01 7.38118264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.877628 meters 0.012038209498000768 Centerline is valid? [True, True] Translation: X:-1.43, Y:-187.27, Z:0.74 [[-9.87825294e-01 1.55087975e-01 1.22028152e-02 -1.42648973e+00] [ 1.55076181e-01 9.87900663e-01 -1.91259811e-03 -1.87274279e+02] [-1.23517902e-02 3.05318134e-06 -9.99923714e-01 7.37867324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90762800000005 meters 0.012221768797972685 Centerline is valid? [True, True] Translation: X:-1.42, Y:-187.25, Z:0.74 [[-9.96289064e-01 8.51765654e-02 1.23715195e-02 -1.42175667e+00] [ 8.51701303e-02 9.96365873e-01 -1.04705453e-03 -1.87246457e+02] [-1.24157443e-02 1.05149462e-05 -9.99922922e-01 7.39705258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.937628 meters 0.01223767193050681 Centerline is valid? [True, True] Translation: X:-1.42, Y:-187.22, Z:0.74 [[-9.99796437e-01 1.60030889e-02 1.22876507e-02 -1.42021544e+00] [ 1.60022923e-02 9.99871942e-01 -1.63152944e-04 -1.87219104e+02] [-1.22886881e-02 3.35108459e-05 -9.99924491e-01 7.38866298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96762800000005 meters 0.012180507651343852 Centerline is valid? [True, True] Translation: X:-1.43, Y:-187.19, Z:0.74 [[-9.98468116e-01 -5.39370064e-02 1.23377362e-02 -1.42535573e+00] [-5.39322769e-02 9.98544339e-01 7.15970076e-04 -1.87191879e+02] [-1.23583940e-02 4.94710869e-05 -9.99923631e-01 7.37714375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.997628 meters 0.015186920001124407 Centerline is valid? [True, True] Translation: X:-1.43, Y:-187.17, Z:0.74 [[-9.92345339e-01 -1.22887879e-01 1.22187610e-02 -1.43118484e+00] [-1.22877618e-01 9.92420558e-01 1.58980478e-03 -1.87165166e+02] [-1.23215174e-02 7.62231176e-05 -9.99924084e-01 7.40323864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02762800000005 meters 0.01266885167785528 Centerline is valid? [True, True] Translation: X:-1.45, Y:-187.14, Z:0.74 [[-9.81561789e-01 -1.90868755e-01 1.02748733e-02 -1.45044026e+00] [-1.90857256e-01 9.81615561e-01 2.09742562e-03 -1.87140445e+02] [-1.04863085e-02 9.77187248e-05 -9.99945012e-01 7.37118966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.057628 meters 0.012948723221846219 Centerline is valid? [True, True] Translation: X:-1.48, Y:-187.12, Z:0.74 [[-9.65665806e-01 -2.59620316e-01 9.31894744e-03 -1.48164072e+00] [-2.59607151e-01 9.65710764e-01 2.61673368e-03 -1.87119482e+02] [-9.67876508e-03 1.07624847e-04 -9.99953154e-01 7.36887165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.08762800000005 meters 0.015227032606243553 Centerline is valid? [True, True] Translation: X:-1.54, Y:-187.11, Z:0.74 [[-9.44720744e-01 -3.27759811e-01 8.73056966e-03 -1.54161888e+00] [-3.27744593e-01 9.44761076e-01 3.16085184e-03 -1.87110039e+02] [-9.28430259e-03 1.24725305e-04 -9.99956892e-01 7.38787889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.117628 meters 0.01609291822848683 Centerline is valid? [True, True] Translation: X:-1.61, Y:-187.11, Z:0.74 [[-9.18462305e-01 -3.95425251e-01 8.11567197e-03 -1.60914249e+00] [-3.95408542e-01 9.18498151e-01 3.63750382e-03 -1.87107467e+02] [-8.89259055e-03 1.31904117e-04 -9.99960451e-01 7.38767727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.14762800000005 meters 0.015252367467749916 Centerline is valid? [True, True] Translation: X:-1.68, Y:-187.11, Z:0.74 [[-8.87103299e-01 -4.61526227e-01 6.42492236e-03 -1.68095484e+00] [-4.61513148e-01 8.87126557e-01 3.47660208e-03 -1.87112716e+02] [-7.30426229e-03 1.18919033e-04 -9.99973316e-01 7.37213716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.177628 meters 0.016192552238065958 Centerline is valid? [True, True] Translation: X:-1.76, Y:-187.13, Z:0.74 [[-8.50109805e-01 -5.26562203e-01 6.75024724e-03 -1.76266501e+00] [-5.26544361e-01 8.50136594e-01 4.33666539e-03 -1.87128300e+02] [-8.02215628e-03 1.32337149e-04 -9.99967813e-01 7.38385351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.207628 meters 0.013550738996631066 Centerline is valid? [True, True] Translation: X:-1.85, Y:-187.15, Z:0.74 [[-8.07429390e-01 -5.89930527e-01 6.30505975e-03 -1.85020068e+00] [-5.89911358e-01 8.07453998e-01 4.75728542e-03 -1.87153467e+02] [-7.89751359e-03 1.21745710e-04 -9.99968807e-01 7.36259109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23762800000003 meters 0.013416117542873475 Centerline is valid? [True, True] Translation: X:-1.94, Y:-187.19, Z:0.74 [[-7.59606529e-01 -6.50354548e-01 6.07307777e-03 -1.94347570e+00] [-6.50332567e-01 7.59630798e-01 5.34827817e-03 -1.87192513e+02] [-8.09157395e-03 1.13066762e-04 -9.99967256e-01 7.36879869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.267628 meters 0.013091212101908849 Centerline is valid? [True, True] Translation: X:-2.03, Y:-187.24, Z:0.74 [[-7.07260901e-01 -7.06928848e-01 5.79841433e-03 -2.03267808e+00] [-7.06903842e-01 7.07284662e-01 5.94690891e-03 -1.87237349e+02] [-8.30517098e-03 1.07094789e-04 -9.99965506e-01 7.36552560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29762800000003 meters 0.012992604185005146 Centerline is valid? [True, True] Translation: X:-2.12, Y:-187.29, Z:0.74 [[-6.50738650e-01 -7.59283198e-01 5.31371431e-03 -2.12055563e+00] [-7.59256625e-01 6.50760337e-01 6.35310383e-03 -1.87293306e+02] [-8.28175951e-03 9.97374154e-05 -9.99965701e-01 7.36769067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.327628 meters 0.013124864907806644 Centerline is valid? [True, True] Translation: X:-2.20, Y:-187.36, Z:0.74 [[-5.90269019e-01 -8.07194298e-01 4.45543599e-03 -2.20373855e+00] [-8.07170188e-01 5.90285828e-01 6.23935095e-03 -1.87360138e+02] [-7.66634923e-03 8.66004613e-05 -9.99970609e-01 7.35216443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35762800000003 meters 0.012809402860408667 Centerline is valid? [True, True] Translation: X:-2.29, Y:-187.43, Z:0.73 [[-5.26531938e-01 -8.50147473e-01 3.65964511e-03 -2.28595649e+00] [-8.50125897e-01 5.26544650e-01 6.05728779e-03 -1.87434455e+02] [-7.07655446e-03 7.81963970e-05 -9.99974958e-01 7.34182044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.387628 meters 0.015260450658061286 Centerline is valid? [True, True] Translation: X:-2.36, Y:-187.52, Z:0.74 [[-4.60342445e-01 -8.87735849e-01 3.14583932e-03 -2.36402500e+00] [-8.87713899e-01 4.60353187e-01 6.24317824e-03 -1.87519217e+02] [-6.99049029e-03 8.13946529e-05 -9.99975563e-01 7.36157284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41762800000004 meters 0.01652075609303131 Centerline is valid? [True, True] Translation: X:-2.44, Y:-187.61, Z:0.74 [[-3.91658716e-01 -9.20108371e-01 2.00879271e-03 -2.43568113e+00] [-9.20095391e-01 3.91663862e-01 4.88787666e-03 -1.87607797e+02] [-5.28414775e-03 6.60985826e-05 -9.99986037e-01 7.36581369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.447628 meters 0.013094449292771532 Centerline is valid? [True, True] Translation: X:-2.50, Y:-187.71, Z:0.73 [[-3.19793340e-01 -9.47486560e-01 1.19961566e-03 -2.50067513e+00] [-9.47479308e-01 3.19795586e-01 3.70733392e-03 -1.87705036e+02] [-3.89628086e-03 4.89696801e-05 -9.99992408e-01 7.32937930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47762800000004 meters 0.016385544883775343 Centerline is valid? [True, True] Translation: X:-2.56, Y:-187.81, Z:0.73 [[-2.47587881e-01 -9.68864988e-01 9.35742543e-04 -2.55909118e+00] [-9.68857167e-01 2.47589642e-01 3.89353361e-03 -1.87813945e+02] [-4.00398856e-03 5.73908665e-05 -9.99991982e-01 7.34889640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.507628 meters 0.013303550756634273 Centerline is valid? [True, True] Translation: X:-2.61, Y:-187.92, Z:0.73 [[-1.73163894e-01 -9.84893000e-01 2.09656903e-04 -2.60884766e+00] [-9.84892131e-01 1.73164020e-01 1.30844281e-03 -1.87915624e+02] [-1.32498119e-03 2.00856167e-05 -9.99999122e-01 7.30800867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53762800000004 meters 0.014084177764265206 Centerline is valid? [True, True] Translation: X:-2.65, Y:-188.03, Z:0.73 [[-9.68641755e-02 -9.95297608e-01 5.08247615e-05 -2.64957991e+00] [-9.95297416e-01 9.68641884e-02 6.17906232e-04 -1.88030217e+02] [-6.19923695e-04 9.26722396e-06 -9.99999808e-01 7.30730693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.567628 meters 0.013464325310657473 Centerline is valid? [True, True] Translation: X:-2.68, Y:-188.15, Z:0.73 [[-1.96801530e-02 -9.99806327e-01 1.56894013e-06 -2.68403712e+00] [-9.99806290e-01 1.96801527e-02 2.70516622e-04 -1.88147278e+02] [-2.70495108e-04 3.75517231e-06 -9.99999963e-01 7.30387237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59762800000004 meters 0.01319864733146288 Centerline is valid? [True, True] Translation: X:-2.71, Y:-188.27, Z:0.73 [[ 5.92831867e-02 -9.98241205e-01 3.62035277e-05 -2.70846155e+00] [-9.98241085e-01 -5.92831973e-02 -4.88347677e-04 -1.88273392e+02] [ 4.89635034e-04 -7.18904229e-06 -9.99999880e-01 7.28561377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.627628 meters 0.013003263115774155 Centerline is valid? [True, True] Translation: X:-2.72, Y:-188.39, Z:0.73 [[ 1.37225038e-01 -9.90539884e-01 1.63067384e-04 -2.72488332e+00] [-9.90539302e-01 -1.37225134e-01 -1.07372936e-03 -1.88389949e+02] [ 1.08594870e-03 -1.41821014e-05 -9.99999410e-01 7.28254570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65762800000005 meters 0.012857030217786341 Centerline is valid? [True, True] Translation: X:-2.73, Y:-188.52, Z:0.73 [[ 2.14176279e-01 -9.76795000e-01 2.22117322e-04 -2.73090548e+00] [-9.76794531e-01 -2.14176393e-01 -9.57780128e-04 -1.88515760e+02] [ 9.83127127e-04 -1.18292022e-05 -9.99999517e-01 7.28221914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.687628 meters 0.012543439322312387 Centerline is valid? [True, True] Translation: X:-2.73, Y:-188.63, Z:0.73 [[ 2.89628327e-01 -9.57139153e-01 2.73573244e-04 -2.73012057e+00] [-9.57138758e-01 -2.89628456e-01 -8.68857379e-04 -1.88634266e+02] [ 9.10852012e-04 -1.02018460e-05 -9.99999585e-01 7.28907317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71762800000005 meters 0.012232719464001654 Centerline is valid? [True, True] Translation: X:-2.72, Y:-188.76, Z:0.73 [[ 3.64196277e-01 -9.31322178e-01 2.68499407e-04 -2.71829922e+00] [-9.31321939e-01 -3.64196376e-01 -6.67940779e-04 -1.88758843e+02] [ 7.19854573e-04 -6.79784342e-06 -9.99999741e-01 7.29672066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.747628 meters 0.015790691269816675 Centerline is valid? [True, True] Translation: X:-2.70, Y:-188.87, Z:0.73 [[ 4.34444148e-01 -9.00698664e-01 -4.45670157e-04 -2.69874547e+00] [-9.00698211e-01 -4.34444377e-01 9.03615613e-04 -1.88872320e+02] [-1.00750427e-03 8.84379739e-06 -9.99999492e-01 7.32900095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77762800000005 meters 0.012297712941399485 Centerline is valid? [True, True] Translation: X:-2.67, Y:-188.99, Z:0.73 [[ 5.03309881e-01 -8.64105978e-01 1.49125456e-04 -2.66779204e+00] [-8.64105942e-01 -5.03309903e-01 -2.50466717e-04 -1.88986318e+02] [ 2.91486106e-04 -2.79781902e-06 -9.99999958e-01 7.30325560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.807628 meters 0.012185613492025573 Centerline is valid? [True, True] Translation: X:-2.63, Y:-189.09, Z:0.73 [[ 5.68093007e-01 -8.22964353e-01 -9.68153648e-05 -2.63174046e+00] [-8.22964341e-01 -5.68093015e-01 1.38602331e-04 -1.89093269e+02] [-1.69064911e-04 9.36577768e-07 -9.99999986e-01 7.30174144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.83762800000005 meters 0.015386517837983468 Centerline is valid? [True, True] Translation: X:-2.59, Y:-189.19, Z:0.73 [[ 6.28236349e-01 -7.78021401e-01 -1.33752933e-03 -2.58662851e+00] [-7.78019705e-01 -6.28237773e-01 1.62452620e-03 -1.89193943e+02] [-2.10420260e-03 2.00377683e-05 -9.99997786e-01 7.32589145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.867628 meters 0.01231235826137053 Centerline is valid? [True, True] Translation: X:-2.54, Y:-189.29, Z:0.73 [[ 6.85729487e-01 -7.27856271e-01 -5.64813071e-04 -2.53686575e+00] [-7.27856033e-01 -6.85729720e-01 5.88437358e-04 -1.89293709e+02] [-8.15606930e-04 7.59375376e-06 -9.99999667e-01 7.29949347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.89762800000005 meters 0.012440796079525808 Centerline is valid? [True, True] Translation: X:-2.48, Y:-189.38, Z:0.73 [[ 7.38667157e-01 -6.74070277e-01 -3.04691694e-04 -2.48371034e+00] [-6.74070222e-01 -7.38667219e-01 2.72716231e-04 -1.89383466e+02] [-4.08895672e-04 3.93707538e-06 -9.99999916e-01 7.30098698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.927628 meters 0.012644505433161733 Centerline is valid? [True, True] Translation: X:-2.49, Y:-189.39, Z:0.73 [[ 7.88329696e-01 -6.15252646e-01 6.87294072e-04 -2.48805728e+00] [-6.15252424e-01 -7.88329996e-01 -5.22790295e-04 -1.89391488e+02] [ 8.63462644e-04 -1.07282296e-05 -9.99999627e-01 7.29302819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.957628 meters 0.012562332042449815 Centerline is valid? [True, True] Translation: X:-2.49, Y:-189.40, Z:0.73 [[ 8.33924254e-01 -5.51878382e-01 7.68194645e-04 -2.49237734e+00] [-5.51878160e-01 -8.33924608e-01 -4.94640554e-04 -1.89401238e+02] [ 9.13597846e-04 -1.14570925e-05 -9.99999583e-01 7.29197580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98762800000003 meters 0.013475072280486855 Centerline is valid? [True, True] Translation: X:-2.50, Y:-189.41, Z:0.73 [[ 8.74774506e-01 -4.84529585e-01 8.02576184e-04 -2.49507907e+00] [-4.84529393e-01 -8.74774875e-01 -4.31993049e-04 -1.89407590e+02] [ 9.11386894e-04 -1.09752446e-05 -9.99999585e-01 7.28561141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.017628 meters 0.012422864198652633 Centerline is valid? [True, True] Translation: X:-2.50, Y:-189.42, Z:0.73 [[ 9.10246149e-01 -4.14066979e-01 6.95863281e-04 -2.49944437e+00] [-4.14066865e-01 -9.10246415e-01 -3.06963229e-04 -1.89420383e+02] [ 7.60510394e-04 -8.72183038e-06 -9.99999711e-01 7.29388272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04762800000003 meters 0.01228225612862564 Centerline is valid? [True, True] Translation: X:-2.50, Y:-189.43, Z:0.73 [[ 9.40346993e-01 -3.40216786e-01 2.65931871e-04 -2.50085630e+00] [-3.40216773e-01 -9.40347031e-01 -9.29548105e-05 -1.89430386e+02] [ 2.81693032e-04 -3.06470639e-06 -9.99999960e-01 7.30244677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.077628 meters 0.012123282113193504 Centerline is valid? [True, True] Translation: X:-2.50, Y:-189.44, Z:0.73 [[ 9.64218486e-01 -2.65108742e-01 2.58796680e-04 -2.50272766e+00] [-2.65108733e-01 -9.64218520e-01 -6.82723035e-05 -1.89443199e+02] [ 2.67636136e-04 -2.77984297e-06 -9.99999964e-01 7.30181995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10762800000003 meters 0.012090322065910273 Centerline is valid? [True, True] Translation: X:-2.50, Y:-189.45, Z:0.73 [[ 9.82049974e-01 -1.88620760e-01 2.40210326e-04 -2.50436631e+00] [-1.88620755e-01 -9.82050003e-01 -4.35858775e-05 -1.89453187e+02] [ 2.44119752e-04 -2.50514310e-06 -9.99999970e-01 7.30942628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.137628 meters 0.012065791327700536 Centerline is valid? [True, True] Translation: X:-2.51, Y:-189.46, Z:0.73 [[ 9.93810679e-01 -1.11086986e-01 1.29000605e-04 -2.50753305e+00] [-1.11086985e-01 -9.93810687e-01 -1.28861956e-05 -1.89461807e+02] [ 1.29633668e-04 -1.52384951e-06 -9.99999992e-01 7.30890952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16762800000004 meters 0.012144691660841608 Centerline is valid? [True, True] Translation: X:-2.51, Y:-189.47, Z:0.73 [[ 9.99452648e-01 -3.30814997e-02 1.40420676e-04 -2.51098794e+00] [-3.30814996e-02 -9.99452657e-01 -3.01087737e-06 -1.89469380e+02] [ 1.40443422e-04 -1.63609717e-06 -9.99999990e-01 7.31247627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.197628 meters 0.012196642746775415 Centerline is valid? [True, True] Translation: X:-2.51, Y:-189.48, Z:0.73 [[ 9.98990131e-01 4.48974161e-02 -1.71489511e-03 -2.51256841e+00] [ 4.48973243e-02 -9.98991602e-01 -9.19692326e-05 -1.89477046e+02] [-1.71729499e-03 1.48821540e-05 -9.99998525e-01 7.32479757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22762800000004 meters 0.01214864205381734 Centerline is valid? [True, True] Translation: X:-2.51, Y:-189.48, Z:0.73 [[ 9.92371612e-01 1.23248257e-01 -2.90716742e-03 -2.51461749e+00] [ 1.23247655e-01 -9.92375870e-01 -3.86150246e-04 -1.89483842e+02] [-2.93259514e-03 2.49029757e-05 -9.99995700e-01 7.33295846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.257628 meters 0.015061504108971694 Centerline is valid? [True, True] Translation: X:-2.52, Y:-189.49, Z:0.74 [[ 9.79676623e-01 2.00520546e-01 -5.02246632e-03 -2.51644128e+00] [ 2.00517680e-01 -9.79689496e-01 -1.07316772e-03 -1.89489380e+02] [-5.13564968e-03 4.42640372e-05 -9.99986812e-01 7.36340423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28762800000004 meters 0.014958218557524997 Centerline is valid? [True, True] Translation: X:-2.52, Y:-189.50, Z:0.74 [[ 9.60361947e-01 2.78688769e-01 -6.12374036e-03 -2.51754473e+00] [ 2.78682829e-01 -9.60381470e-01 -1.82002838e-03 -1.89495335e+02] [-6.38834824e-03 4.13047114e-05 -9.99979593e-01 7.38442013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.317628 meters 0.011885905033064447 Centerline is valid? [True, True] Translation: X:-2.52, Y:-189.50, Z:0.74 [[ 9.34991009e-01 3.54624362e-01 -5.77702419e-03 -2.51673746e+00] [ 3.54617399e-01 -9.35008856e-01 -2.22244513e-03 -1.89503604e+02] [-6.18970197e-03 2.93329208e-05 -9.99980843e-01 7.37264939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34762800000004 meters 0.011767265165402508 Centerline is valid? [True, True] Translation: X:-2.51, Y:-189.51, Z:0.74 [[ 9.03755458e-01 4.28002843e-01 -6.29600131e-03 -2.51358491e+00] [ 4.27992277e-01 -9.03777388e-01 -3.00746640e-03 -1.89514421e+02] [-6.97738778e-03 2.33742375e-05 -9.99975657e-01 7.37848406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.377628 meters 0.01506672913203578 Centerline is valid? [True, True] Translation: X:-2.51, Y:-189.52, Z:0.74 [[ 8.67137045e-01 4.98013887e-01 -7.45070149e-03 -2.51193608e+00] [ 4.97995270e-01 -8.67169054e-01 -4.30611734e-03 -1.89524765e+02] [-8.60552400e-03 2.35797637e-05 -9.99962972e-01 7.41525477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40762800000005 meters 0.01546610894883568 Centerline is valid? [True, True] Translation: X:-2.51, Y:-189.53, Z:0.74 [[ 8.24091240e-01 5.66406067e-01 -7.60230293e-03 -2.50775061e+00] [ 5.66381939e-01 -8.24126305e-01 -5.22798646e-03 -1.89534006e+02] [-9.22642107e-03 2.53076394e-06 -9.99957436e-01 7.41957415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.437628 meters 0.01161638418127529 Centerline is valid? [True, True] Translation: X:-2.50, Y:-189.54, Z:0.74 [[ 7.76371109e-01 6.30243691e-01 -6.38673484e-03 -2.50335434e+00] [ 6.30222462e-01 -7.76397379e-01 -5.17289617e-03 -1.89542455e+02] [-8.21882937e-03 -8.97661512e-06 -9.99966225e-01 7.38704723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46762800000005 meters 0.011647619782627568 Centerline is valid? [True, True] Translation: X:-2.50, Y:-189.55, Z:0.74 [[ 7.24246385e-01 6.89518954e-01 -5.54853094e-03 -2.49890244e+00] [ 6.89498855e-01 -7.24267638e-01 -5.26469610e-03 -1.89549951e+02] [-7.64872915e-03 -1.27686202e-05 -9.99970748e-01 7.38151098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.497628 meters 0.011614017174491282 Centerline is valid? [True, True] Translation: X:-2.49, Y:-189.56, Z:0.74 [[ 6.68159957e-01 7.44003054e-01 -4.66139553e-03 -2.49420458e+00] [ 7.43985058e-01 -6.68176216e-01 -5.17467715e-03 -1.89557011e+02] [-6.96460923e-03 -1.04965674e-05 -9.99975747e-01 7.36317399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52762800000005 meters 0.014189574888048458 Centerline is valid? [True, True] Translation: X:-2.49, Y:-189.56, Z:0.74 [[ 6.08598515e-01 7.93463757e-01 -4.80768615e-03 -2.49103202e+00] [ 7.93439057e-01 -6.08617504e-01 -6.26072309e-03 -1.89563696e+02] [-7.89369881e-03 -4.33919177e-06 -9.99968844e-01 7.38655346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.557628 meters 0.015034839584264189 Centerline is valid? [True, True] Translation: X:-2.49, Y:-189.57, Z:0.74 [[ 5.45524064e-01 8.38084020e-01 -4.32103404e-03 -2.48708949e+00] [ 8.38057671e-01 -5.45541177e-01 -6.64564088e-03 -1.89570021e+02] [-7.92690742e-03 4.08129761e-06 -9.99968582e-01 7.38060488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.58762800000005 meters 0.014085749581301685 Centerline is valid? [True, True] Translation: X:-2.48, Y:-189.58, Z:0.74 [[ 4.79099566e-01 8.77754379e-01 -3.29486955e-03 -2.48352030e+00] [ 8.77733472e-01 -4.79110895e-01 -6.05818512e-03 -1.89575672e+02] [-6.89620642e-03 1.04565722e-05 -9.99976221e-01 7.36702891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.617628 meters 0.011701640161796869 Centerline is valid? [True, True] Translation: X:-2.48, Y:-189.58, Z:0.73 [[ 4.10002562e-01 9.12081973e-01 -2.09141420e-03 -2.48082188e+00] [ 9.12069930e-01 -4.10007896e-01 -4.68700982e-03 -1.89582195e+02] [-5.13243350e-03 1.41700302e-05 -9.99986829e-01 7.33902620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.64762800000005 meters 0.01589812484600077 Centerline is valid? [True, True] Translation: X:-2.48, Y:-189.59, Z:0.74 [[ 3.38961920e-01 9.40797564e-01 -2.18175526e-03 -2.47545185e+00] [ 9.40777509e-01 -3.38968940e-01 -6.14295060e-03 -1.89587514e+02] [-6.51882023e-03 2.96800468e-05 -9.99978752e-01 7.37620440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.677628 meters 0.015857949483126233 Centerline is valid? [True, True] Translation: X:-2.47, Y:-189.59, Z:0.74 [[ 2.64964573e-01 9.64256489e-01 -1.78870383e-03 -2.46861426e+00] [ 9.64233569e-01 -2.64970608e-01 -6.64839048e-03 -1.89593196e+02] [-6.88470760e-03 3.68596624e-05 -9.99976299e-01 7.38210539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.707628 meters 0.015857949483126233 Centerline is valid? [True, True] Translation: X:-2.46, Y:-189.60, Z:0.74 [[ 1.88590184e-01 9.82055064e-01 -1.26221581e-03 -2.46182313e+00] [ 9.82031743e-01 -1.88594404e-01 -6.76809789e-03 -1.89598884e+02] [-6.88469165e-03 3.68608393e-05 -9.99976300e-01 7.38210400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73762800000003 meters 0.011947074831675302 Centerline is valid? [True, True] Translation: X:-2.45, Y:-189.60, Z:0.74 [[ 1.11802020e-01 9.93730322e-01 -5.96654835e-04 -2.45441927e+00] [ 9.93714495e-01 -1.11803607e-01 -5.60859307e-03 -1.89604058e+02] [-5.64013716e-03 3.41474793e-05 -9.99984094e-01 7.35248503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.767628 meters 0.014547560844622505 Centerline is valid? [True, True] Translation: X:-2.45, Y:-189.61, Z:0.74 [[ 3.64502117e-02 9.99335456e-01 -1.71459404e-04 -2.44662025e+00] [ 9.99316104e-01 -3.64505729e-02 -6.21934477e-03 -1.89608068e+02] [-6.22146153e-03 5.53542892e-05 -9.99980645e-01 7.37886039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79762800000003 meters 0.01238694157453701 Centerline is valid? [True, True] Translation: X:-2.44, Y:-189.61, Z:0.73 [[-4.13153642e-02 9.99146115e-01 2.84928420e-04 -2.44064910e+00] [ 9.99130417e-01 4.13163124e-02 -5.60113884e-03 -1.89613319e+02] [-5.60812830e-03 5.32675594e-05 -9.99984273e-01 7.34568487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.827628 meters 0.012747448331996815 Centerline is valid? [True, True] Translation: X:-2.44, Y:-189.62, Z:0.73 [[-1.18018365e-01 9.93011187e-01 6.68898384e-04 -2.43653563e+00] [ 9.92997842e-01 1.18020247e-01 -5.14850812e-03 -1.89617698e+02] [-5.19146971e-03 5.65961409e-05 -9.99986523e-01 7.33533474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85762800000003 meters 0.012827402278004316 Centerline is valid? [True, True] Translation: X:-2.43, Y:-189.62, Z:0.73 [[-1.93404136e-01 9.81118779e-01 8.83768053e-04 -2.42885350e+00] [ 9.81109810e-01 1.93406147e-01 -4.19562402e-03 -1.89621079e+02] [-4.28733169e-03 5.56224682e-05 -9.99990808e-01 7.31776404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.887628 meters 0.01646316831400831 Centerline is valid? [True, True] Translation: X:-2.42, Y:-189.62, Z:0.74 [[-2.68152364e-01 9.63375348e-01 1.49974758e-03 -2.42035148e+00] [ 9.63361851e-01 2.68156547e-01 -5.09997838e-03 -1.89623433e+02] [-5.31536057e-03 7.72283442e-05 -9.99985870e-01 7.35530734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91762800000004 meters 0.014248010671060459 Centerline is valid? [True, True] Translation: X:-2.41, Y:-189.63, Z:0.73 [[-3.42221731e-01 9.39617849e-01 1.60793917e-03 -2.41199610e+00] [ 9.39608396e-01 3.42225501e-01 -4.21516843e-03 -1.89625136e+02] [-4.51092528e-03 6.83109052e-05 -9.99989823e-01 7.34557640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.947628 meters 0.013371336687747504 Centerline is valid? [True, True] Translation: X:-2.40, Y:-189.63, Z:0.73 [[-4.14358074e-01 9.10112177e-01 1.79224227e-03 -2.40226234e+00] [ 9.10104334e-01 4.14361945e-01 -3.77879621e-03 -1.89625362e+02] [-4.18176544e-03 6.53527383e-05 -9.99991254e-01 7.33451448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97762800000004 meters 0.01547182881302599 Centerline is valid? [True, True] Translation: X:-2.39, Y:-189.62, Z:0.74 [[-4.83816504e-01 8.75165293e-01 2.70178649e-03 -2.39112031e+00] [ 8.75152653e-01 4.83824040e-01 -4.70458436e-03 -1.89623656e+02] [-5.42447821e-03 8.83200499e-05 -9.99985284e-01 7.35565682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.007628 meters 0.01328594025969936 Centerline is valid? [True, True] Translation: X:-2.38, Y:-189.62, Z:0.73 [[-5.51473401e-01 8.34187964e-01 2.74371988e-03 -2.38173044e+00] [ 8.34178316e-01 5.51480221e-01 -4.01285851e-03 -1.89622189e+02] [-4.86058552e-03 7.57668951e-05 -9.99988184e-01 7.33228174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03762800000004 meters 0.014555466303066974 Centerline is valid? [True, True] Translation: X:-2.37, Y:-189.62, Z:0.73 [[-6.15639417e-01 7.88017341e-01 4.09630484e-03 -2.37197741e+00] [ 7.88000943e-01 6.15653037e-01 -5.08456188e-03 -1.89620187e+02] [-6.52862544e-03 9.76353677e-05 -9.99978684e-01 7.34248791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.067628 meters 0.012972114140739252 Centerline is valid? [True, True] Translation: X:-2.36, Y:-189.62, Z:0.73 [[-6.76431919e-01 7.36494797e-01 3.90813692e-03 -2.36213420e+00] [ 7.36483163e-01 6.76443204e-01 -4.14036796e-03 -1.89616324e+02] [-5.69299212e-03 7.75999949e-05 -9.99983792e-01 7.32650967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09762800000004 meters 0.016724608299447455 Centerline is valid? [True, True] Translation: X:-2.35, Y:-189.61, Z:0.74 [[-7.32551658e-01 6.80691873e-01 5.16161565e-03 -2.35215780e+00] [ 6.80675837e-01 7.32569836e-01 -4.67333238e-03 -1.89613351e+02] [-6.96234330e-03 8.99296690e-05 -9.99975759e-01 7.35881225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.127628 meters 0.012328228794424046 Centerline is valid? [True, True] Translation: X:-2.33, Y:-189.59, Z:0.73 [[-7.80814752e-01 6.24756494e-01 2.76521632e-03 -2.33205573e+00] [ 6.24752731e-01 7.80819648e-01 -2.16856764e-03 -1.89590882e+02] [-3.51396195e-03 3.43268482e-05 -9.99993825e-01 7.31706803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15762800000005 meters 0.015619758607695648 Centerline is valid? [True, True] Translation: X:-2.31, Y:-189.57, Z:0.73 [[-8.23561703e-01 5.67219965e-01 2.76265849e-03 -2.31390346e+00] [ 5.67216895e-01 8.23566336e-01 -1.86651148e-03 -1.89568671e+02] [-3.33395510e-03 2.98391979e-05 -9.99994442e-01 7.33190523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.187628 meters 0.011994285565166093 Centerline is valid? [True, True] Translation: X:-2.29, Y:-189.55, Z:0.73 [[-8.61970273e-01 5.06957997e-01 9.15563830e-04 -2.29251231e+00] [ 5.06957720e-01 8.61970759e-01 -5.29704690e-04 -1.89548977e+02] [-1.05772728e-03 7.56245587e-06 -9.99999441e-01 7.29335631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21762800000005 meters 0.011762597466694063 Centerline is valid? [True, True] Translation: X:-2.28, Y:-189.52, Z:0.73 [[-8.96633515e-01 4.42773123e-01 -5.49556068e-04 -2.28194929e+00] [ 4.42773042e-01 8.96633683e-01 2.67326845e-04 -1.89524274e+02] [ 6.11115623e-04 -3.63440308e-06 -9.99999813e-01 7.27282690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.247628 meters 0.011689900737463418 Centerline is valid? [True, True] Translation: X:-2.26, Y:-189.50, Z:0.73 [[-9.26205267e-01 3.77019097e-01 -6.34714358e-04 -2.26331345e+00] [ 3.77019011e-01 9.26205485e-01 2.54946169e-04 -1.89503324e+02] [ 6.83995494e-04 -3.16689499e-06 -9.99999766e-01 7.26296844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27762800000005 meters 0.011626524238276573 Centerline is valid? [True, True] Translation: X:-1.98, Y:-188.81, Z:-0.24 [[-9.01756042e-01 -4.32244695e-01 -7.50994360e-04 -1.97924766e+00] [ 4.32244550e-01 -9.01756355e-01 3.53977771e-04 -1.88811225e+02] [-8.30218950e-04 -5.41162538e-06 9.99999655e-01 -2.38422199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.307628 meters 0.014391843812264396 Centerline is valid? [True, True] Translation: X:-2.31, Y:-189.48, Z:0.73 [[-9.29044548e-01 3.69966899e-01 8.49386851e-04 -2.30910304e+00] [ 3.69966744e-01 9.29044936e-01 -3.38373614e-04 -1.89484640e+02] [-9.14305590e-04 -1.19273181e-07 -9.99999582e-01 7.28516684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.33762800000005 meters 0.011654764846693068 Centerline is valid? [True, True] Translation: X:-2.30, Y:-189.46, Z:0.73 [[-9.53493091e-01 3.01414863e-01 7.04337211e-05 -2.29545564e+00] [ 3.01414862e-01 9.53493094e-01 -2.27227135e-05 -1.89458983e+02] [-7.40070305e-05 -4.36180021e-07 -9.99999997e-01 7.27102450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.367628 meters 0.011635730558507397 Centerline is valid? [True, True] Translation: X:-2.07, Y:-188.75, Z:-0.24 [[-9.29294845e-01 -3.69337896e-01 7.80925860e-04 -2.06641588e+00] [ 3.69337810e-01 -9.29295172e-01 -2.57434798e-04 -1.88751963e+02] [ 8.20791058e-04 4.91926163e-05 9.99999662e-01 -2.41081868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.39762800000005 meters 0.011652909252920875 Centerline is valid? [True, True] Translation: X:-2.35, Y:-189.44, Z:0.73 [[-9.55257945e-01 2.95769545e-01 1.62323426e-03 -2.34541128e+00] [ 2.95769105e-01 9.55259324e-01 -5.09976146e-04 -1.89442826e+02] [-1.70144508e-03 -7.05621943e-06 -9.99998553e-01 7.29031829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.427628 meters 0.01157716624863799 Centerline is valid? [True, True] Translation: X:-2.11, Y:-188.74, Z:-0.24 [[-9.30788323e-01 -3.65548720e-01 2.68905208e-03 -2.11437069e+00] [ 3.65547449e-01 -9.30792204e-01 -9.67592234e-04 -1.88735845e+02] [ 2.85665081e-03 8.23525737e-05 9.99995916e-01 -2.42672449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.457628 meters 0.011583036205947228 Centerline is valid? [True, True] Translation: X:-2.38, Y:-189.43, Z:0.73 [[-9.55629883e-01 2.94552586e-01 3.20952852e-03 -2.38439317e+00] [ 2.94550906e-01 9.55635273e-01 -9.94582116e-04 -1.89434138e+02] [-3.36009539e-03 -5.08285712e-06 -9.99994355e-01 7.30281030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48762800000003 meters 0.014023528517030917 Centerline is valid? [True, True] Translation: X:-2.38, Y:-189.41, Z:0.73 [[-9.73653817e-01 2.27969614e-01 5.30087412e-03 -2.37532290e+00] [ 2.27966254e-01 9.73668247e-01 -1.23781758e-03 -1.89408995e+02] [-5.44347760e-03 3.21460168e-06 -9.99985184e-01 7.33003978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.517628 meters 0.01254417960972697 Centerline is valid? [True, True] Translation: X:-2.20, Y:-188.68, Z:-0.25 [[-9.57184776e-01 -2.89431527e-01 5.16673576e-03 -2.20032782e+00] [ 2.89427277e-01 -9.57198721e-01 -1.56840728e-03 -1.88680636e+02] [ 5.39953938e-03 -5.86131048e-06 9.99985422e-01 -2.45802678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54762800000003 meters 0.01443449146913477 Centerline is valid? [True, True] Translation: X:-2.42, Y:-189.40, Z:0.74 [[-9.72979594e-01 2.30801319e-01 6.43901111e-03 -2.42095732e+00] [ 2.30796602e-01 9.73000899e-01 -1.47629572e-03 -1.89400002e+02] [-6.60589459e-03 4.96962783e-05 -9.99978180e-01 7.35475703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.577628 meters 0.0139198240915662 Centerline is valid? [True, True] Translation: X:-2.41, Y:-189.37, Z:0.73 [[-9.86575956e-01 1.63202840e-01 5.71980510e-03 -2.41246151e+00] [ 1.63200422e-01 9.86592535e-01 -8.90045330e-04 -1.89373019e+02] [-5.78837494e-03 5.53772848e-05 -9.99983246e-01 7.34197156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60762800000003 meters 0.012448868619239486 Centerline is valid? [True, True] Translation: X:-2.29, Y:-188.63, Z:-0.24 [[-9.78235021e-01 -2.07467119e-01 3.69315525e-03 -2.29103124e+00] [ 2.07465030e-01 -9.78241979e-01 -9.44136669e-04 -1.88633510e+02] [ 3.80867682e-03 -1.57386988e-04 9.99992735e-01 -2.44267557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.637628 meters 0.012765888668363303 Centerline is valid? [True, True] Translation: X:-2.47, Y:-189.36, Z:0.73 [[-9.86555991e-01 1.63384529e-01 3.57379186e-03 -2.46614466e+00] [ 1.63383644e-01 9.86562463e-01 -5.40103879e-04 -1.89364577e+02] [-3.61401352e-03 5.10564189e-05 -9.99993468e-01 7.32000288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66762800000004 meters 0.013279094179735043 Centerline is valid? [True, True] Translation: X:-2.47, Y:-189.34, Z:0.73 [[-9.95508052e-01 9.46073666e-02 3.62822078e-03 -2.46649936e+00] [ 9.46069488e-02 9.95514662e-01 -2.86979154e-04 -1.89337157e+02] [-3.63909732e-03 5.75648386e-05 -9.99993377e-01 7.32490499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.697628 meters 0.01402423238925262 Centerline is valid? [True, True] Translation: X:-2.40, Y:-188.59, Z:-0.25 [[-9.91881290e-01 -1.27098440e-01 4.18244123e-03 -2.39736756e+00] [ 1.27097180e-01 -9.91890108e-01 -5.66711922e-04 -1.88589060e+02] [ 4.22055029e-03 -3.05344662e-05 9.99991093e-01 -2.46203593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72762800000004 meters 0.014380596754821083 Centerline is valid? [True, True] Translation: X:-2.53, Y:-189.33, Z:0.73 [[-9.95606331e-01 9.35378587e-02 4.32461268e-03 -2.53019394e+00] [ 9.35373451e-02 9.95615720e-01 -3.21300087e-04 -1.89334679e+02] [-4.33570608e-03 8.46243873e-05 -9.99990597e-01 7.33795763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.757628 meters 0.013558749721906382 Centerline is valid? [True, True] Translation: X:-2.53, Y:-189.30, Z:0.73 [[-9.99722073e-01 2.31827561e-02 4.28214981e-03 -2.53386048e+00] [ 2.31829135e-02 9.99731240e-01 -1.28772931e-05 -1.89304497e+02] [-4.28129747e-03 8.63989944e-05 -9.99990832e-01 7.33740414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78762800000004 meters 0.014265742638600731 Centerline is valid? [True, True] Translation: X:-2.52, Y:-188.56, Z:-0.25 [[-9.98766488e-01 -4.94751708e-02 4.20830776e-03 -2.52265860e+00] [ 4.94743548e-02 -9.98775350e-01 -2.97846920e-04 -1.88555341e+02] [ 4.21789008e-03 -8.92762109e-05 9.99991101e-01 -2.47380970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.817628 meters 0.016624254101591157 Centerline is valid? [True, True] Translation: X:-2.62, Y:-189.30, Z:0.74 [[-9.99835390e-01 1.74038086e-02 5.12843738e-03 -2.61973476e+00] [ 1.74041140e-02 9.99848537e-01 1.49228420e-05 -1.89300402e+02] [-5.12740090e-03 1.04176295e-04 -9.99986849e-01 7.37323629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84762800000004 meters 0.015786608565914777 Centerline is valid? [True, True] Translation: X:-2.62, Y:-188.56, Z:-0.25 [[-9.98972152e-01 -4.50964620e-02 4.57691340e-03 -2.61917633e+00] [ 4.50953948e-02 -9.98982629e-01 -3.36154444e-04 -1.88559277e+02] [ 4.58741636e-03 -1.29411212e-04 9.99989469e-01 -2.49956875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.877628 meters 0.014081561347897497 Centerline is valid? [True, True] Translation: X:-2.71, Y:-189.30, Z:0.74 [[-9.99960910e-01 8.36547803e-03 2.86296347e-03 -2.71032205e+00] [ 8.36558305e-03 9.99965008e-01 2.47076096e-05 -1.89298115e+02] [-2.86265660e-03 4.86570024e-05 -9.99995901e-01 7.35282086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90762800000005 meters 0.012443775058313034 Centerline is valid? [True, True] Translation: X:-2.72, Y:-188.56, Z:-0.25 [[-9.98947349e-01 -4.58057535e-02 2.45492983e-03 -2.71759740e+00] [ 4.58054429e-02 -9.98950363e-01 -1.82608031e-04 -1.88561668e+02] [ 2.46071755e-03 -6.99666597e-05 9.99996970e-01 -2.46464024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.937628 meters 0.015454222444224003 Centerline is valid? [True, True] Translation: X:-2.81, Y:-189.30, Z:0.74 [[-9.99988002e-01 -3.38134039e-03 3.54443280e-03 -2.80528593e+00] [-3.38117797e-03 9.99994282e-01 5.18153860e-05 -1.89297227e+02] [-3.54458774e-03 3.98304061e-05 -9.99993717e-01 7.36001549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96762800000005 meters 0.01184967475509527 Centerline is valid? [True, True] Translation: X:-2.81, Y:-189.27, Z:0.73 [[-9.97059255e-01 -7.66052515e-02 2.11618299e-03 -2.81429892e+00] [-7.66050378e-02 9.97061500e-01 1.81992283e-04 -1.89268069e+02] [-2.12390615e-03 1.93468123e-05 -9.99997744e-01 7.33118137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.997628 meters 0.011480276356196667 Centerline is valid? [True, True] Translation: X:-2.82, Y:-189.24, Z:0.73 [[-9.88562717e-01 -1.50809396e-01 5.29975654e-04 -2.82174104e+00] [-1.50809373e-01 9.88562859e-01 8.37346869e-05 -1.89238975e+02] [-5.36542225e-04 2.85169365e-06 -9.99999856e-01 7.33640797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02762800000005 meters 0.01137367341001009 Centerline is valid? [True, True] Translation: X:-2.84, Y:-189.21, Z:0.73 [[-9.74811539e-01 -2.23029718e-01 4.56936793e-04 -2.84490004e+00] [-2.23029693e-01 9.74811646e-01 1.06241467e-04 -1.89214278e+02] [-4.69122312e-04 1.65493544e-06 -9.99999890e-01 7.34707621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.057628 meters 0.011265731682964056 Centerline is valid? [True, True] Translation: X:-2.88, Y:-189.20, Z:0.74 [[-9.55780681e-01 -2.94080128e-01 4.09561964e-04 -2.88276721e+00] [-2.94080101e-01 9.55780769e-01 1.27025995e-04 -1.89195081e+02] [-4.28807270e-04 9.64968607e-07 -9.99999908e-01 7.35661544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.08762800000005 meters 0.011209290894150188 Centerline is valid? [True, True] Translation: X:-2.94, Y:-189.19, Z:0.74 [[-9.31334521e-01 -3.64164216e-01 6.59433048e-04 -2.93853969e+00] [-3.64164123e-01 9.31334754e-01 2.59259779e-04 -1.89186157e+02] [-7.08566050e-04 1.31572441e-06 -9.99999749e-01 7.36226664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.117628 meters 0.011268535226374485 Centerline is valid? [True, True] Translation: X:-3.00, Y:-189.19, Z:0.74 [[-9.01753293e-01 -4.32250547e-01 6.80553101e-04 -3.00122208e+00] [-4.32250423e-01 9.01753550e-01 3.27521589e-04 -1.89187659e+02] [-7.55262561e-04 1.17430545e-06 -9.99999715e-01 7.35731373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.14762800000005 meters 0.01118529200452287 Centerline is valid? [True, True] Translation: X:-3.08, Y:-189.20, Z:0.74 [[-8.66898993e-01 -4.98483432e-01 6.35776800e-04 -3.07559953e+00] [-4.98483297e-01 8.66899226e-01 3.66677739e-04 -1.89197642e+02] [-7.33937193e-04 9.48446910e-07 -9.99999731e-01 7.35691656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.177628 meters 0.014165633566102825 Centerline is valid? [True, True] Translation: X:-3.16, Y:-189.22, Z:0.74 [[-8.26777119e-01 -5.62528397e-01 1.18264015e-03 -3.15756694e+00] [-5.62527820e-01 8.26777964e-01 8.06126582e-04 -1.89216140e+02] [-1.43124991e-03 1.21902883e-06 -9.99998976e-01 7.37223047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.207628 meters 0.011343019774375957 Centerline is valid? [True, True] Translation: X:-3.25, Y:-189.24, Z:0.74 [[-7.80407643e-01 -6.25271063e-01 -9.80565967e-05 -3.24579329e+00] [-6.25271058e-01 7.80407649e-01 -7.86175547e-05 -1.89241060e+02] [ 1.25681400e-04 -4.17885366e-08 -9.99999992e-01 7.35606107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23762800000003 meters 0.011256486292836805 Centerline is valid? [True, True] Translation: X:-3.33, Y:-189.28, Z:0.74 [[-7.31101308e-01 -6.82268814e-01 3.78351460e-04 -3.33353274e+00] [-6.82268723e-01 7.31101406e-01 3.51674894e-04 -1.89277666e+02] [-5.16550097e-04 -1.02739271e-06 -9.99999867e-01 7.36179739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.267628 meters 0.011320284126996387 Centerline is valid? [True, True] Translation: X:-3.42, Y:-189.32, Z:0.74 [[-6.78138656e-01 -7.34933415e-01 9.15783562e-04 -3.42192820e+00] [-7.34932746e-01 6.78139274e-01 9.91594915e-04 -1.89323528e+02] [-1.34978504e-03 -6.00485631e-07 -9.99999089e-01 7.37636789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29762800000003 meters 0.011385461501736744 Centerline is valid? [True, True] Translation: X:-3.51, Y:-189.38, Z:0.74 [[-6.23915299e-01 -7.81488508e-01 2.32613087e-03 -3.50783807e+00] [-7.81482979e-01 6.23919635e-01 2.93969081e-03 -1.89377450e+02] [-3.74865331e-03 1.62863866e-05 -9.99992974e-01 7.40595132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.327628 meters 0.011548016303170327 Centerline is valid? [True, True] Translation: X:-3.59, Y:-189.45, Z:0.74 [[-5.64559695e-01 -8.25390113e-01 1.87404840e-03 -3.59046241e+00] [-8.25385430e-01 5.64562805e-01 2.78037995e-03 -1.89445532e+02] [-3.35291614e-03 2.28782109e-05 -9.99994379e-01 7.40409129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35762800000003 meters 0.014423222146546412 Centerline is valid? [True, True] Translation: X:-3.67, Y:-189.52, Z:0.74 [[-5.02010546e-01 -8.64859876e-01 1.67502111e-03 -3.66790096e+00] [-8.64854847e-01 5.02013340e-01 2.94971924e-03 -1.89523101e+02] [-3.39197676e-03 3.21400450e-05 -9.99994247e-01 7.41104011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.387628 meters 0.012295913115290161 Centerline is valid? [True, True] Translation: X:-3.74, Y:-189.61, Z:0.74 [[-4.35975017e-01 -8.99958396e-01 8.18325428e-04 -3.73889500e+00] [-8.99956715e-01 4.35975784e-01 1.73952454e-03 -1.89609174e+02] [-1.92226978e-03 2.19317754e-05 -9.99998152e-01 7.36573303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41762800000004 meters 0.01226351902572924 Centerline is valid? [True, True] Translation: X:-3.81, Y:-189.71, Z:0.74 [[-3.65658302e-01 -9.30748957e-01 6.21537341e-04 -3.81023399e+00] [-9.30747518e-01 3.65658829e-01 1.63683410e-03 -1.89705911e+02] [-1.75075225e-03 2.00276400e-05 -9.99998467e-01 7.36841095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.447628 meters 0.01227404422562003 Centerline is valid? [True, True] Translation: X:-3.87, Y:-189.81, Z:0.74 [[-2.92989098e-01 -9.56115642e-01 5.17439741e-04 -3.87441018e+00] [-9.56114023e-01 2.92989554e-01 1.75950163e-03 -1.89807347e+02] [-1.83389147e-03 2.07834031e-05 -9.99998318e-01 7.38080934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47762800000004 meters 0.014630970808574797 Centerline is valid? [True, True] Translation: X:-3.93, Y:-189.90, Z:0.74 [[-2.18330269e-01 -9.75874638e-01 7.64151658e-04 -3.92960720e+00] [-9.75867978e-01 2.18331602e-01 3.60583347e-03 -1.89903705e+02] [-3.68567989e-03 4.15514569e-05 -9.99993207e-01 7.43249773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.507628 meters 0.01503616812913304 Centerline is valid? [True, True] Translation: X:-3.98, Y:-190.02, Z:0.74 [[-1.41560016e-01 -9.89929518e-01 5.57650434e-04 -3.97832159e+00] [-9.89920573e-01 1.41561107e-01 4.20849532e-03 -1.90017154e+02] [-4.24505536e-03 4.37250266e-05 -9.99990989e-01 7.44180127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53762800000004 meters 0.01524178746545451 Centerline is valid? [True, True] Translation: X:-4.02, Y:-190.14, Z:0.74 [[-6.38048942e-02 -9.97962350e-01 2.89390506e-04 -4.01897335e+00] [-9.97948323e-01 6.38055318e-02 5.29134978e-03 -1.90136680e+02] [-5.29903257e-03 4.88172426e-05 -9.99985959e-01 7.44452164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.567628 meters 0.01177355745592984 Centerline is valid? [True, True] Translation: X:-4.05, Y:-190.25, Z:0.74 [[ 1.50437929e-02 -9.99886831e-01 -1.00820699e-04 -4.04929728e+00] [-9.99876839e-01 -1.50440933e-02 4.47015869e-03 -1.90249215e+02] [-4.47116956e-03 3.35601399e-05 -9.99990004e-01 7.41691725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59762800000004 meters 0.011684613282485877 Centerline is valid? [True, True] Translation: X:-4.07, Y:-190.37, Z:0.74 [[ 9.42915503e-02 -9.95544480e-01 -5.39947515e-04 -4.07000676e+00] [-9.95529863e-01 -9.42930918e-02 5.39480833e-03 -1.90369460e+02] [-5.42168498e-03 2.88490349e-05 -9.99985302e-01 7.39805778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.627628 meters 0.015316264190457523 Centerline is valid? [True, True] Translation: X:-4.08, Y:-190.49, Z:0.74 [[ 1.71676641e-01 -9.85152831e-01 -1.01524510e-03 -4.08212315e+00] [-9.85136475e-01 -1.71679641e-01 5.67681644e-03 -1.90490027e+02] [-5.76682870e-03 2.55781959e-05 -9.99983371e-01 7.41389229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65762800000005 meters 0.015316264190457523 Centerline is valid? [True, True] Translation: X:-4.08, Y:-190.61, Z:0.74 [[ 2.47054952e-01 -9.69000387e-01 -1.44953156e-03 -4.08440214e+00] [-9.68984311e-01 -2.47059203e-01 5.58173019e-03 -1.90609600e+02] [-5.76681882e-03 2.55792575e-05 -9.99983371e-01 7.41388743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.687628 meters 0.011373095004716085 Centerline is valid? [True, True] Translation: X:-4.08, Y:-190.73, Z:0.74 [[ 3.23659177e-01 -9.46173009e-01 -1.17214312e-03 -4.07896779e+00] [-9.46166866e-01 -3.23661299e-01 3.40949337e-03 -1.90734345e+02] [-3.60534796e-03 5.52916616e-06 -9.99993501e-01 7.38723445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71762800000005 meters 0.011380496498948126 Centerline is valid? [True, True] Translation: X:-4.07, Y:-190.85, Z:0.74 [[ 3.96321076e-01 -9.18110611e-01 -1.58447018e-03 -4.06648336e+00] [-9.18103297e-01 -3.96324243e-01 3.66486958e-03 -1.90847871e+02] [-3.99271959e-03 2.24223812e-06 -9.99992029e-01 7.39719157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.747628 meters 0.011355587905397738 Centerline is valid? [True, True] Translation: X:-4.04, Y:-190.96, Z:0.74 [[ 4.66276612e-01 -8.84636707e-01 -2.00453524e-03 -4.04328410e+00] [-8.84628530e-01 -4.66280920e-01 3.80351414e-03 -1.90964304e+02] [-4.29940476e-03 -2.20624549e-07 -9.99990758e-01 7.41370200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77762800000005 meters 0.011387266239870167 Centerline is valid? [True, True] Translation: X:-4.01, Y:-191.08, Z:0.74 [[ 5.32856534e-01 -8.46201334e-01 -2.68651826e-03 -4.01188867e+00] [-8.46190572e-01 -5.32863306e-01 4.26766995e-03 -1.91075368e+02] [-5.04285500e-03 -7.49393639e-07 -9.99987285e-01 7.42645840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.807628 meters 0.011395424562488248 Centerline is valid? [True, True] Translation: X:-3.97, Y:-191.18, Z:0.74 [[ 5.95096833e-01 -8.03645117e-01 -3.77967900e-03 -3.96930115e+00] [-8.03628985e-01 -5.95108836e-01 5.09193324e-03 -1.91181516e+02] [-6.34142765e-03 7.26625212e-06 -9.99979893e-01 7.44411178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.83762800000005 meters 0.014461675629608678 Centerline is valid? [True, True] Translation: X:-3.92, Y:-191.28, Z:0.75 [[ 6.53349291e-01 -7.57038984e-01 -5.16540179e-03 -3.92295969e+00] [-7.57015626e-01 -6.53369709e-01 5.94690177e-03 -1.91277881e+02] [-7.87695354e-03 2.48858125e-05 -9.99968976e-01 7.45788584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.867628 meters 0.011517706609388084 Centerline is valid? [True, True] Translation: X:-3.87, Y:-191.37, Z:0.74 [[ 7.09143947e-01 -7.05048639e-01 -4.61301132e-03 -3.87216041e+00] [-7.05033917e-01 -7.09158950e-01 4.55625857e-03 -1.91371725e+02] [-6.48374217e-03 2.12862530e-05 -9.99978980e-01 7.42462645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.89762800000005 meters 0.01540657462157432 Centerline is valid? [True, True] Translation: X:-3.88, Y:-191.38, Z:0.75 [[ 7.62093058e-01 -6.47438587e-01 -6.11944244e-03 -3.87865238e+00] [-6.47417989e-01 -7.62117626e-01 5.16447062e-03 -1.91380360e+02] [-8.00741250e-03 2.60299046e-05 -9.99967940e-01 7.46297039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.927628 meters 0.011546378659386977 Centerline is valid? [True, True] Translation: X:-3.88, Y:-191.39, Z:0.74 [[ 8.10348459e-01 -5.85915400e-01 -6.20645858e-03 -3.88380281e+00] [-5.85898450e-01 -8.10372226e-01 4.45672138e-03 -1.91391010e+02] [-7.64080334e-03 2.48571644e-05 -9.99970808e-01 7.44319493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.957628 meters 0.01172608875393999 Centerline is valid? [True, True] Translation: X:-3.89, Y:-191.40, Z:0.75 [[ 8.52731822e-01 -5.22307663e-01 -6.56844789e-03 -3.88701747e+00] [-5.22292518e-01 -8.52757119e-01 3.97777819e-03 -1.91398694e+02] [-7.67891472e-03 3.86731436e-05 -9.99970516e-01 7.45086601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98762800000003 meters 0.011692592237816586 Centerline is valid? [True, True] Translation: X:-3.89, Y:-191.41, Z:0.74 [[ 8.90412822e-01 -4.55105657e-01 -6.62170514e-03 -3.88877918e+00] [-4.55093458e-01 -8.90437443e-01 3.33246030e-03 -1.91407129e+02] [-7.41283573e-03 4.62293122e-05 -9.99972524e-01 7.43893238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.017628 meters 0.01301733841120941 Centerline is valid? [True, True] Translation: X:-3.89, Y:-191.41, Z:0.74 [[ 9.22670066e-01 -3.85534190e-01 -6.58317591e-03 -3.89015255e+00] [-3.85524803e-01 -9.22693549e-01 2.69084636e-03 -1.91413774e+02] [-7.11166722e-03 5.52142088e-05 -9.99974710e-01 7.44037327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04762800000003 meters 0.01331731405956212 Centerline is valid? [True, True] Translation: X:-3.89, Y:-191.42, Z:0.74 [[ 9.49577994e-01 -3.13464406e-01 -6.45757888e-03 -3.89035517e+00] [-3.13457597e-01 -9.49599949e-01 2.06692485e-03 -1.91418115e+02] [-6.78002394e-03 6.14708132e-05 -9.99977014e-01 7.43768745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.077628 meters 0.015296342493200747 Centerline is valid? [True, True] Translation: X:-3.89, Y:-191.42, Z:0.75 [[ 9.70525461e-01 -2.40867539e-01 -7.94714392e-03 -3.88975472e+00] [-2.40860271e-01 -9.70557994e-01 1.87367288e-03 -1.91423817e+02] [-8.16447104e-03 9.57039971e-05 -9.99966666e-01 7.45681367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10762800000003 meters 0.012551717111478575 Centerline is valid? [True, True] Translation: X:-3.89, Y:-191.43, Z:0.75 [[ 9.86420877e-01 -1.64003812e-01 -8.75232874e-03 -3.89312920e+00] [-1.63998280e-01 -9.86459700e-01 1.35093946e-03 -1.91432852e+02] [-8.85537880e-03 1.02771970e-04 -9.99960785e-01 7.45067026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.137628 meters 0.01604868192232955 Centerline is valid? [True, True] Translation: X:-3.90, Y:-191.44, Z:0.75 [[ 9.96279409e-01 -8.53516311e-02 -1.19347939e-02 -3.89611490e+00] [-8.53470450e-02 -9.96350883e-01 8.93986083e-04 -1.91443580e+02] [-1.19675456e-02 1.27939467e-04 -9.99928378e-01 7.49801530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16762800000004 meters 0.01242197123810127 Centerline is valid? [True, True] Translation: X:-3.90, Y:-191.45, Z:0.75 [[ 9.99928236e-01 -5.10745763e-03 -1.08368575e-02 -3.89851180e+00] [-5.10818098e-03 -9.99986952e-01 -3.90713490e-05 -1.91453566e+02] [-1.08365166e-02 9.44251745e-05 -9.99941279e-01 7.48402619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.197628 meters 0.015714441190632547 Centerline is valid? [True, True] Translation: X:-3.90, Y:-191.46, Z:0.75 [[ 9.97164595e-01 7.42674788e-02 -1.21290084e-02 -3.89862750e+00] [ 7.42608533e-02 -9.97238353e-01 -9.96335692e-04 -1.91463657e+02] [-1.21695077e-02 9.28001644e-05 -9.99925945e-01 7.49809502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22762800000004 meters 0.01565613521329996 Centerline is valid? [True, True] Translation: X:-3.90, Y:-191.47, Z:0.75 [[ 9.88222254e-01 1.52580551e-01 -1.16598648e-02 -3.89815669e+00] [ 1.52568924e-01 -9.88291034e-01 -1.88549214e-03 -1.91473568e+02] [-1.18110292e-02 8.43522718e-05 -9.99930244e-01 7.49190776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.257628 meters 0.012182877854474226 Centerline is valid? [True, True] Translation: X:-3.90, Y:-191.48, Z:0.74 [[ 9.73481636e-01 2.28614981e-01 -8.28819674e-03 -3.89948778e+00] [ 2.28606095e-01 -9.73516916e-01 -2.01688813e-03 -1.91480393e+02] [-8.52979057e-03 6.86712620e-05 -9.99963618e-01 7.44737322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28762800000004 meters 0.015848953181517692 Centerline is valid? [True, True] Translation: X:-3.90, Y:-191.49, Z:0.75 [[ 9.52985835e-01 3.02911071e-01 -7.92979393e-03 -3.89922645e+00] [ 3.02899903e-01 -9.53018823e-01 -2.60230025e-03 -1.91486237e+02] [-8.34550843e-03 7.80214654e-05 -9.99965173e-01 7.45049217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.317628 meters 0.012185474485767301 Centerline is valid? [True, True] Translation: X:-3.90, Y:-191.49, Z:0.74 [[ 9.26427661e-01 3.76430722e-01 -5.63038033e-03 -3.89812531e+00] [ 3.76423390e-01 -9.26444768e-01 -2.35017758e-03 -1.91494500e+02] [-6.10091544e-03 5.78626660e-05 -9.99981388e-01 7.42078165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34762800000004 meters 0.012329179825675954 Centerline is valid? [True, True] Translation: X:-3.90, Y:-191.50, Z:0.74 [[ 8.94298169e-01 4.47441679e-01 -5.16996700e-03 -3.89579075e+00] [ 4.47433830e-01 -8.94313111e-01 -2.65092746e-03 -1.91501905e+02] [-5.80970470e-03 5.75014440e-05 -9.99983122e-01 7.42306932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.377628 meters 0.014721068809439016 Centerline is valid? [True, True] Translation: X:-3.89, Y:-191.51, Z:0.74 [[ 8.56785444e-01 5.15642019e-01 -5.65782586e-03 -3.89380107e+00] [ 5.15630243e-01 -8.56804122e-01 -3.48565603e-03 -1.91509054e+02] [-6.64499923e-03 6.91132264e-05 -9.99977919e-01 7.44568571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40762800000005 meters 0.01306288554143305 Centerline is valid? [True, True] Translation: X:-3.89, Y:-191.51, Z:0.75 [[ 8.13857262e-01 5.81035505e-01 -5.83939809e-03 -3.89234133e+00] [ 5.81019875e-01 -8.13878207e-01 -4.26244737e-03 -1.91514915e+02] [-7.22919211e-03 7.62173972e-05 -9.99973866e-01 7.45384420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.437628 meters 0.012468987503181825 Centerline is valid? [True, True] Translation: X:-3.89, Y:-191.52, Z:0.75 [[ 7.65683285e-01 6.43193046e-01 -5.64025988e-03 -3.88913962e+00] [ 6.43174861e-01 -7.65704055e-01 -4.83709992e-03 -1.91521008e+02] [-7.42995889e-03 7.60131964e-05 -9.99972395e-01 7.45748345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46762800000005 meters 0.01205432458509162 Centerline is valid? [True, True] Translation: X:-3.88, Y:-191.53, Z:0.75 [[ 7.11625388e-01 7.02533193e-01 -6.03490491e-03 -3.88382193e+00] [ 7.02507083e-01 -7.11650973e-01 -6.05733316e-03 -1.91529533e+02] [-8.55022356e-03 7.09886135e-05 -9.99963444e-01 7.46473468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.497628 meters 0.012118140615559414 Centerline is valid? [True, True] Translation: X:-3.88, Y:-191.54, Z:0.75 [[ 6.53421727e-01 7.56972532e-01 -5.71246256e-03 -3.87991052e+00] [ 7.56942778e-01 -6.53446694e-01 -6.71194319e-03 -1.91537540e+02] [-8.81354640e-03 6.17222300e-05 -9.99961158e-01 7.47493212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52762800000005 meters 0.01195618072212047 Centerline is valid? [True, True] Translation: X:-3.88, Y:-191.54, Z:0.75 [[ 5.90909598e-01 8.06721495e-01 -5.12616846e-03 -3.87829493e+00] [ 8.06690439e-01 -5.90931830e-01 -7.07865563e-03 -1.91542311e+02] [-8.73971976e-03 4.76144710e-05 -9.99961807e-01 7.47030056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.557628 meters 0.011557975013648266 Centerline is valid? [True, True] Translation: X:-3.87, Y:-191.55, Z:0.75 [[ 5.24495587e-01 8.51401311e-01 -4.49301600e-03 -3.87074496e+00] [ 8.51369543e-01 -5.24514830e-01 -7.35488139e-03 -1.91549737e+02] [-8.61860918e-03 3.23858511e-05 -9.99962859e-01 7.45316169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.58762800000005 meters 0.011396222364939694 Centerline is valid? [True, True] Translation: X:-3.86, Y:-191.56, Z:0.74 [[ 4.55065502e-01 8.90451773e-01 -3.32090566e-03 -3.86279471e+00] [ 8.90427774e-01 -4.55077618e-01 -6.53760925e-03 -1.91557880e+02] [-7.33269559e-03 1.80137994e-05 -9.99973115e-01 7.44441618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.617628 meters 0.01527808969706496 Centerline is valid? [True, True] Translation: X:-3.86, Y:-191.56, Z:0.75 [[ 3.84874390e-01 9.22964191e-01 -2.96740369e-03 -3.85625011e+00] [ 9.22936214e-01 -3.84885828e-01 -7.18643553e-03 -1.91563137e+02] [-7.77493428e-03 2.71506590e-05 -9.99969774e-01 7.46927220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.64762800000005 meters 0.011495429690926902 Centerline is valid? [True, True] Translation: X:-3.85, Y:-191.57, Z:0.75 [[ 3.12316748e-01 9.49975836e-01 -2.03949857e-03 -3.85031298e+00] [ 9.49954961e-01 -3.12323406e-01 -6.29775126e-03 -1.91567091e+02] [-6.61969466e-03 2.94614101e-05 -9.99978089e-01 7.45047726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.677628 meters 0.01157174803263364 Centerline is valid? [True, True] Translation: X:-3.85, Y:-191.57, Z:0.74 [[ 2.38004638e-01 9.71262860e-01 -1.50009413e-03 -3.84593275e+00] [ 9.71242619e-01 -2.38009362e-01 -6.27044257e-03 -1.91570843e+02] [-6.44728443e-03 3.54390644e-05 -9.99979215e-01 7.44887637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.707628 meters 0.014445977891112636 Centerline is valid? [True, True] Translation: X:-3.85, Y:-191.57, Z:0.74 [[ 1.64902346e-01 9.86309450e-01 -9.40617061e-04 -3.84747065e+00] [ 9.86291413e-01 -1.64905019e-01 -5.96508930e-03 -1.91574272e+02] [-6.03853642e-03 5.59346902e-05 -9.99981766e-01 7.44942764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73762800000003 meters 0.012529228779383297 Centerline is valid? [True, True] Translation: X:-3.85, Y:-191.58, Z:0.74 [[ 8.85655775e-02 9.96070268e-01 -3.98517164e-04 -3.84635453e+00] [ 9.96057231e-01 -8.85664574e-02 -5.09663124e-03 -1.91578584e+02] [-5.11189810e-03 5.44401866e-05 -9.99986933e-01 7.42767480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.767628 meters 0.012868224716795777 Centerline is valid? [True, True] Translation: X:-3.84, Y:-191.58, Z:0.74 [[ 1.17043750e-02 9.99931501e-01 1.95672034e-06 -3.84439636e+00] [ 9.99919372e-01 -1.17042233e-02 -4.92553610e-03 -1.91582256e+02] [-4.92517581e-03 5.96068840e-05 -9.99987870e-01 7.43013510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79762800000003 meters 0.01651803307212501 Centerline is valid? [True, True] Translation: X:-3.84, Y:-191.59, Z:0.75 [[-6.56692216e-02 9.97841355e-01 4.27547526e-04 -3.84238484e+00] [ 9.97826661e-01 6.56705750e-02 -5.41569186e-03 -1.91586165e+02] [-5.43207860e-03 7.09740508e-05 -9.99985244e-01 7.46766737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.827628 meters 0.015858909266517215 Centerline is valid? [True, True] Translation: X:-3.83, Y:-191.59, Z:0.75 [[-1.44588331e-01 9.89491480e-01 9.08115427e-04 -3.83213838e+00] [ 9.89474904e-01 1.44591166e-01 -5.72789136e-03 -1.91587799e+02] [-5.79900517e-03 7.03711708e-05 -9.99983183e-01 7.46498725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85762800000003 meters 0.012172092374175252 Centerline is valid? [True, True] Translation: X:-3.82, Y:-191.59, Z:0.74 [[-2.24074527e-01 9.74571078e-01 1.34938517e-03 -3.82379337e+00] [ 9.74554875e-01 2.24078584e-01 -5.61989203e-03 -1.91589854e+02] [-5.77935255e-03 5.57752441e-05 -9.99983298e-01 7.43815828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.887628 meters 0.011788251326609035 Centerline is valid? [True, True] Translation: X:-3.82, Y:-191.59, Z:0.74 [[-3.02106649e-01 9.53272157e-01 1.94114357e-03 -3.81554287e+00] [ 9.53253427e-01 3.02112882e-01 -5.97581972e-03 -1.91592293e+02] [-6.28302703e-03 4.50668916e-05 -9.99980261e-01 7.43853042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91762800000004 meters 0.014335437281752756 Centerline is valid? [True, True] Translation: X:-3.80, Y:-191.59, Z:0.75 [[-3.79076322e-01 9.25361358e-01 2.73858225e-03 -3.80314016e+00] [ 9.25337712e-01 3.79086213e-01 -6.61533516e-03 -1.91590923e+02] [-7.15973430e-03 2.63965112e-05 -9.99974368e-01 7.45801584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.947628 meters 0.011297664592449425 Centerline is valid? [True, True] Translation: X:-3.79, Y:-191.59, Z:0.74 [[-4.51277345e-01 8.92379373e-01 2.79498681e-03 -3.79470028e+00] [ 8.92362489e-01 4.51286000e-01 -5.48948394e-03 -1.91591424e+02] [-6.16004066e-03 1.68616474e-05 -9.99981027e-01 7.43658069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97762800000004 meters 0.011322826802738975 Centerline is valid? [True, True] Translation: X:-3.79, Y:-191.59, Z:0.74 [[-5.19700624e-01 8.54343688e-01 2.85034201e-03 -3.79128947e+00] [ 8.54331002e-01 5.19708440e-01 -4.65578830e-03 -1.91592822e+02] [-5.45899015e-03 1.55194630e-05 -9.99985100e-01 7.42746129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.007628 meters 0.011475764046105673 Centerline is valid? [True, True] Translation: X:-3.78, Y:-191.59, Z:0.74 [[-5.82784202e-01 8.12622448e-01 2.70761760e-03 -3.78382954e+00] [ 8.12613883e-01 5.82790491e-01 -3.73109490e-03 -1.91590644e+02] [-4.60994527e-03 2.58244905e-05 -9.99989374e-01 7.41955961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03762800000004 meters 0.011593361437628295 Centerline is valid? [True, True] Translation: X:-3.78, Y:-191.59, Z:0.74 [[-6.43113584e-01 7.65765799e-01 2.76758136e-03 -3.77760717e+00] [ 7.65758923e-01 6.43119538e-01 -3.24524057e-03 -1.91589292e+02] [-4.26497988e-03 3.22418317e-05 -9.99990904e-01 7.41944445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.067628 meters 0.012486204065718714 Centerline is valid? [True, True] Translation: X:-3.77, Y:-191.59, Z:0.74 [[-6.97831622e-01 7.16255606e-01 2.98910332e-03 -3.77486590e+00] [ 7.16249349e-01 6.97838022e-01 -2.99432386e-03 -1.91591354e+02] [-4.23061120e-03 5.14094259e-05 -9.99991050e-01 7.40682484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09762800000004 meters 0.012983434806690383 Centerline is valid? [True, True] Translation: X:-3.77, Y:-191.59, Z:0.74 [[-7.50393184e-01 6.60984994e-01 2.98447721e-03 -3.77087672e+00] [ 6.60980061e-01 7.50399117e-01 -2.55423237e-03 -1.91590831e+02] [-3.92785833e-03 5.60013672e-05 -9.99992284e-01 7.40551920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.127628 meters 0.012822325717546582 Centerline is valid? [True, True] Translation: X:-3.29, Y:-191.04, Z:-0.25 [[-7.25249382e-01 -6.88480585e-01 2.79600839e-03 -3.28850264e+00] [ 6.88475165e-01 -7.25254769e-01 -2.73257253e-03 -1.91044437e+02] [ 3.90914155e-03 -5.68141992e-05 9.99992358e-01 -2.53323311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15762800000005 meters 0.013056151623099166 Centerline is valid? [True, True] Translation: X:-3.80, Y:-191.57, Z:0.74 [[-7.51211249e-01 6.60055364e-01 2.92843166e-03 -3.79963867e+00] [ 6.60050678e-01 7.51216954e-01 -2.48823010e-03 -1.91565816e+02] [-3.84225714e-03 6.37268632e-05 -9.99992617e-01 7.41096410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.187628 meters 0.01303127701008681 Centerline is valid? [True, True] Translation: X:-3.78, Y:-191.55, Z:0.74 [[-7.96369869e-01 6.04803809e-01 2.71742181e-03 -3.77700546e+00] [ 6.04800517e-01 7.96374503e-01 -1.99619242e-03 -1.91545795e+02] [-3.37139022e-03 5.37906227e-05 -9.99994315e-01 7.41243647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21762800000005 meters 0.012589690970033332 Centerline is valid? [True, True] Translation: X:-3.76, Y:-191.52, Z:0.74 [[-8.37596562e-01 5.46282343e-01 2.75704386e-03 -3.75781177e+00] [ 5.46279577e-01 8.37601098e-01 -1.73900775e-03 -1.91521417e+02] [-3.25929220e-03 4.95298400e-05 -9.99994687e-01 7.41439493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.247628 meters 0.012338292330532796 Centerline is valid? [True, True] Translation: X:-3.74, Y:-191.50, Z:0.74 [[-8.74507692e-01 4.85003254e-01 2.85302872e-03 -3.74173332e+00] [ 4.85000847e-01 8.74512345e-01 -1.52873070e-03 -1.91495301e+02] [-3.23644820e-03 4.68345849e-05 -9.99994762e-01 7.41571975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27762800000005 meters 0.015775061557796077 Centerline is valid? [True, True] Translation: X:-3.73, Y:-191.47, Z:0.74 [[-9.06809016e-01 4.21526061e-01 3.63159562e-03 -3.72903920e+00] [ 4.21522928e-01 9.06816286e-01 -1.62621172e-03 -1.91468827e+02] [-3.97868067e-03 5.61373740e-05 -9.99992083e-01 7.43447327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.307628 meters 0.012195936687948616 Centerline is valid? [True, True] Translation: X:-3.72, Y:-191.45, Z:0.74 [[-9.34651382e-01 3.55555992e-01 2.59444950e-03 -3.71653492e+00] [ 3.55554732e-01 9.34654982e-01 -9.47469627e-04 -1.91445455e+02] [-2.76179366e-03 3.69150019e-05 -9.99996186e-01 7.39868093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.33762800000005 meters 0.015101146289705594 Centerline is valid? [True, True] Translation: X:-3.47, Y:-190.78, Z:-0.25 [[-9.19479792e-01 -3.93126272e-01 2.94043388e-03 -3.46819243e+00] [ 3.93124208e-01 -9.19484494e-01 -1.27385800e-03 -1.90777852e+02] [ 3.20447040e-03 -1.53309449e-05 9.99994866e-01 -2.53591974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.367628 meters 0.012326626791725772 Centerline is valid? [True, True] Translation: X:-3.76, Y:-191.43, Z:0.74 [[-9.36231756e-01 3.51367038e-01 3.36206754e-03 -3.76364564e+00] [ 3.51364946e-01 9.36237792e-01 -1.21354348e-03 -1.91429889e+02] [-3.57409387e-03 4.51547374e-05 -9.99993612e-01 7.39897962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.39762800000005 meters 0.012281966447995974 Centerline is valid? [True, True] Translation: X:-3.75, Y:-191.40, Z:0.74 [[-9.58881214e-01 2.83765626e-01 4.88737779e-03 -3.75379958e+00] [ 2.83762273e-01 9.58893667e-01 -1.38102692e-03 -1.91402733e+02] [-5.07836359e-03 6.26126637e-05 -9.99987103e-01 7.42001791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.427628 meters 0.012167738413426677 Centerline is valid? [True, True] Translation: X:-3.75, Y:-191.37, Z:0.74 [[-9.76728526e-01 2.14400493e-01 5.81517107e-03 -3.74764320e+00] [ 2.14397116e-01 9.76745834e-01 -1.20527094e-03 -1.91374452e+02] [-5.93835480e-03 6.95333978e-05 -9.99982365e-01 7.43269294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.457628 meters 0.014541884979679672 Centerline is valid? [True, True] Translation: X:-3.75, Y:-191.35, Z:0.75 [[-9.89571240e-01 1.43872893e-01 7.02506480e-03 -3.74618069e+00] [ 1.43869828e-01 9.89596172e-01 -9.42409098e-04 -1.91345819e+02] [-7.08756436e-03 7.81139244e-05 -9.99974880e-01 7.45715927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48762800000003 meters 0.011653275718919434 Centerline is valid? [True, True] Translation: X:-3.65, Y:-190.65, Z:-0.26 [[-9.81708721e-01 -1.90328387e-01 4.80539792e-03 -3.64736346e+00] [ 1.90325120e-01 -9.81720462e-01 -1.13243607e-03 -1.90648496e+02] [ 4.93309220e-03 -1.97134436e-04 9.99987813e-01 -2.55352595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.517628 meters 0.011653275718919434 Centerline is valid? [True, True] Translation: X:-3.80, Y:-191.34, Z:0.74 [[-9.90440434e-01 1.37854633e-01 4.88327362e-03 -3.80151525e+00] [ 1.37853185e-01 9.90452471e-01 -6.33454654e-04 -1.91337106e+02] [-4.92397509e-03 4.57757206e-05 -9.99987876e-01 7.42565763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54762800000003 meters 0.0113250925447871 Centerline is valid? [True, True] Translation: X:-3.71, Y:-190.64, Z:-0.25 [[-9.82371723e-01 -1.86910932e-01 3.17834346e-03 -3.70840088e+00] [ 1.86909494e-01 -9.82376855e-01 -7.45970552e-04 -1.90641068e+02] [ 3.26176111e-03 -1.38757806e-04 9.99994671e-01 -2.54074972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.577628 meters 0.011309167125983956 Centerline is valid? [True, True] Translation: X:-3.86, Y:-191.33, Z:0.74 [[-9.91297533e-01 1.31622556e-01 2.16897066e-03 -3.85940741e+00] [ 1.31622278e-01 9.91299905e-01 -2.71270126e-04 -1.91330333e+02] [-2.18580568e-03 1.65754514e-05 -9.99997611e-01 7.39428081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60762800000003 meters 0.011116129432579698 Centerline is valid? [True, True] Translation: X:-3.86, Y:-191.30, Z:0.74 [[-9.98236564e-01 5.93518334e-02 1.05913778e-03 -3.86074421e+00] [ 5.93518073e-02 9.98237126e-01 -5.61235500e-05 -1.91302780e+02] [-1.06060169e-03 6.83716174e-06 -9.99999438e-01 7.38031310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.637628 meters 0.0109109919404473 Centerline is valid? [True, True] Translation: X:-3.86, Y:-191.27, Z:0.74 [[-9.99888810e-01 -1.49049364e-02 4.57834748e-04 -3.86377763e+00] [-1.49049339e-02 9.99888915e-01 8.85288710e-06 -1.91273854e+02] [-4.57915841e-04 2.02790608e-06 -9.99999895e-01 7.37273159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66762800000004 meters 0.010884501995762063 Centerline is valid? [True, True] Translation: X:-3.87, Y:-190.57, Z:-0.25 [[-9.98812000e-01 -4.87292789e-02 2.13516842e-04 -3.87498410e+00] [ 4.87292740e-02 -9.98812023e-01 -2.81854945e-05 -1.90572612e+02] [ 2.14636648e-04 -1.77474894e-05 9.99999977e-01 -2.50184869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.697628 meters 0.010838674434359805 Centerline is valid? [True, True] Translation: X:-3.95, Y:-191.28, Z:0.74 [[-9.99736922e-01 -2.29355600e-02 2.17045906e-04 -3.94912866e+00] [-2.29355592e-02 9.99736945e-01 5.97810395e-06 -1.91276990e+02] [-2.17125922e-04 9.98462026e-07 -9.99999976e-01 7.38328641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72762800000004 meters 0.010856189353455455 Centerline is valid? [True, True] Translation: X:-3.95, Y:-191.25, Z:0.74 [[-9.95515197e-01 -9.45966157e-02 9.86389318e-04 -3.95483584e+00] [-9.45965689e-02 9.95515686e-01 9.41462307e-05 -1.91250568e+02] [-9.90871953e-04 4.14958346e-07 -9.99999509e-01 7.39191266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.757628 meters 0.01091148171420743 Centerline is valid? [True, True] Translation: X:-3.97, Y:-191.22, Z:0.74 [[-9.86016536e-01 -1.66643265e-01 1.18827958e-03 -3.96661865e+00] [-1.66643146e-01 9.86017253e-01 1.99499062e-04 -1.91223504e+02] [-1.20490934e-03 -1.30927272e-06 -9.99999274e-01 7.39900000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78762800000004 meters 0.011021838542183027 Centerline is valid? [True, True] Translation: X:-3.99, Y:-191.20, Z:0.74 [[-9.71121368e-01 -2.38584418e-01 8.74535477e-04 -3.98882898e+00] [-2.38584323e-01 9.71121761e-01 2.12579928e-04 -1.91197802e+02] [-8.99998691e-04 -2.20954443e-06 -9.99999595e-01 7.40419483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.817628 meters 0.011140402485017907 Centerline is valid? [True, True] Translation: X:-4.02, Y:-191.18, Z:0.74 [[-9.51022660e-01 -3.09120525e-01 6.33579438e-04 -4.02234104e+00] [-3.09120458e-01 9.51022871e-01 2.03701139e-04 -1.91177210e+02] [-6.65516739e-04 -2.12796753e-06 -9.99999779e-01 7.40718436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84762800000004 meters 0.011389918848600385 Centerline is valid? [True, True] Translation: X:-4.08, Y:-191.17, Z:0.74 [[-9.25297678e-01 -3.79238439e-01 1.55382580e-03 -4.08263454e+00] [-3.79237920e-01 9.25298982e-01 6.27409033e-04 -1.91167610e+02] [-1.67569105e-03 -8.72954370e-06 -9.99998596e-01 7.41389431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.877628 meters 0.011366351460239425 Centerline is valid? [True, True] Translation: X:-4.15, Y:-191.17, Z:0.74 [[-8.94729885e-01 -4.46602044e-01 2.24642311e-03 -4.15031303e+00] [-4.46600676e-01 8.94732705e-01 1.10585530e-03 -1.91166246e+02] [-2.50382547e-03 -1.38122907e-05 -9.99996865e-01 7.41917022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90762800000005 meters 0.011384662644749776 Centerline is valid? [True, True] Translation: X:-4.22, Y:-191.17, Z:0.74 [[-8.59219807e-01 -5.11598740e-01 2.83763154e-03 -4.22274544e+00] [-5.11596015e-01 8.59224493e-01 1.66976968e-03 -1.91172758e+02] [-3.29241458e-03 -1.70218100e-05 -9.99994580e-01 7.43074611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.937628 meters 0.011316609618487026 Centerline is valid? [True, True] Translation: X:-4.30, Y:-191.19, Z:0.74 [[-8.19261668e-01 -5.73411807e-01 3.03622314e-03 -4.30368753e+00] [-5.73407937e-01 8.19267294e-01 2.10699944e-03 -1.91191166e+02] [-3.69565667e-03 -1.48105679e-05 -9.99993171e-01 7.44476468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96762800000005 meters 0.011146035077895496 Centerline is valid? [True, True] Translation: X:-4.39, Y:-191.22, Z:0.75 [[-7.75178782e-01 -6.31732943e-01 3.36819921e-03 -4.38526075e+00] [-6.31727024e-01 7.75186100e-01 2.73459134e-03 -1.91219655e+02] [-4.33851264e-03 -7.98527471e-06 -9.99990589e-01 7.46231709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.997628 meters 0.011103545186388921 Centerline is valid? [True, True] Translation: X:-4.47, Y:-191.26, Z:0.75 [[-7.25793122e-01 -6.87904177e-01 3.49101118e-03 -4.47020731e+00] [-6.87896254e-01 7.25801517e-01 3.30158362e-03 -1.91259229e+02] [-4.80495438e-03 -5.18683478e-06 -9.99988456e-01 7.45917136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02762800000005 meters 0.011180934344782217 Centerline is valid? [True, True] Translation: X:-4.56, Y:-191.31, Z:0.75 [[-6.72272264e-01 -7.40292611e-01 4.10520833e-03 -4.55646983e+00] [-7.40278816e-01 6.72284798e-01 4.51934050e-03 -1.91309717e+02] [-6.10550353e-03 -7.71492951e-07 -9.99981361e-01 7.46884937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.057628 meters 0.012897957031814572 Centerline is valid? [True, True] Translation: X:-4.64, Y:-191.37, Z:0.75 [[-6.14048030e-01 -7.89258569e-01 3.99093580e-03 -4.64428583e+00] [-7.89241909e-01 6.14061000e-01 5.12810318e-03 -1.91369695e+02] [-6.49807740e-03 -9.12136452e-07 -9.99978887e-01 7.49134300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.08762800000005 meters 0.011355684010596997 Centerline is valid? [True, True] Translation: X:-4.73, Y:-191.43, Z:0.75 [[-5.51745437e-01 -8.34004675e-01 3.62970151e-03 -4.72672479e+00] [-8.33986673e-01 5.51757376e-01 5.47972530e-03 -1.91434542e+02] [-6.57283110e-03 -3.70925438e-06 -9.99978399e-01 7.48282242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.117628 meters 0.01137910022760642 Centerline is valid? [True, True] Translation: X:-4.81, Y:-191.51, Z:0.75 [[-4.86250087e-01 -8.73813745e-01 3.22367690e-03 -4.80766572e+00] [-8.73794615e-01 4.86260773e-01 5.78196673e-03 -1.91511096e+02] [-6.61990962e-03 -5.34969367e-06 -9.99978088e-01 7.48964238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.14762800000005 meters 0.01145158463978572 Centerline is valid? [True, True] Translation: X:-4.88, Y:-191.59, Z:0.75 [[-4.17155373e-01 -9.08831078e-01 2.73238939e-03 -4.88482585e+00] [-9.08811759e-01 4.17164321e-01 5.92590965e-03 -1.91593351e+02] [-6.52550623e-03 -1.12025599e-05 -9.99978709e-01 7.49818697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.177628 meters 0.011420164478850425 Centerline is valid? [True, True] Translation: X:-4.96, Y:-191.69, Z:0.75 [[-3.46040746e-01 -9.38217439e-01 1.95954077e-03 -4.95557334e+00] [-9.38202578e-01 3.46046294e-01 5.28066998e-03 -1.91686955e+02] [-5.63250848e-03 -1.11192235e-05 -9.99984137e-01 7.49067204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.207628 meters 0.011483016964242337 Centerline is valid? [True, True] Translation: X:-5.02, Y:-191.78, Z:0.75 [[-2.72405196e-01 -9.62181710e-01 1.32937166e-03 -5.01775378e+00] [-9.62170480e-01 2.72408439e-01 4.64860991e-03 -1.91782312e+02] [-4.83493949e-03 -1.27766779e-05 -9.99988312e-01 7.47819077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23762800000003 meters 0.011441550783113794 Centerline is valid? [True, True] Translation: X:-5.07, Y:-191.89, Z:0.75 [[-1.97399219e-01 -9.80322682e-01 9.93737377e-04 -5.07335270e+00] [-9.80310631e-01 1.97401720e-01 4.86080983e-03 -1.91887032e+02] [-4.96132759e-03 -1.46512492e-05 -9.99987692e-01 7.47713117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.267628 meters 0.011535926184691443 Centerline is valid? [True, True] Translation: X:-5.12, Y:-192.00, Z:0.75 [[-1.21745550e-01 -9.92561082e-01 7.20372809e-04 -5.12155407e+00] [-9.92544474e-01 1.21747680e-01 5.74190563e-03 -1.91997955e+02] [-5.78689579e-03 -1.59505929e-05 -9.99983256e-01 7.49909415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29762800000003 meters 0.011586054114937903 Centerline is valid? [True, True] Translation: X:-5.16, Y:-192.11, Z:0.75 [[-4.52207152e-02 -9.98976975e-01 3.01174537e-04 -5.15822244e+00] [-9.98957201e-01 4.52217150e-02 6.28552692e-03 -1.92108454e+02] [-6.29271630e-03 -1.66244492e-05 -9.99980201e-01 7.50530582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.327628 meters 0.011765176613894247 Centerline is valid? [True, True] Translation: X:-5.18, Y:-192.22, Z:0.75 [[ 3.20769529e-02 -9.99485386e-01 -1.79083539e-04 -5.18342272e+00] [-9.99466470e-01 -3.20774476e-02 6.14917005e-03 -1.92222118e+02] [-6.15175014e-03 -1.82586459e-05 -9.99981078e-01 7.51700376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35762800000003 meters 0.011829427053334295 Centerline is valid? [True, True] Translation: X:-5.20, Y:-192.34, Z:0.75 [[ 1.09107978e-01 -9.94029682e-01 -6.63865514e-04 -5.20118000e+00] [-9.94010150e-01 -1.09109996e-01 6.23135212e-03 -1.92340161e+02] [-6.26658333e-03 -2.00011721e-05 -9.99980365e-01 7.52373929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.387628 meters 0.011792013809160052 Centerline is valid? [True, True] Translation: X:-5.21, Y:-192.46, Z:0.75 [[ 1.86099812e-01 -9.82530231e-01 -1.09791247e-03 -5.21013644e+00] [-9.82512361e-01 -1.86103049e-01 5.92580710e-03 -1.92463251e+02] [-6.02660947e-03 -2.40790178e-05 -9.99981840e-01 7.52522206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41762800000004 meters 0.012119120740479553 Centerline is valid? [True, True] Translation: X:-5.21, Y:-192.58, Z:0.75 [[ 2.64136583e-01 -9.64484897e-01 -8.65650617e-04 -5.21366988e+00] [-9.64479422e-01 -2.64138001e-01 3.24988964e-03 -1.92580418e+02] [-3.36312069e-03 -2.35125384e-05 -9.99994344e-01 7.50485347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.447628 meters 0.01509824311386343 Centerline is valid? [True, True] Translation: X:-5.21, Y:-192.70, Z:0.75 [[ 3.38393819e-01 -9.41004078e-01 -9.73405761e-04 -5.20825625e+00] [-9.40999984e-01 -3.38395218e-01 2.77599134e-03 -1.92698499e+02] [-2.94161503e-03 -2.34035065e-05 -9.99995673e-01 7.52386113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47762800000004 meters 0.012538467679297248 Centerline is valid? [True, True] Translation: X:-5.19, Y:-192.82, Z:0.75 [[ 4.11237416e-01 -9.11527532e-01 -1.16010869e-03 -5.19468777e+00] [-9.11523711e-01 -4.11239052e-01 2.63947495e-03 -1.92815176e+02] [-2.88303608e-03 -2.79842835e-05 -9.99995844e-01 7.49936732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.507628 meters 0.012953645947197877 Centerline is valid? [True, True] Translation: X:-5.17, Y:-192.93, Z:0.75 [[ 4.81346806e-01 -8.76528812e-01 -1.57920445e-03 -5.17152607e+00] [-8.76523833e-01 -4.81349396e-01 2.95462625e-03 -1.92932319e+02] [-3.34996414e-03 -3.79895715e-05 -9.99994388e-01 7.50403975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53762800000004 meters 0.016285409259439065 Centerline is valid? [True, True] Translation: X:-5.14, Y:-193.04, Z:0.75 [[ 5.46836714e-01 -8.37234649e-01 -2.78406778e-03 -5.14027002e+00] [-8.37223255e-01 -5.46843798e-01 4.36831804e-03 -1.93041207e+02] [-5.17975742e-03 -5.78703913e-05 -9.99986583e-01 7.54173700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.567628 meters 0.013083366293817872 Centerline is valid? [True, True] Translation: X:-5.10, Y:-193.15, Z:0.75 [[ 6.09125496e-01 -7.93065031e-01 -3.73990679e-03 -5.09962661e+00] [-7.93049386e-01 -6.09136973e-01 4.98185911e-03 -1.93147132e+02] [-6.22905375e-03 -6.86466141e-05 -9.99980597e-01 7.52569695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59762800000004 meters 0.012773452672457088 Centerline is valid? [True, True] Translation: X:-5.05, Y:-193.24, Z:0.75 [[ 6.66068446e-01 -7.45877816e-01 -4.37142548e-03 -5.05365649e+00] [-7.45861188e-01 -6.66082788e-01 4.98076984e-03 -1.93242276e+02] [-6.62677700e-03 -5.70570255e-05 -9.99978041e-01 7.54015510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.627628 meters 0.016677342500537425 Centerline is valid? [True, True] Translation: X:-5.00, Y:-193.33, Z:0.76 [[ 7.19706411e-01 -6.94263275e-01 -4.60293427e-03 -5.00301402e+00] [-6.94248686e-01 -7.19721128e-01 4.50102888e-03 -1.93332568e+02] [-6.43772810e-03 -4.38382690e-05 -9.99979277e-01 7.57343684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65762800000005 meters 0.014631199395004069 Centerline is valid? [True, True] Translation: X:-5.00, Y:-193.34, Z:0.76 [[ 7.70995113e-01 -6.36823807e-01 -4.68768153e-03 -5.00445578e+00] [-6.36811766e-01 -7.71009363e-01 3.91614576e-03 -1.93340473e+02] [-6.10814120e-03 -3.41584873e-05 -9.99981345e-01 7.55790215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.687628 meters 0.01269012674821703 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.35, Z:0.75 [[ 8.17765385e-01 -5.75533522e-01 -4.57600640e-03 -5.00704255e+00] [-5.75524342e-01 -8.17778188e-01 3.25085764e-03 -1.93347881e+02] [-5.61313577e-03 -2.48357732e-05 -9.99984246e-01 7.53480937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71762800000005 meters 0.012623786107480852 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.36, Z:0.75 [[ 8.58958107e-01 -5.12038319e-01 -2.78047967e-03 -5.00948020e+00] [-5.12035615e-01 -8.58962607e-01 1.66413960e-03 -1.93359114e+02] [-3.24043131e-03 -5.72158603e-06 -9.99994750e-01 7.51986543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.747628 meters 0.012733826042408494 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.37, Z:0.75 [[ 8.95892428e-01 -4.44267007e-01 -1.89293257e-03 -5.01242184e+00] [-4.44266013e-01 -8.95894428e-01 9.40027455e-04 -1.93370518e+02] [-2.11349093e-03 -1.19787203e-06 -9.99997767e-01 7.51228921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77762800000005 meters 0.012785689130012472 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.38, Z:0.75 [[ 9.27483481e-01 -3.73862396e-01 -1.14074527e-03 -5.01386406e+00] [-3.73862115e-01 -9.27484182e-01 4.58792900e-04 -1.93382769e+02] [-1.22954861e-03 9.58603864e-07 -9.99999244e-01 7.50635707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.807628 meters 0.01278529238977462 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.39, Z:0.75 [[ 9.53700418e-01 -3.00758193e-01 -1.47663679e-04 -5.01429718e+00] [-3.00758190e-01 -9.53700429e-01 4.54573310e-05 -1.93392960e+02] [-1.54498579e-04 1.05838524e-06 -9.99999988e-01 7.50181424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.83762800000005 meters 0.012998573969396576 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.40, Z:0.75 [[ 9.73895735e-01 -2.26984704e-01 2.24522023e-03 -5.01176225e+00] [-2.26984111e-01 -9.73898323e-01 -5.18841597e-04 -1.93397456e+02] [ 2.30438532e-03 -4.33169906e-06 -9.99997345e-01 7.46483587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.867628 meters 0.01313566861905768 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.40, Z:0.75 [[ 9.88574369e-01 -1.50709377e-01 2.72026253e-03 -5.00958167e+00] [-1.50708826e-01 -9.88578112e-01 -4.07643548e-04 -1.93403931e+02] [ 2.75062770e-03 -6.98160735e-06 -9.99996217e-01 7.45510561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.89762800000005 meters 0.013127412165848788 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.41, Z:0.75 [[ 9.97313500e-01 -7.32074459e-02 2.54005384e-03 -5.01176759e+00] [-7.32072270e-02 -9.97316735e-01 -1.79170588e-04 -1.93409090e+02] [ 2.54635483e-03 -7.26105238e-06 -9.99996758e-01 7.45482828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.927628 meters 0.013207552485094616 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.42, Z:0.75 [[ 9.99972863e-01 7.26092704e-03 1.24594380e-03 -5.01235893e+00] [ 7.26092098e-03 -9.99973639e-01 9.38905014e-06 -1.93417039e+02] [ 1.24597913e-03 -3.42095876e-07 -9.99999224e-01 7.47256008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.957628 meters 0.013236009804300982 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.43, Z:0.75 [[ 9.96089076e-01 8.83279536e-02 2.17356305e-03 -5.01253901e+00] [ 8.83277538e-02 -9.96091448e-01 1.87927741e-04 -1.93428994e+02] [ 2.18166684e-03 4.79317212e-06 -9.99997620e-01 7.48261709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98762800000003 meters 0.013420856848939643 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.44, Z:0.75 [[ 9.85644251e-01 1.68821363e-01 2.18147326e-03 -5.01130502e+00] [ 1.68820974e-01 -9.85646665e-01 3.62398310e-04 -1.93440527e+02] [ 2.21134242e-03 1.10826311e-05 -9.99997555e-01 7.49393313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.017628 meters 0.013779277043574316 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.45, Z:0.75 [[ 9.68395136e-01 2.49421047e-01 -4.15532134e-05 -5.00862265e+00] [ 2.49421047e-01 -9.68395137e-01 -1.13054362e-05 -1.93454366e+02] [-4.30597438e-05 5.83883466e-07 -9.99999999e-01 7.51110100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04762800000003 meters 0.014251405175758323 Centerline is valid? [True, True] Translation: X:-5.01, Y:-193.47, Z:0.75 [[ 9.45520326e-01 3.25560705e-01 -1.24107674e-03 -5.00605699e+00] [ 3.25560441e-01 -9.45521141e-01 -4.14812936e-04 -1.93466607e+02] [-1.30851109e-03 -1.18314288e-05 -9.99999144e-01 7.52104442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.077628 meters 0.014108744606120223 Centerline is valid? [True, True] Translation: X:-5.00, Y:-193.47, Z:0.75 [[ 9.16785644e-01 3.99375452e-01 -1.82528080e-03 -5.00303894e+00] [ 3.99374704e-01 -9.16787461e-01 -7.73171523e-04 -1.93474061e+02] [-1.98218028e-03 -2.01384275e-05 -9.99998035e-01 7.52454811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10762800000003 meters 0.014110835596529118 Centerline is valid? [True, True] Translation: X:-5.00, Y:-193.48, Z:0.75 [[ 8.82598227e-01 4.70121980e-01 -2.38599760e-03 -4.99903769e+00] [ 4.70120349e-01 -8.82601452e-01 -1.23887856e-03 -1.93482568e+02] [-2.68830899e-03 -2.82740003e-05 -9.99996386e-01 7.52741207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.137628 meters 0.014206720546304431 Centerline is valid? [True, True] Translation: X:-4.99, Y:-193.49, Z:0.75 [[ 8.42915959e-01 5.38037924e-01 -2.80684972e-03 -4.99402689e+00] [ 5.38035083e-01 -8.42920631e-01 -1.74873649e-03 -1.93489537e+02] [-3.30683809e-03 -3.61457318e-05 -9.99994532e-01 7.53372063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16762800000004 meters 0.0143438941296341 Centerline is valid? [True, True] Translation: X:-4.99, Y:-193.50, Z:0.75 [[ 7.98035071e-01 6.02603451e-01 -3.01773583e-03 -4.99001360e+00] [ 6.02599341e-01 -7.98040776e-01 -2.22593084e-03 -1.93495384e+02] [-3.74962985e-03 -4.21147458e-05 -9.99992969e-01 7.53783486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.197628 meters 0.0145017726929837 Centerline is valid? [True, True] Translation: X:-4.99, Y:-193.50, Z:0.75 [[ 7.48223785e-01 6.63442440e-01 -2.30138116e-03 -4.98586761e+00] [ 6.63439444e-01 -7.48227324e-01 -1.99408813e-03 -1.93499358e+02] [-3.04491896e-03 -3.48028682e-05 -9.99995364e-01 7.53396317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22762800000004 meters 0.014543690506463175 Centerline is valid? [True, True] Translation: X:-4.98, Y:-193.50, Z:0.75 [[ 6.93867229e-01 7.20100364e-01 -1.93240737e-03 -4.98208916e+00] [ 7.20097699e-01 -6.93869919e-01 -1.95963513e-03 -1.93503158e+02] [-2.75197331e-03 -3.17955035e-05 -9.99996213e-01 7.53760340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.257628 meters 0.014705275448632291 Centerline is valid? [True, True] Translation: X:-4.98, Y:-193.51, Z:0.75 [[ 6.35498929e-01 7.72097814e-01 -2.46516070e-03 -4.98040689e+00] [ 7.72092271e-01 -6.35503709e-01 -2.92612611e-03 -1.93506419e+02] [-3.82587434e-03 -4.37815144e-05 -9.99992680e-01 7.54953226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28762800000004 meters 0.014485677757854499 Centerline is valid? [True, True] Translation: X:-4.98, Y:-193.51, Z:0.76 [[ 5.73633710e-01 8.19108681e-01 -2.30980141e-03 -4.97799531e+00] [ 8.19102338e-01 -5.73638359e-01 -3.22384483e-03 -1.93508579e+02] [-3.96566998e-03 -4.26576705e-05 -9.99992136e-01 7.55567922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.317628 meters 0.014182170006480792 Centerline is valid? [True, True] Translation: X:-4.97, Y:-193.51, Z:0.76 [[ 5.08031655e-01 8.61335098e-01 -2.38457188e-03 -4.97040956e+00] [ 8.61326052e-01 -5.08037249e-01 -3.94793047e-03 -1.93513071e+02] [-4.61194242e-03 -4.82202360e-05 -9.99989364e-01 7.55413175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34762800000004 meters 0.014083437315355031 Centerline is valid? [True, True] Translation: X:-4.96, Y:-193.52, Z:0.76 [[ 4.40128883e-01 8.97931735e-01 -2.27286122e-03 -4.96160985e+00] [ 8.97920308e-01 -4.40134749e-01 -4.53017963e-03 -1.93519699e+02] [-5.06815726e-03 -4.69853481e-05 -9.99987156e-01 7.55897036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.377628 meters 0.014078369390887052 Centerline is valid? [True, True] Translation: X:-4.95, Y:-193.52, Z:0.76 [[ 3.68561370e-01 9.29601596e-01 -1.84097018e-03 -4.95288162e+00] [ 9.29590598e-01 -3.68565965e-01 -4.52207019e-03 -1.93523395e+02] [-4.88224261e-03 -4.46881827e-05 -9.99988081e-01 7.56035698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40762800000005 meters 0.014017196666981998 Centerline is valid? [True, True] Translation: X:-4.94, Y:-193.53, Z:0.76 [[ 2.94935122e-01 9.55516330e-01 -1.34813403e-03 -4.94436403e+00] [ 9.55506945e-01 -2.94938201e-01 -4.23496585e-03 -1.93526773e+02] [-4.44419525e-03 -3.91112561e-05 -9.99990124e-01 7.56133055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.437628 meters 0.013852312146475672 Centerline is valid? [True, True] Translation: X:-4.94, Y:-193.53, Z:0.76 [[ 2.20062950e-01 9.75485366e-01 -7.74415498e-04 -4.93689085e+00] [ 9.75479745e-01 -2.20064311e-01 -3.31155918e-03 -1.93529059e+02] [-3.40079873e-03 -2.66751502e-05 -9.99994217e-01 7.56081036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46762800000005 meters 0.013852312146475672 Centerline is valid? [True, True] Translation: X:-4.93, Y:-193.53, Z:0.76 [[ 1.42987911e-01 9.89724302e-01 -5.12685358e-04 -4.92929634e+00] [ 9.89718592e-01 -1.42988828e-01 -3.36207389e-03 -1.93531345e+02] [-3.40083451e-03 -2.66783091e-05 -9.99994217e-01 7.56081349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.497628 meters 0.013740201979045066 Centerline is valid? [True, True] Translation: X:-4.92, Y:-193.53, Z:0.76 [[ 6.58880518e-02 9.97827001e-01 -2.03838579e-04 -4.92394137e+00] [ 9.97823090e-01 -6.58883642e-02 -2.79383828e-03 -1.93533860e+02] [-2.80119786e-03 -1.93142797e-05 -9.99996076e-01 7.55808103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52762800000005 meters 0.013520542053721695 Centerline is valid? [True, True] Translation: X:-4.92, Y:-193.54, Z:0.75 [[-1.07501956e-02 9.99942215e-01 1.30048530e-05 -4.92182813e+00] [ 9.99939560e-01 1.07501970e-02 -2.30447802e-03 -1.93535132e+02] [-2.30448466e-03 -1.17695225e-05 -9.99997345e-01 7.53628241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.557628 meters 0.01370037634204027 Centerline is valid? [True, True] Translation: X:-4.91, Y:-193.54, Z:0.75 [[-8.98345267e-02 9.95956696e-01 1.35010770e-04 -4.91388260e+00] [ 9.95955413e-01 8.98346277e-02 -1.59861334e-03 -1.93536606e+02] [-1.60427830e-03 -9.14596520e-06 -9.99998713e-01 7.52950793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.58762800000005 meters 0.014153486934405558 Centerline is valid? [True, True] Translation: X:-4.90, Y:-193.54, Z:0.75 [[-1.71392516e-01 9.85202730e-01 4.31529470e-04 -4.90231259e+00] [ 9.85199212e-01 1.71393057e-01 -2.63305959e-03 -1.93536781e+02] [-2.66805865e-03 -2.61442132e-05 -9.99996440e-01 7.54495980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.617628 meters 0.014264522909001822 Centerline is valid? [True, True] Translation: X:-4.89, Y:-193.54, Z:0.76 [[-2.49611341e-01 9.68345587e-01 1.00107387e-03 -4.89157523e+00] [ 9.68337002e-01 2.49613344e-01 -4.07790018e-03 -1.93535146e+02] [-4.19869805e-03 -4.85132632e-05 -9.99991184e-01 7.56874839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.64762800000005 meters 0.014481832741998888 Centerline is valid? [True, True] Translation: X:-4.88, Y:-193.53, Z:0.76 [[-3.25702460e-01 9.45470179e-01 2.01214487e-03 -4.88110170e+00] [ 9.45450566e-01 3.25708665e-01 -6.09031481e-03 -1.93532590e+02] [-6.41358405e-03 -8.12470053e-05 -9.99979429e-01 7.59035882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.677628 meters 0.014782679941622237 Centerline is valid? [True, True] Translation: X:-4.87, Y:-193.53, Z:0.76 [[-3.99328691e-01 9.16802697e-01 3.06771648e-03 -4.87098937e+00] [ 9.16773588e-01 3.99340461e-01 -7.30650201e-03 -1.93531010e+02] [-7.92368406e-03 -1.05294440e-04 -9.99968602e-01 7.61204954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.707628 meters 0.01467676367502313 Centerline is valid? [True, True] Translation: X:-4.86, Y:-193.53, Z:0.76 [[-4.70589253e-01 8.82344914e-01 3.63428916e-03 -4.86216678e+00] [ 8.82316748e-01 4.70603273e-01 -7.05090156e-03 -1.93527290e+02] [-7.93163551e-03 -1.11484308e-04 -9.99968538e-01 7.62239603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73762800000003 meters 0.014854050767170916 Centerline is valid? [True, True] Translation: X:-4.86, Y:-193.52, Z:0.76 [[-5.38657554e-01 8.42515545e-01 3.94924832e-03 -4.85533754e+00] [ 8.42491402e-01 5.38672020e-01 -6.37911058e-03 -1.93524331e+02] [-7.50184940e-03 -1.08948351e-04 -9.99971855e-01 7.61704601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.767628 meters 0.015117221522083142 Centerline is valid? [True, True] Translation: X:-4.85, Y:-193.52, Z:0.76 [[-6.03647667e-01 7.97239918e-01 4.24357958e-03 -4.85009479e+00] [ 7.97218927e-01 6.03662573e-01 -5.78628529e-03 -1.93521019e+02] [-7.17474777e-03 -1.09815655e-04 -9.99974255e-01 7.60975945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79762800000003 meters 0.015398978579019389 Centerline is valid? [True, True] Translation: X:-4.85, Y:-193.52, Z:0.76 [[-6.65000805e-01 7.46825757e-01 5.02174826e-03 -4.84555780e+00] [ 7.46803023e-01 6.65019754e-01 -5.82856593e-03 -1.93517293e+02] [-7.69248495e-03 -1.25744258e-04 -9.99970405e-01 7.60404006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.827628 meters 0.01624575893233816 Centerline is valid? [True, True] Translation: X:-4.84, Y:-193.51, Z:0.76 [[-7.23361253e-01 6.90446856e-01 5.62469698e-03 -4.83871426e+00] [ 6.90424345e-01 7.23383105e-01 -5.57737953e-03 -1.93512507e+02] [-7.91969493e-03 -1.51032521e-04 -9.99968627e-01 7.62404414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85762800000003 meters 0.016759343916454342 Centerline is valid? [True, True] Translation: X:-4.82, Y:-193.49, Z:0.76 [[-7.71275754e-01 6.36470628e-01 6.23313942e-03 -4.81797458e+00] [ 6.36448071e-01 7.71300922e-01 -5.36109750e-03 -1.93492087e+02] [-8.21980727e-03 -1.67814955e-04 -9.99966203e-01 7.63554770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.887628 meters 0.01716734335491749 Centerline is valid? [True, True] Translation: X:-4.80, Y:-193.47, Z:0.76 [[-8.14830361e-01 5.79653437e-01 7.30592236e-03 -4.80022601e+00] [ 5.79627992e-01 8.14863090e-01 -5.43466355e-03 -1.93469948e+02] [-9.10354788e-03 -1.93611754e-04 -9.99958543e-01 7.64990236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91762800000004 meters 0.017571606156578913 Centerline is valid? [True, True] Translation: X:-4.79, Y:-193.45, Z:0.77 [[-8.54098939e-01 5.20034648e-01 8.88634440e-03 -4.78516091e+00] [ 5.20003677e-01 8.54145135e-01 -5.68014195e-03 -1.93446797e+02] [-1.05440985e-02 -2.30471448e-04 -9.99944383e-01 7.67014946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.947628 meters 0.017647401379359686 Centerline is valid? [True, True] Translation: X:-4.77, Y:-193.42, Z:0.77 [[-8.88650736e-01 4.58492414e-01 9.19649928e-03 -4.77149274e+00] [ 4.58465218e-01 8.88698293e-01 -4.99886351e-03 -1.93422560e+02] [-1.04648542e-02 -2.25968688e-04 -9.99945216e-01 7.67453760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97762800000004 meters 0.017644260370949415 Centerline is valid? [True, True] Translation: X:-4.76, Y:-193.40, Z:0.77 [[-9.18850497e-01 3.94472437e-01 1.02596192e-02 -4.75875023e+00] [ 3.94444893e-01 9.18907742e-01 -4.66789854e-03 -1.93397074e+02] [-1.12690008e-02 -2.42246502e-04 -9.99936473e-01 7.68053767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.007628 meters 0.016998560161294134 Centerline is valid? [True, True] Translation: X:-4.75, Y:-193.37, Z:0.77 [[-9.44737694e-01 3.27547546e-01 1.35386479e-02 -4.75442253e+00] [ 3.27509001e-01 9.44834642e-01 -5.03525956e-03 -1.93366319e+02] [-1.44410705e-02 -3.22970454e-04 -9.99895670e-01 7.70612922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03762800000004 meters 0.016919557318280574 Centerline is valid? [True, True] Translation: X:-4.74, Y:-193.34, Z:0.77 [[-9.65752734e-01 2.59009477e-01 1.53540806e-02 -4.74456518e+00] [ 2.58970650e-01 9.65874709e-01 -4.49983880e-03 -1.93339230e+02] [-1.59956191e-02 -3.69475385e-04 -9.99871994e-01 7.72036442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.067628 meters 0.017258911168094006 Centerline is valid? [True, True] Translation: X:-4.74, Y:-193.31, Z:0.77 [[-9.81668854e-01 1.89727985e-01 1.81535803e-02 -4.73945054e+00] [ 1.89687415e-01 9.81836598e-01 -3.94699295e-03 -1.93311662e+02] [-1.85727045e-02 -4.31134319e-04 -9.99827420e-01 7.74780061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09762800000004 meters 0.01733955270710639 Centerline is valid? [True, True] Translation: X:-4.73, Y:-193.29, Z:0.77 [[-9.92599680e-01 1.19891007e-01 1.92878725e-02 -4.73474002e+00] [ 1.19859654e-01 9.92786960e-01 -2.77758671e-03 -1.93287793e+02] [-1.94817560e-02 -4.45193948e-04 -9.99810114e-01 7.74661761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.127628 meters 0.017362713114002004 Centerline is valid? [True, True] Translation: X:-4.74, Y:-193.26, Z:0.77 [[-9.98620890e-01 4.86388818e-02 1.97630064e-02 -4.73716466e+00] [ 4.86202234e-02 9.98816323e-01 -1.42378485e-03 -1.93262777e+02] [-1.98088647e-02 -4.60939508e-04 -9.99803679e-01 7.73218933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15762800000005 meters 0.020502593256049292 Centerline is valid? [True, True] Translation: X:-4.74, Y:-193.23, Z:0.78 [[-9.99499264e-01 -2.37665143e-02 2.08895871e-02 -4.74353101e+00] [-2.37720354e-02 9.99717405e-01 -1.59846710e-05 -1.93233702e+02] [-2.08833039e-02 -5.12564671e-04 -9.99781789e-01 7.75802628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.187628 meters 0.017874586508643056 Centerline is valid? [True, True] Translation: X:-4.75, Y:-193.21, Z:0.77 [[-9.95195343e-01 -9.55559909e-02 2.13373260e-02 -4.74915508e+00] [-9.55456377e-02 9.95423911e-01 1.50648581e-03 -1.93205280e+02] [-2.13836383e-02 -5.39440761e-04 -9.99771198e-01 7.73982736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21762800000005 meters 0.02205816047271051 Centerline is valid? [True, True] Translation: X:-4.76, Y:-193.18, Z:0.78 [[-9.85775610e-01 -1.66349658e-01 2.39632823e-02 -4.76455194e+00] [-1.66315590e-01 9.86066639e-01 3.42173297e-03 -1.93176398e+02] [-2.41985974e-02 -6.12406542e-04 -9.99706984e-01 7.80093133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.247628 meters 0.01855143031851028 Centerline is valid? [True, True] Translation: X:-4.78, Y:-193.15, Z:0.78 [[-9.71478077e-01 -2.35949769e-01 2.36231426e-02 -4.78203115e+00] [-2.35894846e-01 9.71765072e-01 5.12516055e-03 -1.93151779e+02] [-2.41654253e-02 -5.93596470e-04 -9.99707797e-01 7.77162122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27762800000005 meters 0.01886168520934459 Centerline is valid? [True, True] Translation: X:-4.81, Y:-193.13, Z:0.78 [[-9.52618807e-01 -3.03290768e-01 2.30676849e-02 -4.81267057e+00] [-3.03215501e-01 9.52897907e-01 6.77783307e-03 -1.93128914e+02] [-2.40368029e-02 -5.37788379e-04 -9.99710930e-01 7.77485362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.307628 meters 0.017179806975831633 Centerline is valid? [True, True] Translation: X:-4.86, Y:-193.12, Z:0.77 [[-9.28601904e-01 -3.70426780e-01 2.19659868e-02 -4.86355065e+00] [-3.70335492e-01 9.28861542e-01 8.23764018e-03 -1.93120464e+02] [-2.34548029e-02 -4.85296162e-04 -9.99724781e-01 7.74189758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.33762800000005 meters 0.016865859776641318 Centerline is valid? [True, True] Translation: X:-4.93, Y:-193.12, Z:0.77 [[-8.99666081e-01 -4.36064383e-01 2.11848461e-02 -4.92696753e+00] [-4.35954924e-01 8.99915364e-01 9.77963415e-03 -1.93119701e+02] [-2.33291186e-02 -4.37232826e-04 -9.99727744e-01 7.73035789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.367628 meters 0.01647909434452676 Centerline is valid? [True, True] Translation: X:-4.99, Y:-193.13, Z:0.77 [[-8.65898130e-01 -4.99777525e-01 2.10441044e-02 -4.99397088e+00] [-4.99641129e-01 8.66153720e-01 1.16822660e-02 -1.93127117e+02] [-2.40659633e-02 -3.98847798e-04 -9.99710293e-01 7.72392167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.39762800000005 meters 0.018694613142170025 Centerline is valid? [True, True] Translation: X:-5.07, Y:-193.15, Z:0.77 [[-8.27335601e-01 -5.61310886e-01 2.11161780e-02 -5.07052346e+00] [-5.61139398e-01 8.27604951e-01 1.38787856e-02 -1.93147189e+02] [-2.52661669e-02 -3.66706019e-04 -9.99680692e-01 7.73519624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.427628 meters 0.01630662767847977 Centerline is valid? [True, True] Translation: X:-5.15, Y:-193.17, Z:0.77 [[-7.82262640e-01 -6.22655216e-01 1.91218479e-02 -5.15354431e+00] [-6.22481047e-01 7.82496223e-01 1.47311712e-02 -1.93169730e+02] [-2.41352143e-02 -3.79343063e-04 -9.99708631e-01 7.70490310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.457628 meters 0.01650500176101598 Centerline is valid? [True, True] Translation: X:-5.24, Y:-193.20, Z:0.77 [[-7.32459726e-01 -6.80583403e-01 1.75778641e-02 -5.23815838e+00] [-6.80400404e-01 7.32670508e-01 1.57866166e-02 -1.93201457e+02] [-2.36228919e-02 -3.96925018e-04 -9.99720862e-01 7.71042206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48762800000003 meters 0.016661268990668582 Centerline is valid? [True, True] Translation: X:-5.32, Y:-193.24, Z:0.77 [[-6.78755316e-01 -7.34174658e-01 1.66970822e-02 -5.32386664e+00] [-7.33967437e-01 6.78960530e-01 1.74470800e-02 -1.93244109e+02] [-2.41458638e-02 -4.12816340e-04 -9.99708361e-01 7.71749606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.517628 meters 0.016654020212845858 Centerline is valid? [True, True] Translation: X:-5.41, Y:-193.30, Z:0.77 [[-6.22308345e-01 -7.82614610e-01 1.57065435e-02 -5.40735376e+00] [-7.82380950e-01 6.22506404e-01 1.91265958e-02 -1.93297650e+02] [-2.47461772e-02 -3.85860240e-04 -9.99693692e-01 7.72213106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54762800000003 meters 0.016237894023472324 Centerline is valid? [True, True] Translation: X:-5.49, Y:-193.36, Z:0.77 [[-5.62763000e-01 -8.26502173e-01 1.38550888e-02 -5.48891655e+00] [-8.26265930e-01 5.62933434e-01 1.97626280e-02 -1.93363560e+02] [-2.41333478e-02 -3.26312027e-04 -9.99708695e-01 7.70731671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.577628 meters 0.015638482465612273 Centerline is valid? [True, True] Translation: X:-5.56, Y:-193.43, Z:0.77 [[-5.00538338e-01 -8.65633218e-01 1.18534563e-02 -5.56297243e+00] [-8.65402239e-01 5.00678610e-01 1.99973689e-02 -1.93434215e+02] [-2.32451588e-02 -2.48557844e-04 -9.99729764e-01 7.67972226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60762800000003 meters 0.018230521601757057 Centerline is valid? [True, True] Translation: X:-5.64, Y:-193.52, Z:0.77 [[-4.35722879e-01 -9.00023521e-01 1.01604144e-02 -5.63538541e+00] [-8.99788270e-01 4.35841290e-01 2.05776453e-02 -1.93517750e+02] [-2.29486929e-02 -1.76070832e-04 -9.99736629e-01 7.68590515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.637628 meters 0.014772599999916652 Centerline is valid? [True, True] Translation: X:-5.70, Y:-193.60, Z:0.76 [[-3.70811003e-01 -9.28675555e-01 7.80468438e-03 -5.69855644e+00] [-9.28472271e-01 3.70893126e-01 1.94301576e-02 -1.93602820e+02] [-2.09390162e-02 -4.15168123e-05 -9.99780754e-01 7.62030594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66762800000004 meters 0.01471738665120733 Centerline is valid? [True, True] Translation: X:-5.76, Y:-193.70, Z:0.76 [[-3.01765593e-01 -9.53362175e-01 6.17173391e-03 -5.76046009e+00] [-9.53160790e-01 3.01828697e-01 1.95945591e-02 -1.93698873e+02] [-2.05435179e-02 3.03089837e-05 -9.99788959e-01 7.60735843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.697628 meters 0.014649474885417667 Centerline is valid? [True, True] Translation: X:-5.82, Y:-193.80, Z:0.76 [[-2.30377114e-01 -9.73091907e-01 4.30407811e-03 -5.81570667e+00] [-9.72915538e-01 2.30417303e-01 1.85262648e-02 -1.93799315e+02] [-1.90194924e-02 8.05229407e-05 -9.99819110e-01 7.60367259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72762800000004 meters 0.018084404782954366 Centerline is valid? [True, True] Translation: X:-5.86, Y:-193.90, Z:0.76 [[-1.58653200e-01 -9.87330862e-01 2.63288105e-03 -5.86199082e+00] [-9.87179929e-01 1.58674983e-01 1.72637533e-02 -1.93904847e+02] [-1.74628087e-02 1.39822366e-04 -9.99847504e-01 7.62324136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.757628 meters 0.015369284033376673 Centerline is valid? [True, True] Translation: X:-5.89, Y:-194.01, Z:0.75 [[-8.84325598e-02 -9.96081706e-01 9.57550290e-04 -5.89430404e+00] [-9.95998687e-01 8.84375531e-02 1.28613478e-02 -1.94012234e+02] [-1.28956367e-02 1.83643080e-04 -9.99916831e-01 7.53092047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78762800000004 meters 0.015723518176856036 Centerline is valid? [True, True] Translation: X:-5.92, Y:-194.13, Z:0.75 [[-1.30049249e-02 -9.99915432e-01 -3.09843416e-05 -5.92408550e+00] [-9.99852309e-01 1.30037558e-02 1.12366450e-02 -1.94128667e+02] [-1.12352918e-02 1.77111489e-04 -9.99936866e-01 7.51476114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.817628 meters 0.015928431922447896 Centerline is valid? [True, True] Translation: X:-5.95, Y:-194.25, Z:0.75 [[ 6.26007485e-02 -9.98038292e-01 -8.44886660e-04 -5.94603446e+00] [-9.97982494e-01 -6.26061839e-02 1.05550129e-02 -1.94248279e+02] [-1.05872022e-02 1.82430386e-04 -9.99943937e-01 7.50628512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84762800000004 meters 0.016087815081533077 Centerline is valid? [True, True] Translation: X:-5.96, Y:-194.37, Z:0.75 [[ 1.38082076e-01 -9.90419438e-01 -1.63599962e-03 -5.95871062e+00] [-9.90365528e-01 -1.38091632e-01 1.03354950e-02 -1.94367414e+02] [-1.04623930e-02 1.93091029e-04 -9.99945249e-01 7.50331838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.877628 meters 0.018586903257333438 Centerline is valid? [True, True] Translation: X:-5.96, Y:-194.49, Z:0.75 [[ 2.11140198e-01 -9.77453395e-01 -2.16299387e-03 -5.95914989e+00] [-9.77411314e-01 -2.11151183e-01 9.07203521e-03 -1.94486934e+02] [-9.32421032e-03 1.98663370e-04 -9.99956509e-01 7.50765088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90762800000005 meters 0.01647162945990273 Centerline is valid? [True, True] Translation: X:-5.95, Y:-194.61, Z:0.75 [[ 2.85643691e-01 -9.58332263e-01 -2.63730877e-03 -5.95297515e+00] [-9.58297199e-01 -2.85655806e-01 8.19997427e-03 -1.94605956e+02] [-8.61166246e-03 1.85054686e-04 -9.99962902e-01 7.46282229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.937628 meters 0.016814049129136113 Centerline is valid? [True, True] Translation: X:-5.94, Y:-194.72, Z:0.74 [[ 3.57894310e-01 -9.33758404e-01 -2.62783917e-03 -5.93870038e+00] [-9.33736304e-01 -3.57903924e-01 6.42615698e-03 -1.94721712e+02] [-6.94099204e-03 1.53823812e-04 -9.99975899e-01 7.44830763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96762800000005 meters 0.01979735634329367 Centerline is valid? [True, True] Translation: X:-5.92, Y:-194.84, Z:0.75 [[ 4.27351867e-01 -9.04081760e-01 -2.55995518e-03 -5.91659305e+00] [-9.04067380e-01 -4.27359513e-01 5.10087011e-03 -1.94835975e+02] [-5.70562483e-03 1.34505610e-04 -9.99983714e-01 7.47513143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.997628 meters 0.019683319698200294 Centerline is valid? [True, True] Translation: X:-5.88, Y:-194.95, Z:0.75 [[ 4.94690924e-01 -8.69064202e-01 -2.88150918e-03 -5.88409115e+00] [-8.69051041e-01 -4.94699297e-01 4.78476061e-03 -1.94948851e+02] [-5.58374472e-03 1.37200910e-04 -9.99984401e-01 7.46919471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02762800000005 meters 0.017837329009190744 Centerline is valid? [True, True] Translation: X:-5.84, Y:-195.06, Z:0.74 [[ 5.60015190e-01 -8.28474949e-01 -3.49940541e-03 -5.84377902e+00] [-8.28460385e-01 -5.60026104e-01 4.91461986e-03 -1.95058317e+02] [-6.03139781e-03 1.46856976e-04 -9.99981800e-01 7.43613551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.057628 meters 0.01809931391337126 Centerline is valid? [True, True] Translation: X:-5.80, Y:-195.16, Z:0.74 [[ 6.21107302e-01 -7.83717372e-01 -3.57775583e-03 -5.80038240e+00] [-7.83705656e-01 -6.21117590e-01 4.28764918e-03 -1.95157879e+02] [-5.58251222e-03 1.40817269e-04 -9.99984408e-01 7.42878737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.08762800000005 meters 0.01908469016223959 Centerline is valid? [True, True] Translation: X:-5.74, Y:-195.25, Z:0.74 [[ 6.77680872e-01 -7.35354240e-01 -1.66670182e-03 -5.74444829e+00] [-7.35352250e-01 -6.77682918e-01 1.71193036e-03 -1.95254661e+02] [-2.38837060e-03 6.54704738e-05 -9.99997146e-01 7.38641457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.117628 meters 0.0195069431190114 Centerline is valid? [True, True] Translation: X:-5.69, Y:-195.34, Z:0.74 [[ 7.30982561e-01 -6.82395838e-01 -6.44930643e-04 -5.68990024e+00] [-6.82395602e-01 -7.30982845e-01 5.67913091e-04 -1.95343079e+02] [-8.58974766e-04 2.49632685e-05 -9.99999631e-01 7.36887957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.14762800000005 meters 0.018370166360257578 Centerline is valid? [True, True] Translation: X:-5.69, Y:-195.35, Z:0.74 [[ 7.81553643e-01 -6.23838035e-01 -9.29449154e-05 -5.69461718e+00] [-6.23838032e-01 -7.81553649e-01 6.89000156e-05 -1.95351632e+02] [-1.15623888e-04 4.13351484e-06 -9.99999993e-01 7.35877576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.177628 meters 0.018747432465029152 Centerline is valid? [True, True] Translation: X:-5.70, Y:-195.36, Z:0.74 [[ 8.27308056e-01 -5.61748140e-01 6.38420802e-04 -5.69801855e+00] [-5.61747993e-01 -8.27308302e-01 -4.06865178e-04 -1.95358774e+02] [ 7.56726586e-04 -2.20287652e-05 -9.99999713e-01 7.35982308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.207628 meters 0.020304497825431016 Centerline is valid? [True, True] Translation: X:-5.70, Y:-195.37, Z:0.74 [[ 8.68246253e-01 -4.96127998e-01 2.33547244e-03 -5.70085292e+00] [-4.96126452e-01 -8.68249390e-01 -1.24091928e-03 -1.95367178e+02] [ 2.64342731e-03 -8.12661409e-05 -9.99996503e-01 7.37788232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23762800000003 meters 0.021230405813380294 Centerline is valid? [True, True] Translation: X:-5.70, Y:-195.37, Z:0.74 [[ 9.04461670e-01 -4.26546120e-01 2.73753627e-03 -5.70273693e+00] [-4.26544469e-01 -9.04465809e-01 -1.19021785e-03 -1.95371169e+02] [ 2.98369076e-03 -9.11745326e-05 -9.99995545e-01 7.37152865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.267628 meters 0.01876030487620443 Centerline is valid? [True, True] Translation: X:-5.70, Y:-195.38, Z:0.73 [[ 9.35600783e-01 -3.53050638e-01 2.53422292e-03 -5.70486536e+00] [-3.53049566e-01 -9.35604212e-01 -8.73471350e-04 -1.95379736e+02] [ 2.67940926e-03 -7.74858245e-05 -9.99996407e-01 7.34697005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29762800000003 meters 0.018420639130992615 Centerline is valid? [True, True] Translation: X:-5.71, Y:-195.39, Z:0.74 [[ 9.60835837e-01 -2.77103163e-01 2.88655715e-03 -5.70672895e+00] [-2.77102165e-01 -9.60840169e-01 -7.48289636e-04 -1.95391816e+02] [ 2.98087349e-03 -8.08877361e-05 -9.99995554e-01 7.35253128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.327628 meters 0.018420639130992615 Centerline is valid? [True, True] Translation: X:-5.71, Y:-195.40, Z:0.74 [[ 9.79585806e-01 -2.01005041e-01 2.93626389e-03 -5.71002982e+00] [-2.01004385e-01 -9.79590204e-01 -5.19928071e-04 -1.95400892e+02] [ 2.98084350e-03 -8.08877573e-05 -9.99995554e-01 7.35253414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35762800000003 meters 0.019549731835799576 Centerline is valid? [True, True] Translation: X:-5.71, Y:-195.41, Z:0.74 [[ 9.92285811e-01 -1.23933007e-01 3.07895057e-03 -5.71404604e+00] [-1.23932675e-01 -9.92290584e-01 -2.99269240e-04 -1.95409378e+02] [ 3.09230300e-03 -8.46219591e-05 -9.99995215e-01 7.36767097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.387628 meters 0.01725208874252012 Centerline is valid? [True, True] Translation: X:-5.72, Y:-195.42, Z:0.74 [[ 9.98947315e-01 -4.57926630e-02 2.70079196e-03 -5.71666858e+00] [-4.57926949e-02 -9.98950963e-01 -5.00679754e-05 -1.95419816e+02] [ 2.70025148e-03 -7.36612728e-05 -9.99996352e-01 7.35542444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41762800000004 meters 0.020013960224937333 Centerline is valid? [True, True] Translation: X:-5.72, Y:-195.43, Z:0.74 [[ 9.99541138e-01 3.02019236e-02 2.31444979e-03 -5.71878666e+00] [ 3.02016839e-02 -9.99543816e-01 1.38453341e-04 -1.95426830e+02] [ 2.31757553e-03 -6.84895297e-05 -9.99997312e-01 7.40183081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.447628 meters 0.01960220282302928 Centerline is valid? [True, True] Translation: X:-5.72, Y:-195.43, Z:0.74 [[ 9.94568303e-01 1.04085477e-01 -3.21490413e-04 -5.72123274e+00] [ 1.04085467e-01 -9.94568355e-01 -4.55605990e-05 -1.95430191e+02] [-3.24486388e-04 1.18506478e-05 -9.99999947e-01 7.41206559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47762800000004 meters 0.02096906889938903 Centerline is valid? [True, True] Translation: X:-5.72, Y:-195.43, Z:0.74 [[ 9.83869878e-01 1.78870661e-01 -2.31294726e-03 -5.72351587e+00] [ 1.78869955e-01 -9.83872593e-01 -5.10320762e-04 -1.95434781e+02] [-2.36692683e-03 8.83724549e-05 -9.99997195e-01 7.42531464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.507628 meters 0.023397898781666208 Centerline is valid? [True, True] Translation: X:-5.72, Y:-195.44, Z:0.75 [[ 9.67498806e-01 2.52864970e-01 -2.31661876e-03 -5.72454824e+00] [ 2.52864005e-01 -9.67501575e-01 -7.05145958e-04 -1.95441697e+02] [-2.41963901e-03 9.64383765e-05 -9.99997068e-01 7.45701283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53762800000004 meters 0.023041701559820816 Centerline is valid? [True, True] Translation: X:-5.73, Y:-195.45, Z:0.74 [[ 9.45330728e-01 3.26094773e-01 -3.46612852e-03 -5.72611052e+00] [ 3.26091977e-01 -9.45337070e-01 -1.35916819e-03 -1.95447309e+02] [-3.71987742e-03 1.54586752e-04 -9.99993069e-01 7.44332017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.567628 meters 0.024476262490447907 Centerline is valid? [True, True] Translation: X:-5.73, Y:-195.45, Z:0.74 [[ 9.17972967e-01 3.96623100e-01 -3.96851095e-03 -5.72743105e+00] [ 3.96618466e-01 -9.17981524e-01 -1.92705625e-03 -1.95451454e+02] [-4.40733476e-03 1.95000818e-04 -9.99990269e-01 7.44862623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59762800000004 meters 0.02595967836137439 Centerline is valid? [True, True] Translation: X:-5.73, Y:-195.45, Z:0.75 [[ 8.85484025e-01 4.64645542e-01 -4.74992200e-03 -5.72890975e+00] [ 4.64637265e-01 -8.85496727e-01 -2.78553113e-03 -1.95454757e+02] [-5.50032500e-03 2.59552551e-04 -9.99984839e-01 7.45471341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.627628 meters 0.029294613279222406 Centerline is valid? [True, True] Translation: X:-5.73, Y:-195.46, Z:0.75 [[ 8.49728106e-01 5.27199767e-01 -4.74896168e-03 -5.73366979e+00] [ 5.27189463e-01 -8.49741320e-01 -3.31063787e-03 -1.95456176e+02] [-5.78075648e-03 3.09539490e-04 -9.99983243e-01 7.45189756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65762800000005 meters 0.03211562063717884 Centerline is valid? [True, True] Translation: X:-5.74, Y:-195.46, Z:0.75 [[ 8.07503260e-01 5.89850102e-01 -3.91702684e-03 -5.73629539e+00] [ 5.89841412e-01 -8.07512709e-01 -3.21451017e-03 -1.95459685e+02] [-5.05912811e-03 2.85302798e-04 -9.99987162e-01 7.46837915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.687628 meters 0.03167151064046176 Centerline is valid? [True, True] Translation: X:-5.74, Y:-195.46, Z:0.74 [[ 7.59328845e-01 6.50700502e-01 -2.92623309e-03 -5.73778826e+00] [ 6.50694463e-01 -7.59334448e-01 -2.81281466e-03 -1.95464735e+02] [-4.05228950e-03 2.31767632e-04 -9.99991763e-01 7.44116237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71762800000005 meters 0.03462608984532798 Centerline is valid? [True, True] Translation: X:-5.74, Y:-195.47, Z:0.75 [[ 7.07867634e-01 7.06340547e-01 -2.53849092e-03 -5.74036794e+00] [ 7.06334814e-01 -7.07872149e-01 -2.85515176e-03 -1.95470188e+02] [-3.81363648e-03 2.28045013e-04 -9.99992702e-01 7.46654433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.747628 meters 0.035687502147669616 Centerline is valid? [True, True] Translation: X:-5.74, Y:-195.48, Z:0.75 [[ 6.50739218e-01 7.59297973e-01 -2.24913582e-03 -5.74397424e+00] [ 7.59292202e-01 -6.50743066e-01 -2.96866039e-03 -1.95475025e+02] [-3.71770735e-03 2.24072449e-04 -9.99993064e-01 7.46364179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77762800000005 meters 0.03503559184542652 Centerline is valid? [True, True] Translation: X:-5.75, Y:-195.48, Z:0.74 [[ 5.89192842e-01 8.07991561e-01 -1.19675238e-03 -5.74641700e+00] [ 8.07989414e-01 -5.89194042e-01 -1.86764076e-03 -1.95479298e+02] [-2.21415735e-03 1.33437308e-04 -9.99997540e-01 7.43174573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.807628 meters 0.03642666711390406 Centerline is valid? [True, True] Translation: X:-5.75, Y:-195.48, Z:0.74 [[ 5.24414259e-01 8.51463209e-01 -2.97526213e-04 -5.75187050e+00] [ 8.51463028e-01 -5.24414342e-01 -5.56979837e-04 -1.95482964e+02] [-6.30274853e-04 3.87555978e-05 -9.99999801e-01 7.40834086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.83762800000005 meters 0.02798564702601284 Centerline is valid? [True, True] Translation: X:-5.74, Y:-195.50, Z:0.74 [[ 4.56404516e-01 8.89772220e-01 5.60470252e-04 -5.73586405e+00] [ 8.89771310e-01 -4.56404852e-01 1.27584130e-03 -1.95495839e+02] [ 1.39100949e-03 -8.36093809e-05 -9.99999029e-01 7.38991492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.867628 meters 0.02811550941324235 Centerline is valid? [True, True] Translation: X:-5.73, Y:-195.50, Z:0.74 [[ 3.85243004e-01 9.22814991e-01 5.65560782e-04 -5.72909093e+00] [ 9.22813571e-01 -3.85243406e-01 1.62240228e-03 -1.95503275e+02] [ 1.71505570e-03 -1.03111962e-04 -9.99998524e-01 7.39147510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.89762800000005 meters 0.027790779014965166 Centerline is valid? [True, True] Translation: X:-5.72, Y:-195.51, Z:0.74 [[ 3.11270176e-01 9.50321317e-01 5.22274458e-04 -5.72118549e+00] [ 9.50319245e-01 -3.11270590e-01 1.98781038e-03 -1.95509918e+02] [ 2.05162726e-03 -1.22418618e-04 -9.99997888e-01 7.39455008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.927628 meters 0.02772316842181096 Centerline is valid? [True, True] Translation: X:-5.71, Y:-195.52, Z:0.74 [[ 2.34822515e-01 9.72038186e-01 3.89438281e-04 -5.71433702e+00] [ 9.72035799e-01 -2.34822803e-01 2.15817015e-03 -1.95515423e+02] [ 2.18927279e-03 -1.28238992e-04 -9.99997595e-01 7.39609101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.95762800000006 meters 0.027826443622904484 Centerline is valid? [True, True] Translation: X:-5.71, Y:-195.52, Z:0.74 [[ 1.54364819e-01 9.88013865e-01 3.24932413e-04 -5.71119747e+00] [ 9.88008576e-01 -1.54365058e-01 3.23775473e-03 -1.95521512e+02] [ 3.24910477e-03 -1.78759413e-04 -9.99994706e-01 7.38036763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98762800000003 meters 0.027355298833589774 Centerline is valid? [True, True] Translation: X:-5.71, Y:-195.53, Z:0.74 [[ 7.43408123e-02 9.97232891e-01 6.17125291e-05 -5.70640977e+00] [ 9.97228841e-01 -7.43406865e-02 2.84622703e-03 -1.95526856e+02] [ 2.84293896e-03 -1.50049316e-04 -9.99995948e-01 7.38210924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.017628 meters 0.026730855833915712 Centerline is valid? [True, True] Translation: X:-5.70, Y:-195.53, Z:0.74 [[-6.67918908e-03 9.99977689e-01 -9.74489656e-05 -5.70152525e+00] [ 9.99976213e-01 6.67934687e-03 1.72032159e-03 -1.95532082e+02] [ 1.72093411e-03 -8.59562944e-05 -9.99998516e-01 7.39046832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04762800000003 meters 0.02249272574765742 Centerline is valid? [True, True] Translation: X:-5.69, Y:-195.54, Z:0.74 [[-8.77549100e-02 9.96142086e-01 -1.40902533e-04 -5.68572844e+00] [ 9.96141545e-01 8.77550094e-02 1.03964610e-03 -1.95535604e+02] [ 1.04800013e-03 -4.91248170e-05 -9.99999450e-01 7.40383092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.077628 meters 0.02437852137449913 Centerline is valid? [True, True] Translation: X:-5.68, Y:-195.54, Z:0.74 [[-1.71474733e-01 9.85188464e-01 -3.24721061e-04 -5.68135470e+00] [ 9.85187326e-01 1.71475029e-01 1.49879414e-03 -1.95540979e+02] [ 1.53227625e-03 -6.29057488e-05 -9.99998824e-01 7.41015704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10762800000003 meters 0.020323131070257166 Centerline is valid? [True, True] Translation: X:-5.67, Y:-195.54, Z:0.74 [[-2.51082857e-01 9.67965238e-01 -8.34608143e-04 -5.66748947e+00] [ 9.67961263e-01 2.51084220e-01 2.77643871e-03 -1.95541989e+02] [ 2.89705309e-03 -1.10752188e-04 -9.99995797e-01 7.40336432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.137628 meters 0.021378781532434915 Centerline is valid? [True, True] Translation: X:-5.66, Y:-195.55, Z:0.74 [[-3.29386856e-01 9.44193227e-01 -1.85713217e-03 -5.66074748e+00] [ 9.44181143e-01 3.29392043e-01 4.78034848e-03 -1.95545933e+02] [ 5.12529722e-03 -1.78885214e-04 -9.99986850e-01 7.38285716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16762800000004 meters 0.018233840757627587 Centerline is valid? [True, True] Translation: X:-5.65, Y:-195.55, Z:0.74 [[-4.04941686e-01 9.14338337e-01 -2.76351798e-03 -5.64741022e+00] [ 9.14320370e-01 4.04951064e-01 5.73562876e-03 -1.95545306e+02] [ 6.36339480e-03 -2.04145603e-04 -9.99979733e-01 7.37498613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.197628 meters 0.01751408832547464 Centerline is valid? [True, True] Translation: X:-5.64, Y:-195.55, Z:0.74 [[-4.79409871e-01 8.77579699e-01 -4.47743850e-03 -5.63864608e+00] [ 8.77546069e-01 4.79430717e-01 7.68670460e-03 -1.95547031e+02] [ 8.89231746e-03 -2.44076494e-04 -9.99960433e-01 7.35229844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22762800000004 meters 0.017351693710899008 Centerline is valid? [True, True] Translation: X:-5.63, Y:-195.55, Z:0.74 [[-5.47807624e-01 8.36587719e-01 -5.27221513e-03 -5.63109862e+00] [ 8.36553144e-01 5.47832941e-01 7.60965418e-03 -1.95548292e+02] [ 9.25443634e-03 -2.41861570e-04 -9.99957148e-01 7.35161366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.257628 meters 0.018786974452922205 Centerline is valid? [True, True] Translation: X:-5.62, Y:-195.55, Z:0.74 [[-6.12228323e-01 7.90659229e-01 -5.87071597e-03 -5.62044572e+00] [ 7.90626517e-01 6.12256424e-01 7.19600468e-03 -1.95545711e+02] [ 9.28397107e-03 -2.35945846e-04 -9.99956875e-01 7.38482229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28762800000004 meters 0.018079242026321083 Centerline is valid? [True, True] Translation: X:-5.61, Y:-195.54, Z:0.74 [[-6.73336550e-01 7.39300104e-01 -7.29703541e-03 -5.60935727e+00] [ 7.39260718e-01 6.73376041e-01 7.63535230e-03 -1.95543449e+02] [ 1.05584656e-02 -2.53249861e-04 -9.99944226e-01 7.37861791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.317628 meters 0.0163325578911004 Centerline is valid? [True, True] Translation: X:-5.60, Y:-195.54, Z:0.74 [[-7.30355315e-01 6.83010635e-01 -8.80834541e-03 -5.59837474e+00] [ 6.82965260e-01 7.30408382e-01 7.87714745e-03 -1.95538547e+02] [ 1.18138648e-02 -2.62677404e-04 -9.99930179e-01 7.36504611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34762800000004 meters 0.017112866296538524 Centerline is valid? [True, True] Translation: X:-5.09, Y:-194.99, Z:-0.25 [[-7.14632770e-01 -6.99456417e-01 -7.79259012e-03 -5.09317031e+00] [ 6.99410422e-01 -7.14675198e-01 8.02634514e-03 -1.94985491e+02] [-1.11832495e-02 2.85670514e-04 9.99937425e-01 -2.51660574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.377628 meters 0.016511294393900304 Centerline is valid? [True, True] Translation: X:-5.11, Y:-194.97, Z:-0.25 [[-7.14804925e-01 -6.99288148e-01 -7.07146780e-03 -5.11257697e+00] [ 6.99250790e-01 -7.14839868e-01 7.23159934e-03 -1.94966978e+02] [-1.01119388e-02 2.24453381e-04 9.99948848e-01 -2.51534938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40762800000005 meters 0.01690435790476469 Centerline is valid? [True, True] Translation: X:-5.13, Y:-194.95, Z:-0.25 [[-7.15369298e-01 -6.98726991e-01 -5.23066722e-03 -5.13210081e+00] [ 6.98706562e-01 -7.15388400e-01 5.34568180e-03 -1.94949216e+02] [-7.47713081e-03 1.69435118e-04 9.99972032e-01 -2.54438061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.437628 meters 0.017028610133891984 Centerline is valid? [True, True] Translation: X:-5.15, Y:-194.93, Z:-0.26 [[-7.15837963e-01 -6.98249748e-01 -4.82696717e-03 -5.15165904e+00] [ 6.98232361e-01 -7.15854220e-01 4.93012754e-03 -1.94929743e+02] [-6.89786513e-03 1.58827775e-04 9.99976197e-01 -2.55521801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46762800000005 meters 0.017230182165756294 Centerline is valid? [True, True] Translation: X:-5.17, Y:-194.91, Z:-0.26 [[-7.16151021e-01 -6.97929865e-01 -4.64955624e-03 -5.17068790e+00] [ 6.97913745e-01 -7.16166098e-01 4.74607992e-03 -1.94910246e+02] [-6.64228547e-03 1.53920769e-04 9.99977928e-01 -2.55588786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.497628 meters 0.01752708233239731 Centerline is valid? [True, True] Translation: X:-5.19, Y:-194.89, Z:-0.26 [[-7.16622085e-01 -6.97447070e-01 -4.51344660e-03 -5.18988734e+00] [ 6.97431888e-01 -7.16636283e-01 4.60439707e-03 -1.94890976e+02] [-6.44582284e-03 1.51791049e-04 9.99979214e-01 -2.56003889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52762800000005 meters 0.017595253287108283 Centerline is valid? [True, True] Translation: X:-5.21, Y:-194.87, Z:-0.26 [[-7.18685182e-01 -6.95327594e-01 -3.33861578e-03 -5.21075019e+00] [ 6.95319274e-01 -7.18692925e-01 3.40391685e-03 -1.94872775e+02] [-4.76627685e-03 1.24940704e-04 9.99988633e-01 -2.59047344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.557628 meters 0.018691228902954722 Centerline is valid? [True, True] Translation: X:-5.23, Y:-194.85, Z:-0.26 [[-7.19646566e-01 -6.94335389e-01 -2.68085730e-03 -5.22929383e+00] [ 6.94330023e-01 -7.19651552e-01 2.73172136e-03 -1.94852831e+02] [-3.82601393e-03 1.04474183e-04 9.99992675e-01 -2.59638301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.58762800000005 meters 0.019917393633183393 Centerline is valid? [True, True] Translation: X:-5.25, Y:-194.83, Z:-0.26 [[-7.21132013e-01 -6.92794309e-01 -2.16019506e-03 -5.24803640e+00] [ 6.92790822e-01 -7.21135242e-01 2.19994911e-03 -1.94832836e+02] [-3.08190501e-03 8.98904170e-05 9.99995247e-01 -2.60593336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.617628 meters 0.019229516486474852 Centerline is valid? [True, True] Translation: X:-5.27, Y:-194.81, Z:-0.26 [[-7.22563890e-01 -6.91302888e-01 -1.31982829e-03 -5.26929404e+00] [ 6.91301585e-01 -7.22565093e-01 1.34338763e-03 -1.94814403e+02] [-1.88234960e-03 5.82839973e-05 9.99998227e-01 -2.61765024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.64762800000005 meters 0.02089435339139724 Centerline is valid? [True, True] Translation: X:-5.29, Y:-194.79, Z:-0.26 [[-7.23726665e-01 -6.90086721e-01 -1.79257540e-04 -5.28740556e+00] [ 6.90086697e-01 -7.23726687e-01 1.82350824e-04 -1.94794611e+02] [-2.55571347e-04 8.26890992e-06 9.99999967e-01 -2.63316451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.677628 meters 0.020338504802967703 Centerline is valid? [True, True] Translation: X:-5.31, Y:-194.78, Z:-0.26 [[-7.24119351e-01 -6.89674463e-01 5.47430506e-04 -5.30717865e+00] [ 6.89674239e-01 -7.24119558e-01 -5.56552409e-04 -1.94776230e+02] [ 7.80245120e-04 -2.54616518e-05 9.99999695e-01 -2.64818694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.70762800000006 meters 0.019498217946290617 Centerline is valid? [True, True] Translation: X:-5.33, Y:-194.76, Z:-0.27 [[-7.23767203e-01 -6.90042692e-01 1.45580675e-03 -5.32748105e+00] [ 6.90041109e-01 -7.23768664e-01 -1.47915577e-03 -1.94757801e+02] [ 2.07434794e-03 -6.59979337e-05 9.99997846e-01 -2.65737279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73762800000003 meters 0.020329800079843027 Centerline is valid? [True, True] Translation: X:-5.34, Y:-194.74, Z:-0.27 [[-7.22742439e-01 -6.91114989e-01 1.85453871e-03 -5.34474774e+00] [ 6.91112428e-01 -7.22744814e-01 -1.88329104e-03 -1.94737057e+02] [ 2.64192890e-03 -7.94396132e-05 9.99996507e-01 -2.66444292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.767628 meters 0.01950938061461608 Centerline is valid? [True, True] Translation: X:-5.36, Y:-194.72, Z:-0.27 [[-7.22335017e-01 -6.91541364e-01 1.63244096e-03 -5.36469039e+00] [ 6.91539383e-01 -7.22336858e-01 -1.65676128e-03 -1.94718076e+02] [ 2.32489123e-03 -6.78394715e-05 9.99997295e-01 -2.66392589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79762800000003 meters 0.01945773617405862 Centerline is valid? [True, True] Translation: X:-5.38, Y:-194.70, Z:-0.27 [[-7.22109732e-01 -6.91776328e-01 1.74580800e-03 -5.38350613e+00] [ 6.91774065e-01 -7.22111839e-01 -1.77076453e-03 -1.94697753e+02] [ 2.48564161e-03 -7.09816047e-05 9.99996908e-01 -2.66342599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.827628 meters 0.01959950175705844 Centerline is valid? [True, True] Translation: X:-5.40, Y:-194.68, Z:-0.27 [[-7.22043150e-01 -6.91846314e-01 1.53877222e-03 -5.40093266e+00] [ 6.91844558e-01 -7.22044787e-01 -1.55979875e-03 -1.94678253e+02] [ 2.19020347e-03 -6.16508153e-05 9.99997600e-01 -2.66309397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85762800000003 meters 0.016424602640014135 Centerline is valid? [True, True] Translation: X:-5.42, Y:-194.66, Z:-0.26 [[-7.20344351e-01 -6.93616599e-01 1.72711779e-04 -5.42423539e+00] [ 6.93616577e-01 -7.20344372e-01 -1.74980204e-04 -1.94661177e+02] [ 2.45781132e-04 -6.25024860e-06 9.99999970e-01 -2.63385374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.887628 meters 0.01621154045067008 Centerline is valid? [True, True] Translation: X:-5.44, Y:-194.64, Z:-0.26 [[-7.19567052e-01 -6.94422556e-01 -7.56310571e-04 -5.44405898e+00] [ 6.94422134e-01 -7.19567449e-01 7.65798956e-04 -1.94640917e+02] [-1.07600454e-03 2.58448962e-05 9.99999421e-01 -2.61731018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91762800000004 meters 0.015863250567582983 Centerline is valid? [True, True] Translation: X:-5.46, Y:-194.62, Z:-0.26 [[-7.18731852e-01 -6.95285933e-01 -1.41261668e-03 -5.46406242e+00] [ 6.95284465e-01 -7.18733239e-01 1.42953263e-03 -1.94621058e+02] [-2.00922849e-03 4.52802071e-05 9.99997981e-01 -2.60345065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.947628 meters 0.015903293160867096 Centerline is valid? [True, True] Translation: X:-5.48, Y:-194.60, Z:-0.26 [[-7.17639621e-01 -6.96413701e-01 -1.15414240e-03 -5.48294600e+00] [ 6.96412724e-01 -7.17640548e-01 1.16730961e-03 -1.94601458e+02] [-1.64118979e-03 3.39481777e-05 9.99998653e-01 -2.59629288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97762800000004 meters 0.015251937573342356 Centerline is valid? [True, True] Translation: X:-5.50, Y:-194.58, Z:-0.26 [[-7.17308226e-01 -6.96754319e-01 -1.52590323e-03 -5.50370527e+00] [ 6.96752613e-01 -7.17309847e-01 1.54243598e-03 -1.94582555e+02] [-2.16924435e-03 4.32249531e-05 9.99997646e-01 -2.58880029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.007628 meters 0.014953430759435083 Centerline is valid? [True, True] Translation: X:-5.52, Y:-194.56, Z:-0.26 [[-7.16690104e-01 -6.97389573e-01 -1.75453095e-03 -5.52384320e+00] [ 6.97387322e-01 -7.16692250e-01 1.77253179e-03 -1.94563045e+02] [-2.49360392e-03 4.67683531e-05 9.99996890e-01 -2.58159533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03762800000004 meters 0.014763744446914638 Centerline is valid? [True, True] Translation: X:-5.54, Y:-194.54, Z:-0.26 [[-7.15928976e-01 -6.98169870e-01 -2.12923657e-03 -5.54423568e+00] [ 6.98166562e-01 -7.15932140e-01 2.14986392e-03 -1.94543374e+02] [-3.02535911e-03 5.25880954e-05 9.99995422e-01 -2.58139225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.067628 meters 0.014693488729651908 Centerline is valid? [True, True] Translation: X:-5.56, Y:-194.52, Z:-0.26 [[-7.15554818e-01 -6.98552926e-01 -2.26115920e-03 -5.56469340e+00] [ 6.98549201e-01 -7.15558389e-01 2.28177618e-03 -1.94523876e+02] [-3.21193286e-03 5.32049859e-05 9.99994840e-01 -2.58806024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09762800000004 meters 0.014195276606639483 Centerline is valid? [True, True] Translation: X:-5.59, Y:-194.51, Z:-0.26 [[-7.15056015e-01 -6.99063851e-01 -2.15113669e-03 -5.58649771e+00] [ 6.99060486e-01 -7.15059249e-01 2.16956936e-03 -1.94505236e+02] [-3.05485769e-03 4.75889608e-05 9.99995333e-01 -2.59722639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.127628 meters 0.014209481750368772 Centerline is valid? [True, True] Translation: X:-5.61, Y:-194.49, Z:-0.26 [[-7.14684964e-01 -6.99443634e-01 -2.00138778e-03 -5.60555729e+00] [ 6.99440726e-01 -7.14687765e-01 2.01731754e-03 -1.94485933e+02] [-2.84136726e-03 4.18943924e-05 9.99995962e-01 -2.59710185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15762800000005 meters 0.014300502569133329 Centerline is valid? [True, True] Translation: X:-5.62, Y:-194.47, Z:-0.26 [[-7.14072288e-01 -7.00069832e-01 -1.73132629e-03 -5.62423853e+00] [ 7.00067660e-01 -7.14074386e-01 1.74437627e-03 -1.94466817e+02] [-2.45748096e-03 3.35652079e-05 9.99996980e-01 -2.60075012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.187628 meters 0.01417572727462267 Centerline is valid? [True, True] Translation: X:-5.64, Y:-194.45, Z:-0.26 [[-7.13608476e-01 -7.00544255e-01 -8.30182083e-04 -5.64409618e+00] [ 7.00543757e-01 -7.13608959e-01 8.35913939e-04 -1.94448032e+02] [-1.17802008e-03 1.49363970e-05 9.99999306e-01 -2.60917536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21762800000005 meters 0.01369646043787758 Centerline is valid? [True, True] Translation: X:-5.67, Y:-194.43, Z:-0.26 [[-7.11540149e-01 -7.02643923e-01 1.46099644e-03 -5.66571032e+00] [ 7.02642385e-01 -7.11541648e-01 -1.47027189e-03 -1.94430441e+02] [ 2.07263742e-03 -1.95994571e-05 9.99997852e-01 -2.63035751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.247628 meters 0.013407100194618932 Centerline is valid? [True, True] Translation: X:-5.69, Y:-194.41, Z:-0.26 [[-7.10542381e-01 -7.03651535e-01 2.01067451e-03 -5.68580833e+00] [ 7.03648630e-01 -7.10545225e-01 -2.02216865e-03 -1.94412370e+02] [ 2.85157725e-03 -2.20281621e-05 9.99995934e-01 -2.63613686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27762800000005 meters 0.013407100194618932 Centerline is valid? [True, True] Translation: X:-5.70, Y:-194.39, Z:-0.26 [[-7.10763428e-01 -7.03428250e-01 2.01130977e-03 -5.70475427e+00] [ 7.03425346e-01 -7.10766274e-01 -2.02153681e-03 -1.94393462e+02] [ 2.85157725e-03 -2.20281632e-05 9.99995934e-01 -2.63613517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.307628 meters 0.013364675545841368 Centerline is valid? [True, True] Translation: X:-5.72, Y:-194.37, Z:-0.26 [[-7.10187159e-01 -7.04008758e-01 2.42243616e-03 -5.72411953e+00] [ 7.04004553e-01 -7.10191290e-01 -2.43322602e-03 -1.94374466e+02] [ 3.43340549e-03 -2.26397922e-05 9.99994106e-01 -2.64080626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.33762800000005 meters 0.013241398023941125 Centerline is valid? [True, True] Translation: X:-5.74, Y:-194.35, Z:-0.26 [[-7.10103700e-01 -7.04091418e-01 2.83015417e-03 -5.74403770e+00] [ 7.04085686e-01 -7.10109340e-01 -2.84114345e-03 -1.94354945e+02] [ 4.01014363e-03 -2.48354347e-05 9.99991959e-01 -2.63823329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.367628 meters 0.013393345385919818 Centerline is valid? [True, True] Translation: X:-5.76, Y:-194.34, Z:-0.26 [[-7.11003941e-01 -7.03184521e-01 2.21926669e-03 -5.76210735e+00] [ 7.03180996e-01 -7.11007404e-01 -2.22654966e-03 -1.94335369e+02] [ 3.14359030e-03 -2.25394221e-05 9.99995059e-01 -2.63033075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.39762800000005 meters 0.014919976856178824 Centerline is valid? [True, True] Translation: X:-5.78, Y:-194.31, Z:-0.26 [[-7.12517630e-01 -7.01651018e-01 2.11589466e-03 -5.78151655e+00] [ 7.01647810e-01 -7.12520771e-01 -2.12162289e-03 -1.94314627e+02] [ 2.99625776e-03 -2.70808567e-05 9.99995511e-01 -2.64729218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.427628 meters 0.013711940630089613 Centerline is valid? [True, True] Translation: X:-5.80, Y:-194.29, Z:-0.26 [[-7.13448749e-01 -7.00704986e-01 1.84531195e-03 -5.80015353e+00] [ 7.00702546e-01 -7.13451135e-01 -1.84919159e-03 -1.94294959e+02] [ 2.61227767e-03 -2.62886490e-05 9.99996588e-01 -2.63555626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.45762800000006 meters 0.013867935947971203 Centerline is valid? [True, True] Translation: X:-5.82, Y:-194.27, Z:-0.26 [[-7.14635725e-01 -6.99491637e-01 2.68889243e-03 -5.81834454e+00] [ 6.99486455e-01 -7.14640782e-01 -2.69284549e-03 -1.94274452e+02] [ 3.80521509e-03 -4.35597512e-05 9.99992759e-01 -2.64882315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48762800000003 meters 0.013816658151337965 Centerline is valid? [True, True] Translation: X:-5.84, Y:-194.25, Z:-0.26 [[-7.14589758e-01 -6.99536771e-01 3.12792448e-03 -5.83763338e+00] [ 6.99529767e-01 -7.14596602e-01 -3.13075709e-03 -1.94253355e+02] [ 4.42528391e-03 -4.91306707e-05 9.99990207e-01 -2.64699583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.517628 meters 0.013479806994898981 Centerline is valid? [True, True] Translation: X:-5.86, Y:-194.23, Z:-0.26 [[-7.13426526e-01 -7.00722768e-01 3.19288371e-03 -5.85792647e+00] [ 7.00715490e-01 -7.13433670e-01 -3.19394689e-03 -1.94234176e+02] [ 4.51598205e-03 -4.13433612e-05 9.99989802e-01 -2.63966838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54762800000003 meters 0.013382428922977948 Centerline is valid? [True, True] Translation: X:-5.88, Y:-194.22, Z:-0.26 [[-7.11760727e-01 -7.02414087e-01 3.33431691e-03 -5.87768984e+00] [ 7.02406178e-01 -7.11768536e-01 -3.33346236e-03 -1.94215685e+02] [ 4.71473279e-03 -3.05828023e-05 9.99988885e-01 -2.63895811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.577628 meters 0.014544341947947062 Centerline is valid? [True, True] Translation: X:-6.39, Y:-194.73, Z:0.75 [[-7.53125916e-01 6.57865363e-01 3.81046078e-03 -6.38670450e+00] [ 6.57857067e-01 7.53135555e-01 -3.30379380e-03 -1.94726774e+02] [-5.04324500e-03 1.85658225e-05 -9.99987283e-01 7.53129196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60762800000003 meters 0.015855665832999064 Centerline is valid? [True, True] Translation: X:-5.91, Y:-194.19, Z:-0.27 [[-7.12199329e-01 -7.01968417e-01 3.52939851e-03 -5.91256262e+00] [ 7.01959643e-01 -7.12208074e-01 -3.50983780e-03 -1.94189755e+02] [ 4.97746140e-03 -2.22088054e-05 9.99987612e-01 -2.66740487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.637628 meters 0.013039529096380034 Centerline is valid? [True, True] Translation: X:-6.42, Y:-194.70, Z:0.75 [[-7.55467941e-01 6.55179862e-01 2.74565388e-03 -6.42114856e+00] [ 6.55175599e-01 7.55472930e-01 -2.36347733e-03 -1.94697626e+02] [-3.62276993e-03 1.33540738e-05 -9.99993438e-01 7.49512276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66762800000004 meters 0.013093906262847699 Centerline is valid? [True, True] Translation: X:-6.40, Y:-194.68, Z:0.75 [[-7.99292419e-01 6.00939779e-01 1.73521396e-03 -6.39751382e+00] [ 6.00938392e-01 7.99294302e-01 -1.29144274e-03 -1.94682362e+02] [-2.16302595e-03 1.05162970e-05 -9.99997661e-01 7.48550034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.697628 meters 0.01590990059543471 Centerline is valid? [True, True] Translation: X:-5.96, Y:-194.11, Z:-0.26 [[-7.65358050e-01 -6.43604574e-01 -4.55537343e-04 -5.96055877e+00] [ 6.43604562e-01 -7.65358172e-01 1.92395708e-04 -1.94109566e+02] [-4.72475985e-04 -1.45934308e-04 9.99999878e-01 -2.61912577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72762800000004 meters 0.013344394195510445 Centerline is valid? [True, True] Translation: X:-6.43, Y:-194.66, Z:0.75 [[-7.99329069e-01 6.00891873e-01 -1.41277449e-03 -6.43112463e+00] [ 6.00890963e-01 7.99330318e-01 1.04571061e-03 -1.94662908e+02] [ 1.75763249e-03 -1.30565322e-05 -9.99998455e-01 7.45123291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.757628 meters 0.013218349561814278 Centerline is valid? [True, True] Translation: X:-6.00, Y:-194.08, Z:-0.26 [[-7.67330584e-01 -6.41249403e-01 -1.72571415e-03 -5.99569637e+00] [ 6.41247816e-01 -7.67332524e-01 1.42673402e-03 -1.94083979e+02] [-2.23908893e-03 -1.18337813e-05 9.99997493e-01 -2.57273271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78762800000004 meters 0.013075082365965256 Centerline is valid? [True, True] Translation: X:-6.47, Y:-194.64, Z:0.74 [[-8.02879525e-01 5.96137752e-01 -2.06149061e-03 -6.46769660e+00] [ 5.96135829e-01 8.02882171e-01 1.51404918e-03 -1.94635226e+02] [ 2.55771593e-03 -1.33293319e-05 -9.99996729e-01 7.44436513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.817628 meters 0.012911945598583191 Centerline is valid? [True, True] Translation: X:-6.45, Y:-194.61, Z:0.74 [[-8.43357608e-01 5.37348846e-01 -2.04055294e-03 -6.44801793e+00] [ 5.37347305e-01 8.43360076e-01 1.28691389e-03 -1.94614634e+02] [ 2.41244258e-03 -1.11570016e-05 -9.99997090e-01 7.44806206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84762800000004 meters 0.0129809825440251 Centerline is valid? [True, True] Translation: X:-6.06, Y:-194.01, Z:-0.26 [[-8.11141226e-01 -5.84848235e-01 -1.56661779e-03 -6.05778409e+00] [ 5.84847057e-01 -8.11142738e-01 1.17436172e-03 -1.94008017e+02] [-1.95757403e-03 3.63413984e-05 9.99998083e-01 -2.57294354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.877628 meters 0.013003631647228665 Centerline is valid? [True, True] Translation: X:-6.48, Y:-194.59, Z:0.75 [[-8.45611726e-01 5.33796226e-01 -1.54848057e-03 -6.48330426e+00] [ 5.33795346e-01 8.45613144e-01 9.69017869e-04 -1.94592036e+02] [ 1.82667360e-03 -7.15884649e-06 -9.99998332e-01 7.45357244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90762800000005 meters 0.013054301104481084 Centerline is valid? [True, True] Translation: X:-6.47, Y:-194.57, Z:0.75 [[-8.80784053e-01 4.73517301e-01 -9.04762566e-04 -6.46605061e+00] [ 4.73517056e-01 8.80784517e-01 4.81153257e-04 -1.94567915e+02] [ 1.02473525e-03 -4.62839116e-06 -9.99999475e-01 7.47639551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.937628 meters 0.013056071779006535 Centerline is valid? [True, True] Translation: X:-6.45, Y:-194.54, Z:0.75 [[-9.11852163e-01 4.10518642e-01 -2.77511565e-04 -6.45491246e+00] [ 4.10518623e-01 9.11852205e-01 1.24137154e-04 -1.94542488e+02] [ 3.04010148e-04 -7.28933387e-07 -9.99999954e-01 7.48062369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96762800000005 meters 0.013119751529206745 Centerline is valid? [True, True] Translation: X:-6.44, Y:-194.52, Z:0.75 [[-9.38622806e-01 3.44944550e-01 6.96656604e-04 -6.44130084e+00] [ 3.44944459e-01 9.38623065e-01 -2.49766928e-04 -1.94519136e+02] [-7.40053697e-04 5.87090029e-06 -9.99999726e-01 7.47826023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.997628 meters 0.013061319648290807 Centerline is valid? [True, True] Translation: X:-6.43, Y:-194.49, Z:0.75 [[-9.60861540e-01 2.77027020e-01 1.06317139e-03 -6.43493237e+00] [ 2.77026859e-01 9.60862129e-01 -2.98640994e-04 -1.94492865e+02] [-1.10429275e-03 7.57438664e-06 -9.99999390e-01 7.47215412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02762800000005 meters 0.013007278156744531 Centerline is valid? [True, True] Translation: X:-6.23, Y:-193.80, Z:-0.26 [[-9.43334480e-01 -3.31841024e-01 1.26255237e-03 -6.23319731e+00] [ 3.31840736e-01 -9.43335325e-01 -4.37705370e-04 -1.93802476e+02] [ 1.33625885e-03 6.06374021e-06 9.99999107e-01 -2.58594441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.057628 meters 0.013021266981429028 Centerline is valid? [True, True] Translation: X:-6.48, Y:-194.48, Z:0.75 [[-9.62578157e-01 2.71002865e-01 8.59672190e-04 -6.48071476e+00] [ 2.71002761e-01 9.62578541e-01 -2.37755437e-04 -1.94481423e+02] [-8.91934407e-04 4.11534645e-06 -9.99999602e-01 7.46335200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.08762800000005 meters 0.013031630184307018 Centerline is valid? [True, True] Translation: X:-6.28, Y:-193.79, Z:-0.26 [[-9.44062723e-01 -3.29764281e-01 1.04648933e-03 -6.28264892e+00] [ 3.29764088e-01 -9.44063303e-01 -3.56231739e-04 -1.93791169e+02] [ 1.10542468e-03 8.78949498e-06 9.99999389e-01 -2.59624375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.117628 meters 0.013108416727992794 Centerline is valid? [True, True] Translation: X:-6.53, Y:-194.47, Z:0.75 [[-9.64040816e-01 2.65750505e-01 1.40489859e-03 -6.52605319e+00] [ 2.65750229e-01 9.64041840e-01 -3.83543621e-04 -1.94465277e+02] [-1.45630794e-03 3.60041694e-06 -9.99998940e-01 7.48068776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.14762800000005 meters 0.013106045805418885 Centerline is valid? [True, True] Translation: X:-6.33, Y:-193.78, Z:-0.26 [[-9.45138677e-01 -3.26668168e-01 8.88950025e-04 -6.33240589e+00] [ 3.26667989e-01 -9.45139094e-01 -3.43611921e-04 -1.93781822e+02] [ 9.52428498e-04 -3.43693990e-05 9.99999546e-01 -2.61362309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.177628 meters 0.0158799316323727 Centerline is valid? [True, True] Translation: X:-6.57, Y:-194.45, Z:0.75 [[-9.64844306e-01 2.62820383e-01 9.54249440e-04 -6.56988313e+00] [ 2.62820258e-01 9.64844778e-01 -2.56099257e-04 -1.94453426e+02] [-9.88010695e-04 3.70017425e-06 -9.99999512e-01 7.50976049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.20762800000006 meters 0.01328170815095403 Centerline is valid? [True, True] Translation: X:-6.57, Y:-194.43, Z:0.75 [[-9.81183460e-01 1.93074936e-01 -1.04259583e-03 -6.56561391e+00] [ 1.93074828e-01 9.81184014e-01 2.04396232e-04 -1.94426871e+02] [ 1.06244215e-03 -7.48808665e-07 -9.99999436e-01 7.46004803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23762800000003 meters 0.0158553544867153 Centerline is valid? [True, True] Translation: X:-6.56, Y:-194.40, Z:0.75 [[-9.92299929e-01 1.23852256e-01 -1.21254506e-03 -6.56049370e+00] [ 1.23852167e-01 9.92300669e-01 1.49139055e-04 -1.94401169e+02] [ 1.22168048e-03 -2.18565911e-06 -9.99999254e-01 7.47773302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.267628 meters 0.013470245966516593 Centerline is valid? [True, True] Translation: X:-6.47, Y:-193.69, Z:-0.26 [[-9.82731413e-01 -1.85014894e-01 -2.90836918e-03 -6.47381935e+00] [ 1.85014395e-01 -9.82735711e-01 4.42180435e-04 -1.93690472e+02] [-2.93996822e-03 -1.03545560e-04 9.99995673e-01 -2.55618234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29762800000003 meters 0.01635966041448836 Centerline is valid? [True, True] Translation: X:-6.62, Y:-194.40, Z:0.75 [[-9.92603195e-01 1.21335974e-01 -4.05929047e-03 -6.62133382e+00] [ 1.21335028e-01 9.92611496e-01 4.79409442e-04 -1.94395343e+02] [ 4.08746799e-03 -1.66707778e-05 -9.99991646e-01 7.46399723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.327628 meters 0.01372840311589922 Centerline is valid? [True, True] Translation: X:-6.53, Y:-193.68, Z:-0.25 [[-9.83824411e-01 -1.79058867e-01 -5.23939059e-03 -6.52991834e+00] [ 1.79056636e-01 -9.83838360e-01 8.95689585e-04 -1.93683275e+02] [-5.31509461e-03 -5.69463739e-05 9.99985873e-01 -2.54274012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35762800000003 meters 0.013819287440466302 Centerline is valid? [True, True] Translation: X:-6.67, Y:-194.39, Z:0.74 [[-9.93114389e-01 1.17011649e-01 -5.66431009e-03 -6.67462827e+00] [ 1.17009880e-01 9.93130542e-01 6.43918082e-04 -1.94390783e+02] [ 5.70074527e-03 -2.32959283e-05 -9.99983750e-01 7.40679159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.387628 meters 0.016150352054776197 Centerline is valid? [True, True] Translation: X:-6.60, Y:-193.68, Z:-0.26 [[-9.84480200e-01 -1.75395789e-01 -5.92047795e-03 -6.59724318e+00] [ 1.75392591e-01 -9.84498003e-01 1.05922868e-03 -1.93676011e+02] [-6.01448297e-03 4.38169612e-06 9.99981913e-01 -2.57429647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41762800000004 meters 0.01384212987786084 Centerline is valid? [True, True] Translation: X:-6.74, Y:-194.38, Z:0.74 [[-9.93772613e-01 1.11227680e-01 -6.66314613e-03 -6.73637033e+00] [ 1.11225306e-01 9.93794950e-01 7.27032036e-04 -1.94383191e+02] [ 6.70266706e-03 -1.86059389e-05 -9.99977537e-01 7.40974372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.447628 meters 0.01587045797293502 Centerline is valid? [True, True] Translation: X:-6.66, Y:-193.67, Z:-0.26 [[-9.84923078e-01 -1.72875698e-01 -6.36583321e-03 -6.65721449e+00] [ 1.72871869e-01 -9.84943649e-01 1.15100587e-03 -1.93669852e+02] [-6.46896793e-03 3.31787555e-05 9.99979075e-01 -2.56608826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47762800000004 meters 0.016650352822870473 Centerline is valid? [True, True] Translation: X:-6.80, Y:-194.38, Z:0.74 [[-9.94501147e-01 1.04539857e-01 -6.23600304e-03 -6.79678674e+00] [ 1.04537819e-01 9.94520698e-01 6.52784726e-04 -1.94376784e+02] [ 6.27007612e-03 -2.70299820e-06 -9.99980343e-01 7.44748264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.507628 meters 0.013988839505524332 Centerline is valid? [True, True] Translation: X:-6.72, Y:-193.67, Z:-0.26 [[-9.85057820e-01 -1.72140057e-01 -5.37520467e-03 -6.72361407e+00] [ 1.72137185e-01 -9.85072483e-01 9.95881887e-04 -1.93665457e+02] [-5.46639738e-03 5.57286365e-05 9.99985058e-01 -2.55527322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53762800000004 meters 0.014097921600527768 Centerline is valid? [True, True] Translation: X:-6.86, Y:-194.37, Z:0.74 [[-9.95266507e-01 9.70856284e-02 -4.35437348e-03 -6.85781279e+00] [ 9.70846471e-02 9.95276032e-01 4.36670048e-04 -1.94367064e+02] [ 4.37619795e-03 1.18602601e-05 -9.99990424e-01 7.43376866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.567628 meters 0.01644156994538098 Centerline is valid? [True, True] Translation: X:-6.86, Y:-194.34, Z:0.75 [[-9.99665561e-01 2.57181252e-02 -2.71018658e-03 -6.85875588e+00] [ 2.57180055e-02 9.99669234e-01 7.89828729e-05 -1.94338818e+02] [ 2.71132144e-03 9.25586430e-06 -9.99996324e-01 7.48788537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59762800000004 meters 0.01722050522598958 Centerline is valid? [True, True] Translation: X:-6.84, Y:-193.63, Z:-0.26 [[-9.95103560e-01 -9.88311013e-02 -1.14828392e-03 -6.83837184e+00] [ 9.88309229e-02 -9.95104218e-01 2.11214025e-04 -1.93631014e+02] [-1.16353668e-03 9.66938684e-05 9.99999318e-01 -2.64141204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.627628 meters 0.013999176367231109 Centerline is valid? [True, True] Translation: X:-6.93, Y:-194.33, Z:0.75 [[-9.99767205e-01 2.15734193e-02 3.50203510e-04 -6.93130325e+00] [ 2.15734182e-02 9.99767267e-01 -6.85367112e-06 -1.94334381e+02] [-3.50269863e-04 7.03011164e-07 -9.99999939e-01 7.49469982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65762800000005 meters 0.014048300048420656 Centerline is valid? [True, True] Translation: X:-6.92, Y:-193.63, Z:-0.26 [[-9.95686282e-01 -9.27822807e-02 5.26465598e-04 -6.91575179e+00] [ 9.27822738e-02 -9.95686421e-01 -3.77520919e-05 -1.93630869e+02] [ 5.27697373e-04 1.12574352e-05 9.99999861e-01 -2.62204196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.687628 meters 0.014094269738228787 Centerline is valid? [True, True] Translation: X:-7.01, Y:-194.33, Z:0.75 [[-9.99868398e-01 1.62041457e-02 7.82483730e-04 -7.00576513e+00] [ 1.62041404e-02 9.99868704e-01 -1.30643602e-05 -1.94331700e+02] [-7.82592690e-04 -3.83164710e-07 -9.99999694e-01 7.50020629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71762800000005 meters 0.014128658528216782 Centerline is valid? [True, True] Translation: X:-7.01, Y:-194.30, Z:0.75 [[-9.98454101e-01 -5.55696728e-02 1.19119732e-03 -7.01004580e+00] [-5.55696358e-02 9.98454812e-01 6.41962014e-05 -1.94304073e+02] [-1.19292406e-03 -2.09744070e-06 -9.99999289e-01 7.50039741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.747628 meters 0.01653581136106637 Centerline is valid? [True, True] Translation: X:-7.02, Y:-194.27, Z:0.75 [[-9.91529150e-01 -1.29868277e-01 2.04330669e-03 -7.01725006e+00] [-1.29868026e-01 9.91531255e-01 2.55639574e-04 -1.94274943e+02] [-2.05920192e-03 -1.18861169e-05 -9.99997880e-01 7.53887532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77762800000005 meters 0.01474289601055393 Centerline is valid? [True, True] Translation: X:-7.03, Y:-194.25, Z:0.75 [[-9.79425013e-01 -2.01797581e-01 2.09315991e-03 -7.03121449e+00] [-2.01797154e-01 9.79427249e-01 4.15455136e-04 -1.94247498e+02] [-2.13393570e-03 -1.54865614e-05 -9.99997723e-01 7.50699401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.807628 meters 0.01864793674025792 Centerline is valid? [True, True] Translation: X:-7.06, Y:-194.23, Z:0.76 [[-9.61519412e-01 -2.74724197e-01 2.65267277e-03 -7.06147996e+00] [-2.74723234e-01 9.61523070e-01 7.27885577e-04 -1.94225663e+02] [-2.75057385e-03 -2.88747324e-05 -9.99996217e-01 7.55579658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.83762800000005 meters 0.01763294677236472 Centerline is valid? [True, True] Translation: X:-7.11, Y:-194.21, Z:0.76 [[-9.38451975e-01 -3.45394684e-01 3.22542329e-03 -7.10604835e+00] [-3.45392796e-01 9.38457517e-01 1.14288095e-03 -1.94209361e+02] [-3.42166774e-03 -4.14990811e-05 -9.99994145e-01 7.55051205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.867628 meters 0.017990243038189264 Centerline is valid? [True, True] Translation: X:-7.17, Y:-194.20, Z:0.76 [[-9.10206583e-01 -4.14137976e-01 3.70323673e-03 -7.16829281e+00] [-4.14134779e-01 9.10214115e-01 1.62795393e-03 -1.94201234e+02] [-4.04493589e-03 -5.18647414e-05 -9.99991818e-01 7.56845726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.89762800000005 meters 0.019077779067600362 Centerline is valid? [True, True] Translation: X:-7.24, Y:-194.20, Z:0.76 [[-8.77397778e-01 -4.79751051e-01 3.47394386e-03 -7.23518939e+00] [-4.79747505e-01 8.77404654e-01 1.84529052e-03 -1.94202459e+02] [-3.93333458e-03 -4.75620910e-05 -9.99992263e-01 7.57828710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.927628 meters 0.017873362311714876 Centerline is valid? [True, True] Translation: X:-7.31, Y:-194.22, Z:0.76 [[-8.40016240e-01 -5.42552154e-01 3.14269256e-03 -7.31205400e+00] [-5.42548533e-01 8.40022118e-01 1.98257666e-03 -1.94215736e+02] [-3.71558250e-03 -3.96666490e-05 -9.99993096e-01 7.55982008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.95762800000006 meters 0.015301985903194003 Centerline is valid? [True, True] Translation: X:-7.39, Y:-194.24, Z:0.75 [[-7.98393573e-01 -6.02131487e-01 2.31819022e-03 -7.39041043e+00] [-6.02129035e-01 7.98396939e-01 1.71873146e-03 -1.94237978e+02] [-2.88573830e-03 -2.36254851e-05 -9.99995836e-01 7.50749845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98762800000003 meters 0.01838868748895361 Centerline is valid? [True, True] Translation: X:-7.47, Y:-194.27, Z:0.75 [[-7.51722964e-01 -6.59476430e-01 1.85015166e-03 -7.47409581e+00] [-6.59474487e-01 7.51725241e-01 1.60117119e-03 -1.94271617e+02] [-2.44674036e-03 -1.64906617e-05 -9.99997007e-01 7.53951689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.017628 meters 0.015128276603944061 Centerline is valid? [True, True] Translation: X:-7.56, Y:-194.31, Z:0.75 [[-7.03185126e-01 -7.11004717e-01 1.72349292e-03 -7.55811513e+00] [-7.11002597e-01 7.03187239e-01 1.73633658e-03 -1.94312967e+02] [-2.44648173e-03 -4.44188454e-06 -9.99997007e-01 7.48747431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04762800000003 meters 0.015290729822328658 Centerline is valid? [True, True] Translation: X:-7.64, Y:-194.37, Z:0.75 [[-6.48183128e-01 -7.61482287e-01 1.83271233e-03 -7.64483524e+00] [-7.61479251e-01 6.48185719e-01 2.15033789e-03 -1.94365379e+02] [-2.82538217e-03 -1.75967285e-06 -9.99996009e-01 7.49355185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.077628 meters 0.01537745702053516 Centerline is valid? [True, True] Translation: X:-7.73, Y:-194.43, Z:0.75 [[-5.89061312e-01 -8.08084988e-01 2.32875782e-03 -7.72957304e+00] [-8.08078672e-01 5.89065916e-01 3.19495080e-03 -1.94425674e+02] [-3.95358364e-03 2.02382514e-07 -9.99992185e-01 7.50527649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10762800000003 meters 0.01793016453701383 Centerline is valid? [True, True] Translation: X:-7.81, Y:-194.50, Z:0.76 [[-5.25179733e-01 -8.50988093e-01 2.34822672e-03 -7.81224006e+00] [-8.50979609e-01 5.25184982e-01 3.79994786e-03 -1.94495864e+02] [-4.46696379e-03 -2.63745186e-06 -9.99990023e-01 7.55445759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.137628 meters 0.01793016453701383 Centerline is valid? [True, True] Translation: X:-7.89, Y:-194.58, Z:0.76 [[-4.58634200e-01 -8.88622790e-01 2.05109174e-03 -7.88928568e+00] [-8.88613930e-01 4.58638787e-01 3.96828038e-03 -1.94575572e+02] [-4.46701461e-03 -2.63959189e-06 -9.99990023e-01 7.55448119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16762800000004 meters 0.017028690650761215 Centerline is valid? [True, True] Translation: X:-7.97, Y:-194.66, Z:0.75 [[-3.87414424e-01 -9.21902844e-01 2.28268769e-03 -7.96531132e+00] [-9.21887084e-01 3.87421149e-01 5.39051680e-03 -1.94661794e+02] [-5.85389426e-03 -1.60163370e-05 -9.99982866e-01 7.54956647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.197628 meters 0.016159433780111292 Centerline is valid? [True, True] Translation: X:-8.03, Y:-194.76, Z:0.75 [[-3.13099033e-01 -9.49718712e-01 1.83386335e-03 -8.03443721e+00] [-9.49703005e-01 3.13104402e-01 5.46214819e-03 -1.94756298e+02] [-5.76169503e-03 -3.14322138e-05 -9.99983401e-01 7.52850460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22762800000004 meters 0.019562730097270716 Centerline is valid? [True, True] Translation: X:-8.10, Y:-194.86, Z:0.76 [[-2.34973513e-01 -9.72000455e-01 1.60106590e-03 -8.09741323e+00] [-9.71979760e-01 2.34978958e-01 6.34317104e-03 -1.94856859e+02] [-6.54178194e-03 -6.57264675e-05 -9.99978600e-01 7.56868916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.257628 meters 0.01730153477960185 Centerline is valid? [True, True] Translation: X:-8.15, Y:-194.96, Z:0.75 [[-1.58706564e-01 -9.87325086e-01 1.18369907e-03 -8.14968651e+00] [-9.87301141e-01 1.58710960e-01 6.87669397e-03 -1.94962843e+02] [-6.97739848e-03 -7.72909666e-05 -9.99975655e-01 7.53951624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28762800000004 meters 0.017517695622058328 Centerline is valid? [True, True] Translation: X:-8.19, Y:-195.07, Z:0.75 [[-8.20209504e-02 -9.96630341e-01 7.25537289e-04 -8.19188135e+00] [-9.96600370e-01 8.20241109e-02 7.72964061e-03 -1.95072506e+02] [-7.76310591e-03 -8.90782618e-05 -9.99969863e-01 7.54316946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.317628 meters 0.017468304285222787 Centerline is valid? [True, True] Translation: X:-8.22, Y:-195.19, Z:0.75 [[-5.31304238e-03 -9.99985875e-01 1.42972109e-04 -8.22392897e+00] [-9.99949088e-01 5.31407336e-03 8.57799712e-03 -1.95185093e+02] [-8.57863572e-03 -9.73895676e-05 -9.99963198e-01 7.53163275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34762800000004 meters 0.017740189870691828 Centerline is valid? [True, True] Translation: X:-8.25, Y:-195.30, Z:0.75 [[ 7.20819596e-02 -9.97398593e-01 -4.87943922e-04 -8.24879422e+00] [-9.97365811e-01 -7.20835468e-02 8.08709278e-03 -1.95301807e+02] [-8.10122769e-03 -9.62749092e-05 -9.99967180e-01 7.52659191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.377628 meters 0.01794804052410603 Centerline is valid? [True, True] Translation: X:-8.26, Y:-195.42, Z:0.75 [[ 1.48985853e-01 -9.88838761e-01 -1.05837850e-03 -8.26496423e+00] [-9.88809061e-01 -1.48989582e-01 7.66456297e-03 -1.95420608e+02] [-7.73670432e-03 -9.53771965e-05 -9.99970067e-01 7.50915172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40762800000005 meters 0.01981184905564989 Centerline is valid? [True, True] Translation: X:-8.27, Y:-195.54, Z:0.75 [[ 2.24697791e-01 -9.74427518e-01 -1.38357551e-03 -8.27216024e+00] [-9.74406765e-01 -2.24702037e-01 6.36017045e-03 -1.95537081e+02] [-6.50841734e-03 -8.09509189e-05 -9.99978817e-01 7.51647319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.437628 meters 0.020564795722449198 Centerline is valid? [True, True] Translation: X:-8.27, Y:-195.65, Z:0.75 [[ 2.96900259e-01 -9.54906985e-01 -1.69868475e-03 -8.26694575e+00] [-9.54890165e-01 -2.96905112e-01 5.66814030e-03 -1.95651966e+02] [-5.91689495e-03 -6.08149658e-05 -9.99982493e-01 7.52060991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46762800000005 meters 0.020363745633141105 Centerline is valid? [True, True] Translation: X:-8.25, Y:-195.76, Z:0.75 [[ 3.66158236e-01 -9.30549989e-01 -2.20561070e-03 -8.25131288e+00] [-9.30532421e-01 -3.66164877e-01 5.71817604e-03 -1.95764044e+02] [-6.12866582e-03 -4.13649874e-05 -9.99981219e-01 7.50628680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.497628 meters 0.02030976404680725 Centerline is valid? [True, True] Translation: X:-8.23, Y:-195.88, Z:0.75 [[ 4.36899846e-01 -8.99509195e-01 -1.31602010e-03 -8.23123659e+00] [-8.99504968e-01 -4.36901828e-01 2.75778416e-03 -1.95881184e+02] [-3.05562380e-03 -2.11088604e-05 -9.99995331e-01 7.48356032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52762800000005 meters 0.01788391884987232 Centerline is valid? [True, True] Translation: X:-8.20, Y:-195.99, Z:0.74 [[ 5.03270641e-01 -8.64128484e-01 7.90117239e-04 -8.20179895e+00] [-8.64127387e-01 -5.03271261e-01 -1.37744804e-03 -1.95991138e+02] [ 1.58793538e-03 1.04672125e-05 -9.99998739e-01 7.43061964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.557628 meters 0.019533044550833708 Centerline is valid? [True, True] Translation: X:-8.17, Y:-196.10, Z:0.74 [[ 5.66018836e-01 -8.24390941e-01 1.50104507e-03 -8.16676857e+00] [-8.24387995e-01 -5.66020826e-01 -2.20404065e-03 -1.96095815e+02] [ 2.66661392e-03 1.00849894e-05 -9.99996445e-01 7.44016073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.58762800000005 meters 0.01788249882066329 Centerline is valid? [True, True] Translation: X:-8.12, Y:-196.20, Z:0.74 [[ 6.26862497e-01 -7.79128213e-01 1.62404530e-03 -8.12332180e+00] [-7.79125566e-01 -6.26864601e-01 -2.03115929e-03 -1.96199453e+02] [ 2.60059001e-03 7.92237408e-06 -9.99996618e-01 7.42000315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.617628 meters 0.020140752531493188 Centerline is valid? [True, True] Translation: X:-8.07, Y:-196.30, Z:0.74 [[ 6.83070767e-01 -7.30347179e-01 2.70671089e-03 -8.07373828e+00] [-7.30341425e-01 -6.83076129e-01 -2.89913113e-03 -1.96296712e+02] [ 3.96626184e-03 3.48863213e-06 -9.99992134e-01 7.43191933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.64762800000005 meters 0.019296311487447756 Centerline is valid? [True, True] Translation: X:-8.02, Y:-196.38, Z:0.74 [[ 7.34896921e-01 -6.78161933e-01 4.78632088e-03 -8.01854982e+00] [-6.78147664e-01 -7.34912507e-01 -4.39912378e-03 -1.96383162e+02] [ 6.50084536e-03 -1.29298024e-05 -9.99978869e-01 7.38197982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.677628 meters 0.020164093568180826 Centerline is valid? [True, True] Translation: X:-8.02, Y:-196.39, Z:0.74 [[ 7.84129223e-01 -6.20552141e-01 7.51013145e-03 -8.02010749e+00] [-6.20524199e-01 -7.84165185e-01 -5.88896048e-03 -1.96389177e+02] [ 9.54359066e-03 -4.25123081e-05 -9.99954458e-01 7.35088229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.70762800000006 meters 0.020988518132522713 Centerline is valid? [True, True] Translation: X:-8.02, Y:-196.39, Z:0.73 [[ 8.28760968e-01 -5.59528369e-01 9.12481894e-03 -8.02042040e+00] [-5.59495490e-01 -8.28811196e-01 -6.06622770e-03 -1.96394895e+02] [ 1.09569786e-02 -7.78422994e-05 -9.99939968e-01 7.33872511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73762800000003 meters 0.021027474361690928 Centerline is valid? [True, True] Translation: X:-8.02, Y:-196.40, Z:0.73 [[ 8.66792332e-01 -4.98578225e-01 9.52925546e-03 -8.02136902e+00] [-4.98549955e-01 -8.66844699e-01 -5.31132330e-03 -1.96401636e+02] [ 1.09084947e-02 -1.46995578e-04 -9.99940490e-01 7.34415849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.767628 meters 0.02160446705370114 Centerline is valid? [True, True] Translation: X:-8.02, Y:-196.41, Z:0.74 [[ 9.01753166e-01 -4.32163707e-01 8.70391190e-03 -8.02307002e+00] [-4.32145277e-01 -9.01795157e-01 -3.99424151e-03 -1.96407825e+02] [ 9.57531182e-03 -1.59534491e-04 -9.99954143e-01 7.35575799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79762800000003 meters 0.01952538263313442 Centerline is valid? [True, True] Translation: X:-8.02, Y:-196.42, Z:0.74 [[ 9.32549885e-01 -3.60965513e-01 7.38995844e-03 -8.02461462e+00] [-3.60955334e-01 -9.32579155e-01 -2.71420849e-03 -1.96417035e+02] [ 7.87145686e-03 -1.36310101e-04 -9.99969010e-01 7.35387119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.827628 meters 0.019953886595940173 Centerline is valid? [True, True] Translation: X:-8.02, Y:-196.42, Z:0.74 [[ 9.57197063e-01 -2.89389301e-01 5.25500534e-03 -8.02441799e+00] [-2.89385557e-01 -9.57211482e-01 -1.47595608e-03 -1.96424415e+02] [ 5.45727734e-03 -1.07941820e-04 -9.99985103e-01 7.37311670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85762800000003 meters 0.021209116778633096 Centerline is valid? [True, True] Translation: X:-8.02, Y:-196.43, Z:0.74 [[ 9.75693239e-01 -2.19124643e-01 2.66364589e-03 -8.02390563e+00] [-2.19124017e-01 -9.75696872e-01 -5.28348783e-04 -1.96428582e+02] [ 2.71468520e-03 -6.81624512e-05 -9.99996313e-01 7.39516149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.887628 meters 0.02311567493779537 Centerline is valid? [True, True] Translation: X:-8.03, Y:-196.44, Z:0.74 [[ 9.89163743e-01 -1.46782394e-01 3.16524429e-03 -8.02666557e+00] [-1.46781950e-01 -9.89168803e-01 -3.73231025e-04 -1.96435426e+02] [ 3.18574465e-03 -9.54141320e-05 -9.99994921e-01 7.40530988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91762800000004 meters 0.024346033745556304 Centerline is valid? [True, True] Translation: X:-8.03, Y:-196.44, Z:0.74 [[ 9.97339815e-01 -7.28410458e-02 2.73405189e-03 -8.02984587e+00] [-7.28410259e-02 -9.97343558e-01 -1.06954232e-04 -1.96438509e+02] [ 2.73457970e-03 -9.24814307e-05 -9.99996257e-01 7.39816882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.947628 meters 0.024060956731351675 Centerline is valid? [True, True] Translation: X:-8.03, Y:-196.45, Z:0.74 [[ 9.99998201e-01 1.29759124e-03 1.38323302e-03 -8.03264843e+00] [ 1.29751810e-03 -9.99999157e-01 5.37726159e-05 -1.96446287e+02] [ 1.38330163e-03 -5.19777493e-05 -9.99999042e-01 7.40360073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97762800000004 meters 0.030066672171667138 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.45, Z:0.75 [[ 9.97674069e-01 6.81628902e-02 5.21254971e-04 -8.03564162e+00] [ 6.81628678e-02 -9.97674205e-01 6.06106560e-05 -1.96448156e+02] [ 5.24174037e-04 -2.49394462e-05 -9.99999862e-01 7.45187530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.007628 meters 0.02986564648939606 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.46, Z:0.74 [[ 9.89946308e-01 1.41443649e-01 4.32371038e-05 -8.03731756e+00] [ 1.41443649e-01 -9.89946309e-01 7.33441858e-06 -1.96455654e+02] [ 4.38398179e-05 -1.14506686e-06 -9.99999999e-01 7.44812879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03762800000004 meters 0.03247369538703166 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.46, Z:0.74 [[ 9.76982204e-01 2.13319534e-01 7.40706845e-04 -8.03999247e+00] [ 2.13319438e-01 -9.76982484e-01 2.07589257e-04 -1.96459193e+02] [ 7.67940457e-04 -4.48038422e-05 -9.99999704e-01 7.44456794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.067628 meters 0.03225697462692124 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.47, Z:0.74 [[ 9.58180911e-01 2.86158533e-01 1.62370297e-03 -8.04023114e+00] [ 2.86157930e-01 -9.58182280e-01 5.97300972e-04 -1.96468140e+02] [ 1.72672618e-03 -1.07686908e-04 -9.99998503e-01 7.43088997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09762800000004 meters 0.03188616114222725 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.48, Z:0.74 [[ 9.33641907e-01 3.58206366e-01 9.94579405e-04 -8.03955019e+00] [ 3.58206082e-01 -9.33642434e-01 4.56692641e-04 -1.96477188e+02] [ 1.09217175e-03 -7.01229964e-05 -9.99999401e-01 7.41774182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.127628 meters 0.03401393989604613 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.48, Z:0.74 [[ 9.03674766e-01 4.28216214e-01 1.67058632e-03 -8.04032240e+00] [ 4.28215217e-01 -9.03676301e-01 9.32896080e-04 -1.96484359e+02] [ 1.90915050e-03 -1.27664162e-04 -9.99998169e-01 7.41352356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15762800000005 meters 0.0327202704347599 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.49, Z:0.74 [[ 8.66168191e-01 4.99751004e-01 1.26448444e-03 -8.04045664e+00] [ 4.99750304e-01 -8.66169109e-01 8.42067076e-04 -1.96492380e+02] [ 1.51608122e-03 -9.74452354e-05 -9.99998846e-01 7.38251636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.187628 meters 0.03500504012060673 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.50, Z:0.74 [[ 8.24241593e-01 5.66237704e-01 8.12160010e-04 -8.04291695e+00] [ 5.66237349e-01 -8.24241990e-01 6.37466492e-04 -1.96497483e+02] [ 1.03037395e-03 -6.55510651e-05 -9.99999467e-01 7.38213636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21762800000005 meters 0.03644255805308317 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.50, Z:0.74 [[ 7.77652416e-01 6.28692295e-01 1.64867505e-03 -8.04409759e+00] [ 6.28690476e-01 -7.77654150e-01 1.51903604e-03 -1.96503541e+02] [ 2.23710525e-03 -1.44775746e-04 -9.99997487e-01 7.40260634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.247628 meters 0.03454888642382694 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.51, Z:0.74 [[ 7.25259090e-01 6.88472166e-01 2.30862340e-03 -8.04224663e+00] [ 6.88467699e-01 -7.25262732e-01 2.48936458e-03 -1.96511466e+02] [ 3.38821674e-03 -2.16021643e-04 -9.99994237e-01 7.38713618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27762800000005 meters 0.032135256234956784 Centerline is valid? [True, True] Translation: X:-8.04, Y:-196.52, Z:0.74 [[ 6.69973209e-01 7.42379509e-01 2.92648273e-03 -8.03602898e+00] [ 7.42370354e-01 -6.69979531e-01 3.69943085e-03 -1.96523038e+02] [ 4.70706518e-03 -3.05985540e-04 -9.99988875e-01 7.38330029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.307628 meters 0.032880652521924555 Centerline is valid? [True, True] Translation: X:-8.03, Y:-196.53, Z:0.74 [[ 6.09534312e-01 7.92751290e-01 3.64902597e-03 -8.03321714e+00] [ 7.92732735e-01 -6.09545087e-01 5.44035463e-03 -1.96530569e+02] [ 6.53709400e-03 -4.23380478e-04 -9.99978543e-01 7.37897925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.33762800000005 meters 0.03165401440743183 Centerline is valid? [True, True] Translation: X:-8.03, Y:-196.54, Z:0.74 [[ 5.45001620e-01 8.38422891e-01 4.50443322e-03 -8.02775636e+00] [ 8.38384844e-01 -5.45019916e-01 8.00896845e-03 -1.96539849e+02] [ 9.16990830e-03 -5.88452230e-04 -9.99957782e-01 7.36460648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.367628 meters 0.03175887508801829 Centerline is valid? [True, True] Translation: X:-8.02, Y:-196.55, Z:0.74 [[ 4.76742280e-01 8.79031702e-01 4.47945159e-03 -8.02215246e+00] [ 8.78978808e-01 -4.76762851e-01 9.66634553e-03 -1.96548030e+02] [ 1.06326603e-02 -6.71012578e-04 -9.99943247e-01 7.35774817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.39762800000005 meters 0.031837705880699195 Centerline is valid? [True, True] Translation: X:-8.02, Y:-196.56, Z:0.73 [[ 4.05362929e-01 9.14147323e-01 3.94554348e-03 -8.01791317e+00] [ 9.14085840e-01 -4.05381525e-01 1.06252661e-02 -1.96555473e+02] [ 1.13125090e-02 -7.00523548e-04 -9.99935766e-01 7.34919362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.427628 meters 0.03119227162878326 Centerline is valid? [True, True] Translation: X:-8.01, Y:-196.56, Z:0.73 [[ 3.29641143e-01 9.44100906e-01 3.19309221e-03 -8.01317100e+00] [ 9.44034424e-01 -3.29655894e-01 1.12249082e-02 -1.96563664e+02] [ 1.16500677e-02 -6.85802610e-04 -9.99931901e-01 7.33644753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.45762800000006 meters 0.031147338817511083 Centerline is valid? [True, True] Translation: X:-8.01, Y:-196.57, Z:0.73 [[ 2.52251060e-01 9.67658895e-01 2.38030609e-03 -8.00709757e+00] [ 9.67586935e-01 -2.52261377e-01 1.18203679e-02 -1.96570172e+02] [ 1.20385435e-02 -6.78547260e-04 -9.99927304e-01 7.34611231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48762800000003 meters 0.030259762687767193 Centerline is valid? [True, True] Translation: X:-8.00, Y:-196.58, Z:0.74 [[ 1.74490703e-01 9.84657648e-01 1.52032993e-03 -8.00006893e+00] [ 9.84577581e-01 -1.74495932e-01 1.25760322e-02 -1.96576300e+02] [ 1.26483777e-02 -6.97517934e-04 -9.99919763e-01 7.35037954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.517628 meters 0.03029869942106838 Centerline is valid? [True, True] Translation: X:-7.99, Y:-196.58, Z:0.74 [[ 9.59923712e-02 9.95381913e-01 5.57813331e-04 -7.99368592e+00] [ 9.95293297e-01 -9.59912793e-02 1.33014203e-02 -1.96581731e+02] [ 1.32935384e-02 -7.21647008e-04 -9.99911377e-01 7.35512807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54762800000003 meters 0.03039157121259106 Centerline is valid? [True, True] Translation: X:-7.99, Y:-196.59, Z:0.73 [[ 1.75430154e-02 9.99845967e-01 -5.33560361e-04 -7.98856731e+00] [ 9.99739679e-01 -1.75333594e-02 1.45998514e-02 -1.96586949e+02] [ 1.45882474e-02 -7.89546881e-04 -9.99893274e-01 7.34824003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.577628 meters 0.030640808115145746 Centerline is valid? [True, True] Translation: X:-7.98, Y:-196.59, Z:0.73 [[-6.02698425e-02 9.98180820e-01 -1.61172702e-03 -7.98460469e+00] [ 9.98083526e-01 6.02865046e-02 1.39575217e-02 -1.96593567e+02] [ 1.40292959e-02 -7.67420555e-04 -9.99901290e-01 7.33927003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60762800000003 meters 0.02878795168662514 Centerline is valid? [True, True] Translation: X:-7.97, Y:-196.60, Z:0.73 [[-1.37830989e-01 9.90452275e-01 -2.62841052e-03 -7.97452369e+00] [ 9.90361639e-01 1.37853990e-01 1.34202101e-02 -1.96597601e+02] [ 1.36544145e-02 -7.53356121e-04 -9.99906490e-01 7.33345465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.637628 meters 0.03323830592295848 Centerline is valid? [True, True] Translation: X:-7.97, Y:-196.60, Z:0.74 [[-2.12359232e-01 9.77185253e-01 -3.54077124e-03 -7.97023774e+00] [ 9.77102949e-01 2.12387383e-01 1.27053526e-02 -1.96603761e+02] [ 1.31674983e-02 -7.61599097e-04 -9.99913015e-01 7.35627301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66762800000004 meters 0.031828764234111115 Centerline is valid? [True, True] Translation: X:-7.96, Y:-196.61, Z:0.74 [[-2.87008052e-01 9.57918772e-01 -4.24314052e-03 -7.95999864e+00] [ 9.57848604e-01 2.87038487e-01 1.16171944e-02 -1.96606534e+02] [ 1.23462732e-02 -7.30057881e-04 -9.99923515e-01 7.37365748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.697628 meters 0.034077756688040035 Centerline is valid? [True, True] Translation: X:-7.95, Y:-196.61, Z:0.74 [[-3.59257957e-01 9.33225539e-01 -4.87998295e-03 -7.95424535e+00] [ 9.33164698e-01 3.59290384e-01 1.06801617e-02 -1.96611474e+02] [ 1.17203306e-02 -7.16894751e-04 -9.99931058e-01 7.38114131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72762800000004 meters 0.03718958805881826 Centerline is valid? [True, True] Translation: X:-7.95, Y:-196.62, Z:0.74 [[-4.29344979e-01 9.03122810e-01 -5.66386225e-03 -7.95166286e+00] [ 9.03065542e-01 4.29381704e-01 1.01969873e-02 -1.96618009e+02] [ 1.16410906e-02 -7.36813548e-04 -9.99931969e-01 7.37453819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.757628 meters 0.035640233129699134 Centerline is valid? [True, True] Translation: X:-7.94, Y:-196.62, Z:0.74 [[-4.95578459e-01 8.68536823e-01 -6.76588027e-03 -7.94219635e+00] [ 8.68477256e-01 4.95623967e-01 1.02049102e-02 -1.96619676e+02] [ 1.22166727e-02 -8.18679441e-04 -9.99925039e-01 7.37474175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78762800000004 meters 0.037599348769423495 Centerline is valid? [True, True] Translation: X:-7.94, Y:-196.62, Z:0.74 [[-5.60916820e-01 8.27838653e-01 -7.44884756e-03 -7.93674372e+00] [ 8.27784311e-01 5.60965670e-01 9.52110072e-03 -1.96624975e+02] [ 1.20604830e-02 -8.25493609e-04 -9.99926929e-01 7.35943909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.817628 meters 0.035785201000852924 Centerline is valid? [True, True] Translation: X:-7.92, Y:-196.62, Z:0.74 [[-6.19642242e-01 7.84846874e-01 -7.67309316e-03 -7.92380752e+00] [ 7.84802744e-01 6.19689181e-01 8.36495281e-03 -1.96621528e+02] [ 1.13201399e-02 -8.38586454e-04 -9.99935574e-01 7.38949005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84762800000004 meters 0.03590907734119507 Centerline is valid? [True, True] Translation: X:-7.91, Y:-196.62, Z:0.74 [[-6.77040507e-01 7.35896167e-01 -8.54306891e-03 -7.91419548e+00] [ 7.35853663e-01 6.77093809e-01 7.95987301e-03 -1.96618957e+02] [ 1.16420991e-02 -8.97292092e-04 -9.99931826e-01 7.39027767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.877628 meters 0.03746116671840817 Centerline is valid? [True, True] Translation: X:-7.89, Y:-196.60, Z:0.74 [[-7.25197821e-01 6.88479590e-01 -9.16375694e-03 -7.89164492e+00] [ 6.88440471e-01 7.25255104e-01 7.39942632e-03 -1.96602663e+02] [ 1.17404155e-02 -9.42653296e-04 -9.99930635e-01 7.39079002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90762800000005 meters 0.03906285755499327 Centerline is valid? [True, True] Translation: X:-7.87, Y:-196.58, Z:0.74 [[-7.70918221e-01 6.36845642e-01 -1.06172418e-02 -7.87065061e+00] [ 6.36803578e-01 7.70990600e-01 7.39573916e-03 -1.96584711e+02] [ 1.28957379e-02 -1.05958750e-03 -9.99916285e-01 7.38922240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.937628 meters 0.04099542327857818 Centerline is valid? [True, True] Translation: X:-7.85, Y:-196.56, Z:0.74 [[-8.13311042e-01 5.81695818e-01 -1.24549049e-02 -7.85440300e+00] [ 5.81649687e-01 8.13405508e-01 7.42429766e-03 -1.96564251e+02] [ 1.44495711e-02 -1.20612826e-03 -9.99894872e-01 7.37674870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96762800000005 meters 0.04098686994424823 Centerline is valid? [True, True] Translation: X:-7.84, Y:-196.54, Z:0.74 [[-8.52663016e-01 5.22304320e-01 -1.28054241e-02 -7.83943270e+00] [ 5.22265815e-01 8.52758342e-01 6.45205684e-03 -1.96541105e+02] [ 1.42898694e-02 -1.18640500e-03 -9.99897191e-01 7.37109305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.997628 meters 0.03759162146874862 Centerline is valid? [True, True] Translation: X:-7.47, Y:-195.83, Z:-0.25 [[-8.99649077e-01 -4.36420708e-01 -1.29808974e-02 -7.47112920e+00] [ 4.36355629e-01 -8.99741920e-01 7.63175017e-03 -1.95834769e+02] [-1.50101114e-02 1.20160934e-03 9.99886620e-01 -2.49815666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02762800000005 meters 0.0379402592194037 Centerline is valid? [True, True] Translation: X:-7.88, Y:-196.52, Z:0.74 [[-8.55268484e-01 5.18008539e-01 -1.35267713e-02 -7.87711855e+00] [ 5.17965968e-01 8.55374562e-01 6.75392437e-03 -1.96519314e+02] [ 1.50690466e-02 -1.22998855e-03 -9.99885699e-01 7.37230799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.057628 meters 0.03653928114451836 Centerline is valid? [True, True] Translation: X:-7.86, Y:-196.49, Z:0.74 [[-8.90992023e-01 4.53821946e-01 -1.33737052e-02 -7.86168598e+00] [ 4.53789672e-01 8.91091657e-01 5.53109991e-03 -1.96492293e+02] [ 1.44273316e-02 -1.14068339e-03 -9.99895270e-01 7.38113366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.08762800000005 meters 0.03653928114451836 Centerline is valid? [True, True] Translation: X:-7.55, Y:-195.77, Z:-0.25 [[-9.28404157e-01 -3.71346544e-01 -1.29408345e-02 -7.55308741e+00] [ 3.71293081e-01 -9.28493643e-01 6.40340538e-03 -1.95765383e+02] [-1.43933650e-02 1.14010587e-03 9.99895760e-01 -2.50517333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.117628 meters 0.038517944273570824 Centerline is valid? [True, True] Translation: X:-7.91, Y:-196.47, Z:0.74 [[-8.93416455e-01 4.49032849e-01 -1.32867632e-02 -7.91249526e+00] [ 4.49001302e-01 8.93514561e-01 5.43683635e-03 -1.96474498e+02] [ 1.43132345e-02 -1.10841492e-03 -9.99896946e-01 7.38812690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.14762800000005 meters 0.0357033786288573 Centerline is valid? [True, True] Translation: X:-7.90, Y:-196.45, Z:0.74 [[-9.23820023e-01 3.82558477e-01 -1.43379686e-02 -7.89742389e+00] [ 3.82531147e-01 9.23930586e-01 4.71097281e-03 -1.96447208e+02] [ 1.50495104e-02 -1.13262859e-03 -9.99886108e-01 7.36320164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.177628 meters 0.03534336964821676 Centerline is valid? [True, True] Translation: X:-7.89, Y:-196.42, Z:0.74 [[-9.49545994e-01 3.13259375e-01 -1.51977013e-02 -7.88718806e+00] [ 3.13238069e-01 9.49666936e-01 3.82406143e-03 -1.96417184e+02] [ 1.56306775e-02 -1.12937640e-03 -9.99877196e-01 7.38643153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.20762800000006 meters 0.037318992506009056 Centerline is valid? [True, True] Translation: X:-7.69, Y:-195.65, Z:-0.25 [[-9.70148724e-01 -2.42002756e-01 -1.56881798e-02 -7.69078140e+00] [ 2.41952052e-01 -9.70274899e-01 5.08189112e-03 -1.95654287e+02] [-1.64516788e-02 1.13440288e-03 9.99864018e-01 -2.48905933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23762800000003 meters 0.03474616248655853 Centerline is valid? [True, True] Translation: X:-7.94, Y:-196.40, Z:0.74 [[-9.52963775e-01 3.02663224e-01 -1.59692363e-02 -7.94470383e+00] [ 3.02639321e-01 9.53096969e-01 3.95084015e-03 -1.96403187e+02] [ 1.64160047e-02 -1.06791129e-03 -9.99864678e-01 7.36668037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.267628 meters 0.03524938637130018 Centerline is valid? [True, True] Translation: X:-7.75, Y:-195.64, Z:-0.25 [[-9.69784270e-01 -2.43426287e-01 -1.61899168e-02 -7.74676308e+00] [ 2.43373841e-01 -9.69918812e-01 5.16443502e-03 -1.95644718e+02] [-1.69600641e-02 1.06818560e-03 9.99855597e-01 -2.49365671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29762800000003 meters 0.03532721595446242 Centerline is valid? [True, True] Translation: X:-8.00, Y:-196.39, Z:0.74 [[-9.54974137e-01 2.96159449e-01 -1.77194133e-02 -7.99665233e+00] [ 2.96130244e-01 9.55137844e-01 4.31016339e-03 -1.96391590e+02] [ 1.82009779e-02 -1.13115963e-03 -9.99833709e-01 7.35580058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.327628 meters 0.034577495438900735 Centerline is valid? [True, True] Translation: X:-7.99, Y:-196.36, Z:0.73 [[-9.73945659e-01 2.25957317e-01 -1.93169527e-02 -7.98559595e+00] [ 2.25936771e-01 9.74136487e-01 3.26809026e-03 -1.96364551e+02] [ 1.95557973e-02 -1.18146759e-03 -9.99808069e-01 7.33954451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35762800000003 meters 0.029645927544237182 Centerline is valid? [True, True] Translation: X:-7.98, Y:-196.33, Z:0.74 [[-9.87409655e-01 1.56712799e-01 -2.15237327e-02 -7.98061062e+00] [ 1.56704463e-01 9.87643341e-01 2.08387614e-03 -1.96328854e+02] [ 2.15843414e-02 -1.31522556e-03 -9.99766166e-01 7.36454404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.387628 meters 0.029554922998880583 Centerline is valid? [True, True] Translation: X:-7.90, Y:-195.56, Z:-0.25 [[-9.94600725e-01 -1.01511161e-01 -2.15611045e-02 -7.90021265e+00] [ 1.01458590e-01 -9.94833532e-01 3.52115916e-03 -1.95563568e+02] [-2.18071467e-02 1.31458820e-03 9.99761332e-01 -2.48680492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41762800000004 meters 0.02858636672120692 Centerline is valid? [True, True] Translation: X:-8.05, Y:-196.32, Z:0.74 [[-9.87681482e-01 1.54847313e-01 -2.25299951e-02 -8.04845396e+00] [ 1.54840075e-01 9.87937367e-01 2.07599282e-03 -1.96320794e+02] [ 2.25796859e-02 -1.43812645e-03 -9.99744012e-01 7.36207582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.447628 meters 0.029445378945380934 Centerline is valid? [True, True] Translation: X:-8.05, Y:-196.29, Z:0.74 [[-9.96058906e-01 8.57325338e-02 -2.27285810e-02 -8.04769078e+00] [ 8.57439752e-02 9.96317092e-01 4.72470980e-04 -1.96293343e+02] [ 2.26853799e-02 -1.47822996e-03 -9.99741561e-01 7.36538404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47762800000004 meters 0.03154331291882959 Centerline is valid? [True, True] Translation: X:-8.02, Y:-195.52, Z:-0.25 [[-9.99513596e-01 -2.17521416e-02 -2.23476072e-02 -8.02492985e+00] [ 2.17136347e-02 -9.99762302e-01 1.96433089e-03 -1.95522568e+02] [-2.23850236e-02 1.47812766e-03 9.99748331e-01 -2.48262482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.507628 meters 0.030746354523948093 Centerline is valid? [True, True] Translation: X:-8.14, Y:-196.29, Z:0.74 [[-9.96333003e-01 8.24637280e-02 -2.28096832e-02 -8.13852555e+00] [ 8.24774743e-02 9.96592871e-01 3.39060933e-04 -1.96292706e+02] [ 2.27599279e-02 -1.54346746e-03 -9.99739768e-01 7.35775556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53762800000004 meters 0.03730269297895826 Centerline is valid? [True, True] Translation: X:-8.13, Y:-195.51, Z:-0.24 [[-9.99655933e-01 -1.35844559e-02 -2.24383363e-02 -8.12579986e+00] [ 1.35463976e-02 -9.99906537e-01 1.84726123e-03 -1.95510006e+02] [-2.24613331e-02 1.54266702e-03 9.99746522e-01 -2.43296196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.567628 meters 0.030708987759166476 Centerline is valid? [True, True] Translation: X:-8.24, Y:-196.29, Z:0.74 [[-9.96666035e-01 7.88776274e-02 -2.08598888e-02 -8.23859690e+00] [ 7.88910016e-02 9.96883231e-01 1.82278416e-04 -1.96289035e+02] [ 2.08092510e-02 -1.46398681e-03 -9.99782392e-01 7.38144340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59762800000004 meters 0.030288376719279687 Centerline is valid? [True, True] Translation: X:-8.23, Y:-195.52, Z:-0.25 [[-9.99804516e-01 -5.72223321e-03 -1.89257908e-02 -8.22880794e+00] [ 5.69364298e-03 -9.99982568e-01 1.56418775e-03 -1.95522612e+02] [-1.89344115e-02 1.45612528e-03 9.99819668e-01 -2.53082781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.627628 meters 0.02931062640193655 Centerline is valid? [True, True] Translation: X:-8.34, Y:-196.28, Z:0.74 [[-9.97214898e-01 7.24310223e-02 -1.77818250e-02 -8.33827145e+00] [ 7.24416406e-02 9.97372652e-01 4.70967192e-05 -1.96284019e+02] [ 1.77385173e-02 -1.24117903e-03 -9.99841890e-01 7.39643711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65762800000005 meters 0.030620506790762822 Centerline is valid? [True, True] Translation: X:-8.34, Y:-195.52, Z:-0.25 [[-9.99878065e-01 3.55769546e-04 -1.56117910e-02 -8.33795032e+00] [-3.74963370e-04 -9.99999178e-01 1.22653423e-03 -1.95520624e+02] [-1.56113418e-02 1.23223852e-03 9.99877376e-01 -2.54613490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.687628 meters 0.02983468220613419 Centerline is valid? [True, True] Translation: X:-8.44, Y:-196.28, Z:0.74 [[-9.97634515e-01 6.70920994e-02 -1.49674680e-02 -8.44040315e+00] [ 6.71004171e-02 9.97746226e-01 -5.36579843e-05 -1.96281624e+02] [ 1.49301346e-02 -1.05785440e-03 -9.99887980e-01 7.44880766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71762800000005 meters 0.02922540073948526 Centerline is valid? [True, True] Translation: X:-8.45, Y:-196.25, Z:0.74 [[-9.99886616e-01 -4.25299673e-03 -1.44453294e-02 -8.44794176e+00] [-4.23778460e-03 9.99990434e-01 -1.08352921e-03 -1.96254776e+02] [ 1.44497995e-02 -1.02219016e-03 -9.99895074e-01 7.43212879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.747628 meters 0.028931945149798154 Centerline is valid? [True, True] Translation: X:-8.46, Y:-196.23, Z:0.75 [[-9.96999901e-01 -7.62987261e-02 -1.30269320e-02 -8.46322883e+00] [-7.62801005e-02 9.97084577e-01 -1.92143499e-03 -1.96225911e+02] [ 1.31355560e-02 -9.21974815e-04 -9.99913300e-01 7.46662460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77762800000005 meters 0.029633464557962917 Centerline is valid? [True, True] Translation: X:-8.49, Y:-196.20, Z:0.75 [[-9.88558614e-01 -1.50401038e-01 -1.14627546e-02 -8.49098724e+00] [-1.50381581e-01 9.88624751e-01 -2.54583974e-03 -1.96203237e+02] [ 1.17152598e-02 -7.92924656e-04 -9.99931060e-01 7.46844550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.807628 meters 0.03153835348407551 Centerline is valid? [True, True] Translation: X:-8.55, Y:-196.19, Z:0.75 [[-9.74528884e-01 -2.24008708e-01 -1.06561473e-02 -8.54531805e+00] [-2.23987057e-01 9.74586869e-01 -3.19899743e-03 -1.96188883e+02] [ 1.11019446e-02 -7.30676310e-04 -9.99938105e-01 7.47857573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.83762800000005 meters 0.028033571383536307 Centerline is valid? [True, True] Translation: X:-8.61, Y:-196.18, Z:0.75 [[-9.54056839e-01 -2.99447589e-01 -1.03290333e-02 -8.61150721e+00] [-2.99422289e-01 9.54112511e-01 -3.95081879e-03 -1.96176849e+02] [ 1.10381230e-02 -6.76562895e-04 -9.99938849e-01 7.47186081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.867628 meters 0.026216583381881514 Centerline is valid? [True, True] Translation: X:-8.68, Y:-196.17, Z:0.74 [[-9.28408877e-01 -3.71379608e-01 -1.15820563e-02 -8.68302342e+00] [-3.71340435e-01 9.28480811e-01 -5.44658884e-03 -1.96174808e+02] [ 1.27764691e-02 -7.55775588e-04 -9.99918092e-01 7.44333241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.89762800000005 meters 0.026691286416089248 Centerline is valid? [True, True] Translation: X:-8.77, Y:-196.19, Z:0.74 [[-8.97693221e-01 -4.40449207e-01 -1.23035605e-02 -8.76694977e+00] [-4.40395128e-01 8.97777156e-01 -6.95047340e-03 -1.96187456e+02] [ 1.41071861e-02 -8.20964752e-04 -9.99900152e-01 7.42602506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.927628 meters 0.02372706840319087 Centerline is valid? [True, True] Translation: X:-8.85, Y:-196.20, Z:0.74 [[-8.61052185e-01 -5.08342562e-01 -1.33031275e-02 -8.85234685e+00] [-5.08265535e-01 8.61154478e-01 -8.89448995e-03 -1.96202155e+02] [ 1.59774956e-02 -8.97098825e-04 -9.99871949e-01 7.41973904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.95762800000006 meters 0.025624450675477733 Centerline is valid? [True, True] Translation: X:-8.94, Y:-196.24, Z:0.74 [[-8.19038544e-01 -5.73561489e-01 -1.42506680e-02 -8.94266745e+00] [-5.73453561e-01 8.19161929e-01 -1.11690616e-02 -1.96236141e+02] [ 1.80797483e-02 -9.75795600e-04 -9.99836072e-01 7.40794791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98762800000003 meters 0.025711997101961905 Centerline is valid? [True, True] Translation: X:-9.03, Y:-196.28, Z:0.74 [[-7.72907972e-01 -6.34364096e-01 -1.39807476e-02 -9.03077604e+00] [-6.34236133e-01 7.73033745e-01 -1.27811474e-02 -1.96275875e+02] [ 1.89154906e-02 -1.01155543e-03 -9.99820574e-01 7.36950325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.017628 meters 0.025141707282091995 Centerline is valid? [True, True] Translation: X:-9.13, Y:-196.33, Z:0.74 [[-7.22323707e-01 -6.91423776e-01 -1.34768274e-02 -9.12544172e+00] [-6.91275723e-01 7.22448661e-01 -1.43459859e-02 -1.96325033e+02] [ 1.96554717e-02 -1.04624213e-03 -9.99806265e-01 7.40228839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04762800000003 meters 0.025465567532556594 Centerline is valid? [True, True] Translation: X:-9.22, Y:-196.39, Z:0.74 [[-6.66984612e-01 -7.44958808e-01 -1.29577290e-02 -9.21633951e+00] [-7.44785764e-01 6.67109588e-01 -1.60923267e-02 -1.96385496e+02] [ 2.06323458e-02 -1.08260223e-03 -9.99786544e-01 7.40557793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.077628 meters 0.02583502264548948 Centerline is valid? [True, True] Translation: X:-9.31, Y:-196.46, Z:0.74 [[-6.06977304e-01 -7.94628143e-01 -1.20277106e-02 -9.30508020e+00] [-7.94435660e-01 6.07095500e-01 -1.75224206e-02 -1.96456622e+02] [ 2.12257776e-02 -1.08046939e-03 -9.99774124e-01 7.40815570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10762800000003 meters 0.024954847909418994 Centerline is valid? [True, True] Translation: X:-9.39, Y:-196.53, Z:0.74 [[-5.43663647e-01 -8.39233731e-01 -1.07973766e-02 -9.38805527e+00] [-8.39027288e-01 5.43769790e-01 -1.86447361e-02 -1.96532359e+02] [ 2.15185786e-02 -1.07717163e-03 -9.99767868e-01 7.40684145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.137628 meters 0.025003708972300965 Centerline is valid? [True, True] Translation: X:-9.47, Y:-196.63, Z:0.74 [[-4.77389817e-01 -8.78640540e-01 -9.47441952e-03 -9.46914216e+00] [-8.78420232e-01 4.77482592e-01 -1.97045452e-02 -1.96625643e+02] [ 2.18370826e-02 -1.08422743e-03 -9.99760955e-01 7.40066852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16762800000004 meters 0.024417270050995216 Centerline is valid? [True, True] Translation: X:-9.54, Y:-196.72, Z:0.74 [[-4.07880680e-01 -9.13001850e-01 -7.80852437e-03 -9.53907382e+00] [-9.12782131e-01 4.07954057e-01 -2.00566224e-02 -1.96716021e+02] [ 2.14972525e-02 -1.05322725e-03 -9.99768353e-01 7.38788956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.197628 meters 0.025943046826150947 Centerline is valid? [True, True] Translation: X:-9.60, Y:-196.82, Z:0.74 [[-3.36074709e-01 -9.41817234e-01 -5.83845761e-03 -9.60463211e+00] [-9.41620816e-01 3.36124007e-01 -1.92585376e-02 -1.96820371e+02] [ 2.01004684e-02 -9.74694215e-04 -9.99797490e-01 7.41247423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22762800000004 meters 0.024290104515383885 Centerline is valid? [True, True] Translation: X:-9.66, Y:-196.93, Z:0.74 [[-2.60159629e-01 -9.65556847e-01 -4.11619095e-03 -9.66166357e+00] [-9.65377157e-01 2.60190709e-01 -1.86477554e-02 -1.96925136e+02] [ 1.90764625e-02 -8.77716402e-04 -9.99817643e-01 7.39579554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.257628 meters 0.023826469048152162 Centerline is valid? [True, True] Translation: X:-9.71, Y:-197.04, Z:0.74 [[-1.83702573e-01 -9.82978527e-01 -2.56532605e-03 -9.70921505e+00] [-9.82810428e-01 1.83718647e-01 -1.81967394e-02 -1.97036903e+02] [ 1.83583023e-02 -8.21558644e-04 -9.99831135e-01 7.36667683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28762800000004 meters 0.023779650583316537 Centerline is valid? [True, True] Translation: X:-9.75, Y:-197.15, Z:0.74 [[-1.06757794e-01 -9.94284527e-01 -1.02606252e-03 -9.75259841e+00] [-9.94151246e-01 1.06760300e-01 -1.62953364e-02 -1.97153300e+02] [ 1.63117436e-02 -7.19592838e-04 -9.99866696e-01 7.41920855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.317628 meters 0.02362234778339736 Centerline is valid? [True, True] Translation: X:-9.78, Y:-197.27, Z:0.74 [[-2.95659938e-02 -9.99562810e-01 2.03723793e-04 -9.78408392e+00] [-9.99460296e-01 2.95600411e-02 -1.43290346e-02 -1.97269291e+02] [ 1.43167480e-02 -6.27265991e-04 -9.99897313e-01 7.42860924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34762800000004 meters 0.024847770463658412 Centerline is valid? [True, True] Translation: X:-9.81, Y:-197.39, Z:0.75 [[ 4.53405723e-02 -9.98971096e-01 9.90427158e-04 -9.80535503e+00] [-9.98912842e-01 -4.53486357e-02 -1.07997497e-02 -1.97391819e+02] [ 1.08335524e-02 -4.99683573e-04 -9.99941191e-01 7.47058789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.377628 meters 0.026378077804405962 Centerline is valid? [True, True] Translation: X:-9.82, Y:-197.52, Z:0.75 [[ 1.20419470e-01 -9.92721848e-01 1.57606736e-03 -9.81646091e+00] [-9.92678824e-01 -1.20428941e-01 -9.25324159e-03 -1.97516531e+02] [ 9.37569922e-03 -4.50258246e-04 -9.99955946e-01 7.47828319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40762800000005 meters 0.027949004462447323 Centerline is valid? [True, True] Translation: X:-9.82, Y:-197.64, Z:0.75 [[ 1.94271899e-01 -9.80945466e-01 2.10265460e-03 -9.81879244e+00] [-9.80909800e-01 -1.94282790e-01 -8.37625775e-03 -1.97637711e+02] [ 8.62516167e-03 -4.35243005e-04 -9.99962708e-01 7.48529542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.437628 meters 0.027274736131591114 Centerline is valid? [True, True] Translation: X:-9.82, Y:-197.76, Z:0.75 [[ 2.63360000e-01 -9.64692941e-01 3.00663428e-03 -9.81530607e+00] [-9.64651308e-01 -2.63376617e-01 -8.97842766e-03 -1.97755319e+02] [ 9.45330295e-03 -5.35794985e-04 -9.99955173e-01 7.46896912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46762800000005 meters 0.031309881832599085 Centerline is valid? [True, True] Translation: X:-9.79, Y:-197.87, Z:0.74 [[ 3.32342703e-01 -9.43150200e-01 4.00360647e-03 -9.79414014e+00] [-9.43102939e-01 -3.32366218e-01 -9.46279027e-03 -1.97872919e+02] [ 1.02554961e-02 -6.30923731e-04 -9.99947212e-01 7.44430652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.497628 meters 0.030537495934064032 Centerline is valid? [True, True] Translation: X:-9.77, Y:-197.99, Z:0.74 [[ 3.98390831e-01 -9.17203088e-01 4.82095652e-03 -9.77354100e+00] [-9.17155990e-01 -3.98419371e-01 -9.32177213e-03 -1.97985648e+02] [ 1.04707206e-02 -7.07860603e-04 -9.99944930e-01 7.43561641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52762800000005 meters 0.03195796302837075 Centerline is valid? [True, True] Translation: X:-9.74, Y:-198.10, Z:0.74 [[ 4.63124977e-01 -8.86271939e-01 6.10785944e-03 -9.73832482e+00] [-8.86217398e-01 -4.63164485e-01 -9.86833884e-03 -1.98102686e+02] [ 1.15749754e-02 -8.42617104e-04 -9.99932653e-01 7.42720204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.557628 meters 0.034872228328392645 Centerline is valid? [True, True] Translation: X:-9.70, Y:-198.20, Z:0.74 [[ 5.22353166e-01 -8.52696044e-01 7.52510320e-03 -9.69931207e+00] [-8.52634488e-01 -5.22406338e-01 -1.02979880e-02 -1.98203174e+02] [ 1.27122153e-02 -1.03697585e-03 -9.99918659e-01 7.39913210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.58762800000005 meters 0.03534664149875509 Centerline is valid? [True, True] Translation: X:-9.66, Y:-198.30, Z:0.74 [[ 5.83548308e-01 -8.12032110e-01 8.67317994e-03 -9.65546253e+00] [-8.11969592e-01 -5.83611672e-01 -1.01389333e-02 -1.98304945e+02] [ 1.32949084e-02 -1.12580102e-03 -9.99910985e-01 7.39448750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.617628 meters 0.03729315516752269 Centerline is valid? [True, True] Translation: X:-9.60, Y:-198.40, Z:0.74 [[ 6.42063639e-01 -7.66589089e-01 9.77000346e-03 -9.60276712e+00] [-7.66527437e-01 -6.42136847e-01 -9.79583682e-03 -1.98401021e+02] [ 1.37830608e-02 -1.19942508e-03 -9.99904290e-01 7.38475281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.64762800000005 meters 0.0381210810233799 Centerline is valid? [True, True] Translation: X:-9.54, Y:-198.49, Z:0.74 [[ 6.97579176e-01 -7.16415465e-01 1.14966822e-02 -9.54343749e+00] [-7.16348422e-01 -6.97672629e-01 -9.89147550e-03 -1.98492746e+02] [ 1.51073265e-02 -1.33554282e-03 -9.99884986e-01 7.36309062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.677628 meters 0.03747466335435073 Centerline is valid? [True, True] Translation: X:-9.55, Y:-198.50, Z:0.74 [[ 7.51675961e-01 -6.59409838e-01 1.27246056e-02 -9.54970825e+00] [-6.59345399e-01 -7.51782384e-01 -9.32156251e-03 -1.98502452e+02] [ 1.57128644e-02 -1.38311573e-03 -9.99875589e-01 7.36117715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.70762800000006 meters 0.034673804825567874 Centerline is valid? [True, True] Translation: X:-9.56, Y:-198.52, Z:0.74 [[ 8.02024484e-01 -5.97139566e-01 1.34560237e-02 -9.55891403e+00] [-5.97083096e-01 -8.02136206e-01 -8.32366999e-03 -1.98515989e+02] [ 1.57639565e-02 -1.35857716e-03 -9.99874818e-01 7.36472741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73762800000003 meters 0.03704563672104037 Centerline is valid? [True, True] Translation: X:-9.56, Y:-198.52, Z:0.74 [[ 8.47586788e-01 -5.30485855e-01 1.34682736e-02 -9.56453585e+00] [-5.30441976e-01 -8.47692847e-01 -6.93879841e-03 -1.98522557e+02] [ 1.50978936e-02 -1.26290380e-03 -9.99885223e-01 7.36828682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.767628 meters 0.042922118525359286 Centerline is valid? [True, True] Translation: X:-9.57, Y:-198.52, Z:0.73 [[ 8.88192920e-01 -4.59253744e-01 1.41186336e-02 -9.56650599e+00] [-4.59217104e-01 -8.88304291e-01 -5.92774696e-03 -1.98522306e+02] [ 1.52639828e-02 -1.21853515e-03 -9.99882756e-01 7.33990129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79762800000003 meters 0.032744736965987974 Centerline is valid? [True, True] Translation: X:-9.58, Y:-198.54, Z:0.74 [[ 9.23008529e-01 -3.84526879e-01 1.39403948e-02 -9.57592913e+00] [-3.84500862e-01 -9.23113132e-01 -4.60797193e-03 -1.98544894e+02] [ 1.46404505e-02 -1.10689640e-03 -9.99892210e-01 7.36624905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.827628 meters 0.031304778018051954 Centerline is valid? [True, True] Translation: X:-9.58, Y:-198.56, Z:0.74 [[ 9.53472836e-01 -3.01123963e-01 1.46256277e-02 -9.58006673e+00] [-3.01104089e-01 -9.53584504e-01 -3.59475820e-03 -1.98556051e+02] [ 1.50292398e-02 -9.76332006e-04 -9.99886578e-01 7.36439583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85762800000003 meters 0.029732576388587506 Centerline is valid? [True, True] Translation: X:-9.59, Y:-198.57, Z:0.73 [[ 9.75203059e-01 -2.20742980e-01 1.58597234e-02 -9.58547344e+00] [-2.20729745e-01 -9.75331538e-01 -2.60200612e-03 -1.98566447e+02] [ 1.60428630e-02 -9.63228386e-04 -9.99870841e-01 7.34803356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.887628 meters 0.028171055950767864 Centerline is valid? [True, True] Translation: X:-9.59, Y:-198.58, Z:0.74 [[ 9.90138788e-01 -1.39021841e-01 1.72657904e-02 -9.59001503e+00] [-1.39017488e-01 -9.90288853e-01 -1.45788927e-03 -1.98579506e+02] [ 1.73007982e-02 -9.56734096e-04 -9.99849872e-01 7.35223953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91762800000004 meters 0.02700836722902524 Centerline is valid? [True, True] Translation: X:-9.59, Y:-198.59, Z:0.74 [[ 9.98185426e-01 -5.74584558e-02 1.80105702e-02 -9.59365165e+00] [-5.74658742e-02 -9.98347466e-01 -1.05805274e-04 -1.98592793e+02] [ 1.79868865e-02 -9.29379878e-04 -9.99837791e-01 7.35758626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.947628 meters 0.02700836722902524 Centerline is valid? [True, True] Translation: X:-9.60, Y:-198.60, Z:0.74 [[ 9.99620691e-01 2.08754327e-02 1.79635622e-02 -9.59680600e+00] [ 2.08553516e-02 -9.99781652e-01 1.30451146e-03 -1.98602922e+02] [ 1.79868721e-02 -9.29380242e-04 -9.99837791e-01 7.35758757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97762800000004 meters 0.024437093755558838 Centerline is valid? [True, True] Translation: X:-9.60, Y:-198.62, Z:0.74 [[ 9.94433685e-01 1.03394345e-01 2.02794259e-02 -9.59712177e+00] [ 1.03352936e-01 -9.94639970e-01 3.08226675e-03 -1.98622545e+02] [ 2.04894166e-02 -9.69171670e-04 -9.99789600e-01 7.37156104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.007628 meters 0.0264844513743833 Centerline is valid? [True, True] Translation: X:-9.60, Y:-198.63, Z:0.73 [[ 9.83045848e-01 1.82072326e-01 2.16916566e-02 -9.59908073e+00] [ 1.82004904e-01 -9.83284606e-01 5.05954866e-03 -1.98631483e+02] [ 2.22502758e-02 -1.02578041e-03 -9.99751906e-01 7.33970073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03762800000004 meters 0.025792078272446627 Centerline is valid? [True, True] Translation: X:-9.60, Y:-198.64, Z:0.73 [[ 9.65643598e-01 2.58804506e-01 2.35089147e-02 -9.59857595e+00] [ 2.58699226e-01 -9.65929062e-01 7.46705310e-03 -1.98643197e+02] [ 2.46404509e-02 -1.12877398e-03 -9.99695741e-01 7.33816953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.067628 meters 0.023735042554107844 Centerline is valid? [True, True] Translation: X:-9.59, Y:-198.66, Z:0.73 [[ 9.42106164e-01 3.34370739e-01 2.51432960e-02 -9.59477541e+00] [ 3.34216885e-01 -9.42440830e-01 1.02154382e-02 -1.98660169e+02] [ 2.71118124e-02 -1.22071318e-03 -9.99631662e-01 7.34361120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09762800000004 meters 0.023124709120081913 Centerline is valid? [True, True] Translation: X:-9.59, Y:-198.67, Z:0.73 [[ 9.12632068e-01 4.07884842e-01 2.70677786e-02 -9.59147132e+00] [ 4.07661730e-01 -9.13032403e-01 1.35552294e-02 -1.98673296e+02] [ 3.02427316e-02 -1.33643961e-03 -9.99541691e-01 7.31044055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.127628 meters 0.02551457581374886 Centerline is valid? [True, True] Translation: X:-9.59, Y:-198.68, Z:0.73 [[ 8.78020364e-01 4.77863230e-01 2.69624697e-02 -9.58971488e+00] [ 4.77588606e-01 -8.78433138e-01 1.62587117e-02 -1.98684300e+02] [ 3.14541674e-02 -1.39851165e-03 -9.99504217e-01 7.29667342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15762800000005 meters 0.025639510536990148 Centerline is valid? [True, True] Translation: X:-9.59, Y:-198.69, Z:0.73 [[ 8.37887754e-01 5.45166804e-01 2.71526730e-02 -9.58655489e+00] [ 5.44822648e-01 -8.38326284e-01 1.94248250e-02 -1.98694389e+02] [ 3.33525692e-02 -1.48243180e-03 -9.99442549e-01 7.28430371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.187628 meters 0.02698905550726821 Centerline is valid? [True, True] Translation: X:-9.58, Y:-198.70, Z:0.73 [[ 7.92836383e-01 6.08851631e-01 2.66488533e-02 -9.58455962e+00] [ 6.08440862e-01 -7.93282589e-01 2.24154284e-02 -1.98702967e+02] [ 3.47877414e-02 -1.55751588e-03 -9.99393510e-01 7.27576810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21762800000005 meters 0.025566584143937733 Centerline is valid? [True, True] Translation: X:-9.58, Y:-198.71, Z:0.73 [[ 7.42498625e-01 6.69330517e-01 2.63144567e-02 -9.57873497e+00] [ 6.68830706e-01 -7.42962965e-01 2.59136916e-02 -1.98714281e+02] [ 3.68954914e-02 -1.64096367e-03 -9.99317782e-01 7.27745703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.247628 meters 0.02369136834099487 Centerline is valid? [True, True] Translation: X:-9.57, Y:-198.72, Z:0.72 [[ 6.86419379e-01 7.26797551e-01 2.43670941e-02 -9.57267057e+00] [ 7.26256568e-01 -6.86849930e-01 2.80815124e-02 -1.98724380e+02] [ 3.71461113e-02 -1.57893222e-03 -9.99308598e-01 7.24999080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27762800000005 meters 0.02388871617738011 Centerline is valid? [True, True] Translation: X:-9.56, Y:-198.74, Z:0.73 [[ 6.27387269e-01 7.78397809e-01 2.19560118e-02 -9.56261955e+00] [ 7.77831788e-01 -6.27769378e-01 2.97206594e-02 -1.98735643e+02] [ 3.69178080e-02 -1.56827940e-03 -9.99317075e-01 7.28870010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.307628 meters 0.024190101004536776 Centerline is valid? [True, True] Translation: X:-9.55, Y:-198.75, Z:0.73 [[ 5.64861522e-01 8.24963155e-01 1.91638670e-02 -9.55437414e+00] [ 8.24392768e-01 -5.65184389e-01 3.07110900e-02 -1.98745579e+02] [ 3.61666361e-02 -1.54895965e-03 -9.99344573e-01 7.29990180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.33762800000005 meters 0.024528583573205677 Centerline is valid? [True, True] Translation: X:-9.55, Y:-198.75, Z:0.73 [[ 4.99814248e-01 8.65972746e-01 1.66409112e-02 -9.54514547e+00] [ 8.65382577e-01 -5.00088648e-01 3.20053119e-02 -1.98754261e+02] [ 3.60376586e-02 -1.59595632e-03 -9.99349158e-01 7.31520452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.367628 meters 0.025628707529021987 Centerline is valid? [True, True] Translation: X:-9.54, Y:-198.76, Z:0.73 [[ 4.31276987e-01 9.02106829e-01 1.42628579e-02 -9.53686533e+00] [ 9.01481172e-01 -4.31509624e-01 3.36324502e-02 -1.98761164e+02] [ 3.64946234e-02 -1.64720389e-03 -9.99332492e-01 7.32349854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.39762800000005 meters 0.02529814948019912 Centerline is valid? [True, True] Translation: X:-9.53, Y:-198.77, Z:0.73 [[ 3.60716068e-01 9.32604479e-01 1.15240482e-02 -9.53031651e+00] [ 9.31969209e-01 -3.60896150e-01 3.44581162e-02 -1.98767433e+02] [ 3.62947782e-02 -1.68953811e-03 -9.99339699e-01 7.31735378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.427628 meters 0.026729833233298687 Centerline is valid? [True, True] Translation: X:-9.52, Y:-198.77, Z:0.73 [[ 2.89682693e-01 9.57083419e-01 8.67568204e-03 -9.52086610e+00] [ 9.56452094e-01 -2.89807087e-01 3.48029342e-02 -1.98773326e+02] [ 3.58235854e-02 -1.78393346e-03 -9.99356537e-01 7.34322961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.45762800000006 meters 0.027390030430272834 Centerline is valid? [True, True] Translation: X:-9.51, Y:-198.78, Z:0.73 [[ 2.17501965e-01 9.76042312e-01 5.85669324e-03 -9.51148418e+00] [ 9.75417353e-01 -2.17572557e-01 3.49738529e-02 -1.98778559e+02] [ 3.54102159e-02 -1.89416151e-03 -9.99371067e-01 7.34466140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48762800000003 meters 0.027892914804826408 Centerline is valid? [True, True] Translation: X:-9.50, Y:-198.78, Z:0.74 [[ 1.42844002e-01 9.89740398e-01 3.08787733e-03 -9.50037893e+00] [ 9.89116402e-01 -1.42863748e-01 3.51950718e-02 -1.98783133e+02] [ 3.52751301e-02 -1.97313479e-03 -9.99375691e-01 7.36093092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.517628 meters 0.02678620238363013 Centerline is valid? [True, True] Translation: X:-9.48, Y:-198.79, Z:0.74 [[ 6.62730616e-02 9.97801472e-01 3.22150490e-04 -9.48400400e+00] [ 9.97171742e-01 -6.62426978e-02 3.55024230e-02 -1.98786851e+02] [ 3.54457100e-02 -2.03161490e-03 -9.99369538e-01 7.38152616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54762800000003 meters 0.026398717308806063 Centerline is valid? [True, True] Translation: X:-9.47, Y:-198.79, Z:0.74 [[-1.15888340e-02 9.99929824e-01 -2.45867400e-03 -9.47020736e+00] [ 9.99304844e-01 1.16686516e-02 3.54072205e-02 -1.98789380e+02] [ 3.54334252e-02 -2.04663644e-03 -9.99369943e-01 7.38126959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.577628 meters 0.027691628699377954 Centerline is valid? [True, True] Translation: X:-9.46, Y:-198.79, Z:0.74 [[-8.85280008e-02 9.96060031e-01 -5.21612879e-03 -9.45671438e+00] [ 9.95445370e-01 8.86569167e-02 3.50494882e-02 -1.98790722e+02] [ 3.53738402e-02 -2.08951013e-03 -9.99371966e-01 7.39876671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60762800000003 meters 0.02808693639472295 Centerline is valid? [True, True] Translation: X:-9.44, Y:-198.79, Z:0.74 [[-1.67774683e-01 9.85793417e-01 -7.93687171e-03 -9.44371696e+00] [ 9.85191882e-01 1.67950016e-01 3.44927258e-02 -1.98792293e+02] [ 3.53356998e-02 -2.03233545e-03 -9.99373433e-01 7.39325751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.637628 meters 0.028635176103019095 Centerline is valid? [True, True] Translation: X:-9.43, Y:-198.79, Z:0.74 [[-2.44781057e-01 9.69521513e-01 -1.05009033e-02 -9.43219105e+00] [ 9.68947911e-01 2.44998048e-01 3.34051256e-02 -1.98794067e+02] [ 3.49596888e-02 -1.99788629e-03 -9.99386726e-01 7.39348564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66762800000004 meters 0.02581475930618864 Centerline is valid? [True, True] Translation: X:-9.41, Y:-198.79, Z:0.74 [[-3.20343612e-01 9.47208419e-01 -1.32733382e-02 -9.41070859e+00] [ 9.46637400e-01 3.20612177e-01 3.29464038e-02 -1.98789167e+02] [ 3.54627049e-02 -2.01086840e-03 -9.99368977e-01 7.44849678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.697628 meters 0.026495144245470673 Centerline is valid? [True, True] Translation: X:-9.40, Y:-198.79, Z:0.74 [[-3.93524236e-01 9.19172593e-01 -1.61375168e-02 -9.39740060e+00] [ 9.18601615e-01 3.93849639e-01 3.24581933e-02 -1.98786490e+02] [ 3.61904368e-02 -2.05086324e-03 -9.99342807e-01 7.44544968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72762800000004 meters 0.0298268842016282 Centerline is valid? [True, True] Translation: X:-9.39, Y:-198.79, Z:0.74 [[-4.64260555e-01 8.85495541e-01 -1.89679845e-02 -9.38799246e+00] [ 8.84931958e-01 4.64643181e-01 3.16566472e-02 -1.98785578e+02] [ 3.68451646e-02 -2.08844302e-03 -9.99318804e-01 7.42866423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.757628 meters 0.02675760298857134 Centerline is valid? [True, True] Translation: X:-9.37, Y:-198.78, Z:0.75 [[-5.32163235e-01 8.46359431e-01 -2.18633112e-02 -9.37099076e+00] [ 8.45803689e-01 5.32607888e-01 3.07401460e-02 -1.98776856e+02] [ 3.76617845e-02 -2.13329370e-03 -9.99288266e-01 7.47256177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78762800000004 meters 0.02710223516763967 Centerline is valid? [True, True] Translation: X:-9.36, Y:-198.77, Z:0.75 [[-5.98211916e-01 8.00928918e-01 -2.56002503e-02 -9.35795301e+00] [ 8.00347038e-01 5.98755465e-01 3.06024891e-02 -1.98770580e+02] [ 3.98387083e-02 -2.18231082e-03 -9.99203740e-01 7.47588885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.817628 meters 0.02872104918505154 Centerline is valid? [True, True] Translation: X:-9.35, Y:-198.77, Z:0.75 [[-6.59231790e-01 7.51422537e-01 -2.78858098e-02 -9.34906889e+00] [ 7.50886139e-01 6.59817747e-01 2.84701062e-02 -1.98767457e+02] [ 3.97926316e-02 -2.17066898e-03 -9.99205602e-01 7.48059047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84762800000004 meters 0.028570768231942965 Centerline is valid? [True, True] Translation: X:-9.34, Y:-198.76, Z:0.75 [[-7.16112557e-01 6.97300166e-01 -3.09076530e-02 -9.33963224e+00] [ 6.96782185e-01 7.16775781e-01 2.69641599e-02 -1.98761116e+02] [ 4.09559703e-02 -2.22652852e-03 -9.99158471e-01 7.48891399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.877628 meters 0.027718166967913172 Centerline is valid? [True, True] Translation: X:-9.31, Y:-198.74, Z:0.75 [[-7.63274437e-01 6.45191967e-01 -3.37558874e-02 -9.31337695e+00] [ 6.44692833e-01 7.64016995e-01 2.54790700e-02 -1.98744435e+02] [ 4.22289630e-02 -2.31465586e-03 -9.99105278e-01 7.49723533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90762800000005 meters 0.028345030892869084 Centerline is valid? [True, True] Translation: X:-8.88, Y:-198.18, Z:-0.26 [[-7.90756303e-01 -6.11200593e-01 -3.37387635e-02 -8.88335262e+00] [ 6.10518132e-01 -7.91472368e-01 2.89672511e-02 -1.98175526e+02] [-4.44081001e-02 2.30790956e-03 9.99010808e-01 -2.63863531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.937628 meters 0.029419845587200698 Centerline is valid? [True, True] Translation: X:-9.35, Y:-198.72, Z:0.75 [[-7.63812037e-01 6.44444802e-01 -3.58059989e-02 -9.34795376e+00] [ 6.43891289e-01 7.64646533e-01 2.68269835e-02 -1.98721020e+02] [ 4.46674430e-02 -2.56439794e-03 -9.98998620e-01 7.52978785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96762800000005 meters 0.02928470521301548 Centerline is valid? [True, True] Translation: X:-9.33, Y:-198.70, Z:0.75 [[-8.06767912e-01 5.89631019e-01 -3.82203816e-02 -9.32834977e+00] [ 5.89122928e-01 8.07668375e-01 2.46164955e-02 -1.98700028e+02] [ 4.53840428e-02 -2.65670445e-03 -9.98966081e-01 7.53594912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.997628 meters 0.03034491213629943 Centerline is valid? [True, True] Translation: X:-8.94, Y:-198.10, Z:-0.27 [[-8.35736277e-01 -5.47872444e-01 -3.71572421e-02 -8.93787911e+00] [ 5.47187944e-01 -8.36557666e-01 2.75068256e-02 -1.98099101e+02] [-4.61544075e-02 2.65645707e-03 9.98930785e-01 -2.68744101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02762800000005 meters 0.030393155205349194 Centerline is valid? [True, True] Translation: X:-9.37, Y:-198.68, Z:0.76 [[-8.07568763e-01 5.88497610e-01 -3.87718305e-02 -9.36897328e+00] [ 5.87982394e-01 8.08494150e-01 2.47772841e-02 -1.98676412e+02] [ 4.59281707e-02 -2.78779301e-03 -9.98940855e-01 7.57955711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.057628 meters 0.03180933409713932 Centerline is valid? [True, True] Translation: X:-9.35, Y:-198.65, Z:0.76 [[-8.46941870e-01 5.30153557e-01 -4.03320684e-02 -9.35018755e+00] [ 5.29707786e-01 8.47897017e-01 2.19159734e-02 -1.98654874e+02] [ 4.58162717e-02 -2.80265517e-03 -9.98945952e-01 7.60376580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.08762800000005 meters 0.032287736192034795 Centerline is valid? [True, True] Translation: X:-9.00, Y:-198.03, Z:-0.27 [[-8.75064882e-01 -4.82469889e-01 -3.85260754e-02 -9.00411720e+00] [ 4.81859782e-01 -8.75908073e-01 2.44171486e-02 -1.98025478e+02] [-4.55258394e-02 2.80242294e-03 9.98959231e-01 -2.74840308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.117628 meters 0.03167902400363397 Centerline is valid? [True, True] Translation: X:-9.39, Y:-198.63, Z:0.77 [[-8.48215294e-01 5.28072105e-01 -4.08737877e-02 -9.38676191e+00] [ 5.27620715e-01 8.49194624e-01 2.20197991e-02 -1.98633282e+02] [ 4.63378424e-02 -2.88832669e-03 -9.98921650e-01 7.66744594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.14762800000005 meters 0.03152837569093721 Centerline is valid? [True, True] Translation: X:-9.37, Y:-198.61, Z:0.77 [[-8.83019040e-01 4.67363696e-01 -4.29947692e-02 -9.37481846e+00] [ 4.66971757e-01 8.84060132e-01 1.93664984e-02 -1.98607144e+02] [ 4.70611596e-02 -2.97635605e-03 -9.98887576e-01 7.70956425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.177628 meters 0.030056335192373655 Centerline is valid? [True, True] Translation: X:-9.36, Y:-198.58, Z:0.77 [[-9.13982155e-01 4.03220781e-01 -4.52727455e-02 -9.36121523e+00] [ 4.02888520e-01 9.15097718e-01 1.66435386e-02 -1.98580310e+02] [ 4.81400067e-02 -3.02797221e-03 -9.98836008e-01 7.72252084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.20762800000006 meters 0.03247301315353268 Centerline is valid? [True, True] Translation: X:-9.11, Y:-197.91, Z:-0.29 [[-9.36298601e-01 -3.48499490e-01 -4.35090232e-02 -9.11459335e+00] [ 3.47972106e-01 -9.37304083e-01 1.94028492e-02 -1.97910662e+02] [-4.75430681e-02 3.02693416e-03 9.98864603e-01 -2.87757295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23762800000003 meters 0.032862382408035566 Centerline is valid? [True, True] Translation: X:-9.40, Y:-198.57, Z:0.78 [[-9.14523089e-01 4.02122848e-01 -4.40991433e-02 -9.40421974e+00] [ 4.01815230e-01 9.15580585e-01 1.60222618e-02 -1.98569918e+02] [ 4.68192370e-02 -3.06697898e-03 -9.98898670e-01 7.78433115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.267628 meters 0.032926303359471845 Centerline is valid? [True, True] Translation: X:-9.40, Y:-198.54, Z:0.78 [[-9.40393508e-01 3.36807790e-01 -4.71228546e-02 -9.39528689e+00] [ 3.36555018e-01 9.41567911e-01 1.34383306e-02 -1.98543857e+02] [ 4.88955022e-02 -3.22211440e-03 -9.98798702e-01 7.76014620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29762800000003 meters 0.03256043419668831 Centerline is valid? [True, True] Translation: X:-9.19, Y:-197.85, Z:-0.29 [[-9.60852166e-01 -2.72913977e-01 -4.77606230e-02 -9.19358934e+00] [ 2.72409116e-01 -9.62033011e-01 1.69044171e-02 -1.97849493e+02] [-5.05607476e-02 3.23221672e-03 9.98715757e-01 -2.93399096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.327628 meters 0.03811554061148368 Centerline is valid? [True, True] Translation: X:-9.44, Y:-198.54, Z:0.78 [[-9.39998840e-01 3.37555635e-01 -4.95819870e-02 -9.44256205e+00] [ 3.37287296e-01 9.41298605e-01 1.39361467e-02 -1.98542171e+02] [ 5.13756800e-02 -3.62341256e-03 -9.98672825e-01 7.76574967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35762800000003 meters 0.03637663163792891 Centerline is valid? [True, True] Translation: X:-9.23, Y:-197.83, Z:-0.29 [[-9.62615122e-01 -2.66292464e-01 -4.96029251e-02 -9.23378611e+00] [ 2.65743764e-01 -9.63885431e-01 1.74679323e-02 -1.97828300e+02] [-5.24631156e-02 3.63322776e-03 9.98616253e-01 -2.88126893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.387628 meters 0.03460785128928285 Centerline is valid? [True, True] Translation: X:-9.48, Y:-198.53, Z:0.78 [[-9.39483228e-01 3.38592658e-01 -5.22137563e-02 -9.48255408e+00] [ 3.38308268e-01 9.40924217e-01 1.44614768e-02 -1.98529979e+02] [ 5.40257376e-02 -4.07803054e-03 -9.98531216e-01 7.81378197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41762800000004 meters 0.03899415854315473 Centerline is valid? [True, True] Translation: X:-9.28, Y:-197.81, Z:-0.29 [[-9.64567744e-01 -2.58600019e-01 -5.22981624e-02 -9.28264450e+00] [ 2.57988970e-01 -9.65975812e-01 1.82324686e-02 -1.97813395e+02] [-5.52336766e-02 4.09410200e-03 9.98465062e-01 -2.88156572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.447628 meters 0.040995053985537114 Centerline is valid? [True, True] Translation: X:-9.54, Y:-198.52, Z:0.78 [[-9.40059589e-01 3.36694111e-01 -5.40836794e-02 -9.53742560e+00] [ 3.36398344e-01 9.41604163e-01 1.47565373e-02 -1.98521297e+02] [ 5.58938569e-02 -4.32163574e-03 -9.98427364e-01 7.75278457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47762800000004 meters 0.036654661271934494 Centerline is valid? [True, True] Translation: X:-9.33, Y:-197.81, Z:-0.29 [[-9.66120096e-01 -2.52542217e-01 -5.32389829e-02 -9.33028169e+00] [ 2.51911149e-01 -9.67576208e-01 1.83590596e-02 -1.97806359e+02] [-5.61492108e-02 4.32556309e-03 9.98413019e-01 -2.93512599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.507628 meters 0.0369192425536514 Centerline is valid? [True, True] Translation: X:-9.58, Y:-198.50, Z:0.78 [[-9.40359948e-01 3.35815719e-01 -5.43228384e-02 -9.57972728e+00] [ 3.35528252e-01 9.41916975e-01 1.46015255e-02 -1.98504595e+02] [ 5.60710254e-02 -4.49615726e-03 -9.98416659e-01 7.82410140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53762800000004 meters 0.03601188813976184 Centerline is valid? [True, True] Translation: X:-9.57, Y:-198.48, Z:0.79 [[-9.61429790e-01 2.69799255e-01 -5.34894474e-02 -9.56657096e+00] [ 2.69636274e-01 9.62906328e-01 1.03770688e-02 -1.98478435e+02] [ 5.43050528e-02 -4.44587215e-03 -9.98514494e-01 7.85744119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.567628 meters 0.0389284268739525 Centerline is valid? [True, True] Translation: X:-9.57, Y:-198.45, Z:0.79 [[-9.78246823e-01 2.00480093e-01 -5.32999584e-02 -9.57366150e+00] [ 2.00423479e-01 9.79688061e-01 6.46006170e-03 -1.98452923e+02] [ 5.35124466e-02 -4.36302827e-03 -9.98557651e-01 7.86540999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59762800000004 meters 0.03546493231883172 Centerline is valid? [True, True] Translation: X:-9.57, Y:-198.42, Z:0.79 [[-9.90227000e-01 1.28465868e-01 -5.42863565e-02 -9.56791673e+00] [ 1.28510150e-01 9.91704549e-01 2.68880590e-03 -1.98419813e+02] [ 5.41814464e-02 -4.31381962e-03 -9.98521788e-01 7.89521764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.627628 meters 0.033422323767082825 Centerline is valid? [True, True] Translation: X:-9.57, Y:-198.39, Z:0.79 [[-9.97078714e-01 5.37999589e-02 -5.42181002e-02 -9.57190259e+00] [ 5.39429483e-02 9.98543326e-01 -1.17627899e-03 -1.98387864e+02] [ 5.40758384e-02 -4.09752692e-03 -9.98528424e-01 7.87720155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65762800000005 meters 0.036297314843620095 Centerline is valid? [True, True] Translation: X:-9.59, Y:-197.65, Z:-0.30 [[-9.98363049e-01 2.45762824e-02 -5.16452163e-02 -9.59306164e+00] [-2.47544153e-02 -9.99689607e-01 2.81225365e-03 -1.97652342e+02] [-5.15600712e-02 4.08609726e-03 9.98661536e-01 -2.98981191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.687628 meters 0.03388640681731638 Centerline is valid? [True, True] Translation: X:-9.67, Y:-198.38, Z:0.79 [[-9.97863936e-01 4.11677832e-02 -5.07225632e-02 -9.66823367e+00] [ 4.12902807e-02 9.99146255e-01 -1.36912678e-03 -1.98384330e+02] [ 5.06228951e-02 -3.46055111e-03 -9.98711844e-01 7.92091728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71762800000005 meters 0.03254423399907723 Centerline is valid? [True, True] Translation: X:-9.68, Y:-197.66, Z:-0.30 [[-9.98425019e-01 2.61411127e-02 -4.96399340e-02 -9.67887389e+00] [-2.62805851e-02 -9.99652274e-01 2.15896687e-03 -1.97663657e+02] [-4.95662352e-02 3.46013305e-03 9.98764845e-01 -3.04443037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.747628 meters 0.033471737842583414 Centerline is valid? [True, True] Translation: X:-9.75, Y:-198.38, Z:0.79 [[-9.98232081e-01 3.47482058e-02 -4.82211100e-02 -9.75129462e+00] [ 3.48645673e-02 9.99390807e-01 -1.57383545e-03 -1.98384843e+02] [ 4.81370461e-02 -3.25226117e-03 -9.98835446e-01 7.92590457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77762800000005 meters 0.037026653639365255 Centerline is valid? [True, True] Translation: X:-9.78, Y:-197.66, Z:-0.31 [[-9.98290000e-01 3.73882982e-02 -4.49354170e-02 -9.77703844e+00] [-3.74957368e-02 -9.99295585e-01 1.55017367e-03 -1.97658402e+02] [-4.48458055e-02 3.23240944e-03 9.98988691e-01 -3.06877040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.807628 meters 0.033577977142375544 Centerline is valid? [True, True] Translation: X:-9.85, Y:-198.39, Z:0.80 [[-9.98430330e-01 3.51644941e-02 -4.35928245e-02 -9.84730009e+00] [ 3.52718430e-02 9.99376317e-01 -1.69558149e-03 -1.98388204e+02] [ 4.35060121e-02 -3.23051924e-03 -9.99047942e-01 7.96516147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.83762800000005 meters 0.033409754905341024 Centerline is valid? [True, True] Translation: X:-9.86, Y:-198.36, Z:0.80 [[-9.98469401e-01 -3.47579881e-02 -4.30202022e-02 -9.85693884e+00] [-3.45851596e-02 9.99390441e-01 -4.75538237e-03 -1.98360093e+02] [ 4.31592664e-02 -3.26024323e-03 -9.99062885e-01 7.97050951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.867628 meters 0.03593144971462109 Centerline is valid? [True, True] Translation: X:-9.87, Y:-198.34, Z:0.80 [[-9.93409054e-01 -1.06393169e-01 -4.26490917e-02 -9.87027687e+00] [-1.06154291e-01 9.94318813e-01 -7.83357694e-03 -1.98335207e+02] [ 4.32402332e-02 -3.25456216e-03 -9.99059403e-01 7.96079036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.89762800000005 meters 0.03593144971462109 Centerline is valid? [True, True] Translation: X:-9.90, Y:-198.31, Z:0.80 [[-9.83193696e-01 -1.77674648e-01 -4.19746931e-02 -9.89773733e+00] [-1.77370919e-01 9.84083903e-01 -1.08825355e-02 -1.98311666e+02] [ 4.32401704e-02 -3.25455042e-03 -9.99059405e-01 7.96080262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.927628 meters 0.03238872559761356 Centerline is valid? [True, True] Translation: X:-9.95, Y:-198.29, Z:0.80 [[-9.67197050e-01 -2.50766241e-01 -4.05728762e-02 -9.94733720e+00] [-2.50408931e-01 9.68042600e-01 -1.37437919e-02 -1.98292844e+02] [ 4.27227516e-02 -3.13314445e-03 -9.99082054e-01 7.96796859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.95762800000006 meters 0.03173909059183135 Centerline is valid? [True, True] Translation: X:-10.02, Y:-198.29, Z:0.79 [[-9.45765310e-01 -3.22368257e-01 -4.00834737e-02 -1.00178389e+01] [-3.21937144e-01 9.46609150e-01 -1.69585769e-02 -1.98287669e+02] [ 4.34102898e-02 -3.13447476e-03 -9.99052412e-01 7.94688067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98762800000003 meters 0.03449528337595679 Centerline is valid? [True, True] Translation: X:-10.09, Y:-198.29, Z:0.79 [[-9.19463778e-01 -3.91266805e-01 -3.86865245e-02 -1.00909775e+01] [-3.90775013e-01 9.20271916e-01 -1.98617714e-02 -1.98292811e+02] [ 4.33733739e-02 -3.14445223e-03 -9.99053984e-01 7.92989294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.017628 meters 0.032726361678979674 Centerline is valid? [True, True] Translation: X:-10.17, Y:-198.30, Z:0.79 [[-8.87470227e-01 -4.59363888e-01 -3.71673737e-02 -1.01694899e+01] [-4.58811561e-01 8.88242680e-01 -2.27352925e-02 -1.98300779e+02] [ 4.34574200e-02 -3.12407453e-03 -9.99050396e-01 7.94057693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04762800000003 meters 0.03269564206685965 Centerline is valid? [True, True] Translation: X:-10.25, Y:-198.32, Z:0.79 [[-8.49395409e-01 -5.26546360e-01 -3.57263162e-02 -1.02544354e+01] [-5.25926753e-01 8.50140924e-01 -2.57188611e-02 -1.98321092e+02] [ 4.39145761e-02 -3.05605708e-03 -9.99030615e-01 7.92414509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.077628 meters 0.03240271379331355 Centerline is valid? [True, True] Translation: X:-10.35, Y:-198.36, Z:0.79 [[-8.05339765e-01 -5.91900304e-01 -3.28921451e-02 -1.03472706e+01] [-5.91260511e-01 8.06006230e-01 -2.76580226e-02 -1.98357112e+02] [ 4.28820659e-02 -2.82627886e-03 -9.99076144e-01 7.90192951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10762800000003 meters 0.03150442759706513 Centerline is valid? [True, True] Translation: X:-10.44, Y:-198.40, Z:0.79 [[-7.57591296e-01 -6.52046507e-01 -2.98459632e-02 -1.04405064e+01] [-6.51397088e-01 7.58174184e-01 -2.92188286e-02 -1.98402108e+02] [ 4.16804739e-02 -2.69435670e-03 -9.99127359e-01 7.89729888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.137628 meters 0.029319068531519096 Centerline is valid? [True, True] Translation: X:-10.53, Y:-198.45, Z:0.79 [[-7.05239812e-01 -7.08435639e-01 -2.74909661e-02 -1.05282686e+01] [-7.07747118e-01 7.05770469e-01 -3.13378843e-02 -1.98448568e+02] [ 4.16031861e-02 -2.64407164e-03 -9.99130714e-01 7.90918054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16762800000004 meters 0.028906617019355034 Centerline is valid? [True, True] Translation: X:-10.62, Y:-198.51, Z:0.79 [[-6.49349960e-01 -7.60057454e-01 -2.56377922e-02 -1.06184308e+01] [-7.59294938e-01 6.49850252e-01 -3.41445044e-02 -1.98511853e+02] [ 4.26125108e-02 -2.70508673e-03 -9.99088012e-01 7.90894171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.197628 meters 0.02933791824493986 Centerline is valid? [True, True] Translation: X:-10.70, Y:-198.58, Z:0.79 [[-5.89868941e-01 -8.07107118e-01 -2.51541739e-02 -1.07011096e+01] [-8.06148260e-01 5.90397465e-01 -3.94438220e-02 -1.98582004e+02] [ 4.66863501e-02 -2.98869196e-03 -9.98905127e-01 7.88649985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22762800000004 meters 0.03625265795157075 Centerline is valid? [True, True] Translation: X:-10.78, Y:-198.68, Z:0.78 [[-5.27017741e-01 -8.49541155e-01 -2.30678684e-02 -1.07780019e+01] [-8.48452145e-01 5.27512934e-01 -4.31168443e-02 -1.98675836e+02] [ 4.87981326e-02 -3.15135947e-03 -9.98803690e-01 7.79617330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.257628 meters 0.03753127636237338 Centerline is valid? [True, True] Translation: X:-10.85, Y:-198.77, Z:0.78 [[-4.59952977e-01 -8.87710520e-01 -2.03295971e-02 -1.08516090e+01] [-8.86513295e-01 4.60390719e-01 -4.62013431e-02 -1.98766157e+02] [ 5.03729761e-02 -3.22798715e-03 -9.98725259e-01 7.76548595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28762800000004 meters 0.03225280536726268 Centerline is valid? [True, True] Translation: X:-10.92, Y:-198.86, Z:0.78 [[-3.90117977e-01 -9.20595205e-01 -1.76757623e-02 -1.09238703e+01] [-9.19224629e-01 3.90503521e-01 -5.03297170e-02 -1.98859419e+02] [ 5.32357436e-02 -3.38653134e-03 -9.98576230e-01 7.83009375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.317628 meters 0.031219980628871487 Centerline is valid? [True, True] Translation: X:-10.99, Y:-198.96, Z:0.78 [[-3.16889440e-01 -9.48363970e-01 -1.36697943e-02 -1.09859223e+01] [-9.46985758e-01 3.17167137e-01 -5.12150538e-02 -1.98963988e+02] [ 5.29061213e-02 -3.28440924e-03 -9.98594089e-01 7.79153228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34762800000004 meters 0.03246489553237015 Centerline is valid? [True, True] Translation: X:-11.04, Y:-199.07, Z:0.78 [[-2.42753054e-01 -9.70038678e-01 -9.79374123e-03 -1.10383353e+01] [-9.68613262e-01 2.42928125e-01 -5.26713828e-02 -1.99073224e+02] [ 5.34724537e-02 -3.29979136e-03 -9.98563873e-01 7.79920792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.377628 meters 0.030334905630555284 Centerline is valid? [True, True] Translation: X:-11.09, Y:-199.19, Z:0.78 [[-1.66347077e-01 -9.86050928e-01 -5.67602939e-03 -1.10868777e+01] [-9.84634783e-01 1.66412830e-01 -5.29255506e-02 -1.99189643e+02] [ 5.31318524e-02 -3.21519467e-03 -9.98582330e-01 7.79193763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40762800000005 meters 0.0319792311202437 Centerline is valid? [True, True] Translation: X:-11.12, Y:-199.31, Z:0.78 [[-9.00831931e-02 -9.95933000e-01 -1.57428816e-03 -1.11204004e+01] [-9.94536445e-01 9.00403673e-02 -5.28203740e-02 -1.99307480e+02] [ 5.27473030e-02 -3.19254100e-03 -9.98602789e-01 7.77758834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.437628 meters 0.031420864311760915 Centerline is valid? [True, True] Translation: X:-11.15, Y:-199.43, Z:0.78 [[-1.46960410e-02 -9.99888877e-01 2.50219024e-03 -1.11498443e+01] [-9.98497954e-01 1.45434085e-02 -5.28235220e-02 -1.99430975e+02] [ 5.27812617e-02 -3.27472849e-03 -9.98600728e-01 7.79735753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46762800000005 meters 0.0326999245393033 Centerline is valid? [True, True] Translation: X:-11.17, Y:-199.56, Z:0.78 [[ 6.15659253e-02 -9.98081148e-01 6.60750257e-03 -1.11676114e+01] [-9.96688367e-01 -6.18296567e-02 -5.28146983e-02 -1.99555896e+02] [ 5.31218943e-02 -3.33403518e-03 -9.98582470e-01 7.78801383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.497628 meters 0.034960779253448065 Centerline is valid? [True, True] Translation: X:-11.18, Y:-199.67, Z:0.77 [[ 1.36985006e-01 -9.90513235e-01 1.08921815e-02 -1.11751526e+01] [-9.89084551e-01 -1.37373474e-01 -5.32942749e-02 -1.99671945e+02] [ 5.42849814e-02 -3.47277192e-03 -9.98519444e-01 7.74953532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52762800000005 meters 0.033745967810025354 Centerline is valid? [True, True] Translation: X:-11.18, Y:-199.80, Z:0.77 [[ 2.10715771e-01 -9.77420372e-01 1.57569052e-02 -1.11759006e+01] [-9.75875754e-01 -2.11270357e-01 -5.50576796e-02 -1.99796983e+02] [ 5.71434646e-02 -3.77526034e-03 -9.98358839e-01 7.74473982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.557628 meters 0.03384658372733311 Centerline is valid? [True, True] Translation: X:-11.16, Y:-199.93, Z:0.78 [[ 2.83275122e-01 -9.58805023e-01 2.11691369e-02 -1.11637487e+01] [-9.57119821e-01 -2.84035084e-01 -5.69712105e-02 -1.99928829e+02] [ 6.06370604e-02 -4.12287390e-03 -9.98151366e-01 7.75676059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.58762800000005 meters 0.03618787680259347 Centerline is valid? [True, True] Translation: X:-11.15, Y:-200.04, Z:0.77 [[ 3.51049116e-01 -9.36004888e-01 2.56781598e-02 -1.11461403e+01] [-9.34364862e-01 -3.51958410e-01 -5.55660268e-02 -2.00035793e+02] [ 6.10477169e-02 -4.48636562e-03 -9.98124766e-01 7.73301566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.617628 meters 0.03570070097557584 Centerline is valid? [True, True] Translation: X:-11.12, Y:-200.15, Z:0.77 [[ 4.19652706e-01 -9.07189733e-01 2.99732151e-02 -1.11168033e+01] [-9.05616371e-01 -4.20696075e-01 -5.36078398e-02 -2.00152573e+02] [ 6.12420959e-02 -4.64755923e-03 -9.98112121e-01 7.70385356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.64762800000005 meters 0.03865559663356163 Centerline is valid? [True, True] Translation: X:-11.08, Y:-200.26, Z:0.77 [[ 4.85329034e-01 -8.73644918e-01 3.46451534e-02 -1.10785993e+01] [-8.72103093e-01 -4.86539139e-01 -5.21139246e-02 -2.00262303e+02] [ 6.23852885e-02 -4.92174473e-03 -9.98040005e-01 7.66465251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.677628 meters 0.034251930364906404 Centerline is valid? [True, True] Translation: X:-11.04, Y:-200.38, Z:0.77 [[ 5.48242320e-01 -8.35410951e-01 3.89730971e-02 -1.10402868e+01] [-8.33936878e-01 -5.49601614e-01 -4.98733296e-02 -2.00378438e+02] [ 6.30844028e-02 -5.15843300e-03 -9.97994864e-01 7.72751769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.70762800000006 meters 0.038483670593110274 Centerline is valid? [True, True] Translation: X:-10.98, Y:-200.48, Z:0.77 [[ 6.07180289e-01 -7.93375472e-01 4.34448714e-02 -1.09824159e+01] [-7.91966108e-01 -6.08707631e-01 -4.75888968e-02 -2.00483459e+02] [ 6.42010882e-02 -5.51182563e-03 -9.97921761e-01 7.68944075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73762800000003 meters 0.034132357543890005 Centerline is valid? [True, True] Translation: X:-10.94, Y:-200.58, Z:0.77 [[ 6.64889511e-01 -7.45397802e-01 4.80005804e-02 -1.09398346e+01] [-7.44052559e-01 -6.66595451e-01 -4.51253163e-02 -2.00578477e+02] [ 6.56332801e-02 -5.71160523e-03 -9.97827465e-01 7.72604783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.767628 meters 0.03804305183152761 Centerline is valid? [True, True] Translation: X:-10.94, Y:-200.59, Z:0.77 [[ 7.19592787e-01 -6.92475962e-01 5.16068129e-02 -1.09396027e+01] [-6.91259788e-01 -7.21417190e-01 -4.14384275e-02 -2.00592891e+02] [ 6.59251569e-02 -5.85492102e-03 -9.97807393e-01 7.69817144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79762800000003 meters 0.03879478310869802 Centerline is valid? [True, True] Translation: X:-10.94, Y:-200.61, Z:0.77 [[ 7.71301875e-01 -6.34097025e-01 5.49033738e-02 -1.09433125e+01] [-6.33018462e-01 -7.73231118e-01 -3.74334790e-02 -2.00607274e+02] [ 6.61894548e-02 -5.88233676e-03 -9.97789735e-01 7.72526267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.827628 meters 0.03855626532181782 Centerline is valid? [True, True] Translation: X:-10.95, Y:-200.62, Z:0.77 [[ 8.18498859e-01 -5.71623468e-01 5.74998066e-02 -1.09471551e+01] [-5.70703867e-01 -8.20495158e-01 -3.29361687e-02 -2.00620110e+02] [ 6.60053999e-02 -5.85714544e-03 -9.97802075e-01 7.69271421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85762800000003 meters 0.041262871138737535 Centerline is valid? [True, True] Translation: X:-10.95, Y:-200.63, Z:0.77 [[ 8.60277907e-01 -5.06186266e-01 6.08061437e-02 -1.09512372e+01] [-5.05403551e-01 -8.62403423e-01 -2.87678047e-02 -2.00628788e+02] [ 6.70012941e-02 -5.98333412e-03 -9.97734948e-01 7.70181908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.887628 meters 0.04086541891571686 Centerline is valid? [True, True] Translation: X:-10.95, Y:-200.64, Z:0.77 [[ 8.96828987e-01 -4.38001251e-01 6.20698890e-02 -1.09546802e+01] [-4.37404483e-01 -8.98954573e-01 -2.36218882e-02 -2.00640693e+02] [ 6.61444271e-02 -5.96485367e-03 -9.97792231e-01 7.71725482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91762800000004 meters 0.040193230165955246 Centerline is valid? [True, True] Translation: X:-10.96, Y:-200.66, Z:0.78 [[ 9.28010919e-01 -3.67257175e-01 6.25931434e-02 -1.09584794e+01] [-3.66845566e-01 -9.30100594e-01 -1.83634482e-02 -2.00658273e+02] [ 6.49620280e-02 -5.92053662e-03 -9.97870173e-01 7.76671812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.947628 meters 0.04125593006442982 Centerline is valid? [True, True] Translation: X:-10.96, Y:-200.67, Z:0.78 [[ 9.53670175e-01 -2.94131363e-01 6.32450734e-02 -1.09595248e+01] [-2.93890565e-01 -9.55746702e-01 -1.32882231e-02 -2.00668594e+02] [ 6.43547535e-02 -5.91454833e-03 -9.97909557e-01 7.76491875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97762800000004 meters 0.04206894112819068 Centerline is valid? [True, True] Translation: X:-10.96, Y:-200.68, Z:0.78 [[ 9.73560044e-01 -2.19091592e-01 6.46507074e-02 -1.09626942e+01] [-2.19014308e-01 -9.75685767e-01 -8.36755897e-03 -2.00679767e+02] [ 6.49120369e-02 -6.01310889e-03 -9.97872873e-01 7.76522680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.007628 meters 0.0407529370503989 Centerline is valid? [True, True] Translation: X:-10.97, Y:-200.69, Z:0.78 [[ 9.87631702e-01 -1.42447867e-01 6.55150809e-02 -1.09651535e+01] [-1.42539384e-01 -9.89783632e-01 -3.29928834e-03 -2.00694719e+02] [ 6.53157314e-02 -6.07999749e-03 -9.97846125e-01 7.78968936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03762800000004 meters 0.04393602099897779 Centerline is valid? [True, True] Translation: X:-10.97, Y:-200.70, Z:0.78 [[ 9.95701952e-01 -6.52656102e-02 6.57116606e-02 -1.09671367e+01] [-6.55279484e-02 -9.97849033e-01 1.84259651e-03 -2.00701504e+02] [ 6.54500588e-02 -6.14062724e-03 -9.97836952e-01 7.75076426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.067628 meters 0.042199536923522546 Centerline is valid? [True, True] Translation: X:-10.97, Y:-200.71, Z:0.77 [[ 9.97691303e-01 1.18269196e-02 6.68744238e-02 -1.09680938e+01] [ 1.13745468e-02 -9.99909807e-01 7.14124342e-03 -2.00714394e+02] [ 6.69528511e-02 -6.36409019e-03 -9.97735844e-01 7.73501277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09762800000004 meters 0.0466092392443065 Centerline is valid? [True, True] Translation: X:-10.97, Y:-200.72, Z:0.77 [[ 9.93895707e-01 8.80605842e-02 6.64579414e-02 -1.09701024e+01] [ 8.74248890e-02 -9.96093693e-01 1.24194454e-02 -2.00718647e+02] [ 6.72919999e-02 -6.53355535e-03 -9.97711932e-01 7.71934377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.127628 meters 0.044771992046223806 Centerline is valid? [True, True] Translation: X:-10.97, Y:-200.73, Z:0.77 [[ 9.84010228e-01 1.65101714e-01 6.68228659e-02 -1.09697113e+01] [ 1.64255870e-01 -9.86253553e-01 1.79982704e-02 -2.00729389e+02] [ 6.88758342e-02 -6.73443419e-03 -9.97602509e-01 7.68678027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15762800000005 meters 0.04888912701699762 Centerline is valid? [True, True] Translation: X:-10.97, Y:-200.73, Z:0.77 [[ 9.68510937e-01 2.40256680e-01 6.52938995e-02 -1.09721381e+01] [ 2.39231544e-01 -9.70685188e-01 2.32063475e-02 -2.00733983e+02] [ 6.89553010e-02 -6.85524091e-03 -9.97596197e-01 7.67993082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.187628 meters 0.04712371745359561 Centerline is valid? [True, True] Translation: X:-10.97, Y:-200.75, Z:0.77 [[ 9.46911446e-01 3.14898630e-01 6.47886234e-02 -1.09686487e+01] [ 3.13647189e-01 -9.49099003e-01 2.89226955e-02 -2.00748107e+02] [ 7.05985351e-02 -7.06646185e-03 -9.97479780e-01 7.67249617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21762800000005 meters 0.04889040019750581 Centerline is valid? [True, True] Translation: X:-10.97, Y:-200.76, Z:0.77 [[ 9.20366650e-01 3.85824479e-01 6.37550116e-02 -1.09665433e+01] [ 3.84334102e-01 -9.22542390e-01 3.46819276e-02 -2.00756233e+02] [ 7.21978374e-02 -7.41686442e-03 -9.97362754e-01 7.66612156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.247628 meters 0.03912979943024983 Centerline is valid? [True, True] Translation: X:-10.95, Y:-200.78, Z:0.78 [[ 8.88959685e-01 4.53515278e-01 6.38323684e-02 -1.09512391e+01] [ 4.51683740e-01 -8.91211986e-01 4.15089716e-02 -2.00783533e+02] [ 7.57131246e-02 -8.06775937e-03 -9.97097003e-01 7.75183262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27762800000005 meters 0.0431666488187666 Centerline is valid? [True, True] Translation: X:-10.94, Y:-200.80, Z:0.77 [[ 8.52539350e-01 5.18663028e-01 6.45392815e-02 -1.09448704e+01] [ 5.16366149e-01 -8.54932069e-01 4.95697319e-02 -2.00796582e+02] [ 8.08866887e-02 -8.93424675e-03 -9.96683261e-01 7.70351693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.307628 meters 0.05758554046790588 Centerline is valid? [True, True] Translation: X:-10.95, Y:-200.80, Z:0.75 [[ 8.10849549e-01 5.81627738e-01 6.50552373e-02 -1.09472858e+01] [ 5.78751183e-01 -8.13395143e-01 5.86123667e-02 -2.00798250e+02] [ 8.70061923e-02 -9.87501554e-03 -9.96158826e-01 7.53909455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.33762800000005 meters 0.04733091545376801 Centerline is valid? [True, True] Translation: X:-10.93, Y:-200.82, Z:0.76 [[ 7.64037876e-01 6.41943503e-01 6.44566792e-02 -1.09277588e+01] [ 6.38428564e-01 -7.66676442e-01 6.79426401e-02 -2.00820364e+02] [ 9.30327539e-02 -1.07597653e-02 -9.95604909e-01 7.61009945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.367628 meters 0.04840069785848148 Centerline is valid? [True, True] Translation: X:-10.92, Y:-200.83, Z:0.75 [[ 7.11100028e-01 7.00136443e-01 6.43871990e-02 -1.09156758e+01] [ 6.95706492e-01 -7.13912503e-01 7.95073240e-02 -2.00831877e+02] [ 1.01632801e-01 -1.17430680e-02 -9.94752670e-01 7.53487108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.39762800000005 meters 0.043857403579367064 Centerline is valid? [True, True] Translation: X:-10.90, Y:-200.85, Z:0.76 [[ 6.52341219e-01 7.55562220e-01 5.98052280e-02 -1.08969306e+01] [ 7.50632601e-01 -6.54969733e-01 8.69790079e-02 -2.00847053e+02] [ 1.04888667e-01 -1.18482382e-02 -9.94413388e-01 7.55331523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.427628 meters 0.043721233371431883 Centerline is valid? [True, True] Translation: X:-10.88, Y:-200.86, Z:0.75 [[ 5.88689365e-01 8.06524740e-01 5.44304576e-02 -1.08821574e+01] [ 8.01092038e-01 -5.91081520e-01 9.42028888e-02 -2.00856268e+02] [ 1.08149798e-01 -1.18524326e-02 -9.94063952e-01 7.51439511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.45762800000006 meters 0.04373303565495394 Centerline is valid? [True, True] Translation: X:-10.87, Y:-200.86, Z:0.74 [[ 5.21272089e-01 8.51951840e-01 4.95325272e-02 -1.08687427e+01] [ 8.45701137e-01 -5.23478428e-01 1.03730046e-01 -2.00863655e+02] [ 1.14302213e-01 -1.21818632e-02 -9.93371334e-01 7.43965548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48762800000003 meters 0.042627694911407533 Centerline is valid? [True, True] Translation: X:-10.85, Y:-200.87, Z:0.74 [[ 4.56056897e-01 8.88955205e-01 4.20802920e-02 -1.08546014e+01] [ 8.82287206e-01 -4.57815886e-01 1.09425320e-01 -2.00870539e+02] [ 1.16539234e-01 -1.27772685e-02 -9.93103896e-01 7.44451440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.517628 meters 0.04815292912784694 Centerline is valid? [True, True] Translation: X:-10.85, Y:-200.87, Z:0.74 [[ 3.90482811e-01 9.19974785e-01 3.41989658e-02 -1.08487249e+01] [ 9.12845111e-01 -3.91736652e-01 1.15135572e-01 -2.00874601e+02] [ 1.19318811e-01 -1.37401030e-02 -9.92760913e-01 7.37697796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54762800000003 meters 0.04642557357157867 Centerline is valid? [True, True] Translation: X:-10.83, Y:-200.88, Z:0.74 [[ 3.21691955e-01 9.46491881e-01 2.58341756e-02 -1.08324254e+01] [ 9.38840889e-01 -3.22394074e-01 1.20995234e-01 -2.00880173e+02] [ 1.22849791e-01 -1.46690129e-02 -9.92316859e-01 7.40285502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.577628 meters 0.04592916807262628 Centerline is valid? [True, True] Translation: X:-10.82, Y:-200.88, Z:0.74 [[ 2.48602210e-01 9.68462371e-01 1.66606620e-02 -1.08153222e+01] [ 9.60416239e-01 -2.48695841e-01 1.25503091e-01 -2.00884745e+02] [ 1.25688458e-01 -1.51991753e-02 -9.91953324e-01 7.41081811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60762800000003 meters 0.048659887128063795 Centerline is valid? [True, True] Translation: X:-10.80, Y:-200.89, Z:0.74 [[ 1.71354459e-01 9.85185268e-01 6.90191104e-03 -1.08011641e+01] [ 9.76867709e-01 -1.70809138e-01 1.28661248e-01 -2.00888792e+02] [ 1.27934075e-01 -1.53044245e-02 -9.91664584e-01 7.37487322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.637628 meters 0.04983174392519813 Centerline is valid? [True, True] Translation: X:-10.78, Y:-200.89, Z:0.74 [[ 8.50148944e-02 9.96374551e-01 -3.19711204e-03 -1.07827034e+01] [ 9.88116846e-01 -8.38970638e-02 1.28788125e-01 -2.00891686e+02] [ 1.28052982e-01 -1.41080291e-02 -9.91666979e-01 7.37933059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66762800000004 meters 0.04122938329013299 Centerline is valid? [True, True] Translation: X:-10.75, Y:-200.89, Z:0.75 [[ 1.32724138e-03 9.99912651e-01 -1.31502508e-02 -1.07496495e+01] [ 9.91907521e-01 3.53112092e-04 1.26961986e-01 -2.00889540e+02] [ 1.26955539e-01 -1.32123419e-02 -9.91820410e-01 7.52883223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.697628 meters 0.050008252179491584 Centerline is valid? [True, True] Translation: X:-10.74, Y:-200.89, Z:0.74 [[-8.28249064e-02 9.96297497e-01 -2.30506516e-02 -1.07383048e+01] [ 9.88438935e-01 8.50752494e-02 1.25501691e-01 -2.00889414e+02] [ 1.26998061e-01 -1.23894957e-02 -9.91825586e-01 7.42591800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72762800000004 meters 0.047180596350879574 Centerline is valid? [True, True] Translation: X:-10.72, Y:-200.88, Z:0.75 [[-1.70716946e-01 9.84776977e-01 -3.27113085e-02 -1.07158917e+01] [ 9.77136473e-01 1.73475611e-01 1.22924879e-01 -2.00884286e+02] [ 1.26728205e-01 -1.09780526e-02 -9.91876728e-01 7.53964273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.757628 meters 0.04256775302332621 Centerline is valid? [True, True] Translation: X:-10.70, Y:-200.88, Z:0.77 [[-2.50685581e-01 9.67172005e-01 -4.16539591e-02 -1.06990092e+01] [ 9.59961460e-01 2.53912904e-01 1.18331033e-01 -2.00878823e+02] [ 1.25022940e-01 -1.03223116e-02 -9.92100153e-01 7.66880034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78762800000004 meters 0.04256775302332621 Centerline is valid? [True, True] Translation: X:-10.69, Y:-200.87, Z:0.77 [[-3.25086824e-01 9.44319183e-01 -5.07920964e-02 -1.06866010e+01] [ 9.37383506e-01 3.28868864e-01 1.14705855e-01 -2.00872566e+02] [ 1.25022878e-01 -1.03223114e-02 -9.92100161e-01 7.66880590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.817628 meters 0.038320354877727676 Centerline is valid? [True, True] Translation: X:-10.66, Y:-200.86, Z:0.78 [[-4.00666767e-01 9.14382404e-01 -5.80599772e-02 -1.06630863e+01] [ 9.08093829e-01 4.04736424e-01 1.07489653e-01 -2.00859180e+02] [ 1.21785635e-01 -9.65637533e-03 -9.92509453e-01 7.80789167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84762800000004 meters 0.03675293666270482 Centerline is valid? [True, True] Translation: X:-10.64, Y:-200.84, Z:0.79 [[-4.73647427e-01 8.78385538e-01 -6.40075155e-02 -1.06419353e+01] [ 8.72828319e-01 4.77868958e-01 9.90554596e-02 -2.00842779e+02] [ 1.17596088e-01 -8.95020857e-03 -9.93021175e-01 7.91201797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.877628 meters 0.039642058600034454 Centerline is valid? [True, True] Translation: X:-10.63, Y:-200.83, Z:0.79 [[-5.43396510e-01 8.36585852e-01 -6.96013275e-02 -1.06257658e+01] [ 8.31646608e-01 5.47772213e-01 9.11565784e-02 -2.00828502e+02] [ 1.14385977e-01 -8.34954136e-03 -9.93401295e-01 7.94198173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90762800000005 meters 0.03714523403154842 Centerline is valid? [True, True] Translation: X:-10.61, Y:-200.81, Z:0.81 [[-6.08460350e-01 7.90166113e-01 -7.35766078e-02 -1.06101774e+01] [ 7.85925551e-01 6.12842425e-01 8.21291059e-02 -2.00810687e+02] [ 1.09986503e-01 -7.85343162e-03 -9.93902054e-01 8.05968063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.937628 meters 0.03935442788888892 Centerline is valid? [True, True] Translation: X:-10.60, Y:-200.79, Z:0.81 [[-6.70461468e-01 7.38201690e-01 -7.44290608e-02 -1.05985161e+01] [ 7.34812384e-01 6.74542901e-01 7.10115055e-02 -2.00794356e+02] [ 1.02626408e-01 -7.08091739e-03 -9.94694768e-01 8.13097108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96762800000005 meters 0.03663970396789607 Centerline is valid? [True, True] Translation: X:-10.23, Y:-200.41, Z:-0.33 [[-7.21112410e-01 -6.89633926e-01 -6.63471190e-02 -1.02284219e+01] [ 6.85809639e-01 -7.24123902e-01 7.28677855e-02 -2.00406817e+02] [-9.82956317e-02 7.04437063e-03 9.95132326e-01 -3.34535561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5266.51 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%| | 0/11466 [00:00